CN106836341A - The control system and control method of intelligent cutter suction dredger - Google Patents
The control system and control method of intelligent cutter suction dredger Download PDFInfo
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- CN106836341A CN106836341A CN201710099192.XA CN201710099192A CN106836341A CN 106836341 A CN106836341 A CN 106836341A CN 201710099192 A CN201710099192 A CN 201710099192A CN 106836341 A CN106836341 A CN 106836341A
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- dredger
- control
- reamer
- crane span
- span structure
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Classifications
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- 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
-
- 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
- E02F5/00—Dredgers or soil-shifting machines for special purposes
- E02F5/28—Dredgers or soil-shifting machines for special purposes for cleaning watercourses or other ways
Abstract
The present invention proposes a kind of control system and control method of intelligent cutter suction dredger, including data collection station, control server, execution controller and executing agency；, in construction, operating mode is complicated and changeable, and operating personnel construct by rule of thumb for dredger, and labour intensity is big, and efficiency of construction is relatively low.The present invention is using advanced technologies such as intelligent dredging system integrated use nerual network technique, PC application, OPC interface technology, fieldbus, EPAs, the automatic precise control to dredging operation process can be realized, intelligence degree is high, can flexibly, easily carry out dredging operation, all kinds of control handles of driver's manual manipulation are not needed, dredging and reclamation efficiency is remarkably improved, the labour intensity of staff is greatly reduced.
Description
Technical field
The present invention relates to dredger dredging systems technology field, more particularly to a kind of control system of intelligent cutter suction dredger
System and control method.
Background technology
Silt removing dredging, river regulation, waterway dredging, environmental protection is removed contamination, reclamation by pumping filling and island construction concern national economy, is dredged
Dredge as one of means for improving infrastructure, have become the prerequisite of China's economic development.In recent years, with international trade
Easy becomes increasingly prosperous, and dredges also increasingly apparent to the promotion of economic development and guaranteeing role.In China, dredging work demand
Greatly, ship dredging construction technology will tremendous development from now on construction equipment of dredging.
Dredger as ship dredging construction capital equipment, with wide market.Dredger especially cutter suction dredger
It is a kind of hydraulic dredger, it is adaptable to excavate the loose soft plastic clay such as loose sand, sandy loam, mud, the activity duration is long, dredges
Flatness is high.Influenceing the factor of dredger productivity ratio has a lot, and soil property situation and equipment operation situation all have very big to productivity ratio
Influence.In construction, driver needs to control traversing pressure, traversing speed according to construction area soil property situation and experience dredger
Degree, reamer rotating speed, reamer pressure, submersible pump row pressure, in cabin the parameter such as pump row pressure, vacuum values, flow velocity concentration preferably when pass
It is situation, grasps the best of breed of various relations.Because the energy of driver is limited, it is impossible to be constantly in spiritual height and collect
Middle state, it is impossible to make concentration be constantly in optimum state.Therefore, the research to intelligent cutter suction dredger is just highly desirable to
.
The content of the invention
Therefore, it is an object of the present invention to propose a kind of control system and controlling party of intelligent cutter suction dredger
Method, compared to traditional dredger, intelligence degree is high, can flexibly, easily carry out dredging operation, it is not necessary to driver grasps manually
All kinds of control handles are controlled, dredging and reclamation efficiency is remarkably improved, the labour intensity of staff is greatly reduced.
To achieve these goals, the embodiment of one aspect of the present invention provides a kind of control system of intelligent cutter suction dredger
System, including data collection station, control server, execution controller and executing agency；
The data collection station is fixedly installed in the executing agency of dredger, and is connected with PLC, is used for
Gather the running parameter of dredger；And the running parameter that will be collected is sent to control server by OPC interface；
The control server includes monitoring module, data processing module, data server；The monitoring module, data
Processing module, data server are connected by EPA with PLC respectively；The data server, for connecing
Receive the running parameter of PLC transmission and stored, as historical data in case inquiry；The monitoring module is used to read
Dredger running parameter and utilization display in data server are simulated and show；The data processing module is used to read
The running parameter of the dredger in data server, and analysis is optimized by neural network algorithm, and according to result of calculation
Generation control instruction, and control instruction is sent to PLC, in case perform controller reading；
The execution controller is connected by Profibus-DP fieldbus with PLC；For reading PLC controls
The control instruction of device transmission processed simultaneously controls executing agency's action according to control instruction；
The executing agency is connected with controller is performed, and the control instruction of controller is performed for receiving, and according to institute
State control instruction and complete corresponding control action.
