海洋废弃平台桩基拆除绳锯机研制及其动力学研究
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摘要
随着海洋石油工业的迅猛发展，废弃的油气平台越来越多，如何安全、环保、经济的拆除掉这些平台，成为世界各国海洋工程公司越来越关心的问题。金刚石绳锯机在废弃平台桩基拆除领域的应用历史不长，但是它在此领域的优势越来越为人们所认识。我国在该项技术发展方面起步较晚，提出研制一种绳锯机使它完成废弃平台桩基拆除任务，并且能安全、稳定和高效的工作越来越成为该领域急需解决的一项关键技术。
本课题来源于中国海洋石油总公司科技发展计划项目(项目编号：C／KJFH001-2005)，此项目是以国家“863”计划重大专项(项目编号：2002AA6020212-1)“渤海大油田勘探开发关键技术”所属专题“海底管道修复技术”中的管道切割金刚石绳锯机技术为基础。目的是研制出一种能够完成废弃平台桩基拆除任务的金刚石绳锯机，并且对其关键技术进行研究，提高它的智能化作业水平，为我国的海洋石油工程进行技术储备，进而为参与国际市场竞争打下一定的基础。
论文综述了国内外海洋废弃平台桩基拆除的现状及其常用的五种切割方法，并且对它们进行了分析比较，其中重点概述了金刚石绳锯机的发展历程及其在桩基拆除领域的最新进展。
根据废弃平台桩基拆除绳锯机的技术要求，参考国外的设计经验，考虑国内现有的技术条件，提出了废弃平台桩基拆除绳锯机的总体方案，包括机械本体结构、液压系统和检测控制系统。在充分论证的基础上，完成了机械本体各部分结构和测控系统的设计，研制出了废弃平台桩基拆除绳锯机工程样机。
文中对绳锯机夹紧装置的最小夹紧力计算进行了研究。针对绳锯机工作时的特殊受力状态，进行了模型简化，对夹紧位置处的受力进行了理论分析，并且证明了绳锯机夹紧装置能实现型封闭。分别对绳锯机静态条件下一次夹紧，分步夹紧两种情况进行了分析，提出了各自条件下最小夹紧力的多目标优化求解数学模型。分析了夹紧瓣与桩基接触部分在夹紧时的动态相互作用后，提出了动态条件下的最小夹紧力多目标优化求解数学模型。根据绳锯机的实际作业工况，采用三种数学模型对最小夹紧力进行了求解。比较三种计算结果，为绳锯机的结构优化设计和液压系统的设计提供了一定的理论依据。
根据绳锯机切割框架的结构，采用图形理论建模法，建立了串珠绳闭环切割运动的动力学方程。分析了驱动轮与串珠绳之间的相互作用，得到了驱动轮稳定和非稳定运行情况下的力矩传递计算方法。分析了串珠绳切割运动时的横向振动诱因，建立了横向振动的动力学方程，将方程的求解结果与实验相结合，提出了切割桩基时减小串珠绳横向振动的切割工艺。针对串珠绳切割单层管桩基的冲击特性，进行了理论分析，得到了串珠绳轴向冲击时的动力学模型，采用有限元瞬态动力学仿真的方法对冲击过程进行了仿真，分析了仿真结果。通过实验比较了切割单层管桩基和复合桩基时串珠绳的工作状态和切割后的桩基断面，并且得到了切割单层管桩基时切割效率与串珠间距的关系。
通过分析国内外现有的柔性体张力检测装置，针对废弃平台桩基拆除绳锯机的实际工作特点，自行研制了一种张紧检测装置，它同时具有串珠绳张紧和张力测量两种功能。文中论述了检测装置中压力传感器的设计原理和方法。考虑到检测装置中张紧轮的动态偏心特性对张力测量结果的影响，提出了一种理论修正公式，实验表明了此公式的合理性。
在建立的废弃平台桩基拆除绳锯机实验平台上进行切割性能实验，实验表明绳锯机能完成直径为48”的桩基切割任务，并且验证了液压系统和检测控制系统的稳定性。测量了绳锯机的切割工艺参数，给出了各参数之间的相互影响关系，得到了切割桩基截面不同位置时切削速度和进给速度的最佳配合关系，建立了径向切削力和切向切削力的经验公式。切割实验为绳锯机实际工程施工的参数选择提供了依据。
With the swift and violent development of the offshore oil industry, discardedoil gas platforms become more and more, how to remove those platform in asafer, more efficient, more environmentally compatible way becomes a questionthat each country Offshore Engineering Company is increasingly interested in.Itshistory is not very long that wire saw was applied in the field of removingdiscarded platform piles,but its advantage in this field is being increasinglyrecognized by people.Our country has fall behind the other country in the field oftechnology.To develop a wire saw that can safely, stably, efficiently cut discardedplatform pile is a urgent key technology.
