CN101819082A - Speed control device and speed control method for flux leakage detector of oil pipeline - Google Patents
Speed control device and speed control method for flux leakage detector of oil pipeline Download PDFInfo
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- CN101819082A CN101819082A CN 201010133563 CN201010133563A CN101819082A CN 101819082 A CN101819082 A CN 101819082A CN 201010133563 CN201010133563 CN 201010133563 CN 201010133563 A CN201010133563 A CN 201010133563A CN 101819082 A CN101819082 A CN 101819082A
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- flux leakage
- leakage detector
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- speed control
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Abstract
The invention provides a speed control device and a speed control method for a flux leakage detector of an oil pipeline. The speed control device for the flux leakage detector consists of a tachometer generator, a controller, a fixed disc, a mile wheel, a driving leather cup and solenoid valves, wherein the mile wheel is arranged on the flux leakage detector of the oil pipeline and is connected with one end of the tachometer generator; the other end of the tachometer generator is connected with the controller through a data wire; the controller is connected with the fixed disc through a data wire; eight solenoid valves are arranged on the fixed disc; and the driving leather cup is arranged at the tail end of the flux leakage detector of the oil pipeline and is connected with a flange in the middle of the fixed disc. The speed control device and the speed control method can eliminate the influence on the flux leakage detector of the oil pipeline caused by the unstable flow rate of a liquid in the pipeline, realize the stable running of the flux leakage detector of the oil pipeline, contribute to comprehensive detection of flux leakage data in the pipeline and improve the defect detection precision.
Description
Technical field
The present invention relates to a kind of automaton, the invention still further relates to a kind of control method, particularly at the automaton and the control method thereof of movement velocity.
Background technology
The oil-vapor pipe magnet leakage detection technique is the detection method that is used for oil-vapor pipe defects detection comparative maturity at present, and the acting force that the whole pipe detecting device relies on oil pressure to produce on the driving leather cup moves forward.Since the flow rate of liquid instability, thus detecting device travelling speed instability caused, influenced the effect of Magnetic Flux Leakage Inspecting, so the situation of defective omission can occur, influence the defects detection precision.
Open report related to the present invention has: 1, developed a kind of device of realizing the control of natural gas line detector speed by the pneumatic control cascading water in " natural gas line defect detector cascading water device " (" Tsing-Hua University's journal " natural science edition, 2008 the 1st phases) literary composition.This device utilizes the pressure differential of in-pipeline detector front and back rock gas as driving force, and according to the detector speed requirement, the piston that drives cylinder is realized the switch of cascading water passage; 2, having introduced with voltage driven type pulse width modulation controlled integrated circuit TL494 in " the travelling speed control of X-ray tube pipeline crawler " (" Tangshan College's journal " 2003 16 volume third phases) literary composition is the pipe crawling device speed controller of core parts, it can become the direct current signal that is directly proportional and changes with pulse width to the conversion of signals of pulse wide variety, and then realizes the travelling speed control of direct current generator; 3, in " driving, speed control principle analysis and the structural design of MEDIA FLOW pressure differential formula pipe robot " (" Jilin Institute of Chemical Technology journal " 2009 the 26th volume second phases) literary composition by to robot at ducted force analysis, drawn the relation between the driving force, velocity variable, driving area of Power Self-support In-pipe Robot.Proposed to utilize leather cup also to pass through the speed of travel of rotating disc type throttle grverning device control robot as the self-driven function of driver element realization robot according to this relation.Though have the open report about the speed control unit of pipe detector, these prior arts all do not solve the stable problem of pipe detector under various running statuses.
Summary of the invention
The invention reside in the movement velocity that a kind of real-time control detection device is provided, make it be in stable running status, thereby reach the oil-vapor pipe detector speed control device and the method for control speed thereof of complete detection pipe leakage information purpose.
The object of the present invention is achieved like this:
Oil-vapor pipe detector speed control device of the present invention comprises tech-generator, controller, price fixing, mileage wheel, drives leather cup and solenoid valve, it is characterized in that: described mileage wheel be installed in the oil and gas pipes flux leakage detector above, and link to each other with an end of tech-generator, the other end of tech-generator links to each other with controller by data line, controller links to each other with price fixing by data line, a solenoid valve is installed on the price fixing, drive the tail end that leather cup is installed in the oil and gas pipes flux leakage detector, and link to each other with the flange of price fixing centre.
