CN102323080A - The health monitor method of the cable system of bearing generalized displacement time space coordinate monitoring - Google Patents

The health monitor method of the cable system of bearing generalized displacement time space coordinate monitoring Download PDF

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CN102323080A
CN102323080A CN201110143049A CN201110143049A CN102323080A CN 102323080 A CN102323080 A CN 102323080A CN 201110143049 A CN201110143049 A CN 201110143049A CN 201110143049 A CN201110143049 A CN 201110143049A CN 102323080 A CN102323080 A CN 102323080A
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cable
vector
current
rope
monitored
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韩玉林
洪琨
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Southeast University
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Southeast University
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Abstract

The health of the cable system of bearing generalized displacement time space coordinate monitoring is supervised based on space coordinate monitoring, is determined whether the more Mechanics Calculation benchmark model of new construction through monitoring of structures bearing generalized coordinate; Has only when the structural bearings generalized coordinate changes just the more Mechanics Calculation benchmark model of new construction; Thereby obtain the Mechanics Calculation benchmark model of the new structure that counts the structural bearings generalized displacement, on this model based, calculate and obtain unit damage monitored quantitative change matrix.According to the current numerical value vector of monitored amount with the linear approximate relationship that exists between monitored amount initial vector, unit damage monitored quantitative change matrix, the unit damage scalar sum current damage vector of cable system to be asked; Can utilize suitable algorithm such as multi-objective optimization algorithm to calculate the noninferior solution of current cable damage vector fast, in view of the above can be when the bearing generalized displacement be arranged, confirm the position and the degree of injury thereof of damaged cable more exactly.

Description

The health monitor method of the cable system of bearing generalized 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; Like 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 the bearing generalized displacement refers to that bearing is along the angular displacement around X, Y, Z axle of the displacement of the lines of X, Y, Z axle and bearing in that the bearing generalized displacement is arranged; Corresponding to the bearing generalized displacement; The bearing generalized coordinate refers to that bearing is about the coordinate of X, Y, Z axle and the bearing angular coordinate about X, Y, Z axle) time; The present invention is based on space coordinate monitoring discerns the supporting system of Cable Structure and (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 rope; Also comprise the rod member that only bears tensile load) in 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 can utilize the structure space coordinate data to judge structure, can (the present invention is 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 also can receive the influence of Cable Structure bearing generalized displacement (usually can take place) except the influence that receives the cable system health status, also do not have a kind of disclosed, effective health monitoring systems and method to solve this problem at present.
When the bearing generalized 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 generalized displacement,, disclose a kind of health prison of cable system of bearing generalized displacement time space coordinate monitoring to the health monitoring problem of cable system in the Cable Structure
The survey method.
Technical scheme:The present invention is made up of three parts.Be respectively the method for setting up required knowledge base of cable system health monitoring systems and parameter, based on the volume coordinate of knowledge base (containing parameter) and actual measurement Cable Structure and the cable system health status appraisal procedure of actual measurement Cable Structure bearing generalized displacement, the software and hardware part of health monitoring systems.
First of the present invention: foundation is used for the knowledge base of cable system health monitoring and the method for parameter.Specific as follows:
1. set up the initial Mechanics Calculation benchmark model A of Cable Structure o(for example finite element benchmark model) and current Mechanics Calculation benchmark model A t oThe method of (for example finite element benchmark model).A in the present invention oBe constant.A t oBring in constant renewal in.Set up A o, set up and upgrade A t oMethod following.
