水下法兰联接机具优化设计与仿真研究
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摘要
深水油气开采是全球能源战略的重点之一,中国已经开始重视并加强对海洋石油自动化作业装备的发展。本文重点进行了水下法兰联接机具结构的设计和研究,目标是在2010年研制出水下法兰联接机具的试验样机并进行水池试验,为将来工程样机的设计制造及工程应用奠定坚实理论基础,积累实践经验。
论文介绍了水下法兰联接机具的研究现状,特别是课题组水下法兰联接机具的研究和设计工作,提出了水下法兰联接机具试验样机的总体方案及模块化设计方法和试验样机设计指标。设计了工具库周向同步驱动系统和工具库轴向独立驱动系统的虚拟样机,进行了干涉检查和运动学仿真；建立了系统运动学等效机构模型,进行了可行性和运动学分析,保证了工具库作业位姿的调整范围；通过力学计算确定了动力元件的型号及参数。进行了工具库位姿调节机构的力学分析,校核了关键承力零部件的强度和关键定位零部件的刚度,针对应力集中现象和定位面变形情况进行了结构改进和尺寸优化,以达到工具库的定位精度和可靠性要求。对外框架结构进行了有限元分析,在保证满足内框架定位基准和结构强度情况下,对外框架进行了重量优化和结构优化。
对水下法兰联接机具水下航行进行了水动力学仿真分析,以水阻力最小为目标,对机具浮力材料的形状及结构尺寸进行了优化设计,有效减小了ROV水下运载机具的负载并保证了机具位姿的稳定性。
Exploration of Deep-water oil and gas is one of the key global energy strategies, and China has begun to pay great attention to the development of automation equipments in offshore oil industry. Aimed at developing the experimental prototype of the Subsea Flange Connection Tool (SFCT) and performing the experiments in 2010, this dissertation carried on the structural design and research of SFCT, preparing theoretical foundation and practical experience for the design and manufacture of engineering system in the future.
The current research situation of SFCT, especially the research work of our research group was introduced. The general planning of the prototype and the modular design approach were proposed, and the design assumptions of the prototype were also given. The virtual prototypes of adjusting system of three tool magazines'posture and position were designed, and the interference checking and kinematics simulation were conducted. The kinematics-equivalent mechanism model of the system was established, the feasibility and the kinematic analysis was carried out, ensured the adjustment range of the tool magazines operating position and posture. Through the dynamics calculation, the models and parameters of the dynamic component were determined. The statics analysis and the finite element analysis of adjusting system of three tools'posture and position were conducted, the strength of the key load-bearing parts and the stiffness of the key positioning components were checked. Focus on the phenomenon of stress concentration and the deformation of supporting surfaces, the structure was improved and the dimensions were optimized to achieve the supporting requirements and reliability requirements of the tool magazines. The structural finite element analysis of out-frame was finished. With the prerequisites of satisfying structural strength and locating requirements of inner-frame, weight optimization and structure optimization of out-frame were conducted.
The hydrodynamic simulation of SFCT's subsea navigating was conducted. Taking minimal water resistance as the target, the structure and arrangement of the buoyant materials were optimized, which effectively reduces the external load of ROV and ensures the equipment position and posture stability?
论文介绍了水下法兰联接机具的研究现状,特别是课题组水下法兰联接机具的研究和设计工作,提出了水下法兰联接机具试验样机的总体方案及模块化设计方法和试验样机设计指标。设计了工具库周向同步驱动系统和工具库轴向独立驱动系统的虚拟样机,进行了干涉检查和运动学仿真；建立了系统运动学等效机构模型,进行了可行性和运动学分析,保证了工具库作业位姿的调整范围；通过力学计算确定了动力元件的型号及参数。进行了工具库位姿调节机构的力学分析,校核了关键承力零部件的强度和关键定位零部件的刚度,针对应力集中现象和定位面变形情况进行了结构改进和尺寸优化,以达到工具库的定位精度和可靠性要求。对外框架结构进行了有限元分析,在保证满足内框架定位基准和结构强度情况下,对外框架进行了重量优化和结构优化。
对水下法兰联接机具水下航行进行了水动力学仿真分析,以水阻力最小为目标,对机具浮力材料的形状及结构尺寸进行了优化设计,有效减小了ROV水下运载机具的负载并保证了机具位姿的稳定性。
Exploration of Deep-water oil and gas is one of the key global energy strategies, and China has begun to pay great attention to the development of automation equipments in offshore oil industry. Aimed at developing the experimental prototype of the Subsea Flange Connection Tool (SFCT) and performing the experiments in 2010, this dissertation carried on the structural design and research of SFCT, preparing theoretical foundation and practical experience for the design and manufacture of engineering system in the future.
