CN109611696A - A kind of pipeline leakage testing and leak position positioning device and method - Google Patents
A kind of pipeline leakage testing and leak position positioning device and method Download PDFInfo
- Publication number
- CN109611696A CN109611696A CN201910100047.8A CN201910100047A CN109611696A CN 109611696 A CN109611696 A CN 109611696A CN 201910100047 A CN201910100047 A CN 201910100047A CN 109611696 A CN109611696 A CN 109611696A
- Authority
- CN
- China
- Prior art keywords
- pipeline
- value
- leakage
- particle
- under test
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000012360 testing method Methods 0.000 title claims abstract description 90
- 238000000034 method Methods 0.000 title claims abstract description 44
- 239000002245 particle Substances 0.000 claims abstract description 185
- 238000001514 detection method Methods 0.000 claims abstract description 33
- 238000004422 calculation algorithm Methods 0.000 claims abstract description 22
- 230000004807 localization Effects 0.000 claims description 13
- 238000005259 measurement Methods 0.000 claims description 13
- 238000013500 data storage Methods 0.000 claims description 12
- 239000011159 matrix material Substances 0.000 claims description 12
- 238000004364 calculation method Methods 0.000 claims description 11
- 238000012952 Resampling Methods 0.000 claims description 8
- 239000012530 fluid Substances 0.000 claims description 6
- 239000000463 material Substances 0.000 claims description 4
- 230000001052 transient effect Effects 0.000 claims description 4
- 238000013178 mathematical model Methods 0.000 claims description 3
- 238000004088 simulation Methods 0.000 claims description 3
- 238000001914 filtration Methods 0.000 claims description 2
- 230000008676 import Effects 0.000 claims description 2
- 239000003921 oil Substances 0.000 description 23
- 238000010586 diagram Methods 0.000 description 10
- 230000006872 improvement Effects 0.000 description 6
- 230000005540 biological transmission Effects 0.000 description 5
- 230000000694 effects Effects 0.000 description 4
- 239000004744 fabric Substances 0.000 description 3
- 238000012545 processing Methods 0.000 description 3
- 230000000977 initiatory effect Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000001737 promoting effect Effects 0.000 description 2
- 238000004080 punching Methods 0.000 description 2
- NAWXUBYGYWOOIX-SFHVURJKSA-N (2s)-2-[[4-[2-(2,4-diaminoquinazolin-6-yl)ethyl]benzoyl]amino]-4-methylidenepentanedioic acid Chemical compound C1=CC2=NC(N)=NC(N)=C2C=C1CCC1=CC=C(C(=O)N[C@@H](CC(=C)C(O)=O)C(O)=O)C=C1 NAWXUBYGYWOOIX-SFHVURJKSA-N 0.000 description 1
- 230000005856 abnormality Effects 0.000 description 1
- 230000032683 aging Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000012512 characterization method Methods 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 239000010779 crude oil Substances 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 230000003628 erosive effect Effects 0.000 description 1
- 238000011156 evaluation Methods 0.000 description 1
- 239000000835 fiber Substances 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000005065 mining Methods 0.000 description 1
- 239000003208 petroleum Substances 0.000 description 1
- 238000007781 pre-processing Methods 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 239000000523 sample Substances 0.000 description 1
- 230000000192 social effect Effects 0.000 description 1
- 230000035882 stress Effects 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
-
- 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
- F17D5/06—Preventing, monitoring, or locating loss using electric or acoustic means
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Acoustics & Sound (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Examining Or Testing Airtightness (AREA)
Abstract
The invention discloses a kind of pipeline leakage testings and leak position positioning device and method, comprising: includes: the entrance that inlet pressure sensor and inlet flow meter are mounted on pipe under test；Outlet pressure sensor and outlet stream meter are mounted on the exit of pipe under test；Node pressure sensor is mounted at the default node of pipe under test；Inlet pressure sensor, inlet flow meter, node pressure sensor, outlet pressure sensor and outlet stream meter output end be connected with the input terminal of capture card, the output end of capture card is connected with the input terminal of particle filter；Wherein, the quantity of node pressure sensor is one or more；Particle filter is based on particle filter algorithm and completes detection and positioning.Number of sensors needed for the present invention is less, and detection leakage is time-consuming short, and positioning accuracy is high；The slow leakage of long distance oil pipeline and Small leak can be detected and positioned；And there is preferable real-time and large-scale application prospect.
Description
Technical field
The invention belongs to Discussion on Pipe Leakage Detection Technology field, in particular to a kind of pipeline leakage testing and leak position position
Device and method.
Background technique
Pipeline transportation is the prevailing traffic mode of petroleum resources.With the large-scale application of pipeline transportation, tubing aging, corruption
Pipe leakage accident occurrence frequency caused by the artificial origins such as natural causes and illegal mining punching, breakage in installation such as erosion, water attack process
Continue to increase.According to statistics, China's oil and gas pipeline in 2016 is up to 11.34 ten thousand kilometers, and wherein the punching rate of crude oil pipeline is about
0.66 time/Km.Pipeline Leak not only causes massive losses to national economy, also makes natural environment by serious broken
It is bad.In consideration of it, leakage information can be obtained in time by carrying out the state-detection of efficiently and accurately and leakage positioning to oil pipeline, reduction is let out
Economic loss caused by leakage accident and environmental disruption have important social effect and economic value.
In existing oil pipeline detection technique, managing interior detection ball is to detect the main means of short distance pipeline；Acoustics
Detection method and suction wave detection method are to detect the main means of long-distance pipe.Detection ball not can be carried out real-time leakage in pipe
Detection, and time-consuming for detection；Pressure wave detection method lets out and Small leak detection effect is poor to slow, and can not detect and occur
Leakage；Although acoustic method is much better than suction wave detection method in performance, there are still let out and the susceptibility of Small leak to slow
With the problem of positioning accuracy difference.Other oil pipeline detection techniques, although such as Fiber Optic Sensor, leakage method, robot probe's method exist
The efficiency and precision of pipe leakage positioning aspect are higher, but since economic cost is high, applicable elements are single, more difficult extensive
It uses.
To sum up, a kind of novel Pipeline Leak detection and positioning device are needed.
Summary of the invention
The purpose of the present invention is to provide a kind of pipeline leakage testings and leak position positioning device and method, on solving
State existing one or more technical problems.The device of the invention, required number of sensors is less, and detection leakage is time-consuming short, fixed
Position precision is high；The slow leakage of long distance oil pipeline and Small leak can be detected and positioned；And have preferable real
When property and large-scale application prospect.
In order to achieve the above objectives, the invention adopts the following technical scheme:
A kind of pipeline leakage testing and leak position positioning device, comprising: inlet pressure sensor, inlet flow meter, section
Press force snesor, outlet pressure sensor, outlet stream meter, capture card and particle filter；Inlet pressure sensor and into
Mouth flowmeter is mounted on the entrance of pipe under test, for detecting the pressure value and flow of pipe under test entrance medium；Outlet
Pressure sensor and outlet stream meter are mounted on the exit of pipe under test, for detecting the pressure of pipe under test exit medium
Value and flow；Node pressure sensor is mounted at the default node of pipe under test, is preset at node for detecting pipe under test
The pressure value of medium；Inlet pressure sensor, inlet flow meter, node pressure sensor, outlet pressure sensor and outlet
The output end of flowmeter is connected with the input terminal of capture card, and the output end of capture card is connected with the input terminal of particle filter
It connects；Wherein, the quantity of node pressure sensor is one or more.
