The heave motion of supporting ship affects the launching
and recovering of remotely operated vehicle(ROV).Active compensation control of hydraulic winch was used to improve the launching and recovering safety of ROV by reducing the heave speed of tether management system (TMS). The model of hydraulic winch was built and active heave compensation feedforward control was set up. Active heave compensation tests of ROV indicate that non-linearity of hydraulic winch decreases the efficiency of active heave compensation. Hydraulic winch active heave compensation predictive control was designed. Simulation test shows that hydraulic winch active compensation predictive control with parameters identification of hydraulic system improves the efficiency of heave compensation.