海洋钻柱运动补偿自适应模糊滑模控制的实现  

Implement of adaptive fuzzy sliding mode control for marine drillstring motion compensation systems

作　　者：廖辉[1] 吴百海[1] 肖体兵[1] 

机构地区：[1]广东工业大学机械电子工程学院,广东广州510090

出　　处：《华中科技大学学报（自然科学版）》2010年第7期122-125,共4页Journal of Huazhong University of Science and Technology(Natural Science Edition)

基　　金：国家自然科学基金资助项目(50575044);广东省自然科学基金资助项目(06300273)

摘　　要：针对具有参数不确定性的海洋钻柱运动补偿系统,根据滑模控制原理并利用模糊系统的逼近能力,提出了一种自适应模糊滑模控制方案.由于海洋钻柱运动补偿过程中钻柱船的运动难以确定,在控制结构中采用模糊策略去逼近实际的输入值,设计了合理的切换函数,并利用李雅普诺夫函数实现了闭环系统的稳定性和跟踪误差的收敛性,仿真和实验结果证明了所提出的控制策略的有效性.Being seriously affected by marine environment,motion compensation is very necessary to drillstring when operating in the offshore,the main idea is to set up a motion compensation system which can compensate the displacement of that of the platform affected on drillstring in multiple directions. For the complex surrounding in the sea,some parameters such as the displacement of drillstring ship and the friction of cylinder which will affect the result of position tracking are difficult to determine,an adaptive fuzzy sliding mode control is put forward for these reasons in this paper. This control mode is independent of an accurate mathematical mode which is difficult to obtain in practice based on its switching function and change rate,so it can avoids the chattering problem effectively,the results of simulation and experimental showed that the validity of this control mode.

关 键 词：钻柱 运动补偿 自适应模糊滑模控制 阀控缸 位移跟踪 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]