CN109858156B - Vehicle and structure information simultaneous identification method based on axle coupling vibration - Google Patents
Vehicle and structure information simultaneous identification method based on axle coupling vibration Download PDFInfo
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Abstract
The invention discloses a vehicle and structure information simultaneous identification method based on axle coupling vibration, which is characterized in that a sensor arranged on a bridge is used for respectively acquiring structural environment vibration response data and structural sports car vibration response data, basic modal parameters and time-varying modal parameters of a structure are respectively identified through a modal algorithm and are substituted into a mapping parameter equation of a structural vibration mode scaling coefficient, modal parameters and vehicle parameters, the vehicle parameters can be calculated by using the time-varying modal parameters at different moments, the structural vibration mode scaling coefficient is further obtained, the deep level parameters of a structure displacement flexibility matrix can be reconstructed through the vibration mode scaling coefficient, the displacement of the structure under any static load is further predicted, and the current safety state of the structure is evaluated.
Description
Field of the invention
The invention relates to the field of bridge structure vibration testing in the civil engineering structure health monitoring technology, in particular to a vehicle and structure information simultaneous identification method based on axle coupling vibration.
Background
The structure health monitoring technology is one of the most effective ways for improving the health safety of the civil and traffic engineering structure and realizing the sustainable performance management of the civil and traffic engineering structure, the deflection of the bridge is very important for the performance evaluation of the bridge, and how to identify the structure vibration mode scaling factor and further obtain the true flexibility matrix of the structure, so that the prediction of the deformation of the structure under any static load becomes very important.
The environmental vibration test is one of the main means for monitoring and detecting the health of the existing bridge structure, and the environmental vibration test excites the bridge by utilizing natural conditions, so that the environmental vibration test has the advantage of convenient operation compared with an artificial vibration excitation test, but only can output basic modal parameters of the structure, and cannot directly support the safety performance evaluation of the bridge structure. Compare in the environmental vibration test, the impact vibration test needs artificially to exert external excitation, gathers simultaneously including input and output data, because the input force is known, the impact vibration test not only can obtain basic modal parameters such as frequency, damping and the type of vibration, can also discern structure depth level parameter like the compliance, but the impact vibration test need close the traffic, influences road normal operating to it effectively stimulates to grow up the bridge full-bridge.
Various bridge rapid test methods based on axle coupling vibration are proposed for students in the past, and the widely adopted method is to identify bridge modal information by mounting an accelerometer on a vehicle and acquiring acceleration data of the vehicle when the vehicle runs on a bridge floor, but the method mainly depends on indirect measurement of bridge reaction, can only realize basic modal parameters such as bridge frequency and vibration mode and primary damage identification, cannot obtain vehicle parameter information, cannot obtain structural vibration mode scaling coefficient, and has limited effect on bridge structure safety performance evaluation.
Disclosure of Invention
The invention provides a vehicle and structure information simultaneous identification method based on axle coupling vibration, which aims at the problems in the prior art, and comprises the steps of respectively collecting structural environment vibration response data and structural sports car vibration response data by using sensors arranged on a bridge, respectively identifying basic modal parameters and time-varying modal parameters of a structure through a modal algorithm, substituting the basic modal parameters and the time-varying modal parameters into a mapping parameter equation of a structure vibration mode scaling coefficient, the modal parameters and the vehicle parameters, calculating the vehicle parameters by using the time-varying modal parameters at different moments to further obtain the structure vibration mode scaling coefficient, reconstructing a structure displacement flexibility matrix deep-level parameter through the vibration mode scaling coefficient, predicting the displacement of the structure under any static load, and evaluating the current safety state of the structure.
