【摘要】：我國(guó)對(duì)海洋資源的開(kāi)發(fā)越來(lái)越多，也越來(lái)越重視對(duì)海底管道的保護(hù)。世界上為保護(hù)海底管道而研制的挖溝設(shè)備種類很多，，海底犁式挖溝機(jī)就是其中的一種。海底犁式挖溝機(jī)和其他類型的挖溝設(shè)備相比，綜合經(jīng)濟(jì)效益最高，而且非常適合目前中國(guó)國(guó)情。從技術(shù)水平上講，我國(guó)已經(jīng)具備自主研制海底犁式挖溝機(jī)的條件。本課題來(lái)源于中國(guó)海洋石油總公司“硬質(zhì)土挖溝技術(shù)與裝備研究”研究項(xiàng)目，目的是研制適合我國(guó)海洋條件的具有自主知識(shí)產(chǎn)權(quán)的海底犁式挖溝機(jī)。本論文主要設(shè)計(jì)海底犁式挖溝機(jī)工程樣機(jī)的控制系統(tǒng)。 論文首先論述了海底挖溝機(jī)的國(guó)內(nèi)外發(fā)展現(xiàn)狀。分析了海底犁式工程挖溝機(jī)的機(jī)械系統(tǒng)組成，并對(duì)各個(gè)部分的功能進(jìn)行的詳細(xì)分析。通過(guò)液壓系統(tǒng)部分原理圖，對(duì)海底犁式工程挖溝機(jī)的液壓系統(tǒng)進(jìn)行了詳細(xì)分析。根據(jù)海底犁式挖溝機(jī)工程樣機(jī)的特點(diǎn)提出控制系統(tǒng)要求并對(duì)控制系統(tǒng)的監(jiān)測(cè)信息、控制系統(tǒng)組成和功能、控制設(shè)備總體布置以及海底犁式挖溝機(jī)工程樣機(jī)的工作流程進(jìn)行了詳細(xì)分析。 其次對(duì)海底犁式挖溝機(jī)工程樣機(jī)的控制系統(tǒng)做出了詳細(xì)設(shè)計(jì)。其中包括上位機(jī)系統(tǒng)的設(shè)計(jì)和下位機(jī)系統(tǒng)的設(shè)計(jì)。在下位機(jī)系統(tǒng)設(shè)計(jì)中，綜合對(duì)比分析了幾種工業(yè)常用控制器的特點(diǎn)后選用PAC為水下控制器，分析了其系統(tǒng)組成。為給水下電子設(shè)備提供一個(gè)安全可靠的工作環(huán)境，設(shè)計(jì)了水下電子倉(cāng)和漏水報(bào)警電路。其中又對(duì)水下電子倉(cāng)進(jìn)行了穩(wěn)定性計(jì)算并對(duì)其進(jìn)行了仿真分析，驗(yàn)證了水下電子倉(cāng)設(shè)計(jì)的合理性。為提高系統(tǒng)可靠性，對(duì)下位機(jī)系統(tǒng)進(jìn)行了冗余設(shè)計(jì)。以挖溝機(jī)機(jī)械手為例對(duì)其控制進(jìn)行了建模與仿真分析。在上位機(jī)系統(tǒng)設(shè)計(jì)中，主要設(shè)計(jì)了上位機(jī)控制臺(tái)以及上位機(jī)組態(tài)界面。對(duì)比分析了幾種常見(jiàn)組態(tài)軟件的優(yōu)缺點(diǎn)后，上位機(jī)組態(tài)界面利用Webaccess軟件設(shè)計(jì)，并對(duì)設(shè)計(jì)的各功能界面做了詳細(xì)的分析。 最后通過(guò)對(duì)控制系統(tǒng)的調(diào)試實(shí)驗(yàn)、控制系統(tǒng)和挖溝機(jī)的聯(lián)機(jī)調(diào)試實(shí)驗(yàn)以及挖溝機(jī)陸上挖溝實(shí)驗(yàn)以及實(shí)驗(yàn)數(shù)據(jù)的分析，驗(yàn)證了控制系統(tǒng)設(shè)計(jì)的合理性，并對(duì)實(shí)驗(yàn)中出現(xiàn)的不足做出了改進(jìn)。
[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.
【學(xué)位授予單位】：哈爾濱工程大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2013
【分類號(hào)】：TU62

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