Recent Developments in Speed Control System of Pipeline PIGs for Deepwater Pipeline Applications
Pipeline infrastructures normally represent high cost of investment and the pipeline must be free from risks that could cause environmental hazard and potential threats to personnel safety. Pipeline integrity such monitoring and management become very crucial to provide unimpeded transportation and avoiding unnecessary production deferment. Thus proper cleaning and inspection is the key to safe and reliable pipeline operation and plays an important role in pipeline integrity management program and has become a standard industry procedure. In view of this, understanding the motion (dynamic behavior), prediction and control of the PIG speed is important in executing pigging operation as it offers significant benefits, such as estimating PIG arrival time at receiving station, planning for suitable pigging operation, and improves efficiency of pigging tasks. The objective of this paper is to review recent developments in speed control system of pipeline PIGs. The review carried out would serve as an industrial application in a form of quick reference of recent developments in pipeline PIG speed control system, and further initiate others to add-in/update the list in the future leading to knowledge based data, and would attract active interest of others to share their view points.
[1] A.O. Nieckele , Braga A.M.B., and Azevedo L.F.A.," Transient pig
motion through gas and liquid pipelines", J. Energ. Resour. ASME 123,
pp. 260-269, 2001.Available:
http://scitation.aip.org/getpdf/servlet/GetPDFServlet?filetype=pdf&id=J
ERTD2000123000004000260000001&idtype=cvips&prog=normal
[2] T. T. Nguyen, S.B. Kim, H. R. Yoo, and Y. W. Rho, "Modeling and
simulation for pig flow control in natural gas pipeline", KSME Int. J.,
vol. 15, No 8, pp. 1165-1173,
2001.Available:http://www.springerlink.com/content/y033w4287h45616
4/fulltext.pdf
[3] T.T. Nguyen, H.R. Yoo, Y.W. Rho, And S.B. Kim, "Speed control of
pig using bypass flow in natural gas pipeline," Industrial Electronics,
2001. Proceedings. ISIE 2001. Presented at IEEE International
Symposium, vol. 2, no. 2, pp. 863-868, 2001.Available:
http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=931581
[4] T.T. Nguyen, D.K. Kim, S.B.Kim and Y.W. Rho, "Dynamic modeling
and its analysis for pig flow through curved section in natural gas
pipeline", Computational Intelligence In Robotics and Automation.
Presented at 2001 IEEE International Symposium, pp. 492- 497,
2001.Available:http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumbe
r=1013250
[5] L. A. Dykhno, J.D. Hudson, J.A. Harris, M.R. Seay, "Modeling of
pigging with production fluids in a single flowline ," OTC 14014-MS,
presented at Offshore Technology Conference, Houston, Texas, May
2002.Available:http://www.onepetro.org/mslib/app/?paperNumber=OT
C-14014-MS&societyCode=OTC
[6] D.K. Kim, S.H. Cho, S.S. Park, Y.W. Rho, H.R. Yoo, T.T. Nguyen and
S.B. Kim, "Verification of the theoretical model for analyzing dynamic
behavior of the pig from actual pigging ," KSME Int. J., vol. 17, no. 9,
pp. 1349 - 1357, 2003.Available:
http://www.springerlink.com/content/97193570g75v6502/fulltext.pdf
[7] X.X. Xu, and J. Gong., " Pigging simulation for horizontal gascondensate
pipelines with low-liquid loading", J. Pet. Sci. Eng. vol. 48
(3-4), pp.272-280, 2005.Available:
http://research.nigc.ir/files/Info_Res/Articles/86038AN_R27.pdf
[8] F. Esmaeilzadeh, D. Mowla, and M. Asemani, "Modeling of pig
operations in natural gas and liquid pipeline," SPE 102049-MS,
presented at SPE Annual Technical Conference and Exhibition, San
Antonio, Texas, USA, September
2006.Available:http://www.onepetro.org/mslib/app/?paperNumber=SPE
-102049-MS&societyCode=SPE
[9] R. Florian, "Optimizing the active speed control unit for in-line
inspection tools in gas-, IPC2006-10260 Proceedings of IPC 2006,
presented at 6th International Pipeline Conference, Calgary, Alberta,
Canada, September
2006.Available:http://www.roseninspection.net/MA/papers/IPC2006_Ac
tiveSpee Control.pdf
[10] S.M. Husseinalipour, A. Zarif Khalili, and A. Salami, "Numerical
simulation of pig motion through gas pipelines," presented at 16th
Australasian Fluid Mechanics Conference, Crown Plaza, Gold Coast,
Australia, December 2007.Available:
http://espace.library.uq.edu.au/eserv/UQ:121094/Hosseinalipour_afmc_
16_07.pdf
[11] S.T. Tolmasquim, and A.O. Nieckele, "Design and control of pig
through pipelines", Journal Of Petroleum Science And Engineering,
Elsevier, vol. 62, pp. 102-110, 2008.Available:
http://www.sciencedirect.com/science/article/pii/S0920410508000703)
[12] M. Saeidbakhsh, M. Rafeeyan, and S. Ziaei-Rad, "Dynamic analysis of
small pigs in space pipelines", Oil & Gas Science and Technology- rev.