The study is funded by CNOOC technology development project(itemnumbers: C/KJFH001-2005), it bases on diamond wire saw cutting pipelinetechnological which belongs to special topic "Seabed pipeline restorationtechnologies" of the national "863" project important special items "Bohai bigoilfields exploration and exploitation key technologies" (item numbers:2002AA6020212-1).Its purpose is to develop a diamond wire saw that can cutdiscarded platform piles, research on its key technologies, improve its intelligentlevel of operation, implement technical storage for our country offshoreindustry ,and then lay the foundation for competition in the international market.
Present situation and five routine cutting procedures of offshore discardedplatform piles removal at home and abroad are summarized and compared, ofwhich diamond wire saw development history and its latest application in pilesremoval field are particularly summarized.
According to technical requirements of discarded platform piles removal wiresaw,referring to the design experience of foreign, and basing on domestictechnical condition, the whole scheme of discarded platform piles removal wiresaw is presented, including mechanical structure, hydraulic system, sensor systemand control system. Basing on sufficient demonstration, all structure of themachine base body and the measurement and control system are designed, anddiscarded platform piles removal wire saw engineering sample machine isdeveloped.
Minimal clamp foce calculation of clamp device is researched in thesis.Model is simplified to special strained condition of wire saw working,force ofclamp position is analysed theoretically, and form-close of clamp device isproved.Basing on the analyse for wire saw once clamp or substep clamp in staticcondition,their minimal clamp foce multiple-objective optimization calculationmodels are presented. On the base of interacting analyse of clamp jaw with pilesin working, minimal clamp foce multiple-objective optimization calculationmodel of dynamic conditon is presented. Minimal clamp foce of three conditionsare calculated according to practicable working condition,and three results arecompared, which provide theoretical basis for structure optimization design andhydraulic system parameter selection.
Dynamic equation of string bead wire cut motion is established with graphtheoretic modelling according to the structure of cut frame.Interaction of drivingsheave with string bead wire is analysed,driving torque computational proceduresare presented when sheave smooth and erratic turn. Causes of string bead wiretransverse vibration are analysed, transverse vibration dynamics equation isobtained, cut technology of minishing string bead wire transverse vibration ispresented by combining theoretical solution with test.Impact property is analysedwhen string bead wire cuts monolayer pipeline pile, dynamic model of string beadwire axial impact is obtained, course of impact is simulated with finite elementtransient dynamics analytical method, simulation results are analysed.Workingsituation and piles cross section that string bead wire cut monolayer pipe pile andcombined pipe pile are compared, the relation of cutting efficiency with stringbead spacing is gained by test.
Existing flexible body tension detect devices at home and abroad areanalysed, contraposing practicable work characteristics of discarded platformpiles removal wire saw, a tension detect device with tension and detection functionis developed.Principle and method of pressure transducer in tension detect deviceare discussed. For dynamic off-center character of tension sheave having effect ontension measurement,a theoretical correction fomula is presented and proved bytest.
