含控制时滞的海洋平台前馈反馈最优跟踪控制

Feedforward and feedback optimal tracking control for offshore steel jacket platforms with control delay

通过引入状态变换,将含控制时滞的海洋平台系统转化为无时滞系统.然后,通过引入渐近稳定的期望系统,基于波浪力线性外系统近似模型,给出了海洋平台系统基于二次型性能指标泛函的前馈反馈最优跟踪控制器设计方法及其控制器的存在唯一性条件.控制器的前馈增益矩阵和反馈增益矩阵可分别经由求解代数Riccati方程和Sylvester方程得到.仿真算例表明了方法的有效性,且在减小平台的振动幅值和控制力方面,前馈反馈最优跟踪控制方法优于前馈反馈最优控制方法.

Based on a state transformation, the offshore platform system with control delay is first transformed into a delay-free system. Then, based on a linear exogenous system model of the wave force, a feedforward and feedback optimal tracking control scheme was proposed such that the controlled output of the offshore platform was capable of tracking an introduced asymptotically stable system. The uniqueness and existence of the feedforward and feedback optimal tracking controller is derived. The controller could be obtained by solving an algebraic Riccati equation and Sylvester equations, respectively. The effectiveness of the proposed control scheme was demonstrated by simulation results. It was found that the feedforward and feedback optimal tracking controller is better than the feedforward and feedback optimal controller from the two aspects： the vibration amplitudes of the offshore platform and the required control force.