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针对当今输油管道中检测机器人存在的问题,本文首先简述了一种新型检测机器人的结构特点和运动机能,然后着重对该机器人在石油输送管道中的避障控制系统进行了研究。本文基于模糊控制原理给该机器人设计了模糊控制器以及建立了模糊控制规则,最后通过在VC++环境下进行模拟实验。结果表明:该避障控制技术具有良好的实时性、鲁棒性和灵活性,采用模糊控制的避障策略可以克服传统的避障控制策略中环境模型难以建立的缺点。 相似文献
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为降低北极海上油气勘探开发成本,迫切需要适合北极作业的海洋工程装备。针对这一问题提出一种可以用于北极海上钻井作业的新型半潜式钻井平台概念。该平台采用6立柱双浮筒形式,平台立柱上部设计为倾斜形式以降低作用在平台上的冰载荷。为保证破碎后的海冰不影响钻井作业,平台设计立管防护装置和锚链防冰装置。分别对平台设计条件、主尺度、系泊系统设计情况进行介绍,并采用商业分析软件对平台在夏季和有冰季节的系泊定位能力进行分析。分析结果表明:该半潜式钻井平台可在北极夏季开阔水域和冬季海面结冰情况下进行钻井作业;平台可在1.0 m厚的海冰作用下保持作业能力,在1.5 m厚的海冰作用下保持自存能力;平台系泊定位能力满足北极钻井作业的要求。 相似文献
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海上模块钻机对管子的处理效率直接影响钻完井作业时效,但现有管子处理装置安装尺寸大、扫掠面积大,严重制约了其在海上模块钻机的应用。以机械臂式管子处理装置为基础,研制了一种海上模块钻机新型管子处理机器人,该机器人共包含7个自由度,主要由主臂基座、主臂、翻转座、内臂、外臂和管子抓放总成等6个部分组成,通过主臂与副臂协调运动确定管子抓放总成位置,由管子抓放总成对管子进行抓取,翻转座可以带动副臂穿过主臂内部空间直接抓取和举升管子。利用ANSYS模拟计算优选了新型管子处理机器人关键结构的材料,按照1∶50的比例制作了原理样机,样机试验分析表明采用本文研制的管子处理机器人进行起下钻作业安全稳定,管子处理速度可达到520 m/h以上,能够极大提高钻完井作业时效,可满足模块钻机海上作业要求,具有较好的应用价值。 相似文献
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采用地质锚链法对松辽盆地北部未发现的油气田数量和资源量进行了预测,并与用分形方法预测的结果进行了比较。地质锚链法可作为预测油气田数量及其资源量的一种新的可行方法,尤其适合勘探程度高的盆地或区带。应用地质锚链法预测油气田数量和资源量之前必须进行成藏体系划分,只有成藏体系在地质上符合定义,该方法才有预测功能。由于地质锚链法在预测油气田数量及有其资源量过程中强调油气藏发现的相对次序,与其它资源评价方法相比,该方法预测的结果应为最小值。 相似文献
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对长大海升号起重船进行改造,以提高其海上风电施工能力。为确定改造后起重船可临时锚泊的允许海况,介绍一种基于时域模拟和概率统计的海上作业允许海况评估方法,并将其应用至改造后的起重船临时锚泊作业中。选取合适的波浪种子数,采用时域耦合分析方法对锚泊起重船的运动、锚链张力和卧底锚链长度进行计算,提取时域响应最值,采用经验分布拟合方法评估指定不超越概率下每种海况的极值响应,并与规范规定的安全准则进行比较,从而获得以有义波高和谱峰周期描述的可作业允许海况。结果表明20个波浪种子是足够的,得到的允许海况可为临时锚泊作业决策提供参考。 相似文献
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针对目前国内管道机器人在行进过程中极易卡堵、变径范围小且检测效率低下的问题,提出一种用于埋地管道的分体式可变径磁记忆检测机器人。设计了管道机器人的机械结构,通过SolidWorks建立三维模型,利用ADAMS对机器人在弯管与变径管道内的通过性进行了仿真分析。在此基础上,制造物理实体模型,进行管道内通过情况与磁记忆检测试验。试验结果表明,机器人结构设计合理,可以顺利通过曲率半径不小于1.5倍管径的弯管以及280~340 mm的变径管道,且磁记忆检测结果与X射线复验结果一致,为可变径、自适应、全寿命埋地管道检测机器人的设计提供了新的思路。 相似文献
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Xiao-Hua Che Wen-Xiao Qiao Xiao-Dong Ju Jun-Qiang Lu Jin-Ping Wu Ming Cai 《石油科学(英文版)》2016,13(1):52-63
Better well logging techniques for geologic investigations are urgently needed to identify and evaluate complex reservoirs.We describe a new type of 3D transmitter station with corresponding circuits and bodies.They can be used in a promising new technique of acoustic reflection well logging,that features better azimuthal detection capabilities,as well as better investigation depth.The transmitter stations consist of three-level subarrays that can radiate acoustic energy in any required azimuth of 3D space by circularly exciting various combinations at different levels.We tested the 3D acoustic transmitter stations and obtained laboratory directivity measurements with the3 D acoustic transmitter stations for the first time.The results show that the 3-d B beam width in the horizontal plane ranges from 59° to 67° as a result of phase-delayed excitation.The main beam is steered in the vertical plane at a deflection angle that ranges from 0° to 16° when the delay time of the excitation pulse between each pair of adjacent arc arrays is gradually adjusted.The 3-d B beam width is equal to 11°,whereas the deflection angle in the vertical plane is equal to 14°.Each of the four third-level subarrays in the same circumferential direction display consistent horizontal and vertical directivities,thus satisfying the requirements of azimuthal acoustic reflection logging. 相似文献
