Novel disturbance compensating dynamic positioning of dredgers based on adaptive backstepping

In order to deal with the dynamic positioning system control problems of dredgers working under strong dredging reaction or harsh environments,an adaptive backstepping method is proposed.Disturbances are estimated and compensated for by the adaptive method without extra sensors on dredging equipment,and the control mechanism is simplified.Adaptive control is used to compensate for the reaction and environmental disturbances on the dredger,so the dredger can maintain the desired position with a minimum error and shock.The proposed adaptive robust controller guarantees the global asymptotic stability of the closed-loop system and rapid position tracking of the dredger.The simulation results show that the proposed controller has superior performance in position tracking and robustness to large disturbances.

Laboratory model study of newly deposited dredger fills using improved multiple-vacuum preloading technique

Problems continue to be encountered concerning the traditional vacuum preloading method in field during the treatment of newly deposited dredger fills.In this paper,an improved multiple-vacuum preloading method was developed to consolidate newly dredger fills that are hydraulically placed in seawater for land reclamation in Lingang Industrial Zone of Tianjin City,China.With this multiplevacuum preloading method,the newly deposited dredger fills could be treated effectively by adopting a novel moisture separator and a rapid improvement technique without sand cushion.A series of model tests was conducted in the laboratory for comparing the results from the multiple-vacuum preloading method and the traditional one.Ten piezometers and settlement plates were installed to measure the variations in excess pore water pressures and moisture content,and vane shear strength was measured at different positions.The testing results indicate that water dischargeetime curves obtained by the traditional vacuum preloading method can be divided into three phases:rapid growth phase,slow growth phase,and steady phase.According to the process of fluid flow concentrated along tiny ripples and building of larger channels inside soils during the whole vacuum loading process,the fluctuations of pore water pressure during each loading step are divided into three phases:steady phase,rapid dissipation phase,and slow dissipation phase.An optimal loading pattern which could have a best treatment effect was proposed for calculating the water discharge and pore water pressure of soil using the improved multiple-vacuum preloading method.For the newly deposited dredger fills at Lingang Industrial Zone of Tianjin City,the best loading step was 20 kPa and the loading of 40-50 k Pa produced the highest drainage consolidation.The measured moisture content and vane shear strength were discussed in terms of the effect of reinforcement,both of which indicate that the multiple-vacuum preloading method has a better treatment effect not only in decreasing the moisture content and increasing the bearing capacity,but also in increasing the process uniformity at different depths of foundation.

Settlement Prediction of Dredger Fill with the Optimal Combination Model

Post-construction settlement has gained increasing attention because it frequently causes engineering problems. A combined model is a commonly used prediction model that overcomes the difficulty of a single model( i. e., cannot reflect various regulations of settlement at some stages or the entire process). In this study,the correlation coefficient,maximum error values,and other values were obtained according to the fitting and predicted results of a single model. The coefficient of variation was then introduced to determine the weight of each model forming the combination. The proposed model was used to fit and predict for settlement and overcome the issue of utilizing a single model while determining the weight. The fitting predictive effect was also analyzed using the settlement fitting precision results. The fitting precision of optimizing the combination model is high. The predicted data of the post-construction settlement are closer to the calculated value of the settlement monitoring data. Moreover,the proposed model has good practicability,does not require the interval data of settlement,and restricts the model number. Thus,this model can be applied in the engineering field.

Experimental Study on Dispersion Coefficient of Dredger Fill in Reclamation Region

In order to satisfy the demand of land use, reclamation engineering has been undertaken in coastal cities for a long time. To study the contaminant transport in the reclamation districts, robust and accurate estimation of dispersion coefficient is essential. In this study, the continuous sodium chloride （NaC1） solution with constant concentration was introduced into the column filled with the dredger fill to get the breakthrough curves （BTCs）. Inverse error function method （IEFM） and CXTFIT program were used for estimating dispersion coefficient. Results showed that the difference between the dispersion coefficients estimated by IEFM and CXTFIT program was slight. The main reason was that the BTC was not strictly linear. IEFM performed poorly in the nonlinear area, while the CXTFIT performed well over the entire BTCs. Moreover, the dispersion coefficient of dredger fill was small. The dispersion property of dredger fill would result in the slow migration of contaminants in the dredger fill.