Method for control speed of the present invention is: adopt by tech-generator, controller, price fixing, the mileage wheel, drive the speed control unit that leather cup and solenoid valve are formed, tech-generator detects the travelling speed of flux leakage detector of oil pipeline in real time, and import testing result into controller, controller is analyzed the motion state and the movement velocity of flux leakage detector of oil pipeline according to the testing result that obtains, on off state and switch number that the conclusion that obtains according to analysis is come the solenoid valve on the control detection device price fixing reach the purpose of control flux leakage detector of oil pipeline speed by the combination of the different on off states of 8 solenoid valves.
Advantage of the present invention is: can eliminate because the influence that the flow rate of liquid instability is brought flux leakage detector of oil pipeline in the pipeline, realize the stable operation of flux leakage detector of oil pipeline, help the magnetic flux leakage data in the complete detection pipe, improve the defects detection precision.
Description of drawings
Fig. 1 is a pipe detector speed control unit structural drawing;
Fig. 2 is driving device structure figure;
Fig. 3 speed control process flow diagram.
Embodiment
For example the present invention is done description in more detail below in conjunction with accompanying drawing:
Oil-vapor pipe detector speed control device structure as shown in Figure 1 and Figure 2, comprise tech-generator 1, controller 2, price fixing 3, mileage wheel 4, drive leather cup 5 and solenoid valve, tech-generator is a kind of calutron that detects mechanical separator speed, it can convert mechanical separator speed to voltage signal, and the voltage of its output and the rotating speed of input are proportional.Used in the present invention is ZYS-A series DC permanet-magnet tachometer generator, have easy to use, the precision height, in light weight, characteristics such as volume is little; The present invention uses the embedded speed control based on PC104, motion state and travelling speed agreement according to the pipe detector of setting, the output corresponding control information is controlled the solenoid valve number and the position that open or close on the price fixing, reaches the purpose of the relatively stable operation of pipe detector; Price fixing is made by steel plate, and middle perforate mounting flange is used for linking to each other with the driving leather cup; Open eight discharge orifices that size is identical successively clockwise on price fixing, install the direct-acting electromagnetic valve that latus rectum is no more than 25mm, solenoid generation electromagnetic force is mentioned closing member valve open during energising from valve seat; During outage, electromagnetic force disappears, and the spring handle closing member is pressed on the valve seat, valve closing.By the control information of controller output, control the switching of each solenoid valve, realize adjusting the purpose of pipe detector travelling speed.Mileage wheel 4 be installed in the oil and gas pipes flux leakage detector above, and link to each other with an end of tech-generator 1, the other end of tech-generator 1 links to each other with controller 2 by data line, controller 2 links to each other with price fixing 3 by data line, 8 solenoid valves are installed on the price fixing 3, be respectively a, b, c, d, e, f, g and h, drive the tail end that leather cup 5 is installed in the oil and gas pipes flux leakage detector, and link to each other with the flange of price fixing 3 centres.The travelling speed of tech-generator 1 real-time oily vapour detector tube pipe magnet leakage detector, detected speed result is imported controller 2 into by data communication bus, realization to the analysis of pipe leakage detector travelling speed and running status after controller 2 output speed control informations to price fixing 3, the Kai Heguan of 8 solenoid valves on the control price fixing 3, drive the size that leather cup 5 surfaces contact with liquid thereby change, and then change driving force, control detection device travelling speed realizes the stable operation of Pipeline Magnetic Flux Leakage Inspection.
The velocity analysis process of controller interior conduit detecting device is:
Pipe detector moves in pipeline in the experiment, and the mileage wheel contacts fully with tube wall all the time, and force analysis is as follows in the detecting device walking process
(p
1-p
2)A
1-F
f＝ma (1)
In the formula: p
1Be the pressure of upstream liquid in the generation of pipe detector surface;
p
2Be the pressure of downstream liquid in the generation of pipe detector surface;
A
1Effective lifting surface area for pipe detector;
F
fBe the friction force sum that produces between mileage wheel and leather cup and the tube wall.
(p
1-p
2) for affacting the effective pressure difference on the pipe detector, travel at the uniform speed in pipeline in order to make pipe detector, should make its acceleration is zero, the velocity amplitude when therefore the travelling speed of available detecting device is stable operation under the condition of (2) formula.
(p
1-p
2)A
1＝F
f (2)
Effective pressure difference of the pipe detector that can move in medium by existing proof is
In the formula: p is that the effective pressure that produces on the pipe detector surface is poor;
ρ is the density of pipeline inner fluid;
K
ρBe pressure drop coefficient;
A is the cross-sectional area of pipe detector;
X is that the area of relief port is the integral multiple of single solenoid valve;
Q is that the flow of inlet flow body medium and the speed of fluid have relation;
V is the travelling speed of detecting device.
In conjunction with condition (2) Shi Kede of pipe detector stable operation, the velocity amplitude of actual pipe detector stable operation will get after (3) formula substitution (2) formula
8 identical solenoid valves of cross-sectional area have been installed on the driver price fixing of pipe detector, and the number combination one of utilization equilibrium principle switch electromagnetic valve has 4 kinds, and the cross-sectional area of establishing each solenoid valve is x.Under the constant condition of friction force, then can open under two solenoid valve situations, the uniform velocity of X=2x detecting device this moment is
Under the constant condition of friction force, then can open under four solenoid valve situations, the uniform velocity of X=4x detecting device this moment is
Under the constant condition of friction force, then can open under six solenoid valve situations, the uniform velocity of X=6x detecting device this moment is
Under the constant condition of friction force, then can open under eight solenoid valve situations, the uniform velocity of X=8x detecting device this moment is
The detected true velocity of tech-generator is V
Actual, obtain the situation of electromagnetic valve switch after with this speed and its 4 kinds of velocity ratios.
(1) under the situation that travelling speed is accelerated
Work as V
Actual=V
At the uniform velocityKeep original state to make its stable operation
Work as V
At the uniform velocity＜V
Actual＜V
1 at the uniform velocityAperture is transferred and is opened 2 valve opening solenoid solenoid valve a, e or b, f or c, g or d, h greatly
Work as V
1 at the uniform velocity＜V
Actual＜V
2 at the uniform velocityAperture is transferred and is opened 4 valve opening solenoid solenoid valve a, b, e, f or b, c, f, g or c, d, g, h or a, d, e, h or a, c, e, g or b, d, f, h greatly
Work as V
2 at the uniform velocity＜V
Actual＜V
3 at the uniform velocityAperture is transferred and is opened 6 valve opening solenoid solenoid valve a, b, c, f, g, h or b, c, d, f, g, h or a, c, d, e, g, h or a, b, d, e, f, h greatly
Work as V
3 at the uniform velocity＜V
Actual＜V
4 at the uniform velocityAperture is transferred and is opened 8 valve opening solenoid solenoid valve a, b, c, d, e, f, g, h greatly
(2) under the situation that travelling speed slows down
Work as V
Actual=V
At the uniform velocityKeep original state to make its stable operation
Work as V
1 at the uniform velocity＜V
Actual＜V
At the uniform velocityAperture is turned down and is closed 2 solenoid valves pass solenoid valve a, e or b, f or c, g or d, h
Work as V
2 at the uniform velocity＜V
Actual＜V
1 at the uniform velocityAperture is turned down and is closed 4 solenoid valves pass solenoid valve a, b, e, f or b, c, f, g or c, d, g, h or a, d, e, h or a, c, e, g or b, d, f, h
Work as V
3 at the uniform velocity＜V
Actual＜V
2 at the uniform velocityAperture is turned down and is closed 6 solenoid valves pass solenoid valve a, b, c, f, g, h or b, c, d, f, g, h or a, c, d, e, g, h or a, b, d, e, f, h
Work as V
4 at the uniform velocity＜V
Actual＜V
3 at the uniform velocityAperture is turned down and is closed 8 solenoid valves pass solenoid valve a, b, c, d, e, f, g, h
(3) under the pipe detector process situation of threeway
In order to make detecting device stable operation, on the basis of existing valve opening solenoid off status, open two solenoid valves (a, e or b, f or c, g or d, h), controller sends control signal automatically behind the 5s, recover by continuing above-mentioned (1), the adjustment process of (2) speed speed, controlled motion speed behind the state before the threeway.
(4) when pipe detector runs to pipe bent position
Handle in two kinds of situation.When turning left, four solenoid valve a, f of the left-half on original price fixing, g, h make it be in open mode under the effect of controller, simultaneously, mnemon storage on the controller is by the on off state of solenoid valve before the left bend pipe, controller sends control signal automatically behind the 5s, recover by continuing above-mentioned (1), (2) process, adjustment movement speed behind the state before the bend pipe.When bending to right, four solenoid valve b, c of the right half part on original price fixing, d, e should be in open mode under the effect of controller, simultaneously, mnemon storage on the controller is by the solenoid valve state before the right bend pipe, controller sends control signal automatically behind the 5s, recover by continuing above-mentioned (1), (2) process, adjustment movement speed behind the state before the bend pipe.
(5) be stuck in pipe interior when pipe detector
Pipe detector moves in pipeline, if mileage wheel 5s does not send pulse signal to controller later, shows that pipe detector has been blocked by some barrier in operational process.In the case, the current motion state of mnemon storage.Controller sends control signal and opens all solenoid valve a, b, c, d, e, f, g and h, simultaneously, controller sends control signal, the urethane rubber shell fragment of 8 semicircular arcs of price fixing periphery is opened, to have increased the friction force between pipe detector and the tube wall, slowed down by the acceleration of card back pipe detector operation.Pipe detector normally moves after a period of time, and mileage wheel sends pulse signal, receives at controller this moment under the situation of pulse signal and sends instruction with 8 semi arch elastomeric closures, recovers normal speed adjustment state.
Be 5 kinds of states of adjusting pipe detector travelling speed proposed by the invention in sum, be used to make pipe detector stable operation in pipeline, the magnetic flux leakage data that makes sampling improves the precision that pipeline defect and magnetic leakage detects more comprehensively.
In conjunction with Fig. 3, at first detect current travelling speed value, the value of traveling at the uniform speed under its value and the perfect condition is compared, if values for actual speed is greater than at the uniform velocity being worth V
Actual＞V
At the uniform velocity, then, regulate the number of opening valve according to the 4 retaining velocity amplitudes that are provided with; If values for actual speed is less than at the uniform velocity being worth V
Actual＜V
At the uniform velocity,, regulate the number of valve-off then according to the 4 retaining velocity amplitudes that are provided with; As the velocity amplitude of reality is too small when approaching zero V
Actual=0, not only want the number of control valve, also want the unlatching of shell fragment on the governing speed regulator, the adjusting by speed is near the state V that travels at the uniform speed detecting device
Actual=V
At the uniform velocityThe number that when detecting device will move by threeway or turn round, will also want control valve to open.In a word, make detecting device operate in stable state stably.
Claims (2)
1. flux leakage detector of oil pipeline speed control unit, it comprises tech-generator (1), controller (2), price fixing (3), mileage wheel (4), drive leather cup (5) and solenoid valve, it is characterized in that: described mileage wheel (4) be installed in the oil and gas pipes flux leakage detector above, and link to each other with an end of tech-generator (1), the other end of tech-generator (1) links to each other with controller (2) by data line, controller (2) links to each other with price fixing (3) by data line, price fixing (3) is gone up 8 solenoid valves is installed, drive the tail end that leather cup (5) is installed in the oil and gas pipes flux leakage detector, and link to each other with the flange of price fixing (3) centre.
2. flux leakage detector of oil pipeline method for control speed, it is characterized in that: adopt by tech-generator (1), controller (2), price fixing (3), mileage wheel (4), drive the speed control unit that leather cup (5) and solenoid valve are formed, tech-generator (1) detects the travelling speed of flux leakage detector of oil pipeline in real time, and import testing result into controller (2), controller (2) is analyzed the motion state and the movement velocity of flux leakage detector of oil pipeline according to the testing result that obtains, on off state and switch number that the conclusion that obtains according to analysis is come the solenoid valve on the control detection device price fixing (3) reach the purpose of control flux leakage detector of oil pipeline speed by the combination of the different on off states of 8 solenoid valves.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201010133563XA CN101819082B (en) | 2010-03-29 | 2010-03-29 | Speed control device and speed control method for flux leakage detector of oil pipeline |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201010133563XA CN101819082B (en) | 2010-03-29 | 2010-03-29 | Speed control device and speed control method for flux leakage detector of oil pipeline |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101819082A true CN101819082A (en) | 2010-09-01 |
| CN101819082B CN101819082B (en) | 2011-09-14 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201010133563XA Expired - Fee Related CN101819082B (en) | 2010-03-29 | 2010-03-29 | Speed control device and speed control method for flux leakage detector of oil pipeline |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103721986A (en) * | 2014-01-02 | 2014-04-16 | 西南石油大学 | Pipe cleaner speed controller with brake pads |
| CN106595457A (en) * | 2016-12-08 | 2017-04-26 | 辽宁石油化工大学 | Oil pipe automatic dredging device and application method thereof |
| CN107366797A (en) * | 2017-06-15 | 2017-11-21 | 西安理工大学 | A kind of controllable pneumatic type pipe robot of speed |
| CN105843127B (en) * | 2016-05-12 | 2018-06-12 | 核工业理化工程研究院 | The control system of stepper motor regulating valve |
| CN109185710A (en) * | 2018-08-30 | 2019-01-11 | 北京亚力特科技开发有限公司 | Low pressure short distance internal detector spring-type governor and application method |
| CN112145869A (en) * | 2020-09-27 | 2020-12-29 | 中石油西北联合管道有限责任公司 | Speed control system for detector in high-pressure and large-caliber gas transmission pipeline |
| CN112881515A (en) * | 2021-01-24 | 2021-06-01 | 北京埃彼咨能源科技有限公司 | Three-dimensional magnetic flux leakage imaging detector in multi-section combined pipeline |
| CN113217824A (en) * | 2021-04-20 | 2021-08-06 | 中国石油大学(华东) | Sulfur-containing natural gas pipeline leakage detection device and method based on parallel pipeline continuous sampling analysis |
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| GB2088554A (en) * | 1980-11-28 | 1982-06-09 | Pls Pipeline Service Uk Ltd | Pipeline route surveying device |
| CN2788186Y (en) * | 2005-04-30 | 2006-06-14 | 哈尔滨工程大学 | Fuel pipe magnetic leakage detecting device |
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2010
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Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3786684A (en) * | 1971-12-27 | 1974-01-22 | Automation Ind Inc | Pipeline inspection pig |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103721986A (en) * | 2014-01-02 | 2014-04-16 | 西南石油大学 | Pipe cleaner speed controller with brake pads |
| CN105843127B (en) * | 2016-05-12 | 2018-06-12 | 核工业理化工程研究院 | The control system of stepper motor regulating valve |
| CN106595457A (en) * | 2016-12-08 | 2017-04-26 | 辽宁石油化工大学 | Oil pipe automatic dredging device and application method thereof |
| CN107366797A (en) * | 2017-06-15 | 2017-11-21 | 西安理工大学 | A kind of controllable pneumatic type pipe robot of speed |
| CN109185710A (en) * | 2018-08-30 | 2019-01-11 | 北京亚力特科技开发有限公司 | Low pressure short distance internal detector spring-type governor and application method |
| CN112145869A (en) * | 2020-09-27 | 2020-12-29 | 中石油西北联合管道有限责任公司 | Speed control system for detector in high-pressure and large-caliber gas transmission pipeline |
| CN112881515A (en) * | 2021-01-24 | 2021-06-01 | 北京埃彼咨能源科技有限公司 | Three-dimensional magnetic flux leakage imaging detector in multi-section combined pipeline |
| CN112881515B (en) * | 2021-01-24 | 2023-12-01 | 北京埃彼咨能源科技有限公司 | Three-dimensional magnetic leakage imaging detector in multi-section combined pipeline |
| CN113217824A (en) * | 2021-04-20 | 2021-08-06 | 中国石油大学(华东) | Sulfur-containing natural gas pipeline leakage detection device and method based on parallel pipeline continuous sampling analysis |
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| Publication number | Publication date |
|---|---|
| CN101819082B (en) | 2011-09-14 |
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