不压井修井作业机械化装置液压系统设计与仿真
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摘要
本文以不压井修井作业机械化装置为研究对象,根据其系统方案、整机的工作原理以及其作业流程的要求,提出了整机液压系统的设计要求,并对其各个执行机构的运动以及负载进行工况分析。在此基础上,根据计算及相关设计要求经验,确定主机液压系统参数、拟定液压系统图并选定各液压元件、油箱组件以及液压泵组,并合理设计其安装结构、排布系统管路,完成不压井修井作业机的样机液压泵站及控制台的设计。
针对不压井作业机液压系统动态性能要求研究其液压系统的建模理论,应用解析法进行建模,对大臂起升、扶正手液压系统和井架起升系统进行分析并将其简化为阀控非对称缸和定量泵—溢流阀等液压单元,建立其数学模型为仿真试验奠定理论基础。
基于AMESim软件搭建大臂起升系统、扶正手系统和井架起升系统的仿真模型并进行变参数仿真试验。对试验结果进行分析,从而掌握液压系统的动态特性及系统参数随时间的变化情况,并为系统的优化设计提供合理化建议,为实际液压系统的搭建提供了理论支持。
Studying on the mechanized snubbing workover equipment, this paper proposed thedesigned requirements of its hydraulic system based on the system project, the operatingprinciple and the workflow, also carried out the working conditions analysis of its executivemechanism load and movement. On the basis of all above, according to the calculation and therelated designed experience of this hydraulic system, this paper accomplished calculating theparameters and sketching up the hydraulic system diagram of its hydraulic system, alsoaccomplished selecting the components of the hydraulic power pack and hydraulic pumpgroups and layouting the rational system pipeline, in the end finished designing the hydraulicpump station structures of the mechanized snubbing workover equipment .
On the basis of the theoretical research of the snubbing workover hydraulic systemdynamic characteristics, this paper built the mathematical models of the big arm system, theaided manipulator system and the derrick system through the analytical modeling method, andsimplified them as Hvalve controlled asymmetric cylinderHand quantitative pump - relief valveand other hydraulic units, it used for the simulation as the theoretical foundation.
The simulation models of the big arm system, the aided manipulator system and thederrick system were built through the AMESim software to simulate by setting up theexperiment parameters. The test results were analyzed in order to master the dynamiccharacteristics of hydraulic systems and system parameters changes over time and proposerational suggestion for the hydraulic system optimal design, The curve also provides atheoretical reference for the actual structures of the hydraulic system.
针对不压井作业机液压系统动态性能要求研究其液压系统的建模理论,应用解析法进行建模,对大臂起升、扶正手液压系统和井架起升系统进行分析并将其简化为阀控非对称缸和定量泵—溢流阀等液压单元,建立其数学模型为仿真试验奠定理论基础。
基于AMESim软件搭建大臂起升系统、扶正手系统和井架起升系统的仿真模型并进行变参数仿真试验。对试验结果进行分析,从而掌握液压系统的动态特性及系统参数随时间的变化情况,并为系统的优化设计提供合理化建议,为实际液压系统的搭建提供了理论支持。
Studying on the mechanized snubbing workover equipment, this paper proposed thedesigned requirements of its hydraulic system based on the system project, the operatingprinciple and the workflow, also carried out the working conditions analysis of its executivemechanism load and movement. On the basis of all above, according to the calculation and therelated designed experience of this hydraulic system, this paper accomplished calculating theparameters and sketching up the hydraulic system diagram of its hydraulic system, alsoaccomplished selecting the components of the hydraulic power pack and hydraulic pumpgroups and layouting the rational system pipeline, in the end finished designing the hydraulicpump station structures of the mechanized snubbing workover equipment .
On the basis of the theoretical research of the snubbing workover hydraulic systemdynamic characteristics, this paper built the mathematical models of the big arm system, theaided manipulator system and the derrick system through the analytical modeling method, andsimplified them as Hvalve controlled asymmetric cylinderHand quantitative pump - relief valveand other hydraulic units, it used for the simulation as the theoretical foundation.
The simulation models of the big arm system, the aided manipulator system and thederrick system were built through the AMESim software to simulate by setting up theexperiment parameters. The test results were analyzed in order to master the dynamiccharacteristics of hydraulic systems and system parameters changes over time and proposerational suggestion for the hydraulic system optimal design, The curve also provides atheoretical reference for the actual structures of the hydraulic system.
引文
[1]蔡彬等.不压井修井作业装备发展现状分析[J].钻采工艺,2008,31(6):106~109.
[2]王方飞,李金祥.液压不压井修井机的发展现状及趋势[J].石油机械,1997,25(5).
