CN109446742A - Semisubmersible drilling platform pipe processing equipment grab pipe machine Dynamics Simulation method - Google Patents

Semisubmersible drilling platform pipe processing equipment grab pipe machine Dynamics Simulation method Download PDF

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CN109446742A
CN109446742A CN201811583655.0A CN201811583655A CN109446742A CN 109446742 A CN109446742 A CN 109446742A CN 201811583655 A CN201811583655 A CN 201811583655A CN 109446742 A CN109446742 A CN 109446742A
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CN109446742B (en
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吴恒
彭勇
闫文辉
邵军
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Xian Shiyou University
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    • GPHYSICS
    • G06COMPUTING; CALCULATING OR COUNTING
    • G06FELECTRIC DIGITAL DATA PROCESSING
    • G06F30/00Computer-aided design [CAD]
    • G06F30/20Design optimisation, verification or simulation
    • G06F30/23Design optimisation, verification or simulation using finite element methods [FEM] or finite difference methods [FDM]
    • EFIXED CONSTRUCTIONS
    • E21EARTH OR ROCK DRILLING; MINING
    • E21BEARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
    • E21B19/00Handling rods, casings, tubes or the like outside the borehole, e.g. in the derrick; Apparatus for feeding the rods or cables
    • E21B19/14Racks, ramps, troughs or bins, for holding the lengths of rod singly or connected; Handling between storage place and borehole
    • E21B19/143Racks, ramps, troughs or bins, for holding the lengths of rod singly or connected; Handling between storage place and borehole specially adapted for underwater drilling
    • GPHYSICS
    • G06COMPUTING; CALCULATING OR COUNTING
    • G06FELECTRIC DIGITAL DATA PROCESSING
    • G06F30/00Computer-aided design [CAD]
    • G06F30/10Geometric CAD
    • G06F30/17Mechanical parametric or variational design
    • GPHYSICS
    • G06COMPUTING; CALCULATING OR COUNTING
    • G06FELECTRIC DIGITAL DATA PROCESSING
    • G06F2119/00Details relating to the type or aim of the analysis or the optimisation
    • G06F2119/06Power analysis or power optimisation

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Abstract

Semisubmersible drilling platform pipe processing equipment grab pipe machine Dynamics Simulation method, includes the following steps, step 1: establishing three-dimensional entity model in Three-dimensional Design Software;Step 2: three-dimensional entity model is imported into ADAMS software;Step 3: rigid multibody dynamics simulation model is established in ADAMS software;Step 4: multi-flexibl e dynamics simulation model is established in ADAMS software;Step 5: wind load load;Step 6: multi-rigid body is carried out, kinetics of deformable bodies emulates and obtains corresponding output data and curve;The present invention emulates dynamic characteristic of the deep water semi-submersible drilling platform in the equipment grab pipe machine work of wind wave action down tube subprocessing, and analysis, computational accuracy can be improved, provide technical support for the Design and optimization of grab pipe machine.

Description

Semisubmersible drilling platform pipe processing equipment grab pipe machine Dynamics Simulation method
Technical field
The present invention relates to offshore oil equipment technology field, in particular to a kind of semisubmersible drilling platform pipe processing equipment Grab pipe machine Dynamics Simulation method.
Background technique
Semisubmersible drilling platform in drillng operation using heave compensator, subtract that shake facility and dynamic positioning system etc. more Kind of measure keeps the position of platform across the sea, can carry out drillng operation, but platform will generate under wind wave action Rolling, heaving, the movement such as swaying.Grab pipe machine is one of Large Tube subprocessing equipment of operation on platform, for completing platform The tubing strings such as drilling rod, casing on stockyard are grabbed sling after be placed on dynamic catwalk, then by the equipments such as subsequent tube drawbench realize from Dynamicization drillng operation.The load that pipe processing equipment grab pipe machine is born at work is big, and load is complicated, in proof strength when design Under the conditions of, it is also contemplated that its lightweight.Static Strength Design of the tradition based on experience cannot accurately grasp equipment in the process of running Dynamic characteristic, consider further that the movement on Lidar Equation lower platform basis, accurate multi-body Dynamic Analysis difficulty carried out more to equipment Greatly, the design difficulty of equipment is increased.
