海洋平台振动系统的时滞依赖滑模H_∞控制方法
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摘要
针对钢结构海洋平台系统的非线性时滞模型,基于积分滑模H∞控制方法研究海洋平台减振系统的主动减振控制问题.首先,给出了考虑海洋平台系统的非建模动态及控制时滞的非线性时滞简化模型.其次,给出了海洋平台减振系统的时滞依赖积分滑模H∞控制方法,得到了系统时滞依赖积分滑模H∞控制器存在的一个充分条件,控制器增益可通过数值求解非线性最小化问题得到.最后,针对海洋平台简化模型,验证了时滞依赖积分滑模H∞控制方法的有效性.仿真结果表明,采用时滞依赖积分滑模H∞控制方法能有效补偿系统非建模动态和控制时滞对系统性能的影响,显著减小海洋平台的位移和加速度响应幅值,提高系统的安全性和可靠性.
We study the integral sliding mode H∞damping control problem for a vibration system of offshore steel jacket platforms subject to wave force. By considering the unmodeled dynamics and control delay,we first establish a nonlinear time-delay system of the simplified offshore platform. Then,we propose a delay-dependent integral sliding mode control scheme and present a sufficient condition of the existence of the delay-independent integral sliding mode H∞controller. The controller gain can be obtained by solving a nonlinear minimization problem numerically. Finally,based on a simplified offshore platform system,we demonstrate the effectiveness of the delay-independent integral sliding mode H∞control scheme. The simulation results show that the delay-dependent integral sliding mode H∞controller can compensate for the effects of the unmodeled dynamics and control delays on the system,reduce the oscillation amplitudes of the displacement and acceleration of the offshore platform significantly,and improve the safety and reliability of the system.
We study the integral sliding mode H∞damping control problem for a vibration system of offshore steel jacket platforms subject to wave force. By considering the unmodeled dynamics and control delay,we first establish a nonlinear time-delay system of the simplified offshore platform. Then,we propose a delay-dependent integral sliding mode control scheme and present a sufficient condition of the existence of the delay-independent integral sliding mode H∞controller. The controller gain can be obtained by solving a nonlinear minimization problem numerically. Finally,based on a simplified offshore platform system,we demonstrate the effectiveness of the delay-independent integral sliding mode H∞control scheme. The simulation results show that the delay-dependent integral sliding mode H∞controller can compensate for the effects of the unmodeled dynamics and control delays on the system,reduce the oscillation amplitudes of the displacement and acceleration of the offshore platform significantly,and improve the safety and reliability of the system.
引文
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[2]Terro M J,Mahmoud M S,Abdel-Rohman M.Multi-loop feedback control of offshore steel jacket platforms[J].Computers&Structures,1999,70(2):185-202.
[3]嵇春艳,李华军.随机波浪作用下海洋平台主动控制的时滞补偿研究[J].海洋工程,2004,22(4):95-101.Ji C Y,Li H J.Studies on time delay compensation for active control of offshore platforms under stochastic wave loading[J].Ocean Engineering,2004,22(4):95-101.
[4]张文首,林家浩,于骁.海洋平台地震响应的LQG控制[J].动力学与控制学报,2003,1(1):47-52.Zhang W S,Lin J H,Yu X.Seismic response of offshore platform with linear quadratic Gaussion controllers[J].Journal of Dynamics and Control,2003,1(1):47-52.
[5]张文首,张力,岳前进.海洋平台地震响应的H∞控制[J].计算力学学报,2009,26(5):633-637.Zhang W S,Zhang L,Yue Q J.Seismic response of offshore platform with H∞controllers[J].Chinese Journal of Computational Mechanics,2009,26(5):633-637.
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[8]欧进萍,王刚,田石柱.海洋平台结构振动的AMD主动控制试验研究[J].高技术通讯,2002(10):85-90.Ou J P,Wang G,Tian S Z.Experimental research on AMD control of structural vibration of offshore platform[J].High Technology Letters,2002(10):85-90.
[9]周亚军,赵德有.海洋平台结构振动控制综述[J].振动与冲击,2004,23(4):40-43.Zhou Y J,Zhao D Y.Review on structural control for offshore platforms[J].Journal of Vibration and Shock,2004,23(4):40-43.
[10]刘松,蔡国平,董兴建.海洋平台的时域低阶建模与主动控制研究[J].力学学报,2011,43(4):737-745.Liu S,Cai G P,Dong X J.Time-domain dynamic modeling and active control of offshore platform[J].Chinese Journal of Theoretical and Applied Mechanics,2011,43(4):737-745.
[11]Luo M,Zhu W Q.Nonlinear stochastic optimal control of offshore platforms under wave loading[J].Journal of Sound and Vibration,2006,296(4):734-745.
[12]崔洪宇,洪明,周平.导管架式海洋平台自适应预测逆控制研究[J].船舶力学,2011,15(5):545-555.Cui H Y,Hong M,Zhou P.Adaptive predictive inverse control for offshore jacket platform[J].Journal of Ship Mechanics,2011,15(5):545-555.
