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Abstract:
No matter how carefully the pipeline is designed and
built, there is always a probability of leaks. Pipeline leak
detection systems play therefore a key role in minimization
of the occurrence of leaks probability and their impacts.
As the vast assortment of technologies is available today,
the paper provides the background information to facilitate
the choice of leak-detection system. The paper deals with
external methods based on external measurements and
with some internal methods based on flow and pressure
measurements in the pipeline: pressure wave detection and
volume balance method; then gradient and analytical
methods were described. Additionally, the discussion of
error sources and final conclusions are presented.
Articles 39
Journal of Automation, Mobile Robotics & Intelligent Systems VOLUME 1, N° 3 September 2007
ping, closing the valves, organizing provisional damage The flow rate in liquid pipelines is usually constant,
repair etc.) close to the nominal flow rate, limited by pumps
Damages of pipelines transporting natural gas are not efficiency and by pressure drop along the pipeline. In gas
neutral for environment as well. Methane, the main pipelines the flow rate is a function of gas demand, on
component of natural gas - is one of the greenhouse which gas supplier does not have much influence. Gas
gases. Moreover, natural gas mixed with atmospheric air demand is variable during twenty-four hours cycle (rising
in amount 4-15% becomes very sensitive for sparkling or within a day) and during the year (rising within low
flame, causing an explosion of this mixture - as is shown temperature periods).
in the Fig. 3.
Table 1. The influence of various factors on pipeline
behavior and leak detection systems in liquids and gas
pipelines.
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Journal of Automation, Mobile Robotics & Intelligent Systems VOLUME 1, N° 3 September 2007
2. Tasks and general classification of the (Fig. 4). One of them is a continuity circuit monitoring
leak detection and localization methods condition of the cable (checking possible physical
Detection of the gas pipelines leaks system should damages). The second one - the alarm circuit - is a nor-
comply three following tasks: mally open circuit, shorting only in the case of a leak.
Leak detection. There is a possibility to use various mechanisms. If trans-
Alarm generation. ported medium is conductive, the short happens natu-
Leak localization. rally, because the conductive liquid facilitates current
Estimation of the flow rate of leaking medium. flow between the cables. For hydrocarbons a special
polymer is used as insulation. The polymer degrades in the
Very important factor, which decides on usefulness of presence of the hydrocarbons allowing the cables to
the method and detection algorithm, equivalent to sensi- touch. Measurement of voltage drops in the circuits
bility for real damages, is also resistance to disturbances. enables to pinpoint the position of the leak.
That means non-generation of false alarms, i.e. caused by
technological operation (starting/stopping compressor/ UZ continuity circuit
UZ continuity circuit
Articles 41
Journal of Automation, Mobile Robotics & Intelligent Systems VOLUME 1, N° 3 September 2007
pressure drop occurs, which propagate to both sides of method makes it possible to detect and localize the leak,
the pipeline. The flow rate just upstream the leak point but it is impossible to assess directly the leak intensity
increases, downstream this point decreases. The pressure unless the amplitudes of pressure waves will undergo
wave propagates with the sound speed. The gas mass flow further analysis.
rate increases upstream the leak point (instant t2),
whereas downstream this point it increases on a while,
and then goes back to the primary value. After several
minutes the new state of the pipeline can be observed
(instant t3). Upstream the leak point the mass flow rate
increases by the value of flow rate of leaking gas, and
downstream returns it to the primary value. Pressure
gradient along the pipeline increases upstream the leak
point, and downstream the pressure gradient returns to
its initial value. Method based on pressure wave detec-
tion [9] and [10] consists in pressure measurements at
the selected points distributed along the pipeline.
If quick pressure change caused by acoustic (pres-
sure) wave appears, one have to verify, whether similar
change will take place at subsequent points, and whether
it appears in the time resulting from the acoustic velocity
and the distance between measurement points. Fig. 7. Leak detection system based on pressure wave
Sufficient quick pressure transducers (precision is not detection, acc. to [11].
most important) must be installed at several kilometers
intervals (Fig. 6). To ensure precise synchronization of 5. A method based on mass balance concept
time measurement usually the satellite navigation This concept of leak detection is based on mass con-
system GPS is used. It generates an accurate time infor- servation principle. The total quantity (mass, flow rate,
mation based on atomic clocks installed at system satelli- volume) of fluid entering and leaving a network must be
tes. This method is relatively fast (the leak detection and balanced by the inventory variation (accumulation) insi-
localization time is about few seconds. de the network. This is apparently the simplest and most
natural method. However, changes of liquid quantity,
which depends on pressure and temperature, should be
carefully considered. These changes are especially crucial
for gas pipelines. Very important are also uncertainties
and drift of flow, temperature and pressure transducers.
