重庆理工大学学报2024，Vol.38Issue(23)：102-109,8.DOI:10.3969/j.issn.1674-8425(z).2024.12.013
深水金刚石绳锯机设计及关键运动控制研究
Research on design and key motion control of deepwater diamond wire saw machine
摘要
Abstract
When the diamond wire saw machine cuts the pile of the jacket in a deep water environment,it may encounter such problems as broken ropes,clamping ropes or failures of beaded rope that can't respond quickly,which increases the difficulty and the cycle time of cutting operation.To address these issues,a deep-water diamond wire saw machine is designed to realize the underwater splitting and installation of the cutting module and clamping module,which indirectly remedies the problem of underwater rope changing of the wire saw machine.The beaded rope feeding motion and the original kerf alignment motion are the key factors affecting the cutting operation of this wire saw machine.In this paper,the interactive multi-model algorithm is utilized to track the trajectory of the beading rope aligned with the original cutout.Our motion simulation results show the indexes of the motion of the beading rope aligned with the original cutout meet the requirements of the alignment.According to the dynamics analysis of the beaded rope cutting operation,the state space equations of the system are built,and the tension force and feed displacement data collected by the sensors are taken as the observation vectors and the optimal estimation values of the feed displacement.The best estimated values of feed displacement and feed speed are obtained through Kalman filtering.The optimized tracking error of feed displacement is down by 69%compared with the measurement error,offsetting the influence of noise on the feeding motion process and effectively improving the feed control accuracy.关键词
深水金刚石绳锯机/进给控制/原切口对正/卡尔曼滤波/交互式多模型Key words
deepwater diamond wire saw/feed control/kerf alignment/Kalman filter/interacting multiple model分类
海洋科学引用本文复制引用
刘雪宜,周健,姜雨辰,郭子航,运飞宏,张岚..深水金刚石绳锯机设计及关键运动控制研究[J].重庆理工大学学报,2024,38(23):102-109,8.基金项目
中海油深圳海洋工程技术服务有限公司深水导管架弃置水下切割技术研究项目(E-0923E003) （E-0923E003）
