CN116338240B - Ultrasonic liquid flow velocity measurement method and device based on parabolic fitting - Google Patents
Ultrasonic liquid flow velocity measurement method and device based on parabolic fitting Download PDFInfo
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Abstract
The application discloses an ultrasonic liquid flow velocity measurement method and device based on parabolic fitting, comprising the following steps: 2 groups of ultrasonic sensors are formed by adopting double Z-shaped combined arrangement; according to the arranged ultrasonic sensor array, two groups of ultrasonic sensors simultaneously transmit and receive signals, and 2 ultrasonic receiving sensors receive ultrasonic forward and backward signals and perform pretreatment; and finding a stable characteristic point for the ultrasonic signal through upper and lower envelopes and parabolic fitting treatment, determining forward and backward propagation time of the ultrasonic signal, and further calculating the liquid flow rate. Compared with the prior art, the method has the advantages that the transit time points of the two groups of ultrasonic signals in the downstream and the upstream of the liquid are found by utilizing the method of fitting the parabola on the two groups of peak characteristic points of the ultrasonic signals, parabolic secondary fitting is carried out, and the accurate transit time of the ultrasonic signals in the liquid is judged by adopting the method of fitting the secondary parabola on the lower envelope, so that the accurate measurement and calculation of the liquid flow velocity are realized.
Description
Technical Field
The application belongs to the technical field of ultrasonic liquid flow measurement, and particularly relates to an ultrasonic liquid flow velocity measurement method and device based on parabolic fitting.
Background
With the rapid development of electronic technology and the plump accumulation of acoustic knowledge in recent years, ultrasonic technology is gradually applied to the field of liquid flow measurement. However, on the one hand, the currently commonly adopted large-pipe-diameter high-precision ultrasonic liquid flow meters in China mostly depend on imported products, the price is high, and the precision of related products is generally difficult to reach the level of +/-0.1%. On the other hand, the liquid flowmeter measurement principle is generally classified into a propagation velocity difference method, a doppler method, and the like. The propagation time difference method can be divided into a time difference method, a phase difference method and a frequency difference method, wherein the time difference method has good effect and is most widely applied to liquid ultrasonic flow meters. When the gas ultrasonic flowmeter based on the time difference measurement principle is used for measuring the liquid flow, firstly, an ultrasonic transducer is stimulated to emit ultrasonic signals according to the inverse piezoelectric effect; the other ultrasonic transducer receives an ultrasonic signal and converts the ultrasonic signal into an echo electric signal according to the piezoelectric effect; and determining the forward and backward propagation time of the ultrasonic signal according to a certain stable characteristic point in the echo signal, and further determining the flow of the liquid. However, the ultrasonic signal can be attenuated in the propagation process in the liquid, the echo signal has the problems of reduced amplitude, lower signal-to-noise ratio and the like, and the problems are particularly serious with the increase of the liquid flow. If the method of determining the feature point using only a single peak point is prone to relatively large errors, the accuracy of the system is affected. On the one hand, the ultrasonic wave needs to be filtered by an effective circuit, on the other hand, the measured data needs to be calculated by applying a proper algorithm, and finally, the measurement reaches the high-precision requirement.
The Chinese patent with the patent number of CN201210034029.2 discloses an ultrasonic signal zero crossing point prediction method based on multi-threshold comparison, which is mainly used for realizing the signal prediction by comparing the number of zero crossing points of waveforms under different thresholds. However, firstly, the method has high requirements on signals and needs to perform threshold comparison on the signals for a plurality of times, so that the stability and noise interference of the signals are required to be small, otherwise, the accuracy of the prediction result is affected. And secondly, the method has difficult selection of the threshold value of the waveform, different signals need to select different threshold values to achieve the optimal prediction effect, and the selection of the threshold value has great influence on the prediction result and needs to carry out a large amount of experiments and analysis to determine. Finally, the method has limited prediction accuracy. Because the method predicts by comparing the number of zero crossing points, the prediction precision is lower under the condition that the signal changes fast or complex waveforms exist.
The chinese patent of patent No. CN114812711a discloses a time difference determining method and apparatus based on an ultrasonic sensor, the method includes that an ultrasonic signal is transmitted by driving a transducer, then an output signal of a receiving transducer is sampled, envelope extraction is performed to obtain a forward envelope and a backward envelope, then maximum value and minimum value points of the forward envelope and the backward envelope are found out, further, the maximum value and the minimum value points are compared with a real maximum value and the real minimum value points caused by phase modulation, and an ultrasonic transit time is obtained by positioning, so as to determine the time difference of the ultrasonic signal, but the method is easy to make the ultrasonic signal unstable. On the other hand, the debugging difficulty is high, the adjustment ultrasonic signal needs professional personnel to operate and debug, and if the operation is improper, the flowmeter can be damaged and can not be used.
The Chinese patent with the patent number of CN201510980275.0 discloses a pulse waveform leading edge detection method and a pulse waveform leading edge detection system based on straight line fitting. The method for fitting the straight line has certain requirements on the shape of the ultrasonic wave front edge, and the front edge needs to have certain linear relation, so that the ultrasonic wave front edge reaches peak values and the like quickly, otherwise, the accuracy of the fitted straight line and the detection accuracy of the front edge position can be influenced.
Therefore, the above methods have a problem of low accuracy of ultrasonic liquid flow rate measurement, and a method for improving the accuracy of ultrasonic liquid flow rate detection is needed to deal with the problem of accuracy of the measured liquid flow rate due to concentration of solute, type, temperature and pipe diameter.
Disclosure of Invention
The application aims to: aiming at the problems in the prior art, the application provides an ultrasonic liquid flow velocity measuring method and device based on parabolic fitting, and the accurate measurement and calculation of the liquid flow velocity are realized by adopting a 2-group ultrasonic sensor array and parabolic fitting method formed by double Z-shaped combined arrangement.
