Heavy vehicle girder damage identification method and system, storage medium and electronic equipment

Abstract

The application discloses a heavy vehicle girder damage identification method and system, a storage medium and an electronic device, and relates to the technical field of heavy vehicle damage identification. The method comprises the following steps: receiving a first vibration signal of a heavy vehicle collected by each vibration sensor when the heavy vehicle is running, and obtaining a first measurement value of the natural frequency corresponding to the heavy vehicle according to all the first vibration signals; when the first measurement value exceeds a preset range, controlling a piezoelectric actuator arranged on the front end beam to excite the front end beam, receiving a second vibration signal of the heavy vehicle collected by each vibration sensor when the heavy vehicle stops running, and performing modal parameter identification on all the second vibration signals to obtain a second measurement value of the natural frequency corresponding to the heavy vehicle and a target mode value; when the second measurement value exceeds the preset range, performing mode curvature solving on the target mode curvature corresponding to the target mode value to obtain the girder damage position of the heavy vehicle. The application realizes damage identification of the heavy vehicle girder and improves the identification accuracy.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of vehicle damage identification, and in particular to a heavy vehicle girder damage identification method, system, storage medium and electronic device. BACKGROUND

[0002] With the continuous improvement of the light weight requirement of the equipment vehicle, new type of ultra-high strength material is applied more and more widely, but its welding performance is lower than that of conventional material. Some heavy vehicles have welding crack failure in the long-term use process, which seriously affects the safety of the equipment and personnel. Therefore, it is necessary to develop a structure damage identification system for health management, to monitor and identify the dynamic parameters in the use process of the vehicle, to early warn when damage occurs, and to early discover and treat.

[0003] The traditional damage identification method is generally used for bridge and building structure and rotating machinery, and the structure health management of the heavy vehicle has certain particularity. The random ground vibration excitation in the running process of the vehicle and the vibration signal of the engine and other transmission devices exist at the same time, which brings great difficulty to the signal processing.

[0004] Therefore, it is necessary to provide a technical scheme to solve the above technical problems. SUMMARY

[0005] To solve the above technical problems, the present application provides a heavy vehicle girder damage identification method, system, storage medium and electronic device.

[0006] The technical scheme of the heavy vehicle girder damage identification method of the present application is as follows:

[0007] The first vibration signal of the heavy vehicle to be tested when running is collected by each vibration sensor, and the first measurement value of the natural frequency corresponding to the heavy vehicle to be tested is obtained according to all the first vibration signals;

[0008] When the first measurement value exceeds the first preset range, the piezoelectric actuator arranged on the front beam of the heavy vehicle to be tested is controlled to excite the front beam, the second vibration signal of the heavy vehicle to be tested when stopping running is collected by each vibration sensor, and the second measurement value of the natural frequency corresponding to the heavy vehicle to be tested and the target mode value are obtained by modal parameter identification processing of all the second vibration signals;

[0009] When the second measurement value exceeds the second preset range, the target mode curvature corresponding to the target mode value is solved to obtain the girder damage position of the heavy vehicle to be tested.

[0010] The heavy vehicle girder damage identification method of the present application has the following beneficial effects:

[0011] The method of the present application improves the accuracy of damage identification of the heavy vehicle girder by measuring the natural frequency of the heavy vehicle when running and when stationary respectively.

[0012] On the basis of the above-mentioned scheme, the heavy vehicle girder damage identification method of the present application can be further improved as follows.

[0013] Further, it further comprises:

[0014] Obtaining the initial measurement value of the natural frequency corresponding to the heavy vehicle to be measured;

[0015] Determining the first preset range according to the first change rate corresponding to the initial measurement value, and determining the second preset range according to the second change rate corresponding to the initial measurement value.

[0016] Further, the step of obtaining the first measurement value of the natural frequency corresponding to the heavy vehicle to be measured according to all the first vibration signals comprises:

[0017] Based on the environmental excitation modal identification method, the average value of all the first vibration signals is identified to obtain the first measurement value.

