Chatter vibration phenomenon of pipeline inspection gauges (PIGs) in natural gas pipeline

•The chatter vibration of PIG was studied experimentally and theoretically.•A self-excited vibration between disc and pipe causes the chatter vibration of PIG.•The chatter vibration of PIG accelerate the wear of disc.•A self-excited vibration model was proposed based on LuGre friction model.•The chatter vibration of PIG is a kind of low frequency oscillation.

Pipeline inspection gauges (PIGs) are needed for operations such as cleaning and internal inspection of the natural gas pipelines to facilitate improvement in efficiency and safety. There is chatter vibrations appeared in PIGs when they run in the dry pipe with the wear of rubber sealing disc. Dry friction-induced self-excited vibration between sealing disc and pipe is the source of chatter vibration on PIG. In this paper, an experimental setup for measuring chatter vibration response signal of a typical bi-directional PIG running in a real dry steel pipe was implemented. The reason that cause self-excited vibration which manifest as chatter vibration on PIG, was explained through the analysis of classic dry-friction model. A self-excited vibration model based on LuGre friction model was proposed for better understanding of the phenomenon of chatter vibration during the process that PIG running through the natural gas pipeline, and the model was solved by MATLAB/SIMULINK. Our results show that the PIG runs in dry pipe with chatter vibration at a certain period within micro-vibrations in the single ladder period. Dry friction-induced self-excited vibration between sealing disc and pipe is the source of chatter vibration on PIG, and lead to the wear of PIG's sealing disc in natural gas pipeline; the negative damping of system in dry friction contact is the reason that causes self-excited vibration; the simulation of the numerical model can validate the PIG's self-excited phenomenon well. These results provide a better understanding of the complex behavior of PIG motion within natural gas pipelines.