Research On Large-scale Hull Descaling Integrated Automation Solution And Implementation Methods

The shipbuilding industry is one of the most important pillar industries of a country and the basis for a country to realize its ocean-going strategy.Regular desrusting of ships is an important part of daily maintenance,which is of great significance for extending their service life and maintaining the good running status.The traditional rust removal methods currently used in the industry generally have problems such as low operating efficiency,poor environmental protection,and unsatisfactory process quality,especially for large hulls.Aiming at the problems existing in the current derusting operation,combined with the actual working conditions of the rust removal and maintenance,a comprehensive automation solution for large-scale and extra-large hull descaling is proposed.Based on the overall design of the composite equipment,the pneumatic position servo control system is analyzed.The test bench is built to verify the control logic of the electrical control system.In view of the common problems in the current traditional descaling operations,combined with the characteristics of the hull derusting operation,a comprehensive solution of the derusting composite equipment is designed.The selection of the hardware structure of the pneumatic position servo system and its structural composition is described.The guide rail structure,walking mode,actuator control and cleaning method of the composite equipment are selected and designed,the overall structural composition is determined,and the derusting structure is elaborated and analyzed.The quality of the ship derusting is closely related to the distance between the nozzle and the target surface of the actuator.Considering the high humidity,dusty working conditions and economic requirements,a pneumatic position servo system is used for the actuator position control.According to the control requirements of the pneumatic system,the improved PID control strategy is selected.Based on the comprehensive analysis of the parameters detection and monitoring technical requirements of the descaling operation system,a electronic detection and electrical control solution of the system is given.Based on the relevant theory and method of pneumatic system,a mathematical model of pneumatic position servo system is established for the pneumatic position servo system of derusting composite equipment.The improved PID control strategy is used to simulate the system with MATLAB-Simulink software.The simulation curve of step and sinusoidal signals is obtained;the simulation results show that the pneumatic position servo control system has a fast response,and there is no obvious oscillation and overshoot after the system is stable。The simulation error accuracy is within the setting requirements to meet the hull derusting operation.Meeting the accuracy requirements of nozzle position control during hull descaling operation.By constructing a electrical control simulation experiment system of the composite equipment,the parameters and variables in the control system are used to monitor the operation performance test,control strategy function and control logic verification.The experimental test results show that the configuration and remote monitoring system can quickly and stably reflect the real-time operating status of the system.The electrical control system runs stably and reliably,and meets the design requirements for the electrical control of the hull derusting operation.A GRM Remote module+PLC+Configuration is established.The three-in-one control mode of the software realizes the function of wireless remote online control of the electrical system.On the basis of a large number of relevant literatures and on-site investigations,a total solution for large-scale hull derusting operation combined with current technical methods is proposed.Pneumatic position servo control system and improved PID control strategy are Adopted.The pneumatic servo system which can achieve precise control of the position of the actuator is used to ensure the quality of hull derusting.According to the electrical control system and simulation test bench,the correctness of control logic and the stability of control system is verified.The hull derusting integrated automation solution proposed in this paper provides a reference for ship maintenance industry and has a certain significance.