CN109750703A - A kind of more drilling depths of cutter suction dredger multilayer are dredged control method automatically - Google Patents
A kind of more drilling depths of cutter suction dredger multilayer are dredged control method automatically Download PDFInfo
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Abstract
It dredges automatically control method the present invention relates to a kind of more drilling depths of cutter suction dredger multilayer, belong to engineering ship technical field of automatic control, this method is first according to certain operating condition, setting control target component, dredger is realized by construction technology automatic mining operation, to realize that target component is automatic, target output is automatic, maximum production is automatic and the automatic dredging of economic flow rate by jointly controlling reamer, travelling winch, gantry winch, piling bar trolley and vacuum release valve, submersible pump, pumping in cabin etc. under the automatic dredging operation mode of the more drilling depths of multilayer；The present invention is suitable for dredging soil property and is similar in kind, and layering is unobvious, is not easy situations such as caving in, and can be improved construction area and dredges precision of dredging, reduces and move number indicating a ship's order of departure number etc.；The amount of labour of dredging operation personnel can be reduced to a great extent, reduce the difference operated between different operation personnel, improve construction quality, ensure equipment safety, reduce oil consumption.
Description
Technical field
The invention belongs to engineering ship technical field of automatic control, more particularly to a kind of cutter suction dredger multilayer mostly into
Ruler is dredged control method automatically.
Background technique
Cutter suction dredger dredges operator by the remote controlled ship construction of manual operation dredging station, passes through repetition
Forward and reverse traversing depthkeeping of reamer is cut and a series of actions such as trolley stepping, completes the dredging work of predetermined region.But in difference
Under digging working condition, exist because the operation level and proficiency of the operator that dredges are irregular, construction area side slope is caused to be excavated
Precision and quality difference it is larger and the problem of construction efficiency differs greatly, main cause shows the traversing pulling force of control, cross
Inaccurate and linkage control when shifting speed, reamer revolving speed, vacuum release valve aperture, the traversing plus-minus rate to sideline can't wait
It is poor.Therefore, realize that dredger dredges control automatically and the dredge diversity of mode and function of dredging becomes more and more important.
Meanwhile in the case where construction area meets different excavating depths, when the conditions such as soil property layering is unobvious, is not easy to cave in,
If still using Sigle mining mode, it will lead to shifting number indicating a ship's order of departure number and greatly improve, and it is relatively poor to excavate precision and quality.To solve
Problem above, invention cutter suction dredger are of great significance based on the control method of dredging automatically of the more drilling depths of multilayer.
Summary of the invention
In view of the problems of the existing technology, it dredges automatically control the present invention provides a kind of more drilling depths of cutter suction dredger multilayer
Method processed.
The control method the invention is realized in this way a kind of more drilling depths of cutter suction dredger multilayer are dredged automatically, this method are first
First according to certain operating condition, setting control target component, by jointly controlling strand under the automatic dredging operation mode of the more drilling depths of multilayer
Knife, travelling winch, gantry winch, piling bar trolley and vacuum release valve, submersible pump pump in cabin etc. to realize dredger by construction work
Skill automatic mining operation, to realize that target component is automatic, target output is automatic, maximum production is automatic and economic flow rate is automatic
Dredging.
The automatic dredging operation mode of the more drilling depths of multilayer are as follows: in each piling bar trolley stroke, under gantry reamer is automatic
It is put into setting excavating depth, travelling winch is swung to the left or to the right automatically close to slowing down when excavating sideline and to behind sideline, gantry
Reamer transfers to next excavating depth by setting decentralization step value, and piling bar trolley stepping remains unchanged, the automatic backswing of travelling winch
It is reversely dredged again, until after reamer cut this dredging section, gantry automatic lifting to initial mud face position, then steel
Stake trolley presses setting value stepping automatically, automatically begins to next dredging section dredging operation, repeats above procedure, until the piling bar
Trolley stroke is dredged end, and travelling winch returns center line stopping automatically.
The main dredging control object of this control method include travelling winch, gantry winch, slewing winch, three cable winches,
Reamer, piling bar trolley, vacuum release valve, submersible pump, the cutter suction dredgers dredging tool such as pump, water shutoff pump in cabin.
