CN101832874B - Progressive cable structure health monitoring method based on angle monitoring - Google Patents

Progressive cable structure health monitoring method based on angle monitoring Download PDF

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CN101832874B
CN101832874B CN2010101401186A CN201010140118A CN101832874B CN 101832874 B CN101832874 B CN 101832874B CN 2010101401186 A CN2010101401186 A CN 2010101401186A CN 201010140118 A CN201010140118 A CN 201010140118A CN 101832874 B CN101832874 B CN 101832874B
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vector
cable
evaluation
current
formula
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CN101832874A (en
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韩玉林
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东南大学
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Abstract

The invention discloses a progressive cable structure health monitoring method based on angle monitoring, and provides a method for performing piecewise approximation on nonlinear relationship by using linear relationship to divide a large range into continuous small ranges, considering the fact that the linear relationship between the current value vector and the initial value vector of a monitored volume, and the linear relationship between the unit damage variation matrix of the monitored volume and the current notional health state vector are approximate, wherein linear relationship in each small range is accurate enough, and each small range can utilize proper algorithms such as multi-objective optimization algorithm, and the like to rapidly identify support displacement, damaged cables and loose cables.

Description

Health monitoring method of increment cable structure based on angle monitor
Technical field
The present invention is based on structural health monitoring technology, based on angle monitor, adopt progressive method to discern the damaged cable in the cable system of support displacement, identification Cable Structure, the support cable that identification needs to adjust Suo Li, and provide the long adjustment amount of concrete rope, belong to the engineering structure health monitoring field.
Background technology
Support displacement is a significant threat to Cable Structure safety, same, cable system is the key components of Cable Structure normally, its inefficacy usually brings the inefficacy of total, and the damaged cable of discerning based on structural health monitoring technology in the cable system of support displacement and Cable Structure is a kind of method that has potentiality.When displacement appears in bearing, or the health status of cable system is when changing, when perhaps two kinds of situations take place simultaneously, can cause the variation of the measurable parameter of structure, for example can cause the variation of Suo Li, can influence the distortion or the strain of Cable Structure, can influence the shape or the volume coordinate of Cable Structure, can cause variation (for example arbitrarily variation of the angle coordinate of the straight line of any this point of mistake in any section of body structure surface of angle coordinate of any imaginary line of the every bit of Cable Structure, the perhaps body structure surface variation of the angle coordinate of the normal of any arbitrarily), all these change the health status information that has all comprised cable system, in fact the variation of these measurable parameters has comprised the health status information of cable system, comprised support displacement information, that is to say and to utilize the measurable parameter of structure to discern support displacement, damaged cable and slack line.
In order reliable monitoring and judgement to be arranged to the health status and the support displacement of the cable system of Cable Structure, the method of the variation of a measurable parameter of can rational and effective setting up Cable Structure with the relation between the health status of all ropes in support displacement and the cable system must be arranged, and the health monitoring systems of setting up based on this method can provide the health evaluating of more believable support displacement assessment and cable system.
Summary of the invention
Technical matters: the invention discloses a kind of health monitoring method of increment cable structure, adopt health monitoring progressive method, that can discern support displacement, damaged cable and slack line rationally and effectively based on angle monitor.
Technical scheme: structures such as cable-stayed bridge, suspension bridge, truss-frame structure have a common ground, be exactly that they have many parts that bear tensile load, as suspension cable, main push-towing rope, hoist cable, pull bar or the like, the common ground of this class formation is to be support unit with rope, cable or the rod member that only bears tensile load, and the present invention is " Cable Structure " with such structure representation for simplicity.In the military service process of Cable Structure, the supporting system of Cable Structure (refers to all ropeway carrying-ropes, reaches all rod members that only bear tensile load that play supporting role, for simplicity, this patent is called " cable system " with whole support unit unifications of this class formation, but in fact cable system not only refers to support cable, also comprises the rod member that only bears tensile load) can be impaired, the bearing of Cable Structure also displacement may occur simultaneously, these safety that change to Cable Structure are a kind of threats
If the quantity sum of the quantity of rope and support displacement component is N.For sake of convenience, the present invention unitedly calls evaluated rope and support displacement to be " evaluation object ", gives the evaluation object serial number, and the present invention is with representing this numbering with variable j, j=1, and 2,3 ..., N, so we can say N evaluation object.
Reason according to the Suo Li of support cable changes can change the three kinds of situations that be divided into the Suo Li of support cable: the one, and support cable has been subjected to damage, and for example localized cracks and corrosion or the like have appearred in support cable; The 2nd, support cable and not damaged, but variation has also taken place in Suo Li, the one of the main reasons that this variation occurs is that variation has taken place the Suo Changdu (be called drift, the present invention specially refers to the drift of that section rope between support cable two supporting end points) under the support cable free state (this moment, Suo Zhangli claimed that also Suo Li is 0); The 3rd, support cable and not damaged, but the Cable Structure bearing has had displacement (wherein the component at gravity direction just is called as sedimentation), also can cause the variation of structural internal force, also will cause the variation of Suo Li certainly.For convenience, the present invention is referred to as slack line with the support cable that drift changes.
The present invention is made up of the two large divisions.Be respectively: one, set up the method for required knowledge base of evaluation object health monitoring systems and parameter, based on the evaluation object health status appraisal procedure of the strain (or distortion) of knowledge base (containing parameter) and actual measurement Cable Structure; Two, the software and hardware part of health monitoring systems.
First of the present invention: foundation is used for the knowledge base of evaluation object health monitoring and the method for parameter.Can be successively circularly as follows, laddering carrying out:
The first step: during circulation beginning each time, the evaluation object initial health vector d when at first needing to set up or set up this circulation beginning o i(i=1,2,3 ...), set up the initial mechanical calculating benchmark model A of Cable Structure o(for example finite element benchmark model, A in the present invention oBe constant), set up the Mechanics Calculation benchmark model A of Cable Structure i(finite element benchmark model for example, i=1,2,3 ...).Letter i is except the place of representing number of steps significantly, and alphabetical in the present invention i only represents cycle index, i.e. the i time circulation.
The Cable Structure that needs during the i time circulation beginning " initial health vector d o i" (as the formula (1)), use d o iCable Structure when representing the i time circulation beginning is (with Mechanics Calculation benchmark model A iThe initial health of Cable Structure expression).
d o i = d o 1 i d o 2 i . . . d oj i . . . d oN i T - - - ( 1 )
D in the formula (1) i Oj(i=1,2,3, J=1,2,3 ...., when N) the i time circulation of expression begins, Mechanics Calculation benchmark model A iIn the current health status of j evaluation object of cable system, if this evaluation object is the rope (or pull bar) in the cable system, d so iRepresent its current damage, d iBeing to represent not damaged at 0 o'clock, is to represent that this rope thoroughly lost load-bearing capacity at 100% o'clock, represents to lose the load-bearing capacity of corresponding proportion in the time of between 0 and 100%, if this evaluation object is displacement component, a d so of a bearing iRepresent its present bit shift value.T represents the transposition (back together) of vector in the formula (1).
Set up the initial health vector during circulation beginning for the first time and (be designated as d according to formula (1) 1 o) time, evaluation object initial health vector d is set up in the data and the support displacement measurement that utilize the Non-Destructive Testing data etc. of rope can express the health status of rope 1 oIf when not having the data of the Non-Destructive Testing data of rope and other health status that can express rope, can think that perhaps the structure original state is a not damaged when not having relaxed state, vectorial d 1 oIn get 0 with each element numerical value of Suo Xiangguan.
The i time (i=2,3,4,5,6 ...) the evaluation object initial health vector d of needs when circulation begins i o, be preceding once (promptly the i-1 time, i=2,3,4,5,6 ...) the preceding calculating acquisition of loop ends, concrete grammar is described below.
The Mechanics Calculation benchmark model that need set up during the i time circulation beginning or the Mechanics Calculation benchmark model of having set up are designated as A i
Measured data according to the Cable Structure in the Cable Structure completion (comprises measured datas such as Cable Structure shape data, rope force data, draw-bar pull data, Cable Structure support coordinate data, Cable Structure modal data, to cable-stayed bridge, suspension bridge and bridge type data of Yan Shiqiao, rope force data, the modal data of bridge, the Non-Destructive Testing data of rope etc. can be expressed the data of the health status of rope) and design drawing, as-constructed drawing, utilize mechanics method (for example finite element method) to set up A oIf there is not the measured data of the structure in the Cable Structure completion, so just before setting up health monitoring systems, structure is surveyed, the measured data that obtains Cable Structure (comprises the Cable Structure shape data, the rope force data, the draw-bar pull data, Cable Structure support coordinate data, measured datas such as Cable Structure modal data, to cable-stayed bridge, suspension bridge and the bridge type data of Yan Shiqiao, the rope force data, the modal data of bridge, the Non-Destructive Testing data of rope etc. can be expressed the data of the health status of rope), design drawing according to these data and Cable Structure, as-constructed drawing utilizes mechanics method (for example finite element method) to set up A oNo matter which kind of method to obtain A with o, based on A oThe Cable Structure computational data that calculates (to cable-stayed bridge, suspension bridge and the modal data of the bridge type data of Yan Shiqiao, rope force data, bridge) must be very near its measured data, and error generally must not be greater than 5%.Can guarantee to utilize A like this oStrain computational data, Suo Li computational data, Cable Structure shape computational data and displacement computational data, Cable Structure angle-data etc. under the analog case of calculating gained, the measured data when truly taking place near institute's analog case reliably.A oBe constant, only when circulation beginning for the first time, set up.
