海底管道铺设张紧器半物理仿真研究及系统设计

发布时间：2019-06-05 06:42

【摘要】：中国是海洋大国,将来要走向海洋强国。我国对海洋资源的认识正在不断地加深。发展大型海洋工程技术与装备,开发海洋油气将作为我国的重要战略。海底管道是海底油气运输的通道,深水海洋铺管作业目前仅有少数几个国家有相关的技术,是限制我国深海油气资源开发的主要瓶颈之一。我国建造了“海洋石油201”船。201船是世界上第一艘同时具备3000米深水铺管能力、4000吨级重型起重能力和DP3级全电力推进动力定位的深水铺管起重工程作业船。为了可以培训人员、预演方案、降低实船操作训练的风险和提高作业效率,需要通过虚拟现实技术构建海洋铺管起重作业视景仿真系统。张紧器的操作是铺管过程中的重点培训项目。因此,构建一套张紧器半物理仿真系统是项目的重点。张紧器仿真控制系统的建立具有很高的技术难度。本论文分别从张紧器的硬件架构和软件开发两个方面,介绍了张紧器半物理仿真系统的组成,建立了铺管过程中张紧器张力预测的数学模型,设计了张紧器控制台的人机交互界面,并对张紧器仿真控制台与铺管主系统之间的数据传递进行了详细阐述,通过数据采集系统的数据采集和信号传递验证张紧器半物理仿真平台的各项功能。论文研究的主要内容包括:设计张紧器半物理仿真系统的总体结构,构建张紧器半物理仿真系统的硬件系统,设计张紧器远程控制台硬件结构,设计张紧器远程控制台的面板,介绍张紧器远程控制台上元器件的功能及应用;运用自然悬链线理论建立张紧器内部张力预测的数学模型;使用LabVIEW虚拟仪器设计张紧器控制系统的人机交互界面;实现由LabVIEW开发的张紧器控制系统和Visual Studio 2005开发的铺管主系统之间的数据通讯,阐述张紧器仿真控制台与铺管主系统之间需要传递的数据;制定恒张力自动控制方案,计算在正常铺管过程中不同水深下张力值变化曲线和速度值变化曲线。使用NI数据采集卡采集张紧器远程控制台的信号,确保铺管四个过程中张紧器半物理仿真系统的正常运行,从而验证该仿真系统的功能是否得到实现。本论文采用了半物理仿真方法,针对海底管道的铺设过程中张紧器的控制进行了模拟仿真。设计完成的张紧器远程控制台功能符合人员培训的需求,提高了工程技术人员培训的效率,减小了工作人员的训练强度。
[Abstract]:China is a big marine power and will become a powerful marine power in the future. China's understanding of marine resources is deepening. The development of large-scale marine engineering technology and equipment and the development of offshore oil and gas will become an important strategy of our country. Submarine pipeline is the channel of seafloor oil and gas transportation. At present, only a few countries have relevant technology, which is one of the main bottlenecks restricting the development of deep-sea oil and gas resources in China. China has built the "Offshore Oil 201" ship. 201 is the first deep-water pipe laying engineering ship in the world with 3000 meters of deep water pipe laying capacity, 4000 tons of heavy lifting capacity and DP3 class full electric propulsion power positioning. In order to train the personnel, preview the scheme, reduce the risk of actual ship operation training and improve the operation efficiency, it is necessary to construct the visual simulation system of marine pipe laying and lifting operation through virtual reality technology. The operation of tensioner is a key training item in the process of pipe laying. Therefore, the construction of a tensioner semi-physical simulation system is the focus of the project. The establishment of tensioner simulation control system has high technical difficulty. In this paper, the composition of the semi-physical simulation system of tensioner is introduced from two aspects of hardware architecture and software development, and the mathematical model of tension prediction of tensioner in the process of pipe laying is established. The human-computer interaction interface of tensioner console is designed, and the data transmission between tensioner simulation console and pipe laying main system is described in detail. The functions of the tensioner semi-physical simulation platform are verified by the data acquisition and signal transmission of the data acquisition system. The main contents of this paper are as follows: the overall structure of tensioner semi-physical simulation system is designed, the hardware system of tensioner semi-physical simulation system is constructed, the hardware structure of tensioner remote console is designed, and the panel of tensioner remote console is designed. This paper introduces the function and application of components on the remote control platform of tensioner. The mathematical model of tension prediction in tensioner is established by using natural catenary theory, and the human-computer interaction interface of tensioner control system is designed by using LabVIEW virtual instrument. The data communication between the tensioner control system developed by LabVIEW and the main pipe laying system developed by Visual Studio 2005 is realized, and the data to be transmitted between the tensioner simulation console and the main pipe laying system is expounded. The automatic control scheme of constant tension is worked out, and the variation curves of tension value and velocity value under different water depths in the process of normal pipe laying are calculated. The NI data acquisition card is used to collect the signals of the remote console of the tensioner to ensure the normal operation of the semi-physical simulation system of the tensioner in the four processes of pipe laying, so as to verify whether the function of the simulation system is realized. In this paper, the semi-physical simulation method is used to simulate the tensioner control in the laying process of submarine pipeline. The remote console function of tensioner meets the needs of personnel training, improves the efficiency of engineering and technical personnel training, and reduces the training intensity of staff.
【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】：2014
【分类号】：P756.2;TP391.9

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