Set up A oThe time; Measured data according to the Cable Structure in the Cable Structure completion (comprises measured datas such as Cable Structure shape data, rope force data, draw-bar pull data, Cable Structure support coordinate data, Cable Structure bearing generalized coordinate data, Cable Structure modal data; To cable-stayed bridge, suspension bridge and bridge type data of Yan Shiqiao, rope force data, the modal data of bridge, the Non-Destructive Testing data of rope etc. can be expressed the data of the health status of rope) and design drawing, as-constructed drawing, utilize mechanics method (for example finite element method) to set up A oIf there is not the measured data of the structure in the Cable Structure completion; So just before setting up health monitoring systems, structure is surveyed; The measured data that obtains Cable Structure (comprises measured datas such as Cable Structure shape data, rope force data, draw-bar pull data, Cable Structure support coordinate data, Cable Structure bearing generalized coordinate data, Cable Structure modal data; To cable-stayed bridge, suspension bridge and bridge type data of Yan Shiqiao, rope force data, the modal data of bridge, the Non-Destructive Testing data of rope etc. can be expressed the data of the health status of rope); According to design drawing, the as-constructed drawing of these data and Cable Structure, utilize 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 generalized coordinate data form initial Cable Structure bearing generalized coordinate vector U o
In Cable Structure military service process, constantly actual measurement obtains Cable Structure bearing generalized coordinate current data (all data composition current cable structure actual measurement bearing generalized coordinate vectors U t , vector U t Definition mode with the vector UIdentical).Cable Structure bearing generalized coordinate current data when for simplicity, the last time being upgraded current Mechanics Calculation benchmark model is designated as current cable structural bearings generalized coordinate vector U t oSet up and renewal A t oMethod be: at initial time, A t oJust equal A o, U t oJust equal U oIn Cable Structure military service process, constantly actual measurement obtains Cable Structure bearing generalized coordinate data and obtains current cable structure actual measurement bearing generalized coordinate vector U t If, U t Equal U t o, then need be to A t oUpgrade; If U t Be not equal to U t o, then need be to A t oUpgrade, at this moment U t With U oDifference be exactly the Cable Structure bearing about initial position (corresponding to A o) the bearing generalized displacement, upgrade A t oMethod be to A oIn the Cable Structure bearing apply displacement constraint (its numerical value taken from bearing generalized displacement vector V) after the current Mechanics Calculation benchmark model A that obtains upgrading t o, upgrade A t oThe time, U t oAll elements numerical value is also used U t All elements numerical value replaces, and has promptly upgraded U t o, so just obtained correctly corresponding to A t o U t o
" 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 supporting rope N
For simplicity, in the present invention " the monitored spatial data of structure " abbreviated as " monitored amount ".When mentioning " so-and-so matrix of monitored amount or so-and-so vector " in the back, also can be read as " volume coordinate so-and-so matrix or so-and-so vector ".
Among the present invention with monitored amount initial vector C o The vector (seeing formula (1)) that the initial value of all monitored amounts of expression Cable Structure is formed.Requirement is obtaining A oIn time, obtain C o Because of subject to the foregoing, the monitored amount of calculating gained based on the calculating benchmark model of Cable Structure approaches the measured data of initial monitored amount reliably, in the narration of back, will represent this calculated value and measured value with prosign.
(1)
In the formula (1) C Oj ( j=1,2,3, ., M; M>=N) be in the Cable Structure jThe original bulk of individual monitored amount, this component according to coding rule corresponding to specific jIndividual monitored amount. TThe transposition of expression vector (back together).
Vectorial among the present invention with the current numerical value of monitored amount CThe vector of forming by the currency of all monitored amounts in the Cable Structure (formula (2) is seen in definition).
(2)
In the formula (2) C j ( j=1,2,3, ., M; M>=N) be in the Cable Structure jThe currency of individual monitored amount, this component C j According to coding rule with C Oj Corresponding to same " monitored amount ".
 
2. set up and renewal Cable Structure unit damage monitored quantitative change matrix Δ CMethod
Cable Structure unit damage monitored quantitative change matrix Δ CBring in constant renewal in, promptly upgrading current Mechanics Calculation benchmark model A t oThe time, upgrade Cable Structure unit damage monitored quantitative change matrix Δ CConcrete grammar is following:
Current Mechanics Calculation benchmark model A in Cable Structure t oThe basis on carry out several times and calculate, equal the quantity of all supporting ropes on the calculation times numerical value.Calculating each time in the hypothesis cable system has only a supporting rope that unit damage is arranged D u (for example getting 5%, 10%, 20% or 30% equivalent damage is unit damage); The rope that occurs damage in calculating each time is different from the rope that occurs damage in other time calculating; Calculate the current calculated value all utilize mechanics method (for example finite element method) to calculate all monitored amounts of Cable Structure each time, the current calculated value of the monitored amount of all that calculate is each time formed a monitored amount calculation current vector (when hypothesis the iWhen the root rope has unit damage, the monitored amount calculation current vector of available formula (3) expression C t i ); Calculate monitored amount calculation current vector each time and deduct monitored amount initial vector, the gained vector is exactly that the monitored quantitative changeization vector of (is mark with the position of supporting rope that unit damage is arranged or numbering etc.) is (when the under this condition iWhen the root rope has unit damage, use δ C i Represent monitored quantitative changeization vector; Formula (4) is seen in definition; Formula (4) deducts formula (1) gained for formula (3)), each element representation of monitored quantitative changeization vector is owing to suppose the change amount of the pairing monitored amount of this element that the unit damage of the Na Gensuo that unit damage is arranged causes when calculating; Have NThe root rope just has NIndividual monitored quantitative changeization vector is owing to have MIndividual monitored amount is so each monitored quantitative change vector has MIndividual element is by this NIndividual monitored quantitative change vector is formed successively to be had M * NThe unit damage monitored quantitative change matrix of individual element Δ C, Δ CDefinition suc as formula shown in (5).
(3)
Element in the formula (3) C Tj i ( i=1,2,3 ...., N; j=1,2,3 ...., M; M>=N) expression is because the iWhen the root rope has unit damage, according to coding rule pairing jThe current calculated amount of individual monitored amount.
