【作者】 张波；

【导师】 王立权；

【作者基本信息】 哈尔滨工程大学 ， 机械电子工程， 2012， 博士

【摘要】 近年来，随着海洋工程技术的快速发展，海底油气与海上风力发电的开发越来越受到世界各国的关注。本论文来源于中海油公司两项科研项目，即海上大型风力发电机组安装工艺与深水导管架安装液压装具的研究。研究对象为海洋石油平台导管架钢桩与海上风机叶轮支架钢桩，两者统一称为海洋平台基桩。目前这两种钢桩的海上施工技术均为国外技术所垄断，国内还没有开发出达到海上作业要求的装备，对其基础理论及安装技术的研究也在近几年才刚刚开始。因此，本文以海洋平台基桩的海上安装夹持技术为研究背景，抛开两者具体的安装技术，提炼夹持承载力学的共性问题，并根据国外产品的特点进行基桩夹持系列装置的自主研制及实验研究，得出能够指导其海上作业的技术理论。论文首先进行了国内外研究与发展现状的分析，对导管架基桩调平器、夹桩器的水下作业及海上风机叶轮支架基桩的吊装作业技术进行了归纳。对基桩径向受力屈曲变形进行了分析，研究它们在已知载荷作用之下的屈曲变形特点及规律；同时进行了基桩在夹持压力作用下局部塑性变形与总体稳定性分析。对夹持机构承载力学特性进行了研究与分析，确定出基桩夹持机构的设计原则；分别进行了夹持机构承载受力、齿尖变形及应力、等强度齿尖最小轮廓、圆锥式压环弯曲应力及基桩接触力学等问题的分析。通过借鉴及消化国外产品外形结构，根据其功能及动作原理，分别进行了楔块滑动自锁对称夹持式基桩双边吊具、双凸轮回转自锁单侧夹持式基桩单边吊具、基桩水下夹持器等系列夹持装置的研究，打破国外技术垄断，实现这些装置的自主创新研制。根据基桩夹持系列装置中对液压执行元件位移同步及力的控制要求，进行了力反馈控制、位移同步控制的液压系统研究。分别设计了组内分流阀、组间主从随动的位移同步及力信号反馈的活塞力控制液压回路；建立了开环、闭环系统数学模型，导出位移同步、力控制系统的传递函数；进行了系统的仿真分析与研究，确定了位移同步控制的PID控制参数、力控制的校正函数。最后，进行了基桩双边夹持吊具、基桩单边夹持吊具、基桩水下夹持器原理样机的设计与制造，并进行相关实验研究，验证了理论分析正确性、设计合理性。更多还原

【Abstract】 In recent years, with the rapid development of marine engineering technology, seabed oiland gas and offshore wind power generation have drawn more and more attention fromcountries all over the world. This paper originates from two scientific research projects fromChina National Offshore Oil Corporation (CNOOC), Large-scale Offshore Wind TurbineInstallation Process and R&D of Deepwater Jacket Hydraulic Pressure Installing Facilities.The subjects investigated are offshore oil platform jacket piling bar and offshore wind turbineimpeller bearer piling bar, which are both called ocean platform foundation pile. At present,the offshore construction techniques about the two kinds of piling bars are both monopolizedby overseas companies. A set of standard offshore operation equipment has not beendeveloped in China where the relevant basic theory and installation techniques have justbegun to be studied recently. Therefore, this paper is set in the offshore installation techniquesabout ocean platform foundation pile, extracts the common problems with the mechanicalprinciples and makes autonomous development and experimental study about a series offoundation piles gripping devices and hangers in the basis of the characteristics of theoverseas products, and finally concludes the technical theory that can guide the offshoreoperation.The analysis of the present status of the home and broad research and development isdone and the summary of jacket foundation pile leveler, the underwater operation of skirt pilegrippers and the hoisting operation technology of offshore wind turbine impeller bearerfoundation piles is made in the paper. Analyze the buckling deformation of the foundation pileunder radical force and do the research on the features and patterns of buckling deformationunder certain size of load; make the study of local plastic deformation of the foundation pileunder the clamp pressure and integral stability.After doing researches and analysis on clamping institutions load-bearing mechanicalproperties, the design principles of the foundation clamping mechanism are determined.Analyze the load-bearing principles of the clamping mechanism, including analyzing bendingand shear resistance on the pressing tooth embedded in base metal, tooth point deforming andstress，constant strength tooth point minimal contour，conical chuck ring bending stress andanalysis about the contact issues of the foundation pile.The base pile bilateral spreader with wedge block sliding self-locking symmetricalclamping, the base pile unilateral spreader with dual cam rotating self-locking unilateralclamping and the foundation pile grippers underwater are researched separately based on its function and motion principle, while the appearance and structure of abroad are consideredand learned. The experimental studies break the monopoly of foreign technology and achievethe independent innovation development of these devices.According to the control requirements of series base pile clamping devices for hydraulicactuators, the force feedback control and the displacement synchronous control of thehydraulic system are studied. The displacement synchronous control loops of inter-groupbranch and master-slave servo among groups and the hydraulic circuit controlled by pistonforce with sign feedback are designed respectively; Open loop and closed loop mathematicalmodels are established, while the transfer functions of synchronous displacement and forcecontrol are export; PID control parameters for displacement synchronous control and forcecontrol are ensured through system simulation analysis and research.Finally, the principle prototypes of ocean foundation pile bilateral clamping spreader,base pile unilateral clamping spreader and the foundation pile grippers underwater aredesigned and manufactured, and then the relevant experiment studies are carried out to verifythe correctness of theoretical analysis and the rationality of design.更多还原