CN113237957B - Acoustic emission-based parallel steel wire inhaul cable damage space positioning algorithm - Google Patents

Acoustic emission-based parallel steel wire inhaul cable damage space positioning algorithm Download PDF

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CN113237957B
CN113237957B CN202110603974.9A CN202110603974A CN113237957B CN 113237957 B CN113237957 B CN 113237957B CN 202110603974 A CN202110603974 A CN 202110603974A CN 113237957 B CN113237957 B CN 113237957B
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steel wire
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CN113237957A (en
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李胜利
刘桢雯
毋光明
李攀杰
徐斌
王希东
郑鹏飞
崔灿
郭攀
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Zhengzhou University
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    • G01N29/00Investigating or analysing materials by the use of ultrasonic, sonic or infrasonic waves; Visualisation of the interior of objects by transmitting ultrasonic or sonic waves through the object
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    • GPHYSICS
    • G01MEASURING; TESTING
    • G01NINVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N29/00Investigating or analysing materials by the use of ultrasonic, sonic or infrasonic waves; Visualisation of the interior of objects by transmitting ultrasonic or sonic waves through the object
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Abstract

The invention relates to a parallel steel wire inhaul cable damage space positioning algorithm based on acoustic emission, which is characterized in that acoustic emission signals acquired by sensors of a rectangular array are analyzed, and the time delay of each sensor for acquiring the same broken wire signal is calculated; when the space positioning is carried out on the damaged broken wire of the parallel steel wire inhaul cable, the dispersion characteristic of the acoustic emission signal transmitted in the parallel steel wire bundle is fully considered, the transmission speed of the broken wire signal transmitted to different sensors is calculated, and the specific space position of the broken wire is calculated and obtained by substituting the proposed algorithm formula.

Description

Acoustic emission-based parallel steel wire inhaul cable damage space positioning algorithm
Technical Field
The invention relates to the technical field of a positioning algorithm of cable damage, in particular to a space positioning method for realizing parallel steel wire bundle damage by utilizing an acoustic emission technology.
Background
In the current acoustic emission monitoring of the inhaul cable, a sensor is generally fixed on the surface of a inhaul cable sheath or an anchorage device, and only the fatigue and the steel wire fracture type of the inhaul cable are identified. The traditional acoustic emission technology is adopted to damage and position the high-strength steel wire, two sensors are fixed at the end part of the steel wire and used for collecting acoustic emission signals generated when the steel wire breaks, and the two-dimensional positioning is utilized to realize the longitudinal positioning of the damaged broken wire of the high-strength steel wire (Yang Xigong. Cable-stayed bridge inhaul cable positioning and monitoring analysis [ J ]. Tianjin construction technology, 2017,27 (02): 45-47.), so that great inconvenience is caused to the application of engineering structures such as stayed cables in cable-stayed bridges, slings and main cables in suspension bridges, suspenders in arch bridges and the like. In addition, the acoustic emission signal generated when the high-strength steel wire is damaged has the characteristics of wide frequency band, dispersion and multiple modes, and different modes have different degrees of dispersion and different transmission speeds. Therefore, in the existing time difference positioning, a constant assuming that the wave speed is constant generates a large positioning error, and the positioning accuracy is greatly affected. In summary, when the space positioning is performed on the damaged broken wires of the parallel steel wire inhaul cable, the dispersion characteristic of the acoustic emission signal transmitted in the parallel steel wire bundles is fully considered, so that a space positioning method for realizing the damage of the parallel steel wire bundles by utilizing the acoustic emission technology is developed.
Disclosure of Invention
Aiming at the situation, in order to overcome the defects of the prior art and overcome the defects of larger error and positioning accuracy of the existing inhaul cable positioning mode, the invention aims to provide a space positioning algorithm for the damage of a parallel steel wire bundle test piece based on acoustic emission, which is effective in reducing the error and improving the positioning accuracy.
