CN114088192A - Vibration monitoring protection system and method and storage medium - Google Patents
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Abstract
The invention provides a vibration monitoring protection system and method and a storage medium, wherein the system comprises: the inertia measurement equipment is arranged on the object to be monitored and used for detecting the three-dimensional axial vibration parameters of the space of the object to be monitored; the processor is electrically connected with the inertia measuring equipment and is used for receiving the axial vibration parameters, carrying out minimum noise filtration on the axial vibration parameters, calibrating the filtered axial vibration parameters and expanding the calibrated axial vibration parameters; acquiring different data of a set group from the expanded axial vibration parameters, at least performing standard value analysis, Gaussian distribution establishment and a corresponding logic control algorithm on the acquired data, establishing a related threshold value based on the logic control algorithm, and generating an alarm or prompt message based on the related threshold value; and the wireless communication equipment is used for receiving and outputting the alarm or prompt information of the processor. The invention has more accurate data acquisition and alarm output and reduces the accident occurrence probability.
Description
Technical Field
The present invention relates to system monitoring/protection technologies, and in particular, to a vibration monitoring protection system, method, and storage medium.
Background
At present, with the continuous development of related industries of gasoline, oil and heavy metal, related safety accidents are increased gradually, and in recent years, a plurality of chemical plant explosion events occur. From survey data, the true cause of these explosions cannot be determined at present. However, it is well known that explosive events often cause the death of large numbers of people and the damage to the infrastructure. Research has shown that most of these events occur in equipment with many rotating or rotating reciprocating machines and old infrastructure that pipes liquids. Thus, an explosion may be caused by the explosive gas leaking from the chemical plant during normal transportation of the explosive gas/liquid pipeline. Based on the research on the cause of accidents, many industries try to find a solution for detecting chemical leaks using explosive gas test meters or test strips, or gas detection business cards or so-called artificial noses. These methods detect the percentage of liquid or gas that leaks from the explosives so that maintenance personnel can track the area of the leak and find the leak point to avoid a possible explosive event. However, the above detection means requires that the gas leaks to a certain concentration, and for the object to be monitored placed in an open environment, it is likely that an accident occurs before the detection parameters do not reach the alarm condition.
Disclosure of Invention
The invention provides a vibration monitoring and protecting system and method and a storage medium, which at least solve the technical problems in the prior art.
One aspect of the present invention provides a vibration monitoring and protecting system, including:
the device comprises an inertia measuring device without natural drift, a vibration sensor and a controller, wherein the inertia measuring device is arranged on an object to be monitored and is used for detecting three-dimensional axial vibration parameters of the space of the object to be monitored;
the processor is electrically connected with the inertia measuring equipment and is used for receiving the axial vibration parameters, carrying out minimum noise filtration on the axial vibration parameters, calibrating the filtered axial vibration parameters and expanding the calibrated axial vibration parameters; acquiring different data of a set group from the expanded axial vibration parameters, at least performing standard value analysis, Gaussian distribution establishment and a corresponding logic control algorithm on the acquired data, establishing a related threshold value based on the logic control algorithm, and generating an alarm or prompt message based on the related threshold value;
a wireless communication device comprising at least one alert information output unit, at least one light source, a wireless/network communication unit to receive an alert or alert information from a processor and to activate the at least one alert information output unit and/or at least one light source based at least in part on the alert or alert information; and providing the maintenance reference strategy to the maintenance personnel remotely.
Optionally, the inertial measurement device includes three axial accelerometers and three axial gyroscopes, which are arranged on the three-dimensional axial accelerometer and the attitude and heading reference system AHRS sensor on the object to be monitored, and are used for measuring three-dimensional axial acceleration, angular velocity and angle;
the processor is also provided with a high-pass filter, a least square discrete optimization filter and a low-pass filter, and is used for performing high-pass and low-pass filtering on the axial vibration parameters and performing least square optimization.
