CN210027842U

CN210027842U - Simulation system for motion of offshore floating structure

Info

Publication number: CN210027842U
Application number: CN201822051759.9U
Authority: CN
Inventors: 吴晨; 余杨; 黄明哲; 李振眠; 陈柏全; 余建星; 徐立新
Original assignee: Tianjin University
Current assignee: Tianjin University
Priority date: 2018-12-07
Filing date: 2018-12-07
Publication date: 2020-02-07
Anticipated expiration: 2028-12-07

Abstract

The utility model relates to a simulation system of marine floating structure motion, include: the device comprises a mechanical structure, a floating structure model connected below the mechanical structure and a driving control structure. The mechanical structure comprises an X-axis moving device, a Y-axis moving device, a Z-axis moving device, a steering mechanism and five horizontal plates, wherein the five horizontal plates are respectively a hanging body, a revolving frame, an upper frame, an X-direction plate and a Y-direction plate from top to bottom, the hanging body and the revolving frame are used for supporting the Z-axis moving device, and the hanging body is connected with the revolving frame through a locking ring and a first locking device matched with the locking ring; the steering mechanism is connected with the suspension body and is nested outside the sleeve of the Z-axis moving device through the rolling bearing; the X-axis moving device is connected with the upper frame through an upper frame supporting plate, and the Y-axis moving device is connected with the X-axis plate through a Y-axis supporting plate. The utility model discloses can carry out the marine floating structure model test of difference under the sea condition of the complicacy of the labyrinth, need not to develop under the water environment experimental.

Description

Simulation system for motion of offshore floating structure

Technical Field

The utility model belongs to the technical field of deep sea pipeline physical simulation, a simulation system of marine floating structure motion is related to.

Background

The environment in the sea is complex, and the floating structure and various devices in the sea are all influenced by various environmental factors such as wind, waves, currents and tides and the self-load of the devices. The offshore floating structure has complex motion response and often has six-degree-of-freedom motions such as surging, swaying, heaving, rolling, pitching and yawing, wherein the surging, swaying and heaving motion amplitudes are large, and the motion periods of the respective degrees of freedom also have large differences. The motion performance of the platform can greatly affect the stability of the structure, the work of personnel and the normal operation of equipment, and directly determines the production efficiency and the safety and reliability of the whole oil field. The deep sea pipeline is a key device for deep water operation, comprises a marine riser, a submarine pipeline, a marine cable, an umbilical cable and the like, and plays an important role in carrying out oil and gas transmission and operation control between a marine floating body and an underwater production system and between the underwater production systems. The motion of the upper floating structure plays an important role in the installation and production of the deep sea pipeline, so that the simulation of the multidirectional motion of the structure in the installation process of the physical pipeline is very important.

In order to achieve the purposes, the floating structure model is fixed on the mechanical structure, and the mode motion is directly controlled by controlling the mechanical structure, so that the method is the most direct and effective means, and has important significance for researching the form and the dynamic response of the pipeline model under the real installation working condition. In the field of ocean engineering, a pool test is usually adopted to analyze the dynamic response of a floating structure (a floating platform, an offshore wind turbine, an FPSO and the like), but the pool test is difficult to operate, high in cost and long in test period, and the motion of a floating body formed by early wave generation in the pool test is passively controlled. An effective test method for active control simulation of the motion of the offshore floating structure is not available.

SUMMERY OF THE UTILITY MODEL

The utility model provides a simulation device of marine floating structure motion can be used for the multi freedom motion simulation to the marine floating structure of deep sea pipeline connection, makes the experiment have more the reliability. The technical scheme is as follows:

a system for simulating motions of an offshore floating structure, comprising: mechanical structure, connection are at floating structure model and the drive control structure of mechanical structure below, its characterized in that:

the mechanical structure comprises an X-axis moving device, a Y-axis moving device, a Z-axis moving device, a steering mechanism and five horizontal plates, wherein the five horizontal plates are respectively a hanging body, a revolving frame, an upper frame, an X-direction plate and a Y-direction plate from top to bottom, the hanging body and the revolving frame are used for supporting the Z-axis moving device, and the hanging body is connected with the revolving frame through a locking ring and a first locking device matched with the locking ring;

