CN114894460B - IMU-based method for monitoring and evaluating damage state of anti-seismic support and hanger - Google Patents
IMU-based method for monitoring and evaluating damage state of anti-seismic support and hanger Download PDFInfo
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- G01M13/00—Testing of machine parts
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- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
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Abstract
The invention relates to an IMU-based damage state monitoring and evaluating method for an anti-seismic support and hanger, which comprises the following steps: 1) Building an earthquake-resistant support and hanger damage monitoring device, and preprocessing after acquiring response data of each component of the earthquake-resistant support and hanger through an IMU (inertial measurement Unit); 2) Selecting a first acquisition interval after the anti-seismic support and hanger is installed and before the anti-seismic support and hanger is formally put into use, and calculating a statistical characteristic value V in a normal state through time sequence response data of IMUs (inertial measurement units) of all measuring points 0 (ii) a 3) In the formal use stage of the anti-seismic support hanger, a second acquisition interval is selected, and the statistical characteristic value V in the damage state is calculated by utilizing the time sequence response data of the IMU of each measuring point 1 (ii) a 4) Calculating the relative variation RV of all the statistical characteristic values; 5) Selecting damage sensitivity indexes of the final support and hanger; 6) And carrying out damage assessment on the anti-seismic support and hanger. Compared with the prior art, the method enriches the damage sensitive indexes of the support and hanger by using the response data of measuring points in three directions and six degrees of freedom, and realizes the comprehensive evaluation of the damage state of the support and hanger.
Description
Technical Field
The invention relates to the field of engineering structure health monitoring, in particular to an IMU-based damage state monitoring and evaluating method for an anti-seismic support and hanger.
Background
The anti-seismic support and hanger is a support and hanger product for supporting electromechanical pipeline equipment such as water pipes, air pipes, bridges and the like and providing anti-seismic protection, and is generally divided into a longitudinal support and hanger and a lateral support and hanger, mainly used for bearing the horizontal earthquake action, limiting the displacement of attached electromechanical engineering facilities, controlling the vibration of the facilities and transmitting loads to various components or devices on a bearing structure, wherein the most common damage types of the support and hanger are structural rigidity degradation caused by bolt loosening, and the conditions of component crack, bolt and nut falling, weld crack, tearing, loosening of connecting parts and the like.
Along with the deep research of the structural health monitoring field, the damage identification by using the time sequence becomes a research hotspot, the relevant characteristic information of the data can be extracted by collecting the real-time monitoring data of the structural vibration response in the service state to map the damage characteristic index, and then early warning is provided when the signal characteristic changes, so that the performance evaluation and damage prognosis of the structure are carried out, the residual life of the structure is predicted, and further decision support is provided for structural intervention measures such as maintenance, modification and replacement, and therefore, the monitoring and evaluation of the performance of the non-structural member represented by the anti-seismic support hanging bracket has wide application value.
In the aspects of power monitoring and performance monitoring of the conventional support and hanger, related patents and documents mainly adopt an acceleration sensor and a strain sensor which reflect the vibration and deformation characteristics of the support and hanger, rigidity change is used as a main index, frequency domain analysis is carried out on signals, and the types of the sensors and the damage index criterion are reflected to be relatively single, so that the types of the sensors are enriched and are arranged at the optimal position of the structure, the physical quantity information of more structures is obtained, the damage index which is more accurate and easy to obtain is provided, and the method is also a key problem in the research of the monitoring field of the support and hanger structure at present.
Disclosure of Invention
The invention aims to overcome the defects in the prior art and provide a damage state monitoring and evaluating method for an anti-seismic support and hanger based on an IMU.
