耙吸挖泥船耙臂水下安全控制技术研究与应用.

The suction tube of THSD is affected by waves, currents, and uneven ground during construction, causing displacement in both horizontal and vertical directions. The operator cannot directly observe the underwater state of the suction tube, it is necessary to sense the suction tube posture in real -time through horizontal and vertical sensors installed on the suction tube, and manually adjust the suction tube winch to achieve safe underwater construction operations of the suction tube. The adjustment process relies entirely on manual experience, and the adjustment effect varies from person to person. Aiming at the disadvantages of manual operation, a set of safety control technology for underwater construction of suction tube has been proposed, achieving automatic and unmanned control of the underwater construction process of suction tube. The technical achievements have been applied on four 3 000 m 3 TSHDs, and the effect is significant. It can adapt to various construction conditions and achieve large-scale promotion and application. [ABSTRACT FROM AUTHOR]