CN109446742B - Multi-body dynamic simulation method for pipe grabbing machine of pipe processing equipment of semi-submersible drilling platform - Google Patents
Multi-body dynamic simulation method for pipe grabbing machine of pipe processing equipment of semi-submersible drilling platform Download PDFInfo
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- CN109446742B CN109446742B CN201811583655.0A CN201811583655A CN109446742B CN 109446742 B CN109446742 B CN 109446742B CN 201811583655 A CN201811583655 A CN 201811583655A CN 109446742 B CN109446742 B CN 109446742B
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F30/00—Computer-aided design [CAD]
- G06F30/20—Design optimisation, verification or simulation
- G06F30/23—Design optimisation, verification or simulation using finite element methods [FEM] or finite difference methods [FDM]
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- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21B—EARTH DRILLING, e.g. DEEP DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B19/00—Handling rods, casings, tubes or the like outside the borehole, e.g. in the derrick; Apparatus for feeding the rods or cables
- E21B19/14—Racks, ramps, troughs or bins, for holding the lengths of rod singly or connected; Handling between storage place and borehole
- E21B19/143—Racks, ramps, troughs or bins, for holding the lengths of rod singly or connected; Handling between storage place and borehole specially adapted for underwater drilling
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F30/00—Computer-aided design [CAD]
- G06F30/10—Geometric CAD
- G06F30/17—Mechanical parametric or variational design
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
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- G06F2119/00—Details relating to the type or aim of the analysis or the optimisation
- G06F2119/06—Power analysis or power optimisation
Abstract
The multi-body dynamic simulation method for the pipe grabbing machine of the pipe processing equipment of the semi-submersible drilling platform comprises the following steps: establishing a three-dimensional entity model in three-dimensional design software; step two: importing the three-dimensional entity model into ADAMS software; step three: establishing a multi-rigid-body dynamics simulation model in ADAMS software; step four: establishing a multi-flexible-body dynamic simulation model in ADAMS software; step five: loading wind load; step six: performing multi-rigid body and flexible body dynamics simulation and acquiring corresponding output data and curves; the method simulates the dynamic characteristics of the deepwater semi-submersible drilling platform when the pipe processing equipment grabs the pipe machine under the action of wind waves, can improve the analysis and calculation precision, and provides technical support for the design and optimization of the pipe machine.
Description
Technical Field
The invention relates to the technical field of offshore oil equipment, in particular to a multi-body dynamics simulation method for a pipe grabbing machine of pipe processing equipment of a semi-submersible drilling platform.
Background
During drilling operation, the semi-submersible drilling platform adopts various measures such as a heave compensation device, an anti-sway facility, a dynamic positioning system and the like to keep the position of the platform on the sea surface, so that the drilling operation can be carried out, but the platform still generates motions such as rolling, heaving, swaying and the like under the action of wind waves. The pipe grabbing machine is one of large pipe processing equipment operating on a platform, and is used for grabbing and hoisting pipe columns such as drill pipes, sleeves and the like on a platform storage yard, placing the pipe columns on a power catwalk, and then realizing automatic drilling operation by subsequent pipe arranging machines and the like. The pipe processing equipment pipe grabbing machine is large in load borne during working and complex in load, and the light weight of the pipe processing equipment pipe grabbing machine is considered under the condition of guaranteeing the strength during design. The traditional static strength design based on experience cannot accurately master the dynamic characteristics of the equipment in the operation process, and then the movement of the platform foundation under the influence of wind waves is considered, so that the difficulty in carrying out accurate multi-body dynamics analysis on the equipment is higher, and the design difficulty of the equipment is increased.
Disclosure of Invention
The invention aims to overcome the design difficulty of pipe processing equipment and avoid serious accidents that the designed equipment is damaged due to insufficient strength during working, and the like.
