裂纹管结构的振动分析与裂纹识别
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摘要
管道普遍应用于化工、核电和油气储运等领域,是一种重要的工程结构。随着海洋油气资源的开发,海底管道已成为海洋油气集输的重要手段,被誉为海上油气田生命线工程,其安全性和可靠性日益受到重视。然而,由于材料老化、腐蚀和各种环境荷载的长期作用,海底管道不可避免产生凹痕和裂缝等损伤。损伤的累积和扩展导致结构抗力衰减,突发情况下甚至引起海底管道破裂。因此,采取有效的技术手段对海底管道进行结构分析、监测诊断以及安全评价具有重要的理论意义与实用价值。本文围绕海底悬跨管道的振动分析以及结构状态与裂纹识别中的关键科学和技术问题,系统开展了理论和试验研究,其主要内容包括:
(1)获得了裂纹管结构在复杂荷载联合作用下的局部柔度系数。基于应变能释放原理和线性断裂力学理论,推导了管类结构在轴力、剪力和弯矩作用下由非贯穿直裂纹、圆周非贯穿及贯穿裂纹等三种典型裂纹所引入的附加局部柔度方程,通过数值积分方法进行局部柔度系数求解,发展了较为完善的裂纹管局部柔度系数求解方法。研究结果表明,本文所建立的裂纹管局部柔度能够较为准确地反映裂纹的局部力学行为,弥补了现有模型局限于特定荷载模式或非空心截面的不足,为裂纹管结构的动力分析和损伤识别提供了基本参数。
(2)基于以上局部柔度系数,建立了裂纹管结构的有限元模型和弹簧铰模型。为了验证裂纹管局部柔度系数及裂纹模型的合理性,进行了裂纹管的动力模型试验,通过对比裂纹管固有频率理论计算值与试验测试值分析了本文裂纹模型的合理性。在此基础上,进行了悬臂裂纹管和简支裂纹管的固有振动分析,系统研究了裂纹位置、裂纹深度与裂纹管固有频率变化之间的关系,并且发展了管类结构裂纹识别的等值线图法。
(3)分析了边界土体性质变化对悬跨管道固有振动特性的影响,并提出了悬跨管道的状态识别方法。首先,建立了以三向土弹簧约束模拟悬跨管道边界条件的数值模型,讨论了边界土体性质、外部环境荷载、轴向力以及悬跨长度等参数变化对结构固有频率的影响;其次,根据悬跨管道频率结构的内癝特征,构建了结构状态敏感的特征矢量,提出了一种基于核判别分析(Kernel Diseriminant Analysis,简称KDA)的悬跨管道状态识别方法;最后,进行了悬跨管道状态识别的模型试验,利用模型试验数据验证了该方法的有效性。研究结果表明,本文方法能够有效挖掘悬跨管道状态矢量的本质特征,实现了结构状态的正确分类,适合工程应用。
(4)进行了“呼吸”裂纹结构的非线性谐振分析,提出了一种基于谐振特性的疲劳裂纹识别方法。首先,引入“呼吸”裂纹模型描述疲劳裂纹的非线性时变特性,使用接触分析方法建立了裂纹梁的动力接触模型,研究了裂纹梁在简谐荷载激励下的非线性动力特性,分析了激励频率、裂纹位置、裂纹深度对谐振现象的影响,在此基础上提取了一种“呼吸”裂纹识别的损伤敏感特征;其次,建立了含疲劳裂纹悬跨管道的三维动力接触模模型,进行了疲劳裂纹悬跨管道的非线性谐振分析和裂纹识别;最后,开展了疲劳裂纹识别的模型试验研究,使用三点弯曲疲劳试验预制了不同裂纹程度的裂纹管模型,进行了裂纹悬跨管道的无水和水下动力测试,根据疲劳裂纹管的真实振动信号验证了本文方法的有效性。
As important engineering structures,pipes are widely met in many applications,e.g. chemical plants,power plants,and gas and oil transportation,et al.Submarine pipelines play an important role in the process of oil and gas transportation,regarded as the lifeline of marine oil and gas fields.Therefore,the structural security and reliability of submarine pipelines have received more attention in practice.However,dent,crack and damages are inevitably occurred in structural components of submarine pipelines due to material aging, corrosion and environmental loads.The damage accumulation and performance deterioration would seriously reduce the resisting capacity of the structures against the disaster,even result in collapse.Thus,the safe operation and the prolongation of the service life urgently motivate the research on the structural vibration analysis,health diagnosis and safety assessment for submarine pipelines.The key issues of the above problems,i.e.crack modeling,structural condition recognition and crack identification et al,are stressed in the study.The main achievements of the dissertation are summarized in the following:
(1) The equations of local flexibility for cracked pipes are theoretically proposed.The local flexibility coefficients for typical crack sections,due to the straight part-through,the circumferential part- through crack and the straight through crack were deduced by linear fracture mechanics and the theory of strain energy release rate.The local flexibility matrix was numerically by the adaptive Simpson algorithm.The results show that the presented local flexibility of cracked pipes can be used to simulate the local mechanics behavior precisely, which provides required parameters for dynamic analysis and crack identification for pipe-like structure with open crack.The presented method overcomes the shortcoming of the traditional crack model.
