CN109750702A - A kind of cutter suction dredger economic flow rate is dredged control method automatically - Google Patents
A kind of cutter suction dredger economic flow rate is dredged control method automatically Download PDFInfo
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Abstract
It dredges automatically control method the present invention relates to a kind of cutter suction dredger economic flow rate, belong to engineering ship technical field of automatic control, this method is first under currently construction operating condition, according to all places oil consumption of construction and dredger output historical data, analyze " dredger output/all places oil consumption " ratio, the construction yield target value of most economic benefit under the operating condition is determined in a manner of taking maximum ratio, corresponding submersible pump sucking vacuum and mud speed rate are determined with this yield target value, mud speed rate and submersible pump sucking vacuum is kept to be in control range to control transverse moving speed, and control each dredging plant predetermined order teamwork, to realize the efficient and best economic benefit automatic dredging operation of cutter suction dredger.Control method of the invention can obtain the ratio of optimal economic output and cost input, and the amount of labour of dredging operation personnel is enough reduced to a great extent, and improve construction quality, ensure equipment safety, reduce oil consumption, greatly improve economic benefit.
Description
Technical field
The invention belongs to engineering ship technical field of automatic control, more particularly to a kind of cutter suction dredger economic flow rate
Automatic control method of dredging.
Background technique
Cutter suction dredger does not play not replaceable main force's effect in waterway dredging and land reclamation engineering, with
The development of computer and network technologies, construction personnel can by long-range work station control dredging plant, monitoring Dredging Process,
Significantly improve the construction efficiency of dredger, but the operation level of personnel and qualification to construction yield and efficiency generate compared with
It is big to influence, wherein it is one of main problem that the oil consumption under identical yield, which differs greatly, not only strong influence project cost, also
Certain harm is produced to construction environment.If ship can be constructed between yield and oil consumption establishes optimal models, and according to this mould
Type automatically controls ship construction in real time, and the construction efficiency of cutter suction dredger can be made to match with oil consumption.
In order to solve the above problem, it is dredged automatically the correlative study of control by carrying out cutter suction dredger, proposes a kind of strand
The control method of dredging automatically of absorbing dredge boat economic flow rate.
Summary of the invention
In view of the problems of the existing technology, it dredges automatically control the present invention provides a kind of cutter suction dredger economic flow rate
Method.
The control method the invention is realized in this way a kind of cutter suction dredger economic flow rate is dredged automatically, this method is first
Under currently construction operating condition, according to all places oil consumption of construction and dredger output historical data, analyze " dredger output/all places oil consumption "
Ratio determines the construction yield target value of most economic benefit under the operating condition, in a manner of taking maximum ratio with this yield target
Value determines corresponding submersible pump sucking vacuum and mud speed rate, and mud speed rate and submersible pump sucking vacuum is kept to be in control range
Transverse moving speed is controlled, and controls each dredging plant predetermined order teamwork, to realize efficiently and economic benefit is best
The automatic dredging operation of cutter suction dredger.
The main dredging control object of this control method includes travelling winch, gantry winch, reamer, piling bar trolley, vacuum
The cutter suction dredgers dredging tool such as relief valve.
The main signal needed in control process has: transverse moving speed, thickness of cutting, gantry depth, submersible pump sucking vacuum,
Dredge pump revolving speed, trolley stroke, concentration of hydraulic mixture, the depth of water, gantry distance and section of dredging etc. away from sideline.Each signal passes through correspondence
The sensor of installation site acquires.
The construction parameter for also needing setting includes optimum sustainable yield goal-setting, thickness of cutting setting, traversing sideline plus/minus
Rate setting, the setting of trolley step distance, the setting of gantry depth and other detection parameters etc..
This control method establishes sub-controller for main dredging control object respectively, specifically includes that traversing automatic control
Device, reamer speed automation device device, gantry automatic controller, piling bar trolley automatic controller, slurry transportation flow speed controller
With vacuum release valve automatic controller.It is influenced each other between each sub-controller by the control parameter being related to jointly.
