CN101832875A

Movatterモバイル変換

Info

Publication number: CN101832875A
Application number: CN 201010140123
Authority: CN
Inventors: 韩玉林
Original assignee: Southeast University
Current assignee: NANTONG HUAXIN CONSTRUCTION ENGINEERING GROUP Co Ltd; Southeast University
Priority date: 2010-04-02
Filing date: 2010-04-02
Publication date: 2010-09-15
Anticipated expiration: 2030-04-02
Also published as: CN101832875B

Abstract

基于索力监测的递进式索结构健康监测方法基于索力监测，即对全部支承索和人为增加的索的索力进行监测，考虑到了被监测量的当前数值向量同被监测量的初始数值向量、单位损伤被监测量变化矩阵和当前名义健康状态向量间的线性关系是近似的，为克服此缺陷，本发明给出了使用线性关系分段逼近非线性关系的方法，将大区间分割成连续的一个个小区间，在每一个小区间内上述线性关系都是足够准确的，在每一个小区间内可以利用多目标优化算法等合适的算法快速识别出支座位移、受损索和松弛索。The progressive cable structure health monitoring method based on cable force monitoring is based on cable force monitoring, that is, the cable force of all supporting cables and artificially increased cables is monitored, taking into account the current value vector of the monitored quantity and the initial value of the monitored quantity The linear relationship between the vector, the unit damage monitored quantity change matrix and the current nominal health state vector is approximate. In order to overcome this defect, the present invention provides a method for using the linear relationship to approach the nonlinear relationship in segments, dividing the large interval into Continuous small intervals, the above linear relationship is accurate enough in each small interval, and appropriate algorithms such as multi-objective optimization algorithms can be used to quickly identify support displacement, damaged cables and slack in each small interval search.

Description

Translated fromChinese

基于索力监测的递进式索结构健康监测方法Progressive cable structure health monitoring method based on cable force monitoring

技术领域technical field

本发明基于结构健康监测技术，基于索力监测、采用递进式方法来识别支座位移、识别索结构的索系统中的受损索、识别需调整索力的支承索，并给出具体的索长调整量，属工程结构健康监测领域。The invention is based on structural health monitoring technology, based on cable force monitoring, adopts a progressive method to identify support displacement, identify damaged cables in the cable system of the cable structure, and identify supporting cables that need to adjust the cable force, and gives specific instructions. The adjustment amount of the cable length belongs to the field of engineering structure health monitoring.

背景技术Background technique

支座位移对索结构安全是一项重大威胁，同样的，索系统通常是索结构的关键组成部分，它的失效常常带来整个结构的失效，基于结构健康监测技术来识别支座位移和索结构的索系统中的受损索是一种极具潜力的方法。当支座出现位移时、或索系统的健康状态发生变化时、或者两种情况同时发生时，会引起结构的可测量参数的变化，例如会引起索力的变化，会影响索结构的变形或应变，会影响索结构的形状或空间坐标，会引起过索结构的每一点的任意假想直线的角度坐标的变化(例如结构表面任意一点的切平面中的任意一根过该点的直线的角度坐标的变化，或者结构表面任意一点的法线的角度坐标的变化)，所有的这些变化都包含了索系统的健康状态信息，实际上这些可测量参数的变化包含了索系统的健康状态信息、包含了支座位移信息，也就是说可以利用结构的可测量参数来识别支座位移、受损索和松弛索。Support displacement is a major threat to the safety of cable structures. Similarly, the cable system is usually a key component of the cable structure, and its failure often leads to the failure of the entire structure. Based on structural health monitoring technology to identify support displacement and cable Damaged cables in the cable system of structures is a very promising approach. When the support is displaced, or the health status of the cable system changes, or both occur simultaneously, it will cause changes in the measurable parameters of the structure, such as changes in the cable force, which will affect the deformation of the cable structure or Strain will affect the shape or spatial coordinates of the cable structure, and will cause changes in the angular coordinates of any imaginary straight line passing through each point of the cable structure (for example, the angle of any straight line passing through the point in the tangent plane of any point on the surface of the structure Coordinate changes, or changes in the angular coordinates of the normal at any point on the surface of the structure), all of these changes include the health status information of the cable system, in fact, the changes in these measurable parameters include the health status information of the cable system, Bearing displacement information is included, which means that measurable parameters of the structure can be used to identify bearing displacements, damaged and slack cables.

为了能对索结构的索系统的健康状态和支座位移有可靠的监测和判断，必须有一个能够合理有效的建立索结构的可测量参数的变化同支座位移和索系统中所有索的健康状况间的关系的方法，基于该方法建立的健康监测系统可以给出更可信的支座位移评估和索系统的健康评估。In order to have a reliable monitoring and judgment of the health status and support displacement of the cable system of the cable structure, there must be a reasonable and effective establishment of the cable structure. The health monitoring system established based on this method can give more credible support displacement evaluation and cable system health evaluation.

发明内容Contents of the invention

技术问题：本发明公开了一种基于索力监测的递进式索结构健康监测方法，采用递进式方法的、能够合理有效地识别支座位移、受损索和松弛索的健康监测。Technical problem: The present invention discloses a progressive cable structure health monitoring method based on cable force monitoring, which adopts the progressive method and can reasonably and effectively identify support displacement, damaged cables and slack cables for health monitoring.

技术方案：斜拉桥、悬索桥、桁架结构等结构有一个共同点，就是它们有许多承受拉伸载荷的部件，如斜拉索、主缆、吊索、拉杆等等，该类结构的共同点是以索、缆或仅承受拉伸载荷的杆件为支承部件，为方便起见本发明将该类结构表述为“索结构”。在索结构的服役过程中，索结构的支承系统(指所有承载索、及所有起支承作用的仅承受拉伸载荷的杆件，为方便起见，本专利将该类结构的全部支承部件统一称为“索系统”，但实际上索系统不仅仅指支承索，也包括仅承受拉伸载荷的杆件)会受损，同时索结构的支座也可能出现位移，这些变化对索结构的安全是一种威胁，Technical solutions: Cable-stayed bridges, suspension bridges, truss structures and other structures have one thing in common, that is, they have many parts that bear tensile loads, such as cable-stayed cables, main cables, slings, tie rods, etc., and the common points of such structures Cables, cables, or rods that only bear tensile loads are used as supporting components. For convenience, the present invention expresses this type of structure as "cable structure". During the service process of the cable structure, the supporting system of the cable structure (referring to all load-bearing cables and all supporting rods that only bear tensile loads, for the sake of convenience, this patent refers to all supporting components of this type of structure as It is called "cable system", but in fact the cable system not only refers to the supporting cables, but also includes the rods that only bear the tensile load) will be damaged, and the support of the cable structure may also be displaced. These changes have a great impact on the safety of the cable structure is a threat,

设索的数量和支座位移分量的数量之和为N。为叙述方便起见，本发明统一称被评估的索和支座位移为“被评估对象”，给被评估对象连续编号，本发明用用变量j表示这一编号，j＝1，2，3，...，N，因此可以说有N个被评估对象。Let the sum of the number of cables and the number of support displacement components be N. For the convenience of narration, the present invention collectively refers to the evaluated cables and bearing displacements as "the evaluated object", and the evaluated objects are serially numbered, and the present invention uses the variable j to represent this numbering, j=1,2,3, ..., N, so let's say there are N objects being evaluated.

依据支承索的索力变化的原因，可将支承索的索力变化分为三种情况：一是支承索受到了损伤，例如支承索出现了局部裂纹和锈蚀等等；二是支承索并无损伤，但索力也发生了变化，出现这种变化的主要原因之一是支承索自由状态(此时索张力也称索力为0)下的索长度(称为自由长度，本发明专指支承索两支承端点间的那段索的自由长度)发生了变化；三是支承索并无损伤，但索结构支座有了位移(其中在重力方向的分量就被称为沉降)，也会引起结构内力的变化，当然也就会引起索力的变化。为了方便，本发明将自由长度发生变化的支承索统称为松弛索。According to the reasons for the change of the cable force of the support cable, the change of the cable force of the support cable can be divided into three situations: one is that the support cable has been damaged, such as local cracks and corrosion in the support cable, etc.; the other is that the support cable has no damage. damage, but the cable force has also changed. One of the main reasons for this change is the cable length (called the free length) under the free state of the supporting cable (at this time, the cable tension is also called the cable force is 0). The free length of the cable between the two supporting ends of the cable) has changed; the third is that the supporting cable is not damaged, but the cable structure support has a displacement (the component in the direction of gravity is called settlement), which will also cause Changes in the internal force of the structure, of course, will also cause changes in the cable force. For convenience, in the present invention, the support cables whose free length changes are collectively referred to as slack cables.

设索系统中共有Q根支承索，结构索力数据包括这Q根支承索的索力，显然Q小于被评估对象的数量N。仅仅通过Q个支承索的Q个索力数据来求解未知的N个被评估对象的状态是不可能的，本发明在监测全部Q根支承索索力的基础上，增加对不少于(N-Q)个其他被监测量。Assuming that there are Q supporting cables in the cable system, the structural cable force data includes the cable force of these Q supporting cables, obviously Q is smaller than the number N of the evaluated objects. It is impossible to solve the unknown state of N evaluated objects only by Q cable force data of Q support cables. The present invention increases the number of not less than (N-Q) on the basis of monitoring all Q support cable forces. other monitored quantities.

增加的不少于(N-Q)个的其他被监测量仍然是索力，叙述如下：The other monitored quantities that have been increased by no less than (N-Q) are still cable forces, described as follows:

在结构上人为增加M₂(M₂不小于N-Q)根索，新增加的M₂根索的刚度同索结构的任意一根支承索的刚度相比，可以小很多，例如小10倍，新增加的M₂根索的索力应当较小，例如其横截面正应力应当小于其疲劳极限，这些要求可以保证新增加的M₂根索不会发生疲劳损伤，新增加的M₂根索的两端应当充分锚固，保证不会出现松弛，新增加的M₂根索应当得到充分的防腐蚀保护，保证新增加的M₂根索不会发生损伤和松弛，在结构健康监测过程中将监测这新增加的M₂根索的索力。综合上述被监测量，整个结构共有M(M＝Q+M₂)根索的M个被监测量，M不得小于被评估对象的数量N。Artificially increase M₂ (M₂ is not less than NQ) cables in the structure, the stiffness of the newly added M₂ cables can be much smaller than that of any supporting cable in the cable structure, for example, 10 times smaller, the new The cable force of the added M₂ cables should be small, for example, the normal stress of its cross section should be less than its fatigue limit, these requirements can ensure that the newly added M₂ cables will not suffer from fatigue damage, and the newly added M₂ cables Both ends should be fully anchored to ensure that there will be no slack. The newly added M₂ cables should be fully protected against corrosion to ensure that the newly added M₂ cables will not be damaged and slack. During the structural health monitoring process, the monitoring This newly increases the cable force of the M₂ cables. Based on the above-mentioned monitored quantities, the entire structure has M monitored quantities with M (M=Q+M₂ ) roots, and M must not be less than the number N of evaluated objects.

为方便起见，在本发明中将“结构的被监测的所有参量”简称为“被监测量”。给M个被监测量连续编号，该编号在后续步骤中将用于生成向量和矩阵。For the sake of convenience, in the present invention, "all monitored parameters of the structure" are simply referred to as "monitored quantities". Number the M monitored quantities consecutively, and this number will be used to generate vectors and matrices in subsequent steps.

本发明由两大部分组成。分别是：一、建立被评估对象健康监测系统所需的知识库和参量的方法、基于知识库(含参量)和实测索结构的应变(或变形)的被评估对象健康状态评估方法；二、健康监测系统的软件和硬件部分。The present invention is made up of two major parts. They are: 1. The method of establishing the knowledge base and parameters required by the health monitoring system of the evaluated object, and the method of evaluating the health status of the evaluated object based on the knowledge base (including parameters) and the strain (or deformation) of the measured cable structure; 2. The software and hardware components of a health monitoring system.

本发明的第一部分：建立用于被评估对象健康监测的知识库和参量的方法。可按如下步骤依次循环往复地、递进式进行：The first part of the present invention: a method for establishing a knowledge base and parameters for health monitoring of an evaluated object. It can be carried out cyclically and progressively according to the following steps:

第一步：每一次循环开始时，首先需要建立或已建立本次循环开始时的被评估对象初始健康状态向量d_oⁱ(i＝1，2，3，…)、建立索结构的初始力学计算基准模型A_o(例如有限元基准模型，在本发明中A_o是不变的)、建立索结构的力学计算基准模型Aⁱ(例如有限元基准模型，i＝1，2，3，…)。字母i除了明显地表示步骤编号的地方外，在本发明中字母i仅表示循环次数，即第i次循环。Step 1: At the beginning of each cycle, it is first necessary to establish or have established the initial health state vector d_oⁱ (i=1, 2, 3, ...) of the evaluated object at the beginning of this cycle, and establish the initial mechanics of the cable structure Calculation benchmark model A_o (such as finite element benchmark model, A_o is constant in the present invention), establishment of mechanical calculation benchmark model Aⁱ of cable structure (such as finite element benchmark model, i=1, 2, 3, ... ). Except where the letter i clearly represents the step number, in the present invention, the letter i only represents the number of cycles, that is, the i-th cycle.

第i次循环开始时需要的索结构“初始健康状态向量d_oⁱ”(如式(1)所示)，用d_oⁱ表示第i次循环开始时索结构(用力学计算基准模型Aⁱ表示)的索结构的初始健康状态。The cable structure “initial health state vector d_oⁱ ” required at the beginning of the i-th cycle (as shown in formula (1)), let d_oⁱ represent the cable structure at the beginning of the i-th cycle (using the mechanical calculation benchmark model Aⁱ represents the initial health state of the cable structure.

${d d}_{o o}^{i i} = = {[\begin{matrix} {d d}_{o o 11}^{i i} & {d d}_{o o 22}^{i i} & . . & . . & . . & {d d}_{oj oj}^{i i} & . . & . . & . . & {d d}_{oN o}^{i i} \end{matrix}]}^{T T} - - - - - - ((11))$

式(1)中dⁱ_oj(i＝1，2，3，…；j＝1，2，3，.......，N)表示第i次循环开始时、力学计算基准模型Aⁱ中的索系统的第j个被评估对象的当前健康状态，如果该被评估对象是索系统中的一根索(或拉杆)，那么d_i表示其当前损伤，d_i为0时表示无损伤，为100％时表示该索彻底丧失承载能力，介于0与100％之间时表示丧失相应比例的承载能力，如果该被评估对象是一个支座的一个位移分量，那么d_i表示其当前位移数值。式(1)中T表示向量的转置(后同)。In the formula (1), dⁱ_oj (i=1, 2, 3, ...; j = 1, 2, 3, ..., N) indicates that at the beginning of the i-th cycle, the mechanical calculation benchmark model A The current health status of the jth evaluated object of the cable system inⁱ , if the evaluated object is a cable (or pull rod) in the cable system, then d_i represents its current damage, and when d_i is 0, it means no Damage, when it is 100%, it means that the cable completely loses its bearing capacity, when it is between 0 and 100%, it means that it loses the corresponding proportion of bearing capacity, if the evaluated object is a displacement component of a support, then d_i represents its The current displacement value. In formula (1), T represents the transposition of the vector (the same below).

