The application study of heave compensation control based on motion prediction and Fuzzy-PID for intelligence crane

摘要

In the paper, to solve the problem of real-time heave compensation control of intelligence crane, the control technique is researched. The structure of intelligence crane and heave compensation control system are introduced. Because the heave compensation actuator has the problem of time-delay and the wave movement has the factors of non-linearity and time-variability. The control strategy based on motion prediction and Fuzzy-PID is established. Then, the realization methods of motion prediction and Fuzzy-PID algorithm are discussed. The test of semi-physical simulation on land is indicated that the intelligence crane which has such technique has a fine development potential.