深海采矿动力吸振式升沉补偿系统最优控制仿真研究

he heave compensation system is of great importance to the deep-sea mining system subject to irregular wave excitation. A novel active controlled heave compensation system based on dynamic vibration absorber for the deep-sea mining system was proposed in this paper. The two-degree-of-freedom dynamic models of active heave compensation system based on dynamic vibration absorber in simple harmonic wave are established. An optimal regulator controller was designed for the proposed system by using Linear-quadratic optimization technique. The performance of the active heave compensation system based on dynamic-vibrator-absorber was computed and analyzed in time domain. It is indicated that the heave compensator based on dynamic vibrator absorber with the optimal control method can have the best performance of heave compensation and it is practical to isolate the lift pipe and its support platform from the significant vibration of the ship motion induced by the harmonic wave. Therefore, this study can provide a technical reference for the design and manufacture of the actual dynamic vibration absorber for heave compensation system applied in deep-sea mining system in the future.