An online dual-loop AMPC strategy for wave compensation of an electro-hydraulic servo Stewart platform

IF 4.6 2区计算机科学 Q1 AUTOMATION & CONTROL SYSTEMS

Control Engineering Practice Pub Date : 2025-08-20 DOI:10.1016/j.conengprac.2025.106540

Xiafei Chen , Yiyang Jiao , Xiaoming Yuan , Zhaoliang Meng , Lijie Zhang , Xiaoping Liu

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引用次数: 0

Abstract

An electro-hydraulic servo Stewart platform for wave compensation actively offsets wave-induced position and attitude changes of ships or offshore equipment, ensuring a stable environment for marine operations. However, precise control remains challenging due to the time-varying parameters of the electro-hydraulic system, the platform’s strong nonlinear dynamics, and coupling among actuators. To overcome these issues, this paper proposes a double closed-loop online adaptive model predictive control (AMPC) strategy. First, a dynamic model of a valve-controlled asymmetric hydraulic cylinder is developed, and an inner-loop AMPC based on online system identification is designed for high-accuracy trajectory tracking. Then, a kinematic model of the Stewart platform incorporating actuator stroke constraints is constructed, and an outer-loop AMPC is formulated using a linear parameter-varying model for motion planning and attitude regulation. Experimental results under Sea State 4 conditions demonstrate that the proposed control strategy achieves superior compensation accuracy and system stability.

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基于在线双环AMPC策略的电液伺服Stewart平台波动补偿

用于波浪补偿的电液伺服Stewart平台主动补偿船舶或海上设备的波浪引起的位置和姿态变化，确保海上作业的稳定环境。然而，由于电液系统的时变参数、平台强烈的非线性动力学以及执行器之间的耦合，精确控制仍然具有挑战性。针对这些问题，本文提出了一种双闭环在线自适应模型预测控制（AMPC）策略。首先，建立了阀控非对称液压缸的动力学模型，设计了基于系统在线辨识的内回路AMPC，实现了系统的高精度轨迹跟踪。在此基础上，建立了包含执行机构行程约束的Stewart平台运动学模型，并利用线性变参数模型构建了用于运动规划和姿态调节的外环AMPC。Sea State 4条件下的实验结果表明，该控制策略具有较好的补偿精度和系统稳定性。

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

Control Engineering Practice 工程技术-工程：电子与电气

CiteScore

9.20

自引率

12.20%

发文量

183

审稿时长

44 days

期刊介绍： Control Engineering Practice strives to meet the needs of industrial practitioners and industrially related academics and researchers. It publishes papers which illustrate the direct application of control theory and its supporting tools in all possible areas of automation. As a result, the journal only contains papers which can be considered to have made significant contributions to the application of advanced control techniques. It is normally expected that practical results should be included, but where simulation only studies are available, it is necessary to demonstrate that the simulation model is representative of a genuine application. Strictly theoretical papers will find a more appropriate home in Control Engineering Practice''s sister publication, Automatica. It is also expected that papers are innovative with respect to the state of the art and are sufficiently detailed for a reader to be able to duplicate the main results of the paper (supplementary material, including datasets, tables, code and any relevant interactive material can be made available and downloaded from the website). The benefits of the presented methods must be made very clear and the new techniques must be compared and contrasted with results obtained using existing methods. Moreover, a thorough analysis of failures that may happen in the design process and implementation can also be part of the paper. The scope of Control Engineering Practice matches the activities of IFAC. Papers demonstrating the contribution of automation and control in improving the performance, quality, productivity, sustainability, resource and energy efficiency, and the manageability of systems and processes for the benefit of mankind and are relevant to industrial practitioners are most welcome.