船海工程多电机冗余驱动混杂系统的自适应协同优化及可重构控制

Frequency conversion motors, reducers, mooring drums and ropes or JACK-UP pile legs are coupled directly through multi-point mooring and a JACK-UP’s multi-electrical cooperative redundant drive systems, and by applying adaptive cooperative motion control on a number of frequency conversion motors, positioning or steady lifting of an offshore platform can be achieved with a bright prospect of application. However, the hybrid characteristics, coupling characteristics, nonlinearity, uncertainty and network delay etc. in the multi-electrical cooperative drive systems bring challenges to the dynamic characteristic analysis and motion control in the systems. In order to ensure the validity and reliability of the systems’ application in multi-point mooring and JACK-UP, the Project intends to conduct optimization design into the group control on the multi-electrical cooperative drive hybrid systems. The research will focus on: the analysis and modeling of hybrid characteristics in the multi-electrical - reducer cooperative drive systems; the group control method for isochronous synchronization and path optimization in the multi-electrical cooperative drive systems; the adaptive optimal reconfiguration redundancy control of the multi-electrical cooperative drive systems. The Project possesses highly theoretical significance of research by combining the three sophisticated areas of electro-mechanical system dynamics, hybrid system theory and networked control. The research outcome of the Project will help thoroughly reveal the transient dynamic characteristics of the isochronous synchronization and diversity movement process in the multi-electrical - reducer cooperative drive systems, and offer guidance on optimal control and design of marine engineering.

多点系泊和JACK-UP多电机协同冗余驱动系统将变频电机、减速器、卷筒-系泊缆或JACK-UP桩腿直接耦合，利用多变频电机自适应协同运动控制，保持海上平台定位或稳定升降，具有很好应用前景。但多变频电机协同驱动系统的混杂特性、耦合特性、非线性、不确定性和网络时滞给系统的动态特性分析与运动控制带来了挑战。为保证多电机协同驱动系统在多点系泊和JACK-UP上的有效性和可靠性，项目拟进行多电机协同驱动混杂系统优化群控设计。重点研究：多电机-减速器协同驱动系统混杂特性分析与建模；多点系泊和JACK-UP多电机协同驱动的等时同步、在线路径优化群控方法；多电机协同驱动系统自适应最优重构冗余控制。项目交叉了复杂机电系统动力学、混杂系统理论及网络化控制三个领域，具有很好的理论研究意义。项目成果将有助于深入揭示多电机协同驱动系统等时同步、多样性运动过程的动力学特性，并为船海工程的优化控制与设计提供指导

第四次工业革命核心技术是大数据、人工智能自动化，模块数字化、灵活的拓扑结构、统一的网络系统，机械-电气-软件一体化系统集成。研究海洋平台DRNN和WNN数据驱动建模，定性-定量-经验复合集成的人机交互学习机制，JACK-UP模型参考-预测多电机-减速器位置环-速度环-电流环-加加速度的主从轴转矩/位置等时同步协同群控，不确定保性能LMI鲁棒自适应的多点系泊张力-长度协同定位，灰色预测SFOC最小趋势和DRDLN延迟反馈机制的多源发电并网电力耦合协同优化，LMI鲁棒保性能控制分布式全回转舵桨协同推进，基于EKF、分层滤波、渐进贝叶斯鲁棒最优估计的多信息互补融合等内容。JACK-UP电机-减速器-桩腿、系泊绞车、多点系泊都简化为质量块-弹簧-阻尼二阶微分模型，谐波激励下非线性响应具有分岔、次谐和混沌反应不稳定特性。系泊参数及量测估计不足影响分散稳定性，多电机异步驱动影响JACK-UP稳定性，等时同步很重要。信息融合与数据互联强化学习解决量测不足、预测不及时，提高自适应控制能力。多电机故障冗余重构优化确保JACK-UP和多点系泊保性能稳定；全回转舵桨艏艉对称协同推进操纵性能最优，灰色预测和DRDLN进行差异性估计递阶优化提高能效。多点系泊多项不等式协同定位范围≤(2~3)%水深，张力偏差≤±5%额定负载，平台纵横倾斜≤1°，最小能量方差的能效0.75；JACK-UP每转一轮齿取消同步误差，等时同步误差≤0.5°。节油优化低速机SFOC≤170kg/kW·h, 中速机SFOC≤200kg/kW·h。两套全回转舵桨推进协同误差≤±0.45°以内，风平浪静船舶轨迹偏差 ≤±0.35m，拖轮能效最优控制可实现节油15%。基于多信息融合、多层滤波、递阶优化、数据驱动建模和关联强化学习、LMI鲁棒控制应用于船海工程多电机协同驱动等时同步具有重要的科学意义和实用价值。