Further, further includes: the first subsidiary conduit and the second subsidiary conduit；The import of pipe under test passes through the first auxiliary
Pipeline is connected with outbound oil storage tank, and the outlet of pipe under test is connected by the second subsidiary conduit with the oil transportation tank that enters the station；First
On subsidiary conduit, the first ball valve, pump, check (non-return) valve, the second ball valve and control valve are disposed with along medium conveying direction；Second is auxiliary
It helps on pipeline, is provided with third ball valve；First subsidiary conduit and the second subsidiary conduit are identical as the specification of pipe under test.
Further, the particle filter includes: wireless transport module, data storage module, computing module and display
Module；The receiving end of wireless transport module is used to receive the data of capture card conveying, the output end and data of wireless transport module
The receiving end of storage module is connected, and the output end of data storage module is connected with the input terminal of computing module, computing module
Output end be connected with the input terminal of display module；Computing module is with the single-chip microcontroller for meeting default computing capability, monolithic
Preset particle filter algorithm program is integrated in machine.
A kind of pipeline leakage testing and leak position localization method, comprising the following steps:
S1, acquisition obtain the basic data and operational data of pipe under test；Operational data includes at least pipe under test entrance
The pressure value at node is preset in pressure value and flow value, exit pressure levels and flow value and pipe under test；
S2 establishes pipeline using the transient model method based on addition leakage information according to the data that step S1 acquisition obtains
The state space equation of fluid；
S3 judges whether to leak by the flow value that step S1 is acquired；In case of the leakage then preliminary leakage of output
Amount, and jump and execute step S4；If do not leaked, jumps and execute step S1；
S4, according to the state space equation that step S2 is obtained, initialization particle filter and preliminary leakage rate, when to leakage
Pipeline conditions are carried out based on particle filter algorithm according to a preliminary estimate, i.e., traverse all default nodes according to preset order, find out and estimate
The difference of evaluation and observation is less than one group of estimated value of preset threshold, obtains pipe under test leakage rate, leadage coefficient and preliminary
Leak position；
S5, the method by increasing default number of nodes are established compared with the more accurate state space equation of step S2, then into
Row particle filter initializes, and the leak position and leakage rate in initialization condition are obtained by step S4, pipe-like when to leakage
State carries out the estimation based on particle filter algorithm, and the difference of estimated value and observation is less than preset compared with the more accurate threshold value of step S4
When, the leak position after being optimized.
A further improvement of the present invention is that step S1 is specifically included: acquisition pipe under test length L, pipe under test internal diameter
D, hydraulic simulation experiment f, celerity of pressure wave Cs, pipe level angle theta；Acquire pipeline Ru Guan oil transportation station pressure head value H1, flow
Value Q1Petrol station pressure head value H is met with outlet pipen, flow value Qn；It acquires pipeline and presets node location pressure head value Hi′；Acquire conveying in pipeline
Media density ρ.
A further improvement of the present invention is that step S2 is specifically included: passing through the mass balance of pumped (conveying) medium, momentum balance
The mathematical model of pipeline fluid is established, and asks it to solve numerical value using the method for characteristic curves；
The expression formula of the pipeline conditions space equation comprising leakage of building are as follows:
xj+1=Axj+Buj+Duj 2+Euj+1+aξ+FQl；
Y=Cxj
In formula, the state of pipe flow system is x=[H1..., Hn-1, Q2..., Qn]T, the time step of j expression pipe-line system
Long, n is the node number of pipeline, ujFor the control amount of system, λlFor leakage point leadage coefficient；HlFor pressure head value, y at leakage point
Measured value, output matrix C are as follows:QlLeakage rate, Q are surveyed for flowmeterl=Qn-Q1。
A further improvement of the present invention is that step S3 is specifically included:
Threshold value th is set1, operating lag t is set；When | Q1-Qn| > th1, and this state duration Δ t > t, then judge
Pipeline leaks；Otherwise being determined as pipeline, there is no leakages；Output leakage moment t ', exports and lets out in Δ t when leaking
Leakage quantity mean valueAs replacement pipeline conditions space equation QlIt uses；Wherein, Q1For the flow value of entrance detection, QnFor pipe
The flow value of road outlet detection.
A further improvement of the present invention is that step S4 is specifically included:
S4.1: the parameter in initialization particle filter algorithm: initialization matrix F, at the n-2 that pipeline may leak
In node location, leakage rate mean value is added along pipeline direction
Init state space equation enables moment j=0, leaks moment j=t '；The work shape of input channel conveying medium
Control amount u of the state as state space equationj, uj=[Q1, j, HN, j]T；Setting particle number is P, initializes pipeline conditions particle
Collect χ and leakage rate particle collection τ；Wherein, it is with mean valueNormal distribution generate leakage rate particle collection τ；
S4.2: by the pipeline original state x of step S4.1j, control amount uj, uj+1It calculates and obtains pipeline conditions xj+1；Based on step
Particle collection χ in rapid S4.1j、τjAnd observation y=[H1, j, QN, j]T, calculate and obtain particle collection χj+1；
It is inscribed when calculating j, xj+1With χj+1Difference dis (i), calculation formula are as follows:
Dis (i)=xj+1-χj+1
Calculate particle collection χj+1In P particle corresponding to weight w (i), and by weight normalized be q (i), meter
Calculate formula are as follows:
Wherein, wherein i is material calculation needed for importance resampling, i ∈ [1, P]
By particle collection χj+1With weighted value q (i), the particle collection of one group of weighting is obtainedWith approximation
The posterior density function of j+1 moment pipeline conditions is characterized, wherein weight meets normalizing condition
S4.3: to the weighting particle collection χ ' obtained in step S4.2j+1Using importance method for resampling, by χ 'j+1Middle power
After the lower particle of weight replaces with the higher particle of weight, as estimation pipeline j+2 moment state particle collection；In j+2
Before the particle filter estimation at quarter, to particle collection χ 'j+1The particle collection τ for updating and updatingjIt is pre-processed；
S4.4: repeating said steps S4.2 and S4.3 obtain the particle filter of the pipe-line system of any time leak condition
Estimated valueWith the particle filter estimated value of leakage rate
S4.5: compare each node measured value and estimated value in pipe-line systemCompare actual measurement leakage rate QlWith estimated value
In judgment step S4.1, whether the leakage information for being additional to node n along pipeline is correct；Leakage information is attached with if correct
Effect, the leak position that output estimation obtainsThe leak position n=n+1 that step S4.1 is updated if incorrect, lays equal stress on
Multiple step S4.2 to S4.5.
A further improvement of the present invention is that step S5 is specifically included:
Step S5.1: increasing the segments N ' of pipe under test in step S1, and the state for establishing more accurate pipe under test is empty
Between equation；
Step S5.2: setting threshold value th more accurate compared with step S42, additional leakage in the initialization condition of particle filter
Position and leakage rate are step S4 acquisition value, leak positionUpdate mode be
Wherein, Δ x 'iFor the preliminary leak position in step S4Δ x ' is two of state space equation in step S5.1
The value range of distance between node, m is For the number that rounds up；
It is iterated update, until exporting accurate leak position information when meeting preset threshold conditionLeak is let out
Coefficient of leakage λl。
A further improvement of the present invention is that step S4.3 includes:
(1) constant being located in [0,1] section is generated based on normal distribution, is denoted as r (i)；
(2) weight that the pipeline conditions obtained by step 4.2 are inscribed at thisWith
R (i) is compared；IfObtained by updating after k=k+1Continue compared with r (i)；IfBy the higher particle of weight corresponding to weight q (i=k) Replace the lower particle of weight
(3) according to the particle number P of particle filter, P step (1) and step (2) are repeated；To updated particle collectionWithMean value is taken, obtains pipeline conditions in the particle filter at j+1 moment
Estimated valueParticle filter estimated value of the leakage rate at the j+1 moment
(4) more new particle collection χj+1=χ "j+1, more new particle collection τj+1=τ 'j+1；
Pretreated mode specifically: τ 'j+1(i)=τ 'j+1(i)+δ (i), wherein δ (i) obeys the normal state point that mean value is 0
Cloth, variance needed for the normal distribution is depending on practical leakage rate.
