CN103528778B - Based on the three layers of quick damage detecting method of Base-isolation system not exclusively measured - Google Patents

Abstract

The invention discloses a kind of based on the three layers of quick damage detecting method of Base-isolation system not exclusively measured, belong to monitoring structural health conditions field.The inventive method includes: according to on-site actual situations and the theory calls of described three layers of Base-isolation system, determines that on system shear direction, the position of point is measured in excitation point and vibratory response；Selected systematic survey point is arranged acceleration transducer, constitutes sensor network；System is effectively encouraged by selected excitation point, meanwhile measures its acceleration responsive data；The acceleration responsive data recorded are carried out Recursive Solution, it is thus achieved that system actual structure parameters information, and compared with its parameter information time intact, calculate damage criterion, complete the quick damage check of three layers of Base-isolation system.Compared to existing technology, the present invention can realize the detection by quantitative of three layers of Base-isolation system quickly and easily by small number of metrical information.

Description

Based on the three layers of quick damage detecting method of Base-isolation system not exclusively measured

Technical field

The present invention relates to a kind of damage detecting method, particularly relate to a kind of based on the three layers of base isolation system not exclusively measured Unite quick damage detecting method, belong to structural health detection technique field.

Background technology

Along with engineering structure safety and reliability requirement is improved constantly by people, structural health detection and diagnostic techniques obtain To developing by leaps and bounds.In recent years, the generation of the natural disasters such as earthquake, typhoon and flood is further frequent, in order to resist these certainly So disaster, ensures people's security of the lives and property, has the Base-isolation system of the advantages such as damping and isolation effect is strong, seismic seeurity is high It is widely used.This system effect in lower engineering structure is preferable, and three layers of Base-isolation system main flow especially One of structure.But after Disaster Event occurs, or structure is in the case of long service, and Base-isolation system may produce Giving birth to some damages, this may result in the generation of disaster accident, and therefore, the quick damage check of Base-isolation system has obtained pole Big attention.Damage detection technology based on vibration acceleration response signal is the research heat of current engineering structure health detection Point, system, by arranging acceleration transducer network in engineering system, is encouraged and measures, to the letter recorded by this technology Breath is analyzed processing, thus judges whether there is damage in system and obtain position and the degree of damage.It is currently based on and shakes The damage detecting method of dynamic acceleration responsive signal is broadly divided into two big classes: first kind frequency domain method, is transformed into by time-domain signal frequently After the signal of territory, system is carried out identification, but, this type of method needs to have contained structural dynamic characteristics complete information to one section Signal carries out transformational analysis, i.e. needs signal is carried out segment processing, and this will cause the real-time of such method to be short of, Additionally, frequency domain parameter is affected by environment very big, as natural frequency is more sensitive to temperature, furthermore, heavier in order to effectively motivate Some high-order frequency domain informations of engineering structure, it usually needs it is applied the load that energy is bigger, and examines at engineering structure damage During survey, it is undesirable that structure is applied heavy duty；Equations of The Second Kind time domain method, the time-domain signal directly obtained measurement carries out pointwise Analyzing, real-time is preferable, but, when engineering structure relates to substantial amounts of degree of freedom, by the equation of motion comprising a large amount of degree of freedom The position and the degree that solve structural damage are highly difficult.As can be seen here, number of degrees of freedom can be reduced to relatively when engineering structure During few system, time domain method has certain advantage.For traditional structural damage detection time domain approach, all of external drive It is both needed to measure with the acceleration responsive information on all degree of freedom, but, the external drive of usual engineering structure is the most difficult Maybe cannot measure with accurate measurement.Pass additionally, some required position measuring vibratory response is also difficult to due to field condition arrange Sensor.Furthermore, in order to fast, economical realize structural damage detection, people are more desirable to use small number of sensor, with Toward damage detecting method in, research worker is generally by theoretical to traditional damage detection technology and model condensation and minor structure theory Combine to reduce the quantity of sensor, but this process can introduce some undesirable systematic errors.Therefore can be applied to The innovation of structural healthy monitoring system and effective damnification recognition method need to develop further, particularly, there is also many Challenging problem needs research and solves: (i), without measuring the input information of system, the system output that only need to measure part rings Answer information, on the basis of minimizing sensor measurement quantity, effectively detect damage；(ii) in order to ensure the steady of damage check Qualitative, method, it is desirable that the parsing recursive solution of unconditional stability convergence rather than iterative solution, and has certain Shandong to noise Rod；(iii) damage detecting method except to linear system effectively in addition to, also should be able to be applied to nonlinear systems with hysteresis；(iv) Algorithm should have higher computational efficiency and precision and be prone to automatization's realization.

Existing based on the above-mentioned deficiency existing for vibration acceleration response signal impairment detection method in order to overcome, relevant Scholar is studied based on the damage detection technology not exclusively measured.Such as based on the Kalman filtering system not exclusively measured System damage detecting method, the method can apply to linear and nonlinear systems with hysteresis, utilizes part output response message to calculate Obtain the parameter information of system, but, its solution procedure needs to nonlinear state equation linearisation, state side after linearisation In journey, the part limit of parameter to be identified falls in the imaginary axis, and this can cause solution may easily become unstable, additionally due to carry out Linearization process, when initial estimates of parameters is beyond convergence range, solution may not restrain, and i.e. the method is at the beginning of relevant Value choose requirement higher, need too much artificial experience intervention, the stability of algorithm is general.The most such as based on not exclusively measuring Sequential Nonlinear least squares fitting system injury detection method, this method avoid the some shortcomings in example, but due to The use of Newmark β technology, the estimated accuracy of state vector is affected by sample frequency relatively big, makes the method answer at Practical Project By a definite limitation in, additionally, the quantity of state estimated when noise is relatively large can produce the data being difficult to online elimination Drift, this also will affect the precision of systematic parameter recognition result.It practice, for structural damage detection, not only to solve Certainly all the problems above, determines whether structure exists damage and the position of damage, also needs to carry out the degree of damage determining accurately Component analysis.

