CN102288426A - Progressive health monitoring method of cable system based on spatial coordinate monitoring in angular displacement of supporting seat - Google Patents

Progressive health monitoring method of cable system based on spatial coordinate monitoring in angular displacement of supporting seat Download PDF

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Publication number
CN102288426A
CN102288426A CN2011101226228A CN201110122622A CN102288426A CN 102288426 A CN102288426 A CN 102288426A CN 2011101226228 A CN2011101226228 A CN 2011101226228A CN 201110122622 A CN201110122622 A CN 201110122622A CN 102288426 A CN102288426 A CN 102288426A
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China
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cable
vector
current
time
damage
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CN2011101226228A
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Chinese (zh)
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韩玉林
宋佰涵
张居锁
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东南大学
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Priority to CN2011101226228A priority Critical patent/CN102288426A/en
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Abstract

The invention discloses a progressive health monitoring method of a cable system based on spatial coordinate monitoring in the angular displacement of a supporting seat. Based on the spatial coordinate monitoring, a mechanical calculation reference model of a structure is determined whether to be updated or not necessarily again through monitoring an angular coordinate of the supporting seat of the structure; the condition that the linear relations between a current numerical vector of a monitored quantity and an initial numerical vector of the monitored quantity, as well as between a unit damage change matrix of the monitored quantity and a current nominal damage vector are approximate is considered; in order to overcome the defect, the invention discloses a method for piecewise approaching a nonlinear relation by using the linear relations; a large interval is divided into continuous small intervals; the linear relations in each small interval are accurate enough; the non-inferior solution of the damage vector of a current cable can be calculated in each small interval by utilizing proper algorithms such as a multi-objective optimization algorithm and the like; and therefore, the position of a damaged cable and the damage degree of the damaged cable can be determined more accurately.

Description

The progressive health monitoring method of the cable system of bearing angular displacement time space coordinate monitoring
Technical field
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.(for example bearing is around coordinate axis X in that the bearing angular displacement is arranged, Y, the rotation of Z, in fact be exactly that bearing is around coordinate axis X, Y, the angular displacement of Z) time, the invention discloses a kind of progressive method, the supporting system of discerning Cable Structure based on space coordinate monitoring (refers to all ropeway carrying-ropes, and 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 comprise the rod member that only bears tensile load) in the method for damaged cable (truss-frame structure just is meant the impaired rod member that only bears tensile load), belong to the engineering structure health monitoring field.
Background technology
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 Cable Structure (also referring to only bear the rod member of tensile load as previously mentioned) is a kind of method that has potentiality.After the health status of cable system changes; can cause the variation of the measurable parameter of structure; for example the volume coordinate of Cable Structure can change; in fact the variation of volume coordinate has comprised the health status information of cable system; that is to say the health status that to utilize the structure space coordinate to judge structure; can (the present invention be called monitored volume coordinate " monitored amount " based on space coordinate monitoring; the back is mentioned " monitored amount " and just is meant monitored volume coordinate) discern damaged cable; monitored amount is except the influence that is subjected to the cable system health status; also can be subjected to the influence of Cable Structure bearing angular displacement (usually can take place), also not have a kind of disclosed at present; effectively health monitoring systems and method have solved this problem.
When the bearing angular displacement is arranged, in order reliable monitoring and judgement to be arranged to the health status of the cable system of Cable Structure, the method of the variation of a volume coordinate of can rational and effective setting up Cable Structure with the relation between the health status of all ropes in 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 cable system.
Summary of the invention
Technical matters:The objective of the invention is when the Cable Structure bearing has angular displacement,, provide a kind of based on progressive health monitoring method space coordinate monitoring, that can monitor cable system in the Cable Structure rationally and effectively at the health monitoring problem of cable system in the Cable Structure.
Technical scheme:The present invention is made up of the two large divisions.Be respectively: one, set up the method for required knowledge base of cable system health monitoring systems and parameter, and based on the volume coordinate of knowledge base (containing parameter) and actual measurement Cable Structure and the laddering health status appraisal procedure of cable system of actual measurement Cable Structure bearing angular displacement; Two, the software and hardware part of health monitoring systems.
First of the present invention: set up the method for required knowledge base of cable system health monitoring systems and parameter, and based on the volume coordinate of knowledge base (containing parameter) and actual measurement Cable Structure and the laddering health status appraisal procedure of cable system of actual measurement Cable Structure bearing angular displacement.Can be successively circularly as follows, laddering carrying out, to obtain the health status assessment of cable system more accurately.
The first step: during circulation beginning each time, the cable system initial damage vector when at first needing to set up or set up this circulation beginning d 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 current Mechanics Calculation benchmark model A of Cable Structure Ti o(finite element benchmark model for example, A in circulation each time Ti oBring in constant renewal in), 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.
If it is total in the cable system NThe root rope, the cable system initial damage vector that needs during the i time circulation beginning is designated as d o i (as the formula (1)), use d o i Cable Structure when representing this time circulation beginning is (with Mechanics Calculation benchmark model A iThe health status of cable system expression).
?????????????????(1)
In the formula (1) d i Oj ( i=1,2,3, ; j=1,2,3 ...., N) expression circulates for the i time when beginning, Mechanics Calculation benchmark model A iIn cable system jThe initial damage value of root rope, d i Oj Be to represent at 0 o'clock jRoot rope not damaged is to represent that this rope thoroughly lost load-bearing capacity at 100% o'clock, represents in the time of between 0 and 100% jThe load-bearing capacity of root rope forfeiture corresponding proportion.
Setting up cable system initial damage vector during circulation beginning for the first time (is designated as according to formula (1) d 1 o ) time, Non-Destructive Testing data of utilizing rope etc. can be expressed the data of the health status of rope and set up cable system initial damage vector d 1 o If when not having the data of the Non-Destructive Testing data of rope and other health status that can express rope, perhaps can think when the structure original state is the not damaged state vector d 1 o Each element numerical value get 0.
The i time ( i=2,3,4,5,6 ...) the cable system initial damage vector of needs when circulation begins d 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
The measured data of the Cable Structure in being completed according to Cable Structure (comprises that the Non-Destructive Testing data etc. of rope can express measured datas such as the data of the health status of rope, Cable Structure shape data, rope force data, draw-bar pull data, Cable Structure support coordinate data, Cable Structure bearing angular data, Cable Structure modal data, to cable-stayed bridge, suspension bridge and the modal data of the bridge type data of Yan Shiqiao, rope force data, bridge) 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, Cable Structure bearing angular 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.Corresponding to A oCable Structure bearing angular data form initial Cable Structure bearing angular coordinate vector U oA oWith U 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 o
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 cable system initial damage vector d 1 o After, model A 1In the damage of each rope by vector d 1 o Express.At A 1The basis on, the damage of all ropes is changed to 0, mechanical model A 1The damage that is updated to all ropes all is that 0 mechanical model (is designated as A 0), mechanical model A 0Be actually the mechanical model of intact Cable Structure correspondence.Might as well claim model A 0Not damaged model A for Cable Structure 0
" the whole monitored spatial data of structure " is by on the structure KIndividual specified point, and each specified point LThe volume coordinate of individual assigned direction is described, and the variation of structure space coordinate data is exactly KThe variation of all volume coordinate components of individual specified point.Each total M(M=K * L)Individual volume coordinate measured value or calculated value characterize the structure space coordinate information. KWith MMust not be less than the quantity of support cable NFor simplicity, in the present invention " the monitored spatial data of structure " abbreviated as " monitored amount ".
The present invention's " initial value vector of monitored amount C i o " ( i=1,2,3 ...) expression the i time ( i=1,2,3,4,5,6 ...) initial value (referring to formula (2)) of the monitored amount of all appointments when circulation begins, C i o Full name be the initial value vector of monitored amount " the i time circulation ".
??????????????(2)
In the formula (2) C i Ok ( i=1,2,3, k=1,2,3, ., M; M 〉=N;) be in the i time when beginning circulation, the Cable Structure the kIndividual monitored amount.Vector C i o Be by previously defined MIndividual monitored amount forms according to certain series arrangement, and 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 of the 1st the monitored amount that circulates C 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 ...) " the initial value vector of the i time monitored amount of circulation of needs when circulation begins C 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.
Second step: in Cable Structure military service process, in circulation each time, constantly (all data are formed current cable structure actual measurement bearing angular coordinate vector to actual measurement acquisition Cable Structure bearing angular coordinate current data U Ti , vector U Ti Definition mode with the vector U oIdentical).For simplicity, for the i time circulation, the Cable Structure bearing angular coordinate current data the when last time is upgraded current Mechanics Calculation benchmark model is designated as current cable structural bearings angular coordinate vector U Ti oSet up and renewal A Ti oMethod be: in round-robin each time zero hour, the current Mechanics Calculation benchmark model A of Cable Structure Ti oJust equal A i( i=1,2,3,4,5,6 ...).In Cable Structure military service process, constantly actual measurement obtains Cable Structure bearing angular data and obtains current cable structure actual measurement bearing angular coordinate vector U Ti If, U Ti Equal U Ti o, then do not need A Ti oUpgrade; If U Ti Be not equal to U Ti o, then need A Ti oUpgrade, at this moment U Ti With U oDifference be exactly the Cable Structure bearing about initial position (corresponding to A o) the bearing angular displacement (with bearing angular displacement vector VThe angular displacement of expression bearing).Upgrade A Ti oMethod be: at A oThe basis on to make the health status of rope be cable system initial damage vector d i o , more further to A oIn the Cable Structure bearing apply current bearing angular displacement constraint, the numerical value of current bearing angular displacement constraint is just taken from current bearing angular displacement vector VThe numerical value of middle corresponding element is to A oIn the Cable Structure bearing apply current bearing angular displacement constraint after, that finally obtain is exactly the current Mechanics Calculation benchmark model A of renewal Ti o, upgrade A Ti oThe time, U Ti oAll elements numerical value is also used U Ti All elements numerical value replaces, and has promptly upgraded U Ti o, so just obtained correctly corresponding to A Ti o U Ti o
 