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 linkage action order of the main dredging plant of cutter suction dredger is needed according to site operation may be different.Not
This control method can be applied under same running order, core be the economic flow rate target according to setting, control traversing speed
Degree keeps mud speed rate and submersible pump vacuum values to be in control range.
The advantages and positive effects of the present invention are:
1) control method of the invention is alternatively economical due to introducing dredger output and the ratio factor of all places oil consumption
Determinant when yield, therefore the construction of dredging automatically that can guarantee to carry out under this economic flow rate can obtain optimal warp
The ratio for the output and cost input of helping, to greatly improve economic benefit；
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 economic flow rate of the present invention is dredged the control schematic diagram of control method automatically；
Fig. 2 is that economic flow rate of the present invention is dredged the transverse moving speed 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
Refering to fig. 1, a kind of cutter suction dredger economic flow rate provided in this embodiment is dredged control method automatically, and this method is first
First under currently construction operating condition, according to all places oil consumption of construction and dredger output historical data, analysis " dredger output/all places oil
Consumption " ratio, determines that the construction yield target value of most economic benefit under the operating condition, this value can be described as in a manner of taking maximum ratio
" optimum sustainable yield target value " determines corresponding submersible pump sucking vacuum and mud stream with this " optimum sustainable yield target value "
Speed keeps mud speed rate and submersible pump sucking vacuum to be in control range to control transverse moving speed, and controls each dredging plant packet
Include the cutter suction dredgers dredging tool predetermined order such as travelling winch, gantry winch, reamer, piling bar trolley, vacuum release valve connection
Conjunction movement, to realize the efficient and best economic benefit automatic dredging operation of cutter suction dredger.
The main signal needed in control process has: transverse moving speed, thickness of cutting, gantry depth, submersible pump sucking vacuum,
Dredge pump revolving speed, trolley stroke, concentration of hydraulic mixture, the depth of water, gantry distance and section of dredging etc. away from sideline.Each signal passes through correspondence
The sensor of installation site acquires.
This control method is suitable for following 3 kinds automatic dredging operation modes:
The automatic dredging operation mode of the more drilling depths of single layer 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, piling bar trolley
Automatically setting value stepping is pressed, gantry reamer decentralization depth remains unchanged, and the automatic backswing of travelling winch is reversely dredged again, until
The layer is dredged end, and travelling winch returns center line stopping automatically.
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.
More automatic dredging operation modes of drilling depth multilayer are as follows: in each piling bar trolley stroke, gantry reamer is transferred to automatically
Set excavating depth, it is traversing it is automatic swung to the left or to the right close to slowing down when excavating sideline and to behind sideline, piling bar trolley is automatic
By setting value stepping, gantry reamer decentralization depth is remained unchanged, and the automatic backswing of travelling winch is reversely dredged again, until the layer
It dredges end, piling bar trolley is recovered to zero-bit, and gantry reamer is transferred automatically by setting decentralization step value, automatically begins to next layer and dredges
Operation is dredged, above procedure is repeated, the end until the piling bar trolley stroke is dredged, travelling winch returns center line stopping automatically.
From Figure 2 it can be seen that in the control method, the control of transverse moving speed is by conventional traversing automatic controller and slurry transportation
Flow speed controller two parts collective effect.
Conventional traversing control section, transverse moving speed control is related to reamer torque, and reamer torque is more than reduction after setting value
Transverse moving speed；Related to underwater pump discharge head, underwater pump discharge head is more than revolution speed under first water transfer after setting value, then is dropped
Low transverse moving speed, finally adjusts vacuum release valve；Related to total discharge pressure, total discharge pressure reduces traversing more than after setting value
Speed.The above control amount priority for influencing transverse moving speed is identical and alternative function is opened.
