Wave compensation control of gangway based on model predictive control

Abstract:
As a complex nonlinear system, gangway has the characteristics of parameter perturbation, strong parameter time variability, large external disturbance and uncertain model parameters Traditional PID control can not achieve effective wave compensation, and there are problems such as overshoot, jitter and slow response. Aiming at the deficiency of PID control strategy, a wave compensation control strategy based on model predictive control is proposed. Firstly, the dynamic model of gangway is established based on Lagrange equation, and then the model predictive controller is designed by linearization and discretization of the model. The advantages and disadvantages of model predictive controller and traditional PID controller are compared by MATLAB/SIMULINK simulation. The final results show that compared with the traditional PID control, the model predictive control algorithm has better vibration suppression effect and robustness. It can effectively reduce the error when the gangway reaches the steady state and realize the wave compensation for the ship under the condition of satisfying the constraint conditions.