On Vibration Control of Flexible Pipes in Ocean Drilling System

摘要

The paper is concerned with a reentry control problem in ocean drillingrnsystem with a flexible riser pipe. In the reentry operation, it isrnnecessary to move the flexible riser pipe to a target position as fast asrnpossible not to excite unstable vibration. Then there is a possibility tornimprove the control performance by scheduling control gains accordingrnto moving velocity, because the motion of flexible riser stronglyrndepends upon the hydrodynamic drag force proportional to squaredrnvelocity. In the paper, a gain scheduling controller for an experimentalrnmodel is designed using LPV (Linear Parameter Varying) controlrnmethod. Then the effectiveness of the LPV control is shown throughrnnumerical simulation and model experiment.