CN111967189B - Fault diagnosis method and system for offshore oil underwater production system driven by digital twin - Google Patents
Fault diagnosis method and system for offshore oil underwater production system driven by digital twinDownload PDFInfo
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Abstract
Translated fromChinese
Description
Translated fromChinese技术领域technical field
本发明属于石油工程领域，具体地，涉及一种数字孪生驱动的海洋石油水下生产系统故障诊断方法及系统。The invention belongs to the field of petroleum engineering, and in particular relates to a fault diagnosis method and system for an offshore oil underwater production system driven by a digital twin.
背景技术Background technique
水下生产系统是开采深水油气田的关键设施之一,在世界各地的深水油气田开发中得到了广泛的应用。水下生产系统主要由水下井口头、采油树、跨接管、海底管线、脐带缆和控制系统等组成，通过控制系统的远程操控，可以将油气井采出的油气从海底输送到依托设备或陆上终端。水下生产系统不仅能够提高采收率、解决油井产出物处理和输送等问题，而且受海平面环境的影响较小，能够适用于深水或超深水油气开发，因此备受关注并得到蓬勃发展。Subsea production system is one of the key facilities for the exploitation of deepwater oil and gas fields, and has been widely used in the development of deepwater oil and gas fields all over the world. The underwater production system is mainly composed of underwater wellhead, Christmas tree, jumper, submarine pipeline, umbilical cable and control system. Through the remote control of the control system, the oil and gas produced by the oil and gas well can be transported from the seabed to the supporting equipment or land. on the terminal. Subsea production systems can not only improve oil recovery, solve problems such as oil well production processing and transportation, but also have less impact on the sea level environment and can be suitable for deepwater or ultra-deepwater oil and gas development, so they have attracted much attention and developed vigorously. .
水下生产系统结构复杂，工作环境恶劣，一旦发生故障，将造成巨大的经济损失和严重的环境污染。由于水下生产系统位于深水海底，通常采用水下机器人或整体提升等方式进行诊断定位故障，操作难度大，成本花费高。数字孪生技术充分利用物理模型、传感器更新、运行历史等数据，在虚拟空间中完成映射，反映相对应的实体装备的全生命周期过程，从而可以有效提升水下生产系统监测效率，提高故障诊断准确率。因此，亟需一种数字孪生驱动的海洋石油水下生产系统故障诊断方法及系统。The underwater production system has a complex structure and harsh working environment. Once it fails, it will cause huge economic losses and serious environmental pollution. Since the underwater production system is located in the deep seabed, the diagnosis and location of faults are usually carried out by means of underwater robots or overall lifting, which is difficult to operate and expensive. The digital twin technology makes full use of the physical model, sensor update, operation history and other data to complete the mapping in the virtual space, reflecting the whole life cycle process of the corresponding physical equipment, which can effectively improve the monitoring efficiency of the underwater production system and improve the accuracy of fault diagnosis. Rate. Therefore, there is an urgent need for a digital twin-driven fault diagnosis method and system for offshore oil underwater production systems.
发明内容SUMMARY OF THE INVENTION
为克服现有技术存在的缺陷，本发明提供一种数字孪生驱动的海洋石油水下生产系统故障诊断方法及系统。In order to overcome the defects existing in the prior art, the present invention provides a fault diagnosis method and system for an offshore oil underwater production system driven by a digital twin.
为实现上述目的，如图1所示，数字孪生驱动的海洋石油水下生产系统故障诊断方法，包含三个步骤：数字孪生体建立、数字孪生体跟踪与更新和故障诊断推理模型建立。In order to achieve the above purpose, as shown in Figure 1, the digital twin-driven fault diagnosis method of offshore oil subsea production system includes three steps: establishment of a digital twin, tracking and updating of the digital twin, and establishment of a fault diagnosis inference model.
数字孪生体建立的具体步骤为：The specific steps for establishing a digital twin are:
S101：针对海洋石油水下生产系统硬件设备，建立其几何模型；S101: Establish a geometric model for the hardware equipment of the offshore oil underwater production system;
S102：建立海洋石油水下生产系统物理模型；S102: Establish a physical model of the offshore oil underwater production system;
S103：基于海洋石油水下生产系统物理模型，建立海洋石油水下生产系统生产行为模型。S103: Based on the physical model of the offshore oil underwater production system, establish a production behavior model of the offshore oil underwater production system.
数字孪生体跟踪与更新的具体步骤为：The specific steps for digital twin tracking and updating are:
S201：读取海洋石油水下生产系统的系统状态数据；S201: Read the system status data of the offshore oil underwater production system;
S202：根据读取的海洋石油水下生产系统的系统状态数据和生产行为模型，对海洋石油水下生产系统的系统逻辑进行分析，模拟生产流程和系统响应，生成海洋石油水下生产系统数字孪生模拟数据；S202: According to the read system status data and production behavior model of the offshore oil underwater production system, analyze the system logic of the offshore oil underwater production system, simulate the production process and system response, and generate a digital twin of the offshore oil underwater production system simulated data;
S203：通过布置在水下的位置传感器，温度传感器，加速度传感器，振动传感器，声发射传感器和水下水听器，采集海洋石油水下生产系统位置信号、温度信号、加速度信号、振动信号、表面声波信号和水下声音信号；S203: Collect position signal, temperature signal, acceleration signal, vibration signal, surface acoustic wave of offshore oil underwater production system through position sensor, temperature sensor, acceleration sensor, vibration sensor, acoustic emission sensor and hydrophone arranged underwater Signals and underwater sound signals;
S204：对振动信号，表面声波信号和水下声音信号进行小波变换；S204: Perform wavelet transform on vibration signals, surface acoustic wave signals and underwater sound signals;
S205：将海洋石油水下生产系统数字孪生模拟数据和海洋石油水下生产系统传感器数据匹配到海洋石油水下生产系统数字孪生体中，将海洋石油水下生产系统数字孪生体历史数据上传到数据库中，然后，对海洋石油水下生产系统数字孪生体中相匹配数据进行更新；S205: Match the digital twin simulation data of the offshore oil underwater production system and the sensor data of the offshore oil underwater production system to the digital twin of the offshore oil underwater production system, and upload the historical data of the digital twin of the offshore oil underwater production system to the database , and then update the matching data in the digital twin of the offshore oil underwater production system;
S206：将S205更新后的海洋石油水下生产系统数字孪生体与计算机仿真计算结果进行对比，计算二者的偏差，利用扩展卡尔曼滤波算法对数字孪生体内部参数进行调整和修正，从而获得能够实时同步的海洋石油水下生产系统数字孪生体。S206: Compare the digital twin of the offshore oil underwater production system updated in S205 with the computer simulation results, calculate the deviation between the two, and use the extended Kalman filter algorithm to adjust and correct the internal parameters of the digital twin, so as to obtain a Real-time synchronized digital twin of offshore oil underwater production system.
