CN114136556A - Spacecraft composite structure leakage positioning method based on wave velocity correction - Google Patents
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Abstract
The invention discloses a spacecraft composite structure leakage positioning method based on wave velocity correction, which comprises the following steps of: a. carrying out a lead breaking experiment at the central position of a tested plate by using a mechanical pencil, measuring the wave velocity distribution condition in each direction, and establishing a wave velocity-direction curve; b. determining sensor array parameters for leak location according to the wave speed-direction curve; c. carrying out a sound source orientation experiment in a specified direction, and correcting a wave speed-direction curve; d. building a leakage positioning detection system, and collecting leakage signals by using a sensor array; e. through a single sensor array. According to the method, the functional relation between the wave speed and the direction is established by measuring the wave speed in each direction of 0-360 degrees, and the method is applied to sensor array parameter design, can be used for detecting the leakage of composite material laminated plate structures with all symmetrical structures, accords with the material application trend in various future projects, and has important significance for monitoring the future structure health.
Description
Technical Field
The invention relates to the technical field of gas leakage detection, in particular to a spacecraft composite structure leakage positioning method based on wave speed correction.
Background
The composite material is a new material formed by optimally combining material components with different properties by utilizing an advanced material preparation technology, although the development time is short, compared with traditional materials such as metal materials and the like, the composite material has the advantages of high specific strength, light weight, high specific modulus, good fatigue resistance and the like, has a very rapid development trend, and is applied to the fields of aviation, aerospace and the like. In these areas, structural health directly determines the success or failure of engineering tasks, and leakage is a critical one of many structural health problems. For example, structures such as fuel tanks, if leaked, may cause an explosion, and the spacecraft tank leaks may cause a pressure loss. Once leakage occurs, a potential safety hazard is formed, the life safety of operators is endangered, and serious loss is caused.
Common methods for detecting leaks in aerospace engineering structures include infrared imaging, fiber optic measurements, and the like. The infrared imaging method carries out leakage positioning through temperature reduction caused by gas leakage, and the optical fiber measurement method collects physical parameters of a structure to be measured through a distributed optical fiber sensor so as to judge the integrity. However, the two methods have complicated equipment distribution and low reliability. The applicability is general. The acoustic positioning method is widely applied due to the characteristics of simple system arrangement, good stability, high sensitivity, high detection speed and the like. However, most of the conventional leakage localization methods are applied to the isotropic metal material structure, and the methods are difficult to be applied to the composite material structure due to the anisotropic property of the composite material.
The invention provides a spacecraft composite material structure leakage positioning method based on wave speed correction, which is used for positioning leakage events of a composite material structure. The method conforms to the material application trend in various future projects, and has important significance for monitoring the future structural health.
Disclosure of Invention
The invention aims to: in order to solve the problems, the spacecraft composite material structure leakage positioning method based on wave velocity correction is provided.
In order to achieve the purpose, the invention adopts the following technical scheme:
a spacecraft composite structure leakage positioning method based on wave velocity correction comprises the following steps:
a. carrying out a lead breaking experiment at the central position of a tested plate by using a mechanical pencil, measuring the wave velocity distribution condition in each direction, and establishing a wave velocity-direction curve;
b. determining sensor array parameters for leak location according to the wave speed-direction curve;
c. carrying out a sound source orientation experiment in an appointed direction, carrying out orientation through an array, and correcting a wave speed-direction curve according to an orientation error;
d. building a leakage positioning detection system, and collecting leakage signals by using a sensor array;
e. orienting the leakage source by a single sensor array by using a beam forming and orienting method based on the wave speed-direction curve of the anisotropic material;
f. the leak source is finally located by triangulation, by means of two sensor arrays.
Preferably, the flow of wave velocity measurement in the step a is as follows:
when a lead-breaking signal is generated at a specific position, defining the transverse direction of a tested plate to be 0 degree, and setting the transverse direction as the positive direction of an x axis; the longitudinal direction is a 90-degree direction, the direction is a y-axis forward direction, two sensors are placed in the same direction, the distance between the sensors is 30cm, wave velocity measurement is carried out at intervals of 10 degrees, and a wave velocity array V (theta) can be obtained after the measurement is finished:
in order to further improve the precision, V (theta) is fitted by an interpolation method, and a function of wave speed and angle can be obtained: and v is f (theta).
Preferably, the sensor array parameter calculation procedure in step b is as follows:
according to the function v of wave speed and angle as f (theta), using point O as reference point, placing a sensor every 10 deg. and making the distance between sensor and reference point be li(θi) With wave velocity v (theta)i) The relationship of (1) is:
to li(θi) Fitting to obtain a distribution function of the distance and the angle between the array element and the datum point: h (θ), a total of 10 sensors are laid out for each array, covering 0 ° -90 ° orientations.
Preferably, the wave velocity correction procedure in the step c is as follows:
generating a leakage sound signal in a specified method, carrying out a leakage experiment when the sensor array forms an angle of 0-90 degrees with the sensor array, respectively, carrying out the experiment at intervals of 10 degrees, and carrying out directional processing to obtain a corresponding energy function B (theta):
B(θ)＝∫g4(t,θ)dt
according to the energy function, a corresponding g (t, theta) function can be obtained through derivation, a corresponding time delay delta t can be obtained through derivation, and according to a time delay formula, a corresponding derived wave velocity function V' (theta) can be obtained through derivation. And correcting and compensating the wave speed-direction curve according to the derived wave speed function to obtain a corrected wave speed-direction curve v ═ f' (theta).
Preferably, the experimental detection system in step D comprises a tested composite material structure, a sensor clamp, an array sensor, a signal amplifier, a signal acquisition card and a PC, wherein the sensor clamp is designed and manufactured by 3D printing according to the sensor array parameters determined in step b. The leakage signal acquisition process comprises the following steps:
sticking 2 groups of sensor arrays to the surface of a detected structure through a coupling agent, collecting leakage signals by using the sensor arrays at a reference point interval L of the 2 groups of sensors, amplifying the signals through a voltage amplifier, collecting the signals through a collecting device, and storing data to a PC (personal computer);
preferably, the improved beamforming method in step e includes:
assuming that the sound source direction is theta, the time delay of the nth sensor array element signal is expressed as:
wherein V (theta) is a wave velocity distribution function, dnRelative distance:
the signals will concentrate energy by time-delay superposition, and the superposed signals are:
the signal energy may be obtained by time-domain squaring and integrating the superimposed signal. By scanning all angles, one energy function B (θ) can be obtained for an angle:
B(θ)＝∫g4(t,θ)dt
and the theta angle corresponding to the peak value of the B (theta) energy function is the leakage orientation result obtained by the array sensor.
Preferably, the improved beamforming method in step f includes:
when two array sensors locate the leakage source, the relationship between the leakage source and the orientation angle is:
wherein (x)1,y1)、(x2,y2) The coordinates of the reference sensors of the sensor arrays 1 and 2, respectively, L is the distance between the reference points of the two array sensors, theta1、θ2The orientation angles of the sensor arrays 1 and 2 are respectively, the (x, y) is the coordinate for positioning the leakage source, the position (x, y) of the leakage source can be obtained by solving a formula, and the leakage positioning is completed.
In summary, due to the adoption of the technical scheme, the invention has the beneficial effects that:
in the application, a functional relation between the wave speed and the direction is established by measuring the wave speed in each direction of 0-360 degrees, and the design is carried out according to the parameters of the sensor array; and correcting the wave speed-direction curve according to the directional error by performing a sound source directional experiment in a specified direction. The method can be used for detecting the leakage of the anisotropic composite material laminated plate structure, accords with the material application trend in various future projects, and has important significance for monitoring the future structural health.
Drawings
Fig. 1 shows a schematic flow chart of a positioning method according to an embodiment of the present invention:
FIG. 2 is a schematic diagram illustrating a wave velocity-direction curve test provided in accordance with an embodiment of the present invention;
FIG. 3 illustrates a schematic diagram of an array sensor structure provided in accordance with an embodiment of the present invention;
FIG. 4 is a schematic diagram of a detection system provided in accordance with an embodiment of the present invention;
FIG. 5 illustrates a schematic view of a leak orientation provided in accordance with an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1-5, the present invention provides a technical solution:
a spacecraft composite structure leakage positioning method based on wave velocity correction comprises the following steps, as shown in figure 1:
a. carrying out a lead breaking experiment at the central position of a tested plate by using a mechanical pencil, measuring the wave velocity distribution condition in each direction, and establishing a wave velocity-direction curve;
b. determining sensor array parameters for leak location according to the wave speed-direction curve;
c. carrying out a sound source orientation experiment in an appointed direction, carrying out orientation through an array, and correcting a wave speed-direction curve according to an orientation error;
d. building a leakage positioning detection system, and collecting leakage signals by using a sensor array;
e. orienting the leakage source by a single sensor array by using a beam forming and orienting method based on the wave speed-direction curve of the anisotropic material;
f. the leak source is finally located by triangulation, by means of two sensor arrays.
