CN102095573A - State monitoring and diagnosis alarm method for mechanical component of satellite borne rotary equipment - Google Patents
State monitoring and diagnosis alarm method for mechanical component of satellite borne rotary equipment Download PDFInfo
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Abstract
The invention discloses a state monitoring and diagnosis alarm method for a mechanical component of satellite borne rotary equipment, which comprises the following steps of: detecting a process of recording vibratory response of a satellite borne rotary mechanism; reading acceleration response measurement time domain signals; analyzing an acceleration response measurement spectrum; setting an emergency alarm or shutdown line; setting an early warning line in a time domain 0.25g and a frequency domain 0.5 multiplication (0.03g); presetting an amplitude alarm line 0.25g in software of data time domain acquisition, and sending early warning prompt when reaching or exceeding the value; and likewise, setting an early warning value in the frequency domain at 0.5 frequency multiplication such as fast scanning 100Hz or 300Hz. The method solves the problems of evaluating the state of the mechanical component of the rotary equipment of a satellite and predicting and assessing the performance variation tendency and the life limit of the mechanical component and the like. The method is simple, convenient and effective to implement, prolongs the service life of the satellite borne rotary equipment, and improves the work efficiency and the like.
Description
Technical field
The present invention relates to satellite carried slewing mechanical part status monitoring and diagnostic alarms method.
Background technology
Spaceborne slewing mechanical part, for example satellite scanning radiometer second scanning mechanism partly is made up of gear housing, potentiometer, gear, screw rod, nut, corrugated tube, stepper motor etc.Having adopted in the design is flattened by rotation moves, change the mode of motion of swing again into by translation, specifically be that stepper motor drives sliding spiral pair through gear reducer, make the guide frame translation that is connected with nut, utilize one group of steel band segment gear train to make the folding mirror that is connected with segment again around X-axis ± 5 ° swing.
Two sweep the sliding screw auxiliary structure that screw pair is a kind of fine pitch precision, and the normal scan frequency is 67Hz, is the 200Hz stepping from south to north by north orientation south.When rail was worked, along with the motion of scanning stepping, the cup grease (KK3+114 silicon oil mixture) that is stored in nut was pushed away, was more difficult to get timely and replenished.Long-time running like this makes screw pair be in bad lubricating condition, thereby makes satellite be difficult to reach highly reliable design object of long-life.
In engineering structure and mechanical movement process, owing to the phenomenon that exists fault to have an accident is of common occurrence.Particularly the effect of running environment (stressed, hold heat and wearing and tearing etc.) constantly changes its duty.Therefore, the information of extraction failure symptom in service is made diagnosis from them.
Movable part is except the parts of certain angle motion, mostly based on rotary part, roughly in 50～100rpm and 3000～6000rpm scope on the star.Satellite is in orbit the time, the easiest being out of order of rotary machine parts often, and these single point failure parts are to influence the satellite key of success.And not allowing careless dismounting inspection for these parts, this just requires and must also can predict future with the identification present situation to its status monitoring that does not disintegrate and fault diagnosis.Along with the day by day raising of user to the lifetime of satellite and reliability requirement, the life-span of slewing mechanical part and integrity problem are also outstanding all the more., how in development process, the state of the slewing mechanical part of satellite is estimated, to its performance change trend with lifetime limitation is predicted and problem such as assessment is mentioned on the agenda in conjunction with a small amount of test and specific monitoring method for this reason.
The present invention relates to not stopped status monitoring and diagnosis alarm method, the especially application in the satellite scanning radiometer of the high rotating speed movable part of satellite, do not find the explanation or the report of technology similar to the present invention at present, also do not collect similar data as yet.
Summary of the invention
In order to solve the state of the slewing mechanical part of satellite is estimated, to its performance change trend with lifetime limitation is predicted and problem such as assessment, the object of the present invention is to provide a kind of spaceborne slewing mechanical part status monitoring and diagnostic alarms method.Utilize the present invention, not only reach the requirement of the spaceborne slewing of identification operation health status, and can prevent chance failure or shutdown and cause loss.
