CN106289691B - A kind of bridge block impact vibration detection method and detection device based on microwave radar device - Google Patents
A kind of bridge block impact vibration detection method and detection device based on microwave radar device Download PDFInfo
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- CN106289691B CN106289691B CN201610609703.3A CN201610609703A CN106289691B CN 106289691 B CN106289691 B CN 106289691B CN 201610609703 A CN201610609703 A CN 201610609703A CN 106289691 B CN106289691 B CN 106289691B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M7/00—Vibration-testing of structures; Shock-testing of structures
- G01M7/02—Vibration-testing by means of a shake table
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M7/00—Vibration-testing of structures; Shock-testing of structures
- G01M7/08—Shock-testing
Abstract
The invention discloses a kind of bridge block impact vibration detection method and detection device based on microwave radar device, wherein detection method step are as follows: bridge is divided into a minor structure, and impact force input point and displacement output point are set in each minor structure；Impact force, the synchronous displacement time course data using microwave radar device acquisition minor structure displacement output node are successively acted in the impact force input point in bridge piecemeal minor structure；Seek minor structure frequency response function；According to the frequency response function of each minor structure, the modal parameter of each minor structure is identified；The MAC matrix for constructing structure, identifies k rank Mode Shape direction coefficient before each minor structure；Using self-adapted genetic algorithm, the Mode Shape direction coefficient of each minor structure whole rank is identified；The flexibility matrix of full structure calculates and amount of deflection prediction.The present invention can realize vibration-testing known to low cost, efficient bridge structure input power conscientiously, be generally investigated with being applied to detection and the safety of bridge structure.
Description
Technical field
The present invention relates to microwave interference measuring techniques and bridge health monitoring field, particularly to a kind of bridge structure
The detection method and detection device of piecemeal vibration-testing.
Background technique
China is currently under novel urbanization and industrializes fast-developing period, and infrastructure investment is to account for national product
The ratio of total value about 15%-20% grows steadily, and large quantities of great infrastructure are completed or are building.On the other hand, China
Unsafe bridge is more than 90,000 at present.In 2007-2012, the whole nation shares 37 bridge blocks and collapses, wherein 13 occur thing in bridge construction beam
Therefore 182 people is caused to die altogether, 177 people are injured.Have every year on average 7.4 " taking life bridge by force ", i.e., it is average just to have one less than two months
Play accident.Only the Eleventh Five-Year Plan period, the bridge quantity for needing Measuring error every year accounts for about highway network bridge sum
After 15%, especially 2006,2,007 two years statistics rural highways, the quantity and its proportion of unsafe bridge are substantially increased.State
Family's bridge inspection and maintenance diagnosis market is huge, but the status that conventional method is time-consuming based on artificial, and there is an urgent need to simple and efficient
Bridge fast evaluation method.
Structural health monitoring technology is gradually being applied to numerous civil engineering structures after nearly development in 30 years
In security diagnostics and daily maintenance.Environmental vibration testing is the main means of existing structure health monitoring, it using wind load and
The natural conditions such as wagon flow motivate bridge, have the advantages that relative to artificial excitation test it is easy to operate, but due to civil structure
Complexity and observation data the challenges such as incompleteness presence, existing environmental vibration testing method mainly exports frequency
The structures basic parameter such as rate and the vibration shape can not also directly support bridge maintenance and management decision.Impact vibration is tested at home and abroad
Also there is a degree of application, but existing impact vibration device is heavy or function is limited, lead to that on-the-spot test is at high cost, bridge
Closing time that is open to traffic is long.
Compared to laborious time-consuming and structural health monitoring technology the somewhat expensive of periodic sensing approach, recent domestic
Scholar has been presented for a variety of bridge method for rapidly testing based on move vehicle, by installing accelerometer on vehicle and acquiring
Its acceleration information on bridge floor when driving identifies the basic parameters such as bridge frequency, and can carry out percussion scanning to bridge
Vehicle and bridge damnification is identified by observation vehicle reaction.The above method is convenient and efficient, but they are relied between bridge
It connects measurement to be analyzed, be only capable of the identification basic parameters such as bridge frequency and the vibration shape and carry out preliminary non-destructive tests.
Based on considerations above, based on the bridge of impact vibration without reference point piecemeal method for testing vibration, in conjunction with bridge intelligence
The utilization for diagnosing vehicle makes up the deficiency of conventional impact method for testing vibration, sufficiently while the convenient and efficient test of realization bridge
The basic advantage of impact vibration is played, really realizes effective assessment of the comprehensive identification and performance of structural parameters.But tradition punching
It hits sensor in vibration-testing and is often arranged in entire bridge floor, lead to that demand number of sensors is more, data transmission conducting wire is long, construction
Time is long, testing cost is expensive；In addition, bridge intelligent diagnostics vehicle has limitation from sensor-based system, the office of bridge can only be covered
Portion region.In traditional piecemeal vibration-testing, algorithm only accounts for minimum potential energy principal, can solve the lower mode of structure.
But since potential energy is to the convergence of rank number of mode, the high order mode of structure is caused to identify inaccuracy.Simultaneously because algorithm is to enumerate
Method will cause when situation number is more, and computational efficiency is low, or even can not calculate.
