Simulation method and system for long-distance hydraulic transmission characteristics of underwater umbilical cable

Abstract

The invention relates to the technical field of underwater oil and gas production, and discloses a simulation method and system for the long-distance hydraulic transmission characteristic of an underwater umbilical cable, and the method comprises the steps: decomposing a to-be-simulated underwater umbilical cable model into a plurality of organically related hierarchical structures from top to bottom; on the basis of hierarchical structure division of a to-be-simulated underwater umbilical cable model, an underwater umbilical cable simulation model is constructed through types inheriting, expanding and reusing from bottom to top and an assembly splicing mode, and the underwater umbilical cable simulation model can be used for accurately evaluating the influence of the long-distance hydraulic transmission characteristic of the underwater umbilical cable on the dynamic response characteristic of a control system. The method has the characteristics that the calculation precision is high, the numerical stability is strong, and the model input and output meet the simulation analysis requirements of the underwater control system, and can assist engineers to quickly evaluate the design parameters of the umbilical cable of the underwater control system, realize reasonable model selection of parts, and provide reliable technical support for the digital design of the underwater control system.

Description

Technical Field

[0001] The present invention relates to the technical field of underwater oil and gas production, and in particular to a simulation method and system for long-distance hydraulic transmission characteristics of an underwater umbilical cable. Background Art

[0002] The underwater control system with the underwater umbilical cable as the core component is an important infrastructure to ensure the safe and reliable operation of underwater oil and gas production. For underwater oil and gas production in deep water, especially ultra-deep water environment, one of the main difficulties faced by the underwater control system in the design stage is how to accurately evaluate the influence of the long-distance hydraulic transmission characteristics of the underwater umbilical cable on the dynamic response characteristics of the control system, and use this as an important reference for equipment selection and determination of key design indicators, such as the key technical indicator of the response delay from the control command issued by the master control station on the water to the action of the valve actuator of the underwater control module. However, due to the great difficulty of ground tests, it is impossible to fully reproduce the deepwater environment, and it can only be achieved through model simulation. Therefore, there is an urgent need for a simulation method and system for the long-distance hydraulic transmission characteristics of the underwater umbilical cable, so as to help designers quickly evaluate and select the design parameters of the umbilical cable through an umbilical cable simulation model with high calculation accuracy, strong numerical stability, and convenient for engineers to use, so as to provide technical support for the safe operation of the underwater control system. Summary of the invention

[0003] The present invention provides a method and system for simulating the long-distance hydraulic transmission characteristics of an underwater umbilical cable, so as to solve the defect that it is difficult to accurately evaluate the influence of the long-distance hydraulic transmission characteristics of an underwater umbilical cable on the dynamic response characteristics of a control system through ground tests.

[0004] The present invention provides a method for simulating long-distance hydraulic transmission characteristics of an underwater umbilical cable, comprising: In a top-down manner, the underwater umbilical cable model to be simulated is decomposed into a number of organically related hierarchical structures, wherein the several organically related hierarchical structures include any one of the following or any combination thereof: a model hierarchical structure, a component hierarchical structure, a basic type hierarchical structure, and a function hierarchical structure; Based on the hierarchical structure division of the underwater umbilical cable model to be simulated, an underwater umbilical cable simulation model is constructed through bottom-up type inheritance, extension and reuse, and component assembly. It is used to evaluate the long-distance hydraulic transmission characteristics of the underwater umbilical cable under different working conditions.

[0005] According to a simulation method for long-distance hydraulic transmission characteristics of an underwater umbilical cable provided by the present invention, the model hierarchy structure includes an underwater umbilical cable equipment model; the component hierarchy structure includes any one of the following items or any combination thereof: distributed pipeline components, boundary conditions, initial conditions; the basic type hierarchy structure includes any one of the following items or any combination thereof: flow control unit, control volume unit, hydraulic fluid properties; the function hierarchy structure includes any one of the following items or any combination thereof: source terms constituting the flow control equation, pressure gradient, flow inertia, density, viscosity, thermal expansion coefficient and bulk modulus in the hydraulic fluid properties, and pipe wall elasticity.