In order to achieve the purpose, the technical scheme of the invention is as follows:
the multi-body dynamic simulation method for the pipe grabbing machine of the pipe processing equipment of the semi-submersible drilling platform comprises the following steps of:
the method comprises the following steps: establishing a three-dimensional entity model by using three-dimensional design software;
step two: importing the three-dimensional solid model into ADAMS software;
step three: establishing a multi-rigid-body dynamics simulation model in ADAMS software, adding kinematic pair constraints and driving constraints between adjacent components, adding driving constraints on corresponding kinematic pairs according to actual driving types and position requirements, and setting motion functions of the driving constraints according to actual working parameters;
step four: establishing a multi-flexible-body dynamic simulation model in ADAMS software;
step five: loading a wind load;
step six: performing multi-rigid body and flexible body dynamics simulation and acquiring corresponding output data and curves; and acquiring corresponding output data and curves through an ADAMS post-processing module, and after the dynamic simulation of the multi-flexible-body model, invalidating each flexible-body component, recovering the rigid-body component at the original position, simulating the multi-rigid-body components, and analyzing and comparing the simulation of the multi-flexible-body and multi-rigid-body models in order to compare the multi-rigid-body and multi-flexible-body simulation models.
The second step is specifically as follows:
importing the three-dimensional entity model into ADAMS software, setting dimensions, adjusting the position and angle of the model, and setting names, material parameters and appearance colors for each component; establishing a simulation platform capable of simulating the motion of the semi-submersible drilling platform under the action of sea waves, wherein in an inertial coordinate system, under the influence of wind waves, the motion which can be generated by the deepwater semi-submersible drilling platform comprises the rotational freedom of rolling, yawing and pitching around three coordinate axes of x, y and z, the translational freedom of pitching, heaving and swaying along the three coordinate axes of x, y and z, and the combination of several motions; in order to simulate the motions, a motion component and a motion pair are respectively established at the bottom of the platform and used for simulating the response of the platform under the influence of sea waves, and because the yawing motion is small, the influence is little, the motion simulation is not carried out, and the method comprises the following steps:
a pitching rotating pair 13 is established between the pitching base 1 and the rolling component 2, and a rotation drive is established on the rotating pair, and a motion function is set for simulating the rolling of the platform under the action of sea waves;
a rolling rotation pair 14 is established between the rolling component 2 and the heaving component 3, and rotation drive is established on the rotation pair, and a motion function is set for simulating the pitching of the platform under the action of sea waves;
a heave moving pair 10 is established between the heave member 3 and the surging and surging member 4, and a moving drive is established on the heave moving pair, and a motion function is set for simulating the heave motion of the platform under the action of sea waves;
a surging moving pair 8 is established between the surging member 4 and the fixed base 5, and a moving drive is established on the movement, and a motion function is set for simulating the surging motion of the platform under the action of sea waves;
meanwhile, a surging moving pair 15 is established between the surging member 4 and the fixed base 5, and a moving drive is established on the moving pair, and a motion function is set for simulating the surging motion of the platform under the action of sea waves;
meanwhile, a fixed pair a 6, a fixed pair b 7, a fixed pair c 9, a fixed pair d 11 and a fixed pair e 12 are respectively established among the components, when the influence of sea waves is not needed to be considered, the fixed pairs are set to be in an activated state, and all the rest kinematic pairs and drives are set to be invalid; when one or more working conditions need to be simulated, the fixed pair between the corresponding components is set to be invalid, and then the corresponding kinematic pair and the drive are activated to be in an activated state, so that the rolling, pitching, heaving, surging and/or the superposition of the working conditions of the platform under the action of sea waves can be simulated respectively or according to the practical situation.