Specifically, as shown in fig. 2, the flow of wave velocity measurement in step a is as follows:
when the lead-breaking signal is generated at a position, the signal can be transmitted in the board in a plane wave form, the transverse direction of the board to be detected is defined as the 0-degree direction, and the direction is set as the positive direction of an x axis; the longitudinal direction is 90 degrees, the direction is set as the positive direction of the y axis, two sensors are arranged in the same direction, the distance between the sensors is 30cm, wave velocity measurement is carried out at intervals of 10 degrees, because plane waves generate frequency dispersion phenomena when propagating in a flat plate, and the frequency band of the researched signals is below 300kHz, the wave velocity measurement is mainly carried out by measuring A0And (3) obtaining a wave velocity array V (theta) after the measurement of the wave velocity of the modal signal is finished:
in order to further improve the precision, V (theta) is fitted by an interpolation method, and a function of wave speed and angle can be obtained: and v is f (theta).
Specifically, as shown in fig. 3, the sensor array structure constructing process in step b is as follows:
according to the function v of wave speed and angle as f' (theta), taking the point O as a reference point, placing a sensor at every 10 degrees, and enabling the distance l between the sensor and the reference pointi(θi) With wave velocity v (theta)i) The relationship of (1) is:
it is clear that the distance of the sensor from the reference point in the array is proportional to the wave speed in that direction, for li(θi) Fitting to obtain a distribution function of the distance and the angle between the array element and the datum point: h (θ), a total of 10 sensors are laid out for each array, covering 0 ° -90 ° orientations.
Specifically, in order to improve the applicability of the wave velocity-direction curve to the leak signal, gas leakage is generated at the leak hole. And (3) carrying out a leakage experiment when the angle between the sensor array and the sensor array is 0-90 degrees, respectively, carrying out the experiment at every 10 degrees, and carrying out directional processing to obtain a corresponding energy function B (theta):
B(θ)＝∫g4(t,θ)dt
according to the energy function, a corresponding g (t, theta) function can be obtained through derivation, a corresponding time delay delta t can be obtained through derivation, and according to a time delay formula, a corresponding derived wave velocity function V' (theta) can be obtained through derivation. And correcting and compensating the wave speed-direction curve according to the derived wave speed function to obtain a corrected wave speed-direction curve v ═ f' (theta).
Specifically, as shown in fig. 4, the experimental detection system in step D includes a tested composite structure, a sensor fixture, an array sensor, a signal amplifier, a signal acquisition card, and a PC, wherein the sensor fixture is designed and manufactured by 3D printing according to the sensor array parameters determined in step b. The leakage signal acquisition process comprises the following steps: pasting a sensor array to the surface of a detected structure through a coupling agent, collecting leakage signals by using the sensor array, amplifying the signals through a voltage amplifier, collecting the signals through a collecting device, and storing data to a PC (personal computer);
specifically, as shown in fig. 5, the improved beamforming method flow in steps e and f is as follows:
when a leakage signal is generated, acoustic waves propagate in the form of plane waves and are acquired by sensors, g (t, n) is defined as signals acquired by the sensors at the time t, a measured sound source is a far-field model, the distance between the leakage source and an array is far larger than the length of the array, the directions of signals acquired by all the sensors can be approximately considered to be the same, the beam forming angle is set to be an angle theta formed by a connecting line of the leakage source and an O point and the positive direction of an x axis, a sensor at the position of the O point is a sensor No. 0, the number of 10 sensors arranged from the direction of 0 DEG to the direction of 90 DEG is 1-10, the included angle between the position of two array elements and the connecting line of the O point is psi, and the time delay between the sensors of the array is determined by the relative distance from a signal source to each sensor of the array and a direction wave speed function.
The wave velocity V of a plane wave generated on the composite structure when the leakage signal is generatediThe beamforming angle is set to be an O-point-leakage source connection line and an O-point-1 # sensor connection line, and the time delay between the sensors is determined by the relative distance from the signal source to each sensor (compared to the 1# sensor in the direction of arrival) and the wave velocity.
Assuming the sound source direction is θ, the delay of the nth signal is expressed as:
wherein V (theta) is a wave velocity distribution function, dnRelative distance:
the signals will concentrate energy by time-delay superposition, and the superposed signals are:
the signal energy can be obtained by time-domain squaring and integrating the superimposed signal, and by scanning all angles, an energy function B (θ) with respect to the angles can be obtained:
B(θ)＝∫g4(t,θ)dt
the peak angle θ of the energy function is the leakage direction result of the sensor array.
When two L-arrays locate the leakage source, the relationship between the leakage source and the orientation angle is:
wherein (x)1,y1)、(x2,y2) The coordinates of the reference sensors of the sensor arrays 1 and 2 are respectively, L is the central distance between the two array sensors, and theta1、θ2The orientation angles of the sensor arrays 1 and 2 are respectively, the (x, y) is the coordinate for positioning the leakage source, the position (x, y) of the leakage source can be obtained by solving a formula, and the positioning is finished.