Discarded platform piles removal wire saw testing platform isestablished.Cut performance test is carried out on it,test show that wire saw can fulfil 48" pile diameter cut task, hydraulic system, sensor system and controlsystem can stably operate. Cut technological parameters of wire saw are measured,interaction of parameters is analysed, best match of cutting speed and feed rate isgained when wire saw cut pile in different stage, experimental formulas of radialcutting force and tangential cutting force are established.Cutting tests provideparameters selection base for wire saw actual work.
本课题来源于中国海洋石油总公司科技发展计划项目(项目编号：C／KJFH001-2005)，此项目是以国家“863”计划重大专项(项目编号：2002AA6020212-1)“渤海大油田勘探开发关键技术”所属专题“海底管道修复技术”中的管道切割金刚石绳锯机技术为基础。目的是研制出一种能够完成废弃平台桩基拆除任务的金刚石绳锯机，并且对其关键技术进行研究，提高它的智能化作业水平，为我国的海洋石油工程进行技术储备，进而为参与国际市场竞争打下一定的基础。
论文综述了国内外海洋废弃平台桩基拆除的现状及其常用的五种切割方法，并且对它们进行了分析比较，其中重点概述了金刚石绳锯机的发展历程及其在桩基拆除领域的最新进展。
根据废弃平台桩基拆除绳锯机的技术要求，参考国外的设计经验，考虑国内现有的技术条件，提出了废弃平台桩基拆除绳锯机的总体方案，包括机械本体结构、液压系统和检测控制系统。在充分论证的基础上，完成了机械本体各部分结构和测控系统的设计，研制出了废弃平台桩基拆除绳锯机工程样机。
文中对绳锯机夹紧装置的最小夹紧力计算进行了研究。针对绳锯机工作时的特殊受力状态，进行了模型简化，对夹紧位置处的受力进行了理论分析，并且证明了绳锯机夹紧装置能实现型封闭。分别对绳锯机静态条件下一次夹紧，分步夹紧两种情况进行了分析，提出了各自条件下最小夹紧力的多目标优化求解数学模型。分析了夹紧瓣与桩基接触部分在夹紧时的动态相互作用后，提出了动态条件下的最小夹紧力多目标优化求解数学模型。根据绳锯机的实际作业工况，采用三种数学模型对最小夹紧力进行了求解。比较三种计算结果，为绳锯机的结构优化设计和液压系统的设计提供了一定的理论依据。
根据绳锯机切割框架的结构，采用图形理论建模法，建立了串珠绳闭环切割运动的动力学方程。分析了驱动轮与串珠绳之间的相互作用，得到了驱动轮稳定和非稳定运行情况下的力矩传递计算方法。分析了串珠绳切割运动时的横向振动诱因，建立了横向振动的动力学方程，将方程的求解结果与实验相结合，提出了切割桩基时减小串珠绳横向振动的切割工艺。针对串珠绳切割单层管桩基的冲击特性，进行了理论分析，得到了串珠绳轴向冲击时的动力学模型，采用有限元瞬态动力学仿真的方法对冲击过程进行了仿真，分析了仿真结果。通过实验比较了切割单层管桩基和复合桩基时串珠绳的工作状态和切割后的桩基断面，并且得到了切割单层管桩基时切割效率与串珠间距的关系。
通过分析国内外现有的柔性体张力检测装置，针对废弃平台桩基拆除绳锯机的实际工作特点，自行研制了一种张紧检测装置，它同时具有串珠绳张紧和张力测量两种功能。文中论述了检测装置中压力传感器的设计原理和方法。考虑到检测装置中张紧轮的动态偏心特性对张力测量结果的影响，提出了一种理论修正公式，实验表明了此公式的合理性。
在建立的废弃平台桩基拆除绳锯机实验平台上进行切割性能实验，实验表明绳锯机能完成直径为48”的桩基切割任务，并且验证了液压系统和检测控制系统的稳定性。测量了绳锯机的切割工艺参数，给出了各参数之间的相互影响关系，得到了切割桩基截面不同位置时切削速度和进给速度的最佳配合关系，建立了径向切削力和切向切削力的经验公式。切割实验为绳锯机实际工程施工的参数选择提供了依据。
With the swift and violent development of the offshore oil industry, discardedoil gas platforms become more and more, how to remove those platform in asafer, more efficient, more environmentally compatible way becomes a questionthat each country Offshore Engineering Company is increasingly interested in.Itshistory is not very long that wire saw was applied in the field of removingdiscarded platform piles,but its advantage in this field is being increasinglyrecognized by people.Our country has fall behind the other country in the field oftechnology.To develop a wire saw that can safely, stably, efficiently cut discardedplatform pile is a urgent key technology.
