JPS621051B2 - - Google Patents
Info
- Publication number
- JPS621051B2 JPS621051B2 JP14552581A JP14552581A JPS621051B2 JP S621051 B2 JPS621051 B2 JP S621051B2 JP 14552581 A JP14552581 A JP 14552581A JP 14552581 A JP14552581 A JP 14552581A JP S621051 B2 JPS621051 B2 JP S621051B2
- Authority
- JP
- Japan
- Prior art keywords
- swing angular
- angular velocity
- time
- negative pressure
- swing
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired
Links
- 230000007246 mechanism Effects 0.000 claims description 40
- 239000002689 soil Substances 0.000 claims description 8
- 238000005259 measurement Methods 0.000 claims 1
- 238000010586 diagram Methods 0.000 description 4
- 230000003247 decreasing effect Effects 0.000 description 3
- 230000007423 decrease Effects 0.000 description 1
Classifications
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Mining & Mineral Resources (AREA)
- Civil Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
Description
【発明の詳細な説明】
本発明は浚渫船の浚渫スイング角速度制御装置
に関するものである。DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a dredging swing angular velocity control device for a dredger.
以下図面により本発明の一実施例を説明する。 An embodiment of the present invention will be described below with reference to the drawings.
第１図はスイング時刻と測定値との関係の説明
図であつて一定時間であるｔ秒前の時刻T1を第
１時刻、現在の時刻T2を第２時刻、ｔ秒後の時
刻T3を第３時刻とする。 FIG. 1 is an explanatory diagram of the relationship between swing time and measured values, where time T1, which is a certain period of time t seconds ago, is the first time, current time T2 is the second time, and time T seconds after t seconds. 3 is the third time.
本発明の装置は第２図のブロツク線図に示すよ
うに第１及び第２の時刻における浚渫ポンプ吸入
負圧、カツター用電動機電流及びスイング角速度
を夫々測定し記憶する機構１，２及び３と、前記
第１及び第２の時刻において測定した各測定値を
比較し、その差及びその比を求める機構４，５，
６及び７，８，９と、前記機構４，５，６から得
られた差の値を前記第２時刻において測定した測
定値に加算して第３時刻の浚渫ポンプ吸入負圧、
カツター用電動機電流及びスイング角速度の夫々
の予測値を求める機構１０，１１及び１２と、浚
渫ポンプの基準吸入負圧と前記予測吸入負圧の比
に比例して前記予測スイング角速度を修正して第
１のスイング角速度を得る機構１３と、カツター
用電動機の許容電流値と前記予測電流値の比に比
例して前記予測スイング角速度を修正して第２の
スイング角速度を得る機構１４と、前記機構７，
９及び８，９の値より第１時刻に対する第２時刻
の浚渫ポンプ吸入負圧による土質変化率及びカツ
ター用電動機電流による土質変化率を求める機構
１５，１６と、この得られた第１、第２スイング
角速度を前記機構１５，１６の値によつて夫々修
正する機構１７，１８と、この機構１７，１８の
値を比較しそのうちの低い値を選択する機構１９
と、この機構１９の値により第３時刻の浚渫ラダ
ーのスイング角速度を制御する機構２０とから成
る。 As shown in the block diagram of FIG. 2, the device of the present invention includes mechanisms 1, 2, and 3 for measuring and storing the dredging pump suction negative pressure, cutter motor current, and swing angular velocity at the first and second times, respectively. , mechanisms 4, 5 for comparing the measured values measured at the first and second times and calculating the difference and the ratio thereof;
6, 7, 8, 9, and the difference values obtained from the mechanisms 4, 5, and 6 are added to the measured value measured at the second time to obtain the dredging pump suction negative pressure at the third time;
Mechanisms 10, 11, and 12 for calculating predicted values of cutter motor current and swing angular velocity, and correcting the predicted swing angular velocity in proportion to the ratio of the dredging pump reference suction negative pressure to the predicted suction negative pressure. a mechanism 13 for obtaining a second swing angular velocity; a mechanism 14 for obtaining a second swing angular velocity by correcting the predicted swing angular velocity in proportion to the ratio of the allowable current value of the cutter motor to the predicted current value; and the mechanism 7. ，
Mechanisms 15 and 16 for determining the soil quality change rate due to the dredging pump suction negative pressure and the soil quality change rate due to the cutter motor current at the second time with respect to the first time from the values of 9 and 8, 9; 2. Mechanisms 17 and 18 for correcting the two swing angular velocities by the values of the mechanisms 15 and 16, respectively; and a mechanism 19 for comparing the values of the mechanisms 17 and 18 and selecting the lower value among them.
and a mechanism 20 that controls the swing angular velocity of the dredging ladder at the third time based on the value of this mechanism 19.
