Handbook Pipeline Engineering - Henry PDF

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Pipeline Engineering © 2003 by CRC Press LLC Pipeline Engineering Henry Liu LEWIS PUBLISHERS A CRC Press Company Boca Raton London New York Washington, D.C. © 2003 by CRC Press LLC This edition published in the Taylor & Francis e-Library, 2005. To purchase your own copy of this or any of Taylor...

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Pipeline Engineering

© 2003 by CRC Press LLC

Pipeline Engineering Henry Liu

LEWIS PUBLISHERS A CRC Press Company Boca Raton London New York Washington, D.C.

© 2003 by CRC Press LLC

This edition published in the Taylor & Francis e-Library, 2005. To purchase your own copy of this or any of Taylor & Francis or Routledge’s collection of thousands of eBooks please go to www.eBookstore.tandf.co.uk.

Library of Congress Cataloging-in-Publication Data Liu, Henry. Pipeline engineering/Henry Liu. p. cm. Includes bibliographical references and index. ISBN 0-58716-140-0 (alk. paper) 1. Pipelines—Design and construction. I. Title. TJ930.L58 2003 621.8¢672–dc21

2003047413

This book contains information obtained from authentic and highly regarded sources. Reprinted material is quoted with permission, and sources are indicated. A wide variety of references are listed. Reasonable efforts have been made to publish reliable data and information, but the author and the publisher cannot assume responsibility for the validity of all materials or for the consequences of their use. Neither this book nor any part may be reproduced or transmitted in any form or by any means, electronic or mechanical, including photocopying, microfilming, and recording, or by any information storage or retrieval system, without prior permission in writing from the publisher. The consent of CRC Press LLC does not extend to copying for general distribution, for promotion, for creating new works, or for resale. Specific permission must be obtained in writing from CRC Press LLC for such copying. Direct all inquiries to CRC Press LLC, 2000 N.W. Corporate Blvd., Boca Raton, Florida 33431. Trademark Notice: Product or corporate names may be trademarks or registered trademarks, and are used only for identification and explanation, without intent to infringe. Visit the CRC Press Web site at www.crcpress.com © 2003 by CRC Press LLC Lewis Publishers is an imprint of CRC Press LLC No claim to original U.S. Government works International Standard Book Number 0-58716-140-0 Library of Congress Card Number 2003047413 ISBN 0-203-50668-5 Master e-book ISBN

ISBN 0-203-59487-8 (Adobe eReader Format)

© 2003 by CRC Press LLC

Foreword Think about it. The U.S. has been one of the world leaders in developing increasingly more sophisticated pipeline systems for transportation of crude oil, natural gas, petroleum products, water, solids, and slurries. A vast network of pipelines literally blankets the U.S. as well as many other countries worldwide. Given these facts, it is amazing that there is no university curriculum, at least in the U.S., that recognizes pipeline engineering as a separate and distinct discipline. Equally amazing is the fact that there currently exists no comprehensive and recognized textbook that specifically addresses pipeline engineering. When I entered the pipeline industry in 1970 as an engineering trainee, my company supplied me with a copy of a textbook entitled Hydraulics for Pipeliners by C.B.Lester, which was published in 1958 and out of print at the time it was given to me. It is difficult to believe that more than 30 years have passed and no comprehensive text has been published that addresses the topics covered by Lester in his landmark book. Dr. Henry Liu has filled this void with this book, which can be used by universities wishing to offer a course in pipeline engineering. It will be a valuable reference not only for students but also for practicing engineers who are confronted with pipeline engineering, construction, and/or operations issues in the real world. Even though Dr. Liu’s book addresses a wide variety of topics in sufficient detail, it also provides an excellent yet concise list of references for those who wish and need to delve into particular areas in greater detail. Dr. Liu has performed a valuable service by writing this book, which will be a tremendous asset to the pipeline industry. James R.Beasley President Willbros Engineers, Inc. Tulsa, OK

