基于ANN的定向井有杆抽油系统悬点示功图特征参数的计算

有杆抽油系统悬点示功图的特征参数是合理选择地面机电设备的主要依据.由于井下工况的复杂性和部分参数难以确定,使得基于求解高维时变非线性方程的传统方法的计算结果存在偏差.本文将传统方法和神经网络相结合,给出了一种能比较精确地确定定向井有杆抽油系统悬点示功图特征参数的方法,避免了建立和求解复杂的非线性动力学方程.首先依据传统方法,计算出简化悬点示功图的特征参数.然后考虑抽油杆柱弹性振动、抽油杆与油管之问的库仑和粘性摩擦、气体和供液能力等因素的影响,利用BP神经网络和RBF神经网络建立了不同工况下悬点示功图特征参数的计算模型.利用现场实测数据对建立的神经网络进行了训练和测试.测试结果表明了本文方法的正确性和有效性.     

分层有杆抽油系统诊断模型的反问题计算法

建立了分层有杆抽油系统的诊断模型 ,研究了在实心抽油杆与空心抽油杆的界面处空心泵对应力波的影响 ,给出了抽油杆柱不同杆段的波动方程的显示差分格式 ,提出了一种诊断模型的反问题计算法。用此算法可在缺少一个边界条件的情况下求解诊断模型 ,获得抽油系统各个工况下抽油杆柱任意截面的受力状态 ,从而可绘制出分层有杆抽油系统的空心泵示功图和管式泵示功图。将此算法与模式识别技术相结合就可对分层有杆抽油系统的故障进行诊断。     

有杆抽油系统动态特性的计算机仿真

本文建立了有杆抽油系统动态特性仿真的综合数学模型．即应用数值积分法建立转子运动规律的仿真模型和应用差分法建立抽油杆柱纵向振动的仿真模型。本文提出了一种叠代方法较好地解决了两子系统之间相互耦合的问题，给出了一种便于应用的井下边界条件的仿真方法。     

受压油管屈曲变形与内外层杆管接触分析

针对机械采油工程中杆管偏磨问题, 考虑直井内受压油管屈曲变形与套管、 抽油杆的双层接触, 以及油管和抽油杆的变截面结构和环空间隙, 采用有限元结构稳定性分 析方法对受压油管进行失稳计算, 将求得的多阶失稳波形叠加值作为油管柱的初始位移, 再 采用大位移和接触非线性分析方法模拟受压油管屈曲变形, 以及与套管和抽油杆间的接触摩 擦, 为套管内受压油管屈曲变形分析提供了一种计算方法.     

斜井单螺杆抽油泵柱和扶正器间距的最优设计

在对斜井中单螺杆抽油杆柱进行受力分析的基础上建立了适合于斜、直井的一般力学模型 ,在四个约束条件下同时考虑可靠性最大和扶正器数目最少两个优化目标 ,对斜、直井中单螺杆泵系统的杆柱的杆径和扶正器合理间距进行优化设计。四个约束条件分别为 :1 .组合变形的最大剪应力强度 ;2 .疲劳强度 ;3.最大挠度 ;4 .井眼曲线的尺寸。根据分层优化的方法 ,分解为两个层次优化 ,第一个层次给定杆径以杆长为设计变量 ,扶正器数目最小为目标 ;第二个层次以杆径为设计变量 ,可靠性最大为目标 ;借助动态规划的思想 ,由井深最大的设计井段向上逐段求解。并编制了优化设计程序 ,在文中给出了优化设计的计算实例     

井筒内杆管柱双层接触有限元分析及应用

构造双层多向接触间隙元描述细长油管柱与内外杆管柱的随机接触摩擦问 题,与空间梁单元相结合,采用变刚度与等刚度交替方式求解,得出抽油杆柱与油管柱以及 油管柱与套管柱的接触状态、接触位置、摩阻力大小以及抽油杆柱与油管柱在任意井深处的 广义内力、应力和变形. 三口井算例表明,抽油杆柱与油管柱的井口悬重误差低 于10{\%}, 能够为抽油杆和油管柱设计和失效分析提供可靠的计算方法和理论依据.     

