【作者】 王伟；

【导师】 温凯；

【作者基本信息】 中国石油大学(北京) ， 油气储运工程， 2023， 硕士

【摘要】 随着天然气能源地位的不断提升,天然气泄漏安全工作也随之受到越来越多的关注。其中气体泄漏分布重建任务是重点之一。在天然气泄漏情况下,及时准确的重建空间天然气浓度分布对应急抢险与保障人民安全有着重要意义。借助于旋翼无人机的空中快速响应优势以及激光检测技术的高灵敏度、高精度、大范围的特点,本文提出一种基于无人机搭载加激光甲烷传感器探测的天然气三维浓度分布重建的框架。通过对三维空间天然气浓度数据非接触性采集,利用浓度重建方法,实现三维气体空间浓度分布的全局表征。最后利用高斯烟羽模型作为仿真模型进行仿真实验来进行重建方法的验证分析工作,并在分输站场进行实际应用测试。论文主要研究内容和成果包含以下几点:(1)研究了可调谐激光吸收光谱技术(TDLAS)基本原理及相关参数,阐述了基于激光检测数据的浓度反演方法;研究了二维重建算法中的迭代重建算法与解析重建算法的基本理论,进行了相关理论的推导,对多种迭代重建方法进行了效果比较。利用分布模型对几种算法进行了平均相对误差以及相对时间的对比,并分析归纳了影响气体浓度分布重建的相关因素;(2)提出了三维气体分布的重建方法。通过方法比较选择了ART算法进行二维平面的气体浓度分布重建,将激光光路的线平均浓度转化成空间点坐标对应的点浓度数据。然后高斯过程与ART算法进行数据对接,利用ART算法的输出数据进行三维空间气体分布的模型计算,最终得到泄漏空间气体浓度三维分布。基于重建算法对输入数据的要求,进行了实际无人机测量路径的设计,无人机能够高效快速的采集到高质量的激光光路浓度数据;(3)针对天然气泄漏扩散场景进行了仿真模拟实验,利用模拟的气体浓度场对提出的重建算法进行了验证分析。通过改变激光数量以及激光角度和平面数量,分析了三者对重建效果的影响,最终满足了现场气体测量误差的要求,并实现了三维的全局重建空间以及人体最大可接触浓度值的表征;(4)集成了无人机搭载激光甲烷传感器的重建系统,实现了实际数据到终端应用进行气体分布重建的数据传输过程以及终端应用发送无人机指令控制无人机飞行的传输过程。之后进行了集成算法的无人机重建系统测试应用,测试结果误差在20%左右。最后研究了事故应急的工作程序。更多还原

【Abstract】 With the increasing status of natural gas as an energy source,more and more attention has been paid to the safety of natural gas leakage.The reconstruction of gas leakage distribution is one of the key tasks.In the case of natural gas leakage,timely and accurate reconstruction of spatial gas concentration distribution is of great significance for emergency rescue and protection of people’s safety.Based on the advantages of rapid response in the air of UAV and the characteristics of high sensitivity,high precision and large range of laser detection technology,this paper proposes a framework for the reconstruction of 3D concentration distribution of natural gas based on the detection of methane sensor mounted on UAV and laser.Through the non-contact collection of 3D gas concentration data,the global characterization of 3D gas concentration distribution is realized by using the twolayer concentration reconstruction method.Finally,the Gaussian plume model is used as the simulation model to verify the reconstruction method.(1)The basic principle and related parameters of tunable laser absorption spectroscopy(TDLAS)are studied,and the concentration inversion method based on laser detection data is described.The basic theories of the iterative reconstruction algorithm and the analytic reconstruction algorithm in the two-dimensional reconstruction algorithm are studied,the relevant theories are derived,and the effects of various iterative reconstruction methods are compared.The average relative error and relative time of the concentration algorithm are compared by the distribution model,and the relevant factors affecting the reconstruction of gas concentration distribution are analyzed and summarized.(2)A reconstruction method of three-dimensional gas distribution is proposed.By comparing the methods,ART algorithm was selected to reconstruct the gas concentration distribution in two-dimensional plane,and the average linear concentration of laser optical path was converted into the point concentration data corresponding to the spatial point coordinates.Then the Gauss process is connected with ART algorithm,and the output data of ART algorithm is used to calculate the model of gas distribution in three-dimensional space,and finally the threedimensional distribution of gas concentration in the leakage space is obtained.Based on the input data requirements of the reconstruction algorithm,the measurement path of the actual UAV is designed.The UAV can collect high quality laser route concentration data efficiently and quickly.(3)The simulation experiment is carried out for the gas leakage and diffusion scenario,and the reconstruction algorithm proposed is verified and analyzed for the simulated gas concentration field.By changing the number of lasers,the number of laser angles and the number of planes,the influence of the three on the reconstruction effect was analyzed.Finally,the requirements of field gas measurement error were satisfied,and the three-dimensional global reconstruction space and the characterization of the maximum contact concentration value of human body were realized.(4)It integrates the reconstruction system of the laser methane sensor mounted on the UAV to realize the data transmission process of gas distribution reconstruction from the actual data to the terminal application and the transmission process of the terminal application sending the UAV command to control the UAV flight.After that,the UAV reconstruction system with integrated algorithm is tested and applied,and the test result error is about 20%.Finally,the working procedure of accident emergency is studied.更多还原