海底油气水平管道连接器关键技术研究
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摘要
海底油气水平管道连接器是深海油气管道系统应用广泛的一种快速连接装置,能够快速、准确地进行连接。水平管道连接器适用于各种软管的连接,经过多年的研究与发展,国外已经形成系列化商品。
本文主要目的是针对海底油气水平管道连接器的工作特点,进行水平管道连接器关键技术的研究,根据设计要求,研制一台适用于12海底油气管道的水平连接器。
本文介绍了国内外海底油气水平管道连接器的发展现状,总结了管道连接器的工作原理以及实现方式。通过对国外系列化水平管道连接器工作原理的分析,提出了海底油气水平管道连接器的总体方案,对机械结构、密封方式以及液压控制系统进行初步设计。
对水平管道连接器的机械结构进行了详细设计,根据其设计要求,对主要零部件进行强度校核；根据密封要求,对其密封设计进行接触分析,得出密封圈实现密封的压缩量,从而确定出液压系统同步油缸的行程。
根据水平管道连接器实际的工作环境和条件确定了液压系统的动力源参数。进行了连接机构液压伺服同步系统的方案研究,推导出了阀控对称液压缸电液数字伺服系统的传递函数,并对其主要性能进行了仿真分析,并引入PID控制器,对双缸同步控制进行调节,使同步误差控制在系统允许范围内。
The subsea oil & gas horizontal pipe collet connection is a fast connection device, which is used in subsea oil pipe system. It can connect pipes fast and accurately. The horizontal pipe collet connection can be used on connection of various kinds of soft tube. Through many years of research and development, series product is being made now.
The purpose of this paper is the design of the horizontal pipe collet connection based on the subsea oil & gas horizontal pipe collet connection work performance. A horizontal pipe collet connection was designed according to design requirements, which could used for connecting 12" oil pipe.
The current development situation domestic and overseas of the subsea oil &gas horizontal pipe collet connection was introduced in this paper, working principle and realization fashion of the horizontal pipe collet connection were concluded in addition. Based on the analysis of series product abroad working principles, the overall scheme of the subsea oil & gas horizontal pipe collet connection was offered. Then, mechanical structure, sealing mode and hydraulic control system were initial designed.
Mechanical structure of the horizontal pipe collet connection was detailed design. The strength calibration for main components was done according to design requirements; Contact analysis for sealed design was done based on the seal requirements, exact amount of compression of metal seal ring was obtained, then hydraulic system travel was confirmed.
The power source parameters of the hydraulic system were confirmed according to the actual working environment and condition of the horizontal pipe collet connection. The connecting mechanism Electro-hydraulic position-servo synchronization system was researched, and transfer function of symmetric servo controlling oil-cylinder eletro-hydraulic servo system was derived. Simulation analysis of its main performance was done, and PID controller was applied to the system. Two hydraulic cylinder synchronization control was regulated, make sure synchronization error was all within the allowable ranges.
本文主要目的是针对海底油气水平管道连接器的工作特点,进行水平管道连接器关键技术的研究,根据设计要求,研制一台适用于12海底油气管道的水平连接器。
本文介绍了国内外海底油气水平管道连接器的发展现状,总结了管道连接器的工作原理以及实现方式。通过对国外系列化水平管道连接器工作原理的分析,提出了海底油气水平管道连接器的总体方案,对机械结构、密封方式以及液压控制系统进行初步设计。
对水平管道连接器的机械结构进行了详细设计,根据其设计要求,对主要零部件进行强度校核；根据密封要求,对其密封设计进行接触分析,得出密封圈实现密封的压缩量,从而确定出液压系统同步油缸的行程。
根据水平管道连接器实际的工作环境和条件确定了液压系统的动力源参数。进行了连接机构液压伺服同步系统的方案研究,推导出了阀控对称液压缸电液数字伺服系统的传递函数,并对其主要性能进行了仿真分析,并引入PID控制器,对双缸同步控制进行调节,使同步误差控制在系统允许范围内。
The subsea oil & gas horizontal pipe collet connection is a fast connection device, which is used in subsea oil pipe system. It can connect pipes fast and accurately. The horizontal pipe collet connection can be used on connection of various kinds of soft tube. Through many years of research and development, series product is being made now.
