Simulation Research on the Semi-active Heave Compensation System Based on H8 Robust Control

A semi-active control heave compensation system is proposed, according to the requirements of 6000m deep sea poly-metallic mining system. The heave compensation system is acted upon by interacting of dynamic vibration absorber with accumulator. Magneto-rheological damper is act upon actuator to take semi-active control of heave compensation system. The composition and principle of the heave compensation system is described, and a corresponding mathematics model of this system is built. A H∞ Robust controller is designed for the semi-active control heave compensation system by application of robust loop shaping control. In the design process, the performance and robustness requirements of the system are considered. The digital simulation of control effects is carried. The results show that it improve acceleration and velocity response performance of the system in wave energy concentrated domain by a concentration-weighted output feedback control for acceleration and speed. The results also show that this controller is effective in assurance the robust stability of the uncertain system model.