Research on pore microstructure features for dredger fill based on mercury intrusion method

The material composition and microstructure have a comprehensive influence on geological engineering properties of dredger fill.The porosity of the dredger fill is an important characteristic of microscopic structure.Taken dredger fill from Binhai New Area in Tianjin as research object,the distribution trend of pore is obtained by granularmetric analysis,mineral composition analysis and mercury intrusion method.By discussing the variation regulation of dredger fill in two different kinds of processing methods,certain theoretical basis is provided for evaluating the engineering geological properties of dredger fill.It can be concluded from the test results that after drainage treatment,the porosity decreased and the structure unit changed from the relatively loose state to aggregate state.In certain depth range,the consolidation effect of dredger fill with drainage treatment is better than that without drainage treatment.

Resistance of Air Injection Transportation in a Cutter-suction Dredger

Cutter-suction dredger transports slurry through pipeline. But the pipeline is easy to be jammed and frayed because of huge resistance, resulting in limited exertion of dredger and high energy consumption. One of the solutions is air injection transporting, which can reduce the resistance in pipeline. This paper makes research on the relations between pipeline distance and other factors such as slurry concentration, pressure of air injection and transportation distance, by making use of Prof. Aluf Orell＇ s slug model. The test data prove that the key factors are slurry concentration and air volume fraction, and that high slurry concentration and low air volume fraction can reduce more resistance, and such reducing effect becomes weaker with the increase of transportation distance.

烟台港龙口港区27^(#)~29^(#)通用泊位疏浚工程绞吸船施工工艺优化

烟台港龙口港区27^(#)~29^(#)通用泊位疏浚工程土质主要为起球的黏性土,混有少量粗砂,绞吸船在施工时受黏土起球及黏性等影响,容易出现堵管、绞刀糊堵、输送困难等情况,施工作业关键参数波动幅度较大,作业人员操作控制难度高,平均生产效率低。重点围绕绞吸船的挖掘和输送分析,确定关键施工参数,优化施工工艺,指导作业人员施工。优化后的施工工艺使烟台港龙口港区27^(#)~29^(#)通用泊位疏浚工程绞吸船施工产能提高20%以上,节约了施工成本。

天鲲号绞吸挖泥船挖岩作业配套船舶技术研究

随着全球经济增长和疏浚业的扩大,大型绞吸挖泥船已成为这一领域的关键装备。文章专注于提升超大型绞吸挖泥船“天鲲号”的效能。通过分析该船在挖岩工程中的挑战,引入了“挖-运分离”的高效物流策略。为实现这一目标,建议开发一艘专门与天鲲号配套使用的开体式耙吸挖泥船。文章详细讨论了开体式耙吸挖泥船在主尺度和舱容、快速靠泊、泥舱结构和强度、疏浚系统和船舶布局等方面与天鲲号的匹配问题。提出了一个新颖的开体式耙吸挖泥船方案,能够完全满足配合天鲲号挖岩装驳和运输的需求,实现“挖-运分离”物流策略;能够开展后期扫浅挖泥作业,减少天鲲号的占用期,从而显著提升整体经济效益。

耙吸式挖泥船全作业周期能耗分析

基于珠三角航道疏浚项目中某耙吸式挖泥船的日志数据,从全作业周期的角度分析挖泥船主要能耗的分布特征和变化规律,通过Spearman相关性分析给出船舶航行阶段各能耗影响因子的权重。研究结果显示,航速对船舶能耗的影响最大(权重最高达80%),其次为船舶吃水,水流对船舶能耗的影响最小(权重占比为6%~18%),故节能研究应重点围绕降低船舶航速对能耗的影响。该研究可供后续耙吸式挖泥船节能研究参考。

