CN110793698B - Dynamic flexible composite pipeline online tension monitoring device and monitoring method - Google Patents

Dynamic flexible composite pipeline online tension monitoring device and monitoring method Download PDF

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Publication number
CN110793698B
CN110793698B CN201810871301.XA CN201810871301A CN110793698B CN 110793698 B CN110793698 B CN 110793698B CN 201810871301 A CN201810871301 A CN 201810871301A CN 110793698 B CN110793698 B CN 110793698B
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tension
pipeline
connecting frame
seat
sensor
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CN110793698A (en
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陈伟
赵俊亮
冯岩
焦一龙
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Neptune Offshore Engineering Development Co ltd
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Neptune Offshore Engineering Development Co ltd
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    • GPHYSICS
    • G01MEASURING; TESTING
    • G01LMEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
    • G01L5/00Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
    • G01L5/04Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring tension in flexible members, e.g. ropes, cables, wires, threads, belts or bands

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  • General Physics & Mathematics (AREA)
  • Force Measurement Appropriate To Specific Purposes (AREA)
  • Testing Or Calibration Of Command Recording Devices (AREA)

Abstract

The invention provides a dynamic flexible composite pipeline online tension monitoring device and a monitoring method, which are used for collecting tension change and motion attitude change data of a vertical pipe in real time by applying the dynamic flexible composite pipeline online tension monitoring device, monitoring the safety condition of the vertical pipe and carrying out safety early warning when necessary through data recording and real-time program analysis, so that the operation safety of the deepwater vertical pipe is improved.