The purpose of the invention can be realized by the following technical scheme:
an earthquake-resistant support and hanger damage state monitoring and evaluating method based on IMU comprises the following steps:
1) Constructing a damage monitoring device for the anti-seismic support and hanger, and preprocessing after acquiring response data of each component of the anti-seismic support and hanger through an IMU (inertial measurement Unit);
2) Selecting a set time length t after the anti-seismic support and hanger is installed and before the anti-seismic support and hanger is put into use formally 1 For the first acquisition interval, calculating the time sequence response data of the IMU of each measuring point under the normal stateStatistical eigenvalues V 0 ；
3) In the formal use stage of the anti-seismic support and hanger, the local damage of a component is formed by considering that a fixing bolt on the anti-seismic support and hanger is loosened due to external vibration, and the set duration t is selected 2 For the second acquisition interval, calculating a statistical characteristic value V under the damage state by using the time sequence response data of the IMU of each measuring point 1 ；
4) Calculating the relative variation RV of all the statistical characteristic values;
5) Setting a variable amplitude threshold value TV, extracting statistical characteristic values corresponding to RV & gt TV in response data collected by all monitoring channels, taking the statistical characteristic values as first-order sensitive indexes, counting the total number of the first-order sensitive indexes extracted in all monitoring channels respectively, and determining the first 3 indexes with the largest total number as second-order sensitive indexes, namely final damage sensitive indexes of the support and hanger;
6) And carrying out damage assessment on the anti-seismic support hanger according to the obtained damage sensitivity index.
In the step 1), the damage monitoring device for the anti-seismic support and hanger comprises a plurality of IMUs (inertial measurement units) arranged on the anti-seismic support and hanger, acquisition equipment in wireless communication with the IMUs, and a processor for processing data.
The three IMUs are respectively and rigidly fixed on the outer surface of the U-shaped pipe clamp of the anti-seismic support and hanger frame, the middle part of the vertical suspender and the middle part of the inclined strut.
After the three IMUs are respectively and rigidly fixed, the longitudinal direction and the pipeline direction of the support hanger are defined as an X axis, the direction which is horizontally vertical to the X axis is defined as a Y axis, the direction which is vertically vertical to the X axis is defined as a Z axis, and the directions of all IMU coordinate systems are kept consistent with the support hanger coordinate system at the initial moment.
In the step 1), the response data comprise acceleration, angular velocity and attitude angle data, and the preprocessing of the response data comprises abnormal point elimination, trend removing items and band-pass filtering.
In the step 2) and the step 3), the characteristic value V is counted 0 And V 1 The average value comprises a dimensional statistical characteristic value and a dimensionless statistical characteristic value, wherein the dimensional statistical characteristic value comprises a mean value, a standard deviation, a variance, a root mean square, an average amplitude and a square rootAmplitude, median, square root, and root-mean-square ratio of peaks, and the dimensionless statistical characteristic values include kurtosis, skewness, peak factor, impulse factor, margin factor, and clearance factor.
In the step 4), the calculation formula of the relative variation RV is as follows:
the set time length t 1 The value is 30min or 24h, and the set time length t 2 The value is 30min or 24h.
In the step 5), the value of the amplitude variation threshold value TV is 20%.
The step 6) is specifically as follows:
establishing a rating threshold S based on the TV value 1 And S 2 And S is 1 <S 2 Let S 1 Is a yellow warning value when RV>S 1 If the time indicates that the response of the support hanger is abnormal, the abnormal point positioning, the abnormal reason elimination and the data re-collection are carried out on the support hanger in time, whether the index is reduced to the normal range is judged, and S is ordered 2 Is a red warning value when RV>S 2 The time shows that the support and hanger structure is seriously damaged and needs to be reinforced or replaced in time, and the yellow early warning value S 1 And red warning value S 2 According to the experiment and the actual situation or the relevant design specification.
Compared with the prior art, the invention has the following advantages:
1. the anti-seismic support and hanger provided with the IMU can integrate the advantages of multi-channel physical quantity synchronous acquisition, simultaneously acquire high-sampling-rate acceleration and angular velocity time sequence data in a short time, perform real-time analysis and evaluation on monitoring data, and effectively judge the anti-seismic performance and the operation posture of the anti-seismic support and hanger in real time.
2. According to the method, the statistical characteristic value of the time sequence data at the stable operation stage is taken as a reference, the change condition of the characteristic value under the damage state can be accurately judged, redundant indexes are removed, sensitive indexes are reserved, an auxiliary decision is provided for maintenance or replacement of the anti-seismic support and hanger, and the loss caused by earthquakes can be effectively reduced.
3. The selected IMU measuring points are the outer surface of the U-shaped pipe clamp, the middle part of the vertical suspender and the middle part of the inclined strut and are all key nodes of the supporting and hanging bracket, and the stress performance of the positions of the measuring points is obvious and the vibration response is sensitive, so that the integral operation state and the damage condition of the supporting and hanging bracket can be effectively represented.
