CN104792405A - Method for measuring the torsional mechanical impedance of flexible joint pipe in pipeline - Google Patents

Abstract

The invention provides a method for measuring the torsional mechanical impedance of a flexible joint pipe in a pipeline. The method comprises a first step in which a 12*12 impedance matrix related to a flexible joint pipe is established, wherein impedance parameters associated with translational degrees of freedom are directly measured. The method further comprises a second step including the following sub steps: the impedance matrix is solved; if the flexible joint pipe is an axially symmetric flexible joint pipe, first, the lower end of the joint pipe is fixed, force is applied to the upper end and measurement is carried out, and the corresponding impedance is solved, and then, two joint pipes are installed symmetrically to eliminate the rotation about the y axis, force is applied to the joint and measurement is carried out, and the corresponding impedance is calculated; and if the flexible joint pipe is an elbowed flexible joint pipe, first, the lower end of the joint pipe is fixed, force is applied to the upper end and measurement is carried out, and the corresponding impedance is solved, and then, two joint pipes are installed symmetrically and anti-symmetrically to eliminate the rotation about the y axis and the speed of the z axis, force is applied to the joint and measurement is carried out, and the corresponding impedance is calculated. Other impedance parameters associated with rotational degrees of freedom are obtained based on the equivalence of the impedance matrix.

Description

A kind of pipeline flexibility connection pipe reverses mechanical impedance measurement method

Technical field

The invention belongs to vibration reduction of ship noise reduction technology field, be specifically related to a kind of pipeline flexibility connection pipe and reverse mechanical impedance measurement method.

Background technology

In pipeline, flexibility connection pipe can not only be isolated and decay along structure vibration and structure borne noise, the suppression fluid noise of pipe system transmission, and the Large travel range that can also cause because of vibration, impact between compensation equipment and pipe system is out of shape.Therefore on boats and ships, flexibility connection pipe is used in a large number both at home and abroad.The mechanical impedance property of flexibility connection pipe is the main evaluation parameter weighing its anti-vibration performance, is also the important initial parameter carrying out the forecast of pipe system acoustical behavior.

The translation mechanical impedance measuring method of current three change in coordinate axis direction can with reference to international standard ISO10846.Wang Suoquan etc. (test of elbow form flexible connecting pipe mechanical impedance and vibration isolating effect prediction research thereof. the 12 boats and ships underwater noise academic discussion collection of thesis, 2009) adopt symmetry or antisymmetry mounting means to obtain the mechanical impedance in three translation directions to elbow form flexible connecting pipe.

Because pipe system is generally elongated space structure, in the forecast of pipe system acoustical behavior, pipeline section can consider three translations and three torsions, the mechanical impedance of totally 6 degree of freedom, and flexibility connection pipe is often ignored because measuring the torsion impedance around three coordinate axis, the mechanical impedance test data only introducing three change in coordinate axis direction calculates.Current research also finds to exist in pipeline translation and being coupled between reversing, and ignores and reverse impedance and will cause the error of calculation.Yin Zhi bravely waits (pipeline flexible support reverses the acceleration partition method of mechanical impedance measurement. the 11 boats and ships underwater noise academic discussion collection of thesis, 2007) propose and produce moment by the mode of eccentric annular flow, rotation acceleration is obtained by the method that acceleration is separated, obtain pipe-support and reverse mechanical impedance, the method is tested mainly for the input impedance of support member.

In sum, lack the measuring method that flexibility connection pipe reverses mechanical impedance at present, seriously constrain the forecast of pipeline acoustical behavior and calculate, affecting the lifting of pipe system acoustic design and control technology, need breakthrough badly.

Summary of the invention

In view of this, the invention provides a kind of pipeline flexibility connection pipe and reverse mechanical impedance measurement method, T-shaped mass can be utilized to apply moment of torsion and measured angular speed, power ring ergometry and moment of torsion, directly obtain flexibility connection pipe and reverse mechanical impedance.

For achieving the above object, technical scheme of the present invention is: a kind of pipeline flexibility connection pipe reverses mechanical impedance measurement method, and the method comprises the steps:

Step one, for flexibility connection pipe, its upper and lower side all has the motion of 6 degree of freedom, sets up the impedance matrix about this flexibility connection pipe 12 × 12 accordingly:

Be 1 end with the upper end of flexibility connection pipe, lower end is 2 ends, sets up coordinate system Ox respectively for 1 end and 2 ends ₁y ₁z ₁and Ox ₂y ₂z ₂if described flexibility connection pipe is axisymmetric flexibility connection pipe, wherein Ox ₁y ₁z ₁using the end face of 1 end as x ₁oy ₁face, with the axis of flexibility connection pipe for z ₁axle, Ox ₂y ₂z ₂using the end face of 2 ends as x ₂oy ₂face, with the axis of flexibility connection pipe for z ₂axle; If described flexibility connection pipe is elbow form flexible connecting pipe, wherein Ox ₁y ₁z ₁using the end face of 1 end as x ₁oy ₁face, with the axis of flexibility connection pipe for z ₁axle, Ox ₂y ₂z ₂using the end face of 2 ends as y ₂oz ₂face, with the axis of flexibility connection pipe for x ₂axle.

Wherein F _1x, F _1yand F _1zbe illustrated respectively in 1 end along x ₁, y ₁and z ₁the excitation that direction applies, M _1x, M _1yand M _1zrepresent that 1 end is around x respectively ₁, y ₁and z ₁the excitation that axle applies, v _1x, v _1yand v _1zbe illustrated respectively in 1 end at x ₁, y ₁and z ₁the point-to-point speed response in direction, θ _1x, θ _1yand θ _1zrepresent that 1 end is around x respectively ₁, y ₁and z ₁the angular velocity of rotation response of axle.