[13]李宁,王树青.基于状态反馈的海洋平台TMD振动控制技术研究[J].中国海洋平台,2011,26(5):27-32.Li N,Wang S Q.The study on vibration control of offshore platform with TMD based on states feedback[J].China Offshore Platform,2011,26(5):27-32.
[14]Zhou Y J,Zhao D Y.Fuzzy control of structural vibration for offshore platforms[J].Journal of Ship Mechanics,2004,8(3):116-123.
[15]崔洪宇,赵德有.一种新的灰神经网络及其在海洋平台振动控制中应用[J].大连理工大学学报,2010,50(5):692-698.Cui H Y,Zhao D Y.A new grey neural network and its application to vibration control of offshore platform[J].Journal of Dalian University of Technology,2010,50(5):692-698.
[16]Cui H Y,Hong M,Zhao D Y.Adaptive inverse control of offshore jacket platform based on grey prediction and rough neural network[J].Journal of Ship Mechanics,2010,14(9):1008-1019.
[17]崔洪宇,赵德有.基于支持向量机的导管架式海洋平台振动主动控制研究[J].振动与冲击,2008,27(10):156-160.Cui H Y,Zhao D Y.Active vibration control of offshore platforms using support vector machine[J].Journal of Vibration and Shock,2008,27(10):156-160.
[18]Zribi M,ALmutairi N,Abdel-Rohman M,et al.Nonlinear and robust control schemes for offshore steel jacket platform[J].Nonlinear Dynamics,2004,35(1):61-80.
[19]Zhang X M,Han Q L,Han D.Effects of small time-delays on dynamic output feedback control of offshore steel jacket structures[J].Journal of Sound and Vibration,2011,330(16):3883-3900.
[20]Zhang B L,Han Q L,Zhang X M,et al.Integral sliding mode control for offshore steel jacket platforms[J].Journal of Sound and Vibration,2012,331(14):3271-3285.
[21]Zhang B L,Ma L,Han Q L.Sliding mode H∞control for offshore steel jacket platforms subject to nonlinear self-excited wave force and external disturbance[J].Nonlinear Analysis:Real World Applications,2013,14(1):163-178.
[22]Zhang B L,Hu Y H,Tang G Y.Stabilization control for offshore steel jacket platforms with actuator time-delays[J].Nonlinear Dynamics,2012,70(2):1593-1603.
[23]Li H J,Hu S,Jakubiak C.H2active vibration control for offshore platform subjected to wave loading[J].Journal of Sound and Vibration,2003,263(4):709-724.
[24]Wang W,Tang G Y.Feedback and feedforward optimal control for offshore jacket platforms[J].China Ocean Engineering,2004,18(4):515-526.
[25]Ma H,Tang G Y,Hu W.Feedforward and feedback optimal control with memory for offshore platforms under irregular wave forces[J].Journal of Sound and Vibration,2009,328(4):369-381.
[26]逄海萍,唐功友,孙慧影.一类时滞不确定系统的最优滑模设计[J].信息与控制,2009,38(1):87-92.Pang H P,Tang G Y,Sun H Y.Optimal sliding mode design for a class of uncertain systems with time-delay[J].Information and Control,2009,38(1):87-92.
[27]贾廷纲,牛玉刚,夏康.不确定输入时滞系统的滑模输出反馈控制[J].信息与控制,2011,40(6):809-813.Jia T G,Niu Y G,Xia K.Output feedback control for time-delay systems with uncertain input based on sliding mode[J].Information and Control,2011,40(6):809-813.
[2]Terro M J,Mahmoud M S,Abdel-Rohman M.Multi-loop feedback control of offshore steel jacket platforms[J].Computers&Structures,1999,70(2):185-202.
[3]嵇春艳,李华军.随机波浪作用下海洋平台主动控制的时滞补偿研究[J].海洋工程,2004,22(4):95-101.Ji C Y,Li H J.Studies on time delay compensation for active control of offshore platforms under stochastic wave loading[J].Ocean Engineering,2004,22(4):95-101.
[4]张文首,林家浩,于骁.海洋平台地震响应的LQG控制[J].动力学与控制学报,2003,1(1):47-52.Zhang W S,Lin J H,Yu X.Seismic response of offshore platform with linear quadratic Gaussion controllers[J].Journal of Dynamics and Control,2003,1(1):47-52.
[5]张文首,张力,岳前进.海洋平台地震响应的H∞控制[J].计算力学学报,2009,26(5):633-637.Zhang W S,Zhang L,Yue Q J.Seismic response of offshore platform with H∞controllers[J].Chinese Journal of Computational Mechanics,2009,26(5):633-637.
[6]张纪刚,吴斌,欧进萍.海洋平台冰振控制试验研究[J].东南大学学报:自然科学版,2005,35(S1):31-34.Zhang J G,Wu B,Ou J P.Experimental research on ice-induced vibration control of an offshore platform[J].Journal of Southeast University:Natural Science Edition,2005,35(S1):31-34.