故障诊断推理模型建立的具体步骤为：The specific steps for establishing the fault diagnosis inference model are as follows:
S301：基于海洋石油水下生产系统数字孪生体提取故障特征；S301: Extract fault features based on digital twin of offshore oil underwater production system;
S302：海洋石油水下生产系统故障诊断推理贝叶斯网路结构模型，由故障特征值层和故障层组成；S302: Bayesian network structure model for fault diagnosis and reasoning of offshore oil underwater production system, which is composed of fault eigenvalue layer and fault layer;
S303：基于海洋石油水下生产系统数字孪生体建立故障诊断推理贝叶斯网路参数模型，获得故障层节点的故障概率；S303: Establish a Bayesian network parameter model for fault diagnosis and reasoning based on the digital twin of the offshore oil underwater production system, and obtain the fault probability of the nodes in the fault layer;
S304：依据如下故障识别准则规则判断各组件是否处于故障状态。S304: Determine whether each component is in a fault state according to the following fault identification criterion rules.
数字孪生驱动的海洋石油水下生产系统故障诊断系统，包含七个部分：数据收集与分析子系统、水上控制模块数据采集与处理子系统、液压动力单元数据采集与处理子系统、电力动力单元数据采集与处理子系统、水下控制模块数据采集与处理子系统、水下控制模块电子模块组数据采集与处理子系统和水下采油树数据采集与处理子系统。The fault diagnosis system of offshore oil subsea production system driven by digital twin includes seven parts: data acquisition and analysis subsystem, data acquisition and processing subsystem of water control module, hydraulic power unit data acquisition and processing subsystem, electric power unit data Acquisition and processing subsystem, underwater control module data acquisition and processing subsystem, underwater control module electronic module group data acquisition and processing subsystem and underwater Christmas tree data acquisition and processing subsystem.
数据收集与分析子系统，包括光电转换模块、故障显示与报警模块、故障推理与诊断模块、数字孪生体生成与更新模块。Data collection and analysis subsystem, including photoelectric conversion module, fault display and alarm module, fault reasoning and diagnosis module, digital twin generation and update module.
水上控制模块数据采集与处理子系统，包括水上控制模块光电转换模块、水上控制模块数据处理模块和水上控制模块数据采集模块。The data acquisition and processing subsystem of the water control module includes the photoelectric conversion module of the water control module, the data processing module of the water control module and the data acquisition module of the water control module.
液压动力单元数据采集与处理子系统，包括液压动力单元光电转换模块、液压动力单元数据处理模块、液压动力单元液压模块第一数据采集模块、液压动力单元电控模块数据采集模块和液压动力单元液压第二模块数据采集模块。Hydraulic power unit data acquisition and processing subsystem, including hydraulic power unit photoelectric conversion module, hydraulic power unit data processing module, hydraulic power unit hydraulic module first data acquisition module, hydraulic power unit electronic control module data acquisition module and hydraulic power unit hydraulic The second module is a data acquisition module.
电力动力单元数据采集与处理子系统，包括电力动力单元光电转换模块、电力动力单元数据处理模块、通信调制解调器数据采集模块、滤波器数据采集模块和电力耦合器数据采集模块。The electric power unit data acquisition and processing subsystem includes the electric power unit photoelectric conversion module, the electric power unit data processing module, the communication modem data acquisition module, the filter data acquisition module and the power coupler data acquisition module.
水下控制模块数据采集与处理子系统，包括水下控制模块光电转换模块、水下控制模块数据处理模块和水下控制模块数据采集模块。The underwater control module data acquisition and processing subsystem includes the underwater control module photoelectric conversion module, the underwater control module data processing module and the underwater control module data acquisition module.
水下控制模块电子模块组数据采集与处理子系统，包括水下控制模块电子模块组光电转换模块、水下控制模块电子模块组数据处理模块和水下控制模块电子模块组数据采集模块。The underwater control module electronic module group data acquisition and processing subsystem includes the underwater control module electronic module group photoelectric conversion module, the underwater control module electronic module group data processing module and the underwater control module electronic module group data acquisition module.
水下采油树数据采集与处理子系统，包括水下采油树光电转换模块、水下采油树数据处理模块、水下采油树振动传感器组、水下采油树声发射传感器组、水下采油树水听器传感器组、水下采油树光纤腐蚀传感器组和水下采油树压力传感器组。Subsea tree data acquisition and processing subsystem, including underwater tree photoelectric conversion module, underwater tree data processing module, underwater tree vibration sensor group, underwater tree acoustic emission sensor group, underwater tree water Hearing sensor group, subsea tree fiber optic corrosion sensor group and subsea tree pressure sensor group.
相对于现有技术，本发明的有效增益效果是：数字孪生驱动的海洋石油水下生产系统故障诊断方法及系统，其功能不仅包含海洋石油水下生产系统本身的系统故障和元件失效的诊断，而且还包含采油树体的泄漏与裂纹缺陷的检测，确保了海洋石油水下生产系统的生产安全；通过建立海洋石油水下生产系统数字孪生体，从多源信息中提取故障征兆，用于智能化综合故障诊断，具有很高的故障诊断准确度。Compared with the prior art, the effective gain effect of the present invention is: the fault diagnosis method and system of the offshore oil underwater production system driven by the digital twin, its function not only includes the diagnosis of the system fault and the component failure of the offshore oil underwater production system itself, It also includes the detection of leakage and crack defects of the Christmas tree to ensure the production safety of the offshore oil underwater production system; by establishing a digital twin of the offshore oil underwater production system, fault symptoms are extracted from multi-source information for intelligent Comprehensive fault diagnosis, with high fault diagnosis accuracy.