The Mechanics Calculation benchmark model of the Cable Structure of setting up during circulation beginning for the first time is designated as A 1, A 1Just equal A oA 1The health status of corresponding evaluation object is by d 1 oDescribe.
The i time (i=2,3,4,5,6 ...) the Mechanics Calculation benchmark model A of needs when circulation begins i, be preceding once (promptly the i-1 time, i=2,3,4,5,6 ...) the preceding calculating acquisition of loop ends, concrete grammar is described below.
Existing Mechanics Calculation benchmark model A 1With evaluation object initial health vector d 1 oAfter, model A 1In the health status of each evaluation object by vectorial d 1 oExpress.At A 1The basis on, the health status numerical value of all evaluation objects is changed to 0, mechanical model A 1The health status that is updated to all evaluation objects all is that 0 mechanical model (is designated as A 0), mechanical model A 0Be actually the mechanical model of the Cable Structure correspondence of excellent no support displacement.Might as well claim model A 0For the not damaged of Cable Structure does not have support displacement model A 0
" the whole monitored angle-data of structure " described by H angle coordinate component L the appointment straight line specified point of K on the structure, that cross each specified point, each appointment straight line, and the variation of structure angle is exactly the variation of the angle coordinate component of all appointments all specified points, all appointment straight lines.(individual angle coordinate component measurement value of M=K * L * H) or calculated value characterize the angle information of structure to each total M.K and M must not be less than N.
For simplicity, in the present invention " the monitored angle-data of structure " abbreviated as " monitored amount ".When mentioning " monitored amount so-and-so matrix or so-and-so vector " in the back, also can be read as " monitored angle so-and-so matrix or so-and-so vector ".
Among the present invention with monitored amount initial value vector C i o" (i=1,2,3 ...) initial value (referring to formula (2)) of the monitored amount of all appointments when the i time (i=1,2,3,4,5,6 ...) circulation of expression begins, C i oFull name be the initial value vector of monitored amount " the i time circulation ".
C o i = C o 1 i C o 2 i . . . C ok i . . . C oM i T - - - ( 2 )
C in the formula (2) i Ok(i=1,2,3, K=1,2,3 ...., M; M 〉=N; ) k monitored amount when being the i time circulation beginning, in the Cable Structure.Vector C i oBe to be formed according to certain series arrangement by the monitored amount of previously defined M, this is put in order there is no specific (special) requirements, only require all associated vector of back also in this order array data get final product.
During circulation beginning for the first time, " the initial value vector C of the 1st the monitored amount that circulates 1 o" (seeing formula (2)) be made up of measured data, because according to model A 1The initial value of calculating the monitored amount of gained approaches corresponding measured value reliably, in the narration of back, will represent this calculated value composition of vector and measured value composition of vector with prosign.
The i time (i=2,3,4,5,6 ...) when beginning circulation " the vectorial C of the initial value of the i time monitored amount of circulation that needs i o", be preceding once (promptly the i-1 time, i=2,3,4,5,6 ...) calculate before the loop ends and to obtain, concrete grammar is described below.
Second step: circulation each time needs to set up " unit damage monitored numerical quantity transformation matrices " and " nominal unit damage vector ", and " unit damage monitored numerical quantity transformation matrices " that the i time circulation set up is designated as Δ C i, " nominal unit damage vector " that the i time circulation set up is designated as D i u, i=1,2,3 ...
The Cable Structure " unit damage monitored numerical quantity transformation matrices " that circulation is for the first time set up is designated as Δ C 1Set up Δ C 1Process as follows:
Mechanics Calculation benchmark model A in Cable Structure 1The basis on carry out several times and calculate, equal N on the calculation times numerical value.Calculating hypothesis each time has only an evaluation object that unit damage is arranged, concrete, if this evaluation object is a support cable in the cable system, so just suppose that this support cable has unit damage (for example getting 5%, 10%, 20% or 30% equivalent damage is unit damage), if this evaluation object is the displacement component of a direction of a bearing, just suppose that this bearing is this sense of displacement generation unit displacement (for example 10mm, 20mm, 30mm etc. are unit displacement).For sake of convenience, the present invention is referred to as unit damage with the damage and the support displacement of the support cable of supposition.Calculate for convenient, when setting unit damage in the circulation each time can all be structural health conditions during this time circulation beginning as being healthy fully, and set on this basis unit damage (in subsequent step, health status numerical value that calculate, evaluation object---be called nominal health status vector d i c(i=1,2,3 ...), all with respect to this time when beginning circulation, with the health status of Cable Structure as being healthy fully speech, the nominal health status numerical value that the formula that therefore must foundation hereinafter provides will calculate be converted into true health status numerical value).The evaluation object that occurs unit damage during a round-robin calculates each time together is different from the evaluation object that occurs unit damage in other time calculating, and supposition each time has the unit damage value of the evaluation object of unit damage can be different from the unit damage value of other evaluation objects, uses " nominal unit damage vector D i u" (as the formula (3)) write down the unit damage of the supposition of all evaluation objects in each time circulation, circulation time is designated as D for the first time 1 uCalculate each time all utilize mechanics method (for example finite element method) calculate Cable Structure, the current calculated value of the M of appointment monitored amount in front, the current calculated value that calculates gained M monitored amount is each time formed one " the current numerical value vector of the calculating of monitored amount ", and (when j evaluation object of hypothesis had unit damage, available formula (4) was represented the vectorial C of the current numerical value of calculating of M monitored amount of all appointments 1 Tj); The current numerical value vector of the calculating of the monitored amount that calculates each time deducts the initial value vector C of monitored amount 1 o, the gained vector is exactly that " the numerical value change vector of monitored amount " of (with the mark that is numbered of evaluation object that unit damage is arranged) (when j evaluation object has unit damage, used δ C under this condition 1 jThe numerical value change vector of representing monitored amount, δ C 1 jDefinition see formula (5), formula (6) and formula (7), formula (5) deducts after the formula (2) again divided by vectorial D for formula (4) 1 uJ element D UjGained), the numerical value change of monitored amount vector δ C 1 jEach element representation since when calculating supposition have that evaluation object (for example j evaluation object) of unit damage that unit damage (D is for example arranged Uj), and the numerical value change amount of the pairing monitored amount of this element that causes is with respect to the unit damage D of supposition UjRate of change; There is N evaluation object that N " the numerical value change vector of monitored amount " just arranged, the numerical value change vector of each monitored amount has M (general, the individual element of M 〉=N) is formed " the unit damage monitored numerical quantity transformation matrices Δ C that M * N element arranged successively by this N " the numerical value change vector of monitored amount " 1" (the capable N row of M), each vectorial δ C 1 j(j=1,2,3 ...., N) be matrix Δ C 1One row, Δ C 1Definition as the formula (8).
D u i = D u 1 i D u 2 i . . . D uj i . . . D uN i T - - - ( 3 )
Nominal unit damage vector D in the formula (3) i uElement D i Uj(i=1,2,3, J=1,2,3 ...., N) the unit damage numerical value of j evaluation object of supposition in the i time circulation of expression, vectorial D i uIn the numerical value of each element can be the same or different.
C tj i = C tk 1 i C tk 2 i . . . C tjk i . . . C tjM i T - - - ( 4 )
Elements C in the formula (4) i Tjk(i=1,2,3 ...; J=1,2,3 ...., N; K=1,2,3 ...., M; When the i time circulation of the expression of M 〉=N) has unit damage owing to j evaluation object, according to the current numerical value of calculating of the monitored amount of pairing k the appointment of coding rule.
δC j i = C tj i - C o i D uj i - - - ( 5 )
The subscript i of each amount in the formula (5) (i=1,2,3 ...) the i time circulation of expression, subscript j (j=1,2,3 ...., N) j evaluation object of expression has unit damage, D in the formula i UjBe vectorial D i uIn j element.Vector δ C i jDefinition as the formula (6), δ C i jK (k=1,2,3 ...., M; The individual element δ C of M 〉=N) i JkRepresent to set up matrix Δ C in the i time circulation iThe time, suppose that the change amount of calculating a gained k monitored amount when j evaluation object has unit damage is with respect to the unit damage D that supposes i UjRate of change, it defines as the formula (7).
