CN117188552B - A method for controlling the dredging of hard soil under a cutter suction operation mode - Google Patents
A method for controlling the dredging of hard soil under a cutter suction operation modeInfo
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Abstract
一种绞吸作业模式下的疏浚硬质土的控制方法，所述绞吸作业模式下的疏浚硬质土作业中包括两个核心环节：挖掘硬质土和输送硬质土，所述挖掘硬质土过程中通过调整切削参数控制切削下来的硬质土的土体粒径，所述硬质土的土体粒径进一步限制输送硬质土过程中的输送参数，所述控制方法适用于采用绞刀和泥泵进行疏浚作业的设备。本发明通过分析切削参数和输送参数之间的相互影响关系，对疏浚过程中的关键参数进行监控和调控，并给出不同异常作业情况下的参数调控方法，以保证整个疏浚作业的安全、高效、稳定进行，解决了疏浚硬质土过程中，土体粒径变化使得作业参数的分析和控制变得更为复杂的难题。
A control method for dredging hard soil in a cutter suction dredging operation mode is disclosed. The dredging operation includes two core stages: excavating the hard soil and transporting the hard soil. During the excavation process, the particle size of the excavated hard soil is controlled by adjusting cutting parameters. The particle size of the hard soil further limits the transport parameters during transport. This control method is applicable to equipment using cutterheads and mud pumps for dredging operations. This invention analyzes the interaction between cutting and transport parameters, monitors and regulates key parameters during the dredging process, and provides parameter control methods under different abnormal operating conditions to ensure the safe, efficient, and stable operation of the entire dredging operation. It solves the problem that changes in soil particle size during hard soil dredging complicate the analysis and control of operating parameters.
Description
Technical Field
The invention belongs to the technical field of dredging engineering, and particularly relates to a control method for dredging hard soil in a cutter suction operation mode.
Background
The cutter suction mode of operation is one of the typical modes of operation in dredging engineering, typically with a cutter and mud pump. In the dredging process adopting a cutter suction operation mode, the important point is to regulate and control the dredging output and the conveying capacity, wherein the monitoring and the regulation of the heavy point parameters are important.
In the process of excavating soil such as sand, gravel and the like, the particle size of the soil body is fixed, namely the size of the gravel. In the process of excavating the hard soil, due to the particularity of the hard soil, the particle size of the soil body entering the conveying pipeline is not the self size of the particles forming the soil body, but depends on cutting parameters, so that the parameters of the dredging operation are complex and changeable, and a brand new problem is brought to the control in the whole dredging process.
Therefore, the related parameters in the hard soil dredging operation process are required to be regulated and controlled by combining the digging link and the conveying link, and a control method for the hard soil dredging in the cutter suction operation mode is further provided.
Disclosure of Invention
In order to overcome the defects in the prior art, the invention provides a control method for dredging hard soil in a cutter suction operation mode. The method is suitable for various equipment for dredging operation by adopting a reamer and a dredge pump, including but not limited to cutter suction dredgers, cutter suction dredger and the like.
The technical scheme adopted by the invention is as follows:
The dredging hard soil operation in the cutter suction operation mode comprises two core links, namely, excavating hard soil and conveying the hard soil, wherein the soil particle size of the cut hard soil is controlled by adjusting cutting parameters in the process of excavating the hard soil, the conveying parameters in the process of conveying the hard soil are further limited by the soil particle size of the hard soil, and the control method is suitable for equipment adopting a reamer and a dredge pump to carry out dredging operation;
The cutting parameters comprise reamer rotating speed, reamer traversing speed and reamer burial depth, the cutting parameters are combined with hard soil parameters, and the excavation yield, soil mass particle size and cutting stress are calculated through a mathematical model; the conveying parameters comprise slurry flow rate, conveying concentration and conveying flow rate, the excavation yield is combined with parameters of a dredge pump and a pipeline, namely a dredge pump-flow characteristic curve, a dredge pump rotating speed and the length and the diameter of the pipeline, and the slurry flow rate, the conveying concentration and the conveying flow rate are calculated according to an empirical formula;
The combined speed of the reamer transverse moving speed and the reamer tooth tip linear speed is the soil grain speed, the reamer tooth tip linear speed=2pi R.n Rotating speed of reamer , R is the reamer radius, and the hard soil parameter is the soil body cohesive force.
Further, the calculation formula of the soil mass grain diameter a is as follows:
in the formula (1), V S is the transverse moving speed of the reamer, n is the rotating speed of the reamer, and m is the number of cutter teeth on the reamer.