Summary of the invention
For deficiency existing for above-mentioned existing method and technology, the present invention will provide a kind of suitable for the impact vibration of bridge piecemeal
Dynamic detection method and microwave radar detection device, to realize the low cost of bridge, the monitoring of high efficiency structural behaviour and assessment.
In order to solve the above technical problems, the technical solution adopted by the present invention is that:
A kind of bridge block impact vibration detection method based on microwave radar device, which is characterized in that step are as follows:
Step 1: bridge to be divided into the minor structure of (m >=2) m, and one or more rush is set in each minor structure
Hit power input point and all displacement output point；
Step 2: impact force is successively acted in the impact force input point in bridge piecemeal minor structure, it is synchronous using micro-
Time course data is displaced caused by impact force of the wave radar equipment acquisition minor structure displacement output node as impact force input node；
Step 3: seeking minor structure frequency response function H1(ω), H2(ω) ..., Hm(ω): respectively to the defeated of each minor structure acquisition
Ingress impact force and the displacement output point displacement time course data of microwave radar acquisition carry out signal processing, then use any frequency response
Function Estimation algorithm estimates the displacement frequency response function of each minor structure；
Step 4: identifying the modal parameter of each minor structure according to the frequency response function of each minor structure: respectively to each minor structure
The frequency response function H of estimation1(ω), H2(ω) ..., Hm(ω) does Modal Parameter Identification using modal parameter CMIF method of identification, obtains
The modal parameter of each minor structure: system poleMode zoom factorThe displacement modes vibration shapeAnd mode participation coefficientWherein, subscript s is minor structure label (s=1,2 ..., m)；Subscript r be identify minor structure rank number of mode (r=1,
2,…,n)；
Step 5: the MAC matrix of building structure, before identifying each minor structureRank Mode Shape direction coefficient；
Step 6: identifying the Mode Shape direction coefficient of each minor structure whole n rank using self-adapted genetic algorithm；
Step 7: the flexibility matrix of full structure calculates and amount of deflection prediction: in the Mode Shape direction system for seeking each minor structure
After number, integrally-built Mode Shape is obtained according to minor structure modal combination formula；Further calculated according to flexibility calculation formula
Obtain the integrally-built flexibility matrix for predicting deflection of bridge span.
The step 5 method particularly includes:
Variables D iffMAC is set, and it is 2 that structure operating condition number is helped in corresponding minor structure fusion(m-1)k, filter out DiffMAC most
It is small to be worth corresponding operating condition:
In formula, MAC is the metric characteristic in vibration shape matrix array space,
MACijFor the i-th rank displacement modes vibration shape and jth component level of each operating condition
Move the included angle cosine between Mode Shape, { φiBe each operating condition the i-th rank displacement modes vibration shape, { φjBe each operating condition jth rank
The displacement modes vibration shape)；| MAC | it is the value of MAC matrix determinant；For the value of MAC matrix diagonals line element；
The corresponding potential energy value of operating condition of MAC matrix screening is further calculated, corresponding operating condition number is 2m-1, potential energy minimum person
The corresponding correct vibration shape of k rank before as full structure.
The step 6 method particularly includes:
A, random to generate the chromosome for representing substructure mode vibration shape direction coefficient:
X={ x11 x12…x1nx21 x22…x2n…xm1 xm2…x(m-1)n}1×(m-1)n (2)
In formula, xsrIn subscript s be minor structure label, except target minor structure (s=1,2 ..., m-1)；Subscript r generation
The rank number of mode (r=1,2 ..., n) of each minor structure of table；
The size for the rank number of mode n that the selection of population number S divides number m and minor structure according to minor structure is determined, takes 50
~200；
B, k rank displacement modes vibration shape direction coefficient is as a result, the random generation of modification before identifying structure according to the MAC matrix of structure
Chromosome before (m-1) k element value, modified chromosome is shown as:
C, fitness value calculation and differentiated, choose the storage of maximum adaptation angle value to globally optimal solution；
F (x)=max (- (1-p) Πp) (4)
In formula, p is penalty,For each work
The maximum value of off diagonal element in the MAC matrix that condition calculates；Pc is penalty factor (pc=10)；
D, further progress roulette selection operates, and selective factor B P is arrangedS∈ (0.7-0.9), into the gene in selection pond
Carry out the intersection and variation of next step:
Crossover probability PcWith mutation probability PmSize are as follows:
In formula, Pc1For the upper limit value of crossover probability；Pc2For the lower limit value of crossover probability；Pm1For the upper limit value of mutation probability；
Pm2For the lower limit value of mutation probability；FmaxFor the maximum value of individual adaptation degree in population；F is the average fitness value of per generation population；
F ' is biggish fitness value in two individuals to be intersected；F is the fitness value for wanting variation individual；
E, the fitness value of new gene after making a variation is calculated after variation according to formula 4 and is differentiated, if it is greater than mesh
Preceding globally optimal solution then substitutes, and the iteration for entering next step in population pond is put into if being less than globally optimal solution.
The upper limit value for intersecting the factor is 0.9, and the lower limit value for intersecting the factor is 0.7；The mutagenic factor upper limit value is
0.2, the lower limit value of mutagenic factor is 0.001.
The displacement time course data of the minor structure displacement output node is measured by microwave radar systems.