δ C j i = δ C j 1 i δC j 2 i . . . δ C jk i . . . δC jM i T - - - ( 6 )
δC jk i = C tjk i - C ok i D uj i - - - ( 7 )
The definition of each amount has been previously described in the formula (7).
ΔC i = δC 1 i δC 2 i . . . δC j i . . . δC N i - - - ( 8 )
Vectorial δ C in the formula (8) i j(i=1,2,3 ....,, j=1,2,3 ...., N) in the i time circulation of expression, because j evaluation object has unit damage D i UjCause, the relative value of all monitored amounts changes.Matrix Δ C iThe coding rule of row (subscript j) and front vector d i oThe coding rule of subscript j of element identical.
The 3rd step: the current health status of identification evaluation object (identification support displacement, damaged cable and slack line).
Detailed process is as follows.
I (i=1,2,3 ...) in the inferior circulation, " current (calculating or actual measurement) numerical value vector C of monitored amount i" " the initial value of monitored amount vector C together i o", " unit damage monitored numerical quantity transformation matrices Δ C i" and " current nominal health status vector d i c" between linear approximate relationship, shown in (9) or formula (10).
C i = C o i + ΔC i · d c i - - - ( 9 )
C i - C o i = Δ C i · d c i - - - ( 10 )
Current (calculating or actual measurement) numerical value vector C of monitored amount in formula (9) and the formula (10) iDefinition be similar to the initial value vector C of monitored amount i oDefinition, see formula (11); The current nominal health status vector d of evaluation object i cDefinition see formula (12).
C i = C 1 i C 2 i . . . C k i . . . C M i T - - - ( 11 )
Elements C in the formula (11) i k(i=1,2,3 ....; K=1,2,3 ...., M; M 〉=N) be the i time circulation time Cable Structure, according to the current numerical value of the monitored amount of the pairing k of being numbered of coding rule.
d c i = d c 1 i d c 2 i . . . d cj i . . . d cN i T - - - ( 12 )
D in the formula (12) i Cj(i=1,2,3 ....; J=1,2,3 ...., N) be the current nominal impairment value of j evaluation object of Cable Structure in the i time circulation, vectorial d i cThe coding rule and the matrix Δ C of subscript j of element iThe coding rule of row identical.
When evaluation object actual damage or support displacement are not too big, because the Cable Structure material still is in the linear elasticity stage, the distortion of Cable Structure is also less, and the represented a kind of like this linear relationship of formula (9) or formula (10) is less with the error of actual conditions, and error can be used error vector e i(formula (13)) definition, the error of linear relationship shown in expression (9) or the formula (10).
e i = abs ( ΔC i · d c i - C i + C o i ) - - - ( 13 )
Abs () is the function that takes absolute value in the formula (13), and each element of the vector of trying to achieve in the bracket is taken absolute value.
Because there are certain error in formula (9) or the represented linear relationship of formula (10), therefore can not be simply according to formula (9) or formula (10) and " current (actual measurement) numerical value vector C of monitored amount i" directly find the solution and obtain current nominal health status vector d i cAnd obtain current nominal health status vector d i cAcceptable separating (promptly have reasonable error, but can be more accurately from cable system, determine damaged cable position and degree of injury thereof, determine the support displacement amount) become a rational solution, available formula (14) is expressed this method.
abs ( ΔC i · d c i - C i + C o i ) ≤ g i - - - ( 14 )
Abs () is the function that takes absolute value in the formula (14), and vectorial gi describes the reasonable deviation that departs from ideal linearity relation (formula (9) or formula (10)), is defined by formula (15).
g i = g 1 i g 2 i . . . g k i . . . g M i T - - - ( 15 )
G in the formula (15) i k(i=1,2,3 ....; K=1,2,3 ...., M) maximum allowable offset that departs from the ideal linearity relation shown in formula (9) or the formula (10) in the i time circulation has been described.Vector g iCan be according to the error vector e of formula (13) definition iTentative calculation is selected.
Initial value vector C in monitored amount i o(survey or calculate), unit damage monitored numerical quantity transformation matrices Δ C iThe current numerical value vector C of (calculating) and monitored amount iWhen (actual measurement obtains) is known, can utilize suitable algorithm (for example multi-objective optimization algorithm) to find the solution formula (14), obtain current nominal health status vector d i cAcceptable separating, current actual health status vector d iThe element of (formula (16) is seen in definition) can calculate according to formula (17), has just obtained the current actual health status vector d of evaluation object iThereby, can be by d iDetermine damaged cable position and degree of injury, determine the support displacement amount, realized that just damage identification and support displacement discern.
d i = d 1 i d 2 i . . . d j i . . . d N i T - - - ( 16 )
D in the formula (16) i j(i=1,2,3, J=1,2,3 ...., N) the actual damage value of j evaluation object in the i time circulation of expression, formula (17) is seen in its definition, if this evaluation object is the rope (or pull bar) in the cable system, d so i jRepresent its current damage, d i jBe to represent this rope not damaged at 0 o'clock, be to represent that this rope thoroughly lost load-bearing capacity at 100% o'clock, represent the load-bearing capacity of this rope forfeiture corresponding proportion in the time of between 0 and 100%, determine after the damaged cable all damaged cables to be carried out Non-Destructive Testing, find out this rope not damage, d so through Non-Destructive Testing iRepresent this rope and d iRelaxing of impairment value mechanics equivalence just determined slack line thus, and the computing method of concrete slack illustrate below; If this evaluation object is displacement component, a d so of a bearing i jRepresent its present bit shift value.Vector d iThe coding rule of element and formula (1) in vectorial d i oThe coding rule of element identical.
d j i = 1 - ( 1 - d oj i ) ( 1 - d cj i ) - - - ( 17 )
D in the formula (17) i Oj(i=1,2,3,4, J=1,2,3 ...., N) be vectorial d i oJ element, d i CjBe vectorial d i cJ element.
After narration has obtained the current actual health status vector d of Cable Structure below, how to determine the position and the relax level of slack line.
If total Q root support cable in the cable system, structure rope force data is described by the Suo Li of Q root support cable.Available " initial rope force vector F o" the initial Suo Li (formula (18) is seen in definition) of all support cables in the expression Cable Structure.Because the initial Suo Li that calculates gained based on the calculating benchmark model of Cable Structure approaches the measured data of initial Suo Li reliably, in the narration of back, will represent this calculated value and measured value with prosign.
F o=[F o1?F o2…F ok…F oQ] T (18)
F in the formula (18) o(k=1,2,3 ...., Q) being the initial Suo Li of k root support cable in the Cable Structure, this element is according to the Suo Li of coding rule corresponding to the appointment support cable.Vector F oIt is constant.Setting up the initial mechanical calculating benchmark model A of Cable Structure oThe time used vectorial F o
Use " current cable force vector F among the present invention i" the i time circulation time of expression survey the current cable power (formula (19) is seen in definition) of all support cables in the Cable Structure that obtains.
F i = F 1 i F 2 i . . . F k i . . . F Q i T - - - ( 19 )
F in the formula (19) i k(i=1,2,3,4, K=1,2,3 ...., Q) be the current cable power of k root support cable in the i time circulation time Cable Structure.
Among the present invention, under support cable original state (not damaged, do not have lax), and support cable is when being in free state (free state refers to that Suo Li is 0, back with), and the length of support cable is called initial drift, with " initial drift vector l o" the initial drift (formula (20) is seen in definition) of all support cables in the expression Cable Structure.
l o=[l o1?l o2…l ok…l oQ] T (20)
L in the formula (20) Ok(k=1,2,3 ...., Q) be the initial drift of k root support cable in the Cable Structure.Vector l oBe constant, irrelevant with cycle index, after when circulation beginning for the first time, determining, just no longer change.
Among the present invention, with " current drift vector l i" the current drift (formula (21) is seen in definition) of all support cables in the i time circulation time Cable Structure of expression.
l i = l 1 i l 2 i . . . l k i . . . l Q i T - - - ( 21 )
L in the formula (21) i k(i=1,2,3,4, K=1,2,3 ...., Q) be the current drift of k root support cable in the i time circulation time Cable Structure.
Among the present invention, with " drift changes vectorial Δ l i" the change amount (formula (22) and formula (23) are seen in definition) of the drift of all support cables in the i time circulation time Cable Structure of (or claim support cable current relax level vector) expression.
