摘要
为完成海底两个待连接管道的回接作业,需要测量两硬质管道法兰中心的相对位姿,预制适合的相应过渡管段。结合国内外发展现状,针对中国深海作业环境,设计了一种基于拉绳测量装置的深海管道回接位姿测量方案。采用过渡矩阵位姿算法对绳长向量、过渡角度、过渡矩阵等进行演算,实现了两管道法兰中心向量的求解,分析了测量系统的检测控制策略与作业控制策略。结果表明,该深海管道回接位姿测量系统可以精确地获取待连接的两管道之间的距离与相对角度,为深海硬质管道法兰回接作业实现相应参数的检测和完成系统实际作业提供了理论依据,对于深海管道法兰连接作业具有重要指导意义。
The tie-in operation of two deep-sea pipelines needs to measure the relative position of two flange centers,and needs to prefabricate the transition pipeline section.Aimed at deep-sea environment in China,a deep-sea pipeline tie-in pose measurement system was designed based on stretching-wire measurement devices.The matrix pose algorithm was applied to calculate the vector of stretching-wire length,the transition angle,the transition matrix,etc.,achieving the vector solution of two flange centers.Control strategies for the corresponding measurement parameters and the actual operation were also analyzed.Deep-sea pipeline pose measurement system can accurately obtain distance and relative angle information of two pipelines which is to be connected,and is the essential tool of deep-sea tie-in,and has great significance for the deep-sea flange connection operation.
出处
《石油勘探与开发》
SCIE
EI
CAS
CSCD
北大核心
2010年第4期494-500,共7页
Petroleum Exploration and Development
基金
国家高技术研究发展计划(863)项目(2006AA09A105-4)
关键词
深海管道
位姿测量
过渡矩阵位姿算法
控制策略
deep-sea pipeline
pose measurement
matrix pose algorithm
control strategy
