Intelligent speed-regulating pig experimental testing system and pig speed equivalent method

Abstract

This invention discloses an intelligent speed-regulating pig experimental testing system and a method for equivalence of pig speed. The intelligent speed-regulating pig experimental testing system can construct a controllable hydraulic environment and can equivalently convert the real-time flow rate in the experimental loop into the movement speed of the speed-regulating pig experimental device, which serves as a feedback parameter during the speed regulation test of the control and monitoring device. This helps improve test accuracy and the reliability of verifying the effectiveness of the pig speed control algorithm. Furthermore, this intelligent speed-regulating pig experimental testing system is a small closed-loop system that can be built in the laboratory. It fixes the intelligent speed-regulating pig, which actually needs to operate over long distances, as the experimental device, solving the problems of high risk, high operating cost, and long cycle associated with relying on long-distance field pipelines for the effectiveness verification of pig speed control algorithms, significantly improving the economy and safety of the test.

Description

Technical Field

[0001] This invention relates to the field of pig speed testing technology, and in particular to an intelligent speed-adjustable pig experimental testing system and a pig speed equivalent method. Background Technology

[0002] In the field of pipeline robot speed detection technology, the operating speed control of pipeline pigs is one of the core technologies to ensure their efficient and safe completion of tasks such as pipeline cleaning and inspection. A pipeline pig is a pipeline cleaning device that moves within a pipe based on the pressure difference between the fluids before and after it, and cleans the pipeline. As a type of actively speed-regulating pipeline pig, the intelligent speed-regulating pig uses sensors such as odometer wheels to monitor its speed in real time during operation. An integrated speed control system determines the pig's movement status and controls the adjustable bypass valve inside the pig to adjust the overall valve opening, thereby regulating the driving pressure of the pig's movement and controlling its speed.

[0003] The speed control system determines the speed adjustment capability of the pipeline pig. Before applying a speed control system to a pipeline pig, its performance needs to be verified and evaluated. Currently, the verification and performance evaluation of the speed control system of the pipeline pig heavily relies on actual long-distance pipeline field tests. This verification mode is risky, costly, has a long test cycle, and makes it difficult to flexibly adjust operating parameters. Furthermore, it is difficult to establish a small-scale loop system in the laboratory to place the entire intelligent speed-regulating pipeline pig within the experimental loop system and monitor various parameters of the pig's movement in real time. At the same time, experimental loops are usually short and cannot provide a long-distance testing environment, thus making it impossible to accurately test the effectiveness of the pig's speed control algorithm. Summary of the Invention

[0004] The purpose of this invention is to provide an experimental testing system for intelligent speed-regulating pigs, which can solve the problem that the effectiveness of the speed control system of intelligent speed-regulating pigs cannot be accurately tested under existing laboratory conditions.

[0005] To achieve this objective, the present invention adopts the following technical solution: An intelligent speed-regulating pipeline cleaning device experimental testing system, built in a laboratory, includes: a water tank filled with water, having an outlet and a return outlet; a connecting pipe, with its inlet connected to the outlet and its outlet connected to the return outlet, forming an experimental loop; a pressure-stabilized frequency-adjustable water pump installed on the connecting pipe near the outlet, configured to maintain a constant outlet pressure through frequency adjustment; a flow detection mechanism installed on the connecting pipe downstream of the pressure-stabilized frequency-adjustable water pump; a flow regulating valve installed on the connecting pipe downstream of the flow detection mechanism, used to regulate the initial flow rate within the experimental loop; and a speed-regulating pipeline cleaning device fixedly installed on the laboratory. Located downstream of the flow regulating valve on the connecting pipeline, the speed-regulating pig experimental device includes a drive motor, a transmission mechanism, and a bypass valve. The drive motor has position control and position information feedback functions. The position information includes the motor rotation angle and the number of motor rotations. The drive motor is connected to the bypass valve through the transmission mechanism and can change the valve opening of the bypass valve. A control monitoring device is also included, which is communicatively connected to both the flow detection mechanism and the drive motor. The control monitoring device can acquire the flow information from the flow detection mechanism and determine the valve opening of the bypass valve based on the position information fed back by the drive motor. During the speed regulation test of the control monitoring device, it can simulate the movement speed of the speed-regulating pig experimental device based on the flow information fed back by the flow detection mechanism and the valve opening of the bypass valve. and at the speed of motion As a feedback parameter during the speed regulation test; among which, ; The initial flow rate is Q, which is the initial flow rate obtained by the flow detection mechanism when the bypass valve is at its maximum opening. 初始 The ratio of the cross-sectional area A of the connecting pipe at the flow detection mechanism; The real-time flow rate is the ratio of the real-time flow value Q to A of the flow detection mechanism. The valve opening degree of the bypass valve.

