CN103471784B - The defining method of the quantitative small opening size of the non-contact ultrasonic that spacecraft leaks in-orbit - Google Patents
The defining method of the quantitative small opening size of the non-contact ultrasonic that spacecraft leaks in-orbit Download PDFInfo
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- CN103471784B CN103471784B CN201310459755.3A CN201310459755A CN103471784B CN 103471784 B CN103471784 B CN 103471784B CN 201310459755 A CN201310459755 A CN 201310459755A CN 103471784 B CN103471784 B CN 103471784B
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Abstract
The invention discloses the defining method of the quantitative small opening size of non-contact ultrasonic that a kind of spacecraft leaks in-orbit, comprise the determining step of leak detection step, small opening positioning step and small opening size, wherein; Leak detection just enters second step after judging to leak existence, just carries out small opening assessment after determining small opening center.The method utilizes ultrasonic leak detection equipment, by patrolling and examining at the inner wall of sealing cabin, judge location and the size of small opening, the present invention has easy to use, qualitative assessment, and clearly propose the ultrasonic implementation process of leaking qualitative assessment in-orbit of manned spacecraft, meet the demand of environment leak detection in-orbit.
Description
Technical field
The invention belongs to spacecraft leak hunting technology field, relate in particular to the defining method of the quantitative small opening size of non-contact ultrasonic that a kind of spacecraft leaks in-orbit.
Background technology
Along with the development of acoustic detection technology, according to the principle of aeroacoustics, contactless ultrasonic leak detection method is arisen at the historic moment, more and more extensive in the application of industrial spill detection field, the non-contact ultrasonic leak locator of the external import of many utilizations is to pressure vessel, pressure pipelines etc. detect, by patrolling and examining along wall, undergone mutation by the amplitude of the peak-to-peak value observing under its a certain characteristic frequency or time domain and increase, leak near judging, but all accurately can not determine the center of small opening and the size of assessment leakage, only achieve and judge qualitatively to leak, efficiency is low, accuracy is low, small opening location is inaccurate, only can provide a scope qualitatively.Therefore, the non-contact ultrasonic of at present both at home and abroad not relevant maturation leaks quantitative evaluating method, cannot accurately determine small opening center, also cannot qualitative assessment small opening size; Meanwhile, the quantitative evaluating method that can leak in-orbit spacecraft is not had at present at space industry, U.S. NASA once utilized supersonic leak detector to carry out the location of leak source to international space station, but be also only utilize the change of a certain characteristic frequency amplitude of observation to qualitatively judge the existence of leakage, the center of leak sizes and small opening cannot be assessed.And spacecraft on-orbit leak detection method also has optical means, pressure detection method etc., but these methods are in principle break-through phase substantially at present.Therefore, a kind of quantitative evaluating method is badly in need of in this area, meets the demand of manned spacecraft on-orbit leak detection.
Summary of the invention
The defining method of the quantitative small opening size of the non-contact ultrasonic that the object of the present invention is to provide a kind of spacecraft to leak in-orbit, has Leak Detection, and small opening is located, the ability that small opening is determined and assessed.Be applicable to the detection of the leakage of vacuum tank, more can meet the small opening location of the detection that manned spacecraft leaks in-orbit and leak the demand evaluated.
The defining method of the quantitative small opening size of the non-contact ultrasonic that spacecraft of the present invention leaks in-orbit, comprises the determining step of leak detection step, small opening positioning step and small opening size, wherein:
1) leak detection step, ultrasonic leak detection equipment is utilized to patrol and examine space capsule body, the ultrasonic signal detected is after amplification filtering, be 500kHz through sample frequency, sampling number be 2048 AD conversion realize analog to digital conversion, again 20kHz-80kHz bandpass filtering is carried out to the time-domain signal of gained, filtered signal is carried out to the FFT process of 2048 points, form frequency spectrum; Amplitude maxima judgement is carried out to the amplitude of whole frequency domain, note Amplitude maxima is MAX, and frequency corresponding to its this maximal value is designated as Fmax, carry out adding up to the amplitude within the scope of 37kHz-43kHz and be designated as SUM1, carry out adding up to the amplitude within the scope of 55kHz-65kHz and be designated as SUM2, both ratios are designated as energy ratio of greater inequality N, when Fmax drops between 37kHz-43kHz, and the No leakage threshold value of this maximal value MAX>0.002, and SUM1 >=0.19, and N>1.8 threshold value, then have near can judging and leak generation; Otherwise do not meet wherein any condition and be all judged as No leakage.
