Design and internal model control approach for active towed motion compensation system
This paper presents an active towed motion compensation system (MCS) in which the winch alternately launches and recovers the cable to compensate the ship motions. Compared to the previous MCS, the MCS to be studied gives emphasis to the motion compensation and the cable tensions are treated as the disturbance. A control scheme for this unique MCS is proposed and it is composed of an external motion compensation subsystem and an internal position servo-control subsystem. The external subsystem computes the reference angle which the internal subsystem needs to rotate under the dynamic disturbance. According to meter-in and meterout regulation principle, an electro-hydraulic system (EHS) for the internal subsystem is designed. Since the EHS usually suffers from parameter variations and is disturbed by a time-variable tension torque of the cable, the internal model control (IMC) approach is applied to it. Simulation and experiment results show that the EHS had excellent dynamic performance and well robustness.
Motion compensation system (MCS) Electro-hydraulic system (EHS) Internal model control (IMC) Robustness
Haibo Wang Qingfeng Wang
The State Key Laboratory of Fluid Power Transmission and Control, Zhejiang University, Hangzhou, China
国际会议
杭州
英文
380-384
2009-04-08（万方平台首次上网日期，不代表论文的发表时间）