Summary of the invention
In order to overcome the design difficulty of pipe processing equipment, avoid designed equipment generate at work intensity it is insufficient and The major accidents such as destruction, it is dynamic that the purpose of the present invention is to provide a kind of more bodies of semisubmersible drilling platform pipe processing equipment grab pipe machine Mechanics Simulation method, the feature for having dynamic simulation precision high, simple and efficient.
In order to achieve the above object, the technical solution of the present invention is as follows:
Semisubmersible drilling platform pipe processing equipment grab pipe machine Dynamics Simulation method, comprising the following steps:
Step 1: three-dimensional entity model is established with Three-dimensional Design Software;
Step 2: three-dimensional entity model is imported into ADAMS software;
Step 3: establishing rigid multibody dynamics simulation model in ADAMS software, adds the kinematic pair between adjacent members Constraint and driving restraint drive type, locational requirement according to practical, add driving restraint on corresponding kinematic pair, and according to The movement function of each driving restraint of real work parameter setting;
Step 4: multi-flexibl e dynamics simulation model is established in ADAMS software;
Step 5: wind load load;
Step 6: multi-rigid body is carried out, kinetics of deformable bodies emulates and obtains corresponding output data and curve;Pass through ADAMS Post-processing module obtains corresponding output data and curve, to compare multi-rigid body and Flexible multibody simulation model, in Multi flexible body After dynamics simulation, each beformable body component is failed, restores the rigid body component of origin-location, multi-rigid body component is imitated Very, the analysis for carrying out Flexible multibody and multi-rigid model emulation is compared.
The step two specifically:
Three-dimensional entity model is imported into ADAMS software, dimension is set, adjusts position, the angle of model, to each Title, material parameter, appearance color is arranged in component;Foundation can simulate semisubmersible drilling platform and generate movement under wave effect Analog platform, in inertial coodinate system, under Lidar Equation, the movement that deep water semi-submersible drilling platform can occur include around x, The rolling of tri- reference axis of y, z, it is first shake, the rotational freedom of pitching and along x, tri- reference axis surgings of y, z, heaving, swaying The combination of translation freedoms and several movements;In order to simulate these types of movement, respectively mesa base establish moving link with Kinematic pair, for simulate wave influence lower platform response, due to head shake movement it is smaller, influence seldom, do not do this movement mould It is quasi-, the method is as follows:
Pitching revolute pair 13 is established between pitching pedestal 1 and rolling component 2, and rotation is established in the revolute pair Driving sets movement function, for simulating the rolling in wave effect lower platform;
Rolling revolute pair 14 is established between rolling component 2 and heaving component 3, and rotation is established in the revolute pair Driving sets movement function, for simulating the pitching in wave effect lower platform;
Heaving prismatic pair 10 is established between heaving component 3 and surging swaying component 4, and establishes mobile drive on this It is dynamic, movement function is set, for simulating the heaving in wave effect lower platform;
Surging prismatic pair 8 is established between surging swaying component 4 and fixed pedestal 5, and is established and moved in the movement Dynamic driving, sets movement function, for simulating the surge motion in wave effect lower platform;
Swaying prismatic pair 15 is established between surging swaying component 4 and fixed pedestal 5 simultaneously, and on the prismatic pair Mobile driving is established, movement function is set, for simulating the swaying motion in wave effect lower platform;
Simultaneously to establish fixed joint a 6, fixed joint b 7, fixed joint c 9, fixed joint d 11 between upper member respectively, Fixed joint e 12 sets the above fixed joint and is active when influencing without the concern for wave, remaining above kinematic pair With driving all setting failures;When needing to simulate one of or several operating conditions, first by the fixed joint between corresponding component Then corresponding kinematic pair and driving activation are at state of activation, just can simulate and make in wave respectively by setting failure With the rolling of lower platform, pitching, heaving, surging, one of several operating conditions of swaying or according to the actual situation under several operating conditions Superposition.
