Research On The Key Technology Of Introducing Machine Of Underwater Bolt Flange Connection Mechanism

The pipeline is the main transport medium of marine oil and gas,China has a large gap in the offshore oil and gas pipeline laying and connecting technology with foreign countries.According to “research and design of key technology of deep water bolt flange connection machine” project,based on equipment related key technology analysis,combining with the equipment operation requirements,developing a set of test prototype is of great significance to improve our technical level in the field.This paper introduced the domestic and foreign bolt flange connection technology,and analyzed their advantages and disadvantages.According to the requirements of the subject and referring to domestic and foreign related technologies,the overall design scheme of bolt flange connection machine is put forward,on this basis,plan the machine operation flow.The main function of the equipment module: a analysis and design of bearing and driving mechanism,positioning mechanism,introducing mechanism and bolt stretching mechanism,based on this the hydraulic system and control system was introduced.According to nut introducing mechanism of flange connecting machine,the dynamic analysis was carried out on the process of nut bolt and the closing process of the nut library.On the one hand,the mathematical model of the nut and bolt collision process was established,and the dynamic simulation was carried out by Adams,displacement curves of the nut and the sleeve,impact force curve of the bolt and the nut,spring force and deformation curve was obtained,through the prototype test,further verified the feasibility of the design.On the other hand,the relationship between the angular velocity of the reservoir,the thrust of the piston rod and the position of the hinge,the angle of the reservoir was established by analyzing the dynamics of the closing process,in the relevant constraints,the base body minimum angular velocity and piston rod thrust as the optimization objective,hinge position switching mechanism was optimized,finally,Adams was used to simulate the optimization results.According to the structural characteristics and operating requirement of the bolt introducing mechanism,the error factors affecting the bolt hole accuracy were analyzed,using the homogeneous coordinate transformation method to establish the bolt hole space error model.Based on the theory of sensitivity analysis,the key error sources that affect the bolt hole accuracy were identified.On the basis of the above,the precision parameters of the bolt introducing mechanism were optimized by taking the original design parameters as the reference.According to the operation process of flange connection tool,for underwater pipeline flange connection test,and obtained base body angular velocity,piston rod thrust nut of the base closure process,the velocity of the body and the nut,the force and deformation of the spring,and the speed of the motor in the process of introducing the nut,the test results showed that the machine can successfully completed the flange connection task to meet the design requirements.Aiming at the synchronous motion problem of the motor during the nut introduction process,through the comparison and analysis of several synchronization control schemes,the synchronous control scheme with adjacent cross coupling was determined.The mathematical model of valve control motor speed servo system was established,Fuzzy PID tracking error controller and PI weighted factor fuzzy synchronization error controller were designed,taking four motor synchronous system as an example,the synchronization performance of the designed controller was verified by simulation.