CN114894460B - IMU-based method for monitoring and evaluating damage state of anti-seismic support and hanger - Google Patents
IMU-based method for monitoring and evaluating damage state of anti-seismic support and hanger Download PDFInfo
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Abstract
本发明涉及一种基于IMU的抗震支吊架损伤状态监测与评估方法，包括以下步骤：1)搭建抗震支吊架损伤监测装置，并通过IMU采集抗震支吊架各构件的响应数据后进行预处理；2)在抗震支吊架安装后正式投入使用前，选取第一采集区间，通过各测点的IMU的时序响应数据计算正常状态下的统计特征值V0；3)在抗震支吊架正式使用阶段中，选取第二采集区间，利用各测点的IMU的时序响应数据计算损伤状态下的统计特征值V1；4)计算所有统计特征值的相对变化量RV；5)选择最终支吊架的损伤敏感指标；6)对抗震支吊架进行损伤评估。与现有技术相比，本发明利用测点三方向六自由度的响应数据，丰富了支吊架的损伤敏感指标，并实现对支吊架损伤状态的全面评估。
The invention relates to an IMU-based method for monitoring and evaluating the damage state of an anti-seismic support and hanger, comprising the following steps: 1) building a damage monitoring device for an anti-seismic support and hanger, and collecting the response data of each component of the anti-seismic support and hanger through the IMU and then performing a preliminary Processing; 2) Before the seismic support hanger is installed and put into use, select the first collection interval, and calculate the statistical characteristic value V 0 under the normal state through the time series response data of the IMU at each measuring point; 3) in the seismic support hanger In the official use phase, select the second collection interval, and use the time series response data of the IMU at each measuring point to calculate the statistical characteristic value V 1 in the damaged state; 4) calculate the relative variation RV of all statistical characteristic values; 5) select the final support Damage sensitive index of the hanger; 6) Damage assessment of the seismic support hanger. Compared with the prior art, the present invention utilizes the response data of three directions and six degrees of freedom of the measuring point, enriches the damage sensitive indexes of the hanger, and realizes the comprehensive evaluation of the damage state of the hanger.
Description
技术领域Technical Field
本发明涉及工程结构健康监测领域，尤其是涉及一种基于IMU的抗震支吊架损伤状态监测与评估方法。The present invention relates to the field of engineering structure health monitoring, and in particular to an IMU-based anti-seismic support and hanger damage status monitoring and evaluation method.
背景技术Background Art
抗震支吊架是支承水管、风管和桥架等机电管线设备并提供抗震保护的支吊架产品，一般分为纵向支吊架和侧向支吊架两种，主要承受水平方向的地震作用，可以限制附属机电工程设施产生位移，控制设施振动，并将荷载传递至承载结构上的各类组件或装置，支吊架最常见的损伤类型为螺栓松动引起的结构刚度退化，以及构件裂纹、螺栓螺母脱落、焊缝裂纹、撕裂和连接部件松动等情况，目前对抗震支吊架的性能评估方法尚不完善，有必要对常见抗震支吊架构件的损伤指标进行进一步的研究。Seismic supports and hangers are support products that support electromechanical pipeline equipment such as water pipes, air ducts and bridge frames and provide seismic protection. They are generally divided into longitudinal supports and hangers and lateral supports and hangers. They mainly withstand horizontal earthquake effects, limit the displacement of attached electromechanical engineering facilities, control facility vibration, and transfer loads to various components or devices on the load-bearing structure. The most common types of damage to supports and hangers are structural stiffness degradation caused by loose bolts, as well as component cracks, bolt and nut falling off, weld cracks, tears and loose connection parts. The current performance evaluation method for seismic supports and hangers is still imperfect, and it is necessary to further study the damage indicators of common seismic support and hanger components.
随着结构健康监测领域研究的深入，利用时间序列进行损伤识别成为研究的热点，通过采集服役状态下结构振动响应的实时监测数据，能够提取数据的相关特征信息以映射损伤特征指标，进而在信号特征发生变化时提供预警，从而对结构进行性能评估和损坏预后并对结构剩余寿命进行预测，进而为维修、改造和更换等结构干预措施提供决策支持，因此，以抗震支吊架为代表的非结构构件性能的监测与评估具有广泛的应用价值。With the deepening of research in the field of structural health monitoring, damage identification using time series has become a hot topic. By collecting real-time monitoring data of structural vibration response under service status, relevant characteristic information of the data can be extracted to map damage characteristic indicators, and then provide early warning when the signal characteristics change, so as to evaluate the performance and damage prognosis of the structure and predict the remaining life of the structure, thereby providing decision support for structural intervention measures such as maintenance, modification and replacement. Therefore, the monitoring and evaluation of the performance of non-structural components represented by seismic supports and hangers has broad application value.