考虑分布轴向力的细长杆横向振动与失稳分析

为量化梁、杆、柱的自重(下称分布轴向力)对静力失稳和动力横向振动的影响,在《材料力学》和《机械系统动力学》教材的基础上,建立了分布轴向力下的杆柱失稳和横向振动的力学、数学模型。采用有限差分法、伽辽金法和数值积分法获取计算结果。结果表明:考虑分布轴向力的杆柱横向振动固有频率随杆长增加而减小,杆柱失稳时一阶固有频率为0;分布轴向力对较短杆柱的临界载荷影响较小,对较长杆柱影响较大;伽辽金法不适用计算超长杆柱的失稳临界载荷。     

铅直圆筒内细长杆柱在屈曲位移激励下的横向振动仿真

对于铅直圆筒内受交变拉压轴向载荷作用的细长杆柱,当杆柱底端所受到的轴向压力大于杆柱屈曲的临界载荷时,细长杆柱在圆筒内将产生螺旋屈曲,杆柱的屈曲变形将激励杆柱在圆筒内产生横向振动。以细长杆在圆筒内的瞬时屈曲构型作为杆柱横向振动的位移激励,建立了屈曲位移激励下的细长杆在圆筒内横向振动与杆管碰撞规律的仿真模型。采用有限差分法对井深进行离散,Newmark法对时间进行离散,以恢复系数法建立了细长杆和圆筒的碰撞条件,对细长杆在圆筒内的横向振动数学模型进行了数值仿真。仿真结果表明,细长杆和圆筒内壁的碰撞现象主要发生在细长杆底端受压发生屈曲后,且几乎沿整个圆筒都有发生,从圆筒顶部至底部的碰撞力峰值逐渐增大;而在杆柱底端受拉时碰撞现象很少,碰撞力也较小。     

SIMULATION OF TRANSVERSE VIBRATION OF SLENDER ROD STRING IN THE VERTICAL CYLINDER UNDER BUCKLING DISPLACEMENT EXCITATION1)

对于铅直圆筒内受交变拉压轴向载荷作用的细长杆柱,当杆柱底端所受到的轴向压力大于杆柱屈曲的临界载荷时,细长杆柱在圆筒内将产生螺旋屈曲,杆柱的屈曲变形将激励杆柱在圆筒内产生横向振动。以细长杆在圆筒内的瞬时屈曲构型作为杆柱横向振动的位移激励,建立了屈曲位移激励下的细长杆在圆筒内横向振动与杆管碰撞规律的仿真模型。采用有限差分法对井深进行离散,Newmark 法对时间进行离散,以恢复系数法建立了细长杆和圆筒的碰撞条件,对细长杆在圆筒内的横向振动数学模型进行了数值仿真。仿真结果表明,细长杆和圆筒内壁的碰撞现象主要发生在细长杆底端受压发生屈曲后,且几乎沿整个圆筒都有发生,从圆筒顶部至底部的碰撞力峰值逐渐增大;而在杆柱底端受拉时碰撞现象很少,碰撞力也较小。     

杆柱在水平圆孔中的稳定性分析

本文通过建立和求解杆、管柱在水平圆孔中的屈曲方程，分析了不同边界约束条件下杆柱临界失稳载荷因子β＿０和杆柱长度因子α＿０之间的关系，并讨论中间铰支座（扶正器或稳定器）对杆柱稳定性的影响。     

井筒内旋转管柱动力学分析

井筒内细长管柱是石油工程中特有结构，考虑旋转管柱可能在任意井深和井眼圆周方向上与井筒产生随机碰撞接触，建立了旋转管柱动力学模型，并采用动力间隙元和空间梁单元、Newmark法进行动力学分析．经B3-4-P31等井的应用表明，该方法所设计的抽油杆柱能够在井下安全可靠工作，避免了抽油杆柱发生脱断、偏磨事故．     

Non-linear dynamic response of a rotating radial Timoshenko beam with periodic pulse loading at the free-end