Optionally, the axial vibration parameter includes at least one of: parameters of acceleration, angular velocity and angle;
the processor is further configured to: determining the offset between two axes of other dimensions of the inertial measurement equipment and a set coordinate axis on the basis of the set coordinate axis; automatically concentrating the acceleration parameters measured by the inertial measurement equipment to a natural force line, and under the static condition of the inertial measurement equipment, enabling the acceleration value of X, Y in three axial directions to be close to 0, the acceleration value of a Z axis to be close to-9.8, and the angular speed and the angle to be close to 0.
Optionally, the processor is further configured to:
calculating at least one of stress, speed, momentum and kinetic energy in a three-dimensional axial direction based on the acceleration parameter measured by the inertial measurement equipment after the measurement parameter calibration, and determining an alarm threshold value corresponding to the calculated parameter;
and comparing at least one of the acceleration, the accumulated speed, the stress and the accumulated energy with a corresponding alarm threshold value, determining whether the vibration response of the object to be monitored in the running time period needs to be alarmed, and remotely alarming through the wireless communication equipment when the vibration response needs to be alarmed.
Optionally, the processor is further configured to:
determining a normal distribution function for at least one of acceleration, stress, speed, momentum, kinetic energy and moment of coordinate axes measured by the inertial measurement equipment after the measurement parameters are calibrated, determining a normal distribution coefficient of at least one of acceleration, stress, speed, momentum, kinetic energy and moment of coordinate axes based on the normal distribution function, determining whether vibration response of the object to be monitored in the operation time period needs to be alarmed or not based on the normal distribution coefficient, and remotely alarming through the wireless communication equipment when needed.
Optionally, the measurement parameters further include determining a lateral inclination angle, a pitch angle, a roll angle of the object to be monitored in a three-dimensional coordinate system, and an angular velocity and an angle from an AHRS without natural drift, based on the axial vibration parameters measured by the inertial measurement device;
the processor is further configured to determine whether a vibration response of the object to be monitored in the operating time period needs to be alarmed or not based on at least one of the pitch angle and the roll angle, or at least one of acceleration, stress, speed, momentum, kinetic energy, and moment of a coordinate axis, and a corresponding alarm threshold, and remotely alarm through the wireless communication device when needed.
Optionally, the object to be monitored comprises at least one of a pump, a generator, a ship engine and a rotary machine;
the inertia measurement equipment is arranged at the top of the installation room of the object to be monitored, or the root area of the object to be monitored, or the pipeline of the object to be monitored, or the tank body connected with the object to be monitored.
In another aspect, the present invention provides a vibration monitoring and protecting method, including:
acquiring three-dimensional axial vibration parameters of space measured by inertial measurement equipment arranged on an object to be monitored;
carrying out minimum noise filtration on the axial vibration parameters, calibrating the filtered axial vibration parameters, and expanding the calibrated axial vibration parameters; acquiring different data of a set group from the expanded axial vibration parameters, at least performing standard value analysis, Gaussian distribution establishment and a corresponding logic control algorithm on the acquired data, establishing a related threshold value based on the logic control algorithm, and generating an alarm or prompt message based on the related threshold value;
and triggering the wireless communication equipment to output alarm or prompt information to user equipment to remind the user equipment of maintaining the object to be monitored.
Optionally, the method further comprises:
determining the offset between two axes of other dimensions of the inertial measurement equipment and a set coordinate axis on the basis of the set coordinate axis; automatically concentrating acceleration parameters measured by the inertial measurement equipment to a natural force line, and under the static condition of the inertial measurement equipment, enabling the acceleration value of X, Y axis in three axial directions to be close to 0, the acceleration value of Z axis to be close to-9.8, and the angular velocity and the angle to be close to 0; and
calculating at least one of stress, speed, momentum and kinetic energy in a three-dimensional axial direction based on the acceleration parameter measured by the inertial measurement equipment after the measurement parameter calibration, and determining an alarm threshold value corresponding to the calculated parameter;
and comparing at least one of the acceleration, the accumulated speed, the stress and the accumulated energy with a corresponding alarm threshold value, determining whether the vibration response of the object to be monitored in the running time period needs to be alarmed, and remotely alarming through the wireless communication/network equipment when needed.
Yet another aspect of the present invention provides a computer readable storage medium having a computer program stored therein, which when executed by a processor implements the steps of the vibration monitoring protection method.
According to the method, the operation related parameters of the three-dimensional axial direction of the object to be monitored are collected through the vibration related parameters of the object to be monitored, the collected parameters are subjected to noise filtration, and calibration, expansion and the like are carried out on the basis of the filtered related parameters, so that the detection parameters are more accurate and noiseless; after the processed data are subjected to standard value analysis, Gaussian distribution establishment and corresponding logic control algorithm processing, the generated judgment result is more accurate and reliable, accurate alarm information can be provided for an object to be monitored, and related faults can be alarmed in advance, so that explosion accidents of industries related to steam, oil and heavy metal are effectively avoided, and the operation safety of factories and factories is improved.
Drawings
FIG. 1 is a schematic diagram illustrating the structure of a vibration monitoring and protecting system according to an embodiment of the present invention;
FIG. 2 shows a data processing diagram of a processor of an embodiment of the invention;
FIG. 3 shows a schematic diagram of a logic control algorithm of an embodiment of the present invention;
FIG. 4 shows a schematic representation of the Gaussian standard values for an embodiment of the present invention;
FIG. 5 is a logic diagram illustrating an alarm output according to an embodiment of the present invention;
fig. 6 shows a flow chart of a vibration monitoring protection method according to an embodiment of the invention.
Detailed Description
In order to make the objects, features and advantages of the present invention more obvious and understandable, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Fig. 1 is a schematic diagram illustrating a composition structure of a vibration monitoring and protecting system according to an embodiment of the present invention, and as shown in fig. 1, the vibration monitoring and protecting system according to the embodiment of the present invention includes:
the inertial measurement equipment is arranged on an object to be monitored and used for detecting three-dimensional axial vibration parameters of the space of the object to be monitored; here, the object to be monitored includes at least one of a pump, a generator, a ship engine, and a rotary machine. In the embodiment of the invention, the inertial measurement equipment comprises three-dimensional axial accelerometers arranged on the object to be monitored or three axial accelerometers and three axial gyroscopes of an attitude and heading reference system AHRS sensor, and is used for measuring the three-dimensional axial acceleration and the related transverse inclination angle, pitch angle, roll angle, angular velocity and angle thereof so as to determine the parameters and the related influence thereof on the object to be monitored.
As shown in fig. 1, in the embodiment of the present invention, a plurality of objects to be monitored may be monitored, as long as corresponding inertial measurement devices are installed on the devices to be monitored, and the inertial measurement devices are connected to each other through a processor. The inertial measurement equipment can also report the detected relevant inertial parameters through the Internet of things mode, and the processor receives and analyzes the relevant inertial parameters to determine whether the object to be monitored needs to give an alarm to a background or not and remind maintenance personnel to perform necessary maintenance on the object to be monitored.
In an embodiment of the present invention, a Machine Vibration Monitoring and active Protection System (MVMPPS) is used to monitor a Machine to be monitored and protected, where the Machine to be monitored and protected may be a pump, a generator, a reciprocating Machine, any rotating Machine and its related equipment such as a wind turbine, etc.
The processor is electrically connected with the inertia measuring equipment and is used for receiving the axial vibration parameters, carrying out minimum noise filtration on the axial vibration parameters, calibrating the filtered axial vibration parameters and expanding the calibrated axial vibration parameters; acquiring different data of a set group from the expanded axial vibration parameters, at least performing standard value analysis, Gaussian distribution establishment and a corresponding logic control algorithm on the acquired data, establishing a related threