基于振动模态分析管道腐蚀损伤检测方法研究
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摘要
管道是现行的五大运输工具之一，其在运送液体、气体等方面具有特殊的优势，尤其在石油化工及天然气等产业中具有不可替代的作用。随着管道事故的大量增加，对管道的安全性能的损伤检测成为目前的热点课题。对管道进行实时监测和诊断成为管道无损检测技术应用中的一个重要方面。目前用于工业管道和海洋平台结构等管道系统的无损检测技术主要有漏磁场检测技术、超声检测技术、交流磁场检测技术、涡流检测技术、射线检测技术和声发射技术等。这些常规检测技术的特点是必须对被检对象进行逐点扫描、检测速度慢、效率低、费用昂贵等。利用振动模态检测方法能够大量快速地对在用工业管道进行检测，是管道检测的一种新的研究方向。本文研究了利用振动模态参数进行管道结构的腐蚀损伤识别的定位及定量的方法。其主要内容如下：
第一章主要介绍了本研究的背景及意义，讨论了振动特性损伤识别的背景及现状，给出了本文的主要研究内容。
第二章本章主要介绍振动模型的建立及模态分析理论及模态试验测试的基本知识及管道模态试验步骤。
第三章根据Kim和Stubbs提出的指标法，计算了几种模态与频率的损伤指标，即特征参数损伤识别指标及刚度敏度比模态指标，通过对梁型管道数值模与试验验证来判断这几种损伤指标的定位的有效性。数值模拟表明，特征参数损伤识别指标仅能识别单一损伤单元，对于多损伤情况该方法不能准确判断。而刚度敏度比指标对单一及多损伤管道较理想定位。试验验证表明，特征参数损伤识别指标识别结果很不理想，但刚度敏度比模态指标对缺陷较大的管道能有效识别，但对于缺陷较小的损伤则判断困难。
第四章基于上模态振动分析理论基础上，针对管道腐蚀灾变形成的缺陷，提出了应变敏度比的概念，建立了应变敏度比检测方法。首先测得管道结构的频率及位移模态，再利用模态叠加法求出应变模态，并建立了腐蚀管道的定位检测判据。其次进行数值模拟，验算该检测判据的可行性及精度，结果表明该方法简便实用。最后制备不同缺陷的管道，应用应变敏度比法检测判断缺陷位置，结果表明，检测位置与实际损伤位置完全一致。通过实测和数值算例证明了只测试损伤及未损伤结构的低阶模态参量，便可对管道结构进行有效的检测，而低阶参量是相对简单易测，从而使该方法应用于工程实际更显便利。
第五章提出正交条件敏度法，通过管道损伤的数值模拟对该方法进行验证，结果表明该方法利用低阶频率及模态值对管道损伤能够准确定腐蚀损伤位置及损伤程度，这为管道腐蚀损伤检测提供了有利的理论保障。真实管道试验测试也表明只需要测得结构的低阶模态频率和模态向量，通过模态修正及正交条件敏度法算出损伤参数指标，对管道腐蚀损伤能够准确判定损伤位置和损伤程度。通过理论模拟及实验验证表明，把正交条件敏度法应用于损伤管道检测是一种方便简单的有效方法。
第六章本章提出了管道损伤缺陷尺寸检测方法，这一方法从断裂力学角度出发，建立了缺陷尺寸计算表达式，从而可评定损伤尺寸大小，经过理论模拟及试验分析，此方法效果理想且精度较好，为管道安全评定提供了可靠依据。
最后，对全文工作进行了总结，并提出了需要进一步研究的内容。
Pipeline which is one of the five leading transportation tools plays an important role in transiting liquid and gas. Transportation by pipeline can never be replaced in petro-chemistry and natural gas industry. Due to tremendous growth of pipeline accidents, damage detection in pipeline is an important issue from the point of view of safety and functionality. It is essential to carry out periodical inspection in pipelines to detect any pipeline damage, which may require major or minor repair for safety and serviceability of the structures. The cost of repair is obviously lesser than that required for the reconstruction of the whole pipeline system. Nondestructive technique such as leak magnetic field methods, ultrasonic testing, altemating current magnetic field methods, eddy-current methods, radiograph, acousticemission, etc., may be used to detect damage in the industry pipelines and offshore platform pipelines. However, most of these nondestructive techniques used to evaluate the damage in pipeline require much time and money to be applied. Therefore, the development of damage identification methods which are cheaper and faster to perform is very important. The problems can be avoided through the Use of vibration-monitoring such as modal analysis. Much of pipeline system can be quickly detected using modal analysis detection method which is new tool applied for pipeline damage detection recently. The main task of this research work focuses on how to determine the location and magnitude of damage in a pipeline structure. The major contents are summarized as follows:
In section 1, the history of the physical basis for the vibration-based nondestructive damage detection techniques is introduced and the main work of this dissertation is drawing out.
