Marine rotary crane real-time trajectory planning method considering continuous sea wave disturbance

The invention discloses a marine rotary crane real-time trajectory planning method considering continuous sea wave disturbance. The method comprises the steps that a marine rotary crane mathematical model considering continuous sea wave disturbance is established, and the dynamic characteristics of the marine rotary crane mathematical model are analyzed; designing a disturbance observer according to the dynamic characteristics of the mathematical model of the marine rotary crane; selecting a reference trajectory, designing a swing angle suppression trajectory through a disturbance observer, and combining the reference trajectory and the swing angle suppression trajectory to form a composite trajectory; designing a PD controller based on the mathematical model of the marine rotary crane and the disturbance observer; the PD controller is used for outputting the real-time track of the marine rotary crane. According to the method, heave disturbance estimation is achieved, it is guaranteed that the error value is