Abstract: In order to obtain the dynamic characteristics of self-walking workover rig's travelling system,the simulation models for travelling system were built with ADAMS.The wrapping of the wire rope on pulleys was simulated by using Rack-and-Pinion joint,and varying elasticity of wire in hoisting and feeding-off was simulated by using single component force.By analyzing the hoisting and feeding-off models under the rated load,the maximum dynamic loads and dynamic coefficients of fast line,dead line,every travelling line and derrick were obtained.These results can be consulted when choosing wire,designing and wielding derrick.The methods to simulate the wrapping of the wire rope on pulleys and the varying elasticity of wire may give a reference to the system dynamics study for the similar structures varying with time,such as drilling rig,oil well hoisting system.

Key words: workover rig, travelling system, dynamic characteristics, simulation, model

摘要： 为了获得自走式修井机的系统动力学特性,在系统动力学仿真软件ADAMS中建立了修井机游动系统的起升和下钻仿真模型,成功地用Rack-and-Pinion Joint模拟了钢丝绳与滑轮间的缠绕关系,用Single Component Force模拟出了钢丝绳在起升、下钻过程中刚度的变化过程。对仿真模型在额定工况时的起升、下钻过程进行了仿真运算,得到了游动系统中快绳、死绳、各游绳及井架上的最大动载荷和动载系数。仿真结果可用于钢丝绳的选择、井架的设计和使用时参考。该仿真模型中解决钢丝绳与滑轮间的缠绕和钢丝绳的刚度随时间变化的方法也可为研究钻机、矿井提升系统等类似的时变结构系统动力学时借鉴。

关键词: 自走式, 修井机, 游动系统, 动态特性, 仿真, 模型