(4)
(5)
In the formula (5) Δ C J, i ( i=1,2,3 ...., N; j=1,2,3 ...., M; M>=N) expression is only because the iThe root rope have unit damage cause, according to coding rule pairing jThe variation (algebraic value) of the current numerical value of calculating of individual monitored amount.Monitored quantitative changeization vector δ C i Be actually matrix Δ CIn row, that is to say that formula (5) also can write an accepted way of doing sth (6).
(6)
3. the current numerical value vector of monitored amount C(calculating or actual measurement) is with monitored amount initial vector C o , unit damage monitored quantitative change matrix Δ C, the unit damage scalar D u With current damage vector dBetween linear approximate relationship, shown in (7) or formula (8).The current damage vector of cable system dDefinition referring to formula (9).
(7)
(8)
(9)
In the formula (9) d i ( i=1,2,3 ...., N) be in the cable system iThe current damage of root rope (or pull bar); d i Being to represent not damaged at 0 o'clock, is to represent that this rope thoroughly lost load-bearing capacity at 100% o'clock, representes to lose the load-bearing capacity of corresponding proportion in the time of between 0 and 100%.
Represented that rope thoroughly lost load-bearing capacity at 100% o'clock if establish rope damage and be; When actual damage is not too big, (for example be not more than 30% damage) so; Because the Cable Structure material still is in the linear elasticity stage; The distortion of Cable Structure is also less, and the represented a kind of like this linear relationship of formula (7) or formula (8) is less with the error of actual conditions.Linear relationship error vector with formula (10) definition eThe error of linear relationship shown in expression (7) or the formula (8).
(10)
In the formula (10) Abs ()Be the function that takes absolute value, each element of the vector of trying to achieve in the bracket is taken absolute value.
 
Second portion of the present invention: based on the cable system health status appraisal procedure of knowledge base (containing parameter) and the monitored amount of actual measurement.
Because there are certain error in formula (7) or the represented linear relationship of formula (8), therefore can not be simply according to formula (7) or formula (8) and the current numerical value vector of the monitored amount of actual measurement CCome directly to find the solution to obtain current damage vector dIf done like this, the current damage vector that obtains dIn element in addition bigger negative value can appear, just negative damage, this obviously is irrational.Therefore obtain current damage vector dAcceptable separating (promptly have reasonable error, but can be more accurately from cable system, confirm the position and the degree of injury thereof of damaged cable) become a rational solution, available formula (11) is expressed this method.
(11)
In the formula (11) Abs ()Be the function that takes absolute value, vector gDescription departs from the reasonable deviation of ideal linearity relation (formula (7) or formula (8)), is defined by formula (12).
(12)
In the formula (12) g j ( j=1,2,3 ...., M) maximum allowable offset of the ideal linearity relation that departs from shown in formula (7) or the formula (8) described.Vector gCan be according to the error vector of formula (10) definition eTentative calculation is selected.
At monitored amount initial vector C o , unit damage monitored quantitative change matrix Δ C, the current numerical value of the monitored amount of actual measurement vector CAnd unit damage D u (calculate Δ CBefore set, be scalar) when known, can utilize suitable algorithm (for example multi-objective optimization algorithm) to find the solution formula (11), it is vectorial to obtain current damage dAcceptable separating, thereby confirm the position and the degree of injury of damaged cable.
Third part 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 generalized 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 generalized coordinate.
Software should be used following function by tool: the data in real time that software section at first transmits according to monitoring system or quasi real time analyze and obtain current cable structure actual measurement bearing generalized coordinate vector U t , the current numerical value of monitored amount vector C, the Mechanics Calculation benchmark model A of the Cable Structure of reading pre-stored then o, initial Cable Structure bearing generalized coordinate vector U o, current Mechanics Calculation benchmark model A t o, current cable structural bearings generalized coordinate vector U t o, cable system unit damage monitored quantitative change matrix Δ C, monitored amount initial vector C o With the unit damage value D u , relatively current cable structure actual measurement bearing generalized coordinate is vectorial U t With current cable structural bearings generalized coordinate vector U t o, when U t With U t oWhen identical, find the solution formula (11), obtain the current damage vector of cable system according to suitable algorithm (for example multi-objective optimization algorithm) dNoninferior solution, just have reasonable error but can be more exactly from cable system, confirm the position of damaged cable and separating of degree of injury thereof; When U t With U t oWhen inequality, earlier to current Mechanics Calculation benchmark model A t oWith current cable structural bearings generalized coordinate vector U t oUpgrade, again at new A t oThe basis on " set up and upgrade Cable Structure unit damage monitored quantitative change matrix according to aforementioned Δ CMethod " upgrade Δ C, find the solution formula (11) according to suitable algorithm (for example multi-objective optimization algorithm) equally, obtain the current damage vector of cable system dNoninferior solution, just have reasonable error but can be more exactly from cable system, confirm the position of damaged cable and separating of degree of injury thereof.