附图说明Description of drawings
图1是数字孪生驱动的海洋石油水下生产系统故障诊断方法示意图Figure 1 is a schematic diagram of the fault diagnosis method of the offshore oil underwater production system driven by digital twin
图2是数字孪生驱动的海洋石油水下生产系统故障诊断结构模型示意图Figure 2 is a schematic diagram of the fault diagnosis structure model of the offshore oil underwater production system driven by digital twin
图3是海洋石油水下生产系统示意图Figure 3 is a schematic diagram of the offshore oil underwater production system
图4是数字孪生驱动的海洋石油水下生产系统故障诊断系统示意图Figure 4 is a schematic diagram of the fault diagnosis system of the offshore oil underwater production system driven by digital twin
图中，101、水上控制模块，102、不间断电源，103、主控站，104、电力单元，105、通信单元，106、液压动力单元，107、液压动力单元第一液压模块，108、液压动力单元第二液压模块，109、液压动力单元电控模块，110、液压动力单元第三液压模块，111、液压动力单元第四液压模块，112、电力动力单元，113、第二通信调制解调器，114、第一通信调制解调器，115、第二滤波器，116、第一滤波器，117、第二电力耦合器，118、第一电力耦合器，119、水下控制模块，120、水下控制模块换向阀组，121、第一换向阀，122、第二换向阀，123、第三换向阀，124、第四换向阀，125、第五换向阀，126、水下控制模块电子模块组，127、第三水下电子模块，128、第二水下电子模块，129、第一水下电子模块，130、水下采油树，131、水下采油树液压阀组，132、第一液压阀，133、第二液压阀，134、第三液压阀，135、第四液压阀，136、第五液压阀，137、水下采油树机械部分组，138、采油树树帽，139、采油树树体，201、数据收集与分析子系统，202、光电转换模块，203、故障显示与报警模块，204、故障推理与诊断模块，205、数字孪生体生成与更新模块，206、水上控制模块数据采集与处理子系统，207、水上控制模块光电转换模块，208、水上控制模块数据处理模块，209、水上控制模块数据采集模块，210、液压动力单元数据采集与处理子系统，211、液压动力单元光电转换模块，212、液压动力单元数据处理模块，213、液压动力单元液压模块第一数据采集模块，214、液压动力单元电控模块数据采集模块，215、液压动力单元液压第二模块数据采集模块，216、电力动力单元数据采集与处理子系统，217、电力动力单元光电转换模块，218、电力动力单元数据处理模块，219、通信调制解调器数据采集模块，220、滤波器数据采集模块，221、电力耦合器数据采集模块，222、水下控制模块数据采集与处理子系统，223、水下控制模块光电转换模块，224、水下控制模块数据处理模块，225、水下控制模块数据采集模块，226、水下控制模块电子模块组数据采集与处理子系统，227、水下控制模块电子模块组光电转换模块，228、水下控制模块电子模块组数据处理模块，229、水下控制模块电子模块组数据采集模块，230、水下采油树数据采集与处理子系统，231、水下采油树光电转换模块，232、水下采油树数据处理模块，233、水下采油树振动传感器组，234、水下采油树声发射传感器组，235、水下采油树水听器传感器组，236、水下采油树光纤腐蚀传感器组，237、水下采油树压力传感器组。In the figure, 101, water control module, 102, uninterruptible power supply, 103, main control station, 104, power unit, 105, communication unit, 106, hydraulic power unit, 107, first hydraulic module of hydraulic power unit, 108, hydraulic Power Unit Second Hydraulic Module, 109, Hydraulic Power Unit Electronic Control Module, 110, Hydraulic Power Unit Third Hydraulic Module, 111, Hydraulic Power Unit Fourth Hydraulic Module, 112, Electric Power Unit, 113, Second Communication Modem, 114 , the first communication modem, 115, the second filter, 116, the first filter, 117, the second power coupler, 118, the first power coupler, 119, the underwater control module, 120, the underwater control module Reversing valve group, 121, first reversing valve, 122, second reversing valve, 123, third reversing valve, 124, fourth reversing valve, 125, fifth reversing valve, 126, subsea control module Electronic Module Group, 127, Third Subsea Electronic Module, 128, Second Subsea Electronic Module, 129, First Subsea Electronic Module, 130, Subsea Christmas Tree, 131, Subsea Christmas Tree Hydraulic Valve Group, 132, 1st hydraulic valve, 133, 2nd hydraulic valve, 134, 3rd hydraulic valve, 135, 4th hydraulic valve, 136, 5th hydraulic valve, 137, subsea tree mechanical part group, 138, tree cap, 139. Christmas tree tree, 201, Data collection and analysis subsystem, 202, Photoelectric conversion module, 203, Fault display and alarm module, 204, Fault reasoning and diagnosis module, 205, Digital twin generation and update module, 206, Water Control Module Data Acquisition and Processing Subsystem, 207, Water Control Module Photoelectric Conversion Module, 208, Water Control Module Data Processing Module, 209, Water Control Module Data Acquisition Module, 210, Hydraulic Power Unit Data Acquisition and Processing Subsystem, 211 , hydraulic power unit photoelectric conversion module, 212, hydraulic power unit data processing module, 213, hydraulic power unit hydraulic module first data acquisition module, 214, hydraulic power unit electronic control module data acquisition module, 215, hydraulic power unit hydraulic second Module Data Acquisition Module, 216, Power Power Unit Data Collection and Processing Subsystem, 217, Power Power Unit Photoelectric Conversion Module, 218, Power Power Unit Data Processing Module, 219, Communication Modem Data Collection Module, 220, Filter Data Collection Module , 221, power coupler data acquisition module, 222, underwater control module data acquisition and processing subsystem, 223, underwater control module photoelectric conversion module, 224, underwater control module data processing module, 225, underwater control module data Acquisition Module, 226, Submarine Control Module Electronic Module Group Data Acquisition and Processing Subsystem, 227, Submarine Control Module Electronic Module Group Photoelectric Conversion Module, 228, Submarine Control Module Electronic Module Group Data Processing Module, 229, Subsea Control Module Electronics Module Group Data Acquisition Module, 2 30. Subsea Christmas Tree Data Acquisition and Processing Subsystem, 231, Subsea Christmas Tree Photoelectric Conversion Module, 232, Subsea Christmas Tree Data Processing Module, 233, Subsea Christmas Tree Vibration Sensor Group, 234, Subsea Christmas Tree Sound Transmitting sensor group, 235, underwater Christmas tree hydrophone sensor group, 236, underwater Christmas tree optical fiber corrosion sensor group, 237, underwater Christmas tree pressure sensor group.