In the third step, kinematic pair constraint and driving constraint between adjacent components are added, specifically as follows:
the pipe grabbing machine is added with the following kinematic pairs: adding revolute pairs between the upright column and the rotary support, between the rotary support and the main arm, between the main arm and the folding arm, between the rotary support and the main arm hydraulic cylinder barrel, between the main arm and the main arm hydraulic cylinder rod, between the main arm and the folding arm hydraulic cylinder barrel, and between the folding arm and the folding arm hydraulic cylinder rod respectively; moving pairs are respectively added between the main arm and the main arm hydraulic cylinder rod and between the main arm and the folding arm hydraulic cylinder barrel;
the driving constraints added in the pipe grabbing machine are as follows: adding a rotation drive on a revolute pair between the upright post and the rotary support, and setting an angular displacement drive function according to actual working conditions; respectively adding displacement drive to the sliding pairs between the main arm and the main arm hydraulic cylinder rod and between the main arm and the folding arm hydraulic cylinder barrel, and setting a displacement drive function according to actual working conditions; establishing local coordinates MARKER at the key positions of the components, adding load types on MARKER points of the corresponding components according to actual working conditions, and setting the load direction and the load function;
adding a measurement function to a MARKER point of a component to be analyzed to measure motion parameters or mechanical parameters of the point in a simulation process, wherein the motion parameters comprise displacement, speed and acceleration, the mechanical parameters comprise force and moment, the establishment of a multi-rigid-body simulation model is completed, and the multi-rigid-body simulation model is established as a basis for the establishment of a multi-flexible-body model.
The fourth step comprises the following specific steps:
(1) Respectively generating MNF modal files for components in the multi-rigid-body model;
for the components needing to be converted into flexible bodies in the mechanism, respectively storing the three-dimensional solid model of the components in the three-dimensional solid modeling software in formats such as SAT and the like;
importing the files into finite element analysis software, adjusting the model proportion, and setting the elastic modulus, the density and the grid division type of the material;
carrying out finite element meshing, and converting a meshed model into an MNF format file after the meshing is finished;
(2) Introducing an MNF file into ADAMS, adjusting the direction and position of the flexible member, completely overlapping the flexible member with a rigid member to be replaced, actually replacing the original rigid member, establishing a virtual member without mass at the position where the flexible member is connected with the flexible member, fixing the virtual member with the flexible member, and adding kinematic pair constraint and driving constraint which are the same as those of a multi-rigid model between the virtual member and the connected member; and loading a working load in the vertical direction at the tail end of the folding arm according to the actual hoisting load of the pipe grabbing machine, wherein the loading method is the same as that of the multi-rigid-body model, and the multi-flexible-body model is built.
The fifth step is specifically as follows: wind pressure is indicated by ω. The wind pressure omega is related to the wind speed v, and is calculated according to a Bernoulli equation in hydrodynamics to obtain the wind pressure omega:
in the formula: omega-wind pressure per unit area, kN/m 2 (ii) a Rho-air Density, t/m 3 (ii) a Gamma-air gravity per unit volume, kN/m 3 (ii) a g-acceleration of gravity, m/s 2 (ii) a v-wind speed, m/s;
according to the working wind speed, the wind pressure can be obtained by substituting the formula. On the main wind load bearing member of multiple rigid bodies and multiple flexible bodies, the total wind load of the member is calculated through the product of the wind pressure and the windward area of the member, then a plurality of marked MARKER points are uniformly distributed and established on the member, and the load is equally loaded on each MARKER point according to the wind load direction so as to be equivalent to the total wind load of the member.
The method simulates the dynamic characteristics of the deepwater semi-submersible drilling platform when the pipe grabbing machine works under the action of wind waves, can improve the analysis and calculation precision, and provides technical support for the design and optimization of the pipe grabbing machine.
Drawings
FIG. 1 is a schematic flow chart of a multi-body dynamics simulation method of a pipe grabbing machine of pipe processing equipment of a deepwater semi-submersible drilling platform.
Fig. 2 is a motion diagram of a pipe grabbing machine mechanism.
FIG. 3 is an assembled three-dimensional view of the pipe grabber.
FIG. 4 is an ocean platform with 6 degrees of freedom.
