Research on Control Method of Parallel Semi-active Heave Compensation System

When a ship is running at sea, it will heave under the influence of wind and waves, which will affect the operation of Marine crane. This paper proposes a parallel semi-active heave compensation system for large tonnage offshore crane. In order to improve its compensation efficiency, an adaptive sliding mode controller is designed to control the compensation system. Firstly, the mathematical model of parallel semi-active heave compensation system is established, and the relationship between controller output and load displacement is obtained. On this basis, the sliding mode function and adaptive law are defined, and the mathematical model of adaptive sliding mode controller is constructed. According to the above mathematical model, the simulation model of the parallel semi-active heave compensation system is established and the simulation experiment is carried out. The simulation results show that the adaptive sliding mode controller designed in this paper can compensate the heave displacement of the load under the influence of sea waves, And has better compensation effect.