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针对现有管道检测机器人转弯性能差的问题,研究了直轮式管道泄漏检测机器人。该机器人采用驱动轮直接驱动,结构简单,输出稳定。采用理想规划法对机器人建立过弯方程,计算可知当宽度小于146.29 mm时,机器人满足弯管爬行的弯道几何约束要求。采用Adams软件仿真分析机器人弯管通过性能以及转弯时驱动轮的速度变化情况。分析结果表明:机器人可以安全通过弯管,满足设计要求;过弯时机器人外轮运动速度v 2增大,内轮运动速度v 1减小,因此机器人可以平稳过弯;v 2与机器人质心位移的变化趋势很接近,当机器人到达弯管极限位置时,v 2达到最大;直轮式管道泄漏检测机器人可以通过直径170 mm、曲率半径450 mm弯度的管道。研究结果可为管道检测机器人的工程应用提供参考。 相似文献
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目前苏里格气田广泛应用的卡瓦式井下节流器在打捞时存在解卡工艺复杂、卡瓦咬死油管导致打捞成功率低等问题,为此研发了一种接箍锚定式井下节流器,依靠卡爪锚定于油管接箍槽间隙,具有易解卡、不卡死油管、不下滑和钢丝作业一趟完成打捞的特点。为了提高接箍锚定式井下节流器锚定机构的工作性能,利用ANSYS有限元分析软件,建立了锚定机构与油管接箍的有限元模型,模拟了锚定机构在锚定、打捞时的工作过程;利用中心组合设计法建立了节流器最小打捞力以及下击作业时卡爪所受最大应力与卡爪长度、卡爪厚度的数学模型,分析其影响变化规律,得出最佳卡爪长度、卡爪厚度分别为95.6 mm和2.9 mm,最小打捞力为1.9 kN,下击作业时卡爪所受最大应力为732 MPa,与原节流器相比明显提高。研究结果表明,接箍锚定式井下节流器锚定机构设计合理,在保证节流器锚定机构安全工作的同时,优化了节流器锚定机构的卡爪参数组合,为接箍锚定式井下节流器的现场应用提供了技术保障。 相似文献
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《Egyptian Journal of Petroleum》2022,31(2):7-14
The engine oil contains various performance additives along with polymer-based viscosity index improver, which are made from special types of flexible long chain polymers whose functionality is derived from their thickening efficiency, viscosity-temperature relationship, and shear stability. Olefin copolymers of the type ethylene/propylene copolymer are extensively used as viscosity index improver for engine oil formulations whose performance is a function of their composition, co-monomer sequence distribution and molar mass. Polymer coils interact with base oil and make it increasingly resistant to flow which accounts for substantial changes in viscosity parameters i.e. kinematic viscosities and viscosity index of blended base oils. Intrinsic viscosity of a polymeric solution is an important “dilute solution viscosity” parameter, which is easily measurable using Ubbelohde viscometer.In the present work, intrinsic viscosity of twenty samples of laboratory synthesized olefin copolymer in cyclohexane at 30 °C were correlated with their thickening efficiencies, kinematic viscosities of the olefin copolymer blended base oils at 40 °C and 100 °C. These correlation studies enable prediction of performance of olefin copolymer in blended base oil based on an easily and quickly measurable intrinsic viscosity parameter, leading to faster screening of large number of olefin copolymers for their utility as viscosity index improver in lubricants, in a short span of time with limited resources. 相似文献
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Yinghao Wu Shouyu Xu Zhaohui Wu Zisong Wang Linxiu Zhai Jinxi Wu 《Petroleum Science and Technology》2017,35(1):9-15
The condition of oil sand may change and produce new fractures at high temperature. However, the changing process of oil sand and its characteristics is not clear enough and still lacks certain experiments. Therefore, a new experiment is operated to study oil sand and its interlayers at high temperature. It is found that when the temperature reaches 180°C at first, fractures can be seen obviously along oil sand interlayers. After the oil sand is cooled and heated again, more cracks are produced vertical to the original fracture at 160°C. Different thicknesses and different lithologies are tested to produce cracks at different temperatures (100°C, 200°C, and 300°C). Cracks are produced suddenly when certain temperature thresholds are reached. These data are useful to study the heating process of oil sand in heavy oil reservoirs. 相似文献
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斜置锚爪式水力锚用于完井管柱的锚定,减少油管伸缩.该新型水力锚锚爪腔轴线与锚体轴线呈一定角度,在提供足够的锚定力基础上,上提管柱时可沿锚爪轴线产生分解力,确保锚爪复位,地面试验表明解卡力降低15%.另外,该装置增加内管设计,避免大量产出液进入锚爪腔内而结垢.现场应用78井次,平均泵效提高13.1%,锚爪复位成功率达100%,没有出现因锚爪复位困难、报大修的事故,较好地解决了常规水力锚易结垢、卡管柱的问题.斜置锚爪式水力锚在分注、压裂等方面也有较好的应用前景. 相似文献