爬行器驱动轮正压过程分析
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摘要
轮式水平井爬行器依靠驱动轮与管壁的接触产生牵引力。目前已有的相关研究均忽略了接触导致的管壁塑性变形压痕,简单地利用摩擦因数的经验值来处理力的关系,导致结果误差较大。该文针对压痕形成过程利用滑移线理论,在楔形压头压痕模型的基础上,建立了正压力和转矩同时作用下的正压(轮齿对称轴线垂直于管壁)压痕计算模型。有限元仿真反映了在不同受力条件下塑性变形区域的变化规律,也验证了主动力与压痕形状的定量关系。压痕测量试验证明了理论模型用于计算驱动轮压入深度和压痕隆起高度的正确性,为今后的驱动轮斜压建模、牵引力建模等研究奠定了基础。
The traction force of wheeled horizontal-well tractors is mainly produced by the contact between the wheels and the pipe walls.Previous studies ignored the plastic deformation caused by the contact between the wheels and the walls and used empirical friction coefficients to model the forces,which has led to significant errors.This paper derives a wedge indentation model(the wedge symmetry axis is perpendicular to the pipe wall)based on the simultaneous action of the normal force and the torque to predict the indentation formation according to slip line theory.Finite element analysis results not only show the plastic deformation for various forces,but also verify the quantitative relationship between the forces and the indentation shape.Comparisons with measured indentation shapes shows that the theoretical model can predict the indentation depth and the pile-up height,which can be used to improve sideling indentation modeling of wheels for better traction modeling.
The traction force of wheeled horizontal-well tractors is mainly produced by the contact between the wheels and the pipe walls.Previous studies ignored the plastic deformation caused by the contact between the wheels and the walls and used empirical friction coefficients to model the forces,which has led to significant errors.This paper derives a wedge indentation model(the wedge symmetry axis is perpendicular to the pipe wall)based on the simultaneous action of the normal force and the torque to predict the indentation formation according to slip line theory.Finite element analysis results not only show the plastic deformation for various forces,but also verify the quantitative relationship between the forces and the indentation shape.Comparisons with measured indentation shapes shows that the theoretical model can predict the indentation depth and the pile-up height,which can be used to improve sideling indentation modeling of wheels for better traction modeling.
引文
[1]GIEM G,SHEIRETOV T,COUBLE Y.Wireline tractor for through-tubing intervention in wells with barefoot openhole completions[C]//SPE/ICoTA Coiled Tubing and Well Intervention Conference and Exhibition.Richardson,TX:Society of Petroleum Engineers,2018,SPE-189923-MS.
[2]FOUCHER P A,POORTEN R V.Wireline tractor advanced restriction navigation[C]//SPE/ICoTA Coiled Tubing and Well Intervention Conference and Exhibition.Richardson,TX:Society of Petroleum Engineers,2018,SPE-189926-MS.
[3]LI Y J,LIU Q Y,CHEN Y H,et al.Design and analysis of an active helical drive downhole tractor[J].Chinese Journal of Mechanical Engineering,2017,30(2):1-10.
[4]TOKI T,BENYGZER M,WAHEDI K A,et al.Optimization of the operation time required for data gathering requirement in extended-reach drilling well by the use of open hole tractor in the United Arab Emirates[C]//Abu Dhabi International Petroleum Exhibition&Conference.Richardson,TX:Society of Petroleum Engineers,2017,SPE-188680-MS.
[5]刘振.水平井牵引器机构分析和建模仿真技术研究[D].哈尔滨:哈尔滨工业大学,2008.LIU Z.Research on mechanism analysis and modeling simulation of horizontal well tractor[D].Harbin:Harbin Institute of Technology,2008.(in Chinese)
[6]曾华军.水平井牵引器驱动系统关键技术研究[D].哈尔滨:哈尔滨工业大学,2010.ZENG H J.Research on key technology of drive system of horizontal well tractor[D].Harbin:Harbin Institute of Technology,2010.(in Chinese)
[7]于淼.水平井牵引器拖动力数值分析[D].大庆:东北石油大学,2011.YU M.The mule downhole mumerical analysis of drag force on[D].Daqing:Northeast Petroleum University,2011.(in Chinese)
[8]侯松伟.水平井牵引器运动学仿真与应用研究[D].东北石油大学,2017.HOU S W.Research on kinematics simulation and application for horizontal well tractor[D].Daqing:Northeast Petroleum University,2017.(in Chinese)
[9]张勇.水平井电缆牵引器的机械设计研究[D].北京:中国石油大学,2016.ZHANG Y.Research on mechanical design of cable tractor in horizontal wells[D].Beijing:China University of Petroleum,2016.(in Chinese)
[10]刘清友,李雨佳,任涛,等.水平井爬行器驱动轮力学分析[J].钻采工艺,2014,37(1):68-71.LIU Q Y,LI Y J,REN T,et.al.Mechanical analysis of driving wheels of horizontal wells tractor[J].Drilling&Production Technology.2014,37(1):68-71.(in Chinese)
[11]秦浩.水平井爬行器驱动机构结构优化[D].成都:西南石油大学,2017.CQIN H,Optimization of horizontal crawlers driving mechanism[D].Chengdu:Southwest Petroleum University,2017.(in Chinese)
[12]希尔.塑性数学理论[M].北京:世界图书出版公司,2013.HILL R.The mathematical theory of plasticity[M].Beijing:World Book Inc,2013.(in Chinese)
[13]JOHNSON K L.接触力学[M].徐秉业,罗学富,刘信声,宋国华,孙学伟,译.北京:高等教育出版社,1992.JOHNSON K L.Contact mechanics[M].XU B Y,LUO XF,LIU X S,SONG G H,SUN X W,Trans.Beijing:Higher Education Press,1992.(in Chinese)
[14]GRUNZWEIG J,LONGMAN I M,PETCH N J.Calculations and measurements on wedge-indentation[J].Journal of the Mechanics&Physics of Solids,1954,2(2):81-86.
