本文關(guān)鍵詞： 水下法蘭連接機(jī)具 水下連接系統(tǒng) 控制系統(tǒng) 實(shí)驗(yàn)研究　出處：《哈爾濱工程大學(xué)》2012年碩士論文　論文類(lèi)型：學(xué)位論文

【摘要】：伴隨著海洋資源的不斷開(kāi)發(fā)，人類(lèi)已經(jīng)將目標(biāo)從近海投向遠(yuǎn)海，各國(guó)開(kāi)始爭(zhēng)奪深海油氣資源，我國(guó)也將目光瞄準(zhǔn)深海油氣田的開(kāi)發(fā)。深海油氣田的勘探開(kāi)發(fā)需要大量高精尖的深水作業(yè)裝備，但我國(guó)目前的研究水平還比較低。深水管道法蘭螺栓連接機(jī)具作為水下管道連接中的一種重要裝備已經(jīng)受到研究機(jī)構(gòu)的關(guān)注。本文以《深水海管水下回接技術(shù)及AUT檢驗(yàn)設(shè)備國(guó)產(chǎn)化技術(shù)研究》項(xiàng)目為依托，對(duì)深水管道法蘭螺栓連接機(jī)具的關(guān)鍵技術(shù)進(jìn)行了研究。 論文對(duì)水下連接系統(tǒng)的組成和作業(yè)流程進(jìn)行說(shuō)明，并結(jié)合項(xiàng)目的具體技術(shù)指標(biāo)，，提出水下連接機(jī)具的總體方案并規(guī)劃了作業(yè)流程；利用模塊化設(shè)計(jì)思想，提出機(jī)具的總體結(jié)構(gòu)方案，并詳細(xì)介紹了連接機(jī)具的主要功能模塊，包括螺栓工具庫(kù)、螺母工具庫(kù)、拉伸器工具庫(kù)和機(jī)具的內(nèi)基架；對(duì)各主要功能模塊中典型結(jié)構(gòu)和核心功能進(jìn)行了詳細(xì)說(shuō)明。根據(jù)連接機(jī)具的實(shí)際作業(yè)流程并結(jié)合機(jī)具的有關(guān)結(jié)構(gòu)模塊，設(shè)計(jì)深水管道法蘭螺栓連接機(jī)具液壓系統(tǒng)總體結(jié)構(gòu)，并在此基礎(chǔ)上設(shè)計(jì)了基本功能回路以及各動(dòng)力執(zhí)行機(jī)構(gòu)的主要功能回路；對(duì)關(guān)鍵動(dòng)力執(zhí)行機(jī)構(gòu)進(jìn)行設(shè)計(jì)，并對(duì)有關(guān)液壓控制元件進(jìn)行選型。 論文研究水下連接機(jī)具，并結(jié)合機(jī)具動(dòng)力執(zhí)行機(jī)構(gòu)的動(dòng)作流程，選定以工控機(jī)和PLC相結(jié)合的主從式控制系統(tǒng)并確定控制系統(tǒng)的總體結(jié)構(gòu)，在此基礎(chǔ)上設(shè)計(jì)控制系統(tǒng)的硬件電路、下位機(jī)PLC控制程序、上位機(jī)監(jiān)控程序，并結(jié)合HOSTLINK通信協(xié)議設(shè)計(jì)上下位機(jī)的通信程序。結(jié)合水下連接機(jī)具試驗(yàn)樣機(jī)，對(duì)機(jī)具螺母驅(qū)動(dòng)模塊進(jìn)行同步性測(cè)定實(shí)驗(yàn)，包括驅(qū)動(dòng)馬達(dá)初始液阻測(cè)定實(shí)驗(yàn)、螺母套筒初始液阻測(cè)定實(shí)驗(yàn)和馬達(dá)同步性能測(cè)定實(shí)驗(yàn)；在分析實(shí)驗(yàn)數(shù)據(jù)的基礎(chǔ)上，提出螺母驅(qū)動(dòng)模塊同步性能改進(jìn)方案，建立改進(jìn)方案的數(shù)學(xué)模型并利用MATLAB軟件對(duì)改進(jìn)后的性能進(jìn)行了仿真研究，并在此基礎(chǔ)上引入PID控制器校正系統(tǒng)。
[Abstract]:With the continuous development of marine resources, human beings have set their targets from the offshore to the far sea, and various countries have begun to compete for deep-sea oil and gas resources. The exploration and development of deep-sea oil and gas fields require a large number of sophisticated deep-water operational equipment. However, the current research level in China is still relatively low. As an important equipment in underwater pipeline connection, deep water pipe flange bolt connection machine has been paid attention by research institutions. Research on the Localization Technology of AUT Inspection Equipments "based on the Project," The key technology of bolt connecting machine for deep water pipeline flange is studied. In this paper, the composition and operation flow of underwater connection system are explained, and combined with the specific technical index of the project, the overall scheme of underwater connection machine is put forward and the operation flow is planned, and the modular design idea is used. The main function modules of connecting machine and tools are introduced in detail, including bolt tool library, nut tool library, extender tool library and the inner base of machine tool. The typical structure and core function of each main function module are described in detail. According to the actual operation flow of connecting machine and tool and combining with the relevant structure module of machine and tool, the overall structure of hydraulic system of deep water pipe flange bolt connecting machine is designed. On this basis, the basic functional circuits and the main functional circuits of each power actuator are designed, and the key power actuators are designed, and the hydraulic control elements are selected. In this paper, we study the underwater connection mechanism, and choose the master-slave control system which combines the industrial control computer and PLC, and determine the overall structure of the control system. On this basis, the hardware circuit of the control system, the PLC control program of the lower computer, the monitor program of the host computer, and the communication program of the upper and lower computer are designed in combination with the HOSTLINK communication protocol. The synchronous measurement of the driving module of the nut is carried out, including the initial hydraulic resistance of the driving motor, the initial liquid resistance of the nut sleeve and the synchronous performance of the motor. This paper presents a scheme to improve the synchronization performance of the nut drive module, establishes the mathematical model of the improved scheme, and simulates the improved performance by using MATLAB software. On this basis, the PID controller correction system is introduced.
【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】：2012
【分類(lèi)號(hào)】：TH131

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