CN116973448A - Guided wave pipeline defect guided wave circumferential positioning system and method - Google Patents
Guided wave pipeline defect guided wave circumferential positioning system and method Download PDFInfo
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Abstract
The application discloses a guided wave pipeline defect guided wave circumferential positioning system and a method, wherein excitation signals are loaded to each node in a first sensor array, and longitudinal axisymmetric guided waves are excited; receiving a first echo response signal with each node in the second sensor array; after the first echo response signals are overlapped, calculating the position of the axial defect of the pipeline; extracting a first defect echo wave packet from each first echo response signal, and performing time reversal on the first defect echo wave packet to obtain a time reversal excitation signal; applying corresponding time reversal excitation signals to each node in the second sensor array, and receiving second echo response signals by each node in the first sensor array; and extracting a second defect echo wave packet from each second echo response signal, calculating the maximum value of the second defect echo wave packet, drawing a circumferential distribution diagram of the maximum value of the defect echo wave packet, and taking the energy focusing position in the circumferential distribution diagram as the central position of the circumferential defect. The application can realize the circumferential positioning detection of the defects.
Description
Technical Field
The application belongs to the field of positioning of pipeline defects, and particularly relates to a guided wave circumferential positioning system and method for guided wave pipeline defects.
Background
The pipeline structure is widely applied to the fields of petrochemical industry, nuclear power, municipal administration and the like. Under long-term service conditions, the pipeline-oriented defect detection and monitoring has great significance because the pipeline-oriented defect is subject to corrosion, fatigue, external force and the like and is easy to cause serious safety accidents. The ultrasonic guided wave detection technology is a front-edge nondestructive detection method, has the characteristics of small energy attenuation, long propagation path and sensitivity to small damage, and contains all information between excitation and receiving points in a detection result, so that the method is very suitable for defect identification and positioning of long pipelines. Since the conventional guided wave detection technology mainly distinguishes the occurrence and axial position of a defect according to the echo of the defect, it is difficult to obtain the circumferential position information about the defect. In the prior art, the circumferential positioning of the pipeline defects is mainly solved by a high-power excitation device or a complex signal analysis method, but is limited by practical application conditions, and a defect positioning detection technology with high reliability and low cost is still required to be further studied.
Disclosure of Invention
In view of the above problems, the application provides a circumferential positioning system and a circumferential positioning method for guided wave pipeline defect, which adopt an annular sensing array to excite a longitudinal axisymmetric guided wave L (0, 2), the longitudinal axisymmetric guided wave L (0, 2) has smaller dispersion degree compared with other modal guided waves when propagating in a structure, and the probability of deformation in the propagating process is also small, so that the influence of multimode, dispersion effect and multipath propagation characteristic of the guided wave propagating in a pipeline structure can be reduced, and the circumferential positioning of the defect can be realized.
In order to achieve the technical purpose and achieve the technical effect, the application is realized by the following technical scheme:
in a first aspect, the application provides a guided wave pipeline defect guided wave circumferential positioning system, which comprises a first sensor array, a second sensor array, an excitation device and a signal processor; each node in the first sensor array and the second sensor array is respectively arranged at the first port of the pipeline in a circumferential equidistant manner;
loading excitation signals to each node in the first sensor array by using an excitation device to excite longitudinal axisymmetric guided waves, wherein the longitudinal axisymmetric guided waves are L (0, 2) mode guided waves;
receiving a first echo response signal with each node in the second sensor array;
the signal processor is used for calculating the position of the axial defect of the pipeline after superposing the first echo response signals; extracting first defect echo wave packets from each first echo response signal, and performing time reversal on the extracted first defect echo wave packets to obtain time reversal excitation signals;
the signal processor controls the excitation device to apply corresponding time reversal excitation signals to each node in the second sensor array, and receives second echo response signals by using each node in the first sensor array;
and setting the 0-degree bus position of the pipeline, extracting a second defect echo wave packet from each second echo response signal by the signal processor, calculating the maximum value of the second defect echo wave packet, and drawing a circumferential distribution diagram of the maximum value of the defect echo wave packet according to the node sequence, wherein the energy focusing position in the circumferential distribution diagram is the central position of the circumferential defect.
Optionally, the method for acquiring the time reversal excitation signal includes:
selecting a rectangular window with window width tau to extract a defect echo wave packet of a first echo response signal obtained by each node in the second sensor array, and ensuring that the time starting points of extraction are the same;
and carrying out time reversal to obtain a time reversal excitation signal after normalizing the extracted defect echo wave packet signal.
Optionally, the calculating the position of the axial defect of the pipe after the stacking of the first echo response signals includes:
envelope is taken from the superimposed signals, and arrival time of the wave crest of the excitation wave packet and the wave crest of the defect echo wave packet is obtained;
based on the arrival time of the wave crest of the excitation wave packet and the wave crest of the defect echo wave packet, calculating the axial distance between the defect and the end of the excitation tube, wherein the formula of the axial distance is as follows:
wherein x is the axial distance of the defect from the excitation tube end, t 1 For arrival time of wave crest of excitation wave packet，t 0 The arrival time of the wave crest of the defect echo wave packet is v, and v is the longitudinal wave velocity.