[0006] Preferably, the intelligent speed-regulating pig experimental testing system further includes a first pressure detection mechanism and a second pressure detection mechanism. Both the first and second pressure detection mechanisms are located on the connecting pipeline, with the first pressure detection mechanism located upstream of the speed-regulating pig experimental device and the second pressure detection mechanism located downstream of the speed-regulating pig experimental device. The control and monitoring device is communicatively connected to both the first and second pressure detection mechanisms and is able to acquire the first pressure information of the first pressure detection mechanism and the second pressure information of the second pressure detection mechanism. The first and second pressure information serve as feedback parameters during the speed regulation test process of the control and monitoring device.

[0007] Preferably, the intelligent speed-regulating pipeline cleaning experimental testing system also includes a switching valve, which is located at the water outlet.

[0008] Preferably, the connecting pipes include a first straight pipe, a second straight pipe, and a third straight pipe. One end of the first straight pipe is connected to the outlet, and the other end of the first straight pipe is connected to the inlet of the pressure-stabilizing and frequency-regulating water pump via a first flange. One end of the second straight pipe is connected to the outlet of the pressure-stabilizing and frequency-regulating water pump via a second flange, and the other end of the second straight pipe is connected to the inlet of the flow detection mechanism via a third flange. One end of the third straight pipe is connected to the outlet of the flow detection mechanism via a fourth flange, and the other end of the third straight pipe is connected to the inlet of the flow regulating valve via a fifth flange.

[0009] Preferably, the connecting pipeline further includes a first bend, a fourth straight pipe, a second bend, and a fifth straight pipe connected in sequence via connecting flanges. The end of the first bend away from the fourth straight pipe is connected to the outlet end of the flow regulating valve via a sixth flange, and the end of the fifth straight pipe away from the second bend is connected to the inlet end of the speed regulating pig experimental device via a seventh flange.

[0010] Preferably, the connecting pipeline includes a fifth straight pipe and a sixth straight pipe. The fifth straight pipe is connected to the inlet end of the speed-regulating pig experimental device, and the sixth straight pipe is connected to the outlet end of the speed-regulating pig experimental device. The first pressure detection mechanism is located on the fifth straight pipe, and the second pressure detection mechanism is located on the sixth straight pipe.

[0011] Preferably, the water outlet is located on the side of the water tank, the water return outlet is located on the top of the water tank, and the water return outlet is positioned higher than the water outlet.

[0012] Preferably, the connecting pipe includes a first straight pipe, a sixth straight pipe, and a bent pipe. The first straight pipe is connected to the outlet, one end of the sixth straight pipe is connected to the outlet of the speed-regulating pipe cleaning device, one end of the bent pipe is connected to the other end of the sixth straight pipe, and the other end of the bent pipe is connected to the return water port. The first straight pipe and the sixth straight pipe are set at the same height, and the bent pipe is set higher than the sixth straight pipe.

[0013] Preferably, the bypass valve includes a bypass moving valve and a bypass fixed valve arranged opposite to each other, the transmission mechanism includes a lead screw and a nut block, the motor shaft of the drive motor is connected to one end of the lead screw, the nut block is threadedly connected to the lead screw to form a lead screw and nut pair, and the nut block is fixedly connected to the bypass moving valve.

[0014] A method for equivalence of pipeline pig speed, using the aforementioned intelligent speed-regulating pipeline pig experimental testing system, maps the movement process of the intelligent speed-regulating pipeline pig in the actual pipeline to the flow change experiment of the speed-regulating pipeline pig experimental device of the intelligent speed-regulating pipeline pig experimental testing system under fixed position conditions through equivalent transformation. The method for equivalence of pipeline pig speed includes the following steps: Adjust the valve opening of the bypass valve of the speed-regulating pig test device to the maximum; The initial flow rate in the experimental loop was adjusted by regulating the frequency of the variable frequency motor of the pressure-stabilized and frequency-controlled water pump and the opening of the flow regulating valve. The initial flow rate Q in the experimental loop was then obtained using a flow detection mechanism. 初始 Q 初始 Set value; The frequency of the variable frequency motor of the voltage-stabilized frequency-adjustable water pump and the opening degree of the flow regulating valve are fixed. The control and monitoring device is activated to conduct a speed adjustment test. During the speed adjustment test, the valve opening of the bypass valve is adjusted and recorded. And the real-time flow value Q obtained by the flow detection mechanism; according to Simulate the movement speed of the speed-regulating pig experimental device and at the speed of motion As a feedback parameter during the speed regulation test.