[0018] Further, the step of obtaining the girder damage position of the heavy vehicle to be measured by solving the target mode curvature corresponding to the target mode value comprises:

[0019] Deriving the target mode value to obtain the target mode curvature;

[0020] Based on the central difference method, the target mode curvature is solved to obtain the girder damage position of the heavy vehicle to be measured.

[0021] Further, it further comprises:

[0022] When the first measurement value exceeds the first preset range, a first alarm signal is outputted;

[0023] When the second measurement value exceeds the second preset range and the heavy vehicle to be measured runs again, a second alarm signal is outputted.

[0024] The technical scheme of the heavy vehicle girder damage identification system of the present application is as follows:

[0025] It comprises a first processing module, a second processing module and a damage identification module;

[0026] The first processing module is used for receiving the first vibration signal of the heavy vehicle to be measured collected by each vibration sensor when running, and obtaining the first measurement value of the natural frequency corresponding to the heavy vehicle to be measured according to all the first vibration signals;

[0027] The second processing module is configured to: when the first measurement value is out of a first preset range, control a piezoelectric actuator arranged on a front end cross beam of the heavy vehicle to be measured to excite the front end cross beam, receive second vibration signals collected by each vibration sensor when the heavy vehicle to be measured is in a stopped state, and perform modal parameter identification processing on all the second vibration signals to obtain a second measurement value of the natural frequency corresponding to the heavy vehicle to be measured and a target mode value.

[0028] The loss identification module is configured to: when the second measurement value is out of a second preset range, solve a target mode curvature corresponding to the target mode value to obtain a girder damage position of the heavy vehicle to be measured.

[0029] The heavy vehicle girder damage identification system has the following advantages:

[0030] The system measures the natural frequency of the heavy vehicle when the heavy vehicle is running and when the heavy vehicle is in a stopped state, respectively, so that the damage of the girder of the heavy vehicle is identified, and the accuracy of the identification is improved.

[0031] On the basis of the above-mentioned scheme, the heavy vehicle girder damage identification system can be further improved as follows.

[0032] Further, the system further comprises a preprocessing module, and the preprocessing module is configured to:

[0033] obtain an initial measurement value of the natural frequency corresponding to the heavy vehicle to be measured.

[0034] The first preset range is determined according to a first change rate corresponding to the initial measurement value, and the second preset range is determined according to a second change rate corresponding to the initial measurement value.

[0035] Further, the first processing module is specifically configured to:

[0036] The average values of all the first vibration signals are identified based on an environmental excitation modal identification method to obtain the first measurement value.

[0037] The technical scheme of the storage medium of the present application is as follows:

[0038] The storage medium stores instructions, and when a computer reads the instructions, the computer executes the steps of the heavy vehicle girder damage identification method of the present application.

[0039] The technical scheme of the electronic device of the present application is as follows:

[0040] Computer program product, comprising a memory, a processor and a computer program stored on the memory and loadable into the processor, characterized in that the processor executes the computer program so that the computer performs the steps of the method for identifying damage of a heavy vehicle girder according to the present application. BRIEF DESCRIPTION OF DRAWINGS

[0041] Figure 1 A flowchart of an embodiment of the method for identifying damage of a heavy vehicle girder according to the present application is shown;

[0042] Figure 2 A structural diagram of a heavy vehicle to be measured in an embodiment of the method for identifying damage of a heavy vehicle girder according to the present application is shown;

[0043] Figure 3 A structural diagram of an embodiment of the system for identifying damage of a heavy vehicle girder according to the present application is shown. DETAILED DESCRIPTION

[0044] Figure 1 A flowchart of an embodiment of the method for identifying damage of a heavy vehicle girder according to the present application is shown, which is executed by the integrated acquisition and processing device arranged on the heavy vehicle to be measured. As shown in the figure, the method comprises the following steps: Figure 1

[0045] Step 110: receiving the first vibration signal of the heavy vehicle to be measured collected by each vibration sensor 3, and obtaining the first measurement value of the inherent frequency of the heavy vehicle to be measured according to all the first vibration signals;