The purpose of this paper is the design of the horizontal pipe collet connection based on the subsea oil & gas horizontal pipe collet connection work performance. A horizontal pipe collet connection was designed according to design requirements, which could used for connecting 12" oil pipe.
The current development situation domestic and overseas of the subsea oil &gas horizontal pipe collet connection was introduced in this paper, working principle and realization fashion of the horizontal pipe collet connection were concluded in addition. Based on the analysis of series product abroad working principles, the overall scheme of the subsea oil & gas horizontal pipe collet connection was offered. Then, mechanical structure, sealing mode and hydraulic control system were initial designed.
Mechanical structure of the horizontal pipe collet connection was detailed design. The strength calibration for main components was done according to design requirements; Contact analysis for sealed design was done based on the seal requirements, exact amount of compression of metal seal ring was obtained, then hydraulic system travel was confirmed.
The power source parameters of the hydraulic system were confirmed according to the actual working environment and condition of the horizontal pipe collet connection. The connecting mechanism Electro-hydraulic position-servo synchronization system was researched, and transfer function of symmetric servo controlling oil-cylinder eletro-hydraulic servo system was derived. Simulation analysis of its main performance was done, and PID controller was applied to the system. Two hydraulic cylinder synchronization control was regulated, make sure synchronization error was all within the allowable ranges.
引文
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[14]http://www.hydratight.com/en/products/morgrip/topside/2000-series
[15]Anon.Deepwater flanged joint pipeline tie-ins[J].Journal of Offshore Technology,2001.9(2):28-30P
[16]http://www.oilonline.com/news/features/oe/20040401.Scaling_.14214.asp
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[19]http://www.c-a-m.com/content/products/product_detail.cfm?pid=2809&bunit =dps
[20]http://www.oilstates.com/fw/main/Collet-Connector-Systems-631.html
[21]http://www.fmctechnologies.com/
[22]Jerzy Hapanowicz. Slip between the phases in two-phase water-oil flow in a horizontal pipe.[J] International Journal of Multiphase Flow, Volume 34, Issue 6, June 2008, Pages 559-566
[23]王海萍,于彬,谢维维.维特利接头在海洋石油平台管道系统中的应用[J].天津航海.2008.(3)
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[26]顾永泉著.机械密封实用技术.北京：机械工业出版社.2001.08.10-22页
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[30]黄志坚编著.现代密封技术应用.北京-机械工业出版社.2008.10-23页
[31]何新智,李德才,孙明礼等.大直径法兰磁性液体静密封的实验研究[J].真空科学与技术学报.2008.28(2)
[32]顾伯勤,陈晔.高温螺栓法兰连接的紧密性评价方法[J].润滑与密封.2006.(6)
[33]Metal seal works on worn and damaged flanges.[J] Sealing Technology, Volume 2007. Issue 11, November 2007. Page 2
[34]孙奎.超高压液压缓冲装置中金属密封圈的计算机辅助设计[D].1998.
[35]王庆峰,何立东.回转式空气预热器接触式柔性密封可靠性设计[J].热能动力工程.2009.24(4)
[36]肖林京,隋秀华,苗德俊.基于ANSYS的带式输送机传动滚筒疲劳寿命分析研究[J].煤矿机械.2008.29(11)
[37]张利平编著.液压控制系统及设计.北京：化学工业出版社.2006.114-179页
[38]张莉松,胡祐德,徐立新编著.伺服系统原理与设计.北京：北京理工大学出版社.2006.87-135页
[39]李壮云主编.液压元件与系统.第二版.北京：机械工业出版社.2005.78-224页
[40]倪敬,项占琴,潘晓弘等.多缸同步提升电液系统建模和控制[J].机械工程学报.2006.42(11)
[41]花克勤.伺服液压缸设计制造中的几点思考[J].液压气动与密封.2002.(5)
[42]毛卫平主编.液压阀.北京：化学工业出版社.2009.37-82页
[43]陈柏松,伍先俊,李兢.基于Simscape的2级双作用液压缸的建模仿真研究[J].机械制造.2009.47(4)
[44]关肇勋,黄奕振编.实用液压回路.上海：上海科学技术文献出版社.1982.06.187-189页
[45]董金波.深水管道轴向对准工具控制系统的研究[D].2009.
