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Inhaul cable time varying cable force course recognizing method based on extended kalman filter

A technology that extends Kalman and process identification, applied in the field of time-varying cable force history identification of cables, which can solve the problems of complex installation, limitations, and inability to identify the time-varying cable force and time history of cables.

Inactive Publication Date: 2015-06-17
HARBIN INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0008] For the first type of cable force monitoring method, cable force monitoring sensors (pressure rings, magnetic flux sensors, fiber grating smart cables, etc.) At present, the durability of this type of sensor cannot meet the long-term monitoring requirements of the health monitoring system, and the replacement of the cable force monitoring sensor is time-consuming and labor-intensive. These inherent shortcomings limit the large-scale application of this type of monitoring method; and for the second type of cable force Monitoring methods. At present, the cable force identification based on the vibration frequency measurement method is realized by establishing the relationship between the frequency and the cable force. However, the identification of the vibration frequency of the cable requires a period of acceleration monitoring data. Therefore, the identified cable The vibration frequency and the corresponding cable force are average values ​​in a sense, and the time-varying cable force time history of the cable cannot be identified

Method used

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  • Inhaul cable time varying cable force course recognizing method based on extended kalman filter
  • Inhaul cable time varying cable force course recognizing method based on extended kalman filter
  • Inhaul cable time varying cable force course recognizing method based on extended kalman filter

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Effect test

Embodiment 1

[0118] The state space equation is constructed by monitoring the acceleration signal and the vibration equation of the cable, and the time-varying cable force of the cable is identified by the discrete extended Kalman filter method. The specific process is as follows:

[0119] Neglecting the effects of sag and axial inertia of the cable, the vibration equation of the cable is expressed as:

[0120] d 2 q ~ n d τ 2 + 2 ξ n n d q ~ n dτ + n 2 [ 1 + u ~ ...

Embodiment 2

[0202] like figure 1 As shown, the J03 cable on a cable-stayed bridge in Nanjing is composed of 109 7mm steel wires, the cable length L=112.029m, and the cross-sectional area A=4.195×10 -3 m2, the density per unit length is μ=32.93kg / m.

[0203] Step 1: The algorithm of the present invention needs to use the cable monitoring acceleration sensor information to identify the cable force, and calculate the J03 cable in the figure 2 The wind speed and image 3 , Figure 4 The acceleration response at the L / 6 position under the indicated cable force. Figure 5 , Image 6 are the 30-second acceleration time histories of the L / 6 channel of the J03 cable under the action of a single vehicle and multiple vehicles, and the power spectrum analysis results are as follows Figure 7 , Figure 8 As shown, it can be seen from the figure that the first 11 modes are mainly involved in the vibration, and the effects of other modes are very small. It is feasible to take the vibration contro...

Embodiment 3

[0207] The length of the test cable is 14.02m, the diameter is 1.5cm, and the mass per unit length is 1.33kg / m. , one end of the test cable is fixed, and the other end uses a threaded rod to adjust the stretching length of the cable, thereby adjusting the size of the cable force. Two fans are used as external excitation to generate vibration, and the identification of the cable force is simulated under the condition that the external excitation information of the cable is unknown.

[0208] Step 1: Arrange acceleration sensors at 2.43m and 3.60m respectively to test the in-plane and out-of-plane vibration responses. The sampling frequency is 200Hz. The test device, sensor layout and geometric dimensions are as follows: Figure 13 shown. For example Figure 14 , Figure 15 The power spectrum analysis is performed on the 30s in-plane and out-of-plane acceleration time histories of the test cable acceleration sensor shown, and the results are as follows Figure 16 , Figure 1...

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Abstract

An inhaul cable time varying cable force course recognizing method based on an extended kalman filter comprises the following steps of utilizing an established inhaul cable motion equation taking inhaul cable end displacement and flexural rigidity into consideration to choose a plurality of steps of inhaul cable vibration control modes, dispersing horizontal inhaul cable vibration into a vibration mode function and generalized coordinate mode, using extended state variables containing inhaul cable force to convert an inhaul cable vibration differential equation into a state space equation, an observation equation based on inhaul cable acceleration and a monitored acceleration time travel curve of a real bridge inhaul cable, and using a predicting process and an updating process of the extended kalman filter to recognize inhaul cable time varying cable force courses. The inhaul cable time varying cable force course recognizing method can recognize the time varying cable force courses in the situation of known or unknown external simulation (wind load and other environment load) monitoring data. The inhaul cable time varying cable force course recognizing method can accurately recognize the time varying cable force courses in real time and is especially suitable for online evaluation of inhaul cables.

Description

technical field [0001] The invention relates to a method for identifying the time-varying cable force history of a cable based on an extended Kalman filter. Background technique [0002] Due to the advantages of strong bearing capacity, convenient construction and beautiful appearance, cables are widely used in long-span bridges. According to incomplete statistics, up to now, my country has built more than 100 cable-stayed bridges and more than 230 concrete-filled steel tube arch bridges with a span of more than 50m. The speed of the bridge, the large number, and the great spanning ability have attracted the attention of the world, especially a number of sea-crossing and river-crossing bridges built or under construction in recent years, such as Stonecutters Island Bridge, Hangzhou Bay Bridge, Donghai Bridge, Su The main navigation holes of Tongtong Bridge, Wushan Yangtze River Bridge and Chongqing Caiyuanba Yangtze River Bridge are all cable-stayed bridges or concrete-filled...

Claims

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Application Information

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IPC IPC(8): G01L5/04
Inventor 李惠张福俭李顺龙
Owner HARBIN INST OF TECH
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