CN109974637B - High-precision self-matching overall dimension measuring method under high rotating speed condition - Google Patents
High-precision self-matching overall dimension measuring method under high rotating speed condition Download PDFInfo
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Abstract
The invention relates to the technical field of nondestructive testing, and particularly discloses a high-precision self-matching overall dimension measuring method under a high rotating speed condition. The method specifically comprises the following steps: 1. calibrating the collected data of the detected pipe; 2. carrying out periodic analysis on the collected calibration signals of the detected pipe; 2.1, preprocessing signals and filtering abnormal signals; 2.2, calculating and acquiring a zone bit of the acquired data period; 2.3, resampling data of each period of the data acquired by the two probes; 3. carrying out in-phase data statistical analysis on periodic data of data acquired by the two probes; 4. carrying out signal acquisition on the detected pipe; 5. calculating to obtain the external dimension of the detected pipe; according to the high-precision self-matching contour dimension measuring method under the high rotating speed condition, the influence of mechanical installation errors and acquisition system errors can be eliminated to the greatest extent through comparison with a phase angle.
Description
Technical Field
The invention belongs to the technical field of nondestructive testing, and particularly relates to a high-precision self-matching contour dimension measuring method under a high rotating speed condition.
Background
The nuclear-grade small-caliber pipe is a special precision pipe with the outer diameter of 6-20 mm, and is widely applied to nuclear reactor cores, heat exchangers and other core components. The nuclear-grade small-pipe-diameter nuclear power generating unit is extremely large in usage amount during construction and operation, and taking an AP1000 evaporator as an example, the number of heat exchange pipes of each evaporator is as large as 10000, and the total length is about 225000M. Therefore, the nuclear power needs to carry out rapid automatic measurement on the pipe before installation so as to ensure the measurement efficiency and the measurement precision of the pipe. When the traditional double-probe water immersion ultrasonic automatic detection system is used for detection, the mechanical eccentricity of the detection system and the system error of the digital ultrasonic acquisition system cause that the ultrasonic measurement precision of the micron level is difficult to achieve.
Theoretically, phase angle phaseTwo straight probes 180 ° apart can be used for diameter measurement. The diameter calculation can be expressed by the following formula D ═ L- (t)1+t2) V/2, where D is the diameter of the pipe under test at a certain circumferential azimuth angle (phase angle); l is the distance between the diameters of the two straight probes; t is t1And t2Interface wave echo time of two straight probes; v is the sound velocity in water; the following are the essential conditions for the establishment of the above formula: 1) the rotation centers of the two probes are superposed with the axis of the detected pipe; 2) the axes of the sound beams of the two probe probes are completely overlapped; 3) the sound velocity in water is stable; 4) the distance between the two probes is a fixed value; 5) the acquisition precision of the ultrasonic acquisition system is absolutely accurate. However, in practice, none of the above conditions can be guaranteed physically, and the measurement errors caused by the lack of guarantee are different.
1) Probe eccentricity
When the rotation center of the probe deviates from the center of the detected pipe by delta mm, the t measured by the probe1(or t)2) The difference between the maximum and minimum values is 2 δ/V and is different at each different phase angle. The relationship between the deviation value and the phase angle is as follows:
wherein R is the radius of the pipe material to be tested
The phase angle at which the theta probe is located (assuming that the deviation is minimal when theta is 90 DEG, -delta/V)
The error caused by the method can be compensated by the opposite probes to a certain degree, and the sum of the sound path time deviation values of the two probes is as follows:
2) deviation of probe axis
According to the above formula, the deviation value is smallest if and only if θ 1 is different from θ 0 by 180 °. However, the mechanical installation is somewhat deviated, and thus the deviation value is amplified. Assuming that δ is 0.01 × R, if the phase angles of the two probes are different by 180 ° (solid line), the maximum sound path time deviation value is 1.0 × 10 "4R/V; when the phase angles of the two probes are different by 180.5 degrees (a dotted line), the maximum sound path time deviation value is 1.87 times of that of the two probes by 10-4R/V.
Disclosure of Invention
The invention aims to provide a high-precision self-matching contour dimension measuring method under the condition of high rotating speed, which can correct errors caused by insufficient mechanical precision and errors of a digital acquisition system.
