波浪中の浮体式海洋構造物の位置制御に関する研究 : その2 ゲインスケジュールドコントローラーによる回頭角制御

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The paper is concerned with a dynamic position control for a semi-submersible platform model using a gain scheduled H_∞ controller. Offshore platforms are required to control a given position against external forces such as ocean current, wind, and waves. A dynamic positioning system using thrusters is generally employed for this, but it is impossible for thrusters to resist wave frequency motion because the linear exiting force is very strong. The specifications of the proposed controller are to maintain a given position and to change its position without offset using thrusters that do not respond to this force in the wave frequency range. Based on a rotation matrix in yaw, a linear model with four vertices was introduced. The problem was formulated in a framework of multi-model based design of H_∞ control law with pole region constraint. LMI based methodology was used to solve the problem since it can treat multi-model and multi-objective specifications, and four vertex controllers were designed. The gain scheduled H_∞ controller was implemented by interpolation of the four vertex controllers. Model experiments were carried out in oblique incident waves and current and the gain scheduled H_∞ controller enabled the platform to rotate according to the command for a large angle (±36deg). To turn more than ±36deg, rotation was actualized by switching the controller every 36deg. Some successful experimental results are shown.
社団法人日本船舶海洋工学会の論文
2000-03-29

波浪中の浮体式海洋構造物の位置制御に関する研究 : その2 ゲインスケジュールドコントローラーによる回頭角制御

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