水下机器人主动升沉补偿系统研究

介绍一种基于水下机器人常规液压收放绞车的主动升沉补偿系统,利用加速度传感器获得母船的升沉运动信号,控制绞车的运转来降低母船的升沉运动对水下机器人的影响。通过理论计算建立主动升沉补偿系统的数学模型,仿真分析绞车运动对水下机器人升沉运动的补偿效果,并利用主动升沉补偿系统实验台验证基于常规液压收放绞车的主动升沉补偿方案的可行性。

潜水器恒张力收放绞车系统的建模与仿真

在潜水器收放过程中,要求收放绞车具有恒张力控制功能,减小由于波浪起伏对潜水器的冲击。本文根据液压系统的流量连续性方程,建立恒张力收放绞车泵控液压马达系统的数学模型,并对该系统进行了仿真分析,仿真结果表明:该系统能够满足实际的作业工况,且具有良好的动态和稳态工作性能。仿真结果为收放系统的设计提供了依据。

用于AUV收放装置的变幅机构研究

这里主要介绍了变幅机构的理论分析及AUV载体的收放方法,并简要介绍了收放机构的组成情况。

液压系统在水下机器人中的应用

结合典型的缆控水下机器人 ,介绍了缆控水下机器人液压系统的发展状况、特点和已取得的一些研究成果 ,并指出了发展大功率液压推进系统的重要意义。

液压系统在水下机器人的应用

本文结合在中型、大型水下机器人液压系统的设计、安装、调试的经验和体会,阐述液压系统在水下机器人应用的技术特点和技术措施,为水下液压系统设计提供借鉴.

锻压机导套对立柱作用反力的分析研究

讨论了锻压机工作时偏心载荷对机架下横梁和立柱应力变化的影响程度，验证了下横梁的断裂原因；详细地讨论了导套筒对立柱作用反力的影响，指出了传统液压机设计方法中假设条件的不足，为该类机械的结构设计和改进提出了新的见解。

液压反铲挖掘机工作装置有限元动态分析

针对挖掘机工作装置的结构特点 ,建立了其系统 3维有限元模型 ,通过分析得出了系统的固有频率和振型 ,以及结构动态响应各时刻的变形和应力分布规律。比较了工作装置在开挖难度较小和较大 2种情况下 ,挖掘阻力对系统动力响应的影响

一种具有波浪补偿和防晃功能的船用起重机

船用特种起重机是指在海浪环境中进行起吊作业的专用起重机器人，其需要解决的主要问题是波浪运动的补偿和摆动的抑制。本文针对此采用并串联结构机器人的理论和技术，提出了能实现海浪补偿与防晃一体化的起重机方案，对方案的机构原理、测量方法、控制方法和非对称液压缸的建模等都进行了具体的分析与论证。最后得出结论：现有技术水平能够实现海浪补偿与防晃一体化，研制特种起重机是可行的。本项研究的科学意义在于探索在海浪环境

气压伺服及气液连动控制发展概况综述

本文综述了气压伺服应用情况、发展概况、存在的问题、气液连动的重要性及发展概况。

PCM控制的新型气液位置伺服系统的研究

本文提出了一种新型气液缸和气液位置伺服系统。该系统采用气液连动控制，充分发挥液压与气动各自的优点，大大提高了位置控制精度，同时克服单纯气动的特点。在气液回路上，利用两位三通阀、“ＰＣＭ”阀组及油开关阈实现分区控制和准确定位，解决了快速性和定位精度之间的矛盾，通过分析和实验研究表明，此方案是可行的。

水下机械手液压控制系统动力机构参数的分析计算

本文所介绍的水下机械手液压控制系统为一典型的具有变回油压力封闭式系统。文中阐述了此种系统液压动力机构的设计原理及静、动态参数的分析计算方法。对于在变回油压力下,由四通阀控制的非对称油缸的静态特性进行了详细的分析。给出了在不同回油压力下,不同面积比的非对称油缸、阀的负载压降及最大空载流量的变化规律。这对于确定水下机械手的液压动力机构的参数提供了依据。

