摘要
针对深海采矿系统中扬矿管的纵向振动问题,运用线性二次型最优控制理论的主动控制方法进行研究。建立海洋环境下扬矿管的纵向运动方程,推导得到LQG(linear quadratic gauss)最优控制状态方程,并应用MATLAB编制模拟分析程序,仿真计算泵与中间舱的纵向振动时间历程和升沉补偿装置所需提供的控制力。结果表明,升沉补偿装置能有效实现扬矿管的纵向振动抑制,减少幅度高达75%,所需控制力符合1 000 m海试采矿系统方案的设计要求。
Aiming at the axial vibration of lifting pipe in deep-sea mining, the active control was carried out based on linear quadratic optional control. The motion equation was bulk for axial vibration. Then the state equation of LQG（linear quadratic gauss） was educed and the simulating and analysis program was made by Matlab. The results were obtained that the time histories of amplitudes of pump and buffer and control force of the heave compensated system. Those indicate that the heave compensated system is effective for restraining to the axial vibration of lifting pipe, the amplitude of them is reduced about 75 %, and control force is compatible with the scheme of 1 000 m deep-sea mining.
出处
《机械强度》
EI
CAS
CSCD
北大核心
2007年第5期704-707,共4页
Journal of Mechanical Strength
基金
国家"十五"深海技术发展项目(DY105-3-2-2)~~
关键词
扬矿管
纵向振动
升沉补偿系统
线性二次型最优控制
Lifting pipe
Axial vibration
Heave compensated system
Linear quadratic optional control
