KR20170049078A - Apparatus and method for measuring structural displacement history from measured acceleration and inclination - Google Patents

Apparatus and method for measuring structural displacement history from measured acceleration and inclination Download PDF

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KR20170049078A
KR20170049078A KR1020150150004A KR20150150004A KR20170049078A KR 20170049078 A KR20170049078 A KR 20170049078A KR 1020150150004 A KR1020150150004 A KR 1020150150004A KR 20150150004 A KR20150150004 A KR 20150150004A KR 20170049078 A KR20170049078 A KR 20170049078A
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acceleration
displacement
sensor
errors
calculating
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KR101754488B1 (en
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최준호
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고려대학교 산학협력단
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
    • G01B21/32—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring the deformation in a solid
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C9/00—Measuring inclination, e.g. by clinometers, by levels
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01H—MEASUREMENT OF MECHANICAL VIBRATIONS OR ULTRASONIC, SONIC OR INFRASONIC WAVES
    • G01H17/00—Measuring mechanical vibrations or ultrasonic, sonic or infrasonic waves, not provided for in the preceding groups
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
    • G01P15/00—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F17/00—Digital computing or data processing equipment or methods, specially adapted for specific functions
    • G06F17/10—Complex mathematical operations
    • G06F17/11—Complex mathematical operations for solving equations, e.g. nonlinear equations, general mathematical optimization problems

Abstract

The present invention relates to a device for measuring a dynamic displacement history of a structure and a measuring method using the device, and more particularly, it relates to a device for measuring rotation angle data by a tilt sensor installed in a vertical direction to a displacement measurement position of a structure, Measuring the acceleration data by a pair of acceleration sensors that act in unison with the inclination sensor; and calculating a gravity effect due to the rotation of the acceleration sensor in the acceleration data of the acceleration sensor using the rotation angle data of the inclination sensor An acceleration correcting step of correcting the acceleration value of the acceleration sensor and the acceleration sensor in the vertical direction by correcting only the acceleration value in the vertical direction, a noise removing step of removing the measurement noise of the acceleration sensor and the inclination sensor by frequency band filtering, Calculating a displacement of the structure by dividing the acceleration and the acceleration into two values; An error correcting step of calculating a sum of errors due to a measurement error of the tilt sensor and correcting the sum of the errors by calculating the sum of the errors with a time slope and correcting the displacement of the pair of tilt sensors And estimating the vibration acceleration of the structure using an accelerometer and solving the problem using the rotation angle information obtained by the tilt sensor to thereby prevent the calculated displacement from being scattered due to accumulation of errors, And the displacement history of the structure can be measured without being affected by the uncertainty of the initial condition.

Description

[0001] APPARATUS AND METHOD FOR MEASURING STRUCTURAL DISPLACEMENT HISTORY FROM MEASURED ACCELERATION AND INCLINATION [0002]

The present invention relates to a device for measuring a dynamic displacement history of a structure and a measuring method using the device, and more particularly, to a measuring device for measuring a dynamic displacement history of a structure by using an acceleration sensor and a tilt sensor, An apparatus and method for measuring the dynamic displacement history of a structure, comprising: dynamic displacement by a load in a bridge; cable movement change due to vibration in a cable; motion measurement of a pipeliner for seabed resource drilling; mooring of a vessel and a marine plant ) Apparatus and method for measuring the dynamic displacement of various structures or members on the ground or underwater, such as motion measurement.

Currently, structural health monitoring system is applied to various structures for efficient maintenance of structures. In the structure soundness system, the response of the structure is measured by using various sensors. Among them, the displacement response is an important measurement item because the response of the structure can be intuitively analyzed and utilized in various ways.

However, the displacement response is disadvantageous in that it is very difficult to measure in actual structures compared with other measurement items such as acceleration and strain.

In order to measure these displacements, equipment such as LVDT (Linear Variable Differential Transducer), GNSS (Global Navigation Satellite System) and LDD (Laser Doppler Vibrometer) are used. Image-based measurement systems using cameras are being developed.

However, since LVDT is a contact type sensor, it requires a facility to install the sensor, so there is a limit in monitoring the movement of large structures at all times. In case of LDV, non-contact sensor is free of installation point compared to contact type sensor, There is a limitation in that it is installed at the point of collimation and there is a limit in that it is expensive.

As an alternative to overcome the disadvantages of such sensors, GNSS which is easy to install and very convenient to operate is widely used. However, the measurement accuracy of GNSS is very low compared with the displacement response of the structure, and there is a limitation that it can be measured only where the satellite signal can be received. Especially, in case of an underwater structure, there is a disadvantage that displacement response measurement using such displacement measurement sensors is almost impossible.