The conventional traversing control of comparison, more preferential is influence of the mud speed rate control to transverse moving speed.Introduce oil incomparably
The factor of the ratio between consumption and dredger output as analysis of history construction data, determines the best yield mesh of economy under current working
Scale value keeps the yield values constant in automatic construction operation, to obtain optimum efficiency.
Control yield, which is maintained at economic flow rate target value largely, to be realized by controlling transverse moving speed, because horizontal
Yield can most be influenced significantly by moving speed.Further for refinement, control yield controls mud speed rate, mud density,
Wherein, yield formula:
In formula: flow velocity is when dredging manually, and the historical data of the pipeline mud speed rate of system record is averaged, with the value
It is calculated as working flow rate；
Concentration calculation formula:
Reamer aspiration port vacuum (density forecast) can be estimated by establishing " vacuum-density meter " in control platform again, then is controlled
The aspiration port vacuum values are made to keep can control good yield in a certain range.Control " economic flow rate target is followed in actual use
Value -- suction inlet vacuum -- controls speed " thinking control change transverse moving speed, when underwater dredge pump sucking vacuum is lower than setting value
Shi Zengjia transverse moving speed, on the contrary reduce transverse moving speed, it is ensured that and yield values pass through practical application in economic flow rate target zone
Verifying is learnt can guarantee pipeline concentration of hydraulic mixture substantially constant in traversing swing process in this way.
In addition, to prevent plugging, it is also necessary to which, according to current dredging soil property or particle diameter situation, estimation is estimated conveying and do not blocked up
The minimum critical flow velocity of pipe when control transverse moving speed changes, guarantees that mud speed rate is not less than the critical flow velocity, when Pipeline transport mud
When starching flow velocity lower than pipeline critical flow velocity, transverse moving speed is reduced, otherwise increases transverse moving speed.
For conveying the calculation formula of critical flow velocity are as follows:
In formula, VtRepresent interim flow velocity, CvdPipeline mean concentration is represented, α is the design factor obtained according to experimental data,
Value range is between 5.2-8.7.
Since travelling winch is according to fan-shaped track swing, the behaviour being slowed down when being rocked to sideline, commutated, started
Make.Calculating reamer offset distance is horizontal at this time to judge that whether close to sideline, pre-alarm is being issued close to after sideline for gantry in real time
Control is moved using winch sideline control speed as override.When gantry swings to left and right sideline, travelling winch is automatically controlled by setting
The rate of deceleration stops, to prevent the excavation of super sideline.
Reamer is controlled, control target is to keep reamer thickness of cutting in setting control range to meet in work progress
The target call of economic flow rate.Its model are as follows: introduce reamer slice thickness, that is, reamer revolving speed and transverse moving speed than mathematical 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 transverse moving speed height
When 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 ceiling value
Between when, reamer revolving speed and transverse moving speed ratio is calculated according to setting reamer thickness of cutting in system, reamer revolving speed automatically with
Change with transverse moving speed, to obtain and excavate the adaptable reamer slice thickness of soil property.This ratio can manually be set, and consider scene
Operating condition takes into account dredging efficiency, is normally set up the ratio of reamer revolving speed (rev/min) and transverse moving speed (m/min) in 0.5-1 range
It is interior.
Gantry is automatically controlled, control target is that holding reamer depth is setting value in work progress.Its model are as follows:
(1) it when reamer depth deviates setting deviation, then automatically controls gantry and rises or falls, it is ensured that is accurate to dig deeply；(2) when gantry twists
When knife swings arrival sideline, step pitch is transferred according to control model and the reamer of setting, gantry reamer is transferred automatically to set depth.
During entire gantry automatically controls, function, the whether liftoff function of reamer, bridge into before closing also are rapidly returned to by same track
The limitation of frame depth offset control function, ultra-deep data mining duty.When same track, which is rapidly returned to function, to be enabled, gantry can mention automatically
The rapid backswing of crossing system after liter setting height；When into close before reamer whether liftoff function enable when, each sideline trolley into
Before the movement of pass, gantry also can automatically promote setting height, until transferring to excavating depth automatically into after the completion of pass；Work as gantry
When depth offset control function enables, what gantry was transferred automatically deep-controlled can realize deviation control；When ultra-deep data mining duty opens
Used time, last excavating depth can realize deviation control.
