Marine Predator Algorithm-based Sliding Mode Control of a Novel Motion Simulator for High Column Sloshing Experiments  

基于海洋捕食者算法的新型高柱晃动运动模拟器滑模控制

作　　者：DU Zun-feng CHEN Xiang-yu BAI Hao ZHU Hai-ming HAN Mu-xuan 杜尊峰;陈香玉;白浩;朱海明;韩沐轩(天津大学水利工程智能建设与运维全国重点实验室,天津300350;中国电建集团西北勘测设计研究院有限公司,西安710065;中海油能源开发装备技术有限公司南海工程分公司,广东湛江524057)

机构地区：[1]State Key Laboratory of Hydraulic Engineering Intelligent Construction and Operation,School of Civil Engineering,Tianjin University,Tianjin 300350,China [2]Power China Northwest Engineering Corporation Limited,Xi’an 710065,China [3]Nanhai Engineering Branch,CNOOC Energy Development Equipment Technology Co.,Ltd.,Zhanjiang 524057,China

出　　处：《船舶力学》2024年第12期1835-1848,共14页Journal of Ship Mechanics

基　　金：国家重点研发计划项目(2022YFC2806300);国家自然科学基金资助项目(51109158);天津市交通科技发展项目(2022-48);天津大学研究生教育专项基金资助项目(C1-2021-004);天津市研究生科研创新项目(2022BKY077)。

摘　　要：Sloshing experiment is crucial to determine the reaction performance of regeneration columns on an offshore floating platform.A novel type of column motion simulating device and a Marine Predator Algorithm-based Sliding Mode Controller(MPA-SMC)are proposed for such sloshing experiments.The simulator consists of a Stewart platform and a steel framework.The Stewart platform is located at the column's center of gravity(CoG)and supported by the steel framework.The platform's hydraulic servo system is controlled by a sliding mode controller with parameters optimized by MPA to improve robustness and precision.A numerical sloshing experiment is conducted using the proposed device and controller.The results show that the novel motion simulator has lower torque during the column sloshes,and the proposed controller performs better than a well-tuned PID controller in terms of target tracking precision and anti-interference capability.再生塔摇晃试验对于确定海上浮式平台塔器反应性能至关重要。本研究提出一种新型塔器运动模拟装置和基于海洋捕食者算法的滑模控制器(MPA-SMC),以对安装在海上浮式平台上的高耸塔器进行摇晃试验。该运动模拟装置由Stewart平台和钢框架组成。Stewart平台位于塔器重心位置,并由钢框架提供支撑。然后,利用滑模控制方法对装置液压伺服系统进行控制,并采用海洋捕食者算法对滑模控制参数进行优化,提高控制系统的精度和鲁棒性。仿真与对比验证结果表明,新型塔器运动模拟装置在塔器摇晃试验中具有较低的扭矩,所提出的滑膜控制器在目标跟踪精度和抗干扰能力方面比传统PID控制器表现更好。

关 键 词：regeneration column sloshing experiment motion simulator Stewart platform sliding mode control marine predator algorithm 

分 类 号：TE952[石油与天然气工程—石油机械设备]