Severe environment in deep ocean affects operating reliability and security of coring drill. Adopting heave
motion signal measured by accelerometer to confirm heave compensation of coring drill, the compensation control
method is proposed using disturbance observer to restrain the disturbance. Then, the disturbance observer is designed. The
heave motion simulation for coring drill is done with this control method, and the results show that the heave motion
compensation control of coring drill using disturbance observer avoids the disturbance with high tracking quality, and
provides high reliability and security to coring drill operating.