In order to achieve the purpose, the invention adopts the technical scheme that: the vehicle and structure information simultaneous identification method based on axle coupling vibration comprises the following steps:
s1, laying sensors on a bridge, and respectively collecting structural environment vibration response data and structural sports car vibration response data;
s2, respectively identifying an environmental vibration basic modal parameter and a sports car vibration time-varying modal parameter based on the structural environment vibration response data and the structural sports car vibration response data acquired in the step S1 through a modal identification algorithm;
s3, obtaining a mapping parameter equation of the structural vibration mode scaling coefficient, modal parameters and vehicle parameters based on a mass spring axle coupling model power equation, and substituting the basic modal parameters and the time-varying modal parameters obtained in the step S2 into the mapping parameter equation to calculate the vehicle parameters;
s4, substituting the vehicle parameters obtained in the step S3 into a mapping parameter equation to obtain a structure mass normalization vibration mode scaling coefficient;
and S5, reconstructing a structure displacement flexibility matrix deep-level parameter through the environment vibration basic modal parameter identified in the step S2 and the vibration mode scaling coefficient obtained in the step S4, predicting the displacement of the structure under the static load, and evaluating the current safety state of the structure.
As an improvement of the invention, the basic modal parameters of the environmental vibration at least comprise each order natural frequency, damping ratio and unsealed displacement mode shape; the sports car vibration time-varying modal parameters at least comprise each order time-varying natural frequency and non-scaling displacement mode shape of the axle coupling system.
As another improvement of the present invention, in step S3, the mapping parameter equation between the structural vibration mode scaling factor and the modal parameter and the vehicle parameter is as follows:
wherein M is b A concentrated mass matrix for the bridge structure;
K v 、M v the vehicle is divided into vehicle spring stiffness and vehicle body mass; omega cr The time-varying natural circular frequency of the r order of the axle coupling system; omega or The r-th order fundamental natural circle frequency of the bridge structure; { phi r The method comprises the steps of (1) obtaining an r-th-order mass normalized displacement mode of the bridge structure; />
Are respectively additional matrices
Elements corresponding to the middle vertical degree of freedom and the steering degree of freedom; />
As an additional matrix Δ K 2 ＝-[N b ] T K v Elements corresponding to the middle vertical degree of freedom; />
Are respectively an additional matrix->
Elements corresponding to the middle vertical degree of freedom and the steering degree of freedom; c v The damping coefficient of the vehicle; v v The vehicle running speed; [ N ] b ]A structural displacement form function matrix with the vehicle position equal to the degree of freedom of the bridge; [ T ]]The vertical displacement mode and the rotary displacement mode are in a conversion relation.
As another improvement of the present invention, the step S3 ignores the vehicle damping when calculating the vehicle parameter, and the vehicle stiffness in the vehicle parameter is:
wherein, the first and the second end of the pipe are connected with each other,
t is obtained by calculating the first-order basic modal parameters of the structure, the mass of the vehicle body, the first-order time-varying modal parameters of the structure at different positions and shape function information 1 And t 2 The time of day coefficient.
As another improvement of the invention, the time-of-day coefficient of the order r related to the vehicle position
Wherein [ N ] bv ]And [ N bθ ]Respectively a structural displacement shape function matrix [ N ] with the vehicle position equal to the degree of freedom of the bridge b ]The components corresponding to the vertical degree of freedom and the rotational degree of freedom.
As an originalIn a further development of the invention, in said step S4, the scaling factor α of the structure order r mass normalized mode shape r Comprises the following steps:
as a further improvement of the present invention, the displacement of the structure under the static load in step S5 is the product of the structure displacement compliance matrix and the static load vector acting on the structure.
As another improvement of the present invention, the structural displacement compliance matrix is:
wherein alpha is r 、ω or 、{ψ r Respectively representing the scaling coefficient of the structure nth-order mass normalized mode shape, the fundamental mode inherent frequency and the un-scaled displacement mode shape; and N is an identification order.
Compared with the prior art, the invention has the beneficial effects that: the method has the advantages that the relation between vehicle parameters and the scaling coefficient of the structural vibration mode and the structural dynamic modal information is deeply explored through theoretical innovation, the identification of the scaling coefficient of the structural vibration mode is realized, a structural displacement flexibility matrix can be reconstructed, deformation prediction, damage identification and long-term performance evaluation of the structure under any static load can be realized based on the flexibility matrix, and the performance state of the bridge structure is evaluated more effectively; meanwhile, aiming at the defect that the vehicle parameters are difficult to determine in the actual engineering test, the method can avoid the defect that the vehicle parameters need to be predicted, identifies the vehicle parameters, has the advantages of strong operability and convenient test and short time consumption, can more effectively perform safety assessment and maintenance management on the bridge, and has wide application prospect.