[0006] According to a simulation method for long-distance hydraulic transmission characteristics of an underwater umbilical cable provided by the present invention, in a plurality of organically related hierarchical structures, the mutual relationship between the hierarchical structures of adjacent levels and the functions and mutual relationship between different parts of the hierarchical structure of the same level include: Between the hierarchical structures of the model level and the component level: the underwater umbilical cable model to be simulated is composed of horizontally and vertically arranged distributed pipeline components connected to each other through the hydraulic ports of the components. The connections between each pipe section and component meet the preset boundary conditions and initial conditions. The simulated underwater umbilical cable simulation model can be solved under the preset boundary conditions and initial conditions to obtain the time domain transient calculation results of the physical quantities in the underwater umbilical cable; Between the hierarchical structures of the component level and the basic type level: the horizontally and vertically arranged distributed pipeline components are dynamically generated by the discrete control unit basic type according to the umbilical cable design parameters and numerical parameters, wherein the discrete control unit includes a flow control unit (hereinafter referred to as FM unit) and a control volume unit (hereinafter referred to as CV unit). The FM unit and the CV unit are staggered along the pipeline flow dimension from port a to port b according to the first-order upwind format of the finite volume method, and the number of FM units and CV units is n-1 and n respectively. The FM unit satisfies the first-order upwind format discrete form momentum conservation equation, and the CV unit satisfies the first-order upwind format discrete form mass conservation equation. The CV unit follows an isothermal process, that is, the internal hydraulic working medium temperature of the underwater umbilical cable is equal to the ambient temperature. Between the hierarchical structures of the basic type level and the function level: the FM unit calls the first function to calculate the momentum conservation equation, and the CV unit calls the second function to calculate the mass conservation equation.

[0007] According to a simulation method for long-distance hydraulic transmission characteristics of an underwater umbilical cable provided by the present invention, the underwater umbilical cable simulation model is constructed based on the hierarchical structure division of the underwater umbilical cable model to be simulated through bottom-up type inheritance, expansion and reuse, and component assembly, which is used to evaluate the long-distance hydraulic transmission characteristics of the underwater umbilical cable under different working conditions, including: According to the basic theory of hydraulics, the basic function types are established to calculate the pressure difference caused by the elasticity of the pipe wall, the physical properties of the medium, the gravity, and the flow resistance loss caused by the flow of the hydraulic medium in the pipe. The first-order upwind finite volume method is used to numerically discretize the flow control equation that satisfies the isothermal process, and the basic function type is called to obtain the discrete control unit type that satisfies the flow control equation. A distributed pipeline component that can dynamically generate discrete control units is established, while satisfying the preset boundary conditions and initial conditions. An underwater umbilical cable simulation model is constructed using distributed pipeline components, wherein the structure in the underwater umbilical cable simulation model covers any of the following types or any combination thereof: horizontal-vertical hard pipe, vertical-horizontal hard pipe, horizontal-vertical soft pipe, vertical-horizontal soft pipe.

[0008] According to a simulation method for the long-distance hydraulic transmission characteristics of an underwater umbilical cable provided by the present invention, the basic function type for calculating the elasticity of the pipe wall, the physical properties of the medium, the pressure difference caused by gravity, and the flow resistance loss caused by the flow of the hydraulic medium in the pipeline is established based on the basic hydraulic theory, including: The expression of the flow resistance loss function is: , In the expression of flow resistance loss function, △P visc is the flow resistance loss caused by the hydraulic medium flowing in the pipeline, ζ is the pressure loss coefficient, ρ is the fluid density, and v is the flow velocity; The expression of pressure loss coefficient is: , In the expression of pressure loss coefficient, ζ is the pressure loss coefficient, λ is the friction coefficient, Re is the Reynolds number, l is the pipe length, and di is the inner diameter of the pipe; The formula for calculating the pressure difference caused by gravity is: , In the calculation formula of the pressure difference caused by gravity, P AB,grav is the pressure difference between port A and port B due to gravity, h AB is the vertical height difference between port A and port B, gravity is the pressure, and ρ is the fluid density; The calculation formula for the bulk modulus of the circular cross-section rigid pipe wall is: , , In the calculation formula of the bulk modulus of the circular cross-section rigid pipe wall, represents the bulk modulus of the circular cross-section rigid tube wall under fluid pressure p, represents the flexibility of the tube wall, p is the fluid pressure, and are the inner radius and outer radius of the pipe, respectively, and B and E are the Poisson's ratio and Young's modulus of the pipe wall material, respectively; The calculation formula for the bulk modulus of the hose wall is: , In the calculation formula of the bulk modulus of the hose wall, represents the bulk modulus of the hose wall at fluid pressure p, L is the length of the pipe, V is the volume, and dVdp is the volume expansion coefficient defined in terms of the change in volume per unit pressure change per unit length: , Equivalent bulk modulus of the pipe at pressure p The calculation formula is: , In the formula, is the bulk modulus of the hydraulic medium.

[0009] According to a simulation method for long-distance hydraulic transmission characteristics of an underwater umbilical cable provided by the present invention, the flow control equation satisfying the isothermal process is numerically discretized by using a first-order upwind finite volume method, a basic function type is called to obtain a discrete control unit type satisfying the flow control equation, and a distributed pipeline component that can dynamically generate discrete control units is established, while satisfying preset boundary conditions and initial conditions, including: Set up the conservation of mass and momentum equations under isothermal conditions; The mass conservation equation and the momentum conservation equation are spatially discretized by using the first-order upwind finite volume method to obtain the discrete flow control equation, wherein the discrete flow control equation includes the discrete mass conservation equation and the discrete momentum conservation equation; The basic function types are called to respectively establish a discrete control volume unit satisfying the discrete mass conservation equation and a discrete flow control unit satisfying the discrete momentum conservation equation.

