CN113221354A - Pipeline bending deformation fitting algorithm - Google Patents

Pipeline bending deformation fitting algorithm Download PDF

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CN113221354A
CN113221354A CN202110513635.1A CN202110513635A CN113221354A CN 113221354 A CN113221354 A CN 113221354A CN 202110513635 A CN202110513635 A CN 202110513635A CN 113221354 A CN113221354 A CN 113221354A
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pipeline
bending deformation
fitting algorithm
value
equation
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于皓瑜
王煦博
陈晓龙
杨西惠
张爱梅
董春云
魏佳丽
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Xidian University
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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F30/00—Computer-aided design [CAD]
    • G06F30/20—Design optimisation, verification or simulation
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F2111/00—Details relating to CAD techniques
    • G06F2111/04—Constraint-based CAD
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F2113/00—Details relating to the application field
    • G06F2113/14—Pipes
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F2119/00—Details relating to the type or aim of the analysis or the optimisation
    • G06F2119/02—Reliability analysis or reliability optimisation; Failure analysis, e.g. worst case scenario performance, failure mode and effects analysis [FMEA]

Abstract

The invention belongs to the field of pipeline transportation safety, relates to a pipeline bending deformation fitting algorithm, and provides a pipeline bending deformation fitting method aiming at the problems that the existing monitoring scheme is difficult to monitor the integral bending deformation of a pipeline and the fitting strategy has strong dependence on finite element prior information and strong limitation on the number of sensors. The algorithm provided by the invention not only reduces the cost of pipeline monitoring, but also greatly improves the stability and reliability of monitoring, and has good development prospect in the technical fields of underground and underwater monitoring and the like.

