海浪因素下自动排管系统的多柔体动力学分析
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摘要
为了研究海浪影响下自动排管系统的运动学特性,利用有限元分析软件ANSYS建立其重要柔性杆件的有限元模型。通过多体动力学仿真软件Adams形成自动排管机的多体系统模型,对其进行多柔体动力学仿真并获得其动力学仿真特性曲线,对刚体以及海浪因素下柔体模型运动学仿真结果进行对比。通过正交实验法在波高、最大摆角和周期等参数不同时,对自动排管机夹持爪的位移、加速度的变化进行分析。进而,分别就2个主要影响因素垂荡波高和周期及不同横摇相位角对自动排管系统进行精确的多柔体动力学分析。结果表明,海浪的影响下,系统的位移精度和惯性发生明显的改变;随着波高、最大摆角和周期等参数的改变,自动排管系统的运动学特性呈规律性改变;随着周期的增加和波高的减小,系统的惯性变化越大,当垂荡波高在2～4 m、垂荡周期在10～20 s时,自动排管系统的位移偏差相对较小;随着横摇相位角的改变,当相位角在90°～180°时自动排管系统位移偏差和惯性最大。
In order to study the kinematics characteristics of automatic pipe racking system under the influence of ocean waves,the finite element model of the important flexible members of the system was established by the finite element analysis software ANSYS.The multibody system model of the automatic pipe racking system was formed by the multibody dynamics simulation software Adams.The dynamic characteristic curve of the system was obtained by multi-flexible dynamics simulation.Based on this,the kinematics simulation results of the rigid body and the soft-body model under ocean waves are compared.The change of displacement and acceleration of the clamping claw of the automatic pipe racking system under different wave heights,maximum swing angles and periods was analyzed by orthogonal experiments.The effects of the two factors that have the greatest influence on the kinematics of the automatic pipe racking system,the heave wave height and the heave period,on the dynamics of the flexible body of the automatic pipe racking system are analyzed respectively.The results show that under the influence of ocean waves,the displacement accuracy and inertia of the system change obviously;With the change of wave height,maximum swing angle and period,the kinematic characteristics of the automatic pipe ranking system change regularly;With the increase of the period and the decrease of the wave height,the inertia change of the system increases,and when the wave height is 2～4 m and the wave period is 10～20 s,the displacement deviation of the automatic pipe ranking system is relatively small;The displacement deviation and inertia of the automatic pipe ranking system are the largest when the rolling phase angle varies within 90°～180°.
In order to study the kinematics characteristics of automatic pipe racking system under the influence of ocean waves,the finite element model of the important flexible members of the system was established by the finite element analysis software ANSYS.The multibody system model of the automatic pipe racking system was formed by the multibody dynamics simulation software Adams.The dynamic characteristic curve of the system was obtained by multi-flexible dynamics simulation.Based on this,the kinematics simulation results of the rigid body and the soft-body model under ocean waves are compared.The change of displacement and acceleration of the clamping claw of the automatic pipe racking system under different wave heights,maximum swing angles and periods was analyzed by orthogonal experiments.The effects of the two factors that have the greatest influence on the kinematics of the automatic pipe racking system,the heave wave height and the heave period,on the dynamics of the flexible body of the automatic pipe racking system are analyzed respectively.The results show that under the influence of ocean waves,the displacement accuracy and inertia of the system change obviously;With the change of wave height,maximum swing angle and period,the kinematic characteristics of the automatic pipe ranking system change regularly;With the increase of the period and the decrease of the wave height,the inertia change of the system increases,and when the wave height is 2～4 m and the wave period is 10～20 s,the displacement deviation of the automatic pipe ranking system is relatively small;The displacement deviation and inertia of the automatic pipe ranking system are the largest when the rolling phase angle varies within 90°～180°.
引文
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[4] 朱春霞,朱立达,刘永贤.基于虚拟样机技术的并联机床多柔体系统运动学仿真分析[J].机床与液压,2008,36(4):11-13,60.ZHU Chunxia,ZHU Lida,LIU Yongxian.Kinematical simulation of flexible multibody system for parallel machine tool basedon virtual prototyping[J].Machine Tool and Hydraulics,2008,36(4):11-13,60.
[5] 陈建科.海洋平台钻机自动抓管吊机的动力学分析[D].西安:西安石油大学,2014.CHENG Jianke.Dynamics Analysis of Automatic Grabbing Crane of Offshore Drilling Rig[D].Xi'an:Xi'an Shiyou University,2014.
[6] 赵武云,史增录,戴飞,等.ADAMS 2013基础与应用实例教程[M].北京:清华大学出版社,2015.ZHAO Wuyun,SHI Zenglu,DAI Fei,et al.ADAMS 2013 Tutorial on Fundamentals and Applications[M].Beijing:Tsinghua University Press,2015.
[7] 刘利琴,唐友刚,王文杰.Spar平台垂荡—纵摇耦合运动的不稳定性[J].船舶力学,2009,13(4):551-556.LIU Liqing,TANG Yougang,WANG Wenjie.Unstability of coupled heave-pitch motions for Spar platform[J].Journal of Ship Mechanics,2009,13(4):551-556.
[8] 白晓旭.半潜式平台钻机用抓管机的运动与动力学分析[D].西安:西安石油大学,2013.BAI Xiaoxu.Kinematics and Dynamics Analysis of PLS on Semi-submersible Platform[D].Xi'an:Xi'an Shiyou University,2013.