抓斗挖泥船移船绞车动态定位控制技术

Dynamic positioning control technology of shifting winch for grab dredger

抓斗挖泥船深海作业时受到定位钢桩长度限制,一般采用移船绞车定位方式施工。该方式特点是机动、灵活、挖深大、抗风浪能力强。实际应用中受到风浪流等外力影响,船位不断发生变化,为保持船位需要对绞车进行动态定位控制。文中在分析抓斗挖泥船移船绞车动态定位控制需求的基础上,采用动态定位和主动纠偏方法,建立移船绞车控制模型,提出一套动态定位控制方案。该方案能够提高船舶定位精度,增强了船舶作业对风浪流环境的适应性。

The deep sea operation of grab dredger is limited by the positioning steel pile length, generally uses the shifting winch to moving the ship. The way is characterized by mobility, flexibility, digging deep, strong ability to resist wind and waves.As against the wind, waves and flow of practical application, and many other forces outside, the ship position changed constantly, in order to maintain the position, it is needed for dynamic positioning control of winch. Based on the analysis of the dynamic positioning control requirements of the Grab dredger, we used the dynamic positioning and active correction method to establish the control model of the ship winches and put forward a set of dynamic positioning control scheme. The scheme can improve the accuracy of ship positioning, and enhance the adaptability of ship operation to wind, waves and flow environment.