[0015] The beneficial effects of this invention are: The intelligent speed-regulating pig experimental testing system provided by this invention includes a water tank, connecting pipes, a pressure-stabilized and frequency-adjustable water pump, a flow detection mechanism, a flow regulating valve, a speed-regulating pig experimental device, and a control and monitoring device. This system can construct a controllable hydraulic environment and convert the real-time flow rate in the experimental loop into the equivalent movement speed of the speed-regulating pig experimental device, which serves as a feedback parameter during the speed regulation test of the control and monitoring device. This helps improve test accuracy and the reliability of verifying the effectiveness of the pig speed control algorithm. Furthermore, this intelligent speed-regulating pig experimental testing system is a small closed-loop system that can be built in the laboratory. It fixes the intelligent speed-regulating pig, which actually needs to operate over long distances, as the speed-regulating pig experimental device, solving the problems of high risk, high operating cost, and long cycle associated with relying on long-distance field pipelines for verifying the effectiveness of the pig speed control algorithm, significantly improving the economy and safety of the test. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the intelligent speed-regulating pig experimental testing system described in an embodiment of the present invention; Figure 2 This is a schematic diagram of the experimental device for the speed-regulating pig described in an embodiment of the present invention.

[0017] In the picture: 1. Water tank; 2. Switch valve; 3. Outlet; 4. Pressure-stabilized and frequency-adjustable water pump; 5. Flow detection mechanism; 6. Flow regulating valve; 7. Connecting flange; 8. Connecting pipe; 9. Speed-adjusting pig test device; 10. Second pressure detection mechanism; 11. Return water port; 12. Control and monitoring device; 13. Drive motor; 14. Transmission mechanism; 15. Bypass valve; 16. Bypass valve; 17. First pressure detection mechanism. Detailed Implementation

[0018] Embodiments of the present invention are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar components or components having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present invention, and should not be construed as limiting the present invention.

[0019] In the description of this invention, unless otherwise explicitly specified and limited, the terms "connected," "linked," and "fixed" should be interpreted broadly. For example, they can refer to a fixed connection or a detachable connection; a mechanical connection or an electrical connection; a direct connection or an indirect connection through an intermediate medium; or the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0020] In the description of this invention, unless otherwise expressly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature being directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature being directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0021] The technical solution of the present invention will be further described below with reference to the accompanying drawings and specific embodiments.

[0022] like Figure 1 and Figure 2 As shown, this invention provides an intelligent speed-regulating pig experimental testing system. This system, built in a laboratory, includes a water tank 1, connecting pipes 8, a pressure-stabilized frequency-adjustable water pump 4, a flow detection mechanism 5, a flow regulating valve 6, a speed-regulating pig experimental device 9, and a control and monitoring device 12. The water tank 1 contains water and has an outlet 3 and a return outlet 11. The inlet end of the connecting pipe 8 is connected to the outlet 3, and the outlet end is connected to the return outlet 11, forming an experimental loop. The pressure-stabilized frequency-adjustable water pump 4 is mounted on the connecting pipe 8 and positioned near the outlet 3. The pump is configured to maintain a constant outlet pressure through frequency adjustment. The flow detection mechanism 5 is mounted on the connecting pipe 8 and located downstream of the pressure-stabilized frequency-adjustable water pump 4. The flow regulating valve 6 is mounted on the connecting pipe 8 and located downstream of the flow detection mechanism 5, used to adjust the initial flow rate within the experimental loop. The speed-regulating pig experimental device 9 is fixedly installed on the connecting pipeline 8 and located downstream of the flow regulating valve 6. The speed-regulating pig experimental device 9 includes a drive motor 13, a transmission mechanism 14, and a bypass valve. The drive motor 13 has position control and position information feedback functions, including the motor rotation angle and the number of motor rotations. The drive motor 13 is connected to the bypass valve via the transmission mechanism 14 and can change the valve opening of the bypass valve. The control and monitoring device 12 is communicatively connected to both the flow detection mechanism 5 and the drive motor 13. The control and monitoring device 12 can acquire the flow information from the flow detection mechanism 5 and determine the valve opening of the bypass valve based on the position information fed back by the drive motor 13. It should be noted that in actual pipelines, the intelligent speed-regulating pig integrates the speed-regulating pig experimental device 9 and the control and monitoring device 12 into one unit. In the laboratory, for convenient testing of the control and monitoring device 12, it is separated from the speed-regulating pig experimental device 9 and placed outside the experimental loop.

[0023] During the speed regulation test of the control and monitoring device 12, the control and monitoring device 12 can simulate the movement speed of the speed regulation pig experimental device 9 based on the flow information fed back by the flow detection mechanism 5 and the valve opening of the bypass valve. and with the speed of movement As a feedback parameter during the speed regulation test; among which, ; The initial flow rate is Q, which is the initial flow rate obtained by the flow detection mechanism 5 when the bypass valve is at its maximum opening. 初始 The ratio of the cross-sectional area A of the connecting pipe 8 at the flow detection mechanism 5; The real-time flow rate is the ratio of the real-time flow value Q to A of the flow detection mechanism 5. This refers to the valve opening degree of the bypass valve.

