CN105605368A - Submarine pipeline internal detector traction testing system and method - Google Patents
Submarine pipeline internal detector traction testing system and method Download PDFInfo
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- CN105605368A CN105605368A CN201610183640.XA CN201610183640A CN105605368A CN 105605368 A CN105605368 A CN 105605368A CN 201610183640 A CN201610183640 A CN 201610183640A CN 105605368 A CN105605368 A CN 105605368A
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- winch
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
- F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
- F16L55/28—Constructional aspects
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L2101/00—Uses or applications of pigs or moles
- F16L2101/30—Inspecting, measuring or testing
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- General Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Laying Of Electric Cables Or Lines Outside (AREA)
Abstract
The invention provides a submarine pipeline internal detector traction testing system and method. The submarine pipeline internal detector traction testing system comprises a traction winch (1), a return winch (2), a left guide pulley (3), a right guide pulley (4) and a traction control system, wherein a cable of the return winch (2) is fixed to the left end of an internal detector (6) after bypassing the left guide pulley (3); a cable of the traction winch (1) is fixed to the right end of the internal detector (6) after bypassing the right guide pulley (4); and the traction control system is used for driving and controlling the motions of the traction winch (1) and return winch (2), thereby carrying out the traction motion on the internal detector (6). The system has the advantages of simple testing equipment, low cost and convenient and fast testing process; and the return winch can perform the predictive control on the tensile force and acceleration along with the traction winch, and the linear state of the pipeline internal detector jigger is maintained under the synergic control of the tensile force of the front and back wire ropes, thereby ensuring that the wire rope is not broken or loosened and does not contact the pipe wall, and enhancing the testing effect.
Description
Technical field
The invention belongs to detector pulling test technical field, be specifically related to detector in a kind of submarine pipeline and leadDraw pilot system and method.
Background technology
Along with the deep exploitation of marine oil field, pipeline under the ocean is more and more. How buried submarine pipeline is in seaIn bed-sit soil, affected by marine environment etc. larger, likely damaged by shocks such as marine floating thing or boats and ships,Also may cause because of reasons such as corrosive pipelines the serious accidents such as perforation and booster, thereby submarine pipeline is let outLeak, submarine pipeline leaks severe contamination is caused in ocean, directly affects marine industries and coastal resident living,Therefore, the security of submarine pipeline becomes affects offshore and gas development, normal of producing is very heavy for safetyThe problem of wanting, receives increasing attention. In order to ensure the normal operation of submarine pipeline, improve offshore and gas developmentSecurity, need to regularly detect submarine pipeline life overall process various piece, accurately understand pipelineSituation, takes effective measures early, avoids the generation of pipeline accident, for pipe safety moves, safeguards and commentValency provides scientific basis.
Conventional Technique of Subsea Pipeline Inspection method is detection method in pipe, that is: interior detector in pipeline on one side withPumped (conveying) medium motion, detects on one side and gathers pipeline defect information storage, after having detected, passes through computerThe defect information of analyzing and positioning record, to grasp the state of pipeline.
For oil, natural-gas transfer pipeline, conventional interior detection method have intelligent pig (smartPig),Magnetic Flux Leakage Inspecting method, detection method of eddy, ultrasonic detection technology, electromagnetic wave sensing detection technology (EMAT) etc.But, above-mentioned detection method, its detection effect is all subject to the impact of speed effect, therefore, in order to improve pipeThe accuracy of detection of road internal detector, need to control its migration velocity in the reasonable scope.
After Technique of Subsea Pipeline Inspection instrument has been researched and developed, if directly carry out field trial, there is field trialThe problem that this height and danger coefficient are large, easily causes device damage. Therefore, detector development in submarine pipelineAfter completing, need in terrestrial pipeline, carry out simulated test, thus detector performance in research submarine pipeline.
But detector experimental rig in existing submarine pipeline, generally has following deficiency: need to useA large amount of equipment, has the problem that testing expenses are high, the test period is long.
Summary of the invention
The defect existing for prior art, the invention provides detector pulling test system in a kind of submarine pipelineSystem and method, can effectively address the above problem.
The technical solution used in the present invention is as follows:
The invention provides detector pulling test system in a kind of submarine pipeline, comprise pulling winch (1), returnJourney winch (2), left leading block (3), right leading block (4) and pull-in control system;
Wherein, described backhaul winch (2) is installed on the left side of detected pipeline (5), described backhaul winch(2) between described detected pipeline (5) left side, fixedly mount described left leading block (3), and,The axis of described backhaul winch (2), described left leading block (3) and described detected pipeline (5) is positioned atStraight line; Described pulling winch (1) is installed on the right side of detected pipeline (5), described pulling winch(1) between described detected pipeline (5) right side, fixedly mount described right leading block (4), and,The axis of described pulling winch (1), described right leading block (4) and described detected pipeline (5) is positioned atStraight line;
Internal detector (6) is positioned at the pipe interior of detected pipeline (5), the cable of described backhaul winch (2)Rope is walked around after described left leading block (3), is fixed to the left end of internal detector (6); Described pulling winch(1) hawser is walked around after described right leading block (4), is fixed to the right-hand member of internal detector (6);
Described pull-in control system is used for driving the described pulling winch of control (1) and described backhaul winch (2)Action, and then described internal detector (6) is carried out to drawing-in motion.
Preferably, described pulling winch (1) and described backhaul winch (2) include hoist engine, servo drivingMoving device, servomotor and winch attachment device; Described servomotor by described servo-driver with described inHoist engine interlock.
Preferably, described winch attachment device comprise click fastening device, brake, clutch andRope processing device.
Preferably, described pull-in control system comprises manipulation console, drive system, power-supply system and detectionSystem; Described manipulation console connects with described drive system, described power-supply system and described detection system respectivelyConnect.