 
The inventive method specifically comprises:
A. establish total N root rope, at first confirm 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. confirm the measured point with monitored volume coordinate of appointment, give all specified point numberings; Confirmed 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. directly measure the initial value of all monitored amounts that calculate Cable Structure, form monitored amount initial vector C o Obtain monitored amount initial vector in actual measurement C o The time, actual measurement obtains the initial rope force data of all ropes of Cable Structure, the initial geometric data of structure, initial Cable Structure bearing generalized coordinate data, and initial Cable Structure bearing generalized coordinate data are formed initial Cable Structure bearing generalized coordinate vector U oThe bearing generalized coordinate comprises two kinds of line amount and angle amounts;
D. according to the measured data of design drawing, as-constructed drawing and the Cable Structure of Cable Structure, the Non-Destructive Testing data and the initial Cable Structure bearing generalized coordinate vector of rope U oSet up the initial Mechanics Calculation benchmark model A of Cable Structure oAnd set up for the first time the current Mechanics Calculation benchmark model A of Cable Structure t o, the measured data of Cable Structure comprises the initial geometric data of the initial rope force data of all ropes of Cable Structure, initial Cable Structure bearing generalized coordinate data and Cable Structure at least; Set up for the first time the current Mechanics Calculation benchmark model A of Cable Structure t oThe time, the current Mechanics Calculation benchmark model A of Cable Structure t oJust equal the initial Mechanics Calculation benchmark model A of Cable Structure oCurrent Mechanics Calculation benchmark model A corresponding to Cable Structure t oCable Structure bearing generalized coordinate data form current cable structural bearings generalized coordinate vector U t o, set up the current Mechanics Calculation benchmark model A of Cable Structure the first time t oThe time, U t oJust equal U o
E. go on foot the k circulation in step from getting into here by e; In structure military service process, constantly actual measurement obtains Cable Structure bearing generalized coordinate current data, and all Cable Structure bearing generalized coordinate current datas are formed current cable structure actual measurement bearing generalized coordinate vector U t
F. according to current cable structure actual measurement bearing generalized coordinate vector U t , upgrade current Mechanics Calculation benchmark model A where necessary t oWith current cable structural bearings generalized coordinate vector U t o
G. at current Mechanics Calculation benchmark model A t oThe basis on carry out the several times Mechanics Calculation, through calculate obtaining Cable Structure unit damage monitored quantitative change matrix Δ CWith the unit damage scalar D u
H. 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. define the current damage vector of cable system d, the current damage vector of cable system dElement number equal the quantity of rope, the current damage vector of cable system dElement and rope between be one-to-one relationship, the current damage vector of cable system dElement numerical value represent the degree of injury or the health status of corresponding rope;
J. vectorial according to the current numerical value of monitored amount CWith monitored amount initial vector C o , Cable Structure unit damage monitored quantitative change matrix Δ C, the unit damage scalar D u With the current damage vector of cable system to be asked dBetween the linear approximate relationship that exists, this linear approximate relationship can be expressed as formula 1, removes in the formula 1 dOther outer amount is known, finds the solution formula 1 and just can calculate the current damage vector of cable system dBecause current damage vector dElement numerical value represent the degree of injury of corresponding rope, so define the impaired and degree of injury of which rope, promptly realized the health monitoring of cable system in the Cable Structure according to current damage vector; If the numerical value of a certain element of current cable 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;