Optionally, the number of sensors comprised in the first sensor array and the second sensor array must fulfil the following condition:
the pitch of each node in the first sensor array and the second sensor array is within the wavelength.
Optionally, the first sensor array and the second sensor array are arranged side by side.
In a second aspect, the present application provides a method for locating a defect of a guided wave pipeline in a circumferential direction, comprising:
loading excitation signals to all nodes in a first sensor array which are circumferentially and equally spaced at a first port of a pipeline by using an excitation device, and exciting longitudinal axisymmetric guided waves; the longitudinal axisymmetric guided wave is an L (0, 2) mode guided wave;
each node in the second sensor array which is circumferentially and equally arranged at the first port of the pipeline is utilized to receive the first echo response signals, and the positions of the axial defects of the pipeline are calculated after the first echo response signals are overlapped;
respectively extracting first defect echo wave packets from each first echo response signal by using a signal processor, and performing time reversal on the extracted first defect echo wave packets to obtain time reversal excitation signals;
using a signal processor to control an excitation device to apply corresponding time reversal excitation signals to each node in the second sensor array, and using each node in the first sensor array to receive second echo response signals;
setting the 0-degree bus position of the pipeline, extracting second defect echo wave packets of each second echo response signal by using a signal processor, calculating the maximum value of the second defect echo wave packet, and drawing a circumferential distribution diagram of the maximum value of the defect echo wave packet according to the node sequence, wherein the energy focusing position in the circumferential distribution diagram is the central position of the circumferential defect.
Optionally, the exciting device loads exciting signals to each node in the first sensor array which is circumferentially and equally spaced at the first port of the pipeline to excite the longitudinal axisymmetric guided waves L (0, 2), and the exciting device comprises:
calculating a group velocity dispersion curve of the pipeline by using dispersion analysis software based on the outer diameter, the wall thickness and the density of the pipeline;
selecting proper excitation frequency according to the group velocity dispersion curve to generate an excitation signal;
and loading the excitation signals to all nodes in the first sensor array which are circumferentially and equally spaced at the first port of the pipeline by using an excitation device, and exciting the longitudinal axisymmetric guided waves L (0, 2).
Optionally, the method for acquiring the time reversal excitation signal includes:
selecting a rectangular window with window width tau to extract a defect echo wave packet of a first echo response signal obtained by each node in the second sensor array, and ensuring that the time starting points of extraction are the same;
and carrying out time reversal to obtain a time reversal excitation signal after normalizing the extracted defect echo wave packet signal.
Optionally, the defect echo wave packet intercepted by the selected rectangular window is guaranteed to contain the defect echo wave packet of the L (0, 2) mode.
Optionally, calculating the position of the axial defect of the pipe after overlapping the first echo response signals includes:
envelope is taken from the superimposed signals, and arrival time of the wave crest of the excitation wave packet and the wave crest of the defect echo wave packet is obtained;
based on the arrival time of the wave crest of the excitation wave packet and the wave crest of the defect echo wave packet, a formula for calculating the axial distance between the defect and the excitation pipe end is as follows:
wherein x is the axial distance of the defect from the excitation tube end, t 1 To the arrival time of the wave crest of the excitation wave packet, t 0 The arrival time of the wave crest of the defect echo wave packet is v, and v is the longitudinal wave velocity.
Compared with the prior art, the application has the beneficial effects that:
the application provides a guided wave pipeline defect guided wave circumferential positioning system and a guided wave pipeline defect guided wave circumferential positioning method, which adopt an annular sensing array to excite a longitudinal axisymmetric guided wave L (0, 2), wherein the longitudinal axisymmetric guided wave L (0, 2) has smaller dispersion degree compared with other modal guided waves when propagating in a structure, and the probability of deformation in the process of propagating is also small, so that the influence of multimode, dispersion effect and multipath propagation characteristics of the guided wave propagating in a pipeline structure can be reduced, and the circumferential positioning of defects can be realized.
The application regards the defect in the pipeline as a wave source, utilizes the time reversal focusing principle, focuses the signal at the position of the wave source (namely the defect), thereby generating a defect echo signal with higher amplitude, and can effectively reconstruct the position information of the defect serving as a passive guided wave source in the radial direction of the pipeline in the propagation process of a time reversal excitation signal (namely the time reversal guided wave), thereby realizing the radial positioning of the defect of the pipeline, reducing the complexity problem of structural response signals caused by multipath effect and promoting the application of the time reversal guided wave detection method in actual detection.
If the guided wave detection is performed on the small defect of the pipeline, the energy of the echo is too small to be recognized due to the fact that the small defect is submerged by noise, so that the problem can be alleviated by a complex signal analysis method, such as filtering and the like.
