Disturbance Observer Based Heave Compensation Control for Benthic Coring Drill
Y. Guo*, 1, 2, Y.P. Jing1, M. Jiang1, B.W. Luo1
Identifiers and Pagination:Year: 2013
First Page: 129
Last Page: 135
Publisher Id: TOMEJ-7-129
Article History:Received Date: 6/11/2013
Revision Received Date: 18/11/2013
Acceptance Date: 19/11/2013
Electronic publication date: 27/12/2013
Collection year: 2013
open-access license: This is an open access article distributed under the terms of the Creative Commons Attribution 4.0 International Public License (CC-BY 4.0), a copy of which is available at: (https://creativecommons.org/licenses/by/4.0/legalcode). This license permits unrestricted use, distribution, and reproduction in any medium, provided the original author and source are credited.
Severe environment in deep ocean affects operating reliability and security of coring drill. Adopting heave motion signal measured by accelerometer to confirm heave compensation of coring drill, the compensation control method is proposed using disturbance observer to restrain the disturbance. Then, the disturbance observer is designed. The heave motion simulation for coring drill is done with this control method, and the results show that the heave motion compensation control of coring drill using disturbance observer avoids the disturbance with high tracking quality, and provides high reliability and security to coring drill operating.