Linear active disturbance rejection control with linear quadratic regulator for Stewart platform in active wave compensation system

IF 4.3 2区 工程技术 Q1 ENGINEERING, OCEAN
Wenxuan Wang , Yinghao Ning , Yang Zhang , Peng Xu , Bing Li
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引用次数: 0

Abstract

Offshore operations are vulnerable to the vessel motions caused by waves in harsh sea conditions. To compensate for the wave-included motions of the vessel, the shipborne Stewart platform with a gangway mechanism offers an effective means to enhance operator safety and extend the window period for offshore activities. The gangway endures off-center heavy loads and low-frequency vibrations, while the shipborne Stewart platform faces time-varying ship motions caused by waves. In addition, there is a strong motion coupling between the limbs of the Stewart platform. These challenges pose a formidable task in attaining precise control accuracy for wave compensation. In this study, a linear active disturbance rejection control with a linear quadratic regulator is proposed for the shipborne Stewart platform. The original proportional-derivative gain is substituted with a linear quadratic regulator (LQR), thereby effectively addressing the previous challenge of channel parameter tuning. Additionally, a linear extended state observer is devised to enhance system robustness by estimating and counteracting overall disturbance. The proposed controller is designed based on joint-space and its stability is verified using the Lyapunov theory. Simulation results validate that the proposed controller demonstrates superior performance in terms of compensation accuracy, anti-disturbance capability, and decoupling effect compared to the PI and LQR controllers.
有源波浪补偿系统中Stewart平台线性二次调节器的线性自抗扰控制
海上作业容易受到恶劣海况下波浪引起的船舶运动的影响。为了补偿船舶的波浪运动,带有舷梯机构的舰载Stewart平台为提高操作人员的安全性和延长海上活动的窗口期提供了有效手段。舷梯承受偏离中心的重载荷和低频振动,而舰载Stewart平台则面临由波浪引起的随时间变化的船舶运动。此外,Stewart平台的四肢之间存在很强的运动耦合。这些挑战为实现精确的波动补偿控制精度提出了艰巨的任务。针对舰载Stewart平台,提出了一种基于线性二次型调节器的线性自抗扰控制。原始的比例导数增益被线性二次调节器(LQR)所取代,从而有效地解决了先前通道参数调谐的挑战。此外,设计了一个线性扩展状态观测器,通过估计和抵消整体干扰来增强系统的鲁棒性。设计了基于关节空间的控制器,并用李亚普诺夫理论验证了控制器的稳定性。仿真结果表明,与PI和LQR控制器相比,该控制器在补偿精度、抗干扰能力和解耦效果等方面都有较好的性能。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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来源期刊
Applied Ocean Research
Applied Ocean Research 地学-工程:大洋
CiteScore
8.70
自引率
7.00%
发文量
316
审稿时长
59 days
期刊介绍: The aim of Applied Ocean Research is to encourage the submission of papers that advance the state of knowledge in a range of topics relevant to ocean engineering.
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