Linear active disturbance rejection control with linear quadratic regulator for Stewart platform in active wave compensation system

被引：0
作者：
Wang, Wenxuan [1 ,2 ,3 ]
Ning, Yinghao [4 ]
Zhang, Yang [1 ,2 ,3 ]
Xu, Peng [1 ,2 ,3 ]
Li, Bing [1 ,2 ,3 ]
机构：
[1] Harbin Inst Technol, Guangdong Prov Key Lab Intelligent Morphing Mech &, Shenzhen 518055, Peoples R China
[2] Harbin Inst Technol, Key Univ Lab Mech & Machine Theory & Intelligent U, Shenzhen 518055, Peoples R China
[3] Harbin Inst Technol, Sch Mech Engn & Automat, Shenzhen 518055, Peoples R China
[4] Zhengzhou Tobacco Res Inst, Zhengzhou 450015, Peoples R China
来源：
APPLIED OCEAN RESEARCH | 2025年 / 156卷
关键词：
Wave-include motion; Active motion compensation; Shipborne Stewart platform; Line active disturbance rejection control; Disturbance estimation; KINEMATICS;
D O I：
10.1016/j.apor.2025.104469
中图分类号：
P75 [海洋工程];
学科分类号：
0814 ; 081505 ; 0824 ; 082401 ;
摘要：
Offshore operations are vulnerable to the vessel motions caused by waves in harsh sea conditions. To compensate for the wave-included motions of the vessel, the shipborne Stewart platform with a gangway mechanism offers an effective means to enhance operator safety and extend the window period for offshore activities. The gangway endures off-center heavy loads and low-frequency vibrations, while the shipborne Stewart platform faces timevarying ship motions caused by waves. In addition, there is a strong motion coupling between the limbs of the Stewart platform. These challenges pose a formidable task in attaining precise control accuracy for wave compensation. In this study, a linear active disturbance rejection control with a linear quadratic regulator is proposed for the shipborne Stewart platform. The original proportional-derivative gain is substituted with a linear quadratic regulator (LQR), thereby effectively addressing the previous challenge of channel parameter tuning. Additionally, a linear extended state observer is devised to enhance system robustness by estimating and counteracting overall disturbance. The proposed controller is designed based on joint-space and its stability is verified using the Lyapunov theory. Simulation results validate that the proposed controller demonstrates superior performance in terms of compensation accuracy, anti-disturbance capability, and decoupling effect compared to the PI and LQR controllers.
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页数：23
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