深水锚泊主动式截断试验执行机构运动前馈控制

To conduct the active truncation model test of the deep-water mooring system, the Stewart platform is selected as the actuator for the tracking control at the truncation point of the mooring line. First, the kinematic model of the actuator and its motor is constructed on the basis of Matlab/Simulink. Second, white noise excitation is utilized to identify the transfer function of the test motor, then the feedforward control and disturbance observer are designed on the basis of the identified model. Finally, the kinematic model and control algorithm are integrated to simulate and validate the effect of motion tracking of the Stewart platform comprehensively. The research results show that the feedforward control can improve the motion tracking speed of the actuator, and reduce the motion tracking error by 50%, providing the theoretical basis for constructing the active truncation model test platform of the mooring system.