在以往支吊架动力监测与性能监测方面，相关专利及文献主要采用反映支吊架振动及变形特性的加速度传感器和应变传感器，以刚度变化作为主要指标，并对信号进行频域分析，反映出传感器种类以及损伤指标判据相对单一，因此，丰富传感器种类并将其布置在结构的最优位置，从而获取更多结构的物理量信息，提出更为准确易得的损伤指标，也是目前支吊架结构监测领域研究的关键问题。In the past, related patents and literature on dynamic monitoring and performance monitoring of supports and hangers mainly used acceleration sensors and strain sensors that reflect the vibration and deformation characteristics of supports and hangers, took stiffness changes as the main indicators, and performed frequency domain analysis on the signals, reflecting that the types of sensors and damage index judgment criteria are relatively simple. Therefore, enriching the types of sensors and arranging them at the optimal positions of the structure to obtain more physical quantity information of the structure and propose more accurate and easily obtainable damage indicators are also key issues in the current research field of support and hanger structure monitoring.
发明内容Summary of the invention
本发明的目的就是为了克服上述现有技术存在的缺陷而提供一种基于IMU的抗震支吊架损伤状态监测与评估方法。The purpose of the present invention is to overcome the defects of the above-mentioned prior art and to provide a method for monitoring and evaluating the damage status of seismic supports and hangers based on IMU.
本发明的目的可以通过以下技术方案来实现：The purpose of the present invention can be achieved by the following technical solutions:
一种基于IMU的抗震支吊架损伤状态监测与评估方法，该方法包括以下步骤：A method for monitoring and evaluating the damage state of seismic supports and hangers based on IMU, the method comprising the following steps:
1)搭建抗震支吊架损伤监测装置，并通过IMU采集抗震支吊架各构件的响应数据后进行预处理；1) Build a seismic support and hanger damage monitoring device, and collect the response data of each component of the seismic support and hanger through IMU and perform pre-processing;
2)在抗震支吊架安装后正式投入使用前，选取设定的时长t1为第一采集区间，通过各测点的IMU的时序响应数据计算正常状态下的统计特征值V0；2) After the anti-seismic support and hanger is installed and before it is officially put into use, the set time length t1 is selected as the first acquisition interval, and the statistical characteristic value V0 under the normal state is calculated through the time series response data of the IMU of each measuring point;
3)在抗震支吊架正式使用阶段中，考虑抗震支吊架上的固定螺栓因外界震动导致松动形成构件局部损伤，选取设定的时长t2为第二采集区间，利用各测点的IMU的时序响应数据计算损伤状态下的统计特征值V1；3) During the formal use of the seismic support and hanger, considering that the fixing bolts on the seismic support and hanger are loosened due to external vibrations, resulting in local damage to the components, the set time length t 2 is selected as the second acquisition interval, and the time series response data of the IMU of each measuring point is used to calculate the statistical characteristic value V 1 under the damage state;
4)计算所有统计特征值的相对变化量RV；4) Calculate the relative change RV of all statistical characteristic values;
5)设定变幅阈值TV，提取所有监测通道采集的响应数据中RV＞TV对应的统计特征值，并将其作为一阶敏感指标，统计一阶敏感指标分别在所有监测通道中被提取的总数，总数最多的前3项指标认定为二阶敏感指标，即最终支吊架的损伤敏感指标；5) Set the amplitude threshold TV, extract the statistical characteristic value corresponding to RV＞TV in the response data collected by all monitoring channels, and use it as the first-order sensitive index. Count the total number of first-order sensitive indexes extracted in all monitoring channels, and the top three indexes with the largest total number are identified as second-order sensitive indexes, i.e., the final damage sensitive index of the support and hanger;
6)根据获取的损伤敏感指标对抗震支吊架进行损伤评估。6) Conduct damage assessment on seismic supports and hangers based on the acquired damage sensitivity indicators.
