基于非线性反步法的清管器速度非线性自适应控制

doi:10.3969/j.issn.2096-1693.2025.02.016

摘要/Abstract

摘要：

管道作为能源传输的核心纽带，其安全性直接关乎能源供应的稳定性与传输效率。在原油运输过程中，输送介质中的蜡或其他杂质会沉积或附着在管壁上，导致管道输送效率降低，严重情况下会造成堵塞。同时，管道长期运营之后还会产生腐蚀、裂纹等缺陷。因此，定期进行清管和检测是确保管道功能完整和安全运行的重要措施。在作业过程中，精确控制管道机器人(清管器)的运行速度至关重要，不仅能够提升清管效率，还有助于规避因速度不当引起的潜在风险。针对清管作业过程中可能遭遇的管道变形、环焊缝以及管内介质压力波动等外部干扰因素，为确保清管器的运行速度维持在最佳清管效果的速度区间内，提出了一种基于非线性反步法的自适应控制策略。该控制策略基于李雅普诺夫方程与SR模型，并以此为基础推导被控对象的控制器。通过此方法，可以灵活调整以适应清管器的目标速度或在管道内的运行轨迹，实现对清管器速度变化的精确预测。自适应控制器通过调节旁通阀的开闭，改变清管器旁通阀的截流面积，进而调整清管器前后压差，确保速度稳定在最佳清管效果的速度区间内，有效控制速度并降低外界干扰的影响。通过在Simulink Toolbox中构建清管器模型，进行PID与非线性反步法的对比仿真分析。仿真结果显示，非线性反步法控制策略展现出更快的响应速度和更优的控制效果。进而对倾斜管道和弯曲管道下的非线性反步法控制策略进行仿真，仿真实验表明，清管器在倾斜管段和弯管段，自适应控制器均能对速度变化和位移变化做出精准预测，并根据预测的结果调整旁通阀的开度，从而精准控制清管器的速度。非线性反步法的自适应控制策略能够在外界干扰存在的情况下使清管器迅速达到速度稳定状态，有效控制清管器的运行速度，相较于传统PID控制，该方法能显著提高系统的响应速度和稳定性，具有更强的适应性和鲁棒性。该控制策略可为清管器在面临复杂多变的实际控制环境中提供参考，为提高清管作业的效率和安全性提供保障。

关键词: 管道清管, 自适应控制, 非线性反步法, 旁通阀, 外界干扰

Abstract:

As a vital component in energy transmission, the safety of oil pipelines is closely tied to the stability and efficiency of energy supply. In crude oil transportation pipeline, impurities such as wax and water tend to deposit or adhere to the inner walls of pipelines, which will reduce the flow efficiency and even lead the blockages. On the other hand, defects such as corrosion and cracks will also occur after the long-term operation of the pipeline. Therefore, regular pigging and inspection are essential to maintain pipeline integrity and ensure safe operations. In these procedures, precise control of the pipeline inspection gauge (PIG) speed is critical-not only to enhance cleaning efficiency but also to minimize risks associated with improper speeds. To address external disturbances during pigging operations-such as pipeline deformation, circumferential welds, and pressure fluctuations-this study proposes an adaptive control strategy based on the nonlinear backstepping method. This strategy, grounded in the Lyapunov stability theory and SR model, enables the design of a dynamic controller capable of accurately predicting and adjusting the PIG’s speed in real time. By modulating the opening of a bypass valve and altering the flow area, the controller can effectively regulate the pressure differential across the PIG, maintain its velocity within the optimal range for efficient cleaning and reduce the influence of external interference. A comparative simulation model was developed in Simulink Toolbox to evaluate the performance of the proposed nonlinear backstepping controller against a conventional PID controller. The results indicate that the nonlinear method yields faster response and superior control precision. Further simulations on inclined and curved pipelines demonstrate that the adaptive controller reliably predicts variations in PIG velocity and displacement, adjusting control actions accordingly. Overall, the nonlinear backstepping adaptive control strategy ensures rapid speed stabilization even under complex conditions, offering enhanced responsiveness, robustness, and adaptability. This approach provides a promising solution for improving the efficiency and safety of pigging operations in real-world pipeline systems.