Further, the pump head-flow characteristic curve of the same mud pump is different when the same mud pump runs at different rotation speeds, according to the law of proportionThe rotation speed of the mud pump is increased, and the conveying flow is increased.
Further, the control method is applicable to equipment comprising a large reamer system and a small reamer system, wherein the conveying concentration is controlled to be 15-25% for the large reamer system and 11-17% for the small reamer system.
Further, the large reamer system comprises a dredging cutter suction boat, and the small reamer system comprises an environment-friendly cutter suction boat and a cutter suction dredging robot.
Further, the upper limit of the soil particle speed is 30% of the suction port flow rate, and a specific formula is as follows:
V Soil particle velocity ≤30％V Suction port flow rate (2)
V Suction port flow rate ＝Q Delivery flow rate /S Area of suction opening (3)
In formula (3), S Area of suction opening is the suction area of the pipeline suction inside the reamer, and S Area of suction opening is a constant for the selected dredging apparatus.
Further, according to the combination of the conveying concentration and the soil particle size, the critical flow rate is calculated through an empirical formula, the slurry flow rate is 1.1-1.5 times of the critical flow rate, meanwhile, the reamer is driven by a motor or a hydraulic motor, the cutting stress of the reamer is limited by the structural strength, and the maximum allowable value of the reamer power of the reamer is the rated power of the motor or the hydraulic motor.
Further, on the basis of the selected dredging equipment, on the basis of well calculated dredging and conveying matching, key data in the dredging process are monitored and regulated, wherein monitoring parameters comprise slurry flow rate, conveying concentration, soil particle speed and reamer power in a pipeline, and regulating parameters comprise reamer rotating speed, reamer traversing speed, reamer burial depth and mud pump rotating speed.
Further, different regulation methods are adopted under the following five conditions:
(1) When the slurry flow rate is less than 1.1 and the conveying concentration is higher, firstly increasing the rotation speed of the slurry pump to rapidly increase the slurry flow rate, and secondly reducing the transverse moving speed of the reamer to reduce the soil particle size, reduce the critical flow rate, reduce the excavation yield and further reduce the conveying concentration;
(2) When the slurry flow rate is less than 1.1 x critical flow rate and the conveying concentration is lower, the rotating speed of the reamer is increased to reduce the soil particle size, and meanwhile, the power of the reamer is required to be prevented from exceeding the upper power limit, the soil particle speed is calculated, and the cutter is prevented from exceeding the upper soil particle speed limit, so that larger omission is avoided;
(3) When the slurry flow rate is more than 1.5 times critical flow rate and the conveying concentration is higher, firstly reducing the rotation speed of a dredge pump, reducing energy waste, secondly reducing the rotation speed of a reamer, reducing the power of the reamer, further reducing energy consumption under the condition of meeting dredging requirements, and finally reducing the transverse moving speed of the reamer so as to reduce the conveying concentration and avoid pipe blockage caused by local abrupt increase of the concentration;
(4) When the slurry flow rate is greater than 1.5-critical flow rate and the conveying concentration is lower, firstly increasing the transverse moving speed of the reamer to increase the excavating output, but simultaneously, needing to avoid that the reamer power exceeds the upper power limit, calculating the soil grain speed and avoiding that the reamer power exceeds the upper soil grain speed limit so as to avoid larger omission, secondly, increasing the burial depth of the reamer to increase the excavating output, and if the conveying concentration is increased, still making the slurry flow rate higher, and regulating and controlling according to the third condition;
(5) When the reamer power suddenly increases due to sudden hardening of the soil body, the transverse moving speed of the reamer is reduced, the rotating speed of the reamer is increased within the allowable range of the reamer power, the soil grain speed is calculated, and the condition that the soil grain speed exceeds the upper limit of the soil grain speed is avoided, so that larger omission is avoided.
The control method of the invention has the following beneficial effects:
According to the control method for the hard soil dredging in the cutter suction operation mode, key parameters in the dredging process are monitored and regulated by analyzing the mutual influence relation between the cutting parameters and the conveying parameters, and the parameter regulation and control methods under different abnormal operation conditions are provided, so that the whole dredging operation is ensured to be performed safely, efficiently and stably, and the problem that the analysis and control of the operation parameters become more complicated due to the change of the soil particle size in the dredging process of the hard soil is solved.
Drawings
Figure 1 is a schematic diagram of a control method for a hard soil dredging operation.
Fig. 2 is a schematic cross-sectional view of a reamer cutting process.
Fig. 3 is a matching diagram of the pipeline conveying system of the dredge pump.
Fig. 4 is a graph of the working concentration of the mud pump line delivery system.
Fig. 5 is a graph of the working flow rate of the mud pump pipeline delivery system.
Detailed Description
The following technical solutions in the embodiments of the present invention are clearly and completely expressed, and all other embodiments obtained by those skilled in the art without making any creative effort based on the embodiments of the present invention are included in the protection scope of the present invention.
The invention discloses a control method of dredging hard soil in a cutter suction operation mode, which comprises two core links of excavating hard soil and conveying the hard soil, wherein the soil particle size of the cut hard soil is controlled by adjusting cutting parameters in the process of excavating the hard soil due to the specificity of the hard soil, and the soil particle size of the hard soil further influences conveying parameters in the process of conveying the hard soil.
The control method is suitable for various equipment for dredging operation by adopting a reamer and a dredge pump, and comprises a large reamer system, such as a large dredging cutter suction ship, and a small reamer system, such as an environment-friendly cutter suction ship and a cutter suction dredging robot.
The principle of the control method for the hard soil dredging is shown in figure 1, the cutting parameters comprise reamer rotating speed, reamer transverse moving speed and reamer burial depth, the cutting parameters are combined with the hard soil parameters, and the excavation yield, soil mass particle size and cutting stress are calculated through a mathematical model.
The conveying parameters comprise slurry flow rate, conveying concentration and conveying flow rate, the excavation yield is combined with parameters of a mud pump and a pipeline, namely a pump lift-flow characteristic curve, a pump rotating speed and the length and diameter of the pipeline, and the slurry flow rate, the conveying concentration and the conveying flow rate are calculated according to an empirical formula.
In the following, a cutter suction type underwater dredging robot is taken as an example, the relation between cutting parameters and conveying parameters in the process of hard soil dredging in a cutter suction operation mode is analyzed, and a parameter regulation and control method under different abnormal operation conditions is provided based on the relation, so that the safety, the high efficiency and the stability of the whole dredging operation are ensured. The diameter of the reamer adopted by the robot is 300mm, and the diameter of the conveying pipeline is 100mm.
Example 1 cutting parameters
(1) Relation between reamer rotating speed and reamer traversing speed and soil grain diameter
The schematic cross-section of the cutting process of the reamer is shown in fig. 2, and the cutting track of all the cutter teeth on the reamer rotates one circle, each track line translates towards the cutting direction by the same length as the previous track line, namely, the cutting thickness is designated as a, and the cutting thickness can be expressed as:
In the formula (1), m is the number of cutter teeth rows on the reamer, m is 6;n in fig. 2 is the reamer rotating speed r/min, a is m, and V s is the reamer transverse moving speed m/s.
In experiments, soil particles formed after hard soil is cut are closely related to the shape of cutter teeth, and most of the soil particles are in the shape of a sheet with the same width as the cutter teeth, and the thickness of the soil particles is basically the same as the cutting thickness. The crushed soil which is initially cut is basically in a strip shape, after passing through a grating, pipeline conveying and a mud pump, the soil strip is broken, and the soil particles still have a certain size and are irregular blocks, and the blocks are basically in a thickness a when observed from the outlet of the pipeline. The particle size of the actually transported soil mass can be considered as a. The smaller the soil particle diameter a, namely the smaller the thickness of a soil layer cut by a single cutter tooth, the smaller the cutting stress, and the smaller the soil particles formed after the hard soil is cut, the more favorable for suction and transportation.
(2) Relation between burial depth and cutting stress of reamer
According to the method for calculating the cutting force in the cutter head load analysis of the cutter suction dredger based on the two-dimensional cutting theory, according to the burial depth of the reamer and the parameters of the reamer, and in combination with the related parameters of hard soil, the three-dimensional stress of the whole reamer in the process of digging is calculated, the cutting torque, the cutting power and the digging yield of the reamer at different moments are obtained on the basis, and the calculation result dynamically changes along with time.
The accuracy of the calculation method was verified by a reamer cutting test, and the test results are shown in table 1 below.
TABLE 1 test results of reamer cutting hard soil
Further, the stress condition, cutting torque, cutting power, excavation yield and soil grain size of the reamer carried by the underwater dredging robot under typical preset working conditions (specific conditions include soil cohesiveness, reamer transverse moving speed, reamer rotating speed and reamer burial depth) are calculated by the method, and specifically as shown in table 2, the soil cohesiveness used in the calculation is 150kPa, and the number of cutter teeth on the reamer used is 6.