Compared with prior art, the invention has the following advantages:
The device of the invention, required number of sensors is less, and detection leakage is time-consuming short, and positioning accuracy is high；Can to it is long away from
Slow leakage and Small leak from oil pipeline are detected and are positioned；And before there is preferable real-time and large-scale application
Scape.
Of the invention Pipeline Leak detection and localization method based on particle filter, may be implemented it is non-linear it is serious,
The accurate positioning of the leak position of oil pipeline in the case of measurement noise non-gaussian distribution；And promoting the same of positioning accuracy
When, guarantee that calculation amount is not substantially increased；Pretreatment mode of the proposed leakage rate in particle filter estimation, can be to pipeline
The non-constant of leakage rate, the slow leakage rate let out etc. under operating conditions are effectively estimated.
Detailed description of the invention
Fig. 1 is a kind of Pipeline Leak detection and positioning device based on particle filter algorithm of the embodiment of the present invention
Structural schematic diagram；
Fig. 2 is pipeline sensor position schematic diagram in the embodiment of the present invention；
Fig. 3 is a kind of Pipeline Leak detection and localization method based on particle filter algorithm of the embodiment of the present invention
Schematic process flow diagram；
Fig. 4 is importance resampling and leakage rate Preprocessing Algorithm flow chart in particle filter in the embodiment of the present invention；
Fig. 5 is pressure head along pipeline in the Oil Pipeline Leakage Detection based on particle filter of the embodiment of the present invention
Estimated value schematic diagram；Fig. 5 (a) is the contrast schematic diagram of first node pressure sensor measurements Yu particle filter estimated value；Fig. 5
(b) be second node pressure sensor measurements Yu particle filter estimated value contrast schematic diagram；Fig. 5 (c) is third node pressure
The contrast schematic diagram of force sensor measuring value and particle filter estimated value；
Fig. 6 be the embodiment of the present invention the Oil Pipeline Leakage Detection based on particle filter in pipe leakage amount with let out
The coefficient of leakage estimates schematic diagram；Fig. 6 (a) is that leakage rate estimates schematic diagram；Fig. 6 (b) is that leadage coefficient estimates schematic diagram；
In figure, outbound oil storage tank 1；First ball valve 2；Pump 3；Check (non-return) valve 4；Second ball valve 5；Control valve 6；First subsidiary conduit
7；Pipe under test 8；Second subsidiary conduit 9；Third ball valve 10；Enter the station oil transportation tank 11；Inlet pressure sensor 12；Inlet flow meter
13；Outlet pressure sensor 15；Outlet stream meter 16；Capture card 17；Particle filter 18；First node pressure sensor 19；
Second node pressure sensor 20；Third node pressure sensor 21.
Specific embodiment
Below in conjunction with the attached drawing of the embodiment of the present invention, technical solution in the embodiment of the present invention progress is completely clearly said
It is bright.It should be appreciated that embodiment described herein is only for the purpose of illustrating and explaining the present invention and is not intended to limit the present invention.Based on this
The embodiment of invention, the every other implementation that those of ordinary skill in the art obtain without making creative work
Example, shall fall within the protection scope of the present invention.
Please refer to Fig. 1 and Fig. 2, a kind of pipeline leakage detection and location device based on particle filter of the invention, comprising:
Outbound oil storage tank 1, the first subsidiary conduit 7, pipe under test 8, the second subsidiary conduit 9 and the oil transportation tank 11 that enters the station being sequentially communicated.
Conveying direction on first subsidiary conduit 7 along medium is disposed with the first ball valve 2, the 3, first check (non-return) valve of pump, the
Two ball valves 5, flow control valve and the second check (non-return) valve；Third ball valve 10 and pressure-control valve are provided on second subsidiary conduit 9.
First subsidiary conduit 7 is connected with pipe under test 8 by the first connecting flange, be equipped at the first connecting flange into
Mouth pressure sensor 12 and inlet flow meter 13, for detecting the pressure value and flow of pipe under test entrance medium.
Second subsidiary conduit 9 is connected with pipe under test 8 by the second connecting flange, is equipped with out at the second connecting flange
Mouth pressure sensor 15 and outlet stream meter 16, for detecting the pressure value and flow of pipe under test exit medium.
Multiple default nodes are provided with along pipe under test 8, can be three；The section of equally accurate is installed at default node
Force snesor is pressed, the pressure value of medium at node is preset for detecting pipe under test.
Inlet pressure sensor 12, inlet flow meter 13, node pressure sensor, outlet pressure sensor 15 and outlet
The data output end of flowmeter 16 is connected with the data input pin of capture card 17, the output end and particle filter of capture card 17
The data input pin of device 18 is connected, particle filter 18 according to the input data, after processing output estimation predict leakage position
It sets, completes detection.
Capture card 17 includes wire transmission and wireless transport module, should be set to the pressure sensing along pipe under test 8
The closer place of device, collects pressure sensor measurements along pipe under test by way of wired connection, passes through wireless transmission
Mode be connected with particle filter data storage module, realize that each measurement value sensor and particle are filtered along pipe under test 8
The connection of wave device data storage module.
Particle filter: particle filter 18 includes wireless transport module, data storage module, computing module and display
Module.Wireless transport module has the information wireless communication functions of capture card and particle filter；Data storage module is to store up
Deposit inlet pressure sensor 12, inlet flow meter 13, node pressure sensor, outlet pressure sensor 15 that capture card is transmitted
And the real-time working data of outlet stream meter 16；Computing module is integrated with the shape of preset particle filter algorithm, pipe under test
State space equation, and there is computing function, to calculate the real-time working data stored by data storage module；Work as computing module
After completing detection, display module shows doubtful leak position.
The working principle of apparatus of the present invention:
Acquire the pressure head value H of the first subsidiary conduit end1When, pass through pump, the first check (non-return) valve, flow control valve, pressure control
Valve processed guarantees the pressure head value of pipe under test pumped (conveying) medium and flow value is in stable state, and by steady-state flow magnitude Q1Storage to particle is filtered
The data storage module of wave device, as control amount u needed for particle filterjWherein one group of data.Flow control valve and pressure control
Valve guarantee pipe under test processed is in the case where leaking operating condition, the flow value Q of pumped (conveying) medium1It remains unchanged.Meet flow value Q1Acquisition condition
When, outlet pressure sensor surveys the second subsidiary conduit head end pressure head value HnIt stores to the data storage module of particle filter,
Pressure-control valve be used to limit pumped (conveying) medium at this time the second subsidiary conduit maximum pressure head value no more than HnWhile pressure head value
Stable state is in flow value, and by the second subsidiary conduit head end pressure head value H of stable statenAs control amount u needed for particle filterj's
Wherein another group of data.When pipe under test leaks, the influence and the present invention due to leakage are to flow control valve 6, pressure
The job requirement of force control valve 13, pressure head value H1Measured value and flow value QnNew stable state can be dropped to, to guarantee to leak operating condition
The flow value Q of lower pipe under test1With pressure head value HnWith the pipe under test flow value Q under nominal situation1With pressure head value HnUnanimously, it pumps
The discharge pressure of offer should be at least more than 5%~10% of discharge pressure needed for actual condition.Check (non-return) valve prevent leakage cause to
The transient changing occurred in test tube road causes the small size backflow phenomenon of pumped (conveying) medium, so that the flow value of the first subsidiary conduit be caused to produce
Raw fluctuation.Observation H1、QnReal-time Transmission to particle filter storage module.By pipe under test along the node pressure of line position
Sensor acquires pipe under test middle position pressure head value measured value, and is stored to the data storage module of particle filter.
