油气管道封堵机器人封堵过程的振动预测

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振动与冲击 ›› 2023, Vol. 42 ›› Issue (13) : 36-49.

论文

油气管道封堵机器人封堵过程的振动预测

苗兴园，赵弘

作者信息 +

Vibration prediction of oil and gas pipeline plugging robot in plugging process

MIAO Xingyuan, ZHAO Hong

Author information +

文章历史 +

摘要

以管道封堵机器人（Pipeline isolation plugging robot, PIPR）为载体的管道维抢修技术是保障管道安全运输的重要手段。针对封堵作业时PIPR的冲击振动现象，分别从运动过程和封堵操作两个方面对其进行振动分析。建立基于双向流固耦合的PIPR动力学模型，对运动过程中PIPR的轴向、径向和俯仰振动进行仿真分析。进行PIPR不同扰流模型的封堵试验，观察不同模型封堵过程流场变化，并以封堵过程的压力梯度衡量PIPR振动情况。提出改进海鸥算法（ISOA）优化核极限学习机（KELM）方法，分别建立不同扰流模型的压力梯度代理模型，以实现PIPR的振动预测。结果表明，提出的代理模型可以实现不同扰流模型封堵过程压力梯度的准确预测。这对于保障封堵作业的稳定性具有指导意义。

Abstract

Pipeline maintenance technology based on the pipeline isolation plugging robot (PIPR) is an important means to ensure the safe transportation of pipelines. Aiming at the shock vibration of PIPR during plugging operation, the vibration analysis was carried out from two aspects of motion process and plugging operation. The PIPR’s dynamic model based on fluid-solid coupling was established to analyze the axial, radial and pitch vibrations of the PIPR during the movement. The plugging experiment for different spoiler models of PIPR was carried out to observe the change of flow field during the plugging process. And the pressure gradient during the plugging process was used to measure the vibration of PIPR. The Kernel Extreme Learning Machine (KELM) optimized by Improved Seagull Optimization Algorithm (ISOA) was proposed to establish the pressure gradient proxy model for each spoiler model respectively, to realize the vibration prediction of PIPR. The results showed that the proposed proxy models could achieve accurate prediction of pressure gradient during the plugging process for different spoiler models. This had guiding significance for ensuring the stability of the plugging operation.

导出引用

苗兴园，赵弘. 油气管道封堵机器人封堵过程的振动预测[J]. 振动与冲击, 2023, 42(13): 36-49

MIAO Xingyuan, ZHAO Hong. Vibration prediction of oil and gas pipeline plugging robot in plugging process[J]. Journal of Vibration and Shock, 2023, 42(13): 36-49

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