具体实施方式Detailed ways
如图1所示，数字孪生驱动的海洋石油水下生产系统故障诊断方法，包含三个步骤：数字孪生体建立、数字孪生体跟踪与更新和故障诊断推理模型建立。As shown in Figure 1, the digital twin-driven fault diagnosis method for offshore oil underwater production system includes three steps: digital twin establishment, digital twin tracking and updating, and fault diagnosis inference model establishment.
数字孪生体建立的具体步骤为：The specific steps for establishing a digital twin are:
S101：针对海洋石油水下生产系统硬件设备，建立其几何模型，该模型包括装备的外形特征，尺寸特征，结构特征和装配关系；S101: Establish a geometric model for the hardware equipment of the offshore oil underwater production system, which includes the equipment's shape features, dimensional features, structural features and assembly relationships;
S102：建立海洋石油水下生产系统物理模型，该步骤的具体实现如下：S102: Establish a physical model of the offshore oil underwater production system. The specific implementation of this step is as follows:
①建立海洋石油水下生产系统电气元件物理模型，该模型包括供电系统参数，主控系统配置，信号传输参数和I/O通道参数；①Establish the physical model of the electrical components of the offshore oil underwater production system, which includes the parameters of the power supply system, the configuration of the main control system, the parameters of signal transmission and the parameters of I/O channels;
②建立海洋石油水下生产系统液压元件物理模型，该模型包括水下管汇布局，阀门参数，流体参数和压力容器参数；②Establish the physical model of the hydraulic components of the offshore oil underwater production system, which includes the layout of the underwater manifold, valve parameters, fluid parameters and pressure vessel parameters;
③建立海洋石油水下生产系统机械组件物理模型，该模型包括执行机构参数，水下基座参数，连接件参数和壳体结构参数；③Establish the physical model of the mechanical components of the offshore oil underwater production system, which includes the parameters of the actuator, the parameters of the underwater base, the parameters of the connecting parts and the parameters of the shell structure;
S103：基于海洋石油水下生产系统物理模型，建立海洋石油水下生产系统生产行为模型，该模型包括生产流程模型，信息传递模型，组件退化过程模型和故障传播机制模型。S103: Based on the physical model of the offshore oil underwater production system, establish a production behavior model of the offshore oil underwater production system, which includes a production process model, an information transfer model, a component degradation process model and a fault propagation mechanism model.
数字孪生体跟踪与更新的具体步骤为：The specific steps for digital twin tracking and updating are:
S201：读取海洋石油水下生产系统的系统状态数据，该数据包括海洋石油水下生产系统的工作运行状态，控制系统状态，系统监测信息和系统报警信息。海洋石油水下生产系统的工作运行状态，包括电磁换向阀阀位，流量控制阀开度，泵组转速和电源功率。海洋石油水下生产系统的控制系统状态，包括控制点状态，稳态误差，实时反馈信号和I/O通道状态。海洋石油水下生产系统的系统监测信息，包括温度检测信息，I/O通道电流、电压信息和流体压力、流量信息。海洋石油水下生产系统的系统报警信息，包括不间断电源报警，电源分配系统报警，中央控制单元报警，输入、输出通道报警，流体压力、流量异常；S201: Read the system status data of the offshore oil underwater production system, the data includes the working and running status of the offshore oil underwater production system, the control system status, the system monitoring information and the system alarm information. The operating status of the offshore oil subsea production system, including the valve position of the electromagnetic reversing valve, the opening of the flow control valve, the speed of the pump set and the power of the power supply. The control system status of offshore oil subsea production system, including control point status, steady-state error, real-time feedback signal and I/O channel status. System monitoring information of offshore oil underwater production system, including temperature detection information, I/O channel current, voltage information and fluid pressure, flow information. System alarm information of offshore oil underwater production system, including uninterruptible power supply alarm, power distribution system alarm, central control unit alarm, input and output channel alarm, fluid pressure and flow abnormality;
S202：根据读取的海洋石油水下生产系统的系统状态数据和生产行为模型，对海洋石油水下生产系统的系统逻辑进行分析，模拟生产流程和系统响应，生成海洋石油水下生产系统数字孪生模拟数据；S202: According to the read system status data and production behavior model of the offshore oil underwater production system, analyze the system logic of the offshore oil underwater production system, simulate the production process and system response, and generate a digital twin of the offshore oil underwater production system simulated data;
S203：通过布置在水下的位置传感器，温度传感器，加速度传感器，振动传感器，声发射传感器和水下水听器，采集海洋石油水下生产系统位置信号，温度信号，加速度信号，振动信号，表面声波信号和水下声音信号；S203: Collect position signal, temperature signal, acceleration signal, vibration signal, surface acoustic wave of offshore oil underwater production system through position sensor, temperature sensor, acceleration sensor, vibration sensor, acoustic emission sensor and hydrophone arranged underwater Signals and underwater sound signals;
S204：对振动信号，表面声波信号和水下声音信号进行小波变换，如下所示：S204: Perform wavelet transformation on the vibration signal, the surface acoustic wave signal and the underwater sound signal, as shown below:
其中，
其中，σ为附加噪声信号的标准差，N为实际测量信号f(t)经过小波变换分解得到的小波系数个数的总和。采用的软阈值处理函数对测量信号的小波变换系数进行非线性阈值处理，如下所示Among them, σ is the standard deviation of the additional noise signal, and N is the sum of the number of wavelet coefficients obtained by decomposing the actual measurement signal f(t) through wavelet transform. The soft threshold processing function adopted performs nonlinear threshold processing on the wavelet transform coefficients of the measured signal, as shown below
S205：将海洋石油水下生产系统数字孪生模拟数据和海洋石油水下生产系统传感器数据匹配到海洋石油水下生产系统数字孪生体中，将海洋石油水下生产系统数字孪生体历史数据上传到数据库中，然后，对海洋石油水下生产系统数字孪生体中相匹配数据进行更新；S205: Match the digital twin simulation data of the offshore oil underwater production system and the sensor data of the offshore oil underwater production system to the digital twin of the offshore oil underwater production system, and upload the historical data of the digital twin of the offshore oil underwater production system to the database , and then update the matching data in the digital twin of the offshore oil underwater production system;
S206：将S205更新后的海洋石油水下生产系统数字孪生体与计算机仿真计算结果进行对比，计算二者的偏差，利用扩展卡尔曼滤波算法对数字孪生体内部参数进行调整和修正，从而获得能够实时同步的海洋石油水下生产系统数字孪生体。S206: Compare the digital twin of the offshore oil underwater production system updated in S205 with the computer simulation results, calculate the deviation between the two, and use the extended Kalman filter algorithm to adjust and correct the internal parameters of the digital twin, so as to obtain a Real-time synchronized digital twin of offshore oil underwater production system.
