Development of Automatic Installation Technology for Underwater Flexible Structures

本研究的目的是探讨利用主动控制系统实现水下柔性结构自动安装的可行性。对于水下柔性结构安装，由于结构动力学涉及不确定性和非线性问题，控制器设计应达到鲁棒性要求。本研究检验了H*控制器和鲁棒模型跟随自适应控制器的有效性。为了验证自动安装方法和确认控制算法，采用两种典型尺寸为1 m的中性浮力柔性模型，结合超声和推进器，成功进行了两种类型的盆试验。在第一种情况下，在不刺激弹性响应的情况下，将模型从盆地底部抬升到给定高度，然后使模型沿给定轨迹向目标保持高度并转向90度，最后在精度为（]SY.+- . [）3mm的范围内与盆地壁上的固定对接部件进行对接。在第二种情况下，将两个模型从盆地底部提升到给定高度，保持每个平面位置不刺激弹性响应，然后在浮动状态下跟踪每个给定轨迹相互对接，并在（]SY.+- . [）5mm的精度范围内进行统一模型跟踪轨迹并最终将固定瞄准头停靠在盆地壁上。

The purpose of this research is to examine the feasibility of automatic installation of underwater flexible strutures using active control system. For underwater installaion of flexible structure, the controller should be dsigned to achieve the robustness specifications because the dynamics of the structure involves the problems of uncertainty and nonlinearity.In this research, H*controller and robust model following adaptive controller are examined and proved to be effective.In order verify the automatic installation method and confirm the control algorithm, two types of basin experiments are successfully executed using two types of neutrally buoyant flexible models whose typical size is 1 m with ultrasound and thrusters. In the first case, the model is lifted from bottom of the basin to the given altiude not stimulating the elastic responses, then made to track the given trajectory toward the targets keeping its altitude and turning its heading 90 degrees, finally to dock with fixed docking parts on the basin wall within the accuracy of (]SY.+-。[)3mm. In the second case, two models are lifted from the basin bottom to the given altitude keeping each planar position not stimulating the elastic responses, then made to track each given trajectory to dock each other in floating condition, furthermore the united model is made to track the trajectory and finally dock the fixed tragets on the basin wall within the accuracy of (]SY.+-。[)5mm.