Drawings
FIG. 1 is a schematic flow chart of the method of the present invention;
fig. 2 is a diagram of the first three structural fundamental modal displacement modes identified in embodiment 2 of the present invention;
fig. 3 is a graph of the structural third-order time-varying modal natural frequency identified in embodiment 2 of the present invention;
FIG. 4 is a graph comparing the calculated vehicle stiffness with a theoretical value in example 2 of the present invention;
FIG. 5 is a graph of the scaling coefficients of the first three orders of the time-varying mode shapes calculated in embodiment 2 of the present invention;
FIG. 6 is a graph comparing the calculated scaling factor and the theoretical value in example 2 of the present invention;
FIG. 7 is a comparison of the predicted deflection for structural displacement compliance identified by the method of example 2 of the present invention with a theoretical value.
Detailed Description
The invention will be described in more detail below with reference to the drawings and examples.
Example 1
A method for simultaneously identifying vehicle and structure information based on axle coupling vibration is shown in figure 1 and comprises the following steps:
s1, arranging sensors on a bridge, and respectively acquiring structural environment vibration response data and structural sports car vibration response data.
Determining a sensor arrangement scheme and acquiring structural vibration data, determining the arrangement scheme of the sensors according to specific structural types and test requirements, and acquiring and storing environmental vibration response data of the bridge structure under ground pulsation and wind load and sports car vibration response data when a vehicle passes by using the arranged sensors, wherein the acquisition time is not less than 10 minutes for the vibration response when no vehicle passes.
S2, respectively identifying an environmental vibration basic modal parameter and a sports car vibration time-varying modal parameter based on the structural environment vibration response data and the structural sports car vibration response data acquired in the step S1 through a modal identification algorithm;
after environmental vibration response data of the bridge structure under the action of ground pulsation and wind load are acquired by using a sensor, the environmental vibration response data are processed by using a modal identification algorithm, so that basic modal parameters of the structure can be acquired, wherein the basic modal parameters comprise each order of natural frequency, damping ratio and un-scaled displacement mode; the method comprises the steps that a vehicle passes through a time-varying coupling system formed by the vehicle and a bridge, sports car vibration response data of a bridge structure under the effect of axle coupling are acquired and obtained by a sensor, and then the sports car vibration response data are processed by a mode recognition algorithm, so that system time-varying mode parameters including each-order time-varying inherent frequency and an unscaled displacement vibration mode of the axle coupling system can be obtained.
S3, obtaining a mapping parameter equation of the structural vibration mode scaling coefficient, modal parameters and vehicle parameters based on a mass spring axle coupling model power equation, and substituting the modal parameters obtained in the step S2 into the mapping parameter equation to calculate the vehicle parameters;
after obtaining the structural time-invariant modal parameters when no vehicle passes and the structural time-variant modal parameters when a vehicle passes, combining a dynamic equation based on a mass spring axle coupling model to obtain a mapping relation which is satisfied by the basic modal parameters, the time-variant modal parameters, the vehicle parameters and the structural vibration mode scaling coefficients at each moment:
wherein M is b A concentrated mass matrix for the bridge structure;
K v 、M v the vehicle is divided into vehicle spring stiffness and vehicle body mass; omega cr The time-varying natural circular frequency of the r order of the axle coupling system; omega or The r-th order fundamental natural circle frequency of the bridge structure; { phi r The method comprises the steps of (1) normalizing displacement vibration mode for the r-th order mass of a bridge structure; />
Are respectively additional matrices
Elements corresponding to the middle vertical degree of freedom and the steering degree of freedom; />
As an additional matrix Δ K 2 ＝-[N b ] T K v Elements corresponding to the middle vertical degree of freedom; />
Are respectively an additional matrix->
Elements corresponding to the middle vertical degree of freedom and the steering degree of freedom; c v The damping coefficient of the vehicle; v v The vehicle running speed; [ N ] b ]A structural displacement form function matrix with the vehicle position equal to the degree of freedom of the bridge; [ T ]]The vertical displacement mode and the rotary displacement mode are in a conversion relation.