Wherein F _2x, F _2yand F _2zrepresent respectively and be applied to 2 end x ₂, y ₂and z ₂the excitation in direction, M _2x, M _2yand M _2zrepresent that 2 ends are around x respectively ₂, y ₂and z ₂axle rotates the excitation applied, v _2x, v _2yand v _2zbe illustrated respectively in 2 ends at x ₂, y ₂and z ₂the point-to-point speed response in direction, θ _2x, θ _2yand θ _2zrepresent that 2 ends are around x respectively ₂, y ₂and z ₂the angular velocity of rotation response of axle.

for impedance parameter, wherein have in subscript numeral 11 be have in 1 end input impedance parameter, subscript numeral 22 be 2 end input impedance parameters, what have numeral 12 in subscript is the transfer impedance parameter of 1 end to 2 ends, and what have numeral 21 in subscript is the transfer impedance parameters of 2 ends to 1 end; Numeral 1 ~ 3 in subscript represents that translational degree of freedom, 4 ~ 6 represents rotational freedom, the impedance parameter wherein in subscript with 4 ~ 6 is the impedance parameter relevant to rotational freedom, only has the impedance parameter of 1 ~ 3 to be the impedance parameter relevant to translational degree of freedom in subscript.

Wherein relevant to translational degree of freedom impedance parameter all directly measures acquisition.

Step 2, resolve the impedance matrix of flexibility connection pipe 12 × 12:

If described flexibility connection pipe is axisymmetric flexibility connection pipe, this step is as follows:

S201, the lower end of axisymmetric flexibility connection pipe is fixed on mounting platform through power and torque sensor, a T-shaped mass is vertically fixed on the upper end outer circumferential side of this axisymmetric flexibility connection pipe, on the arm of T-shaped mass, sensor is placed respectively for ergometry, translational velocity and angular velocity in two ends, and wherein exciting rod is installed for force in one end.

S202, employing exciting rod exert a force, and measure acquisition 1 end along x by power and torque sensor ₁the excitation F that axle applies _1xand 1 end around y ₁the excitation M that axle applies _1y, 1 end obtained by the sensor on T-shaped mass is along x ₁the translational velocity v of axle _1xwith along y ₁the rotational angular velocity θ of axle _1y; The relational expression relevant to 1 end Excitation and response is chosen by the impedance matrix relation of described 12 × 12:

$\left(\begin{array}{c}{F}_{1x}\\ M_{1y}\end{array}\right)=\left[\begin{array}{cc}{Z}_{11}^{11}& Z_{15}^{11}\\ Z_{51}^{11}& Z_{55}^{11}\end{array}\right]\left(\begin{array}{c}{v}_{1x}\\ {\mathrm{\θ}}_{1y}\end{array}\right).$

Wherein for the 1 end input impedance parameter relevant to translational degree of freedom, directly measure acquisition;

Had by principle of reciprocity: resolve above formula to obtain with

S203, transfer impedance parameter $Z_{51}^{21}=M_{1y}/v_{1x},Z_{55}^{21}=M_{2y}/{\mathrm{\θ}}_{1y}.$

S204, choose two axisymmetric flexibility connection pipes, wherein two axisymmetric flexibility connection pipe 2 ends are all fixed on mounting platform by power and torque sensor, and 1 end of the two is docked by web member, and T-shaped mass is vertically fixed on the two web member side; Adopt exciting rod to exert a force, measure acquisition 1 end around z by power and torque sensor ₁the excitation M that axle applies _1zand 2 end around z ₂the excitation M that axle applies _2z, 1 end obtained by the sensor on T-shaped mass is along z ₁the rotational angular velocity θ of axle _1z.

Then input impedance parameter with transfer impedance parameter

S205, to calculate according to above step S201 ~ S204 and to obtain with other impedance parameters relevant to rotational freedom are obtained by following reciprocal relation: $Z_{55}^{21}=Z_{44}^{21},Z_{15}^{11}=Z_{15}^{22},Z_{55}^{11}=Z_{55}^{22},Z_{66}^{11}=Z_{66}^{22},Z_{51}^{21}=Z_{51}^{12},Z_{55}^{21}=Z_{55}^{12},Z_{66}^{21}=Z_{66}^{12},Z_{44}^{11}=Z_{44}^{22},Z_{24}^{11}=Z_{24}^{22},Z_{42}^{21}=Z_{42}^{12},$ remaining impedance parameter relevant to rotational freedom is zero; So far, the measurement of all impedance parameters of axisymmetric flexibility connection pipe is completed.

If described flexibility connection pipe is elbow form flexible connecting pipe, then this step is as follows:

S2001,2 ends of elbow form flexible connecting pipe are fixed on mounting platform by power and torque sensor, a T-shaped mass is vertically fixed on the end face of 1 end of this elbow form flexible connecting pipe, on the arm of T-shaped mass, sensor is placed respectively for ergometry, translational velocity and angular velocity in two ends, and wherein exciting rod is placed for force in one end.

