Underwater control system simulation method, system, equipment and medium

Abstract

The invention relates to the technical field of underwater oil and gas production, and discloses an underwater control system simulation method, system, equipment and medium. A high-precision underwater control system simulation model is constructed by combining a top-down hierarchical structure division mode and a bottom-up modeling simulation mode; the method can be used for accurately evaluating the dynamic characteristics of the underwater control system in long-distance underwater transmission, and provides reliable data support for the design of the underwater electro-hydraulic compound control system. In the aspect from top to bottom, the invention designs a multi-layer architecture of an underwater control system simulation model. In the aspect from bottom to top, an object-oriented model inheriting and multiplexing thought is adopted, and a basic component model, an element model and a system model suitable for underwater control system simulation are constructed. According to the method, the development of the underwater hydraulic model library and the efficient multiplexing and expansion of the underwater control system simulation model are realized on the basis of a unified and normative object-oriented physical modeling language, and a reference scheme is provided for the development 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 an underwater control system simulation method, system, equipment and medium. Background Art

[0002] The underwater electro-hydraulic composite control system is known as the "central nervous system" of the underwater oil and gas production system. During the oil and gas production process, the surface main control station monitors, controls and injects chemicals through the umbilical cable and the underwater control module (SCM), which is the premise and basis for the safe and reliable operation of the underwater production system. How to accurately evaluate the dynamic characteristics of the control system's long-distance underwater transmission is one of the main challenges faced by underwater electro-hydraulic composite control systems in deep water, especially ultra-deep water environments, during the design stage. 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.

[0003] Therefore, there is an urgent need for an underwater control system simulation method, system, equipment and medium. Summary of the invention

[0004] The present invention provides an underwater control system simulation method, system, device and medium, which are used to solve the defect that it is difficult to accurately evaluate the dynamic characteristics of the underwater control system during long-distance underwater transmission through ground tests.

[0005] The present invention provides an underwater control system simulation method, comprising: Dividing the underwater control system to be simulated into a plurality of organically related hierarchical structures from top to bottom, wherein the plurality of organically related hierarchical structures include any one of the following or any combination thereof: a system level structure, a component level structure, a basic component level structure, and a basic type level structure; Based on the hierarchical structure division of the underwater control system to be simulated, a simulation model of the underwater control system is constructed through bottom-up multi-level inheritance, combination encapsulation, and graphical interactive drag modeling. It is used to evaluate the dynamic characteristics of the underwater control system in long-distance underwater transmission.

[0006] According to an underwater control system simulation method provided by the present invention, the system-level structure includes an underwater low-pressure hydraulic control system simulation model and / or an underwater high-pressure hydraulic control system simulation model; the component-level structure includes any one of the following items or any combination thereof: actuator class, pipeline class, hydraulic valve class, volume class, power source and accessories; the basic component-level structure includes any one of the following items or any combination thereof: translational mass considering friction and stops, single-port double-acting cylinder, air chamber model, variable throttle port, distributed control volume and flow unit, underwater hydraulic working fluid, underwater control module, and environmental module; the basic type-level structure includes any one of the following items or any combination thereof: rigid / elastic friction model considering dynamic seals, rigid / elastic stops, steady-state and dynamic flow resistance of pipe walls, throttling equations considering multiple modes, distributed pipeline flow control equations, upwind finite volume method, bulk modulus of hard pipe and hose walls, local and along-the-way pressure losses, underwater hydraulic interface types, Bender gas state equation (real gas state equation) and physical property data, ideal gas state equation and NASA Glenn coefficient, underwater accumulator heat exchange engineering algorithm and thermal properties data, underwater hydraulic properties function and data, underwater terminal pressure initialization algorithm, hose volume initialization algorithm.

[0007] According to an underwater control system simulation method provided by the present invention, the actuator class includes any one of the following items or any combination thereof: underwater compensator, gate valve actuator, ball valve actuator, downhole safety valve, throttle valve; the pipeline class includes any one of the following items or any combination thereof: umbilical cable, hard pipe, hose, distributed pipeline, downhole riser; the hydraulic valve class includes any one of the following items or any combination thereof: underwater reversing valve, ESD valve, pressure reducing valve, overflow valve, check valve; the volume class includes any one of the following items or any combination thereof: underwater accumulator, oil tank and volume, the power source and accessories include any one of the following items or any combination thereof: surface hydraulic power unit, pressure sensor, flow sensor.

[0008] According to a method for simulating an underwater control system provided by the present invention, based on the hierarchical structure division of the underwater control system to be simulated, an underwater control system simulation model is constructed through bottom-up multi-level inheritance, combination encapsulation, and graphical interactive drag modeling, which is used to evaluate the dynamic characteristics of the underwater control system in long-distance underwater transmission, including: The basic type level structure is parameterized and associated through a bottom-up multi-level inheritance method to obtain the basic components of the underwater hydraulic model library. By combining and packaging, the basic component-level structure and the basic type-level structure are integrated into a component-level model using an interface model according to the structure of the component, forming an underwater hydraulic model library. Through the graphical interactive drag-and-drop modeling method, the component-level models are interconnected according to the topological structure of the underwater control system to be simulated to obtain the underwater control system simulation model.