The constraint of kinematic pair and driving restraint between adjacent members are added in the step three, specific as follows:
It is as follows that kinematic pair is added in grab pipe machine: between column and runing rest, between runing rest and principal arm, principal arm and folding Between arm, between runing rest and principal arm liquid cylinder, between principal arm and principal arm fluid cylinder bar, between principal arm and folding arm liquid cylinder, folding arm and folding arm Revolute pair is added respectively between fluid cylinder bar;Prismatic pair is added respectively between principal arm and principal arm fluid cylinder bar, between principal arm and folding arm liquid cylinder;
It is as follows that driving restraint is added in grab pipe machine: adding rotate driving in the revolute pair between column and runing rest, And angular displacement driving function is set by actual condition;Movement between principal arm and principal arm fluid cylinder bar, between principal arm and folding arm liquid cylinder Displacement drive is added in pair respectively, and displacement drive function is set by actual condition;Local coordinate is established in member in critical position MARKER adds load type on the MARKER point of corresponding component according to actual condition, the direction of load, load letter is arranged Number;
Measurement functions are added for the MARKER point for the component analyzed, to measure the movement ginseng of the point in simulation process Several or mechanics parameter, kinematic parameter include displacement, speed, acceleration, and mechanics parameter includes power, torque, complete multi-rigid body emulation The foundation of model, as the basis that Multi flexible body is established, the grab pipe machine multi-rigid body simulation model of foundation.
The step four, the specific steps are as follows:
(1) component inside multi-rigid model is generated into MNF model document respectively;
For needing to be converted into the component of beformable body in the above mechanism, respectively by the component in d solid modeling software Three-dimensional entity model saves as the formats such as SAT;
The above file is imported into finite element analysis software, adjusts model scale, setting elasticity modulus of materials, density, Grid dividing type;
Carry out FEM meshing, divide complete it is good after by the model conversation after grid dividing be MNF formatted file;
(2) MNF file is imported in ADAMS, by the beformable body component adjustment direction, position, the rigid body structure replaced with needs Part is completely coincident, and by former rigid body component actual effect, the Virtual Components of massless are established at the coupled component of beformable body component, and It is fixed with beformable body component, addition and the identical constraint of kinematic pair of multi-rigid model between the imaginary components and the component being connected And driving restraint;And vertical direction service load is loaded in folding arm end according to practical grab pipe machine sling load, loading method is same Multi-rigid model is completed Multi flexible body and is established.
The step five, specifically: wind pressure is indicated with ω.Wind pressure ω is related with wind speed v, according to primary in hydrodynamics It exerts sharp equation calculation and obtains wind pressure ω:
In formula: ω --- the wind pressure on unit area, kN/m2;ρ --- atmospheric density, t/m3;γ --- air unit bodies Product gravity, kN/m3;G --- acceleration of gravity, m/s2;V --- wind speed, m/s;
According to work wind speed, substituting into above formula can be in the hope of wind pressure.In the main wind-engaging mount components of multi-rigid body and Flexible multibody, By the product of wind pressure and component front face area calculate the component always by wind load, then multiple marks are uniformly established on component MARKER point is remembered, according to wind load direction, the equivalent equal separate loading of load, with total wind suffered by the equivalent component on each MARKER point It carries.
The present invention emulates dynamic characteristic of the deep water semi-submersible drilling platform under wind wave action when grab pipe machine work, Analysis, computational accuracy can be improved, provide technical support for the Design and optimization of grab pipe machine.
Detailed description of the invention
A kind of deep water semi-submersible drilling platform pipe processing equipment grab pipe machine Dynamics Simulation method stream of Fig. 1 present invention Journey schematic diagram.
Fig. 2 grab pipe machine kinematic sketch of mechanism.
