CN113504299B - Underwater pressure-resistant spherical shell structure damage identification method based on time difference positioning - Google Patents
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Abstract
The application discloses a method for identifying damage of an underwater pressure-resistant spherical shell structure based on time difference positioning, which comprises the steps of arranging a piezoelectric sensor array on a spherical shell structure to be detected, dividing two piezoelectric sensors into one group and symmetrically about a spherical center, and dividing the piezoelectric sensors into three groups; optionally selecting one piezoelectric sensor in the first group as an excitation source, and receiving a spherical shell structure detection response signal by using four piezoelectric sensors of the second group and the third group as signal receiving sources; a piezoelectric sensor is selected from the second group as an excitation source, and the first group and the third group are used as signal receiving sources to receive the response signals of the spherical shell structure; a piezoelectric sensor is selected from the third group as an excitation source, and the first group and the second group are used as signal receiving sources to receive the response signals of the spherical shell structure; and acquiring the time difference of echo signals generated by the damage in the received response signals, and calculating the position of the damage according to the time difference. The application improves the accuracy of structural damage monitoring.
Description
Technical Field
The application relates to the technical field of structural health monitoring, in particular to an underwater pressure-resistant spherical shell structural damage identification method based on time difference positioning.
Background
The submersible is used as a large national weight device for exploring the unknown field of the ocean and maintaining the ocean interests, is also continuously paid more attention to by people, is in a very severe environment and bears huge seawater pressure, and has huge risks in underwater operation, wherein a pressure-resistant structure is used as a bearing support platform, is extremely important for the submersible, and the safety of the structure is a precondition for guaranteeing the normal operation of the submersible. Damage to the pressure-resistant structure can directly endanger lives of scientific researchers and cause failure of instruments and equipment, and can also cause damage to marine environments. Therefore, the health monitoring of the pressure-resistant structure is very important, the safe operation of the submersible can be effectively guaranteed through the health monitoring and the safety evaluation of the pressure-resistant structure, the probability of dangerous accidents is reduced, the pressure-resistant structure of the submersible is generally cylindrical, conical, spherical, ellipsoidal or combined, and the pressure-resistant housing of the submersible with the submergence depth of more than 800 meters is mostly in a spherical structure. At present, the technology for monitoring the structural health of an underwater pressure-resistant structure mainly comprises structural stress strain monitoring.
At present, most Lamb wave damage monitoring methods are based on reference signals, namely response signals in a structural health state are adopted as the reference signals, and the response signals in the current state are subtracted from the reference signals, so that damage conditions of the structure are obtained. However, since the collecting time of the reference signal is different from that of the current response signal, the external conditions during the collecting, such as ambient temperature, structural boundary, stress condition, external vibration and the like, generally change, and the internal conditions, such as the performance of the sensor itself, are also affected by factors such as temperature and the like, so that the damage scattering signal is easily submerged in the signal change and noise caused by the change of the internal and external conditions of the structure, which not only can make the damage detection difficult to obtain an accurate result, but also affects the real-time performance of the on-line monitoring.
In addition, when the reference signal is collected, if damage exists in the structure, the damage scattering signal generated by the damage cannot be extracted by the monitoring method based on the reference signal, and a correct damage monitoring result cannot be obtained; therefore, it is necessary to find a reference-free Lamb wave damage monitoring method which has a simple array mode, a small number and simpler signal processing.
Disclosure of Invention
This section is intended to outline some aspects of embodiments of the application and to briefly introduce some preferred embodiments. Some simplifications or omissions may be made in this section as well as in the description of the application and in the title of the application, which may not be used to limit the scope of the application.
The present application has been made in view of the above-described problems occurring in the prior art.
Therefore, the application provides a damage identification method of an underwater pressure-resistant spherical shell structure based on time difference positioning, which can solve the problems of damage positioning and monitoring of the underwater pressure-resistant structure.
