海洋资源勘探拖缆水平振动的鲁棒自适应控制

Robust adaptive control strategy for horizontal vibration of a towed seismic cable

针对海洋资源勘探拖缆水平振动控制中拖缆水平位移偏移量难以测量和系统参数不确定的问题,设计了仅仅包括水鸟处拖缆速度和斜率的自适应控制规律。首先选取拖缆和水鸟能量为李雅普诺夫能量函数,在拖缆的精确模型下设计了鲁棒控制规律。然后考虑到实际工作中不确定的参数,在精确模型鲁棒控制规律的基础上设计了自适应的鲁棒控制规律。最后用有限差分法验证了控制规律的有效性,自适应规律能在线的估计勘探拖缆的参数。所提出的控制规律稳定性好,能够抵抗参数不确定性。

For the horizontal vibration control of a towed seismic cable,the change of its horizontal displacement is difficult to measure and the parameters of the system are uncertain.An adaptive control law involving the cable＇s speed and slope at a bird was designed.Firstly,the cable and bird＇s energy was chosen as a Lyapunov function and a robust control law was designed based on the accurate model of the cable.Then,the adaptive robust control law was designed on the basis of the robust control law of the accurate model of the cable considering uncertain parameters in actual working conditions.Finally,a finite difference scheme was used to validate the efficiency of the control law.It was shown that the adaptive controllers can update the variations of bird＇s tension and the variations of towed seismic cable density;the proposed control law is stable and can resist the uncertainty of parameters.