3.4 Phased array Ultrasonic Testing (PAUT)

317 Pages·2012·19.97 MB·English

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Full name: Chris Charlesworth
University ID number: 0755705

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Student’s signature: Date: 19/04/1012
Ultrasonic phased array testing in the
power generation industry;
Novel wedge development for the
inspection of steam turbine blades roots

by
Chris Charlesworth

Thesis submitted to the University of Warwick
for the degree of Doctor of Engineering

School of Engineering
University of Warwick
November 2011
Table of Contents
Table of Contents ................................................................................................................................ i
List of Figures .................................................................................................................................. viii
List of Tables .................................................................................................................................. xvii
Acknowledgements........................................................................................................................ xviii
Declaration ..................................................................................................................................... xix
Summary ...................................................................................................................................... xx
Chapter 1. Introduction, aims and objectives .................................................................................. 1
1.1 Introduction .................................................................................................................... 1
1.2 Company profile ............................................................................................................ 1
1.2.1 npower Cogen ................................................................................................................... 2
1.2.2 npower Retail .................................................................................................................... 2
1.2.3 Generation and Renewables (G&R) ................................................................................. 2
1.2.4 Asset Operation and Support (AOS) ................................................................................ 3
1.2.5 Inspection Management (IM) ........................................................................................... 3
1.3 Industrial challenge and project aims............................................................................. 4
1.4 Specific objectives ......................................................................................................... 6
1.5 Contents of the thesis ..................................................................................................... 7
Chapter 2. Background ...................................................................................................................... 9
2.1 Power plant and steam turbine construction and operation ........................................... 9
2.1.1 Basic operation ................................................................................................................. 9
2.1.2 Steam turbine rotors ........................................................................................................ 10
2.1.3 Steam turbine rotor design .............................................................................................. 15
2.2 Conventional inspection of steam turbine blade roots ................................................. 19
2.2.1 Introduction..................................................................................................................... 19
2.2.2 Pinned roots .................................................................................................................... 19
2.2.2.1 Defects Sought ...................................................................................................... 21
2.2.2.2 Pinned root inspection techniques employed by RWE npower ............................ 22
2.2.2.3 Validation and technical appraisal of current RWE pinned root technique ......... 24
2.2.2.4 Inspection techniques employed outside RWE .................................................... 25
2.2.2.5 Discussion ............................................................................................................. 26
2.2.3 Curved axial entry fir tree roots ...................................................................................... 26
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Thesis – Ultrasonic Phased array Testing in the Power Generation Industry – Novel wedge development November 2011
2.2.3.1 Defects sought ...................................................................................................... 27
2.2.3.2 Inspection techniques employed by RWE ............................................................ 31
2.2.3.3 Inspection techniques employed outside RWE npower ....................................... 34
2.2.3.4 Inspection techniques developed by third parties ................................................. 36
2.2.3.5 Discussion ............................................................................................................. 38
2.2.4 Conclusions .................................................................................................................... 39
Chapter 3. Ultrasonic testing in NDE ............................................................................................. 40
3.1 Introduction .................................................................................................................. 40
3.2 Basic ultrasonic theory ................................................................................................. 40
3.2.1 Elastic wave propagation ................................................................................................ 41
3.2.2 Velocity of sound in solids ............................................................................................. 42
3.2.3 Acoustic impedance ........................................................................................................ 47
3.2.4 Reflection and transmission coefficients ........................................................................ 48
3.2.5 Modes of propagation ..................................................................................................... 50
3.2.6 Refraction of ultrasound ................................................................................................. 53
3.2.6.1 Mode conversion to creeping longitudinal wave .................................................. 55
3.2.6.2 Mode conversion to shear waves .......................................................................... 55
3.2.6.3 Mode conversion to creeping transverse waves ................................................... 56
3.2.6.4 Mode conversion to Rayleigh waves .................................................................... 56
3.3 Specific theory of ultrasonic testing............................................................................. 57
3.3.1 Transducers ..................................................................................................................... 58
3.3.2 Probes ............................................................................................................................. 60
3.3.3 Pulse echo ....................................................................................................................... 61
3.3.4 Pitch-Catch (through transmission) ................................................................................ 63
3.4 Phased array Ultrasonic Testing (PAUT) .................................................................... 65
3.4.1 Introduction and brief history ......................................................................................... 65
3.4.2 Phased array operation .................................................................................................... 69
3.4.3 Phased array transducers................................................................................................. 70
3.4.3.1 1D Linear array ..................................................................................................... 71
3.4.3.2 1D Annular array .................................................................................................. 71
3.4.3.3 2D Matrix and Annular arrays .............................................................................. 71
3.4.3.4 Circular arrays ...................................................................................................... 71
3.4.4 Transducer design constraints......................................................................................... 71