The 3rd step: circulation each time needs to set up " unit damage monitored quantitative change matrix " and " nominal unit damage vector ", and " unit damage monitored quantitative change matrix " that the i time circulation set up is designated as Δ C i ( i=1,2,3 ...)." nominal unit damage vector " that the i time circulation set up is designated as D i u In circulation each time Δ C i With D i u Bring in constant renewal in, promptly upgrading current Mechanics Calculation benchmark model A Ti oThe time, upgrade Cable Structure unit damage monitored quantitative change matrix Δ C i With nominal unit damage vector " be designated as D i u
Set up and renewal Cable Structure unit damage monitored quantitative change matrix Δ C i With nominal unit damage vector " be designated as D i u Process as follows:
Current Mechanics Calculation benchmark model A in Cable Structure Ti oThe basis on carry out several times and calculate, equal the quantity of all ropes on the calculation times numerical value.Calculating each time in the hypothesis cable system has only a rope to increase unit damage (for example getting 5%, 10%, 20% or 30% equivalent damage is unit damage) again on the basis of original damage (original damage can be 0, can not be 0 also).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, damage numerical value that calculate, rope---be called the name damage d i c ( i=1,2,3 ...), all with respect to this time when beginning circulation, with the health status of rope as being healthy fully speech, the name that the formula that therefore must foundation hereinafter provides will calculate is damaged and is converted into true damage.)。The rope of appearance damage was different from the rope that appearance damages in other time calculating during a round-robin calculated each time together, and supposed that each time the unit damage value of the rope that damage is arranged can be different from the unit damage value of other ropes, with " nominal unit damage vector D i u " (as the formula (3)) write down the unit damage of the supposition of all ropes in each time circulation, circulation time is designated as for the first time D 1 u , calculate each time all utilize mechanics method (for example finite element method) calculate Cable Structure, appointment in front MThe current calculated value of individual monitored amount calculates gained each time MThe current calculated value of individual monitored amount is formed one " the current numerical value vector of the calculating of monitored amount " (when hypothesis the jWhen the root rope had unit damage, available formula (4) was represented all appointments MThe current numerical value vector of the calculating of individual monitored amount C 1 Tj ); The current numerical value vector of the calculating of the monitored amount that calculates each time deducts the initial value vector of monitored amount C 1 o , the gained vector is exactly that " the numerical value change vector of monitored amount " of (is mark with the position of rope that unit damage is arranged or numbering etc.) is (when under this condition jWhen the root rope has unit damage, use δ C 1 j The numerical value change vector of representing monitored amount, δ C 1 j Definition see formula (5), formula (6) and formula (7), formula (5) deducts after the formula (2) again divided by vector for formula (4) D 1 u jIndividual element D Uj Gained), the numerical value change vector of monitored amount δ C 1 j Each element representation since when calculating supposition the Na Gensuo (for example the of unit damage is arranged jThe root rope) unit damage (for example D Uj ), and the numerical value change amount of the pairing monitored amount of this element that causes is with respect to the unit damage of supposition D Uj Rate of change; Have NThe root rope just has NIndividual " the numerical value change vector of monitored amount ", the numerical value change vector of each monitored amount has M(it is general, M 〉=N) individual element, by this NIndividual " the numerical value change vector of monitored amount " formed successively to be had M * N" the unit damage monitored quantitative change matrix of individual element Δ C 1 " (MOK NRow ), each vector δ C 1 j ( j=1,2,3 ...., N) be matrix Δ C 1 One row, Δ C 1 Definition as the formula (8).
??????????(3)
Nominal unit damage vector in the formula (3) D i u Element D i Uj ( i=1,2,3, j=1,2,3 ...., N) expression the iSuppose in the inferior circulation jThe unit damage numerical value of root rope, vector D i u In the numerical value of each element can be the same or different.
???????????(4)
Element in the formula (4) C i Tjk ( i=1,2,3, j=1,2,3 ...., N; k=1,2,3 ...., M; M 〉=N) expression the iInferior circulation is because the jWhen the root rope has unit damage, according to coding rule pairing kThe current numerical value of the calculating of the monitored amount of individual appointment.
????????????????????????????????????????(5)
The subscript of each amount in the formula (5) i( i=1,2,3 ...) expression the iInferior circulation, subscript j( j=1,2,3 ...., N) expression the jThe root rope has unit damage, in the formula D i Uj It is vector D i u In jIndividual element.Vector δ C i j Definition as the formula (6), δ C i j k( k=1,2,3 ...., M; M 〉=N) individual element δ C i Jk Expression the iIn the inferior circulation, set up matrix Δ C i The time, suppose jWhen having unit damage, the root rope calculates gained the kThe change amount of individual monitored amount is with respect to the unit damage of supposition D i Uj Rate of change, it defines as the formula (7).
??????(6)
???????????????????????????????????????(7)
The definition of each amount has been previously described in the formula (7).
??????????(8)
Vector in the formula (8) δ C i j ( i=1,2,3 ....,, j=1,2,3 ...., N) expression the iIn the inferior circulation, because the jThe root rope has unit damage D i Uj Cause, the relative value of all monitored amounts changes.Matrix Δ C i Row (subscript j) coding rule and front vector d i o The subscript of element jCoding rule identical.
In Cable Structure military service process, in circulation each time, constantly actual measurement obtains Cable Structure bearing angular coordinate current data, in case monitor U Ti Be not equal to U Ti o, then needed to get back to second step to A Ti oUpgrade, to A Ti oIt is right to enter this step after upgrading again Δ C i Upgrade.In fact in circulation each time Δ C i Bring in constant renewal in, promptly upgrading current Mechanics Calculation benchmark model A Ti oAfterwards, upgrade Cable Structure unit damage monitored quantitative change matrix Δ C i
 
