In order to simplify the structure of the ocean drilling heave compensation system and reduce the energy consumption of active drawworks heave compensation system. a new type of semi-active drawworks heave compensation system was designed through structure design. system modeling and internal model PID robust displacement controller design. Then the feasibility of the system was verif... https://www.roneverhart.com/HP-27xq-27-2560-x-1440-Quad-HD-2K-1ms-144Hz-HDMI-DisplayPort-AMD-FreeSync-Low-Blue-Light-Anti-Glare-Micro-Edge-LED-Ba/