导　　师： 文国军

学科专业： 0802

授予学位： 硕士

作　　者： ;

机构地区： 中国地质大学

摘　　要： 海洋资源的勘探与开发能力,是衡量国家海洋技术水平的重要标志,而海底钻机是研究海底地质结构、寻找矿产资源、进行大陆架工程地质勘察和完成其他海运基本建设任务时最重要的装备之一,因此提高国家海洋技术水平必须有先进的海底钻机。海底钻机工作面倾斜度是影响海底钻样的重要因素之一,决定了钻探取样的完整性、钻具的使用寿命以及钻机本身的安全和寿命。 本文在研究和分析国内外海底钻机调平系统基础上,结合海底钻机工作环境,对海底钻机自动调平系统关键技术进行分析研究,分析了钻机调平的原理,建立了钻机调平的数学模型,提出了一种简单可行的“高”、“单”、“一”的四支腿调平策略,设计了一种基于电液比例控制技术的海底钻机自动调平系统。具体内容如下： 论文针对海底钻机调平系统广泛采用三支撑结构,提出了抗干扰能力、抗倾覆能力更强的四支撑结构,确定系统采用液压驱动方式。分析支腿采用固定支撑调平时,支腿横向移动困难且支腿与工作面作用力增大,提出支腿采用滚动可控支撑,将调平过程简化为两次“绕轴转动”,可直接求出支腿伸出量,实现“一次调平”,提高了调平系统效率；为防止支腿收缩发生腿软,提出“向高点看齐”的调平策略；采用“单向调节”的控制策略可有效避免耦合,提高了系统的稳定性。将电液比例控制技术应用到海底钻机调平系统,提高了调平精度；同时对电液比例控制系统建模,并推导出系统传递函数,列出特征方程式,根据胡尔维茨稳定性判别法,确定电液比例控制技术应用于海底钻机调平系统是稳定、安全和可靠的。 根据系统调平原理和调平方式,对系统进行硬件设计,包括系统控制电路设计与液压系统设计。系统控制电路设计包括电源模块设计、信号采集模块设计、主控单元设计、电磁阀驱动模块设计、电液比例阀控制模块设计以及通信模块设计；分析各模块特点以及控制需要选择合适的元器件,设计合理的电路连接图。根据液压系统功能要求绘制液压系统原理图,确定液压系统基本回路；分析系统设计要求以及工况,确定系统工作压力,计算各主要液压元器件参数,选择与参数相匹配的液压元器件。 在硬件设计基础上,根据系统工作要求,进行软件系统设计。软件系统需要实现的基本功能包括支腿压力信号采集、倾角信号采集、电磁阀驱动和比例阀驱动。将基本功能按照一定控制逻辑进行组合构成软件系统主要功能,包括海底钻机着陆防倾覆、“虚腿”控制与系统调平。调平系统工作过程中的倾角、压力、着陆状况、虚腿状况等信号需经串口发送给上位机进行显示监控。 论文最后在室内进行了系统软硬件的联合测试,对采集数据进行分析得出论文所设计调平系统是符合设计要求的,对实际应用具有重要的指导意义。总结论文,并针对其不足提出了新的工作展望。 The capability of marine resources exploration and exploitation is an important symbol to measure the technical level of the National Oceanic, and the seabed drilling is one of the most important equipment to research geological structures, look for mineral resources, engineer geological investigation of the Continental Shelf and do other maritime infrastructure task. Therefore, enhancing national ocean technology level must need advanced seabed drilling rig. The seabed drilling rig working face inclination is one of the important factors that affect the seabed drill samples, and determine the drilling sampling completeness, the service life of rig and drilling tools, at the time, the safe use of rig. Based on the research and analysis of domestic and international seabed drilling rig leveling system and the working environment of the seabed rig. this paper researches the automatic leveling system key technology, analyzes the principle of rig leveling, establishes the mathematical model of the leveling of drilling rig, and puts forward a kind of simple but feasible four leg leveling mechanism,which contains "high","single" and "one" strategies, and it is based on the electro-hydraulic proportional control technology. Specific content as follows: Although the three supporting structure is widely used for the leveling system of seabed drilling, the paper puts forward four supporting structure with stronger anti interference and overturning ability, and adopts hydraulic driving mode.By fixed supporting, the legs move difficultly, and the force between the leg and working surface must increase, so the outriggers adopt scroll controllable support. By this way, the process of leveling can be is simplified as "rotation" twice, and we can directly calculate the leg extension, to achieve "leveling in one time", which means that according to the angle values, the system calculates each leg cylinder elongation and complete the system adjustment one time.This way can enhance the leveling efficiency. When the leg shrinks, outrigger maybe lead to the "soft leg" which is bad for the safety of seabed drilling.For avoiding this, the paper puts forward "the line to the high point" which means that in the leveling process, the highest point keeping intact, and the other legs elongate until it is flush to the highest point. To improve improve the precision the electro-hydraulic proportional control technology is applied to the leveling system. After Setting up model of the electro-hydraulic proportional control system, the paper deduces the system transfer function and list the characteristic equation. According to the HuErWei watts stability assessment method, we can determine that the electro-hydraulic proportional control technology used in the leveling system of the seabed drilling is stable, safety and reliable. According to the system of leveling principle and leveling method, the paper designs the system hardware including the system control circuit design and hydraulic system design. In the system control circuit, the paper designs the power module, signal acquisition module, central control unit, the electromagnetic valve drive module, the electro-hydraulic proportional valve control module and the communication module. Analysing the characteristics and the control need of each module, the appropriate components is selected and the circuit connection diagram is drew. According to the hydraulic system functions, the paper draws a schematic of the hydraulic system and determines the basic circuit of the hydraulic system. Analysing the system design requirements and conditions, the paper determines the system working pressure, and calculates the parameters to select the matched hydraulic components. On the basis of hardware design, the software system is designed to match the system work requirements. The software system needs to achieve the basic functions which includ leg pressure signal acquisition, signal acquisition, inclination of electromagnetic valve and proportional valve driver. The software main function constituted by basic functions with certain logic control includes the landing anti-overturning, the "virtual leg" control and the system leveling. When the system work, the signals which contains the inclination, the pressure, the landing conditions and the virtual leg condition should be sent to the computer to display and monitor, through the serial port. Finally, the paper carried out the system software and hardware combined test indoor. Analyzing the collected data, we can draw a conclusion that the leveling system design is comply with the design requirements, and has the important significance to guide the the actual application. The paper carries on the summary and puts forward a new prospect.

关 键 词： 海底钻机 自动调平策略 电液比例 单片机

分 类 号： [TP273]

领　　域： [自动化与计算机技术] [自动化与计算机技术]