Development and Verification of Semi-physical In-loop Real-time Control Experimental Platform for Harsh Sea Condition Floating Body Salvage

As a fully actuated system, the harsh sea condition floating body salvage equipment has been widely used in marine engineering and has become an important guaranteed equipment for marine development. Most of the current wave compensation control strategies of the salvage equipment ignore characteristics such as nonlinearity and time-delay, and most of them are verified by numerical simulation, which cannot effectively prove the effectiveness of the proposed control strategy in the actual situation. In view of the above problems, this paper develops a semi-physical in-loop real-time control experimental platform for harsh sea condition floating body salvage. Specifically, a harsh sea condition floating body salvage test-bed based on a 6-degree-of-freedom wave simulation platform is built. In the MATLAB/Simulink environment, a rapid control prototype host computer including is built to realize real-time control of semi-physical in-loop. The experimental results show that the developed platform fully considers the nonlinearity and time-delay, which can be used to develop and verify the control algorithm of harsh sea condition floating body salvage equipment quickly and accurately.