[3]赵建国,李友军,陈兰明等.不压井作业设备引进技术研究[J].石油矿场机械,2004,33(6):104~107.
[4]常玉连,肖易平,高胜等.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(5):62~67.
[5]谢永金,曹立明.新型不压井作业设备的研究[J].石油机械,2007,35(9):161~164.
[6]陈蔚茜,穆延旭等.国外不压井作业机[J].石油机械,2005,33(1):63~65.
[7] Dicky Robichaux."Quick-Rigup HUW Barge-Assist Operations in the Gulf of Thailand",Society of Petroleum Engineers.2008:4-2.
[8] Steve Folk.MOBILE SNUBBING SYSTEM:美国,7469749B2[P].2008:12-30.
[9] Sandeep hurana,GranhemeInc."Well Intervention Using Rigless Techniques",Offshore Technology Conference.2003:5-8.
[10] Steve Wehrenberg."The Design and Application of Snubbing Units for an HP/HT Environment",Society of Petroleum Engineers.2010.
[11]华东石油学院矿机教研室.石油钻采机械[M].北京:石油工业出版社,1984.210~225.
[12]尹永晶,杨汉立.石油修井机[M].北京:石油工业出版社,2003:1~15.
[13]张利平.液压传动系统及设计[M].北京:化学工业出版社,2005.103.
[14] (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[M].北京:高等教育出版社,1996:1~140.
[15]陈奎生.液压与气压传动[M].武汉:武汉理工大学出版社,2007.107~118.
[16] Engelhard J.Thermal simulation of an aircraft fluid power system with hydraulic-electrical power conversion units.Proc.of 1st FPNI-PhD Symp [C].2000:435- 448.
[17]王学利.高压注水井带压作业防喷密封技术研究[D].大庆:大庆石油学院,2007.
[18]许贤良,王传礼.液压传动[M].北京:国防工业出版社,2006.276~277.
[19]张利平.液压传动系统及设计[M].北京:化学工业出版社,2005.103.
[20]明仁雄,万会雄.液压与气压传动[M].北京:国防工业出版社,2003.182~185.
[21]张利平.液压站[M].北京:化学工业出版社,2008.51-52.
[22]曹小忠,孟海忠.液压泵站设计与使用中一些问题的分析[J].液压与气动,2006(8),71~72.
[23]智润芳.液压系统开式油箱的设计及结构改进[J].机械工程与自动化,2005(6),106~107.
[24]游善兰.开式液压油箱设计方法[J].液压液力,2002(2),28~29.
[25]井夫宣,刘虎,田敬刚,等.液压系统储备油箱的设计与应用[J].液压与气动,2007(4),68.
[26]李红船,冯钟绪,李飞舟.液压系统开式油箱设计[J].起重运输机械,2007(12),58~61.
[27]刘海丽.基于AMESim的液压系统建模与仿真技术研究[D].西北工业大学,2006.
[28]张传才.液压动力系统建模与实验研究[D].西安建筑科技大学,2008.
[29]缪雄.混凝土泵液压系统动态建模与仿真[J].系统仿真学报,2001,12(5):129~134.
[30] Pobedza J.Fluid aeration as an essential problem in modeling of hydraulic systems.In:Garbacik A,Stecki J (Editors) .Developments in Fluid Power Control of Machinery and Manipulators.Cracow:Fluid Power Net Publication 2000.
[31]宋志安.基于MATLAB的液压伺服控制系统分析与设计[M].北京:国防工业出版社,2007.14~28.
[32]李永堂,雷步芳,高雨茁.液压系统建模与仿真[M].北京:冶金工业出版社,2003.6~32.
[33]刘增光.连轧管机液压压下系统设计及动态特性仿真研究[D].太原理工大学,2008.
[34]王中双.键合图理论及其在系统动力学中的应用[M].哈尔滨:哈尔滨工程大学出版社,2007.60~76.
[35]杨典作.LG660挖掘机液压传动系统研究[D].吉林大学,2009.
[36]李成功,和彦淼.液压系统建模与仿真分析[M].北京:航空工业出版社,2008.14~28.
[37] Li C G,Jiao Z X.Thermal-hydraulic Modeling and Simulation of Piston Pump.航空学报,2006.
[38]杨叔子,杨克冲.机械工程控制基础[M].武汉:华中科技大学出版社,2002.26~55.
[39] Torben O A,Michael R H.Fluid Power Systems,Modeling and Analysis.Aalborg University.2nd Edition,March 2003.
[40] Peter K.Modeling and Simulation of Heterogenous Engineering Systems.Depatment of Mechanical Engineering.Linkoping University,Linkoping,Sweden,2002.
[41]多学科领域复杂系统仿真平台——AMESIM软件功能简介[J]. CAD/CAM与制造业信息化,2005(12).
