| 摘要 |
PURPOSE:To improve the swing control of dredger by a method in which the direction cosine of the swing side wire to the tangent of the swing locus is obtained and multiplied by a swing speed command value to calculate the winding speed of the swing wire, and the swing speed is controlled. CONSTITUTION:On the basis of the signals of a ship position measurer gyroscope, etc., the positions of a cutter 2 are orderly calculated and then differentiated with respect to time to obtain swing speed Rs. The present swing speed Rs is added to the value obtained by multiplying the difference between a set swing speed value Is and the present swing speed value Rs by a feedback gain K, the swing speed command value Ss so obtained is converted into a wire winding speed Ws by the direction cosine of the swing side wire and the swing speed- wire speed converter 16, and the swing speed Rs is controlled by the wire winding speed Ws. The controllability of the swing speed can thus be improved. |