Therefore, it is necessary to find the Base-isolation system damage quantitative detection method of a kind of simple and fast.

Summary of the invention

The technical problem to be solved is to overcome the deficiencies in the prior art, it is provided that a kind of based on not exclusively measuring Three layers of quick damage detecting method of Base-isolation system, by simple system incentive and measurement, to measuring obtain limited The output response message of quantity carries out data process, and then realizes the quantitative inspection of three layers of Base-isolation system damage quickly and easily Survey.

The present invention solves above-mentioned technical problem by the following technical solutions:

A kind of based on the three layers of quick damage detecting method of Base-isolation system not exclusively measured, the method includes following step Rapid:

Step A, according to the on-site actual situations of three layers of Base-isolation system and theory calls, determine on system shear direction The position of point is measured in excitation point and vibratory response；

Step B, selecting system measure point shear direction on arrange acceleration transducer, constitute sensor network；

Step C, on selected excitation point, system is effectively encouraged, meanwhile measure its acceleration responsive number According to；

Step D, the acceleration responsive data measured by step C are carried out following process:

Step D1, foundation excitation point and the arrangement of measurement point, set up corresponding three layer Base-isolation system theory Model；

The basic exercise equation of three layers of Base-isolation system is as follows:

$\left[\begin{array}{cccc}{m}_b& 0& 0& 0\\ m_1& m_1& 0& 0\\ m_2& m_2& m_2& 0\\ m_3& m_3& m_3& m_3\end{array}\right]\left[\begin{array}{c}{\stackrel{\·\·}{x}}_b\\ {\stackrel{\·\·}{x}}_1\\ {\stackrel{\·\·}{x}}_2\\ {\stackrel{\·\·}{x}}_3\end{array}\right]+\left[\begin{array}{cccc}{c}_b& -c_1& 0& 0\\ 0& c_1& -c_2& 0\\ 0& 0& c_2& -c_3\\ 0& 0& 0& c_3\end{array}\right]\left[\begin{array}{c}{\stackrel{\·}{x}}_b\\ {\stackrel{\·}{x}}_1\\ {\stackrel{\·}{x}}_2\\ {\stackrel{\·}{x}}_3\end{array}\right]+\left[\begin{array}{cccc}{k}_b& -k_1& 0& 0\\ 0& k_1& -k_2& 0\\ 0& 0& k_2& -k_3\\ 0& 0& 0& k_3\end{array}\right]\left[\begin{array}{c}z\\ x_1\\ x_2\\ x_3\end{array}\right]=-A\left[\begin{array}{c}{m}_b\\ m_1\\ m_2\\ m_3\end{array}\right]{\stackrel{\·\·}{x}}_A+\left[\begin{array}{c}{\mathrm{Bf}}_B\\ {\mathrm{Cf}}_C\\ {\mathrm{Df}}_D\\ {\mathrm{Ef}}_E\end{array}\right]$

Wherein,

$\stackrel{\·}{z}={\stackrel{\·}{x}}_1-\mathrm{\β}\left|{\stackrel{\·}{x}}_1\right|{\left|z\right|}^{n-1}z-\mathrm{\γ}{\stackrel{\·}{x}}_1{\left|z\right|}^n$

In formula, x,WithIt is respectively linear displacement, speed and acceleration,Encouraging for acceleration, f is power excitation, and z is Sluggish displacement, β, γ and n are lag parameter, and A, B, C, D, E are that coefficient is chosen in excitation,Derivative for sluggish displacement versus time；

On the basis of this basic exercise equation, according to algorithm equation of motion form $\stackrel{\‾}{M}\stackrel{\·\·}{\stackrel{\‾}{x}}\left(t\right)+C\stackrel{\·}{x}\left(t\right)+Kx\left(t\right)=F^{*}\left(t\right)-M^{*}{\stackrel{\·\·}{x}}^{*}\left(t\right)$ Equation C=a is improved with instantaneous stiffness and damping theory_iK, it is thus achieved that corresponding In difference excitation point and the theoretical model measuring some arrangement, wherein in the algorithm equation of motion, M, C, K are respectively quality, resistance Buddhist nun, stiffness matrix,WithIt is respectively unknown relative acceleration on known relative acceleration response data and associated freedom to ring Answer data, need in the calculation to be converted to absolute acceleration response data a, F^*Unknown excitation suffered by system, i.e. basis is accelerated Degree excitation or the excitation of single-point concentration power, the most instantaneous stiffness and damping theory improves a in equation_i=2 ξ_i/ω_i, ξ_iFor damping ratio, ω_i For natural frequency.

Step D2, on the basis of three layers of Base-isolation system theoretical model, derived data is required relevant in analyzing Matrix, gives initial value for calculating process, and then enters Recursive Solution process based on acceleration responsive data, obtain the knot of system Structure parameter information；

(1) correlative during calculating, it is required to be $X={\left[\begin{array}{cc}{x}^T& {\stackrel{\·}{x}}^T\end{array}\right]}^T,$ Y=[f^*T -x^*T]^T, Z=[k_b k₁ k₂ k₃ ]^T, S and Q gives initial value, as recursive algorithm run startup item, wherein, X is the amount with displacement and velocity correlation, Y be with The amount that Unknown worm is relevant with unknown acceleration responsive data, Z is the stiffness matrix that algorithm finally needs to solve, and S was for calculating Gain in journey, Q is the amount relevant to noise；