For the validity for guaranteeing apparatus of the present invention and method, when reaching the acquisition condition of the data, each control element is such as
The revolving speed of pump, flow control valve, pressure-control valve operating condition should keep constant.If practical pipeline causes to convey due to any
The change of pressure medium value or flow value, should repeat the debugging efforts of above-mentioned control element, and initialize particle filter, to again
After reaching above-mentioned each data acquisition conditions, the storage module of data input particle filter will be acquired again.
The course of work of apparatus of the present invention:
In the device of the invention, along medium conveying direction, outbound oil storage tank 1 is sequentially connected and is connected to the first ball valve 2, pump 3,
Pump 3 is connected to check (non-return) valve 4, the second ball valve 5 and control valve 6, control valve 6 and the first subsidiary conduit 7, pipe under test 8
It is sequentially communicated, pipe under test 8 is sequentially connected and is connected to the second subsidiary conduit 9, third ball valve 10 and the oil transportation tank 11 that enters the station.Pass through pump
3, the beginning flow and terminal pressure of pipe under test 8 needed for check (non-return) valve 4 and control valve 6 control particle filter.Inlet pressure passes
Sensor 12 and inlet flow meter 13 are arranged in 7 end of the first subsidiary conduit, 16 cloth of outlet pressure sensor 15 and outlet stream meter
It is placed in 9 head end of the second subsidiary conduit, for acquiring accurate measured value needed for particle filter 18, the first subsidiary conduit
7 and 9 specification of the second subsidiary conduit it is identical as 8 specification of pipe under test, to be further ensured that the accuracy of measured value；Several node pressures
Force snesor is arranged in default node location along pipe under test 8, for recognizing the estimation of 18 gained pipeline conditions of particle filter
The validity of value.
Specific node setting method includes: to first have to divide pipe under test 8 before arranging node pressure sensor
Section, i.e.,Wherein, [n] is the number that rounds up of the node after duct segments, and pipeline number of nodes n=N+1, Δ x are pipe
Two node spacing of road, L are pipe under test total length.The position of several node pressure sensors should be in pipe under test 8
On default node.Each sensor is connected by capture card with particle filter along pipe under test 8, and capture card has input mould
Block, output module and data transmission module, real-time Data Transmission function needed for particle filter may be implemented.
Referring to Fig. 2, a kind of arrangement of its sensor for showing specific oil pipeline to be measured.It needs to illustrate
It is that Fig. 2 is only specifically illustrating with regard to specific embodiment pipeline, node number, adjacent node spacing for showing etc. can be according to realities
Border needs to set and modify, not as the specific restriction of technical solution of the present invention.
Referring to Fig. 3, a kind of Pipeline Leak detection and localization method based on particle filter algorithm of the invention, tool
Body the following steps are included:
Step 1: acquisition pipe under test parameter acquires pipe under test head end pressure and flow Value Data, acquires to be measured
The internal pipe pressure data of pipeline intermediary locations acquire pumped (conveying) medium parameter in pipe under test.
It is specifically included in step 1: acquisition pipe under test length L, pipe under test internal diameter D, hydraulic simulation experiment f, pressure wave
Spread speed Cs, pipe level angle theta；Acquire pipeline Ru Guan oil transportation station pressure head value H1, flow value Q1Petrol station pressure head value is connect with outlet pipe
Hn, flow value Qn；Acquire pipeline middle position pressure head value Hi′；Acquire pumped (conveying) medium density p in pipeline.
Step 2: according to the parameter of the step 1, establishing pipeline stream using the transient model method based on addition leakage information
The state space equation of body.
It is specifically included in step 2: establishing the mathematical modulo of pipeline fluid by the mass balance of pumped (conveying) medium, momentum balance
Type, and ask it to solve numerical value using the method for characteristic curves.
Pipe flow system state space equation is represented by formula (1) and formula (2):
xj+1=ψ (xj, uj, uj+1) (1)
Y=Cxj (2)
Specifically:
xj+1=Axj+Buj+Duj 2+Euj+1+aξ (3)
Y=Cxj (4)
In above formula, the state of pipe flow system is x=[H1..., Hn-1, Q2..., Qn]T, the time of j expression pipe-line system
Step-length, ujFor the control amount of system.
Further, leak model is addedObtain the pipeline conditions equation comprising leakage:
xj+1=Axj+Buj+Duj 2+Euj+1+aξ+FQl (5)
Y=Cxj (6)
In formula, λlFor leakage point leadage coefficient；HlFor pressure head value at leakage point.
Step 3: according to pipe under test head end flow measurements Q1With pipe under test end flow measurements QnJudging pipeline is
It is no to be leaked.
Step 3 specifically includes: setting threshold value QL, operating lag t is set.When | Q1-Qn| > QL, and this state duration
Δ t ' > t, then may determine that pipeline is leaked.Output leakage moment t ', exports the mean value of Δ t ' internal leakageTo
Actual measurement leakage rate Q in alternate form (5)l。
Step 4: initialization particle filter and leakage rate, pipeline conditions when to leakage are carried out based on particle filter algorithm
After according to a preliminary estimate, pipe leakage amount, leadage coefficient and leak position are obtained.
Step 4 specifically includes:
Step 4.1: the parameter in initialization particle filter algorithm.Matrix F is initialized, in the n- that pipeline may leak
In 2 positions, the mean value of leakage rate is added along pipeline directionThe state space equation in particle filter is formula (5) at this time.Just
Beginning formula (5) enables moment j=0, leaks moment j=t '.The working condition of input channel conveying medium is as state space equation
Control amount uj, specially uj=[Q1, j, HN, j]T.Setting particle number is P, initializes pipeline conditions particle collection χjAnd leakage rate
Particle collection τj.It specifically, is u with mean valueJ=0Normal distribution generate pipeline conditions particle collection χj, it is with mean valueNormal state point
Cloth generates leakage rate particle collection τj, generate leakage rate particle collection τjRequired variance should meet its fluctuation range and be no more than's
20%.
Step 4.2: by the pipeline original state x of step 4.1j, control amount uj, uj+1Calculate pipeline conditions xj+1；Based on described
Particle collection χ in step 4.1j, τjAnd observation y=[H1, j, QN, j]T, calculate particle collection χj+1；It is inscribed when calculating this, xj+1With χj+1
Difference dis (i):
Dis (i)=xj+1-χj+1 (7)
According to formula (8), particle collection χ is calculatedj+1In P particle corresponding to weight w (i), and by weight w (i) normalize
Processing is q (i):
Wherein, i is material calculation needed for importance resampling, i ∈ [1, P].By particle collection χj+1With weighted value q (i),
Obtain the particle collection of one group of weightingWith the posterior density letter of approximate characterization j+1 moment pipeline conditions
Number, wherein weight meets normalizing condition
Step 4.3: to the weighting particle collection χ ' in the step 4.2j+1Using importance method for resampling, by χ 'j+1In
After the lower particle of weight replaces with the higher particle of weight, as estimation pipeline j+2 moment state particle collection.In j+2
Before the particle filter estimation at moment, to particle collection χ 'j+1The particle collection τ for updating and updatingjIt is pre-processed.
The particle filter estimated value of the pipe-line system of any time leak condition can be obtained in repeating said steps 4.2 to 4.3With the particle filter estimated value of leakage rate
Step 4.4: comparing each node measured value and estimated value in pipe-line systemCompare actual measurement leakage rate QlWith estimated valueIn judgment step 4.1, whether the leakage information for being additional to node n along pipeline is correct.If then leakage information is attached with
Effect, the leak position of output estimationAnd it carries out step 5 and leak position is further estimated；If otherwise updating institute
The leak position n=n+1 of step 4.1 is stated, and repeats step 4.2 to 4.4.