The technical scheme adopted for solving the technical problems is as follows: the acoustic emission-based parallel steel wire inhaul cable damage space positioning algorithm is characterized by comprising the following steps of:
step one: the acoustic emission rectangular array of sensors is arranged on any two wires in the parallel wire bundles to collect signals. The coordinates of the sensors S1-S4 are (x) 1 ,y 1 ,z 1 ),(x 2 ,y 2 ,z 2 ),(x 3 ,y 3 , z 3 ),(x 4 ,y 4 ,z 4 ) Wherein z is 1 =z 4 ,z 2 =z 3
Step two: wavelet transformation is carried out on the steel wire fracture signals acquired by the 4 sensors, and the corresponding arrival time when the wavelet coefficient is maximum is respectively obtained and is respectively t 1 、t 2 、t 3 、t 4 . Therefore, the time delay of the same broken wire signal acquired by the 4 sensors is delta t ij
Step three: transforming wavelet coefficients obtained by wavelet transformation to obtain frequency values f corresponding to the maximum wavelet coefficients in the steel wire fracture signals acquired by the 4 sensors 1 、f 2 、f 3 、f 4
Step four: in the dispersion curve of the guided wave propagating in a parallel steel wire bundle, find f 1 、f 2 、f 3 、 f 4 Respectively corresponding longitudinal propagation velocity v Li And transverse propagation velocity v Fi
Step five: sensor coordinates (x 1 ,y 1 ,z 1 ),(x 2 ,y 2 ,z 2 ),(x 3 ,y 3 ,z 3 ),(x 4 ,y 4 , z 4 ) The time delay of the same acquired broken wire signal is deltat ij And f 1 、f 2 、f 3 、f 4 Respectively corresponding longitudinal propagation velocity v Li And transverse propagation velocity v Fi Substituting the values into the following formula, and calculating to obtain the specific coordinate value of the broken wire.
Preferably, in step five, the propagation distance difference of the acoustic emission signal to the sensor S1 and the sensor S2 is a longitudinal propagation distance difference z 2 -z 1 When the acoustic emission signal propagates to the sensor S1 in the parallel wire bundle, the propagation speed of the signal along the longitudinal direction of the wire is set as v L1 The signal propagates to the sensor S2 at a speed v along the longitudinal direction of the wire L2 . The time difference between the arrival of the acoustic emission signal at the sensor S1 and the continued propagation to the sensor S2 is expressed as Δt 12 =t 1 -t 2 The time difference can be expressed as:
let the signal propagation speed along the longitudinal direction of the wire be delta when the acoustic emission signal propagates to the sensor S3 L3 The signal propagates to the sensor S4 at a speed v along the longitudinal direction of the wire L4 The time difference between the arrival of the acoustic emission signal at sensor S3 and the continued propagation to sensor S4 is denoted as Δt 34 =t 3 -t 4 The time difference can be expressed as:
propagation z of acoustic emission signal of broken wire along length direction of steel wire 1 Then, the acoustic emission signals are respectively transmitted to the sensors S2 and S3 transversely, so that the distance difference between the acoustic emission signals transmitted to the sensors S2 and S3 is the distance difference of transverse transmissionWhen acoustic emission signal is transmitted to the sensor S2, the transverse transmission speed in the steel wire bundle is v F2 When the steel wire is propagated to the sensor S3, the transverse propagation speed in the steel wire bundle is v F3 The time difference of propagation of the acoustic emission signal to the sensor S2, S3 is Δt 34 =t 3 -t 4 Can be expressed as:
let the transverse propagation velocity delta be the acoustic emission signal propagated to the sensor S1 F1 The lateral propagation velocity v when propagating to the sensor S4 F4 The time difference of propagation of the acoustic emission signal to the sensor S2, S3 is Δt 14 =t 1 -t 4 The time difference can be expressed as:
from equation 1 and equation 4, equation 5 is obtained; synthesizing formulas 2,3 and 5, wherein the time difference deltat is shown in the formulas ij Propagation velocity v Fi ,v Li The method can be obtained by analyzing the acquired acoustic emission signals of broken wires, and the specific coordinates of the broken wires can be obtained by substituting the unknown quantity into a formula calculation, wherein the coordinates (x, y, z) of the broken wires are left;
preferably, there are 19 parallel wire bundles in one of the parallel wire bundles in step four.
The technical conception of the invention is as follows: analyzing acoustic emission signals acquired by the sensors of the rectangular array, and calculating the time delay of each sensor for acquiring the same broken wire signal; when the space positioning is carried out on the damaged broken wire of the parallel steel wire inhaul cable, the dispersion characteristic of the acoustic emission signal transmitted in the parallel steel wire bundle is fully considered, the transmission speed of the broken wire signal transmitted to different sensors is calculated, and the specific space position of the broken wire is calculated and obtained by substituting the proposed algorithm formula.
