Design Of Flat-digging Control System Based On 18m3 Grab Dredger

With the development of waterway dredging, submarine construction and other industries. The Infrastructure in a seabed becomes more and more,in the process of submarine construction and waterway dredging, the demand for the flatness of seabed and dredgers with flat-dig function having an increasing level. However, there is no independent research on dredgers with flat-dig function currently in China, this paper designed a electronic control grab dredger with flat-dig function based on 18 cubic grab dredger. Its core is to build a flat-dig control system based on common grab dredge, making grab dredger own flat-dig function.Grabbing the basis of the kinematic model of flat dig, I obtain the function of time and increment of the up-down rope and on-off rope when digging flatly. According to the length of on-off rope measured from sensors and the length of up-down rope derived by function formula, setting calculated length and deviation of up-down rope from the sensors as control objects and building fuzzy PID control algorithm, then I get the control result of digging flatly.The control algorithm of flat-dig control system in the paper is based on intelligent PID algorithm and field bus control system. The bus is PROFIBUS industrial field bus and industrial Ethernet supported by Germany Siemens Control mode is adopted fuzzy control to tune PID parameters. Specific work can be reflected in the following aspects:(1) The use of intelligent PID control algorithm and fuzzy control of their tuning parameters, and ultimately make the grab can dig flat.(2) Through analysis, we completed a system network, constituting a fieldbus control system based on the level of digging Controller Network.(3) Analysis of the PLC communication with the host computer by comparing various means of communication, and select the network port communications, and to achieve this communication.(4) Using VB produced a flat display and flat dig digging control program(5) Achieving the above-bit machine as the core data exchange network, with Ethernet port for data transmission and exchange between the various parts of the system.