Preferably, the execution controller includes reamer frequency converter, dredge pump frequency converter, spud carriage, travelling winch；
Institute's reamer frequency converter is used to control reamer to be operated with different rotating speeds, realizes floating and the dive of reamer, comes
Excavate underwater soil；
The dredge pump frequency converter is used to controlling dredge pump to carry out operating under different rotating speeds drawing mud, and by mud emission
Among the spoil hopper of dredger；
The spud carriage be used for control guide pile and with lifting pole, sprag, fall stake, staking out chassis moved
Move to position the position of dredger and the drilling depth of dredger；
The travelling winch is used to drive the traversing crane span structure of dredger to be swung back and forth centered on piling bar by twist hawser
Dredge.
Preferably, the data collection station includes that crane span structure angular transducer, guide pile displacement transducer, draft become
Send device, GPS, remote-reporting instrument for tide receiver, gyro compass；
The crane span structure angular transducer is fixed on traversing crane span structure, for detecting angle of the traversing crane span structure relative to the water surface；
The guide pile displacement transducer is fixed on spud carriage, the stroke for detecting spud carriage；
The draft transmitter is fixed on boat bottom of dredging, the draft for detecting dredger；
The remote-reporting instrument for tide receiver is used to detect the tidal level information of dredger；
The gyro compass is used to detect the course signal of dredger.
Preferably, the data collection station also includes the hydrostatic sensor and the electric sensor；
The hydrostatic sensor is used to detect the hydraulic proportional threshold values of each hydraulic part of dredger, including detection travelling winch
Hydraulic proportional threshold values and crane span structure hoisting gear hydraulic proportional threshold values；
The electric sensor is used to detect the electric parameter of each motor part of dredger, including the electricity for detecting dredge pump motor
Current parameters, frequency parameter, the power parameter of stream parameter, frequency parameter, power parameter and detection reamer motor.
It is another object of the present invention to provide a kind of control method of intelligent cutter suction dredger, including following step
Suddenly：
Step S1, data collection station is fixedly installed in the executing agency of dredger, and is connected with PLC
Connect, gather the running parameter of dredger；And the running parameter that will be collected is sent to control server by OPC interface；
Step S2, the control server receives the running parameter of the PLC transmission and is stored, using aobvious
Show that device is simulated display, monitor in real time is carried out to provide dredging personnel；Analysis is optimized by neural network algorithm simultaneously,
And control instruction is generated according to result of calculation, while control instruction is sent to PLC, and entered by the PLC
One step is forwarded to the execution controller；
Step S3, the execution controller receives the control from PLC and refers to by Profibus-DP fieldbus
Order, and executing agency's action is controlled according to control instruction, complete corresponding control action；
Step S4, after executing agency's action, data collection station continues to gather newest dredger running parameter, then presses
Repeated according to above-mentioned steps.
Further, in step S1, the data collection station include crane span structure angular transducer, guide pile displacement transducer,
Draft transmitter, GPS, remote-reporting instrument for tide receiver, gyro compass, hydrostatic sensor, electric sensor；
The crane span structure angular transducer is fixed on traversing crane span structure, detects angle of the traversing crane span structure relative to the water surface；
The guide pile displacement transducer is fixed on spud carriage, detects the stroke of spud carriage；
The draft transmitter is fixed on boat bottom of dredging, and detects the draft of dredger；
The remote-reporting instrument for tide receives the tidal level information of machine testing dredger；
The gyro compass detects the course signal of dredger.
Further, in step S1, the data collection station also includes the hydrostatic sensor and the electric sensor；
The hydrostatic sensor is used to detect the hydraulic proportional threshold values of each hydraulic part of dredger, including detection travelling winch
Hydraulic proportional threshold values and crane span structure hoisting gear hydraulic proportional threshold values；
The electric sensor is used to detect the electric parameter of each motor part of dredger, including the electricity for detecting dredge pump motor
Current parameters, frequency parameter, the power parameter of stream parameter, frequency parameter, power parameter and detection reamer motor.