第一次循环开始时建立初始健康状态向量(依据式(1)记为d¹_o)时，利用索的无损检测数据等能够表达索的健康状态的数据以及支座位移测量建立被评估对象初始健康状态向量d¹_o。如果没有索的无损检测数据及其他能够表达索的健康状态的数据时，或者可以认为结构初始状态为无损伤无松弛状态时，向量d¹_o的中与索相关的各元素数值取0。When the initial health state vector (denoted as d¹_o according to formula (1)) is established at the beginning of the first cycle, the initial health state vector of the evaluated object is established by using the non-destructive testing data of the cable and other data that can express the health state of the cable and the support displacement measurement. Health state vector d¹_o . If there is no non-destructive testing data of the cable and other data that can express the healthy state of the cable, or when the initial state of the structure can be considered as a state of no damage and no relaxation, the value of each element related to the cable in the vector d¹_o is set to 0.

第i次(i＝2，3，4，5，6…)循环开始时需要的被评估对象初始健康状态向量dⁱ_o，是在前一次(即第i-1次，i＝2，3，4，5，6…)循环结束前计算获得的，具体方法在后文叙述。The initial health state vector dⁱ_o of the evaluated object required at the beginning of the i-th (i=2, 3, 4, 5, 6...) cycle is in the previous (i-1th, i=2, 3 , 4, 5, 6...) calculated before the end of the cycle, the specific method will be described later.

第i次循环开始时需要建立的力学计算基准模型或已建立的力学计算基准模型记为Aⁱ。The mechanical calculation benchmark model that needs to be established at the beginning of the i-th cycle or the established mechanical calculation benchmark model is denoted as Aⁱ .

根据索结构完工之时的索结构的实测数据(包括索结构形状数据、索力数据、拉杆拉力数据、索结构支座坐标数据、索结构模态数据等实测数据，对斜拉桥、悬索桥而言是桥的桥型数据、索力数据、桥的模态数据、索的无损检测数据等能够表达索的健康状态的数据)和设计图、竣工图，利用力学方法(例如有限元法)建立A_o；如果没有索结构完工之时的结构的实测数据，那么就在建立健康监测系统前对结构进行实测，得到索结构的实测数据(包括索结构形状数据、索力数据、拉杆拉力数据、索结构支座坐标数据、索结构模态数据等实测数据，对斜拉桥、悬索桥而言是桥的桥型数据、索力数据、桥的模态数据、索的无损检测数据等能够表达索的健康状态的数据)，根据此数据和索结构的设计图、竣工图，利用力学方法(例如有限元法)建立A_o。不论用何种方法获得A_o，基于A_o计算得到的索结构计算数据(对斜拉桥、悬索桥而言是桥的桥型数据、索力数据、桥的模态数据)必须非常接近其实测数据，误差一般不得大于5％。这样可保证利用A_o计算所得的模拟情况下的应变计算数据、索力计算数据、索结构形状计算数据和位移计算数据、索结构角度数据等，可靠地接近所模拟情况真实发生时的实测数据。A_o是不变的，只在第一次循环开始时建立。According to the actual measurement data of the cable structure when the cable structure is completed (including the cable structure shape data, cable force data, pull rod tension data, cable structure support coordinate data, cable structure modal data and other measured data), the cable-stayed bridge and suspension bridge In other words, bridge type data, cable force data, bridge modal data, cable non-destructive testing data and other data that can express the health status of the cable), design drawings, as-built drawings, established by mechanical methods (such as finite element method) A_o ; If there is no actual measurement data of the structure when the cable structure is completed, then the actual measurement of the structure should be carried out before the establishment of the health monitoring system to obtain the actual measurement data of the cable structure (including cable structure shape data, cable force data, tie rod tension data, Cable structure support coordinate data, cable structure modal data and other measured data, for cable-stayed bridges and suspension bridges, bridge type data, cable force data, bridge modal data, cable non-destructive testing data, etc. The health status data), according to this data and the design drawing and as-built drawing of the cable structure, use mechanical methods (such as finite element method) to establish A_o . Regardless of the method used to obtain A_o , the calculated data of the cable structure based on A_o (for cable-stayed bridges and suspension bridges, the bridge type data, cable force data, and bridge modal data) must be very close to the measured data. Data, the error is generally not greater than 5%. In this way, the strain calculation data, cable force calculation data, cable structure shape calculation data, displacement calculation data, cable structure angle data, etc. under the simulated situation obtained by A_o calculation can be reliably close to the measured data when the simulated situation actually occurs . A_o is constant and is only established at the beginning of the first loop.

第一次循环开始时建立的索结构的力学计算基准模型记为A¹，A¹就等于A_o。A¹对应的被评估对象的健康状态由d¹_o描述。The basic model for mechanical calculation of the cable structure established at the beginning of the first cycle is denoted as A¹ , and A¹ is equal to A_o . The health status of the assessed object corresponding to A¹ is described by d¹_o .

第i次(i＝2，3，4，5，6…)循环开始时需要的力学计算基准模型Aⁱ，是在前一次(即第i-1次，i＝2，3，4，5，6…)循环结束前计算获得的，具体方法在后文叙述。The mechanical calculation benchmark model Aⁱ required at the beginning of the i-th (i=2, 3, 4, 5, 6...) cycle is the previous (i-1th, i=2, 3, 4, 5 , 6...) calculated before the end of the cycle, the specific method will be described later.

已有力学计算基准模型A¹和被评估对象初始健康状态向量d¹_o后，模型A¹中的各被评估对象的健康状态由向量d¹_o表达。在A¹的基础上，将所有被评估对象的健康状态数值变更为0，力学模型A¹更新为一个所有被评估对象的健康状态都为0的力学模型(记为A⁰)，力学模型A⁰实际上是完好无损无支座位移的索结构对应的力学模型。不妨称模型A⁰为索结构的无损伤无支座位移模型A⁰。After the mechanical calculation benchmark model A¹ and the initial health state vector d¹_o of the evaluated object are available, the health state of each evaluated object in the model A¹ is expressed by the vector d¹_o . On the basis of A¹ , the health status values of all evaluated objects are changed to 0, and the mechanical model A¹ is updated to a mechanical model (denoted as A⁰ ) in which the health status of all evaluated objects is 0. The mechanical model A⁰ is actually the mechanical model corresponding to the intact cable structure without support displacement. The model A⁰ may be called the undamaged and unsupported displacement model A⁰ of the cable structure.

本发明中用被监测量初始数值向量Cⁱ_o”(i＝1，2，3，…)表示第i次(i＝1，2，3，4，5，6…)循环开始时所有指定的被监测量的初始值(参见式(2))，Cⁱ_o的全称为“第i次循环被监测量的初始数值向量”。In the present invention, the initial value vector Cⁱ_o "(i=1, 2, 3, ...) of the monitored quantity is used to represent all designated The initial value of the monitored quantity (see formula (2)), the full name of Cⁱ_o is "the initial value vector of the monitored quantity in the i-th cycle".

${C C}_{o o}^{i i} = = {[\begin{matrix} {C C}_{o o 11}^{i i} & {C C}_{o o 22}^{i i} & . . & . . & . . & {C C}_{ok ok}^{i i} & . . & . . & . . & {C C}_{oM oM}^{i i} \end{matrix}]}^{T T} - - - - - - ((22))$

式(2)中Cⁱ_ok(i＝1，2，3，…；k＝1，2，3，....，M；M≥N；)是第i次循环开始时、索结构中第k个被监测量。向量Cⁱ_o是由前面定义的M个被监测量依据一定顺序排列而成，对此排列顺序并无特殊要求，只要求后面所有相关向量也按此顺序排列数据即可。In formula (2), Cⁱ_ok (i=1, 2, 3, ...; k = 1, 2, 3, ..., M; M≥N;) is the The kth monitored quantity. The vector Cⁱ_o is formed by arranging the M monitored quantities defined above according to a certain order, and there is no special requirement for the order of arrangement, it is only required that all related vectors also arrange the data in this order.

第一次循环开始时，“第1次循环被监测量的初始数值向量C¹_o”(见式(2))由实测数据组成，由于根据模型A¹计算所得被监测量的初始数值可靠地接近于相对应的实测数值，在后面的叙述中，将用同一符号来表示该计算值组成向量和实测值组成向量。At the beginning of the first cycle, "the initial value vector C¹_o of the monitored quantity in the first cycle" (see formula (2)) is composed of measured data, since the initial value of the monitored quantity calculated according to the model A¹ is reliably Close to the corresponding actual measured value, in the following description, the same symbol will be used to represent the calculated value component vector and the actual measured value component vector.

第i次(i＝2，3，4，5，6…)循环开始时需要的“第i次循环被监测量的初始数值向量Cⁱ_o”，是在前一次(即第i-1次，i＝2，3，4，5，6…)循环结束前计算获得的，具体方法在后文叙述。The "initial numerical vector Cⁱ_o of the monitored quantity of the i-th cycle" required at the beginning of the i-th (i=2, 3, 4, 5, 6...) cycle is in the previous (i-1th) , i=2, 3, 4, 5, 6...) calculated before the end of the cycle, the specific method will be described later.

第二步：每一次循环需建立“单位损伤被监测量数值变化矩阵”和“名义单位损伤向量”，第i次循环建立的“单位损伤被监测量数值变化矩阵”记为ΔCⁱ，第i次循环建立的“名义单位损伤向量”记为Dⁱ_u，i＝1，2，3，…。Step 2: Each cycle needs to establish the "value change matrix of monitored quantity per unit damage" and "nominal unit damage vector". The "value change matrix of monitored quantity per unit damage" established in the ith cycle is recorded^as The "nominal unit damage vector" established in the second cycle is denoted as Dⁱ_u , i=1, 2, 3, . . .

第一次循环建立的索结构“单位损伤被监测量数值变化矩阵”记为ΔC¹。建立ΔC¹的过程如下：The cable structure "value change matrix of monitored quantity per unit damage" established in the first cycle is recorded as ΔC¹ . The procedure for establishing ΔC¹ is as follows:

在索结构的力学计算基准模型A¹的基础上进行若干次计算，计算次数数值上等于N。每一次计算假设只有一个被评估对象有单位损伤，具体的，如果该被评估对象是索系统中的一根支承索，那么就假设该支承索有单位损伤(例如取5％、10％、20％或30％等损伤为单位损伤)，如果该被评估对象是一个支座的一个方向的位移分量，就假设该支座在该位移方向发生单位位移(例如10mm，20mm，30mm等为单位位移)。为叙述方便，本发明将假定的支承索的损伤和支座位移统称为单位损伤。为方便计算，每一次循环中设定单位损伤时可以都是把该次循环开始时的结构健康状态当成是完全健康的，并在此基础上设定单位损伤(在后续步骤中、计算出的、被评估对象的健康状态数值---称为名义健康状态向量dⁱ_c(i＝1，2，3，…)，都是相对于将该次循环开始时的、将索结构的健康状态当成是完全健康而言的，因此必须依据后文给出的公式将计算出的名义健康状态数值换算成真实健康状态数值)。同一次循环的每一次计算中出现单位损伤的被评估对象不同于其它次计算中出现单位损伤的被评估对象，并且每一次假定有单位损伤的被评估对象的单位损伤值可以不同于其他被评估对象的单位损伤值，用“名义单位损伤向量Dⁱ_u”(如式(3)所示)记录各次循环中所有被评估对象的假定的单位损伤，第一次循环时记为D¹_u。每一次计算都利用力学方法(例如有限元法)计算索结构的、在前面已指定的M个被监测量的当前计算值，每一次计算所得M个被监测量的当前计算值组成一个“被监测量的计算当前数值向量”(当假设第j个被评估对象有单位损伤时，可用式(4)表示所有指定的M个被监测量的计算当前数值向量C¹_tj)；每一次计算得到的被监测量的计算当前数值向量减去被监测量的初始数值向量C¹_o，所得向量就是此条件下(以有单位损伤的被评估对象的编号为标记)的“被监测量的数值变化向量”(当第j个被评估对象有单位损伤时，用δC¹_j表示被监测量的数值变化向量，δC¹_j的定义见式(5)、式(6)和式(7)，式(5)为式(4)减去式(2)后再除以向量D¹_u的第j个元素D_uj所得)，被监测量的数值变化向量δC¹_j的每一元素表示由于计算时假定有单位损伤的那个被评估对象(例如第j个被评估对象)有单位损伤(例如D_uj)，而引起的该元素所对应的被监测量的数值改变量相对于假定的单位损伤D_uj的变化率；有N个被评估对象就有N个“被监测量的数值变化向量”，每个被监测量的数值变化向量有M(一般的，M≥N)个元素，由这N个“被监测量的数值变化向量”依次组成有M×N个元素的“单位损伤被监测量数值变化矩阵ΔC¹”(M行N列)，每一个向量δC¹_j(j＝1，2，3，.......，N)是矩阵ΔC¹的一列，ΔC¹的定义如式(8)所示。Several calculations are performed on the basis of the mechanical calculation benchmark model^A1 of the cable structure, and the number of calculations is numerically equal to N. Each calculation assumes that only one evaluated object has unit damage, specifically, if the evaluated object is a supporting cable in the cable system, then it is assumed that the supporting cable has unit damage (for example, 5%, 10%, 20% % or 30% damage as a unit damage), if the evaluated object is a displacement component of a support in one direction, it is assumed that the support has a unit displacement in the displacement direction (for example, 10mm, 20mm, 30mm, etc. are unit displacements ). For the convenience of description, the present invention collectively refers to the assumed damage of the support cable and the displacement of the support as unit damage. For the convenience of calculation, when setting the unit damage in each cycle, the structural health state at the beginning of the cycle can be regarded as completely healthy, and the unit damage is set on this basis (in the subsequent steps, the calculated , The value of the health state of the evaluated object --- called the nominal health state vector dⁱ_c (i=1, 2, 3, ...), all are relative to the health state of the index structure at the beginning of this cycle It is considered to be completely healthy, so the calculated nominal health status value must be converted into a real health status value according to the formula given later). The evaluated object with unit damage in each calculation of the same cycle is different from the evaluated object with unit damage in other calculations, and the unit damage value of the evaluated object with unit damage can be different from other evaluated objects in each calculation The unit damage value of the object, use the "nominal unit damage vector Dⁱ_u " (as shown in formula (3)) to record the assumed unit damage of all evaluated objects in each cycle, and record it as D¹_u in the first cycle . Each calculation uses a mechanical method (such as the finite element method) to calculate the current calculated values of the M monitored quantities specified in the front of the cable structure, and the current calculated values of the M monitored quantities obtained from each calculation form a "being monitored The calculated current value vector of the monitored quantity" (when it is assumed that the j-th assessed object has unit damage, formula (4) can be used to express the calculated current value vector C¹_tj of all the specified M monitored quantities); The calculation of the monitored quantity is calculated by subtracting the initial numerical vector C¹_o of the monitored quantity from the current numerical vector of the monitored quantity. Vector" (when the jth evaluated object has unit damage, use δC¹_j to represent the value change vector of the monitored quantity, the definition of δC¹_j is shown in formula (5), formula (6) and formula (7), formula (5) is obtained by subtracting formula (2) from formula (4) and then dividing by the jth element D_uj of vector D¹_u ), and each element of the value change vector δC¹_j of the monitored quantity represents that due to the calculation It is assumed that the evaluated object with unit damage (such as the jth evaluated object) has unit damage (such as D_uj ), and the value change of the monitored quantity corresponding to the element is relative to the assumed unit damage D_uj rate of change; if there are N evaluated objects, there are N "value change vectors of the monitored quantity", and each numerical change vector of the monitored quantity has M (generally, M≥N) elements. The "value change vector of the monitored quantity" is composed in turn of a "value change matrix ΔC¹ of the monitored quantity for unit damage" (M rows and N columns) with M×N elements, and each vector δC¹_j (j=1, 2, 3, ..., N) is a column of the matrix ΔC¹ , and the definition of ΔC¹ is shown in formula (8).