In order to solve the technical problems, the application provides the following technical scheme: arranging piezoelectric sensor arrays on a spherical shell structure to be detected, dividing two piezoelectric sensors into three groups, wherein the piezoelectric sensors are symmetrical about a spherical center; optionally selecting one piezoelectric sensor in the first group as an excitation source, and receiving the response signals of the spherical shell structure by using the four piezoelectric sensors in the second group and the third group as signal receiving sources; optionally selecting one piezoelectric sensor in the second group as an excitation source, and taking the first group and the third group as signal receiving sources to receive the response signals of the spherical shell structure; optionally, one piezoelectric sensor in the third group is used as an excitation source, and the first group and the second group are used as signal receiving sources to receive the response signals of the spherical shell structure; and acquiring the time difference of echo signals generated by the damage in the received response signals, and calculating the position of the damage according to the time difference.
As a preferable scheme of the underwater pressure-resistant spherical shell structure damage identification method based on time difference positioning, the application comprises the following steps: six piezoelectric sensor arrays are arranged at the top, bottom, left, right, front and back vertexes of the pressure-resistant spherical shell structure to be tested, wherein two sensors are arranged to be one group and are symmetrical about the spherical center, the pressure-resistant spherical shell structure to be tested is divided into three groups, the top sensor and the bottom sensor are respectively a first group, the front sensor and the rear sensor are respectively a second group, and the left sensor and the right sensor are respectively a third group.
As a preferable scheme of the underwater pressure-resistant spherical shell structure damage identification method based on time difference positioning, the application comprises the following steps: selecting a No. 1 piezoelectric sensor in the first group as a signal excitation source, exciting Lamb waves in the structure to be detected, and simultaneously selecting a second group and a third group of four sensors as signal receiving sources, and respectively acquiring a pair of structure response signals corresponding to the current excitation source; then selecting a No. 2 sensor in the second group as an excitation source, and acquiring a pair of structural response signals corresponding to the current excitation source by taking the first group and the third group as signal receiving sources; and selecting a sensor No. 3 from the third group as an excitation source, and acquiring a pair of structural response signals corresponding to the current excitation source by taking the first group and the second group as signal receiving sources.
As a preferable scheme of the underwater pressure-resistant spherical shell structure damage identification method based on time difference positioning, the application comprises the following steps: the method comprises the steps of obtaining the time difference of two damage scattering signals corresponding to each group of structural response signals; observing the respective damage scattering signals in each pair of structure response signals respectively, judging the sequence of arrival of the peak values, and determining the positive and negative of the time difference; the distance between the lesion location and a pair of piezoelectric sensors as receivers is calculated.
As a preferable scheme of the underwater pressure-resistant spherical shell structure damage identification method based on time difference positioning, the application comprises the following steps: the method comprises the steps of substituting coordinates of piezoelectric sensors 1, 2 and 3 into a formula to convert chord length and central angle and arc length in a spherical coordinate system, and solving the actual arc length of chord length converted into Lamb wave transmission on the structural surface of the spherical shell.
As a preferable scheme of the underwater pressure-resistant spherical shell structure damage identification method based on time difference positioning, the application comprises the following steps: the method comprises the steps of bringing a time difference t1 obtained by the second group of sensors, a time difference t2 obtained by the third group of sensors and a wave speed v of Lamb waves transmitted in a spherical shell structure to be detected and obtained arc lengths s1, s2 and s3 into a formula to solve, and obtaining damage coordinates (x, y and z).
As a preferable scheme of the underwater pressure-resistant spherical shell structure damage identification method based on time difference positioning, the application comprises the following steps: comprises the steps ofCarrying out normalization processing on the structural response signals so as to eliminate errors caused by performance differences of the piezoelectric sensors; the normalization process is performed using the following formula: y=x/x max Wherein x is a structural response signal, x max And y is the normalized structural response signal, and is the maximum value of the structural response signal.
As a preferable scheme of the underwater pressure-resistant spherical shell structure damage identification method based on time difference positioning, the application comprises the following steps: the excitation Lamb wave signal is a five-period sine wave signal which is modulated by a Hanning window and has a center frequency of 200khz, the five-period sine wave signal is generated by a signal generator and amplified by a power amplifier and then applied to an excitation sensor, and a data acquisition card is used for acquiring signals of a corresponding receiving sensor to a computer for data processing and analysis.