[42]付永领,祁晓野.AMESim系统建模和仿真——从入门到精通[M].北京:北京航空航天大学出版社,2005.18~44.
[43]谢建,罗治军等.基于AMESim的导弹起竖系统建模与仿真[J].流体传动与控制,2009,9 (5).13~15.
[44] Murrenhoff H.Grundlagen der Fluidtechnik.Teil 1:Hydrsulik.2.Aufl,Aachen:Verlag Mainz 1998.
[45] Iliff K W.Parameter estimation for flight vehicle.Guidance and Control,1989,12 (5):609-622.
[46]林躜,黄方平.AMESim/Matlab的仿真及其在单向阀优化设计中的应用[J].液压气动与密封,2006(2):15~16.
[47]朱仁学.大型构件压力试验机电液伺服力控制系统建模与仿真[J].液压气动与密封,2008,28(6):16~18.
[48] M Krishna,J Bares. Hydraulic system modeling through memory-based learning. IEEE/RSJ International Confernce on Intelligent Robots and Systems,IEEE,October,1998:1733-1738.
[49]杨国平,杨襄璧.液压系统计算机仿真的病态问题[J].凿岩机械气动工具.1998(1),43~45.
[50]林躜,黄方平. AMESim/Matlab的仿真及其在单向阀优化设计中的应用[J].液压气动与密封,2006(2):15~16.
[51]余佑官,龚国芳,胡国良. AMESim仿真技术及其在液压系统中的应用[J].液压气动与密封,2005(3):28~31.
[52]郭军,吴亚峰. AMESim仿真技术在飞机液压系统中的应用[J].计算机辅助工程,2006(2):42~45.
[53]赵航.蓄能器减小液压驱动系统液压冲击的试验研究[D].长安大学,2006.
[54]王瑜,林立,姜建胜.基于AMESim液压盘式刹车系统建模与仿真研究[J].石油机械,2008(9):31~35.
[55]杨非,雷金柱.基于AMESim的工程车辆液压悬架系统仿真[J].液压气动与密封,2008,28(2):31~34.
[56]肖岱宗.AMESim仿真技术及其在液压元件设计和性能分析中的应用[J].舰船科学技术,2007,29 (1).142~145.
[2]王方飞,李金祥.液压不压井修井机的发展现状及趋势[J].石油机械,1997,25(5).
[3]赵建国,李友军,陈兰明等.不压井作业设备引进技术研究[J].石油矿场机械,2004,33(6):104~107.
[4]常玉连,肖易平,高胜等.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(5):62~67.
[5]谢永金,曹立明.新型不压井作业设备的研究[J].石油机械,2007,35(9):161~164.
[6]陈蔚茜,穆延旭等.国外不压井作业机[J].石油机械,2005,33(1):63~65.
[7] Dicky Robichaux."Quick-Rigup HUW Barge-Assist Operations in the Gulf of Thailand",Society of Petroleum Engineers.2008:4-2.
[8] Steve Folk.MOBILE SNUBBING SYSTEM:美国,7469749B2[P].2008:12-30.
[9] Sandeep hurana,GranhemeInc."Well Intervention Using Rigless Techniques",Offshore Technology Conference.2003:5-8.
[10] Steve Wehrenberg."The Design and Application of Snubbing Units for an HP/HT Environment",Society of Petroleum Engineers.2010.
[11]华东石油学院矿机教研室.石油钻采机械[M].北京:石油工业出版社,1984.210~225.
[12]尹永晶,杨汉立.石油修井机[M].北京:石油工业出版社,2003:1~15.
[13]张利平.液压传动系统及设计[M].北京:化学工业出版社,2005.103.
[14] (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[M].北京:高等教育出版社,1996:1~140.
[15]陈奎生.液压与气压传动[M].武汉:武汉理工大学出版社,2007.107~118.
[16] Engelhard J.Thermal simulation of an aircraft fluid power system with hydraulic-electrical power conversion units.Proc.of 1st FPNI-PhD Symp [C].2000:435- 448.
[17]王学利.高压注水井带压作业防喷密封技术研究[D].大庆:大庆石油学院,2007.
[18]许贤良,王传礼.液压传动[M].北京:国防工业出版社,2006.276~277.
[19]张利平.液压传动系统及设计[M].北京:化学工业出版社,2005.103.
[20]明仁雄,万会雄.液压与气压传动[M].北京:国防工业出版社,2003.182~185.
[21]张利平.液压站[M].北京:化学工业出版社,2008.51-52.
[22]曹小忠,孟海忠.液压泵站设计与使用中一些问题的分析[J].液压与气动,2006(8),71~72.