(2), based on the three layers of Base-isolation system theoretical model derived and the initial value given, measurement is obtained Acceleration responsive information carries out pointwise data process, and algorithmic procedure is as follows:

First, the acceleration responsive data that measurement obtains are imported:

a_k+1=[a_A,k+1 a_B,k+1 a_C,k+1 a_D,k+1 a_E,k+1]

Secondly, algorithm order according to the following equation enters circulation recursive process, completes the calculating of rigidity:

${\hat{X}}_{k+1|k}={\hat{X}}_{k|k}+{\∫}_{k\mathrm{\Δ}t}^{(k+1)\mathrm{\Δ}t}\stackrel{\·}{X}({\hat{X}}_{t|k},{\hat{Y}}_{k|k}^{*},{\hat{Z}}_k)dt$

${\hat{a}}_{k+1}=a_{k+1}({\hat{X}}_{k+1|k},{\hat{Y}}_{k|k}^{*},{\hat{Z}}_k)$

$U_{k+1}=\[\∂{\hat{a}}_{k+1}/\∂{\hat{Z}}_k\],V_{k+1}=\[\∂{\hat{a}}_{k+1}/\∂{\hat{Y}}_{k|k}^{*}\]$

$S_k=(I+G_k{V}_k{F}_k{V}_k^T{Q}^T{U}_k)(I+G_k{U}_k)S_{k-1}$

$G_{k+1}=S_k{U}_{k+1}^T{\[Q+U_{k+1}{S}_k{U}_{k+1}^T\]}^{-1}$

${\hat{Y}}_{k+1|k+1}={\[V_{k+1}^T{Q}^{-1}(I-U_{k+1}{G}_{k+1})V_{k+1}\]}^{-1}{V}_{k+1|k}^T{Q}^{-1}(I-U_{k+1}{G}_{k+1})(a_{k+1}-{\hat{a}}_{k+1}+V_{k+1}{\hat{Y}}_{k|k}^{*})$

${\hat{Z}}_{k+1}={\hat{Z}}_k+G_{k+1}\[a_{k+1}-{\hat{a}}_{k+1}-V_{k+1}({\hat{Y}}_{k+1|k+1}^{*}-{\hat{Y}}_{k|k}^{*})\]$

In formula, k is sampled point, and t is the sampling time, and Δ t is sampling time interval,For derivative operation symbol, U and V is Computing intermediate quantity, I is unit matrix, and G is computing intermediate gain,For the desired value solved required for final, i.e. it is calculated System stiffness value,WithIt is to calculateRequired process variable, i.e.For the estimator of X,Estimator for Y；

Step E: by calculated actual structure parameters information and three layers of Base-isolation system ginseng in good condition Number information compares, and determines whether three layers of Base-isolation system exist damage, it is possible to detect position and the degree of damage, Calculate damage criterion；

Damage criterion is as follows:

D_i=| 1-k_i/k_i,0|

In formula, D_iNumeric representation damage degree, i.e. Stiffness ratio；When system a part is not damaged Time, D_i=0；When system a part is destroyed completely, D_i=1.

Further, choosing of some position is measured in the excitation point described in step A and vibratory response is based on damage inspection Survey theoretical method and require that the 5 kinds of excitations set up are selected in measurement scheme, according to the on-the-spot reality of three layers of Base-isolation system Situation determines application scheme.

Further, the sensor network described in step B is a kind of interim installation for the quick damage check of system Sensor network or be a kind of long-term sensor network installed for systems stay health monitoring.

Further, the time of the effectively excitation described in step C should persistently be not less than 5 seconds, excitation size is not less than can Motivating the excitation density of 4 order mode states before system, the sample frequency measuring acceleration responsive information should be not less than 500Hz, simultaneously Signal to noise ratio should be not less than 5.

Further, the basic exercise equation of three described in step D1 layer Base-isolation system, should according to 5 kinds excitation with Measurement scheme and algorithm equation of motion form are rewritten, and simplify based on instantaneous stiffness and damping theory improvement equation, Go out can be ultimately utilized in the Systems Theory model of algorithm.

Further, the initial value of X and Y described in step D2 is 0, and the initial value of Z is estimated to be given by artificial.

Further, three described in step E layer Base-isolation system parameter information in good condition is existed by system Obtain based on the three layers of Base-isolation system quick damage detecting methods calculating not exclusively measured by the present invention time lossless, or from The design of system checks in.

Compared to existing technology, the method have the advantages that

(1) method of the present invention is applicable to linear and Hysteresis Nonlinear structure, can fast and effeciently realize three layers of basis every The damage check of shake system, it is ensured that its safety in use；

(2) method of the present invention is applicable to online and off-line non-destructive tests, it is not necessary to measure excitation information, it is only necessary to measure limited Acceleration responsive signal can realize damage check；

(3) method of the present invention is focused mainly on the calculating of systematic parameter, and the detected value obtained is that unconditional stability is received The parsing recursive solution held back, and computational efficiency is higher, required human intervention is less, additionally, the method has certain Shandong to noise Rod, improves the practicality of damage check, accuracy and stability；

(4) method of the present invention mainly formulates damage criterion detection structural damage according to the rigidity information of system, as long as being System stiffness change, these information then can lie in be measured in the system acceleration response signal obtained, by it is carried out data Process, it is possible to achieve the situation of poly-injury is carried out detection by quantitative.

Accompanying drawing explanation

Fig. 1 is three layers of Base-isolation system schematic diagram of application of the inventive method；

Two kinds of pumping signals that Fig. 2 is used by the inventive method；

The measurement signal that Fig. 3 is used by the present invention 5 kinds of operating modes；

Fig. 4 is the damage check result of 5 kinds of operating modes in the present invention；

Fig. 5 is the basic procedure schematic diagram of the inventive method.