Δl i = Δl 1 i Δl 2 i . . . Δl k i . . . Δl Q i T - - - ( 22 )
Δ l in the formula (22) i k(i=1,2,3,4, K=1,2,3 ...., be the change amount of the drift of k root support cable in current (the i time circulation time) Cable Structure Q), formula (23), Δ l are seen in its definition i kBe not that 0 rope is a slack line, Δ l i kNumerical value be the slack of rope, and the current relax level of expression cable system k root support cable also is the long adjustment amount of rope of this rope when adjusting Suo Li.
Δl k i = l k i - l ok - - - ( 23 )
By slack line is carried out the relax level identification that slack line is carried out in the mechanics equivalence with damaged cable, the mechanical condition of equivalence is in the present invention:
The mechanics parameters of initial drift, geometrical property parameter and material when one, the nothing of the rope of two equivalences relaxes with not damaged is identical;
Two, after the lax or damage, the Suo Li of the slack line of two equivalences and damage rope be out of shape after length overall identical.
When satisfying above-mentioned two equivalent conditions, the such mechanics function of two support cables in structure is exactly identical, if after promptly replacing slack line with the damaged cable of equivalence, Cable Structure any variation can not take place, vice versa.
Among the present invention, if the i time circulation time is with k support cable (its current relax level Δ l i kDefinition) carries out the current actual virtual lesion degree d of virtual impaired support cable of equivalence i jExpression (d i jDefinition see formula (16) and formula (17)).The current relax level Δ l of k lax support cable i k(Δ l i kDefinition see formula (22)) with the current actual virtual lesion degree d of damaged cable of equivalence i jBetween relation determine by aforementioned two mechanics equivalent conditions.Δ l i kSame d i jBetween physical relationship can adopt accomplished in many ways, for example can directly determine (referring to formula (24)) according to aforementioned equivalent condition, also can adopt based on the Ernst equivalent elastic modulus to replace the E in the formula (24) to revise back definite (referring to formula (25)), also can adopt and determine based on other methods such as trial and error procedure of finite element method.
Δl k i = d j i 1 - d j i F k i EA + F k i l ok - - - ( 24 )
Δl k i = d j i 1 - d j i F k i [ E 1 + ( ω k l kx i ) 2 AE 12 ( F k i ) 3 ] A + F k i l ok - - - ( 25 )
E is the elastic modulus of this support cable in formula (24) and the formula (25), and A is the cross-sectional area of this support cable, F i jBe the current cable power of this support cable, d i jBe the current actual virtual lesion degree of this support cable, ω kBe the weight of the unit length of this support cable, l i KxIt is the horizontal range of two supporting end points of this support cable.Item in the formula (25) in [] is the Ernst equivalent elastic modulus of this support cable, can just can determine the current relax level vector of support cable Δ l by formula (24) or formula (25) iFormula (25) is the correction to formula (24).
The 4th step: judge whether to finish this (the i time) circulation, if, then finish the preceding tailing in work of this loop ends, for next time (promptly the i+1 time, i=1,2,3,4 ...) circulation preparation Mechanics Calculation benchmark model and necessary vector.Detailed process is as follows.
In this (the i time) circulation, try to achieve current nominal health status vector d i cAfter, at first, set up mark vector B according to formula (26) i, formula (27) has provided mark vector B iThe definition of j element; If mark vector B iElement be 0 entirely, then in this circulation, continue health monitoring and calculating to Cable Structure; If mark vector B iElement be not 0 entirely, then finish subsequent step after, enter next time circulation.So-called subsequent step is: at first, according to formula (28) calculate next time (promptly the i+1 time, i=1,2,3,4 ...) the required initial damage vector d of circulation I+1 oEach element d I+1 OjThe second, at Mechanics Calculation benchmark model A i(i=1,2,3,4 ...) or the not damaged model A of Cable Structure 0The basis on, the health status situation that makes evaluation object is d I+1 oThe back upgrade and to obtain next time (the i+1 time, i=1,2,3,4 ...) the required Mechanics Calculation benchmark model A of circulation I+1At last, by to Mechanics Calculation benchmark model A I+1The initial value that calculates monitored amount, by its form next time (promptly the i+1 time, i=1,2,3,4 ...) required " the initial value vector C of monitored amount of circulation I+1 o" (i=1,2,3,4 ...).
B i = B 1 i B 2 i . . . B j i . . . B N i T - - - ( 26 )
Mark vector B in the formula (26) iSubscript i represent the i time the circulation, its element B i j=1,2,3 ..., subscript j N) represents the damage characteristic of j evaluation object, can only get 0 and 1 two amount, concrete value rule is seen formula (27).
B j i = 0 , if d cj i < D uj i 1 , if d cj i &GreaterEqual; D uj i - - - ( 27 )
Element B in the formula (27) i jBe mark vector B iJ element, D i UjBe nominal unit damage vector D i uJ element (seeing formula (3)), d i CiBe current nominal health status vector d i cJ element (seeing formula (12)), they all represent the relevant information of j evaluation object.
d oj i + 1 = 1 - ( 1 - d oj i ) ( 1 - D uj i F j i ) - - - ( 28 )
D in the formula (28) i UjBe nominal unit damage vector D i uJ element (seeing formula (3)), d i CjBe current nominal health status vector d i cJ element (seeing formula (12)).
Second portion of the present invention: the software and hardware part of health monitoring systems.
Hardware components comprises monitored amount monitoring system, signal picker and computing machine etc.Require to monitor in real time or quasi real time each monitored amount.
Software should the following function of tool: software section should be finished the process that first of the present invention sets, promptly finish needed among the present invention, can be with functions such as computer implemented monitoring, record, control, storage, calculating, notice, warnings.
The inventive method specifically comprises:
A. for sake of convenience, it is evaluation object that the present invention unitedly calls evaluated support cable and support displacement component, and establishing the quantity of evaluated support cable and the quantity sum of support displacement component is N, and promptly the quantity of evaluation object is N; Determine the coding rule of evaluation object, with evaluation object numberings all in the Cable Structure, this numbering will be used to generate the vector sum matrix in subsequent step by this rule; The present invention represents this numbering with variable j, j=1, and 2,3 ..., N;
B. determine the measured point of appointment, give all specified point numberings; Determine the measured straight line of each measurement point, gave the measured straight line numbering of all appointments; Determine the measured angle coordinate component of each measured straight line, give all measured angle coordinate component numberings; Above-mentioned numbering will be used to generate the vector sum matrix in subsequent step; " the whole monitored angle-data of structure " is made up of above-mentioned all measured angle coordinate components; For simplicity, in the present invention " the monitored angle-data of structure " abbreviated as " monitored amount "; The quantity of measurement point must not be less than the quantity of rope; The quantity sum of all measured angle coordinate components must not be less than N;
C. the data of utilizing the Non-Destructive Testing data etc. of evaluation object can express the health status of evaluation object are set up evaluation object initial health vector d i oIf when not having the Non-Destructive Testing data of evaluation object, vectorial d i oEach element numerical value get 0; Vector d i oThe coding rule of element and the coding rule of evaluation object identical; The present invention represents cycle index with i, i=1, and 2,3 ...; Here be circulation for the first time, i gets 1, the initial health vector d that promptly sets up here i oCan be embodied as d i o
D. setting up initial health vector d i oThe time, directly measurement calculates the initial value of all monitored amounts of Cable Structure, forms the initial value vector C of monitored amount i oHere be circulation for the first time, i gets 1, i.e. the initial value of the monitored amount of setting up here vector C i oCan be embodied as C 1 oObtain monitored amount initial value vector C in actual measurement 1 oThe time, actual measurement obtains the initial geometric data and the initial Cable Structure support coordinate data of Cable Structure; Directly measure the initial Suo Li that calculates all support cables, form initial rope force vector F oSimultaneously, obtain the initial drift of all support cables, form initial drift vector l according to structural design data, completion data oVector F oWith vectorial l oBe constant; Simultaneously, survey or obtain elastic modulus, density, the initial cross sectional area of all ropes according to structural design, completion information;
E. according to the measured data of design drawing, as-constructed drawing and the Cable Structure of Cable Structure, the Non-Destructive Testing data of rope and the Mechanics Calculation benchmark model A that initial Cable Structure support coordinate data are set up Cable Structure iHere be circulation for the first time, i gets 1, i.e. the Mechanics Calculation benchmark model A of the Cable Structure of setting up here iCan be embodied as A 1
F. at Mechanics Calculation benchmark model A iThe basis on carry out the several times Mechanics Calculation, by calculate obtaining " unit damage monitored numerical quantity transformation matrices Δ C i" and " nominal unit damage vector D i u";
G. actual measurement obtain Cable Structure all specify the current measured value of monitored amount, form " the current numerical value vector C of monitored amount i"; When numbering to the element of the institute's directed quantity that occurred before this step and this step, should use same coding rule, can guarantee the element each vector, that numbering is identical that occurs before this step and this step like this, represent same monitored amount, corresponding to vectorial defined relevant information under this element; Actual measurement obtains the current cable power of all support cables of Cable Structure, forms current cable force vector F iActual measurement calculates the volume coordinate of two supporting end points of all support cables, and the volume coordinate of two the supporting end points difference of component in the horizontal direction is exactly two supporting end points horizontal ranges;
H. define current nominal health status vector d i cWith current actual health status vector d i, the element number of two damage vectors equals the quantity of evaluation object, current nominal health status vector d i cElement numerical value represent the current nominal degree of injury or the support displacement of corresponding evaluation object, current actual health status vector d iElement numerical value represent the current actual damage degree or the support displacement of corresponding evaluation object, the element number of the element of two damage vectors equals the quantity of evaluation object, between the element of two damage vectors and the evaluation object is one-to-one relationship, and the coding rule of the element of two damage vectors is identical with the coding rule of evaluation object;
I. according to " the current numerical value vector C of monitored amount i" " the initial value of monitored amount vector C together i o", " unit damage monitored numerical quantity transformation matrices Δ C i" and " current nominal health status vector d i c" between the linear approximate relationship that exists, this linear approximate relationship can be expressed as formula 1, removes d in the formula 1 i cOther outer amount is known, finds the solution formula 1 and just can calculate current nominal health status vector d i c
C i = C o i + &Delta; C i &CenterDot; d c i Formula 1
J. the current actual health status vector d that utilizes formula 2 to express iWith initial damage vector d i oWith current nominal health status vector d i cElement between relation, calculate current actual health status vector d iAll elements;
d j i = 1 - ( 1 - d oj i ) ( 1 - d cj i ) Formula 2
J=1 in the formula 2,2,3 ..., N;
Current actual health status vector d iElement numerical value represent the actual damage degree or the actual support displacement of corresponding evaluation object, according to current actual health status vector d iJust can define the impaired and degree of injury of which rope, just can determine actual support displacement; If a certain element of current actual health status vector is corresponding to being a rope in the cable system, and its numerical value is 0, represent that the pairing rope of this element is intact, not damage or lax, if its numerical value is 100%, represent that then the pairing rope of this element has completely lost load-bearing capacity, lost the load-bearing capacity of corresponding proportion if its numerical value between 0 and 100%, is then represented this rope; If a certain element of current actual health status vector is corresponding to displacement component, a d so of a bearing i jRepresent its present bit shift value;
K. identify damaged cable from the problematic support cable that j identified the step, remaining is exactly slack line.