A kind of bridge block impact vibration microwave radar detection device, including impact vibration device, microwave radar systems with
And data processing unit, the data processing unit use above-mentioned bridge block impact vibration detection method, shake to the impact
The displacement time course data of impact force and microwave radar systems acquisition position that dynamic device acts on bridge is handled, and is obtained
For predicting the integrally-built flexibility matrix of deflection of bridge span.
The microwave radar systems include: receiving antenna, transmitting antenna, transmitter, receiver, signal processor, electronics
Magnetic compass, GPS module, laser designator and laser range finder, the signal processor is mainly for the treatment of the transmitter
Zero intermediate frequency signals after the received microwave signal mixing of the microwave signal and receiver of sending, obtain required displacement time-histories letter
Number.
Microwave radar systems of the present invention can high-precision, the micro-vibration of multi-point and lon g-distance real-time monitoring bridge structure, and carry out
Deflection of bridge structure prediction, effectively incorporates bridge piecemeal vibration-testing performance evaluation system；Bridge structure piecemeal impact of the present invention
Method for detecting vibration can effectively solve traditional piecemeal vibration-testing higher order accuracy difference and calculated and imitates using no reference point optimization algorithm
The low problem of rate can realize that the quick test of low cost, high-precision and efficient bridge structure health performance is commented conscientiously
Estimate.
Beneficial effect
1, a kind of microwave radar suitable for the test of bridge block impact vibration provided by the invention, in bridge routine health
Monitoring and evaluation stage, which realize, fast and efficiently to be monitored, and the deficiency and traditional axle beam of traditional bridge health monitoring are compensated for
The defect of structure piecemeal vibration-testing.
2, the method that the microwave radar in the present invention surveys bridge micro-displacement is compared compared with traditional monitoring bridge sensor and is subtracted significantly
Lack required number of sensors, and do not needed close traffic in test, can realize the quick survey of bridge structure micro-vibration conscientiously
Examination.
3, the substructure mode vibration shape direction system of the consideration structure MAC matrix bridge block impact vibration test in the present invention
The more traditional bridge structure block impact vibration test of number method of identification improves the identification of structure high order mode without reference point diagnostic method
Precision.
4, the substructure mode vibration shape direction-adaptive heredity of the bridge structure block impact vibration test in the present invention is calculated
Method method of identification, more traditional bridge structure block impact vibration test, can be accurate, efficient without reference point judging method (enumerative technique)
Each minor structure whole Mode Shape is sought, to quickly identify the modal parameter and Modal Flexibility of bridge structure, and carries out amount of deflection
Prediction, substantially increases computational efficiency, can realize efficient, quick Bridge performance assessment conscientiously.
Detailed description of the invention
Fig. 1 is that microwave radar surveys real bridge schematic diagram；
Fig. 2 is that Bridge of embodiment of the present invention structure minor structure divides schematic diagram；
Fig. 3 is that the impact of impact force input node 9 in the embodiment of the present invention is tried hard to；
Fig. 4 is the displacement time-histories figure that output node 9 is displaced in the embodiment of the present invention；
Fig. 5 is Bridge of embodiment of the present invention structure recognition MAC matrix diagram；
Fig. 6 is self-adapted genetic algorithm evolution graph in the embodiment of the present invention, wherein (a) is 12 ranks of identification, it is (b) identification 15
Rank；
Fig. 7 is 16 first order mode comparison diagrams before the structure for merging minor structure in the embodiment of the present invention；
Fig. 8 is the flexibility matrix figure of jackshaft of embodiment of the present invention girder construction；
Fig. 9 is amount of deflection prognostic chart of jackshaft of the embodiment of the present invention girder construction under action of static load.
Specific embodiment:
In order to better understand the present invention, with reference to the accompanying drawing, technical solution of the present invention is described in detail.
The present invention impact without reference point piecemeal to bridge first, utilizes microwave radar equipment acquisition bridge test point
It is displaced time course data, according to the impact of each minor structure the displacement time course data and impact force input node of the acquisition of microwave radar equipment
Power carries out the Modal Parameter Identification of the frequency response function estimation and each minor structure of minor structure.It is real in bridge structural health monitoring
Existing purpose is that the monitoring and output of full structure need to be to the substructure mode vibration shapes that it is sought further to merge each minor structure
Zoom in and out the differentiation of adjustment and Mode Shape direction coefficient.Traditional bridge structure piecemeal according to foregoing invention background
Impact vibration tests substructure mode vibration shape direction coefficient method of discrimination, only accounts for minimum potential energy principal, can solve structure
Lower mode.But since potential energy is to the convergence of rank number of mode, the high order mode of structure is caused to identify inaccuracy.Simultaneously because
Algorithm is enumerative technique, be will cause when situation number is more, and computational efficiency is low, or even can not calculate.Therefore, the present invention provides
Consider that the MAC matrix of bridge structure carries out structure lower mode recognition of vibration, furthermore identifies structure using self-adapted genetic algorithm
Whole Mode Shapes, so as to find out structure flexibility matrix and carry out amount of deflection prediction, realize the fast slowdown monitoring of complete bridge with
Assessment.
It altogether include three parts based on the above process present invention.