Drawings
For a clearer description of an embodiment of the application or of the solutions of the prior art, the drawings that are needed in the embodiment will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the application, and that other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art, in which:
FIG. 1 is a schematic diagram of a layout of a pipeline, a first sensor array, and a second sensor array according to an embodiment of the present application;
FIG. 2 is a waveform time domain diagram of a narrowband excitation signal in accordance with one embodiment of the application;
FIG. 3 is a schematic diagram of the echo response of a pipeline structure according to an embodiment of the present application;
FIG. 4 is a schematic diagram of an echo signal envelope of a pipeline structure according to an embodiment of the present application;
FIG. 5 is a graph showing a maximum amplitude circumferential distribution of echo packets of each node defect of a pipeline sensor array before and after time reversal processing according to an embodiment of the present application;
FIG. 6 is a graph showing the circumferential distribution of the maximum amplitude of the echo packet for each node defect of the pipeline sensor array with different defect sizes after time reversal processing according to one embodiment of the present application.
Detailed Description
The application is further described below with reference to the accompanying drawings. The following examples are only for more clearly illustrating the technical aspects of the present application, and are not intended to limit the scope of the present application.
In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are merely for convenience in describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present application. Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first", "a second", etc. may explicitly or implicitly include one or more such feature. In the description of the present application, unless otherwise indicated, the meaning of "a plurality" is two or more.
In the description of the present application, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art in a specific case.
The principle of application of the application is described in detail below with reference to the accompanying drawings.
Example 1
The embodiment of the application provides a guided wave pipeline defect guided wave circumferential positioning system, which is shown in fig. 1, and comprises a first sensor array (i.e. a sensor array 1), a second sensor array (i.e. a sensor array 2), an excitation device (not shown in the figure) and a signal processor (not shown in the figure); each node in the first sensor array and the second sensor array is respectively arranged at the first port of the pipeline in a circumferential equidistant manner;
loading excitation signals to each node in the first sensor array by using an excitation device to excite longitudinal axisymmetric guided waves, wherein the longitudinal axisymmetric guided waves are L (0, 2) guided waves; receiving a first echo response signal with each node in the second sensor array; in the process, each node in the first sensor array is used as an excitation point, and each node in the second sensor array is used as an observation point;
the signal processor is used for calculating the position of the axial defect of the pipeline after superposing the first echo response signals; extracting first defect echo wave packets from each first echo response signal, and performing time reversal on the extracted first defect echo wave packets to obtain time reversal excitation signals;
the signal processor controls the excitation device to apply corresponding time reversal excitation signals to each node in the second sensor array, and receives second echo response signals by using each node in the first sensor array;
and setting the 0-degree bus position of the pipeline, extracting a second defect echo wave packet from each second echo response signal by the signal processor, calculating the maximum value of the second defect echo wave packet, and drawing a circumferential distribution diagram of the maximum value of the defect echo wave packet according to the node sequence, wherein the energy focusing position in the circumferential distribution diagram is the central position of the circumferential defect.
In the embodiment of the application, the defect (Z 0 ,θ 0, r 0 ) Regarding as a wave source, according to the time reversal focusing principle, a signal is focused at the position of the wave source (namely, the defect), so that a defect echo signal with higher amplitude is generated, and the propagation process of a time reversal excitation signal (namely, a time reversal guided wave) can be effectively reconstructed, so that the defect can be used as the radial position information of a passive guided wave source in a pipeline, the radial positioning of the pipeline defect is realized, the problem of complexity of a structural response signal caused by multipath effect is reduced, and the application of the time reversal guided wave detection method in actual detection is promoted.
According to the time reversal focusing principle, the amplitude of the time reversal wave propagation reaching the defect is as follows:
wherein a is m (P) is the amplitude of the time-reversed wave reaching the defect, ω is the angular frequency, E (ω) is the Fourier transform of the excitation signal generated by the passive wave guide source (defect), n is the wave guide order, α nm And k nm The amplitude and wave number of the nth order mth guided wave mode are respectively B H Represents half bandwidth, delta (z 0 -z) the axial distance between the observation point and the passive guided wave source, z being the longitudinal distance from the observation point to the pipe port, z 0 Omega for the longitudinal distance of the defect to the pipe port 0 Is the center frequency, θ is the angle, H TR (w, z, θ) is a time-reversed transfer function. The main factor affecting the maximum value of the signal obtained at any observation point: the time-reversal transfer function and the signal energy of the defect echo generated by the defect. Under otherwise identical conditions, when z=z 0 When the amplitude of the observed signal reaches the maximum, namely the time reversal wave is in the pipelineWhen the defect propagates to the center of the defect, the amplitude of the reflected wave packet reaches the peak value. Therefore, after the array time reversal processing, a polar coordinate distribution diagram of the maximum value of the defect echo wave packet in the echo signals received by each array element of the sensor which is uniformly distributed along the radial direction of the pipeline in the circumferential direction is drawn, and the energy focusing position in the drawing is the central position of the pipeline defect. For this purpose, in a specific implementation manner of the embodiment of the present application, the method for acquiring the time reversal excitation signal includes:
selecting a rectangular window with window width tau to extract a defect echo wave packet of a first echo response signal obtained by each node in the second sensor array, and ensuring that the time starting points of extraction are the same; wherein, the defect echo wave packet intercepted by the selected rectangular window is ensured to contain the defect echo wave packet of L (0, 2) mode;
and carrying out time reversal to obtain a time reversal excitation signal after normalizing the extracted defect echo wave packet signal.
