JORDAN Mario Alberto
congresos y reuniones científicas
On Internal Nonlinear Effects Dynamic Giroestabilized System
BELTRAN-AGUEDO; JORDAN, MARIO; PADIN, Z.
Santiago de Cuba, Cuba
Congreso; International FIE'00; 2000
Facultad de Ingeniería Eléctrica de la Univ. de Santiago d Cuba
In this paper the effects of internal forces on the dynamic of a giroestabilized semisubmersible platform is analyzed with the purpose of future dynamic levelling control. It is shown that inner motion may cause significative variations in the general dynamic, with the consequent risk of platform capsizing. The inner dynamic is captured by pitch and roll angles of the open free surface independently in each vessel. This is treated as structured uncertainty by considering upper and lower bounds of pitch-roll angle sets. The uncertainty is then performed by giving loci of the mass center and inertia tensor. This provides a proper framework for robust controller design in form of a min-max problem for optimal control.