摘要半潜式海洋钻井平台（浮式钻井平台）在工作时，由于波浪的随机运动会产生六个方向的运动。随机产生的这些运动对海洋平台正常的钻井作业造成了极大地影响，这不仅增加了钻井成本，延长了钻井时间，减少平台设备使用寿命，而且还会对平台上工作人员的生命和安全有着严重的威胁。目前只有针对钻柱和钻头补偿的研究，只解决了平台晃动对钻井部分造成影响，并没有涉及整个平台工作甲板的运动补偿。86128

在平台产生的六个方向的运动中，横摇、纵摇、升沉对平台的影响较大。所以，本文针对这三个自由度上的运动对平台工作甲板的影响，结合新型半潜式海洋钻井平台结构，研究该平台的主动波浪补偿运动学模型。首先，为数学模型建立适当的坐标系，并参考并联机构逆解计算方法得到能够使平台工作甲板保持稳定的补偿算法。之后为了验证控制算法的正确性，先进行算例分析初步验证补偿算法的合理性；然后借助MATLAB仿真出各个点坐标补偿前后的空间曲线，通过对比补偿前后曲线，为ADAMS模型仿真分析提供参考依据；最后用MATLAB仿真出杆长曲线数据，并导入ADAMS模型添加Spline样条曲线驱动进行上平台算法补偿，获得补偿前后平台的运动曲线，通过分析仿真结果验证主动波浪补偿算法的正确性。

毕业论文关键词：半潜式海洋钻井平台，主动波浪补偿，并联机构，运动学分析，ADAMS仿真

Abstract Semi-submersible offshore drilling platform (floating drilling platform) at work, due to the wave of six randomly generated games direction of motion。 These movements randomly generated for normal drilling operations offshore platform caused great influence, which not only increases the cost of drilling, drilling extended time, reduce equipment life platform, but also for the lives and safety of staff on the platform have serious threat。 Currently, only research drill string and bit for compensation, only to solve the platform shaking impact on the drilling portion, and does not involve the entire platform motion-compensated work deck。

In the six directions of movement of the platform generated, roll, pitch, heave a greater impact on the platform。 Therefore, this paper affect the movement of the three degrees of freedom on the working deck of the platform, combined with the new semi-submersible offshore drilling platform Structure, Active Heave Compensation kinematic model of the platform。 First, the establishment of an appropriate coordinate system for the mathematical model, based on the inverse solution of parallel mechanism and calculation methods can make the platform stable working deck compensation algorithm。 In order to verify the correctness of the control algorithm, the first for example preliminary analysis to verify the reasonableness of compensation algorithm, then through MATLAB simulation of the space coordinates of each point compensation curve before and after, before and after comparison of the compensation curve, provide the basis for the ADAMS model simulation analysis。 Finally, MATLAB simulation curve rod length data, and import models add ADAMS Spline Spline algorithm platform driving of compensation, compensation curves obtained before and after the motion platform, verify the correctness of the active wave compensation algorithm by analyzing the simulation results。

Keywords: Semi submersible offshore drilling platform;active wave compensation parallel mechanism; kinematics analysis; ADAMS simulation

目  录

第一章 绪论 1

1。1 研究背景 1

1。2 国内外研究现状 2

1。2。1 国外研究现状 2

1。2。2 国内研究现状