The technical scheme is as follows: the application provides an ultrasonic liquid flow velocity measurement method based on parabolic fitting, which comprises the following steps:
step 1: 2 groups of ultrasonic sensors are formed by adopting double Z-shaped combined arrangement, and each group of ultrasonic sensors comprises an ultrasonic transmitting sensor and an ultrasonic receiving sensor;
step 2: according to the ultrasonic sensor array set in the step 1, two groups of ultrasonic sensors simultaneously transmit and receive signals, 2 ultrasonic receiving sensors receive ultrasonic forward and backward signals, and pretreatment is carried out on the ultrasonic forward and backward signals;
step 3: finding a stable characteristic point for the preprocessed ultrasonic signals through upper and lower envelopes and parabolic fitting treatment, determining forward and backward propagation time of the ultrasonic signals, and further calculating the liquid flow rate:
wherein d represents the diameter of a pipeline for ultrasonic wave propagation, θ represents the included angle between the propagation direction of an ultrasonic wave signal and the flow velocity direction of pipeline liquid, c represents the initial speed of ultrasonic wave, v represents the flow velocity of pipeline liquid, T 1 、T 2 The forward and reverse transit times, respectively.
Further, the method for arranging the ultrasonic sensors in 2 groups by combining the 'double Z' -shaped arrangement in the step 1 comprises the following steps: a group of ultrasonic wave transmitting sensors S1 and ultrasonic node receiving sensors R1 are respectively arranged at the upper end and the lower end of a circular pipe diameter, the propagation directions of the two ultrasonic wave sensors form a certain angle theta with the flow velocity direction of water, and meanwhile, the other group of ultrasonic wave sensors are arranged in the same mode as the first group relative to the vicinity of the downstream of the first group of ultrasonic wave sensors, form an angle theta with the flow velocity direction of liquid, and simultaneously transmit ultrasonic wave signals.
Further, the preprocessing operation in the step 2 includes filtering the collected set of ultrasonic forward and backward signals by using a band-pass filter.
Further, the specific operation of the step 3 is as follows:
1) Finding transit time points of the two groups of ultrasonic signals in forward flow and backward flow of the liquid by a parabolic method for fitting the two groups of peak characteristic points of the ultrasonic signals;
2) And performing parabolic secondary fitting, adopting a method of fitting a secondary parabola to a lower envelope, judging the accurate transit time of the ultrasonic signal in the liquid through the intersection point of the upper envelope fitting parabola and the lower envelope fitting parabola on a time axis and the fitting point, further obtaining a transit time difference delta t, and determining the final liquid flow rate through the transit time difference.
Further, the specific operation of parabolic quadratic fitting is as follows:
determining the forward transit time of ultrasonic wave: the ultrasonic signal is subjected to fitting treatment by envelope twice under the obtained ultrasonic signal, so that an upper envelope fitting point and a lower envelope fitting point of the parabola are obtained, and at the moment, if the two fitting points are not positioned on the same transit time t point, the intersection point t of the curve with more fitting points of the parabola and the ultrasonic signal and a time transverse axis is taken as the forward transit time;
the accurate measurement method of the countercurrent transit time of the ultrasonic signal is the same as that of the downstream.
Further, the specific operation of performing a parabolic fit in the step 3 to find the transit time points of the two sets of ultrasonic signals at the forward flow and the backward flow of the liquid is as follows:
1) When the ultrasonic signal is downstream, the general expression for parabolic fitting with the ultrasonic signal at this time is set as: y=at 2 +bt+c, where a+.0, this equation exists when there is an ultrasonic signal generated and when t=0, since there is no ultrasonic signal generatedTo be meaningless. Taking the amplitude of the locating point of the upper envelope rising section as a reference, and regarding a plurality of peak points (t n ,y n ) N=2, 3,4,5, …, performing parabolic fitting to obtain a characteristic parabolic curve Y 1 ＝a 1 t 1 2 +b 1 t 1 +c 1 Wherein the parabolic opening is directed upward and in the first quadrant, a, when fitting the upper envelope 1 >0，b 1 <0,c 1 >0, and the maximum point and the nearest point of the down-envelope change rate of the downstream ultrasonic signal are several peak points (t n ,y n ) N=2, 3,4,5, …, performing parabolic fitting to obtain a characteristic parabolic curve Y 2 ＝a 2 t 2 2 +b 2 t 2 +c 2 Wherein the parabolic opening is directed downward and in the fourth quadrant, a, when fitting the lower envelope 2 <0，b 2 >0，c 2 <0; wherein the dependent variable Y 1 And Y 2 The independent variable t is the amplitude of the ultrasonic signal in forward flow 1 And t 2 Transit time in liquid for ultrasonic signal to flow forward:
if the upper envelope parabola and the lower envelope parabola are fitted and then intersect with the time axis at the same point, namely t 1 ＝t 2 The transit time difference in the liquid during the forward flow of the ultrasonic wave is T 1 ＝t 1 ＝t 2 The method comprises the steps of carrying out a first treatment on the surface of the If the upper envelope parabola and the lower envelope parabola are fitted and do not intersect with the time axis at the same point, namely t 1 ≠t 2 At this time, the intersection T of the parabola which is most fitted with the ultrasonic signal and the time axis is taken t1 Transit time T in liquid as ultrasonic signal downstream 1 ＝T t1 ；
2) Inverse to ultrasonic signalIn the flow, the general expression for parabolic fitting with the ultrasonic signal at this time is assumed to be: g=pt 2 +qt+h, where p+.0, this equation exists when there is an ultrasonic signal generated and is meaningless when t=0, since there is no ultrasonic signal generated. Taking the amplitude of the locating point of the upper envelope rising section as a reference, and regarding a plurality of peak points (t n ,g n ) N=2, 3,4,5, …, and performing parabolic fitting to obtain a characteristic parabolic curve G 1 ＝a 3 t 3 2 +b 3 t 3 +c 3 Wherein the parabolic opening is directed upward and in the first quadrant, a, when fitting the upper envelope 3 >0，b 3 <0,c 3 >0; the maximum point and the nearest point of the lower envelope change rate of the ultrasonic signal countercurrent in the same way are several peak points (t n ,g n ) N=2, 3,4,5, …, and performing parabolic fitting to obtain a characteristic parabolic curve G 2 ＝a 4 t 4 2 +b 4 t 4 +c 4 Wherein the parabolic opening is directed downward and is located in the fourth quadrant a when fitting the lower envelope 4 >0，b 4 <0,c 4 <0; wherein the dependent variable G 1 And G 2 The independent variable t is the amplitude of the ultrasonic signal when the ultrasonic signal is countercurrent 3 And t 4 Transit time in liquid for ultrasonic signal to reverse flow:
