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EP0882847A2 - Procédé de mesure de la force de traction exercée sur un bras de dragage pendant l'opération d'une drague flottante et en particulier d'une drague succeuse à trémie - Google Patents

Procédé de mesure de la force de traction exercée sur un bras de dragage pendant l'opération d'une drague flottante et en particulier d'une drague succeuse à trémie Download PDF

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Publication number
EP0882847A2
EP0882847A2 EP98201377A EP98201377A EP0882847A2 EP 0882847 A2 EP0882847 A2 EP 0882847A2 EP 98201377 A EP98201377 A EP 98201377A EP 98201377 A EP98201377 A EP 98201377A EP 0882847 A2 EP0882847 A2 EP 0882847A2
Authority
EP
European Patent Office
Prior art keywords
dredging
trailing force
dredge
force exerted
suction head
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
EP98201377A
Other languages
German (de)
English (en)
Other versions
EP0882847A3 (fr
Inventor
Cornelis De Keizer
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
IHC Holland NV
Original Assignee
IHC Holland NV
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by IHC Holland NV filed Critical IHC Holland NV
Publication of EP0882847A2 publication Critical patent/EP0882847A2/fr
Publication of EP0882847A3 publication Critical patent/EP0882847A3/fr
Ceased legal-status Critical Current

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Classifications

    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/2025—Particular purposes of control systems not otherwise provided for
    • E02F9/2045—Guiding machines along a predetermined path
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F3/00—Dredgers; Soil-shifting machines
    • E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/88—Dredgers; Soil-shifting machines mechanically-driven with arrangements acting by a sucking or forcing effect, e.g. suction dredgers
    • E02F3/90—Component parts, e.g. arrangement or adaptation of pumps
    • E02F3/907—Measuring or control devices, e.g. control units, detection means or sensors
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/26—Indicating devices

Definitions

  • the invention relates to a method of measuring the trailing force exerted on a dredging arm during operation of a floating dredge and in particularly a hopper suction dredge.
  • GB-A-2 242 788 describes a system for laying a cable or pipe stored in vessel onto a sea bed while using a sledge positioned on said vessel, and for measuring the tension of the cable when it enters and leaves said sledge. Obviously, such a system can not be used for measuring the trailing force exerted to a dredging arm during dredging.
  • the known floating dredges are increasingly equipped with a "Dynamic Positioning System", or in short the DP system, with the purpose of directing the ship exactly along a certain path. This is particularly desirable when a trench is to be dredged in which an oil or gas pipe or cable should be positioned. The exactness in dredging the trench will determine the time required for the job. Obviously, it is useless to dredge away more ground than necessary, so not next to the trench and not deeper than necessary in order to prevent formation of undesired holes.
  • JP 07 260482 Patent Abstracts from Japan vol. 096, no. 002, February 29, 1996) describes the use of a GPS system for specifying the position of a dredger.
  • a disturbance may also occur in the water current alongside the ship and underneath it. This will occur in particular at the position where the dredging takes place, since due to variations in the bottom depth, the water current and direction under the keel of the ship might vary. In general, the water current can not be measured, since the instruments used with normal ships do not function properly due to disturbances caused by the dredging process.
  • Kalman filter The use of a Kalman filter is known from e.g. JP 09 014962 (Patent Abstracts of Japan, vol. 097, no. 005, May 30, 1997). In this case, said Kalman filter is used for shortening the period until the computed position of a construction vehicle converges to the actual position thereof.
  • a mathematical model of the ship to be controlled can be contained in a Kalman filter and all forces acting on the ship can be input into the filter. Said forces are derived from the wind, from the forces of the propellers, from the bow and possibly stern thrusters, from the rudder positions and from the forces exerted by the dredging arms.
  • the movement and rotation of the ship is predicted and compared to the present change measured with positioning equipment such as DGPS and the compass, for example. Since the movement comparisons only lack the influence of the water current, the difference between the actual movement and rotation and the predicted movement and rotation can be used to calculate the flow. In control engineering, this is called “estimating”. This estimated flow can then be used in the control algorithms to provide for that the ship will continue following the desired path accurately.
  • the sensors are exposed to large ambient changes and experience has shown that on average, they only have a short useful life.
  • the sensors are expensive and thus frequent replacement is costly. With a defective sensor, the DP system will not function properly due to the relatively great influence of the suction tube.
  • the measurements are performed at a great distance from the suction head, as a consequence of which disturbances caused by e.g. the weight of parts of the suction tube, the forces exerted on the suction tube by the hoisting cables, the pressure differences caused by the suction process and the like, should be compensated.
  • the weight of the suction tube can vary due to variation in the solids concentration of the mixture brought up via the suction tube by dredging.
  • the object of the invention is to remove these difficulties and to that end provides for, that the trailing force exerted on a dredging arm is derived from an algorithm using process data being measured during the process of dredging.
  • process data are:
  • the pressure difference over the suction head is additionally affected by the excavating process, the mixing velocity and the concentration of the dredged mixture. Further, the trailing force is influenced by the possible mounting of teeth and water jets at the bottom of the suction head, which together should loosen the ground.
  • the complete dredging process around the suction head is a very complex process which can not be represented aboard by simple relations, also because the data concerning the condition of the ground, and thus the composition of the mixture brought up by dredging, are not continuously available.
  • the relation between the actual trailing force exerted on the dredging arm and the measured pressure difference over the head is estimated continuously.
  • the filter is able to estimate both the correct value and the previously mentioned value of the water current is that the trailing force on the dredging arm changes continuously and quick due to the specific dredging properties - in which changes from 0 to 100% can occur within a few seconds - whereas changes in the current only occur in the order of minutes to hours. Due to this difference in dynamics, the Kalman filter is capable of using quick variations in measured values for adjustment of the relation between the trailing force on the dredging arm and the pressure difference over the suction head and for attributing slow deviations to the changes in the water current.
  • the difference vector e t (Xm-XK, Ym-YK, PSIm-PSIK) between estimated and actual values is used for estimating the current and the relations Kps and Ksb:
  • the relations Kps are obtained by integration of the product of E and the pressure difference Pps over the suction head, e.g. in the most elementary form:

Landscapes

  • Engineering & Computer Science (AREA)
  • Mining & Mineral Resources (AREA)
  • Civil Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Air Transport Of Granular Materials (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Force Measurement Appropriate To Specific Purposes (AREA)
EP98201377A 1997-06-04 1998-05-06 Procédé de mesure de la force de traction exercée sur un bras de dragage pendant l'opération d'une drague flottante et en particulier d'une drague succeuse à trémie Ceased EP0882847A3 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
NL1006223A NL1006223C2 (nl) 1997-06-04 1997-06-04 Werkwijze voor het meten van de trekkracht die tijdens het bedrijf van een baggervaartuig op een baggerarm daarvan wordt uitgeoefend.
NL1006223 1997-06-04

Publications (2)

Publication Number Publication Date
EP0882847A2 true EP0882847A2 (fr) 1998-12-09
EP0882847A3 EP0882847A3 (fr) 1999-09-29

Family

ID=19765094

Family Applications (1)

Application Number Title Priority Date Filing Date
EP98201377A Ceased EP0882847A3 (fr) 1997-06-04 1998-05-06 Procédé de mesure de la force de traction exercée sur un bras de dragage pendant l'opération d'une drague flottante et en particulier d'une drague succeuse à trémie

Country Status (3)

Country Link
EP (1) EP0882847A3 (fr)
NL (1) NL1006223C2 (fr)
NO (1) NO982128L (fr)

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS6275104A (ja) * 1985-09-30 1987-04-07 Komatsu Ltd 油圧作動式作業機の制御方法
GB2204291A (en) * 1987-04-27 1988-11-09 Amtel Inc Lightweight transfer referencing and mooring system
GB2242788A (en) * 1990-03-29 1991-10-09 Eca System for laying cables or pipes on the sea bed
US5321637A (en) * 1991-01-10 1994-06-14 Indresco, Inc. Method for measuring the weight of a suspended load
JPH07260482A (ja) * 1994-03-17 1995-10-13 Penta Ocean Constr Co Ltd 浚渫船の浚渫位置出し方法
JPH0914962A (ja) * 1995-06-28 1997-01-17 Komatsu Ltd 建設車両の位置計測装置
JPH0934544A (ja) * 1995-07-20 1997-02-07 Shinko Electric Co Ltd 海底作業車の制御装置

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS6275104A (ja) * 1985-09-30 1987-04-07 Komatsu Ltd 油圧作動式作業機の制御方法
GB2204291A (en) * 1987-04-27 1988-11-09 Amtel Inc Lightweight transfer referencing and mooring system
GB2242788A (en) * 1990-03-29 1991-10-09 Eca System for laying cables or pipes on the sea bed
US5321637A (en) * 1991-01-10 1994-06-14 Indresco, Inc. Method for measuring the weight of a suspended load
JPH07260482A (ja) * 1994-03-17 1995-10-13 Penta Ocean Constr Co Ltd 浚渫船の浚渫位置出し方法
JPH0914962A (ja) * 1995-06-28 1997-01-17 Komatsu Ltd 建設車両の位置計測装置
JPH0934544A (ja) * 1995-07-20 1997-02-07 Shinko Electric Co Ltd 海底作業車の制御装置

Non-Patent Citations (4)

* Cited by examiner, † Cited by third party
Title
PATENT ABSTRACTS OF JAPAN vol. 011, no. 272 (M-622), 4 September 1987 (1987-09-04) & JP 62 075104 A (KOMATSU LTD), 7 April 1987 (1987-04-07) *
PATENT ABSTRACTS OF JAPAN vol. 096, no. 002, 29 February 1996 (1996-02-29) -& JP 07 260482 A (PENTA OCEAN CONSTR CO LTD), 13 October 1995 (1995-10-13) *
PATENT ABSTRACTS OF JAPAN vol. 097, no. 005, 30 May 1997 (1997-05-30) & JP 09 014962 A (KOMATSU LTD), 17 January 1997 (1997-01-17) *
PATENT ABSTRACTS OF JAPAN vol. 097, no. 006, 30 June 1997 (1997-06-30) & JP 09 034544 A (SHINKO ELECTRIC CO LTD), 7 February 1997 (1997-02-07) *

Also Published As

Publication number Publication date
NO982128L (no) 1998-12-07
EP0882847A3 (fr) 1999-09-29
NO982128D0 (no) 1998-05-11
NL1006223C2 (nl) 1998-12-16

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