Detailed description of the invention

Below in conjunction with the accompanying drawings technical scheme is described in detail:

The present invention based on the three layers of quick damage detecting method of Base-isolation system not exclusively measured, the method include with Lower step:

Step A, according to the on-site actual situations of three layers of Base-isolation system and theory calls, determine on system shear direction The position of point is measured in excitation point and vibratory response.

Present invention application three layers based on the three layers of quick damage detecting method of Base-isolation system not exclusively measured Base-isolation system as it is shown in figure 1, the most beneath is the substrate of this system, the most respectively Seismic Isolation of Isolation Layer of system, ground floor The b layer of framework, second layer framework and third layer framework, i.e. system, 1 layer, 2 layers and 3 layers.This system can be reduced to 4DOF and cut Cutting girder construction, quality from the bottom up is respectively m_b、m₁、m₂And m₃, damping is respectively c_b、c₁、c₂And c₃, rigidity is respectively k_b、 k₁、k₂And k₃.Wherein, the Mass Distribution of every layer focuses primarily upon at floor, and the rigidity of every layer depends mainly on the size of and is arranged in often The support bar of interlayer, here it is possible to strengthened the mechanical property of support bar by strengthening part, improves the rigidity at corresponding position. First, for three layers of Base-isolation system, according to the necessary and sufficient condition of theory of algorithm solution procedure, determine 5 kinds of system test optimums Change scheme, these 5 kinds of schemes the most only need single system input but without measuring this input information, system are carried out vibrational excitation also Measure the acceleration responsive information of minimum number.Secondly, further according to on-the-spot practical situation, in these 5 kinds of testing schemes, select Wherein it is easy to actual field situation excitation and a kind of embodiment measured.5 kinds of schemes are as follows:

(1) when substrate can be moved, encourage in bases:

Scheme 1, at A point, system is encouraged, measure B point and the structure acceleration response message of D point；

Scheme 2, at A point, system is encouraged, measure B point, C point and the structure acceleration response message of E point；

(2) when substrate is fixed, encourage at the structure position in addition to substrate:

Scheme 3, at C point, system is encouraged, measure B point and the structure acceleration response message of D point；

Scheme 4, at D point, system is encouraged, measure B point, C point and the structure acceleration response message of E point；

Scheme 5, at E point, system is encouraged, measure B point and the structure acceleration response message of D point.

Step B, selecting system measure point shear direction on arrange acceleration transducer, constitute sensor network.

After selected testing scheme, at systematic survey point, arrange acceleration transducer network, to measure three layers of base isolation Acceleration responsive information on system shear direction.This sensor network can be that the interim sensor network installed is for system Quick damage check, it is possible to for the long-term sensor network installed for the lasting health monitoring of system.

Step C, on selected excitation point, system is effectively encouraged, meanwhile measure its acceleration responsive number According to.

Effectively encouraging system on selected excitation point, effectively excitation here refers on shear direction or closely shear Acceleration excitation on direction or power excitation, can be to be the artificial excitation by modes such as vibrator or power hammers, it is also possible to be ground The natural excitations such as pulsation, the actuation duration should not less than 5 seconds, excitation size should be not less than motivating swashing of 4 order mode states before system Encourage intensity.The measurement direction of acceleration responsive information should be shear direction, and sample frequency should be not less than 500Hz, simultaneously signal to noise ratio Should be not less than 5.

The present invention is embodied as three layers of Base-isolation system used in example, and experimental piece is by the Seismic Isolation of Isolation Layer of bottom and upper The three story frame structure compositions in portion.A length of 600mm of Seismic Isolation of Isolation Layer, a width of 500mm, a height of 315mm, by rubber earthquake isolation support and joining Reassemble into.Upper story frame structure is made up of the iron framework of shearing-type of 3 equidimensions, a length of 400mm of each framework, a width of 300mm, a height of 345mm.The Mass Distribution of these three layers of Base-isolation system is: m_b=255.5kg, m₁=54.5kg, m₂= 48.5kg, m₃=24.5kg.Generally, system site tissue damage information can lie in the acceleration responsive signal that measurement is obtained, And then mainly it is presented as the Stiffness at system injury position intuitively.In this enforcement example, three layers of Base-isolation system every Stiffness layer depend mainly on the size of the support bar being arranged in every interlayer, and strengthened the mechanical property of support bar by strengthening part Can, to obtain certain additional stiffness.So, the position rigidity with strengthening part is relatively big, in this example with simulation three layers The lossless position of Base-isolation system, when there is damage in system, by pull down the strengthening part of corresponding site varying number with The damage in various degree of this position of analog systems, as pulled down 1 strengthening part, this position Stiffness 7.5kN/m, pulls down 2 Strengthening part, this position Stiffness 15kN/m.According to analysis of vibration measurement technology, in this enforcement example, the three of use The layer Base-isolation system front quadravalence natural frequency in the case of not damaged is respectively as follows: 1.61Hz, 3.20Hz, 7.10Hz, 9.90Hz；And then this system rigidity in the case of not damaged can be obtained based on Finite Element Method and shear beam model theory and divide Cloth: k_b=51.9kN/m, k₁=46.1kN/m, k₂=46.1kN/m, k₃=55.5kN/m, and firm in this, as intact system Degree reference value.In this example, by dismounting strengthening part analog systems site tissue damage, for 5 kinds of above-mentioned testing schemes, respectively Having formulated 5 kinds of typical damage operating modes to illustrate, 5 kinds of operating modes are as follows:

(1) operating mode one: use the arrangement encouraging point in scheme 1 with measuring point, at 1 and 2 layer of Base-isolation system Design damage, during relative to system health state, 1 stiffness layer declines 7.5kN/m, and 2 stiffness layers decline 15kN/m；

