NZ618705B2 - Flow rate determination method and apparatus - Google Patents

Abstract

Disclosed is an apparatus (910) for determining a flow rate of a fluid flowing in a pipe (914). The apparatus (910) is comprised of at least two sensors (911, 912) for positioning on or in the pipe (914) to measure a pressure of the fluid at at least two locations in the pipe (914); and a processor (not shown) coupled to the sensors (911, 912). The processor is adapted to determine a fluid wave speed based on measured pressure of fluid at at least one location in the pipe (914). The processor is also configured to determine if a flow regime of fluid in the pipe (914) comprises either a laminar or turbulent flow and comprises either a steady or unsteady flow. The processor is further adapted to determine the flow rate of fluid based on the determined wave speed, on measured pressures at two locations in the pipe (914), and on the determined flow regime of fluid. A method of using such an apparatus (910) to determined flow rate is also disclosed. (not shown) coupled to the sensors (911, 912). The processor is adapted to determine a fluid wave speed based on measured pressure of fluid at at least one location in the pipe (914). The processor is also configured to determine if a flow regime of fluid in the pipe (914) comprises either a laminar or turbulent flow and comprises either a steady or unsteady flow. The processor is further adapted to determine the flow rate of fluid based on the determined wave speed, on measured pressures at two locations in the pipe (914), and on the determined flow regime of fluid. A method of using such an apparatus (910) to determined flow rate is also disclosed.

Description

consisting of magnetic coils are used to generate a magnetic field. As a conductive fluid flows through the magnetic field, a voltage is induced Which is measured by electrodes of the meter. Electromagnetic flow meters do obstruct the flow path of the fluid. r, this method is intrusive as the electromagnetic flow meters need to be inserted at the point of flow measurement within the pipeline system. Additionally, the size of the meter increases with the pipe size. Further, since Faraday’s law of induction only applies to conductive fluids, the electromagnetic flow meters are limited by the conductivities of working fluids. Some commercial electromagnetic flow meters can deal with fluids with c0nductlvities as low as cm. However, gasoline which has a tivity of 108pS/cm cannot be measured by omagnetic flow meters lin, E. O. (1990) “Measurement systems: application and design ”, McGraw-Hili). The ne material must also be non—conductive and metallic pipes require a non-conductive rubber liner installed for these meters to operate accurately.

The Laser Doppler Velocimetry (LDV) technique is based on the Doppler principle. This technique es the local flow velocity using the Doppler principle and determines the velocity profile in the pipe. A flow rate can then be determined by integrating the measured velocnty profiles over the plpe cross-section. in this technique, a coherent laser beam is emitted from a laser source and is split into two beams. The paths of these beams are made to cross at the measurement location inside a transparent pipe section.

When the two beams cross, an interference pattern of superpositioned light waves occurs. This pattern is disturbed by ing particles in the fluid and the changes in the light intensity can be related to the fluid velocity. The drawbacks of this que are the high costs associated with the apparatus, and the requirement for reflecting les in the fluid as well as a transparent pipe n for beam transmission. At least these drawbacks mean that LDVs are not suited to field use.

Washio proposes an inexpensive and non-intrusive method for measuring flow rate which requires minimum system modification and no reflecting particles (Washio, S., Takahashi, 8., Yu, Y., and Yamaguchi, S. (1996) “Study of unsteady e flow characteristics in hydraulic oil lines”, Journai of Fluids Engineering, Transactions of the ASME, 118(4). 743—748). The Washio method is based on the dvnamic relationship between pressure in nes and flow rate. The flow rate at a flow estimation point can be inferred from the measured pressure at two points along the pipeline. The pressure s due to the unsteadiness of fluid flow can be measured using strain-gauge or piezoelectric pressure transducers ia, A. E., and Ferrari, A. (2009) “Development and assessment of a new operating principle for the measurement of unsteady flow rates in ressure pipelines", Flow Measurement and Instrumentation, 20(6), 230—240).

The use of pressure for flow rate determination is advantageous because pressure 5246387__2 transducers are available at a very low cost and have a relatively small al size.

Pressure transducers can be flush mounted into the pipe wall to be non-intrusive causing minimum disturbance to the fluid flow.

Figures 1 and 2 Show a setup 910 and a flow chart 920 of the Washio method for estimating the flow rate of fluid at a flow estimation point. The Washio method for estimating flow rate involves ating the time-varying flow rate at a flow estimation point 913 from the following relation between the flow rate and pressure head: 191722 Ah+pb21pal2 +Pb22Pan ‘szz ‘13:— 112 (1) Pan Fan where q3 = time—varying flow rate at the flow estimation point 913, Ah = h; - hi, bl = ionless time-varying re head measured by a first transducer 911, hz = dimensionless time-varying pressure head measured by a second transducer 912, pa]; = comm/3), [)aIZ = - Zosinhmla), p021 = - Sinh(u/b)/Zc, 191,22 = coslr(u4), /a = distance between the transducers 911 and 912, lb = distance n a transducer 911/912 and flow estimation point 913, zc = , 2 . a) AwR H = — +Jg 7 7 I a" a’ j = “—1 I m = angular frequency, 9 = the acceleration due to gravity, A = the pipe cross—sectional area, R: resistance term, and = the wave speed. 5246387_2 Equation 1 shows that the time-varying flow component at a flow estimation point 913' can be calculated from two pressure measurements by transducers 911, 912 spaced a distance I; apart in the pipeline 914. The discharge prediction point 913 is located at a distance lb from one of the transducers 912.

One of the system parameters of Equation 1 is the system wave speed, a. In the Washio method, the system wave speed a is estimated l'rom prior knowledge or the system.

However, this parameter is extremely sensitive to the presence of air inside pipelines and can affect the accuracy of flow rate estimations. Even 1% of entrapped alr reduces the wave speed by 75% (Wylie, E. B., and er, V. L. (1993) “Fluid Transients in Systems”, Prentice Hall, Englewood , New Jersey, USA).

A transducer spacing /a of 10cm is used in the Washio system. Given the wave speed of fluid in metal nes is typically around s; the two transducers 911, 912 in the Washio method are essentially right next to each other implying that the 10cm spacing la is virtually negligible. In the field, it is likely that the transducers will need to be spaced further apart. The implication of this requirement is that as the spacing between transducers increases, the time lag between the two pressure measurements increases, causing a difference in the pressure traces between the two transducers. The use of the Washio model in such arrangements leads to large errors in flow rate estimatiOns. The inventors have found that the Washio model produces an estimation error of 140% in a numerical test with a transducer spacing of 152m in a 1000m pipeline.

Another system parameter of Equation 1 is the resistance term of the pipe R which relates to the flow regime of the flow under investigation. The Washio model provides a method for estimating flow rate of fluid where the flow is laminar. However, turbulent flows are more common in the pipeline systems. Not compensating for the different flow regimes in the model can lead to significant errors in the flow rate measurement.

The Washio model is limited to situations where a t stretch of pipe exists between the pressure transducers and the rge prediction point. In y, re ports on existing systems are often located on either side of key hydraulic elements such as valves, orifices, pumps, corners and junctions. In on, the h of pipeline between the pressure ucers 911, 912 may contain additional elements not taken into t in the Washio model. For example, in a pipe section in which an orifice plate is inserted between the transducers 911, 912 and also n the transducer 912 and the flow estimation point 913, the application of the Washio model (Equation 1) resulted in an error between the actual and ted flow rate of 16%. 5246387_2 Therefore, it is an object of the present invention to provide an improved apparatus and/or method for flow rate determination in pressurised pipelines for both laminar and turbulent flows or to at least provide the public with a useful choice.

In this specification where reference has been made to patent specifications, other external documents, or other sources of information, this is generally for the purpose of providing a context for discussing the features of the invention. Unless ically stated otherwise, reference to such external documents is not to be construed as an admission that such documents, or such sources of ation, in anyjurisdiction, are prior art, or form any part of the common general dge in the art.

SUMMARY OF INVENTION In accordance with a first aspect of the present invention, there Is provided a method of determining a flow rate of a fluid flowing in a pipe comprising: measuring a pressure of fluid at at least two ons in the pipe, the pressure being measured by sensors that are positioned on or in the pipe; determining a wave speed of fluid based on measured pressure of fluid at a location in the pipe; determining if a flow regime of fluid in the pipe comprises either a laminar or turbulent flow and'comprises either a steady or unsteady flow; and determining the flow rate of fluid based on the determined wave speed, onvthe measured pressures at two locations in the pipe, and on the determined flow regime of fluid.

The wave speed is an indication of how fast a transient wave (water hammer wave) propagates along the pipe.

As used herein, the term ‘comprlsing’ as used in this ication means ‘consisting at 3O least in part of’. When interpreting each statement in this specification that es the term ‘comprising', features other than that or those prefaced by the term may also be t. Related terms such as ‘comprise’ and ‘comprises’ are to be interpreted in the same manner.

In one embodiment, the method ses adjusting the flow rate of the fluid through the pipe if the determined flow rate substantially differs from an expected flow rate.

In one embodiment, the wave speed is determined based on the pressure ed at a first pair of locations in the pipe, and the flow rate is determined based on the pressure 5246387_2 ed at a second pair of locations in the pipe. Preferably, the locations of the first pair are the same as the ons of the second pair. In that embodiment, one pair of sensors may be used to determine both the wave speed and the ed pressures at two locations. atively, the locations of the first pair may be different from the locations of the second pair. In that embodiment, four sensors may be used.

Alternatively, only one location of the first pair andthe second pair are the same, and three sensors may be used.

In one embodiment, the wave speed is determined based on the re ed at one location by a sensor. Preferably, the method further comprises generating a transient wave that ates towards the sensor, the transient wave being generated using a generator, and the sensor being adapted to sense the transient wave.

Preferably, the flow rate is determined based on pressure measured at the same location as the wave speed and on pressure measured at a different location. In that embodiment, the generator and two sensors may be used. Alternatively, the flow rate may be determined based on pressure measured at a different location. In that embodiment, the Generator and three sensors may be used.

In one embodiment, the pressure of fluid is measured at two locations along a length of the pipe using two sensors, the sensors being positioned on or in the pipe; and the wave speed of the fluid is determined based on the pressure of fluid measured at each respective location.

In one embodiment, the sensors are pressure transducers for measuring the pressure ty of the fluid.

Preferably, the sensors are piezoelectric ucers (PZTs) or strain gauges.

Preferably, the sensors are substantially flush with a wall of the pipe.

In a r embodiment, the wave speed is determined by determining a transfer function of the pipe between the two locations based on at least the measured pressure of fluid.

Preferably, the transfer function Is a ratio of the measurements from the two locations.

Preferably. the transfer function’is a ratio of Fourier ormed measurements from the two locations. 5246387_2 In a further embodiment, the method comprises determining a flow regime of the fluid flowing through the pipe, and the flow rate of the fluid at a flow determination point in .the pipe based on at least the determined fluid wave speed and a resistance term R associated with the flow .

Preferably, the flow regime for steady or dy flow rates is determined between laminar or turbulent flow based on at least a Reynolds number Re of the fluid.

Preferably, the Reynolds number Re is determined from the following equation: IO Re =g where u = kinematic viscosity, Q = time—averaged mean discharge, A = pipe sectional area, and D = pipe diameter.

Preferably, the resistance term R of the pipe is set between a resistance term for laminar steady or unsteady flow and a ance term for turbulent steady or unsteady flQW‘ based on the flow .

Preferably, the flow is laminar when the Reynolds number ofithe fluid is less than about 2000.

Preferably, the flow is turbulent when the Reynolds number of the fluid is. more than about 2000.

Preferably, the resistance term R5 for laminar steady flow is based on the following equafion: gADZ 3O where g = acceleration due to gravity, 0 = kinematic visco‘sity, A = pipe cross—sectional area, and D = pipe er.

Preferably, the resistance term R5 for turbulent steady flow is based on the following equafion: 524638742 gDA2 where g = acceleration due to gravity, f = friction , Q = time-averaged mean discharge, A = pipe cross-sectional area, and D = pipe diameter. ably, for unsteady flow rates, the resistance term R of the pipe is the corresponding resistance term R5 for laminar steady flow or turbulent steady flow with an additional resistance term RU given by: RU=4]'A(UTe[ij‘4v JWW(t)d‘r where u = kinematic viscosity, 9 = acceleration due to gravity, A = pipe cross—sectional area, L) = pipe diameter, .I'=\l-1, a) = angular frequency, W = weighting function, and _4v —t*) where t* is the time used in the convolution integral).

Preferably, for a laminar unsteady flow, the weighting function is: = {0.282095, -1.25, 1.057855, 0.9375, 96, -0.351563}, i = 1, ..., 6, = {26.3744, 3, 135.0198, 218.9216, 322.5544}, i = 1, ..., 5. ably, for a turbulent unsteady flow, the weighting function is: 574 38.7 2 W(r)= ebér) 2V 7r: where C* = shear decay coefficient.

Preferably, the shear decay coefficient is a function of the Reynolds number Re and is given by: 7.41 C* = where Re = Reynolds number, and 14.3 K—____ 1 , 0310 E3375 In a further embodiment, the method comprises determining type of pipe through which the fluid flows and the flow rate of the fluid at a flow determination point in the pipe based on at least the determined fluid wave speed and characteristics of the type of pipe.

Preferably, the characteristics of the type of pipe include a characteristic impedance of the pipe 2c and a propagation constant/1..

Preferably, where the type of pipe is not plastic, the characteristic impedance of the pipe 2c and the propagation constant ,u are given by: 26 = {“12 .v 1603/1 a): ngcoR H “h _ "—2- + 2 ’ a a where j: V_1) u) = angular frequency, 9 = acceleration due to y, A = pipe cross—sectional area, R = the resistance term of the pipe, and a = the determined wave speed.

