抓斗挖泥船全自动精挖控制系统设计及应用  

Design and application of fully automatic fine dredging control system for grab dredger

作　　者：刘树东 吴易 陈磊 LIU Shu-dong;WU Yi;CHEN Lei(China Communications Dredging(Group)Co.,Ltd.,Shanghai 200092,China;CCCC National Engineering Research Center of Dredging Technology and Equipment Co.,Ltd.,Shanghai 200082,China;Key Lab of Dredging Technology of CCCC,Shanghai 201314,China)

机构地区：[1]中交疏浚(集团)股份有限公司,上海200092 [2]中交疏浚技术装备国家工程研究中心有限公司,上海200082 [3]中交集团疏浚实验室,上海201314

出　　处：《中国港湾建设》2024年第11期89-95,共7页China Harbour Engineering

摘　　要：针对人工手动控制的抓斗挖泥船传统疏浚系统所存在的系统控制精度低、挖掘平整度差等问题,依托某抓斗挖泥船控制改造项目,对抓斗挖泥船作业特征和液压系统的驱动特性进行分析,提出基于模型预测控制的定深控制算法和基于模糊控制的精挖控制算法,设计了基于西门子PLC定深精挖控制系统,最终实现“一键精挖”的全自动作业。实船应用表明,定深精挖控制系统全自动作业流程稳定、可靠,控制精度高、挖掘面平整,符合施工作业要求,提高了抓斗挖泥船作业的施工效率。A traditional dredging systems on grab dredgers are typically controlled manually,which leads to low control precision and poor dredging flatness.Relying on a control modification project for a specific grab dredger,the operational characteristics of the grab dredger and the driving characteristics of the hydraulic system were analyzed.A depth-keeping algorithm based on model predictive control and a fine dredging control algorithm based on fuzzy control were proposed.A depth-keeping and fine dredging control system based on Siemens PLC was designed,ultimately achieving fully automatic"one-touch fine dredging".Practical application on the dredger demonstrates that the fully automatic operation process of depth-keeping and fine dredging control system is stable and reliable,with high control accuracy and flat excavation surfaces,which meets the construction operational requirements and enhances the construction efficiency of grab dredger operations.

关 键 词：抓斗挖泥船 模糊控制 定深精挖 全自动作业 

分 类 号：U674.31[交通运输工程—船舶及航道工程]