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工程设计学报
Chinese Journal of Engineering Design  2024, Vol. 31 Issue (3): 348-356    DOI: 10.3785/j.issn.1006-754X.2024.03.170
Reliability and Quality Design     
Study on submarine pipeline suspension internal detection based on vibration response analysis
Wenbin MA1,2(),Zhiwen DUAN1,2,3,Xiang LI1,2,Hang ZHANG1,2()
1.College of Mechanical and Transportation Engineering, China University of Petroleum (Beijing), Beijing 102249, China
2.Center of Advanced Oil and Gas Equipment, China University of Petroleum (Beijing), Beijing 102249, China
3.Qinhuangdao Oil and Gas Transportation Branch, National Pipe Network Group North Pipeline Co. , Ltd. , Qinhuangdao 066001, China
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Abstract  

Submarine pipelines laid in the seabed are often suspended due to natural or man-made factors such as ocean current erosion and ship anchoring, which can easily cause pipeline deformation, corrosion, damage, cracking and leakage, seriously affecting the safety of pipelines. Aiming at the suspension internal detection for DN200 submarine pipelines, an internal detection robot was designed, and its dynamics analysis was conducted. Meanwhile, a flexible pipeline-soil coupling model was established by combining ANSYS and ADAMS software, and the internal detection simulation analysis for suspended pipelines was carried out. The fast Fourier transform and the short-time Fourier transform were used to process the vibration response signal of the internal detection robot under complex excitation coupling conditions, and the effective identification of the suspended pipeline section was realized by analyzing the vibration acceleration of the robot. The research results provide a new idea for the internal detection of oil and gas pipelines in suspension.

Key words： submarine pipeline      suspension      internal detection robot      dynamics analysis      vibration response     
Received: 23 May 2023      Published: 27 June 2024
CLC:  TE 978  
Corresponding Authors: Hang ZHANG     E-mail: 18883487151@163.com;zhanghang@cup.edu.cn
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Wenbin MA
Zhiwen DUAN
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Hang ZHANG
Cite this article:

Wenbin MA,Zhiwen DUAN,Xiang LI,Hang ZHANG. Study on submarine pipeline suspension internal detection based on vibration response analysis. Chinese Journal of Engineering Design, 2024, 31(3): 348-356.

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https://www.zjujournals.com/gcsjxb/10.3785/j.issn.1006-754X.2024.03.170     OR     https://www.zjujournals.com/gcsjxb/Y2024/V31/I3/348


基于振动响应分析的海底管道悬空内检测研究

铺设于海床中的海底管道常因洋流冲刷、船舶锚拽等自然或人为因素而处于悬空状态，易造成管道变形、腐蚀、损伤和开裂泄漏等问题，严重影响管线安全。针对DN200海底管道的悬空内检测，设计了一种内检测机器人并对其进行了动力学分析。同时，联合ANSYS与ADAMS软件建立了柔性管道-土耦合模型，开展了悬空管道内检测仿真分析。采用快速傅里叶变换和短时傅里叶变换方法对内检测机器人在复杂激励耦合条件下的振动响应信号进行处理，通过分析机器人的振动加速度实现了对悬空管段的有效识别。研究结果为油气管道悬空内检测提供了新思路。


关键词： 海底管道,  悬空,  内检测机器人,  动力学分析,  振动响应 
Fig.1 Overall structure and working principle of submarine pipeline suspension internal detection robot
Fig.2 Schematic of dynamics analysis of submarine pipeline suspension internal detection robot under excitation
Fig.3 Rigid body collision model
参数数值
综合曲率半径/m6.872×10-3
综合弹性模量/(N/m2）1.139×1011
接触刚度系数/(N/m)398.2
阻尼系数/(N·s/m)0.4
力指数1.5
法向穿透深度/m1×10-4
静摩擦系数0.3
动摩擦系数0.1
静平移速度/(m/s)1×10-4
摩擦平移速度/(m/s)1×10-3
Table 1 Parameter setting for collision simulation model
Fig.4 Finite element model of submarine pipeline
Fig.5 Flexible pipeline-soil coupling simulation model
Fig.6 Vibration acceleration amplitude of robot in normal pipeline section
Fig.7 Vibration acceleration amplitude of robot in normal pipeline section and suspended pipeline section
Fig.8 Time-domain characteristics of vibration acceleration of robot in different pipeline sections
Fig.9 Amplitude-frequency characteristics of vibration acceleration of robot in different pipeline sections
Fig.10 Time-frequency power amplitude spectrum of robot vibration acceleration
Fig.11 Vibration acceleration amplitude of robot in suspended pipeline sections with different lengths
Fig.12 Time-frequency power amplitude spectrum of robot vibration acceleration with different lengths of suspended pipeline sections
Fig.13 Time-domain diagram of power amplitude of robot vibration acceleration with different lengths of suspended pipeline sections (frequency range of 0~30 Hz)
Fig.14 Time-domain diagram of power amplitude of robot vibration acceleration with different lengths of suspended pipeline sections (frequency range of 50~80 Hz)
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