Description

Pipeline bending deformation fitting algorithm
Technical Field
The invention belongs to the field of pipeline transportation safety, and relates to a pipeline bending deformation fitting algorithm.
Background
Because pipeline transportation has the advantages of large, continuous, stable and reliable transportation amount, small occupied land resource and the like, the pipeline transportation is widely applied to transportation of dangerous media such as crude oil, finished oil, gas, oil-gas mixture and the like, and becomes the life line of modern industry and national economy. Pipeline transportation networks have a wide coverage area and may pass through densely populated areas or some extremely harsh environments. Therefore, the problems of pipeline damage, bending deformation and leakage caused by external artificial damage, sudden natural disaster damage, pipe corrosion and the like frequently occur, the transportation is interrupted, property loss, even casualties and environmental pollution are caused, and the national economy and the life and property safety of people are threatened.
Many methods and systems have been developed at home and abroad, and most of the technologies can be classified into contact type technologies and non-contact type technologies according to measurement modes.
The contact type has a strain-based method and a vibration-based method, and rapid risk assessment is performed by a sensing system.
The non-contact type is represented by a related means based on machine vision.
And the two methods have the defects of needing improvement in the aspects of implementation, maintenance, cost, globality and complexity. Currently, research proposes methods for comprehensively evaluating the health status of pipelines through key point measurement and curve fitting.
Disclosure of Invention
The invention discloses a pipeline bending deformation fitting algorithm, which is used for reducing the dependence on the number of sensors and model prior information, greatly improving the flexibility of sensor deployment and curve fitting and improving the monitoring efficiency and accuracy.
The technical scheme of the invention is as follows: a pipeline bending deformation fitting algorithm, comprising the steps of:
(1) dividing a measured pipeline into n sections, recording position coordinates { xi } (i is 0, 1,2, …, n) of n +1 sensing units needing to be arranged, and setting x0< x1< x2< … < xn; defining a measured value of the inclination angle obtained by the sensing unit at the position { xi } as { theta i }; defining a tangent value of { θ i } as { mi }, mi ═ tan θ i; defining the flexibility value of the pipeline at the coordinate { xi } as { fi }; defining the projection length of the pipeline in any [ xi, xi +1] interval on the x axis as { hi }, wherein hi is xi + 1-xi;
(2) constructing rational splines p with adjustable parameters kii(x)(i＝0，1，2，…,n-1)；pi(x) At each [ xi, xi +1]The segments of the interval have different expressions, and the expressions are related to ki, a dip tangent value sequence { mi }, a flexibility value sequence { fi }, and a projection length value sequence { hi } of the pipeline on the x axis;
(3) for a given interval [ xi, xi +1]P as defined under (i-1, 2, …, n-1)i(x) Using pi(x) Constructing an equation for the unknown numbers { fi-1, fi, fi +1} at x ═ xi, which is second order conductible;
(4) repeating the step (3), traversing all n-1 intervals [ xi, xi +1] (i ═ 1,2, …, n-1), and obtaining n-1 equations of the deflection values { f1, f2, …, fn-1} of the nodes; supplementary boundary conditions: f0 ═ a, and ② fn ═ B; constructing an equation system containing n +1 equations with n +1 unknowns of { f0, f2, …, fn };
(5) solving the equation set to determine each segmented point deflection value { fi } (i ═ 0, 1,2, …, n); thereby completely determining each interval [ xi, xi +1]Interpolation spline p defined by (i ═ 0, 1,2, …, n-1)i(x)；
(6) According to each interval [ xi, xi +1]Spline p of interpolationi(x) And drawing the bending form of the pipeline.
N in the step (1) is not less than 3 and is an integer.
The plurality of sensor locations in step (1) are at least one sensor at each of the beginning and end of the pipeline.
P in step (2)i(x) Having the following general expression:
Figure BDA0003061254490000031
and has the following components:
Figure BDA0003061254490000032
the adjustable parameter ki in the step (2) is a real number, and ki ≠ 1/3.
The supplementary boundary conditions in the step (4): the deflection value A of the starting point f0 and the deflection value B of the end point fn are measured by other means before the fitting algorithm is implemented; if the values of A and B cannot be measured in engineering application, and when the starting constraint and the ending constraint of the pipeline are good, the value of A is equal to B is equal to 0.
The invention has the following beneficial effects:
1. the invention provides a method for obtaining the integral deformation deflection of a pipeline by adopting a multipoint fitting method, and solves the problems of strong dependence of pipeline bending measurement on finite element prior information and strong limitation on the number of sensors.
2. The invention relates to a pipeline bending deformation fitting algorithm, which solves the problem that the deformation monitoring is difficult to realize in the existing monitoring scheme.
3. The fitting algorithm of the invention combines the measured values of the inclination angle sensors arranged on the pipeline, namely the bending deflection of the pipeline can be completely fitted through interpolation splines, and the cost of pipeline monitoring is reduced.
4. According to the fitting algorithm, the stability and reliability of monitoring are greatly improved by introducing the shape regulation parameter ki.
Drawings
The invention is further illustrated with reference to the accompanying drawings of embodiments:
FIG. 1 is a flow chart of an algorithm according to an embodiment of the present invention;
FIG. 2 is a schematic layout of a sensing unit;
FIG. 3 is a schematic view of a pipe bending deformation;
figure 4 is a graph of deflection fit results.
Detailed Description
As shown in fig. 1, a fitting algorithm for pipe bending deformation includes the following steps:
(1) dividing a measured pipeline into n sections, recording position coordinates { xi } (i is 0, 1,2, …, n) of n +1 sensing units needing to be arranged, and setting x0< x1< x2< … < xn; defining a measured value of the inclination angle obtained by the sensing unit at the position { xi } as { theta i }; defining a tangent value of { θ i } as { mi }, mi ═ tan θ i; defining the flexibility value of the pipeline at the coordinate { xi } as { fi }; defining the projection length of the pipeline in any [ xi, xi +1] interval on the x axis as { hi }, wherein hi is xi + 1-xi;
(2) constructing rational splines p with adjustable parameters kii(x)；pi(x) At each [ xi, xi +1]The segments of the interval have different expressions, and the expressions are related to ki, the dip tangent value { mi }, the flexibility value sequence { fi }, and the projection length value sequence { hi } of the pipeline on the x axis; the method specifically comprises the following steps:
define any [ xi, xi +1]The projection length of the pipeline s in the interval on the x axis is { hi }, hi is xi +1-xi, wherein
Figure BDA0003061254490000051
Specifically, the method comprises the following steps:
Figure BDA0003061254490000052
Vi＝(6ki+1)fi+3kihimi (2)
Wi＝(3ki+2)fi+1-himi+1 (3)
hi＝xi+1-xi (4)
Figure BDA0003061254490000053
mi＝tanθi(6)
fitting function pi(x) Naturally, the following two conditions are satisfied:
Figure BDA0003061254490000054
(3) for rational cubic spline function pi(x) Using pi(x) Where x is xiAnd (4) constructing an equation about unknown numbers { fi-1, fi, fi +1} by using a second-order conductible method, wherein the specific process is as follows:
Figure BDA0003061254490000061
when x is xi and ti is 0,
Figure BDA0003061254490000062
when x is xi, ti-1 is 1,
Figure BDA0003061254490000063
substituting and simplifying equations 9, 10 into equation 8, we can get the equation set for f1-1, fi and fi + 1:
αifi-1+βifi+γifi+1＝δi (11)
wherein:
Figure BDA0003061254490000064
Figure BDA0003061254490000065
Figure BDA0003061254490000066
Figure BDA0003061254490000067
and obtaining a relational expression among the flexibility values fi-1, fi and fi +1 in each section according to the deduced formula.
(4) The system of equations defined by equations 11,12,13,14,15 contains n-1 equations, and the deflection { f0, f1, …, fn } contains n +1 unknowns, for which the boundary shifts must be supplemented, i.e., the boundary conditions are increased, setting:
Figure BDA0003061254490000071
constructing an equation system containing n +1 equations and n +1 unknowns of { f0, f2, …, fn }, and expressing the equations in a matrix form:
AF＝Δ (17)
wherein:
Figure BDA0003061254490000072
(5) and (4) fitting the N groups of deflection data obtained in the step (4) to obtain a fitting curve, so as to obtain the deflection of the whole pipeline.
In the step (1), the number n of the sensing units needs to be set to an appropriate value according to specific needs, and n is required to be an integer greater than or equal to 3.
In the step (2), the step (3) and the step (4), the standard cubic Hermite interpolation spline is improved, and the positive shape regulation parameter ki is added, so that the data number is not required to be an even number, and the arrangement of the sensors is not required to be equidistant.
In the step (2), the step (3) and the step (4), the local shape and the concavity and convexity of the interpolation function can be regulated and controlled through the shape regulation and control parameter ki, so that the strain energy of the interpolation function is controlled, the curve is smoother, and the method can be flexibly selected according to other conditions such as actual working conditions or fitting precision requirements.
In the step (4), the initial deflection value a and the end deflection value B of the pipe should be measured by other means, and if the initial constraint and the end constraint are good, a may be equal to 0.
In order to make the present invention more clearly shown, practical application descriptions are given below:
if the deformation of a section of elastic experiment tube with the length of 1800mm is monitored, the structural distribution of the sensing unit is shown in fig. 2, ki is selected to be 0.4 for carrying out the experiment, the pipeline in the experiment is short, 7 points are selected to be suitable for carrying out the experiment and are divided into 6 sections, the coordinates of the sensing unit are recorded to be {0, 60, 320, 1350, 1490, 1730 and 1800}, the inclination angle measured value theta i corresponding to the sensing unit is {57.2, 52.9, 42.3, -36.5, -42.8, -52.3, -57.7}, the flexibility value corresponding to each coordinate is set to be f0, f2, … and f6, and the length of each section hi is calculated to be { 060260103014024070 }; as shown in figure 3 of the drawings,
the pi function is constructed according to the steps (2), (3) and (4) of the invention, which satisfy the above conditions, complementing the boundary conditions: f0 is 0, f6 is 0, and a system of equations AF is Δ is constructed, where:
Figure BDA0003061254490000081
according to the step (4), solving the above equation system can obtain the distribution of the flexibility values fi (mm) of each node as {0, 56.3414, 276.6672, 363.5836, 265.6095, 66.9405, 0}, wherein α is { -7.8, -7.13, -0.2447, -3.0857, -0.525 }; beta is {6.415, 5.616, -43.8981969486824, -0.414, -20.046 }; gamma is {1.386, 1.515, 44.143, 3.5, 20.571 }; delta is {744.53, 1702.733, -4303.593, -997.662, -1481.362 }.
Obtaining a node flexibility value fi according to the steps of the invention, and calculating to obtain a total 6-segment interpolation spline function pi(x) The following formulas are the results after omitting partial decimal reduction:
Figure BDA0003061254490000091
Figure BDA0003061254490000092
Figure BDA0003061254490000093
Figure BDA0003061254490000094
Figure BDA0003061254490000095
Figure BDA0003061254490000096
according to the interpolation spline functions { p0, p1, p2, p3, p4 and p5} of each segment obtained by the invention, the bending form of the whole segment of the pipeline is drawn, as shown in FIG. 4.
The invention adopts a multipoint fitting method to obtain the integral deformation deflection of the pipeline, and solves the problems of strong dependence of pipeline bending measurement on finite element prior information and strong limitation on the number of sensors and the problem that the deformation monitoring is difficult to realize by a monitoring scheme. The method combines the measured values of the inclination angle sensors arranged on the pipeline, so that the bending deflection of the pipeline can be completely fitted through interpolation splines, and the cost of pipeline monitoring is reduced. The stability and reliability of monitoring are greatly improved by introducing the shape regulation parameter ki.

