The Control System Design Of The Submarine Plough Engineering Trencher

In China, more and more marine resources are being developed now; meanwhile, moreand more attentions are paid to the protection of the submarine pipelines. There are manykinds of trenching equipment developed for the protection of submarine pipelines in the world,and submarine plough is one of them. Compared to the other kinds of trenching equipment,submarine plough has the highest comprehensive economic effects, and is very suitable forthe China’s national conditions. This topic originates from a project of China NationalOffshore Oil Corporation, called "Hard Soil Digging Technology and Equipment Research".The purpose of this topic is to develop a submarine plough owing independent intellectualproperty rights and is suitable for China’s marine conditions. This paper mainly discusses thedesign of submarine plough engineering trencher control system.Firstly, the paper discusses the development status of submarine trenching machine athome and abroad. Then make an analysis of mechanical system components，and the analysisof the functions of the various parts of submarine plough engineering trencher. According tothe part of the schematic diagram of the hydraulic system，analyzed in detail of the hydraulicsystem on the submarine plough engineering trencher.According to the characteristic ofsubmarine plough, raise requirements of the control system and make analysis of themonitoring information of the control system, the composition and function of the controlsystem, control equipment general arrangement and submarine plough engineering trencherworkflow.Secondly, the paper makes a detailed design for control system of the submarine ploughengineering trencher. This part includes designs of upper computer system and lowercomputer system. Comprehensive comparative analysis of the characteristics of severalcommonly used industrial controllers in the design of lower computer system selected PAC asa controller and analyzed the system components. To provide a safe and secure workenvironment to the underwater electronic equipment, designed the underwater electronic podand water leakage alarm circuit. The stability calculation and simulation analysis of theunderwater electronic pod verity the reasonable of the pod. To improve the safety of thesystem, a redundancy design for the lower machine system is designed for the system. Andthe control of the trencher robot is modeled and simulated. In term of upper computer system design, it is mainly about the upper computer console and upper computer configurationinterface. Comparative analysis of the advantages and disadvantages of several commonconfiguration software，upper computer configuration interface uses Webaccess softwaredesign and has done a detailed analysis about each designing functional interface.Finally, by the debugging of control system, the online debugging of control system andtrenching machine, the trencher’s onshore trenching experiment, and the analysis of theexperimental data, the rationality of the control system is verified, and the experimentalproblems have been improved.