Drawings
Fig. 1 is a schematic diagram of the calculated path of an acoustic emission wave propagating in a parallel wire bundle.
Fig. 2 is a graph showing dispersion of elastic waves in a bundle of 19 steel wires.
Fig. 3 is a practical arrangement of sensors.
Fig. 4 is a waveform diagram of a broken wire acoustic emission signal acquired by sensor # 1.
Fig. 5 is a time-frequency plot of a wire-break acoustic emission signal acquired by sensor # 1.
Fig. 6 is a waveform diagram of a broken wire acoustic emission signal acquired by the sensor # 2.
FIG. 7 is a time-frequency plot of a wire-break acoustic emission signal acquired by the sensor # 2.
Fig. 8 is a waveform diagram of a broken wire acoustic emission signal acquired by the #3 sensor.
FIG. 9 is a time-frequency plot of a wire-break acoustic emission signal acquired by the sensor # 3.
Fig. 10 is a waveform diagram of a broken wire acoustic emission signal acquired by sensor # 4.
FIG. 11 is a time-frequency plot of a wire-break acoustic emission signal acquired by sensor # 4.
Detailed Description
Embodiments of the present invention will be described in further detail with reference to fig. 1-9.
Examples:
the implementation process of the parallel steel wire inhaul cable damage space positioning algorithm based on acoustic emission is as follows.
As shown in fig. 1, four acoustic emission sensors are arranged on different wire surfaces in the parallel wire bundles to form a group of rectangular sensor clusters for acquiring acoustic emission signals. Wherein, is provided withThe coordinates of the damage source in the parallel wire bundles are (x, y, z), and the coordinates of the sensors S1-S4 are (x) 1 ,y 1 ,z 1 ),(x 2 ,y 2 ,z 2 ),(x 3 , y 3 ,z 3 ),(x 4 ,y 4 ,z 4 ) Wherein z is 1 =z 4 ,z 2 =z 3 As the acoustic emission wave propagates along the length direction of the steel wire when propagating in the parallel steel bundles, the acoustic emission wave propagates to the adjacent steel wire and then propagates to the sensor.
Because the acoustic emission wave has the dispersion characteristic when propagating in the parallel steel wire bundles, namely when the steel wires in the parallel steel wire bundles are damaged and broken, the acoustic emission source signal consists of various frequency components and signals of various modes, the different modes consist of waves with a certain broadband frequency, and the wave propagation speeds of the frequency components are also different in the different modes. When the acoustic emission wave propagates in the parallel steel wire bundles, the acoustic emission wave propagates in the form of wave packets according to a certain group velocity, and is the superposition of a series of harmonic waves. Therefore, when the damage of the parallel steel wire bundles is positioned, the group velocities of acoustic emission signals with different frequencies are fully considered, and the dispersion curves of 19 parallel steel wire bundles are made by SAFE in the figure 2.
The propagation distance difference of the acoustic emission signal to the sensor S1 and the sensor S2 is a longitudinal propagation distance difference z 2 -z 1 . When the acoustic emission signal propagates to the sensor S1 in the parallel wire bundle, the propagation speed of the signal along the longitudinal direction of the wire is set as v L1 The signal propagates to the sensor S2 at a speed v along the longitudinal direction of the wire L2 . The time difference between the arrival of the acoustic emission signal at the sensor S1 and the continued propagation to the sensor S2 is expressed as Δt 12 =t 1 -t 2 The time difference can be expressed as:
similarly, when the acoustic emission signal propagates to the sensor S3, the propagation speed of the signal along the longitudinal direction of the steel wire is delta L3 The signal propagates to the sensor S4 at a speed v along the longitudinal direction of the wire L4 After reaching the sensor S3, the acoustic emission signal continues to propagateThe time difference to sensor S4 is denoted as Δt 34 =t 3 -t 4 The time difference can be expressed as:
propagation z of acoustic emission signal of broken wire along length direction of steel wire 1 Then, the acoustic emission signals are respectively transmitted to the sensors S2 and S3 transversely, so that the distance difference between the acoustic emission signals transmitted to the sensors S2 and S3 is the distance difference of transverse transmissionWhen acoustic emission signal is transmitted to the sensor S2, the transverse transmission speed in the steel wire bundle is v F2 When the steel wire is propagated to the sensor S3, the transverse propagation speed in the steel wire bundle is v F3 The time difference of propagation of the acoustic emission signal to the sensor S2, S3 is Δt 34 =t 3 -t 4 Can be expressed as:
similarly, let the transverse propagation velocity of the acoustic emission signal propagate to the sensor S1 be delta F1 The lateral propagation velocity v when propagating to the sensor S4 F4 The time difference of propagation of the acoustic emission signal to the sensor S2, S3 is Δt 14 =t 1 -t 4 The time difference can be expressed as
Equation 5 is obtained from equations 1 and 4. Synthesizing formulas 2,3 and 5, wherein the time difference deltat is shown in the formulas ij Propagation velocity v Fi ,v Li The method can be obtained by analyzing the acquired acoustic emission signals of broken wires, and the specific coordinates of the broken wires can be obtained by substituting the unknown quantity into a formula calculation, wherein the coordinates (x, y, z) of the broken wires are left.
