疏浚系统泥浆浓度的自校正前馈控制-控制理论与应用.PDF

25 3 Vol. 25 No. 3 2008 6 Control Theory Applications Jun. 2008 :2008 , , (, 310027) : CARMA, , ; . ; , . , . 900, . , , . : ; ; ; : TP29 : A Self-tuning feedforward control of slurry concentration in a dredging system WANG Qing-feng, TANG Jian-zhong, BI Zhi-yue (State Key Laboratory of Fluid Power Transmission and Control of Zhejiang University, Hangzhou Zhejiang 310027, China) Abstract: A CARMA model is introduced to represent the slurry concentration process. With experimental data ob- tained on-site, this model is identified by using the least-squares method. Identifications, which are carried out on different working locations, show that the model parameters of a slurry concentration process varies with time, and external influ- ences exhibit remarkable impacts on the process. A control scheme, incorporated self-tuning control with feedforward control, is introduced for controlling the slurry concentration. With process data acquired online, the control system contin- uously updates the process model by using the Recursive-Least-Squares (RLS) method. With the updated process model, a control law is determined to minimize the sum-square-error beyond future steps. Experiments have been carried out on a type-900 dredger. Results show that the control performance is satisfactory in various dredging environments, even though the time-lag is significant. The control system effectively compensates external disturbances, and has excellent tracking ability. Key words: dredging operation; concentration control; feedforward control; self-tuning control 1