具有速度约束的疏浚最优控制问题转化方法

A Transformation Method of Dredging Optimal Control Problems with Swing Velocity Constraints

泥浆浓度稳定控制是实现疏浚系统稳产的重要手段,以泥浆浓度为跟踪目标,设计了线性二次型最优跟踪器应用于绞吸挖泥船疏浚横移过程控制中。跟踪器的最优决策(即最优横移速度)是在一定范围内变化的,如果决策值超出船舶横移能力的上限,则控制调节无效;如果决策值的加速特性不平滑,则会导致绞吸挖泥船在横移过程中的抖动;为了克服以上缺点,引入了横移速度和加速度约束,并提出了罚函数转化方法,实例表明,系统在实现跟踪泥浆浓度期望值的同时,保证了横移速度和加速度始终运行在控制域范围内。

Stabilizing the slurry concentration is an important means of realizing the stable optimization goal of dredging construction. For tracking the target of slurry concentration, this paper designs the linear quadratic optimal tracker, which can be applied to control the swing process of a cutter-suction dredger. The optimal decision of the tracker(namely the optimal swing velocity) is within a certain range. If the decision value beyond the limit of the swing ability of a cutter suction dredger, this control will be invalid. If the acceleration feature of the decision value is not smooth, the dredger would oscillate during the dredging swing process. In order to overcome these shortcomings, this paper introduces swing velocity and acceleration constrains, and proposes an integral item transformation method based on exact penalty functions. Examples show that this method can realize the goal of tracking expectable slurry concentration of the dredging system, at the same time, can ensure the swing velocity and acceleration to run within limits.