(2) Based on the proposed local flexibility matrix,the analysis models for cracked pipes are presented by finite element and torsional spring approach.The scaling model was used to validate the proposed local flexibility and cracked pipe model by comparing the theoretical results to experimental data.The measured frequencies of the craked pipes show good agreements with the calculated results,which indicates that the proposed flexibility equations and crack models are reasonable.Moreover,the vibration characteristics analysis for cantilever cracked pipe and simple support cracked pipe are conducted respectively.The effects of crack location,crack depth on natural frequency are discussed in detail.Then,crack in the pipe-like structure was proposed to be identified by contour diagram of crack locations versus crack depth.
(3) The effects of boundary constraints on the vibration characteristics is presented by taking consideration of the ambient loads,and an effective approach of structural condition identification for free span(CIFS) is proposed Firstly,an interaction model of the contact between the pipeline and seabed was established with respect to boundary constraint variations,which can be simulated by means of altering dynamic stiffness of soil spring. Based on the proposed model,the vibration characteristics of free spanning pipeline under different environmental factors,such as oil property,environmental load,axial force and span length,were studied.Secondly,a methodology to identify the operational conditions of free span based on nonlinear kernel discriminant analysis(KDA) was proposed.The sensitive features were extracted as condition vector for CIFS.Finally,the dynamic model test of free span was used to validate the feasibility.The numerical and experimental results indicate that the proposed method is suitable to capture the discriminative feature underlying in the condition feature vectors,and it is suitable for health diagnosis of submarine pipelines in practice.
(4)The nonlinear dynamic behavior of cracked structure is studied and an approach to identify a fatigue crack is presented.A breathing crack model was introduced to describe the nonlinear dynamic behavior of fatigue crack,which simulate as a frictionless contact plane problem.The nonlinear dynamic characteristics of a cantilever beam with a fatigue crack subjected to harmonic load were studied.The effects of various factors,such as the excitation frequency,crack location and crack depth on nonlinear dynamic characteristics were discussed.Moreover,nonlinear dynamic analysis of free spanning pipeline was conducted and a sensitive-damage feature was extracted to identify the severity of a fatigue crack. Finally,Fatigue test with three-point bending was used to simulate actual fatigue crack in pipe specimens.And dynamic model tests of cracked free spanning pipelines both underwater and without water were used to validate the proposed approach.The results indicate that proposed feature efficiently assesses the crack severity even in the case of the presence of the observed noise.
(1)获得了裂纹管结构在复杂荷载联合作用下的局部柔度系数。基于应变能释放原理和线性断裂力学理论,推导了管类结构在轴力、剪力和弯矩作用下由非贯穿直裂纹、圆周非贯穿及贯穿裂纹等三种典型裂纹所引入的附加局部柔度方程,通过数值积分方法进行局部柔度系数求解,发展了较为完善的裂纹管局部柔度系数求解方法。研究结果表明,本文所建立的裂纹管局部柔度能够较为准确地反映裂纹的局部力学行为,弥补了现有模型局限于特定荷载模式或非空心截面的不足,为裂纹管结构的动力分析和损伤识别提供了基本参数。
(2)基于以上局部柔度系数,建立了裂纹管结构的有限元模型和弹簧铰模型。为了验证裂纹管局部柔度系数及裂纹模型的合理性,进行了裂纹管的动力模型试验,通过对比裂纹管固有频率理论计算值与试验测试值分析了本文裂纹模型的合理性。在此基础上,进行了悬臂裂纹管和简支裂纹管的固有振动分析,系统研究了裂纹位置、裂纹深度与裂纹管固有频率变化之间的关系,并且发展了管类结构裂纹识别的等值线图法。
(3)分析了边界土体性质变化对悬跨管道固有振动特性的影响,并提出了悬跨管道的状态识别方法。首先,建立了以三向土弹簧约束模拟悬跨管道边界条件的数值模型,讨论了边界土体性质、外部环境荷载、轴向力以及悬跨长度等参数变化对结构固有频率的影响;其次,根据悬跨管道频率结构的内癝特征,构建了结构状态敏感的特征矢量,提出了一种基于核判别分析(Kernel Diseriminant Analysis,简称KDA)的悬跨管道状态识别方法;最后,进行了悬跨管道状态识别的模型试验,利用模型试验数据验证了该方法的有效性。研究结果表明,本文方法能够有效挖掘悬跨管道状态矢量的本质特征,实现了结构状态的正确分类,适合工程应用。
(4)进行了“呼吸”裂纹结构的非线性谐振分析,提出了一种基于谐振特性的疲劳裂纹识别方法。首先,引入“呼吸”裂纹模型描述疲劳裂纹的非线性时变特性,使用接触分析方法建立了裂纹梁的动力接触模型,研究了裂纹梁在简谐荷载激励下的非线性动力特性,分析了激励频率、裂纹位置、裂纹深度对谐振现象的影响,在此基础上提取了一种“呼吸”裂纹识别的损伤敏感特征;其次,建立了含疲劳裂纹悬跨管道的三维动力接触模模型,进行了疲劳裂纹悬跨管道的非线性谐振分析和裂纹识别;最后,开展了疲劳裂纹识别的模型试验研究,使用三点弯曲疲劳试验预制了不同裂纹程度的裂纹管模型,进行了裂纹悬跨管道的无水和水下动力测试,根据疲劳裂纹管的真实振动信号验证了本文方法的有效性。