所述的步骤1)中，抗震支吊架损伤监测装置包括安装在抗震支吊架上的多个IMU、与IMU进行无线通信的采集设备以及进行数据处理的处理器。In the step 1), the seismic support and hanger damage monitoring device includes a plurality of IMUs installed on the seismic support and hanger, a collection device for wirelessly communicating with the IMUs, and a processor for data processing.
所述的IMU设有三个，分别刚性固定在在抗震支吊架的U形管夹外表面、竖向吊杆中部以及斜撑中部位置。The IMUs are provided in three and are respectively rigidly fixed on the outer surface of the U-shaped pipe clamp of the seismic support and hanger, the middle of the vertical hanger and the middle of the diagonal brace.
在三个IMU分别刚性固定后，定义支吊架纵向和管道方向为X轴，与X轴水平垂直方向为Y轴，与X轴垂直竖向为Z轴，并且在初始时刻所有IMU坐标系方向与支吊架坐标系保持一致。After the three IMUs are rigidly fixed, the longitudinal direction of the support and hanger and the pipeline direction are defined as the X-axis, the horizontal and vertical direction of the X-axis is the Y-axis, and the vertical direction perpendicular to the X-axis is the Z-axis. At the initial moment, the directions of all IMU coordinate systems are consistent with the support and hanger coordinate system.
所述的步骤1)中，响应数据包括加速度、角速度和姿态角数据，对响应数据进行的预处理包括剔除异常点、去趋势项和带通滤波。In the step 1), the response data includes acceleration, angular velocity and attitude angle data, and the preprocessing of the response data includes removing abnormal points, removing trend items and bandpass filtering.
所述的步骤2)和步骤3)中，统计特征值V0与V1均包括有量纲统计特征值及无量纲统计特征值，所述的有量纲统计特征值包括均值、标准差、方差、均方根、平均幅值、方根幅值、中值、平方根和峰值均方根比，所述的无量纲统计特征值包括峭度、偏度、峰值因子、脉冲因子、裕度因子和余隙因子。In the steps 2) and 3), the statistical eigenvalues V0 and V1 both include dimensional statistical eigenvalues and dimensionless statistical eigenvalues. The dimensional statistical eigenvalues include mean, standard deviation, variance, root mean square, average amplitude, root amplitude, median, square root and peak root mean square ratio. The dimensionless statistical eigenvalues include kurtosis, skewness, peak factor, pulse factor, margin factor and clearance factor.
所述的步骤4)中，相对变化量RV的计算公式为：In the step 4), the calculation formula of the relative change RV is:
所述的设定的时长t1取值为30min或24h，所述的设定的时长t2取值为30min或24h。The set time length t1 is 30 minutes or 24 hours, and the set time length t2 is 30 minutes or 24 hours.
所述的步骤5)中，变幅阈值TV的取值为20％。In the step 5), the value of the amplitude threshold TV is 20%.
所述的步骤6)具体为：The step 6) is specifically as follows:
以TV值为基础设立分级评估阈值S1与S2，且S1<S2，令S1为黄色预警值，当RV>S1时表明支吊架响应出现异常，需及时对其进行异常点定位、异常原因排除并重新采集数据，判断指标是否下降至正常范围,令S2为红色预警值，当RV>S2时表明支吊架结构发生严重破坏，需及时对其加固或更换，黄色预警值S1和红色预警值S2根据试验结合实际情况或相关设计规范获得。Based on the TV value, the graded assessment thresholds S1 and S2 are established, and S1 < S2 . S1 is set as the yellow warning value. When RV> S1 , it indicates that the support and hanger response is abnormal. It is necessary to locate the abnormal point and eliminate the abnormal cause in time, and re-collect data to determine whether the index drops to the normal range. S2 is set as the red warning value. When RV> S2 , it indicates that the support and hanger structure is seriously damaged and needs to be reinforced or replaced in time. The yellow warning value S1 and the red warning value S2 are obtained according to the test combined with the actual situation or relevant design specifications.
