CN113533513A - Real-time monitoring method and monitoring device for steel rail damage - Google Patents
Real-time monitoring method and monitoring device for steel rail damage Download PDFInfo
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Abstract
The invention discloses a real-time monitoring method and a monitoring device for steel rail damage, wherein the method comprises the following steps: dividing a steel rail to be monitored into at least one steel rail monitoring section, and symmetrically arranging at least one group of piezoelectric sensor arrays on two sides of any datum line of the steel rail monitoring section, wherein any group of piezoelectric sensor arrays comprises an excitation sensor and a receiving sensor; collecting lamb wave response signals on symmetrical propagation paths at two sides of a reference line respectively according to the propagation paths of each group of excitation sensors and receiving sensors; compensating the lamb wave response signal to obtain a reconstructed signal; and comparing the reconstructed signals on the two sides of the reference line, and if the maximum change value of the difference signal of the reconstructed signals is greater than a preset threshold value, sending the information that the damage exists in the steel rail monitoring section. According to the technical scheme of the embodiment of the invention, the damage condition of the steel rail with the symmetrical structure can be determined without acquiring the initial undamaged reference signal of the monitored structure, so that the monitoring efficiency of the non-reference symmetrical structure is improved.
Description
Technical Field
The invention relates to the technical field of steel rail monitoring, in particular to a real-time steel rail damage monitoring method and a monitoring device thereof.
Background
With the rapid development of the business mileage and the passenger and freight volume of the railway, the number of the steel rails in service is more and more, and the number of the steel rails in heavy load work is also continuously increased. The steel rail is required to bear the extrusion and impact of train wheels for a long time during service, the working condition is severe, the stress borne by the steel rail is concentrated, and various damages such as bending deformation, abrasion, corrosion, surface defects, cracks, crushing, stripping and chipping and the like can be avoided after the steel rail is used for a long time. The steel rail is used as ground foundation equipment, and the working state of the steel rail directly influences the transportation safety of the train. The train passes through the damaged steel rail, so that huge potential safety hazards are brought, and even major driving accidents such as derailment, overturn and the like can be caused. The major driving accidents of train derailment and overturn caused by damage are told to us, the damage of the steel rail is strengthened for real-time monitoring, and the method has great significance for guaranteeing the safe operation of the train.
At present, the mode widely used for steel rail health detection is mainly ultrasonic non-destructive testing (NDT), which utilizes the characteristics of sound, light, magnetism and the like to detect the internal defects of the steel rail and determine the position, the size and the like of the defects on the premise of not damaging and influencing the performance of the steel rail. The rail flaw detection vehicle adopts an ultrasonic nondestructive detection technology to realize rail flaw detection. The application of the steel rail flaw detection vehicle in detecting the health state of the steel rail is elaborated in a steel rail flaw detection vehicle operation management method released by the national railway administration in 2012. The detection items mainly comprise a steel rail head, a fastener, steel rail wave abrasion, a welding seam and the like. However, the detection effect of the flaw detection vehicle is greatly influenced by the roughness, cleanliness and geometric shape of the surface of the steel rail, so that the detection efficiency of the rail flaw detection vehicle on the complex parts such as the welding seam and the rail bottom of the steel rail is low.
In addition to ultrasonic nondestructive testing, at present, the most studied modes in the aspect of rail damage detection at home and abroad mainly include ultrasonic testing, manual inspection, ray testing, magnetic powder testing, eddy current testing and the like.
The ultrasonic detection can be specifically classified into electromagnetic ultrasonic detection (EMAT) and laser ultrasonic detection. The ultrasonic detection technology is the most widely applied technology in the current steel rail health detection.
Electromagnetic ultrasonic testing (EMAT): electromagnetic coupling is used to excite and receive ultrasonic waves. EMATs do not require physical contact of the sensor with the surface of the workpiece being inspected and therefore do not require grinding. The remote operation can be realized for high-temperature components, and the flaw detection can be realized by using a cooling cycle to keep the temperature constant. However, the EMAT probe is provided with the protective layer, and when the sum of the thickness of the protective layer and the distance from the surface of the protective layer to the surface of the structure to be detected is larger than 1mm, the detection signal of the EMAT probe is poor, and the detection result is influenced. Chahbaz detects the health state of the steel rail by using body stress waves and guided stress waves generated by an EMAT probe. The Wen small source realizes long-distance detection of the rail damage by optimizing the piezoelectric ultrasonic transducer.
