Research On Continuous Shifting Technology Of Large Petroleum Module

In recent years,the goal of oil exploitation has gradually shifted to the deep sea,and the petroleum module has gradually developed in the direction of heavy weight and large size.The oil module is typically built on the dock and displaced to the barge using a suitable displacement.When the height of the barge is higher than the pier,the commonly used method of shifting the loading and loading of the axle car cannot be used,and only the lifting method can be adopted.The hoisting of the oil module relies on the large lifting equipment.The ring-type crane is a new type of lifting equipment.It has more advantages in lifting and because it has the advantages of large lifting capacity and large lifting torque,it plays an increasingly important role in the field of lifting.This paper mainly studies the swing technology of the ring-rail crane.In order to adapt the ring rail crane to revolve in the ring rail,a bidirectional wedge-tight crawler is designed,which can realize two working modes of pushing and dragging the sliding shoe.The initial wedge tightening force and self-locking of the wedge block in the crawler,as well as the finite element analysis of the structure of the crawler;the kinematic analysis of the slewing motion,and the conditions for the slewing mechanism to run on the ring track were established,and different Mathematical model of displacement of master cylinder in orbit.The hydraulic system of the crawler is designed.In order to meet the needs of the rotation,an electro-hydraulic proportional throttle valve is added to the hydraulic system,and the main components in the main oil circuit are calculated.In order to achieve the control of multiple crawlers,the masterslave control is used.The strategy,established a multi-crawler control method;used AMESim software to simulate the hydraulic model,and built a hydraulic control model for the master cylinder and different tracks.By assigning different scaling factors,the master cylinder and different tracks can be realized.The simulation of the crawler master cylinder,while considering the impact of different loads on the system at the same time.The genetic algorithm was used to optimize the three parameter proportional coefficients,integral coefficients,and differential coefficients of the PID controller in the master cylinder,so that the maximum error value and speed fluctuation from the ideal displacement were improved.Finally,Siemens SIMATIC Manager software and Wincc were used.The software,based on the PROFIBUS-DP fieldbus technology,explains the hardware configuration and software program development of the rotary system,and develops the monitoring interface.