IFP 64 (2), pp.155-164, 2009.Available:
http://ogst.ifpenergiesnouvelles.fr/index.php?option=com_article&acces
s=standard&Itemid=129&url=/articles/ogst/pdf/2009/02/ogst08005.pdf
[13] F. Esmaeilzadeh, D. Mowla, M. Asemani ,"Mathematical modeling and
simulation of pigging operation in gas and liquid pipelines", Journal of
Petroleum Science and Engineering, vol. 69, pp.100-106,
2009.Available:
http://www.sciencedirect.com/science/article/pii/S0920410509001703
[14] J.Y. Li, S.Y. Jiang, Y. Wang, L. M. Ren and X.H. Gao, ÔÇÿ- Study on
speed control system of in-pipe robot power self-supported by fluid",
Proceedings of the 2009, presented at IEEE International Conference on
Mechatronics and Automation, Changchun, China, August
2009.Available:
http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=5246682
[15] E. Appleton, and N.W. Stutchbury, " Novel brush drive robotic tractor
for sewer and water main inspection and maintenance", Industrial Robot:
An International Journal, vol. 27, Iss: 5, pp.370 - 377, 2000.Available:
http://www.emeraldinsight.com/journals.htm?articleid=1454211
[16] C. R. Torres Jr.,Paul T. Manzak; Jack E. Miller, Houston TX (US),"
Variable speed pig for pipeline application", US Patent 6,370,721 B1,
April 2002.Available:
http://www.patentstorm.us/patents/6370721/description.html
[17] U. Thuenemann, and J. W. Kuipers, " The development of a new single
section intelligent inspection tool designed to provide active speed
control", APIA Company Member News, 2003.Available:
http://www.Roseninspection.Net/MA/Articles/Australianpipeliner_2003
-08.pdf
[18] Z. Wang, and H. Gu, "A Bristle-based pipeline robot for ill-constraint
pipes", IEEE/ASME Transactions On Mechatronics, vol. 13, no. 3, June
2008.Available:http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumbe
r=4542815
[19] S.D'Arcy, B. Newman, G. Broze., "A contraflow tetherless mechanical
pipeline crawler", presented at OTC 15259-MS, Offshore Technology
Conference, Houston, Texas, May
2003.Available:http://www.onepetro.org/mslib/app/?paperNumber=OT
C-15259-MS&societyCode=OTC
[20] Z. Hu and E. Appleton, "Dynamic characteristics of a novel self-drive
pipeline pig," IEEE Transactions On Robotics, vol. 21, pp. 781-789,
2005.Available.http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumbe
r=1512338
[21] B. Stoltze," A new pipeline cleaning technology: hydraulically activated
power pigging (HAAP TM), presented at PPSA Aberdeen Seminar,
2007.Available: http://www.ppsa-online.com/papers/2007-8-Stoltze.pdf
[22] D. Feng, J. Liu, S. Li, P. Wang, K. Zhou, C. Huang, " Research on
obstacle avoidance based on fuzzy control for inspection robot in oil
pipeline", Proceedings of the 2009 IEEE, presented at International
Conference on Information and Automation , Zhuhai/Macau, China,
June 2009.Available:
http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=5204918
[23] Q. Pan, S. Guo, and T. Okada," Mechanism and control of a spiral type
microrobot", Proceedings of the 2010 IEEE, presented at International
Conference on Information and Automation, Harbin, China, June
2010.Available:http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumbe
r=5512476
[24] T. Beuker, S. Brockhaus, R. Ahlbrink1, and M. McGee, " Addressing
challenging environments -advanced in-line inspection solutions for gas
pipelines", 2009.Available:
http://www.igu.org/html/wgc2009/papers/docs/wgcfinal100656.pdf
[1] A.O. Nieckele , Braga A.M.B., and Azevedo L.F.A.," Transient pig
motion through gas and liquid pipelines", J. Energ. Resour. ASME 123,
pp. 260-269, 2001.Available:
http://scitation.aip.org/getpdf/servlet/GetPDFServlet?filetype=pdf&id=J
ERTD2000123000004000260000001&idtype=cvips&prog=normal
[2] T. T. Nguyen, S.B. Kim, H. R. Yoo, and Y. W. Rho, "Modeling and
simulation for pig flow control in natural gas pipeline", KSME Int. J.,
vol. 15, No 8, pp. 1165-1173,
2001.Available:http://www.springerlink.com/content/y033w4287h45616
4/fulltext.pdf
[3] T.T. Nguyen, H.R. Yoo, Y.W. Rho, And S.B. Kim, "Speed control of
pig using bypass flow in natural gas pipeline," Industrial Electronics,
2001. Proceedings. ISIE 2001. Presented at IEEE International
Symposium, vol. 2, no. 2, pp. 863-868, 2001.Available:
http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=931581
[4] T.T. Nguyen, D.K. Kim, S.B.Kim and Y.W. Rho, "Dynamic modeling
and its analysis for pig flow through curved section in natural gas
pipeline", Computational Intelligence In Robotics and Automation.