Laser ultrasonic detection: the sound wave is generated by using a pulse laser beam in a closed medium space, and the nondestructive detection of the structure is realized by detecting the sound wave. Jiang proposes a quantitative detection method combining a non-contact laser ultrasonic detection technology and Variable Mode Decomposition (VMD), and realizes visual detection of the inclined cracks on the surface of the rail head of the steel rail [17 ]. Pathak proposes a rail foot crack detection technology based on laser-induced ultrasonic guided wave propagation finite element simulation.
The manual inspection tour belongs to a traditional detection method, wherein the manual inspection tour mainly comprises three modes (1) of mechanical measurement; (2) non-contact measurement means. Dynamic monitoring of, for example, a sanding vehicle in combination with a rail inspection vehicle; (3) and (4) a portable monitoring mode. The traditional detection method can judge the abrasion of the steel rail by measuring the outline dimension of the steel rail, is simple to operate, and has the defects of low automatic detection degree, low efficiency, large workload, large influence of human factors, poor reliability, high cost, poor adaptability to dense railway lines and the like.
Ray detection: and (5) transilluminating the tested structure by utilizing the ray diffraction characteristic to check the internal defects of the tested structure. Mcnulty adopts a ray detection system to detect the welding defects inside the welding seams of the thermite welded steel rails. Xujie proposes to detect the stainless steel transition layer at the U-shaped groove of the steel rail and the frog by ray to realize the identification of the weld damage of the steel rail.
Magnetic powder detection: by magnetizing a workpiece made of a ferromagnetic material, magnetic lines of force are passed. When magnetic flux is from one medium to another medium, if the magnetic permeability is the same, magnetic lines of force are uniformly distributed in the workpiece; the magnetic permeability is different, the direction of the magnetic force line on the interface can be suddenly changed, and the leakage magnetic field is formed on the surface of the workpiece to cause the magnetic powder to be gathered into a magnetic trace phenomenon to judge the defect. Beijing railway science instruments and equipment Co., Ltd is used for researching the advantages and disadvantages of using magnetic powder to detect the surface defects of the steel rail, and introduces the application of the magnetic powder detection in the engineering section. Zhuxin analyzes common defects and causes of the common defects of the turnout steel rail, and magnetic powder detection is adopted to observe the magnetic trace characteristics of different defects.
Eddy current detection: the structure damage is detected based on the electromagnetic induction principle, the test piece is not required to be damaged and contacted, and the method is commonly used for detecting the defects of cracks, holes, impurities and the like on the surface of the structure. The defects of eddy current detection mainly include that the eddy current detection is not suitable for detecting complex structures, the detection depth is shallow, and the requirements on the material and the shape of a test piece are high. Kishore studied rail head surface cracks and rail head surface dimple defects using eddy current technology. The EV uses a multichannel eddy current flaw detector to detect the damage of the bolt joint, the flash welding steel rail welding seam and the thermit steel rail welding seam which are connected by a straight rail or an inclined rail.
The above nondestructive detection modes all have the defects of interference on normal operation of the train, long time consumption, limitation on structural surface detection, incapability of realizing real-time monitoring, difficulty in detection of special parts (such as welding seams, turnout railheads and the like) of the steel rail, high requirements on manpower and material resources and the like. These shortcomings not only lead to missed detection and false detection, but also fail to realize timely early warning. This is contradictory with the growing higher requirement rail damage detection requirement, and the industry is in urgent need of a new means to realize accurate and efficient identification and monitoring of rail weld damage.
Disclosure of Invention
In view of this, an object of the embodiments of the present invention is to provide a general rail damage real-time monitoring method and a rail damage real-time monitoring device with high execution efficiency and high accuracy.
In order to achieve the above object, an embodiment of the present invention provides a method for monitoring rail damage in real time, including:
dividing a steel rail to be monitored into at least one steel rail monitoring section, and symmetrically arranging at least one group of piezoelectric sensor arrays on two sides of any datum line of the steel rail monitoring section, wherein any group of piezoelectric sensor arrays comprises an excitation sensor and a receiving sensor;
collecting lamb wave response signals on symmetrical propagation paths at two sides of the datum line respectively according to the propagation paths of each group of the excitation sensor and the receiving sensor;
carrying out consistency compensation on the lamb wave response signals to obtain reconstructed signals;
comparing the reconstruction signals on two sides of the reference line, calculating a difference signal of the reconstruction signals, and if the maximum change value of the difference signal is greater than a preset threshold value, sending information that damage exists in the steel rail monitoring section; otherwise, sending the information that no damage exists in the steel rail monitoring section.
Preferably, the consistency compensation calculation formula is:
wherein, ErrormaxRepresenting the compensated relative error value; u. ofinitial(t) represents an initial measurement signal; u. ofnewAnd (t) represents a reconstructed signal.
