水下管道法兰连接机具控制系统设计及实验研究

发布时间：2018-02-27 01:09

本文关键词： 水下法兰连接机具水下连接系统控制系统实验研究　出处：《哈尔滨工程大学》2012年硕士论文　论文类型：学位论文

【摘要】：伴随着海洋资源的不断开发，人类已经将目标从近海投向远海，各国开始争夺深海油气资源，我国也将目光瞄准深海油气田的开发。深海油气田的勘探开发需要大量高精尖的深水作业装备，但我国目前的研究水平还比较低。深水管道法兰螺栓连接机具作为水下管道连接中的一种重要装备已经受到研究机构的关注。本文以《深水海管水下回接技术及AUT检验设备国产化技术研究》项目为依托，对深水管道法兰螺栓连接机具的关键技术进行了研究。论文对水下连接系统的组成和作业流程进行说明，并结合项目的具体技术指标，，提出水下连接机具的总体方案并规划了作业流程；利用模块化设计思想，提出机具的总体结构方案，并详细介绍了连接机具的主要功能模块，包括螺栓工具库、螺母工具库、拉伸器工具库和机具的内基架；对各主要功能模块中典型结构和核心功能进行了详细说明。根据连接机具的实际作业流程并结合机具的有关结构模块，设计深水管道法兰螺栓连接机具液压系统总体结构，并在此基础上设计了基本功能回路以及各动力执行机构的主要功能回路；对关键动力执行机构进行设计，并对有关液压控制元件进行选型。论文研究水下连接机具，并结合机具动力执行机构的动作流程，选定以工控机和PLC相结合的主从式控制系统并确定控制系统的总体结构，在此基础上设计控制系统的硬件电路、下位机PLC控制程序、上位机监控程序，并结合HOSTLINK通信协议设计上下位机的通信程序。结合水下连接机具试验样机，对机具螺母驱动模块进行同步性测定实验，包括驱动马达初始液阻测定实验、螺母套筒初始液阻测定实验和马达同步性能测定实验；在分析实验数据的基础上，提出螺母驱动模块同步性能改进方案，建立改进方案的数学模型并利用MATLAB软件对改进后的性能进行了仿真研究，并在此基础上引入PID控制器校正系统。
[Abstract]:With the continuous development of marine resources, human beings have set their targets from the offshore to the far sea, and various countries have begun to compete for deep-sea oil and gas resources. The exploration and development of deep-sea oil and gas fields require a large number of sophisticated deep-water operational equipment. However, the current research level in China is still relatively low. As an important equipment in underwater pipeline connection, deep water pipe flange bolt connection machine has been paid attention by research institutions. Research on the Localization Technology of AUT Inspection Equipments "based on the Project," The key technology of bolt connecting machine for deep water pipeline flange is studied. In this paper, the composition and operation flow of underwater connection system are explained, and combined with the specific technical index of the project, the overall scheme of underwater connection machine is put forward and the operation flow is planned, and the modular design idea is used. The main function modules of connecting machine and tools are introduced in detail, including bolt tool library, nut tool library, extender tool library and the inner base of machine tool. The typical structure and core function of each main function module are described in detail. According to the actual operation flow of connecting machine and tool and combining with the relevant structure module of machine and tool, the overall structure of hydraulic system of deep water pipe flange bolt connecting machine is designed. On this basis, the basic functional circuits and the main functional circuits of each power actuator are designed, and the key power actuators are designed, and the hydraulic control elements are selected. In this paper, we study the underwater connection mechanism, and choose the master-slave control system which combines the industrial control computer and PLC, and determine the overall structure of the control system. On this basis, the hardware circuit of the control system, the PLC control program of the lower computer, the monitor program of the host computer, and the communication program of the upper and lower computer are designed in combination with the HOSTLINK communication protocol. The synchronous measurement of the driving module of the nut is carried out, including the initial hydraulic resistance of the driving motor, the initial liquid resistance of the nut sleeve and the synchronous performance of the motor. This paper presents a scheme to improve the synchronization performance of the nut drive module, establishes the mathematical model of the improved scheme, and simulates the improved performance by using MATLAB software. On this basis, the PID controller correction system is introduced.
【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】：2012
【分类号】：TH131

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