A Dynamic Monitoring Method for Underwater Oil Pipeline Considering Transient Steady-state Performance
A technology for oil pipeline and dynamic monitoring, applied in pipeline systems, gas/liquid distribution and storage, mechanical equipment, etc. problems, to achieve long-term real-time patrol and detection, improve detection efficiency and accuracy, and improve detection speed and dynamics.
Active Publication Date: 2019-09-03
YANSHAN UNIV
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The performance of the fluorescent sensor depends on a good visual environment. However, the underwater transparency is low, the tiny organisms in the water are easy to scatter, and the large organisms in the water are easy to block. The above constraints can reduce the penetration of ultraviolet rays, thereby reducing the impact of the fluorescent sensor on the pipeline monitoring performance
At the same time, the underwater robot needs to monitor the area on a large scale. However, the battery capacity of the underwater robot is limited and it is not easy to replace. This large-scale monitoring method limits the improvement of monitoring efficiency.
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[0029] The present invention will be further described below in conjunction with accompanying drawing:
[0030] Such as figure 1 and figure 2 As shown, the present invention discloses a dynamic monitoring method for underwater oil pipelines considering transient steady-state performance, mainly for deploying underwater robots 2, which have no cables and carry dissolved oxygen sensors. Dissolved oxygen sensors are respectively installed at the bottom, side and tail; it can use its own control system to carry out underwater autonomous cruise; the monitoring method includes the following steps:
[0031] Step 1: According to the positions of the underwater robot 2 and the underwater oil pipeline 3, and the effective sensitivity of the dissolved oxygen sensor, set the steady-state area for the effective detection of the underwater robot. The oil diffusion distance r relative to the location of the leakage point 4 obeys the normal distribution, and the sensitivity gradually decre...
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The invention discloses an underwater petroleum pipeline dynamic monitoring method with metastable-state performance considered and belongs to the technical field of underwater petroleum pipeline monitoring. A stable state area for effective detection of an underwater robot is set according to the position of the underwater robot and pipeline and effective sensitivity of an underwater dissolved oxygen sensor; based on the stable state area, a transient state index for effective detection of the underwater robot is designed; the underwater robot plans a global reference path offline according to the metastable performance, a dynamic tracking monitoring controller is set to act on a driving device of the underwater robot so that dynamic monitoring of the pipeline is achieved; a dissolved oxygen threshold is set to monitor leakage of the petroleum pipeline area precisely in real time. Cooperation of the underwater robot helps improve monitoring autonomy; metastable constraint helps improve monitoring efficiency, and therefore, energy consumption can be reduced, and reliable real-time dynamic monitoring can be provided for an underwater petroleum pipeline.
Description
technical field [0001] The invention belongs to the technical field of underwater oil pipeline monitoring, and in particular relates to a dynamic monitoring method for underwater oil pipelines considering transient steady-state performance. Background technique [0002] The 21st century is the century of the ocean, and the ocean will become a new space for human survival and development. The oil in the ocean is the most important source of resources for the development of human industry. Among them, underwater oil pipelines, as the main means of offshore oil transportation, are indispensable and important facilities for the offshore oil industry. However, the characteristics of the underwater environment are complex, such as trenches, ocean currents, and even marine geological disasters (earthquakes), as well as the suddenness of oil pipeline leakage, making the real-time and autonomy of underwater oil pipeline monitoring generally not high. [0003] From the prior art, it ...
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IPC IPC(8): F17D5/02
CPCF17D5/02
Inventor 闫敬郭志文罗小元杨晛
Owner YANSHAN UNIV