地震拖缆的复模态振动主动控制
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摘要
地震拖缆系统的振动是影响海上油气勘探数据采集效率的主要因素,为提高勘探作业效率,研究了地震拖缆系统的主动振动控制问题。地震拖缆系统的重阻尼特性使得实模态控制技术难以实施。在地震拖缆系统有限元模型的基础上,基于模态观测器,在独立复模态空间,通过选择合适的权重矩阵,对地震拖缆的低阶模态设计了稳定的最优控制规律。通过对带有四个水鸟的拖缆系统的主动控制仿真,证明基于复模态的地震拖缆最优控制策略,在最大程度上利用水鸟自带电池能量的基础上,有效地抑制拖缆系统的振动,既能减少悬挂式水鸟更换频率,又能提高数据采集的质量,进而提高勘探作业效率。
The vibration of seismic cables is the main Influencing factor in reduction of oil survey data acquisition efficiency.To improve the survey operation efficiency,this paper studies the active control of seismic cables.It is difficult to implement the real mode control techniques due to the heavy damping characteristic of seismic cables.A finite element model of the seismic cables is built.In independent complex mode space,based on mode observer,the optimal control law on low order modes is designed by choosing appropriate weight matrix.Numerical simulation is used to validate the efficiency of active complex mode control law.The result shows that the optimal control law suppresses efficiently the vibration of seismic cables on the basis of utilizing battery energy to the maximal degree.Thus the control law proposed in this paper not only reduces the replacing frequency of birds,but also improves the quality of data acquisition.
The vibration of seismic cables is the main Influencing factor in reduction of oil survey data acquisition efficiency.To improve the survey operation efficiency,this paper studies the active control of seismic cables.It is difficult to implement the real mode control techniques due to the heavy damping characteristic of seismic cables.A finite element model of the seismic cables is built.In independent complex mode space,based on mode observer,the optimal control law on low order modes is designed by choosing appropriate weight matrix.Numerical simulation is used to validate the efficiency of active complex mode control law.The result shows that the optimal control law suppresses efficiently the vibration of seismic cables on the basis of utilizing battery energy to the maximal degree.Thus the control law proposed in this paper not only reduces the replacing frequency of birds,but also improves the quality of data acquisition.
引文
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[2]Triantafyllou G S,Chryssostomidis C.The dynamics of towed arrays[J].ASME Journal of Offshore Mechanics and Arctic Engi-neering,1989:208-213.
[3]Pedersen E Sorensen.A modeling and control of towed marine seismic streamer cables[C]∥Proceedings of the IFAC Confer-ence on Systems and Control.2001.
[4]Svein Ersdal,A experimental study of hydrodynamic forces on cylinders and cables in near axial flow[D].Norway:NorwegianUniversity of Science and Technology,2004.
[5]Tu Duc Nguyen O.Egeland stabilization of towed cables[C]∥Proc.of the 43rd IEEE Conference on Decision and Control.2004.
[6]DUAN Lei,ZHANG Wei-jing.A new device for controlling the position of marine seismic streamer cables[C]//Proceedings ofthe ASME 2010 29th International Conference on Ocean,Offshore and Arctic Engineering.2010:111-118.
[7]ZHANG Xiao Qing,ZHANG Wei-jing,CHEN Jun.Experimental study on hydrodynamic characteristics of hydrofoil of the birdsembedded in marine seismic streamers[C]//Proceedings of the ASME 2010 29th International Conference on Ocean,Offshoreand Arctic Engineering.2010:105-110.
[8]刘涛,张维竞.基于LYPUNOV方法的信息拖缆水平振动的控制研究[J].上海交通大学学报,2010,44:1460-1464.
[9]LIU Tao,ZHANG Wei-jing,MA Jie.Adaptive vibration control of towed seismic cable[C]//ASME 2011 30th InternationalConference on Ocean,Offshore and Arctic Engineering(OMAE2011).2011:239-248.
[10]Meirovitch.Dynamics and Control of Structures[M].New York:John Wiley,Sons Inc,1992.
[11]LIN Y H,CHU C L.A new design for independent modal space control of general dynamic systems[J].Journal of Sound andVibration,1995,180:351-361.
[12]LIN Y H,HUANG R C,CHU C L.Optimal modal vibration suppression of a fluid-conveying pipe with a divergent mode[J].Journal of Sound and Vibration,2004,271:577-597.
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