与现有技术相比，本发明具有以下优点：Compared with the prior art, the present invention has the following advantages:
一、本发明安装有IMU的抗震支吊架能够集成多通道物理量同步采集的优势，在短时间内同时获取高采样率加速度及角速度时序数据，对监测数据进行实时分析和评估，能够有效实时的判断抗震支吊架的抗震性能以及运行姿态。1. The seismic support and hanger equipped with IMU of the present invention can integrate the advantages of multi-channel synchronous acquisition of physical quantities, simultaneously obtain high sampling rate acceleration and angular velocity time series data in a short time, perform real-time analysis and evaluation of the monitoring data, and effectively and real-timely judge the seismic performance and operating posture of the seismic support and hanger.
二、本发明以平稳运行阶段时序数据统计特征值为基准，能够精准判定损伤状态下特征值的变化情况，去除冗余指标，保留敏感指标，为抗震支吊架的维修或者替换提供辅助决策，能有效减少地震带来的损失。2. The present invention takes the statistical characteristic values of time series data in the stable operation stage as a benchmark, can accurately determine the changes in characteristic values under the damaged state, remove redundant indicators, retain sensitive indicators, provide auxiliary decision-making for the maintenance or replacement of seismic supports and hangers, and can effectively reduce the losses caused by earthquakes.
三、本发明选取的IMU测点为U形管夹外表面、竖向吊杆中部以及斜撑中部，均为支吊架关键节点，考虑到这些测点位置受力性能明显且振动响应敏感，因此能够有效代表支吊架整体运行状态及损伤情况。3. The IMU measuring points selected by the present invention are the outer surface of the U-shaped pipe clamp, the middle of the vertical hanger and the middle of the diagonal brace, all of which are key nodes of the support and hanger. Considering that the stress performance of these measuring points is obvious and the vibration response is sensitive, they can effectively represent the overall operating status and damage condition of the support and hanger.
附图说明BRIEF DESCRIPTION OF THE DRAWINGS
图1为本发明实施例中抗震支吊架IMU监测装置布置图。FIG. 1 is a layout diagram of an IMU monitoring device for seismic supports and hangers in an embodiment of the present invention.
图2为本发明实施例中提供的损伤敏感指标判定流程图。FIG. 2 is a flow chart of damage sensitivity index determination provided in an embodiment of the present invention.
图中标记说明：Description of the markings in the figure:
1、支吊架U形管夹外表面，2、吊杆中点，3、斜撑中点，4、IMU，5、IMU，6、IMU。1. Outer surface of the U-shaped pipe clamp of the support bracket, 2. Midpoint of the hanger rod, 3. Midpoint of the diagonal brace, 4. IMU, 5. IMU, 6. IMU.
具体实施方式DETAILED DESCRIPTION
下面结合附图和具体实施例对本发明进行详细说明。显然，此处所描述的优选实施例仅用于说明和解释本发明，并不用于限定本发明。The present invention is described in detail below in conjunction with the accompanying drawings and specific embodiments. Obviously, the preferred embodiments described herein are only used to illustrate and explain the present invention, and are not used to limit the present invention.
实施例Example
本实施例中，抗震支吊架IMU监测装置布置图如图1所示，包括：设置在支吊架U形管夹外表面1、吊杆中点2和斜撑中点3上的IMU(分别标号4、5、6)。In this embodiment, the layout diagram of the seismic support and hanger IMU monitoring device is shown in Figure 1, including: IMUs (labeled 4, 5, and 6 respectively) arranged on the outer surface 1 of the support and hanger U-shaped pipe clamp, the
本实施例的实施方案中，使用4G、5G、Zigbee、NB-IOT或WiFi等无线装置传输IMU的监测数据，但本发明方法不局限于使用上述传输方法，基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动的前提下所获得的所有其他实施例，都应属于本发明保护的范围。In the implementation scheme of this embodiment, wireless devices such as 4G, 5G, Zigbee, NB-IOT or WiFi are used to transmit the monitoring data of the IMU, but the method of the present invention is not limited to the use of the above-mentioned transmission method. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work should fall within the scope of protection of the present invention.
本实施例中，本实施例损伤敏感指标判定流程如图2所示，包括如下步骤：In this embodiment, the damage sensitivity index determination process of this embodiment is shown in FIG2 , and includes the following steps:
步骤一，对采集到的监测数据进行实时的预处理，通过去趋势消除传感器产生的偏移对后期计算产生的影响，通过带通滤波消除高频与低频段的噪声干扰。Step 1: Perform real-time preprocessing on the collected monitoring data, eliminate the impact of sensor offset on subsequent calculations through detrending, and eliminate noise interference in high-frequency and low-frequency bands through bandpass filtering.
