海底管道机器人接触摩擦-振动耦合机理及动力学特性研究

The friction-vibration often causes inaccurate detection data or even deadlock of an internal inspection robot in submarine pipelines, which not only reduces the efficiency of transmission operation of oil pipeline, but also can easily cause potential safety hazard. The unclear mechanism of friction-vibration coupling is a key issue affecting the work stability and reliability of an internal inspection robot in submarine pipelines. This project aims at this issue. It uses the coupled system of an internal inspection robot in submarine pipelines as the research object, based on the theories of nonlinear vibration, contact dynamics and tribology, and adopts a combination of numerical analysis, model testing, and field testing. Considering the effects of multi-phase flow environment and contact elastic deformation, it studys the complicated nonlinear dynamic behavior and evolution of the contact friction-vibration of fluid-solid coupling system and reveal the friction-vibration coupling mechanism. Prove the influence of coupling of various factors on the steady-state and transient dynamic behavior of system friction-vibration, and provide scientific basis for vibration suppression design of an internal inspection robot in submarine pipelines. The research results of this project not only provide solid theoretical basis for improving the stability and reliability of an internal inspection robot in submarine pipelines, but also provide references for the research of friction-vibration in other fields.

摩擦振动经常引起海底管道内检机器人检测数据失真，甚至机器人失效卡堵，不仅降低了输油管道传输作业效率，也极易造成管道安全隐患。摩擦-振动耦合机理不明是影响海底管道内检机器人运行稳定性和可靠性的关键问题。本项目针对该问题，以海底管道内检机器人耦合系统为研究对象，以非线性振动、接触动力学和摩擦学等理论为基础，采用数值分析和模型试验、现场试验相结合的方法，考虑多相流环境和接触弹性变形等因素影响，对流固耦合系统接触摩擦-振动的复杂非线性动态行为和演化规律进行研究，揭示摩擦-振动耦合机理，探明各种因素耦合作用对系统摩擦-振动的稳态和瞬态动力学行为的影响规律，为海底管道内检机器人振动抑制设计提供科学依据。本项目的研究成果将为海底管道内检机器人系统的稳定性和可靠性提供坚实的理论基础，也为其它领域摩擦-振动的研究提供借鉴。

由于工作环境复杂，海底管道内检机器人经常出现因振动问题引起的检测结果失效和机器人卡堵。摩擦-振动耦合机理不明是影响海底管道内检机器人运行稳定性和可靠性的关键问题。本项目以海底管道内检机器人耦合系统为研究对象，围绕摩擦-振动耦合机理开展了研究，具体包括：构建了管道检测器头部皮碗旋转板壳耦合壳体结构的理论分析模型，引入非线性材料参数，建立了考虑频率依赖性的粘弹性材料皮碗的非线性振动模型，通过试验验证了模型的正确性；考虑管道检测器柱壳与锥壳的耦合关系及检测工作环境中粘性摩擦、流体阻尼以及速度偏移现象，提出了一个新的管道检测器-管道接触摩擦非线性表征模型，通过试验验证了模型的有效性；分析了管道检测器运动特性及动力学特性，阐述了管道检测器行进间产生的非线性动态行为；搭建了管道检测器试验平台，设计了精准验证动力学模型和表征模型有效性的相应测试系统。总之，本项目从动力学角度揭示了海底管道内检机器人的摩擦-振动耦合的非线性动态行为，为海底管道内检机器人振动抑制设计提供了全新的原理依据和技术支撑。