Prediction and control strategy based on optimized active disturbance rejection control for AHC system

Abstract

In this paper, a novel control and prediction algorithm is proposed to solve the problem of decoupling control and response delay in the AHC system of electric winch, which effectively improves the compensation accuracy and response speed of the AHC system. The innovation of the control strategy is mainly as follows: 1) Long short-term memory (LSTM) neural network is used for predicting the ship heave motion. The Bayesian algorithm is used to optimize the hyperparameters to improve the prediction accuracy.2) In the design of the AHC controller, the main speed feedforward is used to directly govern the system's output. The position loop adopts the active disturbance rejection control (ADRC) to improve the anti-disturbance and position-tracking ability of the AHC system.3) For the numerous parameters of ADRC, the chaotic particle Swarm optimization (CPSO) algorithm is used to tune parameters. The simulation results show that the algorithm is effective in improving the robustness and compensation efficiency of the system. Finally, the experiment is carried out on the AHC experimental platform of the full-size winch. The compensation results before and after prediction are compared and analyzed.