[0024] The intelligent speed-regulating pig experimental testing system includes a water tank 1, connecting pipes 8, a pressure-stabilized and frequency-regulating water pump 4, a flow detection mechanism 5, a flow regulating valve 6, and a speed-regulating pig experimental device 9. This intelligent speed-regulating pig experimental testing system can construct a controllable hydraulic environment and can convert the real-time flow in the experimental loop into the equivalent movement speed of the speed-regulating pig experimental device 9, which serves as a feedback parameter in the speed regulation test process of the control and monitoring device 12. This helps to improve the test accuracy and the reliability of the effectiveness verification of the pig speed control algorithm. Furthermore, the intelligent speed-regulating pig experimental testing system is a small closed-loop system that can be built in the laboratory. By building the intelligent speed-regulating pig experimental testing system in the laboratory, the intelligent speed-regulating pig that actually needs to operate over long distances can be fixed as the speed-regulating pig experimental device 9. The reliability of the pig speed control algorithm of the speed control monitoring device 12 can be verified using the intelligent speed-regulating pig experimental testing system. This solves the problems of high risk, high operating cost and long cycle of relying on long-distance field pipelines to verify the effectiveness of the pig speed control algorithm, and significantly improves the economy and safety of the test.

[0025] about It should be noted that during the actual pipeline cleaning process, the total flow rate in the pipeline is approximately constant. When the opening of its bypass valve increases, the driving force on the intelligent speed-regulating pig decreases and the movement speed decreases; conversely, when the opening of its bypass valve decreases, the driving force increases and the movement speed increases.

[0026] In the intelligent speed-regulating pig experimental testing system provided in this embodiment of the invention, the outlet pressure of the pressure-stabilized frequency-regulating water pump 4 is set to a constant value, and the speed-regulating pig experimental device 9 is fixed in the connecting pipe 8. When the opening degree of the bypass valve increases, the total flow resistance of the pipeline decreases, which manifests as an increase in pipeline flow rate; conversely, when the opening degree of the bypass valve decreases, the pipeline flow rate decreases accordingly. Therefore, by measuring the change in pipeline flow rate within the connecting pipe 8, the speed change law of the intelligent speed-regulating pig in the actual pipeline can be equivalently inferred.

[0027] Assume the actual flow rate in the pipeline is The average fluid velocity is The cross-sectional area of ​​the pipe is The fluid density is The intelligent speed-regulating pig operates at a speed within the actual pipeline. Moving forward, the bypass valve opening is At this moment, the fluid force acting on the intelligent speed-regulating pig is: (1.01); in The bypass valve loss coefficient of the pig is determined by the structure of the pig and the opening degree of the bypass valve. The equivalent fluid velocity inside the pig can be calculated using the flow rate inside the pipe and the opening degree of the bypass valve. This represents the opening area of ​​the bypass valve. .

[0028] For the experimental pipeline, since the position of the speed-regulating pig experimental device 9 is fixed, the fluid inside the pipeline travels at an unknown speed. Flow, at the cross-section of the pig valve The fluid is blocked by the pig, and the rest flows out through the bypass hole. At this time, the fluid force acting on the pig in the experiment is: (1.02); when At that time, the force on the pig in the experimental pipeline is the same as the force on the pig in the actual pipeline, and it can be deduced that: (1.03); (1.04); The experimental pipe has a cross-sectional area of ​​A and is throttled by a bypass valve, with a flow velocity of... Since all flow exits through the bypass orifice, the equivalent average velocity is the pipe velocity divided by the bypass ratio, i.e.: (1.05); The actual pipeline has a cross-sectional area of ​​A and a flow velocity of U. The pipeline pig uses... Moving forward, the volume of the tube traversed per unit time is The volume of fluid flowing into the pipe per unit time is Therefore, the fluid volume passing through the bypass hole is Then the equivalent flow velocity inside the bypass orifice is: (1.06); Substituting (1.06) and (1.05) into (1.04), we can deduce the following in sequence: (1.07); (1.08); Therefore, as long as the flow velocity in the experimental pipeline can be stabilized to the expected value. This will verify the effectiveness of the speed control system.

[0029] Finally, by transforming (1.08), we can obtain... .

[0030] The control and monitoring device 12 is used for adjusting the control algorithm parameters and recording and analyzing data in real time. In this embodiment, the control and monitoring device 12 includes a controller, which can be centralized or distributed. For example, the controller can be a single microcontroller or a combination of multiple distributed microcontrollers. The microcontroller can run a control program to control the drive motor 13 to achieve its function. The controller has a storage unit that stores the pig speed control program and the pig speed control algorithm embedded in the speed control program. The intelligent speed-regulating pig experimental testing system provided in this embodiment of the invention can verify the effectiveness of different pig speed control algorithms.