Preferably, where the type of pipe is plastic, viscoelastic s of pipe wall are taken into account for ining the flow rate. 5246382] Preferably, where the type of pipe is plastic, the characteristic impedance of the pipe ZC and the propagation constantp are given by: filz: ‘jah4[_§%.+.__EEE£__][;LE:4_12]a 1 I jwr gA 2;- Em Was—f2CJ gA a 1+]an‘ where j= 4-1, 0) = angular frequency, 9 = acceleration due to gravity, A = pipe cross-sectional area, R = the resistance term of the pipe, a = the determined wave speed, ]and 1: parameters of the viscoelastic pipe al, C = pgqfiD/Ze = intermediate constant coefficient 96 - a pipe constraint coefficient, e = thickness of pipe-wall, and p = fluid density.

In one embodiment, the method comprises: determining a first set of signal characteristics relating to a determined flow rate of the fluid between a first pair of sensors, determining a second set of signal characteristics relating to a determined flow rate of fluid between a second pair of sensors, and comparing the determined first and second sets of signal characteristics to correct for any errors in the flow rate of the fluid.

Preferably, the first pair of sensors and the second pair of sensors include a common . atively, the sensors of the first pair of sensors are different from the sensors of the second pair of sensors.

Preferably, the ined signal teristics for the first and second set include phase and magnitude values relating to the flow rate.

Preferably, the determined wave speed is used in the ing equations for ining flow rate of fluid at a flow determination point in 'd pipe with no hydraulic elements: 5246387_2 [1'12] =|:Pau(12 [7,,“ 17.122pn12][111]ql [ha] : [1’in PM 1/12] ‘13 pbzn pbzz QZ what-c- q; = time-varying flow rate at the flow determination point, q1 = arying flow rate at the location of the first sensor, q; = time-varying flow rate at the location of the second , h3 = dimensionless time-varying pressure head at the flow determination point, h, = dimensionless time-varying pressure head measured by a first sensor, hz = dimensionless time—varying pressure head measured by a second sensor, pa” = coshmé), Pa” = - chinhm/n), prl = - Siflh(l1/h.)/Zc, Pb22 — cuo'h , = distance between sensors, lb = distance between one of the sensors and the flow determination point, Zr =7 the characteristic nce of the pipe, and p = the propagation constant, wherein the characteristic impedance of the pipe Zc and the propagation constant p are functions of the determined wave speed and of the ance term R.

In one embodiment, the flow rate of the fluid at a flow determination point in the pipe with n number of hydraulic element(s) between the locations at which pressure is measured for the flow rate determination and with m number of hydraulic element(s) between the flow determination point and one of the locations at which pressure is measured for flow rate determination, where n and m are integers, is determined from the following equation: [hz ] _ pn(u+i),ll )‘12:| can,“ cam pan.” 17::ng em.“ 3:11.12 pal,“ Pamz 92 pn(n+l),2l Pa(u+i),22 emu enn.22 pmi.21 pan.22 enl.Zl 2 17:11.21 anz [/73] : pblnwlhi pl)(rri+l).12 :|[ebm.ll emu pbmJl Pbsz 901.11 ebuz PM.” Pbuz q3, pb(m+l),21 pb[m+l).22 ebm.2l 31mm Fungi 17mm; 1 31,122 . pbl.21 P0122 3O q3 = time—varying flow rate at the flow determination point, q1 = time-varying flow rate at the location of the first sensor, (72 = time-varying flow rate at the on of the second sensor, 5246 387_Z h3 = dimensionless time-varying pressure head at the flow determination point, h; = dimensionless time—varying re head measured by a first sensor, h; = dimensionless time—varying re head measured by a second sensor, prl = COShfll/x}, Px,12 = - Zainlzfll/J pm = — sin/mum; Px.22 = 005"! {ii/J, |: “Hel‘ el’“[7] ‘ _, is the matrix expressnon E for the hydraulic element at x,. . ex.2} ex,22 - where x denotes pipe sections a1, a2, ..., an, and b1, b2, ..., bm, Ix = length of pipe n x, Zc = the characteristic, impedance of the pipe, and [J = the propagation constant.

Preferably, the flow rate of the fluid at a flow ination point in the pipe with one hydraulic element n the locations at which the pressure is measured for the flow rate determination and with one hydraulic element between the flow determination point and one of the locations at which the pressure is measured for flow determination is determined from the following equation: [[12 ] _ 13.12.11 17.12.12 :l[ean 8:112 :|[Pul,ll 92 Ram 17a2,22 can can 17.21.21 pal.22Pal.iz:l[hi]9| ‘ P52.” [ha] II93 Pbuz pbzizi Pb2.22sz.iz]l:elmebzi 12:“:pbl,ll phl.2l 1751,22 [[12]92 Preferably, the flow rate of the fluid at a flow determination point in the pipe with two hydraulic elements between the locations at which the pressure is measured for the flow rate determination and with one hydraulic element between the flow determination point and one of the locations at which the pressure is measured for flow determination is determined from the following equation: [[12]_ P03.” Pam em,” (3:22.12 P02.” pan: em.” eaLIl Pal.” Pam hi ‘4; prim Pa3.22 €02.21 euzzz pan] Puz,22 9.11.21 eal,22 Paul pal.22 q, [ha]: P122.“ Pam 93 17122.21 P6212 [ebilebZJ ebi2:“:pbl.ll2522 21 pb),22pb1.12:l[hz]Q2 5246387_2 Preferably, the flow rate at the flow ination point can be determined from the following equation: u u u Ll u u [>22 JAh+[ b2! 1112 b22 all q3 =( + _ “an “an “an “m1222]]12 where Paul paztu enil em pm.“ pamz u __ 17:12.21 pa222 eazi eazz palm pul.22 p112.” 17:12.12 ebll em. PM,” Pbuz u _ .b...

- Pug: 1717222 31121 ebz: pbl.2l phi): 2AH0 1 uall = cosh(,uflzlfl2 ) 0051104111,” ) + [[_ 0 Jcoshguuzlaz) — anz sinh(,uflzla2 )][— ZCal sinh(,unlln1)] 2AMo “(112 : COShU‘nzlaz )(_ Zeal SinhU‘ailai ))+ H" o azlaz ) _ Zr": Sinh(.uazla2 )] COShU‘ailai) 1 . ZAHO . 1 um = [~ 5mm”bilm )] cbZ smh(;tbzlb2)]cosh(pbllbl) + [( )smh(/1bzlb2)+ cosh(,u,,21,,2 )I— Z Zr b2Q0 cbl 1 ' 1 0 . . . ZAH,J . ”b2: = [" 53111011): [b2 )](_ Zcbl 51111101121!“ ))+ [[ Z Z 0 cb2 (1:2 -—0 )51nh(#bzlb2 ) + COSh(/’lb21b2)]COSh(/Jbilbl ) Ah = h; - h1, h3 = dimensionless time-varying pressure head at the flow determination point, h1 = dimensionless time—varying pressure head measured by a first , hz = dimensionless time—varying pressure head measured by a second sensor, I,” = distance between a first ucer and a first hydraulic element, Ia; = distance between a second transducer and the first hydraulic t, 1“ = distance between the second transducer and a second hydraulic element, lb; = distance between the second hydraulic t and the flow determination point, ZCX = the characteristic impedance for pipe section x, yx = the propagation constant for pipe section x, where X denotes pipe sections a, a2, and b1, b2, Q, = time—averaged mean discharge, Ho = time~averaged mean pressure head, q3 = time-varying flow rate at the flow determination point.

Preferably, the values of e of the matrix expression E for the hydraulic element depend on the type of the lic element of st. 5246387_2 Preferably, for a flow loss hydraulic t, the matrix E is given by: ell el2 1 O E— _ e21 822 A1033 1 where A1055 is a le relating to the magnitude of flow loss. Preferably, flow loss is a on of the mean head and flow values.

Preferably, for a head loss hydraulic element, the matrix E is given by 1 A1055 O 1 where Aloss is a variable relating to the magnitude of head loss. Preferably, head loss is a function of the mean head and flow values.

In ance with another aspect of the present invention, there is provided an apparatus for determining a flow rate of a fluid flowing in a pipe comprising: at least two s for positioning on or in the pipe to measure a pressure of the fluid at at least two locations in the pipe; and a processor coupled to the s, the processor being adapted to determine a fluid wave speed based on measured pressure of fluid at at least one location in the pipe and determine if a flow regime of fluid in the pipe comprises either a laminar or turbulent flow and comprises either a steady or unsteady flow, the processor further being adapted to determine the flow rate of fluid based on the determined wave speed, on measured pnessu res at tWO locations in the pipe, and on the determined flow regime of fluid.

In one embodiment, the apparatus is arranged to adjust the flow rate of the fluid through the pipe if the determined flow rate substantially differs from an expected flow rate.

In one embodiment, the processor is adapted to determine the wave speed based on the pressure measured by sensors at a first pair of locations in the pipe, and the processor is adapted to determine the flow rate based on the pressure measured at a second pair of locations in the pipe. Preferably, the locations of the first pair are the same as the 3O locations of the second pair. In that embodiment, the apparatus may comprise two sensors. Alternatively, the locations of the first pair may be different from the locations of the second pair. In that embodiment, the apparatus may comprise four s.

Alternatively, only one location of the first pair and the second pair are the same, and the tus may comprise three sensors. 5246387_2 In one embodiment, the processor is adapted to determine the wave speed based on the pressure measured at by a first sensor one location. Preferably, the apparatus further comprises a generator for generating a transient wave that propagates towards the first , and the first sensor being adapted to sense the transient wave. Preferably, the flow rate is determined based on pressure measured by the first sensor and on pressure measured by a second sensor at a different location. In that embodiment, the apparatus may comprise the generator and two sensors. Alternatively, the flow rate may be determined based on pressure measured by different sensors from the first sensor. In that embodiment, the apparatus may se the generator and three s.

In one embodiment, the apparatus comprises two sensors coupled to the processor for measuring the pressure of the fluid at two ons along-a-l-e-ng-th~of-the-pipe,-and-th—e------- wave speed of the fluid is determined based on the re of fluid measured at each respective location.

In one embodiment, the sensors are pressure transducers.

Preferably, the sensors are piezoelectric transducers (PZTs) or strain gauges.

Preferably, the sensors are ntially flush with a wall of the pipe.

In a further embodiment, the processor is adapted to determine the wave speed bv determining a transfer function of the pipe between the two locations based on at least the measured pressure of fluid.

Preferably, the er function is a ratio of the measurements from the two locations.

Preferably, the transfer function is a ratio of Fourier transformed ements from the two ons.

In one embodiment, the processor is adapted to determine a resistance term R of the pipe based on a flow regime of the fluid, and the flow rate of the fluid at a flow determination point in the pipe based on at least the ined fluid wave speed and the resistance term R associated with the flow regime. ably, the processor is adapted to determine the flow regime between a laminar flow and a turbulent flow for steady or unsteady flow rates based on at least a Reynolds number Re of the fluid.

Preferably, the processor is adapted to determine the resistance term for steady and dy flow rates between laminar and turbulent flow based on a Reynolds number Re of the fluid.

Preferably, the processor is adapted to determine the Reynolds number Re from the following equation: u = kinematic viscosity, Q = time-averaged mean discharge, A = pipe sectional area, and D = pipe diameter.

Preferably, the resistance term R'of the pipe is set between a resistance term for laminar steady or unsteady flow and a resistance term for turbulent steady or dy flow based on the flow regime.

Preferably, the flow is laminar when the Reynolds number Re of the fluid is less than about 2000.

Preferably, the flow is turbulent when the Reynolds number Re of the fluid is more than about 2000.

Preferably, the resistance term R5 for laminar steady flow is based on the following equation: Rs = gAD2 where g = ration due to gravity, u = kinematic viscosity, A = pipe cross-sectional area, and 3O D = pipe diameter. ably, the resistance term R5 for turbulent steady flow is based on the following equation: RS : fQZ where 5246387_Z g = acceleration due to gravity, f = friction factor, Q = time—averaged mean discharge, A = pipe cross-sectional area, and D = pipe diameter.

Preferably, for unsteady flow rates, the ance term R of the pipe is the corresponding resistance term R5 for laminar steady flow or turbulent steady flow with an additional resistance term Ru given by: ‘(_ijz T R,/ = “(Did *r gA 0 where n = tir visrnqity, g = acceleration due to gravity, A = plpe cross-sectional area, D = pipe er, j= J71, a) = anguiar frequency, W = weighting function, and r: dimensionless time (=32—(t~—t*) where t* is the time used in the convolution integral).

Preferably, for a laminar unsteady flow, the weighting function is: l W(r)= 2171,12 for rless than or equal to 0.02, and W(r): :e‘"” for rgreater than 0.02 where m,- = {0.282095, -1.25, 1.057855, 0.9375, 0.396696, -O.351563}, i = 1, 6 and ..., n, = {26.3744, 70.8493, 135.0198, 16, 322.5544}, i = 1, ..., 5.

Preferably, for a turbulent unsteady flow, the weighting function is: 3O _1_ (a) where C* = shear decay coefficient. 5245 38.7 2 Preferably, the shear decay cient is a function of the Reynolds number and is given 7.41 C* = where Re = Reynolds number, and 14.3 A:108w Reoos In a further embodiment, the processor is adapted to ine the flow rate of the fluid at a flow determination point in the pipe based on at least the determined fluid wave speed taking into account the characteristics of the pipe. Preferably, the characteristics of the pipe include a teristic impedance of the pipe Zc and a propagation constant Preferably, where the pipe is not plastic, the processor is adapted to calculate the characteristic impedance of the pipe EC, and the propagation constant 11 using the following ons: ZC = , _a)2 +ngcoR H "_ _2 2 5 a a where u) = angular frequency, 9 = acceleration due to gravity, A = pipe cross-sectional area, R = the resistance term of the pipe, and a = the determined wave speed.

Preferably, where the type of pipe is plastic, the processor is adapted to take the viscoelastic effects of pipe wali into account for determining the flow rate.