The main signal needed in control process has: transverse moving speed, traversing pulling force, traversing angle, gantry angle, winch open
Stop state and revolving speed, trolley stroke, trolley stepping, reamer revolving speed, reamer power, reamer torque, trunnion drinking water, submersible pump sucking
Revolution speed and discharge pressure, submersible pump/the cabin suction side Nei Beng water shutoff pressure and flow velocity, submersible pump/cabin in vacuum, submersible pump/cabin
Interior pump shaft end seal water pressure and flow velocity, concentration of hydraulic mixture, the depth of water, gantry are away from sideline distance and section of dredging etc..Each signal passes through
The sensor acquisition of corresponding installation site.
The control target component of the state of a control and setting that also need includes automatic mud diging working mode state, excavating depth
Setting, thickness of cutting setting, the setting of traversing plus/minus rate, submersible pump vacuum is set, the setting of pump vacuum, mud density are set in cabin
Fixed, mud speed rate setting, transverse moving speed setting, the setting of trolley step distance, trolley automatic entrance-exit close setting, reamer away from sideline away from
From setting, whether enables same track and excavate etc..
This control method establishes sub-controller for main dredging control object respectively, specifically includes that traversing automatic control
Device, reamer speed automation device, gantry automatic controller, piling bar trolley automatic controller, slurry transportation flow speed controller and
Vacuum release valve automatic controller.It is influenced each other between each sub-controller by the control parameter being related to jointly.
Traversing automatic controller, it is automatic to control when gantry reamer swings to sideline by calculating reamer offset distance in real time
Travelling winch processed stops and automatic backswing.
Reamer speed automation device compares mathematical modulo by introducing reamer slice thickness, that is, reamer revolving speed and transverse moving speed
Type obtains reamer revolving speed and transverse moving speed linkage control, realizes reamer speed automation, it is ensured that different soil property cutting outputs and pump
Soakage reaches a kind of balance.
Gantry automatic controller, including reamer depth deviation automatic control model and trolley are into closing the control of gantry automatic linkage
System.
Piling bar trolley automatic controller, gantry is traversing be rocked to sideline when, automatically control piling bar trolley by setting row
Cheng Jinguan.
Slurry transportation flow speed controller will be automatic to travelling winch when flow rate of pipelines is lower than Pipeline transport critical flow velocity
Controller issues reduction of speed instruction, when flow rate of pipelines is higher than setting flow velocity, will issue raising speed to travelling winch automatic controller and refer to
It enables, it is ensured that Pipeline transport concentration and flow speed stability.
Vacuum release valve automatic controller sucks the on or off of vacuum automatic control vacuum release valve according to submersible pump.
Each sub-controller uses emergency flight control highest priority, manually controls and takes second place, and automatic control priority is minimum, i.e.,
As long as whenever system receives emergency flight control instruction or manually controls instruction, automatic control mode is automatically exited from.
The advantages and positive effects of the present invention are:
1) present invention is similar in kind, layering is unobvious, is not easy to cave under different excavating depths when meeting dredging soil property
It when condition, is dredged automatically mode using the more drilling depths of multilayer, can be improved construction area dredging and dredge precision, reduce and move number indicating a ship's order of departure number
Deng improving dredging operation efficiency；
2) control method of the invention fully utilizes the technologies such as computer, network, sensor and automatic control, solves
Excessively tradition dredges the problem that dredging operation excessively relies on dredging operation personnel artificial, can be realized dredging tool automated construction
Operation improves dredging efficiency, while can effectively ensure that the safety of equipment, increases economic efficiency.
Detailed description of the invention
Fig. 1 is that the more drilling depths of multilayer of the present invention are dredged the control schematic diagram of control method automatically.
