Dynamic Analysis Of The Rig Vertical Pipe Arrangement Device Of The Marine Drilling Platform

With the development of offshore oil and gas industry,the exploitation of oil and natural gas has gradually shifted from shallow sea to deep sea,and the rig vertical pipe arrangement device of the marine drilling platform is a necessary equipment for offshore work.Based on the project funded by the Ministry of industry and information technology “The special innovation of the seventh generation of ultra-deep water drilling platform(ship)” and taking the vertical tube-type pipe rig as the studing object,the dynamics modeling is carried out on the basis of considering three kinds of wave factors: roll,sway and heave.Based on that,the ADAMS software is used to simulate the multi-rigid body dynamics and multi-flexible dynamics of the telescopic mechanism.Both of the simulation results are compared and analyzed,and we can get the result of the necessity of multi-flexible dynamics simulation.Based on the multi-flexible dynamics simulation of the rig vertical pipe arrangement device,the orthogonal experiment method is used to analyze the sensitivity of various factors such as ocean waves to the accuracy of the motion track,and then we can get a theoretical basis for improving the accuracy of the automatic pipe arranging machine.The present work can be concluded as follows:(1)The development status of the rig vertical pipe arrangement device at home and abroad is reviewed.The research and development of multi-flex system dynamics are introduced.The current situation of multi-flexible dynamics in the research and application of the rig vertical pipe arrangement system is analyzed.(2)The principle of the vertical drilling pipe device of the offshore drilling platform is introduced.The kinematics of the three wave factors of heave,roll and sway are analyzed,and on this basis,the telescopic mechanism model,an important part of the rig vertical pipe arrangement device,is established based on these three wave factors.(3)Based on the three wave factors of roll,sway and heave,the multi-rigid body dynamics modeling of the telescopic mechanism is carried out by the method of multi-rigid plane motion and dynamics.By the multi-flexible plane motion,the dynamics method is used to model the multi-flexible dynamics of the telescopic mechanism,and the multi-rigid dynamic equation and multi-flexible dynamics equation of the telescopic mechanism are obtained.(4)Employing the ADAMS software,the multi-rigid body dynamics simulation and multi-flexible dynamics simulation based on the three kinds of wave factors of heave,sway and roll are applied to the telescopic mechanism,and the clamping jaws of displacement,velocity and acceleration curves are obtained in the case of the rigid body and soft body.(5)On the basis of multi-flexible dynamic simulation of the rig vertical pipe arrangement of drilling rig,the orthogonal test method is used to analyze the sensitivity of the displacement accuracy,velocity and acceleration of the vertical pipe arrangement of the drilling rig by factors such as heave,sway and roll.