本文選題：鉆采平臺 + STM32F103��； 參考：《天津職業(yè)技術(shù)師范大學》2016年碩士論文

【摘要】：隨著我國海洋事業(yè)的發(fā)展,鉆采平臺在海洋石油開采過程中被廣泛應用。鉆采平臺在作業(yè)過程中,海生物會大量吸附在導管架上,嚴重的威脅了海洋石油的安全開采,因此鉆采平臺導管架需要定期清洗。由于在水下進行清洗,作業(yè)環(huán)境惡劣,受天氣影響較大,不適合人工清洗。因此,研發(fā)一套擁有完全自主知識產(chǎn)權(quán)的海洋平臺導管架清洗機器人控制系統(tǒng),對于提高海上鉆采平臺導管架附著物清洗自動化的整體水平具有重要的理論意義以及工程實用價值。主要工作包含以下幾個方面:1.闡述了課題提出的目的和意義,重點分析了水下清洗技術(shù)的發(fā)展趨勢與主要技術(shù)理論,并在綜合分析了國內(nèi)外攀爬機器人研究現(xiàn)狀的基礎上,確立了整體控制方案。2.建立了海洋平臺導管架清洗機器人的工作流程。結(jié)合機器人控制系統(tǒng)的功能需求,制定了詳細的技術(shù)解決方案,針對硬件平臺設計和軟件系統(tǒng)開發(fā)進行了研究。3.構(gòu)建了以單片機STM32F103為核心的海洋平臺導管架清洗機器人控制系統(tǒng)硬件平臺,完成了電源模塊、數(shù)據(jù)采集模塊、數(shù)據(jù)存儲模塊、數(shù)據(jù)通信模塊、執(zhí)行模塊、時鐘模塊的硬件設計。4.開發(fā)了以PC機為上位機、單片機STM32F103為下位機的海洋平臺導管架清洗機器人控制系統(tǒng),提高了控制系統(tǒng)的可靠性與實時性。針對硬件平臺的設計,完成了相應的軟件系統(tǒng)開發(fā)。根據(jù)模塊化的設計原則,通過VB6.0軟件設計了基于PC機的人機交互控制界面。5.提出了基于模糊自適應PID控制的海洋平臺導管架清洗機器人電機轉(zhuǎn)速控制方法。確定PID參數(shù),通過Matlab中的Simulink模塊對傳統(tǒng)PID控制電機轉(zhuǎn)速進行了仿真分析;相對傳統(tǒng)PID控制方法,結(jié)合模糊控制器在Matlab中的應用,通過模糊控制編輯器設定了輸入輸出變量的隸屬函數(shù)、根據(jù)成熟的控制經(jīng)驗以及現(xiàn)場控制過程制定了模糊控制規(guī)則,并通過Simulink對模糊自適應PID控制電機轉(zhuǎn)速進行了仿真分析。對比分析,最終確定選擇模糊自適應PID控制方法控制電機的轉(zhuǎn)速。綜合分析了國內(nèi)外研究現(xiàn)狀,通過機器人整體方案以及軟硬件平臺搭建所設計的整套控制系統(tǒng)可以適應海洋平臺導管架的清洗,并結(jié)合模糊自適應PID控制對控制電機轉(zhuǎn)速進行優(yōu)化,最終順利完成了清洗機器人的電機轉(zhuǎn)速仿真實驗。
[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.
【學位授予單位】：天津職業(yè)技術(shù)師范大學
【學位級別】：碩士
【學位授予年份】：2016
【分類號】：TP242

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