In a specific implementation manner of the embodiment of the present application, the calculating, after stacking the first echo response signals, a position of an axial defect of the pipe includes:
envelope is taken from the superimposed signals, and arrival time of the wave crest of the excitation wave packet and the wave crest of the defect echo wave packet is obtained;
based on the arrival time of the wave crest of the excitation wave packet and the wave crest of the defect echo wave packet, a formula for calculating the axial distance between the defect and the excitation pipe end is as follows:
wherein x is the axial distance of the defect from the excitation tube end, t 1 To the arrival time of the wave crest of the excitation wave packet, t 0 The arrival time of the wave crest of the defect echo wave packet is v, and v is the longitudinal wave velocity.
In a specific implementation manner of the embodiment of the present application, the number of sensors included in the first sensor array and the second sensor array is enough to ensure that the pitch of each node in the first sensor array and the second sensor array is within a wavelength. In a specific implementation, the number of sensors included in the first sensor array and the second sensor array is greater than or equal to 8.
The working principle of the guided wave circumferential positioning system for the guided wave pipeline defect in the embodiment of the application is described in detail below with reference to a specific implementation manner.
Step 1: adopting a steel pipeline structure with the inner diameter of 16cm, the outer diameter of 16.5cm and the length of 2m as an object to be detected, wherein the density of the steel pipeline structure is 7.932 multiplied by 10 3 kg/m 3 The longitudinal wave velocity is 5321m/s, taking the process of detecting crack damage at a position 1m away from the right side port of the pipeline as an example, the damage is simulated by using a mass block with the width of 2cm, and the effect is similar to the actual damage result.
In the implementation of the embodiment, a first sensor array and a second sensor array are circumferentially and uniformly arranged at positions which are 0.3cm and 1cm away from the left side port of the pipeline, wherein the two sensor arrays respectively comprise 8 sensors (namely array elements), each node in the first sensor array is set to serve as an excitation point, each node in the second sensor array serves as a receiving node, and the installation modes of the first sensor array and the second sensor array are schematically shown in fig. 1;
step 2: determining the outer diameter, the wall thickness and the density of a pipeline to be detected, calculating a group velocity dispersion curve corresponding to the pipeline to be detected based on dispersion analysis software, selecting proper excitation frequency according to the group velocity dispersion curve, and exciting a longitudinal axisymmetric guided wave signal of a single mode for detection;
the specific implementation steps are as follows: drawing a group velocity dispersion curve of the empty pipe according to parameters such as the outer diameter, the wall thickness and the density of the detected pipe, and selecting a 5-peak narrow-band signal with the center frequency of 70kHz according to the curve for detection, wherein the narrow-band signal is shown in figure 2.
Step 3, loading narrowband excitation signals to each node excitation node in the first sensor array, exciting longitudinal axisymmetric guided wave signals L (0, 2) in the pipeline, simultaneously receiving echo response signals by each node in the second sensor array, superposing the echo response signals received by each node in the second sensor array, and calculating the position of the axial defect of the pipeline;
the specific implementation steps are as follows: the excitation signal is a 5-peak narrow-band signal modulated by a Hanning window with the center frequency of 70kHz, the excitation signal is output and amplified by a power amplifier and then is loaded on 8 excitation points of a first sensor array through an 8-channel synchronous excitation device, guided waves excited at the moment are mainly in a single mode, meanwhile, signals received by 8 receiving nodes in a second sensor array are amplified and filtered by a charge amplifier, finally, a pipeline defect echo response signal is obtained, and the 8 pipeline defect echo response signals are overlapped and then are used for defect axial positioning analysis, as shown in figures 3-4. The axial distance between the defect and the excitation end can be obtained by multiplying the time interval between the wave crest of the excitation wave packet of the echo signal L (0, 2) and the wave crest of the defect echo wave packet (namely, taking an envelope for the defect echo of L (0, 2), wherein the first highest point of the envelope is the wave crest of the excitation wave packet, and the second highest point of the envelope is the wave crest of the defect echo wave packet) by the L (0, 2) modal group velocity (the modal group velocity is determined according to the dispersion curve and the center frequency of the selected excitation wave) at 70kHz and dividing by 2. The superimposed signals are enveloped to obtain the arrival time of the wave crest of the L (0, 2) excitation wave packet and the wave crest of the defect echo wave packet, and the axial distance of the defect from the excitation pipe end is calculated according to the calculation formula:
the axial positioning has 2.4% error and meets most detection requirements.
Step 4, selecting a rectangular window with window width tau to extract a defect echo wave packet of echo response signals obtained by each node in the second sensor array, ensuring that the intercepted time starting points are the same, normalizing the intercepted defect echo wave packet signals, and performing time reversal to obtain time reversal excitation signals;
the specific implementation steps are as follows: and respectively intercepting the defect echo wave packets received by all nodes in the second sensor array by utilizing rectangular windows, calculating the time interval between the L (0, 2) defect echo and other modal defect echoes in order to ensure that the intercepted wave packets contain all information of defect signals, determining that the intercepting window width is 0.2ms, and selecting fixed time as the starting time point of the intercepted wave packets so as to ensure the accuracy of detection results. And carrying out normalization processing on the intercepted defect echo wave packet signal, and carrying out inverse processing to obtain a time-reversal excitation signal.
