An active monitoring system and semi-active control method for pipeline vibration

Abstract

The present invention discloses an active monitoring system and semi-active control method for pipeline vibration, and specifically relates to the technical field of pipeline vibration monitoring and control. The system solves the problem of pipeline vibration monitoring and achieves the purpose of pipeline vibration reduction without changing the pipeline structure or stopping the construction. The control parameters can be optimized according to the system operating conditions through a big data algorithm, thereby improving the efficiency of the control system, and at the same time quickly matching the optimal damping initial value participating in the semi-active control algorithm, so that the system can achieve the purpose of pipeline vibration reduction.

Description

Technical Field

[0001] The invention belongs to the technical field of pipeline vibration monitoring and control, and in particular relates to an active monitoring system and a semi-active control method for pipeline vibration. Background Art

[0002] In recent years, with the rapid development of industries such as nuclear power, shipbuilding, petrochemicals, and aerospace, large-scale, integrated, and intelligent development has become a development trend, and people have put forward higher requirements for structural vibration and safety and stability. Vibration reduction and noise reduction have become hot issues in various industries. As an important tool for conveying media, pipelines are widely used in modern industry, with a large number and intricate layout. Due to the structural fatigue of the pipeline caused by vibration, long-term accumulation causes cracks in the pipeline welds, and in severe cases induces leakage; at the same time, the vibration will also be transmitted along the pipeline to the pipeline accessories, such as valves, instrument pipes, etc., causing severe vibration of the pipeline accessories, seriously damaging their functions, and even causing catastrophic accidents. For a long time, there have been countless cases of pipeline failures induced by vibration, so effective measures must be taken to monitor and control pipeline vibration.

[0003] The main causes of pipeline vibration come from three aspects: vibration transmitted by equipment or foundation connected to the pipeline; vibration caused by pressure pulsation of fluid in the pipe; vibration caused by fluid vortex and air column resonance in the pipe. There are many ways to suppress pipeline vibration, and traditional methods such as vibration isolation and vibration absorption are often used, such as adding brackets, additional vibration absorbers, and throttling orifice plates after valves. The main problems are: ① It will change the structure of the pipeline, resulting in the complication of the pipeline structure, and even mechanical evaluation is required for key pipelines; ② These methods must be constructed during shutdown, affecting economic benefits; ③ Traditional methods require pre-set frequencies and lack self-adjustment functions. When the system changes working conditions or increases or decreases power, the control effect is not obvious, and may even aggravate pipeline vibration. With the advancement of science and technology, more and more intelligent semi-active control methods are applied to pipeline vibration control.

[0004] At present, many studies on pipeline vibration monitoring have been carried out at home and abroad. The existing "An Active Monitoring System and Method for Vortex-Induced Vibration of Submarine Pipeline Suspension" (Patent No.: CN105318964B) proposes an active monitoring system for vortex-induced vibration of submarine pipeline suspension, which reduces the data transmission frequency and energy consumption of the monitoring device, and improves the monitoring and management efficiency of suspension span. In "Design of Nuclear Power Plant Main Pipeline Vibration Monitoring System Based on Virtual Instrument", Yang Taibo used relative displacement sensors to monitor the dynamic vibration and static position offset of the main pipeline, and based on virtual instrument technology, equipment configuration graphics technology and database management technology, realized the online real-time monitoring of the main pipeline vibration (Computer Measurement and Control 2016, Vol. 24, No. 10, pp. 13-15). In terms of pipeline vibration control, semi-active control based on controllable dampers transmits vibration to controllable dampers by giving external damping to the pipeline system accessories, converting vibration energy from mechanical energy to heat energy and finally consuming it in the damping material, which plays a vibration reduction role. "A Pipeline Vibration Monitoring and Control Device Based on Piezoelectric Materials" (Patent No.: CN110715723 A) uses piezoelectric materials to realize the mutual conversion between mechanical vibration and alternating current, which can convert the mechanical energy of pipeline vibration into electrical energy, realize pipeline vibration monitoring and control, and also play a vibration reduction effect. Zhou Yunmeng (Zhou Yunmeng, Experimental Research on Rotor and Pipeline Vibration Control Based on Magnetorheological Damper, Master's Thesis of Beijing University of Chemical Technology, 2017) designed a magnetorheological damper and built a magnetorheological damper and pipeline vibration test bench to realize intelligent control of pipeline vibration.

[0005] However, actual systems often have a quasi-periodic working mode, i.e., power increase - steady-state operation (- variable working conditions) - power reduction - power increase. In particular, vibration monitoring and control when the system changes working conditions or increases and decreases power are particularly important. Facing the opportunity of the arrival of the big data era, big data has received more and more attention worldwide. It has started from the Internet and gradually penetrated into the fields of national defense, military industry, electricity and transportation. In particular, the modern national defense system uses big data analysis methods to process various types of information, mine the associations in the information, and provide support and assistance for commanders' decision-making. Big data has the "5V" characteristics, namely huge data capacity (Volume), fast data processing (Velocity), data diversity (Variety), low value density (Value) and result accuracy (Veracity). Its basic principle is: in the process of data collection, transmission, processing and application, a series of key technologies are used to obtain analysis and prediction results with data processing, to achieve efficient storage and high-speed transmission, so as to achieve the purpose of data to knowledge and promote the transformation from data to decision-making. Summary of the invention

[0006] The purpose of the present invention is to provide an active monitoring system and a semi-active control method for pipeline vibration. Aiming at the complex vibration characteristics of the pipeline, the pipeline vibration is intelligently monitored and evaluated based on the concept of big data, and a semi-active control method is used for vibration control; in particular, when the system changes operating conditions or increases or decreases power, pipeline vibration reduction is achieved.

[0007] The technical solution of the present invention is as follows: an active monitoring system for pipeline vibration, the system includes a pipeline monitoring and control system, a system standard sensor and a vibration sensor, the vibration sensor transmits the pipeline vibration condition to the pipeline monitoring and control system, the system standard sensor transmits the system physical quantity data to the pipeline monitoring and control system, the pipeline monitoring and control system includes an actuator, the pipeline monitoring and control system summarizes and calculates the data and outputs control force to the pipeline through the actuator to suppress pipeline vibration.

[0008] The pipeline monitoring and control system also includes a vibration monitoring system, a data analysis preprocessing system and a control decision system. The vibration monitoring system is connected to a vibration sensor to calculate vibration data; the data analysis preprocessing system is connected to a system standard sensor to calculate system data; the vibration monitoring system and the data analysis preprocessing system both summarize the calculation results to the control decision system to calculate control data; the control decision system is connected to an actuator to transmit a control signal to the actuator.

[0009] The vibration monitoring system includes a data acquisition module, a limit calculation module and a vibration evaluation module, wherein the data acquisition module transmits the collected vibration data to the vibration evaluation module through the data processing module to complete the collection and processing of the vibration data; the vibration evaluation module summarizes and processes the data of the limit calculation module and the data processing module, performs threshold judgment, and outputs an alarm signal when the value is greater than the threshold.

[0010] The limit value calculation module of the vibration monitoring system calls the pipeline parameter library and the vibration evaluation method library for the vibration evaluation module to form a threshold value.

[0011] The control decision system includes a damping initial value matching module, a control algorithm module and a D / A output module. The damping initial value matching module calculates the initial damping value according to the collected system data; the control algorithm module collects vibration data and combines the initial damping value to iteratively calculate the control signal in real time, and outputs the control signal through the D / A output module.

[0012] The control decision system calls the control algorithm library and the damping value library to output a real-time damping value signal.

[0013] The actuator comprises a controllable damper, the upper part of the controllable damper is connected to the pipeline through a pipe clamp and a connecting piece, and the lower part of the controllable damper is connected to the base through a support bracket.

[0014] The installation direction of the controllable damper is consistent with the vibration direction of the pipeline.

[0015] The vibration evaluation method library implements the ASME standard and uses the effective value of vibration velocity for vibration evaluation. The calculation formula is:

[0016]

[0017] Where: adm Corresponding to 10 11 The maximum allowable alternating stress per cycle, λ is the unit conversion coefficient, C1 is the correction coefficient for compensating the concentrated mass influence on the characteristic span of the pipeline, C2K2 is the stress coefficient defined in the ASME specification, C3 is the correction coefficient for considering the influence of fluid mass and insulation material mass, C4 is the correction coefficient for end conditions different from the fixed end and structural forms different from the straight span, and C0 is a constant.

[0018] The system also includes a host computer, which is connected to the pipeline monitoring and control system to display alarm information.

[0019] A semi-active control method for pipeline vibration, the method specifically comprising the following steps:

[0020] S1: Build parameter database;

[0021] S2: Obtain system parameters and pipeline parameters;

[0022] S3: Calculate the pipeline vibration evaluation, determine whether the vibration exceeds the threshold, and output the damping value;

[0023] The S3 includes the following specific steps:

[0024] S31: Summarize and calculate the data collected in S2 to form a pipeline vibration evaluation;

[0025] S32: According to the pipeline vibration condition, determine whether the vibration exceeds the threshold. If it does not exceed the threshold, the process ends and the host computer remains silent; if it exceeds the threshold, a control signal is sent to the actuator to suppress the pipeline vibration.

[0026] The control signal output by S32 is the damping value calculated in real time. The calculation formula is:

[0027]

[0028] Where: Cmin and C max are the lower and upper limits of the controllable shock absorber, and Pipes and supports (if any, if not ) speed; C sky is the optimal initial damping value matched by the damping value library.

[0029] The significant effect of the present invention is that the active monitoring system and semi-active control method of pipeline vibration described in the present invention can optimize control parameters according to the system operating conditions through a big data algorithm, thereby improving the efficiency of the control system, and at the same time quickly matching the optimal damping initial value participating in the semi-active control algorithm, so that the system can achieve the purpose of pipeline vibration reduction. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 This is a schematic diagram of a module of an active monitoring system for pipeline vibration according to the present invention;

[0031] Figure 2 for Figure 1 A structural diagram of the active monitoring system for pipeline vibration;

[0032] Figure 3 for Figure 1 A schematic diagram of a vibration monitoring system module in the active monitoring system for pipeline vibration;

[0033] Figure 4 for Figure 1 A schematic diagram of a control decision system module in the active monitoring system for pipeline vibration;

[0034] Figure 5 This is a flow chart of a semi-active control method for pipeline vibration according to the present invention;

[0035] In the figure: 1. Pipe; 2. Pipe clamp; 3. Connector; 4. Controllable damper; 5. Support bracket; 6. Base; 7. Pressure gauge; 8. Flow meter; 9. Thermometer. DETAILED DESCRIPTION

[0036] The present invention will now be described in further detail with reference to the accompanying drawings. These drawings are simplified schematic diagrams, which only illustrate the basic structure of the present invention in a schematic manner, and therefore only show the components related to the present invention.

[0037] like Figures 1 to 4 As shown, an active monitoring system for pipeline vibration includes a system standard sensor, a vibration sensor, a pipeline monitoring and control system and a host computer, wherein:

[0038] The pipeline monitoring and control system includes a vibration monitoring system, a data analysis and preprocessing system, a control decision system, an actuator and several databases;

[0039] The vibration monitoring system is connected to the host computer in communication to send out an alarm signal when the vibration exceeds the standard; the vibration monitoring system includes a data acquisition module, a data processing module, a limit calculation module and a vibration evaluation module; the vibration sensor data is sent to the data processing module through the data acquisition module to obtain the vibration signal, preferably, the vibration sensor selects an ICP type three-way acceleration sensor; specifically, the data acquisition module contains A / D, amplification and anti-aliasing filtering, and the analog signal collected by the vibration sensor is gain-amplified after anti-aliasing filtering and converted into a digital signal; the data processing module mainly performs time domain analysis, frequency domain analysis or digital integration on the above digital signal to obtain the evaluation index of pipeline vibration; the limit calculation module calls the pipeline parameter library and the vibration evaluation method library to calculate the pipeline vibration limit, the limit calculation module calls the pipeline parameter database and the vibration evaluation method library, and summarizes the calculation results and the data of the data processing module to the vibration evaluation module, and finally the vibration evaluation module calculates the summary data and calls the vibration evaluation method library to send the output signal to the host computer; the vibration evaluation method library implements the ASME standard, uses the effective value of the vibration velocity for vibration evaluation, and its limit The calculation formula is:

[0040]

[0041] Where: adm Corresponding to 10 11 The maximum allowable alternating stress per cycle, λ is the unit conversion coefficient, C1 is the correction coefficient for compensating the concentrated mass influence on the characteristic span of the pipeline, C2K2 is the stress coefficient defined in the ASME specification, C3 is the correction coefficient for considering the influence of fluid mass and insulation material mass, C4 is the correction coefficient for end conditions different from the fixed end and structural forms different from the straight span, and C0 is a constant.

[0042] The data analysis preprocessing system is connected to the system standard sensors through a database. The system standard sensors include flow meter 8, pressure gauge 7 and thermometer 9 to obtain the pipeline system operating parameters under the current working conditions in real time; the system operating parameters include flow S, pressure P and temperature T; the vibration sensor obtains pipeline vibration data and support vibration data The data analysis preprocessing system mainly classifies and organizes the collected data, and structures, symbolizes, formats and normalizes the data to meet the requirements of subsequent operations on the data format.

[0043] The data generated by the vibration monitoring system and the data analysis preprocessing system are aggregated to the control decision system. When the pipeline vibration exceeds the standard, the control decision system calls the control algorithm library and the damping value library data, and outputs the control signal to the actuator to make the actuator generate the target control force; the damping value library provides the best damping initial value for calculation, and the database constructed according to the acquired pipeline system operating parameters saves the optimal damping initial value C under the system operating conditions according to specific rules. sky , first save the original damping value C of the controllable damper sy0 .

[0044] The control decision system includes a damping initial value matching module, a control algorithm and a D / A output module. The data obtained by the standard sensor of the system is transmitted to the control algorithm module through the damping initial value matching module. At the same time, the control algorithm module also retrieves the data of the vibration monitoring module for calculation, and transmits the calculation result to the actuator through the D / A output module; the calculation result includes the damping value calculated in real time. The calculation formula is:

[0045]

[0046] Where: C min and C max are the lower and upper limits of the controllable shock absorber, and Pipes and supports (if any, if not ) speed; C sky is the optimal initial damping value matched by the damping value library.

[0047] The actuator includes a controllable damper 4, the upper part of which is connected to the pipeline 1 through a pipe clamp 2 and a connector 3, and the lower part of which is connected to a base 6 through a support bracket 5. Preferably, the installation direction of the controllable damper 4 is consistent with the vibration direction of the pipeline.

[0048] like Figure 5 As shown, a semi-active control method for pipeline vibration includes the following steps:

[0049] S1: Build parameter database;

[0050] The database in S1 includes a pipeline parameter library, a vibration evaluation method library, a damping value library and a control algorithm library, wherein the pipeline parameter library includes pipeline dimensions, fluid in the pipe, additional equipment on the pipeline and conditions of on-site supports and hangers 5; the vibration evaluation method library includes methods specified in standards such as ASME and EDF; the damping value library includes the initial damping value of the controllable damper and the optimal damping value calculated under various working conditions; the control algorithm library includes current classic control algorithms, and preferably, the control algorithms include ceiling damping control, classic PID control, fuzzy control, neural network control, iterative learning control, adaptive control, and combined control algorithms.

[0051] S2: Obtain system parameters and pipeline parameters;

[0052] The system parameters in S2 include flow parameter S, pressure parameter P and temperature parameter T, which are collected by flow meter 8, pressure gauge 7 and thermometer 9 respectively; pipeline parameters include vibration data of pipeline and support bracket 5, which are obtained by vibration sensor.

[0053] S3: Calculate the pipeline vibration evaluation, determine whether the vibration exceeds the threshold, and output the damping value;

[0054] S31: Summarize and calculate the data collected in S2 to form a pipeline vibration evaluation;

[0055] Specifically, the data acquisition module includes A / D, amplification and anti-aliasing filtering. The analog signal collected by the vibration sensor is gain-amplified after anti-aliasing filtering and converted into a digital signal; the data processing module mainly performs time domain analysis, frequency domain analysis or digital integration on the above digital signal to obtain the evaluation index of pipeline vibration; the limit calculation module calls the pipeline parameter library and vibration evaluation method library to calculate the pipeline vibration limit.

[0056] S32: According to the pipeline vibration conditions, determine whether the vibration exceeds the threshold. Specifically, the vibration assessment mainly includes: vibration displacement assessment, vibration velocity assessment and vibration alternating stress assessment and other methods. Nuclear power plant pipelines are often assessed using the effective value of vibration velocity, chemical pipeline vibrations are often assessed using the vibration displacement peak value, and ship pipeline vibrations are often assessed using indicators such as vibration acceleration level and vibration severity. If it is determined that the vibration does not exceed the threshold, the process ends and the host computer remains silent; if it exceeds the threshold, a control signal is sent to the actuator to suppress pipeline vibration. Preferably, the control signal is a damping value calculated in real time. The calculation formula is:

[0057]

[0058] Where: C min and C max are the lower and upper limits of the controllable shock absorber, and Pipes and supports (if any, if not ) speed; C sky is the optimal initial damping value matched by the damping value library.

[0059] Based on the above ideal embodiments of the present invention, the relevant staff can make various changes and modifications without departing from the technical concept of the present invention through the above description. The technical scope of the present invention is not limited to the contents of the specification, and its technical scope must be determined according to the scope of the claims.

Claims

1. An active monitoring system for pipeline vibration, characterized in that: The system includes a pipeline monitoring and control system, a system standard sensor and a vibration sensor. The vibration sensor transmits the pipeline vibration condition to the pipeline monitoring and control system, and the system standard sensor transmits the system physical quantity data to the pipeline monitoring and control system. The pipeline monitoring and control system includes an actuator. The pipeline monitoring and control system aggregates and calculates the data and outputs control force to the pipeline through the actuator to suppress pipeline vibration; the pipeline monitoring and control system also includes a vibration monitoring system, a data analysis preprocessing system and a control decision system. The vibration monitoring system is connected to the vibration sensor to calculate vibration data; the data analysis preprocessing system is connected to the system standard sensor to calculate system data; the vibration monitoring system and the data analysis preprocessing system both aggregate the calculation results to the control decision system to calculate control data; the control decision system is connected to the actuator to transmit control signals to the actuator; the vibration monitoring system includes The system comprises a data acquisition module, a limit value calculation module and a vibration evaluation module, wherein the data acquisition module transmits the collected vibration data to the vibration evaluation module through the data processing module to complete the collection and processing of the vibration data; the vibration evaluation module summarizes and processes the data of the limit value calculation module and the data processing module, and performs threshold judgment, and outputs an alarm signal when the value is greater than the threshold; the limit value calculation module of the vibration monitoring system calls the pipeline parameter library and the vibration evaluation method library for the vibration evaluation module to form a threshold; the control decision system comprises a damping initial value matching module, a control algorithm module and a D / A output module, and the damping initial value matching module calculates the initial damping value according to the collected system data; the control algorithm module collects vibration data and combines the initial damping value to iteratively calculate the control signal in real time, and outputs the control signal through the D / A output module; the control decision system calls the control algorithm library and the damping value library to output a real-time damping value signal.

2. The active monitoring system for pipeline vibration according to claim 1, characterized in that: The actuator comprises a controllable damper (4), the upper part of the controllable damper (4) is connected to the pipeline (1) via a pipe clamp (2) and a connecting piece (3), and the lower part of the controllable damper (4) is connected to a base (6) via a support bracket (5).

3. The active monitoring system for pipeline vibration according to claim 2, characterized in that: The installation direction of the controllable damper (4) is consistent with the vibration direction of the pipeline.

4. The active monitoring system for pipeline vibration according to claim 1, characterized in that: The vibration evaluation method library implements the ASME standard and uses the effective value of vibration velocity for vibration evaluation. (mm / s) The calculation formula is: Where: adm Corresponding to 10 11 The maximum allowable alternating stress per cycle, λ is the unit conversion coefficient, C1 is the correction coefficient for compensating the concentrated mass influence on the characteristic span of the pipeline, C2K2 is the stress coefficient defined in the ASME specification, C3 is the correction coefficient for considering the influence of fluid mass and insulation material mass, C4 is the correction coefficient for end conditions different from the fixed end and structural forms different from the straight span, and C0 is a constant.

5. The active monitoring system for pipeline vibration according to claim 1, characterized in that: The system also includes a host computer, which is connected to the pipeline monitoring and control system to display alarm information.

6. A semi-active control method for pipeline vibration, characterized in that: The method specifically comprises the following steps: S1: Build parameter database; S2: Get system parameters and pipeline parameters; S3: Calculate the pipeline vibration evaluation, determine whether the vibration exceeds the threshold, and output the damping value; S31: Summarize and calculate the data collected in S2 to form a pipeline vibration evaluation; S32: According to the pipeline vibration condition, determine whether the vibration exceeds the threshold value. If it does not exceed the threshold value, the process ends and the host computer remains silent; if it exceeds the threshold value, a control signal is sent to the actuator to suppress the pipeline vibration; The control signal output by S32 is the damping value calculated in real time. The calculation formula is: Where: C min and C max are the lower and upper limits of the controllable shock absorber, and Pipes and supports (if any, if not ) speed; C sky is the optimal initial damping value matched by the damping value library.

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