基于特征模型的疏浚泥浆浓度与流速联合控制研究

Research on combined control of concentration and flow rate of dredged mud based on characteristic model

针对在疏浚过程中泥浆浓度与流速的控制存在建模困难和耦合性的问题,文章根据实测数据建立泥浆浓度与流速的双输入双输出特征模型,并将特征模型输出与实船测量数据进行对比,以验证模型的准确性。基于特征模型设计泥浆浓度与流速的全系数自适应控制器,并进行恒值控制仿真实验。仿真结果表明,该控制器能在施工环境改变的情况下使泥浆浓度与流速保持在期望值附近,并且有很好的跟踪性能。

In the dredging process,there are difficulties in modeling and coupling in the control of mud concentration and flow rate.Based on the measured data,the article establishes a dual-input and dual-output characteristic model of mud concentration and flow rate,and outputs the characteristic model to the actual ship.The measurement data is compared to verify the accuracy of the model.Based on the characteristic model,a full-coefficient adaptive controller for mud concentration and flow rate is designed,and a constant value control simulation experiment is carried out.The simulation results show that the controller can keep the mud concentration and flow rate near the expected value under the change of the construction environment,and has a good tracking performance.