Specific embodiment
In order to further understand the content, features and effects of the present invention, the following examples are hereby given, and cooperate attached drawing
Detailed description are as follows:
Embodiment
One, control model and control method
Refering to fig. 1, a kind of more drilling depths of cutter suction dredger multilayer provided in this embodiment are dredged control method automatically, this method
First according to certain operating condition, sets excavating depth, thickness of cutting, traversing plus/minus rate, submersible pump vacuum, pumps vacuum, mud in cabin
Pulp density, mud speed rate, transverse moving speed, trolley step distance, trolley automatic entrance-exit close, reamer away from sideline distance, whether enable
The control target component such as excavate with track, by jointly controlling reamer, traversing under the automatic dredging operation mode of the more drilling depths of multilayer
Winch, gantry winch, piling bar trolley and vacuum release valve, submersible pump, the cutter suction dredgers dredger such as pump, generating diesel engine in cabin
Tool, and the signal needed during acquisition control, Lai Shixian dredger presses the operation of construction technology automatic mining, to realize target
Parameter is automatic, target output is automatic, maximum production is automatic and the automatic dredging of economic flow rate.
The automatic dredging operation mode of the more drilling depths of multilayer are as follows: in each piling bar trolley stroke, gantry reamer is transferred to automatically
Set excavating depth, travelling winch is swung to the left or to the right automatically close to slowing down when excavating sideline and to behind sideline, gantry reamer
By setting decentralization step value transfer to next excavating depth, piling bar trolley stepping remains unchanged, the automatic backswing of travelling winch again into
The reversed dredging of row, until after reamer has cut this dredging section, gantry automatic lifting to initial mud face position, then piling bar platform
Vehicle presses setting value stepping automatically, automatically begins to next dredging section dredging operation, repeats above procedure, until the piling bar trolley
Stroke is dredged end, and travelling winch returns center line stopping automatically.
In one example using the more drilling depths of multilayer dredge automatically mode operation data it is as shown in table 1 below:
The more drilling depths of 1 multilayer of table are dredged the data of mode operation automatically
Two, control function
4 control functions of dredging automatically of control method realization of dredging automatically of the invention, specifically:
1. target component is automatic: dredging under mode automatically any, in dredging in bounds for setting, system is by setting
Reamer revolving speed, transverse moving speed, reamer thickness of cutting (decentralization depth), the parameters of construction technology such as trolley drilling depth, by controlling automatically
Device processed, which jointly controls reamer motor (or hydraulic motor), travelling winch, gantry winch, piling bar trolley and vacuum release valve etc., to be come in fact
Existing dredger presses the automatic dredging operation of construction technology order, remains the construction parameter of controlled object in the construction process
It is maintained at setting targeted parameter value.
2. target output is automatic: on the basis of target component automatic control function, traversing automatic controller is according to setting
Submersible pump vacuum or vacuum forecast density automatically control transverse moving speed, when submersible pump vacuum or vacuum forecast density are higher than setting value
Shi Zidong reduces transverse moving speed, otherwise increases transverse moving speed, it is ensured that excavates stable yield in setting target output range.
3. maximum production is automatic: on the basis of target output automatic control function, slurry transportation flow speed controller and traversing
Automatic controller joint automatically controls transverse moving speed, and slurry transportation flow speed controller is preferential, faces guaranteeing that mud speed rate is greater than
Under the premise of boundary's flow velocity, transverse moving speed is improved as far as possible, when pipeline mean flow rate is consistently less than the critical flow velocity of setting, from
The dynamic transverse moving speed that reduces is to reduce excavation concentration, it is ensured that maximum excavates steady conveying capacity under yield.
4. economic flow rate is automatic: on the basis of maximum production automatic control function, introducing dredger output and all places oil consumption ratio
Parameter determines the optimum sustainable yield target value under the operating condition, is determined with this " optimum sustainable yield target value " corresponding underwater
Pump sucking vacuum and mud speed rate, slurry transportation flow speed controller and traversing automatic controller joint automatically control transverse moving speed,
It keeps mud speed rate and submersible pump to suck vacuum simultaneously and is in control range, it is ensured that excavate concentration and conveying yield is maintained at setting
Economic flow rate target value.
Three, sub-controller
As shown in Figure 1,4 automatic dredge that the present invention is realized in the case where the more drilling depths of multilayer dredge control model automatically control function
Can, combined by each sub-controller and played a role, is respectively:
1. traversing automatic controller, model are as follows: (1) reduce transverse moving speed automatically when reamer is swung close to sideline, twist
Automatic backswing starts reversely to dredge when knife arrival sideline；(2) during traversing swing is dredged, when submersible pump sucking vacuum or very
Sky forecast density reduces transverse moving speed when being greater than the set value automatically, otherwise increases transverse moving speed；(3) when flow rate of pipelines is lower than pipeline
Transverse moving speed is reduced when conveying critical flow velocity, otherwise increases transverse moving speed.
