In this paper, the disturbance propagation and active vibration control of a finite L-shaped beam axe studied. The dynamic response of the structure is obtained by the travelling wave approach. The active vibration su...In this paper, the disturbance propagation and active vibration control of a finite L-shaped beam axe studied. The dynamic response of the structure is obtained by the travelling wave approach. The active vibration suppression of the finite L-shaped beam is performed based on the structural vibration power flow. In the numerical calculation, the influences of the near field effect of the error sensor and the small error of the control forces on the control results are all considered. The simulation results indicate that the structural vibration response in the medium and high frequency regions can be effectively computed by the travelling wave method. The effect of the active control by controlling the power flow is much better than that by controlling the acceleration in some cases. And the control results by the power flow method are slightly affected by the locations of the error sensor and the small error of the control forces.展开更多
This paper considers the optimal trajectory tracking control problem for near-surface autonomous underwater vehicles(AUVs) in the presence of wave disturbances. An approximate optimal tracking control(AOTC) approach i...This paper considers the optimal trajectory tracking control problem for near-surface autonomous underwater vehicles(AUVs) in the presence of wave disturbances. An approximate optimal tracking control(AOTC) approach is proposed. Firstly, a six-degrees-of-freedom(six-DOF) AUV model with its body-fixed coordinate system is decoupled and simplified and then a nonlinear control model of AUVs in the vertical plane is given. Also, an exosystem model of wave disturbances is constructed based on Hirom approximation formula. Secondly, the time-parameterized desired trajectory which is tracked by the AUV's system is represented by the exosystem. Then, the coupled two-point boundary value(TPBV) problem of optimal tracking control for AUVs is derived from the theory of quadratic optimal control. By using a recently developed successive approximation approach to construct sequences, the coupled TPBV problem is transformed into a problem of solving two decoupled linear differential sequences of state vectors and adjoint vectors. By iteratively solving the two equation sequences, the AOTC law is obtained, which consists of a nonlinear optimal feedback item, an expected output tracking item, a feedforward disturbances rejection item, and a nonlinear compensatory term. Furthermore, a wave disturbances observer model is designed in order to solve the physically realizable problem. Simulation is carried out by using the Remote Environmental Unit(REMUS) AUV model to demonstrate the effectiveness of the proposed algorithm.展开更多
基金Project supported by the National Natural Science Foundation of China (Nos. 10672017 and 10632020)
文摘In this paper, the disturbance propagation and active vibration control of a finite L-shaped beam axe studied. The dynamic response of the structure is obtained by the travelling wave approach. The active vibration suppression of the finite L-shaped beam is performed based on the structural vibration power flow. In the numerical calculation, the influences of the near field effect of the error sensor and the small error of the control forces on the control results are all considered. The simulation results indicate that the structural vibration response in the medium and high frequency regions can be effectively computed by the travelling wave method. The effect of the active control by controlling the power flow is much better than that by controlling the acceleration in some cases. And the control results by the power flow method are slightly affected by the locations of the error sensor and the small error of the control forces.
基金supported in part by the National Natural Science Foundation of China (41276085)the Natural Science Foundation of Shandong Province (ZR2015FM004)
文摘This paper considers the optimal trajectory tracking control problem for near-surface autonomous underwater vehicles(AUVs) in the presence of wave disturbances. An approximate optimal tracking control(AOTC) approach is proposed. Firstly, a six-degrees-of-freedom(six-DOF) AUV model with its body-fixed coordinate system is decoupled and simplified and then a nonlinear control model of AUVs in the vertical plane is given. Also, an exosystem model of wave disturbances is constructed based on Hirom approximation formula. Secondly, the time-parameterized desired trajectory which is tracked by the AUV's system is represented by the exosystem. Then, the coupled two-point boundary value(TPBV) problem of optimal tracking control for AUVs is derived from the theory of quadratic optimal control. By using a recently developed successive approximation approach to construct sequences, the coupled TPBV problem is transformed into a problem of solving two decoupled linear differential sequences of state vectors and adjoint vectors. By iteratively solving the two equation sequences, the AOTC law is obtained, which consists of a nonlinear optimal feedback item, an expected output tracking item, a feedforward disturbances rejection item, and a nonlinear compensatory term. Furthermore, a wave disturbances observer model is designed in order to solve the physically realizable problem. Simulation is carried out by using the Remote Environmental Unit(REMUS) AUV model to demonstrate the effectiveness of the proposed algorithm.
