CN114894460A - IMU-based method for monitoring and evaluating damage state of anti-seismic support and hanger - Google Patents
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Abstract
Translated fromChinese
Description
Translated fromChinese技术领域technical field
本发明涉及工程结构健康监测领域，尤其是涉及一种基于IMU的抗震支吊架损伤状态监测与评估方法。The invention relates to the field of engineering structure health monitoring, in particular to an IMU-based monitoring and evaluation method for the damage state of an anti-seismic support and hanger.
背景技术Background technique
抗震支吊架是支承水管、风管和桥架等机电管线设备并提供抗震保护的支吊架产品，一般分为纵向支吊架和侧向支吊架两种，主要承受水平方向的地震作用，可以限制附属机电工程设施产生位移，控制设施振动，并将荷载传递至承载结构上的各类组件或装置，支吊架最常见的损伤类型为螺栓松动引起的结构刚度退化，以及构件裂纹、螺栓螺母脱落、焊缝裂纹、撕裂和连接部件松动等情况，目前对抗震支吊架的性能评估方法尚不完善，有必要对常见抗震支吊架构件的损伤指标进行进一步的研究。Seismic support and hanger is a support and hanger product that supports electromechanical pipeline equipment such as water pipes, air ducts and bridges and provides seismic protection. It can limit the displacement of the auxiliary mechanical and electrical engineering facilities, control the vibration of the facility, and transfer the load to various components or devices on the bearing structure. The most common damage types of the support and hanger are the structural stiffness degradation caused by the loosening of bolts, as well as component cracks and bolts. The performance evaluation method of anti-seismic supports and hangers is not perfect at present, and it is necessary to further study the damage indicators of common anti-seismic supports and hangers.
随着结构健康监测领域研究的深入，利用时间序列进行损伤识别成为研究的热点，通过采集服役状态下结构振动响应的实时监测数据，能够提取数据的相关特征信息以映射损伤特征指标，进而在信号特征发生变化时提供预警，从而对结构进行性能评估和损坏预后并对结构剩余寿命进行预测，进而为维修、改造和更换等结构干预措施提供决策支持，因此，以抗震支吊架为代表的非结构构件性能的监测与评估具有广泛的应用价值。With the deepening of research in the field of structural health monitoring, the use of time series for damage identification has become a research hotspot. By collecting real-time monitoring data of structural vibration response under service conditions, the relevant characteristic information of the data can be extracted to map damage characteristic indicators, and then in the signal Provide early warning when characteristics change, so as to evaluate the performance of the structure, predict damage and predict the remaining life of the structure, and then provide decision support for structural interventions such as repair, renovation and replacement. The monitoring and evaluation of the performance of structural components has a wide range of application values.
在以往支吊架动力监测与性能监测方面，相关专利及文献主要采用反映支吊架振动及变形特性的加速度传感器和应变传感器，以刚度变化作为主要指标，并对信号进行频域分析，反映出传感器种类以及损伤指标判据相对单一，因此，丰富传感器种类并将其布置在结构的最优位置，从而获取更多结构的物理量信息，提出更为准确易得的损伤指标，也是目前支吊架结构监测领域研究的关键问题。In the past dynamic monitoring and performance monitoring of supports and hangers, the relevant patents and literature mainly use acceleration sensors and strain sensors that reflect the vibration and deformation characteristics of supports and hangers. The sensor types and damage index criteria are relatively simple. Therefore, enriching the sensor types and arranging them in the optimal position of the structure can obtain more physical quantity information of the structure and propose more accurate and easy-to-obtain damage indexes. Key issues for research in the field of structural monitoring.
发明内容SUMMARY OF THE INVENTION
本发明的目的就是为了克服上述现有技术存在的缺陷而提供一种基于IMU的抗震支吊架损伤状态监测与评估方法。The purpose of the present invention is to provide an IMU-based monitoring and evaluation method for the damage state of an anti-seismic support and hanger in order to overcome the above-mentioned defects in the prior art.
