基于刚柔耦合模型的钻具自动输送装置动态特性研究

发布时间：2018-09-10 07:30

【摘要】：近年来,随着我国经济与科学技术的飞速发展,对于海洋钻井技术以及大陆科学钻探技术的要求越来越高,与海洋钻井相比,大陆科学钻探技术研究投入明显偏少,钻具上、下钻台面的运输和排放工作很大比例仍采用上个世纪60~70年代传统钻具运移装置,这种装置以人力作业为主,整个运移过程由4~5人配合才可完成,工人作业效率低、劳动强度大、安全保障较低、易发生安全事故,且操作过程对钻杆丝扣缺乏有效保护,钻杆容易造成损坏。此外,随着现代陆地科学钻井技术朝着深井、大位移水平井、超深井等方向发展,例如大陆科学钻探取心深度就达到一万米以上,钻井现场将大批量的输送与排放钻具,因此钻井场地需要机械化与自动化程度高、输送能力强、安全可靠、稳定性高的设备进行钻具的输送作业。本课题组研制的钻具自动输送装置设定技术要求较高,整个操作过程安全性、自动化程度高,只需1~2人即可进行整个作业过程,一次钻杆输送时间为50秒至三分钟,在降低工人作业强度的同时也提高了钻杆的输送效率,为整个钻井系统运行周期的缩短争取了时间,提高了陆地钻机的机械化与自动化程度,因此钻具自动输送装置具有很高的研究价值。基于此,本文以钻具自动输送装置为研究对象,通过系统动力学建模、仿真分析,重点研究刚柔耦合模型下系统的动态特性。首先根据钻具自动输送装置的设计要求和工作流程,阐述了装置的总体结构与工作过程。基于举升系统的运动学分析,对主体控制方式进行研究,确定主体举升方式,并对系统关键部件在工作状态下的相关参数进行了分析计算。然后,详细分析了整机刚、柔部件划分原则,建立了系统柔性部件柔性体MNF中性文件,为仿真模型添加相应约束、驱动以及接触碰撞属性,并在ADAMS软件中建立了整机刚柔耦合模型。接着,通过对撑杆进行振动模态数值求解与仿真分析,研究其在易受影响的频率范围内的各阶主要模态的特性,为预言结构在此频段内在外部或内部各种振源作用下产生的实际振动响应打下理论基础,并且对比了上一章柔性体模态信息,验证了柔性体建模的正确性。对撑杆进行了谐响应分析以研究外部激励对于各阶频率的响应情况。对系统关键执行元件进行屈曲分析,检查并获取了与其结构相关的稳定性信息。随后,对整机进行刚柔耦合动力学建模并研究系统产生动力刚化的主要原因,通过对整机进行刚柔耦合仿真分析,对比研究其在刚柔耦合模型与多刚体模型下的动态特性,获得耦合效应下系统运动学与动力学数据。最后,通过实验验证,证明了仿真结果的正确性,检验了装置实际工作性能。
[Abstract]:In recent years, with the rapid development of China's economy and science and technology, the requirements for marine drilling technology and continental scientific drilling technology are more and more high. Compared with offshore drilling, the research investment of continental scientific drilling technology is obviously less, and drilling tools. A large proportion of the transportation and discharge work on the bottom drilling table is still carried out with the traditional drilling tool migration device in the 1960s and 1970s. This device is mainly manual work, and the whole migration process can be completed by the cooperation of four or five people. The workers' work efficiency is low and the labor intensity is high. The safety guarantee is low, the safety accident is easy to happen, and the operation process lacks the effective protection to the drill pipe wire buckle, and the drill pipe is easy to be damaged. In addition, with the development of modern terrestrial scientific drilling technology in the direction of deep wells, horizontal wells with long reach, and ultra-deep wells, for example, the coring depth of continental scientific drilling has reached more than 10,000 meters, the drilling site will carry and discharge drilling tools in large quantities. Therefore, drilling site requires high degree of mechanization and automation, strong transportation capacity, safety and reliability, high stability to carry out the transportation of drilling tools. The automatic conveying device of drill pipe developed by our research group has high technical requirements, the whole operation process is safe, and the degree of automation is high. Only 1 or 2 people can carry out the whole operation process, and the time of one drill pipe conveyance is 50 seconds to three minutes. At the same time, the working intensity of the workers is reduced and the conveying efficiency of the drill pipe is improved, thus the time for shortening the operation period of the whole drilling system and the degree of mechanization and automation of the land drilling rig are increased. Therefore, the automatic conveyer of drilling tools has a high research value. Based on this, this paper focuses on the dynamic characteristics of the system under the rigid-flexible coupling model through system dynamic modeling and simulation analysis, taking the automatic conveying device of drilling tools as the research object. Firstly, according to the design requirements and work flow of the automatic conveyer, the overall structure and working process of the device are expounded. Based on the kinematics analysis of the lifting system, the main control mode is studied, and the lifting mode of the main body is determined, and the relevant parameters of the key components in the system are analyzed and calculated. Then, the partition principle of rigid and flexible parts of the whole machine is analyzed in detail, and the MNF neutral file of flexible parts of the system is established. The corresponding constraints, driving and contact collision attributes are added to the simulation model. The rigid-flexible coupling model of the whole machine is established in ADAMS software. Then, through the numerical solution and simulation analysis of the vibration modes of the braces, the characteristics of the main modes of each order in the easy frequency range are studied. It lays a theoretical foundation for predicting the actual vibration response of the structure under various external or internal vibration sources in this frequency band, and compares the modal information of the flexible body in the previous chapter, which verifies the correctness of the flexible body modeling. Harmonic response analysis is carried out to study the response of external excitation to various frequencies. The buckling analysis of the key components of the system is carried out, and the stability information related to its structure is obtained. Then, the rigid-flexible coupling dynamic modeling of the whole machine is carried out and the main reasons for the dynamic stiffening of the system are studied. Through the rigid-flexible coupling simulation analysis of the whole machine, the dynamic characteristics under the rigid-flexible coupling model and the multi-rigid body model are compared and studied. The kinematics and dynamics data of the system under coupling effect are obtained. Finally, the correctness of the simulation results and the practical performance of the device are verified by experimental verification.
【学位授予单位】：吉林大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TE951

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