The algorithm is subjected to a parallel steel wire bundle tension test based on an acoustic emission technology.
The positions of the 4 acoustic emission sensors are S1 respectively21mm and 130 mm), S2->21mm and 230 mm), S3->7mm and 230 mm) and S4->7mm and 130 mm). The waveform diagrams of the acquired broken wire acoustic emission signals are shown in fig. 4, 6, 8 and 10. The waveform diagrams shown in fig. 4, 6, 8 and 10 are subjected to continuous wavelet transform by using Matlab, and the obtained time-frequency diagrams are shown in fig. 5, 7, 9 and 11. In the continuous wavelet transform, since the complex Morlet wavelet has the best resolution in time and frequency, the complex Morlet wavelet is selected as the wavelet basis for continuous wavelet transform of the wire-break acoustic emissions.
It can be seen from fig. 4, 6, 8 and 10 that the voltage values of the acoustic emission signals collected by the sensors at 4 different positions are not greatly different, but from fig. 5, 7, 9 and 11, the peak frequencies are different when the acoustic emission signals generated by the breakage of the steel wires in the parallel steel wire bundles are transmitted to the different sensors, so that the corresponding wave speeds are also different. Calculating the corresponding time difference of the broken wire acoustic emission signals acquired by the 4 sensors when the wavelet coefficient is maximum in wavelet transformation, namely the time delay of the broken wire acoustic emission signals transmitted to different sensors is respectively deltat 12 =20.59μs、Δt 32 =1.17 μs and Δt 41 =1.19μs。
In wavelet transformation of acoustic emission signals acquired by 4 sensors, the corresponding frequency values when the wavelet coefficient is maximum are determined to be 25.63kHz, 20kHz, 31.25kHz and 43.75kHz respectively. Acoustic emission waves in parallel wire bundles from fig. 2The propagation dispersion curve can obtain the corresponding group velocity v of longitudinal propagation L1 =5074.9m/s、v L2 =5112.4m/s、v L3 = 5022.3m/s and v L4 = 4752.9m/s; the corresponding group velocities of the transverse propagation can be obtained as v F1 =2740.2m/s、v F2 =2675.9m/s、v F3 = 2774.3m/s and v F4 =2801.1m/s。
Time delay delta t ij The wave velocities corresponding to the acoustic emission waves acquired by the different acoustic emission sensors are substituted into formulas 1 to 5,
the broken positions of the steel wires are calculated to be (5.57 mm, 16.45mm and 824.5 mm), the broken positions of the parallel steel wire bundles can be judged to be on the #15 steel wire which is 824.5mm away from the end according to coordinates, compared with the traditional one-dimensional positioning which can only be performed on one steel wire bundle, the broken position of the steel wires in the parallel steel wire bundles is determined, the spatial positioning of the damage of the parallel steel wire bundles is realized, and compared with the traditional one-dimensional positioning method which adopts a constant wave velocity constant, the method fully considers the dispersion characteristic of acoustic emission signals transmitted in the parallel steel wire bundles. The space positioning is performed by utilizing the plurality of groups of sensors, the positioning precision is improved, the damage in the parallel steel wire bundles can be positioned rapidly and accurately, and the device is suitable for popularization and use.

