基于预测控制的绞吸挖泥船横移过程控制系统设计

    The Swing Control System Design of Cutter Suction Dredger Based on Predictive Control

    • 摘要: 绞吸式挖泥船正朝着自动化、智能化方向发展,成为土地复垦和港口开发的重要设备。如何控制横移速度确保输出泥浆浓度稳定是当前的研究热点。挖泥船作业过程中的泥浆浓度受土质、环境、工况等复杂因素影响,其控制过程难以用较精确的数学模型描述。本文针对绞吸挖泥船的实船采集数据,以挖泥船横移速度作为输入,以泥浆浓度作为输出,采用线性回归算法建立挖泥船横移过程的控制模型,并将该模型应用于子空间辨识预测控制器的设计中。在进行绞吸式挖泥船横移控制系统仿真中,仿真结果表明在控制量有约束的条件下,所设计的横移过程控制器在合适的参数下能够使系统快速稳定到目标浓度。从而,保证泥浆浓度的稳定输出,达到提高挖泥船作业效率的目标。

       

      Abstract: The cutter suction dredger is an important equipment for land reclamation and port development, which is developing towards automation and intelligence. It is the current research hotspot to ensure the stability of the output slurry concentration by control the traverse speed. The slurry concentration during the operation of the dredger is affected by complex factors such as soil quality, environment, and working conditions. It is difficult to describe the control process with an exact mathematical model. This article collects data for the actual ship of the cutter suction dredger. By using the lateral speed of the dredger as input and the slurry concentration as output, a linear regression algorithm is used to establish the control model of the dredger traverse process. And apply this model to the design of subspace identification predictive controller. In the simulation of the control system, the simulation results show that the designed traverse process controller can make the system fast and stable under the appropriate parameters, when the control quantity is restricted. Thus, a stable output of slurry concentration is ensured and the dredging efficiency of the dredger is improved.

       

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