One, the substructure mode vibration shape direction MAC matrix method of identification of bridge structure block impact vibration test
Though bridge structure piecemeal vibration-testing solves, conventional impact vibration device is heavy or function is limited, leads to live survey
It tries at high cost, bridge and closes the time that is open to traffic long problem.But traditional bridge structure block impact vibration test substructure mode vibration
Type direction coefficient method of discrimination, since potential energy is to the convergence of rank number of mode, only accounting for minimum potential energy principal can lead to knot
The high order mode of structure identifies inaccuracy, to cause to reduce problem with the precision of the time-consuming and laborious monitoring method of tradition.To realize bridge
Low cost, high-precision configuration performance monitoring and the assessment of girder construction solve traditional bridge structure block impact vibration testing algorithm
Deficiency.Therefore the invention proposes consider structure MAC matrix identification substructure mode vibration shape discriminating direction algorithm.Its particular content
Are as follows:
As the tool of evaluation structure modal vector orthogonality, MAC matrix is the metric characteristic in vibration shape matrix array space.
Its expression are as follows:
In formula, MACijMore than angle between the i-th rank displacement modes vibration shape and the jth rank displacement modes vibration shape of each operating condition
String；{φiBe each operating condition the i-th rank modal vector；{φjBe each operating condition jth rank modal vector；
In MAC matrix, the contribution margin of each first order mode is identical, i.e. high order mode, low order mode sensitivity is the same, thus
It can effectively make up in minimum potential energy principal, the weaker defect of high order mode sensitivity.Full structure is divided into m minor structure, respectively
The rank number of mode of minor structure is n rank, then has 2(m-1)nA modal combination scheme, according to above formula (1) it is found that MAC matrix it is non-right
Angle element M ACijCloser to zero, MAC matrix determinant value closer to diagonal element product.Therefore, variable is set
DiffMAC is
In formula, | MAC | it is the value of MAC matrix determinant；For the value of MAC matrix diagonals line element.
2(m-1)nIn a operating condition number, corresponding 2(m-1)nA DiffMAC value, then the minimum value min (DiffMAC) of DiffMAC
The corresponding vibration shape is the target vibration shape, or with the antipodal vibration shape of the target vibration shape.Further to differentiate from min (DiffMAC)
Combination in determine the correct target vibration shape, then differentiated further combined with minimum potential energy principal.
The flexibility matrix F that regulation coefficient combines with any one vibration shape direction, can pre- geodesic structure meaning node in office
Displacement structure vector u under load vector f effect, i.e.,
U=Ff (4)
The combination of different directions coefficient will also obtain different motion vectors under same load vector f effect as a result,
u.According to minimum potential energy principal, the real displacement u in structure, which occurs, will make the potential energy minimalization of system.So correctly vibration
It is that real displacement of the structure under the load case can make the potential energy of structure be minimized that type, which combines corresponding deformation,.Namely
The potential energy of the modal combination under certain load case after the differentiation of MAC matrix, the corresponding vibration shape group of potential energy minimum can be calculated
Conjunction is exactly correct modal combination.To discrete elastomer, potential energy is calculated as follows,
In formula, it is unknown quantity for practical structures, so can not also be straight by above formula that K, which is integrally-built stiffness matrix,
Connect the potential energy for calculating structure.Formula 4 is substituted into formula 5, and considers that being displaced flexibility matrix is symmetrical matrix, and be stiffness matrix
Inverse matrix, in conjunction with the available following formula of formula 3
Since civil engineering structure is mostly small damping structure, the vibration shape of identification is the real vibration shape, soAbove formula
Can be as follows with abbreviation,
In above formula, fTφr(φr)TF is a number and equal, and institute's above formula can be with abbreviation,
Load column vector f in above formula is to act on the load of upper each node of total (if certain nodes are not
0) imposed load, the load vector corresponding value at the node can be taken as.Load vector f is pressed to the segment partition scheme shape of minor structure
Formula can be written as following formula,
In formula, f1For the load column vector acted in minor structure 1；f2For the load column vector acted in minor structure 2；
fmFor the load column vector acted on minor structure m.
It is that structure real displacement makes the potential energy of structure most according to the displacement that the correct vibration shape of least potential energy theory calculates
It is small, therefore potential energy is ranked up from small to large, all first order mode combination sides of all minor structures corresponding to potential energy minimum person
Case is correct modal combination scheme, it is possible thereby to determine the value of direction coefficient.
Two, the substructure mode vibration shape direction-adaptive genetic algorithm in identification method of bridge structure block impact vibration test
The substructure mode vibration shape direction tested according to consideration structure MAC matrix bridge block impact vibration described above
Coefficient method of identification especially divides in minor structure more it is found that this method belongs to enumerative technique, i.e. m is larger and structural modal rank
Number is higher, i.e., when n is larger, it is too many to be easy to appear situation number, low so as to cause computational efficiency.Though computational accuracy improves, simultaneously
Without effectively solving the problems, such as the quick health evaluating of bridge structure.Therefore the invention proposes the tests of bridge structure block impact vibration
The method in self-adapted genetic algorithm identification substructure mode vibration shape direction.Its specifically:
It is more for minor structure division in substructure mode Parameter fusion, when solution rank number of mode is higher, consider structure
The low problem of the substructure mode vibration shape direction coefficient method of identification computational efficiency of MAC matrix bridge block impact vibration test,
Using for reference genetic algorithm (Genetic Algorithm) i.e. a kind of evolution laws for using for reference living nature, (survival of the fittest, the survival of the fittest are lost
Biography mechanism) develop randomization searching method.Its main thought is the operation in mimic biology system to gene: duplication,
Intersect and variation etc. generates the optimal solution of a problem.So as to which the problems of value of each minor structure vibration shape direction coefficient is turned
It turns to and solves the problem of the correct vibration shape of structure potential energy search of different vibration shape direction coefficient load cases combinations corresponds to minimum potential energy.Cause
This, is based on self-adapted genetic algorithm, substructure mode Parameter fusion Optimized model are as follows:
It is optimization mesh with structure potential energy minimum using the corresponding structure potential energy of different vibration shape direction coefficient values as objective function
Mark, i.e.,
In formula, ηrFor minor structure r first order mode direction regulation coefficient.