Preferably, the consistency compensation is performed on the lamb wave response signal to obtain a reconstructed signal, and the method comprises the following steps:
hilbert transformation is carried out on the lamb wave response signals to obtain transformed lamb wave response signals;
the Lamb wave response signals after Hilbert transformation are as follows:
wherein g (t) represents the real part of the complex analytic function;
represents the imaginary part of a complex analytic function, and
a (t) represents the instantaneous amplitude of g (t); φ (t) represents the instantaneous phase of g (t).
Preferably, the method comprises:
wherein, the excitation sensor is one or more;
when the excitation sensor is one, a propagation path can be generated in cooperation with any other receiving sensor.
Preferably, after collecting lamb wave response signals on symmetric propagation paths on both sides of the reference line according to the propagation paths of each group of the excitation sensor and the receiving sensor, the method further includes:
and denoising the lamb wave response signals of the symmetrical paths by adopting a convolution smoothing method.
Preferably, the preset threshold is 0.08V.
Preferably, the datum line comprises at least a rail weld.
The embodiment of the invention also provides a device for monitoring the damage of the steel rail in real time, which comprises:
the device comprises an arrangement module, a detection module and a control module, wherein the arrangement module is used for dividing a steel rail to be monitored into at least one steel rail monitoring section, and at least one group of piezoelectric sensor arrays are symmetrically arranged on two sides of any datum line of the steel rail monitoring section, wherein any group of piezoelectric sensor arrays comprises an excitation sensor and a receiving sensor;
the acquisition module is used for respectively acquiring lamb wave response signals on symmetrical propagation paths at two sides of the datum line according to the propagation paths of each group of the excitation sensor and the receiving sensor;
the compensation module is used for carrying out consistency compensation on the lamb wave response signals to obtain reconstructed signals;
the judging module is used for comparing the reconstruction signals on the two sides of the reference line, calculating a difference signal of the reconstruction signals, and sending information that the steel rail monitoring section is damaged if the maximum change value of the difference signal is greater than a preset threshold value; otherwise, sending the information that no damage exists in the steel rail monitoring section.
Preferably, the calculation formula of the consistency compensation and the pressure compensation is as follows:
wherein, ErrormaxRepresenting the compensated relative error value; u. ofinitial(t) represents an initial measurement signal; u. ofnewAnd (t) represents a reconstructed signal.
Preferably, the compensation module comprises a transformation submodule; the transformation submodule is used for carrying out Hilbert transformation on the lamb wave response signals so as to obtain transformed lamb wave response signals;
the Lamb wave response signals after Hilbert transformation are as follows:
wherein g (t) represents the real part of the complex analytic function;
represents the imaginary part of a complex analytic function, and
a (t) represents the instantaneous amplitude of g (t); φ (t) represents the instantaneous phase of g (t).
Compared with the prior art, the embodiment of the invention has the following beneficial effects: according to the technical scheme of the embodiment of the invention, piezoelectric sensor arrays are symmetrically arranged on two sides of any datum line of the steel rail monitoring interval, then lamb wave response signals on each propagation path are collected according to the propagation paths of the excitation sensor and the receiving sensor of each group of piezoelectric sensors, consistency compensation is carried out on the lamb wave response signals to obtain reconstruction signals, the reconstruction signals on two sides of the datum line are calculated to obtain difference signals, and if the maximum change value of the difference signals is greater than a preset threshold value, damage information exists in the steel rail monitoring interval; otherwise, the information that the damage does not exist in the steel rail monitoring section is described; the invention can realize the following beneficial effects:
(1) the damage condition of the steel rail with the symmetrical structure can be determined without acquiring an initial undamaged reference signal of the monitored structure, so that the monitoring efficiency of the non-reference symmetrical structure is improved;
(2) by compensating the response signal, the feasibility of damage monitoring may be improved.
