Research Of Underwater Multifunctional Operation Equipments Control System

There are a lot of oil and gas resources in the ocean. Along with the progress of marine oil technology, humanbeings have put more effort into the development of the ocean, the amount of offshore drilling platforms and oil pipelines is increasing. Due to the complexity of the marine environment, submarine oil pipeline is often damaged and need special equipments for maintenance. China lags behind the developed countries in the field of marine oil pipeline emergency repair technology. This paper makes a detailed research on the control system of the underwater multifunctional machine for the emergency maintenance of subsea pipeline. According to the overall composition of the multifunctional operating machine, a complete set of control system is designed to meet the requirements of operation and characteristics, and the function of the control system is verified by comprehensive debugging and finally developed a set of prototype.Through the analysis of the underwater multifunctional machine mechanical ontology structure and hydraulic system and the operation process, this paper determines one suitable overall control scheme for the multi-function operation equipments. Then paper gives a method to realize the hardware and software of the control system and according to the working characteristics of multi function machine, the hardware of the control system is determined by industrial control computer and programmable logic controller PLC. The interface of the upper computer is designed by using the Wince configuration software of SIEMENS Corporation. Main functions of the multi-function machine control system were introduced in detail. Then the key hardware of the control system is selected and the structure of the control box is designed.According to the control requirements of multi-function operation equipments, this article detailed introduces the software design method of the multi-functional operation equipments control system. As Wince and 200 PLC can't direct communication, implementing the communication between the Wince with PLC,indirectly, based on the OPC interface technology. Then this paper analyzes the main program in plc. Multi-function machine works in water,depending entirely on HMI control. According to this characteristic,this paper first puts forward the function of the PC interface, then completed the PC interface design on the Siemens Wincc platform.For a pair of hydraulic cylinders requires high synchronicity in imitation inchworm crawling mechanism, the paper researchs a set of two hydraulic cylinder synchronization control strategy. This paper determines the double hydraulic cylinder adopts master-slave control method by analysing hydraulic cylinder synchronization control modes commonly used. Then building a mathematic model of the hydraulic cylinder system; Designing a fuzzy PID controller for slave hydraulic cylinder; Finally, establishing the master-slave hydraulic cylinder system model in Matlab Simulink and simulating, the results show that the double hydraulic cylinder maste-slave synchronous control effect is better in this paper. Contrapose the problem of the pipeline outside chamfer surface uneven, the paper first analyzes all reasons causing error,and then puts forward a method of calculating fixture centering error,and then, according to the error trajectory calculated, designed a set of preprocessing path algorithm to eliminate the trajectory error. At the same time, in order to reduce the impact of tool accelerate and deceleratephase for the workpiece,cutter and the machine, designing a kind of tool motion law of acceleration and deceleration.Then paper simulates the tool motion in the AMESim software, the simulation results show that the method is reasonable.In order to verify the rationality of the multi-function machine control system, debugging each part function of the machine control system on land. To test the control strategies designed for double hydraulic cylinder of creep mechanism, machine crawl experiment was carried out. To verify the chamfer cutter error elimination algorithm, pipe chamfering experiment was carried out.