多功能电液内对口器技术研究

发布时间：2019-07-06 19:19

【摘要】：油气资源是国民经济的命脉,我国是石油生产大国同时也是石油消费大国,随着石油、天然气生产和需求的增长,管道运输行业也得到了长足的发展。在管道组对焊接施工中,如何实现山区组对焊接流水施工,保证管道铺设质量、提高管道铺设效率已成为当前管道建设的重要课题。当前,在钢管对口及焊接工程上主要应用气动内对口器,可以实现两根钢管对接过程中的相对位置固定,便于焊接,施工效率较高。但气动内对口器体积大,管道内小角度转向困难,最小转弯半径为30D;同时,气动压力低,大角度爬坡困难,对于坡度较大的管道不适用。本文根据气动内对口器的工作原理结合液压系统的优点,设计出液压内对口器。本文首先从结构上对内对口器进行改进,将对口器分成涨紧部分、驱动部分和动力舱三部分,各部分间采用铰接,可实现最小6D转弯半径;行走驱动采用液压驱动,驱动力大,可实现90度直管爬行和安全制动。其次,针对内对口器管道内行走对中问题,对液压阀控支撑缸进行了数学建模和仿真分析,采用前馈-反馈控制策略对三个支撑缸进行位置同步控制,分析了其控制结构的组成和控制过程。再次,行走驱动采用液压缸支撑液压马达组成驱动装置,为降低系统功耗,采用模糊PID对液压缸内压力进行控制,分析了控制过程和实现方法。保证一定驱动力的情况下,驱动力越小,系统的能耗也就越低。最后,通过现场实验,内对口器可以在6D转弯半径下进行自由转向,在0到90度斜坡管道内可以实现行走和制动。通过三个油缸位置检测,采用前馈-闭环控制策略显著提高了设备管道对中精度,采用模糊PID的压力控制,其压力控制精度更高,波动更小。电控设备采用CAN总线通信,保证了驱动的安全可靠。
[Abstract]:Oil and gas resources are the lifeblood of the national economy. China is not only a big oil production country, but also a big oil consumption country. With the growth of oil and natural gas production and demand, pipeline transportation industry has also made great progress. In the pipeline group welding construction, how to realize the mountain group welding pipeline construction, ensure the quality of pipeline laying, improve the efficiency of pipeline laying has become an important issue in the current pipeline construction. At present, pneumatic internal interfacing device is mainly used in steel pipe alignment and welding engineering, which can fix the relative position of the two steel pipes in the process of docking, which is convenient for welding and has high construction efficiency. However, the volume of the pneumatic internal counterpart is large, the small angle steering in the pipeline is difficult, and the minimum turning radius is 30D. at the same time, the pneumatic pressure is low and it is difficult to climb the slope at a large angle, so it is not suitable for the pipeline with large slope. According to the working principle of pneumatic internal counterpart and the advantages of hydraulic system, the hydraulic internal interport is designed in this paper. In this paper, the internal interfacing is improved structurally, and the interport is divided into three parts: tightening part, driving part and power cabin. The minimum 6D turning radius can be realized by using hinged between each part, and the walking drive is hydraulic driven, the driving force is large, and the 90 degree straight pipe crawling and safe braking can be realized. Secondly, in order to solve the problem of internal alignment, the mathematical modeling and simulation analysis of the hydraulic valve-controlled support cylinder are carried out. The position synchronization control of the three support cylinders is carried out by using the feedforward-feedback control strategy, and the composition and control process of the control structure are analyzed. Thirdly, the driving device is composed of hydraulic cylinder supported hydraulic motor. In order to reduce the power consumption of the system, fuzzy PID is used to control the pressure in hydraulic cylinder, and the control process and realization method are analyzed. Under the condition of ensuring a certain driving force, the smaller the driving force, the lower the energy consumption of the system. Finally, through the field experiment, the inner port device can turn freely under the turning radius of 6D, and the walking and braking can be realized in the slope pipe of 0 to 90 degrees. Through the position detection of three cylinders, the feedforward-closed-loop control strategy is adopted to significantly improve the alignment accuracy of the equipment pipeline. The pressure control accuracy of fuzzy PID is higher and the fluctuation is smaller. The electronic control equipment adopts CAN bus to communicate, which ensures the safety and reliability of the drive.
【学位授予单位】：燕山大学
【学位级别】：硕士
【学位授予年份】：2016
【分类号】：TE973

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