Drawings
FIG. 1 is a flow chart of an embodiment of a real-time rail damage monitoring method of the present invention;
fig. 2(a) is a comparison of response signals of compensated symmetric paths (L2, L11) under the condition of no damage in the embodiment of the real-time rail damage monitoring method of the present invention;
fig. 2(b) is a graph of the response signal comparison envelope of the compensated symmetric path (L2, L11) under the condition of no damage in the embodiment of the real-time rail damage monitoring method of the present invention;
FIG. 2(c) is a comparison of the compensated response signals of the symmetric paths (L2, L11) in case of damage according to the embodiment of the real-time rail damage monitoring method of the present invention;
FIG. 2(d) is a graph of the compensated response signals of the symmetric paths (L2, L11) versus the envelope in case of damage according to the embodiment of the real-time rail damage monitoring method of the present invention;
fig. 3(a) is a comparison of response signals of compensated symmetric paths (L7, L16) under the condition of no damage in the embodiment of the real-time rail damage monitoring method of the present invention;
fig. 3(b) is a graph of the response signal comparison envelope of the compensated symmetric path (L7, L16) under the condition of no damage in the embodiment of the real-time rail damage monitoring method of the present invention;
FIG. 3(c) is a comparison of the compensated response signals of the symmetric paths (L7, L16) under the condition of damage according to the embodiment of the real-time rail damage monitoring method of the present invention;
FIG. 3(d) is a graph of the compensated response signal versus envelope of the symmetric path (L7, L16) under the condition of damage according to the embodiment of the real-time rail damage monitoring method of the present invention;
FIG. 4 is a graph comparing differential signals of compensated symmetrical paths (L2, L11) according to an embodiment of the real-time rail damage monitoring method of the present invention;
FIG. 5 is a graph comparing differential signals of compensated symmetrical paths (L7, L16) according to an embodiment of the real-time rail damage monitoring method of the present invention;
fig. 6 is a schematic view of an embodiment of the real-time rail damage monitoring device of the present invention.
Detailed Description
The following detailed description of embodiments of the present invention is provided in connection with the accompanying drawings and examples. The following examples are intended to illustrate the invention but are not intended to limit the scope of the invention.
The nondestructive detection modes in the prior art have the advantages of interfering the normal operation of a train, being long in time consumption, being limited to the detection of the surface of a structure, and being incapable of realizing real-time monitoring, so that the detection omission and the false detection are caused, and the early warning can not be realized in time. The technical scheme of the embodiment provides a method for Monitoring the damage of a steel rail in real time by adopting a Lamb wave (Lamb wave) based structural Health Monitoring technology (SHM).
The SHM method can realize real-time monitoring and damage early warning on the structure, feed back the health state of the structure in time, acquire data by using a field nondestructive sensing technology, and analyze and monitor the damage of the structure or early-stage degradation of the early warning structure by analyzing signals. The realization of the SHM is divided into active monitoring and passive monitoring, wherein the active monitoring can directly discover existing or potential defects compared with the passive monitoring, and the passive monitoring cannot directly evaluate whether the structure is damaged or not.
The Lamb wave-based SHM method belongs to an active monitoring method, and can realize long-term installation of a sensor on the surface of a structure and meet the requirement of long-term damage monitoring. Lamb wave is one kind of ultrasonic guided wave, can realize in the structure with less energy loss propagation long distance, can realize long distance large tracts of land structure health monitoring.
Compared with the common nondestructive detection technology, the Lamb wave-based SHM has the advantages that (1) the structure is monitored in real time, and early warning can be timely carried out when damage occurs; (2) the special parts of the steel rail can be detected, and the monitoring structure range is enlarged; (3) the normal operation of the railway train is not influenced; (4) the operation is simple, and manpower and material resources are saved; (5) large-range rapid detection; (6) the method is suitable for complex structures; (7) the detection cost is low; (8) the service time is long.
The Lamb wave-based SHM method can be divided into the following 4 steps:
(1) selecting a proper piezoelectric ceramic sensor as an excitation and receiving sensor, and setting parameters such as corresponding excitation center frequency, center amplitude, time delay and the like for the sensor;
(2) arranging a sensor on a structure to be measured to construct a propagation path;
(3) generating an excitation signal by using an excitation sensor, and receiving a Lamb wave signal by using a receiving sensor;
(4) and carrying out data analysis processing on the received signals, and further carrying out damage identification.
The technical solution of the present invention will be described in detail with reference to specific examples.
Fig. 1 is a flowchart of an embodiment of a method for monitoring rail damage in real time according to the present invention, and as shown in fig. 1, the method for monitoring rail damage in real time according to the embodiment may specifically include the following steps:
s101, dividing a steel rail to be monitored into at least one steel rail monitoring interval, and symmetrically arranging at least one group of piezoelectric sensor arrays on two sides of any datum line of the steel rail monitoring interval, wherein any group of piezoelectric sensor arrays comprises an excitation sensor and a receiving sensor;
for convenience in description, the technical scheme of the invention takes the welding seam as an example, and takes the welding seam as a datum line to detect the damage condition of the steel rail near the welding seam. The technical scheme of the invention is not limited to weld detection, and any position can be selected as a datum line in specific implementation, and the damage condition of the steel rail can be detected only by symmetrically arranging piezoelectric sensor arrays on two sides of the datum line.
Considering that the steel rail has serious boundary reflection, the length of the steel rail monitoring section is selected to be at least 50 meters, and the selected welding line is the middle section of the steel rail, so that the boundary reflection phenomenon caused by the section of the steel rail can be greatly reduced.
