Active vibration control of transverse vibrating segmented marine riser

Vortex induced vibration (VIV) could be regarded as a fluid-structure interaction vibration type where the bluff structure vibrates due to fluid flowing around the body. The separation of boundary layer has created vortex layer that staggers the structure in cross-flow direction. VIV suppression work has attracted numerous researchers to build a passive device that could reduce the vibration. However, such device requires an intricate design which incurs high expense and indirectly contributes to higher chance of VIV occurrence due to the additional mass to the system. This research proposed a method to overcome those shortcomings by introducing an active flow control concept to the system. Since the vibration originates from unhindered flowing fluid, the approach is to avoid the development of the vortex by attaching a single control rod to the system as an actuator. The actuator injects momentum to the boundary layer thus preventing the VIV phenomenon. Both simulation and experimental works were implemented in this study. The input-output data of the system were measured directly from the experimental rig. For system identification, three methods were employed which were least square (LS), recursive least square (RLS) and differential evolutionary (DE) algorithms. It was found that the DE methods were stable, had considerably lower mean squared error (MSE) and the transfer function itself represented the natural frequency of the system. The study was continued by tuning the proportionalintegral- derivative (PID) based controllers to the simulated system plant in offline mode. The PID based controllers were tuned using heuristic and Ziegler-Nichols (ZN) methods. The best performance was recorded. However, it was observed that once the disturbance of the system changed, the performance of the PID tuned using heuristic and ZN were deteriorated. To overcome this drawback, adaptive tuning algorithms were introduced, namely ZN-Fuzzy-PID and ZN-Fuzzy-Iterative Learning Algorithm-PID (ZN-Fuzzy-ILA-PID) based controllers. In simulation, it was found that the ZN-Fuzzy-ILA-PD controller outperformed other controllers with 57.82 dB of attenuation level. In experimental works, dynamic response comparison was made between the bare pipe, fixed single and double control rods. It was observed that the fixed single and double control rods could not effectively attenuate the system, but amplified the vibration instead. Further experimental work was conducted by varying the rotating speed of the actuator at various disturbances. The result shows that at 100 % actuator rotating speed with 33 Hz disturbance flow to the system, the vibration was successfully reduced with attenuation level of 20.71 dB. However, by changing the disturbance, the actuator performance was reduced. Therefore, the controller was adaptively tuned using the fuzzy and iterative learning (ILA) schemes. It was observed that the maximum vibration attenuation was achieved by ZN-Fuzzy-ILA-PD controller with 13.8 dB of attenuation level at changing disturbance. Overall results show that by adopting the single rotating control rod, the vibration of VIV could be successfully attenuated

Evolutionary swarm algorithm for modelling and control of horizontal flexible plate structures

Numerous advantages offered by the horizontal flexible structure have attracted increasing industrial applications in many engineering fields particularly in the airport baggage conveyor system, micro hand surgery and semiconductor manufacturing industry. Nevertheless, the horizontal flexible structure is often subjected to disturbance forces as vibration is easily induced in the system. The vibration reduces the performance of the system, thus leading to the structure failure when excessive stress and noise prevail. Following this, it is crucial to minimize unwanted vibration so that the effectiveness and the lifetime of the structure can be preserved. In this thesis, an intelligent proportional-integral-derivative (PID) controller has been developed for vibration suppression of a horizontal flexible plate structure. Initially, a flexible plate experimental rig was designed and fabricated with all clamped edges boundary conditions at horizontal position. Then, the data acquisition and instrumentation systems were integrated into the experimental rig. Several experimental procedures were conducted to acquire the input-output vibration data of the system. Next, the dynamics of the system was modeled using linear auto regressive with exogenous, which is optimized with three types of evolutionary swarm algorithm, namely, the particle swarm optimization (PSO), artificial bee colony (ABC) and bat algorithm (BAT) model structure. Their effectiveness was then validated using mean squared error, correlation tests and pole zero diagram stability. Results showed that the PSO algorithm has superior performance compared to the other algorithms in modeling the system by achieving lowest mean squared error of 6103947.4 , correlation of up to 95 % confidence level and good stability. Next, five types of PID based controllers were chosen to suppress the unwanted vibration, namely, PID-Ziegler Nichols (ZN), PID-PSO, PID-ABC, Fuzzy-PID and PID-Iterative Learning Algorithm (ILA). The robustness of the controllers was validated by exerting different types of disturbances on the system. Amongst all controllers, the simulation results showed that PID tuned by ABC outperformed other controllers with 47.60 dB of attenuation level at the first mode (the dominant mode) of vibration, which is equivalent to 45.99 % of reduction in vibration amplitude. By implementing the controllers experimentally, the superiority of PID-ABC based controller was further verified by achieving an attenuation of 23.83 dB at the first mode of vibration and 21.62 % of reduction in vibration amplitude. This research proved that the PID controller tuned by ABC is superior compared to other tuning algorithms for vibration suppression of the horizontal flexible plate structure

