Abstract
It is very important to level foundation bed by riprap in water and soil engineering. In this paper, a real-time feedback convergence control method is proposed to control the position and heading angle of the riprap leveling ship. The wind, wave, current and hydrodynamic parameters are obtained by empirical formula; the tension of four cables is calculated according to the balance equation of six degrees of freedom, and then the cable deformation is obtained. According to the deformation of the cable, the length of the cable in a certain equilibrium state can be obtained. The length of four cables can be lengthened or shortened by comparing the length of cables at two balanced positions. The length of cables can be controlled by winch to complete the anchoring and positioning control of leveling ship.
Highlights
The riprap leveling ship is a kind of anchoring and shifting ship
The research on dynamic positioning system is relatively mature at home and abroad[1], but for the mooring positioning system of non self propelled ships, the research results are still less in terms of motion modeling and controller design
The hardware of the mooring positioning system of leveling ship is composed of computer, PLC control system, RTK GPS satellite positioning instrument, network switch and interface module, 4 winches and driving mechanism and operation console
Summary
The riprap leveling ship is a kind of anchoring and shifting ship (non self-propelled ship). The total length of Yuliangzhou tunnel in Xiangyang east-west axis road project is 5400m. The project requires that the horizontal positioning accuracy of gravel laying and leveling of subgrade bed shall not exceed 20cm, and the single displacement time shall not exceed 10min. The immersed tube distance of immersed tunnel in inland river basin is generally short, the total immersed tube distance of the project is 1011m, and the cost of traditional operation equipment design and procurement is high. The application of the first laying method in inland river basin puts forward the research requirements for the overall plan, positioning strategy, ship moving strategy and leveling technology of the leveling ship
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