3.4.4.1 Active aperture and near field ............................................................................... 72
3.4.4.2 Effective aperture and near field ........................................................................... 74
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Thesis – Ultrasonic Phased array Testing in the Power Generation Industry – Novel wedge development November 2011
3.4.4.3 Element size .......................................................................................................... 75
3.4.4.4 Element pitch and grating lobes ........................................................................... 77
3.4.5 Phased array transducers summary ................................................................................. 80
3.4.6 Delay laws and phased array configurations .................................................................. 80
3.4.6.1 Sectorial (Azimuthal) scanning ............................................................................ 81
3.4.6.2 Electronic linear scanning ..................................................................................... 84
3.5 Ultrasonic refraction using wedges .............................................................................. 85
3.5.1 Phased array wedge parameters ...................................................................................... 85
3.5.2 Types of beam deflection................................................................................................ 87
3.5.3 Shaped and conformable wedges.................................................................................... 88
3.5.4 Wedge materials ............................................................................................................. 91
3.6 Conclusions .................................................................................................................. 92
Chapter 4. Solution for the inspection of complex geometry utilising Rexolite jigs and rapid
prototyping ................................................................................................................. 94
4.1 Introduction .................................................................................................................. 94
4.1.1 Pinned root inspection challenges .................................................................................. 95
4.1.2 Curved axial entry fir tree root inspection challenges .................................................... 95
4.2 Development of bespoke Rexolite jigs for IP rotor pinned root inspection ................. 96
4.2.1 Imasonic 20 element 10 MHz phased array probe ......................................................... 96
4.2.2 Beam simulations............................................................................................................ 97
4.2.3 Rexolite inspection jigs................................................................................................... 99
4.2.4 Discussion – IP rotor pinned root inspections using rexolite jigs ................................ 106
4.3 Laser scanning and production of component CAD models ..................................... 108
4.3.1 Introduction................................................................................................................... 108
4.3.2 NextEngine desktop laser scanner ................................................................................ 109
4.3.3 Model production of Siemens LP stage 4 blade ........................................................... 110
4.3.3.1 Laser scanning and point cloud generation ........................................................ 111
4.3.3.2 Parametric modelling with RapidWorksTM ........................................................ 114
4.3.4 Discussion – Production of accurate CAD component models .................................... 119
4.4 Development of novel jigs utilising rapid prototyping techniques ............................ 120
4.4.1 Introduction................................................................................................................... 120
4.4.2 Zetec 3D simulation tools ............................................................................................. 120
4.4.3 Rapid prototyping ......................................................................................................... 121
4.4.3.1 Selective Laser Sintering (SLS) .......................................................................... 123
4.4.3.2 Stereolithography (SLA) .................................................................................... 124
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Thesis – Ultrasonic Phased array Testing in the Power Generation Industry – Novel wedge development November 2011
4.4.4 Design of precision inspection jigs for critically limited geometry ............................. 125
4.4.5 Design of precision inspection jigs for inaccessible geometry ..................................... 131
4.4.6 Discussion – Production of accurate positioning jigs ................................................... 139
4.5 Conclusions ................................................................................................................ 140
Chapter 5. Development of scanning aids for in-situ inspection of curved axial entry fir tree
roots ........................................................................................................................... 142
5.1 Introduction ................................................................................................................ 142
5.2 Inspection coverage from aerofoils ............................................................................ 143
5.3 Bespoke scanning frames (Zetec) .............................................................................. 146
5.3.1 Specifications ................................................................................................................ 149
5.3.2 Final design review ....................................................................................................... 150
5.3.3 Phased array wedge design ........................................................................................... 155
5.3.4 Operation of scanning frame ........................................................................................ 157
5.3.4.1 Delay law configuration ..................................................................................... 159
5.3.4.2 Experimental equipment ..................................................................................... 160
5.3.4.3 Ultravision phased array parameters .................................................................. 160
5.3.4.4 Procedure for experiments 1 and 2: .................................................................... 160
5.3.4.5 Experiment 1 – Base line manual scan of concave root from convex aerofoil .. 160
5.3.4.5.1 Reference sensitivity: ....................................................................................... 160
5.3.4.5.2 Results: ............................................................................................................ 161
5.3.4.5.3 Discussion of results ........................................................................................ 162
5.3.4.6 Experiment 2 – Base line manual scan of convex root from concave aerofoil .. 162
5.3.4.6.1 Reference sensitivity: ....................................................................................... 162
5.3.4.6.2 Results: ............................................................................................................ 162
5.3.4.6.3 Discussion of results ........................................................................................ 163
5.3.4.1 Procedure for experiments 3 and 4: .................................................................... 164
5.3.4.2 Experiment 3 – Bespoke frame, scan of concave root from convex aerofoil ..... 166
5.3.4.2.1 Reference sensitivity: ....................................................................................... 166
5.3.4.2.2 Results: ............................................................................................................ 166
5.3.4.2.3 Discussion of results ........................................................................................ 166
5.3.4.3 Experiment 4 – Bespoke frame, scan of convex root from concave aerofoil ..... 167
5.3.4.3.1 Reference sensitivity: ....................................................................................... 167
5.3.4.3.2 Results: ............................................................................................................ 168
5.3.4.3.3 Discussion of results ........................................................................................ 168
5.3.4.4 Discussion and conclusions ................................................................................ 169