[15]RICE J R.Plane strain slip line theory for anisotropic rigid/plastic materials[J].Journal of the Mechanics&Physics of Solids,1973,21(2):63-74.
[16]BAI Y,DODD B.A slip-line field solution for plane-strain indentation by an obtuse-angle wedge[J].International Journal of Mechanical Sciences,1982,24(2):119-123.
[17]KOMVOPOULOS K,KOGUT L.Analysis of the spherical indentation cycle for elastic-perfectly plastic solids[J].Journal of Materials Research,2004,19(12):3641-3653.
[18]TALJAT B,PHARR G M.Development of pile-up during spherical indentation of elastic-plastic solids[J].International Journal of Solids&Structures,2004,41(14):3891-3904.
[19]HERNOT X,BARTIER O,BEKOUCHE Y,et al.Influence of penetration depth and mechanical properties on contact radius determination for spherical indentation[J].International Journal of Solids&Structures,2015,43(14):4136-4153.
[20]HERNOT X,BARTIER O,MAUVOISIN G,et al.Auniversal formulation for indentation whatever the indenter geometry[J].Mechanics of Materials,2015,81:101-109.
[21]JACKSON R L,GHAEDNIA H,POPE S.A solution of rigid-perfectly plastic deep spherical indentation based on slip-line theory[J].Tribology Letters,2015,58(3):1-7.
[22]BOMIDI,JOHN A R SADEGHI F.Three-dimensional finite element elastic-plastic model for subsurface initiated spalling in rolling contacts[J].Journal of Tribology,2013,136(1):011402.
[23]WANG Z J,JIN X Q,KEER L M,et al.Numerical methods for contact between two joined quarter spaces and a rigid sphere[J].International Journal of Solids&Structures,2012,49(18):2515-2527.
[24]WANG Z J,JIN X Q,LIU S B,et al.A new fast method for solving contact plasticity and its application in analyzing elasto-plastic partial slip[J].Mechanics of Materials,2013,60(1):18-35.
[25]ZHOU Q,JIN X Q,WANG Z J,et al.An efficient approximate numerical method for modeling contact of materials with distributed inhomogeneities[J].International Journal of Solids&Structures,2014,51(19-20):3410-3421.
[26]WANG Z J,YU H,WANG Q.Analytical solutions for elastic fields caused by eigenstrains in two joined and perfectly bonded half-spaces and related problems[J].International Journal of Plasticity,2016,76:1-28.
[27]孙可平,杨东超,常旭,等.水平井电缆牵引器滚轮与管壁压力的测量[J].石油学报,2018,39(6):712-718.SUN K P,YANG D C,CHANG X,et al.Measurement of the normal contact force between the cable tractors wheels and the pipe wall of horizontal well[J].Acta Petrolei Sinica,2018,39(6):712-718.(in Chinese)
[2]FOUCHER P A,POORTEN R V.Wireline tractor advanced restriction navigation[C]//SPE/ICoTA Coiled Tubing and Well Intervention Conference and Exhibition.Richardson,TX:Society of Petroleum Engineers,2018,SPE-189926-MS.
[3]LI Y J,LIU Q Y,CHEN Y H,et al.Design and analysis of an active helical drive downhole tractor[J].Chinese Journal of Mechanical Engineering,2017,30(2):1-10.
[4]TOKI T,BENYGZER M,WAHEDI K A,et al.Optimization of the operation time required for data gathering requirement in extended-reach drilling well by the use of open hole tractor in the United Arab Emirates[C]//Abu Dhabi International Petroleum Exhibition&Conference.Richardson,TX:Society of Petroleum Engineers,2017,SPE-188680-MS.
