Ditcher speed control method and system

Abstract

The invention provides a trencher speed control method and system, and the method comprises the steps: obtaining the slope alpha degree of the seabed ground where a trencher is located, and calculating the given speed Vin of the trencher according to the slope alpha degree and a set speed Veq; the actual speed Vout of the trencher is obtained, the difference value E between the given speed Vin and the actual speed Vout is calculated, a valve control signal S of the trencher is output according to the difference value E, and the output speed V of the trencher is adjusted according to the valve control signal S. According to the method, when the ditcher encounters the seabed ground with the gradient, the ditcher can automatically process and output the valve control signal and calculate the output speed, the response speed of the method to the ground gradient environment is high, stable operation of the ditcher can be achieved, and the method is suitable for popularization and application. And a control signal of the trencher does not need to be sent out by manually controlling the handle.

Description

Technical Field

[0001] The present invention relates to the technical field of underwater machine control, and in particular to a trencher speed control method and system. Background Art

[0002] Due to the complex geological conditions of the seabed, the current seabed trenchers usually use manual control handles to send control signals during underwater operations. The manual reaction speed is slow and cannot be smoothly controlled. When encountering uneven seabed sections, the forward speed cannot be adjusted in time, and the speed of the trencher cannot be guaranteed to be stable, so that the trencher can move smoothly. Summary of the invention

[0003] In view of this, the purpose of the present invention is to provide a trenching machine speed control method and system to solve the problem that the current submarine trenching machine usually uses a manual control handle to send control signals during underwater operation, the manual reaction speed is slow, and it cannot be smoothly operated. When encountering an uneven seabed section, the forward speed cannot be adjusted in time, and the speed of the trenching machine cannot be guaranteed to be stable, so that the trenching machine can move smoothly.

[0004] In order to solve the above technical problems, the technical solution used in the present invention is:

[0005] A trenching machine speed control method according to the present invention comprises the following steps:

[0006] Obtain the slope α° of the seabed where the trencher is located, and set the speed V according to the slope α° and the speed V eq , calculate the given speed V of the trencher in ;

[0007] Get the actual speed V of the trencher out , calculate the given speed V in With the actual speed V out The difference E is outputted according to the difference E, and the output speed V of the trencher is adjusted according to the valve control signal S.

[0008] Preferably, the given speed V in Equal to the maximum allowable speed V of the trencher max-eq ;

[0009] When the slope α° is a non-negative number, the maximum allowable speed V max-eq =V eq +λ*|α|;

[0010] When the slope α° is negative, the maximum allowable speed V max-eq =V eq -λ * |α|;

[0011] Wherein, λ is the coefficient ratio, and |α| is the slope value of the seabed where the trenching machine is located.

[0012] Further preferably, the trencher is provided with a maximum equipment speed V max ;

[0013] If V max-eq >V max , then V max-eq =V max ;

[0014] If V max-eq ≤V max , then V max-eq =V eq ±λ * |α|.

[0015] Preferably, the control output is calculated according to the difference E And according to the control output Calculate the speed adjustment amplitude V t , the speed adjustment amplitude V t After analog-to-digital conversion, the corresponding valve control signal S is output.

[0016] Further preferably, the difference E is processed by PID to obtain the control output The PID formula is,

[0017]

[0018] In the formula, u(t) is the control output speed, e(t) is the current error speed, t is the time taken for adjustment, and K P is the proportional gain, K i is the integral gain, K d is the differential gain, and u(t) is equal to the control output e(t) is equal to the difference E.

[0019] Further preferably, the speed adjustment amplitude V t Equal to the given speed V in With the control output sum.

[0020] Further preferably, the valve control signal S=A0+(V t / V max )×(A1-A0);

[0021] Where A0 is the simulation value corresponding to the trencher speed being zero, and A1 is the maximum speed V of the equipment. max The corresponding analog value.