${D D.}_{u u}^{i i} = = {[\begin{matrix} {D D.}_{u u 11}^{i i} & {D D.}_{u u 22}^{i i} & . . & . . & . . & {D D.}_{uj uj}^{i i} & . . & . . & . . & {D D.}_{uN u}^{i i} \end{matrix}]}^{T T} - - - - - - ((33))$

式(3)中名义单位损伤向量Dⁱ_u的元素Dⁱ_uj(i＝1，2，3，…；j＝1，2，3，.......，N)表示第i次循环中假定的第j个被评估对象的单位损伤数值，向量Dⁱ_u中的各元素的数值可以相同也可以不同。The element Dⁱ_uj (i=1, 2, 3, ...; j = 1, 2, 3, ..., N) of the nominal unit damage vector Dⁱ_u in formula (3) represents the ith The unit damage value of the jth evaluated object assumed in the loop, the value of each element in the vector Dⁱ_u can be the same or different.

${C C}_{tj tj}^{i i} = = {[\begin{matrix} {C C}_{tk tk 11}^{i i} & {C C}_{tk tk 22}^{i i} & . . & . . & . . & {C C}_{tjk tjk}^{i i} & . . & . . & . . & {C C}_{tjM lm w}^{i i} \end{matrix}]}^{T T} - - - - - - ((44))$

式(4)中元素Cⁱ_tjk(i＝1，2，3，...；j＝1，2，3，.......，N；k＝1，2，3，.......，M；M≥N)表示第i次循环由于第j个被评估对象有单位损伤时，依据编号规则所对应的第k个指定的被监测量的计算当前数值。In formula (4), element Cⁱ_tjk (i=1,2,3,...; j=1,2,3,...,N; k=1,2,3,... ..., M; M≥N) indicates that when the i-th cycle has unit damage due to the j-th evaluated object, the current value of the k-th specified monitored quantity corresponding to the numbering rule is calculated.

${δC δC}_{j j}^{i i} = = \frac{{C C}_{tj tj}^{i i} - - {C C}_{o o}^{i i}}{{D D.}_{uj uj}^{i i}} - - - - - - ((55))$

式(5)中各量的上标i(i＝1，2，3，...)表示第i次循环，下标j(j＝1，2，3，.......，N)表示第j个被评估对象有单位损伤，式中Dⁱ_uj是向量Dⁱ_u中的第j个元素。向量δCⁱ_j的定义如式(6)所示，δCⁱ_j的第k(k＝1，2，3，.......，M；M≥N)个元素δCⁱ_jk表示第i次循环中，建立矩阵ΔCⁱ时，假定第j个被评估对象有单位损伤时计算所得第k个被监测量的改变量相对于假定的单位损伤Dⁱ_uj的变化率，其定义如式(7)所示。The superscript i (i=1,2,3,...) of each amount in the formula (5) represents the i cycle, and the subscript j (j=1,2,3,..., N) indicates that the jth evaluated object has unit damage, where Dⁱ_uj is the jth element in the vector Dⁱ_u . The definition of vector δCⁱ_j is shown in formula (6), the kth (k=1, 2, 3_, ..., M; M≥N) element δCⁱ_jk of δCⁱ j represents the In the i cycle, when the matrix ΔCⁱ is established, assuming that the j-th evaluated object has unit damage, the rate of change of the k-th monitored quantity relative to the assumed unit damage Dⁱ_uj is calculated, which is defined as (7) shown.

$δ δ {C C}_{j j}^{i i} = = {[\begin{matrix} δ δ {C C}_{j j 11}^{i i} & {δC δC}_{j j 22}^{i i} & . . & . . & . . & δ δ {C C}_{jk jk}^{i i} & . . & . . & . . & {δC δ C}_{jM jM}^{i i} \end{matrix}]}^{T T} - - - - - - ((66))$

${δC δC}_{jk jk}^{i i} = = \frac{{C C}_{tjk tjk}^{i i} - - {C C}_{ok ok}^{i i}}{{D D.}_{uj uj}^{i i}} - - - - - - ((77))$

式(7)中各量的定义已在前面叙述过。The definitions of the quantities in formula (7) have been described above.

${ΔC ΔC}^{i i} = = [\begin{matrix} {δC δ C}_{11}^{i i} & {δC δ C}_{22}^{i i} & . . & . . & . . & {δC δ C}_{j j}^{i i} & . . & . . & . . & {δC δ C}_{N N}^{i i} \end{matrix}] - - - - - - ((88))$

式(8)中向量δCⁱ_j(i＝1，2，3，.......，，j＝1，2，3，.......，N)表示第i次循环中，由于第j个被评估对象有单位损伤Dⁱ_uj而引起的、所有被监测量的相对数值变化。矩阵ΔCⁱ的列(下标j)的编号规则与前面向量dⁱ_o的元素的下标j的编号规则相同。In the formula (8), the vector δCⁱ_j (i=1, 2, 3, ...,, j = 1, 2, 3, ..., N) represents the i-th cycle In , the relative value changes of all monitored quantities due to the unit damage Dⁱ_uj of the jth evaluated object. The numbering rule of the column (subscript j) of the matrix ΔCⁱ is the same as the numbering rule of the subscript j of the elements of the previous vector dⁱ_o .

第三步：识别被评估对象的当前健康状态(识别支座位移、受损索和松弛索)。Step 3: Identify the current state of health of the assessed object (identify bearing displacement, damaged and slack cables).

具体过程如下。The specific process is as follows.

第i(i＝1，2，3，...)次循环中，“被监测量的当前(计算或实测)数值向量Cⁱ”同“被监测量的初始数值向量Cⁱ_o”、“单位损伤被监测量数值变化矩阵ΔCⁱ”和“当前名义健康状态向量dⁱ_c”间的近似线性关系，如式(9)或式(10)所示。In the i-th (i=1, 2, 3, ...) cycle, "the current (calculated or measured) numerical vector Cⁱ of the monitored quantity" is the same as "the initial numerical vector Cⁱ_o of the monitored quantity", " The approximate linear relationship between the unit damage monitored quantity numerical change matrix ΔCⁱ ” and the “current nominal health state vector dⁱ_c ” is shown in formula (9) or formula (10).

${C C}^{i i} = = {C C}_{o o}^{i i} + + {ΔC ΔC}^{i i} \cdot \cdot {d d}_{c c}^{i i} - - - - - - ((99))$

${C C}^{i i} - - {C C}_{o o}^{i i} = = Δ Δ {C C}^{i i} \cdot \cdot {d d}_{c c}^{i i} - - - - - - ((1010))$

式(9)和式(10)中被监测量的当前(计算或实测)数值向量Cⁱ的定义类似于被监测量的初始数值向量Cⁱ_o的定义，见式(11)；被评估对象当前名义健康状态向量dⁱ_c的定义见式(12)。The definition of the current (calculated or measured) numerical vector Cⁱ of the monitored quantity in formula (9) and formula (10) is similar to the definition of the initial numerical vector Cⁱ_o of the monitored quantity, see formula (11); the evaluated object The definition of the current nominal health state vector dⁱ_c is shown in formula (12).

${C C}^{i i} = = {[\begin{matrix} {C C}_{11}^{i i} & {C C}_{22}^{i i} & . . & . . & . . & {C C}_{k k}^{i i} & . . & . . & . . & {C C}_{M m}^{i i} \end{matrix}]}^{T T} - - - - - - ((1111))$

式(11)中元素Cⁱ_k(i＝1，2，3，.......；k＝1，2，3，.......，M；M≥N)是第i次循环时索结构的、依据编号规则所对应的编号为k的被监测量的当前数值。The element Cⁱ_k (i=1, 2, 3, ...; k = 1, 2, 3, ..., M; M≥N) in formula (11) is the first The current value of the monitored quantity with the number k corresponding to the index structure according to the numbering rules at the time of the i cycle.

${d d}_{c c}^{i i} = = {[\begin{matrix} {d d}_{c c 11}^{i i} & {d d}_{c c 22}^{i i} & . . & . . & . . & {d d}_{cj cj}^{i i} & . . & . . & . . & {d d}_{cN n}^{i i} \end{matrix}]}^{T T} - - - - - - ((1212))$

式(12)中dⁱ_cj(i＝1，2，3，.......；j＝1，2，3，......，N)是第i次循环中索结构第j个被评估对象的当前名义损伤值，向量dⁱ_c的元素的下标j的编号规则与矩阵ΔCⁱ的列的编号规则相同。In formula (12), dⁱ_cj (i=1, 2, 3, ...; j = 1, 2, 3, ..., N) is the cable structure in the i-th cycle The current nominal damage value of the jth evaluated object, the numbering rule of the subscript j of the element of the vector dⁱ_c is the same as the numbering rule of the column of the matrix ΔCⁱ .

当被评估对象实际损伤或支座位移不太大时，由于索结构材料仍然处在线弹性阶段，索结构的变形也较小，式(9)或式(10)所表示的这样一种线性关系同实际情况的误差较小，误差可用误差向量eⁱ(式(13))定义，表示式(9)或式(10)所示线性关系的误差。When the actual damage of the evaluated object or the displacement of the support is not too large, since the cable structure material is still in the linear elastic stage, the deformation of the cable structure is also small, such a linear relationship represented by formula (9) or formula (10) The error with the actual situation is small, and the error can be defined by the error vector eⁱ (Equation (13)), which represents the error of the linear relationship shown in Equation (9) or Equation (10).

${e e}^{i i} = = abs abs (({ΔC ΔC}^{i i} \cdot \cdot {d d}_{c c}^{i i} - - {C C}^{i i} + + {C C}_{o o}^{i i})) - - - - - - ((1313))$

式(13)中ads()是取绝对值函数，对括号内求得的向量的每一个元素取绝对值。Ads() in formula (13) is an absolute value function, and the absolute value is taken for each element of the vector obtained in the brackets.

由于式(9)或式(10)所表示的线性关系存在一定误差，因此不能简单根据式(9)或式(10)和“被监测量的当前(实测)数值向量Cⁱ”来直接求解得到当前名义健康状态向量dⁱ_c。而获得当前名义健康状态向量dⁱ_c的可接受的解(即带有合理误差，但可以比较准确的从索系统中确定受损索的位置及其损伤程度、确定支座位移量)成为一个合理的解决方法，可用式(14)来表达这一方法。Since there is a certain error in the linear relationship represented by formula (9) or formula (10), it cannot be solved directly according to formula (9) or formula (10) and "the current (measured) value vector Cⁱ of the monitored quantity". Get the current nominal health state vector dⁱ_c . And obtaining an acceptable solution of the current nominal health state vector dⁱ_c (that is, with reasonable error, but can accurately determine the position of the damaged cable and its damage degree, and determine the displacement of the support from the cable system) becomes a Reasonable solution, available formula (14) to express this method.

$abs abs (({ΔC ΔC}^{i i} \cdot \cdot {d d}_{c c}^{i i} - - {C C}^{i i} + + {C C}_{o o}^{i i})) \leq \leq {g g}^{i i} - - - - - - ((1414))$

式(14)中abs()是取绝对值函数，向量gⁱ描述偏离理想线性关系(式(9)或式(10))的合理偏差，由式(15)定义。In Equation (14), abs() is an absolute value function, and the vector gⁱ describes the reasonable deviation from the ideal linear relationship (Equation (9) or Equation (10)), which is defined by Equation (15).

${g g}^{i i} = = {[\begin{matrix} {g g}_{11}^{i i} & {g g}_{22}^{i i} & . . & . . & . . & {g g}_{k k}^{i i} & . . & . . & . . & {g g}_{M m}^{i i} \end{matrix}]}^{T T} - - - - - - ((1515))$

式(15)中gⁱ_k(i＝1，2，3，.......；k＝1，2，3，.......，M)描述了第i次循环中偏离式(9)或式(10)所示的理想线性关系的最大允许偏差。向量gⁱ可根据式(13)定义的误差向量eⁱ试算选定。In formula (15), gⁱ_k (i=1, 2, 3, ....; k = 1, 2, 3, ..., M) describes the i-th cycle The maximum allowable deviation from the ideal linear relationship shown in formula (9) or formula (10). The vector gⁱ can be selected according to the error vector eⁱ defined by formula (13).

在被监测量的初始数值向量Cⁱ_o(实测或计算得到)、单位损伤被监测量数值变化矩阵ΔCⁱ(计算得到)和被监测量的当前数值向量Cⁱ(实测得到)已知时，可以利用合适的算法(例如多目标优化算法)求解式(14)，获得当前名义健康状态向量dⁱ_c的可接受的解，当前实际健康状态向量dⁱ(定义见式(16))的元素可以根据式(17)计算得到，也就是得到了被评估对象当前实际健康状态向量dⁱ，从而可由dⁱ确定受损索的位置和损伤程度、确定支座位移量，也就是实现了损伤识别和支座位移识别。When the initial numerical vector Cⁱ_o of the monitored quantity (obtained by actual measurement or calculation), the numerical change matrix ΔCⁱ (obtained by calculation) of the monitored quantity per unit damage and the current numerical vector Cⁱ (obtained by actual measurement) of the monitored quantity are known, Equation (14) can be solved using a suitable algorithm (such as a multi-objective optimization algorithm) to obtain an acceptable solution to the current nominal health state vector dⁱ_c , and the elements of the current actual health state vector dⁱ (see equation (16) for definition) It can be calculated according to formula (17), that is, the current actual health state vector dⁱ of the evaluated object is obtained, so that the position and damage degree of the damaged cable can be determined by dⁱ , and the displacement of the support can be determined, that is, the damage identification is realized and support displacement identification.

${d d}^{i i} = = {[\begin{matrix} {d d}_{11}^{i i} & {d d}_{22}^{i i} & . . & . . & . . & {d d}_{j j}^{i i} & . . & . . & . . & {d d}_{N N}^{i i} \end{matrix}]}^{T T} - - - - - - ((1616))$

式(16)中dⁱ_j(i＝1，2，3，…；j＝1，2，3，.......，N)表示第i次循环中第j个被评估对象的实际损伤值，其定义见式(17)，如果该被评估对象是索系统中的一根索(或拉杆)，那么dⁱ_j表示其当前损伤，dⁱ_j为0时表示该索无损伤，为100％时表示该索彻底丧失承载能力，介于0与100％之间时表示该索丧失相应比例的承载能力，确定受损索之后对所有的受损索进行无损检测，经无损检测查明该索没有损伤，那么d_i表示该索与dⁱ损伤值力学等效的松弛，由此就确定了松弛索，具体松弛量的计算方法在下面说明；如果该被评估对象是一个支座的一个位移分量，那么dⁱ_j表示其当前位移数值。向量dⁱ的元素的编号规则与式(1)中向量dⁱ₀的元素的编号规则相同。In formula (16), dⁱ_j (i=1, 2, 3, ...; j = 1, 2, 3, ..., N) represents the value of the jth evaluated object in the ith cycle Actual damage value, its definition is shown in formula (17). If the evaluated object is a cable (or tie rod) in the cable system, then dⁱ_j represents its current damage, and when dⁱ_j is 0, it means that the cable has no damage , when it is 100%, it means that the cable has completely lost its bearing capacity, and when it is between 0 and 100%, it means that the cable has lost its corresponding proportion of bearing capacity. It is found that the cable is not damaged, then d_i represents the mechanical equivalent relaxation of the cable and the damage value of dⁱ , thus the slack cable is determined, and the calculation method of the specific slack amount is explained below; A displacement component of the seat, then dⁱ_j represents its current displacement value. The numbering rule of the elements of the vector dⁱ is the same as the numbering rule of the elements of the vector dⁱ₀ in formula (1).

