Rope Measurement Method And Experimental Research Based On Center Positioning Of Submarine Pipeline End Face

The measurement of the relative pose between the two pipelines is the key to the submarine tie-back technology,and is widely used in the measurement of underwater flat pipes and risers.The research of this subject originated from the national "863" plan major special project "Submarine Pipeline Laying Tie-back Technology".The rope measurement system based on the center positioning of the end face of the pipeline can realize the relative pose measurement between any two pipelines on the seabed,thereby effectively improving the efficiency of the pipeline connection technology and reducing the operating cost.Based on the current development status of this field at home and abroad and comprehensive analysis of actual engineering research,this paper designs a pose rope measurement system based on the center positioning of the submarine pipeline end face.The pose measurement system is based on the auxiliary pull-rope measurement method,and is designed to improve the accuracy of the underwater operation measurement system.According to the technical indicators,the overall design of the system was proposed,the measurement and control system of the device was introduced,and the underwater operation process of the rope measurement system was simulated,which laid a strong foundation for subsequent experimental research.This subject is based on the auxiliary rope measurement method,and the measurement rope is used as the experimental core equipment.Therefore,this paper analyzes the suspension mechanics model of the submarine rope's main dynamic pulling.Firstly,the force of the catenary element is analyzed and a mathematical model is established.The calculation theory used by the mechanical model is obtained by comparing the relative errors of catenary and parabola theory.At the same time,the relationship between the active tension of the suspension cable and the physical quantity of the rope suspension is discussed,and the value of the active tension required to measure the rope under different deflection is given,which verifies the correctness of the active tension formula and provides reliability for the selection of the motor power of the drum winch.in accordance with.Through the establishment of the pipeline pose mathematical model and the determination of the value to be measured,the relative pose parameters between the two pipelines to be measured are solved by the robot theory and the transition matrix algorithm.Based on the theory of measurement uncertainty,the rope measurement system is analyzed.First,the source of measurement uncertainty is discussed.Second,each group of measurement values is classified and evaluated.Finally,the influence of each measurement component on the overall combined uncertainty is analyzed.Find a way to reduce measurement uncertainty,aiming to improve the accuracy of the measurement system.The theoretical pose algorithm was verified by the experimental prototype of the rope measurement system based on the center positioning of the submarine pipeline end face center.The overall experimental scheme and experimental equipment were introduced and the land debugging experiment was carried out.The normal operation of the pose measurement system is ensured through the initialization and debugging of the device.An experimental platform was built to measure the length and azimuth of the pipeline,combined with the measurement values of each group of horizontal and pitch angles,and according to the final comprehensive measurement experiment,it can be verified that the rope measurement method can effectively reduce the experimental uncertainty and ensure the accuracy of the measurement.