[0010] According to a simulation method for long-distance hydraulic transmission characteristics of an underwater umbilical cable provided by the present invention, The mass conservation and momentum conservation equations under isothermal conditions are: , , Where F and G represent the friction resistance and gravity of the fluid respectively, the state variable p is the fluid pressure, v is the flow velocity, ρ is the fluid density, t is the time, c is the local sound speed, and x is the axial coordinate of the pipeline.

[0011] According to a simulation method for long-distance hydraulic transmission characteristics of an underwater umbilical cable provided by the present invention, The discrete mass conservation equation is: , The discrete momentum conservation equation is: , In the formula, is the steady-state flow resistance loss caused by the hydraulic medium flowing in the pipeline, is the pressure difference caused by gravity, the state variable p is the fluid pressure, v is the flow velocity, ρ is the fluid density, t is the time, and c is the local sound speed.

[0012] According to a simulation method for long-distance hydraulic transmission characteristics of an underwater umbilical cable provided by the present invention, the calling of basic function types respectively establishes a discrete control volume unit satisfying a discrete mass conservation equation and a discrete flow control unit satisfying a discrete momentum conservation equation, including: A distributed pipeline component that can dynamically generate discrete control units is established, in which the distribution of discrete control units is an alternating distribution of FM units and CV units. The number of CV units is n, the number of FM units is n-1, and the length of the CV units is △x except for the first and last units, which are △x / 2. The length of the other FM units is △x. Except for the first and last units, the pressure p i Located at the center of CV[i] unit, velocity v i Located at the center of the FM[i] unit, the pressure and velocity of the head and tail units are located at the port positions, and the distributed pipeline component meets the preset boundary conditions and initial conditions.

[0013] The present invention also provides a simulation system for long-distance hydraulic transmission characteristics of an underwater umbilical cable, comprising: A hierarchical division module is used to decompose the underwater umbilical cable model to be simulated into a plurality of organically related hierarchical structures in a top-down manner, wherein the plurality of organically related hierarchical structures include any one of the following or any combination thereof: a model hierarchical structure, a component hierarchical structure, a basic type hierarchical structure, and a function hierarchical structure; The model building module is used to: Based on the hierarchical structure division of the underwater umbilical cable model to be simulated, a simulation model of the underwater umbilical cable is constructed through bottom-up type inheritance, expansion and reuse, and component assembly, so as to evaluate the long-distance hydraulic transmission characteristics of the underwater umbilical cable under different working conditions.

[0014] The present invention also provides an electronic device, comprising a processor and a memory storing a computer program, wherein when the processor executes the computer program, the method for simulating the long-distance hydraulic transmission characteristics of the underwater umbilical cable described in any one of the above is implemented.

[0015] The present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements any of the above-mentioned methods for simulating the long-distance hydraulic transmission characteristics of an underwater umbilical cable.

[0016] The present invention also provides a computer program product, which includes a computer program. The computer program can be stored on a non-transitory computer-readable storage medium. When the computer program is executed by a processor, the computer can execute any of the above-mentioned simulation methods for the long-distance hydraulic transmission characteristics of the underwater umbilical cable.

[0017] The present invention provides a simulation method and system for the long-distance hydraulic transmission characteristics of an underwater umbilical cable, which combines a top-down hierarchical structure division method and a bottom-up modeling and simulation method to obtain a high-precision underwater umbilical cable simulation model, which can be used to accurately evaluate the influence of the long-distance hydraulic transmission characteristics of the underwater umbilical cable on the dynamic response characteristics of the control system. It has the characteristics of high calculation accuracy, strong numerical stability, and model input and output that meet the requirements of underwater control system simulation analysis. It can assist engineers in quickly evaluating the design parameters of the umbilical cable of the underwater control system, realize reasonable selection of components, and provide reliable technical support for the digital design of the underwater control system. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0019] Figure 1 A schematic flow chart of a method for simulating long-distance hydraulic transmission characteristics of an underwater umbilical cable provided by the present invention.

[0020] Figure 2 A schematic diagram of an underwater umbilical cable simulation test case provided by the present invention.

[0021] Figure 3 A schematic diagram of the structure of an underwater umbilical cable simulation system provided by the present invention.

[0022] Figure 4 A schematic diagram of the distribution of discrete control units of a first-order upwind finite volume method for a distributed pipeline assembly provided by the present invention.

[0023] Figure 5 A schematic structural diagram of a simulation system for long-distance hydraulic transmission characteristics of an underwater umbilical cable provided by the present invention.