The current research situation of SFCT, especially the research work of our research group was introduced. The general planning of the prototype and the modular design approach were proposed, and the design assumptions of the prototype were also given. The virtual prototypes of adjusting system of three tool magazines'posture and position were designed, and the interference checking and kinematics simulation were conducted. The kinematics-equivalent mechanism model of the system was established, the feasibility and the kinematic analysis was carried out, ensured the adjustment range of the tool magazines operating position and posture. Through the dynamics calculation, the models and parameters of the dynamic component were determined. The statics analysis and the finite element analysis of adjusting system of three tools'posture and position were conducted, the strength of the key load-bearing parts and the stiffness of the key positioning components were checked. Focus on the phenomenon of stress concentration and the deformation of supporting surfaces, the structure was improved and the dimensions were optimized to achieve the supporting requirements and reliability requirements of the tool magazines. The structural finite element analysis of out-frame was finished. With the prerequisites of satisfying structural strength and locating requirements of inner-frame, weight optimization and structure optimization of out-frame were conducted.
The hydrodynamic simulation of SFCT's subsea navigating was conducted. Taking minimal water resistance as the target, the structure and arrangement of the buoyant materials were optimized, which effectively reduces the external load of ROV and ensures the equipment position and posture stability?
引文
[1]金庆焕.深水油气是当今海洋油气勘探的主要热点.科学中国人.2006,11(1)：19-21页
[2]王立忠.论我国海洋石油工程技术的现状与发展.中国海洋平台,2006：12-13页
[3]安飞.深海石油承载中国能源之未来.中国船检,2006：42-43页
[4]阳连丰,彭艳.我国海洋油气开发面临的历史机遇.2006年度海洋工程学术会议论文集,2006：43-44页
[5]刘淮.国外深海技术发展研究(上).船艇Ships&Yachts.第258期.2006：8页
[6]许肖梅.海洋技术概论.北京：科学出版社,2000：71-81页
[7]王金英.我国海底油气管道工程的发展和特点.特种结构,2009：12-14页
[8]焦向东,周灿丰.21世纪海洋工程连接技术的挑战与对策.焊接学报,2007：1-4页
[9]123344455555
[10]G.Corbetta, R.Cruden, C.Mock. Brutus Tie_in System For Rigid And Fexible Line:Operstional Feedback. OMC 2001. March 28-30,2001:1-10P
[11]Giovanni Corbetta & David S. Cox. Deepwater Tie-ins of Rigid Lines: Horizontal Spools or Vertical Jumpers.1999 Offshore Europe Conference.1999:2-3P
[12]G.Corbetta, R.Cruden. A New Approach to Capex and Opex Reducation:An Integrated System for Remote Tie_ins and Pipeline Repair. Offshore Technology Conference.2000:4-7P
[13]Vincent Alliot, Ian Frazer. Tie in system uses low-cost flanges on deepwater girassol development. Oil&Gas Journal. May 6,2002:96-104P
[14]GILES, John, Stephen. REMOTE BOLTED FLANGE CONNECTION APPARATUS AND METHODS OF OPERATION THEREOF. Stolt Offshore Limited.2001:3-39P
[15]Stolt Offshore Limited. Deepwater Flanged Joint Pipeline Tie-ins. Offshore Technology.2002:28-30P