${d d}_{j j}^{i i} = = 11 - - ((11 - - {d d}_{oj oj}^{i i})) ((11 - - {d d}_{cj cj}^{i i})) - - - - - - ((1717))$

式(17)中dⁱ_oj(i＝1，2，3，4，…；j＝1，2，3，.......，N)是向量dⁱ_o的第j个元素，dⁱ_cj是向量dⁱ_c的第j个元素。In formula (17), dⁱ_oj (i=1, 2, 3, 4, ...; j = 1, 2, 3, ..., N) is the jth element of vector dⁱ_o , dⁱ_cj is the jth element of the vector dⁱ_c .

下面叙述得到了索结构当前实际健康状态向量d后，如何确定松弛索的位置和松弛程度。The following describes how to determine the position and degree of relaxation of the slack cable after the current actual health state vector d of the cable structure is obtained.

已知索系统中共有Q根支承索，结构支承索力数据由Q根支承索的索力来描述。可用“初始索力向量F_o”表示索结构中所有支承索的初始索力(定义见式(18))。因为基于索结构的计算基准模型计算所得的初始索力可靠地接近于初始索力的实测数据，在后面的叙述中，将用同一符号来表示该计算值和实测值。It is known that there are Q supporting cables in the cable system, and the structural supporting cable force data is described by the cable forces of Q supporting cables. The "initial cable force vector F_o " can be used to represent the initial cable force of all supporting cables in the cable structure (see formula (18) for definition). Because the initial cable force calculated based on the calculation benchmark model of the cable structure is reliably close to the measured data of the initial cable force, in the following description, the calculated value and the measured value will be represented by the same symbol.

F_o＝[F_o1 F_o2 …F_ok…F_oQ]^T (18)F_o ＝[F_o1 F_o2 ...F_ok ...F_oQ ]^T (18)

式(18)中F_o(k＝1，2，3，.......，Q)是索结构中第k根支承索的初始索力，该元素依据编号规则对应于指定支承索的索力。向量F_o是常量。在建立索结构的初始力学计算基准模型A_o时使用了向量F_o。In formula (18), F_o (k=1, 2, 3, ..., Q) is the initial cable force of the kth supporting cable in the cable structure, and this element corresponds to the specified supporting cable according to the numbering rules cable force. Vector F_o is constant. The vector F_o is used when establishing the benchmark model A_o for the initial mechanical calculation of the cable structure.

本发明中用“当前索力向量Fⁱ”表示第i次循环时实测得到的索结构中所有支承索的当前索力(定义见式(19))。In the present invention, "current cable force vector Fⁱ " is used to represent the current cable force of all supporting cables in the cable structure measured at the i-th cycle (see formula (19) for definition).

${F f}^{i i} = = {[\begin{matrix} {F f}_{11}^{i i} & {F f}_{22}^{i i} & . . & . . & . . & {F f}_{k k}^{i i} & . . & . . & . . & {F f}_{Q Q}^{i i} \end{matrix}]}^{T T} - - - - - - ((1919))$

式(19)中Fⁱ_k(i＝1，2，3，4，…；k＝1，2，3，.......，Q)是第i次循环时索结构中第k根支承索的当前索力。In formula (19), Fⁱ_k (i=1, 2, 3, 4, ...; k = 1, 2, 3, ..., Q) is the kth The current cable force of the root support cable.

本发明中，在支承索初始状态(无损伤、无松弛)下，且支承索处于自由状态(自由状态指索力为0，后同)时，支承索的长度称为初始自由长度，用“初始自由长度向量l_o”表示索结构中所有支承索的初始自由长度(定义见式(20))。In the present invention, under the initial state of the support cable (no damage, no slack), and the support cable is in a free state (free state means that the cable force is 0, the same hereinafter), the length of the support cable is called the initial free length, and is expressed by " The initial free length vector l_o ” represents the initial free length of all supporting cables in the cable structure (see formula (20) for definition).

l_o＝[l_o1 l_o2…l_ok…l_oQ]^T (20)l_o ＝[l_o1 l_o2 ...l_ok ...l_oQ ]^T (20)

式(20)中l_ok(k＝1，2，3，.......，Q)是索结构中第k根支承索的初始自由长度。向量l_o是常量，与循环次数无关，在第一次循环开始时确定后，就不再变化。In formula (20), l_ok (k=1, 2, 3, . . . , Q) is the initial free length of the kth supporting cable in the cable structure. The vector l_o is a constant, which has nothing to do with the number of cycles, and will not change after it is determined at the beginning of the first cycle.

本发明中，用“当前自由长度向量lⁱ”表示第i次循环时索结构中所有支承索的当前自由长度(定义见式(21))。In the present invention, "current free length vector lⁱ " is used to represent the current free lengths of all supporting cables in the cable structure at the i-th cycle (see formula (21) for definition).

${l l}^{i i} = = {[\begin{matrix} {l l}_{11}^{i i} & {l l}_{22}^{i i} & . . & . . & . . & {l l}_{k k}^{i i} & . . & . . & . . & {l l}_{Q Q}^{i i} \end{matrix}]}^{T T} - - - - - - ((21 twenty one))$

式(21)中lⁱ_k(i＝1，2，3，4，…；k＝1，2，3，.......，Q)是第i次循环时索结构中第k根支承索的当前自由长度。In the formula (21), lⁱ_k (i=1, 2, 3, 4, ...; k = 1, 2, 3, ..., Q) is the kth The current free length of the root support cable.

本发明中，用“自由长度改变向量Δlⁱ”(或称支承索当前松弛程度向量)表示第i次循环时索结构中所有支承索的自由长度的改变量(定义见式(22)和式(23))。In the present invention, the "free length change vector Δlⁱ " (or the current slackness vector of the support cables) is used to represent the changes in the free lengths of all the support cables in the cable structure during the ith cycle (see formula (22) and formula (twenty three)).

${Δl Δl}^{i i} = = {[\begin{matrix} {Δl Δl}_{11}^{i i} & {Δl Δl}_{22}^{i i} & . . & . . & . . & {Δl Δl}_{k k}^{i i} & . . & . . & . . & {Δl Δl}_{Q Q}^{i i} \end{matrix}]}^{T T} - - - - - - ((22 twenty two))$

式(22)中Δlⁱ_k(i＝1，2，3，4，…；k＝1，2，3，.......，Q)是当前(第i次循环时)索结构中第k根支承索的自由长度的改变量，其定义见式(23)，Δlⁱ_k不为0的索为松弛索，Δlⁱ_k的数值为索的松弛量，并表示索系统第k根支承索的当前松弛程度，也是调整索力时该索的索长调整量。In formula (22), Δlⁱ_k (i=1, 2, 3, 4, ...; k = 1, 2, 3, ..., Q) is the current (i-th cycle) cable structure The change of the free length of the k-th supporting cable is defined in formula (23). The cable whose^Δli_k is not 0 is the slack cable, and the value of^Δli_k is the slack amount of the cable, and represents the The current slack degree of the root support cable is also the cable length adjustment amount of the cable when the cable force is adjusted.

${Δl Δl}_{k k}^{i i} = = {l l}_{k k}^{i i} - - {l l}_{ok ok} - - - - - - ((23 twenty three))$

在本发明中通过将松弛索同受损索进行力学等效来进行松弛索的松弛程度识别，等效的力学条件是：In the present invention, the degree of relaxation of the slack cable is identified by mechanically equivalent the slack cable to the damaged cable, and the equivalent mechanical condition is:

一、两等效的索的无松弛和无损伤时的初始自由长度、几何特性参数及材料的力学特性参数相同；1. The initial free length, geometric characteristic parameters and material mechanical characteristic parameters of the two equivalent cables are the same when there is no relaxation and no damage;

二、松弛或损伤后，两等效的松弛索和损伤索的索力和变形后的总长相同。2. After relaxation or damage, the cable force and the total length after deformation of the two equivalent slack cables and damaged cables are the same.

满足上述两个等效条件时，这样的两根支承索在结构中的力学功能就是完全相同的，即如果用等效的受损索代替松弛索后，索结构不会发生任何变化，反之亦然。When the above two equivalent conditions are satisfied, the mechanical functions of such two supporting cables in the structure are exactly the same, that is, if the equivalent damaged cable is used to replace the slack cable, the cable structure will not change, and vice versa. Of course.

本发明中，第i次循环时，如果同第k个支承索(其当前松弛程度用Δlⁱ_k定义)进行等效的虚拟受损的支承索的当前实际虚拟损伤程度用dⁱ_j表示(dⁱ_j的定义见式(16)和式(17))。松弛的第k个支承索的当前松弛程度Δlⁱ_k(Δlⁱ_k的定义见式(22))同等效的受损索的当前实际虚拟损伤程度dⁱ_j之间的关系由前述两项力学等效条件确定。Δlⁱ_k同dⁱ_j之间的具体关系可以采用多种方法实现，例如可以直接根据前述等效条件确定(参见式(24))，也可采用基于Ernst等效弹性模量代替式(24)中的E进行修正后确定(参见式(25))，也可以采用基于有限元法的试算法等其它方法来确定。In the present invention, during the ith cycle, if the current actual virtual damage degree of the virtual damaged support cable equivalent to the k-th support cable (its current degree of relaxation is defined by Δlⁱ_k ) is represented by dⁱ_j ( For the definition of dⁱ_j see formula (16) and formula (17)). The relationship between the current slack degree Δlⁱ_k (the definition of Δlⁱ_k is shown in Equation (22)) of the relaxed k-th supporting cable and the current actual virtual damage degree dⁱ_j of the equivalent damaged cable is determined by the above two mechanics Equivalent conditions are determined. The specific relationship between Δlⁱ_k and dⁱ_j can be realized by various methods, for example, it can be determined directly according to the aforementioned equivalent conditions (see formula (24)), or it can be replaced by the equivalent elastic modulus based on Ernst (24 ) in E after correction (see formula (25)), it can also be determined by other methods such as trial algorithm based on finite element method.

${Δl Δl}_{k k}^{i i} = = \frac{{d d}_{j j}^{i i}}{11 - - {d d}_{j j}^{i i}} \frac{{F f}_{k k}^{i i}}{EA EA + + {F f}_{k k}^{i i}} {l l}_{ok ok} - - - - - - ((24 twenty four))$

${Δl Δl}_{k k}^{i i} = = \frac{{d d}_{j j}^{i i}}{11 - - {d d}_{j j}^{i i}} \frac{{F f}_{k k}^{i i}}{[[\frac{E E.}{11 + + \frac{{(({ω ω}_{k k} {l l}_{kx x}^{i i}))}^{22} AE AE}{1212 {(({F f}_{k k}^{i i}))}^{33}}}]] A A + + {F f}_{k k}^{i i}} {l l}_{ok ok} - - - - - - ((2525))$

式(24)和式(25)中E是该支承索的弹性模量，A是该支承索的横截面面积，Fⁱ_j是该支承索的当前索力，dⁱ_j是该支承索的当前实际虚拟损伤程度，ω_k是该支承索的单位长度的重量，lⁱ_kx是该支承索的两个支承端点的水平距离。式(25)中[]内的项是该支承索的Ernst等效弹性模量，由式(24)或式(25)可以就可以确定支承索当前松弛程度向量Δlⁱ。式(25)是对式(24)的修正。In formula (24) and formula (25), E is the elastic modulus of the supporting cable, A is the cross-sectional area of the supporting cable, Fⁱ_j is the current cable force of the supporting cable, and dⁱ_j is the The current actual virtual damage degree, ω_k is the weight per unit length of the supporting cable, and lⁱ_kx is the horizontal distance between the two supporting ends of the supporting cable. The term in [] in Equation (25) is the Ernst equivalent elastic modulus of the supporting cable, and the current slackness vector Δlⁱ of the supporting cable can be determined from Equation (24) or Equation (25). Equation (25) is a modification of Equation (24).

第四步：判断是否结束本次(第i次)循环，如果是，则完成本次循环结束前的收尾工作，为下一次(即第i+1次，i＝1，2，3，4，…)循环准备力学计算基准模型和必要的向量。具体过程如下。The fourth step: judge whether to end this (i-th) cycle, if yes, then complete the finishing work before the end of this cycle, for the next time (i.e. i+1 time, i=1, 2, 3, 4 , ...) loop to prepare the benchmark model and necessary vectors for mechanics calculations. The specific process is as follows.

在本次(第i次)循环中求得当前名义健康状态向量dⁱ_c后，首先，按照式(26)建立标识向量Bⁱ，式(27)给出了标识向量Bⁱ的第j个元素的定义；如果标识向量Bⁱ的元素全为0，则在本次循环中继续对索结构的健康监测和计算；如果标识向量Bⁱ的元素不全为0，则完成后续步骤后，进入下一次循环。所谓的后续步骤为：首先，根据式(28)计算得到下一次(即第i+1次，i＝1，2，3，4，…)循环所需的初始损伤向量dⁱ⁺¹_o的每一个元素dⁱ⁺¹_oj；第二，在力学计算基准模型Aⁱ(i＝1，2，3，4，…)或索结构的无损伤模型A⁰的基础上，令被评估对象的健康状况状况为dⁱ⁺¹_o后更新得到下一次(第i+1次，i＝1，2，3，4，…)循环所需的力学计算基准模型Aⁱ⁺¹；最后，通过对力学计算基准模型Aⁱ⁺¹的计算得到被监测量的初始数值，由其组成下一次(即第i+1次，i＝1，2，3，4，…)循环所需的“被监测量的初始数值向量Cⁱ⁺¹_o”(i＝1，2，3，4，…)。After obtaining the current nominal health state vector dⁱ_c in this (i-th) cycle, first, establish the identification vector Bⁱ according to formula (26), and formula (27⁾ gives the jth The definition of elements; if the elements of the identification vector Bⁱ are all 0, then continue to monitor and calculate the health of the cable structure in this cycle; if the elements of the identification vector Bⁱ are not all 0, after completing the subsequent steps, enter the next step one cycle. The so-called follow-up steps are: first, calculate the initial damage vector dⁱ⁺¹_o required for the next (i+1th, i=1, 2, 3, 4, ...) cycle according to formula (28) Each element dⁱ⁺¹_oj ; secondly, on the basis of mechanical calculation benchmark model Aⁱ (i=1, 2, 3, 4,…) or cable structure damage-free model A⁰ , let the evaluated object After the health status is dⁱ⁺¹_o , the mechanical calculation benchmark model Aⁱ⁺¹ required for the next (i+1th, i=1, 2, 3, 4, ...) cycle is obtained; finally, by The calculation of the mechanical calculation benchmark model Aⁱ⁺¹ obtains the initial value of the monitored quantity, which constitutes the "monitored The initial numerical vector Cⁱ⁺¹_o "(i=1, 2, 3, 4, . . . ) of the quantity.

${B B}^{i i} = = {[\begin{matrix} {B B}_{11}^{i i} & {B B}_{22}^{i i} & . . & . . & . . & {B B}_{j j}^{i i} & . . & . . & . . & {B B}_{N N}^{i i} \end{matrix}]}^{T T} - - - - - - ((2626))$

式(26)中标识向量Bⁱ的上标i表示第i次循环，其元素Bⁱ_j(j＝1，2，3，…，N)的下标j表示第j个被评估对象的损伤特征，只能取0和1两个量，具体取值规则见式(27)。The superscript i of the identification vector Bⁱ in formula (26) represents the i-th cycle, and the subscript j of its element Bⁱ_j (j=1, 2, 3, ..., N) represents the damage of the j-th evaluated object The characteristic can only take two quantities of 0 and 1, and the specific value rules are shown in formula (27).