Step 5, selecting each node in the second sensor array to be used as an excitation node of the signal again, applying a corresponding time reversal excitation signal, using each node in the first sensor array as an observation node again, and extracting the pipeline echo signal again on the observation node;
the specific implementation steps are as follows: the echo signals are again received at the first sensor array by re-acting as excitation nodes for the signals at the 8 nodes of the second sensor array and applying corresponding time-reversed excitation signals.
Step 6, selecting any busbar as a 0-degree busbar position in the pipeline structure, intercepting a defect echo wave packet from pipeline echo signals of each node extracted for the second time by selecting a rectangular window with a window width tau, calculating the maximum value of the defect echo wave packet of each node, drawing a circumferential distribution diagram of the maximum amplitude of the defect reflection echo wave packet according to the node sequence, and taking an energy focusing position in the diagram as a central position where the circumferential defect is located;
the specific implementation steps are as follows: selecting a busbar as a 0-degree busbar in a pipeline structure, taking the busbar as a reference, intercepting pipeline echo signals secondarily extracted from 8 nodes after time reversal by using a rectangular window with the width of 0.02ms respectively to obtain defect echo wave packets, calculating the maximum values of the defect echo wave packets respectively, drawing a polar coordinate graph in sequence to obtain a circumferential distribution diagram of the maximum amplitude of the defect echo wave packets after time reversal, intercepting the pipeline echo signals obtained before time reversal by using the rectangular window with the width of 0.02ms respectively, drawing the circumferential distribution diagram of the maximum amplitude of the defect echo wave packets before time reversal, and putting the circumferential distribution diagrams of the maximum amplitude of the defect echo wave packets before time reversal and after time reversal together for comparison analysis, wherein the circumferential distribution diagram of the maximum amplitude of the defect echo wave packets before time reversal has no focusing effect, and the circumferential distribution diagram energy of the defect echo wave packets after time reversal is focused at the position of the busbar 182-degree of the pipeline, namely the circumferential defect position center of the pipeline and coincides with the center position of an actual pipeline defect.
The method is used for respectively detecting the pipeline with the defects Zhou Xiangzhan ratio of 1/8, 1/4, 3/8 and 1/2 of circumferential crack at the position 1m away from the pipeline excitation end, and drawing the circumferential distribution diagram of the maximum amplitude of the defect echo wave packet with different defect sizes after time reversal treatment, and the result is shown in figure 6. The defect echo wave packet energy is focused at the 180-degree bus position of the pipeline, namely the center of the circumferential defect position of the pipeline.
It can be seen that the mapping relationship between the circumferential distribution of the maximum value of the defect echo wave packet and the circumferential position of the defect is established by utilizing the time and space focusing effects of time reversal, so that the circumferential positioning detection of the defect can be realized.
Example 2
The embodiment of the application provides a circumferential positioning method for a defect guide wave of a guide wave pipeline, which comprises the following steps:
(1) Loading excitation signals to all nodes in a first sensor array which are circumferentially and equally spaced at a first port of a pipeline by using an excitation device, and exciting longitudinal axisymmetric guided waves; the longitudinal axisymmetric guided wave is an L (0, 2) mode guided wave;
(2) Each node in the second sensor array which is circumferentially and equally arranged at the first port of the pipeline is utilized to receive the first echo response signals, and the positions of the axial defects of the pipeline are calculated after the first echo response signals are overlapped;
(3) Respectively extracting first defect echo wave packets from each first echo response signal by using a signal processor, and performing time reversal on the extracted first defect echo wave packets to obtain time reversal excitation signals;
(4) Using a signal processor to control an excitation device to apply corresponding time reversal excitation signals to each node in the second sensor array, and using each node in the first sensor array to receive second echo response signals;
(5) Setting the 0-degree bus position of the pipeline, extracting second defect echo wave packets of each second echo response signal by using a signal processor, calculating the maximum value of the second defect echo wave packet, and drawing a circumferential distribution diagram of the maximum value of the defect echo wave packet according to the node sequence, wherein the energy focusing position in the circumferential distribution diagram is the central position of the circumferential defect. In the implementation process, the 0-degree bus position of the set pipeline is specifically: and selecting one bus as a 0-degree bus in the pipeline structure.
In a specific implementation manner of the embodiment of the present application, the loading, by using an excitation device, an excitation signal to each node in a first sensor array circumferentially and equally spaced at a first port of a pipeline, excites a longitudinal axisymmetric guided wave L (0, 2), including:
calculating a group velocity dispersion curve of the pipeline by using dispersion analysis software based on the outer diameter, the wall thickness and the density of the pipeline;
selecting proper excitation frequency according to the group velocity dispersion curve to generate an excitation signal;
and loading the excitation signals to all nodes in the first sensor array which are circumferentially and equally spaced at the first port of the pipeline by using an excitation device, and exciting the longitudinal axisymmetric guided waves L (0, 2).
In a specific implementation manner of the embodiment of the present application, the method for acquiring the time reversal excitation signal includes:
selecting a rectangular window with window width tau to extract a defect echo wave packet of a first echo response signal obtained by each node in the second sensor array, and ensuring that the time starting points of extraction are the same; wherein, the defect wave packet intercepted by the selected rectangular window is ensured to contain the defect echo wave packet of L (0, 2) mode.