the steering mechanism is connected with the suspension body, is nested outside the sleeve of the Z-axis moving device through the rolling bearing, and is fixedly connected with a second locking device on the upper side of the suspension body, the bottom end of the second locking mechanism is close to the revolving frame, and a peripheral pinion is meshed with a large gear fixed on the outer side of the sleeve through a screw, so that mechanical locking is realized;

the sleeve internal shaft connector transmits the output torque of the Z-axis motor to the ball screw to realize rotation, a nut of the ball screw is fixed on the upper frame, and the upper frame generates vertical displacement along with the transmission of the torque so as to realize Z-axis motion; at least one linear optical axis is fixed on the upper frame and is connected through a linear bearing fixed on the revolving frame;

x-axis sliding rails are fixed on two sides below the upper frame, an X-axis opening linear bearing is fixed on the sliding rails, the middle of the sliding rails is provided with an X-direction plate which is fixed on the X-axis opening linear bearing through an adjustable opening bearing seat, and the adjustable opening bearing seat can move along the X-axis opening linear bearing along with the movement of an X-direction ball screw, so that the X-axis movement is realized; the Y-axis is the same, the Y-axis slide rails are fixed on two sides below the X-axis plate, the Y-axis opening linear bearing is connected and fixed in the middle of the slide rails, the Y-axis plate is fixed on the Y-axis opening linear bearing through an adjustable opening bearing seat, and the adjustable opening bearing seat can move along the linear bearing along with the movement of the Y-axis ball screw, so that the Y-axis movement is realized;

the X-axis moving device is connected with the upper frame through an upper frame supporting plate, and the Y-axis moving device is connected with the X-axis plate through a Y-axis supporting plate.

Preferably, the drive control structure comprises a servo motor, X, Y, Z-axis drivers in all directions, a motion controller and an upper industrial personal computer, wherein the motion controller actively controls the drive and the motor of each axis through a connecting cable, so that the motion simulation of the mechanical structure is realized. The floating structure model is connected with a mechanical structure through a universal joint, an acceleration sensor is fixed on the floating structure model, and signals acquired by the acceleration sensor are sent to an upper industrial personal computer.

The utility model discloses owing to take above technical scheme, have following positive effect:

(1) the utility model can carry out different offshore floating structure model tests under complicated sea conditions without developing the tests under the water environment, so that the operation is simple and easy, and the test cost is greatly reduced;

(2) the utility model can directly control the motion state of the floating structure model by connecting the mechanical structure with the model, and is more direct and effective compared with the offshore floating structure motion realized by wave generation in a pool test, the motion is passive and has certain hysteresis;

(3) the utility model discloses use ball screw drive mechanism, have advantages such as precision height, longe-lived, steady, the reliability of work height. The screw rod of the transmission mechanism can drive the outer sleeve to do axial motion within a normal stroke range, and when the outer sleeve moves to the tail end of the stroke, the screw rod can still continuously rotate, and the outer sleeve can automatically stop the axial motion, so that the transmission mechanism has the advantages of simplicity and reliability.

Drawings

Fig. 1-4 are bottom, right, front and left views, respectively, of the mechanical mechanism.

FIG. 5 is a schematic structural diagram of the simulation apparatus of the present invention

FIG. 6 is a schematic diagram of a drive control flow

Description of reference numerals in the drawings: 1-X axis motor; 2-connecting sleeves; 3-X direction ball screw; 4-hanging the body; 5-Y axis motor; 6-connecting sleeves; 7-Y direction ball screw; 8-Y axis slide rails; 9-X axis slide rails; 10-a locking mechanism; 11-putting on shelves; 12-a universal joint; a 13-Y directional plate; a 14-Z axis motor; 15-locking ring; 16-a turret; 17-straight optical axis; 18-a coupling; 19-a bearing seat; 20-X axis open linear bearings; 21-adjustable open bearing seat; 22-an acceleration sensor; 23-Y axis split linear bearings; a 24-X directional plate; 25-a coupling; 26-Z axis shifter sleeves; 27-a steering mechanism; 28-linear bearings; 29-pinion gear; 30-a bull gear; 31-a locking device; 32-a bearing seat; 33-ball screw; 34-a coupling; 35-racking support plate; a 36-Y direction support plate; 37-a mechanical structure; 38-floating structural model.

Detailed Description

The present invention will be described in detail with reference to the accompanying drawings and examples.

