Collaborative Heave Compensation Control of Dual Ship-mounted Lifting Arm System Based on Incremental Model Predictive Control

This paper studies the collaborative heave compensation control of dual ship-mounted lifting arm system (DSLAS) based on incremental model predictive control (IMPC). Firstly, a five-degree-of-freedom (5-DOF) nonlinear dynamic model for DSLAS based on Lagrange's method is proposed. Then, based on a heave motion prediction algorithm, the reference compensation trajectory of the corresponding lifting arm is obtained. Reference trajectories are tracked via IMPC under input constraints for collaborative heave compensation. IMPC is a control method based on rolling optimization. The basic idea is to use the status and constraints of the system at the current moment to predict the status for a period of time in the future. Then design an optimization function to solve the optimal control. Finally, the collaborative heave compensation control based on IMPC is simulated and verified. The results show that the proposed IMPC significantly improves the performance of collaborative heave compensation control compared with LQR and PID.