The 4th step: the current health status of identification cable system.Detailed process is as follows.
The i( i=1,2,3 ...) in the inferior circulation, cable system " current (calculating or actual measurement) numerical value vector of monitored amount C i " " the initial value vector of monitored amount together C i o ", " unit damage monitored quantitative change matrix Δ C i " and " current name damage vector d i c " between linear approximate relationship, shown in (9) or formula (10).
??????????????????????????????????(9)
??????????????????????????????????(10)
Current (calculating or actual measurement) numerical value vector of monitored amount in formula (9) and the formula (10) C i Definition be similar to the initial value vector of monitored amount C i o Definition, see formula (11); The current name damage of cable system vector d i c Definition see formula (12).
??????????????(11)
Element in the formula (11) C i k ( i=1,2,3 ....; k=1,2,3 ...., M; M 〉=N) be iInferior circulation time Cable Structure, be numbered according to coding rule is pairing kThe current numerical value of monitored amount.
??????????????(12)
In the formula (12) d i Cj ( i=1,2,3 ....; j=1,2,3 ...., N) be iCable system in the inferior circulation jThe current nominal impairment value of root rope, vector d i c The subscript of element jCoding rule and matrix Δ C i The coding rule of row identical.
When the rope actual damage was not too big, because the Cable Structure material still is in the linear elasticity stage, the distortion of Cable Structure was 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).
??????????????????????????(13)
In the formula (13) Abs ()Be the function that takes absolute value, 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 of monitored amount C i " directly find the solution and obtain Suo Dangqian name damage vector d i c If done like this, the damage vector that obtains d i c In element in addition bigger negative value can appear, just negative damage, this obviously is irrational.Therefore obtain rope damage vector d i c Acceptable separating (promptly have reasonable error, but can be more accurately from cable system, determine the position and the degree of injury thereof of damaged cable) become a rational solution, available formula (14) is expressed this method.
??????????????????????????????(14)
In the formula (14) Abs ()Be the function that takes absolute value, vector g i Description departs from ideal linearity relation (formula (9) or formula (10))
Reasonable deviation, define by formula (15).
?????????????????(15)
In the formula (15) g i k ( i=1,2,3 ....; k=1,2,3 ...., M) described iThe maximum allowable offset that departs from the ideal linearity relation shown in formula (9) or the formula (10) in the inferior circulation.Vector g i Can be according to the error vector of formula (13) definition e i Tentative calculation is selected.
Initial value vector in monitored amount C i o (survey or calculate), Cable Structure unit damage monitored quantitative change matrix Δ C i The current numerical value vector of (calculating) and monitored amount C i When (actual measurement obtains) is known, can utilize suitable algorithm (for example multi-objective optimization algorithm) to find the solution formula (14), obtain the current name damage of cable system vector d i c Acceptable separating, the current actual damage vector of cable system d i The element of (formula (16) is seen in definition) can calculate according to formula (17), has just obtained Suo Dangqian actual damage vector d i Thereby, can by d i Determine the position and the degree of injury of damaged cable, just realized the health monitoring of cable system.
?????????????????(16)
In the formula (16) d i j ( i=1,2,3, ; j=1,2,3 ...., N) expression the iIn the inferior circulation jThe actual damage value of root rope, its definition are seen formula (17), d i j Be to represent at 0 o'clock jRoot rope not damaged is to represent that this rope thoroughly lost load-bearing capacity at 100% o'clock, represents in the time of between 0 and 100% jThe load-bearing capacity of root rope forfeiture corresponding proportion, vector d i The coding rule of element and formula (1) in vector d i o The coding rule of element identical.
???????????????????????????????????(17)
In the formula (17) d i Oj ( i=1,2,3,4, ; j=1,2,3 ...., N) be vector d i o jIndividual element, d i Cj It is vector d i c jIndividual element.
The 5th step: judge whether to finish this (the iInferior) circulation, if then finish the tailing in work before 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.
This ( iInferior) try to achieve current name damage vector in the circulation d i c After, at first, set up mark vector according to formula (18) F i , formula (19) has provided mark vector F i jThe definition of individual element; If mark vector F i Element be 0 entirely, then in this circulation, continue health monitoring and calculating to cable system; If mark vector F i Element be not 0 entirely, then finish subsequent step after, enter next time circulation.So-called subsequent step is: at first, calculate next time (promptly according to formula (20) i+ 1 time, i=1,2,3,4 ...) the required initial damage vector of circulation d i+ 1 o Each element d i+ 1 Oj The 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, make the health status situation of rope be d i+ 1 o The 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 of monitored amount of circulation C I+1 o " ( i=1,2,3,4 ...).
?????????????????(18)
Mark vector in the formula (18) F i Subscript iExpression the iInferior circulation, its element F i j ( j=1,2,3 ..., subscript N) jExpression the jThe damage characteristic of root rope can only be got 0 and 1 two amount, and concrete value rule is seen formula (19).
???????????????????????????????????(19)
Element in the formula (19) F i j It is mark vector F i jIndividual element, D i Uj It is nominal unit damage vector D i u jIndividual element (seeing formula (3)), d i Cj It is the current name damage of cable system vector d i c jIndividual element (seeing formula (12)), they all represent jThe relevant information of root rope.
???????????????????????????????(20)
In the formula (20) D i Uj It is nominal unit damage vector D i u jIndividual element (seeing formula (3)), d i Cj It is the current name damage of cable system vector d i c jIndividual element (seeing formula (12)).
 
