Study On Synchronous Control Of Multiple Hydraulic Cylinders For The Flex-lay Tower

The total amount of global offshore oil and gas resources is about 35% to 45% of the total amount.There are about one third has been proved,which is still in the early stage of exploration.With the exploitation of land oil resources,the exploitation of offshore oil and gas has become the top priority of all countries in the world.As the "blood vessel" of offshore oil and gas exploitation,the pipe laying technology and equipment of submarine pipeline become the key to restrict the development of offshore oil and gas resources.As an advanced pipe laying method,Flex-lay technology is high speed,low cost and safe.At present,most of the Flex-lay projects introduce the foreign products and technologies.We urgently need to break the technological gap and shorten the technological gap.The goal of this project is to design the overall scheme of the Flex-lay system through the research and analysis of foreign mature products and technologies.So we can break the monopoly of foreign technology and let China own the independent intellectual property rights of the Flex-lay technology.Firstly,this paper introduces the characteristics of various common pipeline laying methods,analyzes the performance parameters of foreign advanced pipe laying ships and Flexlay systems,and compares and summarizes the domestic and foreign pipe laying technologies and equipment.The angle adjustment mechanism of various pipe laying methods was investigated.Through the above analysis,the performance parameters of the system are determined.This paper introduces the function and working mode of the angle adjusting mechanism of the Flex-lay tower,analyzes the load of the angle adjusting mechanism and its influence on the accuracy of the angle adjusting mechanism,and determines the electrohydraulic servo mode and synchronous control strategy.According to the performance index of the angle adjusting mechanism,the components of the hydraulic press control system are calculated and selected,and the schematic diagram of the hydraulic system is determined.Furthermore,the mathematical model of the key components of the electro-hydraulic servo system is established,the transfer function and its specific parameters of each link are determined by Laplace transform,and the open-loop characteristics and the stability of the system are analyzed by drawing its frequency-domain characteristic curve,and some parameters of the system are optimized and adjusted at the same time of verifying the system scheme.Through the AMESim simulation model,the performance and open-loop characteristics of the hydraulic system are simulated and analyzed,and the phenomenon of multi hydraulic cylinders out of synchronization is compared and simulated.By introducing PID control algorithm,the hydraulic cylinder position servo and master-slave synchronous control simulation model is established,and the dynamic and static characteristics of the system are simulated and analyzed.Its synchronization accuracy in one working cycle meets the design requirements,but because the system adopts the progressive form,the load difference between the first working cycle and the last working cycle is very large,so the classical PID control algorithm is optimized.By introducing the fuzzy algorithm,the parameters of PID controller are optimized in real time,the fuzzy controller is designed and the joint simulation model of AMESim and Simulink is established.Through the simulation experiment of the whole working process,it is verified that the control accuracy of the fuzzy adaptive PID controller meets the requirements of the system.