基于Basic Theta*算法的声发射源定位方法

doi:10.12382/bgxb.2024.0234

摘要/Abstract

摘要：

对于大型混凝土、岩石等结构,由于其内部含有空区结构,弹性波会绕过空区沿非直线路径传播,基于直线路径的传统时差定位算法误差较大。为提高含空区结构中的声发射源定位精度,基于Basic Theta^*算法提出一种适用于含空区结构的声发射源定位方法,通过含圆形空区混凝土平板表面的断铅试验对该方法进行了验证,并讨论了传感器数量、传感器位置、声发射源位置对声发射源定位误差的影响。采用多通道声发射测试系统获得了混凝土平板中波速随传播距离衰减的规律;单个和多个声发射源的定位结果表明,相较于传统时差定位方法和A^*定位方法,提出的定位方法有效降低了弹性波绕过空区传播对定位的影响,大幅度提高了含空区混凝土结构中的声发射源定位精度及效率。

关键词: 声发射, 含空区混凝土, 波速衰减, Basic Theta^*算法

Abstract:

For large concrete,rock and other structures,the elastic wave bypasses the empty zones inside the structure to propagates along a non-linear path due to the empty zones,so the traditional time difference of arrival (TDOA) localization method based on linear paths has large errors.In order to improve the localization accuracy of acoustic emission (AE) sources in the structures with empty zones,an AE source localization method suitable for such structures is proposed based on Basic Theta^* algorithm.This method is verified by pencil lead break test on the surface of concrete slab containing circular empty zones,and the effects of the number of sensors,the position of sensors and the AE source location on the AE source localization error are discussed.The attenuation law of wave velocity with propagation distance in the concrete slab is obtained by multi-channel AE testing system.The localization results of single and multiple AE sources indicate that,compared with the traditional TDOA localization method and A^* localization method,the proposed localization method effectively reduces the effect of elastic wave propagation around empty zones on localization,and substantially improves the localization accuracy and efficiency of AE sources in the concrete structure with empty zones.

Key words: acoustic emission, concrete with empty zones, wave velocity attenuation, Basic Theta^* algorithm

张力中, 任会兰, 李涛. 基于Basic Theta^*算法的声发射源定位方法[J]. 兵工学报, 2025, 46(2): 240234-.

ZHANG Lizhong, REN Huilan, LI Tao. An Acoustic Emission Source Localization Method Based on Basic Theta^* Algorithm[J]. Acta Armamentarii, 2025, 46(2): 240234-.

图/表 25

图1 路径搜索示意图

Fig.1 Schematic diagram of path search

图2 3种算法对比(有空区)

Fig.2 Comparison of three algorithms (empty zone)

图3 3种算法对比(无空区)

Fig.3 Comparison of three algorithms (no empty zone)

表1 3种算法搜索结果比较

Table 1 Comparison of search results of three algorithms

空区	算法	扩展节点数	节点计算次数	节点平均计算次数	搜索时间/s	路径长度/mm
有空区	传统A^*算法	5024	17979	3.579	0.071	160.669
	Hu等^[23]改进A^*算法	4879	56983	11.679	0.138	153.435
	Basic Theta^*算法	4229	14826	3.506	0.102	152.506
无空区	传统A^*算法	2115	7787	3.68	0.029	98.284
	Hu等^[23]改进A^*算法	1472	14494	9.85	0.034	93.246
	Basic Theta^*算法	441	1145	2.59	0.007	92.195

图4 定位计算流程图

Fig.4 Flow chart of positioning calculation

图5 定位原理

Fig.5 Localization principle

图6 试验系统示意图

Fig.6 Schematic diagram of test system

图7 传感器布置

Fig.7 Sensors layout

图8 声发射信号样本

Fig.8 Acoustic emission signal sample

图9 波速衰减试验传感器布置

Fig.9 Sensors layout for wave velocity attenuation test

图10 波速与传播距离的关系

Fig.10 The relationship between wave velocity and propagation distance

表2 各传感器接收到声发射信号的时刻

Table 2 The arrival times of acoustic emission signals received by sensors s

传感器编号	断铅次序
传感器编号	1	2	3
S₁	30.7704600	36.4749365	40.7894925
S₂	30.7704683	36.4749463	40.7895128
S₃	30.7705165	36.4749932	40.7895495
S₄	30.7705158	36.4750110	40.7895678
S₅	30.7705055	36.4749842	40.7895507
S₆	30.7704662	36.4749427	40.7894988
S₇	30.7704608	36.4749390	40.7895063
S₈	30.7704365	36.4749128	40.7894687

表3 计算最快传播路径库用时

Table 3 Time taken to calculate the fastest propagation path library

定位方法	用时/s
传统A^*定位方法	1966.4
Hu等^[23]定位方法	1308.3
本文定位方法	622.6

图11 最快传播路径L1(100,75)~L8(100,75)

Fig.11 Fastest propagation paths L1(100,75)~L8(100,75)

图12 最快传播路径统计结果

Fig.12 Statistical result of fastest propagation paths

表4 3次断铅的定位结果

Table 4 Localization results of three lead breaks

断铅次序与平均误差	直线路径定位方法		传统A^*定位方法		Hu等^[23]定位方法		本文定位方法
断铅次序与平均误差	定位坐标/mm	误差/mm	定位坐标/mm	误差/mm	定位坐标/mm	误差/mm	定位坐标/mm	误差/mm
1	(207.5,110)	12.50	(205,122.5)	23.05	(202.5,115)	15.21	(200,115)	15.00
2	(207.5,100)	7.50	(202.5,115)	15.21	(200,107.5)	7.50	(200,105)	5.00
3	(197.5,92.5)	7.91	(200,107.5)	7.50	(200,97.5)	2.50	(200,97.5)	2.50
平均误差		9.3		15.3		8.4		7.5

图13 第2次断铅的定位偏差

Fig.13 Localization deviation with the second lead break

图14 148个断铅位置分布

Fig.14 Distribution of 148 lead breaks

图15 148个声发射源的定位结果

Fig.15 Localization results of 148 AE sources

表5 148个声发射源的定位误差

Table 5 Localization errors of 148 AE sources

定位方法	平均误差/mm	最大误差/mm	最小误差数量/个
直线路径定位方法	15.36	41.61	2
传统A^*定位方法	13.03	28.50	1
Hu等^[23]定位方法	11.53	35.53	5
本文定位方法	11.17	37.50	9

图16 传感器布置(不同传感器数量)

Fig.16 Sensors Layout (different number of sensors)

表6 不同传感器数量下的定位误差

Table 6 Localization errors of AE sources with different number of sensors

传感器数量/个	平均定位误差/mm
4	21.96
6	17.07
8	11.17

图17 传感器布置(不同传感器位置)

Fig.17 Sensors layout (different positions of sensors)

表7 不同传感器位置下的定位误差

Table 7 Localization error of AE sources with different positions of sensors

传感器布置方案	平均定位误差/mm
方案1	17.07
方案2	16.43
方案3	17.94

表8 传感器阵列外的声发射源定位误差

Table 8 Localization errors of AE sources outside the sensor array

断铅位置/mm	定位结果/mm	定位误差/mm
(20,120)	(20,122.5)	2.50
(40,320)	(42.5,320)	2.50
(160,360)	(157.5,370)	10.31
(220,20)	(212.5,12.5)	10.61
(300,40)	(292.5,50)	12.50
(340,380)	(337.5,382.5)	3.54
(380,160)	(380,165)	5.00
(360,320)	(360,322.5)	2.50

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