Drawings
Fig. 1 is a layout diagram of an earthquake-resistant support and hanger IMU monitoring device in an embodiment of the invention.
Fig. 2 is a flowchart of determining a damage sensitivity index according to an embodiment of the present invention.
The notation in the figure is:
1. the outer surface of the U-shaped pipe clamp of the supporting and hanging bracket comprises 2 a suspender middle point, 3 a diagonal support middle point, 4 an IMU,5 an IMU,6 and an IMU.
Detailed Description
The invention is described in detail below with reference to the figures and specific embodiments. It is to be understood that the preferred embodiments described herein are for purposes of illustration and explanation only and are not intended to be limiting.
Examples
In this embodiment, an arrangement diagram of the earthquake-resistant support and hanger IMU monitoring device is shown in fig. 1, and includes: and IMUs (respectively numbered 4, 5 and 6) arranged on the outer surface 1 of the U-shaped pipe clamp of the support and hanger, the middle point 2 of the suspender and the middle point 3 of the inclined strut.
In the embodiment of the present invention, wireless devices such as 4G, 5G, zigbee, NB-IOT, or WiFi are used to transmit the monitoring data of the IMU, but the method of the present invention is not limited to the above transmission method, and based on the embodiment of the present invention, all other embodiments obtained by a person of ordinary skill in the art without creative labor shall fall within the protection scope of the present invention.
In this embodiment, a damage sensitivity index determination process of this embodiment is shown in fig. 2, and includes the following steps:
the method comprises the steps of firstly, preprocessing collected monitoring data in real time, eliminating the influence of offset generated by a sensor on later-stage calculation through trend removing, and eliminating noise interference of high frequency and low frequency bands through band-pass filtering.
Step two, when the installation stage of the anti-seismic support and hanger is completed, 30min monitoring data is selected, and dimensional and dimensionless statistical characteristic values V are calculated for initial time sequence data acquired by the IMU 0 The formula for calculating the characteristic values is shown in table 1.
TABLE 1 calculation formula for each statistical characteristic value
Thirdly, in the formal use stage of the anti-seismic support and hanger, due to interference of external vibration and the like, the support and hanger is damaged due to bolt loosening and the like, so that the time sequence characteristic value is changed to different degrees in a more stable state, 24h of monitoring data is selected, and each statistical characteristic value V is calculated for the time sequence data again 1 . The selected calculation time can be shortened, so that the purpose of better real-time monitoring is achieved.
Step four, extracting the characteristic value V calculated in the step two and the step three 0 And V 1 And calculating the relative variation RV of the two.
And step five, extracting RV obtained by correspondingly calculating the acquired data of all the monitoring channels in the step four, comparing the RV with a preset amplitude variation threshold value TV, and judging the characteristic values of all RV > TV as first-order sensitive indexes.
And step six, extracting the total number of the first-order sensitive indexes respectively shown in all the monitoring channels in the step five, and judging the first 3 indexes with the maximum total number as second-order sensitive indexes which are sensitive indexes in the damage state of the selected support hanger.
Step seven, setting a yellow early warning value S 1 And red early warning value S 2 And carrying out damage assessment on the anti-seismic support hanger according to the acquired damage sensitivity index when the RV is used>S 1 If the time indicates that the response of the support hanger is abnormal, the support hanger needs to be positioned at an abnormal point in time, abnormal reasons are eliminated, data are collected again, and whether the index is reduced to a normal range is judged; order S 2 When RV is equal to>S 2 The time indicates that the support and hanger structure is seriously damaged and needs to be reinforced or replaced in time.
Preferably, the embodiment of the present embodiment takes bolt loosening as a local damage form, but the method of the present invention is not limited to the above damage, and other common damages caused by the use process are all applicable to the above determination process.