Preferably, where the type of pipe is plastic, the processor is adapted to calculate the characteristic impedance of the pipe 2c and the propagation nt p using the following ons: 5246381] jcuA 524$ —+R a 1+]arr gA Zc =— llfl+R/ gA ij(-%—+—2—Cj'—I-—Ja 1+]wr ~ where j: V_12 co = angular frequency, 9 = acceleration due to gravity, A = pipe cross—sectional area, R = the resistance term of the pipe, a = the determined wave speed, ] and r = parameters of the viscoelastic pipe material, C = pgng/Ze = intermediate constant coefficient, ¢ = a pipe constraint coefficient, e = thickness of pipe-wall, and p = fluid density.

In one embodiment, the processor is further configured to: determine a first set of signal teristics relating to a determined flow rate of the fluid between a first pair of s, determine a second set of signal characteristics relating to a determined flow rate of fluid between a second pair of sensors, and compare the determined first and second sets of signal characteristics to correct for any errors in the flow rate of the fluid.

Preferably, the first pair of sensors and the second pair of sensors include a common sensor. Alternatively, the sensors of the first pair of sensors are different from the sensors of the second pair of sensors.

Preferably, the determined signal characteristics for the first and second set e phase and magnitude values ng to the flow rate.

Preferably, the processor is adapted to use the determined wave speed in the following equations for ining flow rate of fluid at a flow ination point in a pipe with no hydraulic elements: uuuuuuu ([12] ll‘12 [Pair17:12) pazzpn12][hl]q) {[13]=[anq: P1121 szzPb12][hz]qz where q3 = time—varying flow rate at the flow ination point, q; = time-varying flow rate at the location of the first sensor, q; = time—varying flow rate at the location of the second sensor, h3 = dimensionless arying pressure head at a flow determination polnt, h1 = ionless time-varying pressure head ed by a first sensor, h2 = dimensionless time-varying pressure head measured by a second sensor, Pan = 005,14an PM = - ZoS'iHWHU, pbzl = ~ Sinhm/J/Zc, [71222 = 00511 (Mi), /3 2 distance between sensors, . lb = distance between one of the sensors and the flow determination point, and 2;: the characteristic impedance of the pipe, and p = the propagation constant.

In one embodiment, the processor is adapted to determine the flow rate of the fluid at a flow ination point in the pipe with n number of lic element(s) between the locations at which pressure is measured for the flow rate determination and with m number of hydraulic element(s) between the flow determination point and one of the ons at which pressure is measured for flow rate determination, where n and m are integers, is determined from the following equation: emu: pan.” pamlz earn 9am Pam [/12 ]_ _Pa(u+i).u Pam ‘12 Pa(u+i).2i Pn(u+i).22pn(li+l).12:l 3mm“(mm emu22 pm.21 [’un.22 501.21 6:11.22 1411,21 [4.1.22 [In]911 [[13]:l:pb(m+l)‘il 17b(m+i),12 :“:ebm.n 81mm: :“:pbm.ll ebl.12 :”:pbi.li pbmz :|[h2] 93 Pb(m+l),2i ).22 ebm.21 ebm.22 pbm,21 pbm.22pbmJZ] [(3th901.21 5111.22 pl)l,2| pb1,22 Q2 where ~ q3 = time-varying flow rate at the flow determination polnt, C11 = time-varying flow rate at the location of the first sensor, 3O q; = time-varying flow rate at the location of the second sensor, h; = dimensionless time—varying pressure head at the flow ination point, [7, = dimensionless time—varying pressure head measured by a first sensor, h; = ionless time-varying pressure head measured by a second sensor, 5246387.] 11x, 11 = coshmlx), [7x12 = - Zainhflt/J, . px,21 = - sinhm/xj/ZU px.22 = coshm/J, [ "ne e. is the matrix expression E for the hydraulic element at x, 8 (3 .\‘.21 x,22“2] where x denotes pipe sections a1, a2, ..., an, and b1, b2, ..., bm, IX = length of pipe section x, Zc = the characteristic impedance of the pipe, and ,u = the propagation constant.

Preferably, the processor is adapted to ine the flow rate of the fluid at a flow determination point in the pipe with one hydraulic element between the locations at which the pressure is measured for the flow rate determination and with one hydraulic element between the flow determination point and one of the locations at which the pressure is measured for flow determination from the following equation: [h2]_ 17:12.“ Pa2.12:l[ean eal2 :“:pul.ll qz pa2.2l Pazez en2l 0:122 Palm 171,122an,12:l[hl](Ii [ha]: szin :l[ebll 91212] PM.“ 17:21.12 ‘13 pb2.21 Pb2.22 3:221 eb22 171.in Fuzz (he)92 Preferably, the processor is adapted to determine the flow rate of the fluid at a flow determination point in the pipe with two hydraulic an beLwee-n Llie locations at which the re is measured for the flow rate determination and with one lic element between the flow determination point and one of the locations at which the pressure is measured for flow determination from the following equation: [he]: “ Pa3,l2 [Kalil 6:12.12 [Paul eal.l2 17:11.11 Paul ‘12 Paul p012: €2.21 6,1222 17:22.21 17:12.22an.lZ:“:eul.llcam] can: pnlJJ pal.22 1 17122.12 “791;“ @1212 ”Pun [I73 ] = [17122.11Q7. 171:2.21 P5222 61:21 9522 Fuel 1751.22Pm,12](h2 ]92 Preferably, the processor is adapted to determine the flow rate at the flow determination point using the following equation: 5246387_2 u u »u u u u b22 JAh+[ bZl .112 (122 all 1:22 )1]: q: :[ + _ “an ”an “an “all where Paul 1342.12 call , ean pal,” paLlZ u _ fl— 4 Paul Pauz eazi euzz paLZl 1701.22 1702,“ pszz pleZ 11 fl Pram 1752,22 [61)“Cm 9522ebiz] PM.”pbl,2l PbLzz 2AHO 1 um : cosh(,uazlaz) cosh(,uallal) + U— Qo JCOShUlnzlaz) —~ Zea2 sinh( pazlaz)][— Z shim/1a,!“ )] ZAH0 ”all : C05h(lua21(12 )(_ Zen] Sjflh( Illallnl ))+ {[- I) JCOSh(/’lall«2 ) _ anz uazlaz )] COSh(/uallal) 1 _ 2M10 Jsmh( #1»: [52) + COSh(/lb2lb2 )1". 1 ”by = [“ 51111104221122 )] 00511011511111 ) + {[ S'mh( lubllbl )] ZcbZ Zc b2Q ‘6, 1 5mh(1”bzlbz)](_ Zcb] smh(lubllbl )) + [[. , . ”(:22 = [‘ ZcbZ /’lb21b2) + coshmbzlbz) cosh(,u,,,lb,) Zcbl Q0 All=112 —111, h3 = dimensionless time-varying re head at a flow determination point, h1 = dimensionless time-varying pressure head measured by a first sensor, 2 = dimensionless time—varying pressure head measured by a second sensor, la, = distance between a first transducer and a first hydraulic t, ’32 = distance between a second transducer and the first hydraulic element, lb, = distance between the second transducer and a second hydraulic element, ID; 2 distance between the second hydraulic t and the location at which flow rate is to be ined, Zcx = the characteristic impedance for pipe section x, px = the propagation constant for pipe section X, where x denotes pipe sections a, a2, and b1, b2, Q, = veraged mean discharge, H0 = time—averaged mean pressure head, q3 = arying flow rate at the flow determination point.

Preferably, the values of e of the matrix expression E for the hydraulic element depend on the type of the hydraulic element of interest.

Preferably, for a flow loss hydraulic element, the matrix E is given by: 5246387,].

E:I:eu 1 e21 :222eiz]=l:A1033 0]1 where A/oss is a variable relating to the ude of flow loss. ably, flow loss is a function of the mean head and flow values. ably, for a head loss hydraulic element, the matrix E is given by E = [I 0 1 where A/oss is a le related to the magnitude of head loss. Preferably, head loss is a function of the mean head and flow values.

To those skilled in the art to which the invention relates, many changes in construction and widely differing embodiments of the applications of the invention will suggest themselves without departing from the scope of the invention as defined in the ed claims. Where specific integers are mentioned herein which have known equivalents in the art to which this invention relates, such known equivalents are deemed to be incorporated herein as if individually set forth.

The invention consists in the foregoing and also envisages constructions of which the following gives examples only.

BRIEF DESCRIPTION OF THE DRAWINGS The present Invention will now be described by way of non-limiting example only and with nce to the accompanying drawings in which: Figure 1 shows a setup for measuring flow rate of fluid in a pipe; Figure 2 shows a art for measuring flow rate of fluid in a pipe according to the prior art; Figure 3 shows a setup similar to Figure 1, but showing exemplary hydraulic elements or devices in the pipeline; Figure 4 shows a flowchart of a flow determination model according to an embodiment of the present ion; 3O Figure 5 shows a block diagram for the system identification; Figure 6 shows a flowchart for determining the wave speed according to an embodiment of the present invention; Figure 7 shows a flowchart for the data selection process according to an embodiment of the present invention; Figure 8 shows graph of the pressure measured at two points in the ; Figure 9 shows a flowchart for determining the resistance (or friction) term; 5246387_2 Figure 10 shows the uction of an overall matrix for a pipe system where hydraulic devices are t; Figure 11 shows a layout of a pipeline system according to an embodiment of the present invention; Figure 12a shows the er function for continuous input and output signals; Figure 12b shows the transfer function for discrete input and output signals; Figure 133 shows a response of the predicted flow for a system using the Washio model; Figure 13b shows a response of the predicted flow for the system of an embodiment the present invention; Figure 14 shows a schematic of an experimental setup; Figure 15 shows a configuration of the ent generator and transducers of the experimental setup of Figure 14; Figure 16a shows the input signal used in the experimental setup of Figure 14; Figure 16b shows the predicted flow se obtained from the experimental setup of Figure 14; Figure 17 shows a art of a flow determination model according to an alternative embodiment of the present invention; Figure 18 shows a flowchart for the correction procedure of a preferred embodiment of the present invention; Figure 19 shows a block diagram of the processing device according to an embodiment of the present invention; Figures ZOa-d show the ted and actual flow pulses in the time domain; Figure 21 shows the predicted fiow response in various base flow conditions; Figure 22a shows the ted flow response with incorrect pipe diameter; Figure 22b shows the predicted flow response with incorrect transducer spacing; Figure 23a shows the recurrence period of noise; Figure 23b shows the noise profiles of different estimated travel times. 3O DETAILED DESCRIPTION OF RED EMBODIMENTS A flow rate determination model 100 of an embodiment of thepresent invention and its sequence of operations is shown in a flow chart in Figure 4. The model could be applied to the pipe system 500 shown in Figure 3 for example. The model 100 consists of a set of algorithms to overcome ms of the prior art sed in the background section.

In the developed model 100, a property of fluid namely pressure data, measured from two pressure transducers 501, 502 (in block 101) is used to obtain the system wave speed of the fluid flowing through the pipe 510 (in block 102). The obtained wave speed then goes through another algorithm (block 103) along with the raw pressure data. This 5246387_2 algorithm modifies (in block 104) the raw pressure data to its appropriate form to ensure the accuracy of the predicted flow response. The outputs from this algorithm become the inputs for the flow calculation (In block 105) which output the flow rate (block 106). The present invention further provides a model relating the pressure and flow rate which can cater for different flow regimes cularly steady and unsteady laminar and ent flows), the ce of hydraulic devices in the pipe, and the type of pipe that is used.

A pressure of the fluid is ed 101 using asensor, such as a piezoelectric transducer (PZT) or a strain gauge. Two spaced apart sensors 501, 502 may be used to measure pressure at two points along a length of the pipe 510. The sensors 501, 502 for measuring the pressure of the fluid are positioned to be ntially flush with a wall of the pipe 510 to provide minimal or negligible obstruction to the flow of fluid through the pipe 510.

In a preferred embodiment, the method will be implemented by a processor that is configured to or adapted to perform the steps of the method including applying the thms. The processor may be integral with, or coupled to, the (s). An embodiment of the processor will be discussed in further detail below.

Determining wave speed Having recorded the pressure parameter of the fluid at two points in the system 500, the next step in the flow rate prediction process is the determination of the system wave speed (block 102). The developed wave speed estimation method is based on a system identification theory which is briefly described herein.

System identification is a way to model systems from experimental data where a system is any process that produces an output signal in response to an input signal. The characteristic of the system is also known as its transfer function and it describes the relationship between the input and output signals. A signal s information about the system it goes through. The input and output signals are measured to extract the transfer function of the given system.

There are many ways to ine the system transfer function. Available methods are either parametric or nonparametric and these methods exist in both the time and frequency domains. There are s for both linear and nonlinear systems and in the t paper, the system under consideration is supposed to a linear. Such an assumption is valid providing the signal size is sufficiently small. The frequency—domain 52463S7_2 based, nonparametric technique is used here to determine the transfer function of a pipeline system and hence the system wave speed.

A general representation of a linear system in the frequency domain is given by: Y(ca) 2 G(co).X(cu) (2) where X and Y are the Fourier transformed input and output signals respectively, and G is the transfer function describing the on between the input Xand the output Y at each frequency w. Rearranging Equation 2 : Y(w) (27(0)) = (3) X(a)) Equation 3 shows that the transfer function of the system is a ratio of the output signal to the input signal at each frequency.

Figures 5 and 6 show how the system wave speed can be obtained from the determined transfer function. er a pulse signal going in and out of a system. Assume the input and output signals x[n] and y[n] are detected at :71 and n2 respectively. These signals x[n] and y[n] are obtained by measuring the pressure at two points in the system (step 201). The input and output signals x[n] and y[n] are ormed into the frequency domain to produce the corresponding Fourier transformed signals X[co] and Y[w] (step 202). The Fast Fourier transform (FF!) is used to transform the signals x[n] and y[n] from the time domain to the frequency domain. By using on 3 on the transformed input and output signals X[w] and Y[w], one obtains the transfer function G[w] of the given system in the frequency domain. The time-domain equivalent y[n] of this transfer function G[a)] can then be obtained by performing an inverse Fourier transform on the transfer function (step 204). The resultant er function y[n] ns a spike whose position corresponds to the delay An between the input and output signals x[n] and y[n] . The location ofthis spike is determined in step 205 to determine the delay An. Using this delay An (from 205) in combination 207 with the known information 206 from the system (such as the known distance between the input and output measurement points and the frequency at which the transducers sample the flowing fluid), the wave speed is calculated at step 208.