To apply this method is necessary to calculate step-
by-step current value of certain variable t(t) at regular
sample intervals. For gas net with single input and n
outputs (gas receiving stations), the variable t(t) for
standard conditions can be written as
n
Fig. 6. Leak localization method based on pressure wave t(t)=DVn,in(t) S DVn,out(t)DVn,a(t) (1)
i=1
detection.
This variable t(t) may be defined as a corrected flow
In the Fig. 6 the abscissa represents distance z from unbalance term at time t. This is the difference between
the beginning of pipeline 0; pressure sensors are the gas volume entering the pipeline DVn,in(t) and the
installed at points zi. Axis of ordinates represents acous- volume that flowed out from the pipeline
tic wave propagation time tl as a function of the distance n
from the leak point zl. Fig. 7 presents the scheme of such S DV
i=1
(t)
n,out
42 Articles
Journal of Automation, Mobile Robotics & Intelligent Systems VOLUME 1, N° 3 September 2007
(branch). Vg is the geometrical volume of the pipeline, p are installed. They enable to calculate pressure gradients.
and T - absolute pressure and temperature in the pipe- The coordinate of the leak point xu is then equal
line; index n as formerly, denotes standard conditions.
tanGs -2
Parameter t(t) usually fluctuates around the non-zero xu=L 1+ (4)
mean value m, due to drift of measurement instruments DtanGk
and gas meters errors (which depend on the flow rate) or The flow rate of the leak can be calculated from the
as a result of changes of conditions (e.g. temperature formula
along a pipeline). These fluctuations can be characte-
rized by a s variance. Let us denote Dm the instan-
2
DGk
1–
taneous deviations from average value. To generate Gs
a leak alarm the following cumulative sum is examined: q1=q0 1– (5)
DGp
1–
Dm Dm Gs
a(t)=a(t-1)+ t(t)-m- (3)
s
2
2
The alarm is generated when the sum a(t) exceeds the The situation changes in some extent in the case of gas
given value. This value should be determined experimen- pipelines, that is shown in Fig. 9
tally and can be changed, i.e. during technological ope-
rations producing greater disturbances of flow parame- 1
90°+ S
measurement transducers, one modifies m value very
slowly, with the use of measurement data from periods +
S p
without leaks. 1
u
u
Articles 43
Journal of Automation, Mobile Robotics & Intelligent Systems VOLUME 1, N° 3 September 2007
2 2
pD
2 p1 – p2 and the sound speed of a liquid in a pipeline is given
qm= (8) by formula commonly known [15] as Żukowski-Allevy
4 p1 lL
2ZRT ln + formula:
p2 2Dp
EC
where c=
qm – stream of mass, kg/s D EC (14)
r(x) 1 +
p1 and p2 – absolute pressure at input and output of b ER
the gas pipeline, Pa
D – inner diameter of the gas pipeline, m where
Z – compressibility factor, dimensionless EC - the elasticity coefficient of a liquid (Pa),
R – gas constant, J/(kgK) ER - the direct elasticity coefficient of a pipeline mate-
T – absolute temperature, K rial (Young's modulus) (Pa),
L – length of modeled gas pipeline section, m b - the pipeline wall thickness (m),
l – linear losses factor. D - the pipeline inner diameter (m),
l(x) - the pipe friction factor,
A dynamic model for gas pipeline can be expressed a - the angle of inclination of a pipeline segment.
by a set of partial differential equations, which may be
derived from conservation of mass and conservation of The mathematical model should however also re-
momentum principles [7] construct as accurately as possible the static and dyna-
mic characteristics of all other elements of a pipeline
A ¶p ¶q system as well as interactions between these elements
+ =0 (9)
c2 ¶t ¶z [17].
No matter if a model is static, dynamic, for liquid
1 ¶q ¶p lc2 qïqï g sina
+ =- - p (10) or gas, it should be completed with procedure of pipe
A ¶t ¶z 2DA2 p c
2
friction factor l calculation. It is a function of rough-
The resolution of dynamic model demands large pro- ness k and the Reynolds number Re. In cases of more
cessor capacity and the calculations are time consuming. complex pipeline system the Moody formula can be
It is possible to check if the dynamic model is really very useful for its simplicity. It has a form
necessary by calculating the value of the term related to
é 1
ù
the change of momentum in time, therefore ê æ 103 ö 3 ú (15)
l = 0.0055 1 + 10 çç10k + ÷÷
ê è Re ø ú
1 ¶qm 1 ¶(rqv) ¶(rw) D(rw) (11) êë ûú
= = »
A ¶t A ¶t ¶t Dt
When large residua (differences between the model
Comparing it with other terms of the equation. If its
and the real object) occur, the localization procedure
value is negligible, the simple static model (7,8) can be
used. is activated. There are few methods. Usually a leak is
For liquid pipelines, because of larger transported introduced in the model and by successive approxi-
masses, usually dynamic model [6] has to be applied. mations of its localization and intensity is matched to
In order to describe the liquid pipeline dynamics for get compatibility of a model with a real pipeline again,
the modeling purposes the pipeline is arbitrarily divided or in another words minimize the residua. The use of
into sections at xi points where measuring transmitters gradient method is also possible for leak localization
were installed on the real pipeline. It enables the direct as far as the measurement system allows the pressure
comparison of the variables values obtained by simula- gradient determination.
tion with the real ones, recorded in the real pipeline.
