海洋平台系统的前馈反馈最优跟踪控制方法研究

发布时间：2018-04-10 15:27

本文选题：海洋平台 + 跟踪　；参考：《中国计量学院》2014年硕士论文

【摘要】：本文研究了海洋平台主动减振系统在不规则波浪力作用下的前馈反馈最优跟踪控制方法,以及含记忆的前馈反馈最优跟踪控制方法,并进一步讨论了离散前馈反馈最优跟踪控制方法.具体内容如下：第一,研究了海洋平台主动减振系统在不规则波浪力作用下的前馈反馈最优跟踪控制方法.通过引入渐近稳定的期望系统,基于波浪力线性外系统近似模型,给出了海洋平台系统基于二次型性能指标泛函的前馈反馈最优跟踪控制器设计方法及其控制器的存在唯一性条件.控制器的前馈增益矩阵和反馈增益矩阵可分别经由求解代数Riccati方程和Sylvester方程得到.仿真算例表明了方法的有效性,且在减小平台的振动幅值和控制力方面,前馈反馈最优跟踪控制方法优于反馈最优跟踪控制方法. 第二,研究了海洋平台在不规则波浪力下含控制时滞的海洋平台系统前馈反馈最优跟踪控制方法.首先,通过引入状态变换,将含控制时滞的海洋平台系统转化为无时滞系统.其次,得到了含记忆的前馈反馈最优控制器存在的唯一性条件,控制器可以通过求解代数Riccati方程和Sylvester方程得到.通过仿真结果可知,本方法在抑制海洋平台的振动方面和控制力方面比前馈反馈最优控制方法更优. 第三,研究了海洋平台在不规则波浪力下的离散前馈反馈最优跟踪控制方法.离散前馈反馈最优跟踪控制方法的提出是为了减小波浪对海洋平台的振动影响.考虑到平台系统有延迟输入,提出了含记忆的海洋平台离散前馈反馈最优跟踪控制方法.控制器可以分别通过求解代数Riccati方程和Stein方程.通过仿真结果可知,本方法在抑制海洋平台的振动方面比传统的反馈最优跟踪控制方法更优.同时,本方法与前馈反馈最优控制方法相比需要更小的控制力.
[Abstract]:In this paper, the feedforward and feedback optimal tracking control method for active damping system of offshore platform under the action of irregular wave force and the feedforward feedback optimal tracking control method with memory are studied.The discrete feedforward feedback optimal tracking control method is further discussed.The details are as follows:First, the feedforward and feedback optimal tracking control method for active damping system of offshore platform under irregular wave force is studied.By introducing an asymptotically stable desired system, an approximate model of the wave force linear external system is proposed.The design method of feedforward feedback optimal tracking controller for offshore platform system based on quadratic performance index functional and the existence and uniqueness conditions of the controller are presented.The feedforward gain matrix and feedback gain matrix of the controller can be obtained by solving the algebraic Riccati equation and the Sylvester equation respectively.The simulation results show that the method is effective and the feedforward and feedback optimal tracking control method is superior to the feedback optimal tracking control method in reducing the vibration amplitude and control force of the platform.Secondly, the feedforward and feedback optimal tracking control method for offshore platform systems with control delay under irregular wave force is studied.Firstly, by introducing the state transformation, the offshore platform system with control delay is transformed into a delayless system.Secondly, the uniqueness condition for the existence of feedforward and feedback optimal controller with memory is obtained. The controller can be obtained by solving algebraic Riccati equation and Sylvester equation.The simulation results show that the proposed method is better than the feedforward and feedback optimal control method in suppressing the vibration and controlling force of the offshore platform.Thirdly, the discrete feedforward feedback optimal tracking control method for offshore platforms under irregular wave forces is studied.The discrete feedforward feedback optimal tracking control method is proposed to reduce the influence of waves on the vibration of offshore platforms.Considering that the platform system has delayed input, a discrete feedforward feedback optimal tracking control method for offshore platform with memory is proposed.The controller can solve the algebraic Riccati equation and Stein equation respectively.The simulation results show that the proposed method is better than the traditional feedback optimal tracking control method in suppressing the vibration of offshore platform.At the same time, this method needs less control force than the feedforward and feedback optimal control method.
【学位授予单位】：中国计量学院
【学位级别】：硕士
【学位授予年份】：2014
【分类号】：P752;TP273

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