In the substructure mode vibration shape direction coefficient method of identification for considering the test of structure MAC matrix bridge block impact vibration
In, it has taken MAC matrix into consideration and minimum potential energy principal is differentiated.Therefore in self-adapted genetic algorithm, using penalty function
Form considers the MAC matrix of structure, the formula used as the excellent degree of evaluation individual, fitness function are as follows:
F (x)=max (- (1-p) Πp) (11)
In formula, p is penalty,max(MACi≠j) it is each operating condition meter
The maximum value of off diagonal element in the MAC matrix of calculation；Pc is penalty factor (pc=10)；
Simultaneously, it is contemplated that the computational efficiency of algorithm and implementation purpose of the invention are for different vibration shape direction coefficients
Optimized variable randomly selects the binary coding scheme of gene, the invention proposes according to structure MAC matrix to k rank before structure
Vibration shape direction coefficient is differentiated, and then can be imported the correct vibration shape direction coefficient of differentiation in the encoding gene of genetic algorithm,
So as to effectively reduce Population Size and population quantity, achieve the purpose that improve computational efficiency.
Specifically:
X is enabled to indicate vibration shape direction coefficient ηr, exist
It then can directly be encoded using variable x for this problem, i.e.,
X={ x11 x12…x1nx21 x22…x2n…xm1 xm2…x(m-1)n}1×(m-1)n (13)
In formula, xsrIn subscript s be minor structure label, except target minor structure, s=1,2 ..., m-1；Subscript r is represented
The rank number of mode of each minor structure, r=1,2 ..., n；
Modified gene representation are as follows:
Simultaneously, it is contemplated that convergence and search precision, method proposes adaptive strategies according to population reality
Situation adjusts crossover probability P at randomcWith mutation probability PmSize.I.e.
In formula, Pc1For the upper limit value of crossover probability；Pc2For the lower limit value of crossover probability；Pm1For the upper limit value of mutation probability；
Pm2For the lower limit value of mutation probability；FmaxFor the maximum value of individual adaptation degree in population；F is the average fitness value of per generation population；
F ' is biggish fitness value in two individuals to be intersected；F is the fitness value for wanting variation individual；From formula (15) and formula (16)
As can be seen that being higher than the individual of population average fitness value for fitness, lower probability of crossover and mutation probability are assigned, is made
It individual must obtain protection and enter the next generation；It is lower than the individual of population average fitness value for fitness value, assigns higher miscellaneous
Probability and mutation probability are handed over, the individual is eliminated.
After obtaining the Mode Shape direction coefficient of each sub-block, integrally-built Mode Shape can be obtained, to realize
The fusion of each sub-block Mode Shape, can be calculated integrally-built flexibility matrix.Deflection of bridge span can be predicted by the matrix,
So as to carry out bridge health monitoring and rapid evaluation.
Three, bridge displacement acquisition and microwave radar data processing system
The purpose of bridge health monitoring is to realize the monitoring and assessment of full structure, the bridge based on the identification of above two method
Girder construction piecemeal substructure mode vibration shape direction, and the input impact force of wireless transmission acquisition, then one data processing of demand
Output displacement after system can be differentiated using above-mentioned known input power and each minor structure carries out identification and health evaluating to full structure.
Simultaneously for realize bridge structure rapid evaluation, then demand high-precision, non-contacting monitoring device.Therefore the present invention considers that introducing is suitable
Microwave radar systems for the test of bridge block impact vibration.Its particular content are as follows:
Its described equipment mainly includes radar signal processor and monitoring unit two large divisions.Main building block is to receive
Antenna, transmitter, receiver, signal processor, high-precision electronic magnetic compass, GPS module, laser designator, swashs at transmitting antenna
Ligh-ranging machine, display and control unit, self-test unit and power supply unit.It is 1.5ms by microwave radar transmit cycle, initial frequency is
15.85GHz, the FM signal that frequency is 16.15GHz is terminated, is reflected back after the microwave signal of transmitting encounters target, thunder
The receiving antenna reached receives echo information.