Pressure data ion 5246387‘2 The quality of the input data has a significant Impact on the accuraCy of the flow rate determination. The pressure input data must be modified appropriately at this stage of the flow determination process. In the case of a system under a steady oscillatory flow, the procedure 300 of data selection is shown by the flow chart in Figure 7. The theory behind this procedureis the assumption of time ant mean pressure head. The implication of that is the input data must have the same start and the end values.

A n amount of raw pressure‘data measured at a point in the system is used to identify the appropriate number of data points for the proposed method. The process starts with measuring the raw pressure data (step 301), recording the first and the last values of the raw data (step 302) and calculating the difference between them (step 303). At 304, a determination is made on the difference. If this difference is smaller than the pre-set tolerance level, then the currently selected data can be used for the method (step 306). However, if the difference does not meet the nce ion, the last point of the raw data must be shifted (step 305). This iteration process continues until the difference satisfies the required tolerance level. The resulting pressure data then has the same start and the end values.

For the case with discrete pulse signal shown in Figure 8, the procedure in Figure 7 does not apply. The requirement for appropriate pressure data for the method is that the measured pressure data at two points must contain the same pressure pulses. This means that in order to predict the flow pulse associated to the first pressure pulse in Figure 8 (first pressure pulse in pressure input 2), the ement duration must be long enough so that the pressure pulse has time to reach the other pressure sensor and the flow pulse can be predicted from the two pressure pulses circled in Figure 8. The measurement duration is a function of both the system wave speed and the sensor g and it must be determined in each situation.

Handling of discrete signals becomes more complicated in complex systems ning multiple transient sources or reflecting sources. Since the two pressure sensors must only n the same information, the extraction of appropriate data set becomes difficult in the presence of tions. It is ended to have the two transducers close together when dealing with discrete signals.

Compensating for different flow regimes There are two main types of flows for steady and unsteady flow rates; laminar and ent flow. In the study of transient behaviours, these two types of flows distinguished by the resistance or the frictional term. The'method of the present 5246387__2 Invention deals with both types of flows by using an appropriate resistance term depending on the system flow condition.

Figure 9 shows a flowchart 400 for determining the resistance term for laminar or turbulent steady or unsteady flow according to an embodiment of the t invention.

According to the embodiment, the user has information regarding the flow regime (e.g., steady flow rate through a commercial flow meter) In the system (block 401) prior to using the ed flow determination method. The user decides if the flow is steady or unsteady. The type of the flow is categorised between laminar and turbulent flow by a dimensionless number called the Reynolds number, Re (block 402). The Reynolds number, Re is determined from the following on: Re 2 .122 where = kinematic viscosity, Q = time—averaged mean discharge, A = the pipe cross-sectional area, and D = the pipe diameter.

A r flow has the Reynolds number that is less than about 2000 (block 403) while the Reynolds number greater than about 2000 indicates that the flow ls turbulent (block 404).

The resistance term for laminar steady flow is: Rs 2 32v7 gAD‘ where g = the acceleration due to gravity, 0 = kinematic viscosity, A = the pipe cross~sectional area, and D = the pipe diameter.

The resistance term for turbulent steady flow is: 13$ :: -/£27 gDA' where g = the acceleration due to gravity, f: the friction factor, 5246387_2 Q = time—averaged mean discharge, A = the pipe cross—sectional area, and D = the pipe diameter.

When taking unsteady on effects into account, the above resistance term will require an onal term: -4jco°° [Lfii] RU = W(t)dr gA {e where u = kinematic viscosity, g = the acceleration due to gravity, A = the pipe cross-sectional area, D = the pipe diameter, w = angular frequency, IV: weighting function, and . . . r = dimensionless time (=—D—2(t —t*) where t* IS the time used in; the convolution integral).

If a user wishes to incorporate the unsteady friction, the total resistance term will be: R = R5 + Ru.

For a laminar unsteady flow, the following ing on can be used: 11—1 W(r)= 2mg?_ for riess than or equal to 0.02, and W(r): Z?” for rgreater than 0.02 where m, = {0.282095, —1.25, 1.057855, 0.9375, 0.396696, -0.351563}, 1’ = 1, 6 and- n,- = {26.3744,70.8493, 135.0198, 218.9216, 322.5544}, i = 1, 5. ' For a turbulent unsteady flow, the following weighting function can be used: C* = shear decay coefficient. 5246382_2 'The shear decay coefficient is a function of the Reynolds number and is given by: 7.41 (3* 2 where Re = Reynolds number, and 14.3 K= 10gI0 Compensating for pipe material Where the pipe is not plastic, the characteristic impedance of the pipe 2:, and the propagation constant p can be calculated using the following equations: Zr: : fuaz I 2 . a) ng i1 = ‘—2+ 2 ' a a where j = V_1 I 03.: angular frequency, 9 = ration due to gravity, A = pipe sectional area, R = the resistance term of the pipe, and a = the determined wave speed.

In case of plastic pipes, viscoelastic effects of pipe wall must also be taken into account.

This is achieved by using the following the propagation constant (p) and the characteristics impedance of the pipe (25): p: iwA[—g;+ 2?] 124-1?) a” 1+sz gA ZC:— ifl+R/ imA[%+ gA a 1+iwr J where J and r = parameters of the viscoelastic pipe material, C = pg¢D/2€ = intermediate constant coefficient g5 is the pipe constraint cient, e is the thickness of pipe-wall, and 5246382]. p is water density.

Compensating for noise in flow predictions The flow calculation block 105 determines the flow rate at a point located a certain distance away from the pressure measurements and requires a good knowledge of the physical property of the pipe sections between the pressure measurement locations and the point of interest. Abnormalities in the flow spectrum will result when these assumed properties differ from that in the real system. These alities appear as noise in the time—domain flow response and e the quality of the flow prediction.

Figure 17 shows an alternative embodiment of the flow rate ination method 800 according to the t invention to correct for these abnormalities. The embodiment shown in Figure 17 is similar to the embodiment shown in figure 4, with an additional correction step 109. The alternative embodiment uses three sensors positioned in or on the pipe substantially along the length of the pipe to correct any errors in the determined flow rate.

The correction procedure 109 is summarised in Figure 18.

Acquisition of pressure data 101 The correction procedure es three pressure transducers. The uence of this is that there are now two ucer pairs to predict the flow rate at the same point in the pipeline and hence there are two sets of pressure ements (data set 1 and data set 2). For the effective correction, the three transducers must be placed so that one spacing is not a multiple of the other.

Flow rate determinations 105a, 105b Using the two sets of pressure measurements, flow rate determinations are made.

Parameters required in the calculation such as the wave speed must be measured 3O prior to this point.

Removal of abnormalities 109a, 109D The results from the previous step 105a and 105b are the flow predictions in the frequency . Before performing an inverse Fourier transform on these results, any abnormalities in the flow responses must be removed for free flow responses in the time domain. Abnormalities are considered to be any part of one flow response which does not exist in the other flow response. Locations of abnormalities are a function of the measured wave speed and the transducer spacing and therefore it is le to predict where abnormalities appear in the response. Abnormalities in one flow response are then removed by replacing the 5246387_2 section with an abnormality with the same section of the other flow response which is the true flow response. Abnormalities in both magnitude and phase of the signal must be eliminated.

The end result would be a flow response 106 without any abnormalities and its time— domain counterpart can be determined by taking an inverse Fourier transform of this flow response.

Determination of flow rate of fluid in a pipe with no hydraulic element(s) or device(s) The determined wave speed is used in the following equation for determining flow rate of fluid in a pipe where no lic elements are present in the pipe: [h2]=[Pnn91 PaZl hl]Pazz ‘11 (ha)=l:pbn93 szi szzPb|2][hz]‘12 where qn = time—varying flow rate at point n, h_,, = dimensionless time-varying pressure head at point n, pal] = 60312011.), P012 = - Zoom/2am"), 171221 = — Sink fll/h}//Zu pbzz = cash (/14,), 2:: the characteristic impedance of the pipe, and ,u = the ation constant.

The characteristic impedance of the pipe Zc, and propagation constant ,u are based on the type of pipe and are ons of at least the wave speed and the resistance of the pipe as previously described.

Determination of flow rate of fluid in a pipe with hydraulic element(s) or device(s) The presence of a hydraulic element within the measurement range gives rise to an additional matrix which is dlfferent for ent hydraulic elements. Figure 10 shows the process of construction of an l matrix linking the flow and pressure head at two points (501 and 502, and 502 and 503). The pipe section 510 of interest is further d into two subsections. The subsection on the left hand side contains n number of 5246387_2 . hydraulic elements 511 while two hydraulic elements 512 are, present on the right hand side subsection. Each pipe segment is described by-a matrix P and the corresponding hydraulic t is described by a matrix E. The subscript denotes the number of pipe segment/hydraulic element. The overall matrix for each subsection is derived by multiplying all matrices of the pipe segments and the hydraulic devices within the subsection. Once the matrix equations for both subsections are derived, they can be combined and rearranged so to express the flow rate at the point of interest as a function of pressure at two points.

Referring to Figure 3, the matrix for the pipe segment, labelled as ‘al’ is: [hi]=[:pul.ll92 pail] Pam:pal.12:l[hl]‘11 where p1,11 = pal,22 = COSh(/Jla1), pa1,12 = 'chmh(pla1)r pa1,21 = -sinh(u/a1)/Za and p and Zc are as d earlier.

The subscripts denote the section of interest and the row and the column position within the matrix respectively. The pipe segment matrices for other subsections, a2, b1 and b; have a r form, with the respective distance term, I. The matrix for hydraulic element varies depending on the type of the device. The general form of the matrix is the same as the pipe segment matrix - a 2x2 . ing also to Figure 10, a general hydraulic device matrix, E can be written as: [I‘d ] _ |:enllqt] enZi eaZZ51:12:![hu]qu where the subscripts u and d te the positions immediately upstream and downstream of the hydraulic . The example given in this cation takes an orifice plate as an example of a hydraulic device and, in this case, the matrix is given as: new1 0 qd Q0 1i“)q" where Qois the time averaged mean discharge, and AH; is the differenCe between the 3D time averaged mean pressure head.

The matrix in each pipe section (a and b) is obtained by lying the pipe segment matrices and the hydraulic device matrix: 5246387_2 [112 pal.“ paZJZ [em ealz] pal.“ palJZ 92 21 17:12.22 eazi eaZZ pn1,2l Palizz [hi]‘11 [ha] PbZJI 1352,12 ][em em; :“:pbl,ll 1351,12 :[hz] 93 Ph2.2i 17152.22 ebZl ebzz Pbmi pbi.22 €12 Generalising these matrix equations for a pipe with n number of hydraulic element(s) between the locations at which pressure is measured for the flow rate determination and 'with m number of hydraulic element(s) n the flow determination point and one of the locations at which pressure is measured for flow rate determination, where n and m are integers, gives the following expression [/12]: pxl(ll+l).ll pn(n+l).l2 can.” pman 6:11.“ eaLlZ pal.“ paLlZ (1'2 pa(ii+l).2l pa(n+l).22 emu emueai1.12]l:pan.ilpan,2i Pan,22 9:11.21 9:11.22 Palm 22 [hi]q] Pb(mii).iz Helm” ebsz :l[pbm.ll [’13] _ [Pb(mu).n Pb1.12 :[hz] €13 pli(m+l),21 Pb(m+i)..22 ebm,21 emu pbmll Pbm.22P/miz] [€51.11ebl.2l ebi,22€111.12:”:Pbi.nPbi,2i Fuzz 92 where q3 = time-varying flow rate at the flow determination point, q, = time—varying flow rate at the location'of the first sensor, q2 = time-varying flow rate at the location of the second sensor, h3 = dimensionless arying pressure head at the flow determination point, h; = dimensionless time-varying pressure head measured by a first sensor, ’72 = dimensionless arying pressure head measured by a second sensor, pm; = cos/1014), prg = - Zwinhat/X), px,21 = — sinkfiuAJ/Zc, pug = cosh 6114), where x denotes pipe sections a1, a2, ..., an, and b1, b2, ..., bm, Ix = length of pipe section x, = the characteristic impedance of the pipe, and ,u = the propagation constant.

The values of e of the matrix expression E for the hydraulic element depend on the type of the hydraulic t of interest.

The matrix E for a flow loss lic element is given by: ell (312 1 O F— _ J — ez, 222 A1035 1 5246387_2 where A1055 is a variable relating to the magnitude of flow loss. The flow loss is a function of the mean head and flow values. Examples of lic elements include , orifices, pumps, s and junctions. As previously discussed, in the case where the hydraulic element is an orifice plate, the expression Aloss is given by the following equation: Aloss = —- 2AH0 where Q; is the time ed mean discharge, and AHa is the ence between the time averaged mean pressure head.

The matrix E for a head loss hydraulic element is given by: l Aloss 0 1 where A/oss is a variable relating to the magnitude of head loss. The head loss is a function of the mean head and flow values.

In the case where there is both a head loss and flow loss, the matrix expression E is given by: 1 Alossl F _J _ Aloss2 1 where Alossl is the variable relating to the magnitude of head loss, and N055; is the variable relating to the magnitude of flow loss.

