Investigation of Dynamics and Vibration of a Three Unit PIG in Oil and Gas Pipelines

Author(s):  
Mohammad Durali ◽  
Amir Fazeli ◽  
Mohsen Azimi

In this paper, the transient motion of a three unit intelligent Pipe Inspection Gauge (PIG) while moving across anomalies and bends inside gas/oil pipeline has been investigated. The pipeline fluid has been considered as isothermal and compressible. In addition, the pipeline itself has also been considered to be flexible. The fluid continuity and momentum equations along with the 3D multi body dynamic equations of motion of the pig comprise a system of coupled dynamic differential equations which have been solved numerically. Pig’s position and velocity profiles as well as upstream and downstream fluid’s pressure waves are presented as simulation results which provide a better understanding of the complex behavior of pig motion through pipelines. This study has been conducted as a part of the design procedure for the Pig which is currently under construction.

Author(s):  
Mohammad Durali ◽  
Amir Fazeli ◽  
Ali Nabi

In this paper, the transient motion of an intelligent Pipe Inspection Gauge (PIG) while moving across anomalies inside a typical gas/oil pipeline has been investigated. The pipeline fluid has been considered as isothermal and compressible. In addition, the pipeline itself has also been considered to be flexible. The fluid continuity and momentum equations along with the 3D dynamic equations of motion of the pig comprise a system of coupled dynamic differential equations which have been solved numerically. Pig’s position, orientation and velocity profiles as well as upstream and downstream fluid’s pressure waves are presented as simulation results which provide a better understanding of the complex behavior of pig motion through pipelines. This study has been conducted as a part of the design procedure for the Pig which is currently under construction.


2014 ◽  
Vol 118 (1204) ◽  
pp. 683-706 ◽  
Author(s):  
L. Tong ◽  
H. Ji

AbstractIn this paper, the multi-body dynamic model of an asymmetric variable sweep wing morphing UAV is built based on Kane’s method. This model describes the UAV’s transient behaviour during morphing process and the dynamic characteristic of the variable sweep wings. An integrated design of trajectory tracking control via constrained backstepping method is presented then. The idea of aircraft roll control through asymmetric wing sweep angle changes rather than traditional aileron is explored and used in the fight control design. The control of variable sweep wings is designed as well based on the presented dynamic model. Command filters are used in the backstepping design procedure to accommodate magnitude, rate and bandwidth constraints on virtual states and actuator signals. Stability of the closed-loop system can be proved in the sense of Lyapunov. Simulation of tracking a desired trajectory which contains two manoeuvres demonstrates the feasibility of the proposed protocol and the morphing wing roll controller.


Author(s):  
Kourosh H. Shirazi ◽  
Behrooz Attaran ◽  
Reza Zaeri

In this paper, an efficient method is proposed for modelling and simulation of multi-body dynamic problems. The method employs symbolic computational abilities of Maple as well as graphical environment of Matlab-Simulink to obtain and solve the equations of motion of a multi-body system accurately and rapidly. Considering a typical multi-body dynamical system the governing equations of system including second order equations of motion, first order nonholonomic and holonomic algebraic constraint equations are derived in Maple software. The state variables of the system are defined based on the systems degrees of freedom or generalized velocities. Converting the system’s equations to an algebraic form and combining them together by using a few Maple commands, the simplest form of the system’s equations of motion are obtained in the canonical standard state space form. This form is suitable when an explicit numerical method of integration is used. Then using a few toolboxes of Simulink, the equations are solved and can be studied. To procedural illustration of the method a lateral vehicle dynamic problem having thirty equations is considered. Beside the present method, Maple as well as Matlab is used to solve the problem. The results show the distinction of the method from the points of execution CPU time, accuracy and longer simulation. This method is suitable when investigation of long term behavior of multi-body dynamical systems is needed.