故障诊断推理模型建立的具体步骤为：The specific steps for establishing the fault diagnosis inference model are as follows:
S301：基于海洋石油水下生产系统数字孪生体提取故障特征，该步骤的具体实现如下：S301: Extract fault features based on the digital twin of the offshore oil underwater production system. The specific implementation of this step is as follows:
①对海洋石油水下生产系统数字孪生体进行时域特征分析，提取海洋石油水下生产系统数字孪生体时域特征；①Analyze the time domain features of the digital twin of the offshore oil underwater production system, and extract the time domain features of the digital twin of the offshore oil underwater production system;
②对海洋石油水下生产系统数字孪生体进行周期信号频域特征分析，提取海洋石油水下生产系统数字孪生体周期信号频域特征；② Analyze the frequency domain characteristics of periodic signals of the digital twin of the offshore oil underwater production system, and extract the frequency domain characteristics of the periodic signals of the digital twin of the offshore oil underwater production system;
③对海洋石油水下生产系统数字孪生体进行动态性能评估，提取海洋石油水下生产系统数字孪生体动态性能特征；③Evaluate the dynamic performance of the digital twin of the offshore oil underwater production system, and extract the dynamic performance characteristics of the digital twin of the offshore oil underwater production system;
④对海洋石油水下生产系统数字孪生体进行系统监测与报警信息提取，提取海洋石油水下生产系统数字孪生体监测与报警信息特征；④ Perform system monitoring and alarm information extraction on the digital twin of the offshore oil underwater production system, and extract the monitoring and alarm information features of the digital twin of the offshore oil underwater production system;
S302：如图2所示，海洋石油水下生产系统故障诊断推理贝叶斯网路结构模型，由故障特征值层和故障层组成。海洋石油水下生产系统故障诊断推理贝叶斯网路结构模型故障识别层节点取值由海洋石油水下生产系统数字孪生体故障特征输入，包括时域特征节点T1、T2、...、Ta，周期信号频域特征节点P1、P2、...、Pb，动态性能特征节点D1、D2、...、Dc，监测与报警信息特征节点M1，M2、...、Md，故障节点F1，F2、...、Fe；S302: As shown in Figure 2, the fault diagnosis and inference Bayesian network structure model of the offshore oil underwater production system is composed of a fault eigenvalue layer and a fault layer. The fault diagnosis and reasoning of the offshore oil subsea production system Bayesian network structure model The value of the node value of the fault identification layer is input by the fault feature of the digital twin of the offshore oil subsea production system, including the time domain feature nodes T1 , T2 ,... , Ta , periodic signal frequency domain characteristic nodes P1 , P2 ,..., Pb , dynamic performance characteristic nodes D1 , D2 ,..., Dc , monitoring and alarm information characteristic nodesM 1, M2 , ..., Md , the faulty nodes F1 , F2 , ...,Fe ;
S303：基于海洋石油水下生产系统数字孪生体建立故障诊断推理贝叶斯网路参数模型，获得故障层节点的故障概率，定义条件概率需要用到的如下参数qi,yxi：S303: Establish a Bayesian network parameter model for fault diagnosis and reasoning based on the digital twin of the offshore oil underwater production system, obtain the fault probability of the node at the fault layer, and define the following parameters qi, yxi required for the conditional probability:
qi,yxi的取值通过故障演化分析和专家意见获得，对于故障Fi发生的概率为求解方法如下所示：The values of qi, yxi are obtained through fault evolution analysis and expert opinion, and the solution method for the probability of fault Fi occurring is as follows:
S304：依据如下故障识别准则规则判断各组件是否处于故障状态：S304: Determine whether each component is in a fault state according to the following fault identification rule:
(1)当故障概率大于80％时认为该组件处于故障状态；(1) When the failure probability is greater than 80%, the component is considered to be in a failure state;
(2)当故障概率处于50％和80％之间时认为该组件存在潜在故障；(2) When the failure probability is between 50% and 80%, the component is considered to have a potential failure;
(3)当故障概率小于50％时认为该组件正常。(3) When the failure probability is less than 50%, the component is considered normal.