The present embodiment employs a piezoelectric ceramic sheet (abbreviated as PZT) as the piezoelectric sensor. The piezoelectric ceramic plate is made of PZT-5J and has a diameter of 7 mm. Compared with the common piezoelectric ceramic piece, the piezoelectric sensor has the advantages of being not fragile, convenient to carry, capable of being repeatedly used in a test and the like. In addition, the sensor is excellent in driving, sensing and signal acquisition, and the piezoelectric property and the interface property are in a stable state. The specific parameters of this type of sensor are shown in table 1-1:
TABLE 1-1 PZT-5J Performance parameters
And S102, collecting lamb wave response signals on symmetrical propagation paths at two sides of the datum line respectively according to the propagation paths of each group of the excitation sensor and the receiving sensor.
It is noted that PZT can act as both an excitation sensor and a reception sensor. When arranging an array of piezoelectric transducers, one of the appropriately positioned PZTs can be selected as the excitation transducer, as long as the propagation path is a symmetrical path. Or the PZT at one side of the datum line can be transmitted in pairs to form a plurality of transmission paths. The present embodiment adopts the second mode.
In one embodiment, a 2cm wide weld is selected as a reference line, and 3 pZTs, 6 pZTs, are symmetrically disposed on both sides of the weld, and are represented by P1-P6. The distance between the central points of the sensors P1 and P4 and the top of the steel rail is 6 cm. The sensor is arranged in the following mode: the sensors are symmetrically arranged on two sides of the welding seam, the center line of the welding seam is used as a y-axis, and the straight lines where the P3 and the P6 are located are used as an x-axis to establish a coordinate system. The coordinates of the sensor can be obtained as shown in tables 1-2.
TABLE 1-2 Rail weld sensor array (unit: mm)
In one embodiment, to ensure the analyzability of the response signals acquired at the rail weld, the propagation paths at multiple parameter settings may be acquired. In another embodiment, in order to reduce the interference of several sensors receiving response signals at the same time, the next group of collected signals must wait for the signals of the previous group to dissipate before a new cycle of collected signals can be started.
The embodiment collects 18 Lamb wave response signal propagation paths in a symmetrical piezoelectric sensor array. The corresponding sensor numbers in the respective propagation paths are shown in tables 1 to 3.
TABLE 1-3 Lamb wave signal propagation paths and sensor numbering
The symmetrical paths of the response signals acquired at the rail weld can be seen in tables 1-4:
TABLE 1-4 Signal symmetry Path
And S103, carrying out consistency compensation on the lamb wave response signals to obtain reconstructed signals.
In fact, Lamb wave signal uniformity compensation falls into two broad categories, including sensor performance compensation and pressure compensation.
The pressure compensation refers to performing phase compensation and amplitude compensation on the received Lamb wave response signals under different pressures. And (5) obtaining a corresponding compensation index. Firstly, instantaneous amplitude and instantaneous phase information of a Lamb signal are obtained by using Hilbert (Hilbert in English) transformation, a corresponding amplitude compensation index is obtained by combining a Logistic model, pressure compensation is carried out by reconstructing a received signal, and adverse effects caused by a pressure effect are removed.
According to the Hilbert transform, the Lamb wave response signal received by the rail joint is u (t), and the corresponding analytical expression can be expressed as:
wherein u (t) represents a lamb wave response signal.
The instantaneous amplitude A (t) and instantaneous phase φ (t) of the Lamb wave response signal can be expressed as:
wherein u (t) represents a lamb wave response signal.
The reference signal received by the structure is set to uo(t) is expressed at a pressure FOCollected under the condition; let each measurement signal be uF(t), representing the collection at pressure F. And calculating a corresponding phase compensation index and amplitude compensation index between the two signals, and correcting the current signal by using the phase compensation index and the amplitude compensation index to finish pressure compensation.
Wherein phi isF(t) represents the instantaneous phase at pressure F; phi is aB(t) represents an instantaneous phase at a reference pressure; a (F) represents the instantaneous amplitude at pressure F; gB(t) represents an analytical expression at the reference pressure; gF(t) represents an analytical expression under pressure F.
The instantaneous phase difference is obtained from the formula (2) while
Also known as phase compensation index.
The phase shows a trend of a horizontal line with the change of the pressure. But to avoid the influence of measurement errors on the phase of the measurement signal. The phases of the two reference signals are therefore selected to correct the phase of the measurement signal.
Wherein phi isB1(t) represents the instantaneous phase at the first reference pressure; phi is aB2(t) represents the instantaneous phase at the second reference pressure.
Therefore, the phase compensation index can be rewritten as:
wherein,
representing a phase compensated compensation signal; the real part of Re () is used to get the pure resistance.