TABLE 2 calculation results of reamer mathematical model for typical preset conditions
The rotation of the reamer is usually driven by a motor or a hydraulic motor, in the process of dredging hard soil, the cutting stress of the reamer is large due to the hard soil, in order to reduce the particle size of soil and ensure the excavation yield, the rotation speed of the reamer is often high, and a large load is brought to a reamer system, so that the cutting stress of the reamer is often limited by the structural strength, and the maximum allowable value of the reamer power of the reamer in the invention is the rated power of the motor or the hydraulic motor.
(3) Relation between reamer transverse moving speed and reamer burial depth and excavation yield
Increasing the reamer traversing speed, increasing the digging yield, as seen in conditions 1 and 2 of Table 2 above, and increasing the reamer burial depth, increasing the digging yield, as seen in conditions 3 and 4 of Table 2 above.
(4) Maximum allowable value of soil particle velocity
The inner side of the reamer system is provided with the pipeline suction opening, so that mixed slurry can be better sucked into a pipeline, the omission amount is reduced, but the cut soil particles are influenced by the transverse moving speed of the reamer and the rotating speed of the reamer, the soil particles are thrown out of the reamer along with the cutter teeth of the reamer, the soil particle speed is the combination speed of the transverse moving speed of the reamer and the linear speed of the tooth tip of the reamer, and in order to reduce the omission amount, the soil particle speed is required to be far less than the flow speed of the suction opening and is generally not more than 30 percent of the flow speed of the suction opening, and the concrete formula is as follows:
V Line speed of tooth tip of reamer ＝2πR*n Rotating speed of reamer (2)
V Soil particle velocity ≤30％V Suction port flow rate (4)
V Suction port flow rate ＝Q Delivery flow rate /S Area of suction opening (5)
In formula (2), R is the reamer radius, and in formula (5), S Area of suction opening is a constant for the selected dredging apparatus.
Example 2 delivery parameters
(1) Critical flow rate and slurry flow rate for pipeline transport
The critical flow rate is calculated using the canonical equation (JTS 181-5-2012) as follows:
Vc＝(90CV)1/3·g1/4·D1/2·ω1/2·dm -1/4 (6)
formula (6), V c -critical flow rate, C v -slurry concentration, g-gravity acceleration, d m is soil particle diameter, ω is sediment particle settling velocity, and the calculation is carried out by adopting a strong water formula:
In the formula (7), v-motion viscosity coefficient takes 10 -6m2/s, g-gravity acceleration takes 9.8m/s 2;γs -conveying solid particle density, the object is mainly soil, 2650kg/m 3;γw -conveying medium volume weight is mainly water, and 1000kg/m 3 is taken.
Wherein the critical flow rate is proportional to the soil mass particle size (i.e., soil particle diameter). Because the soil body grain size of the hard soil is larger, and the critical flow rate calculated by an empirical formula can be used as a reference, and the slurry flow rate needs to be properly increased and is 1.1-1.5 times of the critical flow rate unlike the conventional sand and stone characteristics.
(2) Matching calculation of mud pump and pipeline
The friction loss is calculated according to a Wilson friction calculation formula, and the specific formula is as follows:
In the formula (8), I m -slurry friction loss, I W -clear water friction loss, gamma m -solid particle density, gamma w -water density, C vd -slurry concentration and V m -slurry flow rate.
The conveying system with the diameter of 100mm, the row distance (namely the length of the pipeline) of 100mm and the row height of 5m is taken as an example for analysis, after friction loss is calculated by the formula (8), a pipeline head loss-flow relation curve is calculated according to the friction loss and is matched with a pump lift-flow characteristic curve of the mud pump, the pump lift is gradually reduced along with the increase of conveying concentration, the pipeline head loss is gradually increased, and the intersection point of the two curves is the working point under the concentration, as shown in figure 3. The working points are connected into a curve to obtain a working curve with one-to-one correspondence of concentration, flow and lift, as shown in fig. 4 and 5, as can be seen from fig. 4, the matched working flow is 40-120m 3/h, namely the flow rate is 1.42-4.25m/s. And the delivery flow rate should be 1.3 times higher than the critical flow rate calculated by formula (6), so the delivery flow rate should be higher than 2.1m/s, i.e., the flow rate is higher than 60m 3/h, as can be seen from FIG. 4, the corresponding concentration is 22%. Therefore, under the working condition, the conveying concentration range is 0-22%, and the conveying flow range is 60-120m 3/h.
In summary, in actual operation, for the selected dredge pump and pipeline system, there are a suitable conveying concentration interval and a conveying flow interval during the conveying process of the hard soil, and smooth progress of the conveying process can be ensured in the interval without clogging.