The technical scheme of the invention is as follows: a high-precision self-matching external dimension measuring method under the condition of high rotating speed specifically comprises the following steps:
step 1, calibrating collected data of a detected pipe;
step 2, carrying out periodic analysis on the collected calibration signals of the detected pipe;
step 2.1, preprocessing signals and filtering abnormal signals;
step 2.2, calculating and acquiring a zone bit of the acquired data period;
2.3, resampling data of each period of the data acquired by the two probes;
step 3, carrying out in-phase data statistical analysis on periodic data of data acquired by the two probes;
step 4, carrying out signal acquisition on the detected pipe;
step 5, calculating to obtain the external dimension of the detected pipe;
calculating the external dimension D of the pipe at a certain phase angle in a certain period according to the following formulat：
Dt＝D+ΔD
Wherein D is the nominal diameter of the calibration pipe; delta D diameter measurement difference from nominal.
The specific steps of calculating the zone bit of the acquired data period in the step 2.2 are as follows:
under the condition that the system is stable, the acquired echo time data t is in a periodic state, the data of each period is independently analyzed, and the initial position and the end position of the periodic data are identified by using accurate periodic zone bits;
step 2.2.1, if a probe in the detection system provides a periodic marker bit by using a fixed target in the rotation process, directly acquiring the periodic marker bit;
and 2.2.2, if the detection system does not have the period zone bit provided by hardware, giving an accurate period zone bit.
In step 2.2.2, under the condition that no hardware in the detection system provides the period flag bit, the specific steps of obtaining the accurate period flag bit are as follows:
step 2.2.2.1, taking the position of the peak value H% of the periodic data t as a characteristic threshold value;
step 2.2.2.2, calculating to obtain the abscissa ct corresponding to the characteristic threshold valueiWherein i is 1,2,3 …, n;
step 2.2.2.3, get ctiThe time-adjacent time difference of the sequence is denoted dcti＝cti+1-cti；
Step 2.2.2.4, calculating the adjacent time difference dctiComparing adjacent values, and taking a larger/smaller value bit feature matching group;
when dct is reachedi<dcti+1I.e. is (ct)i+1-cti)<(cti+2-cti+1) If the small value bit feature matching group is selected, then (ct) should be selectedi+1&cti) Are a group;
step 2.2.2.5, matching the feature position pt of the group with the featurei＝((1-pc)*cti+1+pc*cti) Wherein pc is more than or equal to 0 and less than or equal to 1; the characteristic position can be used as a mark bit of the acquisition period.
The specific steps of resampling the data of each period of the data acquired by the two probes in the step 2.3 are as follows:
data t acquired for two probes1And t2Resampling the data per cycle of (a); one period of data is arranged between the adjacent period zone bits; the data in the period is set as follows: ordinate y ═ ti～ti+kCorresponding abscissa x ═ ni～ni+kThe period data is at period flag bit ptjAnd ptj+1Is ni-1<ptj<ni,ni+k<ptj+1<ni+k+1；
Step 2.3.1, at ptjAnd ptj+1Uniformly inserting m-1 time points, dividing the period into m parts at equal intervals, and ptjAnd ptj+1Are denoted together as sp0～spmIn which sp0＝ptj，spm＝ptj+1；
Step 2.3.2, x ═ sp0～spmAbscissa, where x is n in the period datai-1～ni+k+1With the ordinate y ═ ti-1～ti+k+1In the method, sp is obtained by adopting an interpolation mode0～spmCorresponding ordinate data tsj＝y＝st0～stm。
The step 3 specifically comprises:
step 3.1, resampling periodic data tsjJ 1,2 … by a periodic phase angle sp0～spmCarrying out statistics;
step 3.2, counting a certain phase angle sp in n periodsiI-1, 2 …, data distribution of m positions;
step 3.3, calculating a confidence interval;
for phase angle spi(i-1, 2 …, m) position data are recorded as
The calculation formula of the confidence interval of 1-alpha is as follows:
in the formula:
is YiThe average of the sequences;
tα2(n-1) is the corresponding value of the normally distributed T table.
The step 4 of carrying out signal acquisition on the detected pipe comprises the following specific steps:
carrying out data acquisition on the detected pipe, and carrying out periodic processing on the acquired data according to the step 2 to obtain k periods of data tc1、tc2And wherein, i is 1,2,3 … k, k periods of data are processed once, and the value of k is related to the response requirement of the system.
