随机波浪作用下海洋平台主动控制的时滞补偿研究

基于预测控制理论，研究了适用于海洋平台的时滞补偿控制算法。该方法借助于随机波浪力的近似公式和卡尔曼滤波原理，推导出了随机波浪力向前一步预测公式，同时采用卡尔曼滤波方程，实现了对状态向量向前一步预测。利用随机波浪力及状态向量的实时在线预测公式，推导出最优控制力向前一步预测的表达式。在此基础上，发展了不仅适用于反馈控制系统而且适用于前馈-反馈控制系统的时滞补偿算法。采用一典型海洋平台为数值算例，计算结果表明，该方法在一定时滞范围内对海洋平台主动控制中时滞的补偿效果是显著的。

Studies on time delay compensation for active control of offshore platforms under stochastic wave loading

Based on prediction control strategy, a time delay compensation algorithm for offshore platforms is developed, which can be used not only in feedback control systems, but also in feedforward-feedback control systems. For the feedforward-feedback control system, wave force is predicted forward by using an analog filter to approximately represent the wave force spectrum. A Kalman filter is employed to obtain a forward-prediction of structural response for the active control system subjected to wave loading. Based on the prediction of wave force and structural response, the optimal prediction of active control force is used to perform time delay compensation. A numerical example applied to a typical offshore platform is presented in this paper. The numerical results demonstrate that the proposed method is effective for time compensation within the definite interval of time delay.