In section 2, vibration models are constructed and the fundamentals of modal theory and pipeline modal test are introduced.
In section 3, according to damage index which is proposed by Kim and Stubbs, numerical examples and experimental studies are carried out to verify the feasibility of the eigenparameter method and stiffness sentivity ratio method in pipeline structure. Numerical examples have been studied to show this method can only indicate the location of the one damaged element region of the beam-like pipeline. For multiple damage scenarios the parameter is not able to locate clearly the damaged zones. Apart from numerical examples, experimental studies are also carried out to verify the feasibility of these methodologies in real pipeline structure. The results show that the eigenparameter method is not effective for real pipeline structure and stiffness sentivity ratio method can only detect the large damage.
In section 4, based on structural modal test theory and finite element method, strain sensitivity ratio method of detection for the corrosion damage in pressure pipeline is presented. First, the damage-locatization criterions to locate damage through displacement mode and strain mode are established. Secondly, the numerical example verifies that the result using the first three order modal shape is basically consistent with the practical damage. Finally, all kinds of pipelines with different damages are prepared and detected by this damage detection method. The result shows that the damage location predicted by this method is the same as the practical one. These results proved that strain sensitivity ratio method locating damage in pressure pipeline only required measurements of few of the pipeline's natural frequencies and the lower displacement mode under both the undamaged and damaged states. And this method is shown to provide good predictions of damage location. For thelower-order modal shape can be measured easily, this method has many advantages at practical engineering applications.
In section 5, the orthogonality conditions sensitivities method is presented for damage identification of pipeline structures. Numerical examples demonstrate that the proposed methods are effective and reliable for the simulated pipeline vibration model by using few of the pipeline's natural frequencies and the lower displacement mode. Experimental studies are also carried out to verify the feasibility of the methodology in real pipeline structures applications. This method is shown to provide good predictions of pipeline damage location through numerical examples and experimental studies. This method has many advantages at practical engineering applications.
In section 6, a practical method estimate size of corrosion pipeline damage using changes in natural frequencies of a pipeline structure is presented, which is based on fracture mechanics. Numerical examples and experimental studies show that the size of pipeline damage can be estimated with a relatively small size error. This method is effective and feasible for the safety assessment of pipelines.
In the last of this dissertation, the research is summarized and the future extensions of the relevant study are discussed.
第一章主要介绍了本研究的背景及意义，讨论了振动特性损伤识别的背景及现状，给出了本文的主要研究内容。
第二章本章主要介绍振动模型的建立及模态分析理论及模态试验测试的基本知识及管道模态试验步骤。
第三章根据Kim和Stubbs提出的指标法，计算了几种模态与频率的损伤指标，即特征参数损伤识别指标及刚度敏度比模态指标，通过对梁型管道数值模与试验验证来判断这几种损伤指标的定位的有效性。数值模拟表明，特征参数损伤识别指标仅能识别单一损伤单元，对于多损伤情况该方法不能准确判断。而刚度敏度比指标对单一及多损伤管道较理想定位。试验验证表明，特征参数损伤识别指标识别结果很不理想，但刚度敏度比模态指标对缺陷较大的管道能有效识别，但对于缺陷较小的损伤则判断困难。
第四章基于上模态振动分析理论基础上，针对管道腐蚀灾变形成的缺陷，提出了应变敏度比的概念，建立了应变敏度比检测方法。首先测得管道结构的频率及位移模态，再利用模态叠加法求出应变模态，并建立了腐蚀管道的定位检测判据。其次进行数值模拟，验算该检测判据的可行性及精度，结果表明该方法简便实用。最后制备不同缺陷的管道，应用应变敏度比法检测判断缺陷位置，结果表明，检测位置与实际损伤位置完全一致。通过实测和数值算例证明了只测试损伤及未损伤结构的低阶模态参量，便可对管道结构进行有效的检测，而低阶参量是相对简单易测，从而使该方法应用于工程实际更显便利。
第五章提出正交条件敏度法，通过管道损伤的数值模拟对该方法进行验证，结果表明该方法利用低阶频率及模态值对管道损伤能够准确定腐蚀损伤位置及损伤程度，这为管道腐蚀损伤检测提供了有利的理论保障。真实管道试验测试也表明只需要测得结构的低阶模态频率和模态向量，通过模态修正及正交条件敏度法算出损伤参数指标，对管道腐蚀损伤能够准确判定损伤位置和损伤程度。通过理论模拟及实验验证表明，把正交条件敏度法应用于损伤管道检测是一种方便简单的有效方法。
第六章本章提出了管道损伤缺陷尺寸检测方法，这一方法从断裂力学角度出发，建立了缺陷尺寸计算表达式，从而可评定损伤尺寸大小，经过理论模拟及试验分析，此方法效果理想且精度较好，为管道安全评定提供了可靠依据。
最后，对全文工作进行了总结，并提出了需要进一步研究的内容。