© 2003 by CRC Press LLC

Preface An extensive network of underground pipelines exists in every city, state, and nation to transport water, sewage, crude oil, petroleum products (such as gasoline, diesel, or jet fuel), natural gas, and many other liquids and gases. In-plant pipelines are also used extensively in most industrial or municipal plants for processing water, sewage, chemicals, food products, etc. Increasingly, pipelines are being used for transporting solids including minerals (such as coal, iron ore, phosphate, etc.); construction materials (sand, crushed rock, cement, and even wet concrete); refuse; municipal and industrial wastes; radioactive materials; grain; hospital supplies; and hundreds of other products. Pipelines are an indispensable and the preferred mode of freight transport in many situations. Pipelines perform vital functions. They serve as arteries, bringing life-dependent supplies such as water, petroleum products, and natural gas to consumers through a dense underground network of transmission and distribution lines. They also serve as veins, transporting life-threatening waste (sewage) generated by households and industries to waste treatment plants for processing via a dense network of sewers. Because most pipelines are buried underground or underwater, they are out of sight and out of mind of the general public. The public pays little attention to pipelines unless and until a water main leaks, a sewer is clogged, or a natural gas pipeline causes an accident. However, as our highways and streets become increasingly congested with automobiles, and as the technology of freight pipelines (i.e., the pipelines that transport freight or solids) continues to improve, the public is beginning to realize the need to reduce the use of trucks and to shift more freight transport to underground pipelines. Underground freight transportation by pipelines not only reduces traffic on highways and streets, but also reduces noise and air pollution, accidents, and damage to highways and streets caused by trucks and other vehicles. It also minimizes the use of surface land. Surely, we can expect an increase in the use of pipelines in the 21st century. Despite the long history and widespread application of pipelines, pipeline engineering has not emerged as a separate engineering discipline or field as have highway engineering and railroad engineering. This is due in part to the diverse industries and government organizations that use different kinds of pipelines, and in part to the lack of a single textbook or reference book that examines the general principles and different applications of pipelines. This situation has motivated the author to write this book. The fragmentation of pipeline engineering can be seen from the number of different equations used to predict pressure drop along pipelines that carry different fluids such as water and oil. Yet, all these fluids are incompressible Newtonian fluids, which should be and can be treated by the same equations. As Professor Iraj

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Zandi of the University of Pennsylvania wrote in the editorial of the first issue of the Journal of Pipelines, the fragmentation of the pipeline field has impeded the diffusion of knowledge and transfer of manpower from one pipeline business to another, thereby creating an artificial barrier to technology transfer and job mobility (professional development). There is a strong need to unify the treatment of different types of pipelines by using a common approach, so that the next generation of engineers can be educated to understand a broad range of pipelines for a wide variety of applications. In this book, pipeline is considered to be a common technology or a single transportation mode that has different applications. Pipeline engineering is defined here as the field that studies the various principles, technologies, and techniques that are used in the planning, design, analysis, construction, operation, and maintenance of pipelines for transportation of any cargo, be it liquid, gas, solid, or even packaged products. This book will be useful not only to those employed by pipeline companies, but also to most mechanical, civil, chemical, mining, petroleum, nuclear, and agricultural engineers who must deal with piping or pipelines in their professional work. It provides the essentials of pipeline engineering—concepts, theories, calculations and facts—that all engineers working on pipelines should know. The book can be used as a reference book or as a college textbook. At the University of Missouri-Columbia, an early version of this manuscript was used as the basis for a 3-semester-hour course entitled “Pipeline Engineering.” The prerequisite for this course was fluid mechanics. The course was taken by both graduate and undergraduate students from various engineering departments, especially civil and mechanical engineering. Student feedback was used to improve the original manuscript that evolved into this book. This book consists of a total of 14 chapters, divided into two parts. Part I, Pipe Flows, consists of seven chapters that present the equations needed for the analysis of various types of pipe flows. It begins with a treatment of single-phase, incompressible Newtonian fluids, then follows with discussions on compressible flow, non-Newtonian fluids, flow of solid/liquid mixtures, flow of solid/air mixtures, and capsule flow, in that order. Part II, Engineering Considerations, consists of seven chapters that deal with nonfluid-mechanics-related engineering of pipelines required for the proper planning, design, construction, operation, and maintenance of pipelines. Topics include pipe materials, valves, pumps, blowers, compressors, pressure regulators, sensors, flowmeters, pigging, computer control of pipelines, protection against freezing, abrasion and corrosion, planning, design, construction, maintenance, rehabilitation, and integrity monitoring of pipelines. As discussed above, this book examines the principles and important engineering aspects of all types of pipelines, and provides details on a wide range of subjects to broaden the reader’s knowledge about the planning, design, construction, and operation of various types of modern pipeline systems. Practicing engineers will find the book useful for broadening their knowledge of pipelines, especially with respect to recent developments, such as freight pipelines and trenchless technologies. Professors may find this to be the most suitable textbook available for a new course in pipeline engineering. It is the author’s belief that all engineering and mining