FIG. 5 is a front view of the platform simulating the restraint and actuation of the platform under the action of wind and waves; fig. 5b is a left side view.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
As shown in fig. 1, the multi-body dynamics simulation method for the pipe grabbing machine of the pipe processing equipment of the deepwater semi-submersible drilling platform comprises the following steps:
the method comprises the following steps: a three-dimensional solid model is established in three-dimensional design software, and as shown in figure 2, the motion diagram of a pipe grabbing mechanism of the drilling platform pipe processing equipment mainly comprises upright posts 1-1, rotating supports 1-2, main arms 1-3, folding arms 1-4, telescopic rods, main arm hydraulic cylinder barrels 1-5, main arm hydraulic cylinder rods 1-6, folding arm hydraulic cylinder barrels 1-7 and folding arm hydraulic cylinder rods 8. And drawing a three-dimensional entity in three-dimensional design software (such as Pro/E, solid Edge and the like) according to an actual structure to improve the simulation precision. As shown in fig. 3, a three-dimensional diagram is assembled for the simulation of the built pipe grabbing machine.
Step two: importing the three-dimensional entity model into ADAMS software, setting dimensions, adjusting the position and angle of the model, and setting names, material parameters and appearance colors for each component; a simulation platform capable of simulating the motion of the semi-submersible drilling platform under the action of sea waves is established, as shown in FIG. 4, in an inertial coordinate system, under the influence of wind waves, the motion which can be generated by the deepwater semi-submersible drilling platform comprises the rotational freedom of rolling, yawing and pitching around three coordinate axes of x, y and z, the translational freedom of pitching, heaving and swaying along the three coordinate axes of x, y and z, and the combination of several kinds of motion. As shown in fig. 5 and in conjunction with fig. 3, in order to simulate these motions, a motion member and a motion pair are respectively established at the bottom of the platform for simulating the response of the platform under the influence of sea waves, and since the yawing motion is small, the influence is little, and the motion simulation is not performed, the method is as follows:
a pitch revolute pair 13 is established between the pitch base 1 and the roll member 2 and a rotational drive is established on this revolute pair, setting a motion function for simulating the rolling of the platform under the action of sea waves.
A roll revolute pair 14 is established between the roll member 2 and the heave member 3 and a rotational drive is established on the revolute pair, setting a motion function for simulating pitching of the platform under the action of sea waves.
A heave motion pair 10 is established between the heave and surge members 3, 4 and a motion drive is established thereon, setting a motion function for simulating the heave motion of the platform under the action of sea waves.
A surging moving pair 8 is established between the surging member 4 and the fixed base 5 and a movement drive is established on this movement, setting a motion function for simulating the surging motion of the platform under the action of sea waves.
Meanwhile, a swaying moving pair 15 is established between the surging and swaying member 4 and the fixed base 5, and a moving drive is established on the moving pair, and a motion function is set for simulating the swaying motion of the platform under the action of sea waves.
Meanwhile, a fixed pair a 6, a fixed pair b 7, a fixed pair c 9, a fixed pair d 11 and a fixed pair e 12 are respectively established among the components, when the influence of sea waves is not needed to be considered, the fixed pairs are set to be in an activated state, and all the rest kinematic pairs and the drive are set to be invalid. When one or more working conditions need to be simulated, the fixed pair between the corresponding components is set to be invalid, then the corresponding kinematic pair and the drive are activated to be in an activated state, and then one of the working conditions of rolling, pitching, heaving, surging and swaying of the platform under the action of sea waves or the superposition of the working conditions under the actual condition can be simulated respectively.
Step three: a multi-rigid-body dynamic simulation model is established in ADAMS software, and kinematic pair constraints and driving constraints between adjacent components are added. Adding drive constraints on corresponding kinematic pairs according to actual drive types and position requirements, and setting motion functions of the drive constraints according to actual working parameters; with reference to fig. 2, the specific method of fig. 3 is as follows:
the pipe grabbing machine is added with the following kinematic pairs: adding revolute pairs between the upright column and the rotary support, between the rotary support and the main arm, between the main arm and the folding arm, between the rotary support and the main arm hydraulic cylinder barrel, between the main arm and the main arm hydraulic cylinder rod, between the main arm and the folding arm hydraulic cylinder barrel, and between the folding arm and the folding arm hydraulic cylinder rod respectively; and moving pairs are respectively added between the main arm and the main arm hydraulic cylinder rod and between the main arm and the folding arm hydraulic cylinder barrel.
