JPS6328184B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION (Field of Industrial Application) The present invention relates to a dredging swing angular velocity control device for a dredger.

(Prior Art) The dredging swing angular speed of the dredging mechanism in a conventional dredger was determined based on intuition, which had the disadvantage of being extremely inefficient.

(Object of the Invention) An object of the present invention is to obtain a dredging swing angular velocity control device for a dredger that eliminates the above-mentioned drawbacks.

(Example) Embodiments of the present invention will be described below with reference to the drawings.

The device of the present invention determines the appropriate swing of the dredging block to be swung based on the measured values of dredging pump suction negative pressure, cutter motor current, and swing angular velocity for each adjacent dredging block in the previous swing and the previous swing. It predicts and controls angular velocity.

In the dredging plane and cross-sectional view shown in Figure 1 a and b, the dredging area surrounded by the dredging width W, dredging length L, and dredging depth D is defined as the dredging width W by an arbitrary swing angle line l _wp
~ l _wo , the dredging length L is divided by an arbitrary advancement line l _Lp ~ l _Lo , and the dredging depth D is divided by an arbitrary ladder depth line l _Dp ~ l _Do , and the divided parts are called dredging blocks, respectively, as shown in Fig. 1. Like "1-1-1...1-1-n", "2-1
-1...2-1-n", "3-1-1...3-1-
n”, “1-2-1…1-2-n”, “2-2-1
...2-2-n", "3-2-1...3-2-n",
It shall be represented by the symbol... Also, when the dredger swings between a constant line of advance within the range of dredging width W and dredging depth D, the swing completed the day before last is called the first swing, the swing completed last time is called the second swing, and the swing performed this time is called the third swing. In Figure 1, the first swing is the forward line.
The swing between l _L0 and l _L1 , the second swing is the forward line l _L1 ,
l Swing between _L2 , 3rd swing is forward line l _L2 , l _L3
Swing in between.

Basically, the swing angular velocity needs to be suppressed and controlled individually by the dredging pump suction negative pressure or the cutter motor current, so as mentioned above, in the present invention, the swing angular velocity target value is first determined by the dredging pump suction negative pressure. and the swing angular velocity target value for the cutter electric motor, and then the two swing angular velocity targets corrected by the soil change rate, that is, the ratio of the change in suction negative pressure and the change in the current value of the cutter electric motor to the swing angular velocity. The values are compared and the smaller value is finally set as the swing angular velocity control setting value.

The dredging swing angular velocity control device for a dredger of the present invention includes a mechanism 1 for measuring and storing the dredging pump suction negative pressure, cutter motor current, and swing angular velocity at each dredging block position over the swing width in the first and second swings. 3, mechanisms 4 to 6 for comparing the measured values at adjacent dredging block positions between the first and second swings and determining the difference; Mechanism 10 for adding the suction negative pressure, current, and swing angular velocity measured in the second swing to obtain predicted values of the dredging pump suction negative pressure, cutter motor current, and swing angular velocity in the third swing, respectively. 12, mechanisms 7 to 9 for storing the ratio of the suction negative pressure of each dredging pump in the first and second swings, the ratio of the current of the cutter electric motor, and the ratio of the swing angular velocity, respectively; and the ratio of the suction negative pressure. Mechanism 1 for determining the ratio of the swing angular velocity and the swing angular velocity
5, a mechanism 16 for determining the ratio of the current ratio to the swing angular velocity, and a mechanism 16 for determining the ratio between the set suction negative pressure of the dredging pump and the predicted suction negative pressure, and adding the predicted swing angular velocity to this determined value. Multiplying the mechanism 13 to obtain the first swing correction angular velocity, and determining the ratio of the set current value of the cutter motor and the predicted current value,
A mechanism 14 for obtaining a second swing correction angular velocity by multiplying the obtained value by the predicted swing angular velocity, and re-correcting the first swing correction angular velocity according to the ratio of the suction negative pressure to the swing angular velocity. and a mechanism 18 that re-corrects the second swing correction angular velocity according to the ratio of the current to the swing angular velocity, and the second swing correction angular velocity is It is composed of a mechanism 19 that selects a low swing angular velocity, and a mechanism 20 that controls the dredging ladder to swing during the third swing at this low swing angular velocity.

The present invention will be explained in more detail below.

Now, the dredging pump suction negative pressure per unit volume of the 1-1-4 block of the first swing, the cutter motor current and the swing angular velocity are P ₁ , I ₁ and V ₁ , and the second
If the dredging pump suction negative pressure, cutter motor current and swing angular velocity per unit volume of swing block 2-1-4 are P ₂ , I ₂ and V ₂ , these can be obtained by mechanisms 1, 2 and 3. As a result, the dredging pump suction negative pressure per unit volume of block 3-1-4 of the third swing, the cutter motor current and the swing angular velocity are P ₃ , I ₃ and V ₃ of the second swing with respect to the second swing. Assuming that the change in each measurement value is the same as that of the second swing with respect to the first swing, P ₃ = 2P ₂ −P ₁ , I ₃ =
2I ₂ −I ₁ , V ₃ = 2V ₂ −V ₁ , and mechanisms 10 and 11
and 12, the predicted value can be obtained.