Manipulationof these matrix equations depends on which of the two pressures, h1, h; or h3 are measured and also which flow, q1, q; or q3 is of interest to the user. In the given example (Figure 3), it is assumed that the pressures at points 501 and 502 are measured to determine the flow at point 503 (Figure 3). Then the resultant equation for the flow becomes: u u u 1522 u u u q1 = All-l- bZl all lull all bZZ + __ - hz ”all ”an ”1112 ”all where pan Puzn 9““ em pal,” pnlJZ M __ Pn2.11 Puma eaZl 9422 Palm Pam: 17:22.11 13:22.12 ebll em PM.“ 13221.12 u _ . _ Pbmi Pb2.22 ebZl ebzz 1351,21 2 5246387_2 ZAHO 1 ”all : COSh(#a2ln2 ) COSh(lunllal) + £[_ Q0 JCOShQuallal) _ chz Sinh( Iual Ia2)I—- Z Sinh( lunllul)] 0 ]C08h(#112102) “L412 = COSh(/l'lnlla1)(— anl Si'nh( Il‘lallal ))+ [[— — Zea] Sinh(#n21n2)] COSh(/1allal ) 1 ZAH smh(:ub2[b2 )JCOSh(Iubllbl) + {[. a )51nh(#bzlb2)+ 60311011721501“. l “521 = [— sthlbilm )].

Zcbzr ' Zcbl O Zcbl 2sz0 “bzz =[_ 2:: Sinh(:ub21b2)](_ Zcbi smh(/’bilb1))+[[ ) + COSh(/lh21b2 )] 0031109711121) Zn b2 Q0 JSiHhU‘bzlbz Ah = h; - hl, h,, = dimensionless time-varying pressure head at point n, Ia; = distance between a first transducer and a first hydraulic element, [.32 = distance between a second transducer and the first lic element, lbl = distance n the second transducer and a second hydraulic element, lbg = distance between the second hydraulic element and the on at which flow rate is to be determined, ZCX = the characteristic impedance of pipe section x, px = the propagation constant of pipe section x, X denotes pipe sections a1, a2, and b1, b2, Q0 = time-averaged mean discharge, Ho = time—averaged mean pressure head, q3 = time—varying flow rate at the flow rate determination point.

As a comparison, to illustrate the effect of an element in n the measurement points on the accuracy of the flow prediction, the fluctuating flow response from the Washio method is plotted with the true flow response in Figure 13a. In the following example, the hydraulic element 504, 505 is assumed to be a lossy inline orifice which es a head loss (AH) of 100 m across each e 504, 505. re measurements at points 501 and 502 are used to t the flow at point 503.

Figure 13(a) shows that the Washio model fails to depict the fluctuating flow response in the presence of discontinuities between the measurement points, ing in errors in both magnitude and phase. The proposed model takes the presence of the hydraulic elements into account according to the description above.

The tion of the flow response using the proposed model is shown in Figure 13(b) in which the improvement of the predicted flow response both in terms of the magnitude and phase of the flow response is observed. 5246387_2 In a preferred embodiment, the method of determining flow rate is carried out by a processing device comprising one or more processors. Figure 19 shows a simplified block diagram of a machine in the example form of the processing device 700.

The processing device 700 includes any collection of machines that individually or jointly execute a set or multiple sets of instructions to perform any one or more steps of the method of determining flow rate described above.

The processing device 700 includes one or more processors 702. Examples of processors 702 include a central processing unit and any other microcontrolier for e.

The processing device 700 is in wired and/or wireless communication with the input peripheral devices 704 such as a keyboard, mouse, and sensors on the pipe which provide the pressure and/or wave speed measurements. The processing device 700 may be connected directly and/or indirectly to the sensors on the pipe. Where the processing device 700 is in ct communication with the sensors, there may be one or more intermediate devices for receiving measurements from the s and for transmitting data to the processing device 700. The intermediate device may collect the measurements from the sensors and transmit the measurements to the processing device 700. Alternatively, the intermediate device may collect the measurements from the sensors and perform one or more of the steps discussed above before sending the ‘data to the processing device 700. The intermediate device and one or more of the sensors may be part of the same physical device.

In one embodiment, the intermediate device ses a data-logging . In some embodiments, the input peripherals 704 form part of the processing device 700. In other embodiments, the input peripherals 704 are external to the sing device.

The device 700 may additionally be in wired and/or wireless communication directly indirectly with output eral devices 706, which include a display for example. A r example output peripheral device includes a fluid regulator device for controlling the flow rate of the fluid h the pipe. For that embodiment, the device 700 and/or the fluid tor device may be ured accordingly to implement a control loop with feedback, such as a proportional-integral—derivative (PID) controller for example, to control the flow rate of fluid through the pipe. In some embodiments, the output peripherals 706 are part of the processing device 700. In other ments, the output peripherals 706 are external to and in communication with the processing device. 5246387_2 The device 700 further includes a main system memory 708 and static memory 710. The processor(s) 702, main memory 708 and static memory 710 icate with each other via a data bus 716. The processing device 700 further includes a reader unit 714, optical media drive 712, and network interface device 718. These s also communicate with the processor(s) via the data bus 716.

The reader unit 714 is configured to receive a machine readable medium on which is stored one or more sets of instructions and data ures, for example computer software which when executed by the processor(s) 702 of the processing device causes the processor(s) 702 to perform one or more steps of the method described above. The reader unit 714 includes a disc drive and a USB port for example. In these cases, the machine readable medium which stores the necessary software includes a floppy disc and a static storage device such as a thumb drive. Where the optical media drive 712 is used, the machine readable medium es a CD-ROM.

Software may also reside completely or at least partially within main system memory 708 and/or within the processor(s) 702 during execution by the processing device 700. In this case, main memory 708 and processor(s) 702 tute machine-readable tangible storage media. re may further be transmitted or received over k 720 via k interface device 718. The data transfer may be d out using any one of a number of well known transfer protocols such as the hypertext transfer protocol (http) for example.

The machine le medium could include a single medium or multiple media. es of multiple media include a centralised or distributed database and/or associated caches. These multiple media store the one or more sets of computer able instructions. The machine readable medium includes any medium that is capable of storing, encoding or carrying out a set of instructions for execution by the machine and that cause the machine to perform any one or more of the methods 3O described above. The machine—readable medium is also capable of storing, encoding or carrying data structures used by or associated with those sets of ctions. The machine-readable medium includes solid-state memories, optical media, magnetic media and carrier wave signals.

In one embodiment, the software is installed and operating at a client site on a processing device 700. The network interface device 718 is required to communicate with an offsite central server for example to submit data results and/or license validations. In some cases, the network interface device 718 and network are not 5246387_2 ed as the system can run in a standalone mode, which means that no data results are submitted to the offsite central server.

The processing device 700 can also be connected to other devices or a server. Where the processing device 700 is networked to other devices, the processing device ls configured to operate in the capacity of a server or a client machine in a server—client environment. Alternatively, the sing device 700 can operate as a peer machine In a peer-to-peer or distributed network environment. The device 700 may also include any other machine capable of executing ctions that specify the actions to be carried by that machine. These ctions may be sequential or otherwise.

Experimental results Experiment 1 The method of the present Invention is verified using a ne system shown in Figure 11. The system consists of a pipeline of length L which is bounded by constant head reservoirs. The system contains a signal generator at the middle of the system.

Pressure is recorded at two points hi and h; which are ted by the dimensionless distance of 0.1. The frequency of the pressure measurement is 500 Hz. In all tests, the theoretical wave speed is 1000 m/s.

The ed pressure from the transducer at h; closer to the generator 9 is regarded as the input x[n] and the other measured pressure from the transducer at h; is considered as the output y[n] from the system which, in this case, is the pipe section between the two pressure measurement points.

Both continuous and discrete signals were used to test the algorithm. The size of both signals was 10% of the steady flow rate. The transfer function of the system was determined using these signals and it is presented in Figures 12a and 12b where the delay (in the number of sample) and the ude of the transfer function are on the x and y axis respectively.

The results showed a spike at the delay of 50 samples using either . The graphs in Figure 123 and 12b only show the delay sample number of up to 100 to give an emphasis on the largest spike in the transfer function. Smaller spikes are also t; however, the position of the t spike is proportional to the wave speed. Using this location of the largest spike of the system transfer function and the known distance 5246387_2 between the re measurement points and the sampling rate, the resultant wave speed matched the correct value of 1000 m/s.

In the verification process, the accuracy of the proposed model is defined as the difference in the theoretical and predicted magnitudes of the flow response.

The result of the numerical verification of the method is shown in Figure 13(b). The error in the magnitude was 0.06 °/o which confirms that the method works even in the presence of multiple hydraulic s.

The next stage of the verification process uses the real pipeline system. For the mental verification, a pipeline system having a schematic shown in Figures 14 and is used.

The pipeline system 600 consists of a 42.6m pipe 610 with the nominal diameter of 1 inch and there are test sections where re ucers 601, 602 and a ent generator 606 are placed along the pipe 610. The upstream and downstream ends of the system are d by the pressurised tanks 611, 612 whose pressure is controlled electronically to achieve desired flow rates and keep the pressure constant during the verification process. The pressure transducers 601, 602 have a measurement range of 0 to 352 kPa with a response time of less than 2 us. The measurement uncertainty is rated at 0.1 °/o based on the factory calibration records. In the experimental verification, a solenoid valve is used to generate a pulse signal and it is placed at the second test section from the downstream end. This location is chosen to produce a pulse signal that is not contaminated by reflections of the downstream reservoir 611 during pulse generation. A generator 601 is used to produce a known flow signal by rapidly opening and closing the solenoid valve to compare with the techniqUe prediction. Pressure is measured at two test sections 601, 602 and the configuration of the generator and the re transducers is shown in Figure 15 with the spacing between them in metres.

The theoretical flow ude is given by the rge out of the solenoid valve. Due to a rapid movement of the valve and the small amount of discharge, measuring it directly is likely to be erroneous. Instead, the theoretical discharge is inferred from the change in pressure head and such a relationship is given by the Joukowsky equation: IAQ|=7glAHlA _ where AQ and AH are the change in flow rate and pressure head respectively, A is the cross—sectional area of the pipe, 9 is the acceleration due to gravity and a is the system wave speed. The change in pressure head is measured by the transducer underneath the generator and using the above equation, the measured pressure change is ted to the corresponding flow change which is then compared to the predicted value.

Figure 16(a) shows the pressure head pulse used as an input for the method and the ted flow response is presented in Figure 16(b). The shape of the flow response les the pressure input which is expected since any change in pressure results in a change in flow and this relationship can be seen from the Joukowsky equation. The difference in the flow amplitude in the case shown was 0.498 %. Errors found in other runs are tabulated in Table 1. In all these runs, regardless of the flow regime, the error was within 0.5 % which shows high potential of the ed method in ing unsteady flow.

Run number Flow regime Error 1 Laminar 1 0.498 % 2 Laminar 2 0.382 % 3 Laminar 3 0.454 % 4 Laminar 4 0.474 % Laminar 5 0.291 % 6 Turbulent 1 0.39' % 7 Turbulent 2 0.494 % 8 Turbulent 3 0.438 % 9 Turbulent 4 0.453 % Turbulent 5 0.335 % Table 1 — Experimental results Numerical verification shows that in the system containing multiple hydraulic devices, the proposed method was able to predict the flow magnitude with an accuracy of 0.06 %.

The method was also tested in the real pipeline system with both laminar and turbuient flows. The result showed that for both flow regimes, the error in the predicted flow ude was less than 0.5 % of the theoretical flow magnitude, indicating high potential of the ed method for measuring unsteady flows.

The described embodiment of the present invention provides a method and apparatus for measuring flow rate in pressurised pipelines for both r and turbulent flow. The method and tus contains algorithms which allow determination of the system wave speed, appropriate data selection, handling of different flow regimes and account for hydraulic devices in pipelines. The method and tus is non—intrusive and inexpensive and requires l modifications to a pipe system for any type of unmodified fluid with transducers that may be positioned on the pipeline at any distance relative to each other. 5246387_2 Experiment 2 In a second experiment, the experimental verification of the method of the present invention is carried out on a pipeline system similar to the system described above with reference to Figure 11. The system consists of a stainless steel pipeline having 41.6 m length and a diameter of 22.25 mm. The pipe is d by rized tanks that are part filled with water and where the pressures within each tank are maintained through the injection of compressed air. The pressure in the tanks is adjusted to create laminar and turbulent flow conditions. The inline valve at the downstream end of the system is closed to establish a static steady state condition.

Controlled flow perturbations for the validation of the method are introduced using two hydraulic devices; an electronically controlled solenoid valve and a manually operated side discharge valve which are located 8.5 m from the downstream reservoir. The solenoid valve has a flow diameter of 1.6 mm and the side discharge valve has a flow diameter of 8 mm. The introduced discharge perturbations are in the form of sharp pulses which contain a wide spectrum of ncies for the rigorous testing of the method. This type of bation is present in many actual situations, including industrial batch fiillng processes as well as internal combustion s. The pulse from the solenoid valve is created by rapidly opening the valve followed immediately by a sharp closure, which creates a pulse having a duration of 8ms. The solenoid valve is used under static and laminar flow ions. In ent flow conditions, a discharge pulse is created from the manual operation of a side rge valve which is placed close to a oir boundary, in this case the downstream boundary. The side discharge , valve is lly open and then rapidly shut, creating a high pressure wave that propagates away from the valve in both directions. When the wave front moving ream impinges upon the reservoir boundary it is reflected as a pressure restoring wave which moves upstream, following the high re wave. The sum total of these two waves is a pressure pulse. The duration of the pulse created in this way is 24 ms.

Whiie the pulse created by the side discharge valve is slower than that from the solenoid valve, it has a larger magnitude and is suitable in cases of larger system base flow.

Pressure traces for the method are measured using piezoelectric transducers located 20.8 m and 26.9 m from the upstream reservoir and the data is collected at the sampling frequency of 10 kHz. The pressure sensors are accurate to 1% of the measured pressure. The experimental verification of the method is conducted with and without a steady base flow. The flow Reynolds number ranges from 325.6 to 9. 5246387_2 The accuracy of the method is given as the absolute difference n a measured flow response and a predicted flow response by the ons. The measured flow se is inferred from the volume of the water ejected from the transient generator and the pressure trace measured at the generator. In the case of the solenoid valve, a transparent tube is connected to the valve outlet. A rise in the water height inside the tube and the tube diameter give the discharge volume. With the side discharge valve, the volume is given by the measured mass of the discharge out of the valve. From a measured pressure trace, a flow response is determined through the Joukowsky equation. The height of the flow pulse is judged by the system wave speed and the measured rge volume.