The driving constraints added in the pipe grabbing machine are as follows: adding rotation drive on a revolute pair between the upright post and the rotary support, and setting an angular displacement drive function according to actual working conditions; and respectively adding displacement drive to the sliding pairs between the main arm and the main arm hydraulic cylinder rod and between the main arm and the folding arm hydraulic cylinder barrel, and setting a displacement drive function according to actual working conditions.
Establishing local coordinates MARKER at the key positions of the components, adding load types on MARKER points of the corresponding components according to actual working conditions, and setting the load direction and the load function;
adding a measurement function to a MARKER point of a component to be analyzed to measure motion parameters (displacement, speed, acceleration and the like) or mechanical parameters (force, moment and the like) of the point in a simulation process, and completing the establishment of a multi-rigid-body simulation model as the basis for the establishment of a multi-flexible-body model.
Step four: a multi-flexible-body dynamic simulation model is established in ADAMS software, and the steps are as follows:
1) Respectively generating MNF modal files for components in the multi-rigid-body model;
for the components needing to be converted into flexible bodies in the mechanism, respectively storing the three-dimensional solid model of the components in the three-dimensional solid modeling software in formats such as SAT and the like;
importing the files into finite element analysis software (such as ANSYS), adjusting the model proportion, and setting the elastic modulus, density and grid division type of the material;
and (4) carrying out finite element meshing, and converting the meshed model into an MNF format file (modal file) after the meshing is finished.
2) Introducing MNF files into ADAMS, adjusting the direction and position of the flexible member, completely overlapping the flexible member with the rigid member to be replaced, effectively building a virtual member without mass at the position where the flexible member is connected with the flexible member, fixing the virtual member with the flexible member, and adding kinematic pair constraint and driving constraint between the virtual member and the connected member, wherein the kinematic pair constraint and the driving constraint are the same as those of a multi-rigid-body model. And loading a working load in the vertical direction at the tail end of the folding arm according to the actual hoisting load of the pipe grabbing machine, wherein the loading method is the same as that of the multi-rigid-body model, and the multi-flexible-body model is built.
Step five: loading of wind load:
the wind load is calculated according to the building structure load standard of China. When wind moves forwards at a certain speed and meets a barrier, pressure is generated on the barrier, namely wind pressure, and for engineering structure design calculation, the magnitude of wind force is preferably directly expressed by the wind pressure. The greater the wind speed, the greater the wind pressure. Wind pressure is denoted by ω. The wind pressure omega is related to the wind speed v, and the wind pressure omega is calculated according to the Bernoulli equation in hydrodynamics:
in the formula: omega-wind pressure per unit area, kN/m 2 (ii) a Rho-air Density, t/m 3 (ii) a Gamma-air gravity per unit volume, kN/m 3 (ii) a g-acceleration of gravity, m/s 2 (ii) a v-wind speed, m/s.
According to the working wind speed, the wind pressure can be obtained by substituting the formula. On the main wind load bearing member of multiple rigid bodies and multiple flexible bodies, the total wind load of the member is calculated through the product of the wind pressure and the windward area of the member, then a plurality of marked MARKER points are uniformly distributed and established on the member, and the load is equally loaded on each MARKER point according to the wind load direction so as to be equivalent to the total wind load of the member.
When multi-rigid-body dynamics simulation is carried out, all multi-rigid-body models are activated, and the multi-flexible-body models are disabled; and when multi-flexible-body dynamic simulation is carried out, all multi-flexible-body models are activated, and the multi-rigid-body models are invalidated.
