Ship Heave Compensation Based on PID-DDPG Hybrid Control

The fluctuation of the ocean leads to serious ship motion of heave, threatening the safety and accuracy of offshore fan installation. Therefore, a PID-DDPG hybrid control method is proposed to improve the heave compensation efficiency. Firstly, the heave compensation platform is mathematically analyzed and modeled, which is composed of a servo motor and electric cylinder. Secondly, a hybrid control method combining PID and DDPG is designed to control the heave compensation platform. Finally, the hybrid control method is verified by simulation of an engineering ship in level 3–6 sea conditions. The simulation results show that the proposed hybrid control method has the highest compensation efficiency compared with PID and DDPG under different sea conditions.