Stabilization Control of a System of Pipe-String for Mining Manganese nodules

日本开发深海海底矿产资源开采技术具有重要意义。为了开采这些资源，需要长的管柱将海面上的航行船与海底上的收集器或采矿器连接起来。拖船在风、浪、海流等的作用下会产生升沉运动，这种运动不仅会使悬挂在船上的管柱产生垂向和水平向的激振，而且会使管柱产生振动。因此，管柱的稳定控制是该技术发展的一个重要问题，本研究采用纵向控制振动的方法来抑制长管柱的横向振动。管柱由单、双、弹性三种不同的模型组成，通过同步带、两个滑轮和一个滑轮使其支点作直线垂直运动。通过仿真和实验，证明了模糊PID控制策略的有效性。研究结果表明，该方法可以有效地抑制管柱的横向振动。进一步，研究了垂直悬挂悬臂输流管道的振动主动控制。流致振动，即，本文介绍了一种利用两对腱和两个伺服电机产生的力矩来控制管柱颤振的方法，并利用气体射流作动器对单、双腱进行了振动控制，结果表明，腱和气体射流作动器同样可以用于管柱的振动控制。

It is of great importance for Japan to develop the technology mining mineral resources form deep sea bottoms. For mining these resources, a long pipe-string is needed to connect the fowing ship on the sea surface with the collector or miner on the sea floor. The towing ship may undergo a heaving motino due to the influences of winds, waves, sea currents and so on. This heaving motion of the ship may not only cause the pipe string suspended from the ship to excite vertically and horizontally the pipe string. Hence the stabilization control of the pipe string is an important problem for the technology development.In this stucy, the transverse vibration of a long pipe string was suppressed by means of the longtudinally controlled vibration. The pipe string was modelled by single, double and elastic pendulums, Their supporting points were moved vertically on a linear way by using a timing a belt, two pulleys and a servomotor. On the basic of the Fuzzy and PID control rules, the vibration was suppressed effectielyin the simulation and experiment. This result showed that this method can be supplied to the suppression of transverse vibration of the pipe string.Furthermore, the active vibration control of a cantilever pipe conveying fluid, which is hung vertically was studied. The flow-induced vibration, I.E., flutter of the pipe was controlled by the torque produced by two pairs of tendons attached to the pipe and two servomotors.The vibration control of single and double pendulums was carried out by means of gas jet actuator, too.These results showed that the tendon and gas jet actuators can be also applied to the vibration suppression of the pipe string.