摘要
随着世界石油资源的日渐衰竭,海洋逐渐成为全球石油勘探的重点目标。从浅海走向深海是海洋油气开发的总趋势。由于我国深海油气勘探的关键技术和设备都比较落后,深海油气开发仍处于初级阶段。论文主要内容来源于国家863课题“深水海底管道铺设技术”,主要研究管道初连接机具中轴向对准工具部分,为我国开发深海油气资源做准备。
论文介绍了管道初连接机具的国内外发展情况。提出了轴向对准工具控制系统的研究内容。此控制系统是在机械本体设计方案的基础上进行的,根据轴向对准工具所完成的动作,完成了液压系统的总体设计,分析了液压系统的工作原理,确定了液压系统的主要功能回路,并对液压泵、开关阀等液压元件进行选型。
调整装置是轴向对准工具的重要部分,其横向和纵向调整装置(前端或后端)均采用两个液压缸作为执行元件,因此调整装置的控制问题也就是双缸同步控制问题。通过对几种常用的开环和闭环同步回路对比分析,确定了横向和纵向调整装置均采用双比例阀控制的主从式闭环同步回路。
本文对纵向调整装置的电液比例控制系统进行了分析,建立了比例阀、比例阀控制非对称缸和传感器的数学模型,确定出了比例阀控制液压缸的位置和同步系统的仿真模型,利用MATLAB中SIMULINK工具箱对液压缸活塞杆上行和下行运动进行仿真分析,采用位置式PID和改进PID对系统进行了校正,提出了减小比例阀中位死区的定值补偿方法。
最后进行了PLC控制系统设计,确定了控制系统的总体方案,完成PLC和A/D、D/A的硬件的选型,PLC的I/O分配和硬件接线图,同时完成了软件流程图。
With the wearing out of the world's petroleum resource, ocean gradually becomes the focus of the global petroleum exploration . It is the general trend to explore ocean petroleum and gas from shallow to deep sea . Because of our key technology and equipment are relatively backward in deep-sea petroleum and gas exploration, deep-sea petroleum and gas development is still in its infancy. Main contents of this paper come from the 863 subjects "Pipe laying technology at the deep sea" which mainly studies the axial force tool of pipe initial connecting equipment to prepare for the exploration of petroleum from the deep sea.
The international and domestic development of pipe initial connecting equipment is introduced, the researching contents of the axial force tool control system is put forward. This control system is carried on the basis of mechanical design ontology , according to the axial force tool's actions to complete , the total hydraulic system design is finished , working principle of the hydraulic system is analyzed, the main function loop of the hydraulic system is identified , and hydraulic components of pumps and valve etc are selected.
Adjusting device is an important part of the axial force tool , its horizontal and vertical adjustment devices (front-end or back-end)are two hydraulic cylinders as implementation components, therefore the control of the adjusting device is the issue of double synchronous control. According to comparative analysis to several commonly used open-loop and closed-loop synchronization loop, horizontal and vertical adjusting devices are determined with master-slave synchronization of closed-loop controlled by dual-proportional valve.
In this paper, the electro-hydraulic proportional control system of the vertical adjusting device is analyzed, mathematical models of proportional directional valve, asymmetric cylinder controlled with proportional valve and sensor are established,simulation models of location and synchronous system of hydraulic cylinders controlled by proportional directional valve are determined , The upstream and downstream motions of hydraulic cylinder piston rod are simulated through the SIMULINK toolbox of MATLAB language, correction is done with location-type PID and improved PID, constant compensation methods of the proportional valve median dead zone are put forward to reduce its effect.
Finally, the PLC control system is designed, the overall program is determined , hardware selection of PLC, A/D, D/A is Completed , I/O distribution of PLC and hardware diagram is carried out , software flow chart is given at the same time.
引文
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