[16]Mikagawa, T. Fukui, Tsutomu.10000-meter class deep sea ROV KAIKO and underwater operations. Proceedings of the International Offshore and Polar Engineering Conference,v2,1999:388-394P
[17]贾文友,刘莉,王幼民.机构创新设计在型面联接中应用研究.安徽工程科技学院学报(自然科学版),2009
[18]吴旭维.深海管道自动法兰连接机具关键技术研究.哈尔滨工程大学硕士学位论文.2007：36-37页
[19]李伟.深水法兰连接机具的结构设计及水下稳定性分析.哈尔滨工程大学硕士学位论文.2008：61-63页
[20]Li Zhi-Gang, Lin Qiu-Hong. The structural design and optimization for the inner-frame of subsea flange connection tool. Key Engineering Materials, 2010:197-200P
[21]蔡业彬.模块化设计方法及其在机械设计中的应用.机械设计与制造,2005
[22]王艳彩.基于CAD/CAE的撬块结构快速设计的研究.天津大学学位论文,2007：24-27页
[23]陈曦,隆学武.装备制造：凭什么决胜未来.装备制造,2009：24-28页
[24]郑建荣.虚拟样机技术入门与提高.北京：机械工业出版社,2002：26页
[25]Yang Jingzhou, Karim A M. Design propagation inkinematics of mechanical systems. Mechanism andMachine Theory,2007:807-824P
[26]袁清珂,张明天,刘大慧,唐文艳,吕文阁.空间机构计算机建模与分析方法.清华大学学报(自然科学版),2009
[27]Chinnam R B. On-line reliability estimation for individual components using statistical degradation signal models. Quality and Reliability Engineering International,2002:53-73P
[28]Run Dang Yang, XiuMin Fan, DianLiang Wu, etc. Virtual assembly technologies based on constraint and DOF analysis. Robotics and Computer-Integrated Manufacturing. Available online,2006
[29]濮良贵,纪明刚.机械设计.北京：高等教育出版社,2004：66-268页
[30]徐灏.机械设计手册(第3卷).机械工业出版社,1991：60-63页
[31]贾文友,刘莉,徐振法.机械产品设计中基于材料替代的成本控制.轻工机械,2009
[32]周长江,唐进元,吴运新.齿根应力与轮齿弹性变形的计算方法进展与比较研究.机械传动,2004
[33]陈英.圆柱齿轮的抗传动失效研究与设计.装备制造技术,2009：5-6,11页
[34]武拴男,杨兆建.机械可靠性设计有关问题探讨与应用研究.机械工程与自动化,2009
[35]Arsenault M, Gosselin C M. Kinematic, Static and Dynamic Analysis of a Planar 2-DOF Tensegrity Mechanism. Mechanism and Machine Theory, 2006:1072-1089P
[36]朱伯芳,黎展眉,张壁城编著.结构优化设计原理与应用.水利电力出版社,1984
[37]谢祚水.结构优化设计概论.北京：国防工业出版社,1997：67-78页
[38]魏茜茹.推动三维设计实现设计手段飞跃——计算机辅助设计三维设计是方向[J].中国勘察设计,2009,(11)：32-34
[39]秦宇编著ANSYS 11.0基础与实例教程.化学工业出版社,2009
[40]LI Fabin, FANG Kun, LI Hechao. Application of ANSYS 3D FEM in Studies of Surface Deformation Caused by Pipe Jacking. Wuhan University Journal of Natural Sciences.2007:633P
[41](美)Saeed Moaveni著.有限元分析ANSYS理论与应用theory and application with ANSYS.电子工业出版社,2005
[42]盖超会,冯磊,董宇涵.基于ANSYS对非标准封板的应力线性化分析.石油化工设备技术,2009
[43]杨志慧,宁成钢,叶盛焱.柴油机曲轴静力学有限元分析.汽车科技,2007：38页
[44]Saeed Moaveni. Finite Element Analysis Theory and Application with ANSYS. Pearson Education,2003:505-506P
[45]尚晓江,邱峰,赵海峰等编著ANSYS结构有限元高级分析方法与范例应用.中国水利水电出版社,2008
[46]蔡荣泉.船舶计算流体力学的发展与应用.船舶,2002
[47]W.C.Jiang, J.M. Gong, J.Q. Tang, H. Chen, and S.T. Tu.3-D finite element analysis of the effect of welding residual stress on hydrogen diffusion in hydrogen contained environment.2007:347-354P
[48]李勇,刘志友,安亦然.介绍计算流体力学通用软件—Fluent水动力学研究与进展(A辑),2001
[49]M.Gertler, G.Hagen.Standard equation of motion for submarine simulation. Report 2510, David W. Taylor Naval Ship Research and Development Center.1967
[50]Thor I. Fossen. Guidance and control of Ocean Vehicles.1994
[51]张小波.浅水轻型AUV原理样机初步设计与实验.中国海洋大学硕士学位论文,2007：39页
[52]薛兆鹏.基于流场和结构优化的搅拌桨设计/制造集成技术研究.天津大学,2003