Consideration is given to the dynamic response of a Timoshenko beam under repeated pulse loading. Starting with the basic dynamical equations for a rotating radial cantilever Timoshenko beam clamped at the hub in a centrifugal force field, a system of equations are derived for coupled axial and lateral motions which includes the transverse shear and rotary inertia effects, as well. The hyperbolic wave equation governing the axial motion is coupled with the flexural wave equation governing the lateral motion of the beam through the velocity-dependent skew-symmetric Coriolis force terms. In the analytical formulation, Rayleigh-Ritz method with a set of sinusoidal displacement shape functions is used to determine stiffness, mass and gyroscopic matrices of the system. The tip of the rotating beam is subjected to a periodic pulse load due to local rubbing against the outer case introducing Coulomb friction in the system. Transient response of the beam with the tip deforming due to rub is discussed in terms of the frequency shift and non-linear dynamic response of the rotating beam. Numerical results are presented for this vibro-impact problem of hard rub with varying coefficients of friction and the contact-load time. The effects of beam tip rub forces transmitted through the system are considered to analyze the conditions for dynamic stability of a rotating blade with intermittent rub.     

Investigation on dynamic characteristics of a rod fastening rotor-bearing coupling system with fixed-point rubbing

The aim of this paper is to gain insight into the nonlinear vibration feature of a dynamic model of a gas turbine. First, a rod fastening rotor-bearing coupling model with fixed-point rubbing is proposed, where the fractal theory and the finite element method are utilized. For contact analysis, a novel contact force model is introduced in this paper. Meanwhile, the Coulomb model is adopted to expound the friction characteristics. Second, the governing equations of motion of the rotor system are numerically solved, and the nonlinear dynamic characteristics are analyzed in terms of the bifurcation diagram, Poincaré map, and time history. Third, the potential effects provided by contact degree of joint interface, distribution position, and amount of contact layer are discussed in detail. Finally, the contrast analysis between the integral rotor and the rod fastening rotor is conducted under the condition of fixed-point rubbing.

     

三相驱动下非光滑振动驱动系统的动力学分析

可移动式机器人已成为机器人研究领域的重要分支,为实现其在狭小特殊环境中的运动, 学者们提出并研究了振动驱动移动系统.本文基于二维LuGre摩擦模型和拉格朗日方程,给出了一类振动驱动系统在各向同性摩擦环境中的动力学建模方法和数值算法.这类振动驱动系统结构简单且密封性好,依靠箱体与地面间的摩擦力实现自身的定向运动.该系统由一个外部箱体和两个内部质量块构成,两个质量块在箱体内的两个平行轨道上作三相振动驱动,箱体通过三个刚性支撑足与地面保持接触. 二维LuGre摩擦模型的利用,可有效避免库伦摩擦模型的不连续性给动力学方程的数值求解带来的困难,且可有效揭示该系统在运动过程中的黏滞-滑移切换现象. 数值仿真结果表明,通过调整其内部质量块的驱动参数,可实现箱体的直线平移、定轴转动和平面一般运动,且箱体在移动和转动过程中会出现擦滑、穿滑、回滑和不黏等4种现象; 另外,通过调节驱动参数, 不仅可以改变箱体移动和转动的快慢,还可以改变箱体形心运动轨迹的曲率半径.      

KINETICS ANALYSIS OF NON-SMOOTH VIBRATION-DRIVEN SYSTEM WITH THREE-PHASE CONTROL 1)

可移动式机器人已成为机器人研究领域的重要分支,为实现其在狭小特殊环境中的运动, 学者们提出并研究了振动驱动移动系统.本文基于二维LuGre摩擦模型和拉格朗日方程,给出了一类振动驱动系统在各向同性摩擦环境中的动力学建模方法和数值算法.这类振动驱动系统结构简单且密封性好,依靠箱体与地面间的摩擦力实现自身的定向运动.该系统由一个外部箱体和两个内部质量块构成,两个质量块在箱体内的两个平行轨道上作三相振动驱动,箱体通过三个刚性支撑足与地面保持接触. 二维LuGre摩擦模型的利用,可有效避免库伦摩擦模型的不连续性给动力学方程的数值求解带来的困难,且可有效揭示该系统在运动过程中的黏滞-滑移切换现象. 数值仿真结果表明,通过调整其内部质量块的驱动参数,可实现箱体的直线平移、定轴转动和平面一般运动,且箱体在移动和转动过程中会出现擦滑、穿滑、回滑和不黏等4种现象; 另外,通过调节驱动参数, 不仅可以改变箱体移动和转动的快慢,还可以改变箱体形心运动轨迹的曲率半径.     