In order to reach the foregoing invention purpose, the technical scheme that the present invention is adopted for its technical matters of solution provides a kind of spaceborne slewing mechanical part status monitoring and diagnostic alarms method, comprises the steps:
The vibratory response process of step 1, the spaceborne rotating mechanism of detection record;
At time domain 0.25g and frequency domain 0.5 frequency multiplication (0.03g) early warning line is set respectively: in the software of data time domain collection, set in advance an amplitude alarming line 0.25g, when meeting or exceeding this value, send early warning; In like manner, on the frequency domain, in 0.5 frequency multiplication as sweeping 100Hz soon or 300Hz is provided with early warning value.
The present invention's spaceborne slewing mechanical part status monitoring and diagnostic alarms method; owing to take above-mentioned technical scheme; take acceleration responsive to measure time-domain signal interpretation and spectrum analysis; very little in cost, do not need the dismounting inspection and at star with under the rotatable parts non-stop-machine situations; state to the slewing mechanical part of satellite is estimated, to its performance change trend with lifetime limitation is predicted and problem such as assessment.Therefore, the present invention has obtained beneficial effect such as be easy to implement effectively, prolong spaceborne slewing serviceable life, increase work efficiency.
Description of drawings
Fig. 1 vibration displacement, speed and acceleration Frequency spectrum ratio are;
Fig. 2 motor does not have the time domain response figure that sweeps slowly under the step loss condition;
Fig. 3 motor does not have the spectrogram swept slowly under the step loss condition;
Fig. 4 motor does not have the time domain response figure that sweeps soon under the step loss condition;
Fig. 5 motor does not have the spectrogram swept soon under the step loss condition;
Fig. 6 two sweeps the time domain response figure of mechanism;
Fig. 7 two sweeps the 13.5V of mechanism and sweeps time domain response figure soon;
Fig. 8 motor desynchronizing time domain response refinement figure;
Fig. 9 motor desynchronizing spectrogram;
Figure 10 13.7V motor is on the verge of step-out time domain response figure;
Figure 11 13.7V motor is on the verge of the step-out spectrogram;
Figure 12 vibratory response amplitude degradation curve;
The setting of Figure 13 alarming value and dangerous values.
Embodiment
The status monitoring and the fault diagnosis of rotatable parts have several different methods, involving vibrations sound equipment method, velocity variations method, acoustic-emission, amperometry, temperature method, pressure pulsation method etc.Wherein the vibration diagnosis technology demonstrates simple and reliable superiority in by the signals collecting of diagnostic system, data processing, Fault Identification and diagnosis, is particularly useful for not shutting down on-line monitoring and diagnostic alarms.So the vibration analysis technology becomes the most general diagnostic method of application, can self vibration information of compulsory exercise process, analyze normal, unusual or defective etc. from the test activity parts.
In the status monitoring process of satellite rotatable parts, provide suitable evaluation to the quality condition of product, this just relates to the judgment criteria problem.Standard formulation too high can cause the wasting of resources, and standard is crossed the low quality that then can influence product, and star mostly is nonstandard product with rotatable parts, various product evaluation standards can not be stereotyped, and therefore, the formulation of standard needs lot of data information and accumulation of knowledge.
Below in conjunction with description of drawings the preferred embodiments of the present invention.
Embodiments of the invention are at certain model satellite scanning radiometer, used to trial property the vibration diagnosis principle first, test at the vibratory response feature and the spectral characteristic of scanning mechanism under different input voltages, and then the critical voltage of research step-out phenomenon and the time domain and the spectrum signature of desynchronizing state.
Temporal analysis is mainly studied mean value, mean square value, variance etc.Test specimen is in when moving under the normal condition, and time-domain diagram is made up of a large amount of, at random, that intensity is approaching vibration signal; In case break down, well-regulated, recurrent pulses can appear in the signal, and the value of impact is than much bigger under the normal condition.Therefore, during with vibration signal diagnosing machinery fault, at first in vibration signal, find out implicit periodic component.
The frequency of vibration displacement, speed and acceleration signal is identical, no matter which kind of expression mode of employing, nature of trouble can not change, and may be used to vibration monitoring; Under the same displacement amplitude, frequency is high more, and the alterante stress that vibration is produced is big more, and is big more to the harm of equipment.Therefore failure-frequency is high more, and displacement amplitude should be controlled strictly more.