[23]智润芳.液压系统开式油箱的设计及结构改进[J].机械工程与自动化,2005(6),106~107.
[24]游善兰.开式液压油箱设计方法[J].液压液力,2002(2),28~29.
[25]井夫宣,刘虎,田敬刚,等.液压系统储备油箱的设计与应用[J].液压与气动,2007(4),68.
[26]李红船,冯钟绪,李飞舟.液压系统开式油箱设计[J].起重运输机械,2007(12),58~61.
[27]刘海丽.基于AMESim的液压系统建模与仿真技术研究[D].西北工业大学,2006.
[28]张传才.液压动力系统建模与实验研究[D].西安建筑科技大学,2008.
[29]缪雄.混凝土泵液压系统动态建模与仿真[J].系统仿真学报,2001,12(5):129~134.
[30] Pobedza J.Fluid aeration as an essential problem in modeling of hydraulic systems.In:Garbacik A,Stecki J (Editors) .Developments in Fluid Power Control of Machinery and Manipulators.Cracow:Fluid Power Net Publication 2000.
[31]宋志安.基于MATLAB的液压伺服控制系统分析与设计[M].北京:国防工业出版社,2007.14~28.
[32]李永堂,雷步芳,高雨茁.液压系统建模与仿真[M].北京:冶金工业出版社,2003.6~32.
[33]刘增光.连轧管机液压压下系统设计及动态特性仿真研究[D].太原理工大学,2008.
[34]王中双.键合图理论及其在系统动力学中的应用[M].哈尔滨:哈尔滨工程大学出版社,2007.60~76.
[35]杨典作.LG660挖掘机液压传动系统研究[D].吉林大学,2009.
[36]李成功,和彦淼.液压系统建模与仿真分析[M].北京:航空工业出版社,2008.14~28.
[37] Li C G,Jiao Z X.Thermal-hydraulic Modeling and Simulation of Piston Pump.航空学报,2006.
[38]杨叔子,杨克冲.机械工程控制基础[M].武汉:华中科技大学出版社,2002.26~55.
[39] Torben O A,Michael R H.Fluid Power Systems,Modeling and Analysis.Aalborg University.2nd Edition,March 2003.
[40] Peter K.Modeling and Simulation of Heterogenous Engineering Systems.Depatment of Mechanical Engineering.Linkoping University,Linkoping,Sweden,2002.
[41]多学科领域复杂系统仿真平台——AMESIM软件功能简介[J]. CAD/CAM与制造业信息化,2005(12).
[42]付永领,祁晓野.AMESim系统建模和仿真——从入门到精通[M].北京:北京航空航天大学出版社,2005.18~44.
[43]谢建,罗治军等.基于AMESim的导弹起竖系统建模与仿真[J].流体传动与控制,2009,9 (5).13~15.
[44] Murrenhoff H.Grundlagen der Fluidtechnik.Teil 1:Hydrsulik.2.Aufl,Aachen:Verlag Mainz 1998.
[45] Iliff K W.Parameter estimation for flight vehicle.Guidance and Control,1989,12 (5):609-622.
[46]林躜,黄方平.AMESim/Matlab的仿真及其在单向阀优化设计中的应用[J].液压气动与密封,2006(2):15~16.
[47]朱仁学.大型构件压力试验机电液伺服力控制系统建模与仿真[J].液压气动与密封,2008,28(6):16~18.
[48] M Krishna,J Bares. Hydraulic system modeling through memory-based learning. IEEE/RSJ International Confernce on Intelligent Robots and Systems,IEEE,October,1998:1733-1738.
[49]杨国平,杨襄璧.液压系统计算机仿真的病态问题[J].凿岩机械气动工具.1998(1),43~45.
[50]林躜,黄方平. AMESim/Matlab的仿真及其在单向阀优化设计中的应用[J].液压气动与密封,2006(2):15~16.
[51]余佑官,龚国芳,胡国良. AMESim仿真技术及其在液压系统中的应用[J].液压气动与密封,2005(3):28~31.
[52]郭军,吴亚峰. AMESim仿真技术在飞机液压系统中的应用[J].计算机辅助工程,2006(2):42~45.
[53]赵航.蓄能器减小液压驱动系统液压冲击的试验研究[D].长安大学,2006.
[54]王瑜,林立,姜建胜.基于AMESim液压盘式刹车系统建模与仿真研究[J].石油机械,2008(9):31~35.
[55]杨非,雷金柱.基于AMESim的工程车辆液压悬架系统仿真[J].液压气动与密封,2008,28(2):31~34.
[56]肖岱宗.AMESim仿真技术及其在液压元件设计和性能分析中的应用[J].舰船科学技术,2007,29 (1).142~145.