As described above, a method of measuring displacement of a structure by measuring the acceleration history of the structure, that is, the vibration acceleration of the structure, and integrating it in the time domain has been proposed in addition to the method of directly measuring the displacement in the actual structure.

This means that the acceleration is integrated through the basic numerical integration process to calculate the velocity, and then the velocity is integrated into the time domain to obtain the displacement. However, in the actual structure, the uncertainty of the initial velocity and the noise of the measured signal are accumulated in the time integration process, so that a low-frequency drift occurs and the calculated displacement diverges. In order to prevent such low frequency amplification effect, frequency band filtering technique is used but distortion of displacement due to amplification can not be completely controlled.

As a conventional technique, Korean Patent Laid-Open No. 10-2015-0004127 proposes a technique for estimating a displacement of a structure at a specific point by simultaneously using acceleration measurement values and structural strain information. However, in order to use such a technique, There is a limit in that it requires all the information.

Korean Patent Publication No. 10-2015-0004127 (Estimation method of multi-point displacement of structures based on acceleration and strain measurement values)

Disclosure of Invention Technical Problem [10] Accordingly, the present invention has been made in an effort to solve the above problems of the conventional art, and it is an object of the present invention to provide a method and apparatus for measuring dynamic displacement history using acceleration, Provides a structure displacement history measurement device and a measurement method that compensates the dynamic displacement history through the rotation angle information using the sensor, prevents the divergence due to accumulation of the error due to the calculated displacement, and is not affected by the uncertainty of the initial condition The purpose of that is to do.

In order to achieve the above object, a displacement history measuring apparatus of a structure according to the present invention comprises: a tilt sensor installed in a direction perpendicular to a displacement measurement position of a structure; and a tilt sensor connected to the tilt sensor and acting in unison with the tilt sensor A pair of acceleration sensors, and an arithmetic processing unit for calculating a displacement of the structure by the rotation angle data measured by the inclination sensor and the acceleration data measured by the pair of acceleration sensors.

According to another aspect of the present invention, there is provided a method of measuring a displacement history of a structure, the method comprising: measuring rotation angle data by a tilt sensor installed in a direction perpendicular to a displacement measurement position of a structure; A step of measuring acceleration data by means of a pair of acceleration sensors; and a step of correcting the gravitational influence due to the rotation of the acceleration sensor in the acceleration data of the acceleration sensor by using the rotation angle data of the inclination sensor, A noise elimination step of eliminating the measurement noise of the acceleration sensor and the inclination sensor by frequency band filtering, and a step of calculating a displacement of the structure by dividing the acceleration value through the acceleration correction step and the noise elimination step, Calculating a sum of errors due to measurement errors of the acceleration sensor and the inclination sensor, And calculating a final displacement of the structure based on the displacement values of the pair of tilt sensors corrected by the error correction, .

And the acceleration correction step calculates the positional displacement due to the rotation of the acceleration sensor by the following equation.

Figure pat00001

(T) is the rotation angle at the measurement position, and L is the distance between the inclination sensor and the acceleration sensor), where u s (t) is the positional displacement due to the rotation of the acceleration sensor,

Further, in the error correction step, the sum of the errors is calculated by the following equation.

Figure pat00002

(Here, the u R (t) and u L (t) are each displaced a pair of acceleration sensors, u S (t) is a position displaced by the rotation of the acceleration sensor, E (t) is the acceleration sensor and the inclination sensor Which means the sum of the errors caused by the measurement error)

Here, the error correction step may include calculating a slope of the sum of the errors over time, dividing the slope by a predetermined time interval when the calculated slope changes to a predetermined value or more, The inclination of each of the displacements is corrected.

Here, the final displacement of the structure is calculated by the following equation.

Figure pat00003

(here,

Figure pat00004
Wow
Figure pat00005
Means a corrected displacement of the pair of tilt sensors corrected by the error correction step)

According to the present invention having the above-described configuration, vibration acceleration of a structure is measured using an accelerometer, and rotational angular information obtained through an inclinometer is used to solve the deviation, which is caused by accumulation of errors, The displacement history of the structure can be measured without being affected by the uncertainty.

The technique of measuring the displacement using the measurement acceleration can be implemented by a simple dual process, but conventionally there is a limitation that the calculated displacement due to the accumulation of the error due to the uncertainty of the initial condition and the time accumulates, In order to overcome these limitations, a variety of existing techniques have been developed, but they require accurate numerical values of the dynamic behavior of the structure, or have been subjected to a very complicated process of selecting variables, so the theoretical studies and simple experimental studies have been limited.