2) small opening location, step 1) when judging that leakage has a generation, detecting location might not be the center of small opening, the said equipment is now utilized to continue in-orbit to continue mobile along sealing bulkhead in former direction of patrolling and examining with the speed of 5mm/s, changes in amplitude within the scope of its 37kHz-43kHz of Real Time Observation, and range value corresponding for each Frequency point in 37kHz-43kHz frequency range is added up, when this accumulated value occurs first to rise situation about declining afterwards with moving, then the extreme point place of its accumulated value is the maximum suspicious leak position at small opening center; Then with this point for starting point is along after first upwards detecting 60mm perpendicular to former mobile alignment, detect 120mm downwards again, in this process the change of accumulated value described in real-time monitored, occurring first rises declines afterwards, when there is extreme point, small opening center can be regarded as in this position;
3) small opening size is determined: after determining small opening center, frequency spectrum is obtained after FFT conversion is carried out to the leakage signal detected, frequency spectrum medium frequency maximal value of amplitude within the scope of 37kHz-43kHz is designated as MAX ', carry out adding up to the amplitude within the scope of 37kHz-43kHz and be designated as SUM1 ', carry out adding up to the amplitude within the scope of 55kHz-65kHz and be designated as SUM2 ', both ratios are designated as N ', and detecting distance is L; In conjunction with the leakage ultrasonic feature frequency spectrum under small openings different between 0.3mm ~ 2.0mm in-orbit condition, according to SUM1 ', SUM2 ', L, N ' numerical value carry out small opening size by look-up table and determine, wherein detecting distance is the distance of sonac end face to bulkhead place, small opening center; Checkout equipment is moved to from cabin body wall identity distance from 60mm place, be designated as L=60mm, work as 0.02V<MAX ' <0.03V, 0.7V<SUM1 ' <1.3V, 0.15V<SUM2 ' <0.3V, then small opening size is that I level is about 0.3-0.4mm; Work as MAX ' <0.02V, SUM1 ' <0.7V, SUM2 ' <0.15V, then small opening size is that II level etc. is about 0.8-1.0mm; Work as 0.03V<MAX ' <0.05V, 1.3V<SUM1 ' <2.0V, 0.2V<SUM2 ' <0.3V, then small opening size is that III level is about 1.5mm; Work as MAX ' >0.05V, SUM1 ' >2V, then small opening size is that IV level is about 2.0mm.
Further, if small opening evaluation grade is I level or II level, then small opening is moved to the position that detecting distance is 20mm, L=20; When evaluation grade is II level, MAX ' <0.03V, SUM1 ' <0.9V, SUM2 ' <0.1V, then small opening is 0.8mm, otherwise small opening is 1.0mm; When small opening evaluation grade is I level, work as 0.03V<MAX ' <0.07V, 0.9V<SUM1 ' <1.5V, 0.2V<SUM2 ' <0.4V, then small opening is about 0.3mm, otherwise small opening is about 0.4mm;
Method of the present invention is preferably applicable to spacecraft and leaks qualitative assessment in-orbit, and is applicable to vacuum tank and leaks or leakage to the upstream detection of vacuum leak is assessed, and obscures with the detected downstream of pressure vessel.
The present invention, compared with existing ultrasonic leak detection method, has the following advantages:
1) effectively can judge the generation of leaking, domestic do not have concrete leakage interpretation foundation and method, effectively reduces erroneous judgement, misjudge and fail to judge;
2) be one leak source localization method effectively, effectively point out small opening center, reduce false determination ratio;
3) the invention belongs to the small opening appraisal procedure be applicable in spacecraft on-orbit leak detection situation, can effective evaluation leakage situation, instruct the follow-up plugging operation of spacefarer;
Accompanying drawing explanation
Fig. 1 is the defining method schematic diagram of the quantitative small opening size of non-contact ultrasonic that spacecraft of the present invention leaks in-orbit.
In figure: 1-hunts leak; 2-small opening is located; The determination of 3-small opening size;
Fig. 2 is leak detection step schematic diagram of the present invention.
In figure: 1.1-patrols and examines, 1.2-real-time judge, 1.3-leak condition is determined
Fig. 3 is small opening positioning step schematic diagram of the present invention.
In figure: the former line data-logging of 2.1-, 2.2-determines extreme point in real time, and 2.3-is along vertical former line data-logging, and 2.4-determines to leak center.
Fig. 4 is the determining step schematic diagram of small opening size of the present invention.