[7]李化凤,吴志刚,岳前进.海冰撞击下平台减振的预测控制方法[J].中国海洋平台,2008,23(3):28-32.Li H F,Wu Z G,Yue Q J.Predictive control for offshore platforms under ice force excitation[J].China Offshore Platform,2008,23(3):28-32.
[8]欧进萍,王刚,田石柱.海洋平台结构振动的AMD主动控制试验研究[J].高技术通讯,2002(10):85-90.Ou J P,Wang G,Tian S Z.Experimental research on AMD control of structural vibration of offshore platform[J].High Technology Letters,2002(10):85-90.
[9]周亚军,赵德有.海洋平台结构振动控制综述[J].振动与冲击,2004,23(4):40-43.Zhou Y J,Zhao D Y.Review on structural control for offshore platforms[J].Journal of Vibration and Shock,2004,23(4):40-43.
[10]刘松,蔡国平,董兴建.海洋平台的时域低阶建模与主动控制研究[J].力学学报,2011,43(4):737-745.Liu S,Cai G P,Dong X J.Time-domain dynamic modeling and active control of offshore platform[J].Chinese Journal of Theoretical and Applied Mechanics,2011,43(4):737-745.
[11]Luo M,Zhu W Q.Nonlinear stochastic optimal control of offshore platforms under wave loading[J].Journal of Sound and Vibration,2006,296(4):734-745.
[12]崔洪宇,洪明,周平.导管架式海洋平台自适应预测逆控制研究[J].船舶力学,2011,15(5):545-555.Cui H Y,Hong M,Zhou P.Adaptive predictive inverse control for offshore jacket platform[J].Journal of Ship Mechanics,2011,15(5):545-555.
[13]李宁,王树青.基于状态反馈的海洋平台TMD振动控制技术研究[J].中国海洋平台,2011,26(5):27-32.Li N,Wang S Q.The study on vibration control of offshore platform with TMD based on states feedback[J].China Offshore Platform,2011,26(5):27-32.
[14]Zhou Y J,Zhao D Y.Fuzzy control of structural vibration for offshore platforms[J].Journal of Ship Mechanics,2004,8(3):116-123.
[15]崔洪宇,赵德有.一种新的灰神经网络及其在海洋平台振动控制中应用[J].大连理工大学学报,2010,50(5):692-698.Cui H Y,Zhao D Y.A new grey neural network and its application to vibration control of offshore platform[J].Journal of Dalian University of Technology,2010,50(5):692-698.
[16]Cui H Y,Hong M,Zhao D Y.Adaptive inverse control of offshore jacket platform based on grey prediction and rough neural network[J].Journal of Ship Mechanics,2010,14(9):1008-1019.
[17]崔洪宇,赵德有.基于支持向量机的导管架式海洋平台振动主动控制研究[J].振动与冲击,2008,27(10):156-160.Cui H Y,Zhao D Y.Active vibration control of offshore platforms using support vector machine[J].Journal of Vibration and Shock,2008,27(10):156-160.
[18]Zribi M,ALmutairi N,Abdel-Rohman M,et al.Nonlinear and robust control schemes for offshore steel jacket platform[J].Nonlinear Dynamics,2004,35(1):61-80.
[19]Zhang X M,Han Q L,Han D.Effects of small time-delays on dynamic output feedback control of offshore steel jacket structures[J].Journal of Sound and Vibration,2011,330(16):3883-3900.
[20]Zhang B L,Han Q L,Zhang X M,et al.Integral sliding mode control for offshore steel jacket platforms[J].Journal of Sound and Vibration,2012,331(14):3271-3285.
[21]Zhang B L,Ma L,Han Q L.Sliding mode H∞control for offshore steel jacket platforms subject to nonlinear self-excited wave force and external disturbance[J].Nonlinear Analysis:Real World Applications,2013,14(1):163-178.
[22]Zhang B L,Hu Y H,Tang G Y.Stabilization control for offshore steel jacket platforms with actuator time-delays[J].Nonlinear Dynamics,2012,70(2):1593-1603.
[23]Li H J,Hu S,Jakubiak C.H2active vibration control for offshore platform subjected to wave loading[J].Journal of Sound and Vibration,2003,263(4):709-724.
[24]Wang W,Tang G Y.Feedback and feedforward optimal control for offshore jacket platforms[J].China Ocean Engineering,2004,18(4):515-526.
[25]Ma H,Tang G Y,Hu W.Feedforward and feedback optimal control with memory for offshore platforms under irregular wave forces[J].Journal of Sound and Vibration,2009,328(4):369-381.
[26]逄海萍,唐功友,孙慧影.一类时滞不确定系统的最优滑模设计[J].信息与控制,2009,38(1):87-92.Pang H P,Tang G Y,Sun H Y.Optimal sliding mode design for a class of uncertain systems with time-delay[J].Information and Control,2009,38(1):87-92.
[27]贾廷纲,牛玉刚,夏康.不确定输入时滞系统的滑模输出反馈控制[J].信息与控制,2011,40(6):809-813.Jia T G,Niu Y G,Xia K.Output feedback control for time-delay systems with uncertain input based on sliding mode[J].Information and Control,2011,40(6):809-813.
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