The accuracy of the method is givenlas the absolute difference between a response measured and a response predicted by the equations. It is fied by three norms.

The difference in the area under the flow pulse signal with time provides the error in the volumetric measurement of the discharge, EVomme. The error in capturing the maximum flow pulse amplitude is given the symbol, EM“. Finally, the ence in the spectral content of the predicted response describes the error in the shape of the flow pulse profile, EMF”e and it is given as a root mean sum of the error across all the frequency components of the . All three errors are given relative to the true response.

This experiment igates the performance of the method under a static steady state flow condition (Experiment 2a), and under laminar and turbulent flow conditions (Experiment 2b) with the flow Reynolds numbers ranging up to the smooth pipe turbulent zone.

Experiment 23 - Static steady state flow condition Under the static steady state condition, four different pulse sizes were used: Size 1 = 1.4x 10'5 m3/s, Size 2 = 1.5x10’5 m3/s, Size 3 = 1.9x10‘S m3/s, and Size 4 = 2.4x 10'5 m3/s. These flow rates are average flow rates out of the solenoid valve which are estimated from the measured discharge volume and the pulse duration. The choice of the pulse size is governed by the limitations of the solenoid valve.

The errors are summarised in Table 2. The results show that the e error across all pulse sizes is in the order of 0.1%. The method captures the maximum flow rate well but the error in the pulse profile was relatively large for all pulse sizes. The largest error in these tests was 2.0% for the biggest pulse size and the errors were found to generally increase wlth the pulse magnitude. 5246387_Z Pulse size ‘Eflmme EMax Emmg Size 1 3.78x1.0'3 3.37x10' 8.14x10’ Size 2 8.10x10‘3 1.4Ox10‘3 8.20x10'3 Size 3 3.63x10'3 0'3 7.25x10'3 Size 4 4.10x10’3 1.70x10‘3 2.00x10‘2 Table 2 — Summary of percentage errors in the flow predictions of different flow pulse magnitudes Figure 20 shows the ted responses for each pulse size using the method of the invention shown with the solid line. The predicted ses are compared with the true responses indicated by the grey line. The time t on the x—axis is non-dimensionalised by the period of the pipeline system, L” = t/T (T = 4L/a, where L is the pipe length). The flow rate on the y-axls is divided by the respective average flow rate to give q’. ment 2b - Laminar and turbulent flow conditions Five flow scenarios with different ds numbers Re were tested for each flow regime.

The pulse size In the tests range from 1.85% to 43.9% of the steady state flow.

The flow prediction from the method is compared with the true flow pulse in Figure 21.

The errors in the flow prediction are shown in Tables 3 and 4 for laminar flow conditions and turbulent flow conditions respectively.

MEMax Epmme (£93332) 7'80X10’3 2.10x1o'3' 0‘2 (Egiesgégi) 5-90810'3 3.1Ox10’3 1.14x10'2 ($932332) 5-7OX10'3 0‘3 1.48x10'2 ($935121; 1-04X10'2 3.20x10‘3 1.67x10'2 Figure 21e 1.31x10‘2 1‘07x10_2 2.11x10'2 (Re = 1641.2) Table 3 — Summary of average errors In the flow tions in various laminar flows Figure 21f 1-87X10-2 . 2-04><10-2 —2 (Re = 28933.8) 4.27x10 Figure 219 1'32““).2 1-10x10 _3 _2 (Re = 36309.8) 5.31x1o Figure 21h . 8.40x10 .3 9.10x10.3 .2 (Re = 426247) 3.92x10 Figure 21i 3.83x10-2 1.77x10,2 6.41x10-2 (Re 2’48248'6) F'gure 211 1.87x10‘2 1.93x10’2 5.48x10’2 (Re = 53374.9) Table 4 — Summary of average errors in the flow predictions in various . ent flows 5246387_2 Overall, the errors are larger than the static case. The prediction is shown to have the greatest error in the prediction of the shape of the flow profile, with a maximum error of 6.41% under turbulent flow condition. The errors in the prediction were found to generally se with the Reynolds number with the average error in the order of 0.1% for the laminar flow and 1% for the turbulent flow. The results show that the method can measure rapid changes in flow with acceptable accuracy for the range of Reynolds number ered in this study.

Experiment 3 - Effect of input parameter error on accuracy The operation of the method requires the estimation of a number of system and flow parameters and these are used as the inputs to the model. In real pipelines, the input ters will often contain errors. This experiment looks at the effect of the errors in the input parameters on the accuracy of the method.

The sensitivity of the method to the accuracy of the input parameters was tested in a numerical pipeline system. The pipeline is 2000 m long and it is d by constant head reservoirs giving a head difference across the pipeline of 30 m. The pipe diameter is 0.3 m and a flow perturbation source is located at the middle of the system. Transient ses of the system are produced by a finely discretised Method of teristics (MOC)Imode| which divides the pipe into 1000 s. The pressure response is measured at points located 700 m and 900 m from the upstream reservoir. The wave speed of the system is 1000 m/s. The flow perturbation is a flow pulse of a magnitude of 1.0 % of the steady base flow. The base flow has the Reynolds number of 7.3x105.

To investigate the sensitivity of the method, the following equation was used to determine the flow response at one of the pressure measurement points: 02 = h1CSChw/a)/Zc - hZCOth(/J/a)/Zc The system parameters involved in this ation are the pipe diameter (D), the pipe friction factor (f), the base flow (Q), the system wave speed (a) and the transducer spacing (la). The sensitivity of the method was studied by differentiating the equation above with reSpect to each of the input parameters. The values ed from the differentiated equations indicate the significance of each input parameter. For a valid ment, these values were normalised by the value of the input parameters and the results are summarised in Table 5. 5246387_2 Input ter Results Pipe diameter, D 1O’4 Friction factor, f 5.62x10‘6 Base flow, Q . 5.6ZXIO'6 Transducer spacing, / (-3.68x10'2 System wave speed, a 6.67x10'2 Table 5 - Summary of sensitivity analysis The results show that the influence of the transducer spacing and the system wave speed was in the order of 2 to 4 times larger than other input parameters and the robustness of the equations against estimation errors in the pipe friction factor and the base flow h the system are evident.

The predicted responses in the cases of the incorrect pipe diameter and transducer spacing are presented in Figures 22a and 22b tively. The predicted response with correct input parameters is represented by the grey line and the broken line tes the prediction with the incorrect input parameter. In each graph, the tip of the flow pulse is enlarged and presented in a separate window for easier Comparison. The predicted flow se with incorrectly d input parameters is presented by the broken line while the grey line shows the predicted response with tly assumed input parameters.

Figure 22a and 22b show that errors in the pipe diameter and the transducer spacing have a different impact on the predicted trace. The error in the pipe diameter led to change in the characteristics of the pulse. It was found that the incorrect friction factor and the base flow also affect the pulse in a similar way. On the other hand, the error in the transducer spacing caused minimal change to the pulse characteristics, but d, it gave rise to numerical contamination which repeats regularly for the rest of the response. The same phenomenon was observed in the case with the incorrect wave speed and further study found that the noise profile was identical for the same ratio of the transducer spacing to the wave speed.

The periodic nature of the noise points to the hyperbolic sine and cosine functions of the 3O transfer matrix as the source of the contamination. The transfer matrix method simulates the transient behaviour by first decomposing the signal to a set of frequency components and then transfers them a given distance along the pipe and at a given wave speed in the form of hyperbolic sine and cosine waves. The system wave speed and the length of the pipe is central to the transfer matrix model and are used to characterise the ental behaviour of the pipe segment of interest. The mismatch between the true and estimated system characteristics is a result of the discrepancy between the observed 5246387_2 travel time for a signal to go from one pressure transducer to another in the measured pressure traces and the travel time calculated from the input parameters, and it manifests itself as numerical contamination in the predicted flow response.

The onship between the error in the travel time At (= LT/a, where LT is the transducer spacing) and the noise profile was investigated through two test scenarios. In the first scenario, noise profiles from two different travel times were ed. The two dimensionless travel times t/D were 0.05 and 0.075. In both cases, the travel time was estimated 1.0% greater than the correct value. The second scenario examined the effect of the g error in the travel time on the noise profile. In this test, the correct dimensionless travel time was 0.05 and it was d incorrect by 0.5% (solid grey line), 1.0% (broken black line), 1.5% (broken grey line), 3.0% (clotted black line), .0% (solid black line) and 10.0% (dotted grey line) greater than the correct value.

The results from the first scenario are presented in Figure 23a which shows the recurrence period of noise. The broken line represents the noise with the dimensionless travel time of 0.05 and the solid line represents the noise with the dimensionless travel time of 0.075. The minor x«axis grid having a width of 0.01 of dimensionless time was added to give a better idea of time scale. It is observed that, with the ionless travel time of 0.05,'the noise repeats with a dominant recurrence period tR of 0.0505 which coincides with the ted dimensionless travel time. When the dimensionless travel time was 0.075, the recurrence period was 0.07575 which agrees with the estimated dimensionless travel time of the pipe segment.

The influence of the error in the travel time on the noise profile is illustrated in Figure 23b which shows that the noise magnitude increases proportionally to the error in the travel time. Referring to that figure, the noise profiles when the travel time is estimated is 0.5% (solid grey line), 1.0% (broken black line), 1.5% (broken grey line), 3.0% d black line), 5.0% (solid black line), and 10.0% (dotted grey line) greater than 3O the correct value. The broken and solid lines indicate the case with the ionless travel time of 0.05 and 0.075 respectively.

The results from the two sets of studies support the idea'that the noise is related to disagreement in the estimated and actual travel times of the signal.

The error in the input parameters degrades the quality of flow predictions. The ivity analysis shows that the pipe diameter, transducer spacing and the system wave speed are key parameters for accurate flow predictions. In reality, however, the pipe diameter can be measured most accurately among other parameters and its 5246387_2 measurement error is expected to be minimal. The quality of the predicted response therefore hinges on the accuracy of the estimated characteristic time of the pipe segment bounded by the pressure transducers. The impact of the noise becomes more problematic when dealing with continuous signals where the contamination will be superposed on the t flow trace. Depending on the degree of error in the travel time, the correct transient trace might not be clearly visible.

The verification of the method was carried out using discrete pulse signals, commonly seen in the batch sing applications or fuel injection lines. For these signals, the parts of the flow tions that are d to the real response can be clearly identified as they do not overlap with the part of the signal affected by the numerical contamination. The noise can therefore be removed from the response and does not affect the accuracy of the results._ e applications In a preferred embodiment, the method ses (and the apparatus is arranged to) adjust the flow rate of the fluid through the pipe if the determined flow rate substantially differs from a desired or expected flow rate. For example, the processor may be coupled to control the pump speed and thereby the flow rate based on the determined flow rate.

The apparatus and method may be implemented in a wide range of industries. Examples of applications of the apparatus and method are described below.

Applications in automobile and airplane Industries. The direct ination of the fuel ty injected into motor engines in real time will allow more accurate control of the performance and efficiency of engines, where currently the am0unt of fuel used is only indirectly measured through the properties of the t gases after combustion or through the amount of air consumed in the process. The small size and non-intrusive nature of piezoelectric transducers meant that the preferred embodiment tus could be physically incorporated in any engine t affecting flow behaviour.

Applications in ringjcalibration of dynamic pumpingztgrbine systems. The accurate modelling of pumps and es require the relationship between the head and flow at the upstream and downstream faces of the device. These relationships are originally provided by manufacturers but without high speed in situ pressure and flow determination the devices may drift off calibration over time. The preferred embodiment technique will provide a cheap and real time assessments .of the behaviour of turbo- machineries, allowing a more accurate prediction of their impact on overall system 5246387_2 behaviour, as well as identifying faults with the device. The additional ation may be used to determine an operational scheme to increase system efficiency and se potential damage.

Applications in chemical and pharmaceutical plants. In systems where the careful control of the quantity of fluids injected into a process is required, the application of the technique will allow direct determination of flow that is low cost, non intrusive and have a rapid response. The non—intrusive natUre of the method means that the technique is ideally suited to processes ing corrosive fluids where other flow measurement techniques are unsuitable, or where any obstruction to the flow will result in unacceptable loss in product y. The que will also increase the efficiency in processes where the production rate has been ionally slowed down to suit the monitoring speeds of existing flow meters.

Applications in faglt monitoring in pipeline systems. Transient signals can be used for detecting leaks, blockages and air pockets within piping systems. Transient signals travel at high speeds, are sensitive to al conditions of the pipeline and accumulates vast amount of information about the system during its . These properties make them ideally suited for condition ring for pipeline. However, the fault monitoring technique has been hampered by the inability to measure the transient flow in the system and the preferred embodiment real time flow determinant device will double the amount of information available for analysis (pressure and flow) and increase the accuracy of the technique.

Applications in biomedical areas. te methods for measuring blood pressure signals currently exists and the preferred embodiment may combine with these methods to provide a real time non—intrusive measurement of blood flow—important in the monitoring the behaviour of artificial hearts, heart valves and arteries.

While specific ents and parameters have been described, it will be appreciated that these could be varied will still working within the scope of the present invention.

By way of example, for determining the wave speed, instead of measuring the pressure or fluid at two locations, the pressure of fluid may measured at one location along a length of the pipe using a single sensor that is positioned on or in the pipe. In that arrangement, a generator is incorporated into the system for generating a transient wave that travels s the sensor. There is no specific position of the generator for this arrangement to work, as long as the generator is oned such that the generated 5246387_2 ent ls detectable by the sensor. The wave Speed of the fluid is determined based on the pressure of fluid measured at that location.

.Other example modificatlons are described in the ‘Sumrnary of Invention’ section.