Pipeline which is one of the five leading transportation tools plays an important role in transiting liquid and gas. Transportation by pipeline can never be replaced in petro-chemistry and natural gas industry. Due to tremendous growth of pipeline accidents, damage detection in pipeline is an important issue from the point of view of safety and functionality. It is essential to carry out periodical inspection in pipelines to detect any pipeline damage, which may require major or minor repair for safety and serviceability of the structures. The cost of repair is obviously lesser than that required for the reconstruction of the whole pipeline system. Nondestructive technique such as leak magnetic field methods, ultrasonic testing, altemating current magnetic field methods, eddy-current methods, radiograph, acousticemission, etc., may be used to detect damage in the industry pipelines and offshore platform pipelines. However, most of these nondestructive techniques used to evaluate the damage in pipeline require much time and money to be applied. Therefore, the development of damage identification methods which are cheaper and faster to perform is very important. The problems can be avoided through the Use of vibration-monitoring such as modal analysis. Much of pipeline system can be quickly detected using modal analysis detection method which is new tool applied for pipeline damage detection recently. The main task of this research work focuses on how to determine the location and magnitude of damage in a pipeline structure. The major contents are summarized as follows:
In section 1, the history of the physical basis for the vibration-based nondestructive damage detection techniques is introduced and the main work of this dissertation is drawing out.
In section 2, vibration models are constructed and the fundamentals of modal theory and pipeline modal test are introduced.
In section 3, according to damage index which is proposed by Kim and Stubbs, numerical examples and experimental studies are carried out to verify the feasibility of the eigenparameter method and stiffness sentivity ratio method in pipeline structure. Numerical examples have been studied to show this method can only indicate the location of the one damaged element region of the beam-like pipeline. For multiple damage scenarios the parameter is not able to locate clearly the damaged zones. Apart from numerical examples, experimental studies are also carried out to verify the feasibility of these methodologies in real pipeline structure. The results show that the eigenparameter method is not effective for real pipeline structure and stiffness sentivity ratio method can only detect the large damage.
In section 4, based on structural modal test theory and finite element method, strain sensitivity ratio method of detection for the corrosion damage in pressure pipeline is presented. First, the damage-locatization criterions to locate damage through displacement mode and strain mode are established. Secondly, the numerical example verifies that the result using the first three order modal shape is basically consistent with the practical damage. Finally, all kinds of pipelines with different damages are prepared and detected by this damage detection method. The result shows that the damage location predicted by this method is the same as the practical one. These results proved that strain sensitivity ratio method locating damage in pressure pipeline only required measurements of few of the pipeline's natural frequencies and the lower displacement mode under both the undamaged and damaged states. And this method is shown to provide good predictions of damage location. For thelower-order modal shape can be measured easily, this method has many advantages at practical engineering applications.
In section 5, the orthogonality conditions sensitivities method is presented for damage identification of pipeline structures. Numerical examples demonstrate that the proposed methods are effective and reliable for the simulated pipeline vibration model by using few of the pipeline's natural frequencies and the lower displacement mode. Experimental studies are also carried out to verify the feasibility of the methodology in real pipeline structures applications. This method is shown to provide good predictions of pipeline damage location through numerical examples and experimental studies. This method has many advantages at practical engineering applications.
In section 6, a practical method estimate size of corrosion pipeline damage using changes in natural frequencies of a pipeline structure is presented, which is based on fracture mechanics. Numerical examples and experimental studies show that the size of pipeline damage can be estimated with a relatively small size error. This method is effective and feasible for the safety assessment of pipelines.
In the last of this dissertation, the research is summarized and the future extensions of the relevant study are discussed.
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