L. utilize the current actual virtual lesion vector d that obtains in the j step iObtain the current actual virtual lesion degree of slack line, utilize the current cable force vector F that obtains in the g step i, utilize two horizontal ranges that support end points in all support cables of g step acquisition, utilize the vectorial l of the initial drift that obtains in the d step oUtilization is in elastic modulus, density, the initial cross sectional area data of all ropes of d step acquisition, by with slack line with damaged cable carry out the mechanics equivalence calculate slack line, with the relax level of current actual virtual lesion degree equivalence, the mechanical condition of equivalence is: one, the mechanics parameters of lax initial drift, geometrical property parameter, density and the material during with not damaged of the nothing of the rope of two equivalences is identical; Two, after the lax or damage, the Suo Li of the slack line of two equivalences and damage rope be out of shape after length overall identical; When satisfying above-mentioned two equivalent conditions, the such mechanics function of two support cables in structure is exactly identical, if after promptly replacing damaged cable with the slack line of equivalence, Cable Structure any variation can not take place, vice versa; Try to achieve the relax level that those are judged as slack line according to aforementioned mechanics equivalent condition, relax level is exactly the change amount of support cable drift, has just determined the long adjustment amount of rope of the support cable that those need adjust Suo Li; So just realized the lax identification of support cable; Institute's demand power is by current cable force vector F during calculating iCorresponding element provides.
M. try to achieve current nominal health status vector d i cAfter, set up mark vector B according to formula 3 i, formula 4 has provided mark vector B iThe definition of j element;
B i = B 1 i B 2 i . . . B j i . . . B N i T Formula 3
B j i = 0 , if d cj i < D uj i 1 , if d cj i &GreaterEqual; D uj i Formula 4
Element B in the formula 4 i jBe mark vector B iJ element, D i UjBe nominal unit damage vector D i uJ element, d i CjBe current nominal health status vector d i cJ element, they all represent the relevant information of j evaluation object, j=1 in the formula 4,2,3 ..., N;
If mark vector B n. iElement be 0 entirely, then get back to g step and continue this circulation; If mark vector F iElement be not 0 entirely, then enter next step, i.e. o step;
O. according to formula 5 calculate next time, i.e. the i+1 time required initial damage of circulation vector d I+1 oEach element d I+1 Oj
d oj i + 1 = 1 - ( 1 - d oj i ) ( 1 - D uj i F j i ) Formula 5
D in the formula 5 i UjBe nominal unit damage vector D i uJ element, d i CjBe current nominal health status vector d i cJ element, F i jBe mark vector F iJ element, j=1 in the formula 5,2,3 ..., N; Vector d I+1 oThe coding rule of element and the coding rule of evaluation object identical;
P. at Mechanics Calculation benchmark model A iThe basis on, the health status that makes evaluation object is d I+1 oThe back renewal obtains next time, required Mechanics Calculation benchmark model A promptly circulates for the i+1 time I+1
Q. pass through Mechanics Calculation benchmark model A I+1Calculate corresponding to model A I+1Structure all monitored strains point, with the monitored strain numerical value that should change direction, these numerical value are formed next time, the vectorial C of initial value of the required monitored amount that promptly circulates for the i+1 time I+1 o
R. get back to the f step, beginning is circulation next time.
In step f, at Mechanics Calculation benchmark model A iThe basis on carry out the several times Mechanics Calculation, by calculate obtaining " unit damage monitored numerical quantity transformation matrices Δ C i" and " nominal unit damage vector D i u" concrete grammar be:
F1. at the Mechanics Calculation benchmark model A of Cable Structure iThe basis on carry out the several times Mechanics Calculation, equal N on the calculation times numerical value; Coding rule according to evaluation object calculates successively; Calculating hypothesis each time has only an evaluation object to increase unit damage or unit displacement again on the basis of original damage or displacement, concrete, if this evaluation object is a support cable in the cable system, so just suppose that this support cable increases unit damage again, if this evaluation object is the displacement component of a direction of a bearing, just suppose that this bearing increases unit displacement again at this sense of displacement, the evaluation object that increases unit damage or unit displacement in calculating each time again is different from the evaluation object that increases unit damage or unit displacement in other time calculating again, with " nominal unit damage vector D i u" unit damage or the unit displacement that increase again of all supposition of record record; wherein i represents the i time circulation; calculate the current calculated value that all utilizes mechanics method to calculate all monitored amounts of Cable Structure each time, and monitored amount of current calculated value composition of the monitored amount of all that calculate is calculated current numerical value vector each time;
F2. the monitored amount that calculates is each time calculated and is calculated unit damage or the unit displacement numerical value of being supposed divided by this time again after current numerical value vector deducts monitored amount initial value vector, obtain a monitored quantitative change vector, have N evaluation object that N monitored quantitative change vector just arranged;
F3. by the coding rule of this N monitored quantitative change vector, form the monitored amount unit change of the Cable Structure matrix Δ C that the N row are arranged successively according to N evaluation object i
Beneficial effect: method disclosed by the invention monitoring and evaluation very exactly goes out the health status (position and relax level or the degree of injury that comprise all support displacements, all slack lines and damaged cable) of Cable Structure, and system and method disclosed by the invention is very useful to the safety of Cable Structure.
Embodiment
At the health monitoring of Cable Structure, the invention discloses a kind of system and method that can monitor in the Cable Structure health status of each root rope and each support displacement component in the cable system rationally and effectively simultaneously.The following describes of embodiments of the invention in fact only is exemplary, and purpose never is to limit application of the present invention or use.
Displacement occurs at the Cable Structure bearing, damaged cable occurs, under the situation of slack line, the present invention adopts a kind of algorithm, this algorithm is used to monitor the health status (comprising identification support displacement, damaged cable, slack line) of Cable Structure.During concrete enforcement, the following step is a kind of in the various steps that can take.
The first step: for sake of convenience, it is evaluation object that the present invention unitedly calls evaluated support cable and support displacement component, and establishing the quantity of evaluated support cable and the quantity sum of support displacement component is N, and promptly the quantity of evaluation object is N; Determine the coding rule of evaluation object, with evaluation object numberings all in the Cable Structure, this numbering will be used to generate the vector sum matrix in subsequent step by this rule; The present invention represents this numbering with variable j, j=1, and 2,3 ..., N.