Step 5: inputting pipe leakage amount according to a preliminary estimate, pipeline conditions when using particle filter algorithm to leakage carry out
After accurate estimation, accurate leak position information is exported.
Step 5 specifically includes:
Step 5.1: according to formula (5), establishing the state space equation of more accurate pipeline.Specific implementation method is, according to
The pipe leakage position that the step 4 obtainsThe number n of calculate node in state space equation by increasing pipeline, so that
The physical location Z of leakage point is as close as possible at a distance from calculate node；
Step 5.2: the core algorithm of this step and specific embodiment and the step 4.1 to 4.3 identical, particle filters
Initialization condition and threshold value thiValue it is different.According to this step, the precise information of you can get it pipe leakage position
A kind of Pipeline Leak detection and localization method based on particle filter proposed by the invention, may be implemented non-
The accurate positioning of linear serious, oil pipeline in the case of measurement noise non-gaussian distribution leak position；And it is positioned being promoted
While precision, guarantee that calculation amount is not substantially increased；Pretreatment mode of the proposed leakage rate in particle filter estimation,
Can to the non-constant of pipe leakage amount, slow the leakage rate under operating conditions such as let out and be effectively estimated.
Embodiment
Pipeline Leak detection and localization method in particle filter of the invention based on particle filter, including it is following
Step:
Step 1: acquisition embodiment pipeline foundation data.The specially length L of embodiment pipeline, internal diameter D, flow resistance system
Number f, celerity of pressure wave Cs, pipe level angle theta；Pipeline pumped (conveying) medium density p is acquired, determines embodiment duct segments number
N′。
Acquire the operational data of embodiment pipeline.It specifically includes: acquisition subsidiary conduit end pressure head value H1, flow value Q1, auxiliary
Help pipeline head end pressure head value Hn, Qn；Acquire the pressure head value H along pipeline at positioni′。
Step 2: the mathematical model of pipeline fluid is established by the quality of pumped (conveying) medium, momentum balance, which can
It is indicated by one group of hyperbolic partial differential mode.Use its numerical solution of the finite difference method based on the method for characteristic curves, stablizing bar
Part isWherein Δ t is material calculation.
Shown in pipe flow system state space equation such as formula (10), (11):
xj+1=ψ (xj, uj, uj+1) (10)
Y=Cxj (11)
Specifically:
xj+1=Axj+Buj+Duj 2+Euj+1+aξ (12)
Y=Cxj (13)
In above formula, the state of pipe flow system is x=[H1..., Hn-1, Q2..., Qn]T, the time of j expression pipe-line system
Step-length, n are the node number N, control amount u of pipelinej=[Q1, j, HN, j]T；Observation y=[H1, j, QN, j]T。
Wherein, matrix A are as follows:
Matrix B are as follows:
Matrix D are as follows:
Matrix E are as follows:
Nonlinear terms ξ are as follows:
Coefficient matrix a are as follows:
Output matrix C are as follows:
Further, by leakage information equationAddition formula (12), (13):
xj+1=Axj+Buj+Duj 2+Euj+1+aξ+FQl (14)
Y=Cxj (15)
Wherein, λlFor leakage point leadage coefficient；HlFor pressure head value at leakage point.
Step 3: operating lag t, abnormality duration of Δ t ' is arranged in setting threshold value QL.Introduce Rule of judgment: | Q1-
Qn| > QL, Δ t ' > t is to may determine that pipeline is leaked, and export leakage moment t ', output Δ t internal leakage
Mean valueAs the initiation parameter in step 4.Otherwise judge that pipeline does not leak, repeating said steps 3.
Due to the influence of noise, specific leakage rate can not basis | Q1-Qn| it obtains, therefore exports letting out for Δ t ' internal leakage
The mean value of leakage quantityAs the particle filter initiation parameter in step 4, wherein i " is leakage rate mean valueStart time is sampled, at the time of Δ t ' is that pipeline conditions reach stable state again after leaking, i " ∈ [1, Δ t '].
In the step 4, specifically include:
Step 4.1: initialization particle filter.Initialization matrix F=[1 0 ... 0 0] make leakage rate be attached to
At test tube road node n=2, leakage rate mean value is added on the node along pipelineInitialization formula (5) moment j=0, initialization
Leak moment j=t '.Setting particle number is P, initializes pipeline conditions particle collection χ, initializes leakage rate particle collection τ.Specifically
Ground is u with mean valueJ=0Normal distribution generate particle collection χj, it is with mean valueNormal distribution generate particle collection τj。
It should be noted that this step and other it is described include the step of particle filter is estimated, specifically with control amount u,
The state estimation of observation y progress pipeline.Remaining measured value that can be obtained is only to recognize particle filter to estimate pipeline conditions
Correctness, not as design parameter participate in particle filter estimation.
Step 4.2: by the step 4.1 gained xj, uj, uj+1, calculate pipeline conditions xj+1；By the step 4.1 gained grain
Subset χj, τj, observation y=[H1, j, QN, j]T, calculate particle collection χj+1；And it is inscribed when calculating this, xj+1With χj+1Difference dis
(i):
Dis (i)=xj+1-χj+1 (16)
According to formula (16), particle collection χ is calculatedj+1In 100 particles corresponding to weight w (i), and weight w (i) is returned
One changes processing as q (i):
Wherein, i=1,2 ..., 100, μ=0, σ=1.
By particle collection χj+1With weighted value q (i), the particle collection of one group of weighting can be obtainedCome approximate
The posterior density function of j+1 moment pipeline conditions is characterized, wherein weight meets normalizing condition
Step 4.3: the weighting particle collection χ ' in the step 4.2j+1Using the method for importance resampling, by χ 'j+1In
The lower particle of weight replaces with the higher particle of weight, as estimation pipeline j+2 moment state particle collection.In j+2
Before the particle filter estimation at quarter, to particle collection χ 'j+1The particle assembly τ for updating and updatingjIt is pre-processed.Specific algorithm
Flow chart it is as shown in Figure 4.
The specific implementation step of this step are as follows:
(1) constant being located in [0,1] section is generated based on normal distribution, is denoted as r (i)；
(2) weight that the pipeline conditions obtained by the step 4.2 are inscribed at this
It is compared with r.IfObtained by updating after k=k+1Continue compared with r.IfBy the higher particle of weight corresponding to weight q (i=k)
Replace the lower particle of weight
(3) according to the particle number P=100 of particle filter, 100 steps (1), (2) are repeated.To updated grain
SubsetWithMean value is taken, pipeline conditions can be obtained in the particle at j+1 moment
Filter estimated valueParticle filter estimated value of the leakage rate at the j+1 moment
(4) more new particle collection χj+1=χ "j+1, more new particle collection τj+1=τ 'j+1.To overcome the particle diversity of leakage rate to subtract
It is small, leadage coefficient λlThe problems such as possible non-constant, in more new particle collection τj+1Before, to particle collection τ 'j+1It is pre-processed.Pre- place
The mode of reason specifically: τ 'j+1(i)=τ 'j+1(i)+δ (i), wherein δ (i) obeys the normal distribution that mean value is 0.