However, in the present invention, the displacement calculated using the acceleration and rotation angle information, which is installed very simply and easily by anyone, can be prevented from divergence due to accumulation of errors and is not affected by the uncertainty of the initial condition, The displacement of the structure can be simply measured.

In addition, it can be applied to various structures without restriction of the structure type by using the acceleration and rotation angle of the structure. Especially, it can be applied to the case where measurement by the existing sensor technology such as an underwater structure is almost impossible.

Acceleration data is very good at estimating the displacement for a short period of time. However, the error increases as the time accumulates. However, since there is no error accumulation over time in the inclination sensor data, the error accumulation phenomenon is corrected by correcting the acceleration data with the inclination sensor data can do.

1 is a conceptual diagram showing an apparatus for measuring a structure displacement history according to the present invention.
FIG. 2 is a flowchart illustrating a method for measuring a structure displacement history according to the present invention.
3 is a view showing an application example of a structure displacement history measuring apparatus according to the present invention.
4 is a view showing a sensor coordinate system of the structure displacement history measuring apparatus according to the present invention.
5 is a graph showing the divergence of calculated displacement due to initial conditions and noise.
6 is a graph showing the sum of errors according to time.
7 is a graph showing the final displacement calculated by the structure displacement history measuring method according to the present invention.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, an apparatus and method for measuring the displacement history of structures according to the present invention will be described in detail with reference to the accompanying drawings.

1 to 4, an apparatus for measuring a displacement history of a structure according to the present invention comprises a pair of acceleration sensors 21 and 22 and a tilt sensor 30. [

The acceleration sensors 21 and 22 and the inclination sensor 30 are accommodated in a case 10 and the case 10 can be installed at a position to be measured of a structure to be measured.

The inclination sensor 30 is set up in a direction perpendicular to the surface 2 of the structure at a displacement measurement position of the structure.

The pair of acceleration sensors 21 and 22 are connected to the inclination sensor 30 through a connecting member 40 such as a frame or a bracket to be integrally movable with the inclination sensor 30. In the present embodiment, the pair of acceleration sensors 21 and 22 are provided symmetrically about the inclination sensor 30 on the left and right sides. However, the present invention is not limited to this, So that it can be installed at a certain distance from the center.

The displacement history measuring apparatus according to the present invention includes an arithmetic processing unit for calculating the displacement of the structure by the rotation angle data measured by the inclination sensor and the acceleration data measured by the pair of acceleration sensors.

When the acceleration is doubly divided by the numerical integration method, the distortion distortion due to the measurement noise increases as the time increases. However, the displacement history for any short time can be calculated. In other words, a method for correcting the accumulated error is needed because the errors accumulate even after passing through the elaborate noise removal process as time passes. In the present invention, the inclination sensor is used at the same time as the acceleration sensor, Accordingly, even if the error at the measurement moment is large, the error accumulation tendency of the acceleration data can be corrected to the inclination sensor data because the error is not accumulated because the integration process is not performed like the acceleration sensor.

The displacement history measuring apparatus 1 according to the present invention having the above-described configuration can be used not only for displacement measurement of a cable as shown in Fig. 3 but also for displacement measurement of a structure, in particular, displacement measurement of an underwater structure .

Hereinafter, a displacement history measuring method using the displacement history measuring apparatus of the present invention having the above-described structure will be described. The displacement history measuring method according to the present invention is a method of estimating the vertical displacement history of a sensor attachment point in a structure or a member, and it is possible to calculate a displacement history in three axial directions according to a sensor installation direction and a sensor measurement direction. We will explain based on the calculation of uniaxial displacement history.

As shown in Fig. 2, in the displacement history measuring method of the structure according to the present invention, the rotation angle data and the acceleration data are measured first. The displacement history measuring apparatus measures the acceleration and the slope variation of the structure while moving along the structure or member. That is, the rotation angle data is measured by a tilt sensor installed in a vertical direction to the displacement measurement position of the structure, and the acceleration data is measured by a pair of acceleration sensors connected to the tilt sensor and acting integrally with the tilt sensor .

Then, the acceleration values measured by the acceleration sensors 21 and 22 are corrected using the measured values of the inclination sensor 30.

Since the acceleration sensors 21 and 22 measure based on gravity, the acceleration value changes when the sensor rotates in place even if there is no movement in the gravity direction. Accordingly, in order to calculate only the vertical acceleration of the point to be measured, the gravitational acceleration value according to the rotation of the acceleration sensor is corrected.

That is, only the acceleration value in the vertical direction is calculated by correcting the gravitational influence due to the rotation of the acceleration sensor in the acceleration data of the acceleration sensor using the rotation angle data of the inclination sensor.