Presented at 2001 IEEE International Symposium, pp. 492- 497,
2001.Available:http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumbe
r=1013250
[5] L. A. Dykhno, J.D. Hudson, J.A. Harris, M.R. Seay, "Modeling of
pigging with production fluids in a single flowline ," OTC 14014-MS,
presented at Offshore Technology Conference, Houston, Texas, May
2002.Available:http://www.onepetro.org/mslib/app/?paperNumber=OT
C-14014-MS&societyCode=OTC
[6] D.K. Kim, S.H. Cho, S.S. Park, Y.W. Rho, H.R. Yoo, T.T. Nguyen and
S.B. Kim, "Verification of the theoretical model for analyzing dynamic
behavior of the pig from actual pigging ," KSME Int. J., vol. 17, no. 9,
pp. 1349 - 1357, 2003.Available:
http://www.springerlink.com/content/97193570g75v6502/fulltext.pdf
[7] X.X. Xu, and J. Gong., " Pigging simulation for horizontal gascondensate
pipelines with low-liquid loading", J. Pet. Sci. Eng. vol. 48
(3-4), pp.272-280, 2005.Available:
http://research.nigc.ir/files/Info_Res/Articles/86038AN_R27.pdf
[8] F. Esmaeilzadeh, D. Mowla, and M. Asemani, "Modeling of pig
operations in natural gas and liquid pipeline," SPE 102049-MS,
presented at SPE Annual Technical Conference and Exhibition, San
Antonio, Texas, USA, September
2006.Available:http://www.onepetro.org/mslib/app/?paperNumber=SPE
-102049-MS&societyCode=SPE
[9] R. Florian, "Optimizing the active speed control unit for in-line
inspection tools in gas-, IPC2006-10260 Proceedings of IPC 2006,
presented at 6th International Pipeline Conference, Calgary, Alberta,
Canada, September
2006.Available:http://www.roseninspection.net/MA/papers/IPC2006_Ac
tiveSpee Control.pdf
[10] S.M. Husseinalipour, A. Zarif Khalili, and A. Salami, "Numerical
simulation of pig motion through gas pipelines," presented at 16th
Australasian Fluid Mechanics Conference, Crown Plaza, Gold Coast,
Australia, December 2007.Available:
http://espace.library.uq.edu.au/eserv/UQ:121094/Hosseinalipour_afmc_
16_07.pdf
[11] S.T. Tolmasquim, and A.O. Nieckele, "Design and control of pig
through pipelines", Journal Of Petroleum Science And Engineering,
Elsevier, vol. 62, pp. 102-110, 2008.Available:
http://www.sciencedirect.com/science/article/pii/S0920410508000703)
[12] M. Saeidbakhsh, M. Rafeeyan, and S. Ziaei-Rad, "Dynamic analysis of
small pigs in space pipelines", Oil & Gas Science and Technology- rev.
