Algorithm Development and Simulation of Robotized Pipe-Laying Cranes Operation within a Laying Column

The problem of designing mechatronic complexes based on insulating and laying columns for construction and maintenance of large-diameter trunk pipelines is considered. Based on the general control tasks and requirements for the technological process, the principles of designing a mechatronic system for the column control are described. They are based on the provision that in order to achieve the set requirements it is necessary to regulate the load on the pipe-layers, the distance between groups of machines and individual machines in the group while controlling the allowable load on individual machines and the height of technological machines suspension. For this purpose robotic pipe-laying cranes are equipped with a system for automatically regulating the load on the hook of the pipe-layer and a system for automatically controlling the distance between the pipe-layers.