Research On Control Method Of Ocean Wave Active Compensation System Based On Time Delay Behavior Of Actuator

Our country’s southeast coastal region has a coastline of more than 18,000 kilometers and rich marine resources,however,offshore wind power technology has problems such as high wind turbine failure rate and difficult maintenance,and the safety of maintenance personnel under severe sea conditions is difficult to guarantee.Hence,it is critical to carry out in-depth research on the active wave compensation system.The research results can provide theoretical guidance for the wave compensation of the operation and maintenance ship of the offshore wind power platform,It conforms to the actual application.Firstly,based on the safety issues of maintenance personnel for offshore wind turbine platforms,this article proposes an active wave compensation system based on a hybrid mechanism,and introduces the composition of the system and the working conditions of the system.The kinematics model of the hybrid mechanism is established.The geometric method is used to solve the inverse kinematics of the six-degree-of-freedom parallel platform,and the analytical method is used to solve the forward kinematics.The transformation matrix between the connecting rods completes the forward and inverse kinematics solution.Then this paper creates the dynamic model of the hybrid mechanism,uses the Lagrangian equation to obtain the dynamic model of the six-degree-of-freedom parallel platform,and derive the relationship between the driving rod and the upper platform motion;this paper also use the Newton-Euler method to calculate the three-degree-of-freedom serial gangway Carrying out dynamic analysis to obtain the joint forces and moments,which provides a theoretical basis for the research of the active wave compensation system in this paper.In order to further verify the correctness of our proposed kinematics and dynamics model of the active wave compensation system,a three-dimensional model of the hybrid mechanism is established,and ADAMS software is used to simulate the dynamic characteristics of series parallel mechanism aiming at this model.The relationship between the motion of each joint of the compensation system and the end-effector posture is obtained through kinematic simulation,and contrast the calculation result and simulation result to check the rationality of the system model;the power of the hydraulic cylinder and hydraulic motor in the compensation system under design conditions is obtained through dynamic simulation Driving force and driving torque,and analyze their influence on the selection of hydraulic cylinders and hydraulic motors.Secondly,the time lag caused by the hydraulic system actuator of the active wave compensation system is studied,and the reasons for the system time lag are given.This paper establishs the the hydraulic system model of the active wave compensation system in the AMESim environment,and sets the simulation parameters of the hydraulic system reasonably;this paper also provides establish the joint simulation of AMESim-ADAMS,and sets the imitation environment to simulate the actual situation,simulate and analyze the dynamic and time lag feature of the system to check the hydraulic system.The accuracy of the system and the existence of system time lag.Finally,an Elman network-based prediction method is proposed and the online optimization method of the hidden layer parameters of the Elman network is studied according to the requirements of real-time control of the system and the time delay problem of the system.The Simulink-AMESim-ADAMS co-simulation of the Simulink-AMESim-ADAMS,which establishes the active wave compensation system,uses the Elman predictive control method to simulate the control of the wave active compensation system.Compared with the traditional PID method,the effectiveness of our proposed algorithms is verified.