Modeling and simulation of active-controlled heave compensation system of deep-sea mining based on dynamic vibration absorber

The heave compensation system is of great importance to the safety and operation efficiency of the deep-sea mining system subject to irregular-wave excitation. A novel active-controlled heave compensation system based on dynamic vibration absorber for the deep-sea mining system was proposed in this paper. The three-degree-of-freedom dynamic models of active heave compensation system based on dynamic vibration absorber in sinusoidal wave are established. An optimal controller was designed for the proposed system by using Linear-quadratic optimization technique. The performance of the active heave compensation system based on dynamic vibration absorber was computed and analyzed. It is indicated that the heave compensator based on dynamic vibrator absorber with the optimal controller can have the best performance of heave compensation and it is practical to isolate the lift pipe and its support platform from the significant vibration of the ship motion induced by the sinusoidal wave.