Dynamic simulation and adaptive heave compensation control of a wave-compensated gangway under random wave excitation

For high-precision position control of wave-compensated gangways under random wave excitation, the kinematic model is established based on the Denavit–Hartenberg parametric method. Desired motion parameters for each degree of freedom (DOF) are solved through multi-DOF motion decoupling calculations. The telescopic arm, pitching arm, and slewing seat are simplified as mechanical-hydraulic motor-driven systems or cylinder-driven systems. The nonlinear dynamic models for each system are deduced based on their structural composition and adaptive motion controllers are designed with the desired motion parameters as control targets. The gangway base's heave motion under random wave excitation is reconstructed and the electromechanical-hydraulic coupling dynamic model of the wave-compensated gangway under random wave excitation is coupled. Comparative testing with the traditional Proportional-Integral-Derivative control method shows that the displacement stabilization accuracy of the telescopic arm's tip in the x-axis and y-axis directions under the condition of scale 4 wave improved by 93.05% and 97.38%, respectively. This research provides a technical reference and reliable approach for dynamic analysis and high-precision control of wave-compensated gangways.