[0022] Another object of the present invention is to provide a trenching machine speed control system, comprising a hydraulic system, a travel motor, a slope monitor, a speedometer and a controller, wherein the travel motor is connected to the hydraulic system, the hydraulic system, the slope monitor and the speedometer are respectively connected to the controller signal, and the speedometer is used to obtain the actual speed V of the trenching machine. out The controller controls the hydraulic system to drive the travel motor through the aforementioned trencher speed control method.

[0023] Preferably, the hydraulic system includes a control valve, the control valve is connected to the controller signal, and the travel motor is connected to the control valve.

[0024] Preferably, the slope monitor is a fiber optic gyroscope;

[0025] And / or, the speed meter is an encoder, and the encoder is connected to the travel motor.

[0026] Compared with the prior art, the beneficial effects of the trenching machine speed control method described in the present invention are mainly reflected in:

[0027] By means of a trenching machine speed control method provided by the present invention, when the trenching machine encounters a sloping seabed surface, the trenching machine can automatically process and output valve control signals and calculate the output speed. The method has a fast response speed to the ground slope environment and can achieve smooth operation of the trenching machine. There is no need to manually control the handle to issue a control signal for the trenching machine. Therefore, the problem that the seabed trenching machine usually issues a control signal by manually controlling the handle during underwater operation, the manual reaction speed is slow, and the operation cannot be smoothly performed. In addition, when encountering an uneven seabed section, the forward speed cannot be adjusted in time, and the speed of the trenching machine cannot be guaranteed to be stable, so that the trenching machine can move smoothly can be solved.

[0028] Compared with the prior art, the beneficial effects of the trenching machine speed control system described in the present invention are mainly reflected in:

[0029] The trencher speed control system described in the present invention can realize the smooth operation of the trencher on complex seabed surfaces, which is beneficial to reducing the energy consumption of the trencher and increasing the service life of the trencher. The system composition of the present invention is simple, and the hydraulic system and the travel motor can directly apply the configuration of the trencher itself without the need for additional selection, and the cost is low. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] The above and other purposes, features and advantages of the present invention will become more clear by more specific description of the preferred embodiments of the present invention shown in the accompanying drawings. The same reference numerals indicate the same parts in all the accompanying drawings, and the accompanying drawings are not deliberately scaled to the actual size, and the focus is on illustrating the main purpose of the present invention.

[0031] Figure 1 A flow chart of a trencher speed control method provided by an embodiment of the present invention;

[0032] Figure 2 A schematic diagram of the structure of a trenching machine speed control system provided by an embodiment of the present invention;

[0033] Description of the drawings: travel motor 1, controller 2, control valve 3, speed meter 4, slope monitor 5, motor 6, hydraulic pump 7, oil tank 8. DETAILED DESCRIPTION

[0034] The technical solution of the present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments, so that those skilled in the art can better understand the present invention and implement it. However, the embodiments cited are not intended to limit the present invention. In the present embodiment, it should be understood that the orientations or positional relationships indicated by terms such as "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", and "outside" are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation of the present invention.

[0035] It should be noted that when an element is considered to be "connected" to another element, it may be directly connected to the other element and integrated therewith, or there may be an intermediate element at the same time. The terms "installed", "one end", "the other end" and similar expressions used in the present invention are for illustrative purposes only.

[0036] This embodiment provides a trenching machine speed control method, such as Figure 1 As shown, the steps include:

[0037] S1: Obtain the slope α° of the seabed where the trencher is located, and set the speed V according to the slope α° and the set speed V. eq , calculate the given speed V of the trencher in ;

[0038] S2: Get the actual speed V of the trencher out , calculate the given speed V in With actual speed V out The difference E is obtained, and a valve control signal S of the trencher is output according to the difference E. According to the valve control signal S, the output speed V of the trencher is adjusted.

[0039] This embodiment provides a trenching machine speed control method based on the slope α° of the seabed where the trenching machine is located and the actual speed V out, determine the valve control signal of the trencher, and then adjust the output speed. When the trencher encounters a sloping seabed, the trencher can automatically process and output the valve control signal and calculate the output speed. This method has a fast response speed to the ground slope environment, can achieve smooth operation of the trencher, and makes the trencher no longer need to send control signals through a manual control handle. Therefore, it can solve the problem that the seabed trencher usually uses a manual control handle to send control signals during underwater operations, the manual reaction speed is slow, and it cannot be smoothly controlled. When encountering an uneven seabed section, the forward speed cannot be adjusted in time, and the speed of the trencher cannot be guaranteed to be stable, so that the trencher can move smoothly.