if the upper envelope parabola and the lower envelope parabola are fitted and then intersect with the time axis at the same point, namely t 3 ＝t 4 The transit time of ultrasonic wave in the liquid in countercurrent is T 2 ＝t 3 ＝t 4 The method comprises the steps of carrying out a first treatment on the surface of the If the upper envelope parabola and the lower envelope parabola are fitted and do not intersect with the time axis at the same point, namely t 3 ≠t 4 At this time, the intersection T of the parabola which is most fitted with the ultrasonic signal and the time axis is taken t2 Transit time T in liquid as counter-current of ultrasonic signal 2 ＝T t2 。
Further, the specific operation of parabolic quadratic fitting in the step 3 is as follows:
1) When the ultrasonic signal is fitted with the parabola in the downstream direction, the ultrasonic signal and the parabola have two fitting points, and the fitting points are respectively set as (t) a1 ，Y a1 ) And (t) a2 ，Y a2 ) The method comprises the steps of carrying out a first treatment on the surface of the The general expression for fitting parabolas to ultrasound signals when taken in forward flow: y=at 2 +bt+c, where a+.0, yields:
the parabolic equation is: y=a 11 t 2 +b 11 t+c 11 Wherein a is 11 Not equal to 0, the further resulting downstream transit time is:
since the ultrasonic signal and the parabola are not fit due to the small amplitude of the ultrasonic signal when the ultrasonic signal is downstream, the error value in the downstream ultrasonic signal is set to be alpha t ；
2) When the ultrasonic signal is fitted to the parabola in countercurrent, the ultrasonic signal and the parabola have two fitting points, and the fitting points are respectively (t) b3 ，G b3 ) And (t) b4 ，G b4 ) The method comprises the steps of carrying out a first treatment on the surface of the The parabolic curve is fitted to the ultrasonic signal when the countercurrent is taken in, the general expression is: g=pt 2 +qt+h, where p+.0, yields:
the parabolic equation is: g=a 22 t 2 +b 22 t+c 22 Wherein a is 22 Not equal to 0, a further counter-current transit time is obtained:
since the ultrasonic signal and the parabola are not fitted due to the small amplitude of the ultrasonic signal when the ultrasonic signal is reversed, the error value in the ultrasonic reversed flow is set as beta t ；
3) According to the forward and backward transit time T of ultrasonic signals 1 And T 2 Obtaining the transit time difference delta t= |T 2 -T 1 I, at this time, error value is caused by environmental factorsWherein ε is an infinitesimal amount; the influence of the environment, the measured liquid concentration or the temperature on the ultrasonic wave is approximately 0, so that a high-precision ultrasonic wave transit time difference delta t is obtained;
4) In the transit time calculation process, d represents the diameter of a pipeline for ultrasonic wave propagation, θ is an included angle between the propagation direction of an ultrasonic wave signal and the flow velocity direction of pipeline liquid, c is the initial speed of ultrasonic waves, v represents the flow velocity of pipeline liquid, and the transit time calculation method comprises the following steps:
thus the forward and backward transit time difference of the ultrasonic signals
In industrial measurements the propagation velocity of the ultrasonic wave in the liquid (propagation velocity in water of about 1450 m/s) is much greater than the liquid flow velocity (c > v), i.e. c 2 -v 2 (cosθ) 2 ≈c 2 The flow rate of the finally obtained liquid is:
the application also discloses a measuring device based on the ultrasonic liquid flow velocity measuring method based on parabolic fitting, which comprises:
the method comprises the steps that (1) a group of ultrasonic sensors are formed by double Z-shaped combination arrangement, one group of ultrasonic transmitting sensors S1 and ultrasonic node receiving sensors R1 are respectively arranged at the upper end and the lower end of a circular pipe diameter, the propagation directions of the two ultrasonic sensors form a certain angle theta with the flow velocity direction of water, and the other group of ultrasonic sensors are arranged in the same way as the first group relative to the vicinity of the downstream of the first group of ultrasonic sensors, and form an angle theta with the flow velocity direction of liquid;
the system also comprises a transmitting/receiving signal path switching circuit, an RK3399 core board, an MS1030 integrated circuit chip, a driving signal generating and amplifying circuit, a high-pass filter and an echo signal conditioning and collecting circuit; the RK3399 core board generates 8 echo pulses through a DAC interface and an MS1030 integrated circuit chip, the generated 8 pulse signals are transmitted into a driving signal generating and amplifying circuit, the signal amplitude is increased, when the signals pass through an attenuation liquid medium, expected ultrasonic waveforms can be obtained at a signal receiving end, the 8 square wave pulse signals are input into an ultrasonic transmitting sensor S1 and an ultrasonic transmitting sensor S2 through a transmitting/receiving signal channel switching circuit, the ultrasonic transmitting sensors S1 and S2 simultaneously transmit ultrasonic signals, the ultrasonic receiving sensors R1 and R2 sequentially receive the ultrasonic signals, the ultrasonic receiving sensors R1 and R2 filter the received ultrasonic signals through a transmitting/receiving signal channel switching circuit through a high-pass filter, the filtered ultrasonic signals are subjected to impact signal filtering through an echo signal conditioning and collecting circuit, the signals are collected through an ADC interface of the RK3399 core board, and waveforms of forward and backward flow of the ultrasonic waves are displayed on a touch screen;
the ultrasonic liquid flow velocity measuring device further comprises a parabolic fit calculating module, wherein the parabolic fit calculating module is used for calculating the liquid flow velocity by utilizing the ultrasonic liquid flow velocity measuring method based on parabolic fit.