Second portion of the present invention: the software and hardware part of health monitoring systems.
Hardware components comprises monitoring system (comprising monitored amount monitoring system, Cable Structure bearing angular coordinate monitoring system), signal picker and computing machine etc.Require to monitor in real time or quasi real time each monitored amount, require to monitor in real time or quasi real time each Cable Structure bearing angular coordinate.
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. establish total N root rope, at first determine the coding rule of rope, with rope numberings all in the Cable Structure, this numbering will be used to generate the vector sum matrix in subsequent step by this rule;
B. determine the measured point with monitored volume coordinate of appointment, give all specified point numberings; Determined each measurement point with monitored volume coordinate component, give all measured volume coordinate components numberings; Above-mentioned numbering will be used to generate the vector sum matrix in subsequent step; " the whole monitored spatial data of structure " is made up of above-mentioned all measured volume coordinate components; For simplicity, in the present invention " the monitored spatial data of structure " is called " monitored amount "; The quantity of measurement point must not be less than the quantity of rope; The quantity sum of all measured volume coordinate components must not be less than the quantity of rope;
C. Non-Destructive Testing data of utilizing rope etc. can be expressed the data of the health status of rope and set up cable system initial damage vector d 1 o If when not having the data of the Non-Destructive Testing data of rope and other health status that can express rope, perhaps can think when the structure original state is the not damaged state vector d 1 o Each element numerical value get 0;
D. setting up cable system initial damage vector d 1 o The time, directly measure the monitored amount of all appointments that calculate Cable Structure, form " the initial value vector of monitored amount C 1 o ";
E. setting up cable system initial damage vector d 1 o Initial value vector with monitored amount C 1 o The time, actual measurement obtains the initial rope force data of all ropes of Cable Structure, and actual measurement obtains the initial geometric data of Cable Structure;
F. set up the initial mechanical calculating benchmark model A of Cable Structure o, set up initial Cable Structure bearing angular coordinate vector U o, the Mechanics Calculation benchmark model A of the Cable Structure that needs when setting up circulation beginning for the first time 1The measured data of the Cable Structure in Cable Structure completion, this measured data comprises measured datas such as Cable Structure shape data, rope force data, draw-bar pull data, Cable Structure support coordinate data, Cable Structure bearing angular data, Cable Structure modal data, the Non-Destructive Testing data of rope etc. can be expressed the data of the health status of rope, according to design drawing and as-constructed drawing, utilize mechanics method to set up the initial mechanical calculating benchmark model A of Cable Structure oIf there is not the measured data of the structure in the Cable Structure completion, so just before setting up health monitoring systems, this Cable Structure is surveyed, obtain the measured data of Cable Structure equally, according to design drawing, the as-constructed drawing of these data and Cable Structure, utilize mechanics method to set up the initial mechanical calculating benchmark model A of Cable Structure equally oNo matter which kind of method to obtain A with o, based on A oThe Cable Structure computational data that calculates must be very near its measured data, and difference therebetween must not be greater than 5%; Corresponding to A oCable Structure bearing angular data form initial Cable Structure bearing angular coordinate vector U oA oWith U 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 oFor sake of convenience, name " the current Mechanics Calculation benchmark model of Cable Structure A Ti o", A in circulation each time Ti oCan bring in constant renewal in as required, during circulation beginning each time, A Ti oEqual A iEqually for sake of convenience, name " Cable Structure actual measurement bearing angular coordinate vector U Ti ", in circulation each time, constantly actual measurement obtains Cable Structure bearing angular coordinate current data, and all Cable Structure bearing angular coordinate current datas are formed current cable structure actual measurement bearing angular coordinate vector U Ti , vector U Ti Element with the vector U oThe angular coordinate of the equidirectional of the element representation same abutment of same position; For sake of convenience, for the i time circulation, the last time is upgraded A Ti oThe time Cable Structure bearing angular coordinate current data be designated as current cable structural bearings angular coordinate vector U Ti oDuring circulation beginning for the first time, A T1 oEqual A 1, U T1 oEqual U o
When g. circulation begins each time, make A Ti oEqual A iActual measurement obtains Cable Structure bearing angular coordinate current data, and all Cable Structure bearing angular coordinate current datas are formed current cable structure actual measurement bearing angular coordinate vector U Ti , according to current cable structure actual measurement bearing angular coordinate vector U Ti , upgrade the current Mechanics Calculation benchmark model of Cable Structure A where necessary Ti oWith current cable structural bearings angular coordinate vector U Ti o
H. at the current Mechanics Calculation benchmark model of Cable Structure A Ti oThe basis on carry out the several times Mechanics Calculation, by calculate obtaining Cable Structure unit damage monitored quantitative change matrix Δ C i With nominal unit damage vector D i u
I. actual measurement obtain Cable Structure all specify the current measured value of monitored amount, form " the current numerical value vector of monitored amount C 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;
J. define the current name damage of cable system vector d i c With current actual damage vector d i , the element number of damage vector equals the quantity of rope, is one-to-one relationship between the element of damage vector and the rope, and the element numerical value of damage vector is represented the degree of injury or the health status of corresponding rope;
K. according to " the current numerical value vector of monitored amount C i " " the initial value vector of monitored amount together C i o ", " unit damage monitored quantitative change matrix Δ C i " and " current name damage vector d i c " between the linear approximate relationship that exists, this linear approximate relationship can be expressed as formula 1, removes in the formula 1 d i c Other outer amount is known, finds the solution formula 1 and just can calculate current name damage vector d i c
Formula 1
L. the current actual damage vector that utilizes formula 2 to express d i With the initial damage vector d i o With current name damage vector d i c Element between relation, calculate current actual damage vector d i All elements.
Formula 2
In the formula 2 j=1,2,3 ..., N.
Because current actual damage vector d i Element numerical value represent the degree of injury of corresponding rope, so according to current actual damage vector d i Just can define the impaired and degree of injury of which rope, promptly realize the health monitoring of cable system in the Cable Structure; If the numerical value of a certain element of current actual damage vector is 0, represent that the pairing rope of this element is intact, do not damage; If its numerical value is 100%, represent that then the pairing rope of this element has completely lost load-bearing capacity; If its numerical value between 0 and 100%, is then represented this rope and has been lost the load-bearing capacity of corresponding proportion.
M. try to achieve current name damage vector d i c After, set up mark vector according to formula 3 F i , formula 4 has provided mark vector F i jThe definition of individual element;
Formula 3
Formula 4
Element in the formula 4 F i j It is mark vector F i jIndividual element, D i Uj It is nominal unit damage vector D i u jIndividual element, d i Cj It is the current name damage of cable system vector d i c jIndividual element, they all represent jThe relevant information of root rope.In the formula 4 j=1,2,3 ..., N.
If mark vector n. F i Element be 0 entirely, then get back to step g and continue this circulation; If mark vector F i Element be not 0 entirely, then enter next step, be step o.
O. according to formula 5 calculate next time, promptly i+ 1 required initial damage vector of circulation d i+ 1 o Each element d i+ 1 Oj
Formula 5
In the formula 5 D i Uj It is nominal unit damage vector D i u jIndividual element, d i Cj It is the current name damage of cable system vector d i c jIndividual element, F i j It is mark vector F i jIndividual element.In the formula 5 j=1,2,3 ..., N.
P. at the current Mechanics Calculation benchmark model of Cable Structure A Ti oThe basis on, make the health status of rope be d i+ 1 o The back renewal obtains next time, required Mechanics Calculation benchmark model A promptly circulates for the i+1 time I+1, promptly the Mechanics Calculation benchmark model is upgraded;
Q. pass through 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, the initial value vector of required monitored amount promptly circulates for the i+1 time C I+1 o
R. set up the required current Mechanics Calculation benchmark model of the Cable Structure A that next time, promptly circulates for the i+1 time Ti+1 o, promptly get A Ti+1 oEqual A I+1
S. set up the required current cable structural bearings angular coordinate vector that next time, promptly circulates for the i+1 time U Ti+ 1 o, promptly get U Ti+ 1 oEqual U Ti o
T. get back to step g, beginning is circulation next time.
 
In step g, according to current cable structure actual measurement bearing angular coordinate vector U Ti , upgrade the current Mechanics Calculation benchmark model of Cable Structure A where necessary Ti oWith current cable structural bearings angular coordinate vector U Ti oConcrete grammar be:
G1. actual measurement obtains current cable structure actual measurement bearing angular coordinate vector U Ti After, relatively U Ti With U Ti oIf, U Ti Equal U Ti o, then do not need A Ti oUpgrade;
G2. actual measurement obtains current cable structure actual measurement bearing angular coordinate vector U Ti After, relatively U Ti With U Ti oIf, U Ti Be not equal to U Ti o, then need A Ti oUpgrade, update method is: calculate earlier U Ti With U oPoor, U Ti With U oDifference be exactly that the current cable structural bearings is about setting up A oThe time the current bearing angular displacement of Cable Structure bearing, with current bearing angular displacement vector VThe angular displacement of expression bearing, current bearing angular displacement vector VIn element and the bearing angular displacement component between be one-to-one relationship, current bearing angular displacement vector VIn the numerical value of an element corresponding to the angular displacement around an assigned direction of an appointment bearing; Upgrade A Ti oMethod be: at A oThe basis on to make the health status of rope be cable system initial damage vector d i o , more further to A oIn the Cable Structure bearing apply current bearing angular displacement constraint, the numerical value of current bearing angular displacement constraint is just taken from current bearing angular displacement vector VThe numerical value of middle corresponding element is to A oIn the Cable Structure bearing apply current bearing angular displacement constraint after, that finally obtain is exactly the current Mechanics Calculation benchmark model A of renewal Ti o, upgrade A Ti oThe time, U Ti oAll elements numerical value is also used U Ti All elements numerical value replaces, and has promptly upgraded U Ti o, so just obtained correctly corresponding to A Ti o U Ti o
 
