CN109253398B - A kind of underwater oil pipeline dynamic monitoring method considering temporary steady-state performance - Google Patents
A kind of underwater oil pipeline dynamic monitoring method considering temporary steady-state performance Download PDFInfo
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- CN109253398B CN109253398B CN201811292273.2A CN201811292273A CN109253398B CN 109253398 B CN109253398 B CN 109253398B CN 201811292273 A CN201811292273 A CN 201811292273A CN 109253398 B CN109253398 B CN 109253398B
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F17—STORING OR DISTRIBUTING GASES OR LIQUIDS
- F17D—PIPE-LINE SYSTEMS; PIPE-LINES
- F17D5/00—Protection or supervision of installations
- F17D5/02—Preventing, monitoring, or locating loss
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Abstract
The invention discloses a kind of underwater oil pipeline dynamic monitoring methods for considering temporary steady-state performance, belong to underwater oil Monitoring Pinpelines technical field, the present invention is according to the position of underwater robot and pipeline, and the effective sensitivity of underwater dissolved oxygen sensor, the stationary zones that setting underwater robot effectively detects；On the basis of stationary zones, the transient state index that underwater robot effectively detects is designed；For underwater robot according to temporary steady-state performance, segregation reasons go out global reference locus, set dynamic tracing monitor controller, act on the driving device of underwater robot, realize the dynamic monitoring of pipeline；Dissolved oxygen threshold value is set, the leakage monitoring of real-time and precise is carried out to the petroleum pipeline region.The present invention improves monitoring independence by the cooperation of underwater robot, on the other hand improves monitoring efficiency by temporary steady state constraint, not only can be reduced energy consumption, but also be able to achieve to the reliable dynamic monitoring in real time of underwater oil pipeline.
Description
Technical field
The invention belongs to underwater oil Monitoring Pinpelines technical field more particularly to a kind of underwater stones for considering temporary steady-state performance
Oil-piping dynamic monitoring method.
Background technique
21 century is the century of ocean, and ocean will become the new space of human survival and development.Petroleum in ocean is people
The mostly important source resource of class industrial development, wherein main means of the underwater oil pipeline as oil transportation at sea, are seas
The indispensable critical facility of upper petroleum industry.However, underwater environment characteristic is complicated, such as trench, ocean current, even Marine Geology calamity
Evil (earthquake) and petroleum pipeline leakage it is sudden so that the real-time of underwater oil Monitoring Pinpelines and independence are generally not
It is high.
Retrieval discovery, the patent application of Publication No. CN106514660A disclose a kind of submerged pipeline from the prior art
Detection underwater robot, the program using pipeline clamping device and running gear, and are tied using there is cable underwater robot as carrier
The job platform of ship is closed to complete the complete detection to submerged pipeline.This method although can complete twin conduit cruise detection,
But it is limited by cable, monitoring range is limited.Meanwhile the above method needs large ship to provide platform support, involves great expense,
It is unable to scale deployment.
Further more, the patent application of Publication No. CN204083823U discloses the submarine oil-transportation based on underwater unmanned vehicle
Pipeline leakage testing device, the program are opened by " ultraviolet lighting, which has been mapped to hydrocarbon, can excite fluorescent effect " this phenomenon
Hair, will carry fluorescent optical sensor, and then judge whether pipeline leaks by fluorescence phenomenon on underwater robot.Fluorescence passes
The performance of sensor relies on preferable visual environment, however underwater transparency degree is lower, tiny organism is also easy to produce scattering, while water in water
Medium-and-large-sized biology, which is also easy to produce, to be blocked, and above-mentioned constraint can reduce the penetration power of ultraviolet light, to reduce fluorescent optical sensor to pipeline
Monitoring Performance.Meanwhile underwater robot need to monitor on a large scale region, however the battery capacity that underwater robot carries
Limited and be not easy to replace, this wide range of monitoring mode limits the promotion of monitoring efficiency.Therefore, it is necessary to design a kind of consideration
On the one hand it is autonomous to improve monitoring by the cooperation of underwater robot for the underwater oil pipeline dynamic monitoring method of temporary steady-state performance
Property, monitoring efficiency is on the other hand improved by temporary steady state constraint.