Further, controller implementation procedure is performed described in step S3 and follows following steps：
Step S31, the spud carriage is using controlling guide pile and with lifting pole, sprag, the platform of stake, staking out of falling
Car moves to position the position of dredger and the drilling depth of dredger；
Step S32, reamer is fixed with the traversing crane span structure, by the winch twist hawser on traversing crane span structure, is driven and is dug
Mud ship is swung back and forth centered on guide pile and dredged；
Step S33, after reamer position determines, the reamer Frequency Converter Control reamer is operated with different rotating speeds, real
Underwater soil is excavated in the floating of existing reamer and dive；
Step S34, the dredge pump Frequency Converter Control dredge pump carries out operating under different rotating speeds and draws mud, is drawn
Mud is mud loose after reamer is excavated, and by among the spoil hopper of mud emission dredger.
The control system of a kind of intelligent cutter suction dredger for providing according to embodiments of the present invention is with method compared to tradition
The control method of dredger at least has advantages below：
Intelligent dredging system integrated use nerual network technique, reaches the system that carried out to dredger, controls comprehensively and accurately
System, in combination with advanced technologies such as programming sequence controller (PLC), OPC interface technology, fieldbus, EPAs, will gather
To running parameter carry out integrated use, so as to cook up optimal case, intelligence degree is high, can flexibly, easily be dug
Mud operation, it is not necessary to all kinds of control handles of driver's manual manipulation, is remarkably improved dredging and reclamation efficiency, greatly reduces work people
The labour intensity of member.
The additional aspect of the present invention and advantage will be set forth in part in the description, and will partly become from the following description
Obtain substantially, or recognized by practice of the invention.
Brief description of the drawings
Of the invention above-mentioned and/or additional aspect and advantage will become from description of the accompanying drawings below to embodiment is combined
Substantially and be readily appreciated that, wherein：
Fig. 1 is a kind of structured flowchart of the control system of intelligent cutter suction dredger of the present invention；
Fig. 2 is a kind of structural representation of the control system of intelligent cutter suction dredger of the present invention；
Fig. 3 is a kind of flow chart of the control method of intelligent cutter suction dredger of the present invention；
Fig. 4 is a kind of operational flowchart of the middle executing agency of intelligent cutter suction dredger of the present invention；
Fig. 5 is the schematic diagram of neutral net in a kind of control system of intelligent cutter suction dredger of the present invention；
Fig. 6 is a kind of OPC Client/Server structure charts of the control system of intelligent cutter suction dredger of the present invention；
Reference：1st, data collection station；2nd, control server；3rd, controller is performed；4th, executing agency；101st, crane span structure
Angular transducer；102nd, guide pile displacement transducer；103rd, draft transmitter；104、GPS；105th, remote-reporting instrument for tide is received
Machine；106th, gyro compass；107th, hydrostatic sensor；108th, electric sensor；201st, monitoring module；202nd, data processing module；
203rd, data server；301st, reamer frequency converter；302nd, dredge pump frequency converter；303rd, spud carriage；304th, travelling winch；401、
Guide pile；402nd, chassis；403rd, reamer；404th, traversing crane span structure；405th, dredge pump.
Specific embodiment
Embodiments of the invention are described below in detail, the example of the embodiment is shown in the drawings, wherein from start to finish
Same or similar label represents same or similar element or the element with same or like function.Below with reference to attached
It is exemplary to scheme the embodiment of description, it is intended to for explaining the present invention, and be not considered as limiting the invention.
As shown in Figure 1-2, a kind of control system of intelligent cutter suction dredger provided in an embodiment of the present invention, including data
Acquisition terminal 1, control server 2, execution controller 3 and executing agency 4.
Data collection station 1 is fixedly installed in executing agency, and is connected with PLC, for gathering dredger
Running parameter；And the running parameter that will be collected is sent to control server 2 by OPC interface.