The application has the beneficial effects that: the method has the advantages of simple array form, less number, simple experimental measurement operation, and realization of detection and monitoring of structural damage under the condition of no need of reference signals, thus being free from the influence of the change of the structure and external conditions, improving the accuracy of structural damage monitoring, having good engineering application operability without a large amount of structural response signal data and complex signal processing and calculating steps.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the description of the embodiments will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art. Wherein:
FIG. 1 is a schematic flow chart of a method for identifying damage to an underwater pressure-resistant spherical shell structure based on time difference positioning according to an embodiment of the application;
FIG. 2 is a schematic diagram of a spherical shell structure piezoelectric excitation/sensing array of an underwater pressure-resistant spherical shell structure damage identification method based on time difference positioning according to an embodiment of the application;
FIG. 3 is a schematic diagram of an experimental flow chart of an underwater pressure-resistant spherical shell structure damage identification method based on time difference positioning according to an embodiment of the application;
FIG. 4 is a schematic view of Lamb waves with five-cycle center frequency of 200khz according to an embodiment of the application for identifying damage to an underwater pressure-resistant spherical shell structure based on time difference positioning;
FIG. 5 is a schematic diagram showing corresponding signals received by piezoelectric sensors No. 2 and No. 4 of an underwater pressure-resistant spherical shell structure damage identification method based on time difference positioning according to an embodiment of the present application;
fig. 6 is a schematic diagram of corresponding signals received by the piezoelectric sensors No. 3 and No. 6 of the method for identifying damage to the structure of the underwater pressure-resistant spherical shell based on time difference positioning according to an embodiment of the present application.
Detailed Description
So that the manner in which the above recited objects, features and advantages of the present application can be understood in detail, a more particular description of the application, briefly summarized above, may be had by reference to the embodiments, some of which are illustrated in the appended drawings. All other embodiments, which can be made by one of ordinary skill in the art based on the embodiments of the present application without making any inventive effort, shall fall within the scope of the present application.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present application, but the present application may be practiced in other ways other than those described herein, and persons skilled in the art will readily appreciate that the present application is not limited to the specific embodiments disclosed below.
Further, reference herein to "one embodiment" or "an embodiment" means that a particular feature, structure, or characteristic can be included in at least one implementation of the application. The appearances of the phrase "in one embodiment" in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments.
While the embodiments of the present application have been illustrated and described in detail in the drawings, the cross-sectional view of the device structure is not to scale in the general sense for ease of illustration, and the drawings are merely exemplary and should not be construed as limiting the scope of the application. In addition, the three-dimensional dimensions of length, width and depth should be included in actual fabrication.
Also in the description of the present application, it should be noted that the orientation or positional relationship indicated by the terms "upper, lower, inner and outer", etc. are based on the orientation or positional relationship shown in the drawings, are merely for convenience of describing the present application and simplifying the description, and do not indicate or imply that the apparatus or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present application. Furthermore, the terms "first, second, or third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
The terms "mounted, connected, and connected" are to be construed broadly in this disclosure unless otherwise specifically indicated and defined, such as, for example: can be fixed connection, detachable connection or integral connection; it may also be a mechanical connection, an electrical connection, or a direct connection, or may be indirectly connected through an intermediate medium, or may be a communication between two elements. The specific meaning of the above terms in the present application will be understood in specific cases by those of ordinary skill in the art.
Example 1
Referring to fig. 1, for a first embodiment of the present application, a method for identifying damage to an underwater pressure-resistant spherical shell structure based on time-difference positioning is provided, including:
s1: and arranging a piezoelectric sensor array on the spherical shell structure to be detected, wherein two piezoelectric sensors are divided into three groups which are symmetrical about the spherical center.