Fig. 1 be vibration displacement, speed and acceleration Frequency spectrum ratio; Wherein (a) is that 10Hz, 20Hz and 50Hz component amplitude all are the displacement spectrogram of 10 μ m, (b) and (c) is speed under this displacement amplitude and acceleration spectrogram.
Shown in Fig. 1 (a), 10Hz, 20Hz and 50Hz component amplitude all are 10 μ m in the frequency spectrum, can calculate the speed and the acceleration amplitude of each frequency component, shown in (b), (c) among Fig. 1.Relatively scheme as seen for these three, high fdrequency component has obtained obviously " amplification " in vibration velocity and acceleration frequency spectrum, and frequency is high more, and " amplification " effect of speed and acceleration frequency spectrum medium-high frequency component is obvious more.Therefore for the dither fault,, adopt vibration velocity or acceleration monitoring more effective for the vibration that can reflect in early days in fault changes apparent in viewly.Otherwise, also be same quilt " amplification " in the low frequency component shift frequency spectrum on the throne.
From the angle of vibration survey, measuring vibrations acceleration and displacement ratio are easier to realize, and vibration velocity generally all is to carry out obtaining behind the integration by measuring acceleration again, and therefore, vibration detection is generally selected displacement transducer and acceleration sensing for use.Because there are many limitations in the installation and the measurement of displacement transducer, as: need design special frock according to the test product concrete condition; The rotor of parts such as flywheel, gear case is contained in the housing of sealing, can't adopt contactless displacement transducer to measure; For the measurement of dither, the measuring accuracy of acceleration transducer is higher simultaneously, and displacement transducer not too adapts to or the like.
Because certain model satellite scanning radiometer characteristic frequency is all greater than 50Hz, according to above-mentioned analysis, it is proper to measure acceleration.
The present invention's spaceborne slewing mechanical part status monitoring and diagnostic alarms method comprise:
Acceleration responsive is measured time-domain signal interpretation and spectrum analysis.
Spaceborne scanning mechanism time domain amplitude when operate as normal is lower than 0.2g, and the frequency multiplication feature is obvious on the spectrogram;
Near desynchronizing state the time, respond greater than 0.25g on the time domain, but, had more 0.5 frequency multiplication on the spectrogram less than 0.3g, at this moment can at time domain 0.25g and frequency domain 0.5 frequency multiplication (0.03g) early warning line be set respectively;
When motor desynchronizing is the scanning mechanism cisco unity malfunction; time domain response is amplified more than 5 times (greater than 1g); do not have characteristic frequency on the frequency domain, can respectively outside time domain 1g, frequency domain 0.5 frequency multiplication on (0.05g) or the full frequency band 0.1g emergency alarm is set or shuts down line.
Middle side part is pasted acceleration transducer respectively outside the motor bottom of scanning radiometer and gear case, in the scanning radiometer course of work, omnidistance monitoring record is carried out in its vibratory response, shown in Fig. 2～11.
Fig. 2 does not have the spectrogram swept slowly under the step loss condition for motor; Fig. 3 does not have the time domain response figure that sweeps soon under the step loss condition for motor; Fig. 4 does not have the spectrogram swept soon under the step loss condition for motor; Fig. 5 two sweeps the time domain response figure of mechanism (the response magnitude difference of 4 kinds of states is obvious); Fig. 6 two sweeps the time domain response figure of mechanism; From Fig. 2 to Fig. 6 as can be seen:
(1) this scanning mechanism time domain amplitude when operate as normal is lower than 0.2g, does not have at motor under the situation of step-out, along with the reduction of voltage, the vibratory response amplitude progressively reduce (from Fig. 6 to recently, especially obvious), under voltage condition, the response of sweeping soon is greater than slowly sweeps;
(2) motor is swept characteristic frequency 200Hz and frequency multiplication thereof soon, and 5ms week period interval is obvious on the time domain, and characteristic frequency is outstanding on the frequency domain; Motor is swept characteristic frequency 67Hz and frequency multiplication thereof slowly, and characteristic frequency is outstanding on the frequency domain.