[53]V. Stephane. Local mesh refinement and penalty methods dedicated to the Direct Numerical Simulation of incompressible multiphase flows. Proceedings of the ASME/JSME Joint Fluids Engineering Conference, 2003:1299-1305P
[54]M.B. Abbott, D.R. Basco. Computational Fliud Dynamics-An Introduction for Engineers.Harlow, England:Longman Scientific&Technical,1989
[55]Marzio Piller, Enrico Nobile, JThomas. DNS study of turbulent transport at low Prandtl number in a channel flow Journal of Fluid Mechanics. 2002:419-441P
[56]V. Michelassi, J.Gwissink, W. Rodi. Direct numerical simulation, large eddy simulation and unsteady Reynolds-averaged Navier-Stokes simulations of periodic unsteady flow in a low-preSsure turbine cascade:A comparison. Journal of Power and Energy,2003:403-412P
[57]H K Yersteeg,W Malalasekera. The Finite Volume Method. New York,1995
[58]李云波,陈康,黄德波.三体船粘性阻力计算与计算方法比较.水动力学研究与进展(A辑),2005
[2]王立忠.论我国海洋石油工程技术的现状与发展.中国海洋平台,2006：12-13页
[3]安飞.深海石油承载中国能源之未来.中国船检,2006：42-43页
[4]阳连丰,彭艳.我国海洋油气开发面临的历史机遇.2006年度海洋工程学术会议论文集,2006：43-44页
[5]刘淮.国外深海技术发展研究(上).船艇Ships&Yachts.第258期.2006：8页
[6]许肖梅.海洋技术概论.北京：科学出版社,2000：71-81页
[7]王金英.我国海底油气管道工程的发展和特点.特种结构,2009：12-14页
[8]焦向东,周灿丰.21世纪海洋工程连接技术的挑战与对策.焊接学报,2007：1-4页
[9]123344455555
[10]G.Corbetta, R.Cruden, C.Mock. Brutus Tie_in System For Rigid And Fexible Line:Operstional Feedback. OMC 2001. March 28-30,2001:1-10P
[11]Giovanni Corbetta & David S. Cox. Deepwater Tie-ins of Rigid Lines: Horizontal Spools or Vertical Jumpers.1999 Offshore Europe Conference.1999:2-3P
[12]G.Corbetta, R.Cruden. A New Approach to Capex and Opex Reducation:An Integrated System for Remote Tie_ins and Pipeline Repair. Offshore Technology Conference.2000:4-7P
[13]Vincent Alliot, Ian Frazer. Tie in system uses low-cost flanges on deepwater girassol development. Oil&Gas Journal. May 6,2002:96-104P
[14]GILES, John, Stephen. REMOTE BOLTED FLANGE CONNECTION APPARATUS AND METHODS OF OPERATION THEREOF. Stolt Offshore Limited.2001:3-39P
[15]Stolt Offshore Limited. Deepwater Flanged Joint Pipeline Tie-ins. Offshore Technology.2002:28-30P
[16]Mikagawa, T. Fukui, Tsutomu.10000-meter class deep sea ROV KAIKO and underwater operations. Proceedings of the International Offshore and Polar Engineering Conference,v2,1999:388-394P
[17]贾文友,刘莉,王幼民.机构创新设计在型面联接中应用研究.安徽工程科技学院学报(自然科学版),2009
[18]吴旭维.深海管道自动法兰连接机具关键技术研究.哈尔滨工程大学硕士学位论文.2007：36-37页
[19]李伟.深水法兰连接机具的结构设计及水下稳定性分析.哈尔滨工程大学硕士学位论文.2008：61-63页
[20]Li Zhi-Gang, Lin Qiu-Hong. The structural design and optimization for the inner-frame of subsea flange connection tool. Key Engineering Materials, 2010:197-200P
[21]蔡业彬.模块化设计方法及其在机械设计中的应用.机械设计与制造,2005
[22]王艳彩.基于CAD/CAE的撬块结构快速设计的研究.天津大学学位论文,2007：24-27页
[23]陈曦,隆学武.装备制造：凭什么决胜未来.装备制造,2009：24-28页
[24]郑建荣.虚拟样机技术入门与提高.北京：机械工业出版社,2002：26页
[25]Yang Jingzhou, Karim A M. Design propagation inkinematics of mechanical systems. Mechanism andMachine Theory,2007:807-824P
[26]袁清珂,张明天,刘大慧,唐文艳,吕文阁.空间机构计算机建模与分析方法.清华大学学报(自然科学版),2009