Fig. 3 grab pipe machine assembles three-dimensional figure.
Fig. 4 has the ocean platform of 6 freedom degrees.
Fig. 5 simulated wave acts on the constraint and driving of lower platform, and Fig. 5 a is main view;Fig. 5 b is left view.
Specific embodiment
The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.
As shown in Figure 1, a kind of deep water semi-submersible drilling platform pipe processing equipment grab pipe machine many-body dynamics of the invention Emulation mode, comprising the following steps:
Step 1: establishing three-dimensional entity model in Three-dimensional Design Software, is illustrated in figure 2 drilling platforms pipe processing equipment Grab pipe machine kinematic sketch of mechanism mainly includes column 1-1, runing rest 1-2, principal arm 1-3, folding arm 1-4, telescopic rod, principal arm liquid Cylinder barrel 1-5, principal arm fluid cylinder bar 1-6, folding arm liquid cylinder 1-7,8 component of folding arm fluid cylinder bar.In Three-dimensional Design Software (such as Pro/E, Solid Edge etc.) by practical structures drawing three-dimensional entity raising simulation accuracy.As shown in figure 3, to be established grab pipe machine emulation Assemble three-dimensional figure.
Step 2: three-dimensional entity model being imported into ADAMS software, dimension is set, and adjusts the position of model, angle Title, material parameter, appearance color is arranged to each component in degree;Foundation can simulate semisubmersible drilling platform and act in wave The lower analog platform for generating movement, as shown in Figure 4 in inertial coodinate system, under Lidar Equation, deep water semi-submersible drilling platform The movement that can occur include around x, y, the rolling of tri- reference axis of z, it is first shake, the rotational freedom of pitching and along x, y, z tri- seats Parameter surging, heaving, the translation freedoms of swaying and several movements combination.As shown in figure 5, and combine Fig. 3, for mould Quasi- these types movement, establishes moving link and kinematic pair in mesa base respectively, influences the sound of lower platform in wave for simulating Answer, due to head shake movement it is smaller, influence seldom, do not do this movement simulation, the method is as follows:
Pitching revolute pair 13 is established between pitching pedestal 1 and rolling component 2, and rotation is established in the revolute pair Driving sets movement function, for simulating the rolling in wave effect lower platform.
Rolling revolute pair 14 is established between rolling component 2 and heaving component 3, and rotation is established in the revolute pair Driving sets movement function, for simulating the pitching in wave effect lower platform.
Heaving prismatic pair 10 is established between heaving component 3 and surging swaying component 4, and establishes mobile drive on this It is dynamic, movement function is set, for simulating the heaving in wave effect lower platform.
Surging prismatic pair 8 is established between surging swaying component 4 and fixed pedestal 5, and is established and moved in the movement Dynamic driving, sets movement function, for simulating the surge motion in wave effect lower platform.
Swaying prismatic pair 15 is established between surging swaying component 4 and fixed pedestal 5 simultaneously, and on the prismatic pair Mobile driving is established, movement function is set, for simulating the swaying motion in wave effect lower platform.
Simultaneously to establish fixed joint a 6, fixed joint b 7, fixed joint c 9, fixed joint d 11 between upper member respectively, Fixed joint e 12 sets the above fixed joint and is active when influencing without the concern for wave, remaining above kinematic pair With driving all setting failures.When needing to simulate one of or several operating conditions, first by the fixed joint between corresponding component Then corresponding kinematic pair and driving activation are at state of activation, just can simulate and make in wave respectively by setting failure With the rolling of lower platform, pitching, heaving, surging, one of several operating conditions of swaying or according to the actual situation under several operating conditions Superposition.
