油气管道内检测器三维运动分析

Three-dimensional Motion Analysis of Detector in Oil and Gas Pipeline

管道检测清管器广泛应用于油气管道内部检测。管道清管器的速度通常与管道中介质的速度相同。但近年来,由于长距离运输的需要,管道中介质的速度不断增加,管道内环境更加复杂,管道检测器在管道内的运动情况更加多变。因此,通过分析管道检测器在油气管道内的运动原理,建立了检测器在复杂管道下的运动模型;同时,基于数学模型,设计了一种双皮碗-三支撑轮式的管道检测器样机;结合仿真和实验,对管道检测器的运动情况展开模拟和研究。实验结果验证了所建立的检测器运动模型的准确性,为之后管道检测器的运动、姿态控制提供了理论研究基础。

Pipeline inspection pigs are widely used for internal inspection of oil and gas pipelines.The velocity of the pipeline pig is usually the same as that of the medium in the pipeline.However,in recent years,due to the needs of long-distance transportation,the speed of the medium in the pipeline is increasing,the internal environment of the pipeline is more complex,and the motion of the pipeline detector in the pipeline is more changeable.Therefore,this paper analyzes the motion principle of the pipeline detector in the oil and gas pipeline,and establishes the motion model of the detector in the complex pipeline;At the same time,based on the mathematical model,a pipeline detector prototype with double cups and three supporting wheels is designed;Combining simulation and experiment,the motion of pipeline detector is simulated and studied.The experimental results verify the accuracy of the motion model of the detector,and lay a theoretical foundation for the later motion and attitude control of the detector.