考虑流固耦合的管道机器人冲击环焊缝过程动力学建模与分析

doi:10.3901/JME.2020.23.129

机械工程学报 ›› 2020, Vol. 56 ›› Issue (23): 129-140.doi: 10.3901/JME.2020.23.129

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考虑流固耦合的管道机器人冲击环焊缝过程动力学建模与分析

张行¹, 崔灿¹, 廖宁生^1,2, 张仕民¹

1. 中国石油大学(北京)机械与储运工程学院北京 102249;
2. 莱斯大学机械工程系休斯顿美国 77251

收稿日期:2019-07-11 修回日期:2020-06-19 出版日期:2020-12-05 发布日期:2021-01-11
作者简介:张行,男,1988年出生,博士,副教授,硕士研究生导师。主要研究方向为油气管道特种机器人设计理论与服役可靠性。E-mail:zhanghang@cup.edu.cn,zhanghang25@126.com
基金资助:
国家自然科学基金（51805542）、中国石油大学（北京）科研启动基金（2462020YXZZ046）和中国石油天然气集团有限公司-中国石油大学（北京）战略合作科技专项（ZLZX2020-05）资助项目。

Dynamic Modeling and Analysis of Pipeline Inspection Gauge Passing Girth Welds Considering Fluid-solid Coupling

ZHANG Hang¹, CUI Can¹, LIAO Ningsheng^1,2, ZHANG Shimin¹

1. College of Mechanical and Storage and Transportation Engineering, China University of Petroleum (Beijing), Beijing 102249;
2. Department of Mechanical Engineering, Rice University, Houston, USA 77251

Received:2019-07-11 Revised:2020-06-19 Online:2020-12-05 Published:2021-01-11

摘要/Abstract

摘要： 以管道机器人（Pipeline inspection gauge，PIG）为载体的内检测技术是保障油气管道安全运输的重要手段。针对管内高压流体作用下，管道机器人在冲击管内环焊缝过程中产生的动力学行为突变问题。建立了管道周向受限空间中基于Kelvin弹簧阻尼的管道机器人密封盘等效动力学模型，结合管道机器人本体建立了多体系管道机器人动力学模型；详细推导了管道机器人轴向振动微分方程，以及管内流体的流动方程；并使用Matlab/Simulink与Adams进行流固耦合仿真，作为重要的工艺参数之一，研究了管道机器人速度改变时，其在冲击环焊缝过程中的动力学响应情况。结果表明：所建立的密封盘及管道机器人动力学模型能够很好地表征密封盘在管道轴向、径向以及周向的力学特性；运行速度越快，管道机器人通过环焊缝引起的轴向振动越剧烈，冲击振动越明显；而垂向和俯仰振动现象随运动速度增大而显著减弱。

关键词: 管道机器人, 流固耦合, 冲击振动, 动力学响应, 多体系模型

Abstract: Pipeline inner inspection technology based on pipeline inspection gauge (PIG), is the primary means to ensure the safety and reasonable maintenance of oil and gas pipelines. Aiming at the problem of sudden changes in dynamic behavior of the PIG when impacting the girth weld in the pipe under the action of high-pressure fluid. A dynamic model of the sealing disc based on Kelvin spring damping in the circumferentially confined space is established. The PIG system dynamics model is established based on the sealing disc model. The axial vibration differential equations of the overall model and the flow equation are deduced in detail. The fluid-solid coupling simulation of Matlab/Simulink and Adams is carried out. The dynamic response of the PIG to impact the girth weld is studied when the velocity of motion is changed. The results show that the established dynamic model of the sealing disc and pipeline PIG system can well characterize the mechanical properties of the sealing disc and the PIG in the axial, radial and circumferential directions of the pipeline. The faster the PIG moves, the more intense the axial vibration caused by the girth weld, and the more obvious the collision vibration, while the vertical and the pitch vibrations are significantly weakened with the increase of the moving velocity.

Key words: pipeline inspection gauge, fluid-solid coupling, shock vibration, dynamic response, multi-system model

中图分类号:

TE973

张行, 崔灿, 廖宁生, 张仕民. 考虑流固耦合的管道机器人冲击环焊缝过程动力学建模与分析[J]. 机械工程学报, 2020, 56(23): 129-140.

ZHANG Hang, CUI Can, LIAO Ningsheng, ZHANG Shimin. Dynamic Modeling and Analysis of Pipeline Inspection Gauge Passing Girth Welds Considering Fluid-solid Coupling[J]. Journal of Mechanical Engineering, 2020, 56(23): 129-140.

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考虑流固耦合的管道机器人冲击环焊缝过程动力学建模与分析

Dynamic Modeling and Analysis of Pipeline Inspection Gauge Passing Girth Welds Considering Fluid-solid Coupling

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