| The development of the deepwater oil and gas has become the focus of world oil industry,and the submarine oil pipeline as an important part of the construction of deepwater oil and gas development requires a set of automatic connection device,so water machine bolt flange connection is the core of the submarine pipeline docking.This dissertation originates from the project department monographic study “The technology research of deep water flange connecting tool and it's mating implement design” and the subtitle of the dissertation is “The technology research of the bolt flange connecting tool system design”,connector and supporting tools of bolt flange type water suitable for depth of 1500 meters water is required design,and then to improve China's deepwater oil and gas development in the field of technology level,reducing the cost of offshore oi and gas exploitation.The development of submarine pipeline connection technology was reviewed in this paper.According to the technical requirements of the flange connection and the corresponding parameters,his paper makers the overall design tools combined with the first land-based protoype harvest.The machine structure,including the bolts libray,nuts libray,bolt tensile libray,are analyzed in detail and three dimensional design,and design expounds the flange connection tool process according to its structure.According to the overall structure of the deepwater bolt flange connection tool design,this paper make the mechanical analysis on the key parts of the supporting mechanism.Motion of circumferential and axial propulsion mechanism of rotary mechanism are analyzed,then hydraulic cylinder and hydraulic motor are selected;In addiction,check the strength and stiffness of the mechanical analysis of the claw mechanism and importment parts of equipment,ensuring the rationality of structure.Combined with the operational requirements and complex work environment,design a set of bolt lead-in the nut mechanism,and according to the problems involved in the course of movement mathematical model is established,by using the dynamic simulation software ADAMS to simulate the operation process.Get the velocity and displacement curve of bolt is screwed into the nut,the spring compression curve,impact force the nuts and bolts of the curve.According to the mechanism of prototype test verify the rationality of design.According to the synchronization of the nut is screwed into the control of bolt,determining the aynchronization control scheme of an improved multi motor adjacent cross coupling,established the valve controlled motor position servo control system mathematical model,through the model the exponential reaching law sliding mode control method to design the controller,and the four motor synchronization control system simulation as an example to verify the control performance,the precision and stability of synchronization. |
PDF Full Text Request