本発明の装置は前記各機構を使用し一定時間ｔ
秒前の時刻及び現在時刻における浚渫ポンプ吸入
負圧、カツター用電動機電流及びスイング角速度
の各測定値をともに、ｔ秒後の時刻の適切なスイ
ング角速度設定値を求め制御するものである。 The device of the present invention uses each of the above-mentioned mechanisms and has a fixed time t.
The dredging pump suction negative pressure, cutter motor current, and swing angular velocity measured at the time seconds ago and at the current time are used to determine and control the appropriate swing angular velocity setting value for the time t seconds later.
スイング角速度は基本的には浚渫ポンプ吸入負
圧又はカツター用電動機電流によつて個別に抑
制・制御する必要があるため、先に浚渫ポンプ吸
入負圧によるスイング角速度目標値とカツター用
電動機電流によるスイング角速度目標値を求め、
次に得られた２つのスイング角速度目標値を比較
し小なる値を最終的にスイング角速度の制御設定
値とする。 Basically, the swing angular velocity needs to be suppressed and controlled individually by the dredging pump suction negative pressure or the cutter motor current, so first, the swing angular velocity target value by the dredging pump suction negative pressure and the swing by the cutter motor current are determined. Find the angular velocity target value,
Next, the two obtained swing angular velocity target values are compared and the smaller value is finally set as the swing angular velocity control setting value.
前記各スイング角速度目標値は第１及び第２の
時刻における各測定値によつて算出するスイング
角速度予測値及び土質変化率の積で求める。今、
第１時刻の浚渫ポンプ吸入負圧、カツター用電動
機電流及びスイング角速度をP1，I1及びV1、第２
時刻の浚渫ポンプ吸入負圧、カツター用電動機電
流及びスイング角速度をP2，I2及びV2とすると、
これらは機構１，２及び３で求めることができ、
これにより第３時刻の浚渫ポンプ吸入負圧、カツ
ター用電動機電流及びスイング角速度P3，I3及び
V3は、第２の時刻に対する第３時刻の各測定値
のそれぞれの変化率が、第１の時刻に対する第２
時刻の各測定値の変化率と変らないものとみなす
と、P3＝2P2−P1、I3＝2I2−I1、V3＝2V2−V1で
あり機構１０，１１及び１２にてこれらの予測値
を得ることができる。 Each of the swing angular velocity target values is obtained by multiplying the predicted swing angular velocity value calculated from each measured value at the first and second times and the rate of soil change. now,
The dredging pump suction negative pressure, cutter motor current and swing angular velocity at the first time are P 1 , I 1 and V 1 , and the second
If the dredging pump suction negative pressure, cutter motor current and swing angular velocity at the time are P 2 , I 2 and V 2 ,
These can be obtained by Mechanisms 1, 2 and 3,
As a result, the dredging pump suction negative pressure, cutter motor current, swing angular velocity P 3 , I 3 and
V 3 means that the rate of change of each measured value at the third time with respect to the second time is the second time with respect to the first time.
