Hydropneumatic Passive Heave Compensator (PHC) for offshore drilling may exhibit undesirable effects due to nonlinearities of the friction seal, causing the so called Compensator-Induced Vibration (CIV) phenomenon, which induces longitudinal oscillations of frequencies higher than the heave motion. In this paper, a control system is proposed to attenuate the heave motion and to mitigate the CIV and compared to common practice, such as a linear feedforward controller. The proposed control is composed of a nonlinear feedforward to mitigate the nonlinear seal friction of PHC and a feedback CRONE (French acronym for fractional order robust control) controller to address the CIV. The CRONE control is designed based on a reduced order model of the drill sting and the linearized model of the PHC. This control drastically reduces the CIV and the transmission of heave motion, highlighting the limitation of the linear feedforward. Furthermore, it is shown that the proposed control strategy can satisfactory attenuate the heave motion (by 95%) and the CIV phenomenon (by 88%), despite noisy measurements by the inclusion of a Kalman and a Butterworth filters.

由于摩擦密封件的非线性，用于海上钻井的液压气动被动升沉补偿器（PHC）可能会出现不良影响，从而引起所谓的补偿器诱发振动（CIV）现象，该现象会引起比起伏运动更高的纵向振动。在本文中，提出了一种控制系统来减弱升沉运动并减轻CIV，并与通常的做法进行比较，例如线性前馈控制器。所提出的控制由减轻PHC的非线性密封摩擦的非线性前馈和用于解决CIV的反馈CRONE（分数阶鲁棒控制的法语缩写）控制器组成。基于钻头的降阶模型和PHC的线性化模型来设计CRONE控件。这种控制大大降低了CIV和升沉运动的传递，突出了线性前馈的局限性。此外，结果表明，尽管通过包含卡尔曼滤波器和巴特沃思滤波器进行了嘈杂的测量，但所提出的控制策略仍可以令人满意地减弱升沉运动（95％）和CIV现象（88％）。