Determine that (promptly all characterize the specified point of structure angle displacements for the measured point of appointment, be provided with K specified point), each specified point can be exactly a near point the fixed endpoint (drag-line that for example is cable-stayed bridge is at the stiff end on the bridge floor) of each root rope, this specified point can also be a near point the structural bearings, gives all specified point numberings; Determine the measured straight line (established each measurement point L appointment straight line arranged) of each measurement point, gave the measured straight line numbering of all appointments; Determine the measured angle coordinate component (establish each measured straight line H angle coordinate component arranged) of each measured straight line, give all measured angle coordinate component numberings.Above-mentioned numbering will be used to generate the vector sum matrix equally in subsequent step." the whole monitored angle-data of structure " described by H angle coordinate component L appointment straight line K specified point, that cross each specified point, each appointment straight line on top definite structure, and the variation of structure angle is exactly the variation of the angle coordinate component of all appointments all specified points, all appointment straight lines.(individual angle coordinate component measurement value of M=K * L * H) or calculated value characterize the angle information of structure to each total M.K and M must not be less than the quantity N of evaluation object.For simplicity, in the present invention " the monitored angle-data of structure " abbreviated as " monitored amount ".Can only measure an angle coordinate of specifying straight line at each specified point, for example measure the angle coordinate of the body structure surface normal of specified point with respect to the acceleration of gravity direction, in fact be exactly measurement of dip angle here.
Second step: the data of utilizing the Non-Destructive Testing data etc. of evaluation object can express the health status of evaluation object are set up evaluation object initial health vector d 1 oIf when not having the Non-Destructive Testing data of evaluation object, vectorial d 1 oEach element numerical value get 0; Vector d 1 oThe coding rule of element and the coding rule of evaluation object identical.
The 3rd step: at initial health vector d 1 oThe time, directly measurement calculates the initial value of all monitored amounts of Cable Structure, forms the initial value vector C of monitored amount 1 o
The 4th step: the initial value vector C that obtains monitored amount in actual measurement 1 oThe time, can adopt ripe measuring method to carry out cable force measurement, strain measurement, measurement of angle and volume coordinate and measure.Simultaneously, directly measure the initial Suo Li of all support cables that calculate Cable Structure, form " initial rope force vector F o".Simultaneously, obtain the initial drift of all ropes, form " initial drift vector l according to structural design data, completion data o".Simultaneously, survey or obtain elastic modulus, density, the initial cross sectional area of all ropes according to structural design, completion information.Simultaneously, calculate Cable Structure original geometric form data (is exactly its initial bridge type data for cable-stayed bridge) after directly measuring or measuring, the original geometric form data of Cable Structure can be the spatial datas that the spatial data of the end points of all ropes adds a series of point on the structure, and purpose is just can determine according to these coordinate datas the geometric properties of Cable Structure.For cable-stayed bridge, the original geometric form data can be the spatial datas that the spatial data of the end points of all ropes adds some points on the bridge two ends, so-called bridge type data that Here it is.
According to the measured data of design drawing, as-constructed drawing and the Cable Structure of Cable Structure (data such as initial Suo Li, structural modal data that comprise structure original geometric form data, strain data, all ropes, to cable-stayed bridge, suspension bridge and the modal data of the bridge type data of Yan Shiqiao, strain data, rope force data, bridge), the Non-Destructive Testing data of rope and the Mechanics Calculation benchmark model A that initial Cable Structure support coordinate data are set up Cable Structure o, based on Mechanics Calculation benchmark model A oThe computational data that calculates structure must be very near its measured data, and error generally must not be greater than 5%.
A oBe constant, only when circulation beginning for the first time, set up; The Mechanics Calculation benchmark model of the Cable Structure of setting up during the i time circulation beginning is designated as A i, wherein i represents cycle index; Alphabetical i is except the place of representing number of steps significantly in the application form of the present invention, and alphabetical i only represents cycle index, i.e. the i time circulation; The Mechanics Calculation benchmark model of the Cable Structure of setting up when therefore circulation begins for the first time is designated as A 1, A among the present invention 1Just equal A o
The 5th step: the hardware components of pass line structural healthy monitoring system.Hardware components comprises at least: monitored amount monitoring system (for example containing measurement of angle sensor, signal conditioner etc.), signal (data) collector, the computing machine and the panalarm of communicating by letter.Each monitored amount all must arrive by monitored system monitoring, and monitoring system is transferred to signal (data) collector with the signal that monitors; Signal is delivered to computing machine through signal picker; Computing machine then is responsible for the health monitoring software of the cable system of operation Cable Structure, comprises the signal that the transmission of tracer signal collector comes; When the health status that monitors evaluation object changes, the computer control communication panalarm to monitor staff, owner and (or) personnel of appointment report to the police.
The 6th step: establishment and the health monitoring systems software of pass line structure on supervisory control comuter.All move this software at circulation time each time, this software is all the time in operation in other words.This software will be finished functions such as the needed monitoring of each task of the present invention, record, control, storage, calculating, notice, warning (being all work that can finish with computing machine in this specific implementation method), and can regularly or by the personnel operation health monitoring systems generate Cable Structure health condition form, can also be according to the condition of setting (for example damage reach a certain value), notice or prompting monitor staff notify specific technician to finish necessary evaluation work automatically.
The 7th step: the step begins circulation running thus, is designated as the i time circulation for sake of convenience, i=1 wherein, and 2,3,4,5 ....
The 8th step: the Mechanics Calculation benchmark model in Cable Structure is designated as A iThe basis on carry out the several times Mechanics Calculation, by calculate obtaining Cable Structure unit damage monitored quantitative change matrix Δ C iWith nominal unit damage vector D i uConcrete grammar is:
A. when the i time circulation beginning, at the Mechanics Calculation benchmark model A of Cable Structure iThe basis on carry out the several times Mechanics Calculation, equal N on the calculation times numerical value; Coding rule according to evaluation object calculates successively; Calculating hypothesis each time has only an evaluation object to increase on the basis of original damage or displacement again unit damage or unit displacement is arranged, concrete, if this evaluation object is a support cable in the cable system, so just suppose that this support cable increases unit damage again, if this evaluation object is the displacement component of a direction of a bearing, just suppose that this bearing increases unit displacement again at this sense of displacement, the evaluation object that increases unit damage or unit displacement in calculating each time again is different from the evaluation object that increases unit damage or unit displacement in other time calculating again, with " nominal unit damage vector D i u" unit damage or the unit displacement that increase again of all supposition of record record; wherein i represents the i time circulation; calculate the current calculated value that all utilizes mechanics method to calculate all monitored amounts of Cable Structure each time, and monitored amount of current calculated value composition of the monitored amount of all that calculate is calculated current numerical value vector each time; When giving each vectorial element numbering in this step, should use same coding rule with other vector among the present invention, can guarantee any one element in each vector in this step like this, with element in other vector, that numbering is identical, expressed the relevant information of same monitored amount or same evaluation object object.
B. the monitored amount that calculates is each time calculated and is calculated unit damage or the unit displacement numerical value of being supposed divided by this time again after current numerical value vector deducts monitored amount initial value vector, obtains a monitored quantitative changeization vector δ C i jThere is N evaluation object that N monitored quantitative changeization vector δ C just arranged i j(j=1,2,3 ..., N).
C. by the coding rule of this N monitored quantitative change vector, form the monitored amount unit change of the Cable Structure matrix Δ C that the N row are arranged successively according to N evaluation object i" unit damage monitored quantitative change matrix Δ C i" the coding rule of row and the current nominal health status vector d that defines later i cWith current actual health status vector d iThe element coding rule identical.
Reach in this step when giving each vectorial element numbering thereafter, should use same coding rule with other vector among the present invention, can guarantee any one element in each vector in this step like this, with element in other vector, that numbering is identical, expressed the relevant information of same monitored amount or same target.
The 9th step: set up linear relationship error vector e iWith vectorial g iUtilize data (" the initial value vector C of monitored amount of front i o", " unit damage monitored quantitative change matrix Δ C i"); when the 8th step calculated each time; when supposing in calculating each time that promptly having only an evaluation object to increase in the cable system has unit damage or unit displacement on the basis of original damage or displacement again, calculate each time and form a health status vector d i t, health status vector d i tElement number equal the quantity of evaluation object, vectorial d i tAll elements in have only the numerical value of an element to get to calculate each time in hypothesis increase the unit damage value of rope of unit damage or the unit displacement value of increase, d i tThe numerical value of other element get 0, that is not numbering and the supposition of 0 the element corresponding relation that increases the evaluation object of unit damage or unit displacement, be identical with the element of the same numbering of other vectors with the corresponding relation of this rope; With C i Tj, C i o, Δ C i, d i tBring formula (13) into, formula (13) d i cUse d i tBring into, obtain a linear relationship error vector e i, calculate a linear relationship error vector e each time iThere is N evaluation object that N calculating is just arranged, N linear relationship error vector e just arranged i, with this N linear relationship error vector e iObtain a vector after the addition, the new vector that each element of this vector is obtained after divided by N is exactly final linear relationship error vector e iVector g iEqual final error vector e iWith vectorial g iBe kept on the hard disc of computer of operation health monitoring systems software, use for health monitoring systems software.The mode of parameters such as all acquisitions with data file is kept on the hard disc of computer of operation health monitoring systems software.
