| In the offshore development and river engineering, need for an impact crushing equipment to operate underwater, which is used to drill、break、crush operations and so on. In the conventional operation that impact crushing equipment was installed on the surface of the water platform to work was not only effected by water surface environment, but also was effected by water surface platform structure and impact crushing equipment size limit. It takes time and effort to work in deeper water area.The paper innovative developed a kind of suspended working platform that can impact underwater, and the platform is based on buoyancy to control the suspended platform depth and attitude.The suspended platform use hydraulic drive system as adjustment means to achieve the purpose of motion control, and the hydraulic impact hammer is installed on the suspended platform to complete the underwater impact crushing work.In the research of the thesis, according to the design requirements of the platform design platform structure and size, and stress and strain state of impact crushing platform on the condition of fifty meters depth are analyzed in the ANSYS system, and according to the calculated stress and strain state to strengthen and optimize the structure of the suspended platform. According to the design requirements and motion characteristics of the underwater suspension platform, the hydraulic control system is designed by using the theory of hydraulic system design, and the selection of the main hydraulic components is completed.For the characteristic of the suspended platform based on buoyancy adjustment movement, the paper analysis the suspended platform vertical stress state including gravity、buoyancy、hydrodynamic, and build the dynamic equation of the vertical motion of the platform. Depth control method of double closed loop is designed based on the dynamic equation, PD method to achieve the depth of the outer loop control, PID method to complete the inner ring of the asymmetric hydraulic cylinder control. Build a depth control model in AMESim system, the simulation results show that the control effect reaches a predetermined depth, no bottom and take the phenomenon of punching. Due to the structural constraints of operation objects and operation requirements, the suspension platform needs to adjust its attitude to meet the operational requirements. According to the coordinate transformation theory and bending moment synthesis theory, the control method of attitude adjustment is proposed, and the AMESim model is established for the attitude adjustment. Based on the simulation results, the relationship between the azimuth angle and bending moment control angle and the tilt angle of the suspension platform is obtained.In the last, the paper research and develop YYG100 A hydraulic impact crushing hammer which meet the demand of underwater impact and crush operations. Based on the bond graph-state vector method build power bond graph of new hydraulic impact crushing hammer, and deduce the state vector formula. The simulation model of the hydraulic impact crushing hammer is also built in the AMESim system, and the model is verified by comparing the simulation results with the measured values. Further analysis the effects of flow rate, nitrogen chamber pressure, initial pressure and initial volume and stroke feedback control hole to the working performance of the hydraulic impact crushing hammer. |
PDF Full Text Request