针对石油井架的工作环境,设计了一种井架爬行机器人,以代替人工完成井架攀爬和检测任务.首先,通过工作需求确定了机器人的结构;其次,根据D-H(Diffie-Hellman)参数法求解了机器人机械臂转动以及越障的运动学方程,采用蒙特卡洛法计算得到机器臂的运动空间;最后,利用ADAMS(automatic dynamic analysis of mechanical systems)仿真得到攀爬机器人在静止检测时机械臂转动对履带车吸附稳定性的影响以及越障过程中电永磁吸附足的稳定性.研究结果表明,该井架攀爬机器人可以在井架上稳定工作,且速度快于同类爬行机器人,最大拖动负载为21 kg.在机械臂旋俯仰及旋转过程中,履带车质心的波动幅值均小于0.1 mm.越障过程中,前端电永磁吸附足均不会发生侧滑、倾覆以及下滑等现象.

动力学分析是机器人评估运动性能以及实施运动控制的关键,由于四足爬壁机器人的多运动链结构和闭链约束,运动学分析较为困难.为此,本文提出以虚功原理求解四足磁吸附爬壁机器人的稳定性与动力学.求解动力学方程,利用优化理论设计驱动力二次规划方法,通过最小功率原则计算关节驱动力,并验证其合理性.设计仿真实验,通过PID控制,采用Matlab与ADAMS联合仿真.仿真结果表明:该控制方案具有较高的跟踪性能和控制精度,负载在350 N及以下时,机器人不会发生滑移,并验证了冗余驱动下驱动力求解的正确性.

由于新冠肺炎疫情的影响,绝大多数留学生无法返校学习,且不同国家留学生的学习基础、文化背景、逻辑思维等差异较大,给"PLC控制与编程"课程的在线教学带来了很大挑战.对"PLC控制与编程"课程教学内容进行分析,并结合留学生在线学习的特点进行教学设计,采用图示引入、视频引入、现场习题等多种教学方法,取得了较好的教学效果,为今后留学生的在线教学提供了参考,同时有效提升了留学生理论联系实际的能力.

A quadruped magnetic absorbing wall-climbing robot with omni-directional motion was designed to achieve reliable adsorption and free movement on the iron-based wall with different curvatures. Firstly, the modified Grübler–Kutzbach (G–K) formula was used to analyze the degree of freedom (DOF) of the robot. Then the Denavit–Hartenbery (D–H) method was used to establish the linkage coordinate system of the robot walking legs, and the forward and inverse kinematics of the walking legs were analyzed. Then the robot was regarded as a parallel mechanism, the forward and inverse kinematics of the carrier platform were analyzed, the analytic solution of the inverse kinematics was given, and a numerical algorithm based on Newton’s method was used to solve the redundant equations to obtain the numerical solution of the forward kinematics, the complete kinematics mathematical model of the robot was established. To verify the correctness of the model, the calculation program was compiled in MATLAB according to the model, and the same kinematics simulation was performed in MATLAB and Adams respectively to make comparisons. Finally, the Jacobian matrix of the robot was obtained by the screw theory, and the singularity of the robot was analyzed by combining the Grassmann line geometry theory. A forward kinematics singularity in non-redundant driving was verified. The results of DOF analysis showed that the carrier platform has six-DOF, so it can complete the omnidirectional motion in the space, and the structure design of the robot is reasonable. The simulation results of MATLAB and Adams are consistent and the forward and inverse kinematics can mutually verify each other, which illustrates the correctness of the mathematical model, and provides an a theoretical basis for the motion control, trajectory planning of the robot. The singularity of the robot is obtained, which provides an approach to avoid it. No power consumption still is achieved by utilizing the inverse kinematics singularity.

建立了基于电参数推导悬点示功图的模型,选用一系列测试仪器进行数据采集实验.建立起基于电参数的悬点载荷和位移的求解模型.通过数据处理得到了变频器效率、惯性扭矩、电机到曲柄轴总传动效率等数据.基于实测参数以及结合总传动效率曲线计算出多组示功图,将计算出的示功图与实测示功图对比,并分析了影响示功图计算精度的因素.编写了基于电功率的抽油机示功图计算软件,实现数据采集、数据处理、示功图计算、平衡度测试与指导等功能.

为解决抽油机平衡调整安全性差、调节精度低、节能效果不好以及抽油机不能随井况变化自动调整的问题,设计了一种自动平衡抽油机.数据采集模块采集示功图后经无线传输模块传至上位机,数据处理单元仿真出所有平衡设置情况下曲柄轴净扭矩曲线形状,得到曲柄轴均方根扭矩最小时的平衡设置方案.平衡调节命令经RTU接收后控制执行结构对抽油机平衡进行实时、精确调节.研究表明,与常规游梁式抽油机相比,自动平衡抽油机的动力性能得以改善,具有良好的节能降耗效果.自动平衡抽油机的研究为模块化智能抽油机奠定了基础.

为了及时了解往复泵液力端的工作状态和故障情况,通过人为制造往复泵液力端故障,模拟出往复泵液力端的吸入阀漏失、排出阀漏失、吸入阀弹簧断裂、排出阀弹簧断裂、柱塞磨损、吸入阀排出阀均漏失和无故障7种工况,并得到各种状态下的往复泵示功图.结合Matlab编程软件利用矩特征法对示功图进行特征量提取,最后选用支持向量机训练特征量样本数据,完成对往复泵液力端的故障诊断,其故障识别率高达95％,诊断结果精确可靠.