For large reamer systems the transport concentration should be controlled between 15-25% and for small reamer systems the transport concentration should be controlled between 11-17%. In addition, for the selected mud pump, the proper pipeline length and pipeline diameter can be selected by the working curve according to the requirements of wide concentration range and moderate flow rate.
(3) Relation between rotation speed and delivery flow rate of dredge pump
The pump head-flow characteristic curve of the same mud pump is different when the same mud pump runs at different rotating speeds, and the pump head-flow characteristic curve is different according to the law of proportionThe rotation speed of the mud pump is increased, and the conveying flow is increased.
Example 3 control method in dredging Process of different hard soil in cutter suction operation mode
From the above analysis, it is clear that the relationship between the cutting parameter and the conveying parameter is complicated, and affects and restricts each other. Based on the selected dredging equipment, on the basis of well calculated dredging and conveying matching, key parameters in the dredging process are monitored and regulated, wherein the monitored parameters comprise slurry flow rate, conveying concentration, soil particle speed and reamer power in a pipeline, and the regulated parameters comprise reamer rotating speed, reamer traversing speed, reamer burial depth and mud pump rotating speed. Different regulation and control methods are adopted for the following five abnormal working states respectively, and the method is as follows:
(1) If the slurry flow rate is less than 1.1, and the conveying concentration is higher, the risk of pipe blockage exists at the moment, the rotation speed of the dredge pump should be preferentially increased so as to rapidly increase the slurry flow rate, and then the transverse moving speed of the reamer is reduced, so that the soil particle size can be reduced, the critical flow rate can be reduced, the excavation yield can be reduced, and the conveying concentration can be further reduced;
(2) If the slurry flow rate is less than 1.1 x critical flow rate and the conveying concentration is lower, the conveying efficiency is extremely low and stratified flow is likely to be formed at the moment, mainly due to the fact that the soil particle size is larger, the reamer rotating speed is firstly increased, the soil particle size is reduced, the mud pump rotating speed is not preferentially increased, otherwise, the concentration is further reduced, the system is always in an inefficient working state, meanwhile, the reamer power is required to be prevented from exceeding the upper limit of the reamer power, the soil particle speed is required to be calculated, and the soil particle speed is prevented from exceeding the upper limit of the soil particle speed, so that larger omission is avoided;
(3) If the slurry flow rate is more than 1.5 times of critical flow rate and the conveying concentration is higher, the slurry is likely to be easy to convey at the moment, and the rotation speed of a dredge pump is reduced to reduce energy waste firstly, and then the rotation speed of a reamer is reduced, so that the reamer power is reduced, and the energy consumption is further reduced under the condition of meeting the dredging requirement;
(4) If the slurry flow rate is higher than 1.5 x critical flow rate and the conveying concentration is lower, the transverse moving speed of the reamer is increased to increase the yield mainly because the excavating yield is lower, but the reamer power is required to be avoided to exceed the upper limit of the reamer power, the soil grain speed is calculated, and the soil grain speed is avoided to exceed the upper limit of the soil grain speed so as to avoid larger missing amount, then the burial depth of the reamer can be properly increased to increase the excavating yield, and if the conveying concentration is increased, the slurry flow rate is still higher, and the slurry flow rate can be regulated and controlled according to the third condition.
(5) If the reamer power suddenly increases, which is probably caused by suddenly hardening soil, the transverse moving speed of the reamer should be preferentially reduced, the rotating speed of the reamer should be increased within the allowable range of the reamer power, the soil grain speed is calculated, and the condition that the soil grain speed exceeds the upper limit of the soil grain speed is avoided so as not to cause larger omission amount.
The foregoing description of the preferred embodiments of the invention is not intended to be limiting, but rather to enable any modification, such as replacement or improvement, to be made within the spirit and principles of the invention.
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| CN113931246A (en) * | 2021-08-30 | 2022-01-14 | 中交疏浚技术装备国家工程研究中心有限公司 | Dredging robot and dredging system |
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| CN107012904B (en) * | 2017-04-19 | 2019-06-21 | 江苏科技大学 | Soil type analysis method and control method for dredging by dredger |
| CN108643257A (en) * | 2018-04-20 | 2018-10-12 | 中交上海航道局有限公司 | The determination method of hydraulic dredging process ship and its sludge discharge pipeline, sludge discharge pipeline necking |
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| CN113931246A (en) * | 2021-08-30 | 2022-01-14 | 中交疏浚技术装备国家工程研究中心有限公司 | Dredging robot and dredging system |
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