[46]龚跃明.电液数字伺服同步系统的研究[D].2007.
[47]S. Karunanidhi, M. Singaperumal. Design, analysis and simulation of magnetostrictive actuator and its application to high dynamic servo valve[J]. Sensors and Actuators A: Physical, In Press, Corrected Proof, Available online 24 November 2009
[48]王春行主编.液压伺服控制系统.北京：机械工业出版社.1981.07.57-84页
[49]陈新元,蔡钦,湛从昌等.液压伺服液压缸静动态性能测试系统开发[J].液压与气动,2008,(12)
[50]宋志安编著.基于MATLAB的液压伺服控制系统分析与设计.北京：国防工业出版社.2007.103-165页
[51]刘白雁,陈新元,傅连东编.机电系统动态仿真基于MATLAB/Simulink北京：机械工业出版社.2005.155-159页
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[58]New metal bellows mechanical seal introduced. Sealing Technology, Volume 2008, Issue 4, April 2008, Page 2
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[2]Neil Woodward.Developments in diverless subsea welding[J].Welding Journal (Miami, Fla).2006,85(10):35-39.
[3]董绍华.全球油气管道完整性技术与管理的最新进展与中国管道的对策[A].2006年全国失效分析与安全生产高级研讨会论文集[C].2006.
[4]蒲明.中国油气管道发展现状及展望[J].国际石油经济,2009,17(3)
[5]马陈勇,赵继文,宋文强.水下焊接技术在海洋工程中的应用及发展趋势[A].第十三届中国海洋(岸)工程学术讨论会论文集[C].2007.
[6]王中辉,齐铂金,蒋力培等.高压干法水下焊接技术发展现状[J].焊接,2005,(10)
[7]时黎霞,李志刚,赵冬岩等.海底管道回接技术[J].天然气工业,2008,28(5)
[8]杨正中,李育磊,杨旭.卡箍式柔性管道连接技术[J].中国油脂,2007,32(9)
[9]宋剑,何勇,沈照伟等.单点系泊海洋平台结构管节点强度校核与可靠性分析[J].中国海洋平台,2004,19(4)
[10]O.M.Akselsen, R.Aune, H.Fostervoll.Dry hyperbaric welding of subsea pipelines[J]. Welding Journal (Miami, Fla).2006,85(6):52-55.
[11]Vincent Alliot, Ian Frazer. Tie in system uses low-cost flanges on deepwater girassol development. Oil&Gas Journal. May 6,2002:96-104P
[12]Stolt Offshore Limited. Deepwater Flanged Joint Pipeline Tie-ins. Offshore Technology.2002:28-30P
[13]GILES, John, Stephen. REMOTE BOLTED FLANGE CONNECTION APPARATUS AND METHODS OF OPERATION THEREOF. Stolt Offshore Limited.2001:3-39P
[14]http://www.hydratight.com/en/products/morgrip/topside/2000-series
[15]Anon.Deepwater flanged joint pipeline tie-ins[J].Journal of Offshore Technology,2001.9(2):28-30P
[16]http://www.oilonline.com/news/features/oe/20040401.Scaling_.14214.asp
[17]李伟.深水法兰连接机具的结构设计及水下稳定性分析[D].2008.4-6页
[18]Dean Deng, Kazuo Ogawa, Shoichi Kiyoshima, Nobuyoshi Yanagida, Koichi Saito. Prediction of residual stresses in a dissimilar metal welded pipe with considering cladding, buttering and post weld heat treatment.[J] Computational Materials Science, Volume 47, Issue 2, December 2009, Pages 398-408
[19]http://www.c-a-m.com/content/products/product_detail.cfm?pid=2809&bunit =dps
[20]http://www.oilstates.com/fw/main/Collet-Connector-Systems-631.html
[21]http://www.fmctechnologies.com/
[22]Jerzy Hapanowicz. Slip between the phases in two-phase water-oil flow in a horizontal pipe.[J] International Journal of Multiphase Flow, Volume 34, Issue 6, June 2008, Pages 559-566
[23]王海萍,于彬,谢维维.维特利接头在海洋石油平台管道系统中的应用[J].天津航海.2008.(3)
[24]顾伯勤,李新华,田争编著.静密封设计技术.北京：中国标准出版社.2004.93-95页
[25]Ranil Banneyake,Jason Sun,Paul Jukes.Analytical Estimation of Pretension Requirement to Inner Pipe of Pipe-in-Pipe Flowline in Ultra Deep Water Using J-Lay Installation[A].2009 Offshore Technology Conference[C].2009.