When calculating the amplitude compensation index, first, an error value between the reference signal and the phase-compensated signal needs to be calculated. Secondly, fitting a pressure-amplitude change curve through Logistic to obtain an amplitude change curve. And finally, obtaining the minimum value of the error value by using a minimum mean square error criterion, and obtaining corresponding A (F) according to the minimum value of the difference, wherein A (F) is the amplitude compensation index under the pressure F.
Wherein u isB(t) represents a measurement signal acquired at a reference pressure;
representing a phase compensated compensation signal; e (t) calculating an error value between the reference signal and the phase compensated signal.
And amplitude compensation is carried out on the measurement signal after the phase compensation, so that complete pressure compensation can be obtained. Compensated signal u after pressure compensationFR(t) is:
wherein A (F) represents the instantaneous amplitude at pressure F;
presentation pair
Taking a real part;
presentation pair
And taking a real part.
In the embodiment, most people often calculate the amplitude difference between the reference signal and the measurement signal to determine whether the measured structure has damage. On the basis, the standard of the sensor performance compensation and the pressure compensation is calculated as follows:
wherein, ErrormaxRepresenting the compensated relative error value; u. ofinitial(t) represents an initial measurement signal; u. ofnewAnd (t) represents a reconstructed signal.
The smaller the compensated relative error value, the better the consistency between the initial signal and the compensated signal.
Referring to fig. 2, PZT performance compensation and pressure compensation are performed on the lamb wave response signals of the symmetric paths (L2, L11) to obtain compensated reconstructed signals. As can be seen from fig. 2- (a) to fig. 2- (d), the signal amplitudes and phases of the two symmetric paths after reconstruction are well compensated.
Referring to fig. 3, PZT performance compensation and pressure compensation are performed on the lamb wave response signals of the symmetric paths (L7, L16) to obtain compensated reconstructed signals. As can be seen from fig. 3- (a) to 3- (d), the signal amplitudes and phases of the two symmetric paths after reconstruction are well compensated.
S104, comparing the reconstruction signals on the two sides of the reference line, calculating a difference signal of the reconstruction signals, and if the maximum change value of the difference signal is larger than a preset threshold value, sending information that damage exists in the steel rail monitoring interval to the numerical control center; and otherwise, sending the information that the steel rail monitoring interval has no damage to the numerical control center.
In one embodiment of the present invention, the preset threshold may be set to 0.08V. Those skilled in the art will appreciate that in other embodiments, other predetermined thresholds may be determined based on the actual circumstances.
As shown in fig. 4, the difference signal of the reconstructed signal in the case of damage and the difference signal of the reconstructed signal in the case of no damage are shown between the symmetric paths (L2, L11). It can be seen that the maximum amplitude of the difference signal under intact conditions is about 0.05V, less than 0.08V, indicating no damage on the symmetrical path. In the case of a damage, the maximum amplitude of the difference signal is about 0.15V, which is significantly greater than 0.08V, and therefore, it can be determined that a damage exists on the symmetrical path.
Fig. 5 shows the difference signal of the reconstructed signal in the case of damage and the difference signal of the reconstructed signal in the case of no damage between the symmetric paths (L7, L16). The maximum amplitude of the difference signal under non-destructive conditions can be seen to be about 0.08V, or can be considered to be equal to 0.08V. It can be shown that there is no damage on this symmetrical path. In the case of damage, the maximum amplitude of the difference signal of the symmetric path is about 0.25V, which is significantly greater than 0.08V, and therefore, it can be determined that damage exists on the symmetric path.
Therefore, whether damage exists in the symmetrical path can be judged through the difference signal of the symmetrical path, and damage monitoring can be achieved without collecting reference signals.
After the performance compensation and the pressure compensation of the sensor, when the arrangement of the excitation sensor and the arrangement of the receiving sensor are consistent or completely symmetrical, the function expression is analyzed, and the function expression is a main factor influencing the function expression. When the signals are consistent, the signals are changed, and the corresponding wave equations of the Lamb wave signals are the same; the wave equation changes when it changes. When a damage occurs between the excitation sensor and the receiving sensor, the ultrasonic Lamb wave needs to bypass the damage, so that the propagation path of the signal is increased, the propagation distance is increased, and the signals of the two symmetrical paths are different.
The welding seam of the steel rail is approximately in a bilateral symmetry structure. When the sensors are uniformly arranged on the left side and the right side of the welding line, the symmetrical arrangement of the PZT arrays is equivalent. Based on the above principle, it can be seen that the same response signal can be obtained from the mutually symmetrical paths of the array. When a certain path is damaged, the difference of the response signals received on the symmetrical paths can be generated. After the steel rail is damaged, the propagation path between the symmetrical sensors is changed, when the wave propagation meets the damage, a part of wave is lost, and a part of wave bypasses the damage and continues to propagate forwards, so that the propagation distance is prolonged. When the damage is not on the axis of symmetry of the sensor, differences in propagation distance occur. Therefore, the damage can be judged through the difference of the symmetrical signals.