Fig. 7 two sweeps the 13.5V of mechanism and sweeps time domain response figure (motor desynchronizing, response is enlarged into nearly 10 times of normal value suddenly) soon for this; Fig. 8 is motor desynchronizing time domain response refinement figure (shake of time domain upward peak is more serious); Fig. 9 is a motor desynchronizing spectrogram (characteristic frequency changes); Figure 10 is on the verge of step-out time domain response figure for the 13.7V motor; Figure 11 is on the verge of step-out spectrogram (the 200Hz characteristic frequency is obvious, but has had more its 0.5 frequency multiplication) for the 13.7V motor.From Fig. 7 to Figure 11 as can be seen:
(1) the critical step-loss voltage of scanning mechanism is 13.5V;
(2) near step-out the time (13.7V), response still can not be higher than 0.3g greater than 0.2g on the time domain, has had more the obvious response of 0.5 frequency multiplication on the spectrogram, can at time domain 0.25g and frequency domain 0.5 frequency multiplication (0.03g) early warning line be set respectively;
(3) when motor desynchronizing is the scanning mechanism cisco unity malfunction; time domain response is amplified more than 5 times (greater than 1g); do not have characteristic frequency on the frequency domain, can respectively outside time domain 1g, frequency domain 0.5 frequency multiplication on (0.05g) or the full frequency band 0.1g emergency alarm is set or shuts down line.
In sum, the present invention's spaceborne slewing mechanical part status monitoring and diagnostic alarms method can be used as the ground detection means of certain model satellite scanning radiometer, judge its duty in real time, and in time send early warning, with long-life and the highly reliable powerful guarantee that provides of guaranteeing satellite.
Comprehensive the foregoing description, the present invention's spaceborne slewing mechanical part status monitoring and diagnostic alarms method comprise following step:
The vibratory response process of step 1, the spaceborne rotating mechanism of detection record;
Middle side part is pasted acceleration transducer respectively outside the motor bottom of spaceborne rotating mechanism and gear case, in the scanning radiometer course of work, omnidistance continuous monitoring is carried out in its vibratory response, and carried out data storage.
Adopt vibration velocity or acceleration monitoring, the data of time domain response are compared to analyze its variation tendency, when moving under the normal condition, time-domain diagram is made up of vibration signal a large amount of, stable, that intensity is approaching, as Fig. 2, shown in Figure 4; When time domain response value generation magnitude increases (2～3 times), Peak Jitter, then carry the slewing mechanical part and be on the verge of fault, as shown in figure 10; Response continue to increase (＞4 times), and when becoming signal at random, that Strength Changes is violent, it is just relatively more dangerous then to carry the slewing mechanical part, can break down at any time, as Fig. 7, shown in Figure 8.
Time-domain signal is carried out Fourier transform (Fast Fourier Transform Algorithm), time-domain signal is become frequency spectrum, by amplitude and the frequency (rather than time) of drawing, just more can the analytical cycle composition, periodic component implicit in vibration signal can distinguish on spectrogram at an easy rate.As Fig. 3, Fig. 5, Fig. 9, shown in Figure 11, they represent respectively: spectrogram, motor desynchronizing spectrogram, motor that spectrogram, the motor that motor does not have to sweep slowly under the step loss condition do not have to sweep soon under the step loss condition are on the verge of the step-out spectrogram, and they correspond respectively to the time domain response under three kinds of states in the step 2.
Early warning line is set near desynchronizing state the time, in the embodiment of the invention: response is greater than 0.25g on the time domain, but less than 0.3g, had more 0.5 frequency multiplication on the spectrogram, at this moment can be in data acquisition, at time domain 0.25g and frequency domain 0.5 frequency multiplication (0.03g) early warning line is set respectively: in the software of data time domain collection, set in advance an amplitude alarming line 0.25g, when meeting or exceeding this value, send early warning; In like manner, on the frequency domain, in 0.5 frequency multiplication as sweeping 100Hz soon or 300Hz is provided with early warning value.
Emergency alarm is set or shuts down line, in time find motor desynchronizing and cause the scanning mechanism cisco unity malfunction.In the embodiment of the invention: time domain response is amplified more than 5 times (greater than 1g), does not have characteristic frequency on the frequency domain, can respectively outside time domain 1g, frequency domain 0.5 frequency multiplication on (0.05g) or the full frequency band 0.1g emergency alarm is set or shuts down line.