And carrying out time reversal to obtain a time reversal excitation signal after normalizing the extracted defect echo wave packet signal.
In a specific implementation manner of the embodiment of the present application, calculating a position of an axial defect of a pipe after overlapping each first echo response signal includes:
envelope is taken from the superimposed signals, and arrival time of the wave crest of the excitation wave packet and the wave crest of the defect echo wave packet is obtained;
based on the arrival time of the wave crest of the excitation wave packet and the wave crest of the defect echo wave packet, a formula for calculating the axial distance between the defect and the excitation pipe end is as follows:
wherein x is the axial distance of the defect from the excitation tube end, t 1 To the arrival time of the wave crest of the excitation wave packet, t 0 The arrival time of the wave crest of the defect echo wave packet is v, and v is the longitudinal wave velocity.
In a specific implementation manner of the embodiment of the present application, the number of sensors included in the first sensor array and the second sensor array is enough to ensure that the pitch of each node in the first sensor array and the second sensor array is within a wavelength. In a specific implementation, the number of sensors included in the first sensor array and the second sensor array is greater than or equal to 8.
The working principle of the guided wave circumferential positioning system for the guided wave pipeline defect in the embodiment of the application is described in detail below with reference to a specific implementation manner.
Step 1: adopting a steel pipeline structure with the inner diameter of 16cm, the outer diameter of 16.5cm and the length of 2m as an object to be detected, wherein the density of the steel pipeline structure is 7.932 multiplied by 10 3 kg/m 3 The longitudinal wave velocity is 5321m/s, taking the process of detecting crack damage at a position 1m away from the right side port of the pipeline as an example, the damage is simulated by using a mass block with the width of 2cm, and the effect is similar to the actual damage result.
In this embodiment, a first sensor array and a second sensor array are circumferentially and uniformly installed at positions 0.3cm and 1cm away from the left port of the pipeline, wherein the two sensor arrays respectively comprise 8 sensors (i.e. nodes/array elements), each node in the first sensor array is set as an excitation point, each node in the second sensor array is set as a receiving node, and the installation modes of the first sensor array and the second sensor array are schematically shown in fig. 1;
step 2: determining the outer diameter, the wall thickness and the density of a pipeline to be detected, calculating a group velocity dispersion curve corresponding to the pipeline to be detected based on dispersion analysis software, selecting proper excitation frequency according to the group velocity dispersion curve, and exciting a longitudinal axisymmetric guided wave signal of a single mode for detection;
the specific implementation steps are as follows: drawing a group velocity dispersion curve of the empty pipe according to parameters such as the outer diameter, the wall thickness and the density of the detected pipe, and selecting a 5-peak narrow-band signal with the center frequency of 70kHz according to the curve for detection, wherein the narrow-band signal is shown in figure 2.
Step 3, loading narrowband excitation signals to each node excitation node in the first sensor array, exciting longitudinal axisymmetric guided wave signals L (0, 2) in the pipeline, simultaneously receiving echo response signals by each node in the second sensor array, superposing the echo response signals received by each node in the second sensor array, and calculating the position of the axial defect of the pipeline;
the specific implementation steps are as follows: the excitation signal is a 5-peak narrow-band signal modulated by a Hanning window with the center frequency of 70kHz, the excitation signal is output and amplified by a power amplifier and then is loaded on 8 excitation points of a first sensor array through an 8-channel synchronous excitation device, guided waves excited at the moment are mainly in a single mode, meanwhile, signals received by 8 receiving nodes in a second sensor array are amplified and filtered by a charge amplifier, finally, a pipeline defect echo response signal is obtained, and the 8 pipeline defect echo response signals are superimposed and then are used for defect axial positioning analysis, as shown in figure 3. The axial distance between the defect and the excitation end can be obtained by multiplying the time interval between the wave crest of the excitation wave packet of the echo signal L (0, 2) and the wave crest of the defect echo wave packet (namely, taking an envelope for the defect echo of L (0, 2), wherein the first highest point of the envelope is the wave crest of the excitation wave packet, and the second highest point of the envelope is the wave crest of the defect echo wave packet) by the L (0, 2) modal group velocity (the modal group velocity is determined according to the dispersion curve and the center frequency of the selected excitation wave) at 70kHz and dividing by 2. The superimposed signals are enveloped to obtain the arrival time of the wave crest of the L (0, 2) excitation wave packet and the wave crest of the defect echo wave packet, and the axial distance of the defect from the excitation pipe end is calculated according to the calculation formula:
the axial positioning has 2.4% error and meets most detection requirements.
Step 4, selecting a rectangular window with window width tau to extract a defect echo wave packet of echo response signals obtained by each node in the second sensor array, ensuring that the intercepted time starting points are the same, normalizing the intercepted defect echo wave packet signals, and performing time reversal to obtain time reversal excitation signals;
the specific implementation steps are as follows: and respectively intercepting the defect echo wave packets received by all nodes in the second sensor array by utilizing rectangular windows, calculating the time interval between the L (0, 2) defect echo and other modal defect echoes in order to ensure that the intercepted wave packets contain all information of defect signals, determining that the intercepting window width is 0.2ms, and selecting fixed time as the starting time point of the intercepted wave packets so as to ensure the accuracy of detection results. And carrying out normalization processing on the intercepted defect echo wave packet signal, and carrying out inverse processing to obtain a time-reversal excitation signal.