[0046] In this embodiment, ① the integrated acquisition and processing device 1 is equivalent to a chip or a processor. Figure 2 A structural diagram of the device on the heavy vehicle to be measured is shown. The number of vibration sensors 3 is multiple, which are uniformly distributed on the two longitudinal beams 5 of the heavy vehicle to be measured, and are connected through signal lines 4 between the vibration sensors 3. The piezoelectric actuator 2 is arranged in the middle of the front end cross beam 6 of the heavy vehicle to be measured. ② The heavy vehicle to be measured is a common heavy vehicle on the market, including but not limited to heavy tractor and heavy trailer. ③ The vibration sensor 3 is a common vibration sensor on the market, and its specific functional principle is not described here. ④ The first vibration signal is the vibration signal of the heavy vehicle to be measured in the running state collected by the vibration sensor 3. ⑤ The first measurement value is the value obtained by measuring the inherent frequency of the heavy vehicle to be measured when it is running. ⑥ In this embodiment, the integrated acquisition and processing device 1 is equivalent to a chip or a processor.

[0047] Specifically, the integrated acquisition and processing device 1 receives the first vibration signal of the heavy vehicle to be measured collected by each vibration sensor 3 when it is running, and obtains the first measurement value of the heavy vehicle to be measured according to all the first vibration signals. ​

[0048] Step 120: when the first measurement value exceeds the first preset range, the piezoelectric actuator 2 arranged on the front beam 6 of the heavy vehicle to be measured is controlled to excite the front beam 6, the second vibration signal of the heavy vehicle to be measured in the stopped running state is received by each vibration sensor 3, and modal parameter identification processing is performed on all the second vibration signals to obtain the second measurement value of the natural frequency corresponding to the heavy vehicle to be measured and the target mode value.

[0049] Wherein, ① the first preset range can be set according to requirements, or can be set according to the initial measurement value of the natural frequency, which is not limited here. ② The process of the comprehensive acquisition and processing equipment 1 controlling the piezoelectric actuator to excite the front beam 6 is: the comprehensive acquisition and processing equipment 1 sends a start signal to the piezoelectric actuator 2, and after the piezoelectric actuator 2 is started, a sinusoidal sweep signal is transmitted to the piezoelectric actuator 2, and the piezoelectric device in the piezoelectric actuator 2 converts the electrical signal (sinusoidal sweep signal) into a mechanical signal to excite the front beam 6 of the heavy vehicle to be measured. ③ The second vibration signal is: the vibration signal collected by the vibration sensor 3 when the heavy vehicle to be measured is in the stopped running state. ④ The second measurement value is: the value obtained by measuring the natural frequency of the heavy vehicle to be measured when it is in the stopped running state. ⑤ The target mode value is: the mode value measured when the heavy vehicle to be measured is in the stopped running state.

[0050] Specifically, when the first measurement value exceeds the first preset range, the comprehensive acquisition and processing equipment 1 controls the piezoelectric actuator 2 to excite the front beam 6, and receives the second vibration signal of the heavy vehicle to be measured in the stopped running state collected by each vibration sensor 3, and performs modal parameter identification processing on all the second vibration signals to obtain the second measurement value of the natural frequency of the heavy vehicle to be measured and the target mode value.

[0051] It should be noted that the sinusoidal sweep signal is a signal that changes from low frequency to high frequency, which is used to obtain the measurement value of the natural frequency at the maximum point.

[0052] Step 130: when the second measurement value exceeds the second preset range, the target mode curvature corresponding to the target mode value is solved to obtain the girder damage position of the heavy vehicle to be measured.

[0053] Wherein, ① the second preset range can be set according to requirements, or can be set according to the initial natural frequency, which is not limited here. ② The target mode curvature is obtained by differentiating the target mode value, which is used to determine the damage position according to the sudden change point in the mode curvature. ③ The girder damage position is: the position where the stiffness of the girder of the heavy vehicle to be measured is reduced.

[0054] Specifically, when the second measurement value is out of the second preset range, the comprehensive acquisition processing device 1 solves the target mode shape curvature corresponding to the target mode shape value, and obtains the girder damage position of the heavy vehicle to be measured.