Trolley is controlled, control target is to be rocked to sideline gantry is traversing by setting step pitch movement in work progress
When, according to the trolley stepping of control model and setting, trolley is controlled automatically into pass.
For slurry transportation flow control, flow rate of pipelines is kept by control transverse moving speed setting value.
For vacuum release valve controller, to maintain vacuum in setting value, when submersible pump sucking vacuum is higher than setting value,
Vacuum release valve is automatically opened, and reduces transverse moving speed.
What is automatically controlled exits: as long as whenever system receives emergency flight control instruction or manually controls instruction, automatically
Exit automatic control mode.I.e. in each sub-controller or Controlling model described in control method, emergency flight control highest priority, hand
Dynamic control is taken second place, and it is minimum to automatically control priority.
The operation of each dredging plant described in this method is more than and is controlled according to some single parameter value, but root
According to the variation of multiple parameter values, synthesis is accounted for, according to the different of its weighing factor, the final control for determining controlled plant
Parameter.The variation of each dredging plant operating parameter can also cause the variation of multiple procedure parameters, the variation of these procedure parameters,
By the logic analysis of controller, the control to each related running equipment is influenced.As: the transverse moving speed that gantry winch generates
Variation influences whether that traversing pulling force, reamer revolving speed, reamer torque, dredge pump sucking vacuum, concentration of hydraulic mixture, mud speed rate etc. were dredged
The variation of journey parameter；Reamer torque, dredge pump sucking vacuum, concentration of hydraulic mixture, mud speed rate etc. all can be to gantry winch transverse moving speeds
It has an impact.
In one embodiment, current working is fine sand soil property, selectes throughput rate in 1700m3/ h and 2600m3Between/h,
Corresponding vacuum values control interval: -0.025 to -0.045.Set trolley single step distance 1m (left side bearing), (the right 1.2m
Line), it is absolute altitude -10m that reamer, which transfers depth, and transverse moving speed follows vacuum to change, the excessive then reduction of speed of vacuum degree, and vacuum degree is smaller then
Accelerate.The more drilling depth separate unit vehicle mining modes of single layer are set, other control parameter setting values are shown in Table 1.
1 economic flow rate of table automatically controls parameter configuration table
In instances, according to the setup parameter of table 1, control function is verified, mainly demonstrates each stage control
The response condition of system, control function proof list are as shown in table 2 below:
2 target output automatic control function proof list of table
3 transverse moving speed control function proof list of table
Process 1-9 respectively represents 9 mining processes, and a drilling depth operation has been carried out between each process 1-9.
It can be seen that vacuum conservation degree control interval more fortunately: (- 0.025, -0.045) by the data of table 2 and table 3,
Illustrate that yield is the most economical under this period control method.
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 (9)
- The control method 1. a kind of cutter suction dredger economic flow rate is dredged automatically, which is characterized in that this method is constructed currently first Under operating condition, according to all places oil consumption of construction and dredger output historical data, " dredger output/all places oil consumption " ratio is analyzed, to take The mode of maximum ratio determines the construction yield target value of most economic benefit under the operating condition, is determined and is corresponded to this yield target value Submersible pump sucking vacuum and mud speed rate, keep mud speed rate and submersible pump sucking vacuum to be in control range traversing to control Speed, and each dredging plant predetermined order teamwork is controlled, to realize that efficient and best economic benefit strand suction is dredged The automatic dredging operation of ship.
- The control method 2. a kind of cutter suction dredger economic flow rate according to claim 1 is dredged automatically, which is characterized in that this The main dredging control object of control method includes that travelling winch, gantry winch, reamer, piling bar trolley, vacuum release valve etc. twist Sucking mud digging ship dredging equipment.