新型数字液压驱动单元流动状态及补偿液控阀设计研究

根据数字液压驱动单元的运行原理,分析了在空载与加载情况下该数字驱动单元的内部液体流动状态,并以这一流动状态原理为依据,改进设计了传统的液控单向阀。数字液压驱动单元样机及试验结果表明:该数字液压驱动单元与应用传统液控单向阀体的驱动单元相比,具有更加紧凑的体积、更高的响应速度及运行可靠性和显著的节能效果。

松辽盆地南部腰英台区块低渗透储层整体压裂改造技术研究

The Yaoyingtai Block is located within the northeastern Changling Depression of southern Songliao Basin, where the reservoir sandstones are petrophysically characterized by very low permeability, which results in the low success probability of artificial fracturing, and the low oil yield by water injection in the course of oil production. In order to improve the situations as stated above, this research aims to work out an integral fracturing technology and strategy applicable to the low permeable reservoirs in Yaoyingtai Block. Under the guidance of geological theory, reservoir engineering and technology, the subsurface occurrences of natural and hydraulic fractures in the reservoirs are expected to be delineated, and appropriate fracturing fluids and proppants are to be optimized, based on the data of drilling, well logging, laboratory and field experiments, and geological data. These approaches lay the basis of the integral fracturing technology suitable for the low permeable reservoir in the study area. Based on core sample test, in-situ stress analysis of well logging, and forward and inversion stress field modeling, as well as fluid dynamic analysis, the maximum in-situ stress field is unraveled to be extended nearly along the E-W direction (clustering along N85-135°E) as is demonstrated by the E-W trending tensional fractures. Hydraulic fractures are distributed approximately along the E-W direction as well. Faulting activities could have exerted obvious influences on the distribution of fractures, which were preferentially developed along fault zones. Based on reservoir sensitivity analysis, integrated with studies on rock mechanics, in-situ stress, natural fracture distribution and production in injection-production pilot area, the influences of primary fractures on fracturing operation are analyzed, and a diagnostic technology for primary fractures during depressurization is accordingly developed. An appropriate fracturing fluid (hydroxypropyl guar gum) and a proppant (Yixing ceramsite, with a moderate-density, 0.45-0.9mm in size) applicable to Qingshankou Formation reservoir are worked out through extensive optimization analysis. The fracturing fluid can decrease the damage to the oil reservoir, and the friction in fracturing operation, improving the effect of fracturing operation. Some problems, such as sand-out at early stage and low success rate of fracturing operations, have been effectively solved, through pre-fracturing formation evaluation, “suspension plug” fracturing, real-time monitoring and limited-flow fracturing. Through analysis of fracture-bearing tight reservoir with variable densities and dynamic analysis of influences of well patterns on fracturing by using numerical simulation, a fracturing operation scheme for the Qingshankou Formation reservoir is proposed here as being better to compress the short factures, rather than to compress the long fractures during hydraulic fracturing. It is suggested to adopt the 450m×150m inverted 9-spot well pattern in a diamond shape with wells placed parallel to fractures and a half fracture length of 60-75m.

