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Method and device for flexible riser vibration control
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A flexible riser, vibration control technology, applied in mechanical oscillation control, non-electric variable control, adaptive control and other directions, can solve problems such as complex system analysis
Active Publication Date: 2019-06-25
GUANGZHOU UNIVERSITY
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For marine flexible riser systems, mixed input nonlinearities complicate system analysis
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no. 1 example
[0094] see figure 1 A method for controlling the vibration of a flexible riser provided in this embodiment can be executed by a related server, and the following descriptions will take the server as an execution subject as an example.
[0095] The method for vibration control of a flexible riser at least includes the following steps S1-S4.
[0096] S1. Obtain the dynamic equations of the saturated nonlinear input and the dead zone nonlinear input, and construct the input saturation model of the marine flexible riser system.
[0097] In a specific embodiment,
[0098] Kinetic equation, for
[0099]
[0100] boundary conditions, for
[0101]
[0102] y(0,t)=y'(0,t)=y"(l,t)=0.
[0103] It should be noted that y(l, t), y′(l, t), y″’(l, t) are y(l, t-1), y′(l, t-1), y″'(l, t-1) and time t Calculated by backward difference.
[0104] Among them, z and t represent independent time and space variables, y(z, t) is the vibration displacement of the standpipe at z at time t,...
no. 2 example
[0147] see figure 2 . This embodiment also proposes a device for controlling the vibration of the flexible riser, which is characterized in that it includes:
[0148] The first modeling module 21 is used to obtain dynamic equations of saturated nonlinear input and dead zone nonlinear input, and construct an input saturation model of the marine flexible riser system;
[0149] The second modeling module 22 is used to introduce an auxiliary system and a disturbance upper bound adaptive law according to the input saturation model to obtain a control rate formula;
[0150] The actual parameter acquisition module 23 is used to acquire the actual parameters of the marine flexible riser system, and calculate the boundary control rate at any time in combination with the control rate formula;
[0151] The control module 24 is configured to control the driving device to apply force to the marine flexible riser according to the boundary control rate.
[0152] In a specific embodiment,...
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Abstract
The invention discloses a method and device for flexible riser vibration control. The method includes the following steps: the kinetic equation of saturation nonlinear input and dead zone nonlinear input is acquired, the input saturation model of a marine flexible riser system is constructed; an auxiliary system and a disturbance upper bound adaptive law are introduced according to the input saturation model, so that a control rate formula is obtained; the actual parameters of the marine flexible riser system are obtained, with the control rate formula used in combination, a boundary control rate at any time point is calculated; and a driving device is controlled according to the boundary control rate to apply an acting force to the marine flexible riser. With the method and device of theinvention adopted, the influence of mixed nonlinear input on the control performance of the marine flexible riser system can be eliminated; and the control precision and sensitivity of vibration suppression are improved, so that the stability of the system can be improved.
Description
technical field [0001] The invention relates to the technical field of automatic control, in particular to a method and device for vibration control of a flexible riser. Background technique [0002] As energy demand decreases, oil and gas extraction tends to go to deep water. As an important part of offshore oil transmission, offshore flexible risers play a vital role in ocean development. For the large span of the marine flexible riser, under the influence of the harsh marine environment, the marine flexible riser will produce deformation and vibration. Excessive vibration will seriously affect the performance of the marine flexible riser system, reduce its service life, and may even cause serious economic losses and environmental pollution due to its damage. Therefore, structural vibration control in ocean development is an important and unavoidable problem. Boundary control is used as a practical approach to vibration control of flexible riser systems, which avoids th...
Claims
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