The scope of response normal value can be analyzed adjustment along with increasing of sample, to become more accurate.
Relevant criterion according to VDI (Verein Deutscher Ingenieure) and IEC authoritative institutions such as (International Power associations), rotating mechanism can be consulted and carried out on other star: in the time domain gatherer process, variation tendency to its response amplitude compares, 2～3 times with normal value is alarming value, normal value be dangerous values more than 4 times, when meeting or exceeding this value, send alarm, good state is with white or green expression, bad state is reminded with yellow, bad state is warned with redness, as shown in Figure 12 and Figure 13.
In sum, method of the present invention is very little in cost, do not need the dismounting inspection and at star with in the rotatable parts non-stop-machine situations, spaceborne rotating mechanism is carried out condition monitoring and fault diagnosis and at the initial stage of breaking down and alarm. The present invention has obtained following beneficial effect:
(1) status monitoring and the method for diagnosing faults of a kind of high rotating speed star with movable part are provided; (2) provided the acceleration amplitude scope of the normal and fault of the vibratory response time-domain signal of certain scanning radiometer; (3) the normal operation characteristic frequency of the vibratory response that has provided certain scanning radiometer on frequency spectrum and the spectrum signature during fault; (4) provide the warning setting of acceleration responsive time domain and frequency domain; (5) to setting up satellite movable part ground detection system, the evaluation of accomodation of activities parts long-life test provides application case and technical support with the indication technical research.
Claims (2)
1. spaceborne slewing mechanical part status monitoring and diagnostic alarms method is characterized in that this method comprises the steps:
The vibratory response process of step 1, the spaceborne rotating mechanism of detection record;
Middle side part is pasted acceleration transducer respectively outside the motor bottom of spaceborne rotating mechanism and gear case, in the scanning radiometer course of work, omnidistance continuous monitoring is carried out in its vibratory response, and carried out data storage.
Step 2, acceleration responsive are measured the time-domain signal interpretation;
Adopt vibration velocity or acceleration monitoring, the data of time domain response are compared to analyze its variation tendency, when moving under the normal condition, time-domain diagram is made up of vibration signal a large amount of, stable, that intensity is approaching, when time domain response value generation magnitude increases (2～3 times), Peak Jitter, then carry the slewing mechanical part and be on the verge of fault, as shown in figure 10; Response continue to increase (＞4 times), and when becoming signal at random, that Strength Changes is violent, it is just relatively more dangerous then to carry the slewing mechanical part, can break down at any time.
Step 3, acceleration responsive are measured spectrum analysis;
Time-domain signal is carried out Fourier transform (Fast Fourier Transform Algorithm), time-domain signal is become frequency spectrum, by amplitude and the frequency (rather than time) of drawing, just more can the analytical cycle composition, periodic component implicit in vibration signal can distinguish on spectrogram at an easy rate, spectrogram, motor desynchronizing spectrogram, motor that spectrogram, the motor that motor does not have to sweep slowly under the step loss condition do not have to sweep soon under the step loss condition are on the verge of the step-out spectrogram, and they correspond respectively to the time domain response under three kinds of states in the step 2.
Step 4, emergency alarm is set or shuts down line;
Early warning line is set near desynchronizing state the time, in the embodiment of the invention: response is greater than 0.25g on the time domain, but less than 0.3g, had more 0.5 frequency multiplication on the spectrogram, at this moment can be in data acquisition, at time domain 0.25g and frequency domain 0.5 frequency multiplication (0.03g) early warning line is set respectively: in the software of data time domain collection, set in advance an amplitude alarming line 0.25g, when meeting or exceeding this value, send early warning; In like manner, on the frequency domain, in 0.5 frequency multiplication as sweeping 100Hz soon or 300Hz is provided with early warning value.
2. monitoring and diagnosis alarm method as claimed in claim 1; it is characterized in that: the time domain response in the described step 4 is amplified more than 5 times (greater than 1g); do not have characteristic frequency on the frequency domain, can respectively outside time domain 1g, frequency domain 0.5 frequency multiplication on (0.05g) or the full frequency band 0.1g emergency alarm is set or shuts down line.
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Application publication date: 20110615 |