In step h, at the current Mechanics Calculation benchmark model of Cable Structure A Ti oThe basis on carry out the several times Mechanics Calculation, by calculate obtaining Cable Structure unit damage monitored quantitative change matrix Δ C i With nominal unit damage vector D i u Concrete grammar be:
H1. the i time when beginning circulation, directly h2 obtains Cable Structure unit damage monitored quantitative change matrix to the listed method of step h4 set by step Δ C i With nominal unit damage vector D i u At other constantly, in step g to A Ti oAfter upgrading, h2 is to the listed method acquisition of step h4 Cable Structure unit damage monitored quantitative change matrix set by step Δ C i With nominal unit damage vector D i u If, in step g not to A Ti oUpgrade, then directly change step I herein over to and carry out follow-up work;
H2. at the current Mechanics Calculation benchmark model of Cable Structure A Ti oThe basis on carry out the several times Mechanics Calculation, equal the quantity of all ropes on the calculation times numerical value, have NThe root rope just has NInferior calculating, calculating each time in the hypothesis cable system has only a rope to increase unit damage again on the basis of original damage, the rope that occurs damage in calculating each time is different from the rope that occurs damage in other time calculating, and supposition each time has the unit damage value of the rope of damage can be different from the unit damage value of other ropes, uses " nominal unit damage vector D i u " write down the unit damage of the supposition of all ropes, calculate each time that all specify the current numerical value of monitored amount in the Cable Structure, the current numerical value of the monitored amount of all that calculate is formed one " the current numerical value vector of the calculating of monitored amount " each time; When hypothesis the jWhen the root rope has unit damage, available C i Tj " the current numerical value vector of the calculating of monitored amount " that expression is corresponding; 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 target;
H3. that calculates each time " the current numerical value vector of the calculating of monitored amount C i Tj " deduct " the initial value vector of monitored amount C i o " obtain a vector, during all calculating divided by this, each element that again should vector obtains " numerical value change a vector of monitored amount after the unit damage value of supposition δ C i j "; Have NThe root rope just has NIndividual " the numerical value change vector of monitored amount ";
H4. by this NIndividual " the numerical value change vector of monitored amount " formed successively to be had N" the unit damage monitored quantitative change matrix of row Δ C i "; " unit damage monitored quantitative change matrix Δ C i " each row corresponding to one " the numerical value change vector of monitored amount "; The coding rule of the row of " unit damage monitored quantitative change matrix " and current name damage vector d i c With current actual damage vector d i The element coding rule identical.
 