[0040] It should be noted that the setting speed V eq This is the initial operating speed of the trencher. The actual speed V out That is the actual operating speed of the trencher, and the output speed V is the corresponding response speed of the trencher after receiving the valve control signal S.

[0041] In a preferred embodiment, in the SI step, the given speed V in Equal to the maximum allowable speed V of the trencher max-eq , that is, V in =V max-eq ;

[0042] When the slope α° is non-negative (i.e. horizontal or climbing), the maximum speed V is allowed. max-eq =V eq +λ * |α|;

[0043] When the slope α° is negative (i.e. downhill), the maximum speed V max-eq =V eq -λ * |α|;

[0044] Among them, λ is the coefficient ratio, and the specific value can be reasonably selected through debugging and testing, and |α| is the slope value of the seabed where the trencher is located.

[0045] Furthermore, trenchers are usually provided with a maximum equipment speed V max , V max is the maximum design speed of the trencher;

[0046] If V max-eq >V max , then V max-eq =V max ;

[0047] If V max-eq ≤V max , then V max-eq =V eq ±λ*|α|;

[0048] In this way, it can be avoided that the trencher speed is over-regulated and exceeds the designed maximum speed of the trencher, resulting in equipment damage or unexpected risks, and the safety of speed control can be improved.

[0049] In another preferred embodiment, in step S2, the control output is calculated according to the difference E. And according to the control output Calculate the speed amplitude V t , the speed adjustment amplitude V t After analog-to-digital conversion, the corresponding valve control signal S is output.

[0050] Furthermore, the difference E is processed by PID to obtain the control output It can improve the accuracy of speed processing. The PID formula is:

[0051]

[0052] Where u(t) is the control output speed, e(t) is the current error speed, t is the time taken for PID processing, and K P is the proportional gain, K i is the integral gain, K d is the differential gain, and u(t) is equal to the control output e(t) is equal to the difference E.

[0053] Furthermore, the speed adjustment amplitude V t Equal to the given speed V in And control output The sum of

[0054] Furthermore, the valve control signal S is an analog quantity, and the speed adjustment amplitude V t Perform analog-to-digital conversion to obtain the corresponding signal analog value, specifically:

[0055] Valve control signal S=A0+(V t / V max )×(A1-A0);

[0056] Where A0 is the analog value corresponding to the trencher speed of zero, and A1 is the maximum speed of the equipment V max The corresponding analog values, A0 and A1 analog values ​​can be expressed as current or voltage.

[0057] Based on the above trenching machine speed control method, an embodiment of a trenching machine speed control system is also provided, such as Figure 2As shown, it includes a hydraulic system, a travel motor 1, a slope monitor 5, a speed meter 4 and a controller 2. The travel motor 1 is connected to the hydraulic system. The hydraulic system, the slope monitor 5 and the speed meter 4 are respectively connected to the controller 2 for signal. The speed meter 4 is used to obtain the actual speed V of the trenching machine. out The controller 2 controls the hydraulic system to drive the travel motor 1 through the aforementioned trencher speed control method.

[0058] The trencher speed control system provided in this embodiment adopts the aforementioned trencher speed control method, so it can achieve smooth operation of the trencher on complex seabed surfaces, which is beneficial to reducing the energy consumption of the trencher and increasing the service life of the trencher. In addition, the system composition of the present invention is simple, and the hydraulic system and the travel motor 1 can directly apply the trencher's own configuration without the need for additional selection, and the cost is relatively low.