The beneficial effects are that:
1. the application has high measurement precision: the ultrasonic signal can be precisely fitted by adopting a double-parabola fitting technology, a fitted parabola equation is obtained, and error analysis is carried out on the ultrasonic signal at the transition time, so that the influence of the environment, the measured liquid concentration or the temperature on the ultrasonic wave is approximately 0. The ultrasonic transit time difference with the accuracy reaching 0.1% can be obtained, so that the accuracy and the accuracy of liquid flow velocity calculation are improved.
2. The application has wide application range: the parabolic fitting technology is suitable for various different liquid media and pipeline shapes, and can solve the problems of low measurement precision, large influence by fluid and the like of the traditional flowmeter.
3. The application has good real-time performance: the real-time processing and quick response to the ultrasonic signals can be realized by adopting the parabolic fitting technology, so that the real-time performance and the response speed of the liquid flowmeter are improved.
4. The application has good stability: the parabolic fitting technology can effectively reduce noise and interference of signals, and improves stability and anti-interference capability of the liquid flowmeter.
Drawings
FIG. 1 is a hardware block diagram of a dual Z ultrasonic flow meter system;
FIG. 2 is a schematic diagram of an ultrasonic signal and a double parabola fit as ultrasonic waves flow downstream in a pipeline;
FIG. 3 is a schematic diagram of an ultrasonic signal fitting to a double parabola as ultrasonic waves counter flow in a pipeline;
FIG. 4 is a graph showing ultrasonic signal errors when the ultrasonic signal is flowing downstream in the pipeline;
fig. 5 is a schematic diagram of ultrasonic signal errors when the ultrasonic signal is reversed in the pipeline.
Detailed Description
The present application is further illustrated below in conjunction with specific embodiments, it being understood that these embodiments are meant to be illustrative of the application and not limiting the scope of the application, and that modifications of the application, which are equivalent to those skilled in the art to which the application pertains, fall within the scope of the application defined in the appended claims after reading the application.
The application discloses an ultrasonic liquid flow velocity measuring method and a measuring device based on parabolic fitting, referring to fig. 1 and 2, the measuring device referring to fig. 1, comprising:
the two Z-shaped ultrasonic sensors are combined and arranged to form 2 groups of ultrasonic sensors, a group of ultrasonic transmitting sensors S1 and ultrasonic node receiving sensors R1 are respectively arranged at the upper end and the lower end of the circular pipe diameter, and in the embodiment, two ultrasonic sensors can be arranged at the upstream of a pipeline in a clamping or pasting mode to form an upstream ultrasonic transmitting sensor S1 and an upstream ultrasonic receiving sensor R1. The two ultrasonic sensors travel at an angle θ to the water flow velocity direction, while the other set of ultrasonic sensors is mounted in the same manner as the first set with respect to the vicinity of the first set downstream of the ultrasonic sensors, and also at an angle θ to the liquid flow velocity direction.
The system also comprises a transmitting/receiving signal path switching circuit, an RK3399 core board, an MS1030 integrated circuit chip, a driving signal generating and amplifying circuit, a high-pass filter and an echo signal conditioning and collecting circuit; the RK3399 core board generates 8 echo pulses through a DAC interface and an MS1030 integrated circuit chip, the generated 8 pulse signals are transmitted into a driving signal generating and amplifying circuit, the amplitude of the signals is increased, when the signals pass through an attenuation liquid medium, expected ultrasonic waveforms can be obtained at a signal receiving end, the 8 square wave pulse signals are input into an ultrasonic transmitting sensor S1 and an ultrasonic transmitting sensor S2 through a transmitting/receiving signal channel switching circuit, the ultrasonic transmitting sensors S1 and S2 simultaneously transmit ultrasonic signals, the ultrasonic receiving sensors R1 and R2 sequentially receive the ultrasonic signals, the ultrasonic receiving sensors R1 and R2 filter the received ultrasonic signals through a transmitting/receiving signal channel switching circuit through a high-pass filter, the filtered ultrasonic signals are subjected to impact signal filtering through an echo signal conditioning and collecting circuit, the signals are collected through the ADC interface of the RK3399 core board, and waveforms of forward and backward flow of the ultrasonic waves are displayed on a touch screen.
The ultrasonic liquid flow velocity measuring device further comprises a parabolic fit calculating module, wherein the parabolic fit calculating module is used for calculating the liquid flow velocity of the received ultrasonic forward and backward waveform signals by utilizing an ultrasonic liquid flow velocity measuring method based on parabolic fit.
The ultrasonic liquid flow velocity measurement method based on parabolic fitting arranged in the parabolic fitting calculation module comprises the following steps:
step 1: the ultrasonic sensors of2 groups are formed by adopting double Z-shaped combined arrangement, and each group of ultrasonic sensors comprises an ultrasonic transmitting sensor and an ultrasonic receiving sensor.
