摘要： 疏浚作业系统追求疏浚产量最大化,同时需要保证横移土壤切削过程和泥浆管道输送过程稳定安全的运行,可归结为带状态不等式约束的线性二次型最优跟踪控制问题。针对该问题,提出一种系统状态空间增维的转化方法,引入辅助状态变量和控制变量,将状态不等式约束转化为等式约束,并构建具有控制安全性的等价疏浚系统。仿真结果表明,该方法能够较好地提高泥浆浓度,同时又可以限制系统中主要状态量长时间的过载运行,从而有效增强挖泥船疏浚施工的安全性与平稳性。

关键词: 疏浚工程, 泥浆浓度, 最优控制, 状态约束, 维数增加, 转化方法

Abstract: The primary goal of the dredging operation system is dredging production maximization.Safe and stable running of the soil cutting swing process and the slurry pipeline transmission process is required,which is summed up as a problem of linear quadratic optimal tracking control with state inequality constraints.In view of this problem,this paper proposes a transformation method of augmenting dimensions of system state space.This method introduces auxiliary state variables and control variables,transforms the state inequality constraints into equality constraints,and constructs an equivalent dredging system with control security.Simulation results show that the proposed method can increase the slurry concentration.At the same time,the overload operation of the system’s main state for a long time can be limited,so as to effectively enhance the safety and stability of the dredging operation.

Key words: dredging project, slurry concentration, optimum control, state constraints, dimension augmentation, transformation method

中图分类号: 

• TP18