针对多变海况导致海上母船的吊放载荷产生升沉运动，进而影响水下作业安全的问题。基于主动式升沉补偿控制方法，以提高主动式升沉补偿系统的控制精度与稳定性为目标，提出一种基于混合策略改进的黑翅鸢算法（Improved Black Winged kite Algorithm, IBKA）用来优化主动升沉补偿自抗扰控制系统。首先，构建主动升沉补偿系统模型并设计线性自抗扰控制器（Linear Active Disturbance Rejection Control, LADRC）；然后，针对LADRC参数调优的困难性，利用IBKA实现LADRC参数自适应整定；最后，通过在不同工况下进行仿真实验，IBKA-LADRC控制器均表现出良好的升沉补偿控制效果，满足系统要求。
Addressing the issue of heave motion in the lifting load of the mother ship at sea due to changing sea conditions, which potentially compromises underwater operation safety, we propose a hybrid strategy based on the Improved Black Winged Kite Algorithm (IBKA) to optimize the Active Heave Compensation Active Disturbance Rejection Control system. This is done with the aim of enhancing the control precision and stability of the Active Heave Compensation system. Initially, we construct a model for the Active Heave Compensation system and design a Linear Active Disturbance Rejection Control (LADRC). To tackle the challenges associated with tuning LADRC parameters, we utilize IBKA for adaptive tuning of these parameters. Subsequently, simulation experiments conducted under various conditions demonstrate that the IBKA-LADRC controller exhibits effective heave compensation control, satisfying the system's requirements.
2025,47(15): 84-89 收稿日期：2024-9-5
DOI：10.3404/j.issn.1672-7649.2025.15.014
分类号：U674.38；P75
作者简介：李佑祺(2000-),男,硕士研究生,研究方向为升沉补偿控制系统
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