Description

Dynamic flexible composite pipeline online tension monitoring device and monitoring method
Technical Field
The invention relates to an underwater monitoring device and a monitoring method, in particular to an on-line tension monitoring device and a monitoring method for an underwater in-service dynamic flexible composite pipeline.
Background
There are a large number of dynamic flexible composite pipelines in deep water risers of offshore oil, and tension state monitoring of the dynamic flexible composite pipelines in deep water environment is a difficult problem, and it is very important how to realize online real-time monitoring, and life assessment of the risers by data obtained by monitoring. At present, data acquisition on an offshore riser requires long-time offline monitoring and a large amount of acquired data is stored. The frequency of the existing data acquisition is often preset by an acquisition program, and cannot be modified in the acquisition process. The collection of marine riser motion information also faces the sealing problem of acceleration sensors and collection devices, which all plagues large-scale popularization and use of dynamic flexible composite pipelines in engineering. How to realize the real-time tension monitoring of the dynamic flexible composite pipeline, and analyzing the long-term service life of the vertical pipe through the data accumulation of the actual monitoring is a difficult problem. In order to solve the problem that the data acquisition on the offshore riser needs long-time off-line monitoring at present, a large amount of acquired data is stored. The frequency of the existing data acquisition is often preset by an acquisition program, and cannot be modified in the acquisition process. The collection of marine riser motion information also faces the sealing problem of the acceleration sensor and the collection device. How to realize the real-time tension monitoring of the dynamic flexible composite pipeline, and analyze the long-term service life problem of the vertical pipe through the data accumulation of the actual monitoring.
It is against this background that the present application proposes a dynamic flexible composite pipeline on-line tension monitoring device.
Disclosure of Invention
The invention aims to overcome the defects in the prior art, and provides a dynamic flexible composite pipeline online tension monitoring device and a monitoring method, which are used for collecting tension change and motion attitude change data of a vertical pipe in real time, monitoring the safety condition of the vertical pipe and carrying out safety early warning when necessary through data recording and real-time program analysis, so that the operation safety of the deepwater vertical pipe is improved.
The invention is realized by the following technical scheme:
the dynamic flexible composite pipeline online tension monitoring device comprises a connecting frame, a barrel assembly and a mounting base;
the connecting frame is a barrel-shaped structural member, flanges are arranged at the upper end and the lower end of the connecting frame, and a connecting lug seat is arranged at the bottom of the flange at the lower end of the connector;
the cylinder assembly is of a cylinder structure and consists of a tension sensor, a displacement sensor, a connecting seat, a hinge shaft, a protective sleeve, a connecting bolt assembly, a tension sensor connecting shaft and a displacement sensor connecting shaft; one side of the connecting seat is provided with a double-lug ear seat which meets the installation of the tension sensor and the displacement sensor, the other side of the connecting seat is provided with a single-lug ear plate which is connected with the connecting frame or the double-lug ear seat on the installation base, the lug seat of the tension sensor is connected with the double-lug ear seat which meets the installation of the tension sensor on the connecting seat through the connecting shaft of the tension sensor, the lug seat of the displacement sensor is connected with the double-lug ear seat which meets the installation of the displacement sensor on the connecting seat through the connecting shaft of the displacement sensor, the utility model discloses a connecting seat, including connecting seat, connecting bolt subassembly, protective sheath, flange form protruding eaves that the connecting seat opposite side is for with the link or the monaural otic placode that the ear seat on the installation base is connected passes through the articulated shaft, the protective sheath is drum area step structure, protective sheath one end is interior boss form, and the other end is the flange form protruding eaves that turns up, be provided with the unthreaded hole of circumference arrangement on the protruding eaves, through connecting bolt subassembly will the protective sheath is connected as an organic wholely.
The installation base is an annular structural member, and an ear seat is arranged on the upper portion of the installation base.
The monitoring method of the dynamic flexible composite pipeline on-line tension monitoring device comprises the following steps:
1) The on-line tension monitoring device connecting frame is connected with the dynamic flexible composite pipeline joint, the joint clamping groove is clamped through the dynamic flexible composite pipeline fixing device, the flange of the fixing device is connected with the flange at the upper part of the connecting frame, pipeline load is integrally transmitted to the connecting frame, when the pipeline swings to a certain extent along with wind, wave and flow at sea, as only the end part is fixed and the rest part is hung through tension, the end load is finally transmitted to the connecting frame through the joint through the clamping groove and the fixing device, dynamic change load born by the joint is consistent with the load born by the connecting frame, and the tension change of the pipeline can be analyzed by monitoring the load change of the connecting frame and considering the influence of the dead weights of the connecting frame, the bending stiffener and the fixing device;
2) When the connecting frame bears the load, the load is transmitted to the mounting base through the cylinder assembly; set up tension sensor and displacement sensor in the barrel subassembly, when the link moves to one side a small amount under dynamic load effect, the equal deformation of tension sensor of movable side and other positions produces the current signal, the output current signal that different force values produced is different, tension sensor output's current signal is different, displacement sensor produces connecting seat relative position and removes because of the deformation of tension sensor in the barrel subassembly simultaneously, make displacement sensor all have signal output, according to the setting of demarcation, represent that barrel subassembly is whole when the current signal of displacement sensor output is less than the default, represent that barrel subassembly is whole when displacement sensor output's current signal is greater than the default and stretch out, can judge the barrel subassembly condition of stretching out and retracting through feedback data. When the whole barrel assembly is stretched or compressed, the inner boss is mechanically clamped with a pin on the outer side or the inner side of the round table of the connecting seat after being stretched or compressed for a certain length, the device is not stretched or compressed any more, overload damage of the sensor can be avoided, and the tension sensor only has tiny deformation when being loaded, so that tension signals can be continuously and stably acquired and data output can be performed when the sensor is not damaged;
3) Taking the barrel assembly as 6 sets of evenly distributed barrel assemblies as an example, numbering the barrel assemblies, dividing according to clocks, wherein the first position is 12 o 'clock, and the rest positions are 2 o' clock, 4 o 'clock, 6 o' clock, 8 o 'clock and 10 o' clock in sequence. When the pipeline swings towards the 12 o 'clock direction, under the action of load, the cylinder assemblies at the 12 o' clock positions are in a stretching state, the symmetrical cylinder assemblies at the 6 o 'clock positions are in a compression state, and the connecting frame is slightly inclined to the 12 o' clock positions to lift a little. Similarly, when the pipeline swings in the 5 o 'clock direction, under the load, the cylinder assemblies at the 6 o' clock position and the 4 o 'clock position are in a tensile state, the symmetrical cylinder assemblies at the 11 o' clock position and the 12 o 'clock position are in a compression state, and the connecting frame is slightly inclined to the 5 o' clock position to lift a little. The tension or the pressure born by all the tension sensors is accumulated, the tension is negative and the pressure is positive, so that the whole force value can be matched with the real-time tension. According to the characteristics of the structure, force decomposition is needed, and an accurate numerical range of actual tension data is finally provided;
4) Because the sensors are all in the safe protective cover, the monitoring of the long-term problem can be realized, and the pipeline tension condition can be provided in real time through analysis and data recording by special data analysis software according to the monitored data output. When the pipeline stress changes greatly, the on-line tension monitoring device gives an alarm, and the specific alarm out of range can be given by the original design or according to the previous practical operation experience. If the outside pipe wall suddenly breaks, a large amount of seawater continuously enters the space inside the outer wall of the pipeline, the sealing of the outer part of the pipeline fails, the buoyancy of the seawater is reduced, the tension born by the online tension monitoring device is gradually increased, the tension exceeds the set limiting range and enters the alarm range in a short time, and the system gives an alarm and can perform corresponding treatment according to the FPSO on-site operation and emergency scheme in time. If the damage of the outer pipe wall of the pipeline is small, the seawater is slowly introduced, the tension born by the online tension monitoring device can be found to be gradually increased in the regular data analysis, and then the pipeline can be adopted for inspection, such as inspection along the pipeline by a robot for underwater observation, so that the damage point is found in advance for online repair, and the safe operation of the pipeline is ensured.
By adopting the technical scheme, the invention has the following advantages: the tension change and movement posture change data of the vertical pipe are collected in real time, and the safety condition of the vertical pipe is monitored and safety early warning is carried out when necessary through data recording and real-time program analysis, so that the operation safety of the deepwater vertical pipe is improved.
