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Aiming at the problem that the widely used heave compensation technology is difficult to balance the compensation effect and energy consumption, based on the secondary regulation technology, the fuzzy PID control method is selected to design a winch heave compensation system with energy recovery. Firstly, a mathematical model is established and analyze the energy-saving characteristics of the heave compensation system. Then, the swash plate controller and speed outer loop controller are designed, and the simulation is model with the AMESim-MATLAB co-simulation platform. Finally, the simulation results are tested by experiments. And the test result reflects that the compensation efficiency of the compensation is more than 90%, and part of the energy can be recovered. The controller has good control accuracy and stability. The compensation system can effectively compensate for the position deviation caused by waves, thus providing a safety guarantee for offshore operations.

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