Preferably, described detection system comprises:
Pull-cord tension pick-up, for detection of the tension value of pull-cord;
Backhaul cable tension sensor, for detection of the tension value of backhaul hawser;
Pulling winch rope outlet direction detects encoder, for detection of pulling winch rope stretching angle;
Backhaul winch rope outlet direction detects encoder, for detection of backhaul winch rope stretching angle;
Pulling winch brake disengagement/band-type brake detects approach switch (7), opens for detection of pulling winch band-type brakeState;
Backhaul winch brake lock disengagement/band-type brake detects approach switch, for detection of backhaul winch band-type brake open mode;
Pulling winch operation number of turns sense switch (8), for detection of pull-cord length value;
Backhaul winch operation number of turns sense switch, for detection of backhaul cable length value;
Backhaul stop position optoelectronic switch (9), is installed on detected pipeline (5) inside and is positioned at tested test tubeThe left end in road (5), for detecting stop position when the backhaul;
Backhaul decelerate position optoelectronic switch (10), is installed on detected pipeline (5) inside and is positioned at backhaul and stopStop bit is put the right-hand member of optoelectronic switch (9), for detecting decelerate position when the backhaul;
Traction stop position optoelectronic switch (11), is installed on detected pipeline (5) inside and is positioned at detectedThe right-hand member of pipeline (5), for detecting stop position when the distraction procedure;
Traction decelerate position optoelectronic switch (12), is installed on detected pipeline (5) inside and is positioned at traction and stopStop bit is put the left end of optoelectronic switch (11), for detecting decelerate position when the distraction procedure;
Pulling winch reel encoder (13), for detection of the position of internal detector (6).
Preferably, described drive system adopts frequency changing driving system, comprises rectifier, inverter, braking listUnit, braking resistor and dc bus;
The input of described rectifier is connected to dc bus, and the output of described rectifier is connected to described contraryThe input that becomes device, the output of described inverter is connected to servomotor;
One end of described brake unit is parallel-connected to dc bus, the other end of described brake unit with described inBraking resistor connects.
The present invention also provides a kind of detector pulling test method in submarine pipeline, comprises the following steps:
Step 1, after control system self-inspection, adjusts internal detector (6) position automatically, makes it in detectedThe left side of pipeline (5);
Step 2, when control system is received after enable command, control system is according to Working fluid flow state mould in pipelineType algorithm generates traction functional relation, and based on described traction functional relation, to pulling winch (1) and backhaulFolding and unfolding hawser speed and the direction of winch (2) are adjusted, and are specially: according to the little cunning of internal detector (6)Car is subject to working fluid effect and regulates pulling winch (1) tension force and acceleration, make drawing tension and acceleration byCompensate internal detector (6) jigger magnetic force with velocity variations according to tribology principle functional relation; Meanwhile, make backhaulThe tension force of winch (2) and acceleration are followed tension force and the acceleration change at random of pulling winch (1), make to leadWhile drawing the synthetic acceleration change at random of winch (1) and backhaul winch (2), guarantee that hawser is all the time in tensioningState and do not touch tube wall, finally controls pulling winch (1) traction internal detector (6) to the motion of pipeline right side,Backhaul winch (2) is in cable laying state simultaneously;
At internal detector (6), in pipeline race running process, control system is by traction decelerate position photoelectricitySwitch (12) detects when internal detector (6) runs to traction decelerate position, control system control traction strandCar (1) and backhaul winch (2) slow down simultaneously; When control system is by traction stop position optoelectronic switch (11)Detect that internal detector (6) runs to traction when stop position, control system control pulling winch (1) andBackhaul winch (2) stops simultaneously, and pulling test process finishes;
Step 3, while carrying out next time pulling test, first controls backhaul winch (2) traction internal detector (6)To the motion of pipeline left side, pulling winch (1) is in cable laying state simultaneously;
At internal detector (6), in the running of pipeline left side, control system is by backhaul decelerate position photoelectricitySwitch (10) detects when internal detector (6) runs to backhaul decelerate position, control system control traction strandCar (1) and backhaul winch (2) slow down simultaneously; When control system is by backhaul stop position optoelectronic switch (9)Detect when internal detector (6) runs to backhaul stop position, control system control pulling winch (1) andBackhaul winch (2) stops simultaneously, then returns to step 2 and carries out pulling test process.
Preferably, step 2 is specially:
Step 2.1, sets backhaul winch given tension value, and backhaul winch given tension value is constant; Setting is ledDraw winch speed preset value, pulling winch speed preset value is constant;
Step 2.2, detects backhaul winch cable actual tension value in real time; Backhaul winch cable actual tension value is doneBe the negative sense input of the 1st comparator, backhaul winch given tension value is as the forward input of the 1st comparator, the 1stComparator carries out after computing each input, and the output valve of the 1st comparator is input to the 1st backhaul PID, the 1st backhaulThe output of PID, after torque amplitude limit, on the one hand, further, after speed limiting, acts on backhaul winch and becomesFrequently device, and then adjust backhaul winch motor rotating speed, realize the permanent tension force effect of backhaul winch cable;
On the other hand, the torque value of backhaul winch after torque amplitude limit, as positive feedback, is input to the 2nd comparator,Pulling winch speed preset value, as positive feedback, is input to the 2nd comparator; Pulling winch cable actual tension valueBe input to the 2nd comparator as negative-feedback; The 2nd comparator carries out after computing each input, the 2nd comparator defeatedGo out value and be input to the 1st traction PID, the output of the 1st traction PID, after speed limiting, acts on pulling winch and becomesFrequently device, and then adjust pulling winch motor speed, realize pulling winch constant motion.
In submarine pipeline provided by the invention, detector pulling test system and method has the following advantages:
(1) have that testing equipment is simple, cost is low and process of the test advantage easily and fast;
(2) can make backhaul winch follow pulling winch to carry out the PREDICTIVE CONTROL of tension force, acceleration, inspection in pipelineSurvey the front and back steel wire rope tension Collaborative Control of instrument jigger and keep linear state, guarantee that steel wire rope is constantly not looseDo not touch tube wall, improve test effect.