[0009] According to a method for simulating an underwater control system provided by the present invention, the basic type level structure is parameterized and associated by a bottom-up multi-level inheritance method to obtain a basic component of an underwater hydraulic model library, including: Through a bottom-up multi-level inheritance method, the basic type-level structure is inherited and reused to form the basic components of the underwater hydraulic model library, among which the translational mass of the friction and stopper and the single-port double-acting cylinder are configured as the basic components of the underwater actuator model, the distributed control volume and the flow unit are configured as the basic components of the distributed pipeline, the air chamber model is configured as the basic component of the underwater accumulator, the variable throttle is configured as the basic component of the hydraulic valve model, the underwater control module is configured as the basic component of the underwater reversing valve and HPU pump, and the underwater hydraulic working fluid and environment module are configured as the basic components shared by the underwater hydraulic model library.

[0010] According to an underwater control system simulation method provided by the present invention, the underwater hydraulic model library includes any one of the following items or any combination thereof: actuator class, pipeline class, hydraulic valve class, volume class, power source and accessories, wherein the actuator class includes any one of the following items or any combination thereof: underwater compensator, gate valve actuator, ball valve actuator, throttle valve; the pipeline class includes any one of the following items or any combination thereof: umbilical cable, hard pipe, hose, distributed pipeline, downhole riser; the hydraulic valve class includes any one of the following items or any combination thereof: underwater reversing valve, ESD valve, pressure reducing valve, overflow valve, check valve; the volume class includes any one of the following items or any combination thereof: underwater accumulator, oil tank and volume; the power source and accessories include any one of the following items or any combination thereof: surface hydraulic power unit, pressure sensor, flow sensor.

[0011] A subsea control system simulation method provided by the present invention is used to evaluate the dynamic characteristics of the subsea control system in long-distance underwater transmission, including any one of the following items or any combination thereof: pressurization simulation of the subsea electro-hydraulic composite control system, dynamic simulation of the movement of the gate valve / ball valve of the oil tree, dynamic simulation of the movement of the wellhead throttle valve, dynamic simulation of the movement of the downhole safety valve, evaluation of the sequential movement scheme of the valves of the multi-branch oil tree, emergency shutdown (ESD) analysis, and selection of key equipment (HPU, umbilical cable, jumper pipe, subsea accumulator, etc.).

[0012] The present invention also provides an underwater control system simulation system, comprising: A hierarchical division module is used to: divide the underwater control system to be simulated into a plurality of organically related hierarchical structures from top to bottom, wherein the plurality of organically related hierarchical structures include any one of the following or any combination thereof: a system level structure, a component level structure, a basic component level structure, and a basic type level structure; The simulation modeling module is used to: Based on the hierarchical structure division of the underwater control system to be simulated, a simulation model of the underwater control system is constructed through bottom-up multi-level inheritance, combination encapsulation, and graphical interactive drag modeling, which is used to evaluate the dynamic characteristics of the underwater control system in long-distance underwater transmission.

[0013] The present invention also provides an electronic device, comprising a processor and a memory storing a computer program, wherein the processor implements any of the above-mentioned underwater control system simulation methods when executing the computer program.

[0014] The present invention also provides a non-transitory computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, any of the above-mentioned underwater control system simulation methods is implemented.

[0015] 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 underwater control system simulation methods described above.

[0016] The present invention provides an underwater control system simulation method, system, device and medium, which, combined with a top-down hierarchical structure division method and a bottom-up modeling and simulation method, constructs a high-precision underwater control system simulation model, which can be used to accurately evaluate the dynamic characteristics of underwater control systems in long-distance underwater transmission, and provide reliable data support for the design of underwater electro-hydraulic composite control systems. Specifically, in terms of top-down analysis, the present invention designs a multi-level architecture diagram of underwater control systems from system → component → basic component → basic type. In terms of bottom-up combination, the present invention adopts the object-oriented model inheritance and reuse concept, arranges and combines the basic types required for the underwater control system simulation model, such as friction model, rigid / elastic stopper, steady-state and dynamic flow resistance of pipe wall, throttling equation, upwind finite volume method, distributed pipeline flow control equation, bulk modulus of hard pipe and hose wall, local and along-the-way pressure loss, underwater hydraulic interface type, Bender gas state equation and physical property data, ideal gas state equation and NASA Glenn coefficient, underwater accumulator heat exchange engineering algorithm and thermal physical property data, underwater hydraulic physical property function and data, underwater terminal pressure initialization algorithm and hose volume initialization algorithm, to construct a basic component model, and then form a component model and system model suitable for underwater control system simulation through encapsulation integration and graphical modeling. The present invention realizes the development of underwater hydraulic model library and efficient reuse and expansion of underwater control system simulation model based on a unified and standardized object-oriented physical modeling language, and provides a reference solution for the development of underwater control system simulation architecture with independent intellectual property rights. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] 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.