The utility model provides a simulation device of offshore floating structure motion, as shown in fig. 1-5, the device includes: a. mechanical structure 37, b drive control structure, c floating structure model 38, characterized in that:

the mechanical structure comprises an X-axis moving device (comprising an X-axis motor 1, a coupling 34, a connecting sleeve 2 of the coupling, a ball screw 3 and the like), a Y-axis moving device (comprising a Y-axis motor 5, a coupling 18, a connecting sleeve of the coupling, a ball screw 7 and the like), a Z-axis moving device (comprising a Z-axis motor 14, a coupling 25, a connecting sleeve of the coupling, a ball screw 33 and the like), and a manual rotating part (comprising

locking mechanisms

10 and 31 and a suspension body 4). The main structure is composed of five horizontal plates, namely a suspension body 4, a revolving frame 16, an upper frame 11, an X-direction plate 24 and a Y-direction plate 13 from top to bottom. The suspension body 4 and the turret 16 are mainly used to support the Z-axis moving means, and since the Z-axis displacement by rotation may cause deflection of the turret 16, a locking ring 15 is interposed between the suspension body 4 and the turret 16, and is connected by a screw and a washer, and the corresponding locking means 10 is externally connected to the outside of the locking ring 15. The steering mechanism 27 is mounted to the suspension body 4 by screw connection and is fitted to the outside of the Z-axis moving device sleeve 26 via a rolling bearing. Since the locking ring 15 is provided at the outer edge of the turret 16, the locking capacity is limited, and another locking device 31 is added to the upper side of the suspension body. The device is fixedly connected through screws and penetrates through the suspension body 4, the bottom end of the device is close to the rotary frame 16, and the peripheral pinion 29 is meshed with a large gear 30 which is fixedly connected with the outer side of the sleeve through screws, so that mechanical locking is realized. The sleeve inner shaft connector 25 transmits the output torque of the Z-axis motor to the ball screw 33 to realize rotation, the nut of the ball screw is fixed on the upper frame, and the upper frame generates vertical displacement along with the transmission of the torque to realize Z-axis movement. However, it is not reliable to bear the entire substructure only by means of the ball screws 33, so that four linear optical axes 17 are provided at the four corners of the upper frame and are fixed by means of screws, the linear optical axes 17 being connected by means of linear bearings 28 fixed to the pivoting frame 16. The X-axis slide rail 9 is fixed on two sides below the upper frame through screw connection, and the linear bearing 20 with the opening is fixed in the middle of the slide rail through screw connection. The adjustable open bearing seat 21 is installed on the outer side of the linear bearing and is fixed on the X-direction plate 24 by using a screw connection, and the bearing seat moves along the linear bearing 20 along with the movement of the X-direction ball screw 3, so that the X-axis movement is realized. The Y-axis is the same, the Y-axis slide rail 8 is fixed on two sides below the X-direction plate 24 through screw connection, and the opening linear bearing 23 is fixed in the middle of the slide rail through screw connection. The adjustable opening bearing seat is arranged on the outer side of the linear bearing 23 and is fixed on the Y-direction plate 13 through screw connection, and the bearing seat can move along the linear bearing 23 along with the movement of the Y-direction ball screw 7, so that Y-axis movement is realized. Since each axis motor is directly connected to an end of the ball screw, which has an adverse effect on the structural stability, a support plate is required to be fixed, the X-axis moving device is connected to the upper frame 11 through the upper frame support plate 35, and the Y-axis moving device is connected to the X-axis plate 24 through the Y-direction support plate 36.

The drive control structure comprises a servo motor, drivers in each direction of X, Y, Z axes, a motion controller, an upper industrial personal computer, a connecting cable correspondingly connected to a X, Y, Z axis motor, application software self-development and the like. The motion data input and the real-time feedback monitoring of the motion controller are realized by using self-developed application software, and the motion controller actively controls the drive and the motor of each shaft through a connecting cable, so that the motion simulation of the structure is realized.

The floating structure model comprises a scale ratio platform or a floating oil production device and a simulation pipeline connected around the scale ratio platform or the floating oil production device. The floating structure model is connected to the mechanical structure by means of universal joints 12. The acceleration sensor 22 is mounted on top of the floating structure model 38 or on the bottom of the mechanical structure 37 according to a standard coordinate system.