[0055] More preferably, the method further comprises:

[0056] Step 101: obtaining an initial measurement value of the natural frequency corresponding to the heavy vehicle to be measured;

[0057] The initial measurement value is an initial value of the natural frequency measured when the heavy vehicle to be measured is manufactured.

[0058] It should be noted that the heavy vehicle to be measured needs to be tested systematically before being manufactured to obtain the modal basic parameters of the vehicle. The specific process is as follows: the comprehensive acquisition processing device 1 sends a start signal to the piezoelectric actuator 2, and after the piezoelectric actuator 2 is started, a sinusoidal sweep signal is sent to the piezoelectric actuator 2. The piezoelectric device in the piezoelectric actuator 2 converts the electrical signal into a mechanical signal to excite the front beam 6 of the vehicle. The vibration sensor 3 collects the vibration signal of the vehicle and transmits it to the comprehensive acquisition processing device 1 for signal processing and modal parameter identification to obtain the initial measurement value of the natural frequency.

[0059] Step 102: determining the first preset range according to the first change rate corresponding to the initial measurement value, and determining the second preset range according to the second change rate corresponding to the initial measurement value.

[0060] Wherein, ① the first change rate is set to 20% by default, and the second change rate is set to 15% by default. The first change rate and the second change rate can also be set according to requirements, and generally the first change rate is greater than the second change rate. ② When the first change rate is 20%, the first preset range is [0.8f0, f0], wherein f0 is the initial measurement value. When the second change rate is 15%, the second preset range is [0.85f0, f0].

[0061] More preferably, the step of obtaining the first measurement value of the natural frequency corresponding to the heavy vehicle to be measured based on all the first vibration signals comprises:

[0062] The average value of all the first vibration signals is identified based on the environmental excitation modal identification method to obtain the first measurement value.

[0063] The process of identifying the average value of the first vibration signal by using the environmental excitation modal identification method is prior art, and will not be described in detail here.

[0064] Specifically, the comprehensive acquisition processing device 1 identifies the average value of all the first vibration signals according to the environmental excitation modal identification method to obtain a first measurement value of the inherent frequency of the heavy vehicle under test when running.

[0065] Preferably, the step of solving the target mode shape curvature corresponding to the target mode shape value to obtain the girder damage position of the heavy vehicle under test comprises:

[0066] Deriving the target mode shape value to obtain the target mode shape curvature.

[0067] Solving the target mode shape curvature based on the central difference method to obtain the girder damage position of the heavy vehicle under test.

[0068] It should be noted that once the girder structure of the heavy vehicle under test is damaged, the stiffness corresponding to the damage position will decrease, and as the stiffness decreases, the mode shape curvature will also increase, so the mode shape curvature can be used to obtain the damage position. In the following, the central difference method is used to solve the mode shape curvature, and the girder is discretized into m beam elements, and the specific expression is as follows:

[0069]

[0070] wherein, φ i (j) represents the mode shape value of the i-th mode of the girder structure of the heavy vehicle under test at the j-th node, l j represents the distance between adjacent nodes; for the boundary condition, when j = 1, when j = m,

[0071] Preferably, it further comprises:

[0072] When the first measurement value is outside the first preset range, output a first alarm signal.

[0073] The first alarm signal is a default audible and light alarm signal, but it can also be other types of alarm signals, which are not limited here.

[0074] It should be noted that the heavy vehicle under test can be provided with an audible and light alarm device, and the comprehensive acquisition processing device 1 is connected to the upper computer. When the first measurement value is outside the first preset range, the comprehensive acquisition processing device 1 sends an audible and light alarm signal to the audible and light alarm device to make the audible and light alarm device issue an audible and light alarm, and sends an alert signal to the upper computer.

[0075] When the second measurement value is outside the second preset range and the heavy vehicle under test is running again, output a second alarm signal.

[0076] The second alarm signal is a sound and light alarm signal by default, and can also be other types of alarm signals, which are not limited herein.

