Research on Key Technologies of Precise Measurement of Geographic Coordinates of Subsea Pipelines

With the continuous increase of offshore oil and gas exploitation activities, the number of subsea pipelines is becoming larger and larger, which leads to frequent occurrence of subsea pipeline accidents. Long-term safe operation of subsea pipelines can be ensured by regular defect detection. The premise of locating and disposing defects is to accurately measure the geographic coordinates of subsea pipelines. Our research group has put forward a kind of pipeline spherical internal detector (SD), which has the advantages of convenient implementation, low risk to jam. For the SD, this paper has carried out research on the key technology of precise measurement of subsea pipelines’ geographic coordinates using the internal magnetic fields. The main work is as follows: (1) Magnetic tensor invariant calibration method for magnetometer array has been studied and L-M algorithm is taken to solve the parameters, which is efficient and accurate. Field calibration experiment has proved this method is effective and has good robustness. (2) A new method of measuring pipeline’s pitch angle is proposed. Under the experimental condition of using AC servo motor to drive the sensor instead of the SD to rotate, the pitch angle measurement error is less than 0.2°. (3) Magnetic anomaly of spiral weld and buckling pipeline are used as new mark points to calibrate the geographic coordinates of subsea pipelines. Experimental results show that the newly designed SD can successfully identify spiral welds and buckling pipeline.

Path Tracking of Permanent Magnet Synchronous Motor Using Fractional Order Fuzzy PID Controller

Permanent magnet synchronous motor (PMSM) AC servo system has the characteristics of uncertainty, time-varying, nonlinear and fractional order. Applying the traditional control method is difficult to achieve the desired control effect. The fuzzy control has strong adaptability to the parameter change, nonlinearity and imprecise model of the controlled object. The simulation model of permanent magnet synchronous motor three closed-loop systems is established. The control principle and the realization of space vector pulse width modulation (SVPWM) are studied by using a vector control strategy. Due to the fractional-order characteristic of the motor, a fuzzy logic algorithm is used to realize the parameter self-tuning of the fractional-order proportional integral differential (PID) controller. The controller is selected as the position regulator of the servo motor. It combines the precision of fractional-order PID controller with the adaptability of fuzzy control and adds feed-forward to improve the response speed. The path tracking experiments on several different paths are carried out, and the results show that the control method is effective and can meet the trajectory tracking requirements of servo control. Finally, the speed and position tracking test of the PMSM AC servo system is carried out on the test verification platform, which verifies the effectiveness of the control algorithm.

Improving the Tracking Performance under Nonlinear Time-Varying Constraints in Motion Control Applications: From Theoretical Servo Model to Experimental Validation

In the high-accuracy control of an AC machine, the knowledge of pure system parameters, with no deviation in drive coefficients and no disturbance or other nonlinear components, is a difficult issue for operators, even though it is occasionally nonviable. To overcome these troubles, this paper introduces a robust adaptation strategy based on pseudo fuzzy logic and sliding mode control (PFSMC) for an AC servo drive subject to uncertainties and/or external disturbance. Owing to the robustness of the SMC technique, the reduced sensitivity to uncertainties, and the enhanced resistance to disturbances from the pseudo fuzzy mechanism, this control algorithm can guarantee not only system stability but also the improvement of tracking errors in the steady state. To validate the design efficiency of PFSMC, both simulation and laboratory tests of the proposed scheme and a conventional PID scheme were performed to compare them as follows. In a computer environment, test cases with and without certainties were implemented with two controllers to visualize the comparative responses. Then, the two control methods were integrated into a real-world hardware platform to acquire practical outcomes. From these results, it can be noted that our successful approach showed a feasible, effective, and robust performance in AC drive.

FPGA-Based Implementation of Torque Controller for 6-DOF Articulated Robots

This paper aims to design an impedance position-based proportional-integral-derivative (PID) controller based on forward and inverse kinematics of HIWIN RA605 articulated robot, and Field-Programmable Gate Array (FPGA) implementation for a PID torque controller. In order to control the robot, the FPGA needs to output commands to communicate with the AC servo motor drivers. An FPGA-based controller for a 6-degree-of-freedom (DOF) articulated robot that implements several tasks such as hardware implementation, encoder counters, noise cancellation algorithm, analog generators, PID controller, and communication are included, the processing time of the FPGA is 16 μs. Meanwhile, the whole process of the system only takes 82 μs to complete.