Claims (2)

1. The acoustic emission-based parallel steel wire inhaul cable damage space positioning algorithm is characterized by comprising the following steps of:
step one: the acoustic emission rectangular array of sensors is arranged on any two wires in the parallel wire bundles to be collectedA signal; the coordinates of the sensors S1-S4 are (x) 1 ,y 1 ,z 1 ),(x 2 ,y 2 ,z 2 ),(x 3 ,y 3 ,z 3 ),(x 4 ,y 4 ,z 4 ) Wherein z is 1 =z 4 ,z 2 =z 3
Step two: wavelet transformation is carried out on the steel wire fracture signals acquired by the 4 sensors, and the corresponding arrival time when the wavelet coefficient is maximum is respectively obtained and is respectively t 1 、t 2 、t 3 、t 4 The method comprises the steps of carrying out a first treatment on the surface of the Therefore, the time delay of the same broken wire signal acquired by the 4 sensors is delta t ij
Step three: transforming wavelet coefficients obtained by wavelet transformation to obtain frequency values f corresponding to the maximum wavelet coefficients in the steel wire fracture signals acquired by the 4 sensors 1 、f 2 、f 3 、f 4
Step four: in the dispersion curve of the guided wave propagating in a parallel steel wire bundle, find f 1 、f 2 、f 3 、f 4 Respectively corresponding longitudinal propagation velocity v Li And transverse propagation velocity v Fi
Step five: sensor coordinates (x 1 ,y 1 ,z 1 ),(x 2 ,y 2 ,z 2 ),(x 3 ,y 3 ,z 3 ),(x 4 ,y 4 ,z 4 ) The time delay of the same acquired broken wire signal is deltat ij And f 1 、f 2 、f 3 、f 4 Respectively corresponding longitudinal propagation velocity v Li And transverse propagation velocity v Fi Substituting the following formula, calculating to obtain the specific coordinate value of broken wire:
the propagation distance difference of the acoustic emission signal to the sensor S1 and the sensor S2 is a longitudinal propagation distance difference z 2 -z 1 When the acoustic emission signal propagates to the sensor S1 in the parallel wire bundle, the propagation speed of the signal along the longitudinal direction of the wire is set as v L1 The signal propagates to the sensor S2 at a speed v along the longitudinal direction of the wire L2 The method comprises the steps of carrying out a first treatment on the surface of the Subsequent arrival of acoustic emission signal at sensor S1The time difference of propagation to sensor S2 is denoted as Δt 12 =t 1 -t 2 The time difference can be expressed as:
when the acoustic emission signal propagates to the sensor S3, the propagation speed of the signal along the longitudinal direction of the steel wire is v L3 The signal propagates to the sensor S4 at a speed v along the longitudinal direction of the wire L4 The time difference between the arrival of the acoustic emission signal at sensor S3 and the continued propagation to sensor S4 is denoted as Δt 34 =t 3 -t 4 The time difference can be expressed as:
propagation z of acoustic emission signal of broken wire along length direction of steel wire 1 Then, the acoustic emission signals are respectively transmitted to the sensors S2 and S3 transversely, so that the distance difference between the acoustic emission signals transmitted to the sensors S2 and S3 is the distance difference of transverse transmissionWhen acoustic emission signal is transmitted to the sensor S2, the transverse transmission speed in the steel wire bundle is v F2 When the steel wire is propagated to the sensor S3, the transverse propagation speed in the steel wire bundle is v F3 The time difference of propagation of the acoustic emission signal to the sensor S2, S3 is Δt 34 =t 3 -t 4 Can be expressed as:
let the transverse propagation velocity of the acoustic emission signal propagate to the sensor S1 be v F1 The lateral propagation velocity v when propagating to the sensor S4 F4 The time difference of propagation of the acoustic emission signal to the sensor S2, S3 is Δt 14 =t 1 -t 4 The time difference can be expressed as:
from equation 1 and equation 4, equation 5 is obtained; synthesizing formulas 2,3 and 5, wherein the time difference deltat is shown in the formulas ij Propagation velocity v Fi ,v Li The method can be obtained by analyzing the acquired acoustic emission signals of broken wires, and the specific coordinates of the broken wires can be obtained by substituting the unknown quantity into a formula calculation, wherein the coordinates (x, y, z) of the broken wires are left;
2. the acoustic emission-based parallel wire cable damage spatial localization algorithm of claim 1, wherein there are 19 parallel wire bundles in one parallel wire bundle in step four.
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