The tenth step: actual measurement obtain Cable Structure all specify the current measured value of monitored amount, form " the current numerical value vector C of monitored amount i".Actual measurement obtains the current cable power of all support cables of Cable Structure, forms current cable force vector F iActual measurement calculates the volume coordinate of two supporting end points of all support cables, and the volume coordinate of two the supporting end points difference of component in the horizontal direction is exactly two supporting end points horizontal ranges.
The 11 step: according to " the current numerical value vector C of monitored amount i" " the initial value of monitored amount vector C together i o", " unit damage monitored quantitative change matrix Δ C i" and " current nominal health status vector d i c" between the linear approximate relationship (formula (9)) that exists, calculate the current nominal health status vector d of cable system according to multi-objective optimization algorithm i cNoninferior solution.
The multi-objective optimization algorithm that can adopt has a variety of, for example: based on the multiple-objection optimization of genetic algorithm, based on the multiple-objection optimization of artificial neural network, based on the multi-objective optimization algorithm of population, multiple-objection optimization, leash law (Constrain Method), weighted method (Weighted Sum Method), goal programming method (Goal Attainment Method) or the like based on ant group algorithm.Because various multi-objective optimization algorithms all are conventional algorithms, can realize easily that this implementation step is that example provides and finds the solution current nominal health status vector d with the goal programming method only i cProcess, the specific implementation process of other algorithm can realize in a similar fashion according to the requirement of its specific algorithm.
According to the goal programming method, formula (9) can transform the multi-objective optimization question shown in an accepted way of doing sth (29) and the formula (30), γ in the formula (29) iBe a real number, R is a real number field, and area of space Ω has limited vectorial d i cSpan (the present embodiment requirements vector d of each element i cEach element be not less than 0, be not more than 1).The meaning of formula (29) is to seek the real number γ of an absolute value minimum i, make formula (30) be met.G (d in the formula (30) i c) by formula (31) definition, weighing vector W in the formula (30) iWith γ iProduct representation formula (30) in G (d i c) and vectorial g iBetween the deviation that allows, g iDefinition referring to formula (15), its value the 8th the step calculate.Vector W during actual computation iCan with vectorial g iIdentical.The concrete programming of goal programming method realizes having had universal program directly to adopt.Just can be according to the goal programming method in the hope of current nominal health status vector d i c
minimizeγ i (29)
γ i∈R, d c i &Element; &Omega;
G ( d c i ) - W i &gamma; i &le; g i (30)
G ( d c i ) = abs ( &Delta;C i &CenterDot; d c i - C i + C o i ) (31)
Try to achieve current nominal health status vector d i cAfter, can be according to the vectorial d of the current actual health status that formula (17) obtain iEach element, current actual health status vector d iHave reasonable error but can discern problematic rope (may be impaired also may be lax) more exactly, can determine separating of all support displacements more exactly.d iEach element corresponding to the health status of an evaluation object, if this evaluation object is the rope (or pull bar) in the cable system, its current damage of the numeric representation of this element or lax so, if this evaluation object is a displacement component of a bearing, its present bit shift value of the numeric representation of this element so.
The 12 step: identification damaged cable and slack line.Because current actual health status vector d iElement numerical value represent the current actual health status of corresponding evaluation object, if d iAn element d i jCorresponding to the rope (or pull bar) in the cable system, d so i jRepresent its current possible actual damage, d i jBeing to represent not damaged at 0 o'clock, is to represent that this rope thoroughly lost load-bearing capacity at 100% o'clock, represents to lose the load-bearing capacity of corresponding proportion in the time of between 0 and 100%, but this root rope damage taken place actually or taken place laxly, need differentiate.The method of differentiating is varied; can be by removing the protective seam of support cable; support cable is carried out visual discriminating; perhaps carry out visual discriminating by optical imaging apparatus; also can be by lossless detection method to support cable impaired discriminating the whether, UT (Ultrasonic Testing) is exactly a kind of present widely used lossless detection method.Those do not find damage and d to differentiate the back i jNumerical value is not that 0 support cable is exactly that lax rope has taken place, and need adjust the rope of Suo Li exactly, can be in the hope of the relax level (being the long adjustment amount of rope) of these ropes according to formula (24) or formula (25).Damaged cable identification and slack line identification have so just been realized.
The 13 step: identification support displacement.Current actual health status vector d iThe element numerical value corresponding to support displacement be exactly the support displacement amount.
The 14 step:, promptly try to achieve current nominal health status vector d in the i time circulation in this circulation i cAfter, set up mark vector B according to formula (26), formula (27) iIf mark vector B iElement be 0 entirely, then got back to for the tenth step and continue this circulation; If mark vector B iElement be not 0 entirely, then enter next step, i.e. the 15 step.
The 15 step: according to the initial damage vector d that formula (28) calculates next time, i.e. the i+1 time circulation is required I+1 oEach element d I+1 Oj
The 16 step: at Cable Structure Mechanics Calculation benchmark model A iThe basis on, the health status that makes evaluation object is the vectorial d that previous step calculates I+1 oAfter, obtain new Mechanics Calculation benchmark model, next time promptly the required Mechanics Calculation benchmark model A of (the i+1 time) circulation I+1
The 17 step: by to Mechanics Calculation benchmark model A I+1Calculate corresponding to model A I+1The numerical value of all monitored amounts of structure, these numerical value are formed next time, required vectorial C promptly circulates for the i+1 time I+1 o, i.e. the initial value vector of monitored amount.
The 18 step: the computing machine in the health monitoring systems regularly generates cable system health condition form automatically or by the personnel operation health monitoring systems.
The 19 step: under specified requirements, the automatic operation communication panalarm of the computing machine in the health monitoring systems to monitor staff, owner and (or) personnel of appointment report to the police.
The 20 step: got back to for the 7th step, beginning is circulation next time.

