基于牛顿迭代法的抓斗挖泥船智能精挖控制方法

Intelligent fine excavation control method of grab dredger based on Newton iteration method

目前抓斗挖泥船在施工作业时大多依赖人工经验控制抓斗的闭合,在闭合过程中斗齿运动轨迹在竖直平面内的投影是一条曲线,进而导致抓斗控制精度低且作业区域高低不平。文章基于牛顿迭代法求解抓斗平挖运动控制方程,设计自动化程序控制抓斗升降绞车与开闭绞车转动速度,使斗齿运动轨迹在竖直平面内的投影为一条直线,其挖掘后形成的作业区域为平面。通过实例仿真试验证明,该方法有效提高了抓斗挖掘精度,节省疏浚工程作业量。研究结果可提升抓斗船作业能力,具有重要的工程应用价值。

At present,the grab dredgers mostly rely on manual experience to control the closure of the grab during construction.In the process of closure,the projection of the bucket tooth trajectory in the vertical plane is a curve,which leads to low control accuracy and uneven operation area of the grab.Based on Newton iteration method,the control equation for the horizontal excavation motion of the grab is solved,and an automatic program is designed to control the rotation speed of the grab lifting winch and opening and closing winch,so that the projection of the bucket tooth motion trajectory in the vertical plane is a straight line,and the working area formed after excavation is a plane.The simulation results show that this method can effectively improve the excavation accuracy of grab and save the amount of dredging work.The research results can improve the operation ability of grab dredger and have important engineering application value.