The previous description of the embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (8)
1. A spacecraft composite structure leakage positioning method based on wave velocity correction is characterized by comprising the following steps:
a. carrying out a lead breaking experiment at the central position of a tested plate by using a mechanical pencil, measuring the wave velocity distribution condition in each direction, and establishing a wave velocity-direction curve;
b. determining sensor array parameters for leak location according to the wave speed-direction curve;
c. carrying out a sound source orientation experiment in an appointed direction, carrying out orientation through an array, and correcting a wave speed-direction curve according to an orientation error;
d. building a leakage positioning detection system, and collecting leakage signals by using a sensor array;
e. orienting the leakage source by a single sensor array by using a beam forming and orienting method based on the wave speed-direction curve of the anisotropic material;
f. the leak source is finally located by triangulation, by means of two sensor arrays.
2. A spacecraft composite material structure leakage positioning method based on wave velocity correction according to claim 1, characterized in that the flow of wave velocity measurement in the step a is as follows:
when the lead breaking signal is generated at the position, defining the transverse direction of the tested plate to be 0 degree, and setting the transverse direction as the positive direction of an x axis; the longitudinal direction is a 90-degree direction, the direction is a y-axis forward direction, two sensors are placed in the same direction, the distance between the sensors is 30cm, wave velocity measurement is carried out at intervals of 10 degrees, and a wave velocity array V (theta) can be obtained after the measurement is finished:
in order to further improve the precision, V (theta) is fitted by an interpolation method, and a function of wave speed and angle can be obtained: and v is f (theta).
3. A spacecraft composite material structure leakage positioning method based on wave velocity correction according to claim 2, characterized in that the sensor array parameter calculation method in the step b is as follows:
according to the function v of wave speed and angle as f (theta), using point O as reference point, placing a sensor every 10 deg. and making the distance between sensor and reference point be li(θi) With wave velocity v (theta)i) The relationship of (1) is:
to li(θi) Fitting to obtain a distribution function of the distance and the angle between the array element and the datum point: h (θ), a total of 10 sensors are laid out for each array, covering 0 ° -90 ° orientations.
4. A spacecraft composite material structure leakage positioning method based on wave velocity correction according to claim 3, characterized in that the wave velocity correction flow in the step c is as follows:
generating a leakage sound signal in a specified method, carrying out a leakage experiment when the sensor array forms an angle of 0-90 degrees with the sensor array, respectively, carrying out the experiment at intervals of 10 degrees, and carrying out directional processing to obtain a corresponding energy function B (theta):
B(θ)＝∫g4(t,θ)dt
according to the energy function, a corresponding g (t, theta) function can be obtained through derivation, a corresponding delay delta t can be obtained through derivation, a corresponding derived wave speed function V '(theta) can be obtained through derivation according to a delay formula, and a wave speed-direction curve is corrected and compensated according to the derived wave speed function, so that a corrected wave speed-direction curve V is f' (theta).
5. The spacecraft composite structure leakage positioning method based on wave velocity correction as claimed in claim 4, wherein the experimental detection system of step D comprises a tested composite structure, a sensor clamp, an array sensor, a signal amplifier, a signal acquisition card and a PC, wherein the sensor clamp is designed and manufactured by 3D printing according to the sensor array parameters determined in step b.
6. A spacecraft composite material structure leakage positioning method based on wave velocity correction according to claim 5, characterized in that the leakage signal acquisition process in the step d is as follows:
the sensor array is pasted to the surface of a detected structure through a coupling agent, leakage signals are collected through the sensor array, the signals are amplified through a voltage amplifier and collected through collection equipment, and data are stored in a PC.
7. A spacecraft composite material structure leakage positioning method based on wave speed correction according to claim 6, characterized in that the improved beam forming method flow in the step e is as follows:
assuming that the sound source direction is theta, the time delay of the nth sensor array element signal is expressed as:
wherein V (theta) is a wave velocity distribution function, dnRelative distance:
the signals will concentrate energy by time-delay superposition, and the superposed signals are:
the signal energy can be obtained by time-domain squaring and integrating the superimposed signal, and by scanning all angles, an energy function B (θ) with respect to the angles can be obtained:
B(θ)＝∫g4(t,θ)dt
and the theta angle corresponding to the peak value of the B (theta) energy function is the leakage orientation result obtained by the array sensor.
8. A spacecraft composite material structure leakage positioning method based on wave velocity correction according to claim 7, characterized in that the improved beam forming method flow in the step f is as follows:
when two array sensors locate the leakage source, the relationship between the leakage source and the orientation angle is:
wherein (x)1,y1)、(x2,y2) The coordinates of the reference sensors of the sensor arrays 1 and 2, respectively, L is the distance between the reference points of the two array sensors, theta1、θ2The orientation angles of the sensor arrays 1 and 2 are respectively, the (x, y) is the coordinate for positioning the leakage source, the position (x, y) of the leakage source can be obtained by solving a formula, and the leakage positioning is completed.
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