formula 1
K. get back to the e step, begin to have e to go on foot the k circulation next time in step.
 
In step f, according to current cable structure actual measurement bearing generalized coordinate vector U t , upgrade current Mechanics Calculation benchmark model A where necessary t oWith current cable structural bearings generalized coordinate vector U t oConcrete grammar be:
F1. actual measurement obtains current cable structure actual measurement bearing generalized coordinate vector in step e U t After, relatively U t With in U t oIf, U t Equal U t o, A then t oWith U t oRemain unchanged;
F2. actual measurement obtains current cable structure actual measurement bearing generalized coordinate vector in step e U t After, relatively U t With U t oIf, U t Be not equal to U t o, then need be to A t oWith U t oUpgrade, update method is: calculate earlier U t With U oPoor, U t With U oDifference be exactly of the current bearing generalized displacement of Cable Structure bearing about initial position, with bearing generalized displacement vector VThe generalized displacement of expression bearing, bearing generalized displacement vector VIn element and bearing generalized displacement component between be one-to-one relationship, bearing generalized displacement vector VIn the numerical value of an element corresponding to the coordinate around an assigned direction of an appointment bearing; Upgrade A t oMethod be to A oIn the Cable Structure bearing apply current bearing generalized displacement constraint, the numerical value of current bearing generalized displacement constraint is just taken from bearing generalized displacement vector VThe numerical value of middle corresponding element is to A oIn the Cable Structure bearing apply the current Mechanics Calculation benchmark model A that obtains upgrading after the bearing generalized displacement constraint t o, upgrade A t oThe time, U t oAll elements numerical value also goes on foot with e U t All elements numerical value is corresponding to be replaced, and has promptly upgraded U t o, so just obtained correctly corresponding to A t o U t o
 
In step g, at current Mechanics Calculation benchmark model A t oThe basis on, obtain Cable Structure unit damage monitored quantitative change matrix through the several times Mechanics Calculation Δ CWith the unit damage scalar D u Concrete grammar be:
G1. Cable Structure unit damage monitored quantitative change matrix Δ CBring in constant renewal in, promptly upgrading current Mechanics Calculation benchmark model A t oWith current cable structural bearings generalized coordinate vector U t oThe time, must upgrade Cable Structure unit damage monitored quantitative change matrix simultaneously Δ CWith the unit damage scalar D u
G2. at the current Mechanics Calculation benchmark model A of Cable Structure t 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 is calculated each time in the hypothesis cable system and is had only a rope that the unit damage scalar is arranged D u The rope that occurs damage in calculating each time is different from the rope that occurs damage in other time calculating; Calculate the current calculated value of all monitored amounts in the Cable Structure each time, the current calculated value of the monitored amount of all that calculate is each time formed a monitored amount calculation current vector;
G3. the monitored amount calculation current vector that calculates each time deducts monitored amount initial vector and obtains a monitored quantitative changeization vector; Have NThe root rope just has NIndividual monitored quantitative changeization vector;
G4. by this NIndividual monitored quantitative change vector is formed successively to be had NThe Cable Structure unit damage monitored quantitative change matrix of row Δ CCable Structure unit damage monitored quantitative change matrix Δ CEach row corresponding to a monitored quantitative changeization vector.
Beneficial effect:Method disclosed by the invention occurs at the Cable Structure bearing under the situation of coordinate, many ropes synchronous when impaired very exactly monitoring and evaluation go out the health status (position and the degree of injury that comprise all damaged cables) of cable system, effective health monitoring of the cable system of system and method disclosed by the invention when having the bearing generalized displacement is very useful.
Embodiment
When the bearing generalized displacement is arranged,, the invention discloses a kind of system and method for the health status of each root rope in the cable system of can monitoring rationally and effectively in the Cable Structure to the health monitoring of the cable system of Cable Structure.The following explanation of embodiments of the invention in fact only is exemplary, and purpose never is to limit application of the present invention or use.
The present invention adopts a kind of algorithm, and this algorithm is used for monitoring the health status of the cable system of Cable Structure.During practical implementation, the following step is a kind of in the various steps that can take.
The first step: establish total N root rope, at first confirm 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.Confirm 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; Confirmed 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 supporting rope NFor simplicity, in the present invention " the monitored spatial data of structure " is called " monitored amount ".
Second step: directly measure the initial value of all monitored amounts that calculate Cable Structure, form monitored amount initial vector C o Obtain monitored amount initial vector in actual measurement C o The time; Actual measurement obtains the initial rope force data of all ropes of Cable Structure, the initial geometric data (is exactly its initial bridge type data for cable-stayed bridge) and the initial Cable Structure bearing generalized coordinate data of structure, and initial Cable Structure bearing generalized coordinate data are formed initial Cable Structure bearing generalized coordinate vector U o
The 3rd step: according to the measured data of design drawing, as-constructed drawing and the Cable Structure of Cable Structure (data such as initial Suo Li, structural modal data that comprise structure original geometric form data, strain data, all ropes, to cable-stayed bridge, suspension bridge and the modal data of the bridge type data of Yan Shiqiao, strain data, rope force data, bridge), the Non-Destructive Testing data of rope, initial Cable Structure bearing generalized coordinate vector U oSet up the initial Mechanics Calculation benchmark model A of Cable Structure oAnd set up for the first time the current Mechanics Calculation benchmark model A of Cable Structure t oSet up for the first time the current Mechanics Calculation benchmark model A of Cable Structure t oThe time, the current Mechanics Calculation benchmark model A of Cable Structure t oInitial Mechanics Calculation benchmark model A with Cable Structure oIdentical; Current Mechanics Calculation benchmark model A corresponding to Cable Structure t oCable Structure bearing generalized coordinate data form current cable structural bearings generalized coordinate vector U t oSet up for the first time the current Mechanics Calculation benchmark model A of Cable Structure t oThe time, U t oJust equal U oBased on initial Mechanics Calculation benchmark model A oThe computational data that calculates structure must be very near its measured data, and error generally must not be greater than 5%.
