Mathematical Modeling and Optimization of Hydraulic Servo System in Active Heave Compensation Crane

Heave compensation cranes play more and more important roles in offshore work.The mathematical model of the compensation loop of the hydraulic system in a new type of active heave compensation crane was built through theoretical analysis.Some optimizing methods,such as reducing steel wire rope's effect by choosing the proper place of feedback elements;compensating the load by compound control and improving dynamic performance by PD control,were put forward according to the characteristics of active heave compensation crane's heavy load and driving with steel wire rope.The software Simulink was used to simulate and testify the effectiveness of these methods.