【摘要】：吊管機(jī)作為管道施工的專用起重工程機(jī)械,是石油天然氣管道鋪設(shè)的關(guān)鍵設(shè)備。隨著國民經(jīng)濟(jì)的快速發(fā)展,在復(fù)雜環(huán)境和負(fù)載情況下要求起重設(shè)備具備多臺(tái)協(xié)同起吊作業(yè)的能力,尤其在管道整體下溝工程中,大多數(shù)情況下需要多臺(tái)吊管機(jī)協(xié)同作業(yè),在傳統(tǒng)多機(jī)協(xié)同過程中駕駛?cè)藛T根據(jù)自己的主觀經(jīng)驗(yàn)?zāi)繙y協(xié)同作業(yè),各臺(tái)吊管機(jī)也只能監(jiān)控自身的負(fù)載情況,對(duì)于整體長管道起吊負(fù)載變化無法獲得較為準(zhǔn)確的判斷,經(jīng)常會(huì)出現(xiàn)某臺(tái)吊管機(jī)處于過高或過低負(fù)載的狀態(tài),不利于整體管道下溝的作業(yè)效率以及安全保護(hù)。針對(duì)上述情況本課題提出了對(duì)吊管機(jī)協(xié)同作業(yè)負(fù)載安全系統(tǒng)的研究,首先對(duì)履帶式吊管機(jī)的負(fù)載穩(wěn)定性情況進(jìn)行分析,著重分析了配重結(jié)構(gòu)的運(yùn)動(dòng)情況,運(yùn)用CREO2.0建立數(shù)字化配重機(jī)構(gòu)模型,仿真分析了配重展開的過程,得到了油缸行程與配重質(zhì)心位置變化的線性比例關(guān)系曲線,進(jìn)一步通過起吊試驗(yàn)平臺(tái)驗(yàn)證了這一關(guān)系實(shí)際的可靠性,此外采用分段多項(xiàng)式插值法擬合了履帶吊關(guān)機(jī)額定起重量與吊臂幅度的關(guān)系,在保證曲線關(guān)系擬合精度波動(dòng)不大的情況下減小求解的計(jì)算量;其次,對(duì)采用管線自動(dòng)下溝器的多臺(tái)吊管機(jī)整體管道下溝過程中各臺(tái)吊管機(jī)的負(fù)載情況進(jìn)行受力分析,確立了在安全額定負(fù)載范圍內(nèi),以每臺(tái)吊管機(jī)的剩余額定載荷平均分配為負(fù)載分配優(yōu)化目標(biāo)的載荷分配策略;然后根據(jù)載荷分配策略確立了負(fù)載安全系統(tǒng)的總體方案,并設(shè)計(jì)了基于DSP的主控電路、外設(shè)輸入輸出控制電路以及基于ZigBee的吊管機(jī)無線組網(wǎng)模塊的組網(wǎng)搭建方案,在軟件系統(tǒng)中詳細(xì)的給出了各個(gè)功能模塊的程序設(shè)計(jì)以及無線通信組網(wǎng)的數(shù)據(jù)傳輸過程,給出了配重機(jī)構(gòu)負(fù)載自調(diào)節(jié)的控制過程并設(shè)計(jì)了多臺(tái)吊管機(jī)負(fù)載安全系統(tǒng)控制策略,即利用基于ZigBee的組網(wǎng)模塊將各臺(tái)吊管機(jī)的DSP控制器進(jìn)行無線組網(wǎng),使得各臺(tái)吊管機(jī)的負(fù)載安全數(shù)據(jù)能夠交互共享,由節(jié)點(diǎn)吊管機(jī)控制器計(jì)算出各臺(tái)吊管機(jī)合適的分配負(fù)載并傳輸給各臺(tái)吊管機(jī),從而對(duì)整體管道下溝過程的負(fù)載進(jìn)行實(shí)時(shí)合理分配與安全監(jiān)控;最后進(jìn)行無線組網(wǎng)模塊與控制器節(jié)點(diǎn)的多跳通信以及與上位機(jī)的組網(wǎng)通信數(shù)據(jù)有效性測試,整體通信環(huán)路成功率、通信速度與收發(fā)頻率滿足多吊管機(jī)組網(wǎng)通信要求。整個(gè)負(fù)載安全系統(tǒng)的研究與設(shè)計(jì)為吊管機(jī)協(xié)同作業(yè)的智能化提供了借鑒與參考方向。
[Abstract]:As a special lifting engineering machinery for pipeline construction, pipe hoisting machine is the key equipment of oil and gas pipeline laying. With the rapid development of the national economy, the lifting equipment is required to have the ability of multiple cooperative lifting operations under complex environment and load. In the traditional multi-machine cooperative process, the driver can only monitor their load situation according to their subjective experience, and the load change of the whole long pipeline can not be judged accurately. It is often found that a pipe hoist is in a state of too high or too low load, which is not conducive to the working efficiency and safety protection of the whole pipeline undertrench. In view of the above situation, this paper puts forward the research on the load safety system of the cooperative operation of the pipe hoist. Firstly, the load stability of the crawler crane is analyzed, and the movement of the counterweight structure is emphatically analyzed. The digital counterweight mechanism model is established by using CREO2.0, and the process of counterweight expansion is simulated and analyzed. The linear proportional curve between cylinder stroke and weight center position is obtained. Furthermore, the actual reliability of the relationship is verified by the lifting test platform. In addition, the relationship between the rated lifting weight and the amplitude of the boom is fitted by using the piecewise polynomial interpolation method. Under the condition that the fitting precision of curve relation is not fluctuant, the calculation amount of solution is reduced. Secondly, the load of each pipe hoisting machine is analyzed in the course of the whole pipe hoisting machine, which adopts the pipeline automatic downtrench. In the range of safety rated load, a load distribution strategy is established in which the residual rated load of each crane is equally distributed as the optimization objective of load distribution, and then the overall scheme of the load security system is established according to the load distribution strategy. The main control circuit based on DSP, the input and output control circuit of peripheral equipment and the networking scheme of wireless networking module of pipe crane based on ZigBee are designed. In the software system, the program design of each function module and the data transmission process of wireless communication network are given in detail, and the control process of load self-adjusting of counterweight mechanism is given, and the control strategy of load safety system of multiple hoists is designed. That is to use the network module based on ZigBee to build wireless network of DSP controller of each hanging pipe machine, so that the load safety data of each hanging pipe machine can be shared interactively. According to the controller of nodal pipe hoisting machine, the appropriate load distribution is calculated and transmitted to each pipe hoisting machine, so that the load of the whole pipeline downtrench process can be distributed in real time and reasonably and the safety can be monitored. Finally, the multi-hop communication between wireless network module and controller node and the data validity test of network communication with host computer are carried out. The overall communication loop success rate, communication speed and transceiver frequency meet the requirements of network communication of multi-pipe crane. The research and design of the whole load safety system provide reference and reference for the intelligent operation of the pipe crane.
【學(xué)位授予單位】：江蘇科技大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2017
【分類號(hào)】：TE973.8

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本文編號(hào)：2148955