Assuming that echo-signal is generated at radar R, then after the echo reaches radar, echo delay τ0, and(c is the light velocity), then echo-signal may be expressed as:
In formula, ArFor the amplitude for receiving signal；τ0For echo delay time.Further pass through frequency mixer output in receiver
The zero intermediate frequency signals of Quadrature double path:
Zero intermediate frequency Beat Signal is obtained by mixing:
In receiver, the Quadrature double path zero intermediate frequency signals of frequency mixer output send two-way AD after anti-confusion filtering, amplification
Converter obtains discrete echo data and signal processor is sent to carry out FFT processing.Wherein, emit a frequency sweep cycle of signal
The data in a corresponding sampling period, a sampling period are a snap, are N point FFT to a snapshot data, obtain difference
The echo phase information of distance objective is continuously the FFT of M snap, data is lined up M row N column, then be FFT to every column data
Transformation, can be obtained the phase of echo fluctuation information of each range gate target.
After determining target, it is based on phase interference method principle, target x is obtained by receiveriEcho, by resolve, most
Obtain measured target in t eventually1And t2The phase difference at moment isThen fine motion displacement is based on acquisition target point xiEcho
Signal phase difference and obtain, it may be assumed that
The vertical displacement of the body of a bridge in order to obtain needs to carry out true value projection meter to the radial displacement value obtained by phase calculation
It calculates.By comparing the phase between measuring signal twice, target can be accurately obtained with respect to radar radial direction micro-displacement, Yong Huguan
The heart be target vertical to displacement y (xi, t):
In formula, RiFor radar to target point xiRadial distance；hiFor radar to target point xiVertical range；αiFor radar
The angle of transmitted wave and horizontal plane.
The substructure mode vibration shape direction MAC matrix method of identification tested in conjunction with above-mentioned bridge structure block impact vibration and
The input for the displacement and wireless transmission that self-adapted genetic algorithm method of identification and above-mentioned microwave radar equipment acquire in real time is impacted
Power, the microwave radar systems proposed by the present invention suitable for bridge piecemeal vibration-testing, can the effective integration above method provide
The modal parameter of each minor structure can quickly carry out the Modal Parameter Identification of full structure, monitor and assess rank in bridge routine health
Section realizes fast and efficiently monitoring and evaluation.
Embodiment one
Bridge structural model as shown in Fig. 1, the bridge carry out one-lane traffic, entire concrete bridge in each direction
The wide 6.5m in face, overall length 15.54m, wherein respectively there is the pavement of 1.07m wide on both sides.Three freely-supported cold rollings on armored concrete deck
The spacing of steel I-beam is 2.18m.Microwave radar test is as shown in Figure 1, pass through the full knot of microwave radar device transform test point acquisition
The structural response that structure is evoked by impact load.Specific implementation step are as follows:
(1) minor structure splitting scheme determines
According to the site environment of tested bridge structure and bridge structure form, bridge structure is divided into 21 monitorings and is clicked through
Row monitoring, while whole monitoring points are divided into 2 minor structures and are monitored, splitting scheme is as shown in Figure 2.Minor structure 1 is main
Comprising being displaced output node 1/2/3/4/8/9/10/15/16/17, wherein choosing node 2/4/9/16 is impact force input node；
Minor structure 2 is mainly comprising displacement output node 5/6/7/11/12/13/14/18/19/20/21, wherein choosing node 11/13/
18/20 is impact force action node.
(2) radar placement location is selected
According to tested bridge structure site environment and minor structure splitting scheme, in conjunction with the wave beam of radar emission and receiving antenna
Angle determines radar equipment placement location.Since bridge structure is divided into 2 minor structures, therefore choose the two sides bridge of bridge structure
Place is as radar set-point under pier bottom.Radar placement schematic is detailed in Fig. 1.
(3) test of 1/2 impact vibration of bridge piecemeal minor structure and data acquisition
Microwave radar equipment is placed in the set-point of selection, power supply unit is opened and display and control unit is ready for data and adopts
Collection.Impact force is acted on using impact force input point of the percussion mechanism successively in bridge piecemeal minor structure, it is synchronous to use microwave
Time course data is displaced caused by impact force of the displacement output node of radar equipment acquisition minor structure as impact force input node.Its
In, the impact force of acquisition is transferred to microwave radar data processing unit, microwave radar acquisition displacement in the form of wireless transmission
The displacement time course data of output node is transmitted directly to microwave radar data processing unit.By taking minor structure 1 as an example, impact force input
The impact force of node 9 is detailed in Fig. 3, and the displacement time course data of displacement output node 9 is detailed in Fig. 4.