[0031] The connecting pipes 8 include a first straight pipe, a second straight pipe, and a third straight pipe. One end of the first straight pipe is connected to the outlet 3, and the other end is connected to the inlet of the pressure-stabilizing and frequency-regulating water pump 4 via a first flange. One end of the second straight pipe is connected to the outlet of the pressure-stabilizing and frequency-regulating water pump 4 via a second flange, and the other end is connected to the inlet of the flow detection mechanism 5 via a third flange. One end of the third straight pipe is connected to the outlet of the flow detection mechanism 5 via a fourth flange, and the other end is connected to the inlet of the flow regulating valve 6 via a fifth flange. Using straight pipes and flanges to sequentially connect the pressure-stabilizing and frequency-regulating water pump 4, the flow detection mechanism 5, and the flow regulating valve 6 not only reduces connection difficulty and increases connection efficiency but also ensures good sealing.

[0032] The connecting pipe 8 also includes a first bend, a fourth straight pipe, a second bend, and a fifth straight pipe connected sequentially via connecting flanges 7. The end of the first bend furthest from the fourth straight pipe is connected to the outlet of the flow regulating valve 6 via a sixth flange, and the end of the fifth straight pipe furthest from the second bend is connected to the inlet of the speed-regulating pig experimental device 9 via a seventh flange. The connecting pipe 8 also includes a sixth straight pipe, one end of which is connected to the outlet of the speed-regulating pig experimental device 9. Installing the speed-regulating pig experimental device 9 at the straight pipe connection point offers advantages such as ease of installation, ease of testing, and ease of analysis and observation. Furthermore, connecting the first bend, fourth straight pipe, second bend, and fifth straight pipe sequentially via connecting flanges 7 not only reduces connection difficulty and increases connection efficiency but also ensures good sealing.

[0033] In one embodiment, both the first bend and the second bend are 90° bends, and the first bend and the second bend are located on the same side of the fourth straight pipe. By using the sequential connection of the first bend, the fourth straight pipe, and the second bend, a 180° turn in the connecting pipe can be achieved, thereby reducing the difficulty of constructing an experimental loop.

[0034] like Figure 1 As shown, in one embodiment, the outlet 3 is located on the side of the water tank 1, and the return outlet 11 is located on the top of the water tank 1, with the return outlet 11 positioned higher than the outlet 3. To connect the connecting pipe to the return outlet 11, the connecting pipe 8 also includes a bent pipe, one end of which is connected to the other end of the sixth straight pipe, and the other end of which is connected to the return outlet 11. In one embodiment, the first straight pipe and the sixth straight pipe are at the same height, and the bent pipe is positioned higher than the sixth straight pipe. In one embodiment, the bent pipe is approximately L-shaped, comprising a third bent pipe, a first vertical pipe, a fourth bent pipe, a horizontal pipe, and a fifth bent pipe connected sequentially, with the third bent pipe, the first vertical pipe, the fourth bent pipe, and the fifth bent pipe located on the same side of the horizontal pipe.

[0035] Of course, in other embodiments, the connecting pipe 8 can also be set in other forms as needed, such as using multiple arc-shaped pipes to form a connecting pipeline, or using a combination of arc-shaped pipes and straight pipes to form a connecting pipeline.

[0036] The pressure-stabilized frequency-adjustable water pump 4, as a constant-pressure pump, serves as the fluid power source for the intelligent speed-regulating pig experimental testing system. Its outlet pressure can be adjusted by controlling the frequency of the pump's variable frequency motor via an electrical control cabinet. When the fluid resistance load within the experimental loop changes, the pressure-stabilized frequency-adjustable water pump 4 can maintain a constant outlet pressure while simultaneously adjusting the flow rate within the experimental loop. Of course, besides using the electrical control cabinet to control the pump's variable frequency motor frequency, other methods can also be employed to control the pump's variable frequency motor frequency.

[0037] In one embodiment, the flow detection mechanism 5 is a flow meter, which can monitor and output the flow information in the experimental loop in real time. This flow information can not only provide feedback on the flow changes within the experimental loop, but also simulate the movement speed of the speed-regulating pig experimental device 9 through precise conversion, and serve as a feedback parameter in the speed regulation test process of the control monitoring device 12. Of course, in other embodiments, a component with flow detection function can also be used as the flow detection mechanism 5.

[0038] In the embodiments of the present invention, the drive motor 13 can be any type of motor, as long as it has position control and position information feedback functions, and can receive control signals from the control and monitoring device 12 and feed back position information to the control and monitoring device 12.