Step six: and performing multi-rigid body and flexible body dynamics simulation, acquiring corresponding output data and curves, and acquiring the corresponding output data and curves through an ADAMS post-processing module. In order to compare the multi-rigid body simulation model with the multi-flexible body simulation model conveniently, after the multi-flexible body model is subjected to dynamic simulation, each flexible body component is invalidated, the rigid body component at the original position is recovered, the multi-rigid body component is simulated, and analysis and comparison of simulation of the multi-flexible body simulation model and the multi-rigid body simulation model are carried out.
While particular embodiments of the present invention have been described, it will be understood by those skilled in the art that these are by way of illustration only, and various changes and modifications may be made to the embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims.
Claims (2)
1. The multi-body dynamic simulation method for the pipe grabbing machine of the pipe processing equipment of the semi-submersible drilling platform is characterized by comprising the following steps of:
the method comprises the following steps: establishing a three-dimensional entity model in three-dimensional design software;
step two: importing the three-dimensional entity model into ADAMS software; the method specifically comprises the following steps:
importing the three-dimensional entity model into ADAMS software, setting dimensions, adjusting the position and angle of the model, and setting names, material parameters and appearance colors for each component; establishing a simulation platform capable of simulating the motion of the semi-submersible drilling platform under the action of sea waves, wherein in an inertial coordinate system, under the influence of wind waves, the motion which can be generated by the deepwater semi-submersible drilling platform comprises the rotational freedom of rolling, yawing and pitching around three coordinate axes of x, y and z, the translational freedom of pitching, heaving and swaying along the three coordinate axes of x, y and z, and the combination of several motions; in order to simulate the motions, a motion component and a motion pair are respectively established at the bottom of the platform and used for simulating the response of the platform under the influence of sea waves, and because the yawing motion is small, the influence is little, the motion simulation is not carried out, and the method comprises the following steps:
a pitching revolute pair (13) is established between the pitching base (1) and the rolling component (2), and a rotary drive is established on the revolute pair, and a motion function is set for simulating the rolling of the platform under the action of sea waves;
a rolling rotation pair (14) is established between the rolling component (2) and the heaving component (3), and a rotation drive is established on the rotation pair, and a motion function is set for simulating the pitching of the platform under the action of sea waves;
a heave moving pair (10) is established between the heave member (3) and the surging and surging member (4), and a moving drive is established on the heave moving pair, and a motion function is set for simulating the heave motion of the platform under the action of sea waves;
a surging moving pair (8) is established between the surging and surging component (4) and the fixed base (5), and a moving drive is established on the movement, and a motion function is set for simulating the surging motion of the platform under the action of sea waves;
meanwhile, a swaying moving pair (15) is established between the surging swaying component (4) and the fixed base (5), and a moving drive is established on the moving pair, and a motion function is set for simulating the swaying motion of the platform under the action of sea waves;
meanwhile, a fixed pair a (6), a fixed pair b (7), a fixed pair c (9), a fixed pair d (11) and a fixed pair e (12) are respectively established among the components, when the influence of sea waves is not considered, the fixed pairs are set to be in an activated state, and all the rest kinematic pairs and the drives are set to be invalid; when one or more working conditions need to be simulated, the fixed pair between the corresponding components is set to be invalid, then the corresponding kinematic pair and the drive are activated to be in an activated state, and then the rolling, pitching, heaving, pitching and rolling of the platform under the action of sea waves can be simulated respectively or the superposition of the working conditions under the actual condition is realized;
step three: establishing a multi-rigid-body dynamics simulation model in ADAMS software, adding kinematic pair constraints and driving constraints between adjacent components, adding driving constraints on corresponding kinematic pairs according to actual driving types and position requirements, and setting motion functions of the driving constraints according to actual working parameters;
in the third step, kinematic pair constraint and driving constraint between adjacent components are added, specifically as follows:
the pipe grabbing machine is added with the following kinematic pairs: adding revolute pairs between the upright column and the rotary support, between the rotary support and the main arm, between the main arm and the folding arm, between the rotary support and the main arm hydraulic cylinder barrel, between the main arm and the main arm hydraulic cylinder rod, between the main arm and the folding arm hydraulic cylinder barrel, and between the folding arm and the folding arm hydraulic cylinder rod respectively; moving pairs are respectively added between the main arm and the main arm hydraulic cylinder rod and between the main arm and the folding arm hydraulic cylinder barrel;
the driving constraints added in the pipe grabbing machine are as follows: adding a rotation drive on a revolute pair between the upright post and the rotary support, and setting an angular displacement drive function according to actual working conditions; respectively adding displacement drive to the sliding pairs between the main arm and the main arm hydraulic cylinder rod and between the main arm and the folding arm hydraulic cylinder barrel, and setting a displacement drive function according to actual working conditions; establishing local coordinates MARKER at key positions of the components, adding load types on MARKER points of the corresponding components according to actual working conditions, and setting load directions and load functions;
adding a measurement function to a MARKER point of a component to be analyzed to measure a motion parameter or a mechanical parameter of the point in a simulation process, wherein the motion parameter comprises displacement, speed and acceleration, the mechanical parameter comprises force and moment, the establishment of a multi-rigid-body simulation model is completed, and the multi-rigid-body simulation model is established as a basis for the establishment of a multi-flexible-body model;
step four: establishing a multi-flexible-body dynamic simulation model in ADAMS software; the method comprises the following specific steps:
(1) Respectively generating MNF modal files for components in the multi-rigid-body model;
for the component needing to be converted into the flexible body in the mechanism, respectively storing the three-dimensional solid model of the component in an SAT format in three-dimensional solid modeling software;
importing the files into finite element analysis software, adjusting the model proportion, and setting the elastic modulus, the density and the grid division type of the material;
carrying out finite element meshing, and converting a meshed model into an MNF format file after the meshing is finished;
(2) Introducing an MNF file into ADAMS, adjusting the direction and position of the flexible member, completely overlapping the flexible member with a rigid member to be replaced, actually replacing the original rigid member, establishing a virtual member without mass at the position where the flexible member is connected with the flexible member, fixing the virtual member with the flexible member, and adding kinematic pair constraint and driving constraint which are the same as those of a multi-rigid model between the virtual member and the connected member; loading a working load in the vertical direction at the tail end of the folding arm according to the actual hoisting load of the pipe grabbing machine, wherein the loading method is the same as that of a multi-rigid-body model, and the multi-flexible-body model is built;
step five: loading wind load;
step six: performing multi-rigid body and flexible body dynamics simulation and acquiring corresponding output data and curves; and acquiring corresponding output data and curves through an ADAMS post-processing module, and after the dynamic simulation of the multi-flexible-body model, invalidating each flexible-body component, recovering the rigid-body component at the original position, simulating the multi-rigid-body components, and analyzing and comparing the simulation of the multi-flexible-body and multi-rigid-body models in order to compare the multi-rigid-body and multi-flexible-body simulation models.
2. The multi-body dynamic simulation method of the pipe grabbing machine of the semi-submersible drilling platform pipe handling equipment according to claim 1, wherein the fifth step is specifically as follows:
wind pressure is represented by omega; the wind pressure omega is related to the wind speed v, and the wind pressure omega is calculated according to the Bernoulli equation in hydrodynamics:
in the formula: omega-wind pressure per unit area, kN/m 2 (ii) a Rho-air density, t/m 3 (ii) a Gamma-air gravity per unit volume, kN/m 3 (ii) a g-acceleration of gravity, m/s 2 (ii) a v-wind speed, m/s;
according to the working wind speed, substituting the formula into the formula to obtain the wind pressure; on the main wind load bearing member of multiple rigid bodies and multiple flexible bodies, the total wind load of the member is calculated through the product of the wind pressure and the windward area of the member, then a plurality of marked MARKER points are uniformly distributed and established on the member, and the load is equally loaded on each MARKER point according to the wind load direction so as to be equivalent to the total wind load of the member.
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| CN112329177A (en) * | 2020-11-18 | 2021-02-05 | 济南重工集团有限公司 | Modeling and simulation method of shield machine main bearing dynamic model |
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