智能清管器检测管道缺陷的定位算法研究

Research on Flaw Location Algorithms of the Smart PIG for Pipeline Inspecting

研究了采用里程轮和加速度计实现智能清管器精确定位的三种算法,包括里程轮脉冲总数均分算法、里程轮速度补偿算法和加速度计定位法。其中加速度计定位法采用高分辩率加速度计测量清管器的轴向加速度,通过加速度值对时间进行二次积分运算并进行适当的误差修正,可以得到智能清管器行走的精确距离,依据时标与距离的线性关系,达到精确定位的目的。通过室内实验测量与分析,找出上述算法产生定位误差的原因,并提出了改进措施。智能清管器定位算法的研究与误差分析为提高长输管道缺陷的定位精度提供了相关理论指导。

The distance measurement for the flaw location of a smart PIG for pipeline inspecting is studied,where three kinds of flaw location algorithms including odometer wheels impulse sum mean algorithm and odometer wheels velocity compensation algorithm and accelermeter location algorithm are introduced. In aecelermeter location algorithm a high resolution servo accelerometer is used to measure the axial acceleration of the smart PIG in a pipeline to acquire the precise distance the smart PIG walks by two times integral operation of the acceleration value to time variable and proper error correction. Basing on the linear relation between the distance and time label a precise location can be gained. By indoor experimental measurement and data analysis some improvement measures are put forward for decreasing the location error. The location algorithm study and error analysis of the smart PIG can provide the theoretically related guidance and some revelatory action to the improvement of flaw location precision for the long pipeline inspecting.