Beneficial effect:System and method disclosed by the invention occurs under the situation of angular displacement at the Cable Structure bearing, having under the synchronously impaired condition of more rope monitoring and evaluation very exactly go out the health status (position and the degree of injury that comprise all damaged cables) of cable system.This is because " the current numerical value vector of monitored amount C i " " the initial value vector of monitored amount together C i o ", " unit damage monitored quantitative change matrix Δ C i " and " current name damage vector d i c " between linear relationship be similar to; be actually nonlinear relation; when particularly more the or extent of damage is big at damaged cable; the nonlinear characteristic of the relation between the above-mentioned amount is more obvious; for overcoming this obstacle, the invention discloses under a kind of situation that occurs angular displacement at the Cable Structure bearing, in the minizone, approach the health monitor method of this nonlinear relationship with linear relationship.In fact the present invention has used the method with linear relationship piecewise approximation nonlinear relationship, big interval is divided into minizone one by one, in each minizone internal linear relation all is enough accurately, and the health status of the cable system that obtains according to its judgement also is reliable.Therefore, occur at the Cable Structure bearing under the situation of angular displacement, system and method disclosed by the invention is very useful to effective health monitoring of cable system.
Embodiment
When the bearing angular displacement is arranged,, the invention discloses a kind of system and method for health status of each root rope of the cable system that can monitor Cable Structure rationally and effectively at the health monitoring of the cable system of Cable Structure.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.
Occur at the Cable Structure bearing under the situation of angular displacement, the algorithm that the present invention adopts is used for monitoring the health status of the cable system of Cable Structure.During concrete enforcement, the following step is a kind of in the various steps that can take.
The first step: determine type, position and the quantity of monitored amount, and numbering.Detailed process is:
If total N root rope, the coding rule of at first definite rope, with rope numberings all in the Cable Structure, this numbering will be used to generate the vector sum matrix in subsequent step by this rule.
Determine that (promptly all characterize the specified point of structure space coordinates, are provided with for the measured point of appointment KIndividual specified point), give all specified point numberings; Determined that (establishing each measurement point had for the measured volume coordinate component of each measurement point LIndividual measured volume coordinate component), give the measured volume coordinate component numbering of all appointments.Above-mentioned numbering will be used to generate the vector sum matrix equally in subsequent step." the whole monitored spatial data of structure " is by on top definite structure KIndividual specified point, cross each specified point LIndividual volume coordinate component is described, and the variation of structure space coordinate is exactly variations all specified points, all space specified coordinate components.Each total M(M=K * L)Individual volume coordinate component measurement value or calculated value characterize the volume coordinate information of structure. KWith MMust not be less than the quantity of support cable NFor simplicity, in the present invention " the monitored spatial data of structure " is called " monitored amount ".
Second step: the data of utilizing the Non-Destructive Testing data etc. of rope can express the health status of rope are set up cable system initial damage vector d 1 o If when not having the data of the Non-Destructive Testing data of rope and other health status that can express rope, perhaps can think when the structure original state is the not damaged state vector d 1 o Each element numerical value get 0.
The 3rd step: setting up cable system initial damage vector d 1 o The time, directly measure the monitored amount of all appointments that calculate Cable Structure, form " the initial value vector of monitored amount C 1 o ".
The 4th step: setting up cable system initial damage vector d 1 o Initial value vector with monitored amount C 1 o The time, can adopt ripe measuring method to carry out cable force measurement, strain measurement, measurement of angle and volume coordinate and measure.Simultaneously, calculate the initial Suo Li and the Cable Structure original geometric form data (is exactly its initial bridge type data for cable-stayed bridge) of all ropes of Cable Structure 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.
Set up the initial mechanical calculating benchmark model A of Cable Structure o, set up initial Cable Structure bearing angular coordinate vector U o, the Mechanics Calculation benchmark model A of the Cable Structure that needs when setting up circulation beginning for the first time 1The measured data of the Cable Structure in Cable Structure completion, this measured data comprises measured datas such as Cable Structure shape data, rope force data, draw-bar pull data, Cable Structure support coordinate data, Cable Structure bearing angular data, Cable Structure modal data, the Non-Destructive Testing data of rope etc. can be expressed the data of the health status of rope, according to design drawing and as-constructed drawing, utilize mechanics method to set up the initial mechanical calculating benchmark model A of Cable Structure oIf there is not the measured data of the structure in the Cable Structure completion, so just before setting up health monitoring systems, this Cable Structure is surveyed, obtain the measured data of Cable Structure equally, according to design drawing, the as-constructed drawing of these data and Cable Structure, utilize mechanics method to set up the initial mechanical calculating benchmark model A of Cable Structure equally oNo matter which kind of method to obtain A with o, based on A oThe Cable Structure computational data that calculates must be very near its measured data, and difference therebetween generally must not be greater than 5%; Corresponding to A oCable Structure bearing angular data form initial Cable Structure bearing angular coordinate vector U oA oWith U 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 oFor sake of convenience, name " the current Mechanics Calculation benchmark model of Cable Structure A Ti o", A in circulation each time Ti oCan bring in constant renewal in as required, during circulation beginning each time, A Ti oEqual A iEqually for sake of convenience, name " Cable Structure actual measurement bearing angular coordinate vector U Ti ", in circulation each time, constantly actual measurement obtains Cable Structure bearing angular coordinate current data, and all Cable Structure bearing angular coordinate current datas are formed current cable structure actual measurement bearing angular coordinate vector U Ti , vector U Ti Element with the vector U oThe angular coordinate of the equidirectional of the element representation same abutment of same position; For sake of convenience, for the i time circulation, the last time is upgraded A Ti oThe time Cable Structure bearing angular coordinate current data be designated as current cable structural bearings angular coordinate vector U Ti oDuring circulation beginning for the first time, A T1 oEqual A 1, U T1 oEqual U o
The 5th step: the hardware components of pass line structural healthy monitoring system.Hardware components comprises at least: monitored amount monitoring system (containing spatial coordinate measuring system, signal conditioner etc.), Cable Structure bearing angular coordinate monitoring system (containing measurement of angle sensor, signal conditioner etc.), signal (data) collector, the computing machine and the panalarm of communicating by letter.The bearing angular coordinate of each monitored amount, each Cable Structure 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 monitoring rope when damage is arranged, the computer control communication panalarm to monitor staff, owner and (or) personnel of appointment report to the police.
The 6th step: establishment and the cable system 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 monitoring that the present invention's " progressive health monitoring method that the cable system of bearing angular displacement time space coordinate monitoring is arranged " required by task wants, 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 system 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 ...Actual measurement (containing measurement of angle sensor, signal conditioner etc.) obtains Cable Structure bearing angular coordinate current data, and all Cable Structure bearing angular coordinate current datas are formed current cable structure actual measurement bearing angular coordinate vector U Ti , according to current cable structure actual measurement bearing angular coordinate vector U Ti , upgrade the current Mechanics Calculation benchmark model of Cable Structure A where necessary Ti oWith current cable structural bearings angular coordinate vector U Ti oConcrete grammar is:
Actual measurement obtains current cable structure actual measurement bearing angular coordinate vector U Ti After, relatively U Ti With U Ti oIf, U Ti Equal U Ti o, then do not need A Ti oUpgrade;
Actual measurement obtains current cable structure actual measurement bearing angular coordinate vector U Ti After, relatively U Ti With U Ti oIf, U Ti Be not equal to U Ti o, then need A Ti oUpgrade, update method is: calculate earlier U Ti With U oPoor, U Ti With U oDifference be exactly that the current cable structural bearings is about setting up A oThe time the current bearing angular displacement of Cable Structure bearing, with current bearing angular displacement vector VThe angular displacement of expression bearing, current bearing angular displacement vector VIn element and the bearing angular displacement component between be one-to-one relationship, current bearing angular displacement vector VIn the numerical value of an element corresponding to the angular displacement around an assigned direction of an appointment bearing; Upgrade A Ti oMethod be: at A oThe basis on to make the health status of rope be cable system initial damage vector d i o , more further to A oIn the Cable Structure bearing apply current bearing angular displacement constraint, the numerical value of current bearing angular displacement constraint is just taken from current bearing angular displacement vector VThe numerical value of middle corresponding element is to A oIn the Cable Structure bearing apply current bearing angular displacement constraint after, that finally obtain is exactly the current Mechanics Calculation benchmark model A of renewal Ti o, upgrade A Ti oThe time, U Ti oAll elements numerical value is also used U Ti All elements numerical value replaces, and has promptly upgraded U Ti o, so just obtained correctly corresponding to A Ti o U Ti o
The 8th step: at the current Mechanics Calculation benchmark model of Cable Structure A Ti oThe basis on carry out the several times Mechanics Calculation, by calculate obtaining Cable Structure unit damage monitored quantitative change matrix Δ C i With nominal unit damage vector D i u Concrete grammar is:
A. the i time when beginning circulation or in the 7th step to A Ti oAfter upgrading, directly b obtains Cable Structure unit damage monitored quantitative change matrix to the listed method of steps d set by step Δ C i With nominal unit damage vector D i u At other constantly, if in step g not to A Ti oUpgrade, then directly changing for the 9th step herein over to carries out follow-up work;
B. at the current Mechanics Calculation benchmark model of Cable Structure A Ti oThe basis on carry out the several times Mechanics Calculation, equal the quantity of all ropes on the calculation times numerical value, have NThe root rope just has NInferior calculating, calculating each time in the hypothesis cable system has only a rope to increase unit damage again on the basis of original damage, the rope that occurs damage in calculating each time is different from the rope that occurs damage in other time calculating, and supposition each time has the unit damage value of the rope of damage can be different from the unit damage value of other ropes, uses " nominal unit damage vector D i u " write down the unit damage of the supposition of all ropes, calculate each time that all specify the current numerical value of monitored amount in the Cable Structure, the current numerical value of the monitored amount of all that calculate is formed one " the current numerical value vector of the calculating of monitored amount " each time; When hypothesis the jWhen the root rope has unit damage, available C i Tj " the current numerical value vector of the calculating of monitored amount " that expression is corresponding; 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 target.
C. that calculates each time " the current numerical value vector of the calculating of monitored amount C i Tj " deduct " the initial value vector of monitored amount C i o " obtain a vector, during all calculating divided by this, each element that again should vector obtains " numerical value change a vector of monitored amount after the unit damage value of supposition δ C i j "; Have NThe root rope just has NIndividual " the numerical value change vector of monitored amount δ C i j " ( J=1,2,3 ..., N).
D. by this NIndividual " the numerical value change vector of monitored amount " formed successively to be had N" the unit damage monitored quantitative change matrix of row Δ C i "; " unit damage monitored quantitative change matrix Δ C i " each row corresponding to one " the numerical value change vector of monitored amount "; The coding rule of the row of " unit damage monitored quantitative change matrix " and current name damage vector d i c With current actual damage vector d i The 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 the linear relationship error vector e i And vector g i Utilize data (" the initial value vector of monitored amount of front C i o ", " unit damage monitored quantitative change matrix Δ C i "), when the 8th step calculated each time, promptly in calculating each time, have only in the hypothesis cable system increase unit damage again on the basis of rope in original damage in, calculate each time and form a damage vector d i t , the damage vector d i t Element number equal the quantity of rope, vector d i t All elements in have only the numerical value of an element to get to calculate each time in hypothesis increase the unit damage value of the rope of unit damage, d i t The numerical value of other element get 0, that is not numbering and the supposition of 0 the element corresponding relation that increases the rope of unit damage, be identical with the element of the same numbering of other vectors with the corresponding relation of this rope; Will C i Tj , C i o , Δ C i , d i t Bring formula (13) into, obtain a linear relationship error vector e i , calculate a linear relationship error vector each time e i Have NThe root rope just has NInferior calculating just has NIndividual linear relationship error vector e i , with this NIndividual linear relationship error vector e i Obtain a vector after the addition, with each element of this vector divided by NAfter the new vector that obtains be exactly final linear relationship error vector e i Vector g i Equal final error vector e i With vector g i Be kept on the hard disc of computer of operation health monitoring systems software, use for health monitoring systems software.
The tenth step: with " the initial value vector of monitored amount C i o " and " unit damage monitored quantitative change matrix Δ C i " etc. parameter be kept on the hard disc of computer of operation health monitoring systems software in the mode of data file.Actual measurement obtain Cable Structure all specify the current measured value of monitored amount, form " the current numerical value vector of monitored amount C i ".
The 11 step: according to " the current numerical value vector of monitored amount C i " " the initial value vector of monitored amount together C i o ", " unit damage monitored quantitative change matrix Δ C i " and " current name damage vector d i c " between the linear approximate relationship (formula (9)) that exists, calculate the current name damage of cable system vector according to multi-objective optimization algorithm d i c Noninferior 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 name damage vector with the goal programming method only d i c Process, 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 (21) and the formula (22), in the formula (21) γ i Be a real number, RBe real number field, area of space Ω has limited vector d i c Span (the present embodiment requirements vector of each element d i c Each element be not less than 0, be not more than 1).The meaning of formula (21) is to seek the real number of an absolute value minimum γ i , make formula (22) be met.In the formula (22) G (d i c )By formula (23) definition, weighing vector in the formula (22) W i With γ i Product representation formula (22) in G (d i c )With vector g i Between the deviation that allows, g i Definition referring to formula (15), its value will the 8th the step calculate.Vector during actual computation W i Can with vector g i Identical.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 name damage vector d i c
????????????????????????????????????????(21)
???????????????????????????????????????(22)
????????????????????????????(23)
Try to achieve current name damage vector d i c After , canThe current actual damage vector that obtains according to formula (17) d i Each element, current actual damage vector d i Have reasonable error exactly but can be more exactly from all ropes, determine the position of damaged cable and separating of degree of injury thereof.If the current actual damage vector that solves d i The numerical value of a certain element be 0, represent that the pairing rope of this element is intact, not damage; If its numerical value is 100%, represent that then the pairing rope of this element has completely lost load-bearing capacity; If its numerical value between 0 and 100%, is then represented this rope and has been lost the load-bearing capacity of corresponding proportion.
The 12 step: in this circulation, promptly the iTry to achieve current name damage vector in the inferior circulation d i c After, at first, set up mark vector according to formula (18), formula (19) F i If mark vector F i Element be 0 entirely, then got back to for the 7th step and continue this circulation; If mark vector F i Element be not 0 entirely, then enter next step, i.e. the 13 step.
The 13 step: according to formula (20) calculate next time, promptly the i+ 1 required initial damage vector of circulation d i+ 1 o Each element d i+ 1 Oj
The 14 step: at the current Mechanics Calculation benchmark model of Cable Structure A Ti oThe basis on, the health status that makes rope is the vector that previous step calculates d i+ 1 o After, 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 15 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 vector promptly circulates for the i+1 time C I+1 o , i.e. the initial value vector of monitored amount
The 16 step: set up next time, the required current Mechanics Calculation benchmark model of Cable Structure A promptly circulates for the i+1 time Ti+1 o, promptly get A Ti+1 oEqual A I+1
The 17 step: set up next time, required current cable structural bearings angular coordinate vector promptly circulates for the i+1 time U Ti+ 1 o, promptly get U Ti+ 1 oEqual U Ti o
The 18 step: got back to for the 7th step, beginning is circulation next time.

