Design And Co-simulation Research Of Pipe Grabber Based On Mechanic-electronic-hydraulic Integration

With the increasing exhaustion of oil and gas resources on land,offshore oil has gradually become the strategic focus of coastal countries.In deepwater drilling operations,nearly one third of the time is spent on drill pipe operation.Whether the drill pipe can be transported and disassembled quickly and safely is of great significance to improve drilling speed and reduce drilling costs.Based on the major national science and technology projects,this paper studies the drill pipe handing system with the improvement of horizontal/vertical drill pipe handing system as the starting point.Firstly,on the basis of comparing the advantages and disadvantages of the existing drill pipe handing system,and an overall scheme of drill pipe handing system is proposed.The efficiency of pipe arrangement is improved by parallel operation.According to the modular design idea,the structural design of each component of the pipe grabber is carried out.Through simplification of the model,the force on the pipe grabber under the maximum load is analyzed.Secondly,on the basis of mechanical analysis,the design of hydraulic system is completed.Aiming at the complexity and uncertainty of construction machinery,the reliability of hydraulic system is analyzed by combining traditional GO analysis method with fuzzy mathematics and cut-set theorem.The fuzzy success probability of the system under different cut-sets is obtained,and the time-varying curves of system reliability at different confidence levels are drawn.Then,the mathematical model of the electro-hydraulic servo system is built,and the transfer function is obtained.Cauchy mutation is introduced into the standard particle swarm optimization algorithm to improve its shortcoming of easily falling into local optimum.The two algorithms are tested by using the common single-peak and multi-peak test functions.The results show that the improved particle swarm optimization algorithm converges faster and has higher convergence accuracy,and its performance is greatly improved.Simulink is used to build simulation model,and the improved particle swarm optimization algorithm is applied to the tuning of PID parameters.The simulation results show that the improved particle swarm optimization algorithm achieves better control effect.Finally,the mechanical system model,hydraulic system model and control system model of pipe grabber are established respectively.The co-simulation model is established based on Simulink with AMESim as the transfer platform.The data exchange is realized through the interface,and the displacement,pressure and flow curves of each hydraulic cylinder are obtained.The simulation results show that the co-simulation achieves good results and verifies the feasibility of the design.