脐带缆铺设装置海况力学分析及运动控制

发布时间：2018-03-25 11:01

本文选题：脐带缆铺设装置　切入点：底座锁紧机构　出处：《哈尔滨工程大学》2013年硕士论文

【摘要】：伴随全球经济的快速发展，世界各国对于能源的需求越来越大，，面对日益紧张的陆地资源，人们逐渐将眼光转向深水海洋领域。随着越来越多的深水油气开采设备投入使用，脐带缆作为油气开采设备必不可少的能源补给及信号传输的纽带，在油气开采过程中起到了至关重要的作用。脐带缆铺设装置是铺设脐带缆的专用设备，而深水脐带缆铺设技术被国外少数公司所垄断，面对日趋激烈的海上油气资源开采趋势，研发一套具有自主知识产权的脐带缆铺设装置显的尤为重要。本论文分析了深水脐带缆铺设装置国内外的发展现状，通过对国内外相关产品的调研分析及相关文献资料的搜集，确定脐带缆铺设装置的特点及应用范围。查阅国内外相关技术文献，分析脐带缆铺设装置作业环境下的风载荷及波浪载荷对装置的影响，并根据国外相关产品技术参数，确定装置作业时各工况下的受力情况。根据脐带缆铺设装置各作业工况下的边界条件，对底座锁紧机构及行走机构进行方案论证，确定最优方案并对进行详细结构及零部件的设计。重点对底座锁紧机构压紧卡爪、固定铰链轴进行设计计算及理论校核。通过三维软件UG进行模型的建立，并对结构进行运动干涉检查分析确定结构设计的合理性。通过有限元分析软件ANSYS对底座锁紧机构及行走机构的关键零部件进行强度及刚度的校核，确定结构的强度及刚度满足要求。通过ANSYS拓扑优化模块对压紧卡爪及压紧块进行优化设计，确定结构的最优方案。对底座锁紧机构建立运动学方程，通过MATLAB对底座锁紧机构进行运动学仿真分析，验证机构运动的可靠性。然后通过ADAMS再对其实际运动过程进行运动学及动力学仿真，对比运动学方程的仿真结果，确定仿真结果的正确性。通过ADAMS对行走机构在推动机架运动及拖动机架运动工况下进行运动学仿真，得到合理的运动控制时间，使机架的运动速度满足设计参数的要求。
[Abstract]:With the rapid development of the global economy, the demand for energy is increasing all over the world. In the face of the increasingly tight land resources, people are gradually turning their eyes to the deep-water ocean field. As more and more deep-water oil and gas extraction equipment is put into use, As the essential energy supply and signal transmission link of oil and gas exploitation equipment, umbilical cord cable plays an important role in the process of oil and gas exploitation. However, deep-water cord laying technology is monopolized by a few foreign companies. In the face of the increasingly fierce trend of offshore oil and gas exploitation, it is particularly important to develop a cord cable laying device with independent intellectual property rights. This paper analyzes the development of deep water cord laying device at home and abroad, through the research and analysis of related products at home and abroad and the collection of relevant documents. The characteristics and application range of cord cable laying device are determined. The influence of wind load and wave load on cord cable laying device under the working environment is analyzed by consulting the relevant technical documents at home and abroad, and according to the technical parameters of the related products abroad, the influence of wind load and wave load on the device is analyzed. Determine the working conditions of the device under various working conditions. According to the boundary conditions of the cord cable laying device under various working conditions, the scheme of the pedestal locking mechanism and the walking mechanism is demonstrated, the optimum scheme is determined and the detailed structure and parts design are carried out. The emphasis is on the pedestal locking mechanism compaction claw, The fixed hinge shaft is designed and calculated and the theory is checked. The model is built by UG, and the rationality of the structure design is determined by analyzing the motion interference of the structure. The strength and stiffness of the key parts of the pedestal locking mechanism and the walking mechanism are checked by the finite element analysis software ANSYS. The strength and stiffness of the structure are determined to meet the requirements. The optimal scheme of the structure is determined by optimizing the design of the compaction claw and compaction block through the ANSYS topology optimization module. The kinematics equation of the base locking mechanism is established, and the kinematics simulation analysis of the base locking mechanism is carried out by MATLAB to verify the reliability of the mechanism's motion. Then, the kinematics and dynamics simulation of the actual motion process is carried out through ADAMS. The correctness of the simulation results is confirmed by comparing the simulation results of kinematics equations. The kinematics simulation of the walking mechanism under the conditions of pushing the frame motion and driving the frame motion is carried out through ADAMS, and the reasonable motion control time is obtained, so that the motion speed of the frame can meet the requirements of the design parameters.
【学位授予单位】：哈尔滨工程大学
【学位级别】：硕士
【学位授予年份】：2013
【分类号】：TE952

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