In N> (n (a)md N

Claims (3)

1. A method of determining a flow rate of a fluid g in a pipe comprising: measuring a pressure of fluid at at least two ons in the pipe, the pressure being measured by sensors that are positioned on or in the pipe; determining a wave speed of fluid based on measured pressure of fluid at a location in the pipe; determining if a flow regime of fluid in the pipe ses either a laminar or turbulent flow and comprises either a steady or unsteady flow; and 10 determining the flow rate of fluid based on the determined wave speed, on the measured pressures at two locations in the pipe, and on the ined flow regime of fluid.

2. The method of claim 1, further comprising adjusting the flow rate of the fluid 15 through the pipe if the determined flow rate substantially s from an expected flow rate. 3. The method of claim 1 or 2, wherein the wave speed is determined based on the pressure measured at a first pair of locations in the pipe, and the flow rate ls 20 determined based on the pressure measured at a second pair of locations in the pipe. 4. The method of claim 3, wherein the ons of the first pair are the same as the locations of the second pair, and one pair of sensors is used to determine both the 25 wave speed and the measured pressures at two locations. 5. The method of claim 3, wherein the locations of the first pair are different from the locations of the second pair. and four sensors are used. 30 6. The method of claim 3, wherein only one location of the first pair and the second pair are the same, and three sensors are used. 7. The method of claim 1 or 2, wherein the wave speed is determined based on the re measured at one location by a sensor. 8. The method of claim 7, further comprising generating a transient wave that propagates towards the sensor, the transient wave being generated using a generator, and the sensor being adapted to sense the transient wave. 5246387_2 The method of claim 8, wherein the flow rate is determined based on pressure ed at the same location as the wave speed and on pressure measured at a different location, wherein two sensors are used. '10. The method of claim 8, wherein the flow rate is determined based on pressure measured at a different location from the wave speed, and the generator and three sensors are used. 11. The method of any one of claims 1 to 10, wherein the pressure of fluid "is 10 measured at two locations along a length of the pipe using two sensors, the sensors being positioned on or in the pipe; and the wave speed of the fluid is determined based on the pressure of fluid measured at each respective location. 12. The method of any one of claims 1 to 11, wherein the wave speed is determined 15 by determining a transfer function of the pipe between the two locations based on at least the measured pressure of fluid, 13. The method of claim 12, wherein the transfer function is a ratio of the pressure measurements from the two locations. 14. The method of claim 12 or 13, wherein the transfer function is a ratio of Fourier ormed pressure measurements from the two locations. 15. The method of any one of claims 1 to 14, wherein the determined wave speed is 25 used in the ing ons for detenninlng flow rate of fluid at a flow determination point in a pipe with no hydraulic elements: [112):[PanQ2 Pazi pa!2][hl]17.222 ‘11 (173)2[171211q] P621 szzPb:2][h2]‘72 where 3O q3 = time-varying flow rate at the flow determination point, a, = arvlno flow rate at the on of the first , ' q; = time—varying flow rate at the location of the second sensor, h; = dimensionless time-varying re head at the flow determination point, 35 I11 = dimensionless time-varying pressure head measured by a first sensor, 5246387_2 h; = ionless time-varying pressure head measured by a second sensor, pan = 005110-14), pa[3 = -'Zosinlz(u/,), p1,)! = ~ sinhm/bch, 19022 = 00311014,), la 2 ce between s, lb = distance between one of the sensors and the flow determination point, Zc = a characteristic impedance of the pipe, and 10 p : a propagation constant wherein the teristic impedance of the pipe Zc and the prepagation constant ,u are functions of the determined wave speed and of a resistance term ated with the flow regime through the pipe R. 15 16. The method of any one of claims 1 to 14, wherein the flow rate of the fluid at a flow ination point in the pipe with n number of hydraulic eiement(s) between the locations at which pressure is measured for the flow rate determination and with m number of hydraulic element(s) between the flow determination point and one of the locations at which pressure is measured for 20’ flow rate determination, where n and m are integers, is determined from the following equation: ihz )_ pubis-ill] pn(u+l)‘i2 :||:cau,ll eaiJz li palJz :|[hi] qz pa(u+i).21 pa(n+i).22 emLZI ‘31.".22€011.12:":pan.llpanll pan.22pan,12:| [6(1),]!eaiJl eal,22 pai.2i 1701.22 q] i :f‘3 pb(m+i),ii 1).12 ebmJl ebmJZ Pam.” pbmJZ em.” ehLiZ pm.“ pr.12 43 Pb(m+i).2i Pb(m+i).22 emu emu Plum: pbm.22 6111,21 3111,22 1%in 171.122 2 where 25 q3 = time-varying flow rate at the flow determination point, q, = time-varying flow rate at the location of the first sensor, q; = time—varying flow rate at the location of the second sensor, [73 = dimensionless time—varying pressure head at the flow determination point, 30 h1 = dimensionless time-varying pressure head measured by a first sensor, h; = dimensionless time-varying pressure head measured by a second sensor, Pm = COMM/J, Pu.) = - Zosinhm/g), 35 Pu; = - si7111(p[J/Zc, (.11 IU IAJID |\) .Px.22 = comm/J, [ e. e. “'n "’12 is the matrix expression E for the hydraulic t at x, 9x21 3.1322 ' where x denotes pipe sections a1, as, ..., an, and b1, b2, ..., bm, Ix = length of pipe section X, 5 Z: = a characteristic impedance of the pipe, and [J = a propagation constant, wherein the characteristic impedance of the pipe Zc and the propagation constant [J are functions of the determined wave speed and of a ance term associated with the flow regime through the pipe R. 17. The method of claim 16, wherein for a flow loss hydraulic element, the matrix E is given by: 9,, e12 1 0 E: : 62, 622 Aloss l where A1055 is a variable relating to the ude of flow loss. 18. The method of claim 16, wherein for a head loss lic element, the matrix E is given by 1 Aloss O l where Aloss Is a variable relating to the magnitude of head loss. .19. The method of any one of claims 16 to 18, n the flow rate of the fluid at the flow determination point with one hydraulic element between the locations at. which the pressure is measured and with one hydraulic t between the flow determination point and one of the locations at which the pressure is measured is 25 determined from the following equation: [[12]:[p02,ll92 pa2,2l Prinzpn2,12][eall3.121 3:122ean:”:pal.npalm 17:11.22pill.12:l[h|]91 [/13]=[Pb2,n‘13 Fun) [7122.22pbl.12:||:eblie02; ebzzebl2]|:pbl.ilpbl‘Zi Pp1.22Pb1.12][h2](12 20. The method of any one of claims 16 to 18, wherein the flow rate of the fluid at the 30 flow determination point in the pipe with two hydraulic elements between the - locations at which the pressure is measured and with one hydraulic element U1N .b m (..J (21 . 2 between the pressure determination point and one of the locations at which the pressure is measured is determined from the following ons: [[12]_ Pan.“ Pa3.12 6.12.11 ea2.12][pa2.ll pn2.l2:l em,” ‘92 Paul Pa3.22 3:12.21 eauz Paul 17:12.22 9:11.21 eal.22enl‘12l:pal.liPaul pal.12](hl]pal.22 91 [ha Pal.” 13:12.12 ]l:ebn 93 PI.2.2| Pi:2.22 ebzl emebl2:“:1)bl.ll17121.21 Pam:Pb1.12][hz€12 21. The method of claim 19, wherein the flow rate at the flow determination point can be determined from the following on: u u u u ()22 )Ah+[ b2] u' u ul2 L122 all q} =[ + __ ”an ”an “.212 “am1722]]12 where anJI pal]? ealfl. anll palJ2 1U u _ pn2.2l Razz [e51]6:12! 8:122 pal.2l pal.22 19b2,” PbZJZ ebil PM,” u _‘ Pm: 19b2.22 31,21 ] PM,“Pbm pbl.22 2M10 1 um = cosh(pazlfl2)cosh(ynllnl)+[[— 0 )coshgunzlal) —an2 sinh(ynzln2)](— Z cal sinh(yalln,)] ZAHo um = cosh( pula2 )(— Zenl sinh(yr,ll,,, ))+ [[— U Jcoshmfllaz) — Zc'a2 sinh(;1(,zla2 )J cosh(;zaIIM) . 2AH0 um =[— ZCbZ smh()ubzlb2)JCOSh(/1bilbl)+([ ZrbZQO z lb) ) + 005h(#b21b2)][_ Z Sinh(i“b11bi )) 1 , 15 . , _ my" “1:22 :(_ ) + (”3110421122 00051101wa) cb2.Slnh(lubzlb2)](_ [chi s‘nh(/1b11bl))+[[ 2:52 Q0 )5im1(#bzlbl Ah = h; - h1, h3 : ionless time—varying pressure head at the flow determination point, h1 = dimensionless time-varying pressure head ed by a first sensor, 20 [72 = dimensionless arying pressure head measured by a second sensor, Ia; = distance between a first ucer and a first hydraulic element, la; = distance between a second transducer and the first hydraulic element, [1,1 - distance between the second transducer and a second hydraulic element, lbz = distance between the second hydraulic element and the flow determination point, 25 Zcx = the characteristic nce for pipe section X, ,th = the propagation constant for pipe section x, M1 IM4638.7 2 where X denotes pipe sections a1, ad, and b1, b4 Q0 = time—averaged mean rge, Ho = time-averaged mean pressure head, and q3 = time-varying flow rate at the flow determination point. 22. The method of any one of claims 15 to 21, further comprising ining a flow regime of the fluid flowing through the pipe, and the flow rate of the fluid at the flow determination point in the pipe based on at least the determined fluid wave speed and the resistance term R associated with the flow regime. 23. The method or claim 22, Whereln the flow regime for steady or unsteady flow rates is ined between laminar or turbulent flow based on at least a Reynolds number Re of the fluid. 15 24. The method of claim 23, wherein the flow is ined to be laminar when the Reynolds number of the fluid is less than about 2000, and the flow is determined to be turbulent when the ds number of the fluid is more than about 2000. 25. The method of claim 22, wherein the resistance term R of the pipe is determined 20 between a resistance term for laminar steady or unsteady flow and a resistance term for turbulent steady or unsteady flow based on the flow regime.‘ 26. The method of claim 25, wherein the resistance term for laminar steady flow R5 is based on the following equation: 3 2v 25 R = gAD2 where g = acceleration due to gravity, 0 = kinematic viscosity, A = pipe cross-sectional area, and 30 D = pipe diameter. 27. The method of claim 25, wherein the resistance term for turbulent steady flow R5 is based on the following equation: s gDA2 35 where g = ration due to gravity, f= friction factor, Q = time-averaged mean discharge, = pipe cross-sectional area, and D = pipe diameter. 28. The method of claim 25, wherein for unsteady flow rates, the resistance term R of the pipe is a combination of the resistance term for laminar steady flow or turbulent steady flow and an additional resistance term for unsteady flow rates RU given by: 10 R U =4jw]9e[—fl:€ITJW(t)dT 5’14 0 where u = kinematic viscosity, 9 = acceleration due to gravity, A = pipe cross—sectional area, 15 D = pipe diameter, j: V_1) (0 = angular frequency, W = weighting function, and r = dimensionless time (=-D—:(t—t*)4 where t* is the time used in the 20 convolution al). 29. The metnoa or claim 28, wherein the weighting runction w for a laminar ciy flow is: 6 li-l W(r) = 21m;2 for rless than or equal to 0.02-, and 25 e""" for rgreater than 0.02 where m,- = {0.282095, -1.25, 1.057855, 0.9375, 0.396696, -0.351563}, 1' = 1, ,.., 6, and n, = {26.3744, 70.8493, 135.0198, 16, 44}, i = 1, ..., 5. 30. The method of claim 28, wherein the weighting function W for a turbulent unsteady flow is: W(r)= etér) 24 m' where C* is a shear decay coefficient which is a function of the Reynolds number Re and Is given by: 7.41 ' C* = 5 where 31. The method of any one of claims 15 to 30, further comprising determining a type of pipe through which the fluid flows and the flow rate of the fluid at the flow 10 determination point based on at least the determined fluid wave speed and teristics of the type of pipe which include the characteristic impedance of the pipe 2c and the propagation constantp. 32. The method of claim 31, wherein the characteristic impedance of the pipe A and 15 the propagation constant/1 where the type of pipe is not plastic are given by: 26 = , 602 ngafl H 2 _—2+ 2 1 a a where j = V-l ’ 20 co = angular ncy, 9 = acceleration due to gravity, A = pipe cross—sectional area, R = the resistance term of the pipe, and a = the determined wave speed. 33. The method of claim 31, wherein the characteristic impedance of the pipe 2c and the propagation constant;; where the type of pipe is plastic are given by: ,u: ij £2+£_J— git—3+]? a 1+ja7r gA uuuuuuu / _ {1—— ) l 2.0 = ~ if: + R / igA ljm{§2- + -~_——iZCJ'. / \a 1+J(m'/ where j 2;: Ni: , to ~—- anguiar frequency, 9 = acceleration due to y, A = pipe cross-sectionai area, R n the resistance term of the pipe, 6: = the ined wave speed, j and 1“: parameters of the viscoeiastic pipe material, 1.0 C 2 pggSD/Qr = intermediate nt coefficient, ¢ = a pipe constraint coefficient, ”"'i'é‘iiiiekn'essbr‘ pib’éiwaii, and....................................................................... p = fluid density. 15 34. The method of any one of claims 1 to 33, further cornprising: determining a first set of signal characteristics reiating to a determined flow rate of the fluid between a first pair of s, determining a second set of signal characteristics relating to a ined flow rate of fluid between a second pair of sensors, and 20 comparing the determined first and second sets of signal characteristics to correct for any errors in the flow'rate of the fluid‘ DJ Ln The method of claim 34, wherein the first pair of sensors and the second pair of sensors inciude a common . The method of claim 34, wherein the sensors of the first pair of sensors are different from the sensors of the second pair of s. 37. The method of any one of ciaims 34 to 36, wherein the determined signal 30 characteristics for the» first and second set include phase and magnitude values relating to the flow rate. An apparatus for determining a flow rate of a fluid flowing in a pipe comprising: at least two sensors for positioning on or in the pipe to measure a pressure of the fluid at at least two iocations in the pipe; ’ a processor coupled to the sensors, the processor being adapted to azeonerfiz determine a fluid wave speed based on measured pressure of fluid at at least one location in the pipe, and determine if a flow regime of fluid in the pipe comprises either a laminar or turbulent flow and comprises either a steady or dy flow, the processor further being adapted to determine the flow rate of fluid based on the determined wave speed, on ed pressures at two locations in the pipe, and on the determined flow regime of fluid. 39. The apparatus of claim 38, wherein the apparatus is arranged to adjust the flow 10 rate of'the fluid through the pipe if the determined flow rate substantially differs from an expected flow rate. 40. The apparatus of claim 38 or 39, wherein the processor is adapted to determine the wave Speed based on the pressure measured by sensors at a first pair of 15 locations in the pipe, and the processor is adapted to determine the flow rate based on the pressure measured at a second pair of locations in the pipe. 41. The apparatus of claim 40, n the locations of the first pair are the same as the locations of the second pair, and a sensor is positioned at each of the two 20 locations. 42. The apparatus of claim 40, wherein the locations of the first pair are different from the locations of the second pair, and a sensor is oned at each of the four locations. 43. The apparatus of claim 40, wherein only one locatlon of the first pair and the second pair are the same, and‘a sensor is positioned at each of the three positions. 30 44. The apparatus of any one of claims 38 to 43, wherein the processor is adapted to determine the wave speed based on the pressure measured at one location by a first . 45. The apparatus of claim 44, further sing a generator for ting a 35 transient wave that propagates towards the first sensor, and the first sensor being adapted to sense the transient wave. U1 kn LA) «:0 IU 46. The apparatus of claim 45, n the flow rate is ined based on pressure measured by the first sensor and on re measured by a second sensor at a different-location, wherein two sensors are used. 47. The apparatus of claim 46, wherein the flow rate is determined based on pressure measured by different sensors from the first sensor, and the generator and three sensors are used. 48. The apparatus of any one of claims 38 to 47, further comprising two sensors 10 d to the processor for measuring the re of the fluid at two locations along a length of the pipe, and the wave speed of the fluid is determined based on the pressure of fluid measured at each respective location. 49. The apparatus of any one of claims 38 to 48, wherein the, processor is adapted to. 15 determine the wave speed by determining a transfer on of the pipe between the two locations based on at least the measured pressure of fluid. 50. The apparatus of claim 49 wherein the transfer function is a ratio of the ements from the two locations. 51. The apparatus of claim 49 or 50, wherein the transfer function is a ratio of Fourier transformed measurements from the two locations. 52. The apparatus of any one of claims 38 to 51, wherein the processor is adapted to 25 use the determined wave speed in the following equations for determining flow rate of fluid at a flow ination point in a pipe with no hydraulic elements: [[12]=[Pau92 Pnzl Panpulz](hl]91 (I‘3)_[Pbu‘13 szi P522pb12:|[h'2](12 where 30 q3 = time-varying flow rate at the flow ination point, q, = time-varylng flow rate at the location of the first sensor, q2 = time-varying flow rate at the location of the second sensor, h3 = dimensionless time—varying pressure head at a flow determination point, h, = dimensionless time—varying pressure head measured by a first sensor, 35 h2 = dimensionless time-varying pressure head measured by a second sensor, = cosh-{M}, - Pall .In'ruaul P Zosz'nlzm/J, Palz = Pb21 = - Sinth/Zc, szz = comm/h), I6 = distance between sensors, lb = distance between one of the sensors and the flow determination point, and 2c: a teristic impedance of the pipe, and p = a propagation constant. 53. The apparatus of any one of claims 38 to 51, wherein the processor is adapted to 10 determine the flow rate of the fluid at a flow determination point in the pipe with n number of hydraulic element(s) between the locations at which pressure is measured for the flow rate determination and with m number of hydraulic element(s) between the flow determination point and one of the locations at which pressure is measured for flow rate determination, where n and m are 15 integers, is ined from the following equation: J: [pa(n+l).llpn(n+l)‘2l Pn(n+1).i2 elm.” emu Pan.“ Pam ealJl enl.l2 Pm.” Pam: :l[hi] pa(n+l).22 ean.2l €071.22 pamll pawn Ball] eal.22 pal.2l pal,22 91 pb(m+l).ll Pb(m+1).i2 elm.“ ebmJZ Pm,” Pimp em,” ehl,i2 I’m.“ _ ] : pb(m+l),2| Pb(m+i).22 ebm,21 emzz pbmll phi/1.22 3121,21 3121,22 17171.2: where q3 = time-varying flow rate at the flow determination point, 20 q; = arying flow rate at the location of the first sensor, q; = time-varying flow rate at the location of the second sensor, n3 = ionless time—varying pressure head at the flow determination point, h1 = dimensionless time-varying re head measured by a first sensor, h; = dimensionless time—varying pressure head measured by a second , 25 Px-II = COSth/J, Px,12 = - orinhm/x), Razz = — sink(u/_\.)/Zc, p122 = x), [ e_“'” ex _ is the matrix expression E for the hydraulic element at x,_ 3x11 ex‘22"2] 30 wherex denotes pipe sections a1, a2, ..., an, and b1, b2, ..., bm Ix -= length of pipe section x, Zc = the characteristic impedance of the pipe, and ,u = the ation constant. mNA(h l»(D Ni ro 54. The apparatus of claim 53, wherein for a flow loss hydraulic element, the matrix E is given by: e” 612 1 0 E: = e21 e22 Aloss 1 where A/oss is a variable relating to the magnitude of flow loss. 55. The tus of claim 53, wherein for a head loss lic element, the matrix E is given by E = [I O Aloss]l where A/oss is a le related to the magnitude of head loss. 56. The apparatus of any one of claims 53 to 55, wherein the processor is adapted to determine the flow rate or the fluid at the flow determination pomt in the pipe with one hydraulic element between the locations at which the re is ed and with one‘ hydraulic element between the flow determination point 15 and one of the locations at which the pressure is measured from the following equadon: [kl J __ Paz.“ Pa2,i2 pnlJZ 92 pa2.2i pazgzz zi eaZZ9.112:":Pui.ii palm pal.22 [hi]q] [I13] pb2.l2 pbl.” Pbuz ___ [plan 93 Pb2.2i Pb2.22 [ebll61221 31:22em] Pbui pblll [i5]92 20 57. The apparatus of any one of claims 53 to 55, wherein the processor is adapted to determine the flow rate of the fluid at the flow determination point in the pipe with two hydraulic ts between the locations at which the pressure is measured and with one hydraulic element between the flow determination point and one of the locations at which the pressure is measured f from the following 25 equafion: [/12 1 __ [Paul‘Iz prim 8:12.” 802.12 Pal,” Pn2.iz enl.” eulJZ pal,” palJZ hi Paul 17:13.22 602,21 can Pa2.2i Pang cam e’aiizz pi1|.2l pal.22 ‘Ii [/73] = 1752,” [7122.12 j”:ebii em :”:pbl.ll pleZ Khz] ‘13 pl)2,2l p122.22 31:21 ebn pbl.21 pbl.22 92 58. The apparatus of claim 56, wherein the processor is d to determine the flow rate at the flow ination point using the following equation: u ll Ll ll u 1! 022 JAh+( b2] all q} =( «12+ [722 “alz “all "an “.112b22]h2 Paul Pauz eail ealZ paw Pam u _ 17n2,21 Pazlzz eaZl 6.122 Paul I’nmz Fun Fun ebli em phi.“ 1701.12 u _ 17111.25 11122.22 ebZl eazz P0112: 171:1.22 ZAHO 1 “all = c°3h(lua?.ln2)COSh(/uallal) + [(_ Sinh(/"aila1 )) Q0 ]OOSh(/’ln21n2) _ anz 511111045121": )][_ Zcal ZAHO “all : COSh( ”azlaz )(_ ani Sinh( ”all“ ))+ [[— o , JCOSIK pallaz) _ anz ShflK fluzlaz )) COSh(»uallai) . 2AH0 um =[—— Zcbz sn1h(,ubzlb2)]cosh(,ubllbl)+[[ Z 0 Z cb2~0 )Sinh( #122 11:2) + COSMszlbz )J[‘L sinh( #hilbi )]cm 1 2AH0 10 . . . “(:22 = [" sth’bzlbz )]("' Zcbl Slnh(lubllbl ))+ [[ “’2 Zcb'.’ Q0 Jsmhu’bzlbz) + 0031109121152 )] COShU‘bi 1m) Ah = [12 - hi, ha = dimensionless time-varying pressure head at a flow determination point, hz = dimensionless time—varying pressure head measured by a first sensor, 15 h; = dimensionless time-varying pressure head ed by a second sensor, IN = distance between a first ucer and a first hydraulic element, I52 = distance between a second transducer and the first lic element, [bl = distance between the second ucer and a second hydraulic element, Ibz = distance between the second hydraulic t and the flow determination 20 point, Zcx = the characteristic impedance for pipe section X, yx = the propagation constant for pipe section'i x, where X denotes pipe Sections a1, a2, and b1, b2 Q, = time-averaged mean discharge, 2.5 Ho = time—averaged mean pressure head, q3 = time-varying flow rate at the flow determination point. 59. The apparatus of any one of claims 52 to 58, n the processor is adapted to determine a resistance term R of the pipe based on a flow regime of the fluid, and U1MA m OJ OD ~J a the flow rate of the fluid at the flow determination point in the pipe based on at least the determined fluid wave speed and the ance term R associated with the flow regime. 60. The apparatus of claim 59, wherein the processor is d to determine the flow regime between a laminar flow and a turbulent flow for steady or unsteady flow rates based on at least a Reynolds number Re of the fluid. 61. The apparatus of claim 60, wherein the‘flow is laminar when the Reynolds number 10 Re of the fluid is less than about 2000, and the flow is ent when the Reynolds number Re of the fluid is more than about 2000. 62. The apparatus of any one of claims 59 to 61, wherein the processor is adapted to determine the resistance term for steady and unsteady flow rates between 15 laminar and turbulent flow based on a Reynolds number Re of the fluid. 63. The apparatus of claim 62, wherein processor is adapted to determine the resistance term R of the pipe between a resistance term for laminar steady or unsteady flow and a resistance term for turbulent steady or unsteady flow based 20 on the flow regime. 64. The apparatus of claim 63, wherein the resistance term for laminar steady flow R5 is based on the following equation: R5. = gAD2 25 where g = acceleration due to y, u = kinematic viscosity, A = pipe cross—sectional area, and D = pipe diameter. 65. The apparatus of claim 63, wherein the resistance term for ent steady flow R5 is based on the ing equation: RS = gDA'7 where 35 g = ration due to gravity, f = friction factor, 5246387#2 Q = time-averaged mean discharge, A = pipe cross—sectional area, and D = pipe diameter. 66. The apparatus of claim 63, wherein for dy flow rates, the resistance term R of the pipe is a combination of the resistance term R5 for laminar steady flow or ent steady flow and an additional resistance term RU given by: 10 u = kinematic viscosity, 9 = acceleration due to gravity, A = pipe cross—sectional area, D = plpe diameter, j = V —1 a 15 a) = angular frequency, W = weighting function, and r = dimensionless time (=%(t~t*) where t* is the time used in the convolution integral). 20 67. The apparatus of claim 66, wherein the weighting function for a r unsteady flow is: 6 li—i W(r) = Zrnirz for 1 less than or equal to 0.02, and W(r)=Ze""' for rgreater than 0.02 where 25 m, = {0.282095, -1.25, 1.057855, 0.9375, 96, -0.351563}, i = 1, ..., 6 and n,- = {25.3744, 70.3493, 135.0198, 218.9216, 322.5544}, 1' = 1, s. 68. The apparatus of claim 66, n the weighting function for a turbulent 30 unsteady flow is: 1 Li: W(t)= e‘c'] where C* = shear decay coefficient which is a function of the Reynolds number and is given by: . 7.41 C* : where 5 Re = Reynolds number, and 14.

