摘要
近年來，中國的疏浚項目不斷增加，疏浚工程也越來越大。疏浚作業(yè)的優(yōu)化對提高效率、精度，以及節(jié)省勞動力都是非常重要的。其中，耙吸挖泥船在疏浚作業(yè)中的作用越來越重要。鑒于耙吸挖泥船的巨大作用，必須加強對其進行研究。盡管現(xiàn)代自航耙吸挖泥船上都安裝了自動化控制系統(tǒng)，但是在挖泥船上至今還沒有作業(yè)條件不確定的情形下（如土壤類型、流速等）對疏浚性能進行優(yōu)化的決策支持系統(tǒng)。因此，如何提高疏浚船舶設(shè)備水平，使疏浚產(chǎn)量最優(yōu)化，達到提高挖泥船性能和效率的目的，也是國外疏浚行業(yè)積極研究的熱點與內(nèi)容。
本文即針對疏浚作業(yè)的效率受土壤類型和操作人員技術(shù)影響的情況，利用粒子濾波算法來估計自航耙吸挖泥船的溢流損失，采用實測工程數(shù)據(jù)進行了仿真，以此來提高挖泥船的生產(chǎn)效率、施工質(zhì)量，為操作人員的施工提供了決策支持，達到降低生產(chǎn)成本，獲取更高社會效益和經(jīng)濟效益的目的。
首先，本文從三個方面介紹了粒子濾波的基本理論，包括常用的預(yù)測濾波算法、遞推貝葉斯估計以及蒙特卡洛分析等；在此基礎(chǔ)上論述了粒子濾波的基本算法，討論了濾波中的常見問題以及解決的方法。并將粒子群優(yōu)化算法引入到粒子濾波中，作了進一步的研究。
其次，介紹了自航耙吸挖泥船的系統(tǒng)模型，重點分析了泥艙模型。針對耙頭模型，通過動態(tài)建模給出了耙頭吸入密度公式。之后詳細(xì)論述了泥艙模型中的沉積過程，給出了溢流損失估計模型，并給出了相應(yīng)的評估指標(biāo)進行性能評估?？紤]到泥沙顆粒大小對實際沉降速度的影響，對疏?，F(xiàn)場的泥沙粒徑及實際沉降速度進行估計，以提高溢流損失估計的準(zhǔn)確性。
最后，將粒子濾波算法應(yīng)用在對溢流損失的估計上，通過MATLAB仿真說明了估計的正確性。在控制系統(tǒng)中，通過模糊控制器將粒子濾波器估計的溢流損失經(jīng)被控對象反饋到系統(tǒng)的輸入，通過改變系統(tǒng)的輸入達到控制溢流損失的目的。結(jié)果表明，通過粒子濾波器估計的溢流損失能很好的為挖泥船操作人員提供控制決策，具有一定的實際意義。

關(guān)鍵詞 自航耙吸挖泥船；粒子濾波；溢流損失估計；模糊控制；






Abstract
In recent years, China's dredging projects is escalation, and dredging project is bigger and bigger. The optimization of dredging operations is not only important to improve efficiency and precision, but also important to save labor. And Trailing Suction Hopper Dredger (TSHD) is playing a more and more important role in dredging operations. As the great effect of TSHD, we must strengthen the research on it. Although modern self-propelled TSHD has installed automatic control system, there is still no decision support system to optimize the performance of TSHD where the conditions are not sure, such as soil types and velocity. Therefore, how to improve the dredging ship equipment level to make the dredging output optimized and to enhance the performance and efficiency, is also the hot research spot and content of abroad.
As the dredging efficiency is affected by soil types and the technology of operating personnel, this paper uses particle filtering algorithm to estimate the overflow loss of TSHD, and take actual engineering data to complete the simulation. The purpose is to improve the efficiency and production, reduce the production cost and obtain higher social efficiency and the economic efficiency. Also, it provides the decision-making support for operator's construction.
From three aspects, this paper introduces the basic theory of particle filter, including the popular predictive filtering algorithm, the recursive Bayesian estimation and Monte Carlo analysis. On the basis of the above, the common filter problems and solving methods are discussed. Then, the particle swarm optimization algorithm is introduced to the particle filter, and made further research.
Secondly, the system models of TSHD are introduced, and emphatically analyses the hopper model. As for the head model, it gives the first inhaled formula of density through dynamic model. After that, the sediment process in hopper is detailed discussed. Then, the estimation model of overflow loss is given, as well as the corresponding eva luation indexes to make performance eva luation. Considering the influence of particle size on the actual settling velocity, the sediment particle size and actual settlement speed are estimated, to improve the accuracy of overflow loss that has been estimated.
Finally, the particle filtering algorithm is applied on the estimation of overflow loss. The correctness of the estimation was illustrated by MATLAB simulation results. In the control system, the overflow losses estimated by particle filterer were feedback to the system input through the fuzzy controller. By changing the system input to control the overflow loss. The results showed that the overflow loss estimated by particle filters could provide a very good decision-making for ship operators. And it has practical significance.

Key words： Trailing Suction Hopper Dredger; Particle Filter; the Estimation of Overflow Loss；Fuzzy Control;


目錄
摘要 1
Abstract III
第1章 緒論 1
1.1 課題的研究背景、目的及意義 1
1.1.1 課題研究的背景 1
1.1.2 課題研究的目的和意義 4
1.2 國內(nèi)外的研究現(xiàn)狀及發(fā)展趨勢 4
1.2.1 挖泥船溢流損失的研究現(xiàn)狀 4
1.2.2 粒子濾波研究現(xiàn)狀 5
1.2.3 粒子濾波的應(yīng)用領(lǐng)域 6
1.3 本課題研究內(nèi)容及安排 8
第2章 ..