適応制御による水中構造物の応答制御に関する基礎的研究

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The water depth of the underwater development such as deepwater drilling and exploitation of submarine oil and mineral resources is becoming deeper so that the structures must be installed by remote control. In such a operation elastic response of a large-scale and flexible structure must be restrained by active control technology. In water, uncertainties of parameters due to estimation error and non-linearity of hydrodynamic force make the control result worse. Adaptive control, which improves control gain by identifying parameters of system online, is expected to resolve this problem. In this paper, control of structural response and rigid body motion is formulated abopting an adaptive control algorithm which renews optimal control gain while estimating parameters of system with recursive least squares algorithm. Comparisons of control result with optimal control are made. With respect to regulation control and tracking control of a flexible experimental model, simulations and experiments are performed. The rigid body motion and elastic response are more successfully controlled by adaptive control than optional control. In adaptive control, the initial values of feedback gain and estimated parameters of system, which are improved during the course of control, are set up to optimal control gain, that is, the best estimated values at the starting of control, so that transient response and elastic deformation are well deteriorated.
社団法人日本船舶海洋工学会の論文

適応制御による水中構造物の応答制御に関する基礎的研究

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