(4) data processing of minor structure 1/2
In microwave radar data processing unit, it is known that the input power and each displacement output node of minor structure 1 and minor structure 2
It is displaced time course data.After impact force time course data and displacement output node time course data to each sub-block carry out adding window, filtering,
The frequency response function H of each sub-block is estimated respectively1(ω), H2(ω).According to the frequency response function of minor structure 1 and minor structure 2, using CMIF
Modal Parameter Identification algorithm identifies the modal parameter of each minor structure respectively, and see Table 1 for details for the modal parameter of the minor structure 1/2 of identification:
Table 1
(5) fusion of 1/2 modal parameter of minor structure
Under same order frequency, since minor structure 1 is different with the Mode Shape scaling of minor structure 2, in fusion minor structure 1
When with the Mode Shape of minor structure 2, adjustment need to be zoomed in and out to the Mode Shape of each minor structure using unified scaling standard.With
Minor structure 1 is that target minor structure zooms in and out the Mode Shape of minor structure 2 according to the modal parameter for each minor structure sought
The differentiation of adjustment and Mode Shape direction coefficient.(6) using the son knot for considering the test of structure MAC matrix bridge block impact vibration
Structure Mode Shape direction coefficient method of identification differentiates the preceding k=7 rank Mode Shape direction coefficient of minor structure 2, concrete operations are as follows:
Whole circumstances number 2 is calculated according to formula 17×(2-1)=128 MAC value；And then it is filtered out according to formula 2
(operating condition number is 2 to the corresponding operating condition of DiffMAC minimum value(2-1)=2), furthermore, the work screened from MAC matrix is calculated using formula 7
The corresponding potential energy value of condition, potential energy minimum person are the accurate vibration shape.See Table 2 for details for the preceding k=7 first order mode direction coefficient of minor structure 1/2:
Table 2
| Order | 1 | 2 | 3 | 4 | 5 | 6 | 7 |
| Minor structure 1 | 1 | 1 | 1 | 1 | 1 | 1 | 1 |
| Minor structure 2 | ‐1 | ‐1 | ‐1 | ‐1 | 1 | ‐1 | 1 |
(7) using the substructure mode vibration shape direction-adaptive genetic algorithm in identification of bridge structure block impact vibration test
Method, the whole Mode Shape direction coefficient of identification minor structure 2, concrete operations are as follows:
Generate the chromosome for representing substructure mode vibration shape direction coefficient at random according to formula 13, situation sum is chosen for S
=50.Further according to formula 14, preceding 7 rank for modifying the chromosome generated at random is that MAC matrix and minimum potential energy principal differentiate
Right value；Modified gene representation are as follows:
X '={-1-1-1-1 1-1 1 x28 x29…x2n}
The fitness value of all situations number is calculated according to formula 11 in next step, and is differentiated, maximum adaptation angle value is chosen
Store globally optimal solution.
The operation of further progress roulette selection, setting select probability are Ps=0.8, the gene into selection pond carries out down
The intersection and variation of one step.Wherein, this algorithm uses single point crossing strategy and adaptive crossover mutation, is chosen and is handed over according to formula 15
Pitching probabilistic upper bound value is 0.9, and crossover probability lower limit value is 0.7.It is formed newly after calculating intersection according to formula 11 after intersection
The fitness value of gene is simultaneously differentiated, is substituted if it is greater than current globally optimal solution, is put into if being less than globally optimal solution
In population pond, and then the variation of next step is carried out, according to formula 16, this algorithm uses self-adaptive mutation, and setting variation is general
Rate upper limit value is 0.2, and mutation probability lower limit value is 0.001.New gene is suitable after being made a variation after variation according to the calculating of formula 11
It answers angle value and is differentiated, substituted if it is greater than current globally optimal solution, is put into population pond if being less than globally optimal solution
Into the iteration of next step, it is 200 that the number of iterations, which is arranged, in this algorithm.
Identify that the evolution graph of the self-adapted genetic algorithm of each 12 rank of substructure mode order and 15 ranks is detailed in attached drawing 6, it is known that
It is identified using self-adapted genetic algorithm, 12 ranks and 15 ranks have been restrained in 8 generations and 14 generations respectively, and computational efficiency significantly mentions
It is high.
(8) overall structure flexibility matrix calculates and amount of deflection is predicted
In microwave radar data processing unit, after the Mode Shape direction coefficient for seeking minor structure 1 and minor structure 2, root
Integrally-built Mode Shape can be obtained according to minor structure modal combination formula, wherein 16 first order modes are detailed in front of the full structure identified
Fig. 7, the structure MAC matrix that the correct vibration shape of identification calculates are detailed in Fig. 5；It can be further calculated according to flexibility calculation formula
The full Structure Flexibility Matrix of integrally-built flexibility matrix, solution is detailed in Fig. 8；Deflection of bridge span can be predicted by the matrix,
The deflection of bridge structure calculated under evenly load 4445KN effect based on microwave radar systems is detailed in Fig. 9, by the amount of deflection predicted value
It is compared with calculated value and bridge security investigation can be realized.
Claims (9)
1. a kind of bridge block impact vibration detection method based on microwave radar device, which is characterized in that step are as follows:
Step 1: bridge is divided into m minor structure, and one or more impact force input points is set in each minor structure
With all displacement output points, wherein m >=2；
Step 2: impact force is successively acted in the impact force input point in bridge piecemeal minor structure, it is synchronous to use microwave thunder
Time course data is displaced caused by impact force up to device acquisition minor structure displacement output node as impact force input node；
Step 3: seeking minor structure frequency response function H1(ω), H2(ω) ..., Hm(ω): respectively to the input section of each minor structure acquisition
Point impact force and the displacement output node displacement time-histories of microwave radar acquisition carry out signal processing, then are estimated using any frequency response function
Calculating method estimates the displacement frequency response function of each minor structure；
Step 4: identifying the modal parameter of each minor structure according to the frequency response function of each minor structure: respectively to the estimation of each minor structure
Frequency response function H1(ω), H2(ω) ..., Hm(ω) does Modal Parameter Identification using CMIF Modal Parameter Identification method, obtains each sub- knot
The modal parameter of structure: system poleMode zoom factorThe displacement modes vibration shapeAnd mode participation coefficientIts
In, subscript s is minor structure label, s=1,2 ..., m；Subscript r is the rank number of mode for identifying minor structure, r=1,2 ..., n；
Step 5: the MAC matrix of building structure, identifies k rank Mode Shape direction coefficient before each minor structure,
Step 6: identifying the Mode Shape direction coefficient of each minor structure whole n rank using self-adapted genetic algorithm；
Step 7: the flexibility matrix of full structure calculates and amount of deflection prediction: after seeking the Mode Shape direction coefficient of each minor structure,
Integrally-built Mode Shape is obtained according to minor structure modal combination formula；Use is further calculated according to flexibility calculation formula
In the integrally-built flexibility matrix of prediction deflection of bridge span.