[0018] Figure 1 A schematic flow chart of an underwater control system simulation method provided by the present invention.

[0019] Figure 2 Schematic diagram of the simulation architecture of the underwater control system.

[0020] Figure 3 Schematic diagram of the underwater low-pressure hydraulic control system simulation model.

[0021] Figure 4 Schematic diagram of the underwater reversing valve model.

[0022] Figure 5 A structural schematic diagram of an underwater control system simulation system provided by the present invention.

[0023] Figure 6 This is a schematic structural diagram of an electronic device provided by the present invention. DETAILED DESCRIPTION

[0024] 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.

[0025] Figure 1 The flowchart of the underwater control system simulation method provided by the present invention is shown in FIG. The execution subject of the underwater control system simulation method provided by the present invention can be any applicable terminal side device or network side device, such as an underwater control system simulation device.

[0026] See also Figure 1 The present invention provides an underwater control system simulation method, which may include: S110, dividing the underwater control system to be simulated into a plurality of organically related hierarchical structures from top to bottom, wherein the plurality of organically related hierarchical structures include any one of the following or any combination thereof: a system level structure, a component level structure, a basic component level structure, and a basic type level structure.

[0027] In one embodiment, the system-level structure describes the topological structure of an underwater control system (underwater electro-hydraulic composite control system), and connects the component-level structure through a pipeline-like structure to form an underwater hydraulic control loop, wherein the system-level structure includes an underwater low-pressure hydraulic control system simulation model and / or an underwater high-pressure hydraulic control system simulation model, etc.

[0028] The component-level structure provides the commonly used underwater hydraulic component structure required for underwater control system simulation, which is the basic unit that constitutes the topological structure of the underwater control system. Among them, the component-level structure includes any one of the following items or any combination thereof: actuators, pipelines, hydraulic valves, volumes, power sources and accessories. Specifically, the actuators include any one of the following items or any combination thereof: underwater compensators, gate valve actuators, ball valve actuators, downhole safety valves, throttle valves; pipelines include any one of the following items or any combination thereof: umbilical cables, hard pipes, hoses, distributed pipelines, downhole risers; hydraulic valves include any one of the following items or any combination thereof: underwater reversing valves, ESD valves, pressure reducing valves, overflow valves, check valves; volumes include any one of the following items or any combination thereof: underwater accumulators, oil tanks and volumes; power sources and accessories include any one of the following items or any combination thereof: surface hydraulic power units, pressure sensors, flow sensors.

[0029] The basic component-level structure provides the basic modules required to build an underwater hydraulic model library. The basic component-level structure includes any of the following items or any combination thereof: translational mass considering friction and stops, single-port double-acting cylinder, air chamber model, variable throttle, distributed control volume and flow unit, underwater hydraulic fluid, underwater control module, and environmental module.

[0030] The basic type level structure provides the common base class required for underwater control system simulation based on the physical process of each basic component, and is the smallest unit that constitutes the basic component. The basic type level structure includes any of the following items or any combination thereof: rigid / elastic friction model considering dynamic seals, rigid / elastic stops, steady-state and dynamic flow resistance of pipe walls, throttling equations considering multiple modes, distributed pipeline flow control equations, upwind finite volume method, bulk modulus of hard pipe and hose walls, local and along-the-way pressure loss, underwater hydraulic interface type, Bender gas state equation (real gas state equation) and physical property data, ideal gas state equation and NASA Glenn coefficient (Glenn coefficient), underwater accumulator heat exchange engineering algorithm and thermal physical property data, underwater hydraulic physical property function and data, underwater terminal pressure initialization algorithm, hose volume initialization algorithm.

[0031] S120. Based on the hierarchical structure division of the underwater control system to be simulated, an underwater control system simulation model is constructed through bottom-up multi-level inheritance, combination encapsulation, and graphical interactive drag modeling to evaluate the dynamic characteristics of the underwater control system during long-distance underwater transmission.

[0032] In one embodiment, S120 may include: The basic type-level structure is parameterized and associated through a bottom-up multi-level inheritance method to obtain the basic components of the underwater hydraulic model library. Specifically, the basic type-level structure can be inherited and reused through a bottom-up multi-level inheritance method to form the basic components of the underwater hydraulic model library, wherein the translational mass of the friction and stopper and the single-port double-acting cylinder are configured as the basic components of the underwater actuator model, the distributed control volume and the flow unit are configured as the basic components of the distributed pipeline, the air chamber model is configured as the basic component of the underwater accumulator, the variable throttle is configured as the basic component of the hydraulic valve model, the underwater control module is configured as the basic component of the underwater reversing valve and the HPU pump, and the underwater hydraulic working fluid and environment module are configured as the basic components shared by the underwater hydraulic model library; By means of combined packaging, the basic component level structure and the basic type level structure are integrated into a component level model using an interface model according to the structure of the component, so as to form an underwater hydraulic model library, wherein the underwater hydraulic model library includes any one of the following or any combination thereof: actuator class, pipeline class, hydraulic valve class, volume class, power source and accessories, wherein the actuator class includes any one of the following or any combination thereof: underwater compensator, gate valve actuator, ball valve actuator, throttle valve; the pipeline class includes any one of the following or any combination thereof: umbilical cable, hard pipe, hose, distributed pipeline, downhole riser; the hydraulic valve class includes any one of the following or any combination thereof: underwater reversing valve, ESD valve, pressure reducing valve, overflow valve, check valve; the volume class includes any one of the following or any combination thereof: underwater accumulator, oil tank and volume; the power source and accessories include any one of the following or any combination thereof: surface hydraulic power unit, pressure sensor, flow sensor, general sensor; Through the graphical interactive drag-and-drop modeling method, the component-level models are interconnected according to the topological structure of the underwater control system to be simulated to obtain the underwater control system simulation model.

