Research On Constant Tension Control System Of Vertical Cable Machine

In recent years, exploration and development of marine oil and gas is becoming a hot spot of the world competition of new and high technology.Umbilical cable is referred to as "the nerve and blood of subsea production system", is one of indispensable important equipment of marine oil and gas development. Vertical cabling machine is a key equipment which is used for multi-cell and multi-level umbilical cable cabling process. In the cabling process, tension control is the key, tension control precision and stability directly affect the quality of the umbilical cable. This paper is to vertical cabling machine constant tension control system as the research object, designes a closed-loop constant tension control system with MCU as the controller, DC motor as the actuator, tension sensor as testing organization.First of all, the paper introduces the basic principle of the vertical cabling machine constant tension control, establishes tension control dynamics model,analysis the main factors influencing the tension control.Secondly, the control model of system is established in this paper. The differential equation is obtained according to the armature voltage balance principle and torque balance principle, and then get the system transfer function equations and state space equation. In Matlab/Simulink environment,accomplish the double closed loop PID control simulation based on the transfer function equation and state feedback control simulation with full state observer based on state space equation.Finally, a winding cable constant tension control system is designed under the laboratory condition, accomplishes the design of the controller hardware circuit module and the software module design.Using different wires of hard and soft to experiment on the experimental platform, record the experiment data,analysis the constant tension control effect of system. The results show that the system has the reliable operation, feasible control algorithm and good control accuracy and stability, can provide theoretical and experimental support to vertical cabling machine constant tension control system reform.