Summary of the invention
It is an object of the invention to overcome deficiency in the prior art, provide that a kind of monitoring independence is strong, high-efficient examines
Consider the underwater oil pipeline dynamic monitoring method of temporary steady-state performance.
To achieve the above object, following technical scheme is used:
A kind of underwater oil pipeline dynamic monitoring method considering temporary steady-state performance, it is characterised in that: this method include with
Lower step:
Step 1: dynamic monitoring is carried out to underwater oil pipeline using the underwater robot for being equipped with dissolved oxygen sensor, according to
According to dissolved oxygen sensor in petroleum leak point C=[Cx,Cy,Cz] neighbouring sensitivity probability density distribution, establish radius of investigation r
With the correlation of sensitivity δ；It determines in effective sensitivity δminUnder effective radius of investigation R, petroleum leak point attachment determination have
Imitate stationary zones η=[C of detectionx±R,Cy±R,Cz±R]；Wherein, Cx、CyAnd CzRespectively X-axis, Y-axis and Z axis position；
Step 2: according to the stationary zones η=[C effectively detectedx±R,Cy±R,Cz± R], establish transient state target functionWherein, ξ is transformed error variable, WithFor constant
Parameter alpha1, α2Indicate that normal number, γ and β (ξ) are the constant greater than 1, λ (ξ) is finite time convergence control item, control system can be enabled to have
Desired trajectory is converged in limited time,
Step 3: according to underwater robot preset reference track position Xd=[xd,yd,zd], setting dynamic tracing monitoring control
Device processed acts on the driving device of underwater robot, by adjusting underwater robot location status, to realize the dynamic prison of pipeline
It surveys, considers the constraint of step 2 transient state target function, the fluid dynamics according to underwater robot determine dynamic tracing monitoring control
The Controlling model that device controls driving device:
Wherein, MoFor inertial matrix, CoFor Coriolis force and fluid dynamics damping matrix, K1And K2It is to have accordingly
The positive definite diagonal matrix of dimension, ρ are a positive scalar；
Step 4, it is determined using the Controlling model of step 3 and detects real-time dissolved oxygen value in underwater robot motion process
DO, it is DO that underwater robot, which moves to dissolved oxygen value detected by the stationary zones edge that step 1 effectively detects,L, petroleum pipeline
The normal dissolved oxygen value DO in waters locating for roadF；Judgement is compared, determines and carries out Oil spills early warning or continuation monitoring.
A further technical solution lies in: in step 1, the diffusion length r of petroleum is obeyed just relative to leakage point position
State distribution, sensitivity δ are gradually reduced with the expansion of radius r, and probability density is expressed as
In formula, the value of probability density f (r) is exactly the sensitivity of dissolved oxygen sensor, and standard deviation sigma is by such environmental effects
Constant amount.
A further technical solution lies in: taking effective sensitivity is δminWhen, corresponding effective monitoring radius is
A further technical solution lies in: the dissolved oxygen sensor, as cathode, is used as sun by silver electrode by gold electrode
Pole, by potassium chloride or potassium hydroxide as electrolyte；Wherein oxygen enters electrolyte and gold electrode and silver electrode by membrane diffusion
Constitute measurement circuit；When adding polarizing voltage to electrode, oxygen discharges electronics by membrane diffusion, cathode, and anode receives electronics,
Generate electric current, entire reaction process are as follows:
Anode: Ag+Cl → AgCl+2e-
Cathode: O2+2H2O+4e-→4OH-
Due to the adoption of the above technical scheme, a kind of offshore oilfield pipeline considering temporary steady-state performance constraint provided by the invention
Dynamic monitoring method has the advantages that compared with prior art
1, using autonomous underwater vehicle, the limitation that tradition has cable aircraft, the efficiency and cost of raising, work are got rid of
When measuring big, formation can also be formed, greatly improves detection speed and dynamic；
2, it is directed to underwater rugged environment, a kind of controller for considering temporary steady-state performance constraint is given, compensates for control
For device vulnerable to interference, track path fluctuates big defect.By the sensitivity of Selective dissolution lambda sensor, underwater autonomous boat is determined
The steady-state value range of row device.Detection accuracy and dynamic property are combined with each other, in addition the raising of instantaneous velocity and precision property.Energy
The energy consumption of autonomous underwater vehicle is enough saved significantly on, realizes for a long time patrol in real time and detection；
3, the use of dissolved oxygen sensor, the detection of effective solution Oil spills, while overcoming light in underwater environment
The insufficient influence of wave improves detection efficiency and accuracy, is of great significance in practical application.
