Research on wave active compensation control method based on control time delay

The development of offshore wind power can replace the traditional polluting and inefficient power generation methods such as thermal power and hydropower, and effectively solve the problem of energy shortage in developed areas in eastern China. In order to maintain the safe operation of offshore wind towers, maintenance personnel need to perform maintenance and repairs on offshore wind power equipment. The offshore operation and maintenance ship is affected by the sea wind and waves, which causes the position and attitude of the operation and maintenance ship to change drastically. The operation and maintenance personnel are prone to accidents when they climb the tower, resulting in casualties. In order to ensure the safety of maintenance personnel, a nine-degree-of-freedom predictive control compensation platform based on Elman network structure is proposed. Reduce the time lag of the control system, improve the stability of the boarding compensation platform, and ensure the safety of maintenance personnel.