S2002, employing exciting rod exert a force, and measure acquisition 1 end along x by power and torque sensor ₁the excitation F that axle applies _1xand 1 end around y ₁the excitation M that axle applies _1y, 1 end obtained by the speed on T-shaped mass and angular-rate sensor is along x ₁the translational velocity v of axle _1xwith along y ₁the rotational angular velocity θ of axle _1y; Then choose the relational expression relevant to 1 end Excitation and response by the impedance matrix relation of described 12 × 12:

$\left\{\begin{array}{c}\left(\begin{array}{c}{F}_{1x}\\ M_{1y}\end{array}\right)=\left[\begin{array}{cc}{Z}_{11}^{11}& Z_{15}^{11}\\ Z_{51}^{11}& Z_{55}^{11}\end{array}\right]\left(\begin{array}{c}{v}_{1x}\\ {\mathrm{\θ}}_{1y}\end{array}\right)\\ \left(\begin{array}{c}{F}_{1z}\\ M_{1y}\end{array}\right)=\left[\begin{array}{cc}{Z}_{33}^{11}& Z_{35}^{11}\\ Z_{53}^{11}& Z_{55}^{11}\end{array}\right]\left(\begin{array}{c}{v}_{1z}\\ {\mathrm{\θ}}_{1y}\end{array}\right)\end{array}\right.;$

Wherein with be the input impedance relevant to translational degree of freedom, directly measure acquisition.

Had by principle of reciprocity: calculate and obtain with transfer impedance parameter $Z_{51}^{21}=M_{1y}/v_{1x},Z_{55}^{21}=M_{2y}/{\mathrm{\θ}}_{1y}.$

S2003, choose two elbow form flexible connecting pipes, wherein two elbow form flexible connecting pipe 2 ends are all fixed on mounting platform by power and torque sensor, 1 end of the two is docked by web member, and the two forms symmetrical installation, and T-shaped mass is vertically fixed on the two web member side; Adopt exciting rod to exert a force, measure acquisition 1 end around x by power and torque sensor ₁the excitation M that axle applies _1xand 2 end around x ₂the excitation M that axle applies _2x, 1 end obtained by the speed on T-shaped mass and angular-rate sensor is along x ₁the rotational angular velocity θ of axle _1x; Then input impedance parameter transfer impedance parameter

S2004, choose two elbow form flexible connecting pipes, wherein two elbow form flexible connecting pipe 2 ends are all fixed on mounting platform by power and torque sensor, 1 end of the two is docked by web member, and the two forms antisymmetry and installs, and T-shaped mass is vertically fixed on the two web member side; Adopt exciting rod to exert a force, measure acquisition 1 end around y by power and torque sensor ₁the excitation F that axle applies _1yand 1 end around z ₁the excitation M that axle applies _1z, 1 end obtained by the speed on T-shaped mass and angular-rate sensor is along z ₁the rotational angular velocity θ of axle _1z.

Then choose the relational expression relevant to 1 end Excitation and response by the impedance matrix relation of described 12 × 12:

$\left(\begin{array}{c}{F}_{1x}\\ M_{1z}\end{array}\right)=\left[\begin{array}{cc}{Z}_{22}^{11}& Z_{26}^{11}\\ Z_{62}^{11}& Z_{66}^{11}\end{array}\right]\left(\begin{array}{c}{v}_{1y}\\ {\mathrm{\θ}}_{1z}\end{array}\right)$

Wherein for the input impedance parameter relevant to translational degree of freedom, directly test acquisition, resolve above formula to obtain with

S2005, transfer impedance parameter $Z_{62}^{21}=M_{2z}/v_{1y},Z_{66}^{21}=M_{2z}/{\mathrm{\θ}}_{1z}.$

S2006, to calculate according to above step S2001 ~ S2005 and to obtain other impedance parameters relevant to rotational freedom are obtained according to following reciprocal relation $Z_{15}^{11}=Z_{15}^{22},Z_{26}^{11}=Z_{26}^{22},Z_{44}^{11}=Z_{44}^{22},Z_{35}^{11}=Z_{35}^{22},Z_{55}^{11}=Z_{55}^{22},Z_{66}^{11}=Z_{66}^{22},Z_{51}^{21}=Z_{51}^{12},Z_{62}^{21}=Z_{62}^{12},Z_{44}^{21}=Z_{44}^{12},$ the impedance parameter that remainder is relevant to rotational freedom is 0; So far, the measurement of all impedance parameters of elbow form flexible connecting pipe is completed.

Further, the sensor that on the arm of T-shaped mass, two ends are placed is respectively reluctance head and speed pickup, and wherein reluctance head records speed is v ₂, it is v that speed pickup records speed ₁, between reluctance head and speed pickup, spacing is △.

Then pass through 1 end of the sensor acquisition on T-shaped mass in described step S202 along x ₁the translational velocity v of axle _1xwith along y ₁the rotational angular velocity θ of axle _1ymethod be specially:

$v_{1x}=\frac{1}{2}(v_1+v_2)$

${\mathrm{\θ}}_{1y}=\frac{1}{2\mathrm{\Δ}}(v_2-v_1).$

Beneficial effect:

The present invention utilizes T-shaped mass to apply moment of torsion and measured angular speed, power ring ergometry and moment of torsion, directly can obtain flexibility connection pipe and reverse mechanical impedance, can be used for the measurement that the anti-vibration performance of evaluation flexibility connection pipe, the forecast of pipe system acoustical behavior, acoustic design and vibration isolator reverse mechanical impedance.

