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Control system and control method for synchronous positioning of subsea pipeline transverse moving trolley

A technology of traversing the trolley and synchronous positioning, which is applied in the control/adjustment system, two-dimensional position/channel control, vehicle position/route/altitude control, etc., which can solve the problem of frequent use, accuracy affecting cumulative errors, and increasing equipment operation difficulty. Problems such as the cost of offshore pipe laying operations to achieve the effect of improving reliability and work efficiency and reducing operating costs

Pending Publication Date: 2020-07-28
天津市精研工程机械传动有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The horizontal transmission in the prior art is driven by a hydraulic motor, and its synchronous control mostly adopts the hydraulic shunting or collecting technology. Although the synchronization of the hydraulic motor is relatively easy to achieve, the hydraulic shunt is affected by its accuracy, but the traversing equipment is It is used very frequently in the whole pipe laying operation, so that the accuracy affects the cumulative error. When the cumulative error cannot meet the requirements of the pipe laying operation, it is necessary to manually adjust the deviation, thereby reducing the reliability and work efficiency of the entire traversing equipment. , which increases the difficulty of equipment operation and the cost of offshore pipelaying operations

Method used

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  • Control system and control method for synchronous positioning of subsea pipeline transverse moving trolley
  • Control system and control method for synchronous positioning of subsea pipeline transverse moving trolley

Examples

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Effect test

Embodiment 1

[0032] A control system for synchronous positioning of a sea pipe traversing trolley, the control system for synchronous positioning of a sea pipe traversing trolley includes an electrical control module, a hydraulic control module, and a drive unit;

[0033] The drive unit includes at least two hydraulic motors installed on the traverse trolley;

[0034] The hydraulic control module includes an electric proportional directional valve, a solenoid valve, a hydraulic flow divider, and supporting hydraulic pipelines and hydraulic accessories. The electric proportional directional valve is connected to the solenoid valve through a hydraulic flow divider, and the solenoid valve controls the the hydraulic motor;

[0035] The electrical control module includes a control unit, a master switch and a sensor group;

[0036] The control unit includes a PLC and a touch screen, wherein the input terminal of the PLC collects the data of the sensor group and the master switch, and then accor...

specific Embodiment approach

[0039] Specific embodiments: a synchronous positioning control system for a sea pipe traversing trolley, which is composed of an electrical control module, a hydraulic control module and a drive unit; the drive unit includes three hydraulic motors 3; the hydraulic control module includes an electric proportional reversing valve 6, Solenoid valve 4, hydraulic diverter 5, and supporting hydraulic pipeline 7 and hydraulic accessories; the electrical control module includes a control unit, a master switch and a sensor group; The group includes an encoder 2 and a limit switch 1, wherein the encoder 2 is used to detect the speed signal of each hydraulic motor 3, and obtain the accurate actual position signal of each traverse trolley 9 through continuous real-time pulse numbers, The limit switch 1 is used for the initial zero position verification signal of each traversing trolley 9; the control system adopts the control method combining electromechanical and hydraulic, and the contro...

Embodiment 2

[0044] A control method for synchronous positioning of a sea pipe traversing trolley. The control method for synchronous positioning of a sea pipe traversing trolley uses the control system for synchronous positioning of the sea pipe traversing trolley described above. The control method of the synchronous positioning of moving dolly comprises the following steps:

[0045] Step 1: When using for the first time, use the limit switch to detect the initial zero parameter value of the traversing trolley;

[0046]Step 2: The touch screen sets the control parameter value, and the operator operates the master switch to send out the control demand parameter value;

[0047] Step 3: the PLC collects and acquires the parameter values ​​of the encoder and the master switch, and compares them with the control parameter values ​​set by the touch screen to generate a control instruction;

[0048] Step 4: adjusting the control signals for controlling the electric proportional reversing valve...

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Abstract

The invention belongs to the field of offshore oil engineering, and particularly relates to a control system and a control method for synchronous positioning of a subsea pipeline transverse moving trolley, the control system for synchronous positioning of the subsea pipeline transverse moving trolley comprises an electrical control module, a hydraulic control module and a driving unit; the drivingunit comprises at least two hydraulic motors mounted on the transverse moving trolley; the hydraulic control module comprises an electric proportional reversing valve, an electromagnetic valve, a hydraulic flow divider, a matched hydraulic pipeline and a matched hydraulic accessory. And the electrical control module comprises a control unit, a master switch and a sensor group. According to the control system and the control method for synchronous positioning of the submarine pipeline transverse moving trolley, accumulated errors and manual deviation rectification adjustment caused by the accumulated errors are avoided, so that the reliability and the working efficiency of the whole transverse moving equipment are improved, and the operation difficulty of the equipment and the offshore pipeline laying operation cost are reduced.

Description

technical field [0001] The invention belongs to the field of offshore oil engineering, and in particular relates to a control system and a control method for synchronous positioning of a sea pipe traverse trolley. Background technique [0002] Existing techniques and drawbacks: [0003] Submarine pipeline laying is an important part of offshore oil and gas development and construction, and the laying of submarine pipelines is currently carried out by pipe-laying engineering ships. On the pipe-laying ship, the whole routine process of pipe-laying is to transfer the prefabricated sea pipes on land to the transfer area by the vertical transfer equipment; Pipe inspection and welding joint grinding; then move the equipment laterally and then transfer the polished sea pipe to the main line laying area; in the main line laying area, the sea pipe is connected by welding equipment, and finally laid to the seabed by pipe laying equipment. [0004] In the lateral transfer equipment, ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0225
Inventor 万箭波王福山朱熙耕王永刚程楷梁浩新孙旭恒周然陈建长杨春江
Owner 天津市精研工程机械传动有限公司
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