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Model predictive control for slurry pipeline transportation of a cutter suction dredger

机译：切割器吸入挖泥销机的泥浆管道运输模型预测控制

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Cutter Suction Dredgers (CSDs) are a special type of ships designed for construction and maintenance projects of ocean and offshore engineering. During the dredging operation, CSDs can excavate nearly all kinds of soil on the sea bed, and then the dredged materials with coarse particles need to be sucked up by a slurry pump and transported to a disposal area through a long-distance pipeline. In order to avoid sedimentation of slurry in pipeline transportation, the flow rate must be maintained within a reasonable range. Otherwise, the pipeline can be blocked when the slurry density is too high. In this paper, we present a Model Predictive Control (MPC) approach to manipulate the flow rate of slurry in pipeline transportation for a CSD. To demonstrate the advantages of our proposed approach, we also implement three Proportional-Integral-Derivative (PID) controllers (i.e., conventional PID, Fuzzy-PID, and LQR-PID) to make a direct comparison. Moreover, in order to evaluate the effectiveness of our proposed approach in real scenarios, we have, in particular, built a slurry pipeline transportation platform. Both the simulation and experimental results show that our proposed MPC approach is more effective than other PID controllers in controlling the flow rate in the slurry pipeline transportation problem. The proposed approach can provide a guideline for the automated control of the slurry pump for a CSD.
机译：刀具吸入挖泥船（CSD）是一种专为海洋和海上工程建设和维护项目而设计的特殊船舶。在疏浚操作期间，CSD可以挖掘海床上几乎各种土壤，然后通过浆料泵吸收具有粗颗粒的疏浚材料，并通过长距离管道运输到处理区域。为了避免管道运输中浆料的沉降，必须在合理的范围内保持流速。否则，当浆料密度太高时，可以阻止管道。在本文中，我们介绍了一种模型预测控制（MPC）方法，以操纵CSD管道运输中浆料的流速。为了展示我们所提出的方法的优点，我们还实现了三种比例 - 积分衍生物（PID）控制器（即，传统的PID，模糊PID和LQR-PID）来实现直接比较。此外，为了评估我们建议的方法在真实情景中的有效性，特别是建立了泥浆管道运输平台。模拟和实验结果都表明，我们所提出的MPC方法比其他PID控制器控制泥浆管道运输问题中的流速更有效。所提出的方法可以提供用于CSD的浆料泵的自动控制的指导。

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