[0039] The bypass valve includes a bypass movable valve 15 and a bypass fixed valve 16 arranged opposite to each other. In one embodiment, the bypass valve is a pull-out valve, and the bypass movable valve 15 moves relative to the bypass fixed valve 16. Correspondingly, the transmission mechanism 14 includes a lead screw and a nut block. The motor shaft of the drive motor 13 is connected to one end of the lead screw, and the nut block is threaded onto the lead screw to form a lead screw-nut pair. The nut block is fixedly connected to the bypass movable valve 15. Driven by the drive motor 13, the lead screw rotates around its central axis. During the rotation of the lead screw, the nut block moves along the axial direction of the lead screw. As the nut block moves, the bypass movable valve 15 moves synchronously, thereby changing the relative position between the bypass movable valve 15 and the bypass fixed valve 16, thus changing the valve opening.

[0040] In another embodiment, the bypass valve is a rotary valve, with the bypass movable valve 15 rotating relative to the bypass fixed valve 16. Correspondingly, the transmission mechanism 14 is capable of converting the rotational motion output by the drive motor 13 into the rotational motion of the bypass movable valve 15, thereby changing the position of the bypass movable valve 15 relative to the bypass fixed valve 16. For example, the transmission mechanism 14 can be a gear assembly.

[0041] Continue to refer to Figure 1 As shown, the intelligent speed-regulating pipeline cleaning system also includes a switching valve 2, which is located at the outlet 3 and can control the opening and closing of the outlet 3. In one embodiment, the switching valve 2 is a solenoid valve; in other embodiments, the switching valve 2 can also be a mechanical valve.

[0042] Continue to refer to Figure 1As shown, the intelligent speed-regulating pig experimental testing system also includes a first pressure detection mechanism 17 and a second pressure detection mechanism 10. Both the first pressure detection mechanism 17 and the second pressure detection mechanism 10 are located on the connecting pipe 8, with the first pressure detection mechanism 17 located upstream of the speed-regulating pig experimental device 9 and the second pressure detection mechanism 10 located downstream of the speed-regulating pig experimental device 9. The control and monitoring device 12 is communicatively connected to both the first pressure detection mechanism 17 and the second pressure detection mechanism 10, and can acquire the first pressure information of the first pressure detection mechanism 17 and the second pressure information of the second pressure detection mechanism 10. The first pressure information and the second pressure information serve as feedback parameters during the speed regulation test process of the control and monitoring device 12.

[0043] In one embodiment, both the first pressure detection mechanism 17 and the second pressure detection mechanism 10 are pressure sensors, which are used to monitor the upstream and downstream pressure changes of the speed-regulating pig experimental device 9 in real time. During the speed regulation test of the control and monitoring device 12, the readings of the pressure sensors change in real time. In one embodiment, a controllable hydraulic environment is constructed using a pressure-stabilized frequency-regulating water pump 4, a flow meter, and pressure sensors. The upstream and downstream pressure changes of the speed-regulating pig experimental device 9 obtained by the two pressure sensors are used as feedback parameters to realize synchronous monitoring and closed-loop control of pressure parameters during the speed regulation test, further improving the test accuracy and the reliability of the effectiveness verification of the pig speed control algorithm. When the control and monitoring device 12 is started for speed regulation test, the built-in controller calculates the simulated motion state of the current speed-regulating pig experimental device 9 based on the real-time pressure feedback measured by the pressure sensor and the real-time flow feedback measured by the flow meter, and controls the drive motor 13 to drive the transmission mechanism 14 to move, thereby adjusting the valve opening between the bypass moving valve 15 and the bypass stationary valve 16.

[0044] In one embodiment, the first pressure detection mechanism 17 is located on the fifth straight pipe, and the second pressure detection mechanism 10 is located on the sixth straight pipe.

[0045] This invention also discloses an equivalent method for pig speed. Using the aforementioned intelligent speed-regulating pig experimental testing system, this pig speed equivalent method maps the movement process of the intelligent speed-regulating pig in the actual pipeline to the flow change experiment of the speed-regulating pig experimental device 9 of the intelligent speed-regulating pig experimental testing system under fixed position conditions through equivalent transformation. The pig speed equivalent method includes the following steps: Adjust the valve opening of the bypass valve of the speed-regulating pig test device 9 to the maximum. The frequency of the variable frequency motor of the pressure-stabilized and frequency-adjustable water pump 4 and the opening of the flow regulating valve 6 are adjusted to regulate the initial flow rate in the experimental loop, and the initial flow rate Q in the experimental loop is obtained by the flow detection mechanism 5. 初始 Q 初始Set value; The frequency of the variable frequency motor of the fixed pressure-stabilizing frequency-regulating water pump 4 and the opening degree of the flow regulating valve 6; Start the control and monitoring device 12 to conduct a speed adjustment test. During the speed adjustment test, adjust the valve opening of the bypass valve and record the valve opening. And the real-time traffic value Q obtained by traffic detection agency 5; according to The movement speed of the simulated speed-regulating pig experimental device 9 and with the speed of movement As a feedback parameter during the speed regulation test.

