NUMERIC SIMULATION OF A PIG

MOVE INSIDE SERVICE PIPES

Dr.-Ing. Max Suell Dutra
M.Sc. (e. c.) John Faber Archila Diaz
Robotics Laboratory
COPPE/UFRJ
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Index

LabRob Presentation
Problem Description
Methodology
Mathematical Models
Simulations
Conclusion
References

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Robotics Laboratory UFRJ

The Robotics Laboratory (LabRob) is part of the
postgraduate program in mechanical engineering
of Institute Alberto Luiz Coimbra of postgraduate
and investigation of engineering, COPPE/UFRJ,
is linked to the sector of the machine design and
is specialized in development of products in the
area of mechatronics.

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Robotics Laboratory
The LabRob works with kinematical and
dynamical analyses, virtual prototypes, technical
feasibility studies, design, construction and
testing of mechanical systems.

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Problem Description
The pipelines correspond to the veins and
arteries of our cities and industries.
Its use is universal and has records of first pipes
to 4000 B C.

Distribution of pipes in the world (Bueno, 2007)

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Problem Description
In the U.S. it is estimated that 80000
km of pipelines to be rehabilitated in
the next 9 years. In other countries
like Russia approximately 20% of oil
and gas pipelines are near the end
of life. In 15 years 50% of all
pipelines in the world come to the
end of its operation.
In Brazil it is estimated that there
are more than 30000 km of
pipelines buried.
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Problem Description
The maintenance of pipelines
is a part of the program of
integrity assurance, which are
based
on
data
from
inspections of service lines.
In case of buried pipelines
one of the main tools of
inspection
is
the
PIG
(Pipeline Inspection Gauge)
which is used for inspection,
maintenance, and is a
procedure standard for gas
and oil.

Integrity evaluation process of the threat of external corrosion

(Thomas et al., 2000)

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Problem Description
The PIGs have several purposes during the travel into
the pipeline, like: cleaning the pipe, removal of liquid,
separation of products and inspection, among others.
An operation with PIG demand the evaluation of various
operational parameters such as maximum and minimum
pressures and speed of movement of the pig during the
planning stage and keept certain limits during the
monitoring of the operation.

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Methodology

Methodology (ARCHILA et. al., 2008)

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Methodology
CFD Methodology used in this work
Mathematical Modeling
Kinematics
Fluid
PIG

Dynamics
Fluid
PIG

Solve equations system

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Mathematical Modeling
Kinematics.

OCENSA

MEDGAZ

OSPAR
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Mathematical Modeling
Kinematics

x ' ( c sin ) / 2 ( c sin ) / 2

i
r = y = ( c cos ) / 2 ( c cos ) / 2
d


c/b
c / b

t c sin

d + i )dt
(

2
x x0

y = y 0 + t c cos d + i dt
(
)
0
2
0

t c

d i ) dt
(

0
b

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Mathematical Modeling
Dynamics
Continuity equation

( Adx ) + ( AV ) dx = 0
t
x
0 Ddx

PA

Fluid compressibility (Isothermal)

1 d
1 dp
=
dt a 2 dt

A
dx
x
PA +

Change of pipe area

1 dA 1 A dP V A
=
+
A dt A P dt A s

P
P
V
V A
+V
+ c2
+ c2
=0
t
x
x
A x

( A ) dx
x

c = a /

= 1+

a2 D
t 'E

(1 )
2

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Mathematical Modeling
Dynamics
Fs = A
Friction
64
f =
Re

0 =

DV
dx
Dt

f
VV
8

5, 74
f = 0, 25 log D + 0,9
3, 7 Re

f = 3, 073 102 + 3,14 105 Re

Viscosity

0 Ddx

PA

= 0 exp c , P ( P P0 )

A
dx
x
PA +

dx

( A) dx
x

V
V
1 P f V V
+V
=

g sin
t
x
x 2 D

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Mathematical Modeling
Dynamics
Fx =
L=

d L L

dt x& x

1
mV 2 mgh
2

F = ( P P )A F
x

d2x
m 2 = ( P1 P2 ) A mg sin Fa
dt

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Simulations
Results

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Simulations
Results

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Simulations
Results

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Simulations
Results

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Simulations
Results

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Simulations
Results

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Conclusion
The solution of the mathematical modeling of
coupled nonlinear differential equations using the
finite differences in a rectangular grid, with
coordinates of time and position, was presented.
An algorithm to simulate movement of PIGs in
service
lines,
modelled
using
Matlab
environment, obtaining solutions for different
configurations of the pipelines under some
conditions of operation was developed and
presented.
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Conclusion
The results of the simulations show that the
pressure can achieve 1.3 times the operation
pressure. This fact shows the importance of the
effect analysis during the passage of PIGs in
service lines.
The maximum allowed pressure of operation
(PMOA) can be oversteped.
The minimum conditions of pressure generating
conditions for slack line flow, damaging the pipe
or decreasing its life can be achieved and must
be avoided.
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References
ARCHILA, J. F. D., DUTRA, M. S., 2008, Numeric
Simulation of a PIG move inside service pipes. In: 3rd
Latin American CFD Meeting Applied to Oil & Gas
Industry, Rio de Janeiro, Brasil.
ARCHILA, J. F. D., DUTRA, M. S., 2008, Pipelines
Inspection Robots. In: Rio Oil & Gas Expo and
Conference, Rio de Janeiro, Brasil.
ARCHILA, J. F. D., STUECK, A., DUTRA, M. S., 2008,
Robs para inspeo de linhas de servio. In: V
National Congress of Mechanical Engineering, Salvador,
Bahia, Brasil.

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References
AZEVEDO, L. F., BRAGA, A. M., NIECKELE, A. O.,
1997, Relatrio final Projeto e Simulao de
Deslocamento de PIGs, Departamento de Engenharia
Mecnica Pontifcia Universidade Catlica do Rio PUCRio, Rio de Janeiro, Brasil.
BUENO, A. H. S., 2007, Avaliao Integrada de
Mecanismos de Falha por Corroso em Dutos, Tese de
Doutorado, COPPE/UFRJ, Rio de Janeiro, Brasil.

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