| The frequent occurrence of oil spill accidents have caused serious obstacle to global economic development which makes the problem of oil spill recovery urgent.Designing professional oil spill recovery equipment with high efficiency,good automation and strong human-machine interaction has become research focus in this field.This paper took this as research background,aiming at the problem of the embedded type oil spill recovery equipment and its oil level controlling,studied the electro-hydraulic control system of equipment.The speed regulation strategy for oil level dynamic segment was presented on the basis of proposing oil level detection method,and the control program and configuration interface were developed according to design requirements,which solved the problem of equipment automation working and monitoring.First,the equipment system composition and action flow were expounded,and the hydraulic control modes of equipment different actions were given on the basis of equipment actual working conditions and requirements.The equipment electrical control system was designed on the basis of electrical control principle,and the control method of proportional regulating voltage,electro-hydraulic proportional and common switch control was proposed after combining the electrical control with hydraulic control.The key technology for realizing equipment working automation and monitoring were analyzed.Second,aiming at the problem of oil level in the well of embedded type oil spill recovery equipment dynamic controlling,the composition and controlling principle of the dynamic inclined plane receiving machine were expounded.The inherent law between the oil level and the hydraulic motor speed was revealed,and the speed regulating strategy for oil level dynamic segment was discussed on the basis of detecting oil level.The mathematical model of motor speed electro-hydraulic proportional valve-controlled system was established and simulated as well as analyzed using the MATLAB/Simulink software.The simulation results show that the control system responds quickly,has a stable output and no overshoot,which can meet the requirements of oil level control and lay theoretical foundation for the oil level control problem solving.Then,aiming at the problem of equipment working automation,the modular design scheme of control program was given in accordance with control system hardware composition and control requirements.The problem of program designing for equipment working initialization,fuselage sweep arm running automatically and oil level controlling was emphatically solved,and the control thought was expounded.Aiming at the problem of equipment working monitoring,the main parameters monitoring interface,working parameters setting interface and receiving machine monitoring interface were developed according to control program,and the configuration development process was illustrated with the monitoring interface of receiving machine as an example.Finally,through oil spill recovery simulation test bed,the relevant theories,control programs and configuration interfaces were tested by using data analysis and simulation test method according to the principle of equipment electro-hydraulic control system.The experimental test results show that the equipment control system meets design requirements,program and configuration reach control purpose.The oil spill recovery equipment prototype was used for actual testing.The results show that the electro-hydraulic system of equipment responds quickly,running smoothly,the equipment can grasp buoy accurately and spread oil fence automatically in automatic working mode,and the configuration monitoring function is perfect,which can meet the requirements of equipment working monitoring.The problems of embedded type oil spill recovery equipment electro-hydraulic control and oil level dynamic control were solved on the basis of consulting and arranging a large number of closely related technical documents of home and abroad.The solution scheme of oil level controlling was proposed on the basis of equipment electro-hydraulic control system,and the mathematical model of the oil suction pump proportion controlling was built and simulated as well as analyzed.The simulation results show that the oil level dynamic control scheme meets design requirements.Aiming at the problem of equipment working automation and monitoring,the control method of "PLC+PC configuration" was adopted,and the control program,configuration interface were developed.The experiment and test were carried out through oil spill recovery simulation test bed and equipment prototype,and the results show that the design idea and control scheme of this paper meet the needs of equipment to deal with large scale oil spill accidents,and the degree of automation is high,the visualization working effect is good.The research in this paper can provide a reference for solving similar engineering problems. |
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