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.
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