Claims (2)

1. health monitoring method of increment cable structure based on angle monitor is characterized in that this method comprises:
A. claim that evaluated support cable and support displacement component are evaluation object, establishing the quantity of evaluated support cable and the quantity sum of support displacement component is N, and promptly the quantity of evaluation object is N; Determine the coding rule of evaluation object, with evaluation object numberings all in the Cable Structure, this numbering will be used to generate the vector sum matrix in subsequent step by this rule; Represent this numbering with variable j, j=1,2,3 ..., N;
B. determine the measured point of appointment, give all specified point numberings; Determine the measured straight line of each measurement point, gave the measured straight line numbering of all appointments; Determine the measured angle coordinate component of each measured straight line, give all measured angle coordinate component numberings; Above-mentioned numbering will be used to generate the vector sum matrix in subsequent step; " the whole monitored angle-data of structure " is made up of above-mentioned all measured angle coordinate components; " the monitored angle-data of structure " abbreviated as " monitored amount "; The quantity of measurement point must not be less than the quantity of rope; The quantity sum of all measured angle coordinate components must not be less than N;
C. the data of utilizing the Non-Destructive Testing data etc. of evaluation object can express the health status of evaluation object are set up evaluation object initial health vector d i oIf when not having the Non-Destructive Testing data of evaluation object, vectorial d i oEach element numerical value get 0; Vector d i oThe coding rule of element and the coding rule of evaluation object identical; Represent cycle index with i, i=1,2,3 ...; Here be circulation for the first time, i gets 1, the initial health vector d that promptly sets up here i oCan be embodied as d 1 o
D. setting up initial health vector d 1 oThe time, directly measurement calculates the initial value of all monitored amounts of Cable Structure, forms the initial value vector C of monitored amount i oHere be circulation for the first time, i gets 1, i.e. the initial value of the monitored amount of setting up here vector C i oCan be embodied as C 1 oObtain monitored amount initial value vector C in actual measurement 1 oThe time, actual measurement obtains the initial geometric data and the initial Cable Structure support coordinate data of Cable Structure; Directly measure the initial Suo Li that calculates all support cables, form initial rope force vector F oSimultaneously, obtain the initial drift of all support cables, form initial drift vector l according to structural design data, completion data oVector F oWith vectorial l oBe constant; Simultaneously, survey or obtain elastic modulus, density, the initial cross sectional area of all ropes according to structural design, completion information;
E. according to the measured data of design drawing, as-constructed drawing and the Cable Structure of Cable Structure, the Non-Destructive Testing data of rope and the Mechanics Calculation benchmark model A that initial Cable Structure support coordinate data are set up Cable Structure iHere be circulation for the first time, i gets 1, i.e. the Mechanics Calculation benchmark model A of the Cable Structure of setting up here iCan be embodied as A 1
F. at Mechanics Calculation benchmark model A iThe basis on carry out the several times Mechanics Calculation, by calculate obtaining " unit damage monitored numerical quantity transformation matrices Δ C i" and " nominal unit damage vector D i u";
G. actual measurement obtain Cable Structure all specify the current measured value of monitored amount, form " the current numerical value vector C of monitored amount i"; When numbering to the element of the institute's directed quantity that occurred before this step and this step, should use same coding rule, can guarantee the element each vector, that numbering is identical that occurs before this step and this step like this, represent same monitored amount, corresponding to vectorial defined relevant information under this element; Actual measurement obtains the current cable power of all support cables of Cable Structure, forms current cable force vector F iActual measurement calculates the volume coordinate of two supporting end points of all support cables, and the volume coordinate of two the supporting end points difference of component in the horizontal direction is exactly two supporting end points horizontal ranges;
H. define current nominal health status vector d i cWith current actual health status vector d i, the element number of two damage vectors equals the quantity of evaluation object, current nominal health status vector d i cElement numerical value represent the current nominal degree of injury or the support displacement of corresponding evaluation object, current actual health status vector d iElement numerical value represent the current actual damage degree or the support displacement of corresponding evaluation object, the element number of the element of two damage vectors equals the quantity of evaluation object, between the element of two damage vectors and the evaluation object is one-to-one relationship, and the coding rule of the element of two damage vectors is identical with the coding rule of evaluation object;
I. according to " the current numerical value vector C of monitored amount i" " the initial value of monitored amount vector C together i o", " unit damage monitored numerical quantity transformation matrices Δ C i" and " current nominal health status vector d i c" between the linear approximate relationship that exists, this linear approximate relationship can be expressed as formula 1, removes d in the formula 1 i cOther outer amount is known, finds the solution formula 1 and just can calculate current nominal health status vector d i c
C i = C o i + &Delta;C i &CenterDot; d c i Formula 1
J. the current actual health status vector d that utilizes formula 2 to express iWith initial health vector d i oWith current nominal health status vector d i cElement between relation, calculate current actual health status vector d iAll elements;
d j i = 1 - ( 1 - d oj i ) ( 1 - d cj i ) Formula 2
J=1 in the formula 2,2,3 ..., N;
Current actual health status vector d iElement numerical value represent the actual damage degree or the actual support displacement of corresponding evaluation object, according to current actual health status vector d iJust can define the impaired and degree of injury of which rope, just can determine actual support displacement; If a certain element of current actual health status vector is corresponding to a rope in the cable system, and its numerical value is 0, represent that the pairing rope of this element is intact, not damage or lax, if its numerical value is 100%, represent that then the pairing rope of this element has completely lost load-bearing capacity, lost the load-bearing capacity of corresponding proportion if its numerical value between 0 and 100%, is then represented this rope; If a certain element of current actual health status vector is corresponding to displacement component, a d so of a bearing i jRepresent its present bit shift value;
K. identify damaged cable from the problematic support cable that j identified the step, remaining is exactly slack line;
L. utilize the current actual health status vector d that obtains in the j step iObtain the current actual virtual lesion degree of slack line, utilize the current cable force vector F that obtains in the g step i, utilize two horizontal ranges that support end points in all support cables of g step acquisition, utilize the vectorial l of the initial drift that obtains in the d step oUtilization is in elastic modulus, density, the initial cross sectional area data of all ropes of d step acquisition, by with slack line with damaged cable carry out the mechanics equivalence calculate slack line, with the relax level of current actual virtual lesion degree equivalence, the mechanical condition of equivalence is: one, the mechanics parameters of lax initial drift, geometrical property parameter, density and the material during with not damaged of the nothing of the rope of two equivalences is identical; Two, after the lax or damage, the Suo Li of the slack line of two equivalences and damage rope be out of shape after length overall identical; When satisfying above-mentioned two equivalent conditions, the such mechanics function of two support cables in structure is exactly identical, if after promptly replacing damaged cable with the slack line of equivalence, Cable Structure any variation can not take place, vice versa; Try to achieve the relax level that those are judged as slack line according to aforementioned mechanics equivalent condition, relax level is exactly the change amount of support cable drift, has just determined the long adjustment amount of rope of the support cable that those need adjust Suo Li; So just realized the lax identification of support cable; Institute's demand power is by current cable force vector F during calculating iCorresponding element provides;
M. try to achieve current nominal health status vector d i cAfter, set up mark vector B according to formula 3 i, formula 4 has provided mark vector B iThe definition of j element;
B i = B 1 i B 2 i &CenterDot; &CenterDot; &CenterDot; B j i &CenterDot; &CenterDot; &CenterDot; B N i T Formula 3
B j i = 0 , if d cj i < D uj i 1 , if d cj i &GreaterEqual; D uj i Formula 4
Element B in the formula 4 i jBe mark vector B iJ element, D i UjBe nominal unit damage vector D i uJ element, d i CjBe current nominal health status vector d i cJ element, they all represent the relevant information of j evaluation object, j=1 in the formula 4,2,3 ..., N;
If mark vector B n. iElement be 0 entirely, then get back to g step and continue this circulation; If mark vector B iElement be not 0 entirely, then enter next step, i.e. o step;
O. according to formula 5 calculate next time, i.e. the i+1 time required initial health of circulation vector d I+1 oEach element d I+1 Oj
d oj i + 1 = 1 - ( 1 - d oj i ) ( 1 - D uj i F j i ) d oj i + 1 = 1 - ( 1 - d oj i ) ( 1 - D uj i B j i ) Formula 5
D in the formula 5 i UjBe nominal unit damage vector D i uJ element, d i CjBe current nominal health status vector d i cJ element, B i jBe mark vector B iJ element, j=1 in the formula 5,2,3 ..., N; Vector d I+l oThe coding rule of element and the coding rule of evaluation object identical;
P. at Mechanics Calculation benchmark model A iThe basis on, the health status that makes evaluation object is d I+1 oThe back renewal obtains next time, required Mechanics Calculation benchmark model A promptly circulates for the i+1 time I+1
Q. pass through Mechanics Calculation benchmark model A I+1Calculate corresponding to model A I+1Structure all monitored strains point, with the monitored strain numerical value that should change direction, these numerical value are formed next time, the vectorial C of initial value of the required monitored amount that promptly circulates for the i+1 time I+1 o
R. get back to the f step, beginning is circulation next time.
2. the health monitoring method of increment cable structure based on angle monitor according to claim 1 is characterized in that in step f, at Mechanics Calculation benchmark model A iThe basis on carry out the several times Mechanics Calculation, by calculate obtaining " unit damage monitored numerical quantity transformation matrices Δ C i" and " nominal unit damage vector D i u" concrete grammar be:
F1. at the Mechanics Calculation benchmark model A of Cable Structure iThe basis on carry out the several times Mechanics Calculation, equal N on the calculation times numerical value; Coding rule according to evaluation object calculates successively; Calculating hypothesis each time has only an evaluation object to increase unit damage or unit displacement again on the basis of original damage or displacement, concrete, if this evaluation object is a support cable in the cable system, so just suppose that this support cable increases unit damage again, if this evaluation object is the displacement component of a direction of a bearing, just suppose that this bearing increases unit displacement again at this sense of displacement, the evaluation object that increases unit damage or unit displacement in calculating each time again is different from the evaluation object that increases unit damage or unit displacement in other time calculating again, with " nominal unit damage vector D i u" write down the unit damage or the unit displacement that increase again of all supposition; wherein i represents the i time circulation; calculate the current calculated value that all utilizes mechanics method to calculate all monitored amounts of Cable Structure each time, and monitored amount of current calculated value composition of the monitored amount of all that calculate is calculated current numerical value vector each time;
F2. the monitored amount that calculates is each time calculated and is calculated unit damage or the unit displacement numerical value of being supposed divided by this time again after current numerical value vector deducts monitored amount initial value vector, obtain a monitored quantitative change vector, have N evaluation object that N monitored quantitative change vector just arranged;
F3. by the coding rule of this N monitored quantitative change vector, form the Cable Structure unit damage monitored numerical quantity transformation matrices Δ C that the N row are arranged successively according to N evaluation object i
CN2010101401186A 2010-04-02 2010-04-02 Progressive cable structure health monitoring method based on angle monitoring CN101832874B (en)

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