Anti-saturation boundary control method and device for marine flexible riser system, storage medium and server

A flexible standpipe and boundary control technology, applied in the direction of adaptive control, general control system, control/regulation system, etc., can solve problems such as tremors, achieve high practicability, and avoid the effect of control overflow instability

Inactive Publication Date: 2018-04-20
GUANGZHOU UNIVERSITY
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Problems solved by technology

[0005] The purpose of the present invention is to overcome the deficiencies of the prior art, and propose an anti-saturation boundary control method and device, a storage medium, and a server for a marine

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  • Anti-saturation boundary control method and device for marine flexible riser system, storage medium and server
  • Anti-saturation boundary control method and device for marine flexible riser system, storage medium and server
  • Anti-saturation boundary control method and device for marine flexible riser system, storage medium and server

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Embodiment Construction

[0068] Specific embodiments of the present invention will be described below in conjunction with the accompanying drawings, so that those skilled in the art can better understand the present invention. It should be noted that in the following description, when detailed descriptions of known functions and designs may dilute the main content of the present invention, these descriptions will be omitted here.

[0069] figure 1 It is a schematic diagram of the flexible marine riser system model in the embodiment of the present invention. The XOY reference system is established, with the connection point o between the riser and the oil well as the origin, where s and t represent independent time and space variables, z(s, t) is the vibration displacement of the riser at s at time t, l, ρ, T, EI, and c are the length, mass per unit length, tension, bending stiffness, and damping coefficient of the riser, respectively, m, d a are the mass and damping coefficient of the ship, d(t) is ...

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Abstract

The invention discloses an anti-saturation boundary control method for a marine flexible riser system. Based on the Lyapunov theory and a back-stepping method, a smooth hyperbolic tangent function, anauxiliary system and a Nussbaum function are introduced to establish a boundary control rate of the marine flexible riser system. The control parameters in the boundary control rate are obtained through pre-training, and then the partial derivatives of the three parameters at the moment t are obtained through calculation of historical data according to the actually-measured shear force, inclination and displacement of the top of a riser, finally, the boundary control rate at the moment t is calculated based on the obtained actual parameters, and a driving device applies an acting force to thetop of the riser according to the boundary control rate. The invention further discloses an anti-saturation boundary control device for a marine flexible riser system, a storage medium and a server.The method and the device can solve the problem of tremor caused by using a sign function to limit the control input, can effectively control the vibration of the flexible riser, and are few in measurement parameters and easy to implement.

Description

technical field [0001] The invention belongs to the technical field of automatic control, and more specifically relates to an anti-saturation boundary control method and device, a storage medium, and a server of a marine flexible riser system. Background technique [0002] The marine flexible marine riser is used as the connection between the oil well and the oil drilling platform (such as figure 1 shown), it plays a vital role in offshore oil and gas development projects. However, in the harsh marine environment, the flexible marine riser is usually easily deformed and vibrated by external disturbances and influences, causing fatigue, which leads to the performance degradation of the riser system, or even damage, resulting in oil leakage and serious damage. environmental pollution. Therefore, the vibration suppression of flexible risers has considerable application value in the field of subsea oil exploration and control engineering. [0003] Theoretically speaking, the ...

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Application Information

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IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 赵志甲肖颖石钧马永浩彭凌西
Owner GUANGZHOU UNIVERSITY
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