一种挖泥船最小能耗工作点计算选取方法

[目的]为了解决挖泥船短排距工况下高能耗的问题,提出一种最小能耗工作点的计算选取方法。[方法]基于前期研究建立的泥泵排压、管道阻力、关键流速和泥泵汽蚀等相关模型,以单方能耗最小为目标,采用施工人员最为熟知并方便控制的泥泵转速为优化变量,运用输送系统最佳流速搜索和多泥泵转速优化相结合的双重优化方法,实现挖泥船多个泵串联最小能耗工作点的计算选取,并以配置有3台不同型号离心泵的“新海狼”号挖泥船在特定工况条件下施工为案例进行算法验证。[结果]结果显示,经所提算法模型优化后的工作点单方能耗比最大产量工作点的单方能耗降低了11.8%。[结论]研究成果的应用能有效弥补已有以施工能力(最大产量)为目标的优化施工方法,为疏浚工程的节能减排工作提供参考。

长板-短桩工法承载特性参数影响分析

文中采用有限元数值仿真的方法研究了长板-短桩工法处理吹填土地基的承载特性以及桩间距、桩长、塑料排水板间距三个因素对长板-短桩法吹填土复合地基承载特性的影响规律.结果表明:①桩长对长板-短桩复合地基的影响在于能有效控制地基沉降与提供承载力,在有效桩长范围内,桩长越长效果越好;②桩间距主要影响粉喷桩与桩间土承受的应力与面积置换率,桩间距越小,长板-短桩复合地基承载能力就越大;③塑料排水板对长板-短桩复合地基的影响在于提升桩间土的渗透系数,在一定范围内,排水板越是密集,固结沉降速度越快,能有效提高桩间土的承载力;④提出了对于不同厚度吹填土地基其最优长板-短桩复合地基参数设计.

耙吸挖泥船吊放系统支撑结构设计与强度评估

本文通过对耙吸挖泥船吊放系统的载荷特点及其其与船体连接处的受力情况分析,探讨了有限元法校核连接处结构强度和局部振动性能,总结了工程船此类特殊设备的加强结构设计和计算校核方法。作为耙吸挖泥船作业的重要辅助设备,吊放系统必须安全、可靠,与船体连接有足够的强度和刚度,能满足频繁吊放耙管的需求。研究吊放系统的加强形式和强度校核方法,可为工程船特殊设备的船体加强区域的结构设计提供实用的参考。

超大型自航绞吸挖泥船清洁燃料应用

为满足更加严格的排放标准,开发使用清洁能源的超大型绞吸挖泥船,不仅可满足绿色港口、航道建设需要,还可以填补国内绞吸挖泥船使用清洁能源的空白,同时也可进一步降低船舶营运成本,提高船舶的营运效益。文章介绍了船舶应用清洁燃料的现状及趋势,以超大型绞吸挖泥船作为大型绞吸挖泥船舶,有针对性地分析了LNG双燃料和甲醇双燃料超大型绞吸挖泥船动力系统配置、动力系统布置、动力系统初始投资、运营维护成本等。提出了未来超大型自航绞吸挖泥船应用清洁燃料的要点,为船舶设计提供理论和技术参考。

基于改进FaceNet的河湖采砂船“船脸”识别算法

为有效提升河湖采砂船智能化管理水平,提出了一种基于改进FaceNet的河湖采砂船“船脸”识别算法。首先在FaceNet算法网络的全局平均池化层后引入CA注意力模块,增强算法对于感兴趣区域的自适应关注能力;其次训练时在网络的最后引入线性层构建采砂船个体“船脸”识别器,将分类和识别的方法相结合共同应用于采砂船“船脸”识别;最后在训练时引入交叉熵损失函数,辅助原FaceNet算法中的三元组损失函数共同实现收敛。实验结果表明:改进的FaceNet算法对于白天场景下采砂船个体“船脸”目标识别的正确率比改进前提高了4.77%,达79.22%;夜间场景下目标识别的正确率提高了2.83%。研究成果适用于采砂船“船脸”识别任务,可为河湖采砂船的智能监管提供技术参考。