2021 ◽  
Vol 224 ◽  
pp. 108729
Author(s):  
Shujie Zhao ◽  
Xun Meng ◽  
Huajun Li ◽  
Dejiang Li ◽  
Qiang Fu

Mathematics ◽  
2021 ◽  
Vol 9 (13) ◽  
pp. 1460
Author(s):  
Abdulaziz S. Alkabaa ◽  
Ehsan Nazemi ◽  
Osman Taylan ◽  
El Mostafa Kalmoun

To the best knowledge of the authors, in former studies in the field of measuring volume fraction of gas, oil, and water components in a three-phase flow using gamma radiation technique, the existence of a scale layer has not been considered. The formed scale layer usually has a higher density in comparison to the fluid flow inside the oil pipeline, which can lead to high photon attenuation and, consequently, reduce the measuring precision of three-phase flow meter. The purpose of this study is to present an intelligent gamma radiation-based, nondestructive technique with the ability to measure volume fraction of gas, oil, and water components in the annular regime of a three-phase flow independent of the scale layer. Since, in this problem, there are several unknown parameters, such as gas, oil, and water components with different amounts and densities and scale layers with different thicknesses, it is not possible to measure the volume fraction using a conventional gamma radiation system. In this study, a system including a 241Am-133Ba dual energy source and two transmission detectors was used. The first detector was located diametrically in front of the source. For the second detector, at first, a sensitivity investigation was conducted in order to find the optimum position. The four extracted signals in both detectors (counts under photo peaks of both detectors) were used as inputs of neural network, and volume fractions of gas and oil components were utilized as the outputs. Using the proposed intelligent technique, volume fraction of each component was predicted independent of the barium sulfate scale layer, with a maximum MAE error of 3.66%.


2015 ◽  
Vol 2015 ◽  
pp. 1-10
Author(s):  
Yuliang Li ◽  
Chong Tang

In order to conveniently analyze the dynamic performance of tracked vehicles, mathematic models are established based on the actual structure of vehicles and terrain mechanics when they are moving on the soft random terrain. A discrete method is adopted to solve the coupled equations to calculate the acceleration of the vehicle’s mass center and tractive force of driving sprocket. Computation results output by the model presented in this paper are compared with results given by the model, which has the same parameters, built in the multi-body dynamic software. It shows that the steady state calculation results are basically consistent, while the model presented in this paper is more convenient to be used in the optimization of structure parameters of tracked vehicles.


2012 ◽  
Vol 51 ◽  
pp. 1-15 ◽  
Author(s):  
L. Sun ◽  
R. Eatock Taylor ◽  
Y.S. Choo

Author(s):  
Wenxing Feng ◽  
Xiaoqiang Xiang ◽  
Guangming Jia ◽  
Lianshuang Dai ◽  
Yulei Gu ◽  
...  

The oil and gas pipeline companies in China are facing unprecedented opportunities and challenges because of China’s increasing demand for oil and gas energy that is attributed to rapid economic and social development. Limitation of land resource and the fast urbanization lead to a determinate result that many pipelines have to go through or be adjacent to highly populated areas such as cities or towns. The increasing Chinese government regulation, and public concerns about industrial safety and environmental protection push the pipeline companies to enhance the safety, health and environmental protection management. In recent years, PetroChina Pipeline Company (PPC) pays a lot of attention and effort to improve employees and public safety around the pipeline facilities. A comprehensive, integrated HSE management system is continuously improved and effectively implemented in PPC. PPC conducts hazard identification, risk assessment, risk control and mitigation, risk monitoring. For the oil and gas stations in highly populated area or with numerous employees, PPC carries out quantitative risk assessment (QRA) to evaluate and manage the population risk. To make the assessment, “Guidelines for quantitative risk assessments” (purple book) published by Committee for the Prevention of Disasters of Netherlands is used along with a software package. The basic principles, process, and methods of QRA technology are introduced in this article. The process is to identify the station hazards, determinate the failure scenarios of the facilities, estimate the possibilities of leakage failures, calculate the consequences of failures and damages to population, demonstrate the individual risk and social risk, and evaluate whether the risk is acceptable. The process may involve the mathematical modeling of fluid and gas spill, dispersion, fire and explosion. One QRA case in an oil pipeline station is described in this article to illustrate the application process and discuss several key issues in the assessment. Using QRA technique, about 20 stations have been evaluated in PPC. On the basis of the results, managers have taken prevention and mitigation plans to control the risk. QRAs in the pipeline station can provide a quantitative basis and valuable reference for the company’s decision-making and land use planning. Also, QRA can play a role to make a better relationship between the pipeline companies and the local regulator and public. Finally, this article delivers limitations of QRA in Chinese pipeline stations and discusses issues of the solutions.


