标题：ADRC-ESMPC active heave compensation control strategy for offshore cranes
作者：Li, Zhi; Ma, Xin; Li, Yibin; Meng, Qinglin; Li, Jing
作者机构：[Li, Zhi; Ma, Xin; Li, Yibin] Shandong Univ, Sch Control Sci & Engn, Jinan, Shandong, Peoples R China.; [Li, Zhi; Ma, Xin; Li, Yibin] Shandong Univ, 更多
通讯作者：Ma, X;Ma, X
通讯作者地址：[Ma, X]Shandong Univ, Sch Control Sci & Engn, Jinan, Shandong, Peoples R China;[Ma, X]Shandong Univ, Ctr Robot, Jinan, Shandong, Peoples R China.
来源：SHIPS AND OFFSHORE STRUCTURES
关键词：Active disturbance rejection control; active heave compensation; model; predictive control; nonlinear control; offshore crane
摘要：Heave compensation system is a vital part for offshore cranes. Most of the existing active heave controllers focus on compensating the wave-induced heave motion while the correction for the nonlinear properties of the hydraulic motor system such as deadzone and input saturation is still an open problem. This paper presents an ADRC-ESMPC double-loop controller for a hydraulic valve-based active heave compensation system. Active disturbance rejection control (ADRC), which has advantages such as model independence, strong robustness and simple structure, is used in the outer loop to compensate for the external perturbations, frictions and parametric uncertainties and generate the desired angular displacement for the inner loop. In consideration that the hydraulic valve is characterised by the presence of deadzone and input saturation, the equivalent saturation model predictive control (ESMPC) approach is used in the inner loop to ensure that the hydraulic motor tracks the desired angular displacement. The effectiveness of the proposed controller is evaluated with simulations.