Claims (3)

1. the progressive health monitoring method of the cable system of a bearing angular displacement time space coordinate monitoring is characterized in that this method comprises:
A. establish total N root rope, at first determine the coding rule of rope, with rope numberings all in the Cable Structure, this numbering will be used to generate the vector sum matrix in subsequent step by this rule;
B. determine the measured point with monitored volume coordinate of appointment, give all specified point numberings; Determined each measurement point with monitored volume coordinate component, give all measured volume coordinate components numberings; Above-mentioned numbering will be used to generate the vector sum matrix in subsequent step; " the whole monitored spatial data of structure " is made up of above-mentioned all measured volume coordinate components; For simplicity, in the present invention " the monitored spatial data of structure " is called " monitored amount "; The quantity of measurement point must not be less than the quantity of rope; The quantity sum of all measured volume coordinate components must not be less than the quantity of rope;
C. Non-Destructive Testing data of utilizing rope etc. can be expressed the data of the health status of rope and set up cable system initial damage vector d 1 o If when not having the data of the Non-Destructive Testing data of rope and other health status that can express rope, perhaps can think when the structure original state is the not damaged state vector d 1 o Each element numerical value get 0; In this step d 1 o Subscript 1 expression circulation for the first time, specify in step f about the method for expressing of cycle index;
D. setting up cable system initial damage vector d 1 o The time, directly measure the monitored amount of all appointments that calculate Cable Structure, form " the initial value vector of monitored amount C 1 o "; In this step C 1 o Subscript 1 expression circulation for the first time, specify in step f about the method for expressing of cycle index;
E. setting up cable system initial damage vector d 1 o Initial value vector with monitored amount C 1 o The time, actual measurement obtains the initial rope force data of all ropes of Cable Structure, and actual measurement obtains the initial geometric data of Cable Structure;
F. set up the initial mechanical calculating benchmark model A of Cable Structure o, set up initial Cable Structure bearing angular coordinate vector U o, the Mechanics Calculation benchmark model A of the Cable Structure that needs when setting up circulation beginning for the first time 1A in this step 1Subscript 1 expression circulation for the first time; The measured data of the Cable Structure in Cable Structure completion, this measured data comprises measured datas such as Cable Structure shape data, rope force data, draw-bar pull data, Cable Structure support coordinate data, Cable Structure bearing angular data, Cable Structure modal data, the Non-Destructive Testing data of rope etc. can be expressed the data of the health status of rope, according to design drawing and as-constructed drawing, utilize mechanics method to set up the initial mechanical calculating benchmark model A of Cable Structure oIf there is not the measured data of the structure in the Cable Structure completion, so just before setting up health monitoring systems, this Cable Structure is surveyed, obtain the measured data of Cable Structure equally, according to design drawing, the as-constructed drawing of these data and Cable Structure, utilize mechanics method to set up the initial mechanical calculating benchmark model A of Cable Structure equally oNo matter which kind of method to obtain A with o, based on A oThe Cable Structure computational data that calculates must be very near its measured data, and difference therebetween must not be greater than 5%; Corresponding to A oCable Structure bearing angular data form initial Cable Structure bearing angular coordinate vector U oA oWith U 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 oFor sake of convenience, name " the current Mechanics Calculation benchmark model of Cable Structure A Ti o", A in circulation each time Ti oCan bring in constant renewal in as required, during circulation beginning each time, A Ti oEqual A iEqually for sake of convenience, name " Cable Structure actual measurement bearing angular coordinate vector U Ti ", in circulation each time, constantly actual measurement obtains Cable Structure bearing angular coordinate current data, and all Cable Structure bearing angular coordinate current datas are formed current cable structure actual measurement bearing angular coordinate vector U Ti , vector U Ti Element with the vector U oThe angular coordinate of the equidirectional of the element representation same abutment of same position; For sake of convenience, for the i time circulation, the last time is upgraded A Ti oThe time Cable Structure bearing angular coordinate current data be designated as current cable structural bearings angular coordinate vector U Ti oDuring circulation beginning for the first time, A T1 oEqual A 1, U T1 oEqual U o
G. actual measurement obtains Cable Structure bearing angular coordinate current data, and all Cable Structure bearing angular coordinate current datas are formed current cable structure actual measurement bearing angular coordinate vector U Ti , according to current cable structure actual measurement bearing angular coordinate vector U Ti , upgrade the current Mechanics Calculation benchmark model of Cable Structure A where necessary Ti oWith current cable structural bearings angular coordinate vector U Ti o
H. at the current Mechanics Calculation benchmark model of Cable Structure A Ti oThe basis on carry out the several times Mechanics Calculation, by calculate obtaining Cable Structure unit damage monitored quantitative change matrix Δ C i With nominal unit damage vector D i u
I. actual measurement obtain Cable Structure all specify the current measured value of monitored amount, form " the current numerical value vector of monitored amount C 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;
J. define the current name damage of cable system vector d i c With current actual damage vector d i , the element number of damage vector equals the quantity of rope, is one-to-one relationship between the element of damage vector and the rope, and the element numerical value of damage vector is represented the degree of injury or the health status of corresponding rope;
K. according to " the current numerical value vector of monitored amount C i " " the initial value vector of monitored amount together C i o ", " unit damage monitored quantitative change matrix Δ C i " and " current name damage vector d i c " between the linear approximate relationship that exists, this linear approximate relationship can be expressed as formula 1, removes in the formula 1 d i c Other outer amount is known, finds the solution formula 1 and just can calculate current name damage vector d i c
Formula 1
L. the current actual damage vector that utilizes formula 2 to express d i With the initial damage vector d i o With current name damage vector d i c Element between relation, calculate current actual damage vector d i All elements.
Formula 2
In the formula 2 j=1,2,3 ..., N.
Because current actual damage vector d i Element numerical value represent the degree of injury of corresponding rope, so according to current actual damage vector d i Just can define the impaired and degree of injury of which rope, promptly realize the health monitoring of cable system in the Cable Structure; If the numerical value of a certain element of current actual damage vector is 0, represent that the pairing rope of this element is intact, do not damage; If its numerical value is 100%, represent that then the pairing rope of this element has completely lost load-bearing capacity; If its numerical value between 0 and 100%, is then represented this rope and has been lost the load-bearing capacity of corresponding proportion.
M. try to achieve current name damage vector d i c After, set up mark vector according to formula 3 F i , formula 4 has provided mark vector F i jThe definition of individual element;
Formula 3
Formula 4
Element in the formula 4 F i j It is mark vector F i jIndividual element, D i Uj It is nominal unit damage vector D i u jIndividual element, d i Cj It is the current name damage of cable system vector d i c jIndividual element, they all represent jThe relevant information of root rope.In the formula 4 j=1,2,3 ..., N.
If mark vector n. F i Element be 0 entirely, then get back to step g and continue this circulation; If mark vector F i Element be not 0 entirely, then enter next step, be step o.
O. according to formula 5 calculate next time, promptly i+ 1 required initial damage vector of circulation d i+ 1 o Each element d i+ 1 Oj
Formula 5
In the formula 5 D i Uj It is nominal unit damage vector D i u jIndividual element, d i Cj It is the current name damage of cable system vector d i c jIndividual element, F i j It is mark vector F i jIndividual element.In the formula 5 j=1,2,3 ..., N.
P. at the current Mechanics Calculation benchmark model of Cable Structure A Ti oThe basis on, make the health status of rope be d i+ 1 o The back renewal obtains next time, required Mechanics Calculation benchmark model A promptly circulates for the i+1 time I+1, promptly the Mechanics Calculation benchmark model is upgraded;
Q. pass through 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, the initial value vector of required monitored amount promptly circulates for the i+1 time C I+1 o
R. set up the required current Mechanics Calculation benchmark model of the Cable Structure A that next time, promptly circulates for the i+1 time Ti+1 o, promptly get A Ti+1 oEqual A I+1
S. set up the required current cable structural bearings angular coordinate vector that next time, promptly circulates for the i+1 time U Ti+ 1 o, promptly get U Ti+ 1 oEqual U Ti o
T. get back to step g, beginning is circulation next time.
2. the progressive health monitoring method of the cable system of bearing angular displacement time space coordinate monitoring according to claim 1 is characterized in that in step g, according to current cable structure actual measurement bearing angular coordinate vector U Ti , upgrade the current Mechanics Calculation benchmark model of Cable Structure A where necessary Ti oWith current cable structural bearings angular coordinate vector U Ti oConcrete grammar be:
G1. actual measurement obtains current cable structure actual measurement bearing angular coordinate vector U Ti After, relatively U Ti With U Ti oIf, U Ti Equal U Ti o, then do not need A Ti oUpgrade;
G2. actual measurement obtains current cable structure actual measurement bearing angular coordinate vector U Ti After, relatively U Ti With U Ti oIf, U Ti Be not equal to U Ti o, then need A Ti oUpgrade, update method is: calculate earlier U Ti With U oPoor, U Ti With U oDifference be exactly that the current cable structural bearings is about setting up A oThe time the current bearing angular displacement of Cable Structure bearing, with current bearing angular displacement vector VThe angular displacement of expression bearing, current bearing angular displacement vector VIn element and the bearing angular displacement component between be one-to-one relationship, current bearing angular displacement vector VIn the numerical value of an element corresponding to the angular displacement around an assigned direction of an appointment bearing; Upgrade A Ti oMethod be: at A oThe basis on to make the health status of rope be cable system initial damage vector d i o , more further to A oIn the Cable Structure bearing apply current bearing angular displacement constraint, the numerical value of current bearing angular displacement constraint is just taken from current bearing angular displacement vector VThe numerical value of middle corresponding element is to A oIn the Cable Structure bearing apply current bearing angular displacement constraint after, that finally obtain is exactly the current Mechanics Calculation benchmark model A of renewal Ti o, upgrade A Ti oThe time, U Ti oAll elements numerical value is also used U Ti All elements numerical value replaces, and has promptly upgraded U Ti o, so just obtained correctly corresponding to A Ti o U Ti o
3. the progressive health monitoring method that the cable system of bearing angular displacement time space coordinate monitoring is arranged according to claim 1 is characterized in that in step h, at the current Mechanics Calculation benchmark model of Cable Structure A Ti oThe basis on carry out the several times Mechanics Calculation, by calculate obtaining Cable Structure unit damage monitored quantitative change matrix Δ C i With nominal unit damage vector D i u Concrete grammar be:
H1. the i time when beginning circulation, directly h2 obtains Cable Structure unit damage monitored quantitative change matrix to the listed method of step h4 set by step Δ C i With nominal unit damage vector D i u At other constantly, in step g to A Ti oAfter upgrading, h2 is to the listed method acquisition of step h4 Cable Structure unit damage monitored quantitative change matrix set by step Δ C i With nominal unit damage vector D i u If, in step g not to A Ti oUpgrade, then directly change step I herein over to and carry out follow-up work;
H2. at the current Mechanics Calculation benchmark model of Cable Structure A Ti oThe basis on carry out the several times Mechanics Calculation, equal the quantity of all ropes on the calculation times numerical value, have NThe root rope just has NInferior calculating, calculating each time in the hypothesis cable system has only a rope to increase unit damage again on the basis of original damage, the rope that occurs damage in calculating each time is different from the rope that occurs damage in other time calculating, and supposition each time has the unit damage value of the rope of damage can be different from the unit damage value of other ropes, uses " nominal unit damage vector D i u " write down the unit damage of the supposition of all ropes, calculate each time that all specify the current numerical value of monitored amount in the Cable Structure, the current numerical value of the monitored amount of all that calculate is formed one " the current numerical value vector of the calculating of monitored amount " each time; When hypothesis the jWhen the root rope has unit damage, available C i Tj " the current numerical value vector of the calculating of monitored amount " that expression is corresponding; 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 target;
H3. that calculates each time " the current numerical value vector of the calculating of monitored amount C i Tj " deduct " the initial value vector of monitored amount C i o " obtain a vector, during all calculating divided by this, each element that again should vector obtains " numerical value change a vector of monitored amount after the unit damage value of supposition δ C i j "; Have NThe root rope just has NIndividual " the numerical value change vector of monitored amount ";
H4. by this NIndividual " the numerical value change vector of monitored amount " formed successively to be had N" the unit damage monitored quantitative change matrix of row Δ C i "; " unit damage monitored quantitative change matrix Δ C i " each row corresponding to one " the numerical value change vector of monitored amount "; The coding rule of the row of " unit damage monitored quantitative change matrix " and current name damage vector d i c With current actual damage vector d i The element coding rule identical.
CN2011101226228A 2011-05-13 2011-05-13 Progressive health monitoring method of cable system based on spatial coordinate monitoring in angular displacement of supporting seat CN102288426A (en)