The invention is further described below with reference to the drawings and examples.
Drawings
FIG. 1 is an overall view of a monitoring system to which the present invention is applied;
FIG. 2 is an overall view of the on-line tension monitoring device of the present invention;
FIG. 3 is an overall view of the cartridge assembly;
fig. 4 is a schematic diagram of the barrel assembly composition.
Detailed Description
The present invention will be described in detail with reference to fig. 1 to 4.
The dynamic flexible composite pipeline on-line tension monitoring system as shown in fig. 1 comprises: a dynamic flexible composite pipeline 0, a bend stiffener 1, an on-line tension monitoring device 2, a securing device 3 and a joint 4. The dynamic flexible composite pipeline 0 and the joint 4 are installed before site construction according to the actual engineering conditions, the dynamic flexible composite pipeline 0 is designed and manufactured according to the difference of the flow rate, the components, the temperature, the water depth, the pressure and the like of the conveyed medium, and is generally of a multi-layer non-bonded composite hollow circular structure, and belongs to special customized special products. According to the characteristics of the dynamic flexible composite pipeline 0, the joint 4 is custom-developed according to the special structure of the dynamic flexible composite pipeline 0, and the joint 4 and the dynamic flexible composite pipeline 0 are assembled and tested in a pipeline manufacturing factory and then transported to an installation site for installation. The joint 4 is provided with a clamping groove for installation and fixation, and after the clamping groove is clamped by the two-half-watt fixing device 3, a flange hole on the fixing device 3 is connected with a connecting flange at the upper part of the online tension monitoring device 2. The general deep water riser is fixed to the offshore structure by the fixing device 3 after clamping the clamping groove. As the dynamic flexible composite pipeline 0 oscillates with the waves and currents of the sea water, the load is eventually transferred to the joint 4 and through the fixture 3 to the offshore structure. The bending stiffener 1 is specially designed based on the external dimension and fatigue analysis characteristics of the dynamic flexible composite pipeline 0, adopts a barrel-shaped structure with a conical polyurethane elastomer value, an inner hole of the bending stiffener is a through hole with a constant diameter, a small clearance is reserved between the bending stiffener and the outside of the dynamic flexible composite pipeline 0 to meet the installation requirement, and the top of the bending stiffener is a connecting flange which is connected to a correspondingly designed flange on the upper part of the online tension monitoring device 2 through bolts. When the swing amplitude of the dynamic flexible composite pipeline 0 is larger, the swing amplitude of the bending stiffener 1 is limited to be further enlarged, and the polyurethane elastomer absorbs load through self elastic deformation to limit the continuous bending deformation of the pipeline, so that the dynamic flexible composite pipeline 0 is protected. The on-line tension monitoring device 2 is a device which satisfies the installation of the dynamic flexible composite pipeline 0 and simultaneously collects the on-line tension change condition of the pipeline through a sensor in the device, which is described in detail below.
The dynamic flexible composite pipeline on-line tension monitoring device shown in fig. 2 and 3 comprises the following components: a connecting frame 2.1, a cylinder assembly 2.2 and a mounting base 2.3. The connecting frame 2.1 is a metal welding structural member with flanges at the upper and lower parts and a barrel type middle part, the flange at the upper part is made of a thick steel plate by cutting, the flange holes on the fixing device 3 are matched and manufactured, and finally the flange and the flange on the fixing device 3 are fixed into a whole through bolts. The middle cylinder is manufactured by rolling a steel plate, the specific height is manufactured according to the installation requirement, and the inner diameter of the cylinder is correspondingly processed according to the size requirement of the joint 4 penetrating out of the construction requirement. The flange at the lower part is made of a thick steel plate by cutting, is designed and manufactured according to the size matching of the connecting flange of the bending stiffener 1, and is finally fixed with the connecting flange of the bending stiffener 1 into a whole through bolts. The bottom of the lower flange is provided with 6 sets of connecting lug seats with uneven circumferential directions, the lug seats are manufactured according to the double-lug-coordinate standard of the hydraulic cylinder, and are connected with the lower flange into a whole through welding. The barrel assembly 2.2 is a barrel structure which is formed by integrally installing all detection components and parts together and adopting lug hinged connection at two ends. The ear seats at the two ends of the cylinder assembly 2.2 are respectively connected with the connecting frame 2.1 and the connecting ear seats on the mounting base 2.3. The installation base 2.3 is made of annular steel plates, 6 sets of connecting lug seats with uneven circumferential directions are arranged on the annular steel plates, the lug seats are manufactured according to the double lug coordinates of the hydraulic cylinder, and the annular steel plates are connected into a whole through welding. The annular steel plate bottom is stably fixed with the deck surface of the offshore structure in a welding mode, and the purpose of finally transmitting the dynamic flexible composite pipeline 0 to the offshore structure is achieved.