[0033] Specifically, the basic types of underwater hydraulic model libraries can be first developed based on a unified and standardized object-oriented physical modeling language. The basic types of translational mass considering rigid / elastic friction and rigid / elastic stops are used to calculate the friction and stop contact force of underwater hydraulic actuators. The steady-state and dynamic flow resistance of the pipe wall, the bulk modulus of the pipe wall of hard pipes and soft pipes, the local and along-the-way pressure loss, and the underwater terminal pressure initialization algorithm are the basic types of pipeline models, which respectively describe the pipe wall elasticity, pressure loss, and underwater initial terminal pressure calculation method of the pipe. The throttling equation considering multiple modes is the basic type of variable throttling port, and the flow resistance characteristics of the passage can be described by various methods such as experimental reference points, flow coefficients, loss coefficients, Cv values, and Kv values. The upwind finite volume method and the distributed pipeline flow control equation are the basic types of distributed pipelines. The finite volume method upwind finite volume method is used to establish the numerical calculation model of the distributed pipeline flow control equation. Bender gas state equation and physical property data, ideal gas state equation and NASA Glenn coefficient, underwater accumulator heat transfer engineering algorithm and thermal property data are the basic types of gas chamber model and underwater accumulator, respectively, which are used to consider the influence of different types of pre-charged gases (such as nitrogen, argon and helium, etc.) and accumulators of different structures (such as bladder type, diaphragm type, piston type) on gas state change and heat transfer process. The hose volume initialization algorithm is the basic type of hose model, which is used to calculate the initial volume of the hose under the initial pressure state. The underwater hydraulic interface type is the basic type of underwater hydraulic model library, which provides connection ports for underwater hydraulic models to transfer state variables and flow variables. The underwater hydraulic physical property function and data are the basic types of underwater hydraulic working fluids, which describe the main physical property parameters of commonly used underwater hydraulic working fluids such as viscosity, density, compressibility coefficient, thermal expansion coefficient, etc.

[0034] Secondly, the basic types are inherited and reused in a bottom-up multi-level inheritance manner to form the basic components of the underwater hydraulic model library. The translational mass considering friction and stops and the single-port double-acting cylinder are the basic components of the underwater actuator model. The distributed control volume and flow unit are the basic components of the distributed pipeline. The air chamber model is the basic component of the underwater accumulator. The variable throttle is the basic component of the hydraulic valve model. The underwater control module is the basic component of the underwater reversing valve and HPU pump. The underwater hydraulic working fluid and environment module are the basic components shared by the underwater hydraulic model library.

[0035] Then, the above basic components and basic types are assembled into component-level models through interface models according to the structural composition of the components by means of combined packaging, thus forming an underwater hydraulic model library. The underwater hydraulic model library includes component models such as actuators, pipelines, hydraulic valves, volumes, power sources and accessories. The actuators include underwater compensators, gate valve actuators, ball valve actuators and throttle valves; pipelines include umbilical cables, hard pipes, hoses, distributed pipelines and downhole risers; hydraulic valves include underwater reversing valves, ESD valves, pressure reducing valves, overflow valves and check valves; volumes include underwater accumulators, oil tanks and volumes; power sources and accessories mainly include surface hydraulic power units, pressure sensors, flow sensors and general sensors.

[0036] A graphical interactive drag-and-drop modeling method is used to interconnect the underwater hydraulic component models according to the topological structure of the underwater electro-hydraulic composite control system to form an underwater control system simulation model that meets the preset initial conditions.

[0037] The obtained evaluated subsea control system can be used for: pressurization simulation of subsea electro-hydraulic composite control system, dynamic simulation of gate valve / ball valve action of Christmas tree, dynamic simulation of wellhead throttle valve action, dynamic simulation of downhole safety valve action, evaluation of valve sequence action plan of multi-branch Christmas tree, emergency shutdown (ESD) analysis, and selection of key equipment (HPU, umbilical cable, jumper pipe, subsea accumulator, etc.).