[0077] It should be noted that when the second measurement value exceeds the second preset range, the comprehensive acquisition processing device 1 sends a sound and light alarm signal to the sound and light alarm device to make the sound and light alarm device issue a sound and light alarm, and stores relevant data until the heavy vehicle to be measured runs again, and sends an alarm signal to the upper computer.

[0078] The technical scheme of the embodiment measures the natural frequency of the heavy vehicle when it is running and when it is stationary respectively, realizes damage identification of the heavy vehicle girder, and improves the accuracy of identification.

[0079] Figure 3 An embodiment of a heavy vehicle girder damage identification system provided by the application is shown in the structural schematic diagram. As shown in the figure, Figure 3 The system 200 includes: a first processing module 210, a second processing module 220, and a damage identification module 230.

[0080] The first processing module 210 is configured to receive the first vibration signal of the heavy vehicle to be measured when it is running collected by each vibration sensor 3, and obtain the first measurement value of the natural frequency corresponding to the heavy vehicle to be measured according to all the first vibration signals.

[0081] The second processing module 220 is configured to control the piezoelectric actuator 2 arranged on the front cross beam 6 of the heavy vehicle to be measured to excite the front cross beam 6 when the first measurement value exceeds the first preset range, receive the second vibration signal of the heavy vehicle to be measured when it is stopped collected by each vibration sensor 3, and perform modal parameter identification processing on all the second vibration signals to obtain the second measurement value of the natural frequency corresponding to the heavy vehicle to be measured and the target mode value.

[0082] The damage identification module 230 is configured to solve the target mode curvature corresponding to the target mode value when the second measurement value exceeds the second preset range to obtain the girder damage position of the heavy vehicle to be measured.

[0083] Preferably, it further includes a preprocessing module, and the preprocessing module is configured to:

[0084] obtain the initial measurement value of the natural frequency corresponding to the heavy vehicle to be measured;

[0085] determine the first preset range according to the first change rate corresponding to the initial measurement value, and determine the second preset range according to the second change rate corresponding to the initial measurement value.

[0086] Preferably, the first processing module 210 is specifically used for:

[0087] The average values of all the first vibration signals are identified based on the environmental excitation modal identification method to obtain the first measurement values.

[0088] The technical scheme of the embodiment measures the natural frequency of the heavy vehicle when running and when static respectively, realizes damage identification of the heavy vehicle girder, and improves the accuracy of identification.

[0089] The steps of the above-mentioned parameters and modules in the heavy vehicle girder damage identification system 200 of the embodiment for realizing corresponding functions can refer to the parameters and steps in the above-mentioned embodiments of the heavy vehicle girder damage identification method, and will not be repeated here.

[0090] The storage medium provided by the embodiment of the application comprises instructions stored in the storage medium, and when a computer reads the instructions, the computer executes the steps of the heavy vehicle girder damage identification method.

[0091] The computer storage medium is, for example, a USB flash disk, a mobile hard disk, etc.

[0092] The electronic device provided by the embodiment of the application comprises a memory, a processor, and a computer program stored in the memory and executable on the processor.

[0093] Those skilled in the art know that the application can be implemented as a method, a system, a storage medium, and an electronic device.

[0094] Therefore, the present application can be embodied in the form of a hardware completely, a software completely (including firmware, resident software, microcode, etc.), or a combination of hardware and software, which can be referred to as a "circuit", "module" or "system" hereinafter. Furthermore, in some embodiments, the present application can also be embodied in the form of a computer program product stored in one or more computer readable storage medium (media) of the present application. Any combination of one or more computer readable medium can be employed. The computer readable medium can be a computer readable signal medium or a computer readable storage medium. The computer readable storage medium can be, for example but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specific examples (a non-exhaustive list) of the computer readable storage medium include: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the present document, the computer readable storage medium can be any tangible medium that contains, or stores a program for use by or in connection with an instruction execution system, apparatus, or device. Although the present application has been shown and described with respect to the embodiments thereof, it should be understood by the skilled in the art that the foregoing and various other changes, substitutions, and alterations can be made hereto without departing from the scope of the present application.

Claims

1. A method for heavy vehicle girder damage identification, characterized in that, The method comprises the steps of: receiving first vibration signals collected by each vibration sensor when a to-be-tested heavy vehicle is running, and obtaining a first measurement value of the natural frequency corresponding to the to-be-tested heavy vehicle according to all the first vibration signals; when the first measurement value exceeds a first preset range, controlling a piezoelectric actuator arranged on a front cross beam of the to-be-tested heavy vehicle to excite the front cross beam, receiving second vibration signals collected by each vibration sensor when the to-be-tested heavy vehicle stops running, and performing modal parameter identification processing on all the second vibration signals to obtain a second measurement value of the natural frequency corresponding to the to-be-tested heavy vehicle and a target mode value; when the second measurement value exceeds a second preset range, solving a target mode curvature corresponding to the target mode value to obtain a girder damage position of the to-be-tested heavy vehicle; The method further comprises the steps of: obtaining an initial measurement value of the natural frequency corresponding to the to-be-tested heavy vehicle; determining the first preset range according to a first change rate corresponding to the initial measurement value, and determining the second preset range according to a second change rate corresponding to the initial measurement value; The step of obtaining the first measurement value of the natural frequency corresponding to the to-be-tested heavy vehicle according to all the first vibration signals comprises the steps of: identifying the average value of all the first vibration signals based on an environmental excitation modal identification method to obtain the first measurement value; The step of solving the target mode curvature corresponding to the target mode value to obtain the girder damage position of the to-be-tested heavy vehicle comprises the steps of: deriving the target mode value to obtain the target mode curvature; solving the target mode curvature based on a central difference method to obtain the girder damage position of the to-be-tested heavy vehicle.

2. The heavy vehicle rail damage identification method of claim 1, wherein, The method further comprises the steps of: outputting a first alarm signal when the first measurement value exceeds the first preset range; outputting a second alarm signal when the second measurement value exceeds the second preset range and the to-be-tested heavy vehicle runs again.

3. A heavy vehicle girder damage identification system, characterized by, The method comprises the steps of: a first processing module, a second processing module, and a damage identification module; The first processing module is configured to receive first vibration signals collected by each vibration sensor when a to-be-tested heavy vehicle is running, and obtain a first measurement value of the natural frequency corresponding to the to-be-tested heavy vehicle according to all the first vibration signals; The second processing module is configured to, when the first measurement value exceeds a first preset range, control a piezoelectric actuator arranged on a front cross beam of the to-be-tested heavy vehicle to excite the front cross beam, receive second vibration signals collected by each vibration sensor when the to-be-tested heavy vehicle stops running, and perform modal parameter identification processing on all the second vibration signals to obtain a second measurement value of the natural frequency corresponding to the to-be-tested heavy vehicle and a target mode value; The damage identification module is configured to, when the second measurement value exceeds a second preset range, solve a target mode curvature corresponding to the target mode value to obtain a girder damage position of the to-be-tested heavy vehicle; The method further comprises a preprocessing module, and the preprocessing module is configured to: acquire an initial measurement value of the inherent frequency corresponding to the to-be-tested heavy vehicle; determine the first preset range according to a first change rate corresponding to the initial measurement value, and determine the second preset range according to a second change rate corresponding to the initial measurement value; the first processing module is specifically configured to: based on an environmental excitation modal identification method, identify the average value of all the first vibration signals to obtain the first measurement value; the damage identification module is specifically configured to: derivate the target mode shape value to obtain the target mode shape curvature; based on a central difference method, solve the mode shape curvature of the target mode shape curvature to obtain the girder damage position of the to-be-tested heavy vehicle.

4. A storage medium, characterized by The storage medium has instructions stored therein, and when the computer reads the instructions, the computer executes the heavy vehicle girder damage identification method according to claim 1 or 2.

5. An electronic device comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, characterized in that, When the processor executes the computer program, the computer executes the heavy vehicle girder damage identification method according to claim 1 or 2.

Images