Grab Dredger Flat Dig Intelligent PID Control Strategy And Simulation Research

In the past few years, rapid economic development in China has brought a sharp increase in trade throughput. While the existing siltation in port and channel have existed for many years, it brings many problems, like shallow waterways, poor water capacity and so on. So our country need a way to clean the channel large-scale dredging up eagerly. However, due to the huge dredging market, Chinese dredging equipment is old, and it depends on imports for many years. Based on the above, it is important for us to independently develop the new generation of large-scale dredging equipment.Modern dredger is developing towards a large-scale, multi-functional, highly intelligent machine. The content of this paper is the intelligent control of grab dredger. Due to grab work underwater, the operator can not intuitively understand grab and excavation work results, so they can not get timely and effective regulator grab movement. It is also affected by water, waves, underwater topography, etc. factors, which are directly related to the accuracy of the final excavation. So it is very necessary to design a PID control algorithm with intelligent controller to control the movement of the grab, which.The main contents of this paper are to establish a control algorithm based on fuzzy neural network, which is combined with PID controller, and verify grab flat during simulation of digging operations in mining. The main work includes:(1) According to the working principle of the PID controller, establishing a fuzzy neural network of two inputs and three outputs. Writing the control algorithms in MATLAB, and given the relevant data, using the network of self-learning function, to optimize the algorithm parameters.(2) Using the measured grab dimensions on bench, building a mathematical grab model and establish grab control system model in Simulink. Making simulations by the controller on the bolster and lower bolster respectively, then comparing the obtained data.(3) Drawing the simplified grab three-dimensional model in Solidworks, and importing it to dynamics analysis software-ADAMS. Associating the relevant parts, with a control system in Simulink model for ADAMS and Simulink co-simulation. Drawing relevant motion and forces curve, so that we can more fully understand the control performance of the entire system, as well as the forces encountered by the grab dredger in mining process.