3 K: 10g”) W 69. The apparatus of any one of claims 52 to 68, wherein the processor is adapted to determine the flow rate of the fluid at the flow determination point in the pipe 10 based on at least the determined fluid wave speed taking.HintoHaccountnthe characteristics of the pipe which include a characteristic impedance of the pipe 2c and a propagation constant p. 70. The apparatus of claim 69, wherein the processor is adapted to calculate the 15 characteristic nce of the pipe 2:, and the ation constant p where the pipe is not plastic using the ing equations: zc= 3’“ . a) ngcaR. l4: "7+ 2 , a a where 20 , on = angular frequency, 9 = acceleration due to gravity, A = pipe cross—sectional area, R = the resistance term of the pipe, and 25 a = the determined wave speed. 71. The apparatus of claim 69, wherein the processor is adapted to calculate the teristic impedance of the pipe 26 and the propagation constant p where the type of pipe is plastic using the following equations: Z,.=— flue ij %+—39]— gA a 1+jart where j =: V_'1) a) = angular ncy, g = acceleration due to gravity, A = pipe cross-sectional area, R = the resistance term of the pipe, a = the determined wave speed, ] and r = parameters of the lastic pipe material, 10 C = pg¢D/2e = intermediate constant ient, ¢ = a pipe constraint coefficient, e = thickness of all, and p = fluid density. 15 72. The apparatus of any one of claims 38 to 71, wherein, the processor is further configured to: determine a first set of signal characteristics relating to a determined flow rate of the fluid between a first pair of sensors, determine a second set of signal characteristics relating to a determined flow rate 20 of fluid between a second pair of sensors, and compare thedetermined first and second sets of signal characteristics to correct for any errors in the flow rate of the fluid. 73. The apparatus of claim 72, wherein the first pair of sensors and the second pair of 25 sensors e a common . 74. The apparatus of claim 72, wherein the sensors of the first pair of sensors are different from the sensors of the second pair of sensors. 30 75. The apparatus of any one of claims 72 to 74, wherein the determined signal characteristics for the first and second set include phase and magnitude values relating to the flow rate.