本发明的目的可以通过以下技术方案来实现：The object of the present invention can be realized through the following technical solutions:
一种基于IMU的抗震支吊架损伤状态监测与评估方法，该方法包括以下步骤：An IMU-based method for monitoring and evaluating the damage state of an anti-seismic support and hanger, the method includes the following steps:
1)搭建抗震支吊架损伤监测装置，并通过IMU采集抗震支吊架各构件的响应数据后进行预处理；1) Build a seismic support and hanger damage monitoring device, and collect the response data of each component of the seismic support and hanger through the IMU for preprocessing;
2)在抗震支吊架安装后正式投入使用前，选取设定的时长t1为第一采集区间，通过各测点的IMU的时序响应数据计算正常状态下的统计特征值V0；2) Before the seismic support and hanger are installed and put into use, the set duration t1 is selected as the first collection interval, and the statistical characteristic value V0 in the normal state is calculated by the time series response data of the IMU of each measuring point;
3)在抗震支吊架正式使用阶段中，考虑抗震支吊架上的固定螺栓因外界震动导致松动形成构件局部损伤，选取设定的时长t2为第二采集区间，利用各测点的IMU的时序响应数据计算损伤状态下的统计特征值V1；3) In the official use stage of the seismic support and hanger, considering that the fixing bolts on the seismic support and hanger are loosened due to external vibrations and cause local damage to the components, the set duration t2 is selected as the second collection interval, and the IMU of each measuring point is used. Calculate the statistical eigenvalue V1 in the damaged state from the time series response data of ;
4)计算所有统计特征值的相对变化量RV；4) Calculate the relative variation RV of all statistical eigenvalues;
5)设定变幅阈值TV，提取所有监测通道采集的响应数据中RV＞TV对应的统计特征值，并将其作为一阶敏感指标，统计一阶敏感指标分别在所有监测通道中被提取的总数，总数最多的前3项指标认定为二阶敏感指标，即最终支吊架的损伤敏感指标；5) Set the variable amplitude threshold TV, extract the statistical characteristic value corresponding to RV>TV in the response data collected by all monitoring channels, and use it as a first-order sensitive index, and count the first-order sensitive indicators extracted from all monitoring channels respectively. The total number, the top 3 indicators with the largest total number are identified as the second-order sensitive indicators, that is, the damage-sensitive indicators of the final support and hanger;
6)根据获取的损伤敏感指标对抗震支吊架进行损伤评估。6) According to the obtained damage-sensitive index, the damage assessment of the anti-seismic support and hanger is carried out.
所述的步骤1)中，抗震支吊架损伤监测装置包括安装在抗震支吊架上的多个IMU、与IMU进行无线通信的采集设备以及进行数据处理的处理器。In the step 1), the seismic support and hanger damage monitoring device includes a plurality of IMUs installed on the seismic support and hanger, a collection device for wireless communication with the IMUs, and a processor for data processing.
所述的IMU设有三个，分别刚性固定在在抗震支吊架的U形管夹外表面、竖向吊杆中部以及斜撑中部位置。There are three IMUs, which are respectively rigidly fixed on the outer surface of the U-shaped pipe clamp of the anti-seismic support hanger, the middle of the vertical boom and the middle of the diagonal brace.
在三个IMU分别刚性固定后，定义支吊架纵向和管道方向为X轴，与X轴水平垂直方向为Y轴，与X轴垂直竖向为Z轴，并且在初始时刻所有IMU坐标系方向与支吊架坐标系保持一致。After the three IMUs are rigidly fixed respectively, define the longitudinal direction of the support and hanger and the pipe direction as the X axis, the horizontal and vertical direction to the X axis as the Y axis, and the vertical and vertical direction to the X axis as the Z axis, and the direction of all IMU coordinate systems at the initial moment Consistent with the support and hanger coordinate system.
所述的步骤1)中，响应数据包括加速度、角速度和姿态角数据，对响应数据进行的预处理包括剔除异常点、去趋势项和带通滤波。In the step 1), the response data includes acceleration, angular velocity and attitude angle data, and the preprocessing of the response data includes removing abnormal points, detrending items and band-pass filtering.
所述的步骤2)和步骤3)中，统计特征值V0与V1均包括有量纲统计特征值及无量纲统计特征值，所述的有量纲统计特征值包括均值、标准差、方差、均方根、平均幅值、方根幅值、中值、平方根和峰值均方根比，所述的无量纲统计特征值包括峭度、偏度、峰值因子、脉冲因子、裕度因子和余隙因子。In the described step 2) and step 3), the statistical eigenvalues V0 and V1 both include dimensioned statistical eigenvalues and dimensionless statistical eigenvalues, and the dimensioned statistical eigenvalues include mean, standard deviation, Variance, RMS, Mean Amplitude, RMS Amplitude, Median, Square Root and Peak RMS Ratio, the dimensionless statistical eigenvalues include kurtosis, skewness, crest factor, impulse factor, margin factor and clearance factor.
所述的步骤4)中，相对变化量RV的计算公式为：In the described step 4), the calculation formula of the relative variation RV is:
所述的设定的时长t1取值为30min或24h，所述的设定的时长t2取值为30min或24h。The set duration t1 is 30min or 24h, and the set duration t2 is 30min or 24h.
所述的步骤5)中，变幅阈值TV的取值为20％。In the step 5), the value of the variable amplitude threshold TV is 20%.
