Abstract：In order to reduce the operator忆s work intensity and improve the initiative trailing suction hopper dredger rake head
automatic control response speed，accuracy and stability，through the analysis of the structure and working principle of the
active rake head，the kinematics model of active rake head is established，a fuzzy adaptive PID controller based on active
rake head features is designed according to the features of active head，the application of the PLC to achieve the controller is
researched. Using MATLAB to make a simulation for controller，which results show that the controller has good speed，ro原
bustness and stability.