[0024] Figure 6This is a schematic structural diagram of an electronic device provided by the present invention. DETAILED DESCRIPTION

[0025] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings in the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments, and they should not be understood as limitations on the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention. In the description of the present invention, it should be understood that the terms used are only for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0026] Figure 1 A schematic diagram of a flow chart of a method for simulating the long-distance hydraulic transmission characteristics of an underwater umbilical cable provided by the present invention. Figure 1 The execution subject of the simulation method of the long-distance hydraulic transmission characteristics of the underwater umbilical cable provided by the present invention can be any applicable terminal side equipment or network side equipment, such as a simulation device for the long-distance hydraulic transmission characteristics of the underwater umbilical cable.

[0027] See also Figure 1 The present invention provides a method for simulating the long-distance hydraulic transmission characteristics of an underwater umbilical cable, which may include: S110. Decomposing the underwater umbilical cable model to be simulated into a plurality of organically related hierarchical structures in a top-down manner, wherein the plurality of organically related hierarchical structures include any one of the following items or any combination thereof: a model hierarchical structure, a component hierarchical structure, a basic type hierarchical structure, and a function hierarchical structure.

[0028] In one embodiment, see Figure 2 , 3 4. The model hierarchy includes the underwater umbilical cable equipment model; the component hierarchy includes any one of the following or any combination thereof: distributed pipeline components, boundary conditions, initial conditions; the basic type hierarchy includes any one of the following or any combination thereof: flow control unit, control volume unit, hydraulic fluid properties; the function hierarchy includes any one of the following or any combination thereof: source terms constituting the flow control equation (such as pipe wall flow resistance and gravitational potential difference), pressure gradient, flow inertia, density, viscosity, thermal expansion coefficient and bulk modulus in the hydraulic fluid properties, and pipe wall elasticity.

[0029] In one embodiment, among several organically related hierarchical structures, the mutual relationship between hierarchical structures at adjacent levels and the functions and mutual relationship between different parts in the hierarchical structure at the same level include: Between the hierarchical structures of the model level and the component level: the underwater umbilical cable model to be simulated is composed of horizontally and vertically arranged distributed pipeline components connected to each other through the hydraulic ports of the components. The connections between each pipe section and component meet the preset boundary conditions and initial conditions. The simulated underwater umbilical cable simulation model can obtain the time-domain transient calculation results of the physical quantities in the underwater umbilical cable (such as pressure distribution, flow velocity and flow distribution, static pressure loss along the way, etc.) through the integral operation of the solver under the preset boundary conditions and initial conditions; Between the hierarchical structures of the component level and the basic type level: the horizontally and vertically arranged distributed pipeline components are dynamically generated by the discrete control unit basic type according to the umbilical cable design parameters and numerical parameters, wherein the discrete control unit includes a flow control unit (hereinafter referred to as FM unit) and a control volume unit (hereinafter referred to as CV unit). The FM unit and the CV unit are staggered along the pipeline flow dimension from port a to port b according to the first-order upwind format of the finite volume method, and the number of them is n-1 and n respectively (n can be customized by the user). The FM unit satisfies the first-order upwind format discrete form momentum conservation equation, and the CV unit satisfies the first-order upwind format discrete form mass conservation equation. The CV unit follows an isothermal process, that is, the internal hydraulic fluid temperature of the underwater umbilical cable is equal to the ambient temperature. The physical properties such as density, viscosity and bulk modulus required by the FM unit and the CV unit can be provided by the hydraulic fluid physical property basic type; Between the hierarchical structure of the basic type level and the function level: the FM unit calls the first function to calculate the momentum conservation equation, and the CV unit calls the second function to calculate the mass conservation equation. Specifically, the FM unit calls functions such as pipe wall flow resistance, pressure difference caused by gravity, pressure gradient, and flow inertia to calculate the momentum conservation equation. The CV unit calls the pipe wall elasticity function to calculate the mass conservation equation. The physical property parameters such as density, viscosity, bulk modulus, and thermal expansion coefficient required for the calculation are provided by the hydraulic medium physical property basic type by calling the corresponding physical property function.

[0030] S120. Based on the hierarchical structure division of the underwater umbilical cable model to be simulated, an underwater umbilical cable simulation model is constructed through bottom-up type inheritance, expansion and reuse, and component assembly, which is used to evaluate the long-distance hydraulic transmission characteristics of the underwater umbilical cable under different working conditions.

[0031] In one embodiment, S120 may include: S1201. Based on the basic hydraulic theory, establish basic function types for calculating pipe wall elasticity, medium physical properties (such as density, viscosity, bulk modulus), pressure difference caused by gravity, and flow resistance loss caused by the flow of hydraulic medium in the pipeline; S1202, using a first-order upwind finite volume method to numerically discretize the flow control equation that satisfies the isothermal process, calling the basic function type to obtain the discrete control unit type that satisfies the flow control equation, and establishing a distributed pipeline component that can dynamically generate discrete control units, while satisfying preset boundary conditions and initial conditions; S1203. Construct an underwater umbilical cable simulation model using distributed pipeline components through bottom-up type inheritance, extension and reuse, and component assembly, wherein the structure in the underwater umbilical cable simulation model covers any of the following types or any combination thereof: horizontal-vertical hard pipe, vertical-horizontal hard pipe, horizontal-vertical soft pipe, vertical-horizontal soft pipe.