Accompanying drawing explanation

Fig. 1 is that the axisymmetric adapter of one embodiment of the invention and elbow form flexible connecting pipe two ends power and moment of torsion illustrate;

Fig. 2 is that the T-shaped mass of one embodiment of the invention measures torsion diagram;

Fig. 3 is the axisymmetric adapter impedance of one embodiment of the invention test schematic diagram diagram.In figure: acceleration transducer 1, exciting rod 2, reluctance head 3, T-shaped mass 4, flexibility connection pipe 5, power and torque sensor 6, mounting platform 7;

Fig. 4 is the symmetrical installation shaft symmetrical expression adapter impedance of one embodiment of the invention measure diagram;

Fig. 5 is the elbow form flexible connecting pipe impedance of one embodiment of the invention measure diagram;

Fig. 6 is that the symmetry of one embodiment of the invention installs elbow form flexible connecting pipe impedance measure diagram;

Fig. 7 is that the antisymmetry of one embodiment of the invention installs elbow form flexible connecting pipe impedance measure diagram.

Embodiment

To develop simultaneously embodiment below in conjunction with accompanying drawing, describe the present invention.

Embodiment 1, a kind of pipeline flexibility connection pipe reverse mechanical impedance measurement method, and the method comprises the steps:

Step one, for flexibility connection pipe, its upper and lower side all has the motion of 6 degree of freedom, sets up the impedance matrix about this flexibility connection pipe 12 × 12 accordingly:

Be 1 end with the upper end of flexibility connection pipe, lower end is 2 ends, sets up coordinate system Ox respectively for 1 end and 2 ends ₁y ₁z ₁and Ox ₂y ₂z ₂if described flexibility connection pipe is axisymmetric flexibility connection pipe, wherein Ox ₁y ₁z ₁using the end face of 1 end as x ₁oy ₁face, with the axis of flexibility connection pipe for z ₁axle, Ox ₂y ₂z ₂using the end face of 2 ends as x ₂oy ₂face, with the axis of flexibility connection pipe for z ₂axle; If described flexibility connection pipe is elbow form flexible connecting pipe, wherein Ox ₁y ₁z ₁using the end face of 1 end as x ₁oy ₁face, with the axis of flexibility connection pipe for z ₁axle, Ox ₂y ₂z ₂using the end face of 2 ends as y ₂oz ₂face, with the axis of flexibility connection pipe for x ₂axle.

Wherein F _1x, F _1yand F _1zbe illustrated respectively in 1 end along x ₁, y ₁and z ₁the excitation that direction applies, M _1x, M _1yand M _1zrepresent that 1 end is around x respectively ₁, y ₁and z ₁the excitation that axle applies, v _1x, v _1yand v _1zbe illustrated respectively in 1 end at x ₁, y ₁and z ₁the point-to-point speed response in direction, θ _1x, θ _1yand θ _1zrepresent that 1 end is around x respectively ₁, y ₁and z ₁the angular velocity of rotation response of axle.

Wherein F _2x, F _2yand F _2zrepresent respectively and be applied to 2 end x ₂, y ₂and z ₂the excitation in direction, M _2x, M _2yand M _2zrepresent that 2 ends are around x respectively ₂, y ₂and z ₂axle rotates the excitation applied, v _2x, v _2yand v _2zbe illustrated respectively in 2 ends at x ₂, y ₂and z ₂the point-to-point speed response in direction, θ _2x, θ _2yand θ _2zrepresent that 2 ends are around x respectively ₂, y ₂and z ₂the angular velocity of rotation response of axle.

Axisymmetric adapter and elbow form flexible connecting pipe two ends power and torque diagram are as shown in Figure 1.

for impedance matrix, wherein for impedance parameter, what wherein have numeral 11 in subscript is that what have numeral 22 in 1 end input impedance parameter, subscript is 2 end input impedance parameters, have in subscript numeral 12 and 21 for transfer impedance parameter; Numeral 1 ~ 3 in subscript represents that translational degree of freedom, 4 ~ 6 represents rotational freedom, the impedance parameter wherein in subscript with 4 ~ 6 is the impedance parameter relevant to rotational freedom, only has the impedance parameter of 1 ~ 3 to be the impedance parameter relevant to translational degree of freedom in subscript.

In linear system, impedance matrix is symmetrical relative to principal diagonal, namely has the element of subscript 12 in above formula and has the element correspondent equal of subscript 21.The present invention only provides the measuring method of the impedance parameter relevant to rotational freedom.

The impedance parameter relevant to translational degree of freedom all directly measures acquisition;

Step 2, resolve the impedance matrix of flexibility connection pipe 12 × 12:

If described flexibility connection pipe is axisymmetric flexibility connection pipe, this step is as follows:

S201, the lower end of axisymmetric flexibility connection pipe is fixed on mounting platform by power and torque sensor, a T-shaped mass is vertically fixed on the upper side of this axisymmetric flexibility connection pipe, on the arm of T-shaped mass, sensor is placed respectively for ergometry, translational velocity and angular velocity in two ends, and wherein exciting rod is placed for force in one end.

T-shaped mass of the present invention as shown in Figure 2, can be found out in Fig. 2, can apply different power by T-shaped mass, and on T-shaped mass, place corresponding sensor then can ergometry and moment of torsion and speed, acceleration equivalent simultaneously.

Fig. 3 is then axisymmetric adapter impedance test schematic diagram diagram.In figure: acceleration transducer 1, exciting rod 2, reluctance head 3, T-shaped mass 4, flexibility connection pipe 5, power and torque sensor 6, mounting platform 7.