S1, selecting and manufacturing an offshore floating structure model 38 with a proper size according to the size and the scaling scale of the offshore floating structure of the target project, wherein the model can be a tension leg platform, a Spar platform, a semi-submersible platform, an FPSO (floating production storage and offloading) platform, an offshore wind turbine and other various floating structure types;

step S2, checking the connection and installation of the mechanical structure 37, especially whether the locking mechanism 7 is locked (preventing the mechanical structure from rotating spontaneously by the Z-axis motor 14), and applying a proper amount of machine oil to the ball screws 3&7 and the contact surface of the rolling bearing for lubrication (protection mechanism);

step S3, checking the position of the mechanical structure 37, whether the position is at the zero point (i.e. the midpoint) of each directional board (Y-direction board 36 and X-direction board 24), marking the position by using a mark sticker to facilitate observation and calibration, and if the position is zero, continuing the next step; if not, resetting to zero is needed;

step S4, checking the connection state of the acceleration sensor 22, ensuring the connection with the data acquisition instrument by using a cable, connecting each channel output port of the data acquisition instrument to a computer, and selecting equipment connection in matched data monitoring software, thereby realizing multiple verification of input-feedback-output;

s5, installing camera equipment, focusing to a model zero position, and preferably enabling the axis of the lens to be on the same straight line with the model zero position, so as to facilitate subsequent image analysis;

step S6, opening an upper industrial personal computer, importing pre-converted motion data (processed according to the scale ratio of the model) into an application program, and obtaining a corresponding expected motion curve on a user interface as a reference for subsequent real-time feedback;

step S7, sampling operation is carried out in the software matched with the data acquisition instrument, and real-time data of the acceleration sensor 22 are represented;

step S8, operating the input curve, driving each shaft drive and the motor to operate by the motion controller, realizing motion simulation of three shafts, and recording the simulation process by using the camera equipment;

step S9, in the running process, the simulation process of the motion may be paused and resumed in the application software interface, and after pausing, a reset operation is performed and a new simulation scheme is terminated or restarted;

step S10, after the operation is finished, the sampling operation of the data acquisition instrument is terminated, and a sampling result is derived; closing the camera equipment and storing image data; exporting real-time feedback motion data in application software, closing a main power supply and ending a test simulation stage;

and step S11, processing data. And processing the image data by using related processing software to obtain the real motion state of the model, and comparing the input data, the real-time feedback data and the monitoring data of the acceleration sensor 15 to prove the reliability of motion simulation.

And S12, performing high-precision simulation test, dynamic monitoring and verification on the whole motion process of the offshore floating structure under the complex sea condition through the steps, so that the progress of subsequent related work is facilitated, and the safety and reliability of the structure are ensured.

The utility model can pre-exercise the motion process of a plurality of offshore floating structures under complex sea conditions, and does not need to perform tests under water environment, so that the operation is simple and easy, and the test cost is greatly reduced; the three-dimensional motion range of the simulated motion platform, the translation range of an X, Y axis is +/-50 mm, the up-down range of a Z axis is +/-20 mm, and after the model is amplified according to the proportion, the requirements of all offshore floating structures on the limit state are basically met; the offshore floating structure model covers a plurality of floating structure types such as a tension leg platform, a Spar platform, a semi-submersible platform, an FPSO (floating production storage and offloading) and an offshore wind turbine; the drive control system has displacement control precision of 4ms, and the numerical value is accurate to 0.0005mm, has good performance.

Although the present invention has been described with reference to the accompanying drawings, the invention is not limited to the above embodiments, which are only illustrative and not restrictive, and those skilled in the art can make many modifications without departing from the spirit and scope of the present invention.

Claims

1. A system for simulating motions of an offshore floating structure, comprising: mechanical structure, connection are at floating structure model and the drive control structure of mechanical structure below, its characterized in that:

2. The simulation system of claim 1, wherein the drive control structure comprises a servo motor, X, Y, Z-axis drivers, a motion controller and an upper industrial personal computer, and the motion controller actively controls the drive and the motor of each axis through a connecting cable, so as to realize motion simulation of the mechanical structure.

3. The simulation system of claim 1, wherein the floating structure model comprises a mechanical structure connected with a universal joint, an acceleration sensor is fixed on the mechanical structure, and signals acquired by the acceleration sensor are sent to an upper industrial personal computer.