Design And Adaptive Control Analysis Of Deepwater Guillotine Pipe Saw

With the declining oil and gas resources on land,China's development of offshore oil and gas fields has increased year by year.During the development,the damage of submarine pipeline damage caused by various reasons has been increasing year by year.Submarine pipeline repair work is urgent.As China's submarine pipeline repair engineering technology is weak,specifically for underwater pipeline repair equipment is very necessary.The main contents of this paper are to study the deep water and deep water working conditions and the special structure of the oil and gas pipeline during the maintenance of the submarine oil and gas pipeline.This paper introduces the characteristics of the submarine pipeline and its current application,the development of underwater cutting technology at home and abroad,summarizes the development of underwater pipe cutting machine,and puts forward a new idea of cutting the submarine pipeline with the sawing technology TheThrough the analysis of the practical application of underwater pipe cutting machine and underwater cutting technology at home and abroad,the overall design scheme of the deep saw blade saw is determined,and the design of the main parts is carried out.The structural design of the heavy saw blade supporting the deep saw blade saws is carried out,and the cutting resistance of the saw blade during the sawing process is analyzed and analyzed to determine the force of the saw blade during sawing.The kinematic motion of the deep saw is analyzed,and the kinematic equation is established.The working parameters under the optimal working condition are determined by simulation.The kinetic analysis of the cutting mechanism is carried out,the kinetic equation is established and the hydrodynamic analysis is carried out considering the mechanics of underwater motion.The kinetic equation is modified.The hydraulic system of the deep water gate saw blade is designed and the key hydraulic components are designed and analyzed.The mathematical model of the hydraulic valve control speed servo control system is established,and the frequency characteristics of the system are simulated and analyzed.Based on the established valve control speed servo system,combined with the adaptive control principle,the model reference adaptive control method of the deep runner saw is designed,and the model is designed with reference to the adaptive controller.The simulation results show that the reasonable control Parameter,the evaluation of the adaptive controller for the system control accuracy,stability,response speed.The design of the deep sail is aimed at the new ideas and new methods for underwater submarine pipeline cutting.The main advantage is that the structure is simple and can be adapted to the deep water working environment.It can cut the different materials of the submarine pipeline in one cutting,stable job.The design of the deep saw is designed to provide theoretical support and technical guidance for the development of its engineering prototype.It is believed that in the near future,the deep saw blade saw as a member of the underwater cutting machine and contribute to the underwater resource development project in China.