Claims (9)

1. A pipeline bending deformation fitting algorithm, comprising the steps of:
(1) dividing a measured pipeline into n sections, recording position coordinates { xi } (i is 0, 1,2, …, n) of n +1 sensing units needing to be arranged, and setting x0< x1< x2< … < xn; defining a measured value of the inclination angle obtained by the sensing unit at the position { xi } as { theta i }; defining a tangent value of { θ i } as { mi }, mi ═ tan θ i; defining the flexibility value of the pipeline at the coordinate { xi } as { fi }; defining the projection length of the pipeline in any [ xi, xi +1] interval on the x axis as { hi }, wherein hi is xi + 1-xi;
(2) constructing rational splines p with adjustable parameters kii(x)(i＝0，1，2，…,n-1)；pi(x) At each [ xi, xi +1]The segments of the interval have different expressions, and the expressions are related to ki, a dip tangent value sequence { mi }, a flexibility value sequence { fi }, and a projection length value sequence { hi } of the pipeline on the x axis;
(3) for rational cubic spline function pi(x) Using pi(x) Where x is xiConstructing an equation about unknown numbers { fi-1, fi, fi +1} through second-order conductibility;
(4) repeating the step (3), traversing all n-1 intervals [ xi, xi +1] (i ═ 1,2, …, n-1), and obtaining n-1 equations of the deflection values { f1, f2, …, fn-1} of the nodes; supplementary boundary conditions: f0 ═ a, and ② fn ═ B; constructing an equation system containing n +1 equations with n +1 unknowns of { f0, f2, …, fn };
(5) solving the equation set to determine each segmented point deflection value { fi } (i ═ 0, 1,2, …, n); thereby completely determining each interval [ xi, xi +1]Interpolation spline p defined by (i ═ 0, 1,2, …, n-1)i(x)；
(6) According to each interval [ xi, xi +1]Spline p of interpolationi(x) And drawing the bending form of the pipeline.
2. The pipeline bending deformation fitting algorithm according to claim 1, wherein n in step (1) is not less than 3 and is an integer.
3. The pipeline bend distortion fitting algorithm of claim 1, wherein the plurality of sensor locations in step (1) are at least one sensor at each of the beginning and end of the pipeline.
4. The pipeline bending deformation fitting algorithm of claim 1, wherein p in step (2)i(x) Having the following general expression:
Figure FDA0003061254480000021
and has the following components:
Figure FDA0003061254480000022
5. the pipeline bending deformation fitting algorithm of claim 1, wherein the adjustable parameter ki in step (2) is a real number, and ki ≠ 1/3.
6. The pipeline bending deformation fitting algorithm according to claim 1, wherein the supplementary boundary conditions in step (4) are: the deflection value A of the starting point f0 and the deflection value B of the end point fn are measured by other means before the fitting algorithm is implemented; if the values of A and B cannot be measured in engineering application, and when the starting constraint and the ending constraint of the pipeline are good, the value of A is equal to B is equal to 0.
7. The pipeline bending deformation fitting algorithm of claim 1, wherein the expression in step (2) is related to ki, the dip tangent value { mi }, the sequence of bending values { fi }, and the sequence of projection length values of the pipeline in the x-axis { hi }; the method specifically comprises the following steps:
define any [ xi, xi +1]The projection length of the pipeline in the interval on the x axis is { hi }, hi ═ xi +1-xi, wherein
Figure FDA0003061254480000031
Specifically, the method comprises the following steps:
Figure FDA0003061254480000032
Vi＝(6ki+1)fi+3kihimi (2)
Wi＝(3ki+2)fi+1-himi+1 (3)
hi＝xi+1-xi (4)
Figure FDA0003061254480000033
mi＝tanθi (6)
fitting function pi(x) Naturally, the following two conditions are satisfied:
Figure FDA0003061254480000034
8. the pipeline bending deformation fitting algorithm of claim 1, wherein the step (3) constructs the equation as follows:
Figure FDA0003061254480000035
when x is xi and ti is 0,
Figure FDA0003061254480000036
when x is xi, ti-1 is 1,
Figure FDA0003061254480000041
substituting and simplifying equations 9, 10 into equation 8, we can get the equation set for f1-1, fi and fi + 1:
αifi-1+βifi+γifi+1＝δi (11)
wherein:
Figure FDA0003061254480000042
Figure FDA0003061254480000043
Figure FDA0003061254480000044
Figure FDA0003061254480000045
and obtaining a relational expression among the flexibility values fi-1, fi and fi +1 in each section according to the deduced formula.
9. The pipeline bending deformation fitting algorithm of claim 1, wherein the step (4) constructs a system of n +1 equations for n +1 unknowns of { f0, f2, …, fn }, expressed in a matrix form:
AF＝Δ (17)
wherein:
Figure FDA0003061254480000051
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