Step 3: establishing rigid multibody dynamics simulation model in ADAMS software, adds the kinematic pair between adjacent members Constraint and driving restraint.Type, locational requirement are driven according to practical, adds driving restraint on corresponding kinematic pair, and according to The movement function of each driving restraint of real work parameter setting;In conjunction with Fig. 2, the specific method is as follows by Fig. 3:
It is as follows that kinematic pair is added in grab pipe machine: between column and runing rest, between runing rest and principal arm, principal arm and folding Between arm, between runing rest and principal arm liquid cylinder, between principal arm and principal arm fluid cylinder bar, between principal arm and folding arm liquid cylinder, folding arm and folding arm Revolute pair is added respectively between fluid cylinder bar;Prismatic pair is added respectively between principal arm and principal arm fluid cylinder bar, between principal arm and folding arm liquid cylinder.
It is as follows that driving restraint is added in grab pipe machine: adding rotate driving in the revolute pair between column and runing rest, And angular displacement driving function is set by actual condition;Movement between principal arm and principal arm fluid cylinder bar, between principal arm and folding arm liquid cylinder Displacement drive is added in pair respectively, and displacement drive function is set by actual condition.
Local coordinate MARKER is established in member in critical position, according to actual condition on the MARKER point of corresponding component Load type is added, the direction of load, load function are set;
Measurement functions are added for the MARKER point for the component analyzed, to measure the movement ginseng of the point in simulation process Number (displacement, speed, acceleration etc.) or mechanics parameter (power, torque) complete the foundation of multi-rigid body simulation model, as how soft The basis that body Model is established.
Step 4: multi-flexibl e dynamics simulation model is established in ADAMS software, steps are as follows:
1) component inside multi-rigid model is generated into MNF model document respectively;
For needing to be converted into the component of beformable body in the above mechanism, respectively by the component in d solid modeling software Three-dimensional entity model saves as the formats such as SAT;
The above file is imported into finite element analysis software (such as ANSYS), adjusts model scale, elastic properties of materials mould is set Amount, density, grid dividing type;
Carry out FEM meshing, divide complete it is good after by the model conversation after grid dividing be MNF formatted file (mould State file).
2) MNF file is imported in ADAMS, by the beformable body component adjustment direction, position, the rigid body component replaced with needs It is completely coincident, by former rigid body component actual effect, establishes the Virtual Components of massless at the coupled component of beformable body component, and with Beformable body component is fixed, between the imaginary components and the component being connected addition and the identical constraint of kinematic pair of multi-rigid model and Driving restraint.And vertical direction service load is loaded in folding arm end according to practical grab pipe machine sling load, loading method is the same as more Rigid model is completed Multi flexible body and is established.
Step 5: the load of wind load:
The calculating for carrying out wind load, can be according to China's loading code for design of building structures.When wind is travelled forward with certain speed When meeting with obstruction, pressure, as wind pressure will be generated to obstruction, for Structural Design calculating, the size of wind-force effect Preferably directly indicated with wind pressure.Wind speed is bigger, and wind pressure is also bigger.Wind pressure is indicated with ω.Wind pressure ω is related with wind speed v, root Wind pressure ω is calculated according to the Bernoulli equation in hydrodynamics:
In formula: ω --- the wind pressure on unit area, kN/m2;ρ --- atmospheric density, t/m3;γ --- air unit bodies Product gravity, kN/m3;G --- acceleration of gravity, m/s2;V --- wind speed, m/s.
According to work wind speed, substituting into above formula can be in the hope of wind pressure.In the main wind-engaging mount components of multi-rigid body and Flexible multibody, By the product of wind pressure and component front face area calculate the component always by wind load, then multiple marks are uniformly established on component MARKER point is remembered, according to wind load direction, the equivalent equal separate loading of load, with total wind suffered by the equivalent component on each MARKER point It carries.
Multi-rigid model is all activated when carrying out rigid multibody dynamics emulation, and Multi flexible body is failed;Into Multi flexible body is all activated when row multi-flexibl e dynamics emulate, and multi-rigid model is failed.
Step 6: progress multi-rigid body, kinetics of deformable bodies emulate and obtain corresponding output data and curve, pass through ADAMS Post-processing module obtains corresponding output data and curve.For convenience of comparison multi-rigid body and Flexible multibody simulation model, in Flexible multibody After model dynamics simulation, each beformable body component is failed, restores the rigid body component of origin-location, to multi-rigid body component into Row emulation, the analysis for carrying out Flexible multibody and multi-rigid model emulation are compared.
The above describes a specific embodiment of the invention, but those skilled in the art should be appreciated that this It is merely illustrative of, various changes or modifications can be made to present embodiment, without departing from the principle and essence of invention, originally The protection scope of invention is only limited by the claims that follow.

Claims (5)

1. semisubmersible drilling platform pipe processing equipment grab pipe machine Dynamics Simulation method, which is characterized in that including following Step:
Step 1: three-dimensional entity model is established in Three-dimensional Design Software;
Step 2: three-dimensional entity model is imported into ADAMS software;
Step 3: establishing rigid multibody dynamics simulation model in ADAMS software, adds the constraint of kinematic pair between adjacent members And driving restraint, type, locational requirement are driven according to practical, driving restraint is added on corresponding kinematic pair, and according to reality The movement function of each driving restraint is arranged in running parameter,;
Step 4: multi-flexibl e dynamics simulation model is established in ADAMS software;
Step 5: wind load load;
Step 6: multi-rigid body is carried out, kinetics of deformable bodies emulates and obtains corresponding output data and curve;After ADAMS Module is managed, corresponding output data and curve are obtained, to compare multi-rigid body and Flexible multibody simulation model, in Multi flexible body power After learning emulation, each beformable body component is failed, restores the rigid body component of origin-location, multi-rigid body component is emulated, The analysis for carrying out Flexible multibody and multi-rigid model emulation is compared.
2. semisubmersible drilling platform pipe processing equipment grab pipe machine Dynamics Simulation method according to claim 1, It is characterized in that, the step two, specifically:
Three-dimensional entity model is imported into ADAMS software, dimension is set, adjusts the position of model, angle gives each component Title, material parameter, appearance color are set;The mould that semisubmersible drilling platform generates movement under wave effect can be simulated by establishing Quasi- platform, in inertial coodinate system, under Lidar Equation, the movement that deep water semi-submersible drilling platform can occur includes around x, y, z The rolling of three reference axis, it is first shake, the rotational freedom of pitching and along x, tri- reference axis surgings of y, z, heaving, swaying translation The combination of freedom degree and several movements;In order to simulate these types of movement, moving link and movement are established in mesa base respectively Pair, for simulate wave influence lower platform response, due to head shake movement it is smaller, influence seldom, do not do this movement simulation, side Method is as follows:
Pitching revolute pair 13 is established between pitching pedestal 1 and rolling component 2, and is established rotation in the revolute pair and driven It is dynamic, movement function is set, for simulating the rolling in wave effect lower platform;
Rolling revolute pair 14 is established between rolling component 2 and heaving component 3, and is established rotation in the revolute pair and driven It is dynamic, movement function is set, for simulating the pitching in wave effect lower platform;
Heaving prismatic pair 10 is established between heaving component 3 and surging swaying component 4, and establishes mobile driving on this, Movement function is set, for simulating the heaving in wave effect lower platform;
Surging prismatic pair 8 is established between surging swaying component 4 and fixed pedestal 5, and mobile drive is established in the movement It is dynamic, movement function is set, for simulating the surge motion in wave effect lower platform;
Swaying prismatic pair 15 is established between surging swaying component 4 and fixed pedestal 5 simultaneously, and is established on the prismatic pair Mobile driving, sets movement function, for simulating the swaying motion in wave effect lower platform;
Simultaneously to establish fixed joint a 6, fixed joint b 7, fixed joint c 9, fixed joint d 11 between upper member respectively, fix Secondary e 12 sets the above fixed joint and is active when influencing without the concern for wave, remaining above kinematic pair and drive Dynamic all setting failures;When needing to simulate one of or several operating conditions, first the fixed joint between corresponding component is set Then corresponding kinematic pair and driving activation are at state of activation by failure, just can simulate respectively under wave effect The rolling of platform, pitching, heaving, surging, one of several operating conditions of swaying or according to the actual situation under several operating conditions superposition.
3. semisubmersible drilling platform pipe processing equipment grab pipe machine Dynamics Simulation method according to claim 1, It is characterized in that, the constraint of kinematic pair and driving restraint between adjacent members are added in the step three, it is specific as follows:
It is as follows that kinematic pair is added in grab pipe machine: between column and runing rest, between runing rest and principal arm, principal arm and folding arm Between, between runing rest and principal arm liquid cylinder, between principal arm and principal arm fluid cylinder bar, between principal arm and folding arm liquid cylinder, folding arm and folding arm liquid Revolute pair is added between cylinder rod respectively;Prismatic pair is added respectively between principal arm and principal arm fluid cylinder bar, between principal arm and folding arm liquid cylinder;
It is as follows that driving restraint is added in grab pipe machine: being added rotate driving in the revolute pair between column and runing rest, and is pressed Angular displacement driving function is arranged in actual condition;On prismatic pair between principal arm and principal arm fluid cylinder bar, between principal arm and folding arm liquid cylinder Displacement drive is added respectively, and displacement drive function is set by actual condition;Local coordinate is established in member in critical position MARKER adds load type on the MARKER point of corresponding component according to actual condition, the direction of load, load letter is arranged Number;
For the component analyzed MARKER point add measurement functions, with measured in simulation process the point kinematic parameter or Mechanics parameter, kinematic parameter include displacement, speed, acceleration, and mechanics parameter includes power, torque, complete multi-rigid body simulation model Foundation, as Multi flexible body establish basis, the grab pipe machine multi-rigid body simulation model of foundation.
4. semisubmersible drilling platform pipe processing equipment grab pipe machine Dynamics Simulation method according to claim 1, It is characterized in that, the step four, specific as follows:
(1) component inside multi-rigid model is generated into MNF model document respectively;
For needing to be converted into the component of beformable body in the above mechanism, respectively by the three-dimensional of the component in d solid modeling software Physical model saves as the formats such as SAT;
The above file is imported into finite element analysis software, adjusts model scale, elasticity modulus of materials, density, grid are set Classified types;
Carry out FEM meshing, divide complete it is good after by the model conversation after grid dividing be MNF formatted file;
(2) MNF file is imported in ADAMS, by the beformable body component adjustment direction, position, the rigid body component replaced with needs is complete Full weight is closed, and by former rigid body component actual effect, establishes the Virtual Components of massless at the coupled component of beformable body component, and with it is soft Body component is fixed, addition and the identical constraint of kinematic pair of multi-rigid model and drive between the imaginary components and the component being connected Moving constraint;And vertical direction service load is loaded in folding arm end according to practical grab pipe machine sling load, loading method is the same as mostly just Body Model is completed Multi flexible body and is established.
5. semisubmersible drilling platform pipe processing equipment grab pipe machine Dynamics Simulation method according to claim 1, It is characterized in that, the step five specifically:
Wind pressure is indicated with ω;Wind pressure ω is related with wind speed v, and wind pressure ω is calculated according to the Bernoulli equation in hydrodynamics:
In formula: ω --- the wind pressure on unit area, kN/m2;ρ --- atmospheric density, t/m3;γ --- air unit volume weight Power, kN/m3;G --- acceleration of gravity, m/s2;V --- wind speed, m/s;
According to work wind speed, substituting into above formula can be in the hope of wind pressure;In the main wind-engaging mount components of multi-rigid body and Flexible multibody, pass through The product of wind pressure and component front face area calculate the component always by wind load, then multiple labels are uniformly established on component MARKER point, according to wind load direction, the equivalent equal separate loading of load, with total wind suffered by the equivalent component on each MARKER point It carries.
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CN112580163A (en) * 2020-12-14 2021-03-30 上海交通大学 Rapid dynamics simulation implementation method for hull hoisting planning and operation training
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