[0046] Furthermore, to judge Is it equal to V? 目标 If not, continue adjusting the bypass valve opening; if yes, stop adjusting the bypass valve opening and record the flow rate value Q obtained by the flow detection mechanism 5 at the current valve opening. 最终 It should be noted that when the speed of the variable-speed pigging experimental device 9 moves... Once stabilized, the flow rate within the experimental loop will no longer change drastically and will stabilize at Q. 最终 Therefore, the real-time reading of the flow detection mechanism 5 will tend to stabilize, thus verifying that the tested control and monitoring device 12 can control the speed, and that the speed control system of the intelligent speed-regulating pig is effective. This pig speed equivalent method solves the difficulty of building a long-distance experimental loop under laboratory conditions, and can monitor multiple parameters in real time during the speed regulation process of the intelligent speed-regulating pig, realizing accurate testing of the effectiveness of the speed control system of the intelligent speed-regulating pig under laboratory conditions.

[0047] Furthermore, during the speed regulation test, the load changes during the actual operation of the pig were simulated by finely adjusting the outlet pressure of the pressure-regulating and frequency-adjusting water pump 4. This setup allows for flexible testing of the response characteristics and robustness of the speed control system under different operating conditions, providing a convenient and controllable experimental method for the research and development and performance evaluation of the speed control algorithm for intelligent speed-regulating pigs.

[0048] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the implementation of the present invention. Those skilled in the art can make other variations or modifications based on the above description. It is neither necessary nor possible to exhaustively describe all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the claims of the present invention.

Claims

1. An experimental testing system for an intelligent speed-regulating pigging device, characterized in that, The intelligent speed-regulating pig experimental testing system, set up in the laboratory, includes: Water tank (1), the water tank (1) contains water, the water tank (1) has an outlet (3) and a return outlet (11); Connecting pipe (8), the inlet end of the connecting pipe (8) is connected to the outlet (3), and the outlet end of the connecting pipe (8) is connected to the return water port (11) to form an experimental loop; A pressure-stabilizing and frequency-adjusting water pump (4) is installed on the connecting pipe (8) and located near the outlet (3). The pressure-stabilizing and frequency-adjusting water pump (4) is configured to maintain a constant outlet pressure by adjusting the frequency. A flow detection mechanism (5) is provided on the connecting pipe (8) and located downstream of the pressure-regulating frequency-adjusting water pump (4); A flow regulating valve (6) is provided on the connecting pipe (8) and located downstream of the flow detection mechanism (5) for regulating the initial flow rate in the experimental loop. Speed-regulating pig experimental device (9), the speed-regulating pig experimental device (9) is fixed on the connecting pipe (8) and located downstream of the flow regulating valve (6). The speed-regulating pig experimental device (9) includes a drive motor (13), a transmission mechanism (14) and a bypass valve. The drive motor (13) has position control and position information feedback functions. The position information includes the motor rotation angle and the number of motor rotations. The drive motor (13) is connected to the bypass valve through the transmission mechanism (14) and can change the valve opening of the bypass valve. The control and monitoring device (12) is communicatively connected to the flow detection mechanism (5) and the drive motor (13). The control and monitoring device (12) can obtain the flow information of the flow detection mechanism (5) and determine the valve opening of the bypass valve based on the position information fed back by the drive motor (13). During the speed regulation test of the control and monitoring device (12), the control and monitoring device (12) can simulate the movement speed of the speed regulation pig experimental device (9) based on the flow information fed back by the flow detection mechanism (5) and the valve opening of the bypass valve. and at the speed of motion As a feedback parameter during the speed regulation test; among which, ； The initial flow rate is Q, which is the initial flow rate obtained by the flow detection mechanism (5) when the bypass valve is at its maximum opening. 初始 The ratio of the cross-sectional area A of the connecting pipe (8) at the flow detection mechanism (5); for real-time flow rate, the real-time flow rate being the ratio of the real-time flow value Q of the flow detection mechanism (5) to A; is the valve opening degree of the bypass valve.

