新型修井作业油管移运自动化系统设计与仿真
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摘要
本文研究内容来自黑龙江省科技厅重大科技攻关项目“带压作业井口操作机械化装置研究与设计(GC09A525)”。本文在充分调研、分析现场修井作业工艺及国内外各种修井机械自动化技术的基础上,提出了一种能较好地实现油管自动拉送排放、管柱抓取、管柱扶正、对中及管柱上卸扣的机械自动化的系统方案。
根据系统方案进行新型修井作业油管移运系统的设计、理论研究及虚拟样机仿真研究工作。首先进行了新型修井作业油管移运系统各组成部分的详细合理的设计,并利用SolidWorks软件创建出整套系统的三维实体模型。
然后研究和分析了机械臂起升系统的运动学数学模型,将该系统简化为平面系统,计算出了该系统的运动自由度,采用ADAMS的运动学理论,得到了大臂的速度和加速度方程。在已求解运动学(位移、速度和加速度)方程的基础上,运用ADAMS中采用的动力学理论,得到了液压缸推力方程,最终得到了液压缸所需驱动力。
在理论分析的基础上,将SolidWorks中建立的三维模导入ADAMS软件中进行运动学和动力学仿真分析。通过对大臂的仿真,得到了机械大臂起升的角速度,角加速度曲线等,从曲线得到液压缸的起升速度,同时还将刚性大臂和柔性大臂的仿真结果进行了对比,得知柔性体的仿真更真实,仿真得到的结果将对今后设计的改进提供了依据。
The article is a major scientific and technological project which comes from Science and Technology Department of Heilongjiang Province,Wellhead pressure of work with mechanical equipment research and design operations. In this paper, based on full investigate and analysis the progress of workover operation, full investigate and analysis kinds of home and aboard workover and drilling mechanical automation technology. A system scheme that can better realize drag pipe, feeding pipe, emission pipe, grasp pipe, right pipe, center pipe, make up and breakout pipe by mechanical automation was put forward.
The designation and theoretical research of the new type workover new tubing pipe system, and the simulation research work of its virtual prototype are the main works in this paper. The detailed and reasonable designation of all component parts of the new type workover new tubing system were completed, the 3 d solid model of whole system was created by SolidWorks software.
ADAMS simulation software focuses on the kinematics and dynamic simulation analysis of the mathematical theory used.Then research and analysis the kinematics mathematical model of the system which lifting the manipulator, simplify the system for the planar system,and calculates the freedom of the movement, used the ADAMS kinematic theory, get the big arm of the velocity and acceleration equations. Has been solved in the kinematic (displacement, velocity and acceleration) equation, based on the use of dynamic theory used in ADAMS, has been thrust equation of hydraulic cylinder, hydraulic cylinder finally get the necessary driving force.
In the theoretical analysis, based on the three-dimensional model created in SolidWorks into ADAMS software simulation of kinematics and dynamics. By the simulation of the big arm, get the mechanical lifting arm angular velocity, angular acceleration curve and so on.From the curves obtained the hydraulic cylinder lifting speed, and also compared the rigid and flexible boom arm of the simulation results, found that the more realistic simulation of flexible bodies. Simulation results obtained in the future will provide a basis for improved design.
根据系统方案进行新型修井作业油管移运系统的设计、理论研究及虚拟样机仿真研究工作。首先进行了新型修井作业油管移运系统各组成部分的详细合理的设计,并利用SolidWorks软件创建出整套系统的三维实体模型。
然后研究和分析了机械臂起升系统的运动学数学模型,将该系统简化为平面系统,计算出了该系统的运动自由度,采用ADAMS的运动学理论,得到了大臂的速度和加速度方程。在已求解运动学(位移、速度和加速度)方程的基础上,运用ADAMS中采用的动力学理论,得到了液压缸推力方程,最终得到了液压缸所需驱动力。
在理论分析的基础上,将SolidWorks中建立的三维模导入ADAMS软件中进行运动学和动力学仿真分析。通过对大臂的仿真,得到了机械大臂起升的角速度,角加速度曲线等,从曲线得到液压缸的起升速度,同时还将刚性大臂和柔性大臂的仿真结果进行了对比,得知柔性体的仿真更真实,仿真得到的结果将对今后设计的改进提供了依据。
The article is a major scientific and technological project which comes from Science and Technology Department of Heilongjiang Province,Wellhead pressure of work with mechanical equipment research and design operations. In this paper, based on full investigate and analysis the progress of workover operation, full investigate and analysis kinds of home and aboard workover and drilling mechanical automation technology. A system scheme that can better realize drag pipe, feeding pipe, emission pipe, grasp pipe, right pipe, center pipe, make up and breakout pipe by mechanical automation was put forward.