[0059] Preferably, the hydraulic system includes a control valve 3, the control valve 3 is connected to the controller 2 by signal, and the travel motor 1 is connected to the control valve 3. In this embodiment, the hydraulic system also includes a motor 6, a hydraulic pump 7 and an oil tank 8, the motor 6 is transmission-connected to the hydraulic pump 7, the oil outlet of the oil tank 8 is connected to the hydraulic pump 7, and the oil return port of the oil tank 8 is connected to the travel motor 1. After receiving the valve control signal sent by the controller 2, the control valve 3 can be adjusted to the opening position corresponding to the valve control signal, thereby adjusting the speed of the travel motor 1, that is, the output speed of the trencher.

[0060] The slope monitor 5 is preferably a fiber optic gyroscope, which is connected to the trenching machine body and is used to obtain the slope value of the bottom surface of the seabed. Preferably, the fiber optic gyroscope is horizontally installed on the trenching machine body.

[0061] The speed meter 4 is an encoder, which is connected to the travel motor 1 and is used to obtain the actual speed V of the trencher. out .

[0062] In this specification, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being "above", "above" or "above" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below", "below" or "below" a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0063] In the description of this specification, the description with reference to the terms "preferred embodiment", "further embodiment", "other embodiments" or "specific example" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, unless they are contradictory.

[0064] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations on the present application. Ordinary technicians in this field can change, modify, replace and modify the above embodiments within the scope of the present application.

Claims

1. A trenching machine speed control method, characterized in that: Includes steps: Obtain the slope α° of the seabed where the trencher is located, and set the speed V according to the slope α° and the speed V eq , calculate the given speed V of the trencher in ; Get the actual speed V of the trencher out , calculate the given speed V in With the actual speed V out The difference E is outputted according to the difference E, and the output speed V of the trencher is adjusted according to the valve control signal S.

2. A trenching machine speed control method according to claim 1, characterized in that: The given speed V in Equal to the maximum allowable speed V of the trencher max-eq ; When the slope α° is a non-negative number, the maximum allowable speed When the slope α° is negative, the maximum allowable speed in, is the coefficient ratio, and |α| is the slope value of the seabed where the trencher is located.

3. A trenching machine speed control method according to claim 2, characterized in that: The trencher is provided with a maximum equipment speed V max ; If V max-eq >V max , then V max-eq =V max ; If V max-eq ≤V max ,but 4. A trenching machine speed control method according to claim 1, characterized in that: Calculate the control output according to the difference E And according to the control output Calculate the speed amplitude V t , the speed adjustment amplitude V t After analog-to-digital conversion, the corresponding valve control signal S is output.

5. A trenching machine speed control method according to claim 4, characterized in that: The difference E is processed by PID to obtain the control output The PID formula is, In the formula, u(t) is the control output speed, e(t) is the current error speed, t is the time taken for adjustment, and K P is the proportional gain, K i is the integral gain, K d is the differential gain, and u(t) is equal to the control output e(t) is equal to the difference E.

6. A trenching machine speed control method according to claim 4, characterized in that: The speed adjustment amplitude V t Equal to the given speed V in With the control output sum.

7. A trenching machine speed control method according to claim 4, characterized in that: The valve control signal S=A0+(V t / V max )×(A1-A0); Where A0 is the simulation value corresponding to the trencher speed being zero, and A1 is the maximum speed V of the equipment. max The corresponding analog value.

8. A trenching machine speed control system, characterized in that: The invention comprises a hydraulic system, a travel motor, a slope monitor, a speedometer and a controller, wherein the travel motor is connected to the hydraulic system, the hydraulic system, the slope monitor and the speedometer are respectively connected to the controller signal, and the speedometer is used to obtain the actual speed V of the trenching machine. out The controller controls the hydraulic system to drive the travel motor through a trencher speed control method according to any one of claims 1 to 7.

9. A trenching machine speed control system according to claim 8, characterized in that: The hydraulic system comprises a control valve, the control valve is connected to the controller signal, and the travel motor is connected to the control valve.

10. A trenching machine speed control system according to claim 8, characterized in that: The slope monitor is a fiber optic gyroscope; And / or, the speed meter is an encoder, and the encoder is connected to the travel motor.

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