${B B}_{j j}^{i i} = = \{\begin{matrix} 00,, & if if & {d d}_{cj cj}^{i i} < < {D D.}_{uj uj}^{i i} \\ 11,, & if if & {d d}_{cj cj}^{i i} &GreaterEqual; &Greater Equal; {D D.}_{uj uj}^{i i} \end{matrix} - - - - - - ((2727))$

式(27)中元素Bⁱ_j是标识向量Bⁱ的第j个元素，Dⁱ_uj是名义单位损伤向量Dⁱ_u的第j个元素(见式(3))，dⁱ_cj是当前名义健康状态向量dⁱ_c的第j个元素(见式(12))，它们都表示第j个被评估对象的相关信息。In formula (27), the element Bⁱ_j is the jth element of the identification vector Bⁱ , Dⁱ_uj is the jth element of the nominal unit damage vector Dⁱ_u (see formula (3)), dⁱ_cj is the current nominal The jth element of the health state vector dⁱ_c (see formula (12)), they all represent the relevant information of the jth evaluated object.

${d d}_{oj oj}^{i i + + 11} = = 11 - - ((11 - - {d d}_{oj oj}^{i i})) ((11 - - {D D.}_{uj uj}^{i i} {F f}_{j j}^{i i})) - - - - - - ((2828))$

式(28)中Dⁱ_uj是名义单位损伤向量Dⁱ_u的第j个元素(见式(3))，dⁱ_cj是当前名义健康状态向量dⁱ_c的第j个元素(见式(12))。In formula (28), Dⁱ_uj is the jth element of the nominal unit damage vector Dⁱ_u (see formula (3)), and dⁱ_cj is the jth element of the current nominal health state vector dⁱ_c (see formula ( 12)).

本发明的第二部分：健康监测系统的软件和硬件部分。The second part of the present invention: the software and hardware parts of the health monitoring system.

硬件部分包括被监测量监测系统、信号采集器和计算机等。要求实时或准实时监测每一个被监测量。The hardware part includes the monitored quantity monitoring system, signal collector and computer. Real-time or quasi-real-time monitoring of each monitored quantity is required.

软件应当具用下列功能：软件部分应当能够完成本发明的第一部分所设定的过程，即完成本发明中所需要的、可以用计算机实现的监测、记录、控制、存储、计算、通知、报警等功能。The software should have the following functions: the software part should be able to complete the process set in the first part of the present invention, that is, complete the monitoring, recording, control, storage, calculation, notification, and alarm that are required in the present invention and can be realized by computers. and other functions.

本发明方法具体包括：The inventive method specifically comprises:

a.为叙述方便起见，本发明统一称被评估的支承索和支座位移分量为被评估对象，设被评估的支承索的数量和支座位移分量的数量之和为N，即被评估对象的数量为N；确定被评估对象的编号规则，按此规则将索结构中所有的被评估对象编号，该编号在后续步骤中将用于生成向量和矩阵；本发明用变量j表示这一编号，j＝1，2，3，...，N；a. For the convenience of description, the present invention collectively refers to the evaluated support cables and bearing displacement components as the evaluated object, and the sum of the number of the evaluated support cables and the support displacement components is N, that is, the evaluated object The quantity is N; Determine the numbering rule of the evaluated object, according to this rule, all the evaluated objects in the index structure will be numbered, and this numbering will be used to generate vectors and matrices in subsequent steps; the present invention uses variable j to represent this numbering , j=1, 2, 3, ..., N;

b.设索系统中共有Q根支承索，结构索力数据包括这Q根支承索的索力，显然Q小于被评估对象的数量N；仅仅通过Q个支承索的Q个索力数据来求解未知的N个被评估对象的状态是不可能的，本发明在监测全部Q根支承索索力的基础上，在结构上人为增加M₂根索，在结构健康监测过程中将监测这新增加的M₂根索的索力；综合上述被监测量，整个结构共有M根索的M个索力被监测，即有M个被监测量，其中M为Q与M₂之和；M不得小于被评估对象的数量N；新增加的M₂根索的刚度同索结构的任意一根支承索的刚度相比，应当小得多；新增加的M₂根索的索力应当比索结构的任意一根支承索的索力小得多，这样可以保证即使这新增加的M₂根索出现了损伤或松弛，对索结构其他构件的应力、应变、变形的影响微乎其微；新增加的M₂根索的横截面上正应力应当小于其疲劳极限，这些要求可以保证新增加的M₂根索不会发生疲劳损伤；新增加的M₂根索的两端应当充分锚固，保证不会出现松弛；新增加的M₂根索应当得到充分的防腐蚀保护，保证新增加的M₂根索不会发生损伤和松弛；为方便起见，在本发明中将“结构的被监测的所有参量”简称为“被监测量”；给M个被监测量连续编号，该编号在后续步骤中将用于生成向量和矩阵；b. Assuming that there are Q supporting cables in the cable system, the structural cable force data includes the cable forces of these Q supporting cables. Obviously, Q is smaller than the number N of the evaluated objects; only the Q cable force data of Q supporting cables can be used to solve the problem It is impossible to know the status of N evaluated objects. On the basis of monitoring the force of all Q supporting cables, the present invention artificially adds M₂ cables in the structure, and will monitor the newly added cables during the structural health monitoring process. The cable force of M₂ cables; based on the above-mentioned monitored quantities, there are M cable forces of M cables to be monitored in the whole structure, that is, there are M monitored quantities, where M is the sum of Q and M₂ ; M must not be less than the measured The number of evaluation objects N; the stiffness of the newly added M₂ cables should be much smaller than the stiffness of any supporting cable in the cable structure; the cable force of the newly added M₂ cables should be much smaller than that of any supporting cable in the cable structure The cable force of the root supporting cable is much smaller, which can ensure that even if the newly added_M2 cables are damaged or slack, the influence on the stress, strain and deformation of other components of the cable structure is minimal; the newly added_M2 cables The normal stress on the cross-section of , should be less than its fatigue limit, these requirements can ensure that the newly added M₂ cables will not suffer from fatigue damage; the two ends of the newly added M₂ cables should be fully anchored to ensure that there will be no slack; the new The increased_M2 cables should be fully protected against corrosion to ensure that the newly added_M2 cables will not be damaged or loosened; Monitored quantity"; serial numbers are given to M monitored quantities, which will be used to generate vectors and matrices in subsequent steps;

c.利用被评估对象的无损检测数据等能够表达被评估对象的健康状态的数据建立被评估对象初始健康状态向量dⁱ_o；如果没有被评估对象的无损检测数据时，向量dⁱ_o的各元素数值取0；向量dⁱ_o的元素的编号规则和被评估对象的编号规则相同；本发明用i表示循环次数，i＝1，2，3，......；这里是第一次循环，i取1，即这里建立的初始健康状态向量dⁱ_o可以具体化为d¹_o；c. Use the nondestructive testing data of the assessed object and other data that can express the health status of the assessed object to establish the initial health state vector dⁱ_o of the assessed object; if there is no nondestructive testing data of the assessed object, each vector dⁱ_o The element value is 0; the numbering rule of the element of the vector dⁱ_o is the same as the numbering rule of the evaluated object; the present invention represents the number of cycles with i, i=1, 2, 3,...; here is the first In the second cycle, i takes 1, that is, the initial health state vector dⁱ_o established here can be embodied as d¹_o ;

d.在建立初始健康状态向量d¹_o的同时，直接测量计算得到索结构的所有被监测量的初始数值，组成被监测量的初始数值向量Cⁱ_o；这里是第一次循环，i取1，即这里建立的被监测量的初始数值向量Cⁱ_o可以具体化为C¹_o；在实测得到被监测量初始数值向量C¹_o的同时，实测得到索结构的初始几何数据和初始索结构支座坐标数据；直接测量计算得到所有支承索的初始索力，组成初始索力向量F_o；同时，依据结构设计数据、竣工数据得到所有支承索的初始自由长度，组成初始自由长度向量l_o；向量F_o和向量l_o是不变的；同时，实测或根据结构设计、竣工资料得到所有索的弹性模量、密度、初始横截面面积；d. While establishing the initial health state vector d¹_o , directly measure and calculate the initial values of all the monitored quantities of the cable structure, and form the initial value vector Cⁱ_o of the monitored quantities; here is the first cycle, i takes 1, that is, the initial numerical vector Cⁱ_o of the monitored quantity established here can be embodied as C¹_o ; while the initial numerical vector C¹_o of the monitored quantity is obtained from the actual measurement, the initial geometric data and initial index of the cable structure are obtained from the actual measurement. Structural support coordinate data; the initial cable force of all supporting cables is obtained by direct measurement and calculation, which forms the initial cable force vector F_o ; at the same time, the initial free length of all supporting cables is obtained according to the structural design data and completion data, and forms the initial free length vector l_o ; the vector F_o and the vector l_o are constant; at the same time, the elastic modulus, density, and initial cross-sectional area of all cables are obtained from actual measurements or according to structural design and completion data;

e.根据索结构的设计图、竣工图和索结构的实测数据、索的无损检测数据和初始索结构支座坐标数据建立索结构的力学计算基准模型Aⁱ；这里是第一次循环，i取1，即这里建立的索结构的力学计算基准模型Aⁱ可以具体化为A¹；e. Establish the mechanical calculation reference model Aⁱ of the cable structure according to the design drawing, as-built drawing and the measured data of the cable structure, the non-destructive testing data of the cable and the initial coordinate data of the support of the cable structure; here is the first cycle, i Take 1, that is, the mechanical calculation benchmark model Aⁱ of the cable structure established here can be embodied as A¹ ;

f.在力学计算基准模型Aⁱ的基础上进行若干次力学计算，通过计算获得“单位损伤被监测量数值变化矩阵ΔCⁱ”和“名义单位损伤向量Dⁱ_u”；f. Carry out several mechanical calculations on the basis of the mechanical calculation benchmark model Aⁱ , and obtain the "unit damage monitored quantity numerical change matrix ΔCⁱ " and "nominal unit damage vector Dⁱ_u ";

g.实测得到索结构的所有指定被监测量的当前实测数值，组成“被监测量的当前数值向量Cⁱ”；给本步及本步之前出现的所有向量的元素编号时，应使用同一编号规则，这样可以保证本步及本步之前出现的各向量的、编号相同的元素，表示同一被监测量的、对应于该元素所属向量所定义的相关信息；实测得到索结构的所有支承索的当前索力，组成当前索力向量Fⁱ；实测计算得到所有支承索的两个支承端点的空间坐标，两个支承端点的空间坐标在水平方向分量的差就是两个支承端点水平距离；g. The current measured values of all the specified monitored quantities of the cable structure obtained from the actual measurement form the "current value vector Cⁱ of the monitored quantity"; when numbering the elements of all vectors that appear in this step and before this step, the same number should be used In this way, it can be guaranteed that the elements with the same number in each vector appearing in this step and before this step represent the same monitored quantity and correspond to the relevant information defined by the vector to which the element belongs; The current cable force constitutes the current cable force vector Fⁱ ; the spatial coordinates of the two supporting end points of all supporting cables are obtained through actual measurement and calculation, and the difference in the horizontal component of the spatial coordinates of the two supporting end points is the horizontal distance between the two supporting end points;

h.在结构健康监测过程中，对新增加的M₂根索进行无损检测，从中鉴别出出现损伤或松弛的索；h. In the process of structural health monitoring, conduct non-destructive testing on the newly added M₂ cables, and identify damaged or loose cables;

i.依据被监测量编号规则，从被监测量的初始数值向量Cⁱ_o中去除步骤h中鉴别出的出现损伤或松弛的索对应的元素；依据被监测量编号规则，从单位损伤被监测量数值变化矩阵ΔCⁱ中去除步骤h中鉴别出的出现损伤或松弛的索对应的行；i. According to the numbering rules of the monitored quantities, remove the elements corresponding to the damaged or loose cables identified in step h from the initial value vector Cⁱ_o of the monitored quantities; Remove the row corresponding to the damaged or slack cable identified in step h in the quantitative value change matrix ΔCⁱ ;

j.定义当前名义健康状态向量dⁱ_c和当前实际健康状态向量dⁱ，两个损伤向量的元素个数等于被评估对象的数量，当前名义健康状态向量dⁱ_c的元素数值代表对应被评估对象的当前名义损伤程度或支座位移，当前实际健康状态向量dⁱ的元素数值代表对应被评估对象的当前实际损伤程度或支座位移，两个损伤向量的元素的元素个数等于被评估对象的数量，两个损伤向量的元素和被评估对象之间是一一对应关系，两个损伤向量的元素的编号规则和被评估对象的编号规则相同；j. Define the current nominal health state vector dⁱ_c and the current actual health state vector dⁱ , the number of elements of the two damage vectors is equal to the number of evaluated objects, and the element value of the current nominal health state vector dⁱ_c represents the corresponding evaluated The current nominal damage degree or support displacement of the object, the element value of the current actual health state vector dⁱ represents the current actual damage degree or support displacement of the corresponding evaluated object, and the number of elements of the two damage vectors is equal to the evaluated object There is a one-to-one correspondence between the elements of the two damage vectors and the evaluated object, and the numbering rules of the elements of the two damage vectors are the same as the numbering rules of the evaluated object;

k.依据“被监测量的当前数值向量Cⁱ”同“被监测量的初始数值向量Cⁱ_o”、“单位损伤被监测量数值变化矩阵ΔCⁱ”和“当前名义健康状态向量dⁱ_c”间存在的近似线性关系，该近似线性关系可表达为式1，式1中除dⁱ_c外的其它量均为已知，求解式1就可以算出当前名义健康状态向量dⁱ_c；k. Based on the "current numerical vector Cⁱ of the monitored quantity" and "the initial numerical vector Cⁱ_o of the monitored quantity", "the numerical change matrix of the monitored quantity per unit damage ΔCⁱ " and "the current nominal health state vector dⁱ_c The approximate linear relationship between ” can be expressed as formula 1. In formula 1, other quantities except dⁱ_c are known, and the current nominal health state vector dⁱ_c can be calculated by solving formula 1;

$C^{i} = C_{o}^{i} + Δ C^{i} \cdot d_{c}^{i}$ 式1 $C^{i} = C_{o}^{i} + Δ C^{i} \cdot d_{c}^{i}$ Formula 1

l.利用式2表达的当前实际健康状态向量dⁱ同初始损伤向量dⁱ_o和当前名义健康状态向量dⁱ_c的元素间的关系，计算得到当前实际健康状态向量dⁱ的所有元素；l. Using the relationship between the current actual health state vector dⁱ expressed in formula 2 and the initial damage vector dⁱ_o and the current nominal health state vector dⁱ_c , calculate all the elements of the current actual health state vector dⁱ ;

$d_{j}^{i} = 1 - (1 - d_{oj}^{i}) (1 - d_{cj}^{i})$ 式2 $d_{j}^{i} = 1 - (1 - d_{oj}^{i}) (1 - d_{cj}^{i})$ Formula 2

式2中j＝1，2，3，……，N；In formula 2, j=1, 2, 3,..., N;