Author(s):  
Виктор Геннадьевич Аковецкий ◽  
Алексей Викторович Афанасьев ◽  
Анжела Асхатовна Ильченко

Оценка геоэкологических рисков на объектах нефтегазового комплекса непосредственно связана с обеспечением безопасности территорий, на которых они расположены. Особенно тяжелые последствия воздействия на экологическое состояние территорий оказывают аварийные разливы нефти и нефтепродуктов. Решение данного класса задач требует оценки уровня аварийного разлива и его классификации с позиций возникновения чрезвычайной ситуации. В статье рассмотрена возможность замены традиционных визуальных методов оценки разливов на разработанные автоматизированные и автоматические способы, использующие для решения задач классификации материалов аэрокосмических съемок. Приведены результаты автоматической классификации изображений мониторинговых наблюдений, которые имели место при аварийном разливе дизельного топлива в г. Норильске, аварии танкера на морской акватории о. Маврикий и аварии сухопутного нефтепровода. Полученные результаты показали работоспособность разработанных методов и возможность их использования в задачах инвентаризации и паспортизации аварийных разливов нефти на суше и акваториях. Purpose. The aim of this work is to ensure the environmental safety of the territories where the accidental spills of oil and oil products have occurred. They have a significant negative impact on the environment of land and water areas. To minimize their impact and eliminate the consequences, an “emergency” regime is introduced in Russia. Depending on the level of the oil spill, it may cover both the territory of a separate facility and a region, and the entire state as a whole. Methods. Traditionally, an estimate of the level of a spill is determined based on the mass of the spilled oil through visual observations from aircraft or ground measurements at selected points. This approach does not allow an accurate assessment of the total area of pollution, the nature of pollution inside the oil slick, as well as the dynamics of its spread over time. To eliminate these limitations, it is proposed to use systems of aerospace monitoring observations and automatic measurements of oil slick parameters: area, composition and mass. To solve this problem, the method of “comparison with the reference standard” was used. Here, samples of color gradations of oil and oil product spill spots proposed in the Bonn Agreement of 2004 were prepared as reference standards. Results. The method was implemented using the experimental software complex AGIR-TM (Aerospace, Geoinformatics, Research, Risks-Technological Modules) which was developed at the Department of Geoecology of the Gubkin Russian State University of Oil and Gas (NRU). During the experimental testing of this method, the work was carried out to assess the accidental spill in the following cases diesel fuel in Norilsk (2020), oil on a tanker in the water area of Mauritius (2020) and oil in an oil pipeline (2012, 2017). The method provides the localization of the area spills along with the color correction (normalization), classification of the composition of oil and oil products and the through account of the investigated processes. The work results in determination for the area of the oil and oil products spill, its composition and weight. Conclusions. The article shows the relevance of solving problems related to the problem of liquidation of emergency spills of oil and oil products at the facilities of the oil and gas complex. The main approaches to aerospace monitoring observations and automatic interpretation of spill parameters are considered. The proposed approach is based on the use of “digital twins” that implement the transition from manual (visual) to automated and automatic modes for determining the parameters of an oil spill: area, composition and mass. The results presented in the article showed the efficiency of the proposed method and the possibility of its use in the tasks of assessing geoecological risks associated with accidental spills of oil and oil products on land and in water areas.


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