如图3所示，水下生产系统，包含水上控制模块101、液压动力单元106、电力动力单元112、水下控制模块119和水下采油树130；其中，水上控制模块101位于水上控制平台内，包括：不间断电源102、主控站103、电力单元104和通信单元105；不间断电源102、电力单元104和通信单元105通过线缆与主控站103相连，用于对主控站103进行电力和通讯传输；液压动力单元106位于水上控制平台内，包括：液压动力单元第一液压模块107、液压动力单元第二液压模块108、液压动力单元电控模块109、液压动力单元第三液压模块110和液压动力单元第四液压模块111；液压动力单元电控模块109通过线缆与液压动力单元第一液压模块107、液压动力单元第二液压模块108、液压动力单元第三液压模块110和液压动力单元第四液压模块111相连，用于实现对四个液压模块的控制；电力动力单元112位于水上控制平台内，包括：第一通信调制解调器114、第二通信调制解调器113、第一滤波器116、第二滤波器115、第一电力耦合器118和第二电力耦合器117；第一通信调制解调器114通过线缆与第一滤波器116相连，用于滤除无用频率的电信号；第一通信调制解调器114和第一滤波器116通过线缆与第一电力耦合器118相连，用于电信号和通讯信息的耦合；第二通信调制解调器113通过线缆与第二滤波器116相连，用于滤除无用频率的电信号；第二通信调制解调器113和第二滤波器116通过线缆与第二电力耦合器117相连，用于电信号和通讯信息的耦合；水下控制模块119位于水下控制舱内，包括：水下控制模块换向阀组120和水下控制模块电子模块组126；水下控制模块换向阀组120包括：第一换向阀121、第二换向阀122、第三换向阀123、第四换向阀124和第五换向阀125；水下控制模块电子模块组126包括：第一水下电子模块129、第二水下电子模块128和第三水下电子模块127；水下采油树130位于水下油田，包括：水下采油树液压阀组131和水下采油树机械部分组137；水下采油树液压阀组131包括：第一液压阀132、第二液压阀133、第三液压阀134、第四液压阀135和第五液压阀136；水下采油树机械部分组137包括：采油树树帽138和采油树树体139；不间断电源102通过线缆与液压动力单元106和电力动力单元112相连，用于提供液压传输和信号传输所需的电力；主控站103通过线缆与液压动力单元106和电力动力单元112相连，用于控制油气生产中的液压传输和信号传输；液压动力单元第一液压模块107、液压动力单元第二液压模块108、液压动力单元第三液压模块110和液压动力单元第四液压模块111通过线缆与第一换向阀121、第二换向阀122、第三换向阀123、第四换向阀124和第五换向阀125相连，用于液压液的传输；第一电力耦合器118和第二电力耦合器117通过线缆与第一水下电子模块129、第二水下电子模块128和第三水下电子模块127相连，用于控制信号的传输；水下控制模块电子模块组126通过线缆与水下控制模块换向阀组120相连，用于控制液压回路的流向。As shown in FIG. 3 , the underwater production system includes an above-water control module 101, a hydraulic power unit 106, an electric power unit 112, a sub-sea control module 119 and an underwater Christmas tree 130; wherein, the above-water control module 101 is located in the above-water control platform , including: uninterruptible power supply 102, main control station 103, power unit 104 and communication unit 105; uninterruptible power supply 102, power unit 104 and communication unit 105 are connected to the main control station 103 through cables, and are used for Carry out power and communication transmission; hydraulic power unit 106 is located in the water control platform, including: hydraulic power unit first hydraulic module 107, hydraulic power unit second hydraulic module 108, hydraulic power unit electronic control module 109, hydraulic power unit third hydraulic module 110 and the fourth hydraulic module 111 of the hydraulic power unit; the hydraulic power unit electronic control module 109 is connected to the first hydraulic module 107 of the hydraulic power unit, the second hydraulic module 108 of the hydraulic power unit, the third hydraulic module 110 of the hydraulic power unit and the The fourth hydraulic module 111 of the hydraulic power unit is connected to realize the control of the four hydraulic modules; the electric power unit 112 is located in the water control platform and includes: a first communication modem 114, a second communication modem 113, and a first filter 116 , the second filter 115, the first power coupler 118 and the second power coupler 117; the first communication modem 114 is connected to the first filter 116 through a cable for filtering out electrical signals of useless frequencies; the first communication The modem 114 and the first filter 116 are connected to the first power coupler 118 through a cable for coupling of electrical signals and communication information; the second communication modem 113 is connected to the second filter 116 through a cable for filtering Electrical signals of unwanted frequencies; the second communication modem 113 and the second filter 116 are connected to the second power coupler 117 through cables for coupling of electrical signals and communication information; the underwater control module 119 is located in the underwater control cabin , including: underwater control module reversing valve group 120 and underwater control module electronic module group 126; underwater control module reversing valve group 120 includes: first reversing valve 121, second reversing valve 122, third reversing valve The directional valve 123, the fourth reversing valve 124 and the fifth reversing valve 125; the subsea control module electronic module group 126 includes: a first subsea electronic module 129, a second subsea electronic module 128 and a third subsea electronic module 127; The underwater Christmas tree 130 is located in the underwater oil field, and includes: the underwater Christmas tree hydraulic valve group 131 and the underwater Christmas tree mechanical part group 137; the underwater Christmas tree hydraulic valve group 131 includes: a first hydraulic valve 132, a second The hydraulic valve 133, the third hydraulic valve 134, the fourth hydraulic valve 135 and the fifth hydraulic valve 136; the subsea tree mechanical part group 137 includes: the tree cap 138 and the tree body 139; the uninterruptible power supply 102 passes the line Cables are connected to hydraulic power unit 106 and electric power unit 112 for providing hydraulic