The 4th step: in structure military service process, constantly actual measurement obtains Cable Structure bearing generalized coordinate current data, and all data are formed current cable structure actual measurement bearing generalized coordinate vector U t
The 5th step: according to current cable structure actual measurement bearing generalized coordinate vector U t , upgrade current Mechanics Calculation benchmark model A where necessary t oWith current cable structural bearings generalized coordinate vector U t oCurrent cable structure actual measurement bearing generalized coordinate in that the actual measurement of the 4th step obtains is vectorial U t After, relatively U t With U t oIf, U t Equal U t o, A then t oWith U t oRemain unchanged; If U t Be not equal to U t o, then need be to A t oWith U t oUpgrade, update method is: calculate earlier U t With U oPoor, U t With U oDifference be exactly of the current bearing generalized displacement of Cable Structure bearing about initial position, with bearing generalized displacement vector VThe generalized displacement of expression bearing, bearing generalized displacement vector VIn element and bearing generalized displacement component between be one-to-one relationship, bearing generalized displacement vector VIn the numerical value of an element corresponding to the coordinate around an assigned direction of an appointment bearing; Upgrade A t oMethod be to A oIn the Cable Structure bearing apply current bearing generalized displacement constraint, the numerical value of current bearing generalized displacement constraint is just taken from bearing generalized displacement vector VThe numerical value of middle corresponding element is to A oIn the Cable Structure bearing apply the current Mechanics Calculation benchmark model A that obtains upgrading after the bearing generalized displacement constraint t o, upgrade A t oThe time, U t oAll elements numerical value also with the 4th the step U t All elements numerical value is corresponding to be replaced, and has promptly upgraded U t o, so just obtained correctly corresponding to A t o U t o
The 6th step: at current Mechanics Calculation benchmark model A t oThe basis on carry out the several times Mechanics Calculation, through calculate obtaining Cable Structure unit damage monitored quantitative change matrix Δ CWith the unit damage scalar D u Concrete grammar is: Cable Structure unit damage monitored quantitative change matrix Δ CBring in constant renewal in, promptly upgrading current Mechanics Calculation benchmark model A t oWith current cable structural bearings generalized coordinate vector U t oThe time, must upgrade Cable Structure unit damage monitored quantitative change matrix simultaneously Δ CWith the unit damage scalar D u Current Mechanics Calculation benchmark model A in Cable Structure t 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 is calculated each time in the hypothesis cable system and is had only a rope that unit damage is arranged D u (for example getting 5%, 10%, 20% or 30% equivalent damage is unit damage); The rope that occurs damage in calculating each time is different from the rope that occurs damage in other time calculating; Calculate the current calculated value of all monitored amounts in the Cable Structure each time, the current calculated value of the monitored amount of all that calculate is each time formed a monitored amount calculation current vector CCalculating monitored amount calculation current vector each time deducts monitored amount initial vector and obtains a monitored quantitative changeization vector; Have NThe root rope just has NIndividual monitored quantitative changeization vector; By this NIndividual monitored quantitative change vector is formed successively to be had NThe unit damage monitored quantitative change matrix of row Δ CEach row of unit damage monitored quantitative change matrix are corresponding to a monitored quantitative changeization vector.
The 7th step: set up the linear relationship error vector eAnd vector gUtilize data (the monitored amount initial vector of front C o , unit damage monitored quantitative change matrix Δ C), when the 6th step calculated each time, promptly in calculating the hypothesis cable system each time, have only a rope that unit damage is arranged D u The rope that occurs damage in calculating each time is different from the rope that occurs damage in other time calculating; Calculate each time and all utilize mechanics method (for example adopting finite element method) to calculate that all specify the current numerical value of monitored amount in the cable system in the Cable Structure, calculate each time and form a monitored amount calculation current vector CThe time, calculate each time and form a damage vector d, this damages vector dAll elements in have only the numerical value of an element to get D u , the numerical value of other element gets 0, the damage vector dMiddle numerical value is D u The unit damage degree of element unique damaged cable when calculating corresponding to this time D u Will C, C o , Δ C, D u , dBring formula (10) into, obtain a linear relationship error vector e, calculate a linear relationship error vector each time eHave NThe root rope just has NInferior calculating just has NIndividual linear relationship error vector e, with this NIndividual linear relationship error vector eObtain a vector after the addition, with this vector each element divided by NAfter the new vector that obtains be exactly final linear relationship error vector eVector gEqual final error vector e
The 8th 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 generalized coordinate monitoring system (for example containing total powerstation, angular transducer, signal conditioner etc.), signal (data) collector, the computing machine and the panalarm of communicating by letter.The bearing generalized 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 9th step: with monitored amount initial vector C o , unit damage monitored quantitative change matrix Δ C, the unit damage scalar D u Parameter is kept on the hard disc of computer of operation health monitoring systems software with the mode of data file.