(2) operating mode two: the arrangement using excitation point in scheme 2 with measuring, Base-isolation system b, 1 and 3 layer Design damage, during relative to system health state, b layer and 1 stiffness layer all decline 7.5kN/m, and 3 stiffness layers decline 15kN/m；

(3) operating mode three: use excitation point and the arrangement of measurement point in scheme 3, set Base-isolation system 1 and 3 layers Meter damage, during relative to system health state, 1 layer and 3 stiffness layers all decline 7.5kN/m；

(4) operating mode four: use the arrangement encouraging point in scheme 4 with measuring point, in Base-isolation system b, 1,2 and 3 Layer design damage, during relative to system health state, b layer and 3 stiffness layers all decline 15kN/m, and 1 layer and 2 stiffness layers all decline 7.5kN/m；

(5) operating mode five: use excitation point and the arrangement of measurement point in scheme 5, damage in Base-isolation system 2 layers design Wound, during relative to system health state, 2 stiffness layers decline 15kN/m.

The present invention is embodied as in example, is analyzed above 5 kinds of operating modes.In operating mode one and operating mode two, will experiment Part is positioned on horizontal vibration platform, it is carried out base acceleration based on random white noise excitation, and tests relevant acceleration Degree response message；In operating mode three, operating mode four and operating mode five, the substrate of experimental piece is fixed on ground, uses vibrator to divide Other to encouraging point to carry out single-point concentration power based on random white noise excitation accordingly, and the acceleration responsive that test is correlated with is believed Breath.The present invention is embodied as in example, and all of testing time is 10 seconds, and the sample frequency of all signals is 500Hz.This In example, two kinds of pumping signals that the inventive method is used as shown in Figure 2, are measured the acceleration responsive signal obtained and are seen Fig. 3 Shown in, wherein, (a)～(e) the most corresponding operating mode one～operating mode five in Fig. 3.

Step D, the acceleration responsive data measured by step C are carried out following process:

Step D1, foundation excitation point and the arrangement of measurement point, set up corresponding three layer Base-isolation system theory Model；

The basic exercise equation of three layers of Base-isolation system is as follows:

$\left[\begin{array}{cccc}{m}_b& 0& 0& 0\\ m_1& m_1& 0& 0\\ m_2& m_2& m_2& 0\\ m_3& m_3& m_3& m_3\end{array}\right]\left[\begin{array}{c}{\stackrel{\·\·}{x}}_b\\ {\stackrel{\·\·}{x}}_1\\ {\stackrel{\·\·}{x}}_2\\ {\stackrel{\·\·}{x}}_3\end{array}\right]+\left[\begin{array}{cccc}{c}_b& -c_1& 0& 0\\ 0& c_1& -c_2& 0\\ 0& 0& c_2& -c_3\\ 0& 0& 0& c_3\end{array}\right]\left[\begin{array}{c}{\stackrel{\·}{x}}_b\\ {\stackrel{\·}{x}}_1\\ {\stackrel{\·}{x}}_2\\ {\stackrel{\·}{x}}_3\end{array}\right]+\left[\begin{array}{cccc}{k}_b& -k_1& 0& 0\\ 0& k_1& -k_2& 0\\ 0& 0& k_2& -k_3\\ 0& 0& 0& k_3\end{array}\right]\left[\begin{array}{c}z\\ x_1\\ x_2\\ x_3\end{array}\right]=-A\left[\begin{array}{c}{m}_b\\ m_1\\ m_2\\ m_3\end{array}\right]{\stackrel{\·\·}{x}}_A+\left[\begin{array}{c}{\mathrm{Bf}}_B\\ {\mathrm{Cf}}_C\\ {\mathrm{Df}}_D\\ {\mathrm{Ef}}_E\end{array}\right]$

Wherein,

$\stackrel{\·}{z}={\stackrel{\·}{x}}_1-\mathrm{\β}\left|{\stackrel{\·}{x}}_1\right|{\left|z\right|}^{n-1}z-\mathrm{\γ}{\stackrel{\·}{x}}_1{\left|z\right|}^n$

In formula, x and z is respectively linear displacement and sluggish displacement,WithIt is respectively Velocity-acceleration,Swash for acceleration Encouraging, f is power excitation.β, γ and n are lag parameter, characterize the Hysteresis Nonlinear mechanical characteristic of Seismic Isolation of Isolation Layer, generally these sluggish ginsengs Number can be obtained by the experimental test of shock isolating pedestal or Specification For Structure checks in, in this example, and β=0.5, γ=0.5, n=2.Its In, A, B, C, D, E are that coefficient is chosen in excitation,For the derivative of sluggish displacement versus time, corresponding to this method 5 kinds of excitation points with Measure the arrangement of point: when Choice 1 and scheme 2, A=1, B, C, D, E are 0；When Choice 3, C=1, A, B, D, E are 0；When Choice 4, D=1, A, B, C, E are 0；When Choice 5, E=1, A, B, C, D are 0.

The simplification equation of motion after Choice is converted into following algorithm equation of motion form:

$\stackrel{\‾}{M}\stackrel{\·\·}{\stackrel{\‾}{x}}\left(t\right)+C\stackrel{\·}{x}\left(t\right)+Kx\left(t\right)=F^{*}\left(t\right)-M^{*}{\stackrel{\·\·}{x}}^{*}\left(t\right)$

In formula, M, C, K are respectively quality, damping, stiffness matrix,WithIt is respectively known relative acceleration response data With unknown phase on associated freedom to acceleration responsive data, need in the calculation to be converted to absolute acceleration response data a, F^*For Unknown excitation suffered by system, i.e. base acceleration excitation or the excitation of single-point concentration power.Under normal circumstances, M designs according to system Parameter can be evaluated whether out.In order to realize more insuring a little inspection policies, instantaneous stiffness and damping theory is used to improve equation C= a_iK, to improve the equation of motion, wherein a further_i=2 ξ_i/ω_i, ξ_iFor damping ratio, ω_iFor natural frequency, finally can get three Layer Base-isolation system theoretical model.

