Experimental validation of an active heave compensation system: Estimation, prediction and control

This work presents a comprehensive active heave compensation (AHC) approach proposing estimation, prediction and control methods. The estimation concept covers the estimation of the attitude using sensor fusion as well as the estimation of heave which is obtained by applying adaptive filtering methods. Moreover, a prediction approach based on a Levinson recursive least squares (RLS) algorithm is proposed. The actuation concept consists of a model predictive trajectory planner and a model-based Two-Degree-of-Freedom (2-DOF) controller. It is based on a model of the hydraulically driven compensation winch. The overall compensation performance as well as the estimation and prediction accuracy are evaluated using a full-scale AHC test bench.