Modeling and Control of Marine Cable Systems.

摘要

This project develops modeling, analysis, and control techniques for distributed cable systems coupled with rigid bodies, sensors, actuators, and fluids: (1) Develop, analyze, and experimentally verify coupled mechanical/fluid models for marine cables that can be used for control system design. Although there has been significant research in this area, most of the models are too complex to be used for model-based control system development. This research distills and combines the important physics of current models; (2) Design and experimentally implement robust control algorithms for accurate position control of cable systems. Complex, nonlinear cable system models have distributed displacement variables, complicating the theoretical development of asymptotically stabilizing controllers. Also, practical control implementation requires a minimum number of implementable, robust sensors and actuators; (3) Develop disturbance-rejecting controllers that reduce the forced response of cable systems resulting from fluid loading or boundary motion.