吊管机协同作业负载安全系统研究

发布时间：2018-07-27 19:53

【摘要】：吊管机作为管道施工的专用起重工程机械,是石油天然气管道铺设的关键设备。随着国民经济的快速发展,在复杂环境和负载情况下要求起重设备具备多台协同起吊作业的能力,尤其在管道整体下沟工程中,大多数情况下需要多台吊管机协同作业,在传统多机协同过程中驾驶人员根据自己的主观经验目测协同作业,各台吊管机也只能监控自身的负载情况,对于整体长管道起吊负载变化无法获得较为准确的判断,经常会出现某台吊管机处于过高或过低负载的状态,不利于整体管道下沟的作业效率以及安全保护。针对上述情况本课题提出了对吊管机协同作业负载安全系统的研究,首先对履带式吊管机的负载稳定性情况进行分析,着重分析了配重结构的运动情况,运用CREO2.0建立数字化配重机构模型,仿真分析了配重展开的过程,得到了油缸行程与配重质心位置变化的线性比例关系曲线,进一步通过起吊试验平台验证了这一关系实际的可靠性,此外采用分段多项式插值法拟合了履带吊关机额定起重量与吊臂幅度的关系,在保证曲线关系拟合精度波动不大的情况下减小求解的计算量;其次,对采用管线自动下沟器的多台吊管机整体管道下沟过程中各台吊管机的负载情况进行受力分析,确立了在安全额定负载范围内,以每台吊管机的剩余额定载荷平均分配为负载分配优化目标的载荷分配策略;然后根据载荷分配策略确立了负载安全系统的总体方案,并设计了基于DSP的主控电路、外设输入输出控制电路以及基于ZigBee的吊管机无线组网模块的组网搭建方案,在软件系统中详细的给出了各个功能模块的程序设计以及无线通信组网的数据传输过程,给出了配重机构负载自调节的控制过程并设计了多台吊管机负载安全系统控制策略,即利用基于ZigBee的组网模块将各台吊管机的DSP控制器进行无线组网,使得各台吊管机的负载安全数据能够交互共享,由节点吊管机控制器计算出各台吊管机合适的分配负载并传输给各台吊管机,从而对整体管道下沟过程的负载进行实时合理分配与安全监控;最后进行无线组网模块与控制器节点的多跳通信以及与上位机的组网通信数据有效性测试,整体通信环路成功率、通信速度与收发频率满足多吊管机组网通信要求。整个负载安全系统的研究与设计为吊管机协同作业的智能化提供了借鉴与参考方向。
[Abstract]:As a special lifting engineering machinery for pipeline construction, pipe hoisting machine is the key equipment of oil and gas pipeline laying. With the rapid development of the national economy, the lifting equipment is required to have the ability of multiple cooperative lifting operations under complex environment and load. In the traditional multi-machine cooperative process, the driver can only monitor their load situation according to their subjective experience, and the load change of the whole long pipeline can not be judged accurately. It is often found that a pipe hoist is in a state of too high or too low load, which is not conducive to the working efficiency and safety protection of the whole pipeline undertrench. In view of the above situation, this paper puts forward the research on the load safety system of the cooperative operation of the pipe hoist. Firstly, the load stability of the crawler crane is analyzed, and the movement of the counterweight structure is emphatically analyzed. The digital counterweight mechanism model is established by using CREO2.0, and the process of counterweight expansion is simulated and analyzed. The linear proportional curve between cylinder stroke and weight center position is obtained. Furthermore, the actual reliability of the relationship is verified by the lifting test platform. In addition, the relationship between the rated lifting weight and the amplitude of the boom is fitted by using the piecewise polynomial interpolation method. Under the condition that the fitting precision of curve relation is not fluctuant, the calculation amount of solution is reduced. Secondly, the load of each pipe hoisting machine is analyzed in the course of the whole pipe hoisting machine, which adopts the pipeline automatic downtrench. In the range of safety rated load, a load distribution strategy is established in which the residual rated load of each crane is equally distributed as the optimization objective of load distribution, and then the overall scheme of the load security system is established according to the load distribution strategy. The main control circuit based on DSP, the input and output control circuit of peripheral equipment and the networking scheme of wireless networking module of pipe crane based on ZigBee are designed. In the software system, the program design of each function module and the data transmission process of wireless communication network are given in detail, and the control process of load self-adjusting of counterweight mechanism is given, and the control strategy of load safety system of multiple hoists is designed. That is to use the network module based on ZigBee to build wireless network of DSP controller of each hanging pipe machine, so that the load safety data of each hanging pipe machine can be shared interactively. According to the controller of nodal pipe hoisting machine, the appropriate load distribution is calculated and transmitted to each pipe hoisting machine, so that the load of the whole pipeline downtrench process can be distributed in real time and reasonably and the safety can be monitored. Finally, the multi-hop communication between wireless network module and controller node and the data validity test of network communication with host computer are carried out. The overall communication loop success rate, communication speed and transceiver frequency meet the requirements of network communication of multi-pipe crane. The research and design of the whole load safety system provide reference and reference for the intelligent operation of the pipe crane.
【学位授予单位】：江苏科技大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TE973.8

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