基于ADAMS的里程轮过环焊缝运动学分析
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摘要
环焊缝作为油气管道内部最常见的特征之一,对里程轮距离测量具有重要影响。为了研究里程轮过环焊缝产生误差的原因,采用运动学理论分析结合数值模拟的方式对其过环焊缝的运动过程进行了分析。介绍了常用里程轮的结构及其检测原理,建立了相应的数学模型。基于ADAMS多体动力学软件对里程轮过环焊缝过程进行运动学仿真,以里程轮运动轨迹及角速度变化规律为研究对象,分析了不同运行速度下里程轮过环焊缝的运动过程。分析结果表明:里程轮过环焊缝运动轨迹受运动速度影响很大,速度越高,产生的里程测量误差具有先减小后增大的趋势;速度不同,引起滚轮与环焊缝的碰撞能量损失不同,进而造成滚轮角速度的变化规律也不相同;运行速度较低时,环焊缝摩擦力会对滚轮做正功,运行速度较高时,滚轮与环焊缝脱离产生空转现象,进而造成较大的里程测量误差。研究结果可为里程轮过环焊缝误差分析提供理论依据,对提高内检测器检测数据的定位精度具有重大意义。
As one of the most common features in oil and gas pipelines,girth welds have an important impact on distance measurement of odometer. To study the distance measurement error of odometer by passing over the girth weld,the kinematics theory analysis combined with numerical simulation was used to analyze the motion of odometer passing over the girth weld. The structure of the commonly used odometer and its measurement principle is introduced,and the corresponding mathematical model is established. Based on the ADAMS multi-body dynamics software,the kinematics of the odometer passing over girth welding was simulated. Taking the trajectory and the angular velocity of the odometer as study object,the motion processes of the odometer passing over girth weld at different speeds were analyzed. The results showed that the trajectory of the odometer passing over girth weld is greatly affected by the moving speed. The increased speed could result in reduced and then increased measurement error of the odometer. Different speeds lead to different collision energy loss between the odometer and the girth weld,and different angular velocity variations of the odometer. When the odometer running speed is low,the frictional force of the girth weld will provide positive work on the odometer. When the odometer running speed is high,the odometer will be detached with the girth weld and result in idling,leading to great measurement error. The study results provided a theoretical basis for the error analysis of the odometer passing over girth weld,which is of great significance for improving the positioning accuracy of the measurement data of internal detector.
As one of the most common features in oil and gas pipelines,girth welds have an important impact on distance measurement of odometer. To study the distance measurement error of odometer by passing over the girth weld,the kinematics theory analysis combined with numerical simulation was used to analyze the motion of odometer passing over the girth weld. The structure of the commonly used odometer and its measurement principle is introduced,and the corresponding mathematical model is established. Based on the ADAMS multi-body dynamics software,the kinematics of the odometer passing over girth welding was simulated. Taking the trajectory and the angular velocity of the odometer as study object,the motion processes of the odometer passing over girth weld at different speeds were analyzed. The results showed that the trajectory of the odometer passing over girth weld is greatly affected by the moving speed. The increased speed could result in reduced and then increased measurement error of the odometer. Different speeds lead to different collision energy loss between the odometer and the girth weld,and different angular velocity variations of the odometer. When the odometer running speed is low,the frictional force of the girth weld will provide positive work on the odometer. When the odometer running speed is high,the odometer will be detached with the girth weld and result in idling,leading to great measurement error. The study results provided a theoretical basis for the error analysis of the odometer passing over girth weld,which is of great significance for improving the positioning accuracy of the measurement data of internal detector.
引文
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[4]代莉莎,张仕民,朱霄霄等.油气管道通径检测器技术研究进展[J].油气储运,2012,31(11):808-813.DAI L S,ZHANG S M,ZHU X X.Research progress of pipeline path detector technology[J].Oil&Gas storage and transportation,2012,31(11):808-813.
[5]KIM D,PARK S,CHO S,et al.Development and measurement error compensation of odometer system for intelligent PIG[J].J.Korean Inst.Gas,2002,6(1):17-23.
[6]ZHU X X,LI X L,ZHAO C H,et al.Dynamic simulation and experimental research on the motion of odometer passing over the weld[J].Journal of Natural Gas Science and Engineering,2016(30):205-212.
[7]SADOVNYCHIY S,LOPEZ J.Improvement of pipeline odometer system accuracy[C]∥Canadian International Petroleum Conference.Ottawa:Petroleum Society of Canada,2005.
[8]WANG Z G,TAN J,SUN Z C,et al.Error factor and mathematical model of positioning with odometer wheel[J].Adv.Mech.Eng.,2015,7(1):305981.
[9]LI X,ZHANG S M,LIU S H,et al.Research for distance measurement of offshore pipeline defects[C]∥The Twenty-fifth International Offshore and Polar Engineering Conference.[S.l.]:International Society of Offshore and Polar Engineers,2015.
[10]CHOWDHURY M S,ABDEL-HAFEZ M F.Pipeline inspection gauge position estimation using inertial measurement unit,odometer,and a set of reference stations[J].ASCE-ASME J.Risk Uncertain.Eng.Syst.Part B Mech Eng.,2016,2(2):021001-1.