A Control Algorithm of Active Wave Compensation System Based on the Stewart Platform

Aim at the actual engineering requirements of wind power operation and maintenance under complex sea conditions, a control method of the active wave compensation system for maintenance ships based on the Stewart platform is presented. The kinematics of the platform is analyzed, and the coordinate tr...

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Published inJournal of physics. Conference series Vol. 2458; no. 1; pp. 12040 - 12047
Main Authors Wu, Huiyuan, Yang, Wenlin, Ong, Muk Chen, Fan, Tianhui, Yin, Guang, Zeng, Weixiang, Situa, Weilun, Wang, Yunting
Format Journal Article
LanguageEnglish
Published Bristol IOP Publishing 01.03.2023
Subjects
Active control
Algorithms
Compensation
Computer simulation
Control methods
Control theory
Coordinate transformations
Degrees of freedom
Kinematics
Maintenance
Multibody systems
Nonlinearity
Physics
Simulation models
Tracking control
Wind power
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ISSN1742-6588
1742-6596
1742-6596
DOI10.1088/1742-6596/2458/1/012040

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Abstract Aim at the actual engineering requirements of wind power operation and maintenance under complex sea conditions, a control method of the active wave compensation system for maintenance ships based on the Stewart platform is presented. The kinematics of the platform is analyzed, and the coordinate transformation, pose, and inverse solutions are analyzed and calculated. The multi-body dynamics simulation model is established by using MATLAB. For the problem of the load nonlinearity and strong coupling of the nonlinear Stewart platform, an active wave compensation active disturbance rejection control (ADRC) is built to attain the high-precision control of the six-degree-of-freedom (6-DOF) Stewart platform. The numerical simulation shows that the proposed control scheme has good tracking accuracy and strong anti-interference ability.
AbstractList Aim at the actual engineering requirements of wind power operation and maintenance under complex sea conditions, a control method of the active wave compensation system for maintenance ships based on the Stewart platform is presented. The kinematics of the platform is analyzed, and the coordinate transformation, pose, and inverse solutions are analyzed and calculated. The multi-body dynamics simulation model is established by using MATLAB. For the problem of the load nonlinearity and strong coupling of the nonlinear Stewart platform, an active wave compensation active disturbance rejection control (ADRC) is built to attain the high-precision control of the six-degree-of-freedom (6-DOF) Stewart platform. The numerical simulation shows that the proposed control scheme has good tracking accuracy and strong anti-interference ability.
Author Situa, Weilun
Yang, Wenlin
Zeng, Weixiang
Ong, Muk Chen
Fan, Tianhui
Wu, Huiyuan
Yin, Guang
Wang, Yunting
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Cites_doi 10.1007/s12206-020-0415-x
10.1016/j.mechmachtheory.2021.104406
10.1016/j.oceaneng.2021.109477
10.1109/TSTE.2020.2986586
10.1016/j.renene.2020.10.119
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SubjectTerms Active control
Algorithms
Compensation
Computer simulation
Control methods
Control theory
Coordinate transformations
Degrees of freedom
Kinematics
Maintenance
Multibody systems
Nonlinearity
Physics
Simulation models
Tracking control
Wind power
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Title A Control Algorithm of Active Wave Compensation System Based on the Stewart Platform
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