Any time can be obtained to the particle filter estimated value of embodiment pipeline conditions in repeating said steps 4.2 to 4.3
With the particle filter estimated value of leakage rate
Step 4.4: measured value (first node pressure sensor 19, second node pressure at three along comparing embodiment pipeline
The measured value of force snesor 20, third node pressure sensor 21) and estimated valueCompare leakage rate QlWith estimated valueJudgement
Whether the additional leak position of step 4.1 is correct.It is noted that estimated value obtained by this stepPosition and the step 1
In embodiment pipeline segments N ' it is related, if estimated valuePosition is not located on the node of the step 1, can be with
To estimated valueCarry out compensation appropriate, the measured value when standard of specific offset is stable state.
The specific implementation step of this step are as follows:
(1) 1 equal threshold value th is set according to three node measured values along embodiment pipeline1.According to leakage rate QlIf
Set 1 threshold value th0=5 × 10-4m3/s；
(2) judge whether the difference of three node measured values and three node estimated values is both less than threshold value along embodiment pipeline
th1, leakage rate and estimate leakage rate difference whether be less than threshold value th0.If then leakage information is additional effective, output estimation
Leak positionAnd it carries out step 5 and leak position is further estimated；If otherwise updating letting out for the step 4.1
Position n=n+1 is leaked, and repeats step 4.2 to 4.4.
In the step 5, specifically include:
Step 5.1: according to formula (14), establishing the state space equation of more accurate pipeline.Specific implementation method is to increase
The segments N ' of embodiment pipeline in the step 1, the incrementss of specific segments N ' are depending on actual condition demand, but principle
Upper step segments N should be at least 2 times of segments N ' in the step 1, i.e. N >=2N '；
Step 5.2: the core algorithm of this step and specific embodiment and the step 4.1 to 4.3 identical, particle filters
Initialization condition and threshold value th1It is different.It is specific the difference is that:
(1) additional leak position and leakage rate are provided by the step 4 in the initialization condition of this step particle filter,
Leak positionUpdate mode beWherein, Δ x 'inFor the leak position in the step 4Δ x ' is
Distance, the value range of m are between two nodes of state space equation in the step 5.1 To take upwards
It is whole；
(2) new threshold value th '1Th ' should be met1< th1, th '0< th0, to reach the requirement for being accurately positioned leakage point；Tool
Body, the difference of three node measured values and three node estimated values is both less than threshold value th ' along embodiment pipeline1, leakage rate
And estimate the difference th of leakage0Export accurate leak position information(specially at a distance from outlet pipe oil transportation station), leak
Leadage coefficient λl；Otherwise repeating said steps 5.2.
The meaning of this step is, when solving the precision for improving particle filter to embodiment pipe leakage position, particle
The calculation amount of filtering steeply rises this problem.According to the node number n of embodiment pipeline being previously segmented into, step 4 base
It is at least 1 time in estimation number of the particle filter algorithm to leakage point position, is at most n-1 times.The leak position actually occurred
Uncertainty be cause particle filter algorithm calculation amount rise the main reason for.This step is defeated in the step 4 by inputting
Leak position out is according to a preliminary estimateIt is proposed a kind of update mode of new leak positionIt is this new
Leak position update mode the advantages of be, even if the meter of the state space equation re-established in the step 5.1
In the case that operator node is multiplied, particle filter algorithm is at most m times to the update times that leak position is estimated, has been reached
While promoting leak position estimated accuracy, the purpose of the calculation amount of particle filter algorithm is reduced.
Please refer to Fig. 5 and Fig. 6, as can be seen from the figure the actual effect of this method: length is the embodiment pipeline of 37km,
It is leaked being located at Ru Guan oil transportation station about 11.1km.The conveying capacity of embodiment pipeline is Q1=0.081m3/ s, leakage rate are
0.0028m3/ s, about the 3.5% of conveying capacity.The leadage coefficient of embodiment pipe leakage point is about 1.4 × 10-4.Embodiment pipe
The leak position error of the leak position in road and filter estimation is about 141m, and position error is about 3.8%.When increase pipeline
When segments, the positioning accuracy of leakage point is higher.This result illustrates the validity of this method.
One embodiment of the present invention above described embodiment only expresses, the description thereof is more specific and detailed.Ability
Domain those of ordinary skill without departing from the principles of the present invention, can be to technical solution or partial parameters therein
It modifies, these are all within the scope of protection of the present invention.
Claims (10)
1. a kind of pipeline leakage testing and leak position positioning device characterized by comprising inlet pressure sensor (12),
Inlet flow meter (13), node pressure sensor, outlet pressure sensor (15), outlet stream meter (16), capture card (17) and
Particle filter (18)；
Inlet pressure sensor (12) and inlet flow meter (13) are mounted on the entrance of pipe under test, for detecting pipe under test
(8) pressure value and flow of entrance medium；Outlet pressure sensor (15) and outlet stream meter (16) are mounted on pipe under test
(8) exit, for detecting the pressure value and flow of pipe under test exit medium；Node pressure sensor is mounted on to be measured
At the default node of pipeline, the pressure value of medium at node is preset for detecting pipe under test；
Inlet pressure sensor (12), inlet flow meter (13), node pressure sensor, outlet pressure sensor (15) and go out
The output end of mouth flowmeter (16) is connected with the input terminal of capture card (17), the output end and particle filter of capture card (17)
The input terminal of device (18) is connected；
Wherein, the quantity of node pressure sensor is one or more.
2. a kind of pipeline leakage testing according to claim 1 and leak position positioning device, which is characterized in that also wrap
It includes: the first subsidiary conduit (7) and the second subsidiary conduit (9)；
The import of pipe under test (8) is connected by the first subsidiary conduit (7) with outbound oil storage tank (1), and pipe under test (8) goes out
Mouth is connected by the second subsidiary conduit (9) with the oil transportation tank (11) that enters the station；
On first subsidiary conduit (7), the first ball valve (2), pump (3), check (non-return) valve (4), the are disposed with along medium conveying direction
Two ball valves (5) and control valve (6)；
On second subsidiary conduit (9), it is provided with third ball valve (10)；
First subsidiary conduit (7) and the second subsidiary conduit (9) are identical as the specification of pipe under test (8).
3. a kind of pipeline leakage testing according to claim 1 and leak position positioning device, which is characterized in that the grain
Subfilter (18) includes: wireless transport module, data storage module, computing module and display module；
The receiving end of wireless transport module is used to receive the data of capture card (17) conveying, the output end and number of wireless transport module
It is connected according to the receiving end of storage module, the output end of data storage module is connected with the input terminal of computing module, calculates mould
The output end of block is connected with the input terminal of display module；Computing module is with the single-chip microcontroller for meeting default computing capability, list
Preset particle filter algorithm program is integrated in piece machine.
4. a kind of pipeline leakage testing and leak position localization method, which comprises the following steps:
S1, acquisition obtain the basic data and operational data of pipe under test；Operational data includes at least pipe under test inlet pressure
The pressure value at node is preset in value and flow value, exit pressure levels and flow value and pipe under test；
S2 establishes pipeline fluid using the transient model method based on addition leakage information according to the data that step S1 acquisition obtains
State space equation；
S3 judges whether to leak by the flow value that step S1 is acquired；Preliminary leakage rate is then exported in case of leakage, and
It jumps and executes step S4；If do not leaked, jumps and execute step S1；
S4, according to the state space equation that step S2 is obtained, initialization particle filter and preliminary leakage rate, pipeline when to leakage
State is carried out based on particle filter algorithm according to a preliminary estimate, i.e., traverses all default nodes according to preset order, find out estimated value
And the difference of observation is less than one group of estimated value of preset threshold, obtains pipe under test leakage rate, leadage coefficient and preliminary leakage
Position；
S5, the method by increasing default number of nodes are established compared with the more accurate state space equation of step S2, and grain is then carried out
Son filtering initialization, leak position and leakage rate in initialization condition are obtained by step S4, pipeline conditions when to leakage into
When the difference of estimation of the row based on particle filter algorithm, estimated value and observation is less than preset threshold value more accurate compared with step S4,
Leak position after being optimized.