Step 5, selecting each node in the second sensor array to be used as an excitation node of the signal again, applying a corresponding time reversal excitation signal, using each node in the first sensor array as an observation node again, and extracting the pipeline echo signal again on the observation node;
the specific implementation steps are as follows: the echo signals are again received at the first sensor array by re-acting as excitation nodes for the signals at the 8 nodes of the second sensor array and applying corresponding time-reversed excitation signals.
Step 6, selecting any busbar as a 0-degree busbar position in the pipeline structure, intercepting a defect echo wave packet from pipeline echo signals of each node extracted for the second time by selecting a rectangular window with a window width tau, calculating the maximum value of the defect echo wave packet of each node, drawing a circumferential distribution diagram of the maximum amplitude of the defect reflection echo wave packet according to the node sequence, and taking an energy focusing position in the diagram as a central position where the circumferential defect is located;
the specific implementation steps are as follows: selecting a busbar as a 0-degree busbar in a pipeline structure, taking the busbar as a reference, intercepting pipeline echo signals secondarily extracted from 8 nodes after time reversal by using a rectangular window with the width of 0.02ms respectively to obtain defect echo wave packets, calculating the maximum values of the defect echo wave packets respectively, drawing a polar coordinate graph in sequence to obtain a circumferential distribution diagram of the maximum amplitude of the defect echo wave packets after time reversal, intercepting the pipeline echo signals obtained before time reversal by using the rectangular window with the width of 0.02ms respectively, drawing the circumferential distribution diagram of the maximum amplitude of the defect echo wave packets before time reversal, and putting the circumferential distribution diagrams of the maximum amplitude of the defect echo wave packets before time reversal and after time reversal together for comparison analysis, wherein the circumferential distribution diagram of the maximum amplitude of the defect echo wave packets before time reversal has no focusing effect, and the circumferential distribution diagram energy of the defect echo wave packets after time reversal is focused at the position of the busbar 182-degree of the pipeline, namely the circumferential defect position center of the pipeline and coincides with the center position of an actual pipeline defect.
The method is used for respectively detecting the pipeline with the defects Zhou Xiangzhan ratio of 1/8, 1/4, 3/8 and 1/2 of circumferential crack at the position 1m away from the pipeline excitation end, and drawing the circumferential distribution diagram of the maximum amplitude of the defect echo wave packet with different defect sizes after time reversal treatment, and the result is shown in figure 6. The defect echo wave packet energy is focused at the 180-degree bus position of the pipeline, namely the center of the circumferential defect position of the pipeline.
It can be seen that the mapping relationship between the circumferential distribution of the maximum value of the defect echo wave packet and the circumferential position of the defect is established by utilizing the time and space focusing effects of time reversal, so that the circumferential positioning detection of the defect can be realized.
It will be appreciated by those skilled in the art that embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
The embodiments of the present application have been described above with reference to the accompanying drawings, but the present application is not limited to the above-described embodiments, which are merely illustrative and not restrictive, and many forms may be made by those having ordinary skill in the art without departing from the spirit of the present application and the scope of the claims, which are all within the protection of the present application.
The foregoing has shown and described the basic principles and main features of the present application and the advantages of the present application. It will be understood by those skilled in the art that the present application is not limited to the embodiments described above, and that the above embodiments and descriptions are merely illustrative of the principles of the present application, and various changes and modifications may be made without departing from the spirit and scope of the application, which is defined in the appended claims. The scope of the application is defined by the appended claims and equivalents thereof.
Claims (10)
1. The system is characterized by comprising a first sensor array, a second sensor array, an excitation device and a signal processor; each node in the first sensor array and the second sensor array is respectively arranged at the first port of the pipeline in a circumferential equidistant manner;
loading excitation signals to each node in the first sensor array by using an excitation device to excite longitudinal axisymmetric guided waves, wherein the longitudinal axisymmetric guided waves are L (0, 2) mode guided waves;
receiving a first echo response signal with each node in the second sensor array;
the signal processor is used for calculating the position of the axial defect of the pipeline after superposing the first echo response signals; extracting first defect echo wave packets from each first echo response signal, and performing time reversal on the extracted first defect echo wave packets to obtain time reversal excitation signals;
the signal processor controls the excitation device to apply corresponding time reversal excitation signals to each node in the second sensor array, and receives second echo response signals by using each node in the first sensor array;
and setting the 0-degree bus position of the pipeline, extracting a second defect echo wave packet from each second echo response signal by the signal processor, calculating the maximum value of the second defect echo wave packet, and drawing a circumferential distribution diagram of the maximum value of the defect echo wave packet according to the node sequence, wherein the energy focusing position in the circumferential distribution diagram is the central position of the circumferential defect.