S2: and optionally selecting one piezoelectric sensor in the first group as an excitation source, and receiving the spherical shell structure response signals by using the four piezoelectric sensors in the second group and the third group as signal receiving sources.
S3: and a piezoelectric sensor is selected from the second group as an excitation source, and the first group and the third group are used as signal receiving sources to receive the response signals of the spherical shell structure.
S4: and a piezoelectric sensor is selected from the third group as an excitation source, and the first group and the second group are used as signal receiving sources to receive the response signals of the spherical shell structure.
S5: and acquiring the time difference of echo signals generated by the damage in the received response signals, and calculating the position of the damage according to the time difference.
Specifically, referring to fig. 2 and 3, the embodiment needs to be further described in detail as follows:
six piezoelectric sensor arrays are arranged at the upper vertex, the lower vertex, the left vertex, the right vertex, the front vertex and the rear vertex of the pressure-resistant spherical shell structure to be tested, wherein two sensors are arranged as a group and are symmetrical about the spherical center, the pressure-resistant spherical shell structure to be tested is divided into three groups, the upper sensor and the lower sensor are respectively a first group, the front sensor and the rear sensor are respectively a second group, and the left sensor and the right sensor are respectively a third group.
Selecting a No. 1 piezoelectric sensor in the first group as a signal excitation source, exciting Lamb waves in a structure to be detected, and simultaneously selecting a second group and a third group of four sensors as signal receiving sources, and respectively acquiring a pair of structure response signals corresponding to the current excitation source;
then selecting a No. 2 sensor in the second group as an excitation source, and acquiring a pair of structural response signals corresponding to the current excitation source by taking the first group and the third group as signal receiving sources;
and selecting a sensor No. 3 in the third group as an excitation source, and acquiring a pair of structural response signals corresponding to the current excitation source by taking the first group and the second group as signal receiving sources.
Acquiring the time difference of two damage scattering signals corresponding to each group of structure response signals;
observing respective damage scattering signals in each structure response signal respectively, judging the sequence of arrival of peaks, and determining the positive and negative of the time difference;
the distance between the lesion location and a pair of piezoelectric sensors as receivers is calculated.
Further, calculating the loss location includes:
x 2 +y 2 +z 2 ＝r 2
wherein v is the wave velocity, r is the sphere radius; (x, y, z) is used for obtaining a damage coordinate; (x 1, y1, z 1), (x 2, y2, z 2), (x 3, y3, z 3) are sensor coordinates 1, 2 and 3 respectively, and s1, s2 and s3 are sensors 1, 2 and 3 respectively and the distance of the damage on the arc length of the surface of the ball; θ1, θ2, and θ3 are central angles corresponding to s1, s2, and s3, respectively; l1, l2, l3 are chord lengths corresponding to s1, s2, s3 respectively; and t1 and t2 are respectively the difference between the arrival time of the wave crest of the direct wave at the excitation point and the arrival time of the wave crest of the first echo at the receiving point.
Substituting the coordinates of the piezoelectric sensors 1, 2 and 3 into a formula to convert the chord length and central angle and the central angle and arc length in the spherical coordinate system, and solving the actual arc length of the chord length converted into Lamb wave transmission on the surface of the spherical shell structure.
And carrying the time difference t1 obtained by the second group of sensors, the time difference t2 obtained by the third group of sensors, the wave velocity v of Lamb waves transmitted in the spherical shell structure to be measured, and the obtained arc lengths s1, s2 and s3 into a formula to solve, and obtaining damage coordinates (x, y and z).
Normalizing all the acquired structural response signals to eliminate errors caused by the performance difference of each piezoelectric sensor;
normalization is performed using the following formula: y=x/x max
Wherein x is a structural response signal, x max And y is the normalized structural response signal, and is the maximum value of the structural response signal.
The excited Lamb wave signal is five-period sine wave signal which is modulated by a Hanning window and has the center frequency of 200khz, the five-period sine wave signal is generated by a signal generator and amplified by a power amplifier and then applied to an excitation sensor, and the signals of a corresponding receiving sensor are acquired by a data acquisition card and are sent to a computer for data processing and analysis.