The study is funded by CNOOC technology development project(itemnumbers: C/KJFH001-2005), it bases on diamond wire saw cutting pipelinetechnological which belongs to special topic "Seabed pipeline restorationtechnologies" of the national "863" project important special items "Bohai bigoilfields exploration and exploitation key technologies" (item numbers:2002AA6020212-1).Its purpose is to develop a diamond wire saw that can cutdiscarded platform piles, research on its key technologies, improve its intelligentlevel of operation, implement technical storage for our country offshoreindustry ,and then lay the foundation for competition in the international market.
Present situation and five routine cutting procedures of offshore discardedplatform piles removal at home and abroad are summarized and compared, ofwhich diamond wire saw development history and its latest application in pilesremoval field are particularly summarized.
According to technical requirements of discarded platform piles removal wiresaw,referring to the design experience of foreign, and basing on domestictechnical condition, the whole scheme of discarded platform piles removal wiresaw is presented, including mechanical structure, hydraulic system, sensor systemand control system. Basing on sufficient demonstration, all structure of themachine base body and the measurement and control system are designed, anddiscarded platform piles removal wire saw engineering sample machine isdeveloped.
Minimal clamp foce calculation of clamp device is researched in thesis.Model is simplified to special strained condition of wire saw working,force ofclamp position is analysed theoretically, and form-close of clamp device isproved.Basing on the analyse for wire saw once clamp or substep clamp in staticcondition,their minimal clamp foce multiple-objective optimization calculationmodels are presented. On the base of interacting analyse of clamp jaw with pilesin working, minimal clamp foce multiple-objective optimization calculationmodel of dynamic conditon is presented. Minimal clamp foce of three conditionsare calculated according to practicable working condition,and three results arecompared, which provide theoretical basis for structure optimization design andhydraulic system parameter selection.
Dynamic equation of string bead wire cut motion is established with graphtheoretic modelling according to the structure of cut frame.Interaction of drivingsheave with string bead wire is analysed,driving torque computational proceduresare presented when sheave smooth and erratic turn. Causes of string bead wiretransverse vibration are analysed, transverse vibration dynamics equation isobtained, cut technology of minishing string bead wire transverse vibration ispresented by combining theoretical solution with test.Impact property is analysedwhen string bead wire cuts monolayer pipeline pile, dynamic model of string beadwire axial impact is obtained, course of impact is simulated with finite elementtransient dynamics analytical method, simulation results are analysed.Workingsituation and piles cross section that string bead wire cut monolayer pipe pile andcombined pipe pile are compared, the relation of cutting efficiency with stringbead spacing is gained by test.
Existing flexible body tension detect devices at home and abroad areanalysed, contraposing practicable work characteristics of discarded platformpiles removal wire saw, a tension detect device with tension and detection functionis developed.Principle and method of pressure transducer in tension detect deviceare discussed. For dynamic off-center character of tension sheave having effect ontension measurement,a theoretical correction fomula is presented and proved bytest.
Discarded platform piles removal wire saw testing platform isestablished.Cut performance test is carried out on it,test show that wire saw can fulfil 48" pile diameter cut task, hydraulic system, sensor system and controlsystem can stably operate. Cut technological parameters of wire saw are measured,interaction of parameters is analysed, best match of cutting speed and feed rate isgained when wire saw cut pile in different stage, experimental formulas of radialcutting force and tangential cutting force are established.Cutting tests provideparameters selection base for wire saw actual work.
引文
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