Data collection station 1 includes crane span structure angular transducer 101, guide pile displacement transducer 102, draft transmitter
103rd, GPS104, remote-reporting instrument for tide receiver 105, gyro compass 106, hydrostatic sensor 107, electric sensor 108；Crane span structure angle
Sensor 101 is fixed on traversing crane span structure 304, for detecting angle of the traversing crane span structure 304 relative to the water surface；Guide pile displacement is passed
Sensor 102 is fixed on spud carriage 402, the stroke for detecting spud carriage 402；Draft transmitter 103 is consolidated
Boat bottom of dredging is scheduled on, the draft for detecting dredger；Remote-reporting instrument for tide receiver 105 is used to detect the tide of dredger
Position information；Gyro compass 106 is used to detect the course signal of dredger.
Further, data collection station 1 also includes hydrostatic sensor 107 and electric sensor 108；Hydrostatic sensor 107
Hydraulic proportional threshold values for detecting each hydraulic part of dredger, including the hydraulic proportional threshold values and crane span structure of detection travelling winch are carried
Rise the hydraulic proportional threshold values of winch；Electric sensor 108 is used to detect the electric parameter of each motor part of dredger, including detection
Current parameters, frequency parameter, the power parameter of the current parameters of dredge pump motor, frequency parameter, power parameter and detection reamer motor.
Control server 2 includes monitoring module 201, data processing module 202, data server 203；Monitoring module 201,
Data processing module 202, data server 203 are connected by EPA with PLC respectively；
Data server 203 protects the data that PLC is transmitted through coming dedicated for the computer of the storage various data in job site
Keep, there are three aspects, one is to pass data to monitor Real time vision, and two is to pass data to analysis meter
Calculation machine is analyzed, and three are easy for related personnel is consulted, copies the operation such as data.
Monitoring module 201 is simulated display using display, realizes the real-time of various equipment running status on dredger
Monitoring, data server 203 sends the data to monitoring module 201, and monitoring module includes close friend's various construction parameters
On human-computer interaction interface, checked for dredging personnel, analyzed, to realize monitor in real time.
Data processing module 202 uses neural network algorithm, data server to pass data to data processing module
202, data processing module is analyzed optimization using neutral net, according to optimum results, control instruction is generated, to PLC controls
Device sends corresponding instruction, and PLC is then according to instruction control device operation.
Optimization analysis process sets activation threshold value for each node of input layer；Input layer multi collect running parameter, root
Successive ignition is carried out according to the numerical value of multi collect and automatically generate learning rules, when each running parameter reaches activation threshold value by work
Sent to control server as parameter, control server is provided with corresponding control instruction according to learning rules, and by control instruction
Multi-direction transmission is carried out, corresponding controlling organization is acted according to the control instruction for receiving.
Controller 3 is performed to be connected with PLC by Profibus-DP fieldbus；For receiving data processing
The control instruction of module transmission simultaneously controls executing agency's action according to control instruction.Performing controller 3 includes reamer frequency converter
301st, dredge pump frequency converter 302, spud carriage 303, travelling winch 304；Spud carriage 303 is used to control the He of guide pile 401
With lifting pole, sprag, fall stake, staking out chassis 402 move to position the position of dredger and the drilling depth of dredger；
Traversing crane span structure 404 is used to fix reamer 403, and drives dredger by twist hawser by travelling winch 304, for controlling horizontal stroke
Shifting crane span structure is swung back and forth centered on piling bar and dredged.
Reamer frequency converter 305 is used to control reamer 403 to be operated with different rotating speeds, and control reamer motor is rotated, to
The different power supply of reamer motor incoming frequency, frequency is higher, and revolution is bigger, can finally control the reamer can be under different revolutions
The floating and dive for realizing reamer 403 excavate underwater soil；Dredge pump frequency converter 306 is similar with reamer frequency converter, for controlling
Dredge pump 404 carries out operating under different rotating speeds and draws mud, realizes silt Velocity of Pipeline Transportation stabilization, and dredge pump revolution is higher,
Silt Velocity of Pipeline Transportation is higher and by among the spoil hopper of mud emission dredger.
Executing agency 4 is connected with controller 3 is performed, and the control instruction of controller 3 is performed for receiving.Here machine is performed
Structure 4 is the specific equipment for performing operational order, such as reamer 403, reamer frequency converter 301 the control precession of reamer 403 or back-out, strand
Knife 403 is the executing agency of reamer frequency converter 301.Therefore executing agency 4 include guide pile 401, chassis 402, reamer 403,
Traversing crane span structure 404, dredge pump 405.