2. speed automation device, model are as follows: introduce reamer slice thickness, that is, reamer revolving speed and transverse moving speed compares mathematics
Model, (1) when transverse moving speed is lower than a certain setting lower limit value, reamer revolving speed is a certain setting slow-speed of revolution value；(2) when traversing speed
When degree is higher than a certain setting ceiling value, reamer revolving speed is a certain high tachometer value of setting；(3) when transverse moving speed is between lower limit value and height
When between limit value, system follows transverse moving speed to change automatically by the reamer revolving speed and transverse moving speed ratio, reamer revolving speed of setting, with
Obtain optimal reamer slice thickness.
3. gantry automatically controls mold, model are as follows: (1) when reamer depth deviates setting deviation, then automatically control bridge
Frame rises or falls, it is ensured that accurate to dig deeply；(2) when gantry reamer, which is swung, reaches sideline, according to the strand of control model and setting
Knife transfers step pitch, and gantry reamer is transferred automatically to set depth.
4. piling bar trolley automatically controls mold, model are as follows: gantry is traversing be rocked to sideline when, according to control model and
The piling bar trolley step value of setting controls piling bar trolley automatically into pass.
5. slurry transportation flow speed controller, model are as follows:, will be to cross when flow rate of pipelines is lower than Pipeline transport critical flow velocity
It is moved from movement controller and issues reduction of speed instruction, when flow rate of pipelines is higher than the flow velocity of setting, will issue and rise to traversing automatic controller
Speed instruction, it is ensured that Pipeline transport concentration and flow speed stability.
6. vacuum release valve automatic controller, model are as follows: when submersible pump sucking vacuum is higher than setting value, automatically open
Vacuum release valve, and reduce transverse moving speed.
In each sub-controller of the invention, emergency flight control highest priority manually controls and takes second place, and automatically controls priority most
It is low, as long as that is, whenever system receives emergency flight control instruction or manually controls instruction, automatically exit from automatic control mode.
The more drilling depths of multilayer of the invention are dredged automatically in control model and 4 control functions of dredging automatically, and same rail is devised
Mark data mining duty selects this function that is, when gantry reamer needs to dredge track repetition excavation at one twice.
Each dredging plant may influence multiple control parameters when running, and the variation of some parameter also can be to different
Sub-controller has an impact, and therefore, is to influence each other between control, interknits, and above-mentioned each sub-controller or model need
Control the logic analysis of program by dredging automatically, comprehensively control realizes target control effect.
Finally, it should be noted that the above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although
Present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that: it still may be used
To modify to technical solution documented by previous embodiment, or some or all of the technical features are equal
Replacement, and these are modified or replaceed, the model for technical solution of the embodiment of the present invention that it does not separate the essence of the corresponding technical solution
It encloses.
Claims (10)
- The control method 1. a kind of more drilling depths of cutter suction dredger multilayer are dredged automatically, which is characterized in that this method is first according to certain Operating condition, setting control target component, by jointly controlling reamer, traversing strand under the automatic dredging operation mode of the more drilling depths of multilayer Vehicle, gantry winch, piling bar trolley and vacuum release valve, submersible pump pump in cabin etc. to realize that dredger is dug automatically by construction technology Operation is dug, so that it is thin to realize that target component is automatic, target output is automatic, maximum production is automatic and economic flow rate is automatically dredged It dredges；The automatic dredging operation mode of the more drilling depths of multilayer are as follows: in each piling bar trolley stroke, gantry reamer is transferred to automatically Set excavating depth, travelling winch is swung to the left or to the right automatically close to slowing down when excavating sideline and to behind sideline, gantry reamer By setting decentralization step value transfer to next excavating depth, piling bar trolley stepping remains unchanged, the automatic backswing of travelling winch again into The reversed dredging of row, until after reamer has cut this dredging section, gantry automatic lifting to initial mud face position, then piling bar platform Vehicle presses setting value stepping automatically, automatically begins to next dredging section dredging operation, repeats above procedure, until the piling bar trolley Stroke is dredged end, and travelling winch returns center line stopping automatically.
