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为确保海底钻机母船收放机构工作的可靠性,对母船收放机构的动力学特性进行了分析。首先,构建由收放油缸驱动的海底钻机母船收放机构的动力学模型;其次,建立了母船受到海浪扰动的运动方程,同时分析了由于收放油缸密封圈变形所引起的摩擦阻力对母船收放机构的影响;最后,采用Simulink建立了海底钻机母船收放机构的仿真模型,并应用该模型模拟四级海况下,当收放油缸匀速收回时,不同浪高对母船收放机构动力学性能的影响。仿真结果表明:液压系统压力、油缸驱动力、油缸总摩擦阻力以及各铰点的受力都随着收放油缸的逐渐收回而呈现周期性地减小。当浪高越高时,以上各参数的变化也越大,且在相同周期内各参数的变化幅值也越大。分析结果为海底钻机母船收放机构运动参数的确定提供了指导,同时也为以后研究波浪补偿、海底钻机母船收放机构自动控制提供了理论基础。
In order to ensure the reliability of the work of the mother ship receiving and dispatching mechanism, the dynamic characteristics of the mother ship receiving and dispatching mechanism were analyzed. First, the kinetic model of the mother ship receiving and delivering mechanism driven by the retractable oil cylinder is established. Secondly, the motion equation of the mother ship subjected to the disturbance of the sea waves is established. At the same time, the frictional resistance caused by the deformation of the retractable oil cylinder seal ring is analyzed. Finally, Simulink is used to establish the simulation model of the seabed rig mothership receiving and dispatching mechanism. When this model is used to simulate the four-stage sea conditions, when the receiving and dispatching cylinders are retracted at a constant speed, Impact. The simulation results show that the pressure of hydraulic system, the driving force of cylinder, the total frictional resistance of cylinder and the stress of each hinge point decrease periodically with the gradual withdrawal of retractable cylinder. When the wave height is higher, the changes of the above parameters are also larger, and the variation amplitude of each parameter in the same period is also larger. The analysis results provide guidance for the determination of the movement parameters of the mother ship of submarine rig, and provide the theoretical basis for the later study of wave compensation and the automatic control of the mother ship of the submarine rig.