当前实际健康状态向量dⁱ的元素数值代表对应被评估对象的实际损伤程度或实际支座位移，根据当前实际健康状态向量dⁱ就能确定有哪些索受损及其损伤程度，就能确定实际支座位移；若当前实际健康状态向量的某一元素对应于是索系统中的一根索，且其数值为0，表示该元素所对应的索是完好的，没有损伤或松弛的的，若其数值为100％，则表示该元素所对应的索已经完全丧失承载能力，若其数值介于0和100％之间，则表示该索丧失了相应比例的承载能力；如果当前实际健康状态向量的某一元素对应于一个支座的一个位移分量，那么dⁱ_j表示其当前位移数值；The element values of the current actual health state vector dⁱ represent the actual damage degree or the actual support displacement of the corresponding evaluated object. According to the current actual health state vector dⁱ , it can be determined which cables are damaged and the damage degree, and the actual Support displacement; if an element of the current actual health state vector corresponds to a cable in the cable system, and its value is 0, it means that the cable corresponding to the element is intact without damage or slack. If the value is 100%, it means that the cable corresponding to this element has completely lost its carrying capacity; if its value is between 0 and 100%, it means that the cable has lost the corresponding proportion of carrying capacity; if the current actual health state vector A certain element corresponds to a displacement component of a support, then dⁱ_j represents its current displacement value;

m.从第1步中识别出的有问题的支承索中鉴别出受损索，剩下的就是松弛索。m. Identify damaged cables from the problematic support cables identified in step 1, leaving slack cables remaining.

n.利用在第1步获得的当前实际虚拟损伤向量dⁱ得到松弛索的当前实际虚拟损伤程度，利用在第g步获得的当前索力向量Fⁱ，利用在第g步获得的所有支承索的两个支承端点的水平距离，利用在第d步获得的初始自由长度向量l_o，利用在第d步获得的所有索的弹性模量、密度、初始横截面面积数据，通过将松弛索同受损索进行力学等效来计算松弛索的、与当前实际虚拟损伤程度等效的松弛程度，等效的力学条件是：一、两等效的索的无松弛和无损伤时的初始自由长度、几何特性参数、密度及材料的力学特性参数相同；二、松弛或损伤后，两等效的松弛索和损伤索的索力和变形后的总长相同；满足上述两个等效条件时，这样的两根支承索在结构中的力学功能就是完全相同的，即如果用等效的松弛索代替受损索后，索结构不会发生任何变化，反之亦然；依据前述力学等效条件求得那些被判定为松弛索的松弛程度，松弛程度就是支承索自由长度的改变量，也就是确定了那些需调整索力的支承索的索长调整量；这样就实现了支承索的松弛识别；计算时所需索力由当前索力向量Fi对应元素给出。n. Use the current actual virtual damage vector dⁱ obtained in step 1 to obtain the current actual virtual damage degree of the slack cable, use the current cable force vector Fⁱ obtained in step g, and use all the supporting cables obtained in step g The horizontal distance between the two supporting end points of , using the initial free length vector l_o obtained in step d, using the elastic modulus, density, and initial cross-sectional area data of all cables obtained in step d, by combining the slack cables with The mechanical equivalent of the damaged cable is used to calculate the relaxation degree of the slack cable, which is equivalent to the current actual virtual damage degree. The equivalent mechanical condition is: the initial free length of the two equivalent cables without relaxation and without damage 1. Geometric characteristic parameters, density and mechanical characteristic parameters of the material are the same; 2. After relaxation or damage, the cable force and the total length after deformation of the two equivalent relaxed cables and damaged cables are the same; when the above two equivalent conditions are satisfied, such The mechanical functions of the two supporting cables in the structure are exactly the same, that is, if the damaged cable is replaced by an equivalent slack cable, the cable structure will not change, and vice versa; according to the aforementioned mechanical equivalent conditions, the The degree of slack of those judged as slack cables, the degree of slack is the amount of change in the free length of the support cables, that is, the cable length adjustment of those support cables whose force needs to be adjusted is determined; in this way, the slack identification of the support cables is realized; calculation The required cable force is given by the corresponding element of the current cable force vector Fi.

o.在求得当前名义健康状态向量dⁱ_c后，按照式3建立标识向量Bⁱ，式4给出了标识向量Bⁱ的第j个元素的定义；o. After obtaining the current nominal health state vector dⁱ_c , establish the identification vector Bⁱ according to formula 3, and formula 4 gives the definition of the jth element of the identification vector Bⁱ ;

$B^{i} = {[\begin{matrix} B_{1}^{i} & B_{2}^{i} & . & . & . & B_{j}^{i} & . & . & . & B_{N}^{i} \end{matrix}]}^{T}$ 式3 $B^{i} = {[\begin{matrix} B_{1}^{i} & B_{2}^{i} & . & . & . & B_{j}^{i} & . & . & . & B_{N}^{i} \end{matrix}]}^{T}$ Formula 3

$B_{j}^{i} = \{\begin{matrix} 0, & if & d_{cj}^{i} < D_{uj}^{i} \\ 1, & if & d_{cj}^{i} &GreaterEqual; D_{uj}^{i} \end{matrix}$ 式4 $B_{j}^{i} = \{\begin{matrix} 0, & if & d_{cj}^{i} < {D.}_{uj}^{i} \\ 1, & if & d_{cj}^{i} &Greater Equal; {D.}_{uj}^{i} \end{matrix}$ Formula 4

式4中元素Bⁱ_j是标识向量Bⁱ的第j个元素，Dⁱ_uj是名义单位损伤向量Dⁱ_u的第j个元素，dⁱ_cj是当前名义健康状态向量dⁱ_c的第j个元素，它们都表示第j个被评估对象的相关信息，式4中j＝1，2，3，……，N；In formula 4, the element Bⁱ_j is the jth element of the identification vector Bⁱ , Dⁱ_uj is the jth element of the nominal unit damage vector Dⁱ_u , dⁱ_cj is the jth element of the current nominal health state vector dⁱ_c elements, they all represent the relevant information of the jth evaluated object, j=1, 2, 3, ..., N in formula 4;

p.如果标识向量Bⁱ的元素全为0，则回到第g步继续本次循环；如果标识向量Fⁱ的元素不全为0，则进入下一步、即第q步；p. If the elements of the identification vector Bⁱ are all 0, then return to the gth step to continue this cycle; if the elements of the identification vector Fⁱ are not all 0, then enter the next step, the qth step;

q.根据式5计算得到下一次、即第i+1次循环所需的初始损伤向量dⁱ⁺¹_o的每一个元素dⁱ⁺¹_oj；q. Calculate each element d i+1_oj of the initial damage vector dⁱ⁺¹_o required for the next cycle, that is, the^i+1th cycle, according to formula 5;

$d_{oj}^{i + 1} = 1 - (1 - d_{oj}^{i}) (1 - D_{uj}^{i} F_{j}^{i})$ 式5 $d_{oj}^{i + 1} = 1 - (1 - d_{oj}^{i}) (1 - {D.}_{uj}^{i} f_{j}^{i})$ Formula 5

式5中Dⁱ_uj是名义单位损伤向量Dⁱ_u的第j个元素，dⁱ_cj是当前名义健康状态向量dⁱ_c的第j个元素，Fⁱ_j是标识向量Fⁱ的第j个元素，式5中j＝1，2，3，……，N；向量dⁱ⁺¹_o的元素的编号规则和被评估对象的编号规则相同；In formula 5, Dⁱ_uj is the jth element of the nominal unit damage vector Dⁱ_u , dⁱ_cj is the jth element of the current nominal health state vector dⁱ_c , and Fⁱ_j is the jth element of the identity vector Fⁱ Elements, j=1, 2, 3, ..., N in formula 5; the numbering rule of the elements of the vector dⁱ⁺¹_o is the same as the numbering rule of the evaluated object;

r.在力学计算基准模型Aⁱ的基础上，令被评估对象的健康状况为dⁱ⁺¹_o后更新得到下一次、即第i+1次循环所需的力学计算基准模型Aⁱ⁺¹；r. On the basis of the mechanical calculation benchmark model Aⁱ , let the health status of the evaluated object be dⁱ⁺¹_o and then update to obtain the next mechanical calculation benchmark model A i+¹ required for the i+1th cycle ;

s.通过对力学计算基准模型Aⁱ⁺¹的计算得到对应于模型Aⁱ⁺¹的结构的所有被监测应变的点的、将被监测的应变方向的应变数值，这些数值组成下一次、即第i+1次循环所需的被监测量的初始数值向量Cⁱ⁺¹_o；s. Through the calculation of the mechanical calculation benchmark model A^i+1, the strain values corresponding to all monitored strain points of the structure of the model Aⁱ⁺¹ and the strain directions to be monitored are obtained, and these values form the next time, that is, The initial numerical vector Cⁱ⁺¹_o of the monitored quantity required for the i+1th cycle;

t.回到第f步，开始下一次循环。t. Go back to step f and start the next cycle.

在步骤f中，在力学计算基准模型Aⁱ的基础上进行若干次力学计算，通过计算获得“单位损伤被监测量数值变化矩阵ΔCⁱ”和“名义单位损伤向量Dⁱ_u”的具体方法为：In step f, several mechanical calculations are carried out on the basis of the mechanical calculation benchmark model Aⁱ , and the specific method to obtain the "unit damage monitored quantity numerical change matrix ΔCⁱ " and "nominal unit damage vector Dⁱ_u " is as follows: :

f1.在索结构的力学计算基准模型Aⁱ的基础上进行若干次力学计算，计算次数数值上等于N；依据被评估对象的编号规则，依次进行计算；每一次计算假设只有一个被评估对象在原有损伤或位移的基础上再增加单位损伤或单位位移，具体的，如果该被评估对象是索系统中的一根支承索，那么就假设该支承索再增加单位损伤，如果该被评估对象是一个支座的一个方向的位移分量，就假设该支座在该位移方向再增加单位位移，每一次计算中再增加单位损伤或单位位移的被评估对象不同于其它次计算中再增加单位损伤或单位位移的被评估对象，用“名义单位损伤向量Dⁱ_u”记录记录所有假定的再增加的单位损伤或单位位移，其中i表示第i次循环，每一次计算都利用力学方法计算索结构的所有被监测量的当前计算值，每一次计算得到的所有被监测量的当前计算值组成一个被监测量计算当前数值向量；f1. Carry out several mechanical calculations on the basis of the mechanical calculation benchmark model Aⁱ of the cable structure, and the number of calculations is numerically equal to N; perform calculations in sequence according to the numbering rules of the evaluated objects; each calculation assumes that only one evaluated object is in the original Add unit damage or unit displacement on the basis of damage or displacement. Specifically, if the evaluated object is a supporting cable in the cable system, then it is assumed that the supporting cable adds unit damage. If the evaluated object is For the displacement component of a support in one direction, it is assumed that the support increases unit displacement in the direction of displacement, and the evaluated object that increases unit damage or unit displacement in each calculation is different from that in other calculations that increases unit damage or For the evaluated object of the unit displacement, use the “nominal unit damage vector Dⁱ_u ” to record all assumed additional unit damage or unit displacement, where i represents the i-th cycle, and each calculation uses the mechanical method to calculate the The current calculated values of all the monitored quantities, the current calculated values of all the monitored quantities obtained by each calculation form a monitored quantity to calculate the current value vector;

f2.每一次计算得到的被监测量计算当前数值向量减去被监测量初始数值向量后再除以该次计算所假设的单位损伤或单位位移数值，得到一个被监测量变化向量，有N个被评估对象就有N个被监测量变化向量；f2. The current value vector of the monitored quantity calculated by each calculation minus the initial value vector of the monitored quantity is divided by the assumed unit damage or unit displacement value of the calculation to obtain a monitored quantity change vector, and there are N The evaluated object has N monitored quantity change vectors;

f3.由这N个被监测量变化向量按照N个被评估对象的编号规则，依次组成有N列的索结构被监测量单位变化矩阵ΔCⁱ。f3. From the N monitored quantity change vectors according to the numbering rules of the N evaluated objects, a cable-structured monitored quantity unit change matrix ΔCⁱ with N columns is sequentially formed.

有益效果：本发明公开的方法可以非常准确地监测评估出索结构的健康状态(包括所有支座位移、所有松弛索和受损索的位置、及其松弛程度或损伤程度)，本发明公开的系统和方法对索结构的安全是非常有益的。Beneficial effects: the method disclosed in the invention can monitor and evaluate the health state of the cable structure very accurately (including all support displacements, the positions of all loose and damaged cables, and the degree of slack or damage thereof). Systems and methods are highly beneficial to the safety of cable structures.

具体实施方式Detailed ways

针对索结构的健康监测，本发明公开了一种能够合理有效地同时监测索结构中索系统中每一根索的健康状况和每一个支座位移分量的系统和方法。本发明的实施例的下面说明实质上仅仅是示例性的，并且目的绝不在于限制本发明的应用或使用。Aiming at the health monitoring of the cable structure, the present invention discloses a system and method capable of reasonably and effectively monitoring the health status of each cable and the displacement component of each support in the cable system in the cable structure at the same time. The following descriptions of embodiments of the invention are merely exemplary in nature, and are in no way intended to limit the application or uses of the invention.

在索结构支座出现位移、出现受损索、松弛索的情况下，本发明采用一种算法，该算法用于监测索结构的健康状态(包括识别支座位移、受损索、松弛索)。具体实施时，下列步骤是可采取的各种步骤中的一种。In the case of displacement of the support of the cable structure, occurrence of damaged cables, slack cables, the present invention uses an algorithm for monitoring the health status of the cable structure (including identification of support displacement, damaged cables, slack cables) . During specific implementation, the following steps are one of various steps that may be taken.

第一步：为叙述方便起见，本发明统一称被评估的支承索和支座位移分量为被评估对象，设被评估的支承索的数量和支座位移分量的数量之和为N，即被评估对象的数量为N；确定被评估对象的编号规则，按此规则将索结构中所有的被评估对象编号，该编号在后续步骤中将用于生成向量和矩阵；本发明用变量j表示这一编号，j＝1，2，3，...，N。The first step: for the convenience of description, the present invention collectively refers to the evaluated support cable and the support displacement component as the evaluated object, and the sum of the quantity of the evaluated support cable and the support displacement component is N, that is, the evaluated The quantity of evaluation object is N; Determine the numbering rule of evaluated object, according to this rule, all evaluated objects in the index structure will be numbered, and this numbering will be used for generating vector and matrix in subsequent steps; The present invention represents this with variable j One number, j=1, 2, 3, . . . , N.

