The emergency pipeline repair technology is crucial to the maintenance and safety of pipelines under the emergency condition. In the offshore industry, the marine spherical isolation plug, a novel active plug device, is a significant emergency repair equipment of the hot tapping and line stop operation. In this article, the structure scheme and operation process of the marine spherical isolation plug are designed. A mathematic model is extracted from the proposed structure, and then the coordinates of the center of the spherical plug head is calculated using the D–H method. The displacements of the inserting hydraulic cylinder and the rotation hydraulic cylinder are investigated to provide the remote control data for the upper computer controller during the torsion process of the plug head. Moreover, a proportional-integral-derivative (PID) synchronous control method simulated by MATLAB is presented to reduce the rotation error of the plug head. To discuss the control strategy, a numerical model using ADAMS software is built. The results show that the error of the PID synchronous control method is more precise than that of the signal step-by-step control method; the number of steps of 90 is recommended in the actual operation. This article will provide theoretical guidance for the optimization design of the marine spherical isolation plug system.

中文翻译：

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船用球形隔离塞旋转过程中比例-积分-微分同步控制方法研究

管道应急抢修技术对应急情况下管道的维护和安全至关重要。在海洋工业中，船用球形隔离塞是一种新型的主动塞装置，是带电、停线作业的重要应急抢修设备。本文设计了船用球形隔离塞的结构方案和操作流程。从所提出的结构中提取数学模型，然后使用 D-H 方法计算球形塞头中心的坐标。研究了插入液压缸和旋转液压缸的位移，为塞头扭转过程中的上位机控制器提供远程控制数据。而且，提出了一种通过MATLAB仿真的比例积分微分(PID)同步控制方法来减小塞头旋转误差。为了讨论控制策略，使用 ADAMS 软件建立了一个数值模型。结果表明，PID同步控制方法的误差比信号步进控制方法的误差更精确；实际操作建议步数为90。本文将为船用球形隔离塞系统的优化设计提供理论指导。结果表明，PID同步控制方法的误差比信号步进控制方法的误差更精确；实际操作建议步数为90。本文将为船用球形隔离塞系统的优化设计提供理论指导。结果表明，PID同步控制方法的误差比信号步进控制方法的误差更精确；实际操作建议步数为90。本文将为船用球形隔离塞系统的优化设计提供理论指导。