Proceedings of the Thirty-second (2022) International Ocean and Polar Engineering Conference
Shanghai, China, June 5–10, 2022
Copyright © 2022 by the International Society of Offshore and Polar Engineers (ISOPE)
ISBN 978-1-880653-81-4; ISSN 1098-6189

www.isope.org

A Study on A Simulation Method for Heave Compensation Set-up Based on ADRC Technology
Mingjie Li, Junliang Zhang, Wei Wang, Shida Liu
School of Energy and Mechanics, Dezhou University.
Dezhou City, Shandong Province, China

Mao YeWuchang shipbuilding industry Group Co.，ltd.
Wuhan City, Hubei Province, China

Shin, 2014; Kuchler S, 2011; Mingjie Li, 2013). Fig. 1 shows that themain body of the heave compensation system is a set of composite
hydraulic cylinders mounted on the steel wire rope between the winch
and the lifting point. The wave excitation signal is transmitted to thelifting point through the vessel, and the movement signal of the lifting
point is measured by MRU and serves as the input signal of the heavecompensation control system (Nam, 2012; Be, 2010). The elongation of
the hydraulic piston is the output signal of the control system, and thelength change of the hydraulic cylinder can compensate the heave of thewire rope (Weicai Quan, 2016; Mingjie Li, 2018;). Its application canextend the sea operation time, improve operation efficiency, and ensure
the safety of operation (J.K. Woodacre, 2015; W. P. Li, 2016).

ABSTRACTAs an essential tool for installing subsea structures, heave compensation
setup needs to be verified to make sure that the mechanical and control
system meets the requirements, and this procedure can only be realizedby simulations. However, because the mechanical structure and themechanical model are very complex, precise modeling is complicated.
A highly simplified mathematical model of the system can lead
unrealistic simulation results, while more detailed models will need morecomputation time and more effort on debugging. To mitigate theseproblems, this paper uses a semi-physical test and combined simulation
innovatively to validate the control effect for heave compensation setup
based on the active disturbance rejection control (ADRC) technology.

KEY WORDS: semi-physical test; co-simulation; ADRC; heavecompensation setup.

NOMENCLATUREADAMSADRCIPC
MRU

Automatic Dynamic Analysis of Mechanical Systems
Active Disturbance Rejection ControlIndustrial Personal Computer
Motion Reference Unit

INTRODUCTION
The amount of offshore oil resources accounts for about 34% of the total
global oil resources, and most of them are distributed in the deep-water
areas with a water depth of more than 300m (Zhu, 2017). Deepwater oil
and gas development relies on the support of subsea production
equipment such as subsea manifold. When installing underwaterequipment, the vessels are forced to do generalized heave movement(consists of the heave, pitch and roll). Due to the action of vessel heave,
sea water damping and elastic force of the steel wire rope, a coupled
dynamic response of underwater equipment mounted at the bottom of thewinch cable will be produced (Bo Woo Nam, 2013). The response lags
and the amplitude is much larger than the heave motion, which threatens
the safety of the operation. For safety purpose, deep water equipment
lowering system must be equipped with a heave compensator (SungilFig. 1 The working principle of heave compensation system
As an essential equipment in the underwater production system,compensator has been under extensive research in the United States,
Norway and other European countries since the 1960’s. In the earlystage, the products were mainly used in deep-sea mining and had few
applications in the installation and recycling of subsea equipment (Hans,2004; Jimmy, 2007). Fig. 2 shows heave compensator of the winch,

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