- The control method 3. a kind of cutter suction dredger economic flow rate according to claim 1 is dredged automatically, which is characterized in that control There is the main signal that needs during system: transverse moving speed, thickness of cutting, gantry depth, submersible pump sucking vacuum, dredge pump revolving speed, Trolley stroke, concentration of hydraulic mixture, the depth of water, gantry distance and section of dredging etc. away from sideline；Each signal passes through corresponding installation site Sensor acquisition.
- The control method 4. a kind of cutter suction dredger economic flow rate according to claim 1 is dredged automatically, which is characterized in that also The construction parameter that need to be set include optimum sustainable yield goal-setting, thickness of cutting setting, traversing sideline plus/minus rate setting, The setting of trolley step distance, the setting of gantry depth and other detection parameters etc..
- The control method 5. a kind of cutter suction dredger economic flow rate according to claim 1 is dredged automatically, which is characterized in that when Underwater dredge pump sucking vacuum increases transverse moving speed when being lower than setting value, otherwise reduces transverse moving speed.
- The control method 6. a kind of cutter suction dredger economic flow rate according to claim 1 is dredged automatically, which is characterized in that when When Pipeline transport mud speed rate is lower than pipeline critical flow velocity, transverse moving speed is reduced, otherwise increases transverse moving speed.
- The control method 7. a kind of cutter suction dredger economic flow rate according to claim 1 is dredged automatically, which is characterized in that this Control method is suitable for following 3 kinds automatic dredging operation modes:1) the automatic dredging operation mode of the more drilling depths of single layer are as follows: in each piling bar trolley stroke, gantry reamer is transferred to automatically to be set Determine 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, piling bar trolley from Dynamic to press setting value stepping, gantry reamer decentralization depth remains unchanged, and the automatic backswing of travelling winch is reversely dredged again, until should Layer is dredged ends, and travelling winch returns center line automatically to be stopped；2) 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 to be set Determine 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, and gantry reamer is pressed Setting decentralization step value transfers to next excavating depth, and piling bar trolley stepping remains unchanged, and the automatic backswing of travelling winch carries out again Reversed dredging, until after reamer has cut this dredging section, gantry automatic lifting to initial mud face position, then piling bar trolley Automatically setting value stepping is pressed, next dredging section dredging operation is automatically begun to, repeats above procedure, until the piling bar trolley row Journey is dredged end, and travelling winch returns center line stopping automatically；3) the automatic dredging operation mode of more drilling depth multilayers are as follows: in each piling bar trolley stroke, gantry reamer is transferred to automatically to be set Determine excavating depth, it is traversing it is automatic swung to the left or to the right close to slowing down when excavating sideline and to behind sideline, piling bar trolley is pressed automatically Setting value stepping, gantry reamer decentralization depth remain unchanged, and the automatic backswing of travelling winch is reversely dredged again, until the layer is dug Mud terminates, and piling bar trolley is recovered to zero-bit, and gantry reamer is transferred automatically by setting decentralization step value, automatically begins to next layer of dredging Operation repeats above procedure, the end until the piling bar trolley stroke is dredged, and travelling winch returns center line stopping automatically.
- The control method 8. a kind of cutter suction dredger economic flow rate according to claim 1 is 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 revolving speed 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 9. a kind of cutter suction dredger economic flow rate according to claim 8 is dredged automatically, which is characterized in that each A sub-controller uses emergency flight control highest priority, manually controls and takes second place, and automatic control priority is minimum, i.e., is whenever As long as system receives emergency flight control instruction or manually controls instruction, automatic control mode is automatically exited from.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111335388A (en) * | 2020-02-21 | 2020-06-26 | 中交疏浚技术装备国家工程研究中心有限公司 | Full-intelligent cutter suction dredger |
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| CN101021878A (en) * | 2006-02-14 | 2007-08-22 | 中国交通建设集团有限公司 | Automatic computerized selecting optimized dredging method for cutter suction dredger |
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