海底犁式工程挖沟机控制系统设计
发布时间：2019-01-07 08:50
【摘要】：我国对海洋资源的开发越来越多，也越来越重视对海底管道的保护。世界上为保护海底管道而研制的挖沟设备种类很多，，海底犁式挖沟机就是其中的一种。海底犁式挖沟机和其他类型的挖沟设备相比，综合经济效益最高，而且非常适合目前中国国情。从技术水平上讲，我国已经具备自主研制海底犁式挖沟机的条件。本课题来源于中国海洋石油总公司“硬质土挖沟技术与装备研究”研究项目，目的是研制适合我国海洋条件的具有自主知识产权的海底犁式挖沟机。本论文主要设计海底犁式挖沟机工程样机的控制系统。 论文首先论述了海底挖沟机的国内外发展现状。分析了海底犁式工程挖沟机的机械系统组成，并对各个部分的功能进行的详细分析。通过液压系统部分原理图，对海底犁式工程挖沟机的液压系统进行了详细分析。根据海底犁式挖沟机工程样机的特点提出控制系统要求并对控制系统的监测信息、控制系统组成和功能、控制设备总体布置以及海底犁式挖沟机工程样机的工作流程进行了详细分析。 其次对海底犁式挖沟机工程样机的控制系统做出了详细设计。其中包括上位机系统的设计和下位机系统的设计。在下位机系统设计中，综合对比分析了几种工业常用控制器的特点后选用PAC为水下控制器，分析了其系统组成。为给水下电子设备提供一个安全可靠的工作环境，设计了水下电子仓和漏水报警电路。其中又对水下电子仓进行了稳定性计算并对其进行了仿真分析，验证了水下电子仓设计的合理性。为提高系统可靠性，对下位机系统进行了冗余设计。以挖沟机机械手为例对其控制进行了建模与仿真分析。在上位机系统设计中，主要设计了上位机控制台以及上位机组态界面。对比分析了几种常见组态软件的优缺点后，上位机组态界面利用Webaccess软件设计，并对设计的各功能界面做了详细的分析。 最后通过对控制系统的调试实验、控制系统和挖沟机的联机调试实验以及挖沟机陆上挖沟实验以及实验数据的分析，验证了控制系统设计的合理性，并对实验中出现的不足做出了改进。
[Abstract]:More and more marine resources are being exploited in China, and more attention has been paid to the protection of submarine pipelines. There are many kinds of trench excavators developed in the world to protect submarine pipelines. Compared with other kinds of trench digging equipment, submarine plough trench excavator has the highest comprehensive economic benefit and is very suitable for the present situation of China. From the technical level, our country already has the condition to develop the submarine plough excavator independently. This subject comes from the research project of "Research on hard soil trench digging technology and equipment" of China National Offshore Oil Corporation. The purpose of this project is to develop a submarine plough trench excavator with independent intellectual property rights suitable for China's marine conditions. This paper mainly designs the control system of the engineering prototype of submarine plough excavator. Firstly, this paper discusses the development of submarine trench excavator at home and abroad. The mechanical system composition of submarine plough excavator is analyzed, and the function of each part is analyzed in detail. Based on the schematic diagram of hydraulic system, the hydraulic system of submarine plough excavator is analyzed in detail. According to the characteristics of submarine plough trench excavator engineering prototype, the requirements of control system are put forward, and the monitoring information, control system composition and function of the control system are put forward. The general layout of the control equipment and the working flow of the prototype of the submarine plough excavator are analyzed in detail. Secondly, the control system of the prototype of submarine plough excavator is designed in detail. It includes the design of upper computer system and lower computer system. In the design of the lower computer system, the characteristics of several commonly used industrial controllers are compared and analyzed. Then, PAC is selected as the underwater controller and its system composition is analyzed. In order to provide a safe and reliable working environment for underwater electronic equipment, the underwater electronic warehouse and leakage alarm circuit are designed. The stability of underwater electronic warehouse is calculated and simulated, which verifies the rationality of underwater electronic warehouse design. In order to improve the reliability of the system, redundant design of the lower computer system is carried out. The control of the manipulator is modeled and simulated. In the design of PC system, the PC console and configuration interface are designed. After comparing and analyzing the advantages and disadvantages of several common configuration software, the upper computer configuration interface is designed by using Webaccess software, and each functional interface is analyzed in detail. Finally, through the debugging experiment of the control system, the on-line debugging experiment of the control system and the trench excavator, and the analysis of the experimental data, the rationality of the design of the control system is verified. The deficiencies in the experiment are improved.
【学位授予单位】：哈尔滨工程大学
【学位级别】：硕士
【学位授予年份】：2013
【分类号】：TU62
本文编号：2403469
[Abstract]:More and more marine resources are being exploited in China, and more attention has been paid to the protection of submarine pipelines. There are many kinds of trench excavators developed in the world to protect submarine pipelines. Compared with other kinds of trench digging equipment, submarine plough trench excavator has the highest comprehensive economic benefit and is very suitable for the present situation of China. From the technical level, our country already has the condition to develop the submarine plough excavator independently. This subject comes from the research project of "Research on hard soil trench digging technology and equipment" of China National Offshore Oil Corporation. The purpose of this project is to develop a submarine plough trench excavator with independent intellectual property rights suitable for China's marine conditions. This paper mainly designs the control system of the engineering prototype of submarine plough excavator. Firstly, this paper discusses the development of submarine trench excavator at home and abroad. The mechanical system composition of submarine plough excavator is analyzed, and the function of each part is analyzed in detail. Based on the schematic diagram of hydraulic system, the hydraulic system of submarine plough excavator is analyzed in detail. According to the characteristics of submarine plough trench excavator engineering prototype, the requirements of control system are put forward, and the monitoring information, control system composition and function of the control system are put forward. The general layout of the control equipment and the working flow of the prototype of the submarine plough excavator are analyzed in detail. Secondly, the control system of the prototype of submarine plough excavator is designed in detail. It includes the design of upper computer system and lower computer system. In the design of the lower computer system, the characteristics of several commonly used industrial controllers are compared and analyzed. Then, PAC is selected as the underwater controller and its system composition is analyzed. In order to provide a safe and reliable working environment for underwater electronic equipment, the underwater electronic warehouse and leakage alarm circuit are designed. The stability of underwater electronic warehouse is calculated and simulated, which verifies the rationality of underwater electronic warehouse design. In order to improve the reliability of the system, redundant design of the lower computer system is carried out. The control of the manipulator is modeled and simulated. In the design of PC system, the PC console and configuration interface are designed. After comparing and analyzing the advantages and disadvantages of several common configuration software, the upper computer configuration interface is designed by using Webaccess software, and each functional interface is analyzed in detail. Finally, through the debugging experiment of the control system, the on-line debugging experiment of the control system and the trench excavator, and the analysis of the experimental data, the rationality of the design of the control system is verified. The deficiencies in the experiment are improved.
【学位授予单位】：哈尔滨工程大学
【学位级别】：硕士
【学位授予年份】：2013
【分类号】：TU62
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