[0032] In one embodiment, S1201 may include: The expression of the flow resistance loss function is: , In the expression of flow resistance loss function, △P visc is the flow resistance loss caused by the hydraulic medium flowing in the pipeline, ζ is the pressure loss coefficient, ρ is the fluid density, and v is the flow velocity; The pressure loss coefficient ζ can be expressed as a function of the friction coefficient λ, the Reynolds number Re and the relative roughness △. The expression of the pressure loss coefficient is: , In the expression of pressure loss coefficient, ζ is the pressure loss coefficient, λ is the friction coefficient, Re is the Reynolds number, l is the pipe length, di is the inner diameter of the pipe, and the coefficient λ = λ(Re,△) is the pipe wall flow resistance coefficient. The relationship between λ and Re number and △ follows the Moody-chart of the flow resistance characteristic curve of a long straight pipe; The formula for calculating the pressure difference caused by gravity is: , In the calculation formula of the pressure difference caused by gravity, P AB,grav is the pressure difference between port A and port B due to gravity, h AB is the vertical height difference between port A and port B, gravity is the pressure, and ρ is the fluid density; The calculation formula for the bulk modulus of the circular cross-section rigid pipe wall is: , , In the calculation formula of the bulk modulus of the circular cross-section rigid pipe wall, represents the bulk modulus of the circular cross-section rigid tube wall under fluid pressure p, represents the flexibility of the tube wall, p is the fluid pressure, and are the inner radius and outer radius of the pipe, respectively; B and E are the Poisson’s ratio and Young’s modulus of the pipe wall material, respectively.

[0033] The calculation formula for the bulk modulus of the hose wall is: , In the calculation formula of the bulk modulus of the hose wall, represents the bulk modulus of the hose wall under fluid pressure p, L is the length of the pipe, V is the volume, and dVdp is the volume expansion coefficient defined in terms of the volume change caused by a unit pressure change per unit length: , Equivalent bulk modulus of the pipe at pressure p The calculation formula is: , In the formula, is the bulk modulus of the hydraulic medium, which can be calculated from the physical property functions of the hydraulic medium.

[0034] In one embodiment, S1202 may include: Set up the conservation of mass and momentum equations under isothermal conditions; The mass conservation equation and the momentum conservation equation are spatially discretized by using the first-order upwind finite volume method to obtain the discrete flow control equation, wherein the discrete flow control equation includes the discrete mass conservation equation and the discrete momentum conservation equation; The basic function types are called to respectively establish a discrete control volume unit satisfying the discrete mass conservation equation and a discrete flow control unit satisfying the discrete momentum conservation equation.

[0035] Among them, the mass conservation and momentum conservation equations under isothermal conditions are: , , In the formula, F and G represent the friction resistance and gravity of the fluid respectively, the state variable p is the fluid pressure, v is the flow velocity, ρ is the fluid density, t is the time, x is the axial coordinate of the pipeline, and c is the local sound velocity, which can be expressed by the equivalent modulus: The calculation results are: .

[0036] The discrete mass conservation equation is: , The discrete momentum conservation equation is: , In the formula, is the steady-state flow resistance loss caused by the hydraulic medium flowing in the pipeline, is the pressure difference caused by gravity, the state variable p is the fluid pressure, v is the flow velocity, ρ is the fluid density, t is the time, and c is the local sound speed.

[0037] Then, the above basic function types can be called to respectively establish a discrete control volume unit CV that satisfies the discrete mass conservation equation and a discrete flow control unit FM that satisfies the discrete momentum conservation equation.

[0038] Then a distributed pipeline component that can dynamically generate discrete control units is established, in which the distribution of discrete control units is an alternating distribution of FM units and CV units. The number of CV units is n, the number of FM units is n-1, and the length of the CV units is △x except for the first and last units, which are △x / 2. The length of the other units is △x, and the length of the FM units is △x. Except for the first and last units, the pressure p i Located at the center of CV[i] unit, velocity v i Located at the center of the FM[i] unit, the pressure and velocity of the head and tail units are located at the port positions. The distributed pipeline component meets the preset boundary conditions and initial conditions, wherein the boundary conditions can consider known port pressures or known port flows, and the initial conditions support preset custom or steady-state initial pressures and initial flows.

[0039] Then, the above distributed pipeline components can be used in four forms: horizontal-vertical hard pipe, vertical-horizontal hard pipe, horizontal-vertical soft pipe, and vertical-horizontal soft pipe. The underwater umbilical cable simulation model can be assembled and constructed through Modelica type inheritance, extension and reuse.

[0040] The obtained underwater umbilical cable simulation model can calculate the underwater long-distance hydraulic transmission characteristics under set working conditions according to the umbilical cable design parameters, such as the distribution of pressure and flow along the pipeline, the dynamic response of pressure and flow, static pressure loss along the way, hydraulic power loss, and initial pressure of the seabed terminal.