As shown in figure 5, it should be noted that neural network algorithm is the work of the dredger using the collection of data collection station 1
Make parameter, running parameter here include traversing crane span structure 304 relative to the angle of the water surface, the stroke of spud carriage 402, dredge
The draft of ship, the tidal level information of dredger, course signal and hydrostatic sensor 107 and electric sensor 108 are detected
Each several part hydraulic proportional threshold values and electric part electric parameter；It is defeated in above-mentioned each running parameter composition neutral net
Enter a node of layer；Each computer in control server 2 constitutes each node in intermediate layer, and is advised according to PID control
Then it is controlled optimization；And export control instruction；Above-mentioned multiple control devices that performing controller 3 includes constitute nerve
Multiple output node layers of network；Control instruction is received, and controls executing agency to make action.
Artificial neural network has preliminary self adaptation and self organization ability.Change cynapse power in study or training process
Weight values, to adapt to the requirement of surrounding environment.Consolidated network can have different functions because of mode of learning and content difference.Artificial god
It is a system with learning ability through network, knowledge can be developed, so that exceedes the original know-how of designer.It is logical
Often, its learning training mode can be divided into two kinds, and a kind of is the study for having supervision or having tutor, at this moment using given sample
Standard is classified or is imitated；The another kind that uses of the present invention is unsupervised learning or to learn without tutor, at this moment, only regulation
Mode of learning or some rules, then specific study content is different with system local environment (i.e. input signal situation), and system can
To find environmental characteristic and regularity automatically, with closer to the function like human brain.
Specific artificial neural network as shown in table 1 have nonlinear information processing capability, input-output mapping ability,
Evidence respond, adaptive capacity, fault-tolerant ability, ultra-large integrated executable ability, analysis Design consistency ability
And biological neural analog capability.
The neural network type of table 1 and function
In general, neutral net is not superior compared with classical calculation, only when conventional method can't resolve or
During effect on driving birds is not good its superiority can be just shown from neural net method.The mechanism of problem is had little understanding or mathematics can not be used
The problems such as system that model is represented, such as fault diagnosis, feature extraction and prediction, neutral net is often best instrument.Together
When neutral net cannot use treatment big data quantity rule, the problem that represent of formula, show great flexibility and adaptive
Ying Xing.
As shown in fig. 6, PLC and control server (monitoring module, data processing module and data server) in the present invention
Between communication use OPC modes.OPC based on OLE technologies, using client (OPC Client 1~2)/server
(OPC Server 1~3) pattern, for the exploitation of industrial automation object-oriented provides unified standard, this standard defines
The method for exchanging Automated real-time data between the client computer based on PC using microsoft operating system.Using this mark
After standard, hardware development business will replace software developer to develop unified OPC interface program for the hardware product of oneself, and software is opened
Originator can exempt the work of exploitation driver, so as to improve the opening and interoperability of system.
OPC communications protocol transmission data are accurate, real-time is high, and OPC communication protocols are a kind of objects of process control
Connection and embedded technology, by the connection to Microsoft's object, embedded technology, component object model and Distributed Component Object
The combination of modelling technique, interface, method and the attribute of standard are provided to industrial automation and process control field.
Using OPC protocol communications, exchange control system realizes field apparatus and procedure management information, is preferably opened
The real-time transmission that formula control system, PLC and computer pass through OPC protocol realization information, for the intellectuality of dredger provides communication
Support.
Dredger can be cutter suction dredger, drag suction dredger, bucket dredge, but not limited to this.
The control system of intelligent cutter suction dredger of the present invention, it is main using Profibus-DP fieldbus and
EPA two ways communicates.Monitoring module, data processing module and the data server realized using control server
As the core of system, using all devices and system on EPA connection dredger.EPA has transmission energy
Power is strong, speed is fast and the characteristics of good in anti-interference performance, a global field controlling network for dredger can be made up of it.Scene sets
Standby main using the connection of Profibus-DP fieldbus, its adaptation adverse circumstances ability is stronger, can connect each scene control
The control subsystem of part is communicated.By the system integration, computer, frequency converter, PLC, sensor etc. is set to form an entirety.