In figure: 3.1-distance 60mm place, small opening center is detected, and 3.2-assesses small opening grade, and 3.3-judges small opening grade, 3.4-distance 20mm place, small opening center is detected, and 3.5-determines orifice sizes;
Embodiment
What below introduce is embodiment as content of the present invention, further illustrates described content of the present invention below by embodiment.Certainly, describe the content that following detailed description is only example different aspect of the present invention, and should not be construed as the restriction scope of the invention.
1 describe the defining method of the quantitative small opening size of non-contact ultrasonic that spacecraft of the present invention leaks in-orbit in detail by reference to the accompanying drawings; The defining method of the quantitative small opening size of the non-contact ultrasonic that spacecraft of the present invention leaks in-orbit comprises the determining step of leak detection step, small opening positioning step and small opening size.Method of the present invention is implemented to be divided into leak detection 1, small opening location 2 and small opening size to determine 3 three steps, and leak detection judges that leakage just enters second step after existing, and just carries out the determination of small opening size after determining small opening center.As shown in Figure 2, as shown in Figure 3, the determining step of small opening size as shown in Figure 4 in the enforcement of small opening positioning step in the enforcement of step of wherein hunting leak; Below in conjunction with accompanying drawing, specific embodiment of the invention step is described:
Portable non-contact ultrasonic of the present invention leaks quantitative evaluating method in-orbit, and concrete implementation step is as follows:
1) portable non-contact ultrasonic leak test plant is utilized, carry out patrolling and examining 1.1 along bulkhead, from left to right move 100mm, move 100mm from top to bottom again, and then move 100mm from right to left, and then move 100mm from top to bottom, formed and patrol and examine along broken line type track, speed too fastly should not be about 10mm/s, held stationary;
2) ultrasonic signal detected is after amplification filtering, be 500kHz through sample frequency, sampling number be 2048 AD conversion realize analog to digital conversion, then 20kHz-80kHz bandpass filtering is carried out to the time-domain signal of gained, filtered signal is carried out to the FFT process of 2048 points, form frequency spectrum; According to spectrum signature, real-time judge [1.2] is carried out to leakage; First Amplitude maxima judgement is carried out to the amplitude of whole frequency domain, note Amplitude maxima is MAX, and frequency corresponding to its this maximal value is designated as Fmax, carry out adding up to the amplitude within the scope of 37kHz-43kHz and be designated as SUM1, carry out adding up to the amplitude within the scope of 55kHz-65kHz and be designated as SUM2, both ratios are designated as energy ratio of greater inequality N, when Fmax drops between 37kHz-43kHz, and the No leakage threshold value of this maximal value MAX>0.002V, and SUM1 >=0.19V, and N>1.8 threshold value, then have near can judging and leak generation; Otherwise do not meet wherein arbitrarily condition and be all judged as No leakage, thus realize leak condition and determine [1.3];
3) when judging No leakage situation when hunting leak, then continue by former line data-logging [2.1], content described in carry out step 1;
4) when leak detection be judged as leak occur time, then utilize non-contact ultrasonic in-orbit leakage detection equipment continue with the speed of 5mm/s along sealing bulkhead continue to patrol and examine [2.1] in former direction of patrolling and examining, Real Time Observation its
Changes in amplitude within the scope of 37kHz-43kHz, and range value corresponding for each Frequency point in 37kHz-43kHz frequency range is added up, determine extreme point [2.2] in real time, when this accumulated value, with moving, situation about declining afterwards occurs first to rise, the extreme point place of accumulated value is small opening center first suspected locations; If peak value is without significant change, then continue to patrol and examine;
5) centered by suspicious place, small opening center first, edge is perpendicular to former line data-logging [2.3], after first upwards detecting 60mm, detect 120mm downwards again, the change of the accumulated value that real-time monitored is above-mentioned in this process, occurring first rises declines, when there is extreme point afterwards, small opening center can be regarded as in this position, thus determines small opening center [2.4];