5. a kind of pipeline leakage testing according to claim 4 and leak position localization method, which is characterized in that step S1
It specifically includes: acquisition pipe under test length L, pipe under test internal diameter D, hydraulic simulation experiment f, celerity of pressure wave Cs, pipeline
Horizontal sextant angle θ；Acquire pipeline Ru Guan oil transportation station pressure head value H1, flow value Q1Petrol station pressure head value H is met with outlet pipen, flow value Qn；It adopts
Collect pipeline and presets node location pressure head value Hi′；Acquire pumped (conveying) medium density p in pipeline.
6. a kind of pipeline leakage testing according to claim 5 and leak position localization method, which is characterized in that step S2
It specifically includes: establishing the mathematical model of pipeline fluid by the mass balance of pumped (conveying) medium, momentum balance, and use the method for characteristic curves
It is asked to solve numerical value；
The expression formula of the pipeline conditions space equation comprising leakage of building are as follows:
xj+1=Axj+Buj+Duj 2+Euj+1+aξ+FQl；
Y=Cxj
In formula, the state of pipe flow system is x=[H1..., Hn-1, Q2..., Qn]T, j indicates the time step of pipe-line system, and n is
The node number of pipeline, ujFor the control amount of system, λlFor leakage point leadage coefficient；HlFor pressure head value at leakage point, y is measurement
Value, output matrix C are as follows:QlLeakage rate is surveyed for flowmeter.
7. a kind of pipeline leakage testing according to claim 6 and leak position localization method, which is characterized in that step S3
It specifically includes:
Threshold value th is set1, operating lag t is set；When | Q1-Qn| > th1, and this state duration Δ t > t, then judge pipeline
It leaks；Otherwise being determined as pipeline, there is no leakages；Output leakage moment t ', exports Δ t internal leakage when leaking
Mean valueWherein, Q1For the flow value of entrance detection, QnFor the flow value of pipe outlet detection.
8. a kind of pipeline leakage testing according to claim 7 and leak position localization method, which is characterized in that step S4
It specifically includes:
S4.1: the parameter in initialization particle filter algorithm: initialization matrix F, in the n-2 node that pipeline may leak
In position, leakage rate mean value is added along pipeline direction
Init state space equation enables moment j=0, leaks moment j=t '；The working condition of input channel conveying medium is made
For the control amount u of state space equationj, uj=[Q1, j, HN, j]T；Setting particle number is P, initializes pipeline conditions particle collection χ
And leakage rate particle collection τ；Wherein, it is with mean valueNormal distribution generate leakage rate particle collection τ；
S4.2: by the pipeline original state x of step S4.1j, control amount uj, uj+1It calculates and obtains pipeline conditions xj+1；Based on step
Particle collection χ in S4.1j、τjAnd observation y=[H1, j, QN, j]T, calculate and obtain particle collection χj+1；
It is inscribed when calculating j, xj+1With χj+1Difference dis (i), calculation formula are as follows:
Dis (i)=xj+1-χj+1
Calculate particle collection χj+1In P particle corresponding to weight w (i), and be q (i) by weight normalized, calculate public
Formula are as follows:
Wherein, i is material calculation needed for importance resampling, i ∈ [1, P]；By particle collection χj+1With weighted value q (i), obtain
The particle collection of one group of weightingThe posterior density function of j+1 moment pipeline conditions is characterized with approximation,
Middle weight meets normalizing condition
S4.3: to the weighting particle collection χ ' obtained in step S4.2j+1Using importance method for resampling, by χ 'j+1Middle weight compared with
After low particle replaces with the higher particle of weight, as estimation pipeline j+2 moment state particle collection；At the j+2 moment
Before particle filter estimation, to particle collection χ 'j+1The particle collection τ for updating and updatingjIt is pre-processed；
S4.4: repeating said steps S4.2 and S4.3 obtain the particle filter estimation of the pipe-line system of any time leak condition
ValueWith the particle filter estimated value of leakage rate
S4.5: compare each node measured value and estimated value in pipe-line systemCompare actual measurement leakage rate QlWith estimated valueJudgement
In step S4.1, whether the leakage information for being additional to node n along pipeline is correct；Leakage information is additional effective if correct,
The leak position that output estimation obtainsThe leak position n=n+1 of step S4.1 is updated if incorrect, and repeats to walk
Rapid S4.2 to S4.5.
9. a kind of pipeline leakage testing according to claim 8 and leak position localization method, which is characterized in that step S5
It specifically includes:
Step S5.1: increasing the segments N ' of pipe under test in step S1, establishes the state space side of more accurate pipe under test
Journey；
Step S5.2: setting threshold value th more accurate compared with step S42, additional leak position in the initialization condition of particle filter
It is step S4 acquisition value, leak position with leakage rateUpdate mode be
Wherein, Δ x ' is that distance, the value range of m are between two nodes of state space equation in step S5.1For the number that rounds up；
It is iterated update, until exporting accurate leak position information when meeting preset threshold conditionThe leakage system of leak
Number λl。
10. a kind of pipeline leakage testing according to claim 8 and leak position localization method, which is characterized in that step
S4.3 includes:
(1) constant being located in [0,1] section is generated based on normal distribution, is denoted as r (i)；
(2) weight that the pipeline conditions obtained by step 4.2 are inscribed at thisWith r (i) into
Row compares；IfObtained by updating after k=k+1Continue compared with r (i)；If
By the higher particle of weight corresponding to weight q (i=k)Replace power
The lower particle of weight
(3) according to the particle number P of particle filter, P step (1) and step (2) are repeated；To updated particle collectionWithMean value is taken, obtains pipeline conditions in the particle filter at j+1 moment
Estimated valueParticle filter estimated value of the leakage rate at the j+1 moment
(4) more new particle collection χj+1=χ "j+1, more new particle collection τj+1=τ 'j+1；
Pretreated mode specifically: τ 'j+1(i)=τ 'j+1(i)+δ (i), wherein δ (i) obeys the normal distribution that mean value is 0, should
Variance needed for normal distribution is depending on practical leakage rate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910100047.8A CN109611696A (en) | 2019-01-31 | 2019-01-31 | A kind of pipeline leakage testing and leak position positioning device and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910100047.8A CN109611696A (en) | 2019-01-31 | 2019-01-31 | A kind of pipeline leakage testing and leak position positioning device and method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109611696A true CN109611696A (en) | 2019-04-12 |
Family
ID=66021733
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910100047.8A Pending CN109611696A (en) | 2019-01-31 | 2019-01-31 | A kind of pipeline leakage testing and leak position positioning device and method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109611696A (en) |
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110345392A (en) * | 2019-07-16 | 2019-10-18 | 辽宁石油化工大学 | The localization method and device of oil pipeline leak source |
| CN110500511A (en) * | 2019-08-13 | 2019-11-26 | 常州大学 | A kind of city nonmetal pipeline leakage locating method |
