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Vibration control of a flexible marine riser with joint angle constraint

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Abstract

In this paper, the constrained problem of the joint angles for a flexible marine riser is investigated. Boundary control based on the integral-barrier Lyapunov function is achieved by three actuators equipped at the top boundary of the riser. Under the time-varying disturbances, the designed control can suppress the vibration of the riser and ensure the joint angles in the constrained ranges. The stability is proved under the designed control laws. Numerical simulations are given to illustrate the effectiveness of the designed control laws.

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Abbreviations

L :

Length of the riser

M :

Mass of the vessel

\(\rho \) :

Uniform mass per unit length of the riser

EI:

Bending stiffness of the riser

EA:

Axial stiffness of the riser

T :

Tension of the riser

\(C_x,C_y,C_z\) :

Constraints on \(x^{\prime }_L\), \(y^{\prime }_L\) and \(z^{\prime }_L\)

\(u_x(t),u_y(t),u_z(t)\) :

Boundary control inputs in X, Y, Z directions

\(f_x(s,t),f_y(s,t),f_z(s,t)\) :

Distributed disturbances of the riser in X, Y, Z directions

\(d_x(t),d_y(t),d_z(t)\) :

Boundary disturbances of the riser in X, Y, Z directions

x(s, t), y(s, t), z(s, t):

Displacements in X, Y, Z directions

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Author information

Authors and Affiliations

  1. School of Aeronautics and Astronautic, University of Electronic Science and Technology of China, Chengdu, 611731, China

    Shuang Zhang

  2. School of Automation and Electrical Engineering, University of Science and Technology Beijing, Beijing, 100083, China

    Xiuyu He

  3. School of Automation Engineering and Center for Robotics, University of Electronic Science and Technology of China, Chengdu, 611731, China

    Chuan Yang

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  1. Shuang Zhang
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  2. Xiuyu He
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  3. Chuan Yang
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Corresponding author

Correspondence to Shuang Zhang.

Additional information

This work was supported by the National Natural Science Foundation of China under Grant 61403063, the National Basic Research Program of China (973 Program) under Grant 2014CB744206 and the Fundamental Research Funds for the China Central Universities of UESTC under Grant ZYGX2015J120.

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Zhang, S., He, X. & Yang, C. Vibration control of a flexible marine riser with joint angle constraint. Nonlinear Dyn 87, 617–632 (2017). https://doi.org/10.1007/s11071-016-3064-y

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