S202, employing exciting rod exert a force, and measure acquisition 1 end along x by power and torque sensor ₁the excitation F that axle applies _1xand 1 end around y ₁the excitation M that axle applies _1y, 1 end obtained by the sensor on T-shaped mass is along x ₁the translational velocity v of axle _1xwith along y ₁the rotational angular velocity θ of axle _1y; Then there is following relation between 1 end Excitation and response:

$\left(\begin{array}{c}{F}_{1x}\\ M_{1y}\end{array}\right)=\left[\begin{array}{cc}{Z}_{11}^{11}& Z_{15}^{11}\\ Z_{51}^{11}& Z_{55}^{11}\end{array}\right]\left(\begin{array}{c}{v}_{1x}\\ {\mathrm{\θ}}_{1y}\end{array}\right)$

This is the relational expression relevant to 1 end Excitation and response chosen in the impedance matrix model by above-mentioned 12 × 12; Wherein for the input impedance relevant to translational degree of freedom, directly measure acquisition; Have according to principle of reciprocity: $Z_{15}^{11}=Z_{51}^{11}.$

Resolve above formula to obtain with

S203, transfer impedance parameter $Z_{51}^{21}=M_{2y}/v_{1x},Z_{55}^{21}=M_{2y}/{\mathrm{\θ}}_{1y};$

S204, choose two axial symmetry type flexibility connection pipes, wherein two axial symmetry type flexibility connection pipe 2 ends are all fixed on mounting platform by power and torque sensor, 1 end of the two is docked by web member, web member is used for the two fixing docking, and T-shaped mass is vertically fixed on the two web member side; Adopt exciting rod to exert a force, measure acquisition 1 end around z by power and torque sensor ₁the excitation M that axle applies _1zand 2 end around z ₂the excitation M that axle applies _2z, 1 end obtained by the sensor on T-shaped mass is along z ₁the rotational angular velocity θ of axle _1z;

For axisymmetric adapter, two flexibility connection pipes can be eliminated θ to dress _1y, as shown in Figure 4, ensure to only have θ when encouraging _1zand v _1x, due to θ _1zand v _1xthere is not coupling, so can directly obtain input impedance parameter $Z_{66}^{11}=M_{1z}/{\mathrm{\θ}}_{1z}$ With transfer impedance parameter $Z_{66}^{21}=M_{2z}/{\mathrm{\θ}}_{1z};$

S205, to calculate according to above step S201 ~ S204 and to obtain with other impedance parameters relevant to rotational freedom are obtained by following reciprocal relation: $Z_{55}^{21}=Z_{44}^{21},Z_{15}^{11}=Z_{15}^{22},Z_{55}^{11}=Z_{55}^{22},Z_{66}^{11}=Z_{66}^{22},Z_{51}^{21}=Z_{51}^{12},Z_{55}^{21}=Z_{55}^{12},Z_{66}^{21}=Z_{66}^{12},Z_{44}^{11}=Z_{44}^{22},Z_{24}^{11}=Z_{24}^{22},Z_{42}^{21}=Z_{42}^{12},$ the impedance parameter that remainder is relevant to rotational freedom is zero; So far, the measurement of all impedance parameters of axial symmetry type flexibility connection pipe is completed.

If flexibility connection pipe is elbow form flexible connecting pipe, then this step is as follows:

S2001,2 ends of elbow form flexible connecting pipe are fixed on mounting platform by power and torque sensor, a T-shaped mass is vertically fixed on the end face of 1 end of this elbow form flexible connecting pipe, on the arm of T-shaped mass, sensor is placed respectively for ergometry, translational velocity and angular velocity in two ends, and wherein exciting rod is placed for force in one end; Concrete installation as shown in Figure 5.

S2002, employing exciting rod exert a force, and measure acquisition 1 end along x by power and torque sensor ₁the excitation F that axle applies _1xand 1 end around y ₁the excitation M that axle applies _1y, 1 end obtained by the speed on T-shaped mass and angular-rate sensor is along x ₁the translational velocity v of axle _1xwith along y ₁the rotational angular velocity θ of axle _1y; Then there is following relation between 1 end Excitation and response: $\left\{\begin{array}{c}\left(\begin{array}{c}{F}_{1x}\\ M_{1y}\end{array}\right)=\left[\begin{array}{cc}{Z}_{11}^{11}& Z_{15}^{11}\\ Z_{51}^{11}& Z_{55}^{11}\end{array}\right]\left(\begin{array}{c}{v}_{1x}\\ {\mathrm{\θ}}_{1y}\end{array}\right)\\ \left(\begin{array}{c}{F}_{1z}\\ M_{1y}\end{array}\right)=\left[\begin{array}{cc}{Z}_{33}^{11}& Z_{35}^{11}\\ Z_{53}^{11}& Z_{55}^{11}\end{array}\right]\left(\begin{array}{c}{v}_{1z}\\ {\mathrm{\θ}}_{1y}\end{array}\right)\end{array}\right.;$

This is the relational expression relevant to 1 end Excitation and response chosen in the impedance matrix model by above-mentioned 12 × 12; Wherein with be the input impedance relevant to translational degree of freedom, directly measure acquisition; Have according to principle of reciprocity $Z_{15}^{11}=Z_{51}^{11},Z_{35}^{11}=Z_{53}^{11}.$

Can above formula be resolved thus, obtain with

Transfer impedance parameter $Z_{51}^{21}{=M}_{1y}/v_{1x},Z_{55}^{21}=M_{2y}/{\mathrm{\θ}}_{1y}.$

S2003, choose two elbow form flexible connecting pipes, wherein two elbow form flexible connecting pipe 2 ends are all fixed on mounting platform by power and torque sensor, 1 end of the two is docked by web member, and the two forms symmetrical installation, and T-shaped mass is vertically fixed on the two web member side; Adopt exciting rod to exert a force, measure acquisition 1 end around x by power and torque sensor ₁the excitation M that axle applies _1xand 2 end around x ₂the excitation M that axle applies _2x, 1 end obtained by the speed on T-shaped mass and angular-rate sensor is along x ₁the rotational angular velocity θ of axle _1x.

For elbow form flexible connecting pipe, two flexibility connection pipes can be eliminated θ to dress _1y, as shown in Figure 6, ensure to only have θ when encouraging _1xand v _1z, due to θ _1xand v _1zthere is not coupling, so can directly obtain input impedance parameter $Z_{44}^{11}=M_{1x}/{\mathrm{\θ}}_{1x},$ Transfer impedance parameter $Z_{44}^{21}=M_{2x}/{\mathrm{\θ}}_{1x}.$

S2004, choose two elbow form flexible connecting pipes, wherein two elbow form flexible connecting pipe 2 ends are all fixed on mounting platform by power and torque sensor, 1 end of the two is docked by web member, and the two forms antisymmetry and installs, and T-shaped mass is vertically fixed on the two web member side; Adopt exciting rod to exert a force, measure acquisition 1 end around y by power and torque sensor ₁the excitation F that axle applies _1yand 1 end around z ₁the excitation M that axle applies _1z, 1 end obtained by the speed on T-shaped mass and angular-rate sensor is along z ₁the rotational angular velocity θ of axle _1z;

For elbow form flexible connecting pipe, as shown in Figure 7, install can eliminate v by antisymmetry _1z, then there is following relation between 1 end Excitation and response:

$\left(\begin{array}{c}{F}_{1y}\\ M_{1z}\end{array}\right)=\left[\begin{array}{cc}{Z}_{22}^{11}& Z_{26}^{11}\\ Z_{62}^{11}& Z_{66}^{11}\end{array}\right]\left(\begin{array}{c}{v}_{1y}\\ {\mathrm{\θ}}_{1z}\end{array}\right)$

This is the relational expression relevant to 1 end Excitation and response chosen in the impedance matrix model by above-mentioned 12 × 12; Wherein for the input impedance parameter relevant to translational degree of freedom, directly test acquisition, resolve above formula to obtain with

S2005, transfer impedance parameter $Z_{62}^{21}=M_{2z}/v_{1y},Z_{66}^{21}=M_{2z}/{\mathrm{\θ}}_{1z}.$

S2006, to calculate according to above step S2001 ~ S2005 and to obtain other impedance parameters relevant to rotational freedom are obtained according to following reciprocal relation $Z_{15}^{11}=Z_{15}^{22},Z_{26}^{11}=Z_{26}^{22},Z_{44}^{11}=Z_{44}^{22},Z_{35}^{11}=Z_{35}^{22},Z_{55}^{11}=Z_{55}^{22},Z_{66}^{11}=Z_{66}^{22},Z_{51}^{21}=Z_{51}^{12},Z_{62}^{21}=Z_{62}^{12},Z_{44}^{21}=Z_{44}^{12},$ the impedance parameter that remainder is relevant to rotational freedom is 0; So far, the measurement of all impedance parameters of elbow form flexible connecting pipe is completed.

In impedance measurement method in embodiment 2, above-described embodiment 1, the sensor that on the arm of T-shaped mass, two ends are placed is respectively reluctance head and speed pickup, and wherein reluctance head records speed is v ₂, it is v that speed pickup records speed ₁, between reluctance head and speed pickup, spacing is △.

Then pass through 1 end of the sensor acquisition on T-shaped mass in step S202 along x ₁the translational velocity v of axle _1xwith along y ₁the rotational angular velocity θ of axle _1ymethod be specially:

$v_{1x}=\frac{1}{2}(v_1+v_2)$

${\mathrm{\θ}}_{1y}=\frac{1}{2\mathrm{\Δ}}(v_2-v_1).$

In sum, these are only preferred embodiment of the present invention, be not intended to limit protection scope of the present invention.Within the spirit and principles in the present invention all, any amendment done, equivalent replacement, improvement etc., all should be included within protection scope of the present invention.

Claims (2)

1. pipeline flexibility connection pipe reverses a mechanical impedance measurement method, it is characterized in that, the method comprises the steps:

Step one, for flexibility connection pipe, its upper and lower side all has the motion of 6 degree of freedom, sets up the impedance matrix about this flexibility connection pipe 12 × 12 accordingly:

Be 1 end with the upper end of flexibility connection pipe, lower end is 2 ends, sets up coordinate system Ox respectively for 1 end and 2 ends ₁y ₁z ₁and Ox ₂y ₂z ₂if described flexibility connection pipe is axisymmetric flexibility connection pipe, wherein Ox ₁y ₁z ₁using the end face of 1 end as x ₁oy ₁face, with the axis of flexibility connection pipe for z ₁axle, Ox ₂y ₂z ₂using the end face of 2 ends as x ₂oy ₂face, with the axis of flexibility connection pipe for z ₂axle; If described flexibility connection pipe is elbow form flexible connecting pipe, wherein Ox ₁y ₁z ₁using the end face of 1 end as x ₁oy ₁face, with the axis of flexibility connection pipe for z ₁axle, Ox ₂y ₂z ₂using the end face of 2 ends as y ₂oz ₂face, with the axis of flexibility connection pipe for x ₂axle;

