Active control for installation of underwater structures
Active control for installation of underwater structures
复制标题
水下结构安装的主动控制
DOI：
10.1007/bf02492922
复制
发表时间：
1998
影响因子：
2.6
通讯作者：
Koichiro Yoshida
中科院分区：
文献类型：
--
作者：
Keisuke Watanabe;Hideyuki Suzuki;Koichiro Yoshida
深水开发的趋势要求一种新的海上结构物水下安装方法。目前使用起重船的方法在水深超过2000米的作业中存在一些缺陷。吊装结构与起重船耦合系统的自然周期变长，使其无法达到预期的定位精度。本文探讨了水下装置主动控制技术的应用，作为解决目前问题的一种方法。主动控制技术还具有处理结构灵活性的优点，使结构能够实现大而轻的目标。这种结构的灵活性带来了抑制弹性响应和保证控制系统稳定性的问题。本文针对结构灵活性不可忽视的情况，设计了h∞控制器与低权限控制/高权限控制（LAC/HAC）反馈控制器相结合的控制器。对于结构可以视为刚性的情况，研究了鲁棒模型跟随控制器。为了确认控制算法并验证主动控制安装方法的可能性，使用两种具有超声测距系统和推进器的中性浮力柔性模型进行了盆试验。
The trend towards deepwater development requires a new approach to underwater installation of offshore structures. The present method using crane vessels has some drawbacks in operations at more than 2000 m depth. The natural period of the coupled system of the rigged structure and the crane vessel becomes longer, so that it is no longer possible to manipulate the cranes to achieve the desired positioning accuracy. This paper examines the application of an active control technique for underwater installations as one of the solutions to the present problems. An active control technique also has the advantage that it can deal with the structural flexibility which allows the structure to be large and light-weight. This structural flexibility imposes problems of suppressing the elastic responses and securing the stability of the control system. In this paper, anH∞ controller combined with a low authority control/high authority control (LAC/HAC) feedback controller is designed for cases where structural flexibility cannot be ignored. A robust model-following controller is examined for cases where the structure can be treated as rigid. In order to confirm the control algorithm and verify the possibility of the active control installation method, basin tests are executed using two types of neutrally buoyant flexible models with ultrasound ranging systems and thrusters.