The values obtained by the mechanisms 10 and 12, the dredging pump suction negative pressure reference value P ₀ and the constant coefficient Kp are used to determine the third
The swing angular velocity target value Vp is set by the mechanism 13 as Kp・P ₀ /
Obtained by calculating the formula of P ₃ and V ₃ .

Using the values obtained by the mechanisms 11 and 12, the cutter motor current limit value I ₀ and the constant coefficient K ₁ , the third swing angular velocity target value V ₁ is determined by the mechanism 14 as K ₁・I ₀ /I ₃・
Obtained by calculating the formula of V ₃ .

Next, the ratio of the soil change in block 2-1-4 to that in block 1-1-4 is determined by using the inverse ratio A of soil change due to negative pressure in the dredging pump and the inverse ratio B of soil change due to cutter motor current. The swing angular velocity ratio per negative pressure is the swing angular velocity ratio per cutter motor current ratio, that is, A = (V ₂ /V ₁ ) / (P ₂ /P ₁ ), B = (V ₂ /
V ₁ )/(I ₂ /I ₁ ).

When A < 1, the suction negative pressure is increasing, so the swing angular velocity is decreased. When A > 1, the suction negative pressure is decreasing, so the swing angular velocity is increased. When B < 1, the cutter motor current is in the increasing direction, so the swing angular velocity is decreased.When B>1, the cutter motor current is in the decreasing direction, so the swing angular velocity should be controlled in the direction of increasing.Therefore, these can be used as control elements for the second swing angular velocity. It can be used.
A and B are determined by mechanisms 15 and 16.

A third swing in which the third swing angular velocity target value based on the dredging pump suction negative pressure obtained by the mechanisms 13 and 14 and the third swing angular velocity target value based on the cutter motor current are corrected with the values obtained by the mechanisms 15 and 16. Assuming the angular velocity target values Vp' and V ₁ ', Vp'=Vp·A and V ₁ '=V ₁ ·B, which are determined by the mechanisms 17 and 18.

The two swing angular velocity target values obtained above V _p
and V ₁ are compared in the mechanism 19, the smaller value is selected and determined, and this is set as the swing angular velocity setting value of the 3-1-4 block of the third swing, and the swing angular velocity control mechanism 20 sets the appropriate swing angular velocity. control.

(Effects of the Invention) As described above, the device of the present invention has the great advantage of being able to automatically control the swing angular velocity of the dredging mechanism to an optimal value at all times in response to changes in soil quality, and greatly improving dredging efficiency. .

[Brief explanation of the drawing]

1A and 1B are a swing plan view and a sectional view of a dredging block, respectively, and FIG. 2 is a block diagram of the apparatus of the present invention. 1... Mechanism for measuring and storing dredging pump suction negative pressure, 2... Mechanism for measuring and storing motor current, 3...
Mechanism for measuring and storing swing angular velocity, 13...Mechanism for obtaining first swing angular velocity, 14...Mechanism for obtaining second swing angular velocity, 15, 16...Mechanism for determining rate of soil change, 17, 18...First swing angular velocity, a mechanism for obtaining each swing angular velocity by correcting the second swing angular velocity, 19... a mechanism for selecting the swing angular velocity, 20... a mechanism for controlling the swing angular velocity.

Claims (1)

[Claims] 1 Mechanisms 1 to 3 for measuring and storing the dredging pump suction negative pressure, the cutter electric motor current, and the swing angular velocity at each dredging block position over the swing width in the first and second swings, and the first
and mechanisms 4 to 6 for comparing the measured values at adjacent dredging block positions during the second swing and determining the difference between them, Mechanisms 10 to 12 for obtaining predicted values of the suction negative pressure of the dredging pump and the current and swing angular velocity of the cutter motor in the third swing by adding them to the measured values of the pressure, current, and swing angular velocity, respectively; Mechanisms 7 to 9 for storing the ratio of the suction negative pressure of each dredging pump to the current ratio of the cutter motor and the ratio of the swing angular velocity in the swing of No. 2, and the ratio of the suction negative pressure to the swing angular velocity. Mechanism for calculating proportions 1
5, a mechanism 16 for determining the ratio of the current ratio to the swing angular velocity, and a mechanism 16 for determining the ratio between the set suction negative pressure of the dredging pump and the predicted suction negative pressure, and adding the predicted swing angular velocity to this determined value. Multiplying the mechanism 13 to obtain the first swing correction angular velocity, and determining the ratio of the set current value of the cutter motor and the predicted current value,
A mechanism 14 for obtaining a second swing correction angular velocity by multiplying the obtained value by the predicted swing angular velocity, and re-correcting the first swing correction angular velocity according to the ratio of the suction negative pressure to the swing angular velocity. and a mechanism 18 that re-corrects the second swing correction angular velocity according to the ratio of the current to the swing angular velocity, and the second swing correction angular velocity is A dredging swing angular speed control device for a dredger, comprising a mechanism 19 for selecting a low swing angular speed, and a mechanism 20 for controlling the dredging ladder to swing during the third swing at this low swing angular speed.