The technical scheme of the invention is based on a symmetrical mode non-reference damage monitoring principle, and a consistency compensation method is fused with the principle to obtain a more efficient damage monitoring method. The method is not only suitable for simple aluminum plates and steel plates, but also suitable for complex structures of steel rail welding seams.
(1) When the arrangement of the excitation sensor and the receiving sensor is completely symmetrical, through analyzing Lamb wave signal wave equation u (x, t), the propagation distance x is the main factor influencing the signal. Therefore, when a damage occurs between the excitation sensor and the receiving sensor, the ultrasonic Lamb wave needs to bypass the damage, so that the propagation distance x is increased, the wave equation is changed, and the amplitude and the phase of the response signal of the symmetrical path are obviously changed.
(2) The rail weld was analyzed by taking the head-web symmetric paths (L2, L11) and the head-foot symmetric paths (L7, L16) as examples of the study. The two symmetrical paths illustrate that the damage identification of the steel rail welding seam can be realized by combining a non-reference damage monitoring principle based on a symmetrical mode with a signal consistency compensation method, and the feasibility of the method is verified.
In summary, by compensating the response signal, the feasibility of damage monitoring can be improved. The benchmark-free damage monitoring based on the symmetrical mode can be applied to more symmetrical structures, initial non-damaged benchmark signals of the monitored structure do not need to be acquired, and the monitoring efficiency of the benchmark-free symmetrical structure is improved.
The embodiment of the invention has the following beneficial effects: according to the technical scheme of the embodiment of the invention, piezoelectric sensor arrays are symmetrically arranged on two sides of any datum line of the steel rail monitoring interval, then lamb wave response signals on each propagation path are collected according to the propagation paths of the excitation sensor and the receiving sensor of each group of piezoelectric sensors, consistency compensation is carried out on the lamb wave response signals to obtain reconstruction signals, the reconstruction signals on two sides of the datum line are calculated to obtain difference signals, and if the maximum change value of the difference signals is greater than a preset threshold value, damage information exists in the steel rail monitoring interval; otherwise, the information that the damage does not exist in the steel rail monitoring section is described; the invention can realize the following beneficial effects:
(1) the damage condition of the steel rail with the symmetrical structure can be determined without acquiring an initial undamaged reference signal of the monitored structure, so that the monitoring efficiency of the non-reference symmetrical structure is improved;
(2) by compensating the response signal, the feasibility of damage monitoring may be improved.
Fig. 6 is a schematic view of an embodiment of the real-time rail damage monitoring device of the present invention. As shown in fig. 6, the logistics transportation apparatus of this embodiment may specifically include a layout module 601, a collection module 602, a compensation module 303, and a determination module 604.
The arrangement module 601 is used for dividing a steel rail to be monitored into at least one steel rail monitoring section, and symmetrically arranging at least one group of piezoelectric sensor arrays on two sides of any datum line of the steel rail monitoring section, wherein any group of piezoelectric sensor arrays comprises an excitation sensor and a receiving sensor;
the acquisition module 602 is configured to acquire lamb wave response signals on symmetric propagation paths on two sides of the reference line according to propagation paths of each group of the excitation sensor and the receiving sensor;
a compensation module 603, configured to perform consistency compensation on the lamb wave response signal to obtain a reconstructed signal;
the judging module 604 compares the reconstruction signals on the two sides of the reference line, calculates a difference signal of the reconstruction signals, and sends information that the steel rail monitoring section has damage if the maximum variation value of the difference signal is greater than a preset threshold value; otherwise, sending the information that no damage exists in the steel rail monitoring section.
Wherein, the calculation formula of the consistency compensation and the pressure compensation is as follows:
wherein, ErrormaxRepresenting the compensated relative error value; u. ofinitial(t) represents an initial measurement signal; u. ofnewAnd (t) represents a reconstructed signal.
Wherein the compensation module comprises a transform sub-module 6031; the transformation submodule is used for carrying out Hilbert transformation on the lamb wave response signals so as to obtain transformed lamb wave response signals;
the Lamb wave response signals after Hilbert transformation are as follows:
wherein g (t) represents the real part of the complex analytic function;
represents the imaginary part of a complex analytic function, and
a (t) represents the instantaneous amplitude of g (t); φ (t) represents the instantaneous phase of g (t).
