Robust adaptive horizontal vibration isolation of towed seismic streamers |
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Authors: | Tao Liu Wei-jing Zhang Jie Ma |
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Institution: | State Key Laboratory of Ocean Engineering, Shanghai Jiaotong University, Shanghai 200240, China |
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Abstract: | The horizontal vibration of towed seismic streamers is a main reason for efficiency reduction of the seismic survey and tail
tangling. A vibration suppression scheme of towed seismic streamers is investigated in this paper. The towed seismic streamer
is divided into two spans, a controlled span, i.e., the low tension span, and an uncontrolled span, i.e., the high tension
span, by a bird. The system model includes a hyperbolic partial differential equation with variable coefficient describing
the towed seismic streamers, and an ordinary differential equation describing the dynamic of bird. Robust based-model knowledge
and adaptive controllers, based on the Lyapunov method, are designed to isolate the vibration of towed seismic streamers caused
by the course deviations of towing vessel, the variations of towing vessel velocity and the variations of towed seismic streamer
density. The robust based-model knowledge and adaptive controllers exponentially and asymptotically drive the span-towed seismic
streamer displacement to zero, respectively. A finite difference scheme is used to validate the efficiency of the control
law. The proposed controller can isolate effectively the disturbance originated from the towed vessel, and can provide the
improved damping but not sacrifice the isolation performance. The adaptive scheme can tolerate the lack of knowledge of some
uncertain parameters and can directly execute the online adjustment of the parameters. Meanwhile, the proposed control law
is robust and can resist the model uncertainty due to parameter incertitude, model error and unknown disturbance and so on.
The control law only includes velocity and slope, while it does not need the displacement which is difficult to measure in
the practical operations. Thus it is easy to implement. |
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