© 2003 by CRC Press LLC

colleges should offer pipeline engineering as a senior-level elective course offered by any engineering or mining department with an interest in the course and open to students from all engineering departments. This will greatly enhance the competence of future graduates involved in pipeline engineering work. This book addresses only the most fundamental aspects of pipeline engineering. Consequently, it excludes discussion of various software systems that are used currently by design professionals. Nor does it include treatment of codes, standards, manual of practices, and current laws and regulations on pipelines, which not only differ from nation to nation, but also are in a state of constant change. The book assumes that the reader has taken a college-level course in fluid mechanics. Even so, the book provides some review of fluid mechanics pertinent to pipe flow (see Chapter 2) to ensure a smooth transition to the more advanced subjects covered in this book. Today, most pipeline engineers in the U.S. still use the English (ft-lb) units in practice, although the SI units are being used increasingly. To be able to practice, to communicate with one another, and to effectively comprehend the literature on pipelines, the current generation of U.S. engineers and future generations must be familiar with both SI and ft-lb units. For this reason, some examples and homework problems in this book are given in SI units and others are given in ft-lb units. This will enable the reader to master both systems of units. Henry Liu

© 2003 by CRC Press LLC

Acknowledgments First, I wish to express my gratitude to individuals who reviewed parts of this book and provided valuable input for improvement. They include John Miles, Professor Emeritus, University of Missouri-Columbia (UMC), on Chapter 3, Single-Phase Compressible Flow in Pipe; Thomas C.Aude, Principal, Pipeline Systems Incorporated, on Chapter 5, Flow of Solid-Liquid Mixture in Pipe (Slurry Pipelines); Sanai Kosugi, General Manager, Pipeline Department, Sumitomo Metal Industries, on Chapter 7, Capsule Pipelines; Charles W.Lenau, Professor Emeritus, UMC, on Chapter 9, Pumps and Turbines; Shankha Banerji, Professor Emeritus, UMC, on Chapter 11, Protection of Pipelines against Abrasion, Freezing, and Corrosion; Mohammad Najafi, Assistant Professor of Construction Management, Michigan State University, on Chapter 12, Planning and Construction of Pipelines; Russ Wolf and Tom Alexander, Willbros Engineers, Inc., on Chapter 13, Structural Design of Pipelines; and Robert M.O’Connell, Associate Professor of Electrical Engineering, UMC, on parts of Chapter 9 that deal with electric motors and electromagnetic pumps. I also wish to thank those individuals and organizations that provided photographs used in this book, or that allowed me to use their copyrighted materials; they are separately acknowledged in the figure captions. Three individuals helped type the manuscript: my wife, Susie Dou-Mei; my youngest son, Jeffrey H.; and the former Senior Secretary of Capsule Pipeline Research Center, Carla Roberts. Deep gratitude is due my wife Susie who, during the last few months of the manuscript preparation, freed me from most household chores so I could concentrate on the book project. All of the drawings in this book were done by Ying-Che (Joe) Hung, a freelance draftsman and industrial artist in Columbia, Missouri. Finally, this book is dedicated to all those who share the belief that underground freight transport by pipelines is not a pipedream. It is realistic and innovative, and it should be promoted until it becomes the principal mode of freight transportation of the future, for the best interest of humankind.

