海洋平台导管架清洗机器人控制系统研发

发布时间：2018-06-25 23:45

本文选题：钻采平台 + STM32F103　；参考：《天津职业技术师范大学》2016年硕士论文

【摘要】：随着我国海洋事业的发展,钻采平台在海洋石油开采过程中被广泛应用。钻采平台在作业过程中,海生物会大量吸附在导管架上,严重的威胁了海洋石油的安全开采,因此钻采平台导管架需要定期清洗。由于在水下进行清洗,作业环境恶劣,受天气影响较大,不适合人工清洗。因此,研发一套拥有完全自主知识产权的海洋平台导管架清洗机器人控制系统,对于提高海上钻采平台导管架附着物清洗自动化的整体水平具有重要的理论意义以及工程实用价值。主要工作包含以下几个方面:1.阐述了课题提出的目的和意义,重点分析了水下清洗技术的发展趋势与主要技术理论,并在综合分析了国内外攀爬机器人研究现状的基础上,确立了整体控制方案。2.建立了海洋平台导管架清洗机器人的工作流程。结合机器人控制系统的功能需求,制定了详细的技术解决方案,针对硬件平台设计和软件系统开发进行了研究。3.构建了以单片机STM32F103为核心的海洋平台导管架清洗机器人控制系统硬件平台,完成了电源模块、数据采集模块、数据存储模块、数据通信模块、执行模块、时钟模块的硬件设计。4.开发了以PC机为上位机、单片机STM32F103为下位机的海洋平台导管架清洗机器人控制系统,提高了控制系统的可靠性与实时性。针对硬件平台的设计,完成了相应的软件系统开发。根据模块化的设计原则,通过VB6.0软件设计了基于PC机的人机交互控制界面。5.提出了基于模糊自适应PID控制的海洋平台导管架清洗机器人电机转速控制方法。确定PID参数,通过Matlab中的Simulink模块对传统PID控制电机转速进行了仿真分析;相对传统PID控制方法,结合模糊控制器在Matlab中的应用,通过模糊控制编辑器设定了输入输出变量的隶属函数、根据成熟的控制经验以及现场控制过程制定了模糊控制规则,并通过Simulink对模糊自适应PID控制电机转速进行了仿真分析。对比分析,最终确定选择模糊自适应PID控制方法控制电机的转速。综合分析了国内外研究现状,通过机器人整体方案以及软硬件平台搭建所设计的整套控制系统可以适应海洋平台导管架的清洗,并结合模糊自适应PID控制对控制电机转速进行优化,最终顺利完成了清洗机器人的电机转速仿真实验。
[Abstract]:With the development of marine industry in China, drilling and production platform is widely used in the process of offshore oil exploitation. In the process of drilling and production platform, marine organisms will be adsorbed on jacket, which seriously threatens the safe exploitation of offshore oil, so the jacket of drilling and production platform needs to be cleaned regularly. Due to underwater cleaning, the operating environment is harsh, affected by the weather, not suitable for manual cleaning. Therefore, the development of a completely independent intellectual property rights of offshore platform jacket cleaning robot control system, It is of great theoretical significance and practical value to improve the overall level of cleaning automation of jacket attachment of offshore drilling platform. The main work consists of the following aspects: 1. This paper expounds the purpose and significance of the subject, analyzes the development trend and main technical theory of underwater cleaning technology, and establishes the overall control scheme based on the comprehensive analysis of the present research situation of climbing robot at home and abroad. The work flow of jacket cleaning robot for offshore platform is established. According to the functional requirements of robot control system, a detailed technical solution is developed, and the hardware platform design and software system development are studied. The hardware platform of jacket cleaning robot control system based on SCM STM32F103 is constructed. The hardware design of power supply module, data acquisition module, data storage module, data communication module, execution module and clock module is completed. The control system of jacket cleaning robot based on PC and STM32F103 is developed, which improves the reliability and real time of the control system. According to the design of hardware platform, the corresponding software system is developed. According to the principle of modularization, the man-machine interactive control interface based on PC is designed by VB6.0 software. A fuzzy adaptive pid control method for motor speed control of jacket cleaning robot for offshore platform is presented. The pid parameters are determined, the traditional pid control motor speed is simulated and analyzed by Simulink module in Matlab, compared with the traditional pid control method, the fuzzy controller is applied in Matlab. The membership function of the input and output variables is set up by the fuzzy control editor, the fuzzy control rules are formulated according to the mature control experience and the field control process, and the simulation analysis of the speed of the motor controlled by the fuzzy adaptive pid controller is carried out by Simulink. Finally, the fuzzy adaptive pid control method is selected to control the motor speed. The research status at home and abroad is analyzed synthetically. The whole control system can adapt to the cleaning of jacket of offshore platform through the whole scheme of robot and the construction of software and hardware platform. The motor speed control is optimized by fuzzy adaptive pid control, and the simulation experiment of the motor speed of the cleaning robot is completed successfully.
【学位授予单位】：天津职业技术师范大学
【学位级别】：硕士
【学位授予年份】：2016
【分类号】：TP242

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