【摘要】 隔水管紧急解脱后的反冲响应是一个复杂且危险的过程，张紧器液压系统调控及信号传输又存在一定的时滞效应，因此如何在可变有界时滞作用下控制反冲是一个难题。为解决输入时滞作用下的反冲控制问题，提出采用时滞状态反馈鲁棒H_∞控制方法进行反冲控制。根据隔水管反冲动力学模型构建考虑输入时滞的反冲状态空间表达式，引入无记忆状态反馈，得到闭环控制系统并采用矩阵不等式求解稳定条件。引入可调参数将矩阵不等式线性化，针对调整参数选取不当易导致线性矩阵不等式不可解与最优解难寻的问题，采用差分进化(DE)算法寻找可行的最优调整参数。通过结合多段数有限元模型验证了方法的正确性与可行性。结果表明：方法可有效完成固定与可变输入时滞的隔水管反冲控制，比常规不考虑时滞的控制方法的控制效果更佳；DE可有效寻找最优调整参数，优化控制性能；时滞作用会降低反冲响应及控制性能，应当尽量减小时滞。更多还原

【Abstract】 The recoil response of a riser after emergency disconnection is a complex and hazardous process, compounded by time delays in tensioner system adjustments and signal transmission. Thus, controlling recoil with time-varying and bounded input time delays presents a significant challenge. To address the recoil control problem under input time delays, a time-delay state feedback robust H_∞ control method was proposed. A dynamic model of riser recoil was developed and transformed into a state-space representation that incorporates input time delays. A closed-loop system was achieved using memory-free state feedback, and stability conditions were determined through matrix inequalities, which were linearized by introducing adjustable parameters. The differential evolution(DE) algorithm was employed to identify optimal adjustment parameters, addressing the issues of unsolvable linear matrix inequalities or difficulties in finding optimal solution due to improper parameter choices. The proposed method? s correctness and feasibility were validated by a finite element model. Results indicate that this method effectively controls riser recoil under both fixed and variable input delays, outperforming conventional control methods that do not account for delay. The DE algorithm reliably identifies optimal parameters, enhancing control performance. Time delays decrease both recoil response and control performance, so minimizing time delays is essential.更多还原