Disturbance Rejection and Vibration Control for a Floating Ocean Thermal Energy Conversion System
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摘要: 随着化石能源的日渐枯竭，海洋热能转换系统（Ocean thermal energy conversion，OTEC）是可以利用海水间的温差将清洁、可再生的海洋能转换为电能的能源系统，关于该系统的研究已引起了越来越多的关注与研究.在工作过程中，浮式海浪温差发电系统中用于传输深层低温海水的管道会受到外界环境的影响产生振动，而这些振动会直接影响系统的性能.本文将研究该柔性系统的振动控制问题，首先，建立用一个偏微分方程和一组常微分方程组成的模型来描述OTEC系统的动力学特性，并直接基于系统的动力学模型设计主动的边界控制器以及边界扰动观测器，从而消除外界扰动的影响，以及减少OTEC系统中柔性管道的横向形变，抑制系统的振动.此外，本文还考虑了OTEC系统中存在的输出约束问题，并且在所设计边界控制律的作用下，从理论上证明OTEC系统的稳定性，保证OTEC系统中的柔性管道的形变量最终收敛于平衡点附近以及浮式平台固定在初始位置附近.最后，通过选择合适的控制参数来对OTEC系统进行数字仿真，利用所得到的仿真结果验证了所设计控制律的有效性.Abstract: With the demands of the renew resource, the ocean thermal energy conversion system which transfers the ocean resource to electrical energy draws lots of attentions. The flexible pipe which is used to transport cold water in the ocean thermal energy conversion (OTEC) system will generate the vibration under the external disturbances. A partial differential equation and some ordinary differential equations are presented to describe the dynamics of the float OTEC system, and active boundary control laws with disturbance observers are designed based on the dynamical model to reduce the transverse displacement. Besides, the output constraint problem of this system is handled with the control method. Further, the stability of the floating OTEC system and the effectiveness of the designed control laws are proven in theory and in numerical simulation.1) 本文责任编委 姚鹏飞
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图 6 施加所设计控制器下的柔性输水管道的位移量
Fig. 6 Displacement of the flexible pipe with the designed controllers
表 1 浮式OTEC系统的参数
Table 1 Parameters of floating OTEC system
参数 参数值 参数 参数值 $L$ 1 000 $\rm{m}$ $\rho$ 500 $\rm{kg/m}$ $EI$ $2.5\times{}10^{4}$ $\rm{N}\small{\cdot}\rm{m}^{2}$ $T$ $1\times10^{7} \rm{N}$ $M_{s}$ $9.0\times10^{4} \rm{kg}$ $M_{0}$ $9.5\times10^{6} \rm{kg}$ $c$ 2 $\rm{N}\small{\cdot}\rm{s/m}^{2}$ $d_{s}$ $2.0\times10^{3}$ $\rm{N}\small{\cdot}\rm{s/m}^{2}$ $d_{0}$ $9.0\times10^{2}$ $\rm{N}\small{\cdot}\rm{s/m}^{2}$ 
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表 2 扰动参数
Table 2 Parameters of ocean disturbances
参数 参数值 参数 参数值 $U'_{1}$ 0.8 $\rm{m/s}$ $\omega_{3}$ 2.946 $\rm{rad/s}$ $U'_{2}$ 1.0 $\rm{m/s}$ $\omega_{4}$ 4.282 $\rm{rad/s}$ $U'_{3}$ 1.0 $\rm{m/s}$ $D$ 0.15 $\rm{m}$ $U'_{4}$ 1.0 $\rm{m/s}$ $\rho_{s}$ 1 024 $\rm{kg/m}^{3}$ $\bar{U}$ 0.5 $\rm{m/s}$ $S_{t}$ 0.2 $A_{D}$ 1.0 $C_{D}$ 1.0 $\omega_{1}$ 0.867 $\rm{rad/s}$ $\omega_{2}$ 1.827 $\rm{rad/s}$
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