Step 2: according to the ultrasonic sensor array set in the step 1, two groups of ultrasonic sensors simultaneously transmit and receive signals, 2 ultrasonic receiving sensors receive ultrasonic forward and backward signals, and the ultrasonic forward and backward signals are preprocessed. The preprocessing operation comprises the step of filtering a group of collected ultrasonic forward and backward signals by adopting a band-pass filter.
Step 3: and finding a stable characteristic point for the preprocessed ultrasonic signals through upper and lower envelopes and parabolic fitting treatment, determining forward and backward propagation time of the ultrasonic signals, and further calculating the liquid flow rate.
1. And finding the transit time points of the two groups of ultrasonic signals in the forward flow and the backward flow of the liquid by a parabolic method for fitting the two groups of peak characteristic points of the ultrasonic signals.
The specific operation of finding the transit time points of two groups of ultrasonic signals at the forward flow and the backward flow of the liquid by one parabolic fitting is as follows:
1) For forward flow of the ultrasonic signal, the general expression for parabolic fitting with the ultrasonic signal at this time is set as: y=at 2 +bt+c, where a is not equal to 0 and this equation exists when an ultrasonic signal is generated, this equation exists when an ultrasonic signal is generated and when t is not equal to 0, since no ultrasonic signal is generated, it is meaningless to the peak points of the maximum point and the closest point of the upper envelope change rate with the amplitude of the upper envelope rising section anchor point as a reference(t n ,y n ) N=2, 3,4,5, …, performing parabolic fitting to obtain a characteristic parabolic curve Y 1 ＝a 1 t 1 2 +b 1 t 1 +c 1 Wherein the parabolic opening is upward and in the first quadrant, a, when fitting the upper envelope 1 >0，b 1 <0,c 1 >0, and the maximum point and the nearest point of the down-envelope change rate of the downstream ultrasonic signal are several peak points (t n ,y n ) N=2, 3,4,5, …, performing parabolic fitting to obtain a characteristic parabolic curve Y 2 ＝a 2 t 2 2 +b 2 t 2 +c 2 Wherein the parabolic opening is downward and in the fourth quadrant, a, when fitting the lower envelope 2 <0，b 2 >0，c 2 <0; wherein the dependent variable Y 1 And Y 2 The independent variable t is the amplitude of the ultrasonic signal in forward flow 1 And t 2 Transit time in liquid for ultrasonic signal to flow forward:
if the upper envelope parabola and the lower envelope parabola are fitted and then intersect with the time axis at the same point, namely t 1 ＝t 2 The transit time difference in the liquid during the forward flow of the ultrasonic wave is T 1 ＝t 1 ＝t 2 The method comprises the steps of carrying out a first treatment on the surface of the If the upper envelope parabola and the lower envelope parabola are fitted and do not intersect with the time axis at the same point, namely t 1 ≠t 2 At this time, the intersection T of the parabola which is most fitted with the ultrasonic signal and the time axis is taken t1 Transit time T in liquid as ultrasonic signal downstream 1 ＝T t1 。
2) In the case of the reverse flow of the ultrasonic signal, the general expression for parabolic fitting with the ultrasonic signal at this time is given as: g=pt 2 +qt+h, where p+.0 and where there is a superb equationThe sound wave signal is generated, the equation is generated when the ultrasonic wave signal is generated, and when t=0, since no ultrasonic wave signal is generated, the amplitude of the locating point of the upper envelope rising section is used as a reference, and the maximum point of the upper envelope change rate and the several peak points (t n ,g n ) N=2, 3,4,5, …, and performing parabolic fitting to obtain a characteristic parabolic curve G 1 ＝a 3 t 3 2 +b 3 t 3 +c 3 Wherein the parabolic opening is upward and in the first quadrant, a, when fitting the upper envelope 3 >0，b 3 <0,c 3 >0; the maximum point and the nearest point of the lower envelope change rate of the ultrasonic signal countercurrent in the same way are several peak points (t n ,g n ) N=2, 3,4,5, …, and performing parabolic fitting to obtain a characteristic parabolic curve G 2 ＝a 4 t 4 2 +b 4 t 4 +c 4 Wherein the parabolic opening is downward and in the fourth quadrant a when fitting the lower envelope 4 >0，b 4 <0,c 4 <0; wherein the dependent variable G 1 And G 2 The independent variable t is the amplitude of the ultrasonic signal when the ultrasonic signal is countercurrent 3 And t 4 Transit time in liquid for ultrasonic signal to reverse flow:
if the upper envelope parabola and the lower envelope parabola are fitted and then intersect with the time axis at the same point, namely t 3 ＝t 4 The transit time of ultrasonic wave in the liquid in countercurrent is T 2 ＝t 3 ＝t 4 The method comprises the steps of carrying out a first treatment on the surface of the If the upper envelope parabola and the lower envelope parabola are fitted and do not intersect with the time axis at the same point, namely t 3 ≠t 4 At this time, the intersection T of the parabola which is most fitted with the ultrasonic signal and the time axis is taken t2 As ultrasoundTransit time T in liquid when wave signal is counter-current 2 ＝T t2 。
2. And performing parabolic secondary fitting, adopting a method of fitting a secondary parabola to a lower envelope, judging the accurate transit time of the ultrasonic signal in the liquid through the intersection point of the upper envelope fitting parabola and the lower envelope fitting parabola on a time axis and the fitting point, further obtaining a transit time difference delta t, and determining the final liquid flow rate through the transit time difference.
