【作者】 王文明；

【导师】 王立权；

【作者基本信息】 哈尔滨工程大学 ， 机械电子工程， 2011， 博士

【摘要】 全球海上油气资源中大约有44%储存在300m以深的深水海域,未来势必有越来越多的管线铺设到海底。海底两管道的相对位姿测量,即：两管道相对距离与相对角度等空间位姿参数的测量,是深水管道连接过程中的一项关键技术。准确地测量出这些参数,是在施工船上预制合适管段的前提条件,是保证海底管网顺利连接的基础。课题来源于十一五期间承担的国家863重大专项,目的是研制深海管道位姿精确测量设备,为海底管道铺设提供技术保障。论文首先综述水下位姿测量技术的国内外发展概况,阐述拉绳测量技术、卫星定位技术、水声测量技术的特点与发展,对比各个测量系统的优缺点,重点分析潜水员辅助拉绳测量系统、水下法兰测量仪和ROV辅助拉绳测量系统等典型拉绳测量系统的工作原理。此外,对拉绳测量系统的相关技术(索长理论、水下缆索理论和误差修正技术)进行简要的综述。针对深水位姿测量系统指标要求和实际深海作业环境,完成基于拉绳的水下管道位姿测量系统总体方案设计。分析系统本体机构的工作原理与作业范围,建立拉绳绞盘磁耦合数学模型和丝杠定位底座受力模型,对测量装置、磁动力拉绳绞盘、丝杠定位底座进行详细结构设计。利用三维建模软件3DS MAX完成系统作业方案的虚拟作业仿真,验证方案的可行性。针对深海环境,对设备进行防腐处理和浮力材料设计。通过分析拉绳系统的深水力学模型与拉绳微元受到的水下外力,建立水下拉绳的平衡微分方程,利用抛物线索长理论并结合伸出臂俯仰角度初始条件,求解两个测量装置的支点距与高度差,得出两个测量装置的相对距离。利用传感器获取相关参数,基于机器人技术位姿理论、过渡矩阵理论与向量的运算原则,提出深水海底管道位姿求解的关键算法——过渡矩阵位姿算法。通过该算法对管道相对位姿进行演算,得出测量装置相对距离、参考坐标系与基础坐标系的过渡角度、法兰中心向量的表示等,实现两管道相对距离与相对角度等位姿参数的求解。分析系统的测量误差、模型误差、计算误差和定位误差组成,运用误差设计思想建立误差设计数学模型,并对密封壳变形误差与卡座定位误差进行辨识,对系统误差传递关系进行分析。以系统某一特定作业工况为例,计算长度误差与角度误差具体数值,并且仿真各误差源对系统长度与角度相对误差的影响。利用分段式最小二乘法对误差进行修正,求出长度与角度误差修正系数,得到其误差修正函数表达式,修正管道相对位姿的测量结果。设计误差防止措施,从根本上进一步减小误差的形成。通过系统检测方案的设计,完成正交倾角检测调试、磁耦合角度传感器电路设计和拉绳长度检测调试,实现正交倾角、深水角度、拉绳绳长的检测,采用ARM控制芯片实现各个传感器数据的采集和绞绳电机的控制。基于LabVIEW软件设计上位机操控界面,完成串口通讯模块、绞盘控制模块、过渡算法模块和数据结果模块的编程,实现拉绳操控、参数获取、结果显示和数据存储等功能。通过实验样机的系统调试实验,分析验证拉绳索长的求解方法和拉绳所需张紧力。通过陆上综合测量实验,模拟设备在水下的工作过程,对比位姿测量值与真值的误差。模拟深海环境,利用深海压力试验舱进行高压实验,分析设备的抗高压性。模拟海洋环境,在10米水池进行实验,测量水下两个管道的相对位姿,分析设备水下测量的准确性。本文的研究成果为测量系统实验样机的设计,为工程样机的进一步研制奠定理论基础,也为后续位姿算法和误差设计深入研究提供良好的理论平台,同时也将为我国深水测量技术的深入研究开辟更新更广阔的思路,相信,深水位姿测量系统在海底油气管道铺设工程中将发挥出重要的作用。更多还原