在结构上人为增加M₂(M₂不小于N-Q)根索，新增加的M₂根索的刚度同索结构的任意一根支承索的抗拉刚度相比，可以小很多，例如小10倍；新增加的M₂根索的索力应当比索结构的任意一根支承索的索力小得多，这样可以保证即使这新增加的M₂根索出现了损伤或松弛，对索结构其他构件的应力、应变、变形的影响微乎其微；新增加的M₂根索的横截面上正应力应当小于其疲劳极限，例如只有疲劳极限的二分之一，这些要求可以保证新增加的M₂根索不会发生疲劳损伤；新增加的M₂根索的两端应当充分锚固，保证不会出现松弛；新增加的M₂根索应当得到充分的防腐蚀保护，保证新增加的M₂根索不会发生损伤和松弛；还可以采用多增加索的方式来保证健康监测的可靠性，例如使M₂不小于N-Q的2倍，在结构健康监测过程中只挑选其中的完好的索的索力数据(称为实际可以使用的被监测量，记录其数量为K，K不得小于N)和对应的索结构被监测量单位变化矩阵ΔC进行健康状态评估，由于M₂不小于N-Q的2倍，可以保证实际可以使用的；在结构健康监测过程中将监测这新增加的M₂根索的索力。新增加的M₂根索应当安装在结构上、人员易于到达的部位，便于人员对其进行无损检测。Artificially increase M₂ (M₂ is not less than NQ) cables in the structure, and the stiffness of the newly added M₂ cables can be much smaller than the tensile stiffness of any supporting cable in the cable structure, for example, 10 times smaller ; The cable force of the newly added M₂ cables should be much smaller than that of any supporting cable of the cable structure, so as to ensure that even if the newly added M₂ cables are damaged or slack, the other components of the cable structure The influence of the stress, strain and deformation of the newly added M 2 cables is negligible; the normal stress on the cross-section of the newly added M₂ cables should be less than its fatigue limit, for example, only half of the fatigue limit, these requirements can ensure that the newly added M₂ cables Fatigue damage will not occur; both ends of the newly added M₂ cables shall be fully anchored to ensure that there will be no slack; the newly added M₂ cables shall be fully protected against corrosion to ensure that the newly added M₂ cables do not Damage and relaxation will occur; it is also possible to use more cables to ensure the reliability of health monitoring, for example, make M₂ not less than 2 times NQ, and only select the cable force data of intact cables in the process of structural health monitoring (referred to as the actual monitored quantity that can be used, record its quantity as K, and K must not be less than N) and the corresponding cable structure monitored quantity unit change matrix ΔC for health status assessment. Since M₂ is not less than 2 times of NQ, it can be Guaranteed to be practical; the cable force of this newly added_M2 cable will be monitored during the structural health monitoring process. The newly added M₂ cables should be installed on the structure where personnel can easily reach, so that personnel can conduct non-destructive testing on it.

综合上述被监测量，整个结构共有M(M＝Q+M₂)根索的M个被监测量，M不得小于被评估对象的数量N。给M个被监测量连续编号，该编号在后续步骤中将用于生成向量和矩阵。Based on the above-mentioned monitored quantities, the entire structure has M monitored quantities with M (M=Q+M₂ ) roots, and M must not be less than the number N of evaluated objects. Number the M monitored quantities consecutively, and this number will be used to generate vectors and matrices in subsequent steps.

为方便起见，在本发明中将“结构的被监测的所有参量”简称为“被监测量”。For the sake of convenience, in the present invention, "all monitored parameters of the structure" are simply referred to as "monitored quantities".

第二步：利用被评估对象的无损检测数据等能够表达被评估对象的健康状态的数据建立被评估对象初始健康状态向量d¹_o；如果没有被评估对象的无损检测数据时，向量d¹_o的各元素数值取0；向量d¹_o的元素的编号规则和被评估对象的编号规则相同。Step 2: Establish the initial health state vector d¹_o of the evaluated object by using the non-destructive testing data of the evaluated object and other data that can express the health status of the evaluated object; if there is no non-destructive testing data of the evaluated object, the vector d¹_o The value of each element of is 0; the numbering rule of the elements of the vector d¹_o is the same as the numbering rule of the evaluated object.

第三步：在初始健康状态向量d¹_o的同时，直接测量计算得到索结构的所有被监测量的初始数值，组成被监测量的初始数值向量C¹_o。Step 3: At the same time as the initial health state vector d¹_o , directly measure and calculate the initial values of all monitored quantities of the cable structure, and form the initial value vector C¹_o of the monitored quantities.

第四步：在实测得到被监测量的初始数值向量C¹_o的同时，可以采用成熟的测量方法进行索力测量、应变测量、角度测量和空间坐标测量。同时，直接测量计算得到索结构的所有支承索的初始索力，组成“初始索力向量F_o”。同时，依据结构设计数据、竣工数据得到所有索的初始自由长度，组成“初始自由长度向量l_o”。同时，实测或根据结构设计、竣工资料得到所有索的弹性模量、密度、初始横截面面积。同时，直接测量或测量后计算得到索结构初始几何形状数据(对于斜拉桥就是其初始桥型数据)，索结构的初始几何形状数据可以是所有索的端点的空间坐标数据加上结构上一系列的点的空间坐标数据，目的在于根据这些坐标数据就可以确定索结构的几何特征。对斜拉桥而言，初始几何形状数据可以是所有索的端点的空间坐标数据加上桥梁两端上若干点的空间坐标数据，这就是所谓的桥型数据。Step 4: While obtaining the initial numerical vector C¹_o of the monitored quantity, mature measurement methods can be used for cable force measurement, strain measurement, angle measurement and space coordinate measurement. At the same time, the initial cable forces of all the supporting cables of the cable structure are directly measured and calculated to form the "initial cable force vector F_o ". At the same time, the initial free lengths of all cables are obtained according to the structural design data and as-built data, and form the "initial free length vector l_o ". At the same time, the elastic modulus, density, and initial cross-sectional area of all cables are obtained from actual measurements or based on structural design and completion data. At the same time, the initial geometry data of the cable structure (for cable-stayed bridges is the initial bridge type data) can be obtained by direct measurement or calculation after measurement. The initial geometry data of the cable structure can be the spatial coordinate data of all the end points of the cables plus a The spatial coordinate data of a series of points, the purpose is to determine the geometric characteristics of the cable structure according to these coordinate data. For cable-stayed bridges, the initial geometric shape data can be the spatial coordinate data of all cable end points plus the spatial coordinate data of several points on both ends of the bridge, which is the so-called bridge type data.

根据索结构的设计图、竣工图和索结构的实测数据(包括结构初始几何形状数据、应变数据、所有索的初始索力、结构模态数据等数据，对斜拉桥、悬索桥而言是桥的桥型数据、应变数据、索力数据、桥的模态数据)、索的无损检测数据和初始索结构支座坐标数据建立索结构的力学计算基准模型A_o，基于力学计算基准模型A_o计算得到结构的计算数据必须非常接近其实测数据，误差一般不得大于5％。According to the cable structure design drawing, as-built drawing and the measured data of the cable structure (including the initial geometry data, strain data, initial cable force of all cables, structural modal data and other data), it is a bridge for cable-stayed bridges and suspension bridges. The bridge type data, strain data, cable force data, bridge modal data), cable non-destructive testing data and initial cable structure support coordinate data establish the mechanical calculation benchmark model A_o of the cable structure, based on the mechanical calculation benchmark model A_o The calculated data of the calculated structure must be very close to the measured data, and the error is generally not greater than 5%.

A_o是不变的，只在第一次循环开始时建立；第i次循环开始时建立的索结构的力学计算基准模型记为Aⁱ，其中i表示循环次数；本发明的申请书中字母i除了明显地表示步骤编号的地方外，字母i仅表示循环次数，即第i次循环；因此第一次循环开始时建立的索结构的力学计算基准模型记为A¹，本发明中A¹就等于A_o；A_o is invariable and is only established at the beginning of the first cycle; the mechanical calculation benchmark model of the cable structure established at the beginning of the i-th cycle is denoted as Aⁱ , where i represents the number of cycles; the letter in the application of the present invention In addition to the place where i clearly represents the step number, the letter i only represents the number of cycles, i.e. the i-th cycle; therefore, the mechanical calculation benchmark model of the cable structure established at the beginning of the first cycle is denoted as A¹ , and in the present invention, A¹ is equal to A_o ;

第五步：安装索结构健康监测系统的硬件部分。硬件部分至少包括：索力监测系统(例如含加速度传感器、信号调理器等)、信号(数据)采集器、计算机和通信报警设备。每一个被监测量都必须被监测系统监测到，监测系统将监测到的信号传输到信号(数据)采集器；信号经信号采集器传递到计算机；计算机则负责运行索结构的索系统的健康监测软件，包括记录信号采集器传递来的信号；当监测到被评估对象的健康状态有变化时，计算机控制通信报警设备向监控人员、业主和(或)指定的人员报警。Step 5: Install the hardware part of the cable structure health monitoring system. The hardware part includes at least: cable force monitoring system (for example, including acceleration sensor, signal conditioner, etc.), signal (data) collector, computer and communication alarm equipment. Every monitored quantity must be monitored by the monitoring system, and the monitoring system transmits the monitored signal to the signal (data) collector; the signal is transmitted to the computer through the signal collector; the computer is responsible for running the health monitoring of the cable system of the cable structure The software includes recording the signal transmitted by the signal collector; when the health status of the evaluated object is monitored, the computer controls the communication alarm device to alarm the monitoring personnel, the owner and (or) the designated personnel.

第六步：编制并在监控计算机上安装索结构的健康监测系统软件。在每一次循环时都运行该软件，或者说此软件始终在运行。该软件将完成本发明的各项任务所需要的监测、记录、控制、存储、计算、通知、报警等功能(即本具体实施方法中所有可以用计算机完成的工作)，并能定期或由人员操作健康监测系统生成索结构健康情况报表，还能依据设定的条件(例如损伤达到某一值)，自动通知或提示监控人员通知特定的技术人员完成必要的计算工作。Step 6: Compile and install the health monitoring system software of the cable structure on the monitoring computer. The software is run on every cycle, or the software is always running. This software will complete functions such as monitoring, recording, control, storage, calculation, notification, and alarm required by each task of the present invention (that is, all the work that can be completed with a computer in this specific implementation method), and can be performed regularly or by personnel. The operation health monitoring system generates cable structure health status reports, and can also automatically notify or prompt the monitoring personnel to notify specific technical personnel to complete the necessary calculation work according to the set conditions (such as damage reaching a certain value).

第七步：由此步开始循环运作，为叙述方便记为第i次循环，其中i＝1，2，3，4，5，...。Step 7: Start the cyclic operation from this step, which is recorded as the i-th cycle for convenience of description, wherein i=1, 2, 3, 4, 5, . . .

第八步：在索结构的力学计算基准模型记为Aⁱ的基础上进行若干次力学计算，通过计算获得索结构单位损伤被监测量变化矩阵ΔCⁱ和名义单位损伤向量Dⁱ_u。具体方法为：Step 8: Carry out several mechanical calculations on the basis of the mechanical calculation benchmark model of the cable structure denoted as Aⁱ , and obtain the change matrix ΔCⁱ of the monitored quantity of damage per unit of the cable structure and the nominal unit damage vector Dⁱ_u through calculation. The specific method is:

a.在第i次循环开始时，在索结构的力学计算基准模型Aⁱ的基础上进行若干次力学计算，计算次数数值上等于N；依据被评估对象的编号规则，依次进行计算；每一次计算假设只有一个被评估对象在原有损伤或位移的基础上再增加有单位损伤或单位位移，具体的，如果该被评估对象是索系统中的一根支承索，那么就假设该支承索再增加单位损伤，如果该被评估对象是一个支座的一个方向的位移分量，就假设该支座在该位移方向再增加单位位移，每一次计算中再增加单位损伤或单位位移的被评估对象不同于其它次计算中再增加单位损伤或单位位移的被评估对象，用“名义单位损伤向量Dⁱ_u”记录记录所有假定的再增加的单位损伤或单位位移，其中i表示第i次循环，每一次计算都利用力学方法计算索结构的所有被监测量的当前计算值，每一次计算得到的所有被监测量的当前计算值组成一个被监测量计算当前数值向量；在本步骤中给各向量的元素编号时，应同本发明中其它向量使用同一编号规则，这样可以保证本步骤中各向量中的任意一个元素，同其它向量中的、编号相同的元素，表达了同一被监测量或同一被评估对象对象的相关信息。a. At the beginning of the i-th cycle, several mechanical calculations are performed on the basis of the mechanical calculation benchmark model Aⁱ of the cable structure, and the number of calculations is numerically equal to N; the calculations are performed sequentially according to the numbering rules of the evaluated objects; each time The calculation assumes that only one assessed object has unit damage or unit displacement on the basis of the original damage or displacement. Specifically, if the assessed object is a support cable in the cable system, then it is assumed that the support cable increases Unit damage, if the evaluated object is the displacement component of a support in one direction, it is assumed that the support will increase the unit displacement in the displacement direction, and the evaluated object with increased unit damage or unit displacement in each calculation is different from For the evaluated object with additional unit damage or unit displacement in other calculations, use the “nominal unit damage vector Dⁱ_u ” to record and record all assumed additional unit damage or unit displacement, where i represents the i-th cycle, and each time All the calculations use the mechanical method to calculate the current calculated values of all the monitored quantities of the cable structure, and the current calculated values of all the monitored quantities obtained by each calculation form a monitored quantity to calculate the current value vector; in this step, the elements of each vector are given When numbering, the same numbering rule should be used with other vectors in the present invention, so that any element in each vector in this step can be guaranteed to express the same monitored quantity or the same evaluated element with the same numbered element in other vectors. Object Information about the object.

b.每一次计算得到的被监测量计算当前数值向量减去被监测量初始数值向量后再除以该次计算所假设的单位损伤或单位位移数值，得到一个被监测量变化向量δCⁱ_j；有N个被评估对象就有N个被监测量变化向量δCⁱ_j(j＝1，2，3，…，N)。b. Subtract the initial value vector of the monitored quantity from the current value vector of the monitored quantity obtained by each calculation, and then divide it by the assumed unit damage or unit displacement value of the calculation to obtain a monitored quantity change vector δCⁱ_j ; If there are N evaluated objects, there are N monitored variable change vectors δCⁱ_j (j=1, 2, 3, . . . , N).

c.由这N个被监测量变化向量按照N个被评估对象的编号规则，依次组成有N列的索结构被监测量单位变化矩阵ΔCⁱ_o“单位损伤被监测量变化矩阵ΔCⁱ”的列的编号规则与后面定义的当前名义健康状态向量dⁱ_c和当前实际健康状态向量dⁱ的元素编号规则相同。c. According to the numbering rules of the N evaluated objects, the N monitored quantity change vectors form a cable structure unit change matrix ΔCⁱ_o with N columns in turn, and the "unit damage monitored quantity change matrix ΔCⁱ " The numbering rules of the columns are the same as the element numbering rules of the current nominal health state vector dⁱ_c and the current actual health state vector dⁱ defined later.

在本步骤中及其后给各向量的元素编号时，应同本发明中其它向量使用同一编号规则，这样可以保证本步骤中各向量中的任意一个元素，同其它向量中的、编号相同的元素，表达了同一被监测量或同一对象的相关信息。When numbering the elements of each vector in this step and thereafter, the same numbering rule should be used with other vectors in the present invention, so that it can be guaranteed that any element in each vector in this step is the same as that in other vectors and numbered Elements express the related information of the same monitored quantity or the same object.

