CN104237391B - Focusing delay rule computing method of phased array ultrasonic flaw detection system - Google Patents
Focusing delay rule computing method of phased array ultrasonic flaw detection system Download PDFInfo
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Abstract
The invention discloses a focusing delay rule computing method of a phased array ultrasonic flaw detection system and belongs to the technical field of ultrasonic flaw detection. The method includes the following steps of establishing virtual array elements, computing phase position sequence at a focus point, computing corrected phase positions, computing delay phase positions and computting focusing delay time rule. According to the method, the delay phase positions are computed firstly, then conversion is performed to obtain the focusing delay time rule, and the method is different from traditions methods that the delay time rule is computed by a ray tracing method. By means of the focusing delay rule computing method of the phased array ultrasonic flaw detection system, computing of the focusing delay rule can be achieved under conditions of multiple array elements and multiple interface modes, the computing efficiency is higher than that of a transient state model, and the computing accuracy is higher than that of the ray tracing method.
Description
Technical Field
The invention belongs to the technical field of ultrasonic flaw detection, and particularly relates to a simple harmonic model-based method for calculating a focusing delay rule of a phased array ultrasonic flaw detection system.
Background
The ultrasonic detection has wide application in the technical field of nondestructive detection, along with the high-speed development of electronic technology and the continuous improvement of ultrasonic phased array theory and imaging algorithm, the ultrasonic phased array detection technology is widely applied, and the ultrasonic phased array flaw detection technical method comprises the following steps: calculating a delay rule, selectively exciting array elements to emit ultrasonic waves, receiving reflected echoes and generating a detection result image by adopting a proper algorithm. The ultrasonic phased array flaw detection system sets the delay time of the excitation array element according to the delay rule obtained by calculation so as to achieve the effect of controlling the sound beam to realize energy gathering at the appointed point, the sound pressure energy at the focus point is the largest, and the sound pressure energy at other areas is smaller than that at the focus point.
The existing method for calculating the delay rule of the ultrasonic phased array adopts a ray tracing method or a Rayleigh integral method of a transient sound pressure model to calculate. The ray tracing method is based on the assumption that the sound beam is emitted from the center point of the array element, and the far sound field is assumed to be distributed by spherical waves, but the method is not suitable for the array element with irregular geometry or the array element with the size larger than the wavelength, and certain errors can be generated. Although the rayleigh integration method using the transient sound pressure model can obtain a delay time with high accuracy, it is not practical because the calculation time is greatly increased.
Disclosure of Invention
The invention aims to overcome the defects of the prior art, and provides a method for calculating the focusing delay rule of a phased array ultrasonic flaw detection system based on a simple harmonic model aiming at the ultrasonic phased array flaw detection system to realize calculation of the focusing delay rule with higher precision and high efficiency.
The technical scheme of the invention is as follows:
the invention discloses a method for calculating a focusing delay rule of a phased array ultrasonic flaw detection system, which comprises the following steps of:
1) creating virtual array elements
Setting a phased array ultrasonic probe array to have M array elements, wherein M is an integer more than or equal to 2; wherein the parameterized coordinate variable of the m-th array element isWherein M is 1, 2, …, M, and the geometric center of the array element M isLocal coordinate system of array element m (x ' y ' z ')mThe matrix of rotational relationships with the global coordinate system xyz isThe surface size and shape of the array element m are described asAssuming that q is 1, 2, …, M-1, the following steps are repeatedly executed:
creating K (q) virtual array elements between the q array element and the q +1 array element, wherein K (q) is an integer greater than or equal to 2, and in the created K (q) virtual array elements, the number of the k virtual array element is Wq(k) K, where k is 1, 2, …, k (q), Wq(k) Parameterized variables of a virtual array element areThe geometric center isLocal coordinate system ofSaid local coordinate systemThe matrix of rotational relationships with the global coordinate system xyz isFirst, theThe surface size and shape describing function of each virtual array element isThe parameterized variablesAndthe parameterized variable is one or a combination of more of rectangular coordinates, angle coordinates or a spherical coordinate system, and has linear operation property; the surface size and shape describing function is rectangular, circular, trapezoidal, parallelogram or cylindrical, and has the property of determining the size and position of the surface size and shape;
2) calculating the phase sequence at the focus point
The coordinates of the focusing point areAssuming that q is 1, 2, …, M-1, the following steps are repeatedly executed:
for the virtual array element created between the q array element and the q +1 array element, the W-th array element is calculated by adopting a simple harmonic modelq(k) Complex expression of sound pressure value of virtual array element (20) at focusing pointWherein,in order to be the real part of the data,the part of the image is an imaginary part,phase angle
3) Calculating a corrected phase αq′
Setting the cycle accumulation counter as DqFor the q-th and q + 1-th array elements, where q is 1, 2, …, M-1, the following steps are performed:
for the sequence calculated in the step 2)Let Wq(k) 1, 2, …, k (q) -1, the following steps are performed cyclically:
if it isAnd isThen D isq＝Dq+1, ifAnd isThen D isq＝Dq-1, said γ1Is a real number greater than 0 and less than pi, the gamma2Is a real number smaller than 0 and larger than-pi, the gamma is3Is a real number smaller than 0 and larger than-pi, the gamma is4Is a real number greater than 0 and less than pi, wherein N is an integer greater than or equal to zero;
for the q-th array element, where q is 2, 3, …, M, its corrected phase α is calculatedq′＝αq+2π·DqWhereinDqα for the amount of phase deviation1′＝α1；
4) Calculating the delay phase Δ αq
For the corrected phase α obtained in step (3)q', where q is 1, 2, …, M, the phase delay of which is calculated as Δ αq＝max{αq′}-αq', where max { αq' denotes the correction phase αq' where q is 1, 2, …, M;
5) calculating the delay time Deltatq
For the phase delay delta α obtained in step 4)qThe time delay rule for calculating the qth array element is as follows: Δ tq＝ΔαqAnd/ω, where ω is the angular frequency of the simple harmonic model.
In the technical scheme, the phased array ultrasonic probe array is a one-dimensional linear array element, a one-dimensional convex array element, a one-dimensional concave array element, a one-dimensional cylindrical array element, a one-dimensional circular table array element, a circular ring array element or a two-dimensional planar array element.
The simple harmonic model is one or a combination of more of a Rayleigh integral method, a Rayleigh-Soxhlet integral method, an angle spectrum method, a multivariate Gaussian superposition method, a non-paraxial approximation multivariate Gaussian superposition method, a discrete point source method, an elastic dynamics finite integral method and a finite element method.
Compared with the prior art, the invention has the following advantages and prominent effects: the method adopts a simple harmonic model to calculate and correct the phase, realizes the calculation of the ultrasonic phased array delay law, can realize the calculation of the focusing delay law under the conditions of various array elements and various interface forms, has the advantage of high calculation efficiency compared with a transient model, considers the geometrical shape of the array elements in the calculation process, and has the advantage of high calculation precision compared with a ray tracking method.
Drawings
FIG. 1 is a flow chart of a method for calculating the focusing delay rule of the phased array ultrasonic flaw detection system according to the invention.
Fig. 2 is a schematic diagram of a one-dimensional linear array and cylindrical interface of a first embodiment of the present invention.
Fig. 3 is a schematic diagram of the surface topography of the array element of the embodiment shown in fig. 2.
Fig. 4 is a schematic diagram of the distribution of virtual array elements in the embodiment shown in fig. 2.
Fig. 5 is a result of phase calculation for the embodiment shown in fig. 2.
Fig. 6 is a result of the corrected phase calculation of the embodiment shown in fig. 2.
Fig. 7 shows the calculation result of the delay time rule of the embodiment shown in fig. 2.
Fig. 8 is a schematic view of a convex array according to a second embodiment of the present invention.
Fig. 9 is a schematic diagram of the surface topography of the array element of the embodiment shown in fig. 8.
Fig. 10 is a schematic diagram of the distribution of virtual array elements of the embodiment shown in fig. 8.
FIG. 11 is a schematic view of a circular array according to a third embodiment of the present invention.
Fig. 12 is a schematic diagram of the surface topography of the array element of the embodiment shown in fig. 11.
Fig. 13 is a schematic diagram of the distribution of virtual array elements in the embodiment shown in fig. 12.
In fig. 1 to 13: 10-array elements; 20-virtual array elements.
Detailed Description
The specific working flow of the present invention is further described in detail with reference to the drawings and the embodiments.
One embodiment of the method for calculating the focus delay rule of the phased array ultrasonic flaw detection system according to the present invention is shown in fig. 1, fig. 2, fig. 3, fig. 4, fig. 5 and fig. 6;
1) creating virtual array elements
The phased array ultrasonic probe array is provided with M array elements 10, wherein M is an integer more than or equal to 2; wherein the parameterized coordinate variable of the m-th array element isWherein M is 1, 2, …, M, and the geometric center of the array element M isLocal coordinate system of array element m (x ' y ' z ')mThe matrix of rotational relationships with the global coordinate system xyz isThe surface size and shape of the array element m are described asAssuming that q is 1, 2, …, M-1, the following steps are repeatedly executed:
k (q) virtual array elements 20 are created between the q array element and the q +1 array element, K (q) is an integer greater than or equal to 2, and in the created K (q) virtual array elements 20, the number of the k virtual array element 20 is Wq(k) K, where k is 1, 2, …, k (q), Wq(k) The parameterized variables of each virtual array element 20 areThe geometric center isLocal coordinate system ofSaid local coordinate systemThe matrix of rotational relationships with the global coordinate system xyz isFirst, theThe surface size and shape of each virtual array element 20 is described by the functionThe parameterized variablesAndthe parameterized variable is one or a combination of more of rectangular coordinates, angle coordinates or a spherical coordinate system, and has linear operation property; the surface size and shape describing function is rectangular, circular, trapezoidal, parallelogram or cylindrical, and has the property of determining the size and position of the surface size and shape; in this embodiment, let M be 32 array elements 10 in the one-dimensional linear phased array ultrasound probe array shown in fig. 1, the inclination angle of the array is 10 °, and the probe is arranged at a radius R of 30[ mm ]]The center of the circle is (0,0, -30) [ mm]The density of the medium 1 is p1＝1.18g/cm3Longitudinal wave velocity of c12700m/s, density of medium 2 ρ2＝7.85g/cm3Longitudinal wave velocity of c25900 m/s; the center distance between two adjacent array elements is 0.7 mm]The width of the array element is 0.6[ mm ]](ii) a Wherein the parameterized coordinate variable of the m-th array element is(M is 1, 2, …, M) with geometric center of array elementWhereinArray element local coordinate system x ' y ' z 'mThe matrix of rotational relationships with the global coordinate system xyz is
In this embodiment, as shown in fig. 3, the surface size of the array element is rectangular, and the describing function of the surface size of the array element isWherein w is 0.6[ mm%]Is rectangular in width, and h is 12[ mm ] along the x' direction]Is the length of a rectangle, along the y' direction; as shown in fig. 3, in this embodiment, for the sequence q 1, …,31, k (q) 50 virtual array elements 20 are created between the q-th array element and the q + 1-th array element, and the number q (k) 1, …, k (q); the q (k) th virtual array element 20 has a parameterized variable ofThe q-th array element and the W-th array elementq(1) The q +1 th array element and the Kth (q) th virtual array element 20 are overlapped, the Wthq(k) The geometric center of each virtual array element 20 isLocal coordinate system x ' y ' z 'q(k)Sit in the wholeThe rotation relationship matrix of the coordinate system xyz isThe surface size shape describing function of the virtual array element 20 is
2) Calculating the phase sequence at the focus point
The coordinates of the focusing point areAssuming that q is 1, 2, …, M-1, the following steps are repeatedly executed:
for the virtual array element created between the q array element and the q +1 array element, the W-th array element is calculated by adopting a simple harmonic modelq(k) Complex expression of sound pressure value of virtual array element (20) at focusing pointWherein,in order to be the real part of the data,the part of the image is an imaginary part,phase angle
In this embodiment, the requirementsThe coordinates of the point to be focused areThe calculated phase sequence is shown in fig. 5;
3) calculating a corrected phase αq′
Setting the cycle accumulation counter as DqFor the q-th and q + 1-th array elements, where q is 1, 2, …, M-1, the following steps are performed:
for the sequence (q), (k), α) calculated in step (2)q(k)) From q (k) 1 to q (k) k (q) -1, the following steps are cyclically performed:
if α is satisfied in the foundq(k)>γ1And αq(k)+1<γ2Element (2) isq＝Dq+1 if found to satisfy αq(k)<γ3And αq(k)+1>γ4Element (2) isq＝Dq-1, said γ1Is a real number greater than 0 and less than pi, the gamma2Is a real number smaller than 0 and larger than-pi, the gamma is3Is a real number smaller than 0 and larger than-pi, the gamma is4Is a real number greater than 0 and less than pi, wherein N is an integer greater than or equal to zero;
for the q-th array element, where q is 2, 3, …, M, its corrected phase α is calculatedq′＝αq+2π·DqWhereinDqα for the amount of phase deviation1′＝α1；
In this example, γ1＝4π/5，γ2＝-4π/5，γ3＝-4π/5，γ44 pi/5; the result of the corrected phase calculation of the present embodiment is shown in fig. 6;
4) calculating the delay phase Δ αq
To the step (3) to obtainCorrected phase αq', where q is 1, 2, …, M, the phase delay of which is calculated as Δ αq＝max{αq′}-αq', where max { αq' denotes the correction phase αq' where q is 1, 2, …, M;
5) calculating the delay time Deltatq
The phase delay delta α obtained in the step (4)qThe time delay rule for calculating the qth array element is as follows: Δ tq＝ΔαqAnd/omega. The calculation result of the delay time rule of the present embodiment is shown in fig. 7.
In another embodiment of the process of creating virtual array elements 20 according to the present invention, as shown in fig. 8 and fig. 9, a convex ultrasonic phased array shown in fig. 8 has 16 array elements 10 in total, and the circular arc center coordinate of the array is (0,0,0) [ mm ═ C]The radius of the arc is 30[ mm ═ R]The included angle between two adjacent array elements is 5.625 deg., and the width of array element is 1 mm](ii) a Wherein the parameterized coordinate variable of the m-th array element is(M is 1, …, M) and the geometric center of the array element isArray element local coordinate system x ' y ' z 'mThe matrix of rotational relationships with the global coordinate system xyz is
In this embodiment, as shown in fig. 3, as in the previous embodiment, the surface size of the array element is rectangular, and the describing function of the surface size of the array element isWherein w is 1.5[ mm ]]Is rectangular in width, and h is 12[ mm ] along the x' direction]Is the length of a rectangle, along the y' direction; as shown in FIG. 9, this embodimentIn the example, for the sequence q 1, …,16, k (q) 50 virtual array elements 20 are created between the q-th array element and the q + 1-th array element, numbered Wq(k) 1, …, k (q); w thq(k) The parameterized variables of each virtual array element 20 areThe q-th array element and the W-th array elementq(1) The q +1 th array element and the Kth (q) th virtual array element 20 are overlapped, the Wthq(k) The geometric center of each virtual array element 20 isLocal coordinate system x ' y ' z 'q(k)The matrix of rotational relationships with the global coordinate system xyz isThe surface size shape describing function of the virtual array element 20 is
The third embodiment of the present invention shows a process for creating a virtual array element 20, as shown in fig. 10 and 11, a circular ultrasonic phased array shown in fig. 8 has a total of M-10 array elements, and the center coordinate of the array is C-0, 0,0 mm]Wherein the parameterized coordinate variable of the m-th array element is sm＝(m+2)[mm](M-1, …, M), the parameterized coordinate variable representing the center radius of the M-th array element,
array element local coordinate system (x ' y ' z ')mThe matrix of rotational relationships with the global coordinate system xyz is
In this embodiment, as shown in fig. 11, the surface size of the array element is circular ring, and the describing function of the surface size of the array element is
Wherein R ism1＝sm+0.45[mm]As a function of the outer diameter of the ring, Rm2＝sm-0.45[mm]As a function of the inner diameter of the annulus; as shown in fig. 12, in this embodiment, for the sequence q 1, …,16, k (q) 11 virtual elements 20, numbered W, are created between the q-th element and the q + 1-th elementq(k) 1, …, k (q); the q (k) th virtual array element 20 has a parameterized variable ofThe q-th array element and the W-th array elementq(1) The q +1 th array element and the Kth (q) th virtual array element 20 are overlapped, the Wthq(k) The geometric center of each virtual array element 20 isLocal coordinate system (x ' y ' z ')q(k)The matrix of rotational relationships with the global coordinate system xyz isThe surface size shape describing function of the virtual array element 20 is
The method has the key points that a virtual probe is firstly established between two adjacent array elements, and then the phase change process between the two adjacent array elements is obtained by adopting a simple harmonic model phase calculation method, so that the phase obtained by actual array element calculation is corrected to obtain a corrected phase.
Claims (3)
1. A method for calculating a focusing delay rule of a phased array ultrasonic flaw detection system is characterized by comprising the following steps: it comprises the following steps:
1) creating virtual array elements
The phased array ultrasonic probe array is provided with M array elements (10), wherein M is an integer more than or equal to 2; wherein the parameterized coordinate variable of the m-th array element isWherein M is 1, 2, …, M, and the geometric center of the array element M isLocal coordinate system of array element m (x ' y ' z ')mThe matrix of rotational relationships with the global coordinate system xyz isThe surface size and shape of the array element m are described asAssuming that q is 1, 2, …, M-1, the following steps are repeatedly executed:
k (q) virtual array elements (20) are created between the q array element and the q +1 array element, K (q) is an integer which is greater than or equal to 2, and in the created K (q) virtual array elements (20), the number of the k virtual array element (20) is Wq(k) K, where k is 1, 2, …, k (q), Wq(k) The parameterized variable of each virtual array element (20) isThe geometric center isLocal coordinate system ofSaid local coordinate systemThe matrix of rotational relationships with the global coordinate system xyz isFirst, theThe surface size and shape of each virtual array element (20) is described by a functionThe parameterized variablesAndthe parameterized variable is one or a combination of more of rectangular coordinates, angle coordinates or a spherical coordinate system, and has linear operation property; the surface size and shape describing function is rectangular, circular, trapezoidal, parallelogram or cylindrical, and has the property of determining the size and position of the surface size and shape;
2) calculating the phase sequence at the focus point
Let the coordinates of the focus point beAssuming that q is 1, 2, …, M-1, the following steps are repeatedly executed:
for the virtual array element (20) established between the q array element and the q +1 array element, the W-th array element is calculated by adopting a simple harmonic modelq(k) Complex expression of sound pressure value of virtual array element (20) at focusing pointWherein,in order to be the real part of the data,the part of the image is an imaginary part,phase angleWhereinThe formula is as follows:
3) calculating a corrected phase αq′
Setting the cycle accumulation counter as DqFor the q-th and q + 1-th array elements, where q is 1, 2, …, M-1, the following steps are performed:
for the sequence calculated in the step 2)Let Wq(k) 1, 2, …, k (q) -1, the following steps are performed cyclically:
if it isAnd isThen D isq＝Dq+1, ifAnd isIs then Dq＝Dq-1, said γ1Is a real number greater than 0 and less than pi, the gamma2Is a real number smaller than 0 and larger than-pi, the gamma is3Is a real number smaller than 0 and larger than-pi, the gamma is4Is a real number greater than 0 and less than pi, wherein N is an integer greater than or equal to zero;
for the q-th array element, where q is 2, 3, …, M, its corrected phase α is calculatedq′＝αq+2π·DΣWhereinDqα for the amount of phase deviation1′＝α1；
4) Calculating the delay phase Δ αq
For the correction phase obtained in step 3)Position αq', where q is 1, 2, …, M, the phase delay of which is calculated as Δ αq＝max{αq′}-αq', where max { αq' denotes the correction phase αq' where q is 1, 2, …, M;
5) calculating the delay time Deltatq
For the phase delay delta α obtained in step 4)qThe time delay rule for calculating the qth array element is as follows: Δ tq＝ΔαqAnd/ω, where ω is the angular frequency of the simple harmonic model.
2. The method of claim 1, wherein the phased array ultrasonic inspection system focus delay algorithm is a one-dimensional linear array element, a one-dimensional convex array element, a one-dimensional concave array element, a one-dimensional cylindrical array element, a one-dimensional circular truncated cone array element, a circular array element, or a two-dimensional planar array element.
3. The method of claim 1, wherein the simple harmonic model is one or more of a rayleigh integral method, a rayleigh-scoffield integral method, an angle spectroscopy, a multivariate gaussian superposition method, a non-paraxial approximation multivariate gaussian superposition method, a discrete point source method, an elastodynamics finite integral method, and a finite element method.
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