Assuming that the rate of change of each measured value of time is unchanged, P 3 = 2P 2 - P 1 , I 3 = 2I 2 - I 1 , V 3 = 2V 2 - V 1 , and mechanisms 10, 11 and 12 These predicted values can be obtained using
さらに浚渫ポンプ吸入負圧当りのスイング角速
度V3／P3及びカツター用電動機電流当りのスイ
ング角速度V3／I3を機構１３及び１４で求め、こ
れらを第３時刻のスイング角速度予測値として制
御要素に用いることができる。次に第１時刻に対
する第２時刻の土質変化率を、それぞれ浚渫ポン
プ吸入負圧による土質変化率Ａ及びカツター用電
動機電流による土質変化率Ｂとして、前者を浚渫
ポンプ吸入負圧比当りのスイング角速度比、後者
をカツター用電動機電流比当りのスイング角速度
比、即ちＡ＝（V2／V1）／（P2／P1）、Ｂ＝（V2／
V1）／（I2／I1）で表わせば
Ａ＜１の時、吸入負圧は増加方向なのでスイン
グ角速度を減少させる方向に
Ａ＞１の時、吸入負圧は減少方向なのでスイン
グ角速度を増加させる方向に
Ｂ＜１の時、カツター用電動機電流は増加方向
なのでスイング角速度を減少させる方向に
Ｂ＞１の時、カツター用電動機電流は減少方向
なのでスイング角速度を増加させる方向に
それぞれ制御すればよく、従つてこれらを第３時
刻のスイング角速度の制御要素として用いること
ができる。Ａ及びＢは機構１５及び１６で求め
る。前記機構１３及び１５で得られた値と浚渫ポ
ンプ吸入負圧基準値P0及び一定係数ＫPとの積
を、浚渫ポンプ吸入負圧による第３時刻のスイン
グ角速度目標値ＶPとし、前記機構１４及び１６
で得られた値とカツター用電動機電流制限値I0及
び一定係数ＫIとの積をカツター用電動機電流に
よる第３時刻のスイング角速度目標値をＶIとす
れば、ＶP＝ＫP・P0・Ａ・（V3／P3）、ＶI＝Ｋ
I・I0・Ｂ・（V3／I3）であり、機構１７及び１８
で求める。前記得られた２つのスイング角速度目
標値ＶP及びＶIを機構１９にて比較し小なる値を
選択して求め、これを第３時刻のスイング角速度
設定値としてスイング角速度制御機構２０にて適
切なスイング角速度に制御される。 Furthermore, the swing angular velocity V 3 /P 3 per suction negative pressure of the dredging pump and the swing angular velocity V 3 /I 3 per cutter motor current are determined by the mechanisms 13 and 14, and these are used as the predicted values of the swing angular velocity at the third time to control the control element. It can be used for. Next, the soil quality change rate at the second time with respect to the first time is defined as the soil quality change rate A due to dredging pump suction negative pressure and the soil quality change rate B due to cutter motor current, respectively, and the former is the swing angular velocity ratio per dredging pump suction negative pressure ratio. , the latter is the swing angular velocity ratio per cutter motor current ratio, that is, A = (V 2 /V 1 ) / (P 2 /P 1 ), B = (V 2 /
V 1 )/(I 2 /I 1 ) When A < 1, the suction negative pressure is increasing, so the swing angular velocity is decreased. When A > 1, the suction negative pressure is decreasing, so the swing angular velocity is When B<1, the cutter motor current increases, so the swing angular velocity is decreased.When B>1, the cutter motor current decreases, so the swing angular velocity is increased. Therefore, these can be used as control elements for the swing angular velocity at the third time. A and B are determined by mechanisms 15 and 16. The product of the values obtained by the mechanisms 13 and 15, the dredging pump suction negative pressure reference value P 0 and the constant coefficient K P is set as the swing angular velocity target value V P at the third time due to the dredging pump suction negative pressure, and the mechanism 14 and 16
If the target value of the swing angular velocity at the third time due to the cutter motor current is the product of the value obtained in , the cutter motor current limit value I 0 and the constant coefficient K I , then V P =K P・P 0・A・(V 3 /P 3 ), V I =K
I・I 0・B・(V 3 /I 3 ), and mechanisms 17 and 18
Find it with The two obtained swing angular velocity target values V P and V I are compared in the mechanism 19 and the smaller value is selected and determined, and this is set as the swing angular velocity setting value at the third time and is appropriately controlled by the swing angular velocity control mechanism 20. The swing angular velocity is controlled to a certain degree.
尚本実施例では、スイング角速度設定値として
浚渫ポンプ吸入負圧及びカツター用電動機電流に
よるスイング角速度目標値を用い、二者を比較し
て決めたものであるが、これに電動機電流及びそ
の他によるスイング角速度目標値を加え三者以上
の目標値を比較し、その内の最小値をスイング角
速度設定値とすることができる。 In this example, the swing angular velocity target value based on the dredging pump suction negative pressure and the cutter motor current is used as the swing angular velocity setting value, and the swing angular velocity target value is determined by comparing the two. It is possible to add the angular velocity target value, compare three or more target values, and set the minimum value among them as the swing angular velocity set value.