第九步：建立线性关系误差向量eⁱ和向量gⁱ。利用前面的数据(“被监测量的初始数值向量Cⁱ_o”、“单位损伤被监测量变化矩阵ΔCⁱ”)，在第八步进行每一次计算的同时，即在每一次计算中假设索系统中只有一个被评估对象在原有损伤或位移的基础上再增加有单位损伤或单位位移的同时，每一次计算组成一个健康状态向量dⁱ_t，健康状态向量dⁱ_t的元素个数等于被评估对象的数量，向量dⁱ_t的所有元素中只有一个元素的数值取每一次计算中假设增加单位损伤的索的单位损伤值或增加的单位位移值，dⁱ_t的其它元素的数值取0，那个不为0的元素的编号与假定增加单位损伤或单位位移的被评估对象的对应关系、同其他向量的同编号的元素同该索的对应关系是相同的；将Cⁱ_tj、Cⁱ_o、ΔCⁱ、dⁱ_t带入式(13)，式(13)dⁱ_c用dⁱ_t带入，得到一个线性关系误差向量eⁱ，每一次计算得到一个线性关系误差向量eⁱ；有N个被评估对象就有N次计算，就有N个线性关系误差向量eⁱ，将这N个线性关系误差向量eⁱ相加后得到一个向量，将此向量的每一个元素除以N后得到的新向量就是最终的线性关系误差向量eⁱ。向量gⁱ等于最终的误差向量eⁱ。将向量gⁱ保存在运行健康监测系统软件的计算机硬盘上，供健康监测系统软件使用。将所有获得等参数以数据文件的方式保存在运行健康监测系统软件的计算机硬盘上。Step 9: Establish linear relationship error vector eⁱ and vector gⁱ . Using the previous data ("initial value vector Cⁱ_o of the monitored quantity", "change matrix ΔCⁱ of the monitored quantity per unit damage"), while performing each calculation in the eighth step, that is, in each calculation, it is assumed that the index There is only one evaluated object in the system, and the unit damage or unit displacement is added on the basis of the original damage or displacement. At the same time, each calculation forms a health state vector dⁱ_t , and the number of elements in the health state vector dⁱ_t is equal to the The number of evaluation objects, the value of only one element among all the elements of the vector dⁱ_t is the unit damage value or the increased unit displacement value of the cable that is assumed to increase the unit damage in each calculation, and the value of the other elements of dⁱ_t is 0 , the number of the element that is not 0 is the same as the corresponding relationship between the evaluated object that is assumed to increase unit damage or unit displacement, and the corresponding relationship between the elements with the same number in other vectors and the index; Cⁱ_tj , Cⁱ_o , ΔCⁱ , dⁱ_t are brought into formula (13), and dⁱ_c of formula (13) is brought in with d^it_t to obtain a linear relationship error vector eⁱ , and each calculation obtains a linear relationship error vector eⁱ ; If there are N evaluated objects, there will be N calculations, and there will be N linear relationship error vectors eⁱ , and the N linear relationship error vectors eⁱ will be added to obtain a vector, and each element of this vector will be divided by N The resulting new vector is the final linear relationship error vector eⁱ . The vector gⁱ is equal to the final error vector eⁱ . Save the vector gⁱ on the computer hard disk running the health monitoring system software for use by the health monitoring system software. Save all obtained parameters as data files on the hard disk of the computer running the health monitoring system software.

第十步：实测得到索结构的所有指定被监测量的当前实测数值，组成“被监测量的当前数值向量Cⁱ”。实测得到索结构的所有支承索的当前索力，组成当前索力向量Fⁱ。实测计算得到所有支承索的两个支承端点的空间坐标，两个支承端点的空间坐标在水平方向分量的差就是两个支承端点水平距离。Step 10: Obtain the current measured values of all specified monitored quantities of the cable structure through actual measurement, and form a "current value vector Cⁱ of the monitored quantities". The current cable forces of all the supporting cables of the cable structure are measured to form the current cable force vector Fⁱ . The spatial coordinates of the two supporting end points of all supporting cables are obtained through actual measurement and calculation, and the difference in the horizontal component of the spatial coordinates of the two supporting end points is the horizontal distance between the two supporting end points.

第十一步：对新增加的M₂根索进行无损检测，例如超声波探伤、目视检查、红外成像检查，从中鉴别出出现损伤或松弛的索。Step 11: Conduct non-destructive testing on the newly added M₂ cables, such as ultrasonic flaw detection, visual inspection, and infrared imaging inspection, to identify damaged or loose cables.

第十二步：依据被监测量编号规则，从被监测量的初始数值向量Cⁱ_o中去除第十一步中鉴别出的出现损伤或松弛的索对应的元素；依据被监测量编号规则，从单位损伤被监测量数值变化矩阵ΔCⁱ中去除第十一步中鉴别出的出现损伤或松弛的索对应的行；依据被监测量编号规则，从被监测量的当前数值向量Cⁱ中去除第十一步中鉴别出的出现损伤或松弛的索对应的元素；依据被监测量编号规则，从向量g中去除第十一步中鉴别出的出现损伤或松弛的索对应的元素。Step 12: According to the numbering rule of the monitored quantity, remove the element corresponding to the damaged or loose cable identified in the eleventh step from the initial value vector Cⁱ_o of the monitored quantity; according to the numbering rule of the monitored quantity, Remove the row corresponding to the damaged or loose cable identified in the eleventh step from the numerical change matrix ΔCⁱ of the monitored quantity per unit damage; remove from the current numerical vector Cⁱ of the monitored quantity according to the numbering rule of the monitored quantity The element corresponding to the damaged or loose cable identified in the eleventh step; according to the numbering rule of the monitored quantity, remove the element corresponding to the damaged or loose cable identified in the eleventh step from the vector g.

第十三步：依据“被监测量的当前数值向量Cⁱ”同“被监测量的初始数值向量Cⁱ_o”、“单位损伤被监测量变化矩阵ΔCⁱ”和“当前名义健康状态向量dⁱ_c”间存在的近似线性关系(式(9))，按照多目标优化算法计算索系统当前名义健康状态向量dⁱ_c的非劣解。Step 13: According to the "current numerical vector Cⁱ of the monitored quantity" and "the initial numerical vector Cⁱ_o of the monitored quantity", "the change matrix ΔCⁱ of the monitored quantity for unit damage" and "the current nominal health state vector dⁱ_c " exists an approximate linear relationship (Formula (9)), according to the multi-objective optimization algorithm to calculate the non-inferior solution of the current nominal health state vector dⁱ_c of the cable system.

可以采用的多目标优化算法有很多种，例如：基于遗传算法的多目标优化、基于人工神经网络的多目标优化、基于粒子群的多目标优化算法、基于蚁群算法的多目标优化、约束法(Constrain Method)、加权法(Weighted Sum Method)、目标规划法(Goal Attainment Method)等等。由于各种多目标优化算法都是常规算法，可以方便地实现，本实施步骤仅以目标规划法为例给出求解当前名义健康状态向量dⁱ_c的过程，其它算法的具体实现过程可根据其具体算法的要求以类似的方式实现。There are many kinds of multi-objective optimization algorithms that can be used, such as: multi-objective optimization based on genetic algorithm, multi-objective optimization based on artificial neural network, multi-objective optimization algorithm based on particle swarm, multi-objective optimization based on ant colony algorithm, constraint method (Constrain Method), Weighted Sum Method, Goal Attainment Method, etc. Since various multi-objective optimization algorithms are conventional algorithms, they can be easily implemented. This implementation step only uses the goal programming method as an example to give the process of solving the current nominal health state vector dⁱ_c . The specific implementation process of other algorithms can be based on other The requirements of specific algorithms are implemented in a similar manner.

按照目标规划法，式(9)可以转化成式(29)和式(30)所示的多目标优化问题，式(29)中γⁱ是一个实数，R是实数域，空间区域Ω限制了向量dⁱ_c的每一个元素的取值范围(本实施例要求向量dⁱ_c的每一个元素不小于0，不大于1)。式(29)的意思是寻找一个绝对值最小的实数γⁱ，使得式(30)得到满足。式(30)中G(dⁱ_c)由式(31)定义，式(30)中加权向量Wⁱ与γⁱ的积表示式(30)中G(dⁱ_c)与向量gⁱ之间允许的偏差，gⁱ的定义参见式(15)，其值在第八步计算得到。实际计算时向量Wⁱ可以与向量gⁱ相同。目标规划法的具体编程实现已经有通用程序可以直接采用。按照目标规划法就可以求得当前名义健康状态向量dⁱ_c。According to the objective programming method, Equation (9) can be transformed into the multi-objective optimization problem shown in Equation (29) and Equation (30). In Equation (29), γⁱ is a real number, R is a real number field, and the spatial region Ω limits The value range of each element of the vector dⁱ_c (this embodiment requires that each element of the vector dⁱ_c is not less than 0 and not greater than 1). Equation (29) means to find a real number γⁱ with the smallest absolute value, so that Equation (30) is satisfied. G(dⁱ_c ) in formula (30) is defined by formula (31), and the product of weighted vector Wⁱ and γⁱ in formula (30) represents the relationship between G(dⁱ_c ) and vector gⁱ in formula (30) The definition of allowable deviation, gⁱ can be found in formula (15), and its value is calculated in the eighth step. The vector Wⁱ may be the same as the vector gⁱ in actual calculation. The specific programming implementation of the goal programming method already has a general program that can be directly adopted. According to the goal programming method, the current nominal health state vector dⁱ_c can be obtained.

minimizeγⁱ (29)minimizeγⁱ (29)

γⁱ∈R， $d_{c}^{i} &Element; Ω$ γⁱ ∈ R, $d_{c}^{i} &Element; Ω$

$G (d_{c}^{i}) - W^{i} γ^{i} \leq g^{i}$ (30) $G (d_{c}^{i}) - W^{i} γ^{i} \leq g^{i}$ (30)

$G (d_{c}^{i}) = abs ({ΔC}^{i} \cdot d_{c}^{i} - C^{i} + C_{o}^{i})$ (31) $G (d_{c}^{i}) = abs ({ΔC}^{i} \cdot d_{c}^{i} - C^{i} + C_{o}^{i})$ (31)

求得当前名义健康状态向量dⁱ_c后，可依据式(17)得到的当前实际健康状态向量dⁱ每一个元素，当前实际健康状态向量dⁱ就是带有合理误差、但可以比较准确地识别有问题的索(可能是受损也可能是松弛)、可以比较准确地确定所有支座位移的解。dⁱ的每一个元素对应于一个被评估对象的健康状态，如果该被评估对象是索系统中的一根索(或拉杆)，那么该元素的数值表示其当前损伤或松弛，如果该被评估对象是一个支座的一个位移分量，那么该元素的数值表示其当前位移数值。After the current nominal health state vector dⁱ_c is obtained, each element of the current actual health state vector dⁱ can be obtained according to formula (17). The current actual health state vector dⁱ has a reasonable error, but can be identified more accurately The cable in question (which may be damaged or slack), can determine the solution of all support displacements with relative accuracy. Each element of dⁱ corresponds to the health status of an evaluated object. If the evaluated object is a cable (or tie rod) in the cable system, then the value of this element indicates its current damage or relaxation. If the evaluated object The object is a displacement component of a support, then the value of this element represents its current displacement value.

第十四步：识别受损索和松弛索。由于当前实际健康状态向量dⁱ的元素数值代表对应被评估对象的当前实际健康状态，如果dⁱ的一个元素dⁱ_j对应于索系统中的一根索(或拉杆)，那么dⁱ_j表示其当前可能的实际损伤，dⁱ_j为0时表示无损伤，为100％时表示该索彻底丧失承载能力，介于0与100％之间时表示丧失相应比例的承载能力，但这根索究竟是发生了损伤还是发生了松弛，需进行鉴别。鉴别的方法多种多样，可以通过去除支承索的保护层，对支承索进行目视鉴别，或者借助光学成像设备进行目视鉴别，也可以通过无损检测方法对支承索是否受损进行鉴别，超声波探伤就是一种目前广泛使用的无损检测方法。鉴别后那些没有发现损伤且dⁱ_j数值不为0的支承索就是发生了松弛的索，就是需调整索力的索，依据式(24)或式(25)可以求得这些索的松弛程度(即索长调整量)。这样就实现了受损索识别和松弛索识别。Step Fourteen: Identify damaged and slack cords. Since the element value of the current actual health state vector dⁱ represents the current actual health state of the corresponding evaluated object, if an element dⁱ_j of dⁱ corresponds to a cable (or tie rod) in the cable system, then dⁱ_j represents Its current possible actual damage, when dⁱ_j is 0, it means no damage, when it is 100%, it means that the cable completely loses its bearing capacity, when it is between 0 and 100%, it means that it loses the corresponding proportion of bearing capacity, but this cable What is the occurrence of damage or relaxation, need to be identified. There are various identification methods, such as visual identification of the support cable by removing the protective layer of the support cable, or visual identification with the help of optical imaging equipment, or identification of whether the support cable is damaged by non-destructive testing methods, ultrasonic Flaw detection is a non-destructive testing method widely used at present. After the identification, those support cables with no damage found and the value of dⁱ_j not equal to 0 are the cables with slack, that is, the cables whose force needs to be adjusted. According to formula (24) or formula (25), the degree of relaxation of these cables can be obtained (i.e. cable length adjustment). This enables damaged and slack cable identification.

第十五步：识别支座位移。当前实际健康状态向量dⁱ的对应于支座位移的元素数值就是支座位移量。Step 15: Identify the bearing displacement. The element value corresponding to the support displacement of the current actual health state vector dⁱ is the support displacement.

第十六步：在本次循环，即第i次循环中求得当前名义健康状态向量dⁱ_c后，按照式(26)、式(27)建立标识向量Bⁱ。如果标识向量Bⁱ的元素全为0，则回到第十步继续本次循环；如果标识向量Bⁱ的元素不全为0，则进入下一步、即第十五步。Step 16: After obtaining the current nominal health state vector dⁱ_c in this cycle, that is, the i-th cycle, establish the identification vector Bⁱ according to formula (26) and formula (27). If the elements of the identification vector Bⁱ are all 0, then go back to the tenth step to continue this cycle; if the elements of the identification vector Bⁱ are not all 0, then enter the next step, that is, the fifteenth step.

第十七步：根据式(28)计算得到下一次、即第i+1次循环所需的初始损伤向量dⁱ⁺¹_o的每一个元素dⁱ⁺¹_oj。Step 17: Calculate and obtain each_element d i+1 oj of the initial damage vector dⁱ⁺¹_o required for the next cycle, that is, theⁱ⁺ 1th cycle, according to formula (28).

第十八步：在索结构力学计算基准模型Aⁱ的基础上，令被评估对象的健康状况为上一步计算得到的向量dⁱ⁺¹_o后，得到新的力学计算基准模型，即下一次(第i+1次)循环所需的力学计算基准模型Aⁱ⁺¹。Step 18: On the basis of the cable structure mechanical calculation benchmark model Aⁱ , let the health status of the evaluated object be the vector dⁱ⁺¹_o calculated in the previous step, and obtain a new mechanical calculation benchmark model, that is, the next The mechanical calculation benchmark model A i⁺¹ required for the (i+1th) cycle.

第十九步：通过对力学计算基准模型Aⁱ⁺¹的计算得到对应于模型Aⁱ⁺¹的结构的所有被监测量的数值，这些数值组成下一次、即第i+1次循环所需的向量Cⁱ⁺¹_o，即被监测量的初始数值向量。Step 19: Obtain the values of all the monitored quantities corresponding to the structure of the model Aⁱ⁺¹ through the calculation of the mechanical calculation benchmark model Aⁱ⁺¹ , and these values constitute the requirements for the next cycle, that is, the i+1th cycle The vector Cⁱ⁺¹_{o of} is the initial numerical vector of the monitored quantity.

第二十步：健康监测系统中的计算机定期自动或由人员操作健康监测系统生成索系统健康情况报表。Step 20: The computer in the health monitoring system generates reports on the health status of the cable system automatically or by personnel operating the health monitoring system on a regular basis.

第二十一步：在指定条件下，健康监测系统中的计算机自动操作通信报警设备向监控人员、业主和(或)指定的人员报警。The twenty-first step: under the specified conditions, the computer in the health monitoring system automatically operates the communication alarm equipment to alarm the monitoring personnel, the owner and (or) the designated personnel.

第二十二步：回到第七步，开始下一次循环。Step 22: Go back to Step 7 and start the next cycle.