Performance Analysis of Pipe-shifting System for 60 m Submarine Drilling Rig
Subsea drilling rig is a drilling equipment with a drilling system that works completely at the bottom of the sea,only one umbilical cable with carrying capacity is needed to achieve remote energy supply and communication control with the carrying ship.Limited by the bearing capacity of umbilical cable,storing more drill pipe in limited space and weight,and reliable and fast unloading are the difficulties in the design of large deep-sea drilling rig.Taking the pipe-shifting system of 60 m submarine drilling rig as the research object,this paper introduces the composition,technical indexes and characteristics of the pipe-shifting system,analyzes the force of the manipulator rotating mechanism in the pipe-shifting system,and derives the equation of seawater resistance moment.The simulation model of manipulator slewing control system is established by AMESim,and the influence of the slope of the input linear control signal,seawater resistance moment and other factors on the control performance of manipulator slewing mechanism is analyzed.The simulation results show that the seawater resistance moment has a great influence on the instantaneous action of the rotating mechanism of the manipulator,and when the slope of the input linear control signal is large,the rotation Angle of the manipulator will be oscillated.Through the indoor and offshore tests of the pipe-shifting system of 60 m seabed drilling rig,it has been verified that the system can meet the requirements of drilling pipe pick-up,unloading and storage of 60 m seabed drilling rig.
国家科技期刊平台
NSTL
万方数据