Brief description of the drawings
Fig. 1 is the structural representation of detector pulling test system in submarine pipeline provided by the invention;
Fig. 2 is the control functional block diagram of detector trailer system in submarine pipeline provided by the invention;
Fig. 3 is the front view of centralized operation platform provided by the invention;
Fig. 4 is the side view of centralized operation platform provided by the invention;
Fig. 5 is the A face Local map of centralized operation platform provided by the invention;
Fig. 6 is the B face Local map of centralized operation platform provided by the invention;
Fig. 7 is the side view of backhaul operating desk provided by the invention;
Fig. 8 is the A face Local map of backhaul operating desk provided by the invention;
Fig. 9 is the structural representation of frequency changing driving system provided by the invention;
Figure 10 is detector pulling test control illustraton of model in submarine pipeline provided by the invention;
Figure 11 is preparation flow chart before operation provided by the invention;
Figure 12 is master control Operation interface diagram provided by the invention;
Figure 13 is that parameter provided by the invention arranges surface chart;
Figure 14 is return operating process schematic diagram provided by the invention;
Figure 15 is tractive operating process schematic diagram provided by the invention;
Figure 16 is parameter curve picture view provided by the invention.
Detailed description of the invention
In order to make technical problem solved by the invention, technical scheme and beneficial effect clearer, withUnder by reference to the accompanying drawings and embodiment, the present invention is further elaborated. Should be appreciated that described hereinSpecific embodiment only in order to explain the present invention, be not intended to limit the present invention.
, mainly there is following problem in detector pulling test system in existing submarine pipeline:
(1) detector pulling test system exists that equipment needed thereby quantity is many, expense is high, tries in submarine pipelineThe shortcomings such as the cycle of testing is long.
(2) the front and back steel wire rope tension Collaborative Control difficulty of the jigger of in-pipeline detector, steel wire before and after itRope tension is not collaborative, can cause the problem of wirerope-winding.
(3) pulling winch and backhaul winch act on the jigger of in-pipeline detector simultaneously, and two winches closeWhile becoming acceleration change at random, be difficult to guarantee constantly not loose problem of not touching tube wall of steel wire rope.
(4) tension force of backhaul winch, acceleration cannot be followed tension force and the acceleration change at random of pulling winch,Cannot meet the problem of working fluid effect in pipeline detection instrument jigger random motion state simulation pipeline.
(5) different to change fluctuation very large with speed for in-pipeline detector jigger magnetic force, is difficult to make draw addSpeed meets certain functional relation.
(6) detector pilot system function singleness in submarine pipeline, can not carry out polytype working fluidAnalysis of experiments.
Innovative point of the present invention is:
(1) in submarine pipeline, detector pulling test system can be carried out the traction examination of different densities work liquidTest, the Mathematical Modeling of different operating liquid in host computer input channel, feasible one-tenth adapts with itTraction functional relation, obtain the pipeline detection instrument result of the test in different operating liquid, the present invention's jointEconomize testing equipment expense, reduced test period.
(2) backhaul winch is followed pulling winch and carries out the PREDICTIVE CONTROL of tension force, acceleration, pipeline detection instrumentThe front and back steel wire rope tension Collaborative Control of jigger and keep linear state.
(3) pulling winch and backhaul winch act on detector jigger simultaneously, and backhaul steel wire rope is than tractionSteel wire rope will lag behind, and guarantees the constantly not loose tube wall that do not touch of steel wire rope while making synthetic acceleration change at random.
(4) tension force of backhaul winch, accelerated energy are followed tension force and the acceleration change at random of pulling winch,Pulling winch duty is subject to working fluid effect and adjustment of tonicity and acceleration according to pipeline detection instrument jiggerDegree.
(5) backhaul winch and pulling winch Collaborative Control, drawing tension and acceleration are according to tribology principle functionRelation compensation detector jigger magnetic force is with velocity variations.
Therefore, detector pulling test system in submarine pipeline provided by the invention, can reduce in submarine pipelineThe expense of detector pilot system and complexity, improve Technique of Subsea Pipeline Inspection instrument test method and technical merit,Submarine pipeline is made regular check on and keeped in repair there is very important industrial value, to filling up China's ocean moneyBlank on source exploitation and Sea Floor Pipeline Surveying Techniques is significant.
Detector pulling test control system in submarine pipeline of the present invention, for one is for Technique of Subsea Pipeline Inspection instrumentA set of pull-in control system of testing in pipeline, draw its in pipeline to climb under work flow field stateOK. At test pipe head and the tail two ends, a winch is respectively set, head winch is pulling winch, and tail end winch isBackhaul winch. When test, pulling winch traction detector is creeped in pipeline; Backhaul winch will be for drawingWinch cable retracts pipeline tail end. Pulling winch pulls steel wire rope not only to pull detector motion, butPull detector according to Working fluid flow state model algorithm in pipeline.
In this submarine pipeline, detector pulling test system can, according to detector test requirements document, be set traction initialPosition, stop position, acceleration distance, creep speed, simulation Working fluid flow speed and pressure and other parameters; CanShow and record the parameters such as traction original position, stop position, acceleration distance, operational factor, tractive force.
As shown in Figure 1, detector pulling test system in submarine pipeline provided by the invention, comprises pulling winch1, backhaul winch 2, left leading block 3, right leading block 4 and pull-in control system.
(1) pulling winch 1, backhaul winch 2, left leading block 3, right leading block 4
It is attached that pulling winch 1 and backhaul winch 2 include hoist engine, servo-driver, servomotor and winchFeeder apparatus; Servomotor is by servo-driver and hoist engine interlock. Winch attachment device comprises clickFastening device, brake, clutch and rope processing device.
Pulling winch technical parameter:
Backhaul winch technical parameter:
| 1 | Rated pull of rope | 2kN |
| 2 | Rated speed of rope | 30-240m/min |
| 3 | Wirerope diameter | ￠8mm |
| 4 | Rope capacity | 80m |
| 5 | Reel size | ￠320×400mm |
| 6 | Overall ratio | 8.23 |
| 7 | Brake model | YWZB-150/25 |
| 8 | Motor model | YZP132M1-6-4kW |
| 9 | Motor rated power | 4kW |
| 10 | Motor rated current | 9.8A |
| 11 | Motor nominal torque | 38.5N·m |
| 12 | Motor rated speed | 960r/min |
| 13 | Locked-rotor torque/nominal torque | 1.35 |
| 14 | Torque capacity/nominal torque | 3.1 |
| 15 | Electric machine rotation inertia | 0.0562kg·m2 |
Backhaul winch 2 is installed on the left side of detected pipeline 5, backhaul winch 2 to detected pipeline 5 left sides itBetween fixedly mount left leading block 3, and, the axle of backhaul winch 2, left leading block 3 and detected pipeline 5Line is positioned at straight line; Pulling winch 1 is installed on the right side of detected pipeline 5, and pulling winch 1 is to tested test tubeBetween 5 right sides, road, fixedly mount right leading block 4, and, pulling winch 1, right leading block 4 and testedThe axis in test tube road 5 is positioned at straight line;
Internal detector 6 is positioned at the pipe interior of detected pipeline 5, and the hawser of backhaul winch 2 is walked around left leading blockAfter 3, be fixed to the left end of internal detector 6; The hawser of pulling winch 1 is walked around after right leading block 4, is fixed toThe right-hand member of internal detector 6.
