Research on design and key motion control of deepwater diamond wire saw machine
When the diamond wire saw machine cuts the pile of the jacket in a deep water environment,it may encounter such problems as broken ropes,clamping ropes or failures of beaded rope that can't respond quickly,which increases the difficulty and the cycle time of cutting operation.To address these issues,a deep-water diamond wire saw machine is designed to realize the underwater splitting and installation of the cutting module and clamping module,which indirectly remedies the problem of underwater rope changing of the wire saw machine.The beaded rope feeding motion and the original kerf alignment motion are the key factors affecting the cutting operation of this wire saw machine.In this paper,the interactive multi-model algorithm is utilized to track the trajectory of the beading rope aligned with the original cutout.Our motion simulation results show the indexes of the motion of the beading rope aligned with the original cutout meet the requirements of the alignment.According to the dynamics analysis of the beaded rope cutting operation,the state space equations of the system are built,and the tension force and feed displacement data collected by the sensors are taken as the observation vectors and the optimal estimation values of the feed displacement.The best estimated values of feed displacement and feed speed are obtained through Kalman filtering.The optimized tracking error of feed displacement is down by 69%compared with the measurement error,offsetting the influence of noise on the feeding motion process and effectively improving the feed control accuracy.
deepwater diamond wire sawfeed controlkerf alignmentKalman filterinteracting multiple model
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