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* Cited by examiner, † Cited by third party
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CN102706626A (en) * 2012-05-29 2012-10-03 东南大学 Slack cable identification method on basis of cable force monitoring during temperature variation
CN102706632A (en) * 2012-05-30 2012-10-03 东南大学 Damaged cable approximant identification method on basis of strain monitoring during generalized displacement of support and temperature variation
CN102706628A (en) * 2012-05-30 2012-10-03 东南大学 Damaged cable and support angular displacement identification method on basis of space coordinate monitoring during temperature variation

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CN101334338A (en) * 2008-07-29 2008-12-31 东南大学 Cable structure cable system healthy monitoring method based on space coordinates monitoring
CN101782944A (en) * 2010-03-17 2010-07-21 东南大学 Progressive type healthy monitoring method of rope system based on space coordinate monitoring during support settlement
CN101782946A (en) * 2010-03-17 2010-07-21 东南大学 Progressive type method for identifying loose supporting ropes based on space coordinate monitoring during support settlement
CN101788403A (en) * 2010-03-17 2010-07-28 东南大学 Progressive method for identifying loose support cable based on strain monitoring during support settlement

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WO1998057166A1 (en) * 1997-06-11 1998-12-17 Pure Technologies Ltd. Method and apparatus for monitoring of tensioned cables
CN101334338A (en) * 2008-07-29 2008-12-31 东南大学 Cable structure cable system healthy monitoring method based on space coordinates monitoring
CN101782944A (en) * 2010-03-17 2010-07-21 东南大学 Progressive type healthy monitoring method of rope system based on space coordinate monitoring during support settlement
CN101782946A (en) * 2010-03-17 2010-07-21 东南大学 Progressive type method for identifying loose supporting ropes based on space coordinate monitoring during support settlement
CN101788403A (en) * 2010-03-17 2010-07-28 东南大学 Progressive method for identifying loose support cable based on strain monitoring during support settlement

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102706626A (en) * 2012-05-29 2012-10-03 东南大学 Slack cable identification method on basis of cable force monitoring during temperature variation
CN102706626B (en) * 2012-05-29 2015-07-08 东南大学 Slack cable identification method on basis of cable force monitoring during temperature variation
CN102706632A (en) * 2012-05-30 2012-10-03 东南大学 Damaged cable approximant identification method on basis of strain monitoring during generalized displacement of support and temperature variation
CN102706628A (en) * 2012-05-30 2012-10-03 东南大学 Damaged cable and support angular displacement identification method on basis of space coordinate monitoring during temperature variation

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