transmission and The power required for signal transmission; the main control station 103 is connected to the hydraulic power unit 106 and the electric power unit 112 through cables to control the hydraulic transmission and signal transmission in oil and gas production; the first hydraulic module 107 of the hydraulic power unit, the hydraulic power The second hydraulic module 108 of the unit, the third hydraulic module 110 of the hydraulic power unit and the fourth hydraulic module 111 of the hydraulic power unit are connected to the first reversing valve 121, the second reversing valve 122, the third reversing valve 123, the first reversing valve 121, the second reversing valve 122, the third reversing valve 123, the The four-way valve 124 and the fifth reversing valve 125 are connected for the transmission of hydraulic fluid; the first power coupler 118 and the second power coupler 117 are connected to the first underwater electronic module 129 and the second underwater electronic module 129 and the second underwater electronic module 129 through cables. The
如图4所示，数字孪生驱动的海洋石油水下生产系统故障诊断系统，包含七个部分：数据收集与分析子系统201、水上控制模块数据采集与处理子系统206、液压动力单元数据采集与处理子系统210、电力动力单元数据采集与处理子系统216、水下控制模块数据采集与处理子系统222、水下控制模块电子模块组数据采集与处理子系统226和水下采油树数据采集与处理子系统230。As shown in Figure 4, the fault diagnosis system of the offshore oil underwater production system driven by digital twins includes seven parts: data collection and
数据收集与分析子系统201，包括光电转换模块202、故障显示与报警模块203、故障推理与诊断模块204、数字孪生体生成与更新模块205；光电转换模块202，通过光纤线缆与水上控制模块光电转换模块207、液压动力单元光电转换模块211、电力动力单元光电转换模块217、水下控制模块光电转换模块223、水下控制模块电子模块组光电转换模块227和水下采油树光电转换模块231连接，将光信号转换为电信号；数字孪生体生成与更新模块205，用于读取光电转换模块202生成的电信号数据，并将电信号用于海洋石油水下生产系统数字孪生体生成、跟踪与更新；故障推理与诊断模块204，运行着海洋石油水下生产系统故障诊断推理模型，读取数字孪生体生成与更新模块205中的海洋石油水下生产系统数字孪生体数据，提取故障特征信息，进行故障推理诊断，并利用故障识别准则得到故障诊断结果；故障显示与报警模块203，用于将故障推理与诊断模块204生成的故障诊断结果，通过界面显示和声音的形式进行故障报警。Data collection and
水上控制模块数据采集与处理子系统206，包括水上控制模块光电转换模块207、水上控制模块数据处理模块208和水上控制模块数据采集模块209；水上控制模块数据采集模块209，通过信号线缆与不间断电源102、主控站103、电力单元104、通信单元105相连，分别获取上述四个组件的关键控制及反馈数据信息；水上控制模块数据处理模块208，与水上控制模块数据采集模块209通过信号线缆相连，对水上控制模块数据采集模块209采集到的信号进行综合处理；水上控制模块光电转换模块207，与水上控制模块数据处理模块208通过信号线缆相连，并与光电转换模块202通过光缆相连，用于将水上控制模块数据处理模块208处理后的电信号转化为光信号，传输给数据收集与分析子系统201集中处理。The data acquisition and
液压动力单元数据采集与处理子系统210，包括液压动力单元光电转换模块211、液压动力单元数据处理模块212、液压动力单元液压模块第一数据采集模块213、液压动力单元电控模块数据采集模块214和液压动力单元液压第二模块数据采集模块215；液压动力单元液压模块第一数据采集模块213，通过信号线缆与液压动力单元第一液压模块107、液压动力单元第二液压模块108相连，分别获取上述两个组件的关键控制及反馈数据信息；液压动力单元电控模块数据采集模块214，通过信号线缆与液压动力单元电控模块109相连，获取上述组件的关键控制及反馈数据信息；液压动力单元液压模块第二数据采集模块215，通过信号线缆与液压动力单元第三液压模块110、液压动力单元第四液压模块111相连，分别获取上述两个组件的关键控制及反馈数据信息；液压动力单元数据处理模块212，与液压动力单元液压模块第一数据采集模块213、液压动力单元电控模块数据采集模块214和液压动力单元液压第二模块数据采集模块215通过信号线缆相连，对上述三个模块采集到的信号进行综合处理；水上控制模块光电转换模块207，与液压动力单元数据处理模块212通过信号线缆相连，并与光电转换模块202通过光缆相连，用于将液压动力单元数据处理模块212处理后的电信号转化为光信号，传输给数据收集与分析子系统201集中处理。Hydraulic power unit data acquisition and processing subsystem 210, including hydraulic power unit photoelectric conversion module 211, hydraulic power unit data processing module 212, hydraulic power unit hydraulic module first data acquisition module 213, hydraulic power unit electronic control module data acquisition module 214 and hydraulic power unit hydraulic second hydraulic module data acquisition module 215; hydraulic power unit hydraulic module first data acquisition module 213, connected to hydraulic power unit first hydraulic module 107 and hydraulic power unit second hydraulic module 108 through signal cables, respectively Obtain the key control and feedback data information of the above two components; the hydraulic power unit electronic control module data acquisition module 214 is connected to the hydraulic power unit electronic control module 109 through a signal cable to obtain the key control and feedback data information of the above components; hydraulic The second data acquisition module 215 of the hydraulic module of the power unit is connected to the third hydraulic module 110 of the hydraulic power unit and the fourth hydraulic module 111 of the hydraulic power unit through a signal cable, and obtains the key control and feedback data information of the above two components respectively; hydraulic pressure The power unit data processing module 212 is connected with the hydraulic power unit hydraulic module first data acquisition module 213, the hydraulic power unit electronic control module data acquisition module 214, and the hydraulic power unit hydraulic second hydraulic module data acquisition module 215 through signal cables, and the above The signals collected by the three modules are comprehensively processed; the photoelectric conversion module 207 of the water control module is connected to the hydraulic power unit data processing module 212 through a signal cable, and is connected to the photoelectric conversion module 202 through an optical cable for converting the hydraulic power unit data. The electrical signal processed by the