6) after determining small opening center, then can according to the data of laser ranging, adjusting ultrasonic leakage detection equipment in-orbit to distance small opening center position is 60mm place, carries out leakage Ultrasonic Detection [3.1];
7) frequency spectrum is obtained after FFT conversion being carried out to the leakage signal detected, according to spectrum signature assessment small opening grade [3.2]; Frequency spectrum medium frequency maximal value of amplitude within the scope of 37kHz-43kHz is designated as MAX ', carry out adding up to the amplitude within the scope of 37kHz-43kHz and be designated as SUM1 ', carry out adding up to the amplitude within the scope of 55kHz-65kHz and be designated as SUM2 ', both ratios are designated as N ', and detecting distance is L; In conjunction with the leakage ultrasonic feature frequency spectrum under small openings different between 0.3mm-2.0mm in-orbit condition, according to SUM1 ', SUM2 ', L, N ' etc. the logical relation of numerical value and judgement, carried out the assessment of small opening size by look-up table.Checkout equipment is moved to from cabin body wall identity distance from 60mm place, be designated as L=60mm, work as 0.02V<MAX ' <0.03V, 0.7V<SUM1 ' <1.3V, 0.15V<SUM2 ' <0.3V, then small opening size is that I level is about 0.3-0.4mm; Work as MAX ' <0.02V, SUM1 ' <0.7V, SUM2 ' <0.15V, then small opening size is that II level etc. is about 0.8-1.0mm; Work as 0.03V<MAX ' <0.05V, 1.3V<SUM1 ' <2.0V, 0.2V<SUM2 ' <0.3V, then small opening size is that III level is about 1.5mm; Work as MAX ' >0.05V, SUM1 ' >2V, then small opening size is that IV level is about 2.0mm;
After assessment small opening grade completes, judge small opening grade [3.3]; When small opening grade be I level or II level time, adjusting ultrasonic leakage detection equipment to distance small opening center position is that 20mm place continues to detect leakage ultrasonic signal [3.4], L=20; Leak after ultrasonic signal carries out FFT conversion and obtain frequency spectrum, according to spectrum signature, determine orifice sizes [3.5] further; When evaluation grade is II level, MAX ' <0.03, SUM1 ' <0.9, SUM2 ' <0.1, then small opening is 0.8mm, otherwise small opening is 1.0mm; When small opening evaluation grade is I level, work as 0.03V<MAX ' <0.07V, 0.9<SUM1 ' <1.5V, 0.2V<SUM2 ' <0.4V, then small opening is about 0.3mm, otherwise small opening is about 0.4mm;
8) when small opening grade is III or IV level, then orifice sizes [3.5] can directly be determined;
9) after determining orifice sizes, then can, by aperture viscous flow formula 1, be air according to gas, temperature be 20 DEG C, assesses the leak rate Q of small opening
n; And calculate the pressure drop △ P in unit interval that leak rate causes by formula 2, the pressure drop △ Pc of pressure monitoring in space capsule body is calculated by formula 3, when △ P< △ Pc then proves that other small openings exist in addition, then continue to carry out searching second small opening by step, and utilize formula 1 to calculate its leak rate, by that analogy, until pressure drop △ P in the unit interval that causes of integral leakage Qz calculated by formula 4
zshown in be about the pressure drop △ Pc of pressure monitoring in space capsule body, then spacecraft in-orbit ultrasonic Leak Detection terminate.
In formula: Q
nthe assessment leak rate of the-the n-th small opening, Pam
3/ s; d
n-assessment small opening, mm; P
1not pressure in-sealing cabin, Pa; P
2-sealing cabin external vacuum environmental pressure, i.e. P
2=0Pa; The small opening number of n-assessment, n=1,2,3
In formula: the pressure drop in the unit interval that △ P-is caused by leak rate, Pa/s; V-cabin body volume, m
3;
In formula: the pressure drop in the unit interval of △ Pc-cabin body pressure monitoring, Pa/s; Pc-cabin body pressure monitoring t
cthe pressure in moment, Pa; Pc-cabin body pressure monitoring t
0the pressure in moment, Pa; Tc-is the current monitoring moment, s; t
0-monitoring initial time, s;
In formula: all pressure changes unit interval that the integral leakage of small opening causes being detected of △ Pz-, Pa/s; The all small opening integral leakages of Qz-, i.e. the summation of leak hole leak rate, Pam
3/ s;
Although be described in detail the specific embodiment of the present invention above and illustrate, but what should indicate is, we can make various changes and modifications above-mentioned embodiment, but these do not depart from spirit of the present invention and the scope described in appended claim.
