Technology Research On Mulifunctional Electro-Hydraulic Internal Clamp

Oil and gas resources are the lifeblood of the national economy, China is oil-producing country which is also a big oil consumer, with the growth in oil and gas production and demand, pipeline transportation industry has also been considerable development. In the group of pipeline construction welding, how to weld mountain group water construction, laying of pipelines to ensure quality, improve pipeline efficiency has become an important issue pipeline construction.Currently, on the pipe and welding engineering major counterparts app is pneumatic internal clamp, and you can realize the relative positions of two fixed steel docking process, easy welding, highly construction efficiency. But pneumatic internal clamp is bulky, difficult to turn a small angle in the pipeline, the minimum turning radius is 30D; at the same time, low air pressure, difficulty climbing a large angle, for steep pipeline does not apply. Combining the advantages of the hydraulic system in accordance with an aerodynamic internal clamp working principle, it will design a hydraulic device internal clamp.Firstly, from the structure to improve internal control internal clamp, will mouthparts into tensioner part, the driving part and the power compartment of three parts, each part between the hinge for minimum turning radius 6D; travel drive with hydraulic drive, the driving force can achieve 90 degrees straight crawling and safe braking.Secondly, within the internal clamp pipeline running to the problem of valve-controlled hydraulic support cylinders were mathematical modeling and simulation analysis, using feedforward- feedback control strategy of the three support cylinders for position synchronization control, analysis of its control structure the composition and process control.Again, travel drive hydraulic cylinder support hydraulic motor drive unit composed of, in order to reduce system power consumption, the use of fuzzy PID hydraulic cylinder pressure control, analysis of the control process and implementation. Guaranteed under the driving force, the driving force is smaller, the lower the energy consumption of the system.Finally, through field experiments, internal clamp can be freely turned in 6D turning radius in the 0-90 degree slope can walk and brake pipes. Three cylinder position detection by using feedforward- loop control strategy significantly improved the accuracy of pipeline equipment, the use of fuzzy PID pressure control, pressure control more accurate and less volatile. Electronic control devices using CAN bus communication, to ensure the safety and reliability of the drive.