[0038] The following is combined with Figure 2-4 The present invention describes in detail a top-down hierarchical structure division method and a bottom-up modeling and simulation method in an underwater control system simulation method provided by the present invention.

[0039] According to the attached Figure 2 The underwater control system to be simulated is decomposed into four levels from top to bottom: system → component → basic component → basic type.

[0040] First, the system topology is decomposed, the underwater control system is decomposed into component-level models, and the connection relationship between each component-level model is determined. The component-level model provides the commonly used underwater hydraulic component models required for the simulation of the underwater electro-hydraulic composite control system, and is the basic unit that constitutes the topological structure of the underwater electro-hydraulic composite control system. The component-level model includes actuators, pipelines, hydraulic valves, volumes, power sources and accessories, among which the actuators include underwater compensators, gate valve actuators, ball valve actuators, downhole safety valves and throttle valves; pipelines include umbilical cables, rigid pipes, hoses, distributed pipelines and downhole risers; hydraulic valves include underwater reversing valves, ESD valves, pressure reducing valves, overflow valves and check valves; volumes include underwater accumulators, oil tanks and volumes; power sources and accessories mainly include surface hydraulic power units, pressure sensors and flow sensors. As shown in the attached Figure 3A typical underwater low-pressure hydraulic control system can be decomposed into functional components such as the surface hydraulic power unit (HPU), ESD valve, umbilical cable, underwater accumulator, underwater reversing valve, gate valve actuator, underwater compensator and hydraulic pipeline.

[0041] Secondly, the component-level model is decomposed into structural units, decomposed into basic components, and the connection relationship between each basic component is determined. The basic components provide the basic modules required to build the underwater hydraulic model library, including the translational mass considering friction and stops, single-port double-acting cylinder, air chamber model, variable throttle, distributed control volume and flow unit, underwater hydraulic fluid, underwater control module and environment module. Figure 4 The figure shows the model architecture of the underwater reversing valve. The underwater reversing valve is mainly composed of two basic components: a DCV control module and a main valve, as well as several basic types of volume elements and hydraulic ports.

[0042] Finally, the basic components are decomposed according to the physical process, which can be decomposed into basic types required for underwater electro-hydraulic composite control system simulation, such as basic equations, basic functions, algorithm models and physical property data. The basic type is the common base class required for underwater electro-hydraulic composite control system simulation based on the physical process of each basic component, and is the smallest unit that constitutes the basic component. The basic types include rigid / elastic friction model, rigid / elastic stopper, steady-state and dynamic flow resistance of pipe wall, throttling equation considering multiple modes, upwind finite volume method, distributed pipeline flow control equation, bulk modulus of hard pipe and hose wall, local and along-the-way pressure loss, underwater hydraulic interface type, Bender gas state equation and physical property data, ideal gas state equation and NASA Glenn coefficient, underwater accumulator heat exchange engineering algorithm and thermal physical property data, underwater hydraulic physical property function and data, underwater terminal pressure initialization algorithm and hose volume initialization algorithm, etc.

[0043] On the other hand, first of all, as shown in the attached Figure 2The basic types of underwater hydraulic model libraries are developed based on a unified and standardized object-oriented physical modeling language. Rigid / elastic friction and rigid / elastic stops are basic types of translational masses, which are used to calculate the friction and stop contact force when the actuator is in motion. Steady-state and dynamic flow resistance of the pipe wall, bulk modulus of the pipe wall of hard pipes and soft pipes, local and along-the-line pressure loss, and underwater terminal pressure initialization algorithm are basic types of pipeline models, which respectively describe the calculation methods of the pipe wall flow resistance, pipe wall elasticity, pressure loss, and underwater initial terminal pressure. The throttling equation considering multiple modes is the basic type of variable throttling port, and the flow resistance characteristics of the passage can be described by multiple modes such as experimental reference point, flow coefficient, loss coefficient, Cv value, Kv value, etc. The upwind finite volume method and distributed pipeline flow control equation are basic types of distributed pipelines, and the numerical calculation model of distributed pipelines can be established. Bender gas state equation and physical property data, ideal gas state equation and NASA Glenn coefficient, underwater accumulator heat transfer engineering algorithm and thermal property data are the basic types of gas chamber model and underwater accumulator, respectively, which are used to consider the influence of different types of pre-charged gases (including nitrogen, argon and helium, etc.) and different accumulator structure types (including bladder type, diaphragm type, piston type) on gas state change and heat transfer process. The hose volume initialization algorithm is the basic type of hose model, which can calculate the initial volume of the hose. The underwater hydraulic interface type is the basic port type of the underwater hydraulic model library, which provides connection ports for the component models and basic components of the underwater hydraulic model library for the transmission of state variables and flow variables. The underwater hydraulic physical property function and data are the basic types of underwater hydraulic working fluids, which describe the main physical property parameters of commonly used underwater hydraulic working fluids, including viscosity, density, compressibility coefficient, thermal expansion coefficient, etc.

