压差式多节串联管道机器人越障时动力学演化规律及减振分析  

Dynamic Evolution and Vibration Reduction Analysis of Multi-section Serial In-pipe Inspection Robot When Crossing Obstacles

作　　者：张行[1,2] 富宽 陈铭浩 李睿 石新娜 ZHANG Hang;FU Kuan;CHEN Minghao;LI Rui;SHI Xinna(College of Mechanical and Storage and Transportation Engineering,China University of Petroleum(Beijing),Beijing 102249;Center of Advanced Oil and Gas Equipment,China University of Petroleum(Beijing),Beijing 102249;PipeChina Science and Technology Institute,Langfang 065099)

机构地区：[1]中国石油大学(北京)机械与储运工程学院,北京102249 [2]中国石油大学(北京)高端油气装备智能设计与制造研究中心,北京102249 [3]国家石油天然气管网集团有限公司科学技术研究总院分公司,廊坊065099

出　　处：《机械工程学报》2024年第8期348-359,共12页Journal of Mechanical Engineering

基　　金：国家自然科学基金(52275141,51805542,U1908228);国家石油天然气管网集团有限公司科研(WZXGL202104);中国石油大学(北京)科研基金(2462023QNXZ012)资助项目。

摘　　要：压差式管道内检测机器人作为保障油气管道安全运输的重要装备,逐渐向着集成化、智能化、高精度的方向发展。管内介质的复杂流动状态与管内的随机不平顺激励均会引起管道机器人动力学行为的突变,进而影响其内检测作业精度和服役性能。建立串联管道机器人多体动力学模型和Adams与Matlab/Simulink双向流固耦合联合仿真求解模型,研究受管内环焊缝激励时不同舱体节数下多节串联式管道机器人的动力学响应情况、振动叠加情况和动力演化规律;建立管道内检测机器人振动综合评价指标,结合仿真数据和神经网络算法建立管道内检测机器人的结构优化模型并采用遗传算法进行参数寻优。研究结果表明:多节舱体压差式管道机器人受管内环焊缝激励时,每节舱体的轴向振动趋势类似,轴向加速度极值变化不大,且每节舱体过环焊缝时存在振动传递情况。优化后的管道机器人结构参数将轴向、垂向、俯仰加速度极值分别降低74.7%,38.1%,37.27%。As an important equipment to ensure the safe transportation of oil and gas pipelines,pipeline inspection robots with pressure difference are gradually evolving toward integration,intelligence and high precision.The complex flow condition of the medium in the pipe and the random non-uniform excitation in the pipe can cause sudden changes in the dynamic behavior of the pipeline robot,affecting the accuracy and performance of its internal inspection work.The dynamic multi-body model of the serial pipeline robot and the joint simulation solution model of Adams and Matlab/Simulink with fluid-solid coupling simulation are established.The dynamic behavior,vibration superposition,and dynamic evolution law of multi-part serial pipeline robot excited by the girth weld in the pipeline under different sections are studied.Established a comprehensive evaluation index for pipeline robot vibration,combined with simulation data and neural network algorithms to build a structural optimization model for pipeline inspection robot,and used genetic algorithms for parameter optimization.The results show that when the pipeline robot is excited with multiple section pressure differences due to the girth weld in the pipe,the axial vibration tendency of each cabin is similar and the extreme value of axial acceleration does not change significantly.Moreover,vibration transmission occurs when each car passes through the girth weld.The optimized structural parameters of the pipeline robot reduce the extreme values of axial,vertical and pitch accelerations by 74.7%,38.1%and 37.27%,respectively.

关 键 词：管道机器人 流固耦合 动力学响应 减振优化 多体动力学模型 

分 类 号：TE973[石油与天然气工程—石油机械设备]