2. bridge block impact vibration detection method according to claim 1, which is characterized in that the step 5 it is specific
Method are as follows:
Variables D iffMAC is set, and it is 2 that structure operating condition number is helped in corresponding minor structure fusion(m-1)k, filter out DiffMAC minimum value
Corresponding operating condition:
In formula,MACijFor the i-th rank displacement modes vibration shape and jth component level of each operating condition
Move the included angle cosine between Mode Shape, { φiBe each operating condition the i-th rank displacement modes vibration shape, { φjBe each operating condition jth rank
The displacement modes vibration shape；| MAC | it is the value of MAC matrix determinant；For the value of MAC matrix diagonals line element；
The corresponding potential energy value of operating condition of MAC matrix screening is further calculated, corresponding operating condition number is 2m-1, potential energy minimum person is
The corresponding correct vibration shape of k rank before full structure.
3. bridge block impact vibration detection method according to claim 2, which is characterized in that the step 6 it is specific
Method are as follows:
A, random to generate the chromosome for representing substructure mode vibration shape direction coefficient:
X={ x11 x12 … x1n x21 x22 … x2n … xm1 xm2 … x(m-1)n}1×(m-1)n (2)
In formula, xsrIn subscript s be minor structure label, except target minor structure, s=1,2 ..., m-1；Subscript r represents each son
The rank number of mode of structure, r=1,2 ..., n；
The size for the rank number of mode n that the selection of population number S divides number m and minor structure according to minor structure determined, take 50~
200；
B, k rank displacement modes vibration shape direction coefficient is as a result, random generate of modification is dyed before identifying structure according to the MAC matrix of structure
The value of (m-1) k element before body, modified chromosome indicate are as follows:
C, fitness value calculation and differentiated, choose the storage of maximum adaptation angle value to globally optimal solution；
F (x)=max (- (1-p) Πp) (4)
In formula, p is penalty,max(MACi≠j) it is each condition calculating
The maximum value of off diagonal element in MAC matrix；Pc is penalty factor (pc=10)；
D, further progress roulette selection operates, and selective factor B P is arrangedS∈ (0.7-0.9), the gene into selection pond carry out
The intersection and variation of next step:
Crossover probability PcWith mutation probability PmSize are as follows:
In formula, Pc1For the upper limit value of crossover probability；Pc2For the lower limit value of crossover probability；Pm1For the upper limit value of mutation probability；Pm2For
The lower limit value of mutation probability；FmaxFor the maximum value of individual adaptation degree in population；For the average fitness value of per generation population；F′
For biggish fitness value in two individuals to be intersected；F is the fitness value for wanting variation individual；
E, after intersection, variation according to formula 4 calculate intersect after and variation after new gene fitness value and differentiated, if
It is greater than current globally optimal solution and then substitutes, and the iteration for entering next step in population pond is put into if being less than globally optimal solution.
4. bridge block impact vibration detection method according to claim 3, which is characterized in that the crossover probability it is upper
Limit value is 0.9, and the lower limit value of crossover probability is 0.7；The mutation probability upper limit value is 0.2, and the lower limit value of mutation probability is
0.001。
5. bridge block impact vibration detection method according to claim 1, which is characterized in that in the step 3, point
It is other that signal is carried out to the input node impact force of each minor structure acquisition and the displacement output node displacement time-histories of microwave radar acquisition
Processing includes adding window and filtering processing.
6. bridge block impact vibration detection method according to claim 1, which is characterized in that in the step 3, appoint
One frequency response function algorithm for estimating is H1, H2 or Hv method.
7. -6 any bridge block impact vibration detection method according to claim 1, which is characterized in that minor structure displacement
The displacement time course data of output node is measured by microwave radar systems.
8. a kind of microwave radar detection device of the bridge block impact vibration based on microwave radar device, it is characterised in that: packet
Impact vibration device, microwave radar systems and data processing unit are included, the data processing unit uses claim 1-7 institute
Bridge block impact vibration detection method is stated, impact force and the radar system on bridge are acted on to the impact vibration device
The displacement time course data of system acquisition is handled, and obtains the full Structure Flexibility Matrix for predicting deflection of bridge span.
9. bridge block impact vibration microwave radar detection device according to claim 8, it is characterised in that: the microwave
Radar system includes: receiving antenna, transmitting antenna, transmitter, receiver, signal processor, Electronic Megnetic Compass, GPS module, swashs
Optical indicator and laser range finder, the signal processor handles the microwave signal that the transmitter issues and receiver receives
Microwave signal mixing after zero intermediate frequency signals, obtain required displacement TIME HISTORY SIGNAL.
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