[0044] Secondly, as attached Figure 2 The bottom-up multi-level inheritance method is used to configure parameters and associate basic types to form the basic components of the underwater hydraulic model library. The translational mass and single-port double-acting cylinder considering friction and stops are the basic components of the underwater actuator model. The distributed control volume and flow unit are the basic components of the distributed pipeline. The air chamber model is the basic component of the underwater accumulator. The variable throttle is the basic component of the hydraulic valve model. The underwater control module is the basic component of the underwater reversing valve and HPU pump. The underwater hydraulic working fluid and environment module are the basic components shared by the underwater hydraulic model library.

[0045] Again as attached Figure 4 As shown in the figure, the above basic components and basic types are integrated into component-level models according to the structural composition of the components by combining packaging to form an underwater hydraulic model library. Figure 4In the schematic diagram of the underwater reversing valve model architecture, the DCV control module basic component is associated with the DCV main valve basic component through the signal port. The P port, A port and T port of the DCV main valve are associated with the volume elements S, A and T respectively through the hydraulic interface. The hydraulic port basic types S, A and T are associated with the volume elements S, A and T respectively through the hydraulic interface.

[0046] Furthermore, the components contained in the underwater hydraulic model library are developed according to the above implementation process, including actuator, pipeline, hydraulic valve, volume, power source and auxiliary component models, among which the actuator includes underwater compensator, gate valve actuator, ball valve actuator and throttle valve; the pipeline includes umbilical cable, rigid pipe, hose, distributed pipeline and downhole riser; the hydraulic valve includes underwater reversing valve, ESD valve, pressure reducing valve, overflow valve and check valve; the volume includes underwater accumulator, oil tank and volume; the power source and auxiliary parts mainly include surface hydraulic power unit, pressure sensor and flow sensor.

[0047] Finally, as attached Figure 3 As shown in the figure, the drag-and-drop modeling method is used to associate the underwater hydraulic model library components with each other according to the topological structure of the underwater control system to form an underwater control system simulation model and meet the initial conditions. Figure 3 As shown in the figure, according to the topological structure of the underwater low-pressure hydraulic control system, the components such as HPU, ESD valve, umbilical cable, underwater accumulator, underwater reversing valve, gate valve actuator and underwater compensator are dragged to the front-end main interface in sequence from the underwater hydraulic model library, and the component models are connected according to the system topological structure to establish the simulation model of the hydraulic control system of the underwater oil tree slurry gate valve. Specifically, the S port and R port of the HPU are connected to the S port and R port of the ESD valve through hard pipe pipelines. The A port of the ESD valve is connected to the A end of the umbilical cable through a hard pipe pipeline. The B end of the umbilical cable is connected to the S port of the underwater reversing valve through a hard pipe pipeline. At the same time, the underwater accumulator is also connected to the S port of the underwater reversing valve through a hard pipe pipeline. The A port of the underwater reversing valve is connected to the A port of the gate valve actuator through a hard pipe pipeline. The T port of the underwater reversing valve is directly connected to the oil tank through a hydraulic connecting line. The B port of the gate valve actuator is connected to the underwater compensator through a hard pipe pipeline. The fluid physical parameters required by the underwater hydraulic model are provided by the underwater hydraulic fluid component. Based on the system-level simulation model, the pressure simulation of the underwater electro-hydraulic composite control system, the dynamic simulation of the operation of the Christmas tree gate valve, the dynamic simulation of the operation of the Christmas tree throttle valve, the dynamic simulation of the operation of the downhole safety valve, the program evaluation of the operation sequence of the multi-branch Christmas tree valve, the emergency shutdown (ESD) analysis, and the selection of key equipment such as HPU, umbilical cable, and underwater accumulator can be completed.

[0048] The present invention provides an underwater control system simulation method, system, device and medium, which, combined with a top-down hierarchical structure division method and a bottom-up modeling and simulation method, constructs a high-precision underwater control system simulation model, which can be used to accurately evaluate the dynamic characteristics of underwater control systems in long-distance underwater transmission, and provide reliable data support for the design of underwater electro-hydraulic composite control systems. Specifically, in terms of top-down analysis, the present invention designs a multi-level architecture diagram of underwater control systems from system → component → basic component → basic type. In terms of bottom-up combination, the present invention adopts the object-oriented model inheritance and reuse concept, arranges and combines the basic types required for the underwater control system simulation model, such as friction model, rigid / elastic stopper, steady-state and dynamic flow resistance of pipe wall, throttling equation, upwind finite volume method, distributed pipeline flow control equation, bulk modulus of hard pipe and hose wall, local and along-the-way pressure loss, underwater hydraulic interface type, Bender gas state equation and physical property data, ideal gas state equation and NASA Glenn coefficient, underwater accumulator heat exchange engineering algorithm and thermal physical property data, underwater hydraulic physical property function and data, underwater terminal pressure initialization algorithm and hose volume initialization algorithm, to construct a basic component model, and then form a component model and system model suitable for underwater control system simulation through encapsulation integration and graphical modeling. The present invention realizes the development of underwater hydraulic model library and efficient reuse and expansion of underwater control system simulation model based on a unified and standardized object-oriented physical modeling language, and provides a reference solution for the development of underwater control system simulation architecture with independent intellectual property rights.

