耙吸挖泥船沙床高度与土粒径在线估计

On-line estimation of sand bed height and soil grain diameter for trailing suction hopper dredger

沙床高度与土壤土质作为调整耙吸挖泥船疏浚策略的重要依据无法通过传感器直接测得。针对这一问题,结合动态沉积模型对沙床和与土质相关的土壤粒径进行分析,对疏浚过程土质的变化方式进行两种模拟,以"新海凤"号为例利用实测数据对模型进行校正。通过模式搜索离线估算疏浚工况的土壤平均粒径,采用粒子滤波算法在验证沉积模型的基础上对沙床高度与土质粒径进行在线估计。仿真结果表明,对粒径建立随机游走模型更能拟合装载曲线,同时沙床高度也受疏浚土质的影响。理论成果为疏浚工程提供参考,并将应用于挖泥船辅助决策系统中。

During the working process of a trailing suction hopper dredger,the height of sand bed and the soil type as the main bases to adjust the dredging operator’s strategy,cannot be directly measured by sensors currently available onboard.Considering the sedimentation model of a hopper,we simulate the changes of soil type by two scenarios while dredging after analyzing the sand bed and soil grain diameter,the most important soil-dependent parameter.We take Xinhaifeng dredger’s construction data as an example to calibrate the model used in practical.The pattern search calculates the average soil grain diameter of one working condition offline.We use particle filter algorithm to estimate the sand bed height and soil grain diameter online on the basis of verifying the dynamical sedimentation model.The simulation results show that the model of the grain diameter as a random walk contributes to a better performanc of fitting the logistic curve of the total loading mass.On the other hand,the sand bed height has a relationship with the situ soil excavated.The results provide a reference for dredging engineering,which can be applied in the decision-support systems of the hopper dredger