绞车升沉补偿系统虚拟样机设计研究

发布时间：2018-06-04 00:07

本文选题：绞车升沉补偿 + 半主动式　；参考：《中国石油大学(华东)》2015年硕士论文

【摘要】：深海钻井平台一般为浮式或半潜式平台,受海浪的影响平台会产生周期性的升沉运动,这种运动会带动大钩及钻柱一起运动,造成井底钻压变化,对钻井造成极为不利的影响,因此需要在浮式或半潜式钻井平台上安装升沉补偿装置。绞车升沉补偿系统是近年来提出的一种新型补偿技术,相比于传统的补偿系统,绞车升沉补偿系统具有不需要安装专门的补偿装置、占用平台空间小、补偿行程不受补偿液压缸行程的限制、响应快速、节约钻井成本等优点。因此本文中就绞车升沉补偿系统进行研究,提出一种补偿效率高、能耗低的半主动补偿系统。自动送钻是海洋钻井的关键技术之一,对钻井质量起到决定性作用,因此在升沉补偿系统的基础上对自动送钻进行研究。在分析了主动式绞车补偿系统的工作原理的基础上,提出一种半主动补偿方案。增设具有能量回收功能的液压控制模块,对液压系统元件进行计算选型,完成液压回路的设计。对绞车升沉补偿系统进行理论分析。建立了绞车升沉补偿系统的虚拟样机模型。利用ADAMS建立绞车升沉补偿系统的机械模型,利用MATLAB/Simulink建立绞车升沉补偿系统的主动补偿电机、液压系统模型。分别对被动式、主动式、半主动式绞车升沉补偿系统进行分析。对比了三种补偿形式的补偿效果。分析对比了不同井深下主动补偿、半主动补偿的电机功率、系统能耗。针对工作气瓶压力和体积、升沉幅值等参数对半主动绞车升沉补偿系统进行仿真研究,总结出不同参数对系统补偿效果、电机功率及能耗的影响。对基于差动行星传动硬件运动解耦的半主动绞车升沉补偿方案进行了仿真研究,并提出了基于双绞车驱动硬件解耦、基于升沉扰动前馈与恒钻压自动送钻复合控制软件解耦两种升沉补偿运动与自动送钻运动解耦控制新方案,建立解耦控制方案的虚拟样机模型,分析对比三种解耦控制方案的仿真结果。
[Abstract]:Deep-sea drilling platforms are usually floating or semi-submersible platforms, and the platforms affected by the waves will produce periodic heave movements. This kind of sports will lead to the movement of large hooks and drill strings together, resulting in the change of bottom hole drilling pressure, which will cause extremely adverse effects on drilling. Therefore, it is necessary to install heave compensators on floating or semi-submersible drilling platforms. The winch heave compensation system is a new compensation technology proposed in recent years. Compared with the traditional compensation system, the winch heave compensation system does not need to install a special compensation device, which occupies less space of the platform. The compensation stroke is not limited by the compensated hydraulic cylinder stroke, the response is fast and the drilling cost is saved. In this paper, the winch heave compensation system is studied, and a semi-active compensation system with high compensation efficiency and low energy consumption is proposed. Automatic drilling is one of the key technologies in offshore drilling, which plays a decisive role in drilling quality. Therefore, automatic drilling is studied on the basis of heave compensation system. Based on the analysis of the principle of active winch compensation system, a semi-active compensation scheme is proposed. The hydraulic control module with energy recovery function is added, the hydraulic system components are calculated and selected, and the hydraulic circuit is designed. The heave compensation system of winch is analyzed theoretically. A virtual prototype model of winch heave compensation system is established. The mechanical model of winch heave compensation system is established by ADAMS and the active compensation motor and hydraulic system model of winch heave compensation system is established by MATLAB/Simulink. The passive, active and semi-active winch heave compensation systems are analyzed respectively. The compensation effects of three kinds of compensation forms are compared. The motor power and system energy consumption of active compensation and semi-active compensation under different well depths are analyzed and compared. Based on the parameters of working cylinder pressure, volume, heave amplitude and so on, the simulation study of semi-active winch heave compensation system is carried out, and the effects of different parameters on system compensation effect, motor power and energy consumption are summarized. The scheme of semi-active winch heave compensation based on the decoupling of hardware motion of differential planetary transmission is simulated, and the decoupling of hardware based on double winch drive is proposed. A virtual prototype model of decoupling control scheme is established based on decoupling two new control schemes of heave compensation motion and automatic drilling feed motion decoupling based on heave disturbance feedforward control software and constant drilling pressure automatic drilling control software. The simulation results of three decoupling control schemes are analyzed and compared.
【学位授予单位】：中国石油大学(华东)
【学位级别】：硕士
【学位授予年份】：2015
【分类号】：TE951

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