Key words: pipeline pigging, adaptive control algorithm, nonlinear backstepping, bypass valve, external disturbance

中图分类号:

TP242
E973

朱霄霄, 王浩坤, 刘贺, 张殊凡, 张仕民. 基于非线性反步法的清管器速度非线性自适应控制[J]. 石油科学通报, 2025, 10(3): 603-619.

ZHU Xiaoxiao, WANG Haokun, LIU He, ZHANG Shufan, ZHANG Shimin. Nonlinear adaptive velocity control of pipeline inspection gauge by using nonlinear backstepping[J]. Petroleum Science Bulletin, 2025, 10(3): 603-619.

https://sykxtb.cup.edu.cn/CN/Y2025/V10/I3/603

图/表 22

图1 清洁与检测的清管机器人(清管器)

Fig. 1 Cleaning and inspection pipeline robot (Pipeline Inspection Gauge)

图2 管道中带有旁通阀的清管器模型

Fig. 2 Pipeline model with PIG and bypass valve

图3 清管器受力分析图

Fig. 3 Force analysis diagram of PIG

图4 清管器前后液体控制体图

Fig. 4 PIG liquid control body diagram

图5 控制体1受力分析图

Fig. 5 Force analysis diagram of control body 1

图6 控制体2受力分析图

Fig. 6 Force analysis diagram of control body 2

图7 NBC原理图

Fig. 7 Schematic diagram of NBC

图8 NBC控制器回路图

Fig. 8 NBC controller loop diagram

图9 NBC总回路图

Fig. 9 NBC main loop diagram

表1 仿真参数

Table 1 Simulation parameters

$ A / \mathrm{m}^{2} $	0.813
$ A_{\mathrm{h}} / \mathrm{m}^{2}$	0.138 21
$ D / \mathrm{m}$	1.016
$ L_{\mathrm{pig}} / \mathrm{m}$	1.27
$ m / \mathrm{kg}$	26 000
$ V_{\mathrm{F}}(\mathrm{~m} / \mathrm{s})$	7.5
f	0.038
$ \rho\left(\mathrm{~kg} / \mathrm{m}^{3}\right)$	20
$ \mu$	0.2
$ g\left(\mathrm{~m} / \mathrm{s}^{2}\right)$	10

图10 外界干扰下的PID控制

Fig. 10 PID control under external disturbance

表2 仿真分析数值

Table 2 Simulation analysis data

a=1	b=1	$ P(s)=\frac{37.04}{1.41 s+8.31} $
a=2	b=2	$ P(s)=\frac{43.66}{2.82 s+8.31}$
a=3	b=3	$ P(s)=\frac{31.86}{4.23 s+8.31}$
a=4	b=4	$ P(s)=\frac{13.64}{5.64 s+8.31} $
a=5	b=5	$ P(s)=\frac{1}{7.05 s+8.31}$
a=6	b=6	$ P(s)=\frac{5.94}{8.46 s+8.31}$

图11 PID与NBC对比控制回路图

Fig. 11 PID and NBC comparison control loop diagram

图12 PID与NBC的控制响应对比

Fig. 12 Comparison of control responses between PID and NBC

图13 在倾斜管道下的清管器速度控制

Fig. 13 Speed control of PIG in inclined pipeline

图14 在倾斜管道下的清管器位移控制

Fig. 14 Displacement control of PIG in inclined pipeline

图15 在倾斜管道下的清管器阀门开度控制

Fig. 15 Valve opening control of PIG in inclined pipeline

图16 在倾斜管道下的清管器摩擦力方向控制

Fig. 16 Friction direction control of PIG in inclined pipeline

图17 在弯曲管道下的清管器速度控制

Fig. 17 Speed control of PIG in curved pipeline

图18 在弯曲管道下的清管器位移控制

Fig. 18 Displacement control of PIG in curved pipeline

图19 在弯曲管道下的清管器阀门开度控制

Fig. 19 Valve opening control of PIG in curved pipeline

图20 在弯曲管道下的清管器摩擦力方向控制

Fig. 20 Friction direction control of PIG in curved pipeline

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