2. The guided wave pipeline defect guided wave circumferential positioning system of claim 1, wherein the method for acquiring the time reversal excitation signal comprises the following steps:
selecting a rectangular window with window width tau to extract a defect echo wave packet of a first echo response signal obtained by each node in the second sensor array, and ensuring that the time starting points of extraction are the same;
and carrying out time reversal to obtain a time reversal excitation signal after normalizing the extracted defect echo wave packet signal.
3. The guided-wave pipeline defect guided-wave circumferential positioning system according to claim 1, wherein the calculating the position of the pipeline axial defect after the superposition of the first echo response signals comprises:
envelope is taken from the superimposed signals, and arrival time of the wave crest of the excitation wave packet and the wave crest of the defect echo wave packet is obtained;
based on the arrival time of the wave crest of the excitation wave packet and the wave crest of the defect echo wave packet, calculating the axial distance between the defect and the end of the excitation tube, wherein the formula of the axial distance is as follows:
wherein x is the axial distance of the defect from the excitation tube end, t 1 To the arrival time of the wave crest of the excitation wave packet, t 0 The arrival time of the wave crest of the defect echo wave packet is v, and v is the longitudinal wave velocity.
4. The guided wave pipe defect guided wave circumferential positioning system of claim 1, wherein the number of sensors contained in the first and second sensor arrays must satisfy the following condition:
the pitch of each node in the first sensor array and the second sensor array is within the wavelength.
5. The guided wave pipe defect guided wave circumferential positioning system of claim 1, wherein the first sensor array and the second sensor array are juxtaposed.
6. The circumferential positioning method for the defect guide wave of the guide wave pipeline is characterized by comprising the following steps of:
loading excitation signals to all nodes in a first sensor array which are circumferentially and equally spaced at a first port of a pipeline by using an excitation device, and exciting longitudinal axisymmetric guided waves; the longitudinal axisymmetric guided wave is an L (0, 2) mode guided wave;
each node in the second sensor array which is circumferentially and equally arranged at the first port of the pipeline is utilized to receive the first echo response signals, and the positions of the axial defects of the pipeline are calculated after the first echo response signals are overlapped;
respectively extracting first defect echo wave packets from each first echo response signal by using a signal processor, and performing time reversal on the extracted first defect echo wave packets to obtain time reversal excitation signals;
using a signal processor to control an excitation device to apply corresponding time reversal excitation signals to each node in the second sensor array, and using each node in the first sensor array to receive second echo response signals;
setting the 0-degree bus position of the pipeline, extracting second defect echo wave packets of each second echo response signal by using a signal processor, calculating the maximum value of the second defect echo wave packet, and drawing a circumferential distribution diagram of the maximum value of the defect echo wave packet according to the node sequence, wherein the energy focusing position in the circumferential distribution diagram is the central position of the circumferential defect.
7. The method for locating the defect of the guided wave pipeline in the circumferential direction according to claim 6, wherein the method comprises the following steps: the method for loading excitation signals to each node in a first sensor array circumferentially and equally spaced at a first port of a pipeline by using an excitation device excites longitudinal axisymmetric guided waves L (0, 2), and comprises the following steps:
calculating a group velocity dispersion curve of the pipeline by using dispersion analysis software based on the outer diameter, the wall thickness and the density of the pipeline;
selecting proper excitation frequency according to the group velocity dispersion curve to generate an excitation signal;
and loading the excitation signals to all nodes in the first sensor array which are circumferentially and equally spaced at the first port of the pipeline by using an excitation device, and exciting the longitudinal axisymmetric guided waves L (0, 2).
8. The method for locating the defect of the guided wave pipeline in the circumferential direction according to claim 6, wherein the method comprises the following steps: the method for acquiring the time reversal excitation signal comprises the following steps:
selecting a rectangular window with window width tau to extract a defect echo wave packet of a first echo response signal obtained by each node in the second sensor array, and ensuring that the time starting points of extraction are the same;
and carrying out time reversal to obtain a time reversal excitation signal after normalizing the extracted defect echo wave packet signal.
9. The guided wave pipeline defect guided wave circumferential positioning method of claim 8, wherein the method comprises the following steps of: the defect echo wave packet intercepted by the selected rectangular window needs to be ensured to contain the defect echo wave packet of L (0, 2) mode.
10. The method for locating the defect of the guided wave pipeline in the circumferential direction according to claim 6, wherein the method comprises the following steps: after the first echo response signals are overlapped, the position of the axial defect of the pipeline is calculated, and the method comprises the following steps:
envelope is taken from the superimposed signals, and arrival time of the wave crest of the excitation wave packet and the wave crest of the defect echo wave packet is obtained;
based on the arrival time of the wave crest of the excitation wave packet and the wave crest of the defect echo wave packet, a formula for calculating the axial distance between the defect and the excitation pipe end is as follows:
where x is the axis of the defect from the excitation tube endDistance to t 1 To the arrival time of the wave crest of the excitation wave packet, t 0 The arrival time of the wave crest of the defect echo wave packet is v, and v is the longitudinal wave velocity.
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| CN117761165B (en) * | 2024-02-22 | 2024-05-03 | 中国石油大学(华东) | Pipeline crack positioning method based on electromagnetic ultrasonic array torsion guided wave |
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