Determining the forward transit time of ultrasonic wave: and if the two fitting points are not positioned on the same transit time t point, taking the intersection point t of the curve with more fitting points of the parabola and the ultrasonic signal and the time transverse axis as the forward transit time. The accurate measurement method of the countercurrent transit time of the ultrasonic signal is the same as that of the downstream.
1) As the curve of the fitting point of the parabola has a part of the forefront peak point which is not fit due to the influence of environmental factors, as shown in figure 4, when the downstream of the ultrasonic signal is fit with the parabola, the ultrasonic signal and the parabola have two fitting points, the fitting points are respectively set as (t a1 ，T a1 ) And (t) a2 ，Y a2 ) The method comprises the steps of carrying out a first treatment on the surface of the The general expression for fitting parabolas to ultrasound signals when taken in forward flow: y=at 2 +bt+c, where a+.0, yields:
the parabolic equation is: y=a 11 t 2 +b 11 t+c 11 Wherein a is 11 Not equal to 0, the further resulting downstream transit time is:
due to the ultrasonic signal and parabola when the ultrasonic signal is downstream, and also due to the amplitude of the ultrasonic signalThe error value at the time of ultrasonic downstream is set to be alpha because the value is small and no fitting is caused t This can lead to a loss of signal data that can result in too large an error in measurement accuracy. The TOF1 value at this time should be large.
2) When the ultrasonic signal is fitted to the parabola in a countercurrent manner, the curve of the fitted point of the parabola has a part of the forefront peak point which is not fitted due to the influence of the environmental factors, as shown in FIG. 5, when the ultrasonic signal is fitted to the parabola in a countercurrent manner, the ultrasonic signal has two fitted points, which are respectively set as (t b3 ，G b3 ) And (t) b4 ，G b4 ) The method comprises the steps of carrying out a first treatment on the surface of the The parabolic curve is fitted to the ultrasonic signal when the countercurrent is taken in, the general expression is: g=pt 2 +qt+h, where p+.0, yields:
the parabolic equation is: g=a 22 t 2 +b 22 t+c 22 Wherein a is 22 Not equal to 0, a further counter-current transit time is obtained:
since the ultrasonic signal and the parabola are not fitted due to the small amplitude of the ultrasonic signal when the ultrasonic signal is reversed, the error value in the ultrasonic reversed flow is set as beta t The method comprises the steps of carrying out a first treatment on the surface of the This can lead to a loss of signal data that can result in too large an error in measurement accuracy. The TOF2 value at this time should be large.
3) From the ultrasonic transit time, Δt= |t is determined 2 -T 1 I, at this time, error value is caused by environmental factorsWherein ε is an infinitesimal amount; the influence of the environment, the measured liquid concentration or the temperature on the ultrasonic wave is approximately 0, thereby obtaining high-precision ultrasonic wave transitionThe more time difference Δt;
4) In the transit time calculation process, d represents the diameter of a pipeline in which ultrasonic waves propagate, θ represents the included angle between the propagation direction of ultrasonic signals and the flow velocity direction of pipeline liquid, c represents the initial speed of ultrasonic waves, and v represents the flow velocity of pipeline liquid. Then it is obtainable by the time difference method:
thus the forward and backward transit time difference of the ultrasonic signals
In industrial measurements the propagation velocity of the ultrasonic wave in the liquid (propagation velocity in water of about 1450 m/s) is much greater than the liquid flow velocity (c > v), i.e. c 2 -v 2 (cosθ) 2 ≈c 2 The flow rate of the finally obtained liquid is:
table 1 shows the relation between the flow rate of water under different pipe diameters and the diameter of a circular pipe, and the data in the table show the relation between the flow rate of water in the circular pipe and the pipe diameter at 25 ℃ in detail, wherein F (x) represents the amplitude of an ultrasonic signal after transition, t represents the transition time, and a fitting equation F (x) =at is further obtained 2 +bt+c, and finally the flow rate of the liquid can be obtained through the relation between the transit time and the pipe diameter:
TABLE 1 relation of flow velocity of sewer with different pipe diameters and diameter of circular pipeline
Δt in the fitting equation represents the ultrasonic transit time difference, and F (x) represents the amplitude of the ultrasonic signal.
The foregoing embodiments are merely illustrative of the technical concept and features of the present application, and are intended to enable those skilled in the art to understand the present application and to implement the same, not to limit the scope of the present application. All equivalent changes or modifications made according to the essence of the present application should be covered within the protection scope of the present application.