The specific step of calculating the difference value delta D between the diameter measurement result and the nominal value in the step 5 is as follows:
wherein, t1And t2Calibrating two straight probes to obtain echo time ranges of pipe interface waves; tc1、tc2The echo time of the pipe interface wave actually measured by the two straight probes is measured; v is the nominal sound velocity at calibration; vmodThe sound velocity is corrected in real time through a reference probe;
in the above formula
Representation tc1Exceeding t1The value of the range can be represented by the following formula:
wherein, t1maxRepresents t1The upper limit of the trusted data interval of (1); t is t1minRepresents t1The trusted data interval lower limit.
The calibration of the data collected by the pipe to be detected in the step 1 comprises the following specific steps:
placing the calibrated pipe in a detection system, collecting the outline dimension data of the pipe to be detected by using two probes, wherein the length of the collected signal is more than 20 cycles,the data collected by the two probes are respectively recorded as t1And t2(ii) a Wherein, one cycle of the probe rotation is one cycle.
The step 2.1 of signal preprocessing and abnormal signal filtering specifically comprises the following steps: and filtering out the abnormal signals with high frequency range and burr shape in the collected signals by using a frequency domain filtering mode, a median filtering mode or a median filtering mode.
The invention has the following remarkable effects: according to the high-precision self-matching contour dimension measuring method under the high rotating speed condition, the influence of mechanical installation errors and acquisition system errors can be eliminated to the greatest extent through comparison with a phase angle.
Detailed Description
A high-precision self-matching external dimension measuring method under the condition of high rotating speed specifically comprises the following steps:
step 1, calibrating collected data of a detected pipe;
placing the calibrated pipe in a detection system, and acquiring the overall dimension data of the detected pipe by using two probes, wherein the length of the acquired signal is more than 20 periods, and the data acquired by the two probes are respectively recorded as t1And t2(ii) a Wherein, one cycle of probe rotation is one cycle;
step 2, carrying out periodic analysis on the collected calibration signals of the detected pipe;
step 2.1, preprocessing signals and filtering abnormal signals;
filtering out abnormal signals such as high frequency band and burr in the acquired signals by using a frequency domain filtering mode, a median filtering mode or a median filtering mode;
step 2.2, calculating and acquiring a zone bit of the acquired data period;
under the condition that the system is stable, the acquired echo time data t is in a periodic state, the data of each period is independently analyzed, and the initial position and the end position of the periodic data are identified by using accurate periodic zone bits;
step 2.2.1, if a probe in the detection system provides a periodic marker bit by using a fixed target in the rotation process, directly acquiring the periodic marker bit;
step 2.2.2, if the detection system does not have the period flag bit provided by the hardware, the precise period flag bit needs to be provided, which specifically comprises the following steps:
step 2.2.2.1, taking the position of the peak value H% of the periodic data t as a characteristic threshold value;
step 2.2.2.2, calculating to obtain the abscissa ct corresponding to the characteristic threshold valuei(i＝1,2,3…,n)；
Step 2.2.2.3, get ctiThe time-adjacent time difference of the sequence is denoted dcti＝cti+1-cti；
Step 2.2.2.4, calculating the adjacent time difference dctiComparing adjacent values, and taking the larger/smaller value bit features
Matching;
when dct is reachedi<dcti+1I.e. is (ct)i+1-cti)<(cti+2-cti+1) If the small value bit feature matching group is selected, then (ct) should be selectedi+1&cti) Are a group;
step 2.2.2.5, matching the feature position pt of the group with the featurei＝((1-pc)*cti+1+pc*cti) Wherein pc is not less than 0
Less than or equal to 1; the characteristic position can be used as a mark position of an acquisition cycle;
2.3, resampling data of each period of the data acquired by the two probes;
data t acquired for two probes1And t2Resampling the data per cycle of (a); one period of data is arranged between the adjacent period zone bits; the data in the period is set as follows: ordinate y ═ ti～ti+kCorresponding (acquisition time sequence) abscissa x ═ ni～ni+kThe period data is at period flag bit ptjAnd ptj+1Is ni-1<ptj<ni,ni+k<ptj+1<ni+k+1；