Setting a basic mode of a bridge structure and an un-scaled displacement mode { psi r And mass normalized displacement mode { phi } r The relationship between } is: { phi r }＝α r {ψ r }，α r Normalizing the mode scaling factor for the structure mass and based on the mode orthogonality condition { phi r } T M b {φ r =1, a mapping relation satisfied by the basic modal parameter, the time-varying modal parameter, the vehicle parameter, and the structural mode scaling factor at each time may be further derived:
in the formula: unknown quantity
Which can be derived as a known quantity using the basic mode and time-variant mode information and the vehicle body mass and position information>
B r ＝ω cr 2 M v (ω cr 2 -ω or 2 ) Wherein [ N ] bv ]And [ N bθ ]Respectively, a structural displacement form function matrix [ N ] with the vehicle position equal to the degree of freedom of the bridge b ]The components corresponding to the vertical degree of freedom and the rotational degree of freedom.
When the vehicle is positioned at different positions on the bridge, the coefficient at each moment can be respectively calculated according to the basic structure mode, the mass of the vehicle body and the time-varying mode and the shape function at each position
Establishing a parametric equation for that moment>
The parameter equation at different moments can be solved to obtain->
Further, it is possible to obtain:
coefficient of vehicle stiffness
Vibration mode scaling factor
/>
Damping coefficient of vehicle
For a general test condition, the damping of the vehicle is small compared with the rigidity and the mass, and the influence on the mode shape scaling coefficient is negligible.
For simplicity, the damping C may be applied v If not less than 0, the parameter equation is simplified to
Meanwhile, the time-varying characteristics of the low-order modal information are obvious, and when the vehicle is located at 2 different positions of the bridge, the vehicle stiffness can be calculated by combining the first-order parameter equations at the two moments:
s4, substituting the vehicle parameters obtained in the step S3 into a mapping parameter equation to obtain a structure mass normalization vibration mode scaling coefficient;
after the vehicle stiffness is obtained through calculation, the vehicle stiffness is brought into a mapping relation among modal parameters, vehicle parameters and a structural vibration mode scaling coefficient, so that a mass normalization vibration mode scaling coefficient of the bridge structure in the environmental vibration test can be obtained through calculation:
s5, calculating the obtained scaling coefficient alpha of each order of mass normalization vibration mode of the structure r Fundamental mode natural frequency ω or And an unsealed displacement mode { psi r And calculating to obtain a displacement compliance matrix of the structure:
and then, multiplying the structure displacement flexibility matrix by the static load vector acting on the structure, calculating the deformation of the structure at a given static load, comparing the deformation with a theoretical value, and evaluating the current safety performance state of the structure.
Example 2
A vehicle and structure information simultaneous identification method based on axle coupling vibration takes a typical simple beam bridge as an embodiment, in the embodiment, the total length of the simple beam bridge is 30m, and 19 acceleration sensors are arranged on the structure at equal intervals.
(1) Identifying basic modal parameters of the structure when the environment vibrates: the environmental vibration response of the structure is influenced by the random excitation of the environments such as ground pulsation, wind load and the like, the modal parameters of the bridge structure cannot change along with the time in a short time, and the modal dynamic parameters of the structure including the natural frequency, the damping ratio and the unsealed displacement vibration mode can be obtained by adopting a traditional modal parameter identification algorithm. Common algorithms include a peak value picking method, a singular value decomposition method, a polyMAX method, a CMIF method and the like, wherein a Complex Mode Indicator Function (CMIF) with a good effect is adopted, the inherent frequencies of the front three orders of the simply supported beam bridge are identified to be 3.8288, 15.3151 and 34.4580Hz, and the displacement Mode is shown in figure 2.