Claims (5)
1. The ultrasonic liquid flow velocity measurement method based on parabolic fitting is characterized by comprising the following steps of:
step 1: 2 groups of ultrasonic sensors are formed by adopting double Z-shaped combined arrangement, and each group of ultrasonic sensors comprises an ultrasonic transmitting sensor and an ultrasonic receiving sensor;
the method for arranging the ultrasonic sensors in 2 groups by combining and arranging the ultrasonic sensors in the 'double Z' -shaped mode in the step 1 comprises the following steps: a group of ultrasonic wave transmitting sensors S1 and ultrasonic wave receiving sensors R1 are respectively arranged at the upper end and the lower end of a circular pipe diameter, the propagation directions of the two ultrasonic wave sensors form a certain angle theta with the flow velocity direction of water, meanwhile, the other group of ultrasonic wave sensors are arranged in the same way as the first group relative to the vicinity of the downstream of the first group of ultrasonic wave sensors, the ultrasonic wave transmitting sensors S2 and the ultrasonic wave receiving sensors R2 are respectively arranged at the lower end and the upper end of the circular pipe diameter and form an angle theta with the flow velocity direction of liquid, and the two groups of ultrasonic wave sensors simultaneously transmit ultrasonic wave signals;
step 2: according to the ultrasonic sensor array set in the step 1, two groups of ultrasonic sensors simultaneously transmit and receive signals, 2 ultrasonic receiving sensors receive ultrasonic forward and backward signals, and pretreatment is carried out on the ultrasonic forward and backward signals;
step 3: finding a stable characteristic point for the preprocessed ultrasonic signals through upper and lower envelopes and parabolic fitting treatment, determining forward and backward propagation time of the ultrasonic signals, and further calculating the liquid flow rate:
wherein d represents the diameter of a pipeline for ultrasonic wave propagation, θ represents the included angle between the propagation direction of an ultrasonic wave signal and the flow velocity direction of pipeline liquid, c represents the initial speed of ultrasonic wave, v represents the flow velocity of pipeline liquid, T 1 、T 2 The forward and reverse transit times are respectively;
the specific operation is as follows:
1) Finding transit time points of the two groups of ultrasonic signals in forward flow and backward flow of the liquid by a parabolic method for fitting the two groups of peak characteristic points of the ultrasonic signals;
2) Performing parabolic secondary fitting, adopting a method of fitting a secondary parabola to a lower envelope, judging the accurate transit time of an ultrasonic signal in liquid through the intersection point of the upper envelope fitting parabola and the lower envelope fitting parabola on a time axis and the quantity of fitting points, further obtaining a transit time difference delta t, and determining the final liquid flow rate through the transit time difference;
the specific operation of the parabolic quadratic fitting is as follows:
determining the forward transit time of ultrasonic wave: the ultrasonic signal is subjected to fitting treatment by envelope twice under the obtained ultrasonic signal, so that an upper envelope fitting point and a lower envelope fitting point of the parabola are obtained, and at the moment, if the two fitting points are not positioned on the same transit time t point, the intersection point t of the curve with more fitting points of the parabola and the ultrasonic signal and a time transverse axis is taken as the forward transit time;
the accurate measurement method of the countercurrent transit time of the ultrasonic signal is the same as that of the downstream.
2. The method for measuring the flow rate of an ultrasonic liquid based on parabolic fit according to claim 1, wherein the preprocessing operation in step 2 comprises filtering the collected set of signals of forward and backward ultrasonic waves by using a band-pass filter.
3. The method for measuring the flow rate of an ultrasonic liquid based on parabolic fitting according to claim 1, wherein the specific operation of finding the transit time points of two sets of ultrasonic signals at the forward flow and the backward flow of the liquid by performing parabolic fitting once in the step 3 is as follows:
1) When the ultrasonic signal is downstream, the general expression for parabolic fitting with the ultrasonic signal at this time is set as: y=at 2 +bt+c, where a is not equal to 0 and this equation exists when an ultrasonic signal is generated, the amplitude of the upper envelope rising section anchor point is used as a reference for several peak points (t n ,y n ) N=2, 3,4,5, …, performing parabolic fitting to obtain a characteristic parabolic curve Y 1 ＝a 1 t 1 2 +b 1 t 1 +c 1 Wherein the parabolic opening is directed upward and in the first quadrant, a, when fitting the upper envelope 1 >0，b 1 <0,c 1 >0; the maximum point and the nearest point of the down-envelope change rate of the downstream ultrasonic signal are the same in the same way, and a plurality of peak points (t n ,y n ) N=2, 3,4,5, …, performing parabolic fitting to obtain a characteristic parabolic curve Y 2 ＝a 2 t 2 2 +b 2 t 2 +c 2 Wherein the parabolic opening is directed downward and in the fourth quadrant, a, when fitting the lower envelope 2 <0，b 2 >0，c 2 <0; wherein the dependent variable Y 1 And Y 2 The independent variable t is the amplitude of the ultrasonic signal in forward flow 1 And t 2 Transit time in liquid for ultrasonic signal to flow forward:
if the upper envelope parabola and the lower envelope parabola are fitted and then intersect with the time axis at the same point, namely t 1 ＝t 2 The transit time difference in the liquid during the forward flow of the ultrasonic wave is T 1 ＝t 1 ＝t 2 The method comprises the steps of carrying out a first treatment on the surface of the If the upper envelope parabola and the lower envelope parabola are fitted and do not intersect with the time axis at the same point, namely t 1 ≠t 2 At this time, the intersection T of the parabola which is most fitted with the ultrasonic signal and the time axis is taken t1 Transit time T in liquid as ultrasonic signal downstream 1 ＝T t1 ；
2) In the case of the reverse flow of the ultrasonic signal, the general expression for parabolic fitting with the ultrasonic signal at this time is given as: g=pt 2 +qt+h, where p is not equal to 0 and this equation exists when an ultrasonic signal is generated, the amplitude of the upper envelope rising section anchor point is used as a reference for several peak points (t n ,g n ) N=2, 3,4,5, …, and performing parabolic fitting to obtain a characteristic parabolic curve G 1 ＝a 3 t 3 2 +b 3 t 3 +c 3 Wherein the parabolic opening is directed upward and in the first quadrant, a, when fitting the upper envelope 3 >0，b 3 <0,c 3 >0; the maximum point and the nearest point of the lower envelope change rate of the ultrasonic signal countercurrent in the same way are several peak points (t n ,g n ) N=2, 3,4,5, …, and performing parabolic fitting to obtain a characteristic parabolic curve G 2 ＝a 4 t 4 2 +b 4 t 4 +c 4 Wherein the parabolic opening is downward and in the fourth quadrant a when fitting the lower envelope 4 >0，b 4 <0,c 4 <0; wherein the dependent variable G 1 And G 2 The independent variable t is the amplitude of the ultrasonic signal when the ultrasonic signal is countercurrent 3 And t 4 Transit time in liquid for ultrasonic signal to reverse flow:
if the upper envelope parabola and the lower envelope parabola are fitted and then intersect with the time axis at the same point, namely t 3 ＝t 4 The transit time of ultrasonic wave in the liquid in countercurrent is T 2 ＝t 3 ＝t 4 The method comprises the steps of carrying out a first treatment on the surface of the If the upper envelope parabola and the lower envelope parabola are fitted and do not intersect with the time axis at the same point, namely t 3 ≠t 4 At this time, the intersection T of the parabola which is most fitted with the ultrasonic signal and the time axis is taken t2 Transit time T in liquid as counter-current of ultrasonic signal 2 ＝T t2 。
4. The ultrasonic liquid flow rate measurement method based on parabolic fit according to claim 3, wherein the specific operation of parabolic quadratic fit in step 3 is:
1) When the ultrasonic signal is fitted with the parabola in the downstream direction, the ultrasonic signal and the parabola have two fitting points, and the fitting points are respectively set as (t) a1 ，Y a1 ) And (t) a2 ，Y a2 ) The method comprises the steps of carrying out a first treatment on the surface of the The general expression for fitting parabolas to ultrasound signals when taken in forward flow: y=at 2 +bt+c, where a+.0, yields:
the parabolic equation is: y=a 11 t 2 +b 11 t+c 11 Wherein a is 11 Not equal to 0, the further resulting downstream transit time is:
due to the ultrasonic waveWhen the wave signal is downstream, the ultrasonic signal and the parabola are not fitted due to the small amplitude of the ultrasonic signal, and the error value in the downstream ultrasonic signal is set to be alpha t ；
2) When the ultrasonic signal is fitted to the parabola in countercurrent, the ultrasonic signal and the parabola have two fitting points, and the fitting points are respectively (t) b3 ，G b3 ) And (t) b4 ，G b4 ) The method comprises the steps of carrying out a first treatment on the surface of the Parabolic and ultrasonic signal fitting equation general expression when brought into countercurrent: g=pt 2 +qt+h, where p+.0, yields:
the parabolic equation is: g=a 22 t 2 +b 22 t+c 22 Wherein a is 22 Not equal to 0, a further counter-current transit time is obtained:
since the ultrasonic signal and the parabola are not fitted due to the small amplitude of the ultrasonic signal when the ultrasonic signal is reversed, the error value in the ultrasonic reversed flow is set as beta t ；
3) According to the forward and backward transit time T of ultrasonic signals 1 And T 2 Obtaining the transit time difference delta t= |T 2 -T 1 I, at this time, error value is caused by environmental factorsWherein ε is an infinitesimal amount; the influence of the environment, the measured liquid concentration or the temperature on the ultrasonic wave is approximately 0, so that the ultrasonic wave transit time difference delta t with high precision can be obtained;
4) In the transit time calculation process, d represents the diameter of a pipeline for ultrasonic wave propagation, θ is an included angle between the propagation direction of an ultrasonic wave signal and the flow velocity direction of pipeline liquid, c is the initial speed of ultrasonic waves, v represents the flow velocity of pipeline liquid, and the transit time calculation method comprises the following steps:
thus the forward and backward transit time difference of the ultrasonic signals
In industrial measurements, the ultrasonic wave propagates far more rapidly in the liquid than the liquid flow velocity, c > v, i.e. c 2 -v 2 (cosθ) 2 ≈c 2 The flow rate of the finally obtained liquid is:
5. a measurement device based on the ultrasonic liquid flow rate measurement method based on parabolic fit according to any one of claims 1 to 4, characterized in that it comprises:
the double Z-shaped combined arrangement comprises 2 groups of ultrasonic sensors, one group of ultrasonic transmitting sensors S1 and ultrasonic receiving sensors R1 are respectively arranged at the upper end and the lower end of a circular pipe diameter, the propagation directions of the two ultrasonic sensors form a certain angle theta with the flow velocity direction of water, and the other group of ultrasonic sensors are arranged in the same way as the first group relative to the vicinity of the downstream of the first group of ultrasonic sensors, and the ultrasonic transmitting sensors S2 and the ultrasonic receiving sensors R2 are respectively arranged at the lower end and the upper end of the circular pipe diameter and form an angle theta with the flow velocity direction of liquid;
the system also comprises a transmitting/receiving signal path switching circuit, an RK3399 core board, an MS1030 integrated circuit chip, a driving signal generating and amplifying circuit, a high-pass filter and an echo signal conditioning and collecting circuit; the RK3399 core board generates 8 echo pulses through a DAC interface and an MS1030 integrated circuit chip, the generated 8 pulse signals are transmitted into a driving signal generating and amplifying circuit, the signal amplitude is increased, when the signals pass through an attenuation liquid medium, expected ultrasonic waveforms can be obtained at a signal receiving end, the 8 square wave pulse signals are input into an ultrasonic transmitting sensor S1 and an ultrasonic transmitting sensor S2 through a transmitting/receiving signal channel switching circuit, the ultrasonic transmitting sensors S1 and S2 simultaneously transmit ultrasonic signals, the ultrasonic receiving sensors R1 and R2 sequentially receive the ultrasonic signals, the ultrasonic receiving sensors R1 and R2 filter the received ultrasonic signals through a transmitting/receiving signal channel switching circuit through a high-pass filter, the filtered ultrasonic signals are subjected to impact signal filtering through an echo signal conditioning and collecting circuit, the signals are collected through an ADC interface of the RK3399 core board, and waveforms of forward and backward flow of the ultrasonic waves are displayed on a touch screen;
the ultrasonic liquid flow velocity measuring device further comprises a parabolic fit calculating module, wherein the parabolic fit calculating module is used for calculating the liquid flow velocity according to the ultrasonic liquid flow velocity measuring method based on parabolic fit according to any one of claims 1 to 4.
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