所述的步骤6)具体为：Described step 6) is specifically:
以TV值为基础设立分级评估阈值S1与S2，且S1<S2，令S1为黄色预警值，当RV>S1时表明支吊架响应出现异常，需及时对其进行异常点定位、异常原因排除并重新采集数据，判断指标是否下降至正常范围,令S2为红色预警值，当RV>S2时表明支吊架结构发生严重破坏，需及时对其加固或更换，黄色预警值S1和红色预警值S2根据试验结合实际情况或相关设计规范获得。Based on the TV value, the grading evaluation thresholds S1 and S2 are established, and S1 < S2 , and S1 is the yellow warning value. When RV > S1 , it indicates that the response of the support and hanger is abnormal, and the abnormality needs to be checked in time. Point positioning, remove the abnormal cause and collect data again, judge whether the index has dropped to the normal range, letS2 be the red warning value, when RV>S2 , it means that the support and hanger structure is seriously damaged, and it needs to be reinforced or replaced in time. The yellow early warning value S1 and the red early warning value S2 are obtained according to the test combined with the actual situation or related design specifications.
与现有技术相比，本发明具有以下优点：Compared with the prior art, the present invention has the following advantages:
一、本发明安装有IMU的抗震支吊架能够集成多通道物理量同步采集的优势，在短时间内同时获取高采样率加速度及角速度时序数据，对监测数据进行实时分析和评估，能够有效实时的判断抗震支吊架的抗震性能以及运行姿态。1. The anti-seismic support and hanger installed with the IMU of the present invention can integrate the advantages of synchronous acquisition of multi-channel physical quantities, obtain high sampling rate acceleration and angular velocity time series data at the same time in a short time, and conduct real-time analysis and evaluation of monitoring data, which can effectively real-time Determine the seismic performance and operating posture of the seismic support and hanger.
二、本发明以平稳运行阶段时序数据统计特征值为基准，能够精准判定损伤状态下特征值的变化情况，去除冗余指标，保留敏感指标，为抗震支吊架的维修或者替换提供辅助决策，能有效减少地震带来的损失。2. The present invention is based on the statistical characteristic value of the time series data in the stable operation stage, and can accurately determine the change of the characteristic value in the damaged state, remove the redundant index, retain the sensitive index, and provide auxiliary decision-making for the maintenance or replacement of the anti-seismic support and hanger, It can effectively reduce the losses caused by earthquakes.
三、本发明选取的IMU测点为U形管夹外表面、竖向吊杆中部以及斜撑中部，均为支吊架关键节点，考虑到这些测点位置受力性能明显且振动响应敏感，因此能够有效代表支吊架整体运行状态及损伤情况。3. The IMU measuring points selected by the present invention are the outer surface of the U-shaped pipe clamp, the middle part of the vertical boom and the middle part of the diagonal brace, which are all key nodes of the support and hanger. Considering that these measuring points have obvious force performance and sensitive vibration response, Therefore, it can effectively represent the overall operating state and damage of the support and hanger.
附图说明Description of drawings
图1为本发明实施例中抗震支吊架IMU监测装置布置图。FIG. 1 is a layout diagram of an IMU monitoring device for an anti-seismic support and hanger in an embodiment of the present invention.
图2为本发明实施例中提供的损伤敏感指标判定流程图。FIG. 2 is a flowchart of damage-sensitive index determination provided in an embodiment of the present invention.
图中标记说明：Description of marks in the figure:
1、支吊架U形管夹外表面，2、吊杆中点，3、斜撑中点，4、IMU，5、IMU，6、IMU。1. The outer surface of the U-shaped pipe clamp of the hanger, 2. The midpoint of the boom, 3. The midpoint of the diagonal brace, 4. IMU, 5, IMU, 6, IMU.
具体实施方式Detailed ways
下面结合附图和具体实施例对本发明进行详细说明。显然，此处所描述的优选实施例仅用于说明和解释本发明，并不用于限定本发明。The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments. Obviously, the preferred embodiments described herein are only used to illustrate and explain the present invention, but not to limit the present invention.
实施例Example
本实施例中，抗震支吊架IMU监测装置布置图如图1所示，包括：设置在支吊架U形管夹外表面1、吊杆中点2和斜撑中点3上的IMU(分别标号4、5、6)。In this embodiment, the layout of the IMU monitoring device for the anti-seismic support and hanger is shown in Figure 1, including: IMU ( respectively labelled 4, 5, 6).
本实施例的实施方案中，使用4G、5G、Zigbee、NB-IOT或WiFi等无线装置传输IMU的监测数据，但本发明方法不局限于使用上述传输方法，基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动的前提下所获得的所有其他实施例，都应属于本发明保护的范围。In the implementation of this embodiment, wireless devices such as 4G, 5G, Zigbee, NB-IOT, or WiFi are used to transmit the monitoring data of the IMU, but the method of the present invention is not limited to the use of the above-mentioned transmission method. All other embodiments obtained by persons of ordinary skill in the art without creative work shall fall within the protection scope of the present invention.
