【作者】 王宇；

【导师】 王茁；

【作者基本信息】 哈尔滨工程大学 ， 机械工程， 2021， 硕士

【摘要】 南水北调项目工程已经竣工多年,渠道的各个涵洞口由于长时间泥沙的自然堆积,包括树枝树叶自然飘落的沉淀还有生物的排泄物的堆积等等,产生渠道的各个涵洞口淤泥的产生,迫切需要一套水下清淤系统清理这些淤泥。在水下清淤系统中,钢缆绞车、电缆绞车、水管绞车分别提供清淤机器人的回收、控制以及淤泥输送,为清淤机器人提供较为重要的辅助,对水下清淤机器人岸上辅助系统进行研究十分有意义。本文对水下清淤机器人岸上辅助系统进行研究,首先介绍了一些国内外绞车发展现状,针对绞车拖拽过程中拖缆运动状态,介绍了水下拖缆分析方法,同时对多绞车缆绳回收的控制策略进行了简要阐述。结合水下清淤机器人岸上辅助系统技术指标与实际工作需要,设计系统总体方案,对三台绞车结构以及控制系统进行设计。主要包括绞车的主体结构形式、传动方式、排缆机构、制动机构等,分别对其进行设计分析,确定绞车最终结构。对钢缆、电缆、水管在水中运动状态进行分析,并根据三台绞车实际工作性质,对钢缆进行主要分析,电缆、水管进行次要分析。建立三条拖缆稳态、动态数学模型,并进行分析求解,得到三条缆的缆形和受力状态,动态运动变化和受力变化。由此分析出适宜三台绞车的控制方法。根据三台绞车控制方法,提出几种绞车同步控制策略,通过对几种控制策略进行仿真,分析出在负载变化及受扰动时,几种控制策略的优缺点。最终,根据系统实际工作情况,使用一种改进的偏差耦合同步控制策略,通过对比分析,得到此控制策略性能较好,适宜本应用中。为了验证缆绳动态分析结果是否正确,以及改进偏差耦合同步控制真实可行性。搭建物理实验模型,对其进行模拟实验。通过电机拖拽重物,观察拉力曲线。比较不同控制策略对三台电机同步的影响,观察电机速度曲线。最终确定了拖缆分析的正确性以及控制策略的可行性。更多还原

【Abstract】 The South-to-North Water Diversion Project has been completed for many years.Due to the long-term natural accumulation of silt at the culvert openings of the channel,including the precipitation of branches and leaves naturally falling,and the accumulation of biological excrement,etc.,the production of silt at the culvert openings of the channel is urgent.An underwater dredging system is needed to clean the silt.In the underwater dredging system,the steel cable winch,cable winch,and water pipe winch respectively provide the recovery,control and silt transportation of the dredging robot,which provides more important assistance for the dredging robot,and performs the onshore auxiliary system of the underwater dredging robot.The research is very meaningful.This paper studies the shore auxiliary system of an underwater dredging robot.First,it introduces the development status of some domestic and foreign winches.In view of the movement state of the towline during the towing process of the winch,the analysis method of the underwater towline is introduced.The control strategy is briefly described.Combining the technical indicators of the shore auxiliary system of the underwater dredging robot and actual work needs,the overall system plan is designed,and the structure of the three winches and the control system are designed.It mainly includes the main structure of the winch,transmission mode,cable discharging mechanism,braking mechanism,etc.,respectively,to design and analyze them to determine the final structure of the winch.Analyze the motion state of steel cables,cables,and water pipes in the water.According to the actual working nature of the three winches,conduct the main analysis on the steel cables,and conduct the secondary analysis on the cables and water pipes.The steady state and dynamic mathematical models of the three streamers are established,and analyzed and solved to obtain the steady-state cable shape and force,dynamic movement change and force change of the three cables.Therefore,the suitable control method for three winches is analyzed.According to the control method of three winches,several winch synchronization control strategies are proposed.Through modeling and simulation of several control strategies,the advantages and disadvantages of several control strategies are analyzed when the load changes and is disturbed.Finally,according to the actual working conditions of the system,an improved deviation coupling synchronization control strategy is used.Through comparative analysis,it is obtained that this control strategy has better performance and is suitable for this application.In order to verify whether the results of the rope dynamic analysis are correct,and to improve the feasibility of the deviation coupling synchronization control.Build a physical experiment model and conduct simulation experiments on it.Drag the heavy object through the motor and observe the tension curve.Compare the influence of different control strategies on the synchronization of three motors and observe the motor speed curve.Finally,the correctness of the streamer analysis and the feasibility of the control strategy are determined.更多还原