Step D2, on the basis of three layers of Base-isolation system theoretical model, derived data is required relevant in analyzing Matrix, gives initial value for calculating process, and then enters Recursive Solution process based on acceleration responsive data, obtain the knot of system Structure parameter information；

(1) in order to realize the derivation of algorithm, first have to give the initial value of some correlatives, as $X={\left[\begin{array}{cc}{x}^T& {\stackrel{\·}{x}}^T\end{array}\right]}^T,$ Y=[f^*T -x^*T]^T, Z=[k_b k₁ k₂ k₃]^T, S and Q.Wherein, X is the amount with displacement and velocity correlation, and Y is and Unknown worm The amount relevant with unknown acceleration responsive data, their initial value is 0.Z is the rigidity square that algorithm finally needs to solve Battle array, its initial value there is no span requirement, but so that during Ji Suaning the result convergence of Z comparatively fast, its initial value can be by artificially Estimation is given.S is the gain during calculating, and usual initial value takes 10^jI, j=2,3,4 ..., 10,11,12, this value and algorithm Convergence rate be correlated with.Q is the amount relevant to noise, can be rule of thumb artificial with aI, a > 0 form estimates to be given, it is also possible to logical Cross preliminary experiment to obtain, carry out the preliminary experiment of short time, take in preliminary experiment q measured consecutive numbers strong point, general q=60～ 300, by following formula calculating Q:

$Q=\frac{1}{q}\underset{i=1}{\overset{q+1}{\Σ}}(a_i-{\hat{a}}_{k+1}){(a_i-{\hat{a}}_{k+1})}^T$

In being embodied as example, X_0|0=0, Y_0|0=0, Z₀=[30 30 30 30]^T, S₀=10⁴I, Q=1.3I, with The circulation recurrence calculation process of these initial value starting algorithms.

(2) based on the kinetics equation derived and the initial value given, the acceleration responsive information that measurement is obtained Carrying out pointwise data process, algorithmic procedure is as follows:

First, the acceleration responsive data that measurement obtains are imported:

a_k+1=[a_A,k+1 a_B,k+1 a_C,k+1 a_D,k+1 a_E,k+1]

Arrangement for 5 kinds of measurement points of this method: when Choice 1,3 and 5, a_k+1=[a_B,k+1 a_D,k+1]； When Choice 2 and 4, a_k+1=[a_B,k+1 a_C,k+1 a_E,k+1]。

Secondly, algorithm order according to the following equation enters circulation recursive process, completes the calculating of rigidity:

${\hat{X}}_{k+1|k}={\hat{X}}_{k|k}+{\∫}_{k\mathrm{\Δ}t}^{(k+1)\mathrm{\Δ}t}\stackrel{\·}{X}({\hat{X}}_{t|k},{\hat{Y}}_{k|k}^{*},{\hat{Z}}_k)dt$

${\hat{a}}_{k+1}=a_{k+1}({\hat{X}}_{k+1|k},{\hat{Y}}_{k|k}^{*},{\hat{Z}}_k)$

$U_{k+1}=\[\∂{\hat{a}}_{k+1}/\∂{\hat{Z}}_k\],V_{k+1}=\[\∂{\hat{a}}_{k+1}/\∂{\hat{Y}}_{k|k}^{*}\]$

$S_k=(I+G_k{V}_k{F}_k{V}_k^T{Q}^T{U}_k)(I+G_k{U}_k)S_{k-1}$

$G_{k+1}=S_k{U}_{k+1}^T{\[Q+U_{k+1}{S}_k{U}_{k+1}^T\]}^{-1}$

${\hat{Y}}_{k+1|k+1}={\[V_{k+1}^T{Q}^{-1}(I-U_{k+1}{G}_{k+1})V_{k+1}\]}^{-1}{V}_{k+1|k}^T{Q}^{-1}(I-U_{k+1}{G}_{k+1})(a_{k+1}-{\hat{a}}_{k+1}+V_{k+1}{\hat{Y}}_{k|k}^{*})$

${\hat{Z}}_{k+1}={\hat{Z}}_k+G_{k+1}\[a_{k+1}-{\hat{a}}_{k+1}-V_{k+1}({\hat{Y}}_{k+1|k+1}^{*}-{\hat{Y}}_{k|k}^{*})\]$

In formula, k is sampled point, and t is the sampling time, and Δ t is sampling time interval,For derivative operation symbol, U and V is Computing intermediate quantity, I is unit matrix, and G is computing intermediate gain,For the desired value solved required for final, i.e. it is calculated System stiffness value,WithIt is to calculateRequired process variable, i.e.For the estimator of X,Estimator for Y. Owing to algorithmic procedure is that the acceleration responsive signal obtaining measurement carries out pointwise recurrence calculation, therefore this algorithm can be implemented in line Monitoring structural health conditions.For 5 kinds of operating modes in this example, the convergence of Rigidity Calculation process is very fast, generally arrives steady within 2 seconds Fixed, and arithmetic accuracy is higher, calculates the rigidity obtained and matches with the Residual Stiffness after design damage, such as the song in left side in Fig. 4 Shown in line chart, wherein, (a)～(e) the most corresponding operating mode one～operating mode five in Fig. 4.

Step E, by calculated actual structure parameters information and three layers of Base-isolation system ginseng in good condition Number information compares, and determines whether three layers of Base-isolation system exist damage, it is possible to detect position and the degree of damage, Calculate damage criterion.