Claims (2)
1. the defining method of the quantitative small opening size of non-contact ultrasonic that leaks in-orbit of spacecraft, comprises the determining step of leak detection step, small opening positioning step and small opening size, wherein
1) leak detection step, contactless piezoelectric-type ultrasonic sensor is utilized to patrol and examine space capsule body, the ultrasonic signal detected is after amplification filtering, be 500kHz through sample frequency, sampling number be 2048 AD conversion realize analog to digital conversion, again 20kHz-80kHz bandpass filtering is carried out to the time-domain signal of gained, filtered signal is carried out to the FFT process of 2048 points, form frequency spectrum; Amplitude maxima judgement is carried out to the amplitude of whole frequency domain, note Amplitude maxima is MAX, and frequency corresponding to its this maximal value is designated as Fmax, carry out adding up to the amplitude within the scope of 37kHz-43kHz and be designated as SUM1, carry out adding up to the amplitude within the scope of 55kHz-65kHz and be designated as SUM2, both ratios are designated as energy ratio of greater inequality N, when Fmax drops between 37kHz-43kHz, and the No leakage threshold value of this maximal value MAX>0.002V, and SUM1 >=0.19V, and N>1.8 threshold value, then have near can judging and leak generation; Otherwise do not meet wherein any condition and be all judged as No leakage;
2) small opening location, step 1) when judging that leakage has a generation, detecting location might not be the center of small opening, described sensor is now utilized to continue in-orbit to continue mobile along sealing bulkhead in former direction of patrolling and examining with the speed of 5mm/s, changes in amplitude within the scope of its 37kHz-43kHz of Real Time Observation, and range value corresponding for each Frequency point in 37kHz-43kHz frequency range is added up, when this accumulated value occurs first to rise situation about declining afterwards with moving, then the extreme point place of its accumulated value is the maximum suspicious leak position at small opening center; Then with this point for starting point is along after first upwards detecting 60mm perpendicular to former mobile alignment, detect 120mm downwards again, in this process the change of accumulated value described in real-time monitored, occurring first rises declines afterwards, when there is extreme point, small opening center can be regarded as in this position;
3) small opening size is determined: after determining small opening center, frequency spectrum is obtained after FFT conversion is carried out to the leakage signal detected, frequency spectrum medium frequency maximal value of amplitude within the scope of 37kHz-43kHz is designated as MAX ', carry out adding up to the amplitude within the scope of 37kHz-43kHz and be designated as SUM1 ', carry out adding up to the amplitude within the scope of 55kHz-65kHz and be designated as SUM2 ', both ratios are designated as N ', and detecting distance is L; In conjunction with the leakage ultrasonic feature frequency spectrum under small openings different between 0.3mm ~ 2.0mm in-orbit condition, according to SUM1 ', SUM2 ', L, N ' numerical value carry out small opening size by look-up table and determine, wherein detecting distance is the distance of sonac end face to bulkhead place, small opening center; Checkout equipment is moved to from cabin body wall identity distance from 60mm place, be designated as L=60mm, work as 0.02V<MAX ' <0.03V, 0.7V<SUM1 ' <1.3V, 0.15V<SUM2 ' <0.3V, then small opening size is that I level is about 0.3-0.4mm; Work as MAX ' <0.02V, SUM1 ' <0.7V, SUM2 ' <0.15V, then small opening size is that II level is about 0.8-1.0mm; Work as 0.03V<MAX ' <0.05V, 1.3V<SUM1 ' <2.0V, 0.2V<SUM2 ' <0.3V, then small opening size is that III level is about 1.5mm; Work as MAX ' >0.05V, SUM1 ' >2V, then small opening size is that IV level is about 2.0mm.
2. the method for claim 1, is characterized in that, leak source localization method judgement leak exist after carry out, first level is patrolled and examined, after vertically patrol and examine, can accurately determine small opening center.
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| CN104597126B (en) * | 2015-01-07 | 2017-02-22 | 北京卫星环境工程研究所 | Method for detecting structure health of spacecraft based on acoustic sensor |
| CN105095638A (en) * | 2015-03-25 | 2015-11-25 | 北京空间技术研制试验中心 | Leak rate design method for sealed cabin of manned spacecraft |
| KR101776729B1 (en) * | 2015-09-24 | 2017-09-08 | 현대자동차 주식회사 | Hole detection method of vehicle and the system performing this |
| CN108120566A (en) * | 2017-12-11 | 2018-06-05 | 西北工业大学 | Space station Leakage inspection localization method based on miniature ultrasonic sensor array unmanned plane |
| CN109506848A (en) * | 2018-12-29 | 2019-03-22 | 汉威科技集团股份有限公司 | A kind of novel online scan-type ultrasonic gas leak detection system |
| CN112254891B (en) * | 2020-10-22 | 2021-08-24 | 北京卫星环境工程研究所 | Spacecraft reinforcing rib structure leakage positioning method |
| CN114061848B (en) * | 2021-11-18 | 2023-05-26 | 北京卫星环境工程研究所 | Method for identifying leak hole of reinforced sealing structure of spacecraft |
| CN117427903B (en) * | 2023-12-20 | 2024-04-02 | 昆明多悦多工贸有限公司 | Food package weighing equipment |
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