[27]Chinnam R B. On-line reliability estimation for individual components using statistical degradation signal models. Quality and Reliability Engineering International,2002:53-73P
[28]Run Dang Yang, XiuMin Fan, DianLiang Wu, etc. Virtual assembly technologies based on constraint and DOF analysis. Robotics and Computer-Integrated Manufacturing. Available online,2006
[29]濮良贵,纪明刚.机械设计.北京：高等教育出版社,2004：66-268页
[30]徐灏.机械设计手册(第3卷).机械工业出版社,1991：60-63页
[31]贾文友,刘莉,徐振法.机械产品设计中基于材料替代的成本控制.轻工机械,2009
[32]周长江,唐进元,吴运新.齿根应力与轮齿弹性变形的计算方法进展与比较研究.机械传动,2004
[33]陈英.圆柱齿轮的抗传动失效研究与设计.装备制造技术,2009：5-6,11页
[34]武拴男,杨兆建.机械可靠性设计有关问题探讨与应用研究.机械工程与自动化,2009
[35]Arsenault M, Gosselin C M. Kinematic, Static and Dynamic Analysis of a Planar 2-DOF Tensegrity Mechanism. Mechanism and Machine Theory, 2006:1072-1089P
[36]朱伯芳,黎展眉,张壁城编著.结构优化设计原理与应用.水利电力出版社,1984
[37]谢祚水.结构优化设计概论.北京：国防工业出版社,1997：67-78页
[38]魏茜茹.推动三维设计实现设计手段飞跃——计算机辅助设计三维设计是方向[J].中国勘察设计,2009,(11)：32-34
[39]秦宇编著ANSYS 11.0基础与实例教程.化学工业出版社,2009
[40]LI Fabin, FANG Kun, LI Hechao. Application of ANSYS 3D FEM in Studies of Surface Deformation Caused by Pipe Jacking. Wuhan University Journal of Natural Sciences.2007:633P
[41](美)Saeed Moaveni著.有限元分析ANSYS理论与应用theory and application with ANSYS.电子工业出版社,2005
[42]盖超会,冯磊,董宇涵.基于ANSYS对非标准封板的应力线性化分析.石油化工设备技术,2009
[43]杨志慧,宁成钢,叶盛焱.柴油机曲轴静力学有限元分析.汽车科技,2007：38页
[44]Saeed Moaveni. Finite Element Analysis Theory and Application with ANSYS. Pearson Education,2003:505-506P
[45]尚晓江,邱峰,赵海峰等编著ANSYS结构有限元高级分析方法与范例应用.中国水利水电出版社,2008
[46]蔡荣泉.船舶计算流体力学的发展与应用.船舶,2002
[47]W.C.Jiang, J.M. Gong, J.Q. Tang, H. Chen, and S.T. Tu.3-D finite element analysis of the effect of welding residual stress on hydrogen diffusion in hydrogen contained environment.2007:347-354P
[48]李勇,刘志友,安亦然.介绍计算流体力学通用软件—Fluent水动力学研究与进展(A辑),2001
[49]M.Gertler, G.Hagen.Standard equation of motion for submarine simulation. Report 2510, David W. Taylor Naval Ship Research and Development Center.1967
[50]Thor I. Fossen. Guidance and control of Ocean Vehicles.1994
[51]张小波.浅水轻型AUV原理样机初步设计与实验.中国海洋大学硕士学位论文,2007：39页
[52]薛兆鹏.基于流场和结构优化的搅拌桨设计/制造集成技术研究.天津大学,2003
[53]V. Stephane. Local mesh refinement and penalty methods dedicated to the Direct Numerical Simulation of incompressible multiphase flows. Proceedings of the ASME/JSME Joint Fluids Engineering Conference, 2003:1299-1305P
[54]M.B. Abbott, D.R. Basco. Computational Fliud Dynamics-An Introduction for Engineers.Harlow, England:Longman Scientific&Technical,1989
[55]Marzio Piller, Enrico Nobile, JThomas. DNS study of turbulent transport at low Prandtl number in a channel flow Journal of Fluid Mechanics. 2002:419-441P
[56]V. Michelassi, J.Gwissink, W. Rodi. Direct numerical simulation, large eddy simulation and unsteady Reynolds-averaged Navier-Stokes simulations of periodic unsteady flow in a low-preSsure turbine cascade:A comparison. Journal of Power and Energy,2003:403-412P
[57]H K Yersteeg,W Malalasekera. The Finite Volume Method. New York,1995
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