Three layers of Base-isolation system rigidity value calculating obtained, can compared with its rigidity value in the case of not damaged Whether there is damage with detecting system, and determine position and the Stiffness degree of damage.Additionally, introduce damage criterion D_i, i= B, 1,2,3, i represents the position of damage, to realize the quantitative analysis of damage intuitively.Damage criterion expression formula is as follows:

D_i=| 1-k_i/k_i,0|

Wherein, k_iFor algorithmic statement rigidity value after stable, k_i,0For system rigidity value under nondestructive state.Work as system When there is not damage in a part, D_i=0；When system a part is destroyed completely, D_i=1；As damage criterion D_iValue is in 0 ～when 1, represent the damage exact level of system a part, i.e. Stiffness ratio.For 5 kinds of operating modes of this enforcement example, damage Hinder testing result accurate, as shown in the bar diagram on right side and splint figure in Fig. 4, wherein, (a)～(e) the most corresponding work in Fig. 4 Condition one～operating mode five.More than being the process that implements of the inventive method, Fig. 5 specifically describes the flow process of the inventive method Figure.Visible, proposed by the invention is effective based on the three layers of quick damage detecting method of Base-isolation system not exclusively measured And accurately.

The above is only the preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art For Yuan, can also make some improvement under the premise without departing from the principles of the invention, these improvement also should be regarded as the present invention's Protection domain.

Claims (7)

1. three layers of quick damage detecting method of Base-isolation system based on not exclusively measurement, it is characterised in that the method Comprise the following steps:

Step A, according to the on-site actual situations of three layers of Base-isolation system and theory calls, determine and encourage on system shear direction The position of point is measured in point and vibratory response；

Step B, selecting system measure point shear direction on arrange acceleration transducer, constitute sensor network；

Step C, on selected excitation point, system is effectively encouraged, meanwhile measure its acceleration responsive data；

Step D, the acceleration responsive data measured by step C are carried out following process:

Step D1, foundation excitation point and the arrangement of measurement point, set up corresponding three layer Base-isolation system theoretical model；

The basic exercise equation of three layers of Base-isolation system is as follows:

$\left[\begin{array}{cccc}{m}_b& 0& 0& 0\\ m_1& m_1& 0& 0\\ m_2& m_2& m_2& 0\\ m_3& m_3& m_3& m_3\end{array}\right]\left[\begin{array}{c}{\stackrel{\·\·}{x}}_b\\ {\stackrel{\·\·}{x}}_1\\ {\stackrel{\·\·}{x}}_2\\ {\stackrel{\·\·}{x}}_3\end{array}\right]+\left[\begin{array}{cccc}{c}_b& -c_1& 0& 0\\ 0& c_1& -c_2& 0\\ 0& 0& c_2& -c_3\\ 0& 0& 0& c_3\end{array}\right]\left[\begin{array}{c}{\stackrel{\·}{x}}_b\\ {\stackrel{\·}{x}}_1\\ {\stackrel{\·}{x}}_2\\ {\stackrel{\·}{x}}_3\end{array}\right]+\left[\begin{array}{cccc}{k}_b& -k_1& 0& 0\\ 0& k_1& -k_2& 0\\ 0& 0& k_2& -k_3\\ 0& 0& 0& k_3\end{array}\right]\left[\begin{array}{c}z\\ x_1\\ x_2\\ x_3\end{array}\right]=-A\left[\begin{array}{c}{m}_b\\ m_1\\ m_2\\ m_3\end{array}\right]{\stackrel{\·\·}{x}}_A+\left[\begin{array}{c}{\mathrm{Bf}}_B\\ {\mathrm{Cf}}_C\\ {\mathrm{Df}}_D\\ {\mathrm{Ef}}_E\end{array}\right]$

Wherein,

$\stackrel{\·}{z}={\stackrel{\·}{x}}_1-\mathrm{\β}\left|{\stackrel{\·}{x}}_1\right||z{|}^{n-1}z-\mathrm{\γ}{\stackrel{\·}{x}}_1|z{|}^n$

In formula, x,WithBeing respectively linear displacement, speed and acceleration, m, c and k are respectively structure monolayer quality, damping and just Degree, wherein, x_i、m_i、c_iAnd k_iRepresent the linear displacement of this layer corresponding with i-th layer, speed, acceleration, matter respectively Amount, damping and rigidity, i=b, 1,2,3, Seismic Isolation of Isolation Layer based on b is corresponding, 1,2 and 3 ground floors that correspond to structure respectively, the Two layers and third layer,Encouraging for acceleration, f is power excitation, and A, B, C, D, E respectively energized position chooses coefficient, wherein, f_j, j=B, C, D, E represent and choose the exciting force that coefficient is corresponding with energized position, and z be sluggish displacement, and β, γ and n are that sluggishness is joined Number,Derivative for sluggish displacement versus time；

On the basis of this basic exercise equation, according to algorithm equation of motion form Equation C=a is improved with instantaneous stiffness and damping theory_iK, it is thus achieved that correspond to different excitation point and the theory measuring some arrangement Model, wherein in the algorithm equation of motion, M, C, K are respectively quality, damping, stiffness matrix,WithIt is respectively known relative acceleration In degree response data and associated freedom, unknown phase is to acceleration responsive data, needs in the calculation to be converted to absolute acceleration response Data a, F^*Unknown excitation suffered by system, i.e. base acceleration excitation or the excitation of single-point concentration power, the most instantaneous rigidity hinders Buddhist nun's theory improves a in equation_i=2 ξ_i/ω_i, ξ_iFor damping ratio, ω_iFor natural frequency；

Step D2, on the basis of three layers of Base-isolation system theoretical model, the correlation matrix that derived data is required in analyzing, Give initial value for calculating process, and then enter Recursive Solution process based on acceleration responsive data, obtain the structure ginseng of system Number information；