步骤二，在抗震支吊架安装阶段完成时，选取30min的监测数据，对IMU获取的初始时序数据计算有量纲及无量纲统计特征值V0，各特征值计算公式详见表1。Step 2: When the installation of the seismic supports and hangers is completed, 30 minutes of monitoring data are selected to calculate the dimensioned and dimensionless statistical eigenvalues V 0 for the initial time series data obtained by the IMU. The calculation formulas for each eigenvalue are shown in Table 1.
表1各统计特征值的计算公式Table 1 Calculation formulas for each statistical characteristic value
步骤三，在抗震支吊架正式投入使用阶段，由于外界震动等干扰，支吊架因螺栓松动等产生损伤，会导致时序特征值较平稳状态产生不同程度的变化，选取24h的监测数据，再次对时序数据计算各项统计特征值V1。选取的计算时长也可以缩短，以达到更佳的实时监测目的。Step 3: When the seismic supports and hangers are officially put into use, due to external vibration and other interference, the supports and hangers are damaged due to loose bolts, which will cause the time series characteristic values to change to varying degrees from a relatively stable state. 24h monitoring data is selected to calculate the various statistical characteristic values V 1 for the time series data again. The selected calculation time can also be shortened to achieve a better real-time monitoring purpose.
步骤四，提取步骤二与步骤三中计算的特征值V0和V1，并计算二者的相对变化量RV。Step 4: extract the eigenvalues V 0 and V 1 calculated in
步骤五，提取步骤四中所有监测通道的采集数据对应计算得到的RV，将其与预先设定的变幅阈值TV进行比较，将所有RV＞TV的特征值判定为一阶敏感指标。Step 5: extract the RV calculated corresponding to the collected data of all monitoring channels in step 4, compare it with the preset amplitude threshold TV, and determine all characteristic values with RV>TV as the first-order sensitivity index.
步骤六，提取步骤五中各项一阶敏感指标分别在所有监测通道中显现的总数，将总数最多的前3项指标判定为二阶敏感指标，二阶敏感指标为选用的支吊架损伤状态下的敏感指标。Step six, extract the total number of each first-order sensitive indicator in step five that appears in all monitoring channels, and determine the top three indicators with the largest total number as second-order sensitive indicators. The second-order sensitive indicators are sensitive indicators under the selected support and hanger damage state.
步骤七，设立黄色预警值S1与红色预警值S2，根据获取的损伤敏感指标对抗震支吊架进行损伤评估，当RV>S1时表明支吊架响应出现异常，需及时对其进行异常点定位、异常原因排除并重新采集数据，判断指标是否下降至正常范围；令S2为，当RV>S2时表明支吊架结构发生严重破坏，需及时对其加固或更换。Step seven, set up yellow warning value S1 and red warning value S2 , and conduct damage assessment on seismic supports and hangers according to the acquired damage sensitivity index. When RV> S1, it indicates that the support and hanger response is abnormal. It is necessary to locate the abnormal point and eliminate the abnormal cause in time, and re-collect data to determine whether the index drops to the normal range. Let S2 be, when RV> S2 , it indicates that the support and hanger structure is seriously damaged and needs to be reinforced or replaced in time.
优选地，本实施例的实施方案以螺栓松动作为局部损伤形式，但本发明方法不局限于上述损伤，其他因使用过程导致的常见损伤均适用于上述判定流程。Preferably, the implementation scheme of this embodiment takes bolt loosening as the form of local damage, but the method of the present invention is not limited to the above damage, and other common damages caused during use are applicable to the above determination process.
以上所述，仅为本发明的具体实施方式，但本发明的保护范围并不局限于此，任何熟悉本技术领域的工作人员在本发明揭露的技术范围内，可轻易想到各种等效的修改或替换，这些修改或替换都应涵盖在本发明的保护范围之内。因此，本发明的保护范围应以权利要求的保护范围为准。The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person familiar with the technical field can easily think of various equivalent modifications or substitutions within the technical scope disclosed by the present invention, and these modifications or substitutions should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention shall be based on the protection scope of the claims.
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