Repeating the data obtained in the step S3 and the step S4 according to the step S5, and finally, averaging the obtained three groups of coordinates to obtain the final damage coordinates.
Preferably, the embodiment also needs to explain that Lamb wave is used as a detection means commonly used in engineering, has the advantages of reduced attenuation, long transmission distance, sensitivity to tiny damage, capability of realizing large-area active on-line monitoring of the structure, accurate and reliable damage monitoring result, capability of detecting early damage existing in the shell structure to a certain extent and timely maintaining, and capability of avoiding structural failure and safety accidents.
Example 2
Referring to fig. 2 to 6, in a second embodiment of the present application, which is different from the first embodiment, an experimental test of an underwater pressure-resistant spherical shell structure damage identification method based on time difference positioning is provided, and specifically includes:
(1) Six piezoelectric sensor arrays are arranged on the upper vertex, the lower vertex, the left vertex, the right vertex, the front vertex and the rear vertex of a pressure-resistant spherical shell structure to be tested, wherein two piezoelectric sensor arrays are symmetrical about the spherical center and divided into three groups, the upper sensor array and the lower sensor array are respectively a first group, the front sensor array and the rear sensor array are respectively a second group and the left sensor array and the right sensor array are respectively a third group.
Referring to fig. 2, the piezoelectric excitation/sensing array is composed of 6 piezoelectric ceramic sensors in total, the structure to be measured is a TC4 titanium alloy material spherical shell, the radius of the spherical shell is 200mm, the thickness is 5mm, the center of the sphere is used as the origin of coordinates, and the coordinates of the piezoelectric sensors are shown in table 1;
table 1: piezoelectric sensor coordinates (unit: mm).
The damage form in the experiment is set as typical corrosion damage, the diameter is 5mm, the center position is (0, 0), the unit is mm, and in experimental measurement, the piezoelectric sensor is adhered to the surface of the spherical shell structure to be tested through epoxy resin glue and leads out the anode and the cathode through welding.
(2) The hardware part used by the detection method is the same as that of the traditional method monitoring system, and generally consists of the following parts: the system comprises an industrial control computer, a signal generator, a power amplifier, a digital oscilloscope and a data acquisition card, wherein an excitation signal is generated by the signal generator, is loaded on an excitation source after passing through the power amplifier, and is excited by adjusting the frequency; the structural response signals are analyzed by uniformly entering the computer after the signals received by the receiver are acquired by the data acquisition card; the sampling frequency was set to 10MHz and the sampling points were 10000.
(3) The method comprises the steps of selecting a sensor No. 1 as an excitation source in a first group, selecting four sensors No. 2, no. 3, no. 5 and No. 6 as signal receiving source receiving structure response signals, selecting a sensor No. 2 as the excitation source in a second group, selecting a sensor No. 1, no. 3, no. 4 and No. 6 as the signal receiving source receiving structure response signals, selecting a sensor No. 3 as the excitation source in a third group, and selecting a sensor No. 1, no. 2, no. 4 and No. 5 as the signal receiving source receiving structure response signals, and respectively acquiring the structure response signals of the excitation sources No. 1, no. 2 and No. 3.
Referring to fig. 4, in this embodiment, the excitation signal is a sine signal with 5 periods modulated by a hanning window, the center frequency is 200khz, the time domain waveform and the frequency domain waveform of the excitation signal are respectively shown in fig. 4, and the sine signal modulated by the hanning window is adopted, so that the signal energy is more concentrated, and the waveform change is more stable.
Referring to fig. 5 and 6, when the sensor No. 1 is used as an excitation source, signals received by the piezoelectric sensors No. 2 and 5 are shown in fig. 5, signals received by the piezoelectric sensors No. 3 and 6 are shown in fig. 6, wherein the direct sensing signal is a signal with a relatively large peak value of a first wave packet and a relatively clear waveform, the damage scattered signal is a signal with a relatively small peak value of a later wave packet, according to the schematic diagrams of fig. 5 and 6, the direct sensing signal and the damage scattered signal are obviously separated, but sometimes overlap, the direct sensing signals in the structure response signals No. 2 and 5 are basically consistent, the damage scattered signals are obviously different, and the damage exists in the structure to be detected, the distances between the two sensors are not equal, and the signals received by the sensor No. 3 and 6 are the same.