The real-time rail damage monitoring device in this embodiment is an embodiment of a device corresponding to the real-time rail damage monitoring method in the first embodiment, and an implementation mechanism for performing damage monitoring on a rail by using the modules is the same as that of the real-time rail damage monitoring method in the embodiment shown in fig. 1, and details of the implementation mechanism may be referred to the description of the embodiment shown in fig. 1, and are not repeated here.
The above embodiments are only exemplary embodiments of the present invention, and are not intended to limit the present invention, and the scope of the present invention is defined by the claims. Various modifications and equivalents may be made by those skilled in the art within the spirit and scope of the present invention, and such modifications and equivalents should also be considered as falling within the scope of the present invention.
Claims (10)
1. A rail damage real-time monitoring method is characterized by comprising the following steps:
dividing a steel rail to be monitored into at least one steel rail monitoring section, and symmetrically arranging at least one group of piezoelectric sensor arrays on two sides of any datum line of the steel rail monitoring section, wherein any group of piezoelectric sensor arrays comprises an excitation sensor and a receiving sensor;
collecting lamb wave response signals on symmetrical propagation paths at two sides of the datum line respectively according to the propagation paths of each group of the excitation sensor and the receiving sensor;
carrying out consistency compensation on the lamb wave response signals to obtain reconstructed signals;
comparing the reconstruction signals on two sides of the reference line, calculating a difference signal of the reconstruction signals, and if the maximum change value of the difference signal is greater than a preset threshold value, sending information that damage exists in the steel rail monitoring section; otherwise, sending the information that no damage exists in the steel rail monitoring section.
2. The method of claim 1, wherein the consistency compensation calculation is formulated as:
wherein, ErrormaxRepresenting the compensated relative error value; u. ofinitial(t) represents an initial measurement signal; u. ofnewAnd (t) represents a reconstructed signal.
3. The method according to claim 1, wherein the consistency compensation of the lamb wave response signal to obtain a reconstructed signal comprises:
hilbert transformation is carried out on the lamb wave response signals to obtain transformed lamb wave response signals;
the Lamb wave response signals after Hilbert transformation are as follows:
wherein g (t) represents the real part of the complex analytic function;
represents the imaginary part of a complex analytic function, and
a (t) represents the instantaneous amplitude of g (t); φ (t) represents the instantaneous phase of g (t).
4. The method of claim 1, comprising:
wherein, the excitation sensor is one or more;
when the excitation sensor is one, a propagation path can be generated in cooperation with any other receiving sensor.
5. The method according to claim 1, wherein after collecting lamb wave response signals on symmetrical propagation paths on both sides of the reference line according to the propagation paths of each set of the excitation sensor and the receiving sensor, the method further comprises:
and denoising the lamb wave response signals of the symmetrical paths by adopting a convolution smoothing method.
6. The method according to claim 1, wherein the preset threshold is 0.08V.
7. The method of claim 1, wherein the datum line comprises at least a rail weld.
8. A rail damage real-time monitoring device, characterized by includes:
the device comprises an arrangement module, a detection module and a control module, wherein the arrangement module is used for dividing a steel rail to be monitored into at least one steel rail monitoring section, and at least one group of piezoelectric sensor arrays are symmetrically arranged on two sides of any datum line of the steel rail monitoring section, wherein any group of piezoelectric sensor arrays comprises an excitation sensor and a receiving sensor;
the acquisition module is used for respectively acquiring lamb wave response signals on symmetrical propagation paths at two sides of the datum line according to the propagation paths of each group of the excitation sensor and the receiving sensor;
the compensation module is used for carrying out consistency compensation on the lamb wave response signals to obtain reconstructed signals;
the judging module is used for comparing the reconstruction signals on the two sides of the reference line, calculating a difference signal of the reconstruction signals, and sending information that the steel rail monitoring section is damaged if the maximum change value of the difference signal is greater than a preset threshold value; otherwise, sending the information that no damage exists in the steel rail monitoring section.
9. The apparatus of claim 8, wherein the consistency compensation and the pressure compensation are calculated by:
wherein, ErrormaxRepresenting the compensated relative error value; u. ofinitial(t) represents an initial measurement signal; u. ofnewAnd (t) represents a reconstructed signal.
10. The apparatus of claim 8, wherein the compensation module comprises a transform submodule; the transformation submodule is used for carrying out Hilbert transformation on the lamb wave response signals so as to obtain transformed lamb wave response signals;
the Lamb wave response signals after Hilbert transformation are as follows:
wherein g (t) represents the real part of the complex analytic function;
represents the imaginary part of a complex analytic function, and
a (t) represents the instantaneous amplitude of g (t); φ (t) represents the instantaneous phase of g (t).
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