The function of the system is to complete the intelligent optimum control of dredger, realizes exchanging highest yield for minimum cost.
As shown in figure 3, a kind of control method of intelligent cutter suction dredger of another embodiment of the present invention, including following step
Suddenly：Step S1, data collection station 11 is fixedly installed in executing agency 4, gathers the running parameter of dredger；And will collection
To running parameter control server 22 is sent to by OPC interface.
In step S1, data collection station 11 includes crane span structure angular transducer 101, guide pile displacement transducer 102, drinking water
Depth transmitter 103, GPS104, remote-reporting instrument for tide receiver 105, gyro compass 106, hydrostatic sensor 107, electric sensor
108；Crane span structure angular transducer 101 is fixed on traversing crane span structure 304, for detecting angle of the traversing crane span structure 304 relative to the water surface；
Guide pile displacement transducer 102 is fixed on spud carriage 303, the stroke for detecting spud carriage 303；Draft
Transmitter 103 is fixed on boat bottom of dredging, the draft for detecting dredger；Remote-reporting instrument for tide receiver 105 is used to examine
Survey the tidal level information of dredger；Gyro compass 106 is used to detect the course signal of dredger.
In step S1, data collection station 11 also includes hydrostatic sensor 107 and electric sensor 108；Hydrostatic sensor
107 are used to detecting the hydraulic proportional threshold values of each hydraulic part of dredger, including detection travelling winch 404 hydraulic proportional threshold values and
The hydraulic proportional threshold values of crane span structure hoisting gear；Electric sensor 108 is used to detect the electric parameter of each motor part of dredger, bag
Include current parameters, the frequency of current parameters, frequency parameter, power parameter and the detection motor of reamer 403 of the detection motor of dredge pump 405
Parameter, power parameter.
Step S2, control server 22 includes monitoring module 201, data processing module 202, data server 203；Its
In, data server 203 keeps the data that PLC is transmitted through coming dedicated for the computer of the storage various data in job site,
In case monitoring module 201 and data processing module 202 are transferred.
The called data of monitoring module 201, is simulated using display and shown, realizes various equipment operation shapes on dredger
The monitor in real time of state, monitoring module includes on friendly human-computer interaction interface various construction parameters, checked for dredging personnel,
Analysis.
Data processing module 202 uses neural network algorithm, data server to pass data to data processing module
202, data processing module is analyzed optimization using neutral net, according to optimum results, control instruction is generated, to PLC controls
Device sends corresponding instruction, and PLC is then according to instruction control device operation.
Step S3, is performed controller 3 and is connected with PLC by Profibus-DP fieldbus；Receive at data
The control instruction of the reason transmission of module 202 simultaneously controls executing agency 4 to act according to control instruction.
Step S4, executing agency 4 receives the control instruction for performing controller 3, and is acted according to control instruction.
Step S5, after executing agency 4 acts, data collection station 11 continues to gather newest dredger running parameter, so
Repeated according to above-mentioned steps afterwards.
As shown in figure 4, controller 3 is performed in step S3 includes reamer frequency converter 301, dredge pump frequency converter 302, guide pile platform
Car 303, traversing crane span structure 304；Perform the implementation procedure of controller 3 and follow following steps：
Step S31, spud carriage includes that guide pile 401 and chassis 402 are utilized and controls guide pile 401 and with lifting
Stake, sprag, fall stake, the chassis 402 of staking out and move to position the position of dredger and the drilling depth of dredger.
Step S32, by travelling winch 304 by twist hawser, drives dredger to carry out backswing centered on guide pile 401
It is dynamic, reamer 403 is fixed with traversing crane span structure 304, dredged using reamer.
Step S33, after the position of reamer 403 determines, the Frequency Converter Control reamer 403 of reamer 403 is transported with different rotating speeds
Turn, the floating and dive for realizing reamer 403 excavate underwater soil.
Step S34, the control dredge pump 405 of 405 frequency converter of dredge pump 302 carries out operating under different rotating speeds and draws mud, institute
The mud of absorption is mud loose after reamer 403 is excavated, and by among the spoil hopper of mud emission dredger.