Testing diesel engine power mainly use dynamometer , all kinds of dynamometers have the following disadvantages that diesel engines need to be demolished , to be shipped back to the repair workshop and to be tested with the disadvantages of needing an external load.The principles and methods of testing power of the diesel engine are put forward in the case with-out disassemble, a method about diesel engine acceleration, deceleration test data processing is given.By using Donghua DH-DAS5927N dynamic signal acquisition and analysis system, diesel engine maximum power analysis software is written in Visual Basic, the diesel engine moment of inertia and power are obtained, a new field test of diesel engine maximum power is devel-oped.The reliability of the test method in the field is demonstrated by field test.

Aimed at the widely used stand-alone snubbing unit,a hydraulic control system based on PLC was proposed to improve the snubbing degree of automation and reduce labor intensity.The basic working principle of the independent hydraulic snubbing unit was described.And the hydraulic system program and the PLC control framework were proposed.The fast and slow decentralization of tubing operations was realized by using two-grade rise cylinder and differential circuit alternating control.A four-cylinder synchronization circuit and the interlock control were used in the power slips loop for the automatic centering of the tube.The PLC control has achieved automatic workover operations and the control of dynamic looking up the balance point of operating.The system improves the efficiency of the snubbing unit.The production accident occurred in the column operations process is avoided.The security and automation of snubbing have greatly improved.

The online real time monitoring system for drilling pump is introduced;the system accurately measures various parameters in operation of drilling pump.By adopting the induction power supply module and ZigBee wireless communication,the power supply and data transmission for online real time monitoring system of the drilling pump are achieved,and real time monitoring of the operating parameters and partial early fault diagnosis of the pump are implemented.The system features ease operation and stable performance,thus the demands for monitoring and safety production of the drilling pumps at home and abroad are satisfied.

Combined with the powerful operation ability of MATLAB and friendly interface of VB,the paper introduces in detail the application of COM components generated by VB call MATLAB,improves the efficiency of programming.The drilling pump fault diagnosis data processing uses wavelet analysis method,and draws the energy of wavelet analysis and waveform analysis graph,providing a simple way to the drilling pump fault diagnosis data processing.

机械工程专业毕业设计要求系统、具体,存在设计难度大、影响因素多、设计质量难以提高的问题。本文通过对机械工程毕业设计质量影响因素深入分析,提出了易于实施的提高机械工程毕业设计质量综合措施。所提出的措施对机械工程专业的毕业设计有很大的指导作用,而且对非机械工程专业的毕业设计也有很大的指导作用。

针对机电专业课程设置及教学内容不合理,提出了精简计算机硬件接口电路,完善机电系统硬件接口电路设计,修改机电专业编程语言为C语言,增加C语言同硬件结合编程实例,增加机电系统课程的教学实验学时,加强机电专业的课程设计等措施,有效解决了机电专业电气控制教学中硬件复杂、知识点多、内容落后的问题,提高学生对机电专业课的学习兴趣和对机电控制课程知识点的掌握程度。

In the well drilling field test,the LNG generator appeared unstable working condition,low power utilization rate and easy to stall.Through the analysis of engine characteristic curves,the characteristics under different working conditions,and the gas engine characteristics,it is concluded that the reasons for the problems are slow acceleration,and the bad servo performance of the LNG engine inlet system.Through analysis,solutions were put forward from the aspects of engine control system and the peripheral equipments,which provides the effective ideas for the LNG engine application in drilling engineering.

利用CAN总线集成性高、扩展性强的特点,简化了试油数据测试系统现场布线,使系统具有较强的扩展性,用户能够根据工程需要在总线上随意增减CAN设备,实现对试油中相关参数的测试;监控软件采用OPC技术为试油数据传输提供了开放和实时的数据传输接口,解决了现场、中心站之间的实时数据通信问题.该系统功能完善,扩充性强,现场连接方便;软件操作简单,界面友好,具有网络IE浏览和网络及时通信功能.

对直流电机转速测量实验进行改进,采用了C语言对程序进行编制,运用了单片机的LED显示器直接显示直流电机的脉冲数、转速、反馈电压,使实验脱离计算机的参与,操作变得简单,学生能更好集中精力于实验原理的理解和硬件设计方法的掌握。教学实践中改进后的实验更能激发学生兴趣,发挥学生创新能力,达到了更为理想的教学效果。

针对钻井过程环境复杂、测试参数多、现场布线复杂等问题,利用CAN总线集成性高、扩展性强的特点,设计了一种专门应用于钻井作业的多参数监测系统。现场应用中只需将各传感器和设备终端通信线并联在总线上,利用系统监测程序即可实时地对钻井过程进行监控。采用CAN总线多参数监测系统实现了钻井智能化和网络化,提高了信号传输的可靠性和安全性,为钻井参数和工况的异地实时网络化监测提供了方便。

The slips are one of the key parts which mostly bear the axial thrust of down hole choke of downhole choke.The lock performance directly influence the stability and functional reliability of downhole choke.Unqualified slips system can influence intensity and security of oil pipe.Therefore,the contact state of slips system of fishable downhole choke has been studied firstly.And then,by using of the finite element method to study the trigon tooth,ring groove structure of down hole choke slips system,the stress behavior have been talked over of differ width and outside diameter slip element of the slips system.The method may coach the design of downhole choke slips system.

A method for speed measurement of the drilling pump is presented,which is based on variation of the pulse cycle time and can solve the issues of long period measurement and not timely situation monitor in present drilling.SCM and C language are used for the system hardware and software development.It can rapidly indicate the change of the pump speed,show the working situation to the staff and improve the safety of drilling.

Piston is one of vulnerable parts in drilling pump,and its malfunction occurs mostly during its work process.The simulation of piston work process was made with the finite element analysis software,the nephograms of piston stress and displacement was acquired,and the nephograms of its contact stress and friction stress was acquired as well.Through the analysis,the piston's contact stress distributed rule curve was obtained when piston lip had different shrink ranges and lip angles.