基于内流动力学的海洋输油柔性立管鲁棒边界控制-控制理论与应用.pdf

29 6 Vol. 29 No. 6 2012 6 Control Theory Applications Jun. 2012 :2012 , , , (, 510641; , 510641) : , . , , . , Lyapunov , , , . . : ; ; ; ; : TP273 : A Robust boundary control for flexible fluid-transporting marine riser based on internal fluid dynamics GAO Hong-xia, ZHAO Zhi-jia, WU Xin-sheng, LIU Yu (Engineering Research Center for Precision Electronic Manufacturing Equipment of Ministry of Education, South China University of Technology, Guangzhou Guangdong 510641, China; College of Automation Science and Technology, South China University of Technology, Guangzhou Guangdong 510641, China) Abstract: The vibrations caused by random ocean currents will make fatigue fractures for the flexible marine risers. Boundary control can lower the risk of fatigue fracture by reducing vibration displacements of the riser. By introducing internal fluid dynamics to the original infinite dimensional parameter distribution equation (PDEs), we develop an improved model for describing the dynamic behavior of risers, laying groundwork to suppress the marine riser vibration excited by internal and external fluids. The closed-looped stability and the uniform boundedness of states are proved based on Lyapunov direct method. The robust boundary controller for reducing the vibrations of flexible risers is developed, in which the sign function is employed to eliminate the influence of the uncertain environmental disturbances to the controller. Simulation results show that the proposed boundary controller effectively reduces the vibration displacements of the flexible risers. Key words: marine risers; robust control; boundary control; int