As important engineering structures,pipes are widely met in many applications,e.g. chemical plants,power plants,and gas and oil transportation,et al.Submarine pipelines play an important role in the process of oil and gas transportation,regarded as the lifeline of marine oil and gas fields.Therefore,the structural security and reliability of submarine pipelines have received more attention in practice.However,dent,crack and damages are inevitably occurred in structural components of submarine pipelines due to material aging, corrosion and environmental loads.The damage accumulation and performance deterioration would seriously reduce the resisting capacity of the structures against the disaster,even result in collapse.Thus,the safe operation and the prolongation of the service life urgently motivate the research on the structural vibration analysis,health diagnosis and safety assessment for submarine pipelines.The key issues of the above problems,i.e.crack modeling,structural condition recognition and crack identification et al,are stressed in the study.The main achievements of the dissertation are summarized in the following:
(1) The equations of local flexibility for cracked pipes are theoretically proposed.The local flexibility coefficients for typical crack sections,due to the straight part-through,the circumferential part- through crack and the straight through crack were deduced by linear fracture mechanics and the theory of strain energy release rate.The local flexibility matrix was numerically by the adaptive Simpson algorithm.The results show that the presented local flexibility of cracked pipes can be used to simulate the local mechanics behavior precisely, which provides required parameters for dynamic analysis and crack identification for pipe-like structure with open crack.The presented method overcomes the shortcoming of the traditional crack model.
(2) Based on the proposed local flexibility matrix,the analysis models for cracked pipes are presented by finite element and torsional spring approach.The scaling model was used to validate the proposed local flexibility and cracked pipe model by comparing the theoretical results to experimental data.The measured frequencies of the craked pipes show good agreements with the calculated results,which indicates that the proposed flexibility equations and crack models are reasonable.Moreover,the vibration characteristics analysis for cantilever cracked pipe and simple support cracked pipe are conducted respectively.The effects of crack location,crack depth on natural frequency are discussed in detail.Then,crack in the pipe-like structure was proposed to be identified by contour diagram of crack locations versus crack depth.
(3) The effects of boundary constraints on the vibration characteristics is presented by taking consideration of the ambient loads,and an effective approach of structural condition identification for free span(CIFS) is proposed Firstly,an interaction model of the contact between the pipeline and seabed was established with respect to boundary constraint variations,which can be simulated by means of altering dynamic stiffness of soil spring. Based on the proposed model,the vibration characteristics of free spanning pipeline under different environmental factors,such as oil property,environmental load,axial force and span length,were studied.Secondly,a methodology to identify the operational conditions of free span based on nonlinear kernel discriminant analysis(KDA) was proposed.The sensitive features were extracted as condition vector for CIFS.Finally,the dynamic model test of free span was used to validate the feasibility.The numerical and experimental results indicate that the proposed method is suitable to capture the discriminative feature underlying in the condition feature vectors,and it is suitable for health diagnosis of submarine pipelines in practice.
(4)The nonlinear dynamic behavior of cracked structure is studied and an approach to identify a fatigue crack is presented.A breathing crack model was introduced to describe the nonlinear dynamic behavior of fatigue crack,which simulate as a frictionless contact plane problem.The nonlinear dynamic characteristics of a cantilever beam with a fatigue crack subjected to harmonic load were studied.The effects of various factors,such as the excitation frequency,crack location and crack depth on nonlinear dynamic characteristics were discussed.Moreover,nonlinear dynamic analysis of free spanning pipeline was conducted and a sensitive-damage feature was extracted to identify the severity of a fatigue crack. Finally,Fatigue test with three-point bending was used to simulate actual fatigue crack in pipe specimens.And dynamic model tests of cracked free spanning pipelines both underwater and without water were used to validate the proposed approach.The results indicate that proposed feature efficiently assesses the crack severity even in the case of the presence of the observed noise.
引文
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