Control method of main controller and heave compensation system applying main controller

The invention relates to a control method of a main controller. The method comprises the steps: obtaining the movement speed v, load displacement y and load expected displacement yi of a target operation platform, and obtaining a working pressure signal p2 of a secondary motor; according to the movement speed v, the load displacement y and the load expected displacement yi, calculating the flow q of a drive motor based on a compound control strategy combining disturbance feedforward control and feedback control; according to the flow q of the drive motor and the working pressure signal P2 of the secondary motor, calculating the expected flow q1 of a hydraulic transformer and the expected flow q2 of a direct-driven pump source; and controlling corresponding flow distribution according to the expected flow q1 of the hydraulic transformer and the expected flow q2 of the direct-drive pump source. Coordinated work of the direct-drive pump source and the hydraulic transformer can be achieved, and flow distribution