| CN111219603A (en) * | 2019-12-19 | 2020-06-02 | 中裕软管科技股份有限公司 | Long-distance water delivery online monitoring system and method for large-diameter hose |
| CN111350948A (en) * | 2020-04-13 | 2020-06-30 | 安徽理工大学 | Pipeline leakage position calculation method based on beam forming |
| CN112197177A (en) * | 2020-10-16 | 2021-01-08 | 江苏核电有限公司 | Pipeline leakage point positioning device based on oxygen measurement method and detection positioning method thereof |
| CN112378596A (en) * | 2020-10-20 | 2021-02-19 | 佛山市南海聚腾环保设备有限公司 | Air energy heat pump refrigerant leak detection method and system |
| CN112628613A (en) * | 2020-12-25 | 2021-04-09 | 美国声学系统公司 | Method and system for monitoring pipeline leakage, positioning leakage and calculating leakage amount |
| CN112664843A (en) * | 2021-01-14 | 2021-04-16 | 瓮福（集团）有限责任公司 | Leakage monitoring system of long-distance acidic wastewater conveying pipeline |
| CN114738679A (en) * | 2022-04-11 | 2022-07-12 | 长江大学 | Pipeline missing detection device and pipeline missing detection method |
| CN115234846A (en) * | 2022-09-20 | 2022-10-25 | 广东力创信息技术有限公司 | Pipeline leakage detection method and equipment |
| CN115978457A (en) * | 2022-11-14 | 2023-04-18 | 中交疏浚技术装备国家工程研究中心有限公司 | Method for diagnosing abnormal working condition of long-distance slurry pipeline transportation |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20000065505A (en) * | 1999-04-06 | 2000-11-15 | 남창우 | Leak Detection and Location Sensing System in Working Pipeline |
| US20140229124A1 (en) * | 2011-06-27 | 2014-08-14 | International Business Machines Corporation | Determining fluid leakage volume in pipelines |
| CN105042339A (en) * | 2015-06-03 | 2015-11-11 | 中国石化销售有限公司华东分公司 | Leakage rate estimation system and method for product oil pipelines based on zero dimension |
| CN106352246A (en) * | 2016-11-09 | 2017-01-25 | 南京工业大学 | Pipeline leakage detection positioning experiment system and detection method thereof |
| CN209622502U (en) * | 2019-01-31 | 2019-11-12 | 西安建筑科技大学 | A kind of pipe leakage data acquisition device and detection positioning device |
-
2019
- 2019-01-31 CN CN201910100047.8A patent/CN109611696A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20000065505A (en) * | 1999-04-06 | 2000-11-15 | 남창우 | Leak Detection and Location Sensing System in Working Pipeline |
| US20140229124A1 (en) * | 2011-06-27 | 2014-08-14 | International Business Machines Corporation | Determining fluid leakage volume in pipelines |
| CN105042339A (en) * | 2015-06-03 | 2015-11-11 | 中国石化销售有限公司华东分公司 | Leakage rate estimation system and method for product oil pipelines based on zero dimension |
| CN106352246A (en) * | 2016-11-09 | 2017-01-25 | 南京工业大学 | Pipeline leakage detection positioning experiment system and detection method thereof |
| CN209622502U (en) * | 2019-01-31 | 2019-11-12 | 西安建筑科技大学 | A kind of pipe leakage data acquisition device and detection positioning device |
Non-Patent Citations (1)
| Title |
|---|
| 张学军;: "基于差分进化的输油管道泄漏定位方法", 信息技术, no. 08 * |
Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110345392A (en) * | 2019-07-16 | 2019-10-18 | 辽宁石油化工大学 | The localization method and device of oil pipeline leak source |
| CN110345392B (en) * | 2019-07-16 | 2021-01-12 | 辽宁石油化工大学 | Positioning method and device for oil pipeline leakage point |
| CN110500511A (en) * | 2019-08-13 | 2019-11-26 | 常州大学 | A kind of city nonmetal pipeline leakage locating method |
| CN111219603A (en) * | 2019-12-19 | 2020-06-02 | 中裕软管科技股份有限公司 | Long-distance water delivery online monitoring system and method for large-diameter hose |
| CN111350948A (en) * | 2020-04-13 | 2020-06-30 | 安徽理工大学 | Pipeline leakage position calculation method based on beam forming |
| CN112197177A (en) * | 2020-10-16 | 2021-01-08 | 江苏核电有限公司 | Pipeline leakage point positioning device based on oxygen measurement method and detection positioning method thereof |
| CN112378596A (en) * | 2020-10-20 | 2021-02-19 | 佛山市南海聚腾环保设备有限公司 | Air energy heat pump refrigerant leak detection method and system |
| CN112378596B (en) * | 2020-10-20 | 2023-02-03 | 佛山市南海聚腾环保设备有限公司 | Air energy heat pump refrigerant leak detection method and system |
| CN112628613A (en) * | 2020-12-25 | 2021-04-09 | 美国声学系统公司 | Method and system for monitoring pipeline leakage, positioning leakage and calculating leakage amount |
| CN112664843A (en) * | 2021-01-14 | 2021-04-16 | 瓮福（集团）有限责任公司 | Leakage monitoring system of long-distance acidic wastewater conveying pipeline |
| CN114738679A (en) * | 2022-04-11 | 2022-07-12 | 长江大学 | Pipeline missing detection device and pipeline missing detection method |
| CN114738679B (en) * | 2022-04-11 | 2023-09-22 | 长江大学 | Pipeline missing detection device and pipeline missing detection method |
| CN115234846A (en) * | 2022-09-20 | 2022-10-25 | 广东力创信息技术有限公司 | Pipeline leakage detection method and equipment |
| CN115234846B (en) * | 2022-09-20 | 2022-12-16 | 广东力创信息技术有限公司 | Pipeline leakage detection method and equipment |
| CN115978457A (en) * | 2022-11-14 | 2023-04-18 | 中交疏浚技术装备国家工程研究中心有限公司 | Method for diagnosing abnormal working condition of long-distance slurry pipeline transportation |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109611696A (en) | A kind of pipeline leakage testing and leak position positioning device and method | |
| CN105042339B (en) | One kind is based on nondimensional leakage of finished oil pipeline amount estimating system and method | |
| CN108050394A (en) | Fuel gas pipeline leakage based on sound pressure signal identification detects positioning experiment platform | |
| CN106352246A (en) | Pipeline leakage detection positioning experiment system and detection method thereof | |
| CN108360608B (en) | Pipe burst identification and positioning method for water delivery pipe of water supply system | |
| CN111853553B (en) | Method and system for detecting fault of fluid pipeline | |
| CN102620998B (en) | Device and method for pressure test and drainage tests for waved pipeline | |
| CN103775832B (en) | Based on the device that the petroleum pipeline leakage of transient flow Inverse Problem Method detects | |
| CN106872155A (en) | A kind of performance of exhaust valve test system and method for testing | |
| CN106844814A (en) | A kind of large complicated gas distributing system system leak detection method | |
| CN105627103B (en) | The pipeline section gas leakage diagnostic method and system of a kind of gas in mine drainage tube | |
| CN109340582A (en) | A kind of submarine pipeline leakage monitoring method and system | |
| CN107084313A (en) | Ore slurry pipeline leaks positioning alarm system and method | |
| CN107013812B (en) | A kind of THM coupling line leakage method | |
| CN105424105B (en) | Dust pelletizing system is responsible for air volume detecting method and on-line measuring device | |
| CN108506740A (en) | A kind of fluid pipeline leakage region based on current meter determines method and system | |
| CN102914337A (en) | System and method for testing fuel consumption and efficiency of excavator | |
| CN209622502U (en) | A kind of pipe leakage data acquisition device and detection positioning device | |
| CN117168713B (en) | Helium-hydrogen mass spectrometer leak detector signal rapid processing system and method | |
| CN112836350B (en) | Real-time calculation method for gas extraction parameters of underground coal mine pipe network | |
| CN115978457B (en) | Diagnosis method for abnormal working condition of long-distance slurry pipeline transportation | |
| CN108226191A (en) | Device and method for checking position and damage of existing pipeline of building | |
| CN216791618U (en) | Ground source heat pump engineering buried pipe well quality detection device | |
| CN108980631B (en) | Negative pressure wave method pipeline leakage detection system based on online simulation | |
| CN204085644U (en) | A kind of flow calibrating device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |