CN111337121A - Vibration signal deviation soft measurement and correction method for motor rotating equipment - Google Patents
Vibration signal deviation soft measurement and correction method for motor rotating equipment Download PDFInfo
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Abstract
The invention relates to the technical field of fault diagnosis of rotary equipment represented by a motor, and discloses a soft measurement and correction method for vibration signal deviation of the rotary equipment of the motor, which comprises the following steps: s1, measuring vibration signal data of a plurality of groups of rotating equipment by taking the sampling frequency of the rotating equipment as a base number in an initial state, obtaining amplitude values in x and y directions before the vibration sensor is not deviated as reference values, and then collecting and calculating vibration signal data x in real time1，y1Magnitude in direction; s2, detecting x of reference coordinate system1，y1And determining whether the direction is coincident with the x and y directions of the actual coordinate system or not, and determining whether the vibration sensor is deviated or not. The invention greatly saves the hardware cost, increases the application range of the existing mainstream sensor, and ensures that the accuracy of fault diagnosis of the rotating equipment represented by the motor based on the vibration signal has great degreeAn improvement is made.
Description
Technical Field
The invention relates to the technical field of fault diagnosis of rotating equipment represented by a motor, in particular to a vibration signal deviation soft measurement and correction method of the rotating equipment of the motor.
Background
With the high-speed development of modern production, the role of the motor in production is more and more important, and as the scale and the structure of the motor become more powerful and complex, when the motor fails, the serious consequences of the motor can cause the whole system to be paralyzed to cause huge economic loss, when the motor is subjected to fault diagnosis, a measuring instrument arranged on the motor is particularly important, for example, when the bearing of the motor is diagnosed to be in fault, an accurate motor vibration signal needs to be obtained, so that the vibration sensor arranged on the motor cannot deviate, and the accuracy and the effectiveness of the vibration signal must be ensured.
Because the motor can vibrate in the working process, the vibration signal sensor is often deviated, and a deviation angle exists between the longitudinal direction of a reference coordinate system in the vibration signal sensor and the vertical direction of the motor of an actual coordinate system
If the vibration signal measured by the vibration signal sensor is adopted to directly perform fault diagnosis on the motor operation condition, the method using the vibration signal as the fault diagnosis basis has inaccurate analysis result due to the change of the signal amplitude, so that the judgment of the characteristic frequency is influenced, and the comparison result of the characteristic frequency spectrum and the fault frequency spectrum of the vibration signal is easy to misjudge. If an accurate vibration signal is desired, the original signal measured by the vibration sensor needs to be corrected, and the calculation of the offset angle is a major difficulty.
In summary, how to calculate the offset angle of the vibration sensor and how to correct the offset vibration signal becomes a problem to be solved.
Disclosure of Invention
The invention aims to provide a method for measuring the deviation angle between the longitudinal direction and the vertical direction of a vibration sensor, which respectively corresponds to the conditions of single frequency and complex frequency of a vibration signal. The deviation angle between the longitudinal direction and the vertical direction of the reference coordinate system in the vibration signal sensor is generated because the sensor is deviated when the motor works.
A soft measurement and correction method for vibration signal deviation of motor rotating equipment comprises the following steps:
s1, measuring vibration signal data of a plurality of groups of rotating equipment by taking the sampling frequency of the rotating equipment as a base number in an initial state, obtaining amplitude values in x and y directions before the vibration sensor is not deviated as reference values, and then collecting and calculating vibration signal data x in real time1，y1Magnitude in direction;
s2, detecting x of reference coordinate system1，y1Whether the direction is superposed with the x and y directions of the actual coordinate system or not is determined, and whether the vibration sensor deviates or not is determined;
s3, obtaining amplitudes in x and y directions of the normal signal and marking the amplitudes as A and B, and when the vibration sensor deviates, the signal amplitude and the normal signal amplitude exist and the deviation angle exists
The fixed relation between the two, the offset x is obtained according to the data1，y1Amplitude of direction signal A1，B1；
S4, using the amplitude A, B before offset and the amplitude A after offset1，B1The offset angle can be obtained and the angle can be adjusted.
Preferably, in S1, the x, y direction signal data and the x1，y1And respectively performing Lissajous figure synthesis on the signal data of the direction.
Preferably, after the lissajous figures are combined, when the vibration sensor is deviated, the lissajous figures before and after the deviation have angular deviation marked as theta.
Preferably, in S3, the offset angle
No offset in the vibration sensorWhen expressed as:
x and y are horizontal and vertical directions respectively.
Compared with the prior art, the method has the advantages that the design of the conventional mainstream vibration signal sensor is not required to be changed, the method for acquiring and calculating the angle offset of the vibration signal sensor in real time by using a soft measurement method is provided on the premise of not increasing the hardware device for measuring the inclination angle such as an additional gravimeter and the like to measure the angle, the hardware cost is greatly saved on the premise of solving the problem of the offset of the vibration sensor compared with the additional increase of the hardware measurement device, the use range of the conventional mainstream sensor is increased, and the accuracy of fault diagnosis of the rotary equipment represented by the motor based on the vibration signal is greatly improved.
Drawings
FIG. 1 is a schematic diagram of a comparison of a reference coordinate system and an actual coordinate system inherent to a vibration sensor;
FIG. 2 is a schematic diagram illustrating the synthesis of signals actually measured after the vibration sensor is shifted;
FIG. 3 is a schematic diagram of the actual signal synthesis after the vibration sensor has deviated 30 °;
FIG. 4 illustrates vibration sensor offset
Then synthesizing an accurate motor signal schematic diagram;
FIG. 5-a is a schematic diagram showing a comparison of the first case before and after correction in the x direction;
FIG. 5-b is a schematic diagram comparing the first case before and after correction in the y-direction;
FIG. 6-a is a schematic diagram of a composite Lissajous figure with the vibration sensor undeflected;
FIG. 6-b is a graphical composite view of a Lissajous diagram after a vibration sensor has been deflected 30 °;
FIG. 7 is a schematic diagram comparing a fitted ellipse with a sensor offset of 30 °;
FIG. 8-a is a schematic diagram showing a comparison of the second case before and after correction in the x direction;
FIG. 8-b is a schematic diagram comparing the second case before and after correction in the y-direction.
Detailed Description
The present invention will be further illustrated with reference to the following specific examples.
Because the deviation rear directions of the motor and the sensor are inconsistent, the horizontal direction is the x direction, the vertical direction is the y direction, the rotor direction of the motor is the z direction, and the transverse direction of the sensor is the x direction1Direction, sensor longitudinal direction y1Direction, parallel to the rotor of the motor, z1Orientation, irrespective of z-direction signal variation (guaranteed by sensor-mounted mechanical structure), at which time the deviation angle
I.e. y direction and y1The included angle of the direction. As shown in fig. 1.
Example one
Referring to fig. 2-5-b, the first case: when the main frequency of the vibration signal of a rotating device represented by a motor is in absolute dominance, the frequency of the vibration signal is equivalent to a single frequency. Under the initial stable state, under the condition that the sampling frequency is 1kHz, 2000 groups of motor vibration signal data are measured, the amplitude values in the x and y directions before the vibration sensor is not deviated are obtained as reference values, and then 2000 groups of data are taken as one group to collect and calculate vibration signal data x in real time1，y1Magnitude in the direction. First, the sensor is not shifted, when x of the reference coordinate system inherent to the sensor is present1，y1The direction coincides with the x, y direction of the actual coordinate system. X measured by vibration signal sensor1，y1The direction signal is an x and y direction signal, namely a normal signal; if the vibration signal sensor is deviated after a period of time, the x measured by the vibration signal sensor at the moment1，y1The direction signal is actually obtained by synthesizing x and y direction signals, and as shown in fig. 2, the amplitudes in the x and y directions are obtained according to the normal signal, and are respectively marked as a and B. When the vibration signal sensor is shifted, the signal amplitude and the normal signal amplitude exist and the shift angle exists
The fixed relation between the two, the offset x is obtained according to the data1，y1Amplitude of direction signal A1,B1. Using the pre-offset amplitude A, B and the post-offset amplitude A1,B1The offset angle can be obtained
(1) Calculating the single-time offset angle of the vibration signal frequency
Assuming that the sensor is not shifted at a sampling frequency of 1kHz, 2000 sets of motor vibration signal data are measured, and the vibration signals are expressed as:
After a period of time, the vibration signal sensor is deflected, assuming the sensor is deflected clockwise
Angle when
The signal decomposition at 30 ° is shown in fig. 3.
The actual measured signals of the sensors can be obtained from fig. 3 as follows:
extending to normal, clockwise sensor offset
The actual measured signal of the sensor at an angle is:
the above equation is simplified using the auxiliary angle equation:
order to
A1After offset x for the sensor1Magnitude in the direction.
A, B, A can be obtained through motor vibration signal data1Further, the offset angle is obtained
Measuring vibration signal data of 2000 groups of motors when the sensors do not deviate, obtaining amplitude values A and B of the vibration signals of the motors from the data, deviating the vibration signal sensors after a period of time, and obtaining x after deviation from the measured vibration signal data of 2000 groups of motors1Amplitude of direction A1。
According to the formula:
and obtaining an offset angle.
Because the vibration amplitude of the motor in the horizontal direction is small, and the vibration amplitude in the vertical direction is large, namely A is less than B, the formula of the offset angle is obtained:
wherein A is the vibration signal in the x direction measured when the sensor is not deviated, B is the vibration signal in the y direction measured when the sensor is not deviated, A1Measuring x for sensor offset1A directional vibration signal.
(2) Deriving a correction formula
Obtaining an offset angle
Then, in order to obtain an accurate motor vibration signal, the vibration signal acquired after the sensor is deflected needs to be corrected, and the vibration signal after the sensor is deflected at the moment is a known quantity, namely x1，y1The two-direction signal, signal decomposition and synthesis relationship is shown in fig. 4.
The correction formula is derived from fig. 4 as:
(3) simulation verification
Suppose the sensor is offset 30 ° clockwise, i.e.
Taking the vibration signal of the motor before correction as
2000 groups of motor data are obtained through the signals, and the 2000 groups of data are substituted into a formula
In the method, 2000 groups of data of vibration signals actually measured after the sensor is shifted are marked as data before correction, and then are substituted into a correction formula
2000 sets of data after correction are obtained, the x-direction data before and after correction are shown in FIG. 5-a, and the y-direction data before and after correction are shown in FIG. 5-b.
Example two
Referring to fig. 6-a to 8-b, the second case: a vibration signal of a rotating device represented by a motor often includes a plurality of frequencies. If the amplitude of the signals with different vibration frequencies is different, the signal synthesis method is adopted to calculate the offset angle
It is not suitable, so the patent proposes to use a lissajous synthetic pattern method to find the offset angle
Also, in the initial steady state, assuming that 2000 sets of motor vibration signal data are measured at a sampling frequency of 1kHz, then the x, y direction signal data measured by the vibration signal sensor are subjected to lissajous pattern synthesis as a reference. Then using 2000 groups of data as a group, collecting and calculating in real time, and measuring x measured by the vibration signal sensor1，y1Synthesizing a Lisa graph of a directional signal, if a vibration signal sensor deviates, certain angle deviation is inevitably existed in the Lisa graph before and after the deviation of the vibration signal sensor, the angle deviation is marked as theta, fitting an ellipse by using a least square method to vibration signal data measured by the vibration signal sensor in real time to obtain a general equation of the ellipse, using a Lagrangian multiplier method to obtain a coordinate of a farthest point of the fitted equation of the ellipse, obtaining a Lisa graph deviation angle theta through the coordinate of the farthest point, and obtaining the Lisa graph deviation angle theta at the moment, namely equivalently obtaining the deviation angle theta of the vibration signal sensor, namely
That is, the offset angle is obtained by the method
Firstly, assuming that the sensor is not shifted under the condition that the sampling frequency is 1kHz, 2000 groups of motor vibration signal data are measured, and the vibration signals are expressed as:
Lissajous pattern synthesis is performed on the x, y two-direction signals according to the lissajous pattern principle, i.e. a regular, stable closed curve synthesized by simple harmonic oscillations with two frequencies in simple integer ratios in mutually perpendicular directions, as shown in fig. 6-a.
After a period of time, the vibration signal sensor is deflected, assuming the sensor is deflected clockwise
Angle when
When the temperature of the water is higher than the set temperature,
the actual measured signals of the sensors are:
in order to verify the feasibility of the method, 2000 groups of motor vibration signal data are generated by using signals actually measured by the sensors, a lissajous figure after deflection is drawn as shown in fig. 6-b, the lissajous figure can be seen to deflect anticlockwise, and then the conclusion is drawn: under the condition that other conditions of the motor are not changed, the position of the sensor is only changed to influence the lissajous figure synthesized by the vibration signal of the motor, and the sensor is offset by an angle
There is a relationship with the lissajous figure deflection angle theta.
For exploring the offset angle of the sensor
And (3) according to the relation with the deflection angle theta of the lissajous figure, firstly carrying out ellipse fitting by using a least square method, obtaining an ellipse equation, then solving the coordinate of the farthest point of the ellipse by using a Lagrange conditional extremum method, and further solving the deflection angle theta of the lissajous figure.
(1) Ellipse fitting using least squares
The general equation for an ellipse is:
Ax2+By2+Cxy+Dx+Ey+1＝0
converting into:
Ax2+By2+Cxy+Dx+Ey＝-1
substituting 2000 sets of data into the above equation yields 2000 sets of linear equations, in matrix form according to the least squares method of the columns of the 2000 sets of linear equations:
Ax＝b
where A is a 2000 × 5 column matrix, x is a column vector of 5 × 1, and b is a column vector of 2000 × 1.
Obtaining x to obtain elliptical parameters A, B, C, D, E, and multiplying Ax and B by ATComprises the following steps:
ATAx＝ATb
i.e. x ═ aTA)-1(ATb) And solving the matrix to obtain:
A≈-0.7934B≈-0.4182C≈-0.6101D≈0.0011E≈0.0007
obtaining a fitted elliptic equation:
-0.7934x2-0.4182y2-0.6101xy+0.0011x+0.0007y+1＝0
the ellipse after fitting is compared with that before fitting as shown in fig. 7.
(2) Method for solving coordinates of farthest point on ellipse by Lagrange multiplier method
In order to obtain the difference of the Lissajous figures before and after the deviation, the coordinates of the maximum distance point from the fitted elliptic equation to the origin are solved, and the Lagrange multiplier method is adopted as follows:
the lagrange function is:
wherein
f(x,y)＝x2+y2，
The lagrange function is listed as:
F(x,y,λ)＝x2+y2+λ(-0.7934x2-0.4182y2-0.6101xy+0.0011x+0.0007y+1)
order to
Calculating the maximum value to obtain four coordinate points
Due to the fact that
The vibration amplitude in the vertical direction is greater than that in the horizontal direction, so that the point of | y | > | x | is satisfied
(3) Calculating the offset angle of the lissajous figure by the coordinates of the farthest point
Obtaining the deflection angle of the lissajous figures before and after deflection:
known sensor drift angle
The value of the deviation angle theta is approximately equal to that of the lissajous figure, so that the sensor deviation angle can be obtained according to the lissajous figure.
(4) Simulation verification
Suppose the sensor is offset 30 ° clockwise, i.e.
Taking the vibration signal of the motor before correction as
P1，P2Is white gaussian noise with a signal-to-noise ratio of 30 dB. 2000 sets of motor data are obtained from the signal,the lissajous figure is shown in figure 4-a. Then substituting 2000 groups of data into formula
In the method, 2000 groups of data of vibration signals actually measured after the sensor is deviated are obtained and then are substituted into a correction formula
2000 sets of data after correction were obtained, and the x-direction data before and after correction are shown in FIG. 8-a. The pre-correction and post-correction y-direction data are shown in FIG. 8-b. And obtaining a lissajous figure comparison chart before and after correction of the second condition.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.
Claims (4)
1. A soft measurement and correction method for vibration signal deviation of motor rotating equipment comprises the rotating equipment and a vibration sensor, and is characterized by comprising the following steps:
s1, measuring vibration signal data of a plurality of groups of rotating equipment by taking the sampling frequency of the rotating equipment as a base number in an initial state, obtaining amplitude values in x and y directions before the vibration sensor is not deviated as reference values, and then collecting and calculating vibration signal data x in real time1，y1Magnitude in direction;
s2, detecting x of reference coordinate system1，y1Whether the direction is superposed with the x and y directions of the actual coordinate system or not is determined, and whether the vibration sensor deviates or not is determined;
s3, obtaining amplitudes in x and y directions of the normal signal and marking the amplitudes as A and B, and when the vibration sensor deviates, the signal amplitude and the normal signal amplitude exist and the deviation angle exists
The fixed relation between the two, the offset x is obtained according to the data1，y1Amplitude of direction signal A1，B1；
S4, using the amplitude A, B before offset and the amplitude A after offset1，B1The offset angle can be obtained and the angle can be adjusted.
2. The method for soft measurement and correction of vibration signal deviation of motor rotating equipment according to claim 1, wherein in S1, the signal data in x and y directions and x are measured1，y1And respectively performing Lissajous figure synthesis on the signal data of the direction.
3. The soft measurement and correction method for vibration signal deviation of motor rotating equipment according to claim 2, characterized in that after the synthesis of the lissajous figures, when the vibration sensor is shifted, the lissajous figures before and after the shift have an angular deviation marked as θ.
4. The method for soft measurement and correction of vibration signal deviation of equipment of rotating electrical machines according to claim 1, wherein in S3, the deviation angle is
When the vibration sensor is not displaced, it is expressed as:
x and y are horizontal and vertical directions respectively.
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| JP2023028805A (en) * | 2021-08-20 | 2023-03-03 | セイコーエプソン株式会社 | Signal processing method, signal processing device, and monitoring system |
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