Detailed description of the invention
Fig. 1 is process flow diagram flow chart of the method for the present invention for underwater oil pipeline dynamic monitoring method；
Fig. 2 is in the method for the present invention to the schematic diagram of underwater oil pipeline real-time track；
In Fig. 2: 1, control centre；2, underwater robot；3, underwater oil pipeline；4, leakage point；5, effective sensitivity
Corresponding effective monitoring radius；6, the monitoring region determined according to temporary steady-state performance index；7, the path of underwater robot monitoring
Direction；Arrow represents the path direction of underwater robot monitoring；
Specific embodiment
The present invention will be further described with reference to the accompanying drawing:
As shown in Figures 1 and 2, the invention discloses a kind of underwater oil pipeline dynamic monitoring sides for considering temporary steady-state performance
Method, the underwater robot 2 predominantly disposed is untethered, carry dissolved oxygen sensor, under water robot front end, top, bottom
Dissolved oxygen sensor is installed in end, lateral and tail portion respectively；It can carry out underwater autonomous cruise using own control systems；Monitoring
Method the following steps are included:
Step 1: according to the effective sensitive of the position and dissolved oxygen sensor of underwater robot 2 and underwater oil pipeline 3
Degree, the stationary zones that setting underwater robot effectively detects.The diffusion length r of petroleum obeys normal state relative to 4 position of leakage point
Distribution, sensitivity are gradually reduced with the expansion of radius, and probability density is expressed as
The value of probability density f (r) is exactly the sensitivity of dissolved oxygen sensor in formula, and standard deviation sigma is by such environmental effects
Constant amount.Taking effective factor of merit is δmin, corresponding effective monitoring radius isIf leakage
Point is set to C=[Cx,Cy,Cz], then the stationary zones effectively detected are
η=[Cx±R,Cy±R,Cz±R]
C in formulax、CyAnd CzRespectively X-axis, Y-axis and Z axis position.
Step 2: being influenced by underwater environment complexity and underwater robot model close coupling feature, underwater robot is dynamic
Easily occur excessive overshoot and lasting hysteresis in state monitoring process.For this purpose, designing underwater robot on the basis of stationary zones
The transient state index effectively detected.
Definition transformed error variable is ξ, is had WithFor constant parameter.Given non-singular terminal sliding formwork
Face is
In formula, α1, α2Indicate that normal number, γ and β (ξ) are the constant greater than 1.Wherein, λ (ξ) is finite time convergence control item,
Control system Finite-time convergence can be enabled to desired trajectory.And sign function sig (ξ) has the following properties that
Sliding formwork control face can be switched in real time according to the variation of transformed error, meet the monitoring velocity and overshoot of transient state index
Control, realizes good transient performance,
So determining that non-singular terminal sliding-mode surface s is transient state target function.
Step 3: for underwater robot according to temporary steady-state performance, segregation reasons go out global reference locus, in given monitoring region
The position 3 for inside knowing pipeline as sets the location status of reference locus as Xd=[xd,yd,zd]；Wherein xd、ydAnd zdRespectively
For X-axis, Y-axis and Z axis position.Establish the fluid dynamics of underwater robot are as follows:
F contains the power applied to underwater robot and torque in formula, and M represents inertial matrix, and V indicates to join relative to hull
The linear velocity for being and angular speed are examined, C (V) and D (V) respectively represent Coriolis force and fluid dynamics damping matrix.
Step 4: according to global reference locus, setting dynamic tracing monitor controller, and above controller is acted on into water
The driving device of lower robot, by adjusting underwater robot location status X=[x, y, z], to realize the dynamic monitoring of pipeline,
Wherein x, y and z are respectively X-axis, Y-axis and Z axis position.
According to the transient state index and dynamic monitoring performance of above-mentioned setting, control design case input is designed as τ=J-TF, J are hull
The rate conversion matrix of coordinate system and earth coordinates.Fluid dynamics according to underwater robot determine dynamic tracing monitoring control
The Controlling model that device processed controls driving device:
In formula, MoFor inertial matrix, CoFor Coriolis force and fluid dynamics damping matrix, K1And K2It is to have accordingly
The positive definite diagonal matrix of dimension, ρ are a positive scalar.
Step 5: during dynamic monitoring, being mounted in the dissolved oxygen sensor real-time monitoring dissolved oxygen of underwater robot
Value.Dissolved oxygen sensor is mainly made of gold electrode (cathode) and silver electrode (anode) and potassium chloride or potassium hydroxide electrolyte,
Oxygen enters electrolyte and gold electrode by membrane diffusion and silver electrode constitutes measurement circuit.When adding polarizing voltage to electrode,
For oxygen by membrane diffusion, cathode discharges electronics, and anode receives electronics, generates electric current, entire reaction process are as follows:
Anode: Ag+Cl → AgCl+2e-
Cathode: O2+2H2O+4e-→4OH-
Oil pollution can inhibit photosynthesis, reduce the oxygen content in water.The effective sensitivity institute for setting Oil spills is right
The dissolved oxygen value answered is DOL, activation threshold D when underwater dissolved oxygen sensor detects Oil spills at this time is defined as:
D=DOF-DOL
In formula, DOFFor the normal dissolved oxygen value in waters locating for petroleum pipeline.
It is determined using the Controlling model of step 4 and detects real-time dissolved oxygen value DO in underwater robot motion process, if
D1=DOFWhen-DO is higher than threshold value, then show that there are Oil spills, data are reported water surface control centre by underwater robot at this time；
Otherwise, continue to monitor, until monitoring terminates；
Effective sensitivity δminCorresponding dissolved oxygen value is DOL, that is, it imitates detected by the stationary zones edge of detection
Dissolved oxygen value；Determination detects that activation threshold when Oil spills is D=DO with dissolved oxygen sensorF-DOL, in formula, DOFFor stone
The normal dissolved oxygen value in waters locating for oil-piping.During dynamic track tracking, according to activation threshold D real-time monitoring submarine pipeline
3, it carries out Oil spills early warning or continues to monitor, data are reported into water surface control centre 1 in real time.
Following one embodiment that provide specifically are explained: underwater oil pipeline dynamic monitoring
(1) as shown in Fig. 2, disposing the petroleum pipeline of long 4m, width 3m in the waters to fixed length 6m, width 5m and depth 1.5m
Region, as underwater robot reference locus Xd=[xd,yd,zd]；2 be deployment underwater robot, it is untethered, carry it is molten
Lambda sensor is solved, underwater autonomous cruise can be carried out using own control systems；1 is control centre；4 be monitoring leakage undetermined
Point.
(2) effective sensitivity δ is takenmin=0.8, standard deviation sigma=0.4 is related to sensitivity δ's by radius of investigation r
Property can obtain in effective radius of investigation R=0.266m corresponding diagram 25, i.e., corresponding effective search coverage 6 be η=[Cx±
0.266,Cy±0.266,Cz±0.266]；For transient state setup measures, non-singular terminal sliding-mode surface is selectedIn formula, transformed error variable is ξ, is had WithIt is normal
Measure parameter, α1, α2Indicate that normal number, γ and β (ξ) are the constant greater than 1, λ (ξ) is finite time convergence control item, and sig (ξ) is symbol
Function.
(3) by above-mentioned (2), that is, it can determine the controller for considering temporary steady-state performance constraint, acted on underwater robot
Driving device realized reliable by motion profile 7 it can be seen that underwater robot is held in effectively monitoring region
Accurate tracking.
(4) waters is corresponding sets normoxia DOFFor 6.0mg/L, the effective sensitivity δ of dissolved oxygen sensor is selectedmin
Dissolved oxygen value DO corresponding to=0.8L=2.5mg/L, during dynamic track tracking, according to activation threshold D=DOF-DOL=
3.5mg/L real-time monitoring submarine pipeline 3 carries out Oil spills early warning or continues to monitor, in real time reports data in water surface control
The heart 1, until monitoring terminates.
It is above-described to implement to be only that preferred embodiments of the present invention will be described, not to the scope of the present invention
It is defined, without departing from the spirit of the design of the present invention, those of ordinary skill in the art are to technical solution of the present invention
The various changes and improvements made should all be fallen into the protection scope that claims of the present invention determines.
Claims (4)
1. a kind of underwater oil pipeline dynamic monitoring method for considering temporary steady-state performance, it is characterised in that: this method includes following
Step:
Step 1: dynamic monitoring being carried out to underwater oil pipeline using the underwater robot for being equipped with dissolved oxygen sensor, according to molten
Lambda sensor is solved in petroleum leak point C=[Cx,Cy,Cz] neighbouring sensitivity probability density distribution, establish radius of investigation r and spirit
The correlation of sensitivity δ；It determines in effective sensitivity δminUnder effective radius of investigation R, petroleum leak point attachment determine effectively visit
Stationary zones η=[C of surveyx±R,Cy±R,Cz±R]；Wherein, Cx、CyAnd CzRespectively X-axis, Y-axis and Z axis position；
Step 2: according to the stationary zones η=[C effectively detectedx±R,Cy±R,Cz± R], establish transient state target functionWherein, ξ is transformed error variable, WithFor constant
Parameter alpha1, α2Indicate that normal number, γ and β (ξ) are the constant greater than 1, λ (ξ) is finite time convergence control item, control system can be enabled to have
Desired trajectory is converged in limited time,
Step 3: according to underwater robot preset reference track position Xd=[xd,yd,zd], setting dynamic tracing monitor controller is made
For the driving device of underwater robot, by adjusting underwater robot location status, to realize the dynamic monitoring of pipeline, consider
The constraint of step 2 transient state target function, the fluid dynamics according to underwater robot determine dynamic tracing monitor controller to drive
The Controlling model of dynamic device control:
Wherein, MoFor inertial matrix, CoFor Coriolis force and fluid dynamics damping matrix, K1And K2There is corresponding dimension
Positive definite diagonal matrix, ρ are a positive scalar；
Step 4, it is determined using the Controlling model of step 3 and detects real-time dissolved oxygen value DO, water in underwater robot motion process
Dissolved oxygen value detected by the stationary zones edge that lower robot motion effectively detects to step 1 is DOL, locating for petroleum pipeline
The normal dissolved oxygen value DO in watersF；Judgement is compared, determines and carries out Oil spills early warning or continuation monitoring.
2. a kind of underwater oil pipeline dynamic monitoring method for considering temporary steady-state performance according to claim 1, feature
Be: in step 1, the diffusion length r of petroleum is relative to leakage point position Normal Distribution, and sensitivity δ is with radius r's
Expansion is gradually reduced, and probability density is expressed as
In formula, the value of probability density f (r) is exactly the sensitivity of dissolved oxygen sensor, and standard deviation sigma is by the normal of such environmental effects
Quantity.
3. a kind of underwater oil pipeline dynamic monitoring method for considering temporary steady-state performance according to claim 2, feature
Be: taking effective sensitivity is δminWhen, corresponding effective monitoring radius is
4. a kind of underwater oil pipeline dynamic monitoring method for considering temporary steady-state performance according to claim 1, feature
Be: the dissolved oxygen sensor by gold electrode as cathode, by silver electrode as anode, by potassium chloride or potassium hydroxide conduct
Electrolyte；Wherein oxygen enters electrolyte and gold electrode by membrane diffusion and silver electrode constitutes measurement circuit；It is added when to electrode
When polarizing voltage, for oxygen by membrane diffusion, cathode discharges electronics, and anode receives electronics, generates electric current, entire reaction process are as follows:
Anode: Ag+Cl → AgCl+2e-
Cathode: O2+2H2O+4e-→4OH-。
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN101498681A (en) * | 2009-03-13 | 2009-08-05 | 吴守清 | Electrode for measuring trace dissolved oxygen |
| CN102879038A (en) * | 2012-10-08 | 2013-01-16 | 烟台海诚高科技有限公司 | Multi-parameter online monitoring system for water environments |
| CN103323400A (en) * | 2013-06-06 | 2013-09-25 | 上海物联网有限公司 | Multi-parameter integrated water quality on-line monitoring sensing system |
| JP2015021683A (en) * | 2013-07-22 | 2015-02-02 | パナソニック株式会社 | Refrigeration device |
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