The Research Of Control System For Submarine Plough Trencher

With the continuous development of marine resources the consciousness of pipelineprotection is increasing all over the world, machine for pipeline burying appear constantly. Asone kind of them, submarine plough trencher have been developing for40years since1970s.So far our country have not have this kind of equipment with independent intellectualproperty rights. It is in this case, submarine plough trencher, which can be used underwater50meters, has been designed from2007. This paper design control system of submarine ploughtrencher.First,this paper introduce the mechanical system and the hydraulic system of plow, thenthe control system is divided into two parts according to the function requirement, one is hostcomputer, the other is lower computer. The function of host computer is issuing controlinstruction and surveillancing state; the function lower computer is realization of themovement. Finally control of submarine plough trencher is realized by cooperation betweenhost computer and lower computer.Secondly, lower computer control system for submarine plough trencher is designed;operation process of submarine plough trencher is designed, and the type and number of thecontrolled object is fixed; every situations maybe meet during Working process is analysed,and the control strategy is made; the mathematical model of steering device and ditch deepadjusting device of submarine plough trencher is build, and the control effect is simulated.Thirdly, the function of host computer is analysed, kingview software is chosen amongkinds of configuration software based on functional requirements, host computer controlsystem with function of control, monitoring, alarm and data recording is designed, and function of every parts is introduced detailed.Fourth, ditches experiment on land is performed, control box and backup power supplydevice and other devices may be used is prepared. It is proved through the experiment, thatthe control system of submarine plough trencher is reasonableness, motion control, statefulinspection and data-logging can be realized by control system. Control effectiveness of steeringdevice and ditch deep adjusting device of submarine plough trencher is validated throughsensor data acquisition, submarine plough trencher working smoothly.