The designation and theoretical research of the new type workover new tubing pipe system, and the simulation research work of its virtual prototype are the main works in this paper. The detailed and reasonable designation of all component parts of the new type workover new tubing system were completed, the 3 d solid model of whole system was created by SolidWorks software.
ADAMS simulation software focuses on the kinematics and dynamic simulation analysis of the mathematical theory used.Then research and analysis the kinematics mathematical model of the system which lifting the manipulator, simplify the system for the planar system,and calculates the freedom of the movement, used the ADAMS kinematic theory, get the big arm of the velocity and acceleration equations. Has been solved in the kinematic (displacement, velocity and acceleration) equation, based on the use of dynamic theory used in ADAMS, has been thrust equation of hydraulic cylinder, hydraulic cylinder finally get the necessary driving force.
In the theoretical analysis, based on the three-dimensional model created in SolidWorks into ADAMS software simulation of kinematics and dynamics. By the simulation of the big arm, get the mechanical lifting arm angular velocity, angular acceleration curve and so on.From the curves obtained the hydraulic cylinder lifting speed, and also compared the rigid and flexible boom arm of the simulation results, found that the more realistic simulation of flexible bodies. Simulation results obtained in the future will provide a basis for improved design.
引文
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[3]徐忠明.轻型修井机的现状与开发展望[J].石油机械,2000,28(2):48~51.
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[9]张宝增,王瑞和.修井作业用新型管柱起下装置[J].石油机械,2006,34(10):49~51.
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[15] Scandinavian Oil Gas Magazine Group. Award-Winning Power Tong Sets to Revolutionise the Market [J]. Scandinavian Oil Gas Magazine.2007,33(07):182.
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[24]王振庄.我国修井机技术发展的过去和未来[J].石油矿场机械,2001,30(增刊):1~3.
[25]陈蔚茜,穆延旭等.国外不压井作业机[J].石油机械,2005,33(01):63~65.
[26] Y H Zweiri,L D Seneviratne,K Althoefer. Model-based automation for heavy- duty mobile excavator[J]. 2002 IEEE/RSJ Int. Coneference on Intelligent Robots and Systems(IROS 2002). PP.2967-2972, EPFL, Switzerlnad,Sept.30-Oet.4,2002.
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[30]简诚颖.COMOS/Motion—工程师的设计分析工具[J].CAD/CAM与制造业信息化.2006,Z1:92~95.
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[32]陈立平,张云清等.机械系统动力学分析及ADAMS应用教程[M].北京:清华大学出版社,2005:72~75.
[33] (美)豪格(Haug E J)著,刘兴祥,李吉蓉,林梅等译.机械系统的计算机辅助运动学和动力学(第一卷基本方法)[M].北京:高等教育出版社,1996:1~140.
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[35]安雪斌,潘尚峰.多体系统动力学仿真中的接触碰撞模型分析[J].计算机仿真,2008,25(10):98~101.
[36]刘才山,陈滨.多柔体系统碰撞动力学研究综述[J].力学进展,2000,30(1):7~14.
[37] H M Lankaran, I P E Nikravesh. A Contact Force Model with Hysteresis Damping for Impact Analysis of Multibody Systems[J].Journal of Mechanical Design,1990,1(12): 369-376.
[38] Leung A Y T. Subspace Iteration For Complex Symmetric Eigenproblems[J]. Sound andVibration,1995,184(4):627-637.
[39] Mechanieal Dynaics Incorporation.ADAMS view User Guide[M].2005:50-80.
[40] Schiehlen, W.O. Multibody system dynamics–Roots and perspectives, Multibody System Dynamics[M]. Cambridge University press,1997:93-102.
[41]张勇,刘欣,王晋康,尹永晶.国外石油修井机技术动态[J].石油机械,2003,31:160~164.
