【摘要】：近年來,隨著我國(guó)經(jīng)濟(jì)與科學(xué)技術(shù)的飛速發(fā)展,對(duì)于海洋鉆井技術(shù)以及大陸科學(xué)鉆探技術(shù)的要求越來越高,與海洋鉆井相比,大陸科學(xué)鉆探技術(shù)研究投入明顯偏少,鉆具上、下鉆臺(tái)面的運(yùn)輸和排放工作很大比例仍采用上個(gè)世紀(jì)60~70年代傳統(tǒng)鉆具運(yùn)移裝置,這種裝置以人力作業(yè)為主,整個(gè)運(yùn)移過程由4~5人配合才可完成,工人作業(yè)效率低、勞動(dòng)強(qiáng)度大、安全保障較低、易發(fā)生安全事故,且操作過程對(duì)鉆桿絲扣缺乏有效保護(hù),鉆桿容易造成損壞。此外,隨著現(xiàn)代陸地科學(xué)鉆井技術(shù)朝著深井、大位移水平井、超深井等方向發(fā)展,例如大陸科學(xué)鉆探取心深度就達(dá)到一萬米以上,鉆井現(xiàn)場(chǎng)將大批量的輸送與排放鉆具,因此鉆井場(chǎng)地需要機(jī)械化與自動(dòng)化程度高、輸送能力強(qiáng)、安全可靠、穩(wěn)定性高的設(shè)備進(jìn)行鉆具的輸送作業(yè)。本課題組研制的鉆具自動(dòng)輸送裝置設(shè)定技術(shù)要求較高,整個(gè)操作過程安全性、自動(dòng)化程度高,只需1~2人即可進(jìn)行整個(gè)作業(yè)過程,一次鉆桿輸送時(shí)間為50秒至三分鐘,在降低工人作業(yè)強(qiáng)度的同時(shí)也提高了鉆桿的輸送效率,為整個(gè)鉆井系統(tǒng)運(yùn)行周期的縮短爭(zhēng)取了時(shí)間,提高了陸地鉆機(jī)的機(jī)械化與自動(dòng)化程度,因此鉆具自動(dòng)輸送裝置具有很高的研究?jī)r(jià)值�；诖�,本文以鉆具自動(dòng)輸送裝置為研究對(duì)象,通過系統(tǒng)動(dòng)力學(xué)建模、仿真分析,重點(diǎn)研究剛?cè)狁詈夏Ｐ拖孪到y(tǒng)的動(dòng)態(tài)特性。首先根據(jù)鉆具自動(dòng)輸送裝置的設(shè)計(jì)要求和工作流程,闡述了裝置的總體結(jié)構(gòu)與工作過程�；谂e升系統(tǒng)的運(yùn)動(dòng)學(xué)分析,對(duì)主體控制方式進(jìn)行研究,確定主體舉升方式,并對(duì)系統(tǒng)關(guān)鍵部件在工作狀態(tài)下的相關(guān)參數(shù)進(jìn)行了分析計(jì)算。然后,詳細(xì)分析了整機(jī)剛、柔部件劃分原則,建立了系統(tǒng)柔性部件柔性體MNF中性文件,為仿真模型添加相應(yīng)約束、驅(qū)動(dòng)以及接觸碰撞屬性,并在ADAMS軟件中建立了整機(jī)剛?cè)狁詈夏Ｐ�。接�?通過對(duì)撐桿進(jìn)行振動(dòng)模態(tài)數(shù)值求解與仿真分析,研究其在易受影響的頻率范圍內(nèi)的各階主要模態(tài)的特性,為預(yù)言結(jié)構(gòu)在此頻段內(nèi)在外部或內(nèi)部各種振源作用下產(chǎn)生的實(shí)際振動(dòng)響應(yīng)打下理論基礎(chǔ),并且對(duì)比了上一章柔性體模態(tài)信息,驗(yàn)證了柔性體建模的正確性。對(duì)撐桿進(jìn)行了諧響應(yīng)分析以研究外部激勵(lì)對(duì)于各階頻率的響應(yīng)情況。對(duì)系統(tǒng)關(guān)鍵執(zhí)行元件進(jìn)行屈曲分析,檢查并獲取了與其結(jié)構(gòu)相關(guān)的穩(wěn)定性信息。隨后,對(duì)整機(jī)進(jìn)行剛?cè)狁詈蟿?dòng)力學(xué)建模并研究系統(tǒng)產(chǎn)生動(dòng)力剛化的主要原因,通過對(duì)整機(jī)進(jìn)行剛?cè)狁詈戏抡娣治?對(duì)比研究其在剛?cè)狁詈夏Ｐ团c多剛體模型下的動(dòng)態(tài)特性,獲得耦合效應(yīng)下系統(tǒng)運(yùn)動(dòng)學(xué)與動(dòng)力學(xué)數(shù)據(jù)。最后,通過實(shí)驗(yàn)驗(yàn)證,證明了仿真結(jié)果的正確性,檢驗(yàn)了裝置實(shí)際工作性能。
[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.
【學(xué)位授予單位】：吉林大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2017
【分類號(hào)】：TE951

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