耙吸挖泥船耙管姿态全自动自适应控制技术研究与应用

Research and application of fully automatic adaptive control technology for suction tube attitude of trailing suction hopper dredger

耙管姿态自适应控制是耙吸挖泥船全自动收放耙过程的关键控制技术。在分析控制需求的基础上,引入先进自动控制和智能控制理念,设计了姿态自适应控制策略。针对全自动控制关键流程引入了智能PID控制器,实现了绞车速度的精细化调控。实船应用表明,该控制策略稳定可靠,提高了全自动收放耙的控制精度和控制效率,可快速推广到其他疏浚船应用。

The adaptive control of the suction tube attitude is the key control technology in the fully automatic retracting and releasing tube process of trailing suction hopper dredger(TSHD).Based on the analysis of control requirements,the advanced automatic control and intelligent control concepts were introduced,and the attitude adaptive control strategy was designed.The intelligent PID controller was introduced for the key process of fully automatic control,which has realized the fine control of the winch speed.The application shows that the control strategy is stable and reliable,improves the control accuracy and control efficiency of the fully automatic retracting and releasing tube,and can be quickly extended to other dredgers.