第１図はスイング時刻と測定値との関係図、第
２図は本発明装置のブロツク線図である。
１……浚渫ポンプ吸入負圧を測定し記憶する機
構、２……電動機電流を測定し記憶する機構、３
……スイング角速度を測定し記憶する機構、１３
……第１のスイング角速度を得る機構、１４……
第２のスイング角速度を得る機構、１５，１６…
…土質変化率を求める機構、２０……スイング角
速度を制御する構構。
FIG. 1 is a relationship diagram between swing time and measured values, and FIG. 2 is a block diagram of the apparatus of the present invention. 1... Mechanism for measuring and storing dredging pump suction negative pressure, 2... Mechanism for measuring and storing motor current, 3
...Mechanism for measuring and storing swing angular velocity, 13
...Mechanism for obtaining the first swing angular velocity, 14...
Mechanism for obtaining second swing angular velocity, 15, 16...
...Mechanism for determining the rate of soil change, 20...Mechanism for controlling the swing angular velocity.
Claims (1)
入負圧とカツター用電動機の電流とスイング角速
度を夫々測定し記憶する機構と、前記第１の時刻
において測定した測定値と前記第２の時刻におい
て測定した測定値とを互に比較しその差を求め、
この得られた差の値を前記第２の時刻において測
定した各測定値に加算して第３の時刻における浚
渫ポンプの吸入負圧とカツター用電動機の電流と
スイング角速度の予測値を夫々得る機構と、前記
第１及び第２の時刻における土質変化率を測定す
る機構と、前記浚渫ポンプの基準吸入負圧と前記
予測吸入負圧の比に比例して前記予測スイング角
速度を修正して第１スイング角速度を得る機構
と、前記カツター用電動機の許容電流値と前記予
測電流値の比に比例して前記予測スイング角速度
を修正して第２スイング角速度を得る機構と、前
記土質変化率に応じて前記第１、第２スイング角
速度を修正する機構と、この得られた第１、第２
スイング角速度のうち低いスイング角速度で第３
の時刻のスイング角速度を制御せしめる機構とよ
り成ることを特徴とする浚渫船の浚渫スイング角
速度制御装置。1 A mechanism for measuring and storing dredging pump suction negative pressure, current and swing angular velocity of the cutter motor at each of the first and second times, and a mechanism for measuring and storing the dredging pump suction negative pressure, the current and swing angular velocity of the cutter motor, respectively, and the measured values measured at the first time and the swing angular velocity at the second time. Compare the measured values with each other and find the difference,
A mechanism that adds the obtained difference value to each measurement value measured at the second time to obtain predicted values of the suction negative pressure of the dredging pump, the current of the cutter electric motor, and the swing angular velocity, respectively, at the third time. a mechanism for measuring soil change rates at the first and second times; a mechanism for obtaining a swing angular velocity; a mechanism for correcting the predicted swing angular velocity in proportion to the ratio of the allowable current value of the cutter motor to the predicted current value to obtain a second swing angular velocity; a mechanism for correcting the first and second swing angular velocities; and a mechanism for correcting the first and second swing angular velocities;
The third swing angular velocity is the lower one of the swing angular velocities.
A dredging swing angular speed control device for a dredger, comprising: a mechanism for controlling the swing angular speed at a time of .
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP14552581A JPS5847836A (en) | 1981-09-17 | 1981-09-17 | Controller for dredge swing angular velocity of dredger |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP14552581A JPS5847836A (en) | 1981-09-17 | 1981-09-17 | Controller for dredge swing angular velocity of dredger |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS5847836A JPS5847836A (en) | 1983-03-19 |
| JPS621051B2 true JPS621051B2 (en) | 1987-01-10 |
Family
ID=15387229
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP14552581A Granted JPS5847836A (en) | 1981-09-17 | 1981-09-17 | Controller for dredge swing angular velocity of dredger |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS5847836A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH01123156U (en) * | 1988-02-10 | 1989-08-22 |
-
1981
- 1981-09-17 JP JP14552581A patent/JPS5847836A/en active Granted
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH01123156U (en) * | 1988-02-10 | 1989-08-22 |
Also Published As
| Publication number | Publication date |
|---|---|
| JPS5847836A (en) | 1983-03-19 |
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