It should be noted that the above embodiments are only for illustrating the technical solution of the present application and not for limiting the same, and although the present application has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that the technical solution of the present application may be modified or substituted without departing from the spirit and scope of the technical solution of the present application, and it should be covered in the scope of the claims of the present application.
Claims (1)
1. An underwater pressure-resistant spherical shell structure damage identification method based on time difference positioning is characterized by comprising the following steps of: six piezoelectric sensor arrays are arranged at the top, bottom, left, right, front and back vertexes of a spherical shell structure to be detected, wherein two sensors are arranged as a group and are symmetrical about a spherical center, the two sensors are divided into three groups, the top and bottom two sensors are a first group, the front and back two sensors are a second group, and the left and right two sensors are a third group;
selecting a No. 1 piezoelectric sensor in the first group as a signal excitation source, exciting Lamb waves in a spherical shell structure to be detected, and simultaneously selecting a second group and a third group of four sensors as signal receiving sources, and respectively acquiring a pair of structure response signals corresponding to the current excitation source;
then selecting a No. 2 sensor in the second group as an excitation source, and acquiring a pair of structural response signals corresponding to the current excitation source by taking the first group and the third group as signal receiving sources;
then selecting a No. 3 sensor in the third group as an excitation source, and acquiring a pair of structural response signals corresponding to the current excitation source by taking the first group and the second group as signal receiving sources;
acquiring the time difference of two damage scattering signals corresponding to each group of structure response signals;
observing respective damage scattering signals in each structure response signal respectively, judging the sequence of arrival of peaks, and determining the positive and negative of the time difference;
calculating the distance between the damage position and a pair of piezoelectric sensors serving as receivers;
acquiring the time difference of echo signals generated by damage in the received response signals, and calculating the position of the damage according to the time difference;
calculating the loss location includes:
x 2 +y 2 +z 2 ＝r 2
wherein v is the wave velocity, r is the sphere radius; (x, y, z) is to obtain damage coordinates, (x 1, y1, z 1), (x 2, y2, z 2), (x 3, y3, z 3) are sensor coordinates of No. 1, no. 2 and No. 3 respectively, s1, s2 and s3 are distances between No. 1, no. 2 and No. 3 sensors and the arc length of the damage on the surface of the ball, θ1, θ2 and θ3 are central angles corresponding to s1, s2 and s3 respectively, l1, l2 and l3 are chord lengths corresponding to s1, s2 and s3 respectively, and t1 and t2 are differences between the arrival time of the direct wave peak of the excitation point and the arrival time of the first echo wave peak of the receiving point respectively;
substituting coordinates of piezoelectric sensors 1, 2 and 3 into a formula to convert chord length and central angle and arc length in a spherical coordinate system, and solving the actual arc length of chord length converted into Lamb wave transmission on the surface of the spherical shell structure;
the method comprises the steps of bringing a time difference t1 obtained by a second group of sensors, a time difference t2 obtained by a third group of sensors, a wave speed v of Lamb waves transmitted in a spherical shell structure to be detected and the obtained arc lengths s1, s2 and s3 into a formula to solve, and obtaining damage coordinates (x, y and z);
the method comprises the steps of carrying out normalization processing on all acquired structure response signals so as to eliminate errors caused by performance differences of piezoelectric sensors;
normalization is performed using the following formula:
y＝x/x max
wherein x is a structural response signal, x max The maximum value of the structural response signal is represented by y, and the normalized structural response signal is represented by y;
the excitation sensor is used for receiving signals of the corresponding receiving sensor, and the excitation sensor is used for receiving signals of the corresponding receiving sensor through a data acquisition card.
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