摘要：随着我国海洋强国战略的实施，海洋中的作业也在增多，在海洋工程的建造和维护中，水下焊接与切割必不可少。我国在水下焊接方面进展迅速，但对于水下切割技术和设备方向，投入较少，自动化程度较低。水下切割小车是水下自动化切割技术的重要组成部分，但是现有的水下切割小车种类较少，无法满足工程的需要。因此，研发可爬坡和转弯的水下自动切割小车，可提高水下切割的工作效率，具有较大的实用价值。本文研究开发了一种履带式双轴水下切割小车的电气控制系统并进行了模拟测试。

论文对焊接自动化与水下切割的研究现状进行了综述。根据切割小车工作环境与各项指标的需要，设计出了一套由PLC、双轴切割小车、显示屏以及切割配套设备等组成的可调速、转向和爬坡的水下自动化切割小车的电气控制系统。

本文所设计的水下切割小车的控制系统根据实际操作的技术要求，通过两个步进电机的开闭来实现转向，手动控制割嘴到钢板的距离，而切割的长度、速度则依靠与之连接的控制柜设定。同时使用可编程控制器（PLC）与按钮和显示屏来作为人机交互界面，方便使用，以实现在水下复杂环境下的自动化切割。

关键词：水下切割；步进驱动；PLC；自动化

Abstract：With the implementation of our strategy of marine power, the engineering in the ocean is also increasing, in the construction and maintenance of marine engineering, underwater welding and cutting is essential. China has made rapid progress in underwater welding, but the investment in underwater cutting technology and equipment is so little that the degree of automation is not high. Underwater cutting vehicle is an important part of underwater automated cutting technology, but the existing underwater cutting vehicle type less, can not meet the needs of the project. Therefore, the development of climbing and turning underwater automatic cutting vehicle, can improve the efficiency of underwater cutting, with great practical value. This paper has developed a kind of electric control system of crawler type double shaft underwater cutting vehicle and carried out the simulation test.

The research status of welding automation and underwater cutting is reviewed. According to the working environment of the cutting vehicle and the needs of the indicators, designed a set of PLC, biaxial cutting vehicle, display and cutting equipment and other components of the adjustable speed, steering and climbing underwater automatic cutting vehicle electric control system.

The control system of the underwater cutting vehicle designed in this paper is controlled by the opening and closing of two stepping motors according to the technical requirements of the actual operation. The distance between the cutting mouth and the steel plate is controlled manually, and the cutting length and speed depend on connect the control cabinet settings. Simultaneous use of programmable logic controller (PLC) and buttons and display as a human-computer interaction interface, easy to use, in order to achieve the complex environment under the automatic cutting.

Keywords: Underwater cutting; Stepper drive; PLC; Automation

目录

第一章绪论 1

1.1课题研究的背景及意义 1

1.2水下自动化方法 1

1.2.1焊接自动化的现状与发展趋势 1

1.2.2水下机器人的现状与发展趋势 2

1.3水下切割技术 3

1.3.1水下切割技术分类 3

1.3.2水下切割国内外研究现状 4

1.4本课题研究目的及内容 5

1.4.1研究目的 5

1.4.2研究内容 5

第二章自动化切割小车与控制系统设计 7

2.1水下切割小车系统 7

2.1.1切割电源 7

2.1.2送丝机 8

2.1.3水下割炬 9

2.1.4切割小车 9

2.2控制系统组件 10

2.2.1PLC控制器 10

2.2.2步进系统 14