束鹿凹陷泥灰岩储层综合评价与加砂压裂技术研究与应用

Luo Ning ( Mineralogy, Petrology, Deposit Mineralogy) Directed by Fu Liyun With the increase of the level of exploration and development, North China field, as one of the maturing fields in the east, has gradually turned their prospecting targets to frontiers such as deep zones, lithologic hydrocarbon reservoirs, low permeable layers, special lithostromes, etc, which propose new challenges to mating technique of exploration engineering. In it, the special lithostrome of clay carbonate in Shu-Lu cave in Middle Flank exploration area locates in Es_3 generating rock. The area distribution is large, formation thickness is over 100 meters, the oil accumulation condition is excellent, prognostic reserves is over 80,000,000 tons, but how to effectively stimulate the special low permeable and fractured reservoir has become the bottle neck problem of stimulation and stable yields. In this thesis, through comprehensive evaluation and analysis of lithology, lithomechanics, hydrocarbon reservoir characteristics, the characteristics of fluid flow through porous medium and the stimulation measures in the past, we acquire new cognition of clay carbonate reservoirs, in addition, the research and application of first hydraulic fracturing has gained positive effect and formed commensurable comprehensive reservoir evaluation technique and mating engineering technique of hydraulic fracturing. The main cognitions and achievements are as follows: 1.Study of geological information such as lithololy analysis and nuclear magnetic logging, etc, indicates that clay carbonate formation of Shu-Lu cave is anisotropic, low permeable with high shale content, whose accumulation space gives priority to microcracks. 2.The analysis of lithomechanics of clay carbonate indicates that the hardness is moderate, Young’s modulus is between that of sandstone and limestone, clay carbonate presents plastic property and its breakdown pressure is high because of the deep buried depth. 3.The analysis of the drillstem test curves indicates that the flow and build-up pressure curve of clay carbonate of Shu-Lu cave mainly has three types: formation contamination block-up type, low permeable type, formation energy accumulation slowness type; the reservoir characteristics presents double porosity media, radial compounding, uniform flow vertical fracture, isotropy, moniliform reservoir type. The target well Jingu 3 belongs to moniliform reservoir type. 4.Through recognition and re-evaluation of the treatment effect and technologic limitations of acidizing, acid fracturing and gelled acidizing in the past, based on the sufficient survey and study of hydraulic fracturing home and abroad, combined with comprehensive formation study of target well, we launched the study of the optimization of hydraulic fracturing technique, forming the principal clue and commensurable mating technology aimed at clay carbonate formation, whose targets are preventing leak off, preventing sand bridge, preventing embedment, controlling fracture height, forming long fracture. 5. Recognition of stimulation effect evaluation.

鄂尔多斯盆地陇东地区长8段砂岩输导体定量表征研究

Migration carriers act as the “Bridges” connecting source rock and traps and play important roles in petroleum migration and accumulation system. Among various types of carriers, sandstone carrier constitutes the basis of carrier system consisting of connected sandstone bodies, of sand-bodies connected with other carriers, such as faults and/or unconformities. How do we understand sandstone carrier beyond the traditional reservoirs concept? How could we characterize quantitatively this kind of carriers for petroleum migration? Such subjects are important and difficult contents in dynamic studies on hydrocarbon migration and accumulation. Sandstone carrier of Chang 8 member in Longdong area of Ordos Basin is selected as the research target in this thesis. Through conducting integrated reservoir analysis on many single wells, the correlation between single sandstone thickness and oil thickness seems good. Sketch sandstone is defined in this thesis as the principal part of carrier based on systematical analysis on lithology and sandstone thickness. Geometry connectivity of sandstone bodies was identified by the spatial superposition among them and was proved by the oil property features in oilfields. The connectivity between sandstone carriers is also hydrodynamically studied by observing and analyzed various diagenetic phenomena, especially the authigenic minerals and their forming sequence. The results were used to characterize transporting capability of sandstone carriers during the key petroleum migration periods. It was found that compaction and cementation are main causes to reduce pore space, and resolution may but not so importantly increases pore space after the occurrence of first migration. The cements of ferrocalcite and kiesel seem like the efficient index to demonstrate the hydraulic connection among sandy bodies. Diagenetic sequence and its relationship with petroleum migration phases are analyzed. Sandstone carrier of Chang 8 member was then characterized by studying their pore space and permeable properties. The results show an average porosity and permeability of Chang 8 carriers are respectively 8% and 0.50md, belongs to low porosity - low permeability reservoirs. Further, the physical properties of Chang 81 member are commonly better than those of Chang 82 member. Methods to reconstruct property of sandstone carrier during petroleum migration phase (late Jurassic) are built based on diagenetic sequence. Planal porosity, porosity and permeability of sandstone carrier in this period are statistically analyzed. One combining index - product of thickness and ancient porosity - is selected as the idea parameter to characterize sandstone carrier of late Jurassic after contrast with other parameters. Reservoirs of Chang 8 member in Longdong area are lithological reservoir controlled by sand body in which oil layers in middle part are clamped with dry layers in upper and lower parts, in a sandwich way. Based a newly proposed “migration-diagensis-remigration” model in low permeability sandstone of Chang 8 member in Longdong area, oil migration and accumulation processes during different periods are simulated with the reconstructed sandstone carriers system. Results match well with current reservoir distributions. Finally, suggestions for next favorable exploration areas are given based on all research achievements.