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Thesis – Ultrasonic Phased array Testing in the Power Generation Industry – Novel wedge development November 2011
5.4 Rapid prototyped platform scanning frames and jigs ................................................ 171
5.5 Conclusions ................................................................................................................ 174
Chapter 6. Novel wedge design, the continuous wedge ............................................................... 176
6.1 Introduction ................................................................................................................ 176
6.2 Concept of the continuous wedge invention .............................................................. 177
6.1 Calculation of skew deflection ................................................................................... 178
6.1.1 Worked example ........................................................................................................... 181
6.2 Continuous wedge design .......................................................................................... 181
6.3 Simulated validation of continuous wedges ............................................................... 186
6.4 Conclusions ................................................................................................................ 189
Chapter 7. Experimental validation of the continuous wedge ................................................... 190
7.1 Introduction ................................................................................................................ 190
7.2 Validation of skew deflection .................................................................................... 191
7.2.1 Experimental equipment ............................................................................................... 191
7.2.2 Procedures for experiment 5 and 6 ............................................................................... 192
7.2.3 Ultravision phased array parameters (Experiment 5 and 6) ......................................... 192
7.2.4 Experiment 5 – Continuous wedge scan of concave root from convex aerofoil .......... 192
7.2.4.1 Reference sensitivity: .......................................................................................... 192
7.2.4.2 Results: ............................................................................................................... 192
7.2.4.3 Discussion of results ........................................................................................... 193
7.2.5 Experiment 6 – Continuous wedge scan of convex root from concave aerofoil .......... 194
7.2.5.1 Reference sensitivity: .......................................................................................... 194
7.2.5.2 Results: ............................................................................................................... 195
7.2.5.3 Discussion of results ........................................................................................... 196
7.2.6 Experiment 7 – Attenuation measurement of Rexolite block ....................................... 196
7.2.6.1 Ultravision phased array parameters: ................................................................. 196
7.2.6.2 Procedure: ........................................................................................................... 197
7.2.6.3 Results: ............................................................................................................... 197
7.2.6.4 Discussion of results ........................................................................................... 198
7.3 Comparison of results experiments 5, 6, and 7 .......................................................... 198
7.4 Encoded line scans ..................................................................................................... 203
7.4.1 Experimental equipment ............................................................................................... 204
7.4.2 Ultravision phased array parameters ............................................................................ 204
7.4.3 Procedures for experiments 8, 9, 10 and 11.................................................................. 204
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Thesis – Ultrasonic Phased array Testing in the Power Generation Industry – Novel wedge development November 2011
7.4.4 Experiment 8 – Baseline encoded line scan of convex root from concave aerofoil using
conventional wedges ..................................................................................................... 205
7.4.4.1 Reference sensitivity: .......................................................................................... 205
7.4.4.2 Scan sensitivity: .................................................................................................. 205
7.4.4.3 Results: ............................................................................................................... 205
7.4.4.4 Discussion of results: .......................................................................................... 207
7.4.5 Experiment 9 – Baseline encoded line scan of concave root from convex aerofoil using
conventional wedges ..................................................................................................... 208
7.4.5.1 Reference sensitivity: .......................................................................................... 208
7.4.5.2 Scan sensitivity: .................................................................................................. 208
7.4.5.3 Results: ............................................................................................................... 208
7.4.5.4 Discussion of results: .......................................................................................... 210
7.4.6 Experiment 10 – Encoded line scan of convex root from concave aerofoil using
continuous wedge ......................................................................................................... 211
7.4.6.1 Reference sensitivity: .......................................................................................... 211
7.4.6.2 Scan sensitivity: .................................................................................................. 211
7.4.6.3 Procedure: ........................................................................................................... 211
7.4.6.4 Results: ............................................................................................................... 212
7.4.6.5 Discussion of results: .......................................................................................... 215
7.4.7 Experiment 11 – Encoded line scan of concave root from convex aerofoil using
continuous wedge ......................................................................................................... 216
7.4.7.1 Reference sensitivity: .......................................................................................... 216
7.4.7.2 Scan sensitivity: .................................................................................................. 216
7.4.7.3 Procedure: ........................................................................................................... 216
7.4.7.4 Results: ............................................................................................................... 216
7.4.7.5 Discussion of results: .......................................................................................... 219
7.5 Conclusions ................................................................................................................ 220
Chapter 8. Conclusions and future work ..................................................................................... 223
8.1 Conclusions ................................................................................................................ 223
8.2 Future work ................................................................................................................ 230
A.1.1 Summary of future work ............................................................................................... 230
A.1.2 Future work in detail ..................................................................................................... 231
References .................................................................................................................................... 234
Publications and Patents arising from this thesis ....................................................................... 242
Appendix B. Analysis of 20 element 10 MHz phased array probe ............................................ 243
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Thesis – Ultrasonic Phased array Testing in the Power Generation Industry – Novel wedge development November 2011