Additionally, each pipeline section between xi and xi+1 8. Error sources for various methods of leak
points has to be divided into shorter, equal parts Dxj. detection, and how to reduce them
In case of analytical methods a fundamental source of
Every segment fulfils a set of partial differential equa- errors are uncertainties of liquid properties measurement
tions as a result of the law of mass and momentum con- or calculation. True liquid properties (density, flow resis-
servation. In the case of a leak-proof pipeline (that is tance) may differ from properties used to calculation.
a pipeline for which neither mass decrement nor momen- Uncertainties of density calculation or measurement and
tum decrement are observed) and taking into account of pipe diameter measurements have a direct influence
that w(x,t) << c, where c is the sound speed, these on model precision. Moreover, uncertainties of viscosity,
equations, according to [6] can be written as diameter and pipeline roughness assessment affects l
¶w(x,t) 1 ¶p(x,t) indirectly.
+ =0 (12) Gas inclusion in liquid has a radical effect on an
¶x E ¶t
elasticity module of liquid - pipeline system, downgra-
(13) ding vitally model precision. Gas bubbles in circa 1%
¶p(x,t) ¶w(x,t) l(x)r(x) quantity of whole volume can increase even several
+ r(x) = -r(x)gsina - w(t)êw(t)ç
¶x ¶t 2d hundreds times compressibility of such mixture. Liquid
44 Articles
Journal of Automation, Mobile Robotics & Intelligent Systems VOLUME 1, N° 3 September 2007
phase inclusions in gas are not so important, although requirements for precision of measurement equipment.
they should not be disregarded in case of large quantity Moreover, the particular information about pipeline para-
of liquid phase in gas. meters (accurate diameters, roughness, etc. (that for old
Next errors source is due to the fact that the tempe- pipes are hard to obtain) is not necessary. On the other
rature along the pipeline is not constant. Temperature of side the pressure wave system needs high frequency of
the ground changes, influencing the density and visco- sampling - the precision of the method is then greater. As
sity. The temperature depends on ambient temperature the acoustic wave methods have greater sensibility to
and other conditions such thermal conductivity of the disturbances they have been successfully implemented in
ground (wet - dry), so from the weather. Computed den- long transmission pipelines without branches along the
sity and pipe friction coefficient values for temperature pipeline, pumps or compressors stations [11]. For more
measured at pipe ends may then differ from real values. complex pipelines systems with branches, pumps or com-
Obvious source is uncertainty, especially instability pressors the method at the present level of development
(drift) of measurement transducers. and state of the art does not give satisfactory effects
Data entered into a model are always charged by some because of false alarms generation. However, consecu-
errors - so data correction is a necessity. The criterion of tive researches are carried out in this field with the use of
correction is the residua minimization. The data should correlation techniques. Acoustic methods have another
be corrected as often as possible (always, when we know serious defect: if one overlooks the beginning of dama-
that there is no leak and in steady state). ge, one will never find it out by this method.
In each step one should introduce only little correc- For the reasons described above the most effective
tion. Usually the recursive formulas are applied for this systems of leak detection and localization can be built
purpose. Although physically the corrected parameter is through joining various described above concepts, ope-
usually the pipe friction factor l, in fact all slowly varying rating in parallel.
factors (i.e. instrumentation drift) are corrected. At present there are a lot of commercial systems of
leak detection and localization. Before one takes a sele-
9. Summary ction decision it is worth to formulate a set of control
Every detection method has its advantages and questions to the system supplier, which depends on con-
disadvantages. For example, sensitivity of analytical figuration and operating conditions of a given pipeline.
methods increases dramatically together with increase of For example, the most important technical questions are:
the flow rate in a pipeline, as a consequence of square What leak intensity can be detected using the
relationship between the pressure drop and the flow rate, given method?
which is shown in the Fig. 10. How much time passes between the leak and
detection of it?
Is the system able to localize leak point, and if yes
with what precision?
Is the system able to determine leak intensity,
with what precision?
Is the system able to detect earlier existing leaks
or only the new ones?
Does the system function in pipeline section
between two closed valves or in case of lack of
flow in the pipeline?
Does the system function for more complicated
networks (branched configurations, with
Fig. 10. Effects caused by the same leak for various flow many of medium input and output points), or for
rates as pressure drop changes. simple pipe sections only?