Adaptive Vibration Control for an Active Mass Damper of a High-rise Building

As a kind of large flexible structure, high-rise buildings need to consider wind-resistant and anti-seismic problems for the safety of occupants and properties, especially in coastal areas. This paper proposes an infinite dimensional model and an adaptive boundary control law for an active mass damper(AMD) on this question. The dynamic model of the high-rise building is a combination of some storeys which have flexible walls and rigid floors under a series of physical conditions. Then the adaptive boundary controller is acted on an AMD which is equipped on the top floor, in order to suppress the vibration of every floor and guarantee the comfort of residents. Moreover, simulations and experiments are carried out on a two-floor flexible building to illustrate the effectiveness of the proposed control strategy

Reinforcement learning control of a flexible two-link manipulator: an experimental investigation

This article discusses the control design and experiment validation of a flexible two-link manipulator (FTLM) system represented by ordinary differential equations (ODEs). A reinforcement learning (RL) control strategy is developed that is based on actor-critic structure to enable vibration suppression while retaining trajectory tracking. Subsequently, the closed-loop system with the proposed RL control algorithm is proved to be semi-global uniform ultimate bounded (SGUUB) by Lyapunov's direct method. In the simulations, the control approach presented has been tested on the discretized ODE dynamic model and the analytical claims have been justified under the existence of uncertainty. Eventually, a series of experiments in a Quanser laboratory platform are investigated to demonstrate the effectiveness of the presented control and its application effect is compared with PD control

Robust Adaptive Control of an Offshore Ocean Thermal Energy Conversion System

IEEE Boundary control strategy is developed to analyze the vibration problem of the offshore ocean thermal energy conversion (OTEC) system as well as to constrain the bottom tension and top motion. To provide an accurate dynamic behavior for the OTEC system, this distributed parameter system is modeled and formulated with a governing equation and boundary conditions (PDE-ODEs model). Two robust adaptive boundary controllers are designed and disposed at the endpoints of the system, and the stability of the controlled system under unknown disturbances is achieved. After selecting the relevant parameters appropriately, the offset of the offshore OTEC system can be suppressed to equilibrium position. Finally, the effectiveness of the proposed control is illustrated by simulation

Modeling and Control of Marine Flexible Systems

Ph.DDOCTOR OF PHILOSOPH

Construction and management of smart campus: Anti-disturbance control of flexible manipulator based on PDE modeling

With the rapid development of smart campus, this paper studies the attitude tracking control of flexible manipulator (FM) in colleges and universities under elastic vibration and external disturbances. First, different from the traditional modeling based on ordinary differential equations (ODEs), the partial differential equations (PDEs) dynamic model of a manipulator system is established based on the Hamilton principle (HP). Second, the boundary control condition of the end system of the manipulator is introduced to adjust the vibration of the manipulator. Furthermore, a Proportional-Derivative (PD) boundary control (PDBC) strategy is proposed by the Lyapunov function to suppress the vibration of the manipulator. Finally, a numerical comparison simulation based on MATLAB/SIMULINK further verifies the robustness and anti-disturbance performance of the control method proposed in this paper