(2) Identifying the structural time-varying modal parameters during sports car vibration: the vehicle and the bridge form a time-varying coupling system when the sports car vibrates, because the axles influence each other, the dynamic characteristics of the system can change along with the position movement of the vehicle, the traditional method can not be used for identifying the modal parameters of the system, the response can be considered to be divided into a plurality of sections, the structural dynamic characteristics in each section are assumed not to change, common algorithms include short-time Fourier transform, wavelet transform, hilbert-Huang transform, variation modal decomposition and the like, for the sports car vibration response data of the bridge structure, a random Subspace method (SSI) is adopted here, and the front three-order time-varying frequency of the simply-supported beam bridge is identified and obtained as shown in figure 3.
(3) Calculating vehicle parameters: after obtaining the structural basic modal parameters of the environmental vibration and the time-varying modal parameters of the sports car vibration, neglecting the influence of the vehicle damping, combining the basic modal, the time-varying modal, the vehicle mass and the running speed, calculating to obtain the vehicle rigidity by utilizing a first-order parameter equation at two moments, calculating to obtain a vehicle rigidity value at every two moments, summarizing all the calculated rigidity values, and averaging after screening to obtain a final rigidity calculated value.
By using the method of the invention, three working conditions with different vehicle rigidity are set, the comparison of the vehicle rigidity obtained by calculation each time and the theoretical value is shown in figure 4, and the deviation between the calculated value and the theoretical value is not more than 5 percent.
(4) And (3) calculating a structural vibration mode scaling coefficient: after the vehicle stiffness is obtained through calculation, the vehicle stiffness is brought into a mapping relation among modal parameters, vehicle parameters and a structural vibration mode scaling coefficient, and a mass normalization vibration mode scaling coefficient of the bridge structure in the environmental vibration test can be obtained through calculation.
Because the position of the vehicle on the bridge changes, one vibration mode scaling coefficient can be calculated at each moment, the three vibration mode scaling coefficients in front of the simply supported beam bridge are shown in figure 5, the scaling coefficient values at modal nodes are screened out, the average values of the other scaling coefficients are obtained to obtain the calculated value (0.0081, 0.0080 and 0.0085) of the vibration mode scaling coefficient of each step, the comparison between the calculated value and the theoretical value (0.0082, 0.0082 and 0.0082) of the structural vibration mode scaling coefficient is shown in figure 6, the two values are very consistent, the correctness of the vehicle parameter based on the coupling vibration of the vehicle axle and the method for quickly identifying the structural vibration mode scaling coefficient is verified, and the displacement flexibility matrix of the structure can be further calculated.
(5) Reconstructing a structure displacement flexibility matrix: and combining the calculated scaling coefficient of the mass normalization mode shape of each order of the structure, the inherent frequency of the basic mode of the structure and the un-scaled displacement mode shape, and calculating to obtain a displacement flexibility matrix of the structure.
(6) And (3) deflection prediction and performance evaluation: after the displacement flexibility matrix of the structure is obtained, the displacement flexibility matrix is multiplied by a static load vector acting on the structure, so that the deformation of the structure under the static load can be predicted, and the deformation can be compared with a theoretical value, so that the current safety state of the structure can be evaluated.
The simple-supported beam bridge is subjected to static loading under the following two loading conditions: under the working condition I, applying static load of 10kN (full span loading) to all node positions; in the second working condition, static load of 10kN is applied to the positions 1-10 of the nodes (half span loading). The comparison of the deflection of each node predicted by the method and the theoretical value is shown in the attached figure 7, and the predicted value and the theoretical value have small deviation, so that the correctness of the identified displacement flexibility is verified.
In conclusion, the method can well identify the vehicle parameters and the structure mode scaling coefficient by utilizing the axle coupling vibration response, obtain the structure displacement flexibility matrix, predict the structure deformation and realize the safety performance evaluation of the bridge structure.