[5]刘振.水平井牵引器机构分析和建模仿真技术研究[D].哈尔滨:哈尔滨工业大学,2008.LIU Z.Research on mechanism analysis and modeling simulation of horizontal well tractor[D].Harbin:Harbin Institute of Technology,2008.(in Chinese)
[6]曾华军.水平井牵引器驱动系统关键技术研究[D].哈尔滨:哈尔滨工业大学,2010.ZENG H J.Research on key technology of drive system of horizontal well tractor[D].Harbin:Harbin Institute of Technology,2010.(in Chinese)
[7]于淼.水平井牵引器拖动力数值分析[D].大庆:东北石油大学,2011.YU M.The mule downhole mumerical analysis of drag force on[D].Daqing:Northeast Petroleum University,2011.(in Chinese)
[8]侯松伟.水平井牵引器运动学仿真与应用研究[D].东北石油大学,2017.HOU S W.Research on kinematics simulation and application for horizontal well tractor[D].Daqing:Northeast Petroleum University,2017.(in Chinese)
[9]张勇.水平井电缆牵引器的机械设计研究[D].北京:中国石油大学,2016.ZHANG Y.Research on mechanical design of cable tractor in horizontal wells[D].Beijing:China University of Petroleum,2016.(in Chinese)
[10]刘清友,李雨佳,任涛,等.水平井爬行器驱动轮力学分析[J].钻采工艺,2014,37(1):68-71.LIU Q Y,LI Y J,REN T,et.al.Mechanical analysis of driving wheels of horizontal wells tractor[J].Drilling&Production Technology.2014,37(1):68-71.(in Chinese)
[11]秦浩.水平井爬行器驱动机构结构优化[D].成都:西南石油大学,2017.CQIN H,Optimization of horizontal crawlers driving mechanism[D].Chengdu:Southwest Petroleum University,2017.(in Chinese)
[12]希尔.塑性数学理论[M].北京:世界图书出版公司,2013.HILL R.The mathematical theory of plasticity[M].Beijing:World Book Inc,2013.(in Chinese)
[13]JOHNSON K L.接触力学[M].徐秉业,罗学富,刘信声,宋国华,孙学伟,译.北京:高等教育出版社,1992.JOHNSON K L.Contact mechanics[M].XU B Y,LUO XF,LIU X S,SONG G H,SUN X W,Trans.Beijing:Higher Education Press,1992.(in Chinese)
[14]GRUNZWEIG J,LONGMAN I M,PETCH N J.Calculations and measurements on wedge-indentation[J].Journal of the Mechanics&Physics of Solids,1954,2(2):81-86.
[15]RICE J R.Plane strain slip line theory for anisotropic rigid/plastic materials[J].Journal of the Mechanics&Physics of Solids,1973,21(2):63-74.
[16]BAI Y,DODD B.A slip-line field solution for plane-strain indentation by an obtuse-angle wedge[J].International Journal of Mechanical Sciences,1982,24(2):119-123.
[17]KOMVOPOULOS K,KOGUT L.Analysis of the spherical indentation cycle for elastic-perfectly plastic solids[J].Journal of Materials Research,2004,19(12):3641-3653.
[18]TALJAT B,PHARR G M.Development of pile-up during spherical indentation of elastic-plastic solids[J].International Journal of Solids&Structures,2004,41(14):3891-3904.
[19]HERNOT X,BARTIER O,BEKOUCHE Y,et al.Influence of penetration depth and mechanical properties on contact radius determination for spherical indentation[J].International Journal of Solids&Structures,2015,43(14):4136-4153.
[20]HERNOT X,BARTIER O,MAUVOISIN G,et al.Auniversal formulation for indentation whatever the indenter geometry[J].Mechanics of Materials,2015,81:101-109.
[21]JACKSON R L,GHAEDNIA H,POPE S.A solution of rigid-perfectly plastic deep spherical indentation based on slip-line theory[J].Tribology Letters,2015,58(3):1-7.
[22]BOMIDI,JOHN A R SADEGHI F.Three-dimensional finite element elastic-plastic model for subsurface initiated spalling in rolling contacts[J].Journal of Tribology,2013,136(1):011402.
[23]WANG Z J,JIN X Q,KEER L M,et al.Numerical methods for contact between two joined quarter spaces and a rigid sphere[J].International Journal of Solids&Structures,2012,49(18):2515-2527.
[24]WANG Z J,JIN X Q,LIU S B,et al.A new fast method for solving contact plasticity and its application in analyzing elasto-plastic partial slip[J].Mechanics of Materials,2013,60(1):18-35.
[25]ZHOU Q,JIN X Q,WANG Z J,et al.An efficient approximate numerical method for modeling contact of materials with distributed inhomogeneities[J].International Journal of Solids&Structures,2014,51(19-20):3410-3421.
[26]WANG Z J,YU H,WANG Q.Analytical solutions for elastic fields caused by eigenstrains in two joined and perfectly bonded half-spaces and related problems[J].International Journal of Plasticity,2016,76:1-28.
[27]孙可平,杨东超,常旭,等.水平井电缆牵引器滚轮与管壁压力的测量[J].石油学报,2018,39(6):712-718.SUN K P,YANG D C,CHANG X,et al.Measurement of the normal contact force between the cable tractors wheels and the pipe wall of horizontal well[J].Acta Petrolei Sinica,2018,39(6):712-718.(in Chinese)