[42]李增刚.ADAMS入门详解与实例[M].北京:国防工业出版社,2006:243~247.
[43]郑建荣.ADAMS虚拟样机技术入门与提高[M].北京:机械工业出版社,2003.
[44]余新康,王健.基于ADAMs的液压系统虚拟样机[J].工程机械,2003,34(l):42~45.
[45] H M Lankaran, I P E Nikravesh. Continuous Contact Force Models for Impact Analysis in Multibody Systems[J]. Nonlinear Dynamics 1994, 5:193-207.
[46]刘静.挖掘机器人虚拟样机建模技术及其应用研究[D].杭州:浙江大学,2005.
[47]姚晓光,郭晓松,冯永保,于欣.基于ADAMS和ANSYS的柔性导弹起竖系统仿真分析及研究[J].机械制造,2006,(02).
[48]杨辉,洪嘉振,余征跃.柔性多体系统动力学实验研究综述[J].力学进展,2004,(2):171~181.
[49]刘才山,陈滨.多柔体系统碰撞动力学研究综述[J].力学进展,2000,30(1):7~14.
[50]戴学丰.孙立宁.刘品宽.蔡鹤皋.柔性臂机器人控制算法综述[J].电机与控制学报,2002,6(2):158~161.
[51] Simp son M, Davidson, James C.Tubular transfer system[P].US, 670541412004-03-16.
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[53] M Krishna,J Bares.Hydraulic system modeling through memory-based learning[C]. IEEE/RSJ International Confernce on Intelligent Robots and Systems,IEEE,October,1998:1733-1738.
[2] Don Francis.World-class workover [J].E & P.2006,53(1):89-91.
[3]徐忠明.轻型修井机的现状与开发展望[J].石油机械,2000,28(2):48~51.
[4]葛登云,孙建荣,袁国迅等.利用现有修井设备改制修井机[J].石油机械,1997,25(12):32~34,53.
[5]彭金申.油井小修作业设备的技术现状与发展[J].石油机械,1999,27(3):53~54.
[6]胡博仲.井下作业机械化配套装置[M].北京:石油工业出版社,2005:152~168.
[7]谭云,何富君,陈传庆等.修井起下作业中的油管机械化排放问题[J].石油机械,1997,25(3):46~48.
[8]崔旭明,何富君.修井作业油管自动拉排机的结构与参数设计[J].石油机械,2002,30(9):14~16.
[9]张宝增,王瑞和.修井作业用新型管柱起下装置[J].石油机械,2006,34(10):49~51.
[10]张宝增,王瑞和.修井作业中的自动起下管柱系统探讨[J].石油矿场机械,2007,36(04):22~25.
[11]石冰,谢鹏明,Louis Witte.两人操作的新型修井机[J].国外石油机械,1997,(01):46~47.
[12] Halliburton Internation Inc. Halliburton Rigless Services[EB/OL]. http://www.halliburton.com.
[13]张阳春,杨志康,郭东.国内外石油钻采设备技术水平分析[M].北京:石油工业出版社,2001:183~211.
[14] Udo C, Devin R,Dan Kara. Sean McLaughlin. True Hybrid Operations Combining Coiled-Tubing Drilling and Conventional RigWorkover Techniques and Practices[J]. SPE Drilling & Completion.2006,vol.21: 248-253.
[15] Scandinavian Oil Gas Magazine Group. Award-Winning Power Tong Sets to Revolutionise the Market [J]. Scandinavian Oil Gas Magazine.2007,33(07):182.
[16] Cassee U, Rock D, Kara D, et al.True hybrid operations combining coiled - tubing drilling and conventionalrig workover techniques and p ractices[J].SPE Drilling &Completion, 2006, 21:248-253.
[17] Halse H R. Method and device for positioning a power tong at a pipe joint[P].World Intellectual Property Organization.PCT/NO2006/00042512007-05-31.
[18]常玉连,肖易萍,高胜,聂文平.修井井口机械化自动化装置的研究进展[J].石油矿场机械,2008,37(05):62~67.
[19]常玉连,詹冠杰,高胜,聂文平,肖易萍,程新颖,刘跃宝.新型修井作业机械化系统设计方案研究[J].石油机械,2008,36(9):188~191.
[20]谢永金.我国修井机发展的技术现状与展望[J].石油机械,2005,33(10):72~75.
