石油学报 ›› 2013, Vol. 34 ›› Issue (5): 995-1003.DOI: 10.7623/syxb201305023

• 石油工程 • 上一篇    下一篇

深水脐带缆敷设系统动力学分析及试验

毕国军1, 刘军1, 朱绍华2, 房晓明3, 王立权1   

  1. 1. 哈尔滨工程大学机电工程学院 黑龙江哈尔滨 150001;
    2. 海洋石油工程股份有限公司 天津 300461;
    3. 中海油海西宁德工业区开发有限公司 福建宁德 352100
  • 收稿日期:2013-01-17 修回日期:2013-04-14 出版日期:2013-09-25 发布日期:2013-08-01
  • 通讯作者: 毕国军
  • 作者简介:毕国军,女,1978年4月生,2001年毕业于佳木斯大学机械设计与制造专业,现为哈尔滨工程大学机械电子工程专业博士研究生,主要从事海洋石油工程装备领域的研究。Email:biguojunb09@hrbeu.edu.cn
  • 基金资助:

    国家重大科技专项(2011ZX05056)资助。

Dynamic analyses and experiments of deep sea umbilical cable laying system

BI Guojun1, LIU Jun1, ZHU Shaohua2, FANG Xiaoming3, WANG Liquan1   

  1. 1. College of Mechanical & Electrical Engineering, Harbin Engineering University, Harbin 150001, China;
    2. Offshore Oil Engineering Company Limited, Tianjin 300461, China;
    3. CNOOC Western Strait Ningde Industrial Zone Development Company Limited, Ningde 352100, China
  • Received:2013-01-17 Revised:2013-04-14 Online:2013-09-25 Published:2013-08-01

摘要:

为了研究深水脐带缆敷设系统的动力学性能,解决海洋作业环境下系统敷缆速度和缆线张力控制问题,利用刚性有限元方法对柔性脐带缆进行了离散和转化,建立了深水脐带缆敷设系统物理模型。在关节坐标系统下,建立了基于第二类拉格朗日方程的系统动力学模型,对模型进行了静平衡求解并获得了系统参数初值。对比理想无扰动作业工况,分析了恒定的张紧器阻尼制动力下施工船运动波动对敷缆速度及缆线张力的影响。针对影响较为严重的升沉运动波动,分析了调整张紧器阻尼制动力的扰动补偿功能对敷缆速度及缆线张力的控制调节状况。理论分析及样机模拟试验结果表明,张紧器扰动补偿可有效地降低施工船运动波动所导致的缆线张力及敷缆速度波动,防止脐带缆拉断或屈曲破坏。

关键词: 深水脐带缆, 敷设系统, 刚性有限元方法, 拉格朗日方程, 动力学分析, 扰动补偿

Abstract:

The deep-sea umbilical cable laying system is a rigid-flexible coupling multi-body system composed of rigid mechanical device and flexible umbilical cable. In order to study dynamic properties of the system and solve problems of the cable tension and laying speed control under wave disturbance, a rigid finite element method was adopted to discretize and transform flexible umbilical cable and a physical model for the deep-sea umbilical cable laying system was presented as well. Based on the proposed physical model, a dynamic model for the deep-sea umbilical cable laying system was built with the second order Lagrange equation in the joint coordinate system. Static balance solving was performed and initial values of the system parameters were obtained. Compared with an ideal disturbance-free operation status, the influence of motion disturbance of a real operating vessel on cable tension and laying speed when the system was in a constant tension mode was analyzed. In terms of relatively severe heaving disturbance, the cable tension and laying speed accommodation performance exerted by variable tension compensation of the tensioning system was studied and the results indicated that variable tension compensation can effectively reduce the fluctuation of cable tension and laying speed induced by an operating vessel and prevent the umbilical cable from snapping or buckling. This conclusion by theoretical analysis was validated through a prototype test.

Key words: deep sea umbilical cable, laying system, rigid finite element method, Lagrange equation, dynamic analysis, disturbance compensation

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