[0041] The present invention provides a simulation method and system for the long-distance hydraulic transmission characteristics of an underwater umbilical cable, which combines a top-down hierarchical structure division method and a bottom-up modeling and simulation method to obtain a high-precision underwater umbilical cable simulation model, which can be used to accurately evaluate the influence of the long-distance hydraulic transmission characteristics of the underwater umbilical cable on the dynamic response characteristics of the control system. It has the characteristics of high calculation accuracy, strong numerical stability, and model input and output that meet the requirements of underwater control system simulation analysis. It can assist engineers in quickly evaluating the design parameters of the umbilical cable of the underwater control system, realize reasonable selection of components, and provide reliable technical support for the digital design of the underwater control system.

[0042] The simulation system of the long-distance hydraulic transmission characteristics of the underwater umbilical cable provided by the present invention is described below. The simulation system of the long-distance hydraulic transmission characteristics of the underwater umbilical cable described below and the simulation method of the long-distance hydraulic transmission characteristics of the underwater umbilical cable described above can correspond to each other.

[0043] See also Figure 5 The present invention provides a simulation system for long-distance hydraulic transmission characteristics of an underwater umbilical cable, comprising: A hierarchical division module is used to decompose the underwater umbilical cable model to be simulated into a plurality of organically related hierarchical structures in a top-down manner, wherein the plurality of organically related hierarchical structures include any one of the following or any combination thereof: a model hierarchical structure, a component hierarchical structure, a basic type hierarchical structure, and a function hierarchical structure; The model building module is used to: Based on the hierarchical structure division of the underwater umbilical cable model to be simulated, a simulation model of the underwater umbilical cable is constructed through bottom-up type inheritance, expansion and reuse, and component assembly, so as to evaluate the long-distance hydraulic transmission characteristics of the underwater umbilical cable under different working conditions.

[0044] Figure 6 An example of a physical structure diagram of an electronic device is shown in FIG. Figure 6 As shown, the electronic device may include: a processor 810, a communication interface 820, a memory 830 and a communication bus 840, wherein the processor 810, the communication interface 820 and the memory 830 communicate with each other through the communication bus 840. The processor 810 may call the logic instructions in the memory 830 to perform the following steps: In a top-down manner, the underwater umbilical cable model to be simulated is decomposed into a number of organically related hierarchical structures, wherein the several organically related hierarchical structures include any one of the following or any combination thereof: a model hierarchical structure, a component hierarchical structure, a basic type hierarchical structure, and a function hierarchical structure; Based on the hierarchical structure division of the underwater umbilical cable model to be simulated, an underwater umbilical cable simulation model is constructed through bottom-up type inheritance, extension and reuse, and component assembly. It is used to evaluate the long-distance hydraulic transmission characteristics of the underwater umbilical cable under different working conditions.

[0045] In addition, the logic instructions in the above-mentioned memory 830 can be implemented in the form of a software functional unit and can be stored in a computer-readable storage medium when it is sold or used as an independent product. Based on this understanding, the technical solution of the present invention is essentially or the part that contributes to the prior art or the part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk and other media that can store program codes.

[0046] On the other hand, the present invention further provides a computer program product, the computer program product comprising a computer program, the computer program can be stored on a non-transitory computer readable storage medium, and when the computer program is executed by a processor, the computer can perform the following steps: In a top-down manner, the underwater umbilical cable model to be simulated is decomposed into a number of organically related hierarchical structures, wherein the several organically related hierarchical structures include any one of the following or any combination thereof: a model hierarchical structure, a component hierarchical structure, a basic type hierarchical structure, and a function hierarchical structure; Based on the hierarchical structure division of the underwater umbilical cable model to be simulated, an underwater umbilical cable simulation model is constructed through bottom-up type inheritance, extension and reuse, and component assembly. It is used to evaluate the long-distance hydraulic transmission characteristics of the underwater umbilical cable under different working conditions.

[0047] In another aspect, the present invention further provides a non-transitory computer-readable storage medium having a computer program stored thereon, which is implemented to perform the following steps when executed by a processor: In a top-down manner, the underwater umbilical cable model to be simulated is decomposed into a number of organically related hierarchical structures, wherein the several organically related hierarchical structures include any one of the following or any combination thereof: a model hierarchical structure, a component hierarchical structure, a basic type hierarchical structure, and a function hierarchical structure; Based on the hierarchical structure division of the underwater umbilical cable model to be simulated, an underwater umbilical cable simulation model is constructed through bottom-up type inheritance, extension and reuse, and component assembly. It is used to evaluate the long-distance hydraulic transmission characteristics of the underwater umbilical cable under different working conditions.

[0048] The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Ordinary technicians in this field can understand and implement it without paying creative labor.

