海洋废弃平台桩基拆除绳锯机夹紧力的阻抗控制策略研究

Research on Impedance Control Strategy for Clamping Force of Offshore Discarded Platform Plies Removal Wire Saw

海洋废弃平台拆除过程中可以采用水下绳锯机切断桩基,适当大小的夹紧力是绳锯机安全稳定工作的前提条件。分析绳锯机夹紧力控制策略,建立绳锯机夹紧瓣夹紧桩基时的动力学方程,提出采用位置型神经网络阻抗控制方法来控制夹紧力,设计神经网络补偿器。根据绳锯机的实际工程样机,对多种情况下的力控制进行仿真研究,结果表明:位置型神经网络阻抗控制方法可以很好地补偿夹紧瓣动力学模型和位置的不确定性,适合于绳锯机夹紧力控制。

Piles may be cut off by underwater wire saw in the course of a discarded platform removal. The proper size clamping force is precondition for wire saw security and stability work. The wire saw clamping force control strategy was analyzed. The dynamics equations were established that wire saw clamped pile. Position-based neural network impedance control was proposed to control the clamping force, and a neural network compensator was designed. Basing on the actual wire saw engineering prototype, a variety of force controls were simulated. The results show that position-based neural network impedance control method is suitable for wire saw clamping force control, which can be a good compensation for clamping valve dynamic model and the position uncertainty.