2. The intelligent pigging test system of claim 1, wherein, The intelligent speed-regulating pig experimental test system also includes a first pressure detection mechanism (17) and a second pressure detection mechanism (10). The first pressure detection mechanism (17) and the second pressure detection mechanism (10) are both located on the connecting pipe (8), and the first pressure detection mechanism (17) is located upstream of the speed-regulating pig experimental device (9), while the second pressure detection mechanism (10) is located downstream of the speed-regulating pig experimental device (9). The control monitoring device (12) is communicatively connected to both the first pressure detection mechanism (17) and the second pressure detection mechanism (10), and is able to acquire the first pressure information of the first pressure detection mechanism (17) and the second pressure information of the second pressure detection mechanism (10). The first pressure information and the second pressure information serve as feedback parameters during the speed regulation test of the control monitoring device (12).

3. The intelligent pigging test system of claim 1, wherein, The intelligent speed-regulating pipeline cleaning experimental testing system also includes a switching valve (2), which is located at the outlet (3).

4. The intelligent pigging test system of claim 1, wherein, The connecting pipe (8) includes a first straight pipe, a second straight pipe and a third straight pipe. One end of the first straight pipe is connected to the outlet (3), and the other end of the first straight pipe is connected to the inlet of the pressure-regulating and frequency-adjusting water pump (4) through a first flange. One end of the second straight pipe is connected to the outlet of the pressure-regulating and frequency-adjusting water pump (4) through a second flange. The other end of the second straight pipe is connected to the inlet of the flow detection mechanism (5) through a third flange. One end of the third straight pipe is connected to the outlet of the flow detection mechanism (5) through a fourth flange. The other end of the third straight pipe is connected to the inlet of the flow regulating valve (6) through a fifth flange.

5. The intelligent speed-regulating pig experimental testing system according to claim 4, characterized in that, The connecting pipe (8) also includes a first bend, a fourth straight pipe, a second bend, and a fifth straight pipe connected in sequence via a connecting flange (7). The end of the first bend away from the fourth straight pipe is connected to the outlet end of the flow regulating valve (6) via a sixth flange. The end of the fifth straight pipe away from the second bend is connected to the inlet end of the speed regulating pig experimental device (9) via a seventh flange.

6. The intelligent pigging test system of claim 2, wherein, The connecting pipe (8) includes a fifth straight pipe and a sixth straight pipe. The fifth straight pipe is connected to the inlet end of the speed-regulating pig experimental device (9), and the sixth straight pipe is connected to the outlet end of the speed-regulating pig experimental device (9). The first pressure detection mechanism (17) is located on the fifth straight pipe, and the second pressure detection mechanism (10) is located on the sixth straight pipe.

7. The intelligent pigging test system of claim 1, wherein, The outlet (3) is located on the side of the water tank (1), and the return water inlet (11) is located on the top of the water tank (1), with the return water inlet (11) being higher than the outlet (3).

8. The intelligent pigging test system of claim 7, wherein, The connecting pipe (8) includes a first straight pipe, a sixth straight pipe and a bent pipe. The first straight pipe is connected to the outlet (3). One end of the sixth straight pipe is connected to the outlet end of the speed-regulating pipe cleaning experimental device (9). One end of the bent pipe is connected to the other end of the sixth straight pipe. The other end of the bent pipe is connected to the return water port (11). The first straight pipe and the sixth straight pipe are set at the same height. The bent pipe is set higher than the sixth straight pipe.

9. The intelligent pigging test system of claim 1, wherein, The bypass valve includes a bypass moving valve (15) and a bypass fixed valve (16) arranged opposite to each other. The transmission mechanism (14) includes a lead screw and a nut block. The motor shaft of the drive motor (13) is connected to one end of the lead screw. The nut block is threaded on the lead screw and forms a lead screw and nut pair. The nut block is fixedly connected to the bypass moving valve (15).

10. A pig speed equivalent method characterized by, Using the intelligent speed-regulating pig experimental testing system according to any one of claims 1-9, and mapping the movement process of the intelligent speed-regulating pig in the actual pipeline to the flow change experiment of the speed-regulating pig experimental device (9) of the intelligent speed-regulating pig experimental testing system under fixed position conditions through equivalent transformation, the pig speed equivalent method includes the following steps: Adjust the valve opening of the bypass valve of the speed-regulating pig test device (9) to the maximum; Adjust the frequency of the variable frequency motor of the regulated frequency pump (4) and the opening of the flow regulating valve (6) to adjust the initial flow rate in the experimental loop, and use the flow detection mechanism (5) to obtain the initial flow rate Q in the experimental loop. 初始 Q 初始 Set value; The frequency of the variable frequency motor of the regulated frequency pump (4) and the opening degree of the flow regulating valve (6) are fixed. The starting control monitoring device (12) carries out a speed regulation test, and during the speed regulation test, the valve opening of the bypass valve is adjusted, and the valve opening of the bypass valve is recorded and the real-time flow value Q obtained by the flow detection mechanism (5); According to The movement speed of the pigging device (9) is simulated , and the movement speed is used as a feedback parameter during the speed test.

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