[0049] The modeling language used in the present invention is Modelica, which is an open source, object-oriented, and unified specification-based physical system modeling language. Its original design intention is to solve the modeling of complex systems involving multiple disciplines and has the following characteristics: 1) Equation-based non-causal modeling, mathematically describing the model through differential algebraic equations (groups), and the interpretation, conversion, index simplification, assignment, and solution of the equations (groups) are automatically completed by the back-end compiler without manual operation; 2) Multi-domain modeling, which physically meets the modeling requirements of multi-disciplinary systems such as underwater electro-hydraulic composite control systems containing mechanical, electrical, hydraulic, and control; 3) Object-oriented modeling, with object-oriented language features such as classes, generics, and subtypes, allowing component reuse and model expansion, and also providing a good soft component model, which is interconnected through components (interfaces) to quickly build complex physical systems; 4) Supporting graphical interactive modeling in a drag-and-drop manner, the model architecture corresponds to the physical system topology, greatly improving modeling efficiency and model readability.

[0050] The underwater control system simulation system provided by the present invention is described below. The underwater control system simulation system described below and the underwater control system simulation method described above can be referenced to each other.

[0051] See also Figure 5 The present invention provides an underwater control system simulation system, which may include: A hierarchical division module is used to: divide the underwater control system to be simulated into a plurality of organically related hierarchical structures from top to bottom, wherein the plurality of organically related hierarchical structures include any one of the following or any combination thereof: a system level structure, a component level structure, a basic component level structure, and a basic type level structure; The simulation modeling module is used to: Based on the hierarchical structure division of the underwater control system to be simulated, a simulation model of the underwater control system is constructed through bottom-up multi-level inheritance, combination encapsulation, and graphical interactive drag modeling, which is used to evaluate the dynamic characteristics of the underwater control system in long-distance underwater transmission.

[0052] 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: Dividing the underwater control system to be simulated into a plurality of organically related hierarchical structures from top to bottom, wherein the plurality of organically related hierarchical structures include any one of the following or any combination thereof: a system level structure, a component level structure, a basic component level structure, and a basic type level structure; Based on the hierarchical structure division of the underwater control system to be simulated, a simulation model of the underwater control system is constructed through bottom-up multi-level inheritance, combination encapsulation, and graphical interactive drag modeling. It is used to evaluate the dynamic characteristics of the underwater control system in long-distance underwater transmission.

[0053] 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.

[0054] 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: Dividing the underwater control system to be simulated into a plurality of organically related hierarchical structures from top to bottom, wherein the plurality of organically related hierarchical structures include any one of the following or any combination thereof: a system level structure, a component level structure, a basic component level structure, and a basic type level structure; Based on the hierarchical structure division of the underwater control system to be simulated, a simulation model of the underwater control system is constructed through bottom-up multi-level inheritance, combination encapsulation, and graphical interactive drag modeling. It is used to evaluate the dynamic characteristics of the underwater control system in long-distance underwater transmission.

[0055] 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: Dividing the underwater control system to be simulated into a plurality of organically related hierarchical structures from top to bottom, wherein the plurality of organically related hierarchical structures include any one of the following or any combination thereof: a system level structure, a component level structure, a basic component level structure, and a basic type level structure; Based on the hierarchical structure division of the underwater control system to be simulated, a simulation model of the underwater control system is constructed through bottom-up multi-level inheritance, combination encapsulation, and graphical interactive drag modeling. It is used to evaluate the dynamic characteristics of the underwater control system in long-distance underwater transmission.

[0056] 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.

[0057] 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.

[0058] 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 an underwater control system, characterized in that: include: Dividing the underwater control system to be simulated into a plurality of organically related hierarchical structures from top to bottom, wherein the plurality of organically related hierarchical structures include any one of the following or any combination thereof: a system level structure, a component level structure, a basic component level structure, and a basic type level structure; Based on the hierarchical structure division of the underwater control system to be simulated, a simulation model of the underwater control system is constructed through bottom-up multi-level inheritance, combination encapsulation, and graphical interactive drag modeling. It is used to evaluate the dynamic characteristics of the underwater control system in long-distance underwater transmission.

2. The underwater control system simulation method according to claim 1, characterized in that: The system-level structure includes an underwater low-pressure hydraulic control system simulation model and / or an underwater high-pressure hydraulic control system simulation model; the component-level structure includes any one of the following or any combination thereof: actuators, pipelines, hydraulic valves, volumes, power sources and accessories; the basic component-level structure includes any one of the following or any combination thereof: translational mass considering friction and stops, single-port double-acting cylinders, air chamber models, variable throttles, distributed control volumes and flow units, underwater hydraulic fluids, underwater control modules, and environmental modules; the basic type-level structure includes any one of the following or any combination thereof Interesting combinations: Rigid / elastic friction model considering dynamic seals, rigid / elastic stops, steady-state and dynamic flow resistance of pipe walls, throttling equations considering multiple modes, distributed pipeline flow control equations, upwind finite volume method, bulk modulus of rigid and flexible pipe walls, local and along-the-way pressure losses, underwater hydraulic interface types, real gas state equation and physical property data, ideal gas state equation and Glenn coefficient, underwater accumulator heat exchange engineering algorithm and thermal physical property data, underwater hydraulic property functions and data, underwater terminal pressure initialization algorithm, and hose volume initialization algorithm.