Step 2.3.1, at ptjAnd ptj+1Uniformly inserting m-1 time points (acquisition time sequence points), dividing the period into m parts at equal intervals and ptjAnd ptj+1Together denoted as (periodic phase angle) sp0～spmIn which sp0＝ptj，spm＝ptj+1；
Step 2.3.2, x ═ sp0～spmAbscissa, where x is n in the period datai-1～ni+k+1With the ordinate y ═ ti-1～ti+k+1In which sp is obtained by interpolation (linear, etc.)0～spmCorresponding ordinate data tsj＝y＝st0～stm；
Step 3, carrying out in-phase data statistical analysis on periodic data of data acquired by the two probes;
step 3.1, resampling periodic data tsj(j-1, 2 …) by a periodic phase angle sp0～spmCarrying out statistics;
step 3.2, counting a certain phase angle sp in n periodsi(i ═ 1,2 …, m) data distribution of locations;
step 3.3, calculating a confidence interval;
for phase angle spi(i-1, 2 …, m) position data are recorded as
The calculation formula of the confidence interval of 1-alpha is as follows:
in the formula:
is YiThe average of the sequences;
tα2(n-1) corresponding values of the normally distributed T table;
step 4, carrying out signal acquisition on the detected pipe;
carrying out data acquisition on the detected pipe, and carrying out periodic processing on the acquired data according to the step 2 to obtain k periods of data tc1、tc2(i ═ 1,2,3 … k), wherein k periodic data are processed once and the value of k is correlated to the system response requirement;
step 5, calculating to obtain the external dimension of the detected pipe;
calculating the external dimension D of the pipe at a certain phase angle in a certain period according to the following formulat：
Dt＝D+ΔD
Wherein Δ D is the difference between the diameter measurement and the nominal value; t is t1And t2Calibrating two straight probes to obtain echo time ranges of pipe interface waves; tc1、tc2The echo time of the pipe interface wave actually measured by the two straight probes is measured; v is the nominal sound velocity at calibration; vmodFor real-time correction to acoustic velocity by reference probe
In the above formula
Representation tc1Exceeding t1The value of the range can be represented by the following formula:
wherein, t1maxRepresents t1The upper limit of the trusted data interval of (1); t is t1minRepresents t1The trusted data interval lower limit.
Claims (8)
1. A high-precision self-matching overall dimension measuring method under the condition of high rotating speed is characterized by comprising the following steps: the method specifically comprises the following steps:
step 1, calibrating collected data of a detected pipe;
step 2, carrying out periodic analysis on the collected calibration signals of the detected pipe;
step 2.1, preprocessing signals and filtering abnormal signals;
step 2.2, calculating and acquiring a zone bit of the acquired data period;
2.3, resampling data of each period of the data acquired by the two probes;
step 3, carrying out in-phase data statistical analysis on periodic data of data acquired by the two probes;
step 4, carrying out signal acquisition on the detected pipe;
step 5, calculating to obtain the external dimension of the detected pipe;
calculating the external dimension D of the pipe at a certain phase angle in a certain period according to the following formulat：
Dt＝D+ΔD
Wherein D is the nominal diameter of the calibration pipe; the difference between the Δ D diameter measurement and the nominal value;
the specific steps of calculating the difference value delta D between the diameter measurement result and the nominal value are as follows:
wherein, t1And t2Calibrating two straight probes to obtain echo time ranges of pipe interface waves; tc1、tc2The echo time of the pipe interface wave actually measured by the two straight probes is measured; v is the nominal sound velocity at calibration; vmodIs the sound velocity corrected in real time by the reference probe;
in the above formula
Representation tc1Exceeding t1The value of the range can be represented by the following formula:
wherein, t1maxRepresents t1The upper limit of the trusted data interval of (1); t is t1minRepresents t1The trusted data interval lower limit.
2. The high-precision self-matching external dimension measuring method under the high rotating speed condition as claimed in claim 1, wherein: the specific steps of calculating the zone bit of the acquired data period in the step 2.2 are as follows:
under the condition that the system is stable, the acquired echo time data t is in a periodic state, the data of each period is independently analyzed, and the initial position and the end position of the periodic data are identified by using accurate periodic zone bits;
step 2.2.1, if a probe in the detection system provides a periodic marker bit by using a fixed target in the rotation process, directly acquiring the periodic marker bit;
and 2.2.2, if the detection system does not have the period zone bit provided by hardware, giving an accurate period zone bit.