[21]喻贵民,仵雪飞.海洋修井机国产化进程及发展方向[J].中国海上油气(工程),2003, 15(3):49~52.
[22]陈秉衡.关于修井机总体设计的若干问题[J].石油机械,1986,14(4):38~42.
[23]陈维荣,黄涛等.国外套管钻井技术的发展和现状[J].石油钻探技术,2002,30(1):16~18.
[24]王振庄.我国修井机技术发展的过去和未来[J].石油矿场机械,2001,30(增刊):1~3.
[25]陈蔚茜,穆延旭等.国外不压井作业机[J].石油机械,2005,33(01):63~65.
[26] Y H Zweiri,L D Seneviratne,K Althoefer. Model-based automation for heavy- duty mobile excavator[J]. 2002 IEEE/RSJ Int. Coneference on Intelligent Robots and Systems(IROS 2002). PP.2967-2972, EPFL, Switzerlnad,Sept.30-Oet.4,2002.
[27] M Piechnick,Mannesmann. Simulating hydraulic-driven mechanical systems[J]. 10th European ADAMS User Conference Papers,Marburg,Germany 1995,Nov,14-15.
[28]罗建伟,陆昆江,黄鸿斌等.井口油管作业机械手:中国,ZL96201820.1[P].1998-01-17.
[29]成大先.机械设计手册(第三卷)[M].北京:化学工业出版社,2004:12-121~12-126.
[30]简诚颖.COMOS/Motion—工程师的设计分析工具[J].CAD/CAM与制造业信息化.2006,Z1:92~95.
[31]吴奇.井下作业工程师手册[M].北京:石油工业出版社出版社,2002:67~86.
[32]陈立平,张云清等.机械系统动力学分析及ADAMS应用教程[M].北京:清华大学出版社,2005:72~75.
[33] (美)豪格(Haug E J)著,刘兴祥,李吉蓉,林梅等译.机械系统的计算机辅助运动学和动力学(第一卷基本方法)[M].北京:高等教育出版社,1996:1~140.
[34]张越今,宋健.多体动力学仿真软件ADAMS理论及应用研讨[J].机械科学与技术,1997,16(5):753~755.
[35]安雪斌,潘尚峰.多体系统动力学仿真中的接触碰撞模型分析[J].计算机仿真,2008,25(10):98~101.
[36]刘才山,陈滨.多柔体系统碰撞动力学研究综述[J].力学进展,2000,30(1):7~14.
[37] H M Lankaran, I P E Nikravesh. A Contact Force Model with Hysteresis Damping for Impact Analysis of Multibody Systems[J].Journal of Mechanical Design,1990,1(12): 369-376.
[38] Leung A Y T. Subspace Iteration For Complex Symmetric Eigenproblems[J]. Sound andVibration,1995,184(4):627-637.
[39] Mechanieal Dynaics Incorporation.ADAMS view User Guide[M].2005:50-80.
[40] Schiehlen, W.O. Multibody system dynamics–Roots and perspectives, Multibody System Dynamics[M]. Cambridge University press,1997:93-102.
[41]张勇,刘欣,王晋康,尹永晶.国外石油修井机技术动态[J].石油机械,2003,31:160~164.
[42]李增刚.ADAMS入门详解与实例[M].北京:国防工业出版社,2006:243~247.
[43]郑建荣.ADAMS虚拟样机技术入门与提高[M].北京:机械工业出版社,2003.
[44]余新康,王健.基于ADAMs的液压系统虚拟样机[J].工程机械,2003,34(l):42~45.
[45] H M Lankaran, I P E Nikravesh. Continuous Contact Force Models for Impact Analysis in Multibody Systems[J]. Nonlinear Dynamics 1994, 5:193-207.
[46]刘静.挖掘机器人虚拟样机建模技术及其应用研究[D].杭州:浙江大学,2005.
[47]姚晓光,郭晓松,冯永保,于欣.基于ADAMS和ANSYS的柔性导弹起竖系统仿真分析及研究[J].机械制造,2006,(02).
[48]杨辉,洪嘉振,余征跃.柔性多体系统动力学实验研究综述[J].力学进展,2004,(2):171~181.
[49]刘才山,陈滨.多柔体系统碰撞动力学研究综述[J].力学进展,2000,30(1):7~14.
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