Research On Mud Concentration And Velocity Of Dual Parameter Cutter Suction Dredger Base On MFAC

Dredging engineering refers to the engineering of widening and deepening the water area by using dredgers or other machinery,which is now the basic industry of economic construction.The cutter suction dredger completes soil cutting and conveying at one time.It is one of the most widely used dredging ships in dredging projects.It plays an important role in port and shipping construction,lake dredging,and land reclamation.At present,although my country has vigorously developed the dredging industry,the control methods of dredging operations are still insufficient.Therefore,it is of great significance to study the control of mud concentration and flow rate in this thesis.This thesis firstly analyzes the system structure and dredging principle of cutter suction dredger,and points out that the control mechanism of mud concentration and flow velocity has problems such as modeling difficulties,time-varying parameters,coupling and nonlinearity.Secondly,the Model Free Adaptive Control(MFAC)method is studied,including three dynamic linearization methods(compact format,partial format,full format),control law and parameter identification algorithm.The conventional PID control is compared,and the two control algorithms are simulated and verified for the same nonlinear system.When designing the mud concentration and flow rate controller,the MFAC algorithm is used to deal with nonlinear problems by using the Compact Form Dynamic Linearization(CFDL)method,and the problems of time-varying parameters and coupling of the controlled object are compressed to In the time-varying parameter Pseudo Jacobian Matrix(PJM),and only the system I/O data is used in the whole process,and the mathematical model of the controlled object is not required,and the problems existing in the control of mud concentration and flow rate Great solution.Then,the MFAC controller is combined with the control model of mud concentration and flow rate built by Matlab/Simulink,and the simulation experiment of controllable mud flow rate and concentration is carried out.In view of the repetitive action characteristics of cutter suction dredgers in dredging operations,the control concept of iterative learning control(Iterative Learning Control,ILC)is introduced,and the dual parameters of mud concentration and flow rate of cutter suction dredgers based on model-free adaptive iterative learning control are proposed(Model Free Adaptive Iterative Control,MFAILC).Finally,by introducing another set of measured data to conduct a simulation test,the convergence of the mud concentration and flow velocity of the cutter suction dredger along the iterative axis direction under the MFAILC controller is verified.