While the invention has been described with reference to specific embodiments, the invention is not limited thereto, and those skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope of the invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (10)
1. An earthquake-resistant support and hanger damage state monitoring and evaluating method based on IMU is characterized by comprising the following steps:
1) Constructing a damage monitoring device for the anti-seismic support and hanger, and preprocessing after acquiring response data of each component of the anti-seismic support and hanger through an IMU (inertial measurement Unit);
2) Selecting a set time length t after the anti-seismic support and hanger is installed and before the anti-seismic support and hanger is put into use formally 1 For the first acquisition interval, calculating a statistical characteristic value V under a normal state through the time sequence response data of the IMU of each measuring point 0 ；
3) In the formal use stage of the earthquake-resistant support and hanger, the local damage of a component is formed by considering the looseness of a fixing bolt on the earthquake-resistant support and hanger due to external vibration, and the set duration t is selected 2 For the second acquisition interval, calculating a statistical characteristic value V under the damage state by using the time sequence response data of the IMU of each measuring point 1 ；
4) Calculating the relative variation RV of all the statistical characteristic values;
5) Setting a variable amplitude threshold value TV, extracting statistical characteristic values corresponding to RV & gt TV in response data collected by all monitoring channels, taking the statistical characteristic values as first-order sensitive indexes, counting the total number of the first-order sensitive indexes extracted in all monitoring channels respectively, and determining the first 3 indexes with the largest total number as second-order sensitive indexes, namely final damage sensitive indexes of the support and hanger;
6) And carrying out damage assessment on the anti-seismic support hanger according to the obtained damage sensitivity index.
2. An IMU-based earthquake resistant support and hanger damage state monitoring and assessment method according to claim 1, wherein in the step 1), the earthquake resistant support and hanger damage monitoring device comprises a plurality of IMUs mounted on the earthquake resistant support and hanger, an acquisition device in wireless communication with the IMUs, and a processor for data processing.
3. The IMU-based damage state monitoring and assessment method for an earthquake-resistant support and hanger according to claim 2, wherein three IMUs are rigidly fixed at the outer surface of a U-shaped pipe clamp of the earthquake-resistant support and hanger, the middle part of a vertical suspender and the middle part of an inclined strut respectively.
4. The IMU-based earthquake-resistant support and hanger damage state monitoring and evaluation method according to claim 3, wherein after three IMUs are respectively rigidly fixed, the longitudinal direction and the pipeline direction of the support and hanger are defined as an X axis, the direction horizontally and vertically to the X axis is defined as a Y axis, and the direction vertically to the X axis is defined as a Z axis, and all IMU coordinate system directions are consistent with a support and hanger coordinate system at the initial moment.
5. An IMU-based damage state monitoring and assessment method for an anti-seismic support and hanger according to claim 1, wherein in the step 1), the response data comprises acceleration, angular velocity and attitude angle data, and the preprocessing of the response data comprises outlier rejection, a detrending term and band-pass filtering.
6. An IMU-based seismic support crane according to claim 1The frame damage state monitoring and evaluating method is characterized in that in the step 2) and the step 3), the characteristic value V is counted 0 And V 1 The method comprises the steps of obtaining a dimensional statistical characteristic value and a dimensionless statistical characteristic value, wherein the dimensional statistical characteristic value comprises a mean value, a standard deviation, a variance, a root mean square, a mean amplitude, a square root amplitude, a median, a square root and a peak root mean square ratio, and the dimensionless statistical characteristic value comprises a kurtosis degree, a skewness degree, a peak value factor, a pulse factor, a margin factor and a clearance factor.
7. An IMU-based earthquake-resistant support and hanger damage state monitoring and evaluation method according to claim 1, wherein in the step 4), the calculation formula of the relative variation RV is as follows:
8. an IMU-based earthquake-resistant support and hanger damage state monitoring and evaluation method as claimed in claim 1, wherein the set time period t is 1 The value is 30min or 24h, and the set time length t 2 The value is 30min or 24h.
9. The IMU-based damage state monitoring and evaluation method for the anti-seismic support and hanger frame according to claim 1, wherein in the step 5), the value of the amplitude variation threshold value TV is 20%.
10. The IMU-based damage state monitoring and evaluation method for the anti-seismic support and hanger according to claim 1, wherein the step 6) specifically comprises:
establishing a rating threshold S based on the TV value 1 And S 2 And S is 1 <S 2 Let S 1 Is a yellow warning value when RV>S 1 The time indicates that the response of the support and hanger is abnormal, the abnormal point needs to be positioned in time, and the abnormal reason needs to be arrangedRemoving and re-collecting data, judging whether the index is reduced to a normal range, and making S 2 Is a red warning value when RV>S 2 The time shows that the support and hanger structure is seriously damaged and needs to be reinforced or replaced in time, and the yellow early warning value S 1 And red warning value S 2 According to the experiment and the actual situation or the relevant design specification.
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