(1) correlative during calculating, it is required to beY=[f^*T -x^*T]^T, Z=[k_b k₁ k₂ k₃]^T, S and Q Giving initial value, the startup item run as recursive algorithm, wherein, X is the amount with displacement and velocity correlation, and Y is defeated with the unknown Entering the amount relevant with unknown acceleration responsive data, Z is the stiffness matrix that algorithm finally needs to solve, during S is calculating Gain, Q is the amount relevant to noise；

(2), based on the three layers of Base-isolation system theoretical model derived and the initial value given, the acceleration that measurement is obtained Degree response message carries out pointwise data process, and algorithmic procedure is as follows:

First, the acceleration responsive data that measurement obtains are imported:

a_k+1=[a_A,k+1 a_B,k+1 a_C,k+1 a_D,k+1 a_E,k+1]

Secondly, algorithm order according to the following equation enters circulation recursive process, completes the calculating of rigidity:

${\hat{X}}_{k+1|k}={\hat{X}}_{k|k}+{\∫}_{k\mathrm{\Δ}t}^{(k+1)\mathrm{\Δ}t}\stackrel{\·}{X}({\hat{X}}_{t|k},{\hat{Y}}_{k|k}^{*},{\hat{Z}}_k)dt$

${\hat{a}}_{k+1}=a_{k+1}({\hat{X}}_{k+1|k},{\hat{Y}}_{k|k}^{*},{\hat{Z}}_k)$

$U_{k+1}=\[\∂{\hat{a}}_{k+1}/\∂{\hat{Z}}_k\],V_{k+1}=\[\∂{\hat{a}}_{k+1}/\∂{\hat{Y}}_{k|k}^{*}\]$

$S_k=(I+G_k{V}_k{F}_k{V}_k^T{Q}^T{U}_k)(I+G_k{U}_k)S_{k-1}$

$G_{k+1}=S_k{U}_{k+1}^T{\[Q+U_{k+1}{S}_k{U}_{k+1}^T\]}^{-1}$

${\hat{Y}}_{k+1|k+1}={\[V_{k+1}^T{Q}^{-1}(I-U_{k+1}{G}_{k+1})V_{k+1}\]}^{-1}{V}_{k+1|k}^T{Q}^{-1}(I-U_{k+1}{G}_{k+1})(a_{k+1}-{\hat{a}}_{k+1}+V_{k+1}{\hat{Y}}_{k|k}^{*})$

${\hat{Z}}_{k+1}={\hat{Z}}_k+G_{k+1}\[a_{k+1}-{\hat{a}}_{k+1}-V_{k+1}({\hat{Y}}_{k+1|k+1}^{*}-{\hat{Y}}_{k|k}^{*})\]$

In formula, k is sampled point, and t is the sampling time, and Δ t is sampling time interval,For derivative operation symbol, U and V is in computing The area of a room, I is unit matrix, and G is computing intermediate gain,For the desired value solved required for final, the most calculated system Rigidity value,WithIt is to calculateRequired process variable, i.e.For the estimator of X,Estimator for Y；

Step E: calculated actual structure parameters information is believed with three layers of Base-isolation system parameter in good condition Breath compares, and determines whether three layers of Base-isolation system exist damage, it is possible to detect position and the degree of damage, calculates Damage criterion；

Damage criterion is as follows:

D_i=| 1-k_i/k_i,0|

In formula, k_iThe rigidity value that representative structure is i-th layer, k_i,0The rigidity value of the expression i-th layer of structure in the case of intact, D_iNumeric representation damage degree, i.e. Stiffness ratio；When there is not damage in system a part, D_i=0；Work as system When a part is destroyed completely, D_i=1.

The most according to claim 1, based on the three layers of quick damage detecting method of Base-isolation system not exclusively measured, it is special Levy and be: it is theoretical based on damage detecting method that choosing of some position is measured in the excitation point described in step A and vibratory response Requiring that the 5 kinds of excitations set up are selected in measurement scheme, determining according to the on-site actual situations of three layers of Base-isolation system should Use scheme.

The most according to claim 1, based on the three layers of quick damage detecting method of Base-isolation system not exclusively measured, it is special Levy and be: the sensor network described in step B is a kind of interim sensor network installed for the quick damage check of system Network or be a kind of long-term sensor network installed for systems stay health monitoring.

The most according to claim 1, based on the three layers of quick damage detecting method of Base-isolation system not exclusively measured, it is special Levy and be: the time of the effectively excitation described in step C should persistently be not less than 5 seconds, encourage size not less than motivating system The excitation density of front 4 order mode states, the sample frequency measuring acceleration responsive information should be not less than 500Hz, and signal to noise ratio should not simultaneously Less than 5.

The most according to claim 1, based on the three layers of quick damage detecting method of Base-isolation system not exclusively measured, it is special Levy and be: the basic exercise equation of three described in step D1 layer Base-isolation system, should according to 5 kinds excitation with measurement scheme and Algorithm equation of motion form is rewritten, and simplifies based on instantaneous stiffness and damping theory improvement equation, draws final available Systems Theory model in algorithm.

6. as claimed in claim 1 based on the three layers of quick damage detecting method of Base-isolation system not exclusively measured, its feature Being: the initial value of X and Y described in step D2 is 0, the initial value of Z is estimated to be given by artificial.

7. as claimed in claim 1 based on the three layers of quick damage detecting method of Base-isolation system not exclusively measured, its feature Be: three described in step E layer Base-isolation system parameter information in good condition by system when lossless with this Bright calculating based on the three layers of quick damage detecting method of Base-isolation system not exclusively measured obtains, or the design side from system Case checks in.