绞吸挖泥船横移过程二次型最优控制

在疏浚作业过程中，挖泥船主要的作业参数是由操作人员根据自己的经验、试挖情况以及挖泥船实际作业效果灵活确定的，而疏浚操作人员的经验和理论水平也相差较大，所以手动作业的实际产量要远远低于预计产量，效率低下，作业成本偏高，作业质量较差。为了克服该缺点，本文提出了一种基于疏浚系统状态空间模型的线性二次型最优控制策略，并设计了最优控制跟踪器应用于绞吸挖泥船横移过程的控制中，该跟踪器是智能控制替代人工操作的一种有效方法。文中对应用二次型最优控制策略的效果进行了MATLAB仿真分析，仿真结果表明：采用了二次型最优控制策略后，系统稳定、响应快、滞后小，对期望输出的跟踪性好，可以应用于挖泥船疏浚作业过程中。

The Quadratic Optimal Control of Cutter Suction DredgerDuring Swing Process

During the dredging operation , The main operation parameters of dredger are decided by operators, whose personnel experience and theoretical level is comparatively large difference. The operators made a decision according to their own experience and effect of trying to dig, so the manual operation is far lower than expected yield, low efficiency, high operation cost, poorer operation quality. In order to overcome these shortcomings, this paper proposes a linear quadratic optimal control strategy based on dredging system state space model, and design the output tracker, which is applied to cutter suction dredger swing process control and is an effective method of the intelligent control instead of the manual operation. Moreover, MATLAB is also used to simulate and analyze dredging system. The simulated result shows that the linear quadratic optimal tracking system has more stabilization, quicker response, smaller hysteresis, better tracking of the desired output. Thus the system can be used in the dredging operation.