The tenth step: the establishment and the cable system health monitoring systems software of installation and operation bearing generalized displacement time space coordinate monitoring on computers, this software will be accomplished functions such as monitoring that the present invention's " cable system health monitoring of bearing generalized displacement time space coordinate monitoring " required by task wants, record, control, storage, calculating, notice, warning (be in this practical implementation method all can with the work of computing machine completion)
The 11 step: actual measurement obtain Cable Structure all specify the current measured value of monitored amount, form " the current numerical value vector of monitored amount C";
The 12 step: according to the current numerical value vector of monitored amount CWith monitored amount initial vector C o , unit damage monitored quantitative change matrix Δ C, the unit damage scalar D u With the current damage vector of cable system dThe linear approximate relationship (formula (7)) that exists between (being made up of all Suo Dangqian amount of damage) calculates the current damage vector of cable system according to multi-objective optimization algorithm dNoninferior solution, just have reasonable error but can be more exactly from all ropes, confirm the position of damaged cable and separating of degree of injury thereof.
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 that to find the solution current damage vectorial with the goal programming method only dProcess, the concrete implementation procedure of other algorithm can realize according to the requirement of its specific algorithm in a similar fashion.
According to the goal programming method, formula (7) can transform the multi-objective optimization question shown in an accepted way of doing sth (13) and the formula (14), in the formula (13) γBe a real number, RBe real number field, area of space Ω has limited vector dSpan (the present embodiment requirements vector of each element dEach element be not less than 0, be not more than 1).The meaning of formula (13) is to seek the real number of a minimum γ, make formula (14) be met.In the formula (14) G (d)By formula (15) definition, weighing vector in the formula (14) WWith γProduct representation formula (14) in G (d)With vector gBetween the deviation that allows, gDefinition referring to formula (12), its value the 7th the step calculate.Vector during actual computation WCan with vector gIdentical.The concrete programming of goal programming method realizes having had universal program directly to adopt.Use goal programming method just can be in the hope of the current damage vector of cable system d.
(13)
(14)
(15)
The current damage vector of cable system dElement number equal the quantity of rope, the current damage vector of cable system dElement and rope between be one-to-one relationship, the current damage vector of cable system dElement numerical value represent the degree of injury or the health status of corresponding rope.If the current damage vector of the cable system that solves dThe 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 13 step: the computing machine in the health monitoring systems regularly generates cable system health condition form automatically or by the personnel operation health monitoring systems.
The 14 step: under specified requirements, the automatic operation communication panalarm of the computing machine in the health monitoring systems to monitor staff, owner and (or) personnel of appointment report to the police.
The 15 the step: got back to for the 4th step, the beginning by the 4th go on foot the 15 the step circulation.

Claims (3)

1. the health monitor method of the cable system of a bearing generalized displacement time space coordinate monitoring is characterized in that said method comprises:
A. establish total N root rope, at first confirm 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. confirm the measured point with monitored volume coordinate of appointment, give all specified point numberings; Confirmed 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, " 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. directly measure the initial value of all monitored amounts that calculate Cable Structure, form monitored amount initial vector C o Obtain monitored amount initial vector in actual measurement C o The time, actual measurement obtains the initial rope force data of all ropes of Cable Structure, the initial geometric data of structure, initial Cable Structure bearing generalized coordinate data, and initial Cable Structure bearing generalized coordinate data are formed initial Cable Structure bearing generalized coordinate vector U oThe bearing generalized coordinate comprises two kinds of line amount and angle amounts;
D. according to the measured data of design drawing, as-constructed drawing and the Cable Structure of Cable Structure, the Non-Destructive Testing data and the initial Cable Structure bearing generalized coordinate vector of rope U oSet up the initial Mechanics Calculation benchmark model A of Cable Structure oAnd set up for the first time the current Mechanics Calculation benchmark model A of Cable Structure t o, the measured data of Cable Structure comprises the initial geometric data of the initial rope force data of all ropes of Cable Structure, initial Cable Structure bearing generalized coordinate data and Cable Structure at least; Set up for the first time the current Mechanics Calculation benchmark model A of Cable Structure t oThe time, the current Mechanics Calculation benchmark model A of Cable Structure t oJust equal the initial Mechanics Calculation benchmark model A of Cable Structure oCurrent Mechanics Calculation benchmark model A corresponding to Cable Structure t oCable Structure bearing generalized coordinate data form current cable structural bearings generalized coordinate vector U t o, set up the current Mechanics Calculation benchmark model A of Cable Structure the first time t oThe time, U t oJust equal U o
E. go on foot the k circulation in step from getting into here by e; In structure military service process, constantly actual measurement obtains Cable Structure bearing generalized coordinate current data, and all Cable Structure bearing generalized coordinate current datas are formed current cable structure actual measurement bearing generalized coordinate vector U t
F. according to current cable structure actual measurement bearing generalized coordinate vector U t , upgrade current Mechanics Calculation benchmark model A where necessary t oWith current cable structural bearings generalized coordinate vector U t o
G. at current Mechanics Calculation benchmark model A t oThe basis on carry out the several times Mechanics Calculation, through calculate obtaining Cable Structure unit damage monitored quantitative change matrix Δ CWith the unit damage scalar D u
H. 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. define the current damage vector of cable system d, the current damage vector of cable system dElement number equal the quantity of rope, the current damage vector of cable system dElement and rope between be one-to-one relationship, the current damage vector of cable system dElement numerical value represent the degree of injury or the health status of corresponding rope;
J. vectorial according to the current numerical value of monitored amount CWith monitored amount initial vector C o , Cable Structure unit damage monitored quantitative change matrix Δ C, the unit damage scalar D u With the current damage vector of cable system to be asked dBetween the linear approximate relationship that exists, this linear approximate relationship can be expressed as formula 1, removes in the formula 1 dOther outer amount is known, finds the solution formula 1 and just can calculate the current damage vector of cable system dBecause current damage vector dElement numerical value represent the degree of injury of corresponding rope, so define the impaired and degree of injury of which rope, promptly realized the health monitoring of cable system in the Cable Structure according to current damage vector; If the numerical value of a certain element of current cable 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;