[26]顾永泉著.机械密封实用技术.北京：机械工业出版社.2001.08.10-22页
[27]张朝晖主编ANSYS 11.0结构分析工程应用实例解析.第二版.北京：机械工业出版社.2008.394-414页
[28]徐至钧编著.管道工程设计与施工手册.北京：中国石化出版社.2005.88-102页
[29]王致祥,梁志钊等编.管道应力分析与计算.第2版.中国电力出版社.2008.06.117-125页
[30]黄志坚编著.现代密封技术应用.北京-机械工业出版社.2008.10-23页
[31]何新智,李德才,孙明礼等.大直径法兰磁性液体静密封的实验研究[J].真空科学与技术学报.2008.28(2)
[32]顾伯勤,陈晔.高温螺栓法兰连接的紧密性评价方法[J].润滑与密封.2006.(6)
[33]Metal seal works on worn and damaged flanges.[J] Sealing Technology, Volume 2007. Issue 11, November 2007. Page 2
[34]孙奎.超高压液压缓冲装置中金属密封圈的计算机辅助设计[D].1998.
[35]王庆峰,何立东.回转式空气预热器接触式柔性密封可靠性设计[J].热能动力工程.2009.24(4)
[36]肖林京,隋秀华,苗德俊.基于ANSYS的带式输送机传动滚筒疲劳寿命分析研究[J].煤矿机械.2008.29(11)
[37]张利平编著.液压控制系统及设计.北京：化学工业出版社.2006.114-179页
[38]张莉松,胡祐德,徐立新编著.伺服系统原理与设计.北京：北京理工大学出版社.2006.87-135页
[39]李壮云主编.液压元件与系统.第二版.北京：机械工业出版社.2005.78-224页
[40]倪敬,项占琴,潘晓弘等.多缸同步提升电液系统建模和控制[J].机械工程学报.2006.42(11)
[41]花克勤.伺服液压缸设计制造中的几点思考[J].液压气动与密封.2002.(5)
[42]毛卫平主编.液压阀.北京：化学工业出版社.2009.37-82页
[43]陈柏松,伍先俊,李兢.基于Simscape的2级双作用液压缸的建模仿真研究[J].机械制造.2009.47(4)
[44]关肇勋,黄奕振编.实用液压回路.上海：上海科学技术文献出版社.1982.06.187-189页
[45]董金波.深水管道轴向对准工具控制系统的研究[D].2009.
[46]龚跃明.电液数字伺服同步系统的研究[D].2007.
[47]S. Karunanidhi, M. Singaperumal. Design, analysis and simulation of magnetostrictive actuator and its application to high dynamic servo valve[J]. Sensors and Actuators A: Physical, In Press, Corrected Proof, Available online 24 November 2009
[48]王春行主编.液压伺服控制系统.北京：机械工业出版社.1981.07.57-84页
[49]陈新元,蔡钦,湛从昌等.液压伺服液压缸静动态性能测试系统开发[J].液压与气动,2008,(12)
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