The acceleration correction step calculates the positional displacement due to the rotation of the acceleration sensor by the following equation.

Figure pat00006

Here, u s (t) is the positional displacement due to the rotation of the acceleration sensor, s (t) is the rotation angle at the measurement position, and L is the distance between the tilt sensor and the acceleration sensor.

Also, measurement noise of the acceleration sensor and the tilt sensor is removed. At this time, the removal of the measurement noise can be eliminated by using a known frequency band filtering technique.

Then, a displacement of the structure is calculated by dividing the acceleration values through the acceleration correction step and the noise removal step.

In this case, when the acceleration value is simply doubled, an error is randomly generated in a specific pattern with time due to noise and uncertainty of the initial condition, and this error causes distortion of the displacement result using the acceleration.

That is, the acceleration signal measured by each of the acceleration sensors 21 and 22 includes the vertical acceleration of the sensor (direction u (T) in FIG. 4) and acceleration in the direction of rotation do. The acceleration measured by the acceleration sensors 21 and 22 is expressed by the following equations (1) and (2), and the inclination signal measured by the inclination sensor 30 is expressed by Equation (3).

Figure pat00007
----- Equation (1)

Figure pat00008
----- Equation (2)

                    s (t) ---- - (3)

Here, a T : the vertical acceleration to be measured

a S : Acceleration caused by rotation of the point to be measured

ε R , ε L : Noise from each acceleration sensor

        s (t): the angle of rotation of the measuring point (dergee)

By integrating the equations (1) and (2) over time (t), the velocity of each acceleration sensor at t can be calculated and the velocity can be calculated by the following equations (4) and same.

Figure pat00009
--- (4)

Figure pat00010
----- (5)

Here, v IR , v IL is the initial velocity of each of the acceleration sensors 21, 22, and v IR and v IL due to the geometric arrangement of the sensor are expressed by the following equation (6).

Figure pat00011
----- Equation (6)

If the above equations (4) and (5) are integrated once more with respect to time t, the displacements u R and u L of the acceleration sensors 21 and 22 at each moment t can be calculated, 7) and Equation (8).

Figure pat00012

       -------------------------------------------------- Equation (7)

Figure pat00013

     -------------------------------------------------- - (8)

Equation (7) and equation (8) u R1 and in the u L1 is, but displaced to the actual measurement u R2 and u L2 is the error divisions into error to randomly in a specific pattern occurs over time due to the uncertainty in the noise and the initial conditions Causes displacement calculation error and distortion using acceleration. Such a distortion phenomenon is shown in Fig.

As described above, when the acceleration data is simply divided into two parts, a distorted calculation result is derived. Therefore, the method of measuring the displacement history of a structure according to the present invention is a method of measuring the displacement history of a structure by calculating the displacement of the structure by dividing the acceleration values through the acceleration correction step and the noise removal step, And an error correction step of computing the sum of the errors and calculating the sum of the errors with a slope with respect to time and correcting the error.

In the error correction step, the sum of the errors can be calculated by the following equation.

Figure pat00014

Here, u R (t) and u L (t) is a position shift due to rotation, E (t) of the pair of acceleration sensors, each of the displacement, u S (t) is the acceleration sensor measures the acceleration sensor and the inclination sensor Means the sum of the errors caused by the error. If there is no error in the measured data from both sensors, the value of E (t) is zero. However, when there is a measurement error, the value of E (t) is as shown in FIG.

The error correction step may include calculating a slope of the sum of the errors over time, dividing the slope by a predetermined time interval when the calculated slope changes to a predetermined value or more, Is corrected. The slope of the value of E (t) changes at an arbitrary time interval. Here, the slope is dominated by an error generated when the displacement calculated using the acceleration is divergent. In the case of the inclined sensor, the error is not accumulated. Since the structure to be measured according to the present invention does not move in position, but the average displacement vibrates on the basis of zero, the displacement can be calculated by correcting the diverging error by the slope.

The slope of E (t) with respect to time (t) is calculated and divided into arbitrary time intervals when the slope change of E (t) exceeds a certain level, and the displacement (u R and u L) Correct the tilt.

Then, the final displacement of the structure is calculated by the displacement values of the pair of tilt sensors corrected by the error correction.

Here, the final displacement of the structure is calculated by the following equation.

Figure pat00015

here,

Figure pat00016
Wow
Figure pat00017
Means a corrected displacement of the pair of tilt sensors corrected by the error correction step.

As described above, according to the present invention, vibration acceleration of a structure is measured by using an accelerometer, and it is solved by using rotation angle information obtained through an inclinometer to prevent the calculated displacement from divergence due to accumulation of errors, The displacement history of the structure can be measured without being affected by the uncertainty.

It will be apparent to those skilled in the art that various modifications and variations can be made in the present invention without departing from the spirit or scope of the inventions. It will be apparent to those of ordinary skill in the art.

1: Structure displacement history measuring device
21, 22: acceleration sensor
30: inclination sensor

Claims (6)

An apparatus for measuring a displacement history of a structure,
A tilt sensor installed perpendicularly to the displacement measurement position of the structure,
A pair of acceleration sensors connected to the inclination sensor and acting integrally with the inclination sensor,
And an arithmetic processing unit for calculating the displacement of the structure based on the rotation angle data measured by the inclination sensor and the acceleration data measured by the pair of acceleration sensors, wherein the displacement history measurement of the structure using the acceleration information and the rotation information Device.
Measuring acceleration data by a pair of acceleration sensors connected to the inclination sensor and acting integrally with the inclination sensor, measuring rotation angle data by a tilt sensor installed in a direction perpendicular to the displacement measurement position of the structure, ,
An acceleration correcting step of correcting a gravitational influence due to the rotation of the acceleration sensor in the acceleration data of the acceleration sensor by using the rotation angle data of the inclination sensor,
A noise removing step of removing measurement noise of the acceleration sensor and the inclination sensor by frequency band filtering;
Calculating a displacement of the structure by dividing the acceleration values through the acceleration correction step and the noise removal step,
An error correction step of calculating a sum of errors due to the measurement errors of the acceleration sensor and the tilt sensor, calculating the sum of the errors by a slope with respect to time,
And calculating a final displacement of the structure based on the displacement values of the pair of tilt sensors corrected by the error correction.
3. The method of claim 2,
Wherein the acceleration correction step computes the position displacement due to the rotation of the acceleration sensor by the following equation.
Figure pat00018

(T) is the rotation angle at the measurement position, and L is the distance between the inclination sensor and the acceleration sensor), where u s (t) is the positional displacement due to the rotation of the acceleration sensor,
3. The method of claim 2,
Wherein the sum of the errors in the error correction step is calculated by the following equation.
Figure pat00019

(Here, the u R (t) and u L (t) are each displaced a pair of acceleration sensors, u S (t) is a position displaced by the rotation of the acceleration sensor, E (t) is the acceleration sensor and the inclination sensor Which means the sum of the errors caused by the measurement error)
5. The method of claim 4,
Wherein the error correction step comprises:
Calculating a slope of the sum of the errors over time, dividing the slope by a predetermined time interval when a change in the calculated slope becomes a predetermined value or more,
And the slope of each displacement of the pair of acceleration sensors at each time interval is corrected.
6. The method of claim 5,
Wherein the final displacement of the structure is calculated by the following equation.
Figure pat00020

(here,
Figure pat00021
Wow
Figure pat00022
Means a corrected displacement of the pair of tilt sensors corrected by the error correction step)


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* Cited by examiner, † Cited by third party
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KR20200009040A (en) * 2017-05-18 2020-01-29 로베르트 보쉬 게엠베하 Method for estimating the bearing of a portable device
CN113405467A (en) * 2021-06-21 2021-09-17 西南交通大学 Method for eliminating absolute measurement drift of accelerometer
CN114034320A (en) * 2021-11-23 2022-02-11 歌尔科技有限公司 Sound box calibration control method, device, equipment and readable storage medium
KR102579391B1 (en) * 2022-12-29 2023-09-18 주식회사 스펙엔지니어링와이엔피 System for measuring displacement of structure by rotational angle detection and signal processing, and method for the same

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Publication number Priority date Publication date Assignee Title
KR101452171B1 (en) * 2013-11-20 2014-10-22 한국해양과학기술원 Method of Estimating Displacement of a Tower Structure

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Publication number Priority date Publication date Assignee Title
KR20200009040A (en) * 2017-05-18 2020-01-29 로베르트 보쉬 게엠베하 Method for estimating the bearing of a portable device
CN113405467A (en) * 2021-06-21 2021-09-17 西南交通大学 Method for eliminating absolute measurement drift of accelerometer
CN113405467B (en) * 2021-06-21 2022-08-02 西南交通大学 Method for eliminating absolute measurement drift of accelerometer
CN114034320A (en) * 2021-11-23 2022-02-11 歌尔科技有限公司 Sound box calibration control method, device, equipment and readable storage medium
KR102579391B1 (en) * 2022-12-29 2023-09-18 주식회사 스펙엔지니어링와이엔피 System for measuring displacement of structure by rotational angle detection and signal processing, and method for the same

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