多段铰接式扬矿硬管系统建模与动力学分析.doc

多段铰接式扬矿硬管系统建模与动力学分析 徐博文 (黑龙江科技大学，矿业工程学院，采矿13-1，2013020658【24】） 摘 要：为了减弱深海采矿系统中扬矿管道螺纹连接处的应力集中与弯曲应力，并减小振动在管壁内的传递，采 用球铰接头对扬矿硬管进行连接，替代原有的螺纹连接。基于柔性多体系统动力学理论，建立多段铰接式扬矿硬管系统的运动学模型，分别对四、六级海况下扬矿系统的横向运动进行数值模拟。根据流体力学相似理论，建立1?100 扬矿系统实验系统并通过实验验证数学模型。研究结果表明：六级海况下铰接式扬矿系统水下第 1 根管所受最大弯矩为322 kN·m，刚性连接系统的最大弯矩为1.890 MN·m；铰接式扬矿系统中，第1 根管的弯曲变形量最大，为4.79 mm；应用柔性多体系统动力学理论来分析铰接式扬矿系统是可行的；减小系统弯矩，铰接式扬矿系统明显优于固接式扬矿系统；弯曲变形对系统运动影响很小。 关键词：扬矿系统；铰接；柔性多体系统动力学；横向运动；数值模拟 Modeling and dynamics analysis of multiple articulated lifting system Abstract: To reduce stress concentration and bending stress on the screw joint, and decrease vibration transmission through the pipes, spherical joint was used to connect lifting pipes to replace screwed connection in lifting pipes of deep-sea mining system. Based on dynamics of flexible multi-body systems, the mechanics model of articulated lifting system was established. Under the four-grade and six-grade oceanic conditions, dynamic responses of lifting system weresimulated. Based on the fluid mechanics and similarity theory, experiment model of lifting system with the scale of 1?100was established to verify mechanics model. The results show that the maximum moment of flexion is 322 kN·m on thefirst pipe under six-grade condition in the articulated system. The maximum moment of flexion is 1.890 MN·m in thefixed one. The maximum bending deformation is 4.79 mm on the center of first pipe in articulated system. It is feasible toanalyze articulated lifting system by applying theory of flexible multi-body dynamics. Articulated lifting system is betterthan fixed one on reducing moment of flexion clearly. And deformation has a little effect on the motion of the system. Key words: lifting system; articulate; flexible multi-body dynamics; lateral movement; numerical simulation 深海采矿系统中，扬矿系统主要由供矿装置、柔性软管、中间舱、提升泵、主提升管道等组成[1]扬矿硬管系统由多个管道组成，为了便于装卸，相互间采用螺纹连接[2]。整个扬矿系统在海水中承受着由采矿船的纵摇、横摇、升沉以及洋流、海浪等的作用，呈现出复杂的动力学特性[3]。很多研究者对扬矿系统的运动特性进行了研究，如：P. Bar-Avi[4]用解析法分析了等直径扬矿硬管在涡流作用下的横向振动；K. H.Kim