波动钻压下阶梯钻柱系统稳定性研究

处于狭长井筒中的钻柱,其动力响应受到钻具组合、内外钻井液流动以及钻井参数等因素的影响,钻柱动力失稳导致的剧烈振动是井壁坍塌和钻具失效的重要原因。考虑到钻杆和钻铤在刚度和线密度上存在很大的差别,论文将钻柱简化为单阶梯输液管柱,钻井液沿着钻柱内部向下泵入并从环空返回地面。耦合考虑钻柱自重、随时间简谐变化的波动钻压、稳定器以及钻井液的水动力和阻尼力,建立了直井中钻柱横向振动的解析模型。利用有限单元法离散为四阶常微分方程后,采用Bolotin法得到临界频率方程确定系统的不稳定区范围,研究了钻压、钻杆长度、稳定器安装位置、钻井液的流速和密度等参数对系统稳定性影响的机理。研究表明：钻压的平均值和波动幅值都是钻柱失稳的驱动因素,而系统的稳定性对处于受拉状态的钻杆的长度变化不敏感。在论文所研究的参数范围内,降低钻井液流速和密度、下移稳定器的安装位置均有助于增强系统的稳定性。     

Simulation of friction and stiction in multibody dynamics model problems

A continuous model of Coulomb friction is used with a tangent space formulation of differential algebraic equations of motion for simulation of multibody dynamic model problems. Characteristics of the model problems studied are similar to those encountered in broad classes of multibody systems, without the associated geometric and analytical complexities. An implicit trapezoidal numerical solution algorithm is used to simulate dynamic response that includes the onset of stiction, its progression, and its termination, avoiding stiff behavior that is reported in the literature when index 3 formulations are used. Analytical criteria for stiction are derived for a three mass Coulomb friction model problem that defines the onset of and departure from stiction events with redundant equations of constraint. The tangent space formulation with implicit trapezoidal integration is applied to this analytical model to compute dynamic response, determine ranges of constraint forces that may occur during periods of stiction, and demonstrate that dynamic response is a discontinuous function of model parameters when stiction occurs. Accuracy of the continuous model of Coulomb friction is established, through comparison of results with those of the analytical model. Cartesian coordinate models of higher dimension are presented for three and four mass model problems that encounter a higher degree of redundancy in constraints during periods of stiction. Simulation of the Cartesian coordinate models, which have characteristics similar to more general multibody systems, yields accurate solutions, without any indication of stiffness in the tangent space equations of motion. Methods successfully demonstrated in model problems provide a foundation for simulation of spatial multibody dynamic systems with friction.     

Comparison and analysis of two Coulomb friction models on the dynamic behavior of slider-crank mechanism with a revolute clearance joint

The objective of this study is to investigate the effects of the Coulomb dry friction model versus the modified Coulomb friction model on the dynamic behavior of the slider-crank mechanism with a revolute clearance joint. The normal and tangential forces acting on the contact points between the journal and the bearing are described by using a Hertzian-based contact force model and the Coulomb friction models, respectively. The dynamic equations of the mechanism are derived based on the Lagrange equations of the first kind and the Baumgarte stabilization method. The frictional force is solved via the linear complementarity problem (LCP) algorithm and the trial-and-error algorithm. Finally, three numerical examples are given to show the influence of the two Coulomb friction models on the dynamic behavior of the mechanism. Numerical results show that due to the stick friction, the slider-crank mechanism may exhibit stick-slip motion and can balance at some special positions, while the mechanism with ideal joints cannot.