A structural model is significant for the verification of structural control algorithms. However, for nonlinear behavior, experiments are mostly destructive tests that are costly, and conducting repetitive structural ...A structural model is significant for the verification of structural control algorithms. However, for nonlinear behavior, experiments are mostly destructive tests that are costly, and conducting repetitive structural experiments is difficult. Therefore, a repetitive structural vibration model is important for structural vibration control. In this study, a smart platform to realize different structural behaviors is developed based on the backstepping control algorithm. Lyapunov functions are used to derive the control law. Simulations show that the designed model can track the structural responses of different arbitrary linear structures very well. In addition, the proposed platform can track responses of different piecewise linear structures and desired models with various hysteresis very well. Numerical results verify the effectiveness of the proposed tracking controller through the backstepping method for the established platform.展开更多
A fully coupled 6-degree-of-freedom nonlinear dynamic model is presented to analyze the dynamic response of a semi-submersible platform which is equipped with the dynamic positioning(DP) system. In the control force d...A fully coupled 6-degree-of-freedom nonlinear dynamic model is presented to analyze the dynamic response of a semi-submersible platform which is equipped with the dynamic positioning(DP) system. In the control force design, a dynamic model of reference linear drift frequency in the horizontal plane is introduced. The dynamic surface control(DSC) is used to design a control strategy for the DP. Compared with the traditional back-stepping methods, the dynamic surface control combined with radial basis function(RBF) neural networks(NNs) can avoid differentiating intermediate variables repeatedly in every design step due to the introduction of a first order filter. Low frequency motions obtained from total motions by a low pass filter are chosen to be the inputs for the RBF NNs which are used to approximate the low frequency wave force. Considering the propellers' wear and tear, the effect of filtering frequencies for the control force is discussed. Based on power consumptions and positioning requirements, the NN centers are determined. Moreover, the RBF NNs used to approximate the total wave force are built to monitor the disturbances. With the DP assistance, the results of fully coupled dynamic response simulations are given to illustrate the effectiveness of the proposed control strategy.展开更多
基金National Natural Science Foundation of China under Grant No.51378093 and No.91315301
文摘A structural model is significant for the verification of structural control algorithms. However, for nonlinear behavior, experiments are mostly destructive tests that are costly, and conducting repetitive structural experiments is difficult. Therefore, a repetitive structural vibration model is important for structural vibration control. In this study, a smart platform to realize different structural behaviors is developed based on the backstepping control algorithm. Lyapunov functions are used to derive the control law. Simulations show that the designed model can track the structural responses of different arbitrary linear structures very well. In addition, the proposed platform can track responses of different piecewise linear structures and desired models with various hysteresis very well. Numerical results verify the effectiveness of the proposed tracking controller through the backstepping method for the established platform.
基金funded by the National Basic Research Program of China (Grant Nos. 2011CB013702 and 2011CB013703)the Science Fund for Creative Research Groups of the National Natural Science Foundation of China (Grant No. 50921001)
文摘A fully coupled 6-degree-of-freedom nonlinear dynamic model is presented to analyze the dynamic response of a semi-submersible platform which is equipped with the dynamic positioning(DP) system. In the control force design, a dynamic model of reference linear drift frequency in the horizontal plane is introduced. The dynamic surface control(DSC) is used to design a control strategy for the DP. Compared with the traditional back-stepping methods, the dynamic surface control combined with radial basis function(RBF) neural networks(NNs) can avoid differentiating intermediate variables repeatedly in every design step due to the introduction of a first order filter. Low frequency motions obtained from total motions by a low pass filter are chosen to be the inputs for the RBF NNs which are used to approximate the low frequency wave force. Considering the propellers' wear and tear, the effect of filtering frequencies for the control force is discussed. Based on power consumptions and positioning requirements, the NN centers are determined. Moreover, the RBF NNs used to approximate the total wave force are built to monitor the disturbances. With the DP assistance, the results of fully coupled dynamic response simulations are given to illustrate the effectiveness of the proposed control strategy.
