Model Predictive Control of Offshore Gangway Hydraulic System Based on Extended State Observer
Offshore gangway is a large marine engineering equipment used for transporting and transferring personnel and equipment during offshore operations.To address issues such as large external disturbances and uncertainties in hydraulic system model parameters for offshore gangways,a model predictive control method based on an extended state observer is proposed.Taking the offshore gangway hydraulic system as the research object,kinematic analysis and dynamic modeling were conducted,and the state space equation of the system was derived.Based on traditional model predictive control,an extended state observer was used to estimate the external load disturbances of hydraulic system and unmodeled parts of mechanical system to improve the tracking performance of model predictive control.Simulation results show that the extended state observer has good observation capability for the state and disturbance of the offshore gangway hydraulic system,effectively improving the stability and robustness of model predictive control.
offshore gangwayhydraulic systemextended state observermodel predictive control
国家科技期刊平台
NSTL
万方数据
