Boundary iterative control method of marine flexible vertical pipe system based on backstepping technology

A flexible riser, iterative control technology, applied in the direction of adaptive control, general control system, control/regulation system, etc., can solve the problems of high control difficulty, control cost, increased calculation amount and control difficulty, etc.

Active Publication Date: 2019-12-24
SOUTH CHINA UNIV OF TECH +1
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  • Description
  • Claims
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Problems solved by technology

However, when reducing the impact of external disturbances, the usual method is to design a symbolic function in the boundary control, or disturb the observer, but these methods will in

Method used

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  • Boundary iterative control method of marine flexible vertical pipe system based on backstepping technology
  • Boundary iterative control method of marine flexible vertical pipe system based on backstepping technology
  • Boundary iterative control method of marine flexible vertical pipe system based on backstepping technology

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Embodiment

[0075] figure 1 It is a flow chart of the boundary iterative control method for suppressing the vibration of the marine flexible riser system based on the backstepping technology disclosed in this embodiment.

[0076] In this example, if figure 1 As shown, the boundary iterative control method for suppressing the vibration of the marine flexible riser system based on the backstepping technology disclosed by the present invention includes the following steps:

[0077] S1. Construct the boundary control part of the boundary iteration controller of the marine flexible riser system based on the backstepping method, which specifically includes the following steps:

[0078] S1.1. Obtain the dynamic characteristics of the marine flexible riser system, and according to the dynamic characteristics, use the Hamiltonian principle to construct a mathematical model of the marine flexible riser system;

[0079] In this example, please refer to figure 2 , figure 2 It is a schematic dia...

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Abstract

The invention discloses a boundary iterative control method of a marine flexible vertical pipe system based on the backstepping technology. The boundary iterative control method comprises the steps of: obtaining dynamic characteristics of the marine flexible vertical pipe system, and constructing a mathematical model of the marine flexible vertical pipe system according to the dynamic characteristics; constructing a boundary control method according to the mathematical model by using a backstepping method; designing a positive definite function, and discretizing the positive definite functionto obtain an iterative term in a discrete domain; designing a Lyapunov function, and converting the iterative term in the discrete domain into an iterative term in a continuous time domain; and combining the boundary control method with the iterative term in the continuous time domain to obtain a boundary iterative control method for suppressing the vibration of the marine flexible vertical pipe system. By adopting the boundary iterative control method disclosed by the invention, more accurate and stable tracking and control of a marine flexible vertical pipe can be realized, and the influenceof of external periodic disturbance on the system can be further inhibited by adding the iterative term.

Description

technical field [0001] The invention relates to the technical field of automatic control, in particular to a boundary iteration control method of a marine flexible riser system based on backstepping technology. Background technique [0002] With the continuous development of offshore oil and gas exploration, flexible risers, as the most important connection structure between offshore platforms and subsea wellheads, have received unprecedented attention. However, the distributed disturbances in the offshore environment and the periodic disturbances of ocean currents will cause the flexible riser to vibrate unavoidably, which will lead to premature fatigue of the riser, affect the efficiency of oil delivery, and more seriously will cause the system to be paralyzed. [0003] Among the existing solutions to the vibration problem of marine flexible risers, boundary control is recognized as an effective control method. However, when reducing the impact of external disturbances, t...

Claims

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Application Information

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IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 刘屿张琼瑶邬依林
Owner SOUTH CHINA UNIV OF TECH
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