IFP 64 (2), pp.155-164, 2009.Available:
http://ogst.ifpenergiesnouvelles.fr/index.php?option=com_article&acces
s=standard&Itemid=129&url=/articles/ogst/pdf/2009/02/ogst08005.pdf
[13] F. Esmaeilzadeh, D. Mowla, M. Asemani ,"Mathematical modeling and
simulation of pigging operation in gas and liquid pipelines", Journal of
Petroleum Science and Engineering, vol. 69, pp.100-106,
2009.Available:
http://www.sciencedirect.com/science/article/pii/S0920410509001703
[14] J.Y. Li, S.Y. Jiang, Y. Wang, L. M. Ren and X.H. Gao, ÔÇÿ- Study on
speed control system of in-pipe robot power self-supported by fluid",
Proceedings of the 2009, presented at IEEE International Conference on
Mechatronics and Automation, Changchun, China, August
2009.Available:
http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=5246682
[15] E. Appleton, and N.W. Stutchbury, " Novel brush drive robotic tractor
for sewer and water main inspection and maintenance", Industrial Robot:
An International Journal, vol. 27, Iss: 5, pp.370 - 377, 2000.Available:
http://www.emeraldinsight.com/journals.htm?articleid=1454211
[16] C. R. Torres Jr.,Paul T. Manzak; Jack E. Miller, Houston TX (US),"
Variable speed pig for pipeline application", US Patent 6,370,721 B1,
April 2002.Available:
http://www.patentstorm.us/patents/6370721/description.html
[17] U. Thuenemann, and J. W. Kuipers, " The development of a new single
section intelligent inspection tool designed to provide active speed
control", APIA Company Member News, 2003.Available:
http://www.Roseninspection.Net/MA/Articles/Australianpipeliner_2003
-08.pdf
[18] Z. Wang, and H. Gu, "A Bristle-based pipeline robot for ill-constraint
pipes", IEEE/ASME Transactions On Mechatronics, vol. 13, no. 3, June
2008.Available:http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumbe
r=4542815
[19] S.D'Arcy, B. Newman, G. Broze., "A contraflow tetherless mechanical
pipeline crawler", presented at OTC 15259-MS, Offshore Technology
Conference, Houston, Texas, May
2003.Available:http://www.onepetro.org/mslib/app/?paperNumber=OT
C-15259-MS&societyCode=OTC
[20] Z. Hu and E. Appleton, "Dynamic characteristics of a novel self-drive
pipeline pig," IEEE Transactions On Robotics, vol. 21, pp. 781-789,
2005.Available.http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumbe
r=1512338
[21] B. Stoltze," A new pipeline cleaning technology: hydraulically activated
power pigging (HAAP TM), presented at PPSA Aberdeen Seminar,
2007.Available: http://www.ppsa-online.com/papers/2007-8-Stoltze.pdf
[22] D. Feng, J. Liu, S. Li, P. Wang, K. Zhou, C. Huang, " Research on
obstacle avoidance based on fuzzy control for inspection robot in oil
pipeline", Proceedings of the 2009 IEEE, presented at International
Conference on Information and Automation , Zhuhai/Macau, China,
June 2009.Available:
http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=5204918
[23] Q. Pan, S. Guo, and T. Okada," Mechanism and control of a spiral type
microrobot", Proceedings of the 2010 IEEE, presented at International
Conference on Information and Automation, Harbin, China, June
2010.Available:http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumbe
r=5512476
[24] T. Beuker, S. Brockhaus, R. Ahlbrink1, and M. McGee, " Addressing
challenging environments -advanced in-line inspection solutions for gas
pipelines", 2009.Available:
http://www.igu.org/html/wgc2009/papers/docs/wgcfinal100656.pdf
@article{"International Journal of Mechanical, Industrial and Aerospace Sciences:60608", author = "Mohamad Azmi Haniffa and Fakhruldin Mohd Hashim", title = "Recent Developments in Speed Control System of Pipeline PIGs for Deepwater Pipeline Applications", abstract = "Pipeline infrastructures normally represent high cost of investment and the pipeline must be free from risks that could cause environmental hazard and potential threats to personnel safety. Pipeline integrity such monitoring and management become very crucial to provide unimpeded transportation and avoiding unnecessary production deferment. Thus proper cleaning and inspection is the key to safe and reliable pipeline operation and plays an important role in pipeline integrity management program and has become a standard industry procedure. In view of this, understanding the motion (dynamic behavior), prediction and control of the PIG speed is important in executing pigging operation as it offers significant benefits, such as estimating PIG arrival time at receiving station, planning for suitable pigging operation, and improves efficiency of pigging tasks. The objective of this paper is to review recent developments in speed control system of pipeline PIGs. The review carried out would serve as an industrial application in a form of quick reference of recent developments in pipeline PIG speed control system, and further initiate others to add-in/update the list in the future leading to knowledge based data, and would attract active interest of others to share their view points.
", keywords = "Pipeline Inspection Gauge (PIG), In Line Inspection
Tools (ILI), PIG motion, PIG speed control system", volume = "6", number = "2", pages = "487-4", }