电力动力单元数据采集与处理子系统216，包括电力动力单元光电转换模块217、电力动力单元数据处理模块218、通信调制解调器数据采集模块219、滤波器数据采集模块220和电力耦合器数据采集模块221；通信调制解调器数据采集模块219，通过信号线缆与第二通信调制解调器113、第一通信调制解调器114相连，分别获取上述两个组件的关键控制及反馈数据信息；滤波器数据采集模块220，通过信号线缆与第二滤波器115、第一滤波器116相连，分别获取上述两个组件的关键控制及反馈数据信息；电力耦合器数据采集模块221，通过信号线缆与第二电力耦合器117、第一电力耦合器118相连，分别获取上述两个组件的关键控制及反馈数据信息；电力动力单元数据处理模块218，与通信调制解调器数据采集模块219、滤波器数据采集模块220和电力耦合器数据采集模块221通过信号线缆相连，对上述三个模块采集到的信号进行综合处理；电力动力单元光电转换模块217，与电力动力单元数据处理模块218通过信号线缆相连，并与光电转换模块202通过光缆相连，用于将电力动力单元数据处理模块218处理后的电信号转化为光信号，传输给数据收集与分析子系统201集中处理。Electric power unit data acquisition and
水下控制模块数据采集与处理子系统222，包括水下控制模块光电转换模块223、水下控制模块数据处理模块224和水下控制模块数据采集模块225；水下控制模块数据采集模块225，通过信号线缆与第一换向阀121、第二换向阀122、第三换向阀123、第四换向阀124、第五换向阀125相连，分别获取上述五个组件的关键控制及反馈数据信息；水下控制模块数据处理模块224，与水下控制模块数据采集模块225通过信号线缆相连，对水下控制模块数据采集模块225采集到的信号进行综合处理；水下控制模块光电转换模块223，与水下控制模块数据处理模块224通过信号线缆相连，并与光电转换模块202通过光缆相连，用于将水下控制模块数据处理模块224处理后的电信号转化为光信号，传输给数据收集与分析子系统201集中处理。The underwater control module data acquisition and
水下控制模块电子模块组数据采集与处理子系统226，包括水下控制模块电子模块组光电转换模块227、水下控制模块电子模块组数据处理模块228和水下控制模块电子模块组数据采集模块229；水下控制模块电子模块组数据采集模块229，通过信号线缆与第三水下电子模块127、第二水下电子模块128、第一水下电子模块129相连，分别获取上述三个组件的关键控制及反馈数据信息；水下控制模块电子模块组数据处理模块228，与水下控制模块数据采集模块225通过信号线缆相连，对水下控制模块数据采集模块225采集到的信号进行综合处理；水下控制模块电子模块组光电转换模块227，与水下控制模块电子模块组数据处理模块228通过信号线缆相连，并与光电转换模块202通过光缆相连，用于将水下控制模块电子模块组数据处理模块228处理后的电信号转化为光信号，传输给数据收集与分析子系统201集中处理。The underwater control module electronic module group data acquisition and
水下采油树数据采集与处理子系统230，包括水下采油树光电转换模块231、水下采油树数据处理模块232、水下采油树振动传感器组233、水下采油树声发射传感器组234、水下采油树水听器传感器组235、水下采油树光纤腐蚀传感器组236和水下采油树压力传感器组237；水下采油树振动传感器组233，贴装在采油树树体139表面，用于采集采油树树体139的振动信号；水下采油树声发射传感器组234，贴装在采油树树体139表面，用于采集采油树树体139的高频声波信号；水下采油树水听器传感器组235，环绕架设在采油树树体139周围，用于采集采油树树体139的声音信号；水下采油树光纤腐蚀传感器组236，贴装在采油树树体139表面，用于采集采油树树体139的腐蚀信号；水下采油树压力传感器组237，贴装在采油树树体139表面，用于采集采油树树体139的压力信号；水下采油树数据处理模块232，与水下采油树振动传感器组233、水下采油树声发射传感器组234、水下采油树水听器传感器组235、水下采油树光纤腐蚀传感器组236和水下采油树压力传感器组237通过信号线缆相连，对上述五个模块采集到的信号进行综合处理；水下采油树光电转换模块231，与水下采油树数据处理模块232通过信号线缆相连，并与光电转换模块202通过光缆相连，用于将水下采油树数据处理模块232处理后的电信号转化为光信号，传输给数据收集与分析子系统201集中处理。Subsea Christmas tree data acquisition and processing subsystem 230, including underwater Christmas tree photoelectric conversion module 231, underwater Christmas tree data processing module 232, underwater Christmas tree vibration sensor group 233, underwater Christmas tree acoustic emission sensor group 234, The underwater Christmas tree hydrophone sensor group 235, the underwater Christmas tree optical fiber corrosion sensor group 236 and the underwater Christmas tree pressure sensor group 237; the underwater Christmas tree vibration sensor group 233, which are mounted on the surface of the Christmas tree body 139, with It is used to collect the vibration signal of the Christmas tree body 139; the underwater Christmas tree acoustic emission sensor group 234 is mounted on the surface of the Christmas tree body 139 to collect the high-frequency sound wave signal of the Christmas tree body 139; the underwater Christmas tree water The earphone sensor group 235 is erected around the Christmas tree body 139 to collect the sound signal of the Christmas tree body 139; the underwater Christmas tree optical fiber corrosion sensor group 236 is mounted on the surface of the Christmas tree body 139 for use in The corrosion signal of the Christmas tree body 139 is collected; the underwater Christmas tree pressure sensor group 237 is mounted on the surface of the Christmas tree body 139 to collect the pressure signal of the Christmas tree body 139; the underwater Christmas tree data processing module 232, Passed with underwater Christmas tree vibration sensor group 233, underwater Christmas tree acoustic emission sensor group 234, underwater Christmas tree hydrophone sensor group 235, underwater Christmas tree optical fiber corrosion sensor group 236 and underwater Christmas tree pressure sensor group 237 The signal cable is connected, and the signals collected by the above five modules are comprehensively processed; the underwater Christmas tree photoelectric conversion module 231 is connected with the underwater Christmas tree data processing module 232 through a signal cable, and is connected with the photoelectric conversion module 202 through an optical cable It is used to convert the electrical signals processed by the underwater Christmas tree data processing module 232 into optical signals, and transmit them to the data collection and analysis subsystem 201 for centralized processing.
在工作过程中，水上控制模块数据采集与处理子系统206、液压动力单元数据采集与处理子系统210、电力动力单元数据采集与处理子系统216、水下控制模块数据采集与处理子系统222、水下控制模块电子模块组数据采集与处理子系统226和水下采油树数据采集与处理子系统230分别用于收集和处理水上控制模块101、液压动力单元106、电力动力单元112、水下控制模块119和水下采油树130监测信息，并将电信号转化为光信号通过光缆传输到数据收集与分析子系统201，数据收集与分析子系统201将读取水下生产系统监测信息并生成和更新水下生产系统数字孪生体，提取故障特征信息，进行故障推理诊断，并利用故障识别准则得到故障诊断结果，通过界面显示和声音的形式进行故障报警。During the working process, the water control module data acquisition and
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