【Abstract】 There are about 44%of the global offshore oil and gas resources stored in the 300m deep waters, which means more and more submarine pipelines will be lay on deep sea. A key technology of submarine pipeline connecting, pipe flange relative pose measurements, is that two pipe flanges relative distance between the spatial location and relative angle measurement. Accurate measurement of these parameters is the premise in the construction of prefabricated pipe sections on board which is the basis to ensure the smooth connection of submarine pipeline network. The Topics comes from the National "863" major projects. The aim of the project is that the exact position and orientation measurement device is to connect two underwater pipelines, which could provide technical support for the laying of submarine pipelines.Paper first reviews the domestic and international developments of underwater pose measurement techniques, describes the characteristics and development of rope measuring technology, satellite positioning technology, acoustic measurement techniques, and comparatives advantages and disadvantages of each measurement system. Paper analyzes the divers assisted rope measuring system, underwater ROV auxiliary flange measuring system and other typical auxiliary rope measuring system works. In addition, the measurement system of rope-related technologies (cable length theory, underwater cable theory and error correction technology) is briefly reviewed.According to the indicators and the actual deep-sea operating environment, paper completes the overall program of the measurement system. Paper establishes the mathematical model of magnetic coupling winch and screw base model, and designs in detail measuring devices, magnetic power winch rope and screw positioning base through analyzing system working principle and scope of operations. Then using 3DS MAX three-dimensional modeling software completes the virtual operating system operation simulation to verify the feasibility. For deep-sea environment, equipment has anti-corrosion treatment and buoyancy material design.Through analyzing the rope and the rope micro-element mechanical model of the underwater, the equilibrium differential equations of underwater rope are established. Using the cable length parabolic theory and the initial conditions solves the two measurements devices support pitch and height difference and comes to the relative distance of two measuring devices. Based on the theory of robot technology pose, the transition matrix theory and the principle of vector operations, the key algorithm (the pose transition matrix algorithm) is proposed. Through the algorithm for relative position and orientation calculation, the expression derived vector AB, the reference coordinate system and basis for the transition point coordinate system, flange center vector is are received and achieve the two pipe angle relative distance and relative position.Paper presents system of measurement error, model error, calculation error and positioning error of the composition, and analysis the relationship of error propagation on the system. For example, in the operating system conditions, the calculation error and angle error from the specific values, and the simulation of each error source distance and angle relative to system error. Paper uses segmented least squares method and find the length and angle error correction coefficient, and make sure the error correction function by its expression and design error prevention measures to further reduce the error from the root formation.Paper designs the overall program, completes the orthogonal angle detection testing, design of magnetic coupling angle sensor circuit and debugging rope length detection and achieves quadrature angle, deep perspective, rope long test. ARM control chip collect each sensor data. Base on Labview software control interface, system completes serial communication module, winch control module, the results of the transition algorithm module and data module programming in order to operate rope, exquisite parameter, display the results and storage data functions.Through prototype system debugging experiment, paper verifies length method of rope and rope required tension. Through integrated test, equipment simulates in the working process of water, system compares to the position and orientation measurement error and true value. Then, the experiment simulated deep sea environment of 8000 m deep-sea by using high pressure test chamber for experimental, to analyze anti-hypertensive equipment. In order to simulate marine environment, the experiment investigated in 10-meter pool experiment in Harbin Engineering University by measuring the relative water pose the two pipelines and analyzing accuracy of measurement.The research results provide a good platform for measurement system prototype design for the project success and the subsequent pose algorithms study. Study will also be opening up the new and extensive idea for State measurement of deep-depth. I believe, deep water oil and gas pose measurement system will play an important role in the seabed pipeline project.更多还原