[0049] Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a necessary general hardware platform, and of course, can also be implemented by hardware. Based on this understanding, the above technical solution is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0050] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for simulating the long-distance hydraulic transmission characteristics of an underwater umbilical cable, characterized in that: include: In a top-down manner, the underwater umbilical cable model to be simulated is decomposed into a number of organically related hierarchical structures, wherein the several organically related hierarchical structures include any one of the following or any combination thereof: a model hierarchical structure, a component hierarchical structure, a basic type hierarchical structure, and a function hierarchical structure; Based on the hierarchical structure division of the underwater umbilical cable model to be simulated, an underwater umbilical cable simulation model is constructed through bottom-up type inheritance, extension and reuse, and component assembly. It is used to evaluate the long-distance hydraulic transmission characteristics of the underwater umbilical cable under different working conditions.

2. The method for simulating the long-distance hydraulic transmission characteristics of an underwater umbilical cable according to claim 1, characterized in that: The model hierarchy includes an underwater umbilical cable equipment model; the component hierarchy includes any one of the following or any combination thereof: distributed pipeline components, boundary conditions, initial conditions; The basic type hierarchical structure includes any one of the following items or any combination thereof: flow control unit, control volume unit, and hydraulic fluid properties; the function hierarchical structure includes any one of the following items or any combination thereof: source terms constituting the flow control equation, pressure gradient, flow inertia, density, viscosity, thermal expansion coefficient and bulk modulus in the hydraulic fluid properties, and pipe wall elasticity.

3. The method for simulating the long-distance hydraulic transmission characteristics of an underwater umbilical cable according to claim 2, characterized in that: In several organically related hierarchical structures, the relationships between the hierarchical structures of adjacent levels and the functions and relationships between different parts of the hierarchical structure of the same level include: Between the hierarchical structures of the model level and the component level: the underwater umbilical cable model to be simulated is composed of horizontally and vertically arranged distributed pipeline components connected to each other through the hydraulic ports of the components. The connections between each pipe section and component meet the preset boundary conditions and initial conditions. The simulated underwater umbilical cable simulation model can be solved under the preset boundary conditions and initial conditions to obtain the time domain transient calculation results of the physical quantities in the underwater umbilical cable; Between the hierarchical structures of the component level and the basic type level: the horizontally and vertically arranged distributed pipeline components are dynamically generated by the discrete control unit basic type according to the umbilical cable design parameters and numerical parameters, wherein the discrete control unit includes a flow control unit and a control volume unit, the flow control unit and the control volume unit are staggeredly distributed from port a to port b along the pipeline flow dimension according to the first-order upwind format of the finite volume method, and the number of the flow control unit and the control volume unit is n-1 and n respectively, the flow control unit satisfies the first-order upwind format discrete form momentum conservation equation, the control volume unit satisfies the first-order upwind format discrete form mass conservation equation, and the control volume unit follows an isothermal process, that is, the internal hydraulic working medium temperature of the underwater umbilical cable is equal to the ambient temperature; Between the hierarchical structures of the basic type level and the function level: the flow control unit calls the first function to calculate the momentum conservation equation, and the control volume unit calls the second function to calculate the mass conservation equation.

4. The method for simulating the long-distance hydraulic transmission characteristics of an underwater umbilical cable according to claim 3, characterized in that: Based on the hierarchical structure division of the underwater umbilical cable model to be simulated, an underwater umbilical cable simulation model is constructed through bottom-up type inheritance, expansion and reuse, and component assembly, which is used to evaluate the long-distance hydraulic transmission characteristics of the underwater umbilical cable under different working conditions, including: According to the basic theory of hydraulics, the basic function types are established to calculate the pressure difference caused by the elasticity of the pipe wall, the physical properties of the medium, the gravity, and the flow resistance loss caused by the flow of the hydraulic medium in the pipe. The first-order upwind finite volume method is used to numerically discretize the flow control equation that satisfies the isothermal process, and the basic function type is called to obtain the discrete control unit type that satisfies the flow control equation. A distributed pipeline component that can dynamically generate discrete control units is established, and the distributed pipeline component meets the preset boundary conditions and initial conditions. An underwater umbilical cable simulation model is constructed using distributed pipeline components, wherein the structure in the underwater umbilical cable simulation model covers any of the following types or any combination thereof: horizontal-vertical hard pipe, vertical-horizontal hard pipe, horizontal-vertical soft pipe, vertical-horizontal soft pipe.