As shown in fig. 4, the barrel assembly 2.2 is constructed to include: tension sensor 2.2.1, displacement sensor 2.2.2, connecting seat 2.2.3, articulated shaft 2.2.4, protective sheath 2.2.5, connecting bolt subassembly 2.2.6, tension sensor connecting axle 2.2.7 and displacement sensor connecting axle 2.2.8. The tension sensor 2.2.1 and the displacement sensor 2.2.2 are both products applicable to offshore oil and gas environments, and two ends of the tension sensor are connected with the connecting lug seats through connecting rods to form a connecting form with two ends capable of being hinged. The tension sensor 2.2.1 changes the strain device through structural deformation when bearing tensile load and compressive load, and realizes the output of different currents under different pressures/tensile forces. The displacement sensor 2.2.2 adopts a sliding wire form, the initial installation position is in the middle of the full stroke, different current signals are output when the device is integrally stretched and compressed, and whether the tension sensor 2.2.1 bears a tensile load or a compression load can be judged according to a preset range interval. The connecting seat 2.2.3 is manufactured by welding or forging steel plates, one side of the annular plate is provided with a double-lug seat which meets the installation of the tension sensor 2.2.1 and the displacement sensor 2.2.2, and the other side is provided with a single-lug plate which is connected with the connecting frame 2.1 or the 6 sets of connecting lug seats on the installation base 2.3. The ear seat of the tension sensor 2.2.1 is connected with the double-ear seat of the tension sensor 2.2.1 on the connecting seat 2.2.3 through the connecting shaft 2.2.7 of the tension sensor, and the two ends can be fixed in the form of nuts or clamping plates, so that the connecting shaft 2.2.7 of the tension sensor is limited not to deviate from the double-ear seat. The earmuffs of the displacement sensor 2.2.2 are connected with the binaural earmuffs which meet the requirement of the installation of the displacement sensor 2.2.2 on the connecting seat 2.2.3 through the connecting shaft 2.2.8 of the displacement sensor, and the two ends of the earmuffs can be fixed in the form of nuts or clamping plates, so that the connecting shaft 2.2.8 of the displacement sensor is limited not to deviate from the binaural earmuffs. The other side of the connecting seat 2.2.3 is connected with a single-ear plate connected with the connecting frame 2.1 or the 6 sets of connecting ear seats on the mounting base 2.3 through a hinge shaft 2.2.4, and two ends can be fixed in a nut or clamping plate mode, so that the hinge shaft 2.2.4 is limited not to deviate from the double-ear seats. The protective sleeve 2.2.5 is of a integrally forged cylindrical stepped structure, and an inner boss at one end of the protective sleeve can limit the transmission of the protective sleeve 2.2.5 from the other side of the connecting seat 2.2.3 to a single lug plate connected with 6 sets of connecting lug seats on the connecting frame 2.1 or the mounting base 2.3 and limited by a round table of the connecting seat 2.2.3. The other side is an everting flange type protruding eave, the protruding eave is provided with circumferentially arranged light holes, and the two sets of protection sleeves 2.2.5 are connected into a whole through the connecting bolt assembly 2.2.6. When the whole barrel assembly 2.2 is stretched, the inner boss is mechanically clamped with the outer side of the round table of the connecting seat 2.2.3 after being stretched for a certain length, the device is not stretched any more, and overload damage of the sensor is avoided. Likewise, when the whole barrel assembly 2.2 is compressed, the limiting pin arranged on the barrel body of the protective sleeve 2.2.5 is mechanically clamped with the inner side of the round table of the connecting seat 2.2.3, the device is not compressed any more, and overload damage of the sensor is avoided. The protective sleeve 2.2.5 not only provides mechanical protection for the excessive deformation limitation of the tension sensor 2.2.1 and the displacement sensor 2.2.2, but also protects the sensor in the barrel body, thereby avoiding direct damage of seawater or dust and affecting the safe operation of the equipment. Through demolishing connecting bolt subassembly 2.2.6 and protective sheath 2.2.5 locating pin of installing on the staving, can demolish barrel subassembly 2.2 unit device, it is convenient to maintain.
The above description is only of the preferred embodiments of the present invention, and is not intended to limit the present invention in any way, and any simple modification, equivalent variation and modification made to the above embodiments according to the technical principles of the present invention still fall within the scope of the technical solutions of the present invention.