The control method of intelligent cutter suction dredger of the present invention, it is main using Profibus-DP fieldbus and
EPA two ways communicates.Monitoring module, data processing module and the data server realized using control server
As the core of system, using all devices and system on EPA connection dredger.EPA has transmission energy
Power is strong, speed is fast and the characteristics of good in anti-interference performance, a global field controlling network for dredger can be made up of it.Scene sets
Standby main using the connection of Profibus-DP fieldbus, its adaptation adverse circumstances ability is stronger, can connect each scene control
The control subsystem of part is communicated.By the system integration, computer, frequency converter, PLC, sensor etc. is set to form an entirety.
The function of the system is to complete the intelligent optimum control of dredger, realizes exchanging highest yield for minimum cost.
This method integrated use nerual network technique, reaches the system that carried out to dredger, controls comprehensively and accurately, while
With reference to advanced technologies, the work that will be collected such as programming sequence controller (PLC), OPC interface technology, fieldbus, EPAs
Carry out integrated use as parameter, so as to cook up optimal case, intelligence degree is high, can flexibly, easily carry out dredging operation,
All kinds of control handles of driver's manual manipulation are not needed, dredging and reclamation efficiency is remarkably improved, the labor of staff is greatly reduced
Fatigue resistance.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means to combine specific features, structure, material or spy that the embodiment or example are described
Point is contained at least one embodiment of the invention or example.In this manual, to the schematic representation of above-mentioned term not
Necessarily refer to identical embodiment or example.And, the specific features of description, structure, material or feature can be any
One or more embodiments or example in combine in an appropriate manner.
Although embodiments of the invention have been shown and described above, it is to be understood that above-described embodiment is example
Property, it is impossible to limitation of the present invention is interpreted as, one of ordinary skill in the art is not departing from principle of the invention and objective
In the case of above-described embodiment can be changed within the scope of the invention, change, replace and modification.The scope of the present invention
By appended claims and its equivalent limit.
Claims (8)
1. a kind of control system of intelligent cutter suction dredger, including data collection station, control server, perform controller and
Executing agency；
The data collection station is fixedly installed in the executing agency of dredger, and is connected with PLC, for gathering
The running parameter of dredger；And the running parameter that will be collected is sent to control server by OPC interface；
The control server includes monitoring module, data processing module, data server；The monitoring module, data processing
Module, data server are connected by EPA with PLC respectively；The data server, for receiving PLC
The running parameter of controller transmission is simultaneously stored, as historical data in case inquiry；The monitoring module is used to read data
Dredger running parameter in server is simultaneously simulated display and carries out monitor in real time to provide dredging personnel using display；Institute
Data processing module is stated for reading the running parameter of the dredger in data server, and is carried out by neural network algorithm excellent
Change analysis, and control instruction is generated according to result of calculation, and control instruction is sent to PLC, in case performing controller
Read；
The execution controller is connected by Profibus-DP fieldbus with PLC；For reading PLC
The control instruction of transmission simultaneously controls executing agency's action according to control instruction；
The executing agency is connected with controller is performed, and the control instruction of controller is performed for receiving, and according to the control
System instruction completes corresponding control action.
2. the control system of intelligent cutter suction dredger according to claim 1, it is characterised in that the execution controller
Including reamer frequency converter, dredge pump frequency converter, spud carriage, travelling winch；
Institute reamer frequency converter is used to control reamer to be operated with different rotating speeds, and the floating and dive for realizing reamer are excavated
Underwater soil；
The dredge pump frequency converter draws mud for controlling dredge pump that operating is carried out under different rotating speeds, and mud emission is dredged
Among the spoil hopper of ship；
The spud carriage be used for control guide pile and with lifting pole, sprag, fall stake, staking out chassis move come
Position the position of dredger and the drilling depth of dredger；
The travelling winch is used to be swung back and forth centered on piling bar by the traversing crane span structure of twist hawser drive dredger and dredged.