简析三种挖泥船在疏浚工程中的适用性

疏浚工程属于港口建设的重要一环,且投资数额较大,占用工期较长,其疏浚船舶的选取对于项目质量及成本控制都具有重要影响。在疏浚工程中,最常见的疏浚船舶为绞吸式挖泥船,抓斗式挖泥船和耙吸式挖泥船。目前国内对于这三类疏浚船舶的施工工艺已经有较为成熟的理论研究,但是针对投资造价以及横向对比论证的研究较少。本文简要介绍了如何从这三种疏浚船舶中根据疏浚工期、施工造价以及施工适用性角度去选取最佳方案,希望能对类似工程提供一定的技术参考。

大流量、高扬程、超大轴径泥泵机械密封的研制及优化

“天鲲号”的投产使用,极大地提高了疏浚工程的施工效率,但目前“天鲲号”泥泵采用的L型橡胶密封在高排压下很快磨损失效引起泄漏停机,严重影响施工进度。针对这一问题,提出采用机械密封代替L型橡胶密封的方法。通过技术参数计算,对密封部位进行仿真,对机械密封进行设计、制造,并通过2次实船测试对机械密封的性能开展验证。研究结果为解决疏浚装备泥泵密封在大流量、高扬程、超大轴径及高压下寿命短的问题提供了一种新的方案。

重型绞吸挖泥船挖掘砂岩混泥岩施工工艺优化

针对重型绞吸船挖掘砂岩混泥岩的复杂工况,以钦州港东航道扩建工程为例,开展“天鲲号”绞吸船挖掘与输送砂岩混泥岩土质的施工工艺研究。通过7G与8G 6臂绞刀的对比试验,综合比较不同绞刀型号的生产效率及刀齿损耗,对挖泥机具进行比选;通过对绞吸船施工时进尺、切厚等关键施工参数的分析优化,结合砂岩混泥岩的土质特性,确定了最佳挖掘施工工艺;通过对泥泵性能的分析计算,确定了绞吸船输送的最佳控制浓度;从挖掘、输送2方面进行施工工艺优化,总结了重型绞吸船挖掘砂岩混泥岩的施工技术。研究成果可为类似工况的绞吸船施工提供参考。

基于牛顿迭代法的抓斗挖泥船智能精挖控制方法

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。

吹填淤泥土的双掺固化和配比优化试验研究

为了研究水泥和氧化钙双掺固化改良吹填淤泥土的最优配比,该文基于正交试验开展了双掺固化土的改性分析,最后通过模糊综合评价法对各配比方案进行了量化优选。结果表明:①同等比例掺入条件下(掺入量1.0%~4.0%),最优含水率与掺入量呈正线性相关,而最大干密度呈负线性相关;非同等比例下,规律不甚明显,但是相对水泥来说,氧化钙的减水效果要优于水泥的效果;②试样的无侧限抗压强度受水泥和氧化钙相对比例影响,等比例掺入时呈正相关,但总体上水泥在双掺固化土强度增长过程中起主要作用;③采用模糊综合评价法,综合考虑项目固化施工成本、抗压强度、击实特性等多种因素认为山东玉龙岛炼化项目吹填淤泥的最优配合比方案是采用2.0%水泥+1.5%氧化钙双固化,此时试样的最优含水率为23.3%,最大干密度为1.68 g/cm^(3),无侧限抗压强度为440 kPa。

振冲密实法在人工吹填砂土地基处理中的应用

吹填土含水率较高,有着低强度、高压缩性、欠固结等不足,现有强夯、加填料固结等方式加固效果不理想。依托厦门大小嶝造地工程,通过控制不同变量,如振冲频率、振冲方式和施工手段,开展人工吹填砂土地基加固试验,确定适合吹填砂土地基的频率参数和振冲方式。结果表明:振冲密实法能够满足吹填砂土地基的加固要求,施工后承载力和标贯击数得到较大提高,加固后承载力达到150 kPa,一半的试验区标贯击数超过30击,满足后续施工标准要求,证明了振冲密实法适用于吹填砂土地基的加固,土体达到中密状态;该方法能够降低施工消耗,提高经济效益。