- The control method 2. a kind of more drilling depths of cutter suction dredger multilayer according to claim 1 are dredged automatically, which is characterized in that The main signal needed in control process has: transverse moving speed, traversing pulling force, traversing angle, gantry angle, winch start and stop state and Revolving speed, trolley stroke, trolley stepping, reamer revolving speed, reamer power, reamer torque, trunnion drinking water, submersible pump suck vacuum, water Pump shaft end in revolution speed and discharge pressure, submersible pump/the cabin suction side Nei Beng water shutoff pressure and flow velocity, submersible pump/cabin in lower pump/cabin Water shutoff pressure and flow velocity, concentration of hydraulic mixture, the depth of water, gantry are away from sideline distance and section of dredging etc.；Each signal passes through corresponding installation The sensor of position acquires.
- The control method 3. a kind of more drilling depths of cutter suction dredger multilayer according to claim 1 are dredged automatically, which is characterized in that The control target component of the state of a control and setting that also need includes automatic mud diging working mode state, excavating depth setting, cuts Cut thickness setting, traversing plus/minus rate is set, submersible pump vacuum is set, the setting of pump vacuum, mud density setting, mud in cabin Flow rate set, transverse moving speed are set, the setting of trolley step distance, trolley automatic entrance-exit closes setting, reamer is set away from sideline distance, Whether same track excavation etc. is enabled.
- The control method 4. a kind of more drilling depths of cutter suction dredger multilayer according to claim 1 are dredged automatically, which is characterized in that This control method establishes sub-controller for main dredging control object respectively, specifically includes that traversing automatic controller, reamer turn Fast automatic controller device, gantry automatic controller, piling bar trolley automatic controller, slurry transportation flow speed controller and vacuum release Valve automatic controller；It is influenced each other between each sub-controller by the control parameter being related to jointly.
- The control method 5. a kind of more drilling depths of cutter suction dredger multilayer according to claim 4 are dredged automatically, which is characterized in that The traversing automatic controller, when gantry reamer swings to sideline, is automatically controlled horizontal by calculating reamer offset distance in real time Move winch stopping and automatic backswing.
- The control method 6. a kind of more drilling depths of cutter suction dredger multilayer according to claim 4 are dredged automatically, which is characterized in that The reamer speed automation device is obtained by introducing reamer slice thickness, that is, reamer revolving speed and transverse moving speed than mathematical model Reamer revolving speed and transverse moving speed linkage control are obtained, realizes reamer speed automation, it is ensured that different soil property cutting outputs and pump sucking Amount reaches a kind of balance.
- The control method 7. a kind of more drilling depths of cutter suction dredger multilayer according to claim 4 are dredged automatically, which is characterized in that The gantry automatic controller, including reamer depth deviation automatically controls and trolley is controlled into gantry automatic linkage is closed.
- The control method 8. a kind of more drilling depths of cutter suction dredger multilayer according to claim 4 are dredged automatically, which is characterized in that The piling bar trolley automatic controller, gantry is traversing be rocked to sideline when, automatically control piling bar trolley by setting stroke into It closes.
- The control method 9. a kind of more drilling depths of cutter suction dredger multilayer according to claim 4 are dredged automatically, which is characterized in that The slurry transportation flow speed controller will be automatically controlled when flow rate of pipelines is lower than Pipeline transport critical flow velocity to travelling winch Device issues reduction of speed instruction, when flow rate of pipelines is higher than setting flow velocity, raising speed instruction will be issued to travelling winch automatic controller, really Keeping road transportation concentration and flow speed stability.
- The control method 10. a kind of more drilling depths of cutter suction dredger multilayer according to claim 4 are dredged automatically, feature exist In the vacuum release valve automatic controller sucks the on or off of vacuum automatic control vacuum release valve according to submersible pump.
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| CN114635461A (en) * | 2022-05-19 | 2022-06-17 | 中交天津航道局有限公司 | Method and system for automatically checking excavation depth of reamer of cutter suction dredger |
| CN115094967A (en) * | 2022-06-17 | 2022-09-23 | 江苏筑港建设集团有限公司 | Dredging construction method of cutter suction dredger |
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| CN109750703B (en) | 2020-09-01 |
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