Study On Buoyancy System And Stability Of Deepwater Pipeline Working Machine

As an integral part of the seabed oil production system,deepwater oil and gas pipeline inevitably causes certain leakage due to the relatively complex and uncontrollable environment of the seabed and the frequent occurrence of damage.Therefore,timely repair of the oil pipeline,reduction of economic losses and protection of the marine environment have become the top priority.Based on the original prototype,this paper completed the configuration of the buoyancy system of the deepwater pipeline work tool,studied the stability of the tool,and finally completed the development of the deepwater pipeline work tool prototype through the experimental verification.According to the structure shape of the implement,combined with the center of gravity position of the implement,the design scheme of the buoyancy system of the implement is proposed with reference to ROV,and the adjustment scheme of the attitude of the implement after entering the water is proposed,and the buoyancy system is established.On this basis,through the study of the influence of seawater on the buoyancy of machines and tools,it provides a reference for the further optimization of the buoyancy system;through the simulation analysis,it is verified that the structural strength and natural frequency of the buoyancy system meet the requirements.According to the stability requirements of the machines and tools,the forces of the machines and tools equipped with the buoyancy system after entering the water are analyzed,and the force balance relations of the machines and tools after entering the water,initially sitting on the pipeline,crawling on the pipeline,cutting the pipeline in the water and cutting the pipeline on the land are studied,and the stability of the machines and tools equipped with the buoyancy system is verified to meet the requirements through simulation.In view of the problem of how to verify the stability of the buoyancy system of the machines and tools after entering the water,the models of the machines and tools entering the water in different two-dimensional planes are established respectively,the fluctuation of the machines and tools entering the water from the free falling body in the air is analyzed,the displacement curve of the center of gravity of the machines and tools,the curve of the rolling angle and the pitch angle of the machines and tools changing with time in the simulation process are obtained,and the model of the machines and tools going straight in the water is established The relationship between the straight travel speed and the straight travel angle of the implement in water is analyzed,and the relationship curve between the speed and the inclination angle is obtained,which verifies that the stability of the implement after entering water meets the requirements.According to the rationality of buoyancy system structure,the stability of cutting pipe on land and after entering water,the rationality of buoyancy system structure is verified through the experiments of clamping or loosening of fixture device,rotation of C disk and crawling action of tool;through the experiments of cutting pipe on land,the buoyancy system can avoid resonance with the working tool,and the tool can be smooth It is beneficial to complete the task,and the cutting stability on land meets the requirements;through the water entry experiment,the attitude change curve and the net buoyancy of the machine after entering the water are obtained,and it is observed that the machine’s attitude is good when it goes straight in the water,and the stability of the machine after entering the water meets the requirements from the experimental point of view.In this paper,the theoretical analysis,simulation and Experimental Research on the deepwater pipeline work tools are carried out,which further establishes the theoretical basis for the configuration of the buoyancy system of the deepwater pipeline work tools,and provides guidance for the subsequent upgrading of the deepwater pipeline work tools engineering prototype.