本实施例中，本实施例损伤敏感指标判定流程如图2所示，包括如下步骤：In this embodiment, the damage-sensitive index determination process of this embodiment is shown in FIG. 2 , including the following steps:
步骤一，对采集到的监测数据进行实时的预处理，通过去趋势消除传感器产生的偏移对后期计算产生的影响，通过带通滤波消除高频与低频段的噪声干扰。In step 1, real-time preprocessing is performed on the collected monitoring data, the influence of the offset generated by the sensor on the later calculation is eliminated by detrending, and the noise interference of high frequency and low frequency band is eliminated by bandpass filtering.
步骤二，在抗震支吊架安装阶段完成时，选取30min的监测数据，对IMU获取的初始时序数据计算有量纲及无量纲统计特征值V0，各特征值计算公式详见表1。Step 2: When the installation stage of the seismic support and hanger is completed, the monitoring data of 30 minutes is selected, and the dimensional and dimensionless statistical eigenvalues V0 are calculated for the initial time series data obtained by the IMU.
表1各统计特征值的计算公式Table 1 Calculation formula of each statistical eigenvalue
步骤三，在抗震支吊架正式投入使用阶段，由于外界震动等干扰，支吊架因螺栓松动等产生损伤，会导致时序特征值较平稳状态产生不同程度的变化，选取24h的监测数据，再次对时序数据计算各项统计特征值V1。选取的计算时长也可以缩短，以达到更佳的实时监测目的。Step 3: When the seismic support and hanger is officially put into use, due to external vibration and other interference, the support and hanger are damaged due to loose bolts, etc., which will cause the time series characteristic value to change to varying degrees in a relatively stable state. Statistical eigenvalues V1 are calculated for time series data. The selected calculation time can also be shortened to achieve better real-time monitoring purposes.
步骤四，提取步骤二与步骤三中计算的特征值V0和V1，并计算二者的相对变化量RV。Step 4: Extract the eigenvalues V0 and V1 calculated in the second and third steps, and calculate the relative change RV of the two.
步骤五，提取步骤四中所有监测通道的采集数据对应计算得到的RV，将其与预先设定的变幅阈值TV进行比较，将所有RV＞TV的特征值判定为一阶敏感指标。Step 5: Extract the RV corresponding to the calculation of the collected data of all monitoring channels in Step 4, compare it with the preset variable amplitude threshold TV, and determine all eigenvalues of RV>TV as first-order sensitive indicators.
步骤六，提取步骤五中各项一阶敏感指标分别在所有监测通道中显现的总数，将总数最多的前3项指标判定为二阶敏感指标，二阶敏感指标为选用的支吊架损伤状态下的敏感指标。
步骤七，设立黄色预警值S1与红色预警值S2，根据获取的损伤敏感指标对抗震支吊架进行损伤评估，当RV>S1时表明支吊架响应出现异常，需及时对其进行异常点定位、异常原因排除并重新采集数据，判断指标是否下降至正常范围；令S2为，当RV>S2时表明支吊架结构发生严重破坏，需及时对其加固或更换。Step 7: Set up the yellow early warning value S1 and the red early warning value S2 , and perform damage assessment on the anti-seismic support and hanger according to the obtained damage-sensitive index. When RV>S1 , it indicates that the support and hanger response is abnormal and needs to be checked in time. The abnormal point is located, the abnormal cause is eliminated, and the data is collected again to determine whether the index has dropped to the normal range; let S2 be, when RV>S2 , it means that the support and hanger structure is seriously damaged, and it needs to be reinforced or replaced in time.
优选地，本实施例的实施方案以螺栓松动作为局部损伤形式，但本发明方法不局限于上述损伤，其他因使用过程导致的常见损伤均适用于上述判定流程。Preferably, the embodiment of this embodiment uses bolt loosening as the local damage form, but the method of the present invention is not limited to the above damage, and other common damages caused by the use process are applicable to the above determination process.
以上所述，仅为本发明的具体实施方式，但本发明的保护范围并不局限于此，任何熟悉本技术领域的工作人员在本发明揭露的技术范围内，可轻易想到各种等效的修改或替换，这些修改或替换都应涵盖在本发明的保护范围之内。因此，本发明的保护范围应以权利要求的保护范围为准。The above are only specific embodiments of the present invention, but the protection scope of the present invention is not limited to this. Any person familiar with the technical field can easily think of various equivalents within the technical scope disclosed by the present invention. Modifications or substitutions should be included within the protection scope of the present invention. Therefore, the protection scope of the present invention should be subject to the protection scope of the claims.
Claims (10)
Translated fromChinese
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