Boundary robust adaptive control method and device for marine flexible riser

A robust self-adaptive, flexible riser technology, applied in the direction of self-adaptive control, general control system, control/regulation system, etc., can solve the problems of system performance deterioration and affecting the control performance of flexible riser

Inactive Publication Date: 2019-05-31
GUANGZHOU UNIVERSITY
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

In fact, these non-smooth saturated nonlinear characteristics will bring some negative effects to the system and lead to the deterioration of system performance, but these factors ...

Method used

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  • Boundary robust adaptive control method and device for marine flexible riser
  • Boundary robust adaptive control method and device for marine flexible riser
  • Boundary robust adaptive control method and device for marine flexible riser

Examples

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no. 1 example

[0096] see figure 1 , a boundary robust adaptive control method for marine flexible risers provided in this embodiment can be executed by a relevant server, and the following descriptions will take the server as an execution subject as an example.

[0097] The boundary robust adaptive control method for marine flexible risers includes at least the following steps S1-S5.

[0098] S1. Determine the boundary control input according to the set dynamic equation and system boundary conditions.

[0099] In a specific embodiment, the kinetic equation is

[0100]

[0101] boundary conditions, for

[0102]

[0103] x(0,t)=x'(0,t)=x"(l,t)=0.

[0104] where z and t represent independent space and time variables, x(z, t) is the vibration displacement of the riser at z at time t, l, ρ, T, EI, and c are the length and mass per unit length of the riser, respectively , tension, bending stiffness, damping coefficient, m, d a are the mass and damping coefficient of the ship, d(t) is t...

no. 2 example

[0151] see figure 2 . This embodiment also proposes a device for boundary robust adaptive control of marine flexible risers, including: a dynamic equation setting module 21, which is used to determine the boundary control according to the set dynamic equation and system boundary conditions Input; Auxiliary system construction module 22 is used to construct an auxiliary system to eliminate the saturation effect brought by the boundary control input; Control law design module 23 is used to design a boundary robust adaptive control law according to the auxiliary system to compensate the system The uncertainty of the disturbance; the actual parameter acquisition module 24 is used to acquire the actual parameters of the system, and calculates the boundary control law at any moment through the control law formula; the control module 25 controls the driving device to The marine flexible riser system exerts force.

[0152] In a specific embodiment, the dynamic equation setting modu...

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Abstract

The invention discloses a boundary robust adaptive control method and device for a marine flexible riser. The method includes the steps of: determining boundary control input according to a set dynamic equation and a system boundary condition; constructing an auxiliary system for eliminating a saturation effect caused by the boundary control input; designing a boundary robust adaptive control lawaccording to the auxiliary system for compensation of the uncertainty of the disturbance of the system; controlling actual parameters of the system, and according to the control law formula, calculating a boundary control law at any moment; and according to the boundary control law, controlling a drive device to apply an action force to a marine flexible riser system. The boundary robust adaptivecontrol method and device for the marine flexible riser can actively eliminate the influence of the saturation linear input on the control performance of the marine flexible riser system and can compensate the uncertainty of the system so as to improve the stability of the system.

Description

technical field [0001] The invention relates to the technical field of automatic control, in particular to a boundary robust adaptive control method and device for marine flexible risers. Background technique [0002] With the development of energy resources to the deep water field, the role of marine flexible risers in the transportation of petroleum products and natural gas has become very important. However, in the harsh marine environment, such as ocean currents, wind and waves, etc., the flexible riser will deform and vibrate due to its flexible characteristics, which will affect the normal production performance of the flexible riser, cause premature fatigue problems, and even cause serious damage to the flexible riser. damage, causing oil spills and other problems. Crude oil spills require expensive maintenance, and once the flexible riser is damaged, it will bring huge losses to the production process and the environment. In order to suppress the vibration of flexi...

Claims

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Application Information

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IPC IPC(8): G05B13/04
Inventor 赵志甲廖晓晴周丹婷张佳宁
Owner GUANGZHOU UNIVERSITY
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