© 2003 by CRC Press LLC

The Author Henry Liu, Ph.D., is Professor Emeritus of Civil Engineering, University of Missouri-Columbia (UMC). Dr. Liu has his B.S. from National Taiwan University, and his M.S. and Ph.D. from Colorado State University, Fort Collins. His main background and expertise are in fluid mechanics. Prior to retirement from UMC, he was a chaired Professor of Civil Engineering, and the founding Director of Capsule Pipeline Research Center (CPRC), a State/Industry University Cooperative Research Center (S/ IUCRC) established by the National Science Foundation (NSF) in 1991. At UMC, Dr. Liu taught many engineering courses including pipeline engineering, a course that he established at UMC. Dr. Liu has served in leadership positions in professional organizations, such as Chairman, Pipeline Research Committee, American Society of Civil Engineers (ASCE); Chairman, Aerodynamics Committee, and Chairman, Executive Committee, Aerospace Division, ASCE; President, International Freight Pipeline Society (IFPS); and Steering Committee Chair, International Symposium on Underground Freight Transport (ISUFT). He is also a member of the American Society of Mechanical Engineers (ASME) and a member of the National Society of Professional Engineers. Dr. Liu has won prestigious national and international awards for his contributions to industrial aerodynamics and capsule pipelines, including the Bechtel Pipeline Engineering Award and the Aerospace Science and Technology Applications Award of ASCE, the Distinguished Lecture Award of IFPS, Missouri Energy Innovation Award, and three University of Missouri faculty awards for distinguished research. Dr. Liu is the inventor or co-inventor listed on five U.S. patents dealing with various aspects of capsule pipelines. He has written more than 100 technical papers for professional journals and conference proceedings. He is the author of a book, Wind Engineering: A Handbook for Structural Engineers. Dr. Liu took early retirement from teaching to form the Freight Pipeline Company (FPC), headquartered in Columbia, Missouri, in order to bring capsule pipeline and other related new technologies to early commercial use in the U.S. Dr. Liu has an extensive record of international involvement, including Fulbright Scholar (from Taiwan to the U.S.); Visiting Professor, National Taiwan University; Visiting Professor, National Chiao Tung University, Taiwan; Visiting Professor, Melbourne University, Australia; Visiting Fellow, National Institute for Resources and Environment, Japan; and Consultant, Taiwan Power Company. He has also conducted several lecture tours in China. He has served on the International Program

© 2003 by CRC Press LLC

Committee of, and given keynote speeches at, four international conferences organized by the Chinese Mechanical Engineering Society (CMES). He is the Chairman of the Steering Committee, International Symposium on Underground Freight Transport (ISUFT), which has held three symposia since 1999 in three countries—the U.S., the Netherlands, and Germany.

© 2003 by CRC Press LLC

Contents PART I Pipe Flows Chapter 1 Introduction

3

1.1 Definition and Scope 1.2 Brief History of Pipelines 1.3 Existing Major Pipelines 1.4 Importance of Pipelines 1.5 Freight (Solids) Transport by Pipelines 1.6 Types of Pipelines 1.7 Components of Pipelines 1.8 Advantages of Pipelines References

3 3 4 9 9 11 12 12 16

Chapter 2 Single-Phase Incompressible Flow of Newtonian Fluid

17

2.1 2.2 2.3

17 19 19 21 23 26 26 27 29 32 32 37 41 42 44 44 47 47 48 51 55 57

Introduction Flow Regimes Local Mean Velocity and Its Distribution (Velocity Profile) 2.3.1 Variation of Velocity along Pipe 2.3.2 Velocity Profile of Fully Developed Flow 2.4 Flow Equations for One-Dimensional Analysis 2.4.1 Continuity Equation 2.4.2 Energy Equation 2.4.3 Momentum Equation 2.4.4 Headloss Formulas 2.4.4.1 Fitting Loss 2.4.4.2 Pipe Loss 2.4.4.3 Total Loss 2.4.5 Shear on Pipe Wall 2.5 Hydraulic and Energy Grade Lines 2.6 Cavitation in Pipeline Systems 2.7 Pipes in Series and Parallel 2.7.1 Pipe in Series 2.7.2 Parallel Pipes 2.8 Interconnected Reservoirs 2.9 Pipe Network 2.10 Unsteady Flow in Pipe

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2.10.1 Quasi-Steady Solution 58 2.10.1.1 Drainage of a Reservoir or Pipe 58 2.10.1.2 Flow Establishment (Fluid Acceleration Due to Sudden Valve Opening) 61 2.10.1.3 Flow Oscillations in Interconnected Tanks 63 2.10.2 Unsteady Solution: Water Hammer 65 2.10.2.1 Propagation of Small Pressure Disturbances in Pipes 66 2.10.2.2 Celerity of Water Hammer Waves 66 2.10.2.3 Rise and Drop of Pressure in Pipe Due to Sudden Valve Closure 67 2.10.2.4 Water Hammer Force on Valve 68 2.10.2.5 Water Hammer Wave Propagation Due to Sudden Valve Closure 69 2.10.2.6 Water Hammer Caused by Partial Closure of Valve 71 2.10.2.7 Water Hammer with Finite Closure Time 72 2.10.2.8 Characteristic Method 73 2.10.3 Surge Tanks 74 Problems 78 References 82 Chapter 3 Single-Phase Compressible Flow in Pipe 3.1

Flow Analysis for Ideal Gas 3.1.1 General Analysis 3.1.2 Isothermal Compressible Pipe Flow with Friction 3.1.3 Adiabatic Compressible Pipe Flow with Friction 3.1.4 Isentropic (Adiabatic Frictionl...