Claims (2)

1. The utility model provides a dynamic flexible composite pipeline on-line tension monitoring device, includes link, barrel subassembly and installation base, its characterized in that:
the connecting frame is a barrel-shaped structural member, flanges are arranged at the upper end and the lower end of the connecting frame, and a connecting lug seat is arranged at the bottom of the flange at the lower end of the connecting frame;
the cylinder assembly is of a cylinder structure and consists of a tension sensor, a displacement sensor, a connecting seat, a hinge shaft, a protective sleeve, a connecting bolt assembly, a tension sensor connecting shaft and a displacement sensor connecting shaft; the tension sensor is arranged on one side of the connecting seat, a double-lug seat is arranged on the other side of the connecting seat, the tension sensor and the displacement sensor are arranged on the other side of the connecting seat, a single-lug plate is connected with the connecting frame or the lug seat on the mounting base, the lug seat of the tension sensor is connected with the double-lug seat on the connecting seat, which is arranged on the connecting seat, and is arranged on the connecting seat, the lug seat of the displacement sensor is connected with the double-lug seat on the connecting seat, which is arranged on the displacement sensor, through the displacement sensor connecting shaft, the single-lug plate is connected with the connecting frame or the lug seat on the mounting base through the hinge shaft, the protecting sleeve is of a cylindrical stepped structure, one end of the protecting sleeve is in an inner boss form, the other end of the protecting sleeve is in an outwards turned flange form, and the convex eave is provided with circumferentially arranged light holes, and the protecting sleeve is connected into a whole through the connecting bolt assembly;
the installation base is an annular structural member, and an ear seat is arranged on the upper portion of the installation base.
2. A monitoring method employing the dynamic flexible composite pipeline on-line tension monitoring device of claim 1, comprising the steps of:
1) The on-line tension monitoring device connecting frame is connected with the dynamic flexible composite pipeline joint, the joint clamping groove is clamped through the dynamic flexible composite pipeline fixing device, the flange of the fixing device is connected with the flange at the upper part of the connecting frame, pipeline load is integrally transmitted to the connecting frame, when the pipeline swings to a certain extent along with wind, wave and flow at sea, as only the end part is fixed and the rest part is hung through tension, the end load is finally transmitted to the connecting frame through the joint through the clamping groove and the fixing device, dynamic change load born by the joint is consistent with the load born by the connecting frame, and the tension change of the pipeline can be analyzed by monitoring the load change of the connecting frame and considering the influence of the dead weights of the connecting frame, the bending stiffener and the fixing device;
2) When the connecting frame bears the load, the load is transmitted to the mounting base through the cylinder assembly; the tension sensor and the displacement sensor are arranged in the cylinder assembly, when the connecting frame moves to one side by a small amount under the action of dynamic load, the tension sensors at the moving side and other positions are deformed to generate current signals, the output current signals generated by different force values are different, meanwhile, the displacement sensor generates relative position movement of the connecting seat due to the deformation of the tension sensor in the cylinder assembly, so that the displacement sensor has signal output, according to the calibrated setting, when the current signal output by the displacement sensor is smaller than a preset value, the whole cylinder assembly is shown to be retracted, and when the current signal output by the displacement sensor is larger than the preset value, the whole cylinder assembly is shown to be extended, and the conditions of the extended and retracted cylinder assembly can be judged through feedback data; when the whole barrel assembly is stretched or compressed, the inner boss is mechanically clamped with a pin on the outer side or the inner side of the round table of the connecting seat after being stretched or compressed for a certain length, the device is not stretched or compressed any more, overload damage of the sensor can be avoided, and the tension sensor only has tiny deformation when being loaded, so that tension signals can be continuously and stably acquired and data output can be performed when the sensor is not damaged;
3) Taking a barrel assembly as 6 sets of uniformly distributed components as an example, numbering the barrel assembly, dividing according to clocks, wherein the first position is a 12 o 'clock position, and the rest positions are a 2 o' clock position, a 4 o 'clock position, a 6 o' clock position, an 8 o 'clock position and a 10 o' clock position in sequence; when the pipeline swings towards the 12 o 'clock direction, under the action of load, the cylinder components at the 12 o' clock position are in a stretching state, the symmetrical cylinder components at the 6 o 'clock position are in a compression state, and the connecting frame is slightly inclined to the 12 o' clock position to lift; similarly, when the pipeline swings towards the 5 o 'clock direction, under the action of load, the cylinder assemblies at the 6 o' clock position and the 4 o 'clock position are in a tensile state, the cylinder assemblies at the 11 o' clock position and the 12 o 'clock position which are symmetrical are in a compression state, and the connecting frame is slightly inclined to the 5 o' clock position to lift a little; the tensile force or the compressive force born by all the tension sensors are accumulated, the negative value of the tensile force is positive value of the compressive force, and thus the whole force value can be matched with the real-time tensile force; according to the characteristics of the structure, force decomposition is needed, and an accurate numerical range of actual tension data is finally provided;
4) Because the sensors are all in the safe protective cover, the monitoring of the long-term problem can be realized, the analysis and the data recording are carried out through special data analysis software according to the monitored data output, and the pipeline tension condition can be provided in real time; when the stress of the pipeline changes greatly, the on-line tension monitoring device gives an alarm, and the specific alarm out-of-range can be given by the original design or according to the previous practical operation experience; if the pipe wall on the outer side of the pipeline is suddenly damaged, a large amount of seawater continuously enters a space inside the outer wall of the pipeline at the moment, the sealing of the outer part of the pipeline fails, the buoyancy of the seawater is reduced, the tension born by the online tension monitoring device is gradually increased, the tension exceeds a set limit range and enters an alarm range in a short time, and the system gives an alarm and can perform corresponding treatment according to the field operation and emergency scheme of the FPSO in time; if the damage of the outer pipe wall of the pipeline is small, the seawater is slowly introduced, the tension born by the online tension monitoring device can be found to be gradually increased in the regular data analysis, and then the pipeline can be adopted for inspection, such as inspection along the pipeline by a robot for underwater observation, so that the damage point is found in advance for online repair, and the safe operation of the pipeline is ensured.
CN201810871301.XA 2018-08-02 2018-08-02 Dynamic flexible composite pipeline online tension monitoring device and monitoring method Active CN110793698B (en)

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CN107478508A (en) * 2017-07-04 2017-12-15 国家海洋局第二海洋研究所 The complicated bend experimental rig of deep water top tension type vertical pipe
CN208653696U (en) * 2018-08-02 2019-03-26 天津市海王星海上工程技术股份有限公司 Dynamic flexibility compound pipe on-line tension monitoring device

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