5. The method for simulating the long-distance hydraulic transmission characteristics of an underwater umbilical cable according to claim 4, characterized in that: According to the basic hydraulic theory, the basic function types for calculating the elasticity of the pipe wall, the physical properties of the medium, the pressure difference caused by gravity, and the flow resistance loss caused by the flow of the hydraulic medium in the pipe are established, including: The expression of the flow resistance loss function is: ， In the expression of flow resistance loss function, △P visc is the flow resistance loss caused by the hydraulic medium flowing in the pipeline, ζ is the pressure loss coefficient, ρ is the fluid density, and v is the flow velocity; The expression of pressure loss coefficient is: ， In the expression of pressure loss coefficient, ζ is the pressure loss coefficient, λ is the friction coefficient, Re is the Reynolds number, l is the pipe length, and di is the inner diameter of the pipe; The formula for calculating the pressure difference caused by gravity is: ， In the calculation formula of the pressure difference caused by gravity, P AB,grav is the pressure difference between port A and port B due to gravity, h AB is the vertical height difference between port A and port B, gravity is the pressure, and ρ is the fluid density; The calculation formula for the bulk modulus of the circular cross-section rigid pipe wall is: ， ， In the calculation formula of the bulk modulus of the circular cross-section rigid pipe wall, represents the bulk modulus of the circular cross-section rigid tube wall under fluid pressure p, represents the flexibility of the tube wall, p is the fluid pressure, and are the inner radius and outer radius of the pipe, respectively, and B and E are the Poisson's ratio and Young's modulus of the pipe wall material, respectively; The calculation formula for the bulk modulus of the hose wall is: ， In the calculation formula of the bulk modulus of the hose wall, represents the bulk modulus of the hose wall at fluid pressure p, L is the length of the pipe, V is the volume, and dVdp is the volume expansion coefficient defined in terms of the change in volume per unit pressure change per unit length: ， Equivalent bulk modulus of the pipe at pressure p The calculation formula is: ， In the formula, is the bulk modulus of the hydraulic medium.

6. The method for simulating the long-distance hydraulic transmission characteristics of an underwater umbilical cable according to claim 5, characterized in that: The first-order upwind finite volume method is used to numerically discretize the flow control equation that satisfies the isothermal process, the basic function type is called to obtain the discrete control unit type that satisfies the flow control equation, and a distributed pipeline component that can dynamically generate discrete control units is established, while satisfying the preset boundary conditions and initial conditions, including: Set up the conservation of mass and momentum equations under isothermal conditions; The mass conservation equation and the momentum conservation equation are spatially discretized by using the first-order upwind finite volume method to obtain the discrete flow control equation, wherein the discrete flow control equation includes the discrete mass conservation equation and the discrete momentum conservation equation; The basic function types are called to respectively establish a discrete control volume unit satisfying the discrete mass conservation equation and a discrete flow control unit satisfying the discrete momentum conservation equation.

7. The method for simulating the long-distance hydraulic transmission characteristics of an underwater umbilical cable according to claim 6, characterized in that: The mass conservation and momentum conservation equations under isothermal conditions are: , ， Wherein, F and G represent the friction resistance and gravity of the fluid, respectively, the state variable p is the fluid pressure, v is the flow velocity, ρ is the fluid density, t is the time, c is the local sound velocity, and x is the axial coordinate of the pipeline; and / or, The discrete mass conservation equation is: ， The discrete momentum conservation equation is: ， In the formula, is the steady-state flow resistance loss caused by the hydraulic medium flowing in the pipeline, is the pressure difference caused by gravity, the state variable p is the fluid pressure, v is the flow velocity, ρ is the fluid density, t is the time, and c is the local sound speed; and / or, The calling of the basic function type respectively establishes a discrete control volume unit satisfying the discrete mass conservation equation and a discrete flow control unit satisfying the discrete momentum conservation equation, including: A distributed pipeline component that can dynamically generate discrete control units is established, in which the distribution of discrete control units is staggered distribution of flow control units and control volume units. The number of control volume units is n, the number of flow control units is n-1, and the length of the control volume unit is △x except for the first and last units, which are △x / 2. The length of the other units is △x, and the length of the flow control unit is △x. Except for the first and last units, the pressure p i Located in the center of the control volume unit, the speed v i Located at the center of the flow control unit, the pressure and velocity of the head and tail units are located at the port positions, and the distributed pipeline component meets the preset boundary conditions and initial conditions.

8. A simulation system for the long-distance hydraulic transmission characteristics of an underwater umbilical cable, characterized in that: include: A hierarchical division module is used to decompose the underwater umbilical cable model to be simulated into a plurality of organically related hierarchical structures in a top-down manner, wherein the plurality of organically related hierarchical structures include any one of the following or any combination thereof: a model hierarchical structure, a component hierarchical structure, a basic type hierarchical structure, and a function hierarchical structure; The model building module is used to: Based on the hierarchical structure division of the underwater umbilical cable model to be simulated, a simulation model of the underwater umbilical cable is constructed through bottom-up type inheritance, expansion and reuse, and component assembly, so as to evaluate the long-distance hydraulic transmission characteristics of the underwater umbilical cable under different working conditions.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the program, the simulation method for long-distance hydraulic transmission characteristics of the underwater umbilical cable according to any one of claims 1 to 7 is implemented.

10. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the method for simulating the long-distance hydraulic transmission characteristics of an underwater umbilical cable as claimed in any one of claims 1 to 7 is implemented.

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