Abstract: The current study focuses on the project of a leveling dredger for gravel foundation laying of the submerged immersed tunnel. The real-time monitoring of the gravel foundation laying process for the submerged immersed tunnel has been performed by using technologies such as programmable logic controller (PLC), QT and database. The closed-loop control of the process of floating and sinking of the immersed tunnel is carried out by the PLC control using the proportion, integral and differential (PID) algorithm. The real-time monitor of the process of floating and sinking of the immersed tunnel is then implemented by the design of the computer interface of the real-time monitoring system, in order to achieve the technical requirements of the high precision and the high efficiency for the gravel foundation laying of the immersed tunnel. This mode of operation is original in China.

Key words: submerged tube tunnel, real-time control, programmable logic controller(PLC), proportion integral differential(PID)

摘要： 以水下沉管隧道碎石基础铺设的整平清淤船项目为背景,采用可编程逻辑控制器（PLC）与数据库等技术,实现了沉管隧道碎石基础铺设施工过程的实时监控。PLC 控制部分采用”比例-积分-微分”（PID）算法,实现沉管浮运沉放过程的闭环控制。该实时监控系统设计了上位机界面,可实现沉管浮运沉放全过程的实时可视化监控,以实现沉管隧道碎石基础铺设高精度、高效率的技术要求。这种作业方式目前在国内属首创。

关键词: 沉管隧道, 实时控制, 可编程逻辑控制器, 比例-积分-微分