基于RBF-ARX模型的耙吸挖泥船泥浆管道输送模型预测控制  

Model predictive control for slurry pipeline transportation of trailing suction hopper dredger based on RBF-ARX model

作　　者：张曦元 苏贞[1,2] 付敬奇 俞孟蕻[1] ZHANG Xi-yuan;SU Zhen;FU Jing-qi;YU Meng-hong(School of Electronic Information,Jiangsu University of Science and Technology,Zhenjiang 212000,China;School of Mechatronic Engineering and Automation,Shanghai University,Shanghai 200444,China)

机构地区：[1]江苏科技大学电子信息学院,江苏镇江212000 [2]上海大学机电工程与自动化学院,上海200444

出　　处：《水运工程》2022年第7期217-222,共6页Port & Waterway Engineering

基　　金：工信部高技术船舶项目(工信部装函【2019】360号)。

摘　　要：针对耙吸挖泥船挖泥装舱过程中管道内泥浆输送流速过低导致管道堵塞影响疏浚效率、造成安全风险等问题,进行泥浆管道输送模型预测控制研究。提出一种基于RBF-ARX模型的预测控制方法,通过改变泥泵转速控制耙吸挖泥船输送管道中泥浆的流速。建立基于RBF-ARX模型的泥浆管道输送模型,设计基于RBF-ARX模型的预测控制器,并对泥浆输送过程进行仿真。结果表明,设计的模型预测控制器与PID控制器相比,该控制方法具有较好的动态控制效果与较强的鲁棒性。During the dredging and loading process of a trailing suction hopper dredger,the slurry blocks the pipeline when its transportation flow rate is too low,which not only affects dredging efficiency but also causes safety hazards.In response,this paper focuses on the model predictive control of slurry pipeline transportation.It proposes a predictive control method based on the radial basis function-autoregressive exogenous(RBF-ARX)model,and this method controls the flow rate of the slurry in the pipeline of a trailing suction hopper dredger by changing the speed of the slurry pump.It then builds a model of slurry pipeline transportation based on the RBF-ARX model and designs a predictive controller based on the RBF-ARX model to simulate the slurry transportation process.The results show that compared with the proportional-integral-derivative(PID)controller,the proposed model predictive controller has a better dynamic control effect and higher robustness.

关 键 词：耙吸挖泥船 管道输送 模型预测控制 RBF-ARX模型 

分 类 号：U616[交通运输工程—船舶及航道工程]