海底石油管道爬行器中智能控制器关键模块的设计

,,,(,200090):,:;;;;:TG115.28;TB551;TP274:A:100026656(2003)1120568203DESIGNOFTHEKEYMODULESOFTHEINTELLIGENTCONTROLLERINTHEPIGFORSEABEDOILPIPELINESCHENGQi2ming,YANGPing,YUJie,WANGZhi2ping(ShanghaiUniversityofElectricPower,Shanghai200090,China)Abstract:Theworkingprocessofseabedoilpipelinetestingsystemwasintroduced.Theintelligentcontrollerofthepigforseabedoilpipelineswasoneoftheimportantpartsofthewholetestingsystem.Thetwokeymodulesoftheintelligentcontrollerweredesigned.Systemexperimentsshowedtheirrationalityandeffectiveness.Keywords:Electromagneticinspection;Ultrasonicinspection;Pipeline;Intelligentpig;Flawlocation,,,,,,,,,[17],,,,,SINS((Strapdown)),,:2003203226:863(2001AA602021);(020K02),,;,,,,,,,GPS(),,,,11.1,;8652511200311NDTVol.25No.11Nov.2003©1995-2004TsinghuaTongfangOpticalDiscCo.,Ltd.Allrightsreserved.;,;;1.21.2.1,,1,,,,1(),()23,;4,PID()5(),,,1,,(305m);,,(155m);();,,,,PID,(51m),,1.2.22,()2,,BP,,,,,1.2.3;1.2.4PC,,PC104CAN(ControllerAeraNetwork)322.13965:©1995-2004TsinghuaTongfangOpticalDiscCo.,Ltd.Allrightsreserved.,2.22.2.1,,2.2.2,,,,:(1):()():,(2)::(3):::(4)(5)(6)CPUI/O;2.2.3(1):,,SOS,,:(),,,,,,,(2)::,,,(3):,SOS,,:,,SOS,,:,(4)(5),(6);2.2.4,,,SOS,,3:[1]CordellJL.Thelatrstdevelopmentsinpipelinepiggingworld2wide[J].Pipes&PipelineInternational,1994,8(7):9-16.[2]RaadJA.Comparisonbetweenultrasonicandmagneticfluxpigsforpipeline[J].Pipes&PipelinesInternation2al,1987,32(1):7-15.[3],,.[J].,1999,21(1):8-13.[4],,.[J].,1996,7(2):52-54.[5],,.[J].,2000,19(4):27-29.[6],,.[J].,2002,18(2):10-11.[7],,,.[J].,2001,23(6):234-237.075:©1995-2004TsinghuaTongfangOpticalDiscCo.,Ltd.Allrightsreserved.