Wherein F _1x, F _1yand F _1zbe illustrated respectively in 1 end along x ₁, y ₁and z ₁the excitation that direction applies, M _1x, M _1yand M _1zrepresent that 1 end is around x respectively ₁, y ₁and z ₁the excitation that axle applies, v _1x, v _1yand v _1zbe illustrated respectively in 1 end at x ₁, y ₁and z ₁the point-to-point speed response in direction, θ _1x, θ _1yand θ _1zrepresent that 1 end is around x respectively ₁, y ₁and z ₁the angular velocity of rotation response of axle;

Wherein F _2x, F _2yand F _2zrepresent respectively and be applied to 2 end x ₂, y ₂and z ₂the excitation in direction, M _2x, M _2yand M _2zrepresent that 2 ends are around x respectively ₂, y ₂and z ₂axle rotates the excitation applied, v _2x, v _2yand v _2zbe illustrated respectively in 2 ends at x ₂, y ₂and z ₂the point-to-point speed response in direction, θ _2x, θ _2yand θ _2zrepresent that 2 ends are around x respectively ₂, y ₂and z ₂the angular velocity of rotation response of axle;

for impedance parameter, wherein have in subscript numeral 11 be have in 1 end input impedance parameter, subscript numeral 22 be 2 end input impedance parameters, what have numeral 12 in subscript is the transfer impedance parameter of 1 end to 2 ends, and what have numeral 21 in subscript is the transfer impedance parameters of 2 ends to 1 end; Numeral 1 ~ 3 in subscript represents that translational degree of freedom, 4 ~ 6 represents rotational freedom, the impedance parameter wherein in subscript with 4 ~ 6 is the impedance parameter relevant to rotational freedom, only has the impedance parameter of 1 ~ 3 to be the impedance parameter relevant to translational degree of freedom in subscript;

Wherein relevant to translational degree of freedom impedance parameter all directly measures acquisition;

Step 2, resolve the impedance matrix of flexibility connection pipe 12 × 12:

If described flexibility connection pipe is axisymmetric flexibility connection pipe, this step is as follows:

S201, the lower end of axisymmetric flexibility connection pipe is fixed on mounting platform through power and torque sensor, a T-shaped mass is vertically fixed on the upper end outer circumferential side of this axisymmetric flexibility connection pipe, on the arm of T-shaped mass, sensor is placed respectively for ergometry, translational velocity and angular velocity in two ends, and wherein exciting rod is installed for force in one end;

S202, employing exciting rod exert a force, and measure acquisition 1 end along x by power and torque sensor ₁the excitation F that axle applies _1xand 1 end around y ₁the excitation M that axle applies _1y, 1 end obtained by the sensor on T-shaped mass is along x ₁the translational velocity v of axle _1xwith along y ₁the rotational angular velocity θ of axle _1y; The relational expression relevant to 1 end Excitation and response is chosen by the impedance matrix relation of described 12 × 12:

$\left(\begin{array}{c}{F}_{1x}\\ M_{1y}\end{array}\right)=\left[\begin{array}{cc}{Z}_{11}^{11}& Z_{15}^{11}\\ Z_{51}^{11}& Z_{55}^{11}\end{array}\right]\left(\begin{array}{c}{v}_{1x}\\ {\mathrm{\θ}}_{1y}\end{array}\right)$

Wherein for the 1 end input impedance parameter relevant to translational degree of freedom, directly measure acquisition;

Had by principle of reciprocity:

Resolve above formula to obtain with

S203, transfer impedance parameter $Z_{51}^{21}=M_{1y}/v_{1x},Z_{55}^{21}=M_{2y}/{\mathrm{\θ}}_{1y};$

S204, choose two axisymmetric flexibility connection pipes, wherein two axisymmetric flexibility connection pipe 2 ends are all fixed on mounting platform by power and torque sensor, and 1 end of the two is docked by web member, and T-shaped mass is vertically fixed on the two web member side; Adopt exciting rod to exert a force, measure acquisition 1 end around z by power and torque sensor ₁the excitation M that axle applies _1zand 2 end around z ₂the excitation M that axle applies _2z, 1 end obtained by the sensor on T-shaped mass is along z ₁the rotational angular velocity θ of axle _1z;

Then input impedance parameter with transfer impedance parameter

S205, to calculate according to above step S201 ~ S204 and to obtain with other impedance parameters relevant to rotational freedom are obtained by following reciprocal relation: $Z_{55}^{21}=Z_{44}^{21},Z_{15}^{11}=Z_{15}^{22},Z_{55}^{11}=Z_{55}^{22},Z_{66}^{11}=Z_{66}^{22},Z_{51}^{21}=Z_{51}^{12},Z_{55}^{21}=Z_{55}^{12},Z_{66}^{21}=Z_{66}^{12},Z_{44}^{11}=Z_{44}^{22},Z_{24}^{11}=Z_{24}^{22},Z_{42}^{21}=Z_{42}^{12},$ remaining impedance parameter relevant to rotational freedom is zero; So far, the measurement of all impedance parameters of axisymmetric flexibility connection pipe is completed;

If described flexibility connection pipe is elbow form flexible connecting pipe, then this step is as follows:

S2001,2 ends of elbow form flexible connecting pipe are fixed on mounting platform by power and torque sensor, a T-shaped mass is vertically fixed on the end face of 1 end of this elbow form flexible connecting pipe, on the arm of T-shaped mass, sensor is placed respectively for ergometry, translational velocity and angular velocity in two ends, and wherein exciting rod is placed for force in one end;