Does the system function during transients -
At larger values of flow rate effects of leak (pressure technological operations i.e. turning on/off com-
change Dp2), caused by an leak of value Dq, are distinct, pressor/pump, opening/closing the valves,
while at small flow rate this effect (Dp1), caused by switching supply/receiving tanks from one to
identical leak, is significantly smaller and the threshold another, or only in steady state?
of detection ability, and detection errors could achieve How often false alarms are generated by the
dozens % [14]. system (especially in described over conditions)?
For low flow rates probably the method based on mass Could the system be installed retrofitting) on
balance concept would be better. However, with the use already existing pipeline, and which additional
of this method the precise localization of leak is difficult. equipment is necessary?
Methods based on pressure (acoustic) wave detection Next group of questions is connected with economical
demands special measurement and instrumentation solu- point of view:
tions (hydrophones) destined only for this purpose, while How high is the cost of the complete system
analytical methods can use measurement instruments installation (including necessary additional ins-
already installed in the pipeline for operating purposes. trumentation)?
The advantage of pressure wave method (in comparison Operating costs, calibration and tuning freque-
with analytical or mass balance method) is however little ncy, etc.
Articles 45
Journal of Automation, Mobile Robotics & Intelligent Systems VOLUME 1, N° 3 September 2007
Because of every system has some disadvantages, it einen Prozesrechnes”, Regelungstechnik, 1977, nr 3
is worthwhile to install two systems working in parallel, (25), pp. 69-74.
complementing one another. For example, analytical me- [10] Sobczak R., “Lokalizacja nieszczelności w rurociągach
thod for large flows could be supplemented by mass ba- metodą śledzenia czół fal ciśnienia” [Localization of
lance method in cases of small flows. It applies parti- the detections in the pipelines through front faces
cularly pipelines for transmission of expensive or dange- method] Przemysł Chemiczny, no. 6/04, edition JCR.
rous (because of its explosive properties, or because of [11] Technology and Qualifications Acoustic Systems
possibility environmental contamination) media. Incorporated Whithorn Dr. Houston, Texas, USA
Since 2005 authors of this paper carry out research on www.wavealert.com.
relatively difficult cases (from the point of view of leak [12] R. Sobczak, “Detekcja wycieków z rurociągów magis-
detection system). Examples for liquid pipelines are tralnych cieczy” [Detection of the leakages from fluid
transient states of any kind, transport of two or more arterial pipelines], Nafta. Gaz, 2001, no. 2, pp. 97-107
media of different properties through the same pipeline [13] R. Sobczak, “Gradientowa metoda lokalizacji nieszczel-
one bath after another, or leak detection during pipeline ności w rurociągach magistralnych” [The gradient
standstill. Examples for gas pipelines are pipeline sys- method of leakages' detection for arterial pipelines],
tems with complicated, branched structure and com Przemysł Chemiczny, nr 10/02 edycja JCR.
pressor stations. Results of these researches will be pub- [14] Turkowski M., “Metody detekcji i lokalizacji nieszczel-
lished soon. ności rurociągów” [Detection and localization of pipe-
lines' leakages methods], Proceedings of the confe-
ACKNOWLEDGEMENTS rence Technika opomiarowania gazu dziś i jutro TOp-Gaz,
The paper is a result of research, financed within the Multi-Year Rogów, www.common.pl/aktu_rogow.html, 19-21.09.
Programme PW-004 entitled “Development of innovativeness 2005, pp. 179-194.
systems of manufacturing and maintenance 2004-2008”. [15] M. Mitosek M., Mechanika płynów w inżynierii środowiska
[Fluid mechanics in environmental engineering], Oficy-
na Wydawnicza PW, Warszawa, 1997.
AUTHOR [16] L. Bilman, R. Isermann: „Leak detection methods for
Mateusz Turkowski* - Professor at Institute of Metro- pipelines”, Automatica, vol.23, no. 3, s. 381-385, 1987.
logy and Measuring Systems, Warsaw University of Tech- [17] Sobczak R., Turkowski M., Bratek A., Słowikowski M.,
nology, ul. św. A. Boboli 8, 02525 Warszawa, Poland, Report of research project nr 3 T09D 033 27 entitled
email: m.turkowski@mchtr.pw.edu.pl. Opracowanie systemu detekcji nieszczelności w rurocią-
Andrzej Bratek and Marcin Słowikowski - PIAP Indus- gach magistralnych ograniczającego zagrożenie środo-
trial Research Institute for Automation & Measurements, wiska wyciekiem paliw ciekłych i gazowych [Developing
Warsaw, Poland. leakages' detection system restricting natural environ-
* corresponding author ment for arterial pipelines], Warszawa, 2006.
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46 Articles