MODAL SYNTHESIS OF THE OBSERVER OF THE STATE VARIABLES OF THE RIVER DREDGER AUTOMATION SYSTEM

The purpose of the work is to apply automation technologies and digitalization of the process of assessing the immeasurable variables of the state of the river dredger automation system when controlling high-tech software and hardware equipment with an electric drive, in order to increase the productivity of the vessels of the technical fleet when performing dredging operations on waterways. River dredgers are complex dynamic control objects, the performance of which in the conditions of digital transformation can be significantly increased through the use of new software and hardware, the algorithmization of which is based on neural network technologies and learning processes. To increase the efficiency and reliability of the operation of such facilities with the prospect of transition to unmanned control of the energy systems of dredgers, it is necessary to increase the information content of the complex of sensors containing information about the object state. In this regard, the use, along with the existing ones, of mathematical information sensors, which are observers, is proposed in the paper. On the example of controlling a precision electric drive, an algorithm for synthesizing a dynamic system with an observer, in which all components of the state variables vector are restored at the output coordinate, is considered. The proposed algorithm for the synthesis of the state vector evaluator is implemented in the form of a program compiled in the MATLAB codes, and it is demonstrated by the example of calculating a three-dimensional dynamic observer for the automation system of a river dredger. The obtained values of state variables and errors of their recovery, as well as the results of modeling the dynamic reactions of the automation system of the river dredger, correspond to the specified speed and required stability of the electric drive of the river dredger during its transition to a steady state under new initial conditions.