钻修井作业管柱处理模拟系统设计与分析

发布时间：2019-04-02 08:08

【摘要】：本文综述了国内外管柱处理系统发展概况,并提出了本课题研究的主要内容。进行了管柱处理模拟装置的结构设计,并提出了详细的作业工艺流程;对机械手夹具进行了设计、计算,并对驱动气缸进行了选型。使用Workbench软件对机械手夹具进行了静力学仿真分析,得出各零件的应力及变形云图;通过装置简化,对旋转起升液压缸的输出力进行了分析计算,并根据计算结果对旋转起升液压缸进行了设计。从坐标复合变换及齐次坐标变换矩阵的推导入手,利用D—H方法建立了管柱处理模拟装置简化模型的杆件坐标系,推导出了其杆件齐次变换矩阵;利用此矩阵,推导了该装置的正运动学及逆运动学求解过程;利用三次插值函数推导了轨迹函数表达式;然后通过运用Robotic Toolbox插件对该简化模型进行了运动学仿真分析,并对其进行了轨迹规划求解,最终得出了夹持中心在运动过程中的运动轨迹、各个关节的位移—时间曲线、速度—时间曲线以及加速度—时间曲线。设计了控制系统的液压、气动单元原理图;根据硬件组成原理,选取了控制系统的电器元件,并设计了电气控制单元原理图;根据装置作业的工艺过程设计了控制流程图,基于组态软件开发了管柱处理模拟装置的组态监控界面,并介绍了该控制界面的功能及特点。
[Abstract]:This paper summarizes the development of pipe string treatment system at home and abroad, and puts forward the main contents of this subject. The structure design of the pipe string processing simulation device is carried out, and the detailed working process is put forward, and the fixture of the manipulator is designed and calculated, and the type of driving cylinder is selected. The static simulation analysis of manipulator fixture is carried out by using Workbench software, and the stress and deformation cloud diagram of each part is obtained. Through the simplification of the device, the output force of the rotating lifting hydraulic cylinder is analyzed and calculated, and the rotary lifting hydraulic cylinder is designed according to the calculated results. Starting with the derivation of coordinate compound transformation and homogeneous coordinate transformation matrix, the bar coordinate system of simplified model of pipe string processing simulation device is established by using DH method, and the homogeneous transformation matrix of pipe string is derived. Using this matrix, the forward kinematics and inverse kinematics of the device are derived, and the expression of trajectory function is derived by using cubic interpolation function. Then the kinematics simulation of the simplified model is carried out by using Robotic Toolbox plug-in, and the trajectory planning is given. Finally, the trajectory of the clamping center in the process of motion and the displacement-time curve of each joint are obtained. Velocity-time curve and acceleration-time curve. The hydraulic and pneumatic unit schematic diagram of the control system is designed, according to the principle of hardware composition, the electrical components of the control system are selected, and the schematic diagram of the electrical control unit is designed. The control flow chart is designed according to the process of plant operation. The configuration monitoring interface of pipe string processing simulation device is developed based on configuration software, and the functions and characteristics of the control interface are introduced.
【学位授予单位】：东北石油大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TE92;TE935

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