本文選題：管道環(huán)焊縫 + TOFD檢測(cè)��； 參考：《蘭州理工大學(xué)》2017年碩士論文

【摘要】：管道被譽(yù)為現(xiàn)代工業(yè)和人民生活的大動(dòng)脈,對(duì)保衛(wèi)國(guó)家能源安全、保障經(jīng)濟(jì)建設(shè)和居民生活具有重要意義。在安裝和焊接過(guò)程中由于人為因素的影響或者在運(yùn)行過(guò)程中受到介質(zhì)、壓力等因素的影響,管道最脆弱的地方——“對(duì)接環(huán)焊縫”可能出現(xiàn)不同程度的缺陷,從而影響管道的安全運(yùn)行。為了保障在役管線能夠安全、有效、穩(wěn)定地運(yùn)行,必須定期進(jìn)行無(wú)損檢測(cè)。傳統(tǒng)的手動(dòng)無(wú)損檢測(cè)在過(guò)去一直是工業(yè)管道定期檢驗(yàn)的主要手段;隨著工業(yè)自動(dòng)化水平的提高,自動(dòng)化無(wú)損檢測(cè)成為一個(gè)研究熱點(diǎn)。在眾多的無(wú)損檢測(cè)中,超聲檢測(cè)因其自身特性而成為自動(dòng)化無(wú)損檢測(cè)采用的主要技術(shù);自動(dòng)化超聲檢測(cè)具有檢測(cè)效率高、掃查重復(fù)性好等特點(diǎn),越來(lái)越受到青睞。本文依托中國(guó)特種設(shè)備檢測(cè)研究院的工程應(yīng)用類研究項(xiàng)目“反饋式管道自動(dòng)掃查裝置研制”,以衍射時(shí)差法(TOFD)超聲檢測(cè)為技術(shù)手段,設(shè)計(jì)自動(dòng)掃查器,通過(guò)掃查器搭載TOFD探頭對(duì)在役管道環(huán)焊縫進(jìn)行自動(dòng)化TOFD檢測(cè)研究。主要研究工作如下:(1)分析了國(guó)內(nèi)外管道環(huán)焊縫自動(dòng)掃查系統(tǒng)的研究現(xiàn)狀;比較了幾類結(jié)構(gòu)的自動(dòng)掃查器的優(yōu)缺點(diǎn),并針對(duì)現(xiàn)有的自動(dòng)掃查器結(jié)構(gòu)復(fù)雜、體積較大且運(yùn)動(dòng)不靈活等缺點(diǎn),提出設(shè)計(jì)一款更靈活、方便、小巧的自動(dòng)掃查器。本掃查器采用磁輪吸附式小車結(jié)構(gòu),與現(xiàn)有的自動(dòng)掃查器相比,增加了CCD循跡功能,以實(shí)現(xiàn)自動(dòng)糾偏;同時(shí),采用無(wú)線控制,便于操作。(2)完成了對(duì)整個(gè)掃查器機(jī)械結(jié)構(gòu)及其關(guān)鍵部件的設(shè)計(jì)。(3)通過(guò)對(duì)主控制器模塊、CCD采集模塊、電機(jī)驅(qū)動(dòng)模塊、無(wú)線遙控模塊和電源轉(zhuǎn)換等模塊的設(shè)計(jì)完成了電路原理圖;最后制作了PCB板、焊接了相關(guān)元器件,完成了整個(gè)硬件電路系統(tǒng)的設(shè)計(jì)與制作。(4)規(guī)劃了掃查器的控制流程,分別采用黑線提取算法和PID控制算法,通過(guò)編程完成CCD循跡控制和PWM電機(jī)控制;建立了電機(jī)模型,對(duì)電機(jī)性能進(jìn)行仿真;在Matlab中建立了控制系統(tǒng)的Simulink模型,對(duì)整個(gè)控制系統(tǒng)進(jìn)行仿真,得到的系統(tǒng)仿真響應(yīng)曲線滿足響應(yīng)時(shí)間快,運(yùn)行穩(wěn)定等要求。(5)分別在實(shí)驗(yàn)室環(huán)境和工業(yè)現(xiàn)場(chǎng)進(jìn)行試驗(yàn),驗(yàn)證了自動(dòng)掃查器的運(yùn)行指標(biāo)滿足工業(yè)現(xiàn)場(chǎng)檢測(cè)的要求。
[Abstract]:Pipeline is regarded as the artery of modern industry and people's life. It is of great significance to safeguard national energy security, economic construction and residents' life. Due to the influence of human factors during installation and welding, or due to the influence of medium, pressure and other factors during operation, the most vulnerable place of pipeline-"butt girth weld", may be defective to varying degrees, Thus affecting the safe operation of the pipeline. In order to ensure the safe, effective and stable operation of the pipeline in service, nondestructive testing must be carried out regularly. Traditional manual nondestructive testing (NDT) has been the main means of periodic inspection of industrial pipelines in the past. With the improvement of the level of industrial automation, automated NDT has become a research hotspot. Among the many nondestructive testing, ultrasonic testing has become the main technology of automatic nondestructive testing because of its own characteristics, and automatic ultrasonic testing has been more and more popular because of its high detection efficiency, good scanning repeatability and so on. In this paper, based on the engineering application research project of China Special equipment testing Institute, "the development of feedback automatic scanning device for pipeline", the automatic scanning device is designed by using the method of diffraction time difference (TOFD) ultrasonic detection as the technical means. The automatic TOFD detection of the circumferential welds of existing pipelines was carried out by means of the TOFD probe mounted on the sweeper. The main research work is as follows: (1) the research status of the automatic scanning system for pipe girth weld at home and abroad is analyzed, and the advantages and disadvantages of several kinds of automatic sweeper are compared, and the structure of the existing automatic sweeper is complex. This paper presents the design of a more flexible, convenient and compact automatic scanner. The scanning device adopts the structure of magnetic wheel adsorbed trolley. Compared with the existing automatic scanning device, CCD tracking function is added to realize automatic deviation correction. At the same time, wireless control is used. (2) complete the design of the mechanical structure and key components of the scanner. (3) the circuit schematic diagram is completed by the design of the main controller module, such as CCD acquisition module, motor driving module, wireless remote control module and power conversion module. Finally, the PCB board is made, the relevant components are welded, and the whole hardware circuit system is designed and fabricated. (4) the control flow of the sweeper is planned, and the black line extraction algorithm and pid control algorithm are used, respectively. The CCD tracking control and PWM motor control are accomplished by programming. The motor model is established to simulate the motor performance. The Simulink model of the control system is established in Matlab, and the whole control system is simulated. The system simulation response curve can meet the requirements of fast response time and stable operation. (5) the test is carried out in the laboratory environment and the industrial field respectively, and it is verified that the operation index of the automatic scanner can meet the requirements of industrial field detection.
【學(xué)位授予單位】：蘭州理工大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2017
【分類號(hào)】：TG441.7

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