3. The high-precision self-matching external dimension measuring method under the high rotating speed condition as claimed in claim 2, characterized in that: in step 2.2.2, under the condition that no hardware in the detection system provides the period flag bit, the specific steps of obtaining the accurate period flag bit are as follows:
step 2.2.2.1, taking the position of the peak value H% of the periodic data t as a characteristic threshold value;
step 2.2.2.2, calculating to obtain the abscissa ct corresponding to the characteristic threshold valueiWherein i is 1,2,3 …, n;
step 2.2.2.3, get ctiThe time-adjacent time difference of the sequence is denoted dcti＝cti+1-cti；
Step 2.2.2.4, calculating the adjacent time difference dctiComparing adjacent values, and taking a larger/smaller value bit feature matching group;
when dct is reachedi<dcti+1I.e. is (ct)i+1-cti)<(cti+2-cti+1) If the small value bit feature matching group is selected, then (ct) should be selectedi+1&cti) Are a group;
step 2.2.2.5, matching the feature position pt of the group with the featurei＝((1-pc)*cti+1+pc*cti) Wherein pc is more than or equal to 0 and less than or equal to 1; the characteristic position can be used as a mark bit of the acquisition period.
4. The high-precision self-matching external dimension measuring method under the high rotating speed condition as claimed in claim 1, wherein: the specific steps of resampling the data of each period of the data acquired by the two probes in the step 2.3 are as follows:
data t acquired for two probes1And t2Resampling the data per cycle of (a); one period of data is arranged between the adjacent period zone bits; the data in the period is set as follows: ordinate y ═ ti～ti+kCorresponding abscissa x ═ ni～ni+kThe period data is at period flag bit ptjAnd ptj+1Is ni-1<ptj<ni,ni+k<ptj+1<ni+k+1；
Step 2.3.1, at ptjAnd ptj+1Uniformly inserting m-1 time points, dividing the period into m parts at equal intervals, and ptjAnd ptj+1Are denoted together as sp0～spmIn which sp0＝ptj，spm＝ptj+1；
Step 2.3.2, x ═ sp0～spmAbscissa, where x is n in the period datai-1～ni+k+1With the ordinate y ═ ti-1～ti+k+1In the method, sp is obtained by adopting an interpolation mode0～spmCorresponding ordinate data tsj＝y＝st0～stm。
5. The high-precision self-matching external dimension measuring method under the high rotating speed condition as claimed in claim 1, wherein: the step 3 specifically comprises:
step 3.1, resampling periodic data tsjJ 1,2 … by a periodic phase angle sp0～spmCarrying out statistics;
step 3.2, counting a certain phase angle sp in n periodsiI-1, 2 …, data distribution of m positions;
step 3.3, calculating a confidence interval;
for phase angle spi(i-1, 2 …, m) position data are recorded as
The calculation formula of the confidence interval of 1-alpha is as follows:
in the formula:
is YiThe average of the sequences;
tα2(n-1) is the corresponding value of the normally distributed T table.
6. The high-precision self-matching external dimension measuring method under the high rotating speed condition as claimed in claim 1, wherein: the step 4 of carrying out signal acquisition on the detected pipe comprises the following specific steps:
carrying out data acquisition on the detected pipe, and carrying out periodic processing on the acquired data according to the step 2 to obtain k periods of data tc1、tc2And wherein, i is 1,2,3 … k, k periods of data are processed once, and the value of k is related to the response requirement of the system.
7. The high-precision self-matching external dimension measuring method under the high rotating speed condition as claimed in claim 1, wherein: the calibration of the data collected by the pipe to be detected in the step 1 comprises the following specific steps:
placing the calibrated pipe in a detection system, and acquiring the overall dimension data of the detected pipe by using two probes, wherein the length of the acquired signal is more than 20 periods, and the data acquired by the two probes are respectively recorded as t1And t2(ii) a Wherein, one cycle of the probe rotation is one cycle.
8. The high-precision self-matching external dimension measuring method under the high rotating speed condition as claimed in claim 1, wherein: the step 2.1 of signal preprocessing and abnormal signal filtering specifically comprises the following steps: and filtering out the abnormal signals with high frequency range and burr shape in the collected signals by using a frequency domain filtering mode, a median filtering mode or a median filtering mode.
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| JP2000283729A (en) * | 1999-03-30 | 2000-10-13 | Nisshin Steel Co Ltd | Method and device for measuring outside diameter of traveling pipe or rod |
| CN1734233A (en) * | 2005-09-13 | 2006-02-15 | 清华大学 | System and method for measuring section shape and size of heavy caliber steel pipe |
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