Method and system for collaborative heave compensation control of a dual ship-mounted hoisting arm system

A method for collaborative heave compensation control of a dual ship-mounted hoisting arm system, the dual ship-mounted hoisting arm system comprising a first vertical hoisting arm, a second vertical hoisting arm, a first horizontal hoisting arm and a second horizontal hoisting arm, and the method comprising:

• constructing a dynamic model of the dual ship-mounted hoisting arm system according to a first state variable and a second state variable;
• wherein the first state variable represents a position and velocity of each of the first vertical hoisting arm, the second vertical hoisting arm, the first horizontal hoisting arm and the second horizontal hoisting arm;
• and the second state variable is an attitude angle of a load of the dual ship-mounted hoisting arm system, and is expressed based on the position and velocity of each of the first vertical hoisting arm, the second vertical hoisting arm, the first horizontal hoisting arm and the second horizontal hoisting arm;
• based on the dynamic model, obtaining an optimal control strategy according to a control objective and an optimization objective under a plurality of constraint conditions;
• wherein the control objective is to track a reference compensation trajectory of each of the first vertical hoisting arm, the second vertical hoisting arm, the first horizontal hoisting arm and the second horizontal hoisting arm during a heave motion process;
• the optimization objective is to minimize a tracking error;
• and the plurality of constraint conditions comprise an action constraint of each of the first vertical hoisting arm, the second vertical hoisting arm, the first horizontal hoisting arm and the second horizontal hoisting arm, and a position and velocity constraint of each of the first vertical hoisting arm, the second vertical hoisting arm, the first horizontal hoisting arm and the second horizontal hoisting arm after action;
• and
• controlling an action of each of the first vertical hoisting arm, the second vertical hoisting arm, the first horizontal hoisting arm and the second horizontal hoisting arm.