| 针对执行器非光滑反向间隙-饱和的柔性立管边界控制 |
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| 引用本文： | 赵志甲,任志刚.针对执行器非光滑反向间隙-饱和的柔性立管边界控制[J].自动化学报,2019,45(11):2050-2057. |
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| 作者姓名： | 赵志甲 任志刚 |
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| 作者单位： | 1.广州大学机械与电气工程学院 广州 510006;;2.广东工业大学自动化学院 广州 510006;;3.广东省离散制造知识自动化工程技术研究中心 广州 510006 |
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| 基金项目： | 国家自然科学基金61703114广东省教育厅创新强校项目2017KZDXM060广东省教育厅创新强校项目2017KQNCX153国家自然科学基金61803109广州市科技计划项目201904010494广东省教育厅创新强校项目2018KQNCX192广州市科技计划项目201904010475 |
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| 摘 要： | 研究了针对执行器非光滑反向间隙-饱和约束特性的深海柔性立管系统振动控制和全局稳定问题.为了实现控制效果和品质，引入辅助系统和函数设计边界控制策略，以抑制立管系统振动并消除混合的反向间隙-饱和输入非线性影响.采用严格的分析且无需求助于模型降阶，所研发的控制器确保闭环系统在Lyapunov意义下的一致有界稳定性.通过选取恰当的设计参数，仿真结果验证了所设计控制器的控制性能.能.
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| 关 键 词： | 柔性立管 振动控制 边界控制 输入反向间隙 输入饱和 |
| 收稿时间： | 2019-03-04 |
Boundary Control of a Flexible Marine Riser Subject to Nonsmooth Actuator Backlash-Saturation Constraints |
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| ZHAO Zhi-Jia,REN Zhi-Gang.Boundary Control of a Flexible Marine Riser Subject to Nonsmooth Actuator Backlash-Saturation Constraints[J].Acta Automatica Sinica,2019,45(11):2050-2057. |
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| Authors: | ZHAO Zhi-Jia REN Zhi-Gang |
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| Affiliation: | 1. School of Mechanical and Electrical Engineering, Guangzhou University, Guangzhou 510006;;2. School of Automation, Guangdong University of Technology, Guangzhou 510006;;3. Guangdong Discrete Manufacturing Knowledge Automation Engineering Technology Research Center, Guangzhou 510006 |
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| Abstract: | This paper investigates the vibration control and global stabilization of a flexible riser system with non-smooth actuator input backlash-saturation constraints. The auxiliary system and the auxiliary function are introduced to develop a boundary control to suppress the vibration and eliminate the input nonlinearities effects for the riser system, further to improve the control performance. The uniformly bounded stability of the controlled riser system is ensured through a rigorous Lyapunov analysis without any model reduction. By choosing the proper control parameters, the obtained simulation results verify the control performance of the derived control. |
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| Keywords: | Flexible risers vibration control boundary control input backlash input saturationRecommended by Associate Editor YAO Peng-Fei > |
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