formula 1
K. get back to the e step, begin to have e to go on foot the k circulation next time in step.
2. the health monitor method of the cable system of bearing generalized displacement time space coordinate monitoring according to claim 1 is characterized in that in step f, according to current cable structure actual measurement bearing generalized coordinate vector U t , upgrade current Mechanics Calculation benchmark model A where necessary t oWith current cable structural bearings generalized coordinate vector U t oConcrete grammar be:
F1. actual measurement obtains current cable structure actual measurement bearing generalized coordinate vector in step e U t After, relatively U t With in U t oIf, U t Equal U t o, A then t oWith U t oRemain unchanged;
F2. actual measurement obtains current cable structure actual measurement bearing generalized coordinate vector in step e U t After, relatively U t With U t oIf, U t Be not equal to U t o, then need be to A t oWith U t oUpgrade, update method is: calculate earlier U t With U oPoor, U t With U oDifference be exactly of the current bearing generalized displacement of Cable Structure bearing about initial position, with bearing generalized displacement vector VThe generalized displacement of expression bearing, bearing generalized displacement vector VIn element and bearing generalized displacement component between be one-to-one relationship, bearing generalized displacement vector VIn the numerical value of an element corresponding to the coordinate around an assigned direction of an appointment bearing; Upgrade A t oMethod be to A oIn the Cable Structure bearing apply current bearing generalized displacement constraint, the numerical value of current bearing generalized displacement constraint is just taken from bearing generalized displacement vector VThe numerical value of middle corresponding element is to A oIn the Cable Structure bearing apply the current Mechanics Calculation benchmark model A that obtains upgrading after the bearing generalized displacement constraint t o, upgrade A t oThe time, U t oAll elements numerical value also goes on foot with e U t All elements numerical value is corresponding to be replaced, and has promptly upgraded U t o, so just obtained correctly corresponding to A t o U t o
3. the health monitor method of the cable system of bearing generalized displacement time space coordinate monitoring according to claim 1 is characterized in that in step g, at current Mechanics Calculation benchmark model A t oThe basis on, obtain Cable Structure unit damage monitored quantitative change matrix through the several times Mechanics Calculation Δ CWith the unit damage scalar D u Concrete grammar be:
G1. Cable Structure unit damage monitored quantitative change matrix Δ CBring in constant renewal in, promptly upgrading current Mechanics Calculation benchmark model A t oWith current cable structural bearings generalized coordinate vector U t oThe time, must upgrade Cable Structure unit damage monitored quantitative change matrix simultaneously Δ CWith the unit damage scalar D u
G2. at the current Mechanics Calculation benchmark model A of Cable Structure t 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 is calculated each time in the hypothesis cable system and is had only a rope that the unit damage scalar is arranged D u The rope that occurs damage in calculating each time is different from the rope that occurs damage in other time calculating; Calculate the current calculated value of all monitored amounts in the Cable Structure each time, the current calculated value of the monitored amount of all that calculate is each time formed a monitored amount calculation current vector;
G3. the monitored amount calculation current vector that calculates each time deducts monitored amount initial vector and obtains a monitored quantitative changeization vector; Have NThe root rope just has NIndividual monitored quantitative changeization vector;
G4. by this NIndividual monitored quantitative change vector is formed successively to be had NThe Cable Structure unit damage monitored quantitative change matrix of row Δ CCable Structure unit damage monitored quantitative change matrix Δ CEach row corresponding to a monitored quantitative changeization vector.
CN201110143049A 2011-05-31 2011-05-31 The health monitor method of the cable system of bearing generalized displacement time space coordinate monitoring Pending CN102323080A (en)

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JP2007286026A (en) * 2006-03-24 2007-11-01 Tokyo Seiko Co Ltd Method and apparatus for evaluating corrosion degree of area near hanger rope terminal part of hanging bridge or the like
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CN102706594A (en) * 2012-05-30 2012-10-03 东南大学 Problem cable and supporting seat generalized displacement identification method based on space coordinate monitoring at moment of temperature variation
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