(2) pull-in control system
Pull-in control system is used for driving control pulling winch 1 and backhaul winch 2 to move, and then to internal detector 6Carry out drawing-in motion. Pull-in control system comprises handles console, drive system, power-supply system and detection systemSystem; Handling console is connected with drive system, power-supply system and detection system respectively.
As shown in Figure 2, be the control functional block diagram of detector trailer system in submarine pipeline, this system possesses listMoving, manually and interlock, traction mode automatically, under manual mode, by the various buttons on operating desk andChange-over switch manual operation trailer system. Under automatic mode, system according to predefined original position, addThe parameters such as speed distance, the speed of service, stop position, deceleration distance are drawn experiment, running automaticallyIn the autostop that breaks down.
1., manual and automatic traction mode
Under manual mode, by the various buttons on operating desk and change-over switch manual operation trailer system. FromUnder dynamic model formula, system according to predefined original position, acceleration distance, the speed of service, stop position,The parameters such as deceleration distance are drawn experiment automatically, and autostop breaks down in running.
2., winch is master/slave synchronous
In traction and backhaul process, must ensure steel wire tensioning, not allow to occur slack rope phenomenon, otherwise willThere will be disorder cable, when serious, steel wire rope can be run out of reel, occurs traction accident, and testing equipment is caused to damage.For avoiding above problem to occur, system realizes traction electric machine by PLC, frequency converter and backhaul motor is master/slave sameStep is controlled.
3., test parameters demonstration, storage and export function
This system can show the parameter in experimentation in real time by the mode of form and curve, and by its guarantorDeposit in CF card, after having tested, the data on CF card can be exported to electricity with the form of Microsoft ExcelOn brain.
Handle console and can arrange two, be respectively centralized operation platform and backhaul operating desk, pulling winch 1 and returningJourney winch 2, by centralized operation platform centralized Control, after all conditions all meets, can draw automatically in a key startup;Also can carry out backhaul operation by backhaul operating desk.
(2.1) centralized operation platform
As shown in Fig. 3-6, be respectively front view, side view, A face Local map and the B face part of centralized operation platformFigure; On centralized operation platform, assemble the button of Siemens MP277 touch-screen, S7-300PLC, winch operation useThe electrical equipments such as indicator lamp, PLC connects MP277 touch-screen by MPI bus, and PLC passes through Profibus-DPBus is connected with frequency converter.
(2.2) backhaul operating desk
Backhaul operating desk is arranged on by backhaul winch, backhaul is housed above and operates required button, indicator lamp etc.Electric elements. As Figure 7-8, be respectively side view and the A face Local map of backhaul operating desk.
(2.3) detection system
Detection system comprises:
Pull-cord tension pick-up, for detection of the tension value of pull-cord;
Backhaul cable tension sensor, for detection of the tension value of backhaul hawser;
Pulling winch rope outlet direction detects encoder, for detection of pulling winch rope stretching angle;
Backhaul winch rope outlet direction detects encoder, for detection of backhaul winch rope stretching angle;
Pulling winch brake disengagement/band-type brake detects approach switch 7, opens shape for detection of pulling winch band-type brakeState;
Backhaul winch brake lock disengagement/band-type brake detects approach switch, for detection of backhaul winch band-type brake open mode;
Pulling winch operation number of turns sense switch 8, for detection of pull-cord length value;
Backhaul winch operation number of turns sense switch, for detection of backhaul cable length value;
Backhaul stop position optoelectronic switch 9, is installed on detected pipeline 5 inside and is positioned at a left side that is detected pipeline 5End, for detecting stop position when the backhaul;
Backhaul decelerate position optoelectronic switch 10, is installed on detected pipeline 5 inside and is positioned at backhaul stop position lightThe right-hand member of electric switch 9, for detecting decelerate position when the backhaul;
Traction stop position optoelectronic switch 11, is installed on detected pipeline 5 inner and be positioned at detected pipeline 5Right-hand member, for detecting stop position when the distraction procedure;
Traction decelerate position optoelectronic switch 12, is installed on detected pipeline 5 inside and is positioned at traction stop position lightThe left end of electric switch 11, for detecting decelerate position when the distraction procedure;
Pulling winch reel encoder 13, for detection of the position of internal detector 6.
(2.4) drive system
Drive system adopts frequency changing driving system, as shown in Figure 9, comprise rectifier, inverter, brake unit,Braking resistor and dc bus;
The input of rectifier is connected to dc bus, and the output of rectifier is connected to the input of inverter,The output of inverter is connected to servomotor;
One end of brake unit is parallel-connected to dc bus, and the other end of brake unit is connected with braking resistor.
In practical application, rectifier and inverter composition frequency conversion tank, the core of frequency conversion tank is frequency converter, adoptsSiemens or the ABB AC-DC-AC voltage-source type frequency converter with intermediate dc link, frequency converter inside has electric currentFeedback element, starting performance is good, is quick on the draw, and can export fast corresponding starting current according to load,To electrical network, without impact, frequency converter has the short-time overload function and the power phase shortage, defeated that are adapted to motor abilityGo out the defencive functions such as phase shortage, power supply overvoltage, overcurrent, under-voltage, ground connection, frequency converter be overheated.
By brake unit is set, in the time that motor enters regenerative power generation state, electric energy feedback is arrived to inverter,Thereby cause the rising of DC bus-bar voltage. Brake unit is parallel-connected on dc bus and by dc busLimiting voltage is to acceptable level. Brake unit is delivered in outside braking resistor and conversion by braking energyBecome heat energy. Therefore,, in the time of winch retarding braking, by braking resistor cubicle, braking energy is consumed.
The maximum drawbar pull of pulling test system of the present invention is 60kN, and rated drawbar pull is not less than 40kN;Hauling speed is at 0.5m/s～4m/s, adjustable continuously; When service load 40kN, normal speed is 4m/s; In tractionThe traction accelerating sections distance of speed from 0m/s to 4m/s is not more than 5m; Draft travel is 80m at least.
The present invention also provides a kind of detector pulling test method in submarine pipeline, comprises the following steps:
Step 1, after control system self-inspection, adjusts internal detector 6 positions automatically, makes it in detected pipeline 5Left side;
Step 2, when control system is received after enable command, control system is according to Working fluid flow state mould in pipelineType algorithm generates traction functional relation, and based on traction functional relation, to pulling winch 1 and backhaul winch 2Folding and unfolding hawser speed and direction are adjusted, and are specially: be subject to working fluid effect according to internal detector 6 jiggersAnd regulate pulling winch 1 tension force and acceleration, drawing tension and acceleration are mended according to tribology principle functional relationRepay internal detector 6 jigger magnetic force with velocity variations; Meanwhile, the tension force of backhaul winch 2 and acceleration are followedThe tension force of pulling winch 1 and acceleration change at random, make the synthetic acceleration of pulling winch 1 and backhaul winch 2 withWhen machine changes, guarantee that hawser is all the time in tensioning state and do not touch tube wall, finally control inspection in pulling winch 1 tractionSurvey device 6 to the motion of pipeline right side, the winch 2 of backhaul is simultaneously in cable laying state;
At internal detector 6, in pipeline race running process, control system is by traction decelerate position optoelectronic switch12 detect when internal detector 6 runs to traction decelerate position, control system control pulling winch 1 and backhaul strandCar 2 slows down simultaneously; When control system detects that by traction stop position optoelectronic switch 11 internal detector 6 movesDuring to traction stop position, control system control pulling winch 1 and backhaul winch 2 stop simultaneously, pulling testProcess finishes;
This step is specially: with reference to Figure 10, be detector pulling test control illustraton of model in submarine pipeline;
Step 2.1, sets backhaul winch given tension value, and backhaul winch given tension value is constant; Setting is ledDraw winch speed preset value, pulling winch speed preset value is constant;
Step 2.2, detects backhaul winch cable actual tension value in real time; Backhaul winch cable actual tension value is doneBe the negative sense input of the 1st comparator, backhaul winch given tension value is as the forward input of the 1st comparator, the 1stComparator carries out after computing each input, and the output valve of the 1st comparator is input to the 1st backhaul PID, the 1st backhaulThe output of PID, after torque amplitude limit, on the one hand, further, after speed limiting, acts on backhaul winch and becomesFrequently device, and then adjust backhaul winch motor rotating speed, realize the permanent tension force effect of backhaul winch cable;
On the other hand, the torque value of backhaul winch after torque amplitude limit, as positive feedback, is input to the 2nd comparator,Pulling winch speed preset value, as positive feedback, is input to the 2nd comparator; Pulling winch cable actual tension valueBe input to the 2nd comparator as negative-feedback; The 2nd comparator carries out after computing each input, the 2nd comparator defeatedGo out value and be input to the 1st traction PID, the output of the 1st traction PID, after speed limiting, acts on pulling winch and becomesFrequently device, and then adjust pulling winch motor speed, realize pulling winch constant motion.
Step 3, while carrying out next time pulling test, first controls backhaul winch 2 and draws internal detector 6 to pipelineLeft side motion, pulling winch 1 is in cable laying state simultaneously;
At internal detector 6, in the running of pipeline left side, control system is by backhaul decelerate position optoelectronic switch10 detect when internal detector 6 runs to backhaul decelerate position, control system control pulling winch 1 and backhaul strandCar 2 slows down simultaneously; When control system detects that by backhaul stop position optoelectronic switch 9 internal detector 6 movesDuring to backhaul stop position, control system control pulling winch 1 and backhaul winch 2 stop simultaneously, then returnStep 2 is carried out pulling test process.
In traction and backhaul process, must ensure steel wire tensioning, do not allow to occur slack rope phenomenon, otherwiseTo there will be disorder cable, when serious, steel wire rope can be run out of reel, occurs traction accident, and testing equipment is caused to damageBad. For avoiding above problem to occur, system realizes the master of traction electric machine and backhaul motor by PLC, frequency converter/ from Synchronization Control.
In submarine pipeline provided by the invention, detector pulling test system detailed operation process is:
(1), condition of work
Environment temperature: the highest 45 DEG C, minimum-15 DEG C; Relative humidity: 46%～95%; Without electro-conductive dust andDestroy gas or the steam of dielectric; Without high vibration and impact; Good ventilation condition.
(2), on-the-spot installation
1., accomplish fluently according to appearance and size and fot screw hole can carry out that equipment is in place after ground, levelling, bury appropriateFot screw. After cement solidification, can tighten fot screw with permanent plant.
2., by the figure line of connecting with the mains, output line. After checking that line is correct, should check insulation, use 500VMegger can power transmission more than 2M Ω, otherwise after will checking reason and eliminating, can power transmission. Check motorInsulation and electric wire connectivity, rotor rotates flexibility, and whether mechanical transmission mechanism is normal.
3., all normal above after, switch on power, and notice that scene can not and establish because of electric machine rotation harm peopleStandby. Whether normally observe motor rotation, comprise size of current, rotating speed height, and just whether direction of rotationReally.
(3), electric sequence
1., frequency conversion tank: first check that voltmeter on cabinet door shows that whether voltage normal, after voltage is normal successivelyBreaker 2QF1,2QF2,2QF3,3QF1,3QF2,3QF3,4QF1,4QF2,4QF3 close.Wherein 2QF1 is that main frame converter power supply switch, 2QF2 are that main motor fan power switch, 2QF3 are main frameBand-type brake power switch, 3QF1 be subsidiary engine converter power supply switch, 3QF2 be subsidiary engine motor fan power switch,3QF3 is that subsidiary engine band-type brake power switch, 4QF1 are that control battery main switch, 4QF2 control power supply in frequency conversion tankSwitch, 4QF3 are DC24V power switch for subsequent use in cabinet.
2., operating desk: breaker: 7QF1,7QF2,7QF3 successively close. Wherein 7QF1 is operating deskInterior total power switch, 7QF2 is PLC power switch, 7QF3 is touch-screen power switch.
(3), preoperative preparation
Before operation, preparation flow process as shown in figure 11. After powering on, wait for that touch-screen key frame shows normal,As shown in figure 12, for master control Operation interface diagram, as Figure 13, for parameter arranges surface chart, system may when the time comesCan send chimes of doom, indicating fault lantern festival is bright, and warning is because system communication connectivity problem while powering on, can" eliminating chimes of doom button " on point touching screen, the button of then clicking in Figure 12 is checked warning message, reallyAfter recognizing, reset by " failure reset " button.
Confirm after alarm free, revolving light test turn-off closes, after confirming that all indicator lamps are lighted, by all turningChange switch and all get to centre position. Press " centralized operation selection " button and wait until that " centralized operation selection " refers toAfter showing that lamp lights, operation " main frame band-type brake is opened " and " subsidiary engine band-type brake is opened " knob, observes in Figure 12 main(b) of machine picture and (c) band-type brake are opened indicator lamp and are become green, illustrate that band-type brake opens normally.
Then the junction hand turning that arrives reductor and motor, rotating all normally can start. Observe figureWhether (d) three the stop position indicator lamps (A/B/C) in 12 on key frame are green, and green explanation is opened ifClose normal, if then obstruct the light with object that all to become grey explanation normal for three indicator lamps. Confirm (e) in Figure 12After set-point sets, select " single action " on operating desk, " manually " working method, then receivesCable laying operation, whether detector location demonstration and long demonstration of subsidiary engine rope that observation Figure 13 parameter arranges in picture haveChange, the long detection of the explanation rope approach switch that changes is normal; And observe winch and whether have extremely.
(4), return operation
Return operating process is as shown in figure 14: first guarantee that winch meets entry condition, around without personal safetyHidden danger. Revolving light test turn-off closes, after confirming that all indicator lamps are lighted, in the middle of all change-over switches are got toPosition, presses " centralized operation button ", and " centralized operation indicator lamp " lighted. Select " single action ", " manually "Mode of operation, respectively to the operation of main and auxiliaries cable laying, by fixing respectively to main frame steel wire rope and subsidiary engine steel wire ropeAt the two ends of jigger, then separately subsidiary engine being carried out to take-up operation (need to have people to observe and guarantee at subsidiary engine endSteel wire rope marshalling on subsidiary engine reel, need to emit irregular steel wire rope take-up again if irregular)Tighten up steel wire rope.
After steel wire rope tightens up, all selector switches are got to centre position, select " interlock ", " automatically " workOperation mode, confirms to set the setting of 0.20 (m/s) return speed, 75 (%) slave drive take-up setting and 20 (%) auxiliaryAfter the setting of machine interlock cable laying is out of question, press " main frame cable laying " button, start main winch steel wire rope to lead backInitiating terminal.
When jigger arrives after initiating terminal, all switches on centralized operation platform are all got to centre position, soAfter manual speed be set to: 0.05 (m/s) manual speed set; Press forbidding after operated from a distance on touch-screenShow and allow operated from a distance.
To local operation platform, press after " the local operation selection " of flicker " local operation selection " instructionLamp Chang Liang selects " interlock ", " manually " operator scheme on local operation platform, presses main frame cable laying button,By stopping after jigger pull-out, then all selector switches are got to centre position.
On local operation platform, select " single action ", " manually " operator scheme, then separately subsidiary engine is putCable operation is untied shackle after hawser comes loose entirely, takes out jigger; After detector is in place, by main frame andThe steel wire rope of subsidiary engine is separately fixed at head and the afterbody of detector; " single action ", " hand on local operation platformMoving " under operator scheme, press main frame take-up button and slowly detector tractive is entered to pipeline.
After subsidiary engine steel wire rope tightens up, on local operation platform, select " interlock ", " manually " operator scheme,Slowly detector tractive is entered to pipeline, after detector afterbody enters pipeline 10cm left and right, stop, by this localityAll switches on operating desk are got to centre position.
(5) tractive operation
Tractive operating process is as shown in figure 15: complete after return operation final step, reaffirm that tractive stopsAfter three optoelectronic switches of position are normal, on centralized operation platform, press " the centralized operation selection " of flickerButton, " centralized operation selection " button indicating lamp Chang Liang, confirm Figure 12 2.00 (m/s) draw rate set andAfter 20 (%) slave drive cable laying is set correctly; Confirm that Figure 13 parameter arranges in picture automatic pull stop position defeatedEnter after 32.00 (m), effective tractive stop position; Confirm that the detector location in Figure 13 shows 0.00 (m), detectsDevice current location input 0.00 (m), detector current location, long 0.00 (m) of demonstration of subsidiary engine rope, subsidiary engine are set work asFront rope long value input 0.00 (m), that the current rope of subsidiary engine is set is long.
On centralized operation platform, select " interlock ", " automatically " operator scheme, press the note that starts in key frameRecord button, register lamp ● after green, presses the ready button in key frame, centralized operation platformOn ready indicator Chang Liang, the system after main frame take-up button of pressing just starts by the speed of setting automaticBe pulled to stop position, in traction process, occur any problem, press scram button after system automatically stop.
Arrive after tractive stop position, press the record button that stops in key frame, register lamp ● for redLook stops data record. On centralized operation platform, select " interlock ", " manually " operator scheme, slowly will examineSurvey device pull-out pipeline.
When detector all pulls out after pipeline, on centralized operation platform, select " single action ", " manually " operation mouldFormula, carries out cable laying operation to main and auxiliaries respectively, and steel wire rope is pulled down the shackle on detector after coming loose completely,Return operation is carried out in preparation, carries out distraction test next time.
(6), touch-screen screen operation
On key frame, can set the winch speed of service, winch motor parameter also can show in real time, is becomingGesture picture can show the parameter of electric machine and lineoutofservice signal pull with the form of trend curve. Can look at warning pictureAsk various warning messages. Touch-screen is resistance-type, adopts nail to tap sensitiveer when operation.
(g) that click in Figure 12, Figure 13 enters key frame, and click (f) and enter parameter curve picture as shown in figure 16,Click (h) enters parameter picture is set, and clicks (a) and enters alarm logging picture.
(7), report to the police and process
The fault of frequency converter comprises the fault of read/write fault (communication failure) and frequency converter itself, this faultEliminate and need first to reset by " RESET " on frequency-changer operation panel, then passing through " faultReset " carry out failure reset. Can arrive frequency converter description 233-239 page for the failure code of frequency converter looks intoAsk. About the explanation of warning message, for occurent warning, what in alarm logging, show is redness,The alarm indication white disappearing.
Slave drive hypervelocity fault, or the steel wire rope steel wire that do not link together when this fault is slave driveThe auxiliary load that the reasons such as fracture of rope cause is zero, and the hypervelocity fault of generation can be passed through on centralized operation platform" failure reset " knob resets.
Main frame/subsidiary engine band-type brake is opened fault, and this fault is to send after band-type brake opening signal, and band-type brake is opened to approach and openedClose not action, possible reason has band-type brake damage, band-type brake power source trip or approach switch to damage, Ke Yitong" failure reset " knob of crossing on centralized operation platform resets.
Forbid not sending warning for the take-up of main frame/subsidiary engine and cable laying, whether only limit take-up and cable laying operationForbid in alarm logging, inquiring about. Can picture setting be set by parameter forbids effective or invalid.
(8), points for attention
1., carry out before " interlock " operation, the steel wire rope that must guarantee main and auxiliaries links together and jailGu reliable, forbidding that steel wire rope does not link together carries out combined operation, otherwise subsidiary engine there will be runaway accident.
2., carry out " interlock " operation before, must guarantee that the steel wire rope of main and auxiliaries is in tensioning state,Otherwise subsidiary engine steel wire rope there will be suddenly and tightens up and shake.
3., starting before winch, must guarantee that the steel wire rope on main and auxiliaries reel does not have disorder cable phenomenon.
4., in operating process, local operation platform and people of a centralized operation platform needs, monitor winch fortuneRow state is pressed " emergent stopping " button in the time there is situation.
5., in the time of cable laying, need to someone monitor the length of emitting steel wire rope, cannot emit too much, otherwiseEasily there is the phenomenon of disorder cable, occur that disorder cable must stop at once, again that cable arranging is neat.
6., before each tractive, must confirm that tractive stop position optoelectronic switch is normal, the long approach switch that detects of ropeNormally.
7., ensure that switch board surrounding air is dry, system exceedes first quarter moon does not work, and need power on one in this workAfter hour, operate again.
(9), operation and maintenance
1., ensure not want overload operation while use, be in strict accordance with operating procedure and points for attention operation.
2., regularly carry out maintaining, running check wiring nose has or not loosening, should be timely when dust is too thickCleaning, otherwise, may make insulation reduce and cause short circuit or " blowing out ".
3., change when element, should check and approve component parameters, as withstand voltage, electric current, size etc., when wiring, notePolarity.
Whether 4., make regular check on sensor connects solid and reliable.
5. whether reliably, make regular check on system earth.
6., make regular check on band-type brake open instruction approach switch whether normal.
7., to ensure that the each safety guard of system is working properly, must not arbitrarily remove.
8., regular purging system switch board, the screen pack of frequency conversion tank is monthly once cleared up, guarantee systemStable operation.
The above is only the preferred embodiment of the present invention, it should be pointed out that common for the artTechnical staff, under the premise without departing from the principles of the invention, can also make some improvements and modifications,These improvements and modifications also should be looked protection scope of the present invention.
Claims (8)
1. a detector pulling test system in submarine pipeline, is characterized in that, comprise pulling winch (1),Backhaul winch (2), left leading block (3), right leading block (4) and pull-in control system;
Wherein, described backhaul winch (2) is installed on the left side of detected pipeline (5), described backhaul winch(2) between described detected pipeline (5) left side, fixedly mount described left leading block (3), and,The axis of described backhaul winch (2), described left leading block (3) and described detected pipeline (5) is positioned atStraight line; Described pulling winch (1) is installed on the right side of detected pipeline (5), described pulling winch(1) between described detected pipeline (5) right side, fixedly mount described right leading block (4), and,The axis of described pulling winch (1), described right leading block (4) and described detected pipeline (5) is positioned atStraight line;
Internal detector (6) is positioned at the pipe interior of detected pipeline (5), the cable of described backhaul winch (2)Rope is walked around after described left leading block (3), is fixed to the left end of internal detector (6); Described pulling winch(1) hawser is walked around after described right leading block (4), is fixed to the right-hand member of internal detector (6);
Described pull-in control system is used for driving the described pulling winch of control (1) and described backhaul winch (2)Action, and then described internal detector (6) is carried out to drawing-in motion.
2. detector pulling test system in submarine pipeline according to claim 1, is characterized in that,Described pulling winch (1) and described backhaul winch (2) include hoist engine, servo-driver, servo electricityMachine and winch attachment device; Described servomotor is by described servo-driver and the interlock of described hoist engine.
3. detector pulling test system in submarine pipeline according to claim 2, is characterized in that,Described winch attachment device comprises click fastening device, brake, clutch and rope processing device.
4. detector pulling test system in submarine pipeline according to claim 1, is characterized in that,Described pull-in control system comprises handles console, drive system, power-supply system and detection system; Described behaviourVertical console is connected with described drive system, described power-supply system and described detection system respectively.
5. detector pulling test system in submarine pipeline according to claim 4, is characterized in that,Described detection system comprises:
Pull-cord tension pick-up, for detection of the tension value of pull-cord;
Backhaul cable tension sensor, for detection of the tension value of backhaul hawser;
Pulling winch rope outlet direction detects encoder, for detection of pulling winch rope stretching angle;
Backhaul winch rope outlet direction detects encoder, for detection of backhaul winch rope stretching angle;
Pulling winch brake disengagement/band-type brake detects approach switch (7), opens for detection of pulling winch band-type brakeState;
Backhaul winch brake lock disengagement/band-type brake detects approach switch, for detection of backhaul winch band-type brake open mode;
Pulling winch operation number of turns sense switch (8), for detection of pull-cord length value;
Backhaul winch operation number of turns sense switch, for detection of backhaul cable length value;
Backhaul stop position optoelectronic switch (9), is installed on detected pipeline (5) inside and is positioned at tested test tubeThe left end in road (5), for detecting stop position when the backhaul;
Backhaul decelerate position optoelectronic switch (10), is installed on detected pipeline (5) inside and is positioned at backhaul and stopStop bit is put the right-hand member of optoelectronic switch (9), for detecting decelerate position when the backhaul;
Traction stop position optoelectronic switch (11), is installed on detected pipeline (5) inside and is positioned at detectedThe right-hand member of pipeline (5), for detecting stop position when the distraction procedure;
Traction decelerate position optoelectronic switch (12), is installed on detected pipeline (5) inside and is positioned at traction and stopStop bit is put the left end of optoelectronic switch (11), for detecting decelerate position when the distraction procedure;
Pulling winch reel encoder (13), for detection of the position of internal detector (6).
6. detector pulling test system in submarine pipeline according to claim 4, is characterized in that,Described drive system adopts frequency changing driving system, comprises rectifier, inverter, brake unit, braking resistorAnd dc bus;
The input of described rectifier is connected to dc bus, and the output of described rectifier is connected to described contraryThe input that becomes device, the output of described inverter is connected to servomotor;
One end of described brake unit is parallel-connected to dc bus, the other end of described brake unit with described inBraking resistor connects.
7. a detector pulling test method in submarine pipeline, is characterized in that, comprises the following steps:
Step 1, after control system self-inspection, adjusts internal detector (6) position automatically, makes it in detectedThe left side of pipeline (5);
Step 2, when control system is received after enable command, control system is according to Working fluid flow state mould in pipelineType algorithm generates traction functional relation, and based on described traction functional relation, to pulling winch (1) and backhaulFolding and unfolding hawser speed and the direction of winch (2) are adjusted, and are specially: according to the little cunning of internal detector (6)Car is subject to working fluid effect and regulates pulling winch (1) tension force and acceleration, make drawing tension and acceleration byCompensate internal detector (6) jigger magnetic force with velocity variations according to tribology principle functional relation; Meanwhile, make backhaulThe tension force of winch (2) and acceleration are followed tension force and the acceleration change at random of pulling winch (1), make to leadWhile drawing the synthetic acceleration change at random of winch (1) and backhaul winch (2), guarantee that hawser is all the time in tensioningState and do not touch tube wall, finally controls pulling winch (1) traction internal detector (6) to the motion of pipeline right side,Backhaul winch (2) is in cable laying state simultaneously;
At internal detector (6), in pipeline race running process, control system is by traction decelerate position photoelectricitySwitch (12) detects when internal detector (6) runs to traction decelerate position, control system control traction strandCar (1) and backhaul winch (2) slow down simultaneously; When control system is by traction stop position optoelectronic switch (11)Detect that internal detector (6) runs to traction when stop position, control system control pulling winch (1) andBackhaul winch (2) stops simultaneously, and pulling test process finishes;
Step 3, while carrying out next time pulling test, first controls backhaul winch (2) traction internal detector (6)To the motion of pipeline left side, pulling winch (1) is in cable laying state simultaneously;
At internal detector (6), in the running of pipeline left side, control system is by backhaul decelerate position photoelectricitySwitch (10) detects when internal detector (6) runs to backhaul decelerate position, control system control traction strandCar (1) and backhaul winch (2) slow down simultaneously; When control system is by backhaul stop position optoelectronic switch (9)Detect when internal detector (6) runs to backhaul stop position, control system control pulling winch (1) andBackhaul winch (2) stops simultaneously, then returns to step 2 and carries out pulling test process.
8. detector pulling test method in submarine pipeline according to claim 7, is characterized in that,Step 2 is specially:
Step 2.1, sets backhaul winch given tension value, and backhaul winch given tension value is constant; Setting is ledDraw winch speed preset value, pulling winch speed preset value is constant;
Step 2.2, detects backhaul winch cable actual tension value in real time; Backhaul winch cable actual tension value is doneBe the negative sense input of the 1st comparator, backhaul winch given tension value is as the forward input of the 1st comparator, the 1stComparator carries out after computing each input, and the output valve of the 1st comparator is input to the 1st backhaul PID, the 1st backhaulThe output of PID, after torque amplitude limit, on the one hand, further, after speed limiting, acts on backhaul winch and becomesFrequently device, and then adjust backhaul winch motor rotating speed, realize the permanent tension force effect of backhaul winch cable;
On the other hand, the torque value of backhaul winch after torque amplitude limit, as positive feedback, is input to the 2nd comparator,Pulling winch speed preset value, as positive feedback, is input to the 2nd comparator; Pulling winch cable actual tension valueBe input to the 2nd comparator as negative-feedback; The 2nd comparator carries out after computing each input, the 2nd comparator defeatedGo out value and be input to the 1st traction PID, the output of the 1st traction PID, after speed limiting, acts on pulling winch and becomesFrequently device, and then adjust pulling winch motor speed, realize pulling winch constant motion.
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| CN108459504A (en) * | 2018-03-08 | 2018-08-28 | 上海阜有海洋科技有限公司 | The cooperative self-adapted iterative learning control method of multipoint mooring |
| CN110159867A (en) * | 2019-06-05 | 2019-08-23 | 保定市金马漏水检测有限公司 | Intert PE pipe repairing method in no-dig technique |
| CN111157046A (en) * | 2020-01-07 | 2020-05-15 | 东北大学 | Testing device of seabed oil and gas pipeline detection equipment |
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| CN111237585A (en) * | 2020-01-07 | 2020-06-05 | 东北大学 | Testing device of seabed oil and gas pipeline detection equipment with speed regulation function |
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