The foregoing shows and describes the general principles, essential features, and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited by the foregoing examples, which are provided to illustrate the principles of the invention, and that various changes and modifications may be made without departing from the spirit and scope of the invention, which is also intended to be covered by the appended claims. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (7)
1. The method for simultaneously identifying the vehicle and the structure information based on the axle coupling vibration is characterized by comprising the following steps of:
s1, laying sensors on a bridge, and respectively acquiring structural environment vibration response data and structural sports car vibration response data;
s2, respectively identifying an environmental vibration basic modal parameter and a sports car vibration time-varying modal parameter of the structure based on the structural environmental vibration response data and the structural sports car vibration response data acquired in the step S1 through a modal identification algorithm;
s3, obtaining a mapping parameter equation of the structural vibration mode scaling coefficient, modal parameters and vehicle parameters based on a mass spring axle coupling model power equation, and substituting the basic modal parameters and the time-varying modal parameters obtained in the step S2 into the mapping parameter equation to calculate the vehicle parameters; the structural vibration mode scaling coefficient, the modal parameters and the vehicle parameters are mapped by a parameter equation:
wherein, M b A centralized quality matrix for the bridge structure;
K v 、M v the vehicle is divided into vehicle spring stiffness and vehicle body mass; omega cr The r-th order time-varying natural circular frequency of the axle coupling system; omega or The r-th order fundamental natural circle frequency of the bridge structure; { phi. & ltu. & gt r The method comprises the steps of (1) obtaining an r-th-order mass normalized displacement mode of the bridge structure; />
Are respectively additional matrices
Elements corresponding to the middle vertical degree of freedom and the steering degree of freedom; />
For adding a matrix DeltaK 2 ＝-[N b ] T K v Elements corresponding to the middle vertical degree of freedom; />
Are respectively an additional matrix->
Elements corresponding to the middle vertical degree of freedom and the steering degree of freedom; c v The damping coefficient of the vehicle; v v Is the vehicle running speed; [ N ] b ]A structural displacement shape function matrix with the vehicle position equal to the degree of freedom of the bridge; [ T ]]The vertical displacement vibration mode and the rotary displacement vibration mode are in a conversion relation;
s4, substituting the vehicle parameters obtained in the step S3 into a mapping parameter equation to obtain a structure quality normalization vibration mode scaling coefficient;
and S5, reconstructing a deep level parameter of the structure displacement flexibility matrix through the environmental vibration basic modal parameter identified in the step S2 and the vibration mode scaling coefficient obtained in the step S4, predicting the displacement of the structure under static load, and evaluating the current safety state of the structure.
2. The method for identifying vehicle and structure information simultaneously based on axle-coupled vibration according to claim 1, wherein in the step S2, the basic modal parameters of the environmental vibration at least include each order natural frequency, damping ratio and un-scaled displacement mode; the sports car vibration time-varying modal parameters at least comprise each order time-varying natural frequency and non-scaling displacement mode shape of the axle coupling system.
3. The method for identifying the vehicle and the structural information simultaneously based on the axle coupled vibration as claimed in claim 2, wherein the step S3 is implemented for calculating the vehicle parameters with the vehicle stiffness as follows:
wherein, the first and the second end of the pipe are connected with each other,
t is obtained by calculating the first-order basic modal parameters of the structure, the mass of the vehicle body, the first-order time-varying modal parameters of the structure at different positions and shape function information 1 And t 2 The time of day factor.
4. The method for simultaneously identifying vehicle and structure information based on axle coupled vibration as claimed in claim 3, wherein the r-th order is a coefficient of each time related to the vehicle position
B r ＝ω cr 2 M v (ω cr 2 -ω or 2 ) Wherein [ N ] bv ]And [ N bθ ]Respectively, a structural displacement form function matrix [ N ] with the vehicle position equal to the degree of freedom of the bridge b ]The components corresponding to the vertical degree of freedom and the rotational degree of freedom. />
5. Vehicle and structure information based on axle coupled vibration of claim 3The information simultaneous identification method is characterized in that the structure r-th order mass normalization mode scaling coefficient alpha in the step S4 r Comprises the following steps:
6. the method for identifying information of a vehicle and a structure simultaneously based on axle coupled vibration according to claim 1, wherein the displacement of the structure under the static load in the step S5 is the product of a structure displacement compliance matrix and a static load vector acting on the structure.
7. The method for simultaneously identifying vehicle and structure information based on axle coupled vibration according to claim 6, wherein the structure displacement compliance matrix is:
wherein alpha is r 、ω or 、{ψ r Respectively representing the scaling coefficient of the structure nth-order mass normalized mode shape, the fundamental mode inherent frequency and the un-scaled displacement mode shape; and N is an identification order.
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