3. The underwater control system simulation method according to claim 2, characterized in that: The actuator category includes any one of the following or any combination thereof: underwater compensator, gate valve actuator, ball valve actuator, downhole safety valve, throttle valve; the pipeline category includes any one of the following or any combination thereof: umbilical cable, rigid pipe, hose, distributed pipeline, downhole riser; the hydraulic valve category includes any one of the following or any combination thereof: underwater reversing valve, ESD valve, pressure reducing valve, overflow valve, check valve; the volume category includes any one of the following or any combination thereof: underwater accumulator, oil tank and volume; the power source and accessories include any one of the following or any combination thereof: surface hydraulic power unit, pressure sensor, flow sensor.

4. The underwater control system simulation method according to any one of claims 1 to 3, characterized in that: Based on the hierarchical structure division of the underwater control system to be simulated, the underwater control system simulation model is constructed through bottom-up multi-level inheritance, combination encapsulation, and graphical interactive drag modeling, which is used to evaluate the dynamic characteristics of the underwater control system in long-distance underwater transmission, including: The basic type level structure is parameterized and associated through a bottom-up multi-level inheritance method to obtain the basic components of the underwater hydraulic model library. By combining and packaging, the basic component-level structure and the basic type-level structure are integrated into a component-level model using an interface model according to the structure of the component, forming an underwater hydraulic model library. Through the graphical interactive drag-and-drop modeling method, the component-level models are interconnected according to the topological structure of the underwater control system to be simulated to obtain the underwater control system simulation model.

5. The underwater control system simulation method according to claim 4, characterized in that: The basic type level structure is parameterized and associated by a bottom-up multi-level inheritance method to obtain the basic components of the underwater hydraulic model library, including: Through a bottom-up multi-level inheritance method, the basic type-level structure is inherited and reused to form the basic components of the underwater hydraulic model library, among which the translational mass of the friction and stopper and the single-port double-acting cylinder are configured as the basic components of the underwater actuator model, the distributed control volume and the flow unit are configured as the basic components of the distributed pipeline, the air chamber model is configured as the basic component of the underwater accumulator, the variable throttle is configured as the basic component of the hydraulic valve model, the underwater control module is configured as the basic component of the underwater reversing valve and HPU pump, and the underwater hydraulic working fluid and environment module are configured as the basic components shared by the underwater hydraulic model library.

6. The underwater control system simulation method according to claim 5, characterized in that: The underwater hydraulic model library includes any one of the following or any combination thereof: actuators, pipelines, hydraulic valves, volumes, power sources and accessories. The actuators include any one of the following or any combination thereof: underwater compensators, gate valve actuators, ball valve actuators, throttle valves; pipelines include any one of the following or any combination thereof: umbilical cables, rigid pipes, hoses, distributed pipelines, downhole risers; hydraulic valves include any one of the following or any combination thereof: underwater reversing valves, ESD valves, pressure reducing valves, overflow valves, check valves; volumes include any one of the following or any combination thereof: underwater accumulators, oil tanks and volumes; power sources and accessories include any one of the following or any combination thereof: surface hydraulic power units, pressure sensors and flow sensors.

7. The underwater control system simulation method according to any one of claims 1 to 3, characterized in that: The dynamic characteristics used to evaluate the underwater control system in long-distance underwater transmission include any of the following or any combination: pressurization simulation of underwater electro-hydraulic composite control system, dynamic simulation of the operation of Christmas tree gate valve / ball valve, dynamic simulation of the operation of wellhead throttle valve, dynamic simulation of the operation of downhole safety valve, evaluation of the sequential operation plan of multi-branch Christmas tree valves, emergency shutdown analysis, and selection of key equipment.

8. An underwater control system simulation system, characterized in that: include: A hierarchical division module is used to: divide the underwater control system to be simulated into a plurality of organically related hierarchical structures from top to bottom, wherein the plurality of organically related hierarchical structures include any one of the following or any combination thereof: a system level structure, a component level structure, a basic component level structure, and a basic type level structure; The simulation modeling module is used to: Based on the hierarchical structure division of the underwater control system to be simulated, a simulation model of the underwater control system is constructed through bottom-up multi-level inheritance, combination encapsulation, and graphical interactive drag modeling, which is used to evaluate the dynamic characteristics of the underwater control system in long-distance underwater transmission.

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 underwater control system simulation method 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 underwater control system simulation method according to any one of claims 1 to 7 is implemented.

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