基于参数自整定和模糊前馈的疏浚系统控制

Control of Dredging System Based on Parameter Self-tuning and Fuzzy Feedforward

在疏浚工程中抽砂系统一般采用PID控制器调节泥浆浓度,但当河床形态及河水流速等工况变化时,基于固定参数的PID控制难以达到满意效果;针对被控对象的特性,提出将参数模糊自整定PID与模糊前馈结合的控制方案;该方案能根据工况变化动态调节PID参数,并根据龙头吸咀与河底距离提供前馈补偿,能及时抑制吸咀位置对泥浆浓度灵敏度的影响;仿真结果表明,与传统PID控制相比,该方案对不同工况均能表现出较低的超调量,更快的响应速度,以及更强的抗干扰能力和稳定性。

In dredging project,the PID controller is generally used to control the mud concentration.When the condition of the river bed and the flow rate of the river is changed,it is difficult to achieve satisfactory results.Based on the characteristics of the controlled object,a scheme combining fuzzy self-tuning PID and fuzzy feedforward is proposed.It can dynamically adjust the PID parameters according to the working condition,and provide feed-forward compensation according to the distance between tap suction and the river bottom.The simulation results show that,compared with the traditional PID control,the proposed scheme show a lower overshoot,faster response speed,and stronger anti-interference ability and stability.