3. the control system of intelligent cutter suction dredger according to claim 2, it is characterised in that the data acquisition end
It is mechanical, electrical that end includes that crane span structure angular transducer, guide pile displacement transducer, draft transmitter, GPS, remote-reporting instrument for tide are received
Compass；
The crane span structure angular transducer is fixed on traversing crane span structure, for detecting angle of the traversing crane span structure relative to the water surface；
The guide pile displacement transducer is fixed on spud carriage, the stroke for detecting spud carriage；
The draft transmitter is fixed on boat bottom of dredging, the draft for detecting dredger；
The remote-reporting instrument for tide receiver is used to detect the tidal level information of dredger；
The gyro compass is used to detect the course signal of dredger.
4. the control system of the intelligent cutter suction dredger according to claim 1 or 3, it is characterised in that the data are adopted
Collection terminal also includes the hydrostatic sensor and the electric sensor；
The hydrostatic sensor is used to detect the hydraulic proportional threshold values of each hydraulic part of dredger, including the liquid for detecting travelling winch
The hydraulic proportional threshold values of pressure ratio threshold and crane span structure hoisting gear；
The electric sensor is used to detect the electric parameter of each motor part of dredger, including the electric current of detection dredge pump motor is joined
Current parameters, frequency parameter, the power parameter of number, frequency parameter, power parameter and detection reamer motor.
5. a kind of control method of intelligent cutter suction dredger, it is characterised in that comprise the following steps：
Step S1, data collection station is fixedly installed in the executing agency of dredger, and is connected with PLC, is adopted
Collect the running parameter of dredger；And the running parameter that will be collected is sent to control server by OPC interface；
Step S2, the control server receives the running parameter of the PLC transmission and is stored, using display
Display is simulated, monitor in real time is carried out to provide dredging personnel；Analysis, and root are optimized by neural network algorithm simultaneously
Control instruction is generated according to result of calculation, while control instruction is sent to PLC, and it is further by the PLC
It is forwarded to the execution controller；
Step S3, the execution controller receives the control instruction from PLC by Profibus-DP fieldbus,
And executing agency's action is controlled according to control instruction, complete corresponding control action；
Step S4, after executing agency's action, data collection station continues to gather newest dredger running parameter, then according to upper
Step is stated to repeat.
6. the control method of intelligent cutter suction dredger according to claim 5, it is characterised in that described in step S1
Data collection station includes crane span structure angular transducer, guide pile displacement transducer, draft transmitter, GPS, remote-reporting instrument for tide
Receiver, gyro compass, hydrostatic sensor, electric sensor；
The crane span structure angular transducer is fixed on traversing crane span structure, detects angle of the traversing crane span structure relative to the water surface；
The guide pile displacement transducer is fixed on spud carriage, detects the stroke of spud carriage；
The draft transmitter is fixed on boat bottom of dredging, and detects the draft of dredger；
The remote-reporting instrument for tide receives the tidal level information of machine testing dredger；
The gyro compass detects the course signal of dredger.
7. the control method of the intelligent cutter suction dredger according to claim 5 or 6, it is characterised in that in step S1, institute
Stating data collection station also includes the hydrostatic sensor and the electric sensor；
The hydrostatic sensor is used to detect the hydraulic proportional threshold values of each hydraulic part of dredger, including the liquid for detecting travelling winch
The hydraulic proportional threshold values of pressure ratio threshold and crane span structure hoisting gear；
The electric sensor is used to detect the electric parameter of each motor part of dredger, including the electric current of detection dredge pump motor is joined
Current parameters, frequency parameter, the power parameter of number, frequency parameter, power parameter and detection reamer motor.
8. the control method of intelligent cutter suction dredger according to claim 5, it is characterised in that held described in step S3
Line control unit implementation procedure follows following steps：
Step S31, the spud carriage using control guide pile and with lifting pole, sprag, fall stake, staking out chassis enter
Movement is gone to position the position of dredger and the drilling depth of dredger；
Step S32, reamer is fixed with the traversing crane span structure, by the winch twist hawser on traversing crane span structure, drives dredger
Swung back and forth centered on guide pile and dredged；
Step S33, after reamer position determines, the reamer Frequency Converter Control reamer is operated with different rotating speeds, realizes twisting
Underwater soil is excavated in the floating of knife and dive；
Step S34, the dredge pump Frequency Converter Control dredge pump carries out operating under different rotating speeds and draws mud, the mud drawn
Loose mud after being excavated for reamer, and by among the spoil hopper of mud emission dredger.
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