S2002, employing exciting rod exert a force, and measure acquisition 1 end along x by power and torque sensor ₁the excitation F that axle applies _1xand 1 end around y ₁the excitation M that axle applies _1y, 1 end obtained by the speed on T-shaped mass and angular-rate sensor is along x ₁the translational velocity v of axle _1xwith along y ₁the rotational angular velocity θ of axle _1y; Then choose the relational expression relevant to 1 end Excitation and response by the impedance matrix relation of described 12 × 12:

$\left\{\begin{array}{c}\left(\begin{array}{c}{F}_{1x}\\ M_{1y}\end{array}\right)=\left[\begin{array}{cc}{Z}_{11}^{11}& Z_{15}^{11}\\ Z_{51}^{11}& Z_{55}^{11}\end{array}\right]\left(\begin{array}{c}{v}_{1x}\\ {\mathrm{\θ}}_{1y}\end{array}\right)\\ \left(\begin{array}{c}{F}_{1z}\\ M_{1y}\end{array}\right)=\left[\begin{array}{cc}{Z}_{33}^{11}& Z_{35}^{11}\\ Z_{53}^{11}& Z_{55}^{11}\end{array}\right]\left(\begin{array}{c}{v}_{1z}\\ {\mathrm{\θ}}_{1y}\end{array}\right)\end{array}\right.;$

Wherein with be the input impedance relevant to translational degree of freedom, directly measure acquisition;

Had by principle of reciprocity: $Z_{15}^{11}=Z_{51}^{11},Z_{35}^{11}=Z_{53}^{11};$

Calculate and obtain with

Transfer impedance parameter $Z_{51}^{21}=M_{1y}/v_{1x},Z_{55}^{21}=M_{2y}/{\mathrm{\θ}}_{1y};$

S2003, choose two elbow form flexible connecting pipes, wherein two elbow form flexible connecting pipe 2 ends are all fixed on mounting platform by power and torque sensor, 1 end of the two is docked by web member, and the two forms symmetrical installation, and T-shaped mass is vertically fixed on the two web member side; Adopt exciting rod to exert a force, measure acquisition 1 end around x by power and torque sensor ₁the excitation M that axle applies _1xand 2 end around x ₂the excitation M that axle applies _2x, 1 end obtained by the speed on T-shaped mass and angular-rate sensor is along x ₁the rotational angular velocity θ of axle _1x;

Then input impedance parameter transfer impedance parameter

S2004, choose two elbow form flexible connecting pipes, wherein two elbow form flexible connecting pipe 2 ends are all fixed on mounting platform by power and torque sensor, 1 end of the two is docked by web member, and the two forms antisymmetry and installs, and T-shaped mass is vertically fixed on the two web member side; Adopt exciting rod to exert a force, measure acquisition 1 end around y by power and torque sensor ₁the excitation F that axle applies _1yand 1 end around z ₁the excitation M that axle applies _1z, 1 end obtained by the speed on T-shaped mass and angular-rate sensor is along z ₁the rotational angular velocity θ of axle _1z;

Then choose the relational expression relevant to 1 end Excitation and response by the impedance matrix relation of described 12 × 12:

$\left(\begin{array}{c}{F}_{1y}\\ M_{1z}\end{array}\right)=\left[\begin{array}{cc}{Z}_{22}^{11}& Z_{26}^{11}\\ Z_{62}^{11}& Z_{66}^{11}\end{array}\right]\left(\begin{array}{c}{v}_{1y}\\ {\mathrm{\θ}}_{1z}\end{array}\right)$

Wherein for the input impedance parameter relevant to translational degree of freedom, directly test acquisition, resolve above formula to obtain with

S2005, transfer impedance parameter $Z_{62}^{21}=M_{2z}/v_{1y},Z_{66}^{21}=M_{2z}/{\mathrm{\θ}}_{1z};$

S2006, to calculate according to above step S2001 ~ S2005 and to obtain other impedance parameters relevant to rotational freedom are obtained according to following reciprocal relation $Z_{15}^{11}=Z_{15}^{22},Z_{26}^{11}=Z_{26}^{22},Z_{44}^{11}=Z_{44}^{22},Z_{35}^{11}=Z_{35}^{22},Z_{55}^{11}=Z_{55}^{22},Z_{66}^{11}=Z_{66}^{22},Z_{51}^{21}=Z_{51}^{12},Z_{62}^{21}=Z_{61}^{12},Z_{44}^{21}=Z_{44}^{12},$ the impedance parameter that remainder is relevant to rotational freedom is 0; So far, the measurement of all impedance parameters of elbow form flexible connecting pipe is completed.

2. a kind of pipeline flexibility connection pipe as claimed in claim 1 reverses mechanical impedance measurement method, it is characterized in that, the sensor that on the arm of described T-shaped mass, two ends are placed is respectively reluctance head and speed pickup, and wherein reluctance head records speed is v ₂, it is v that speed pickup records speed ₁, between reluctance head and speed pickup, spacing is △;

Then pass through 1 end of the sensor acquisition on T-shaped mass in described step S202 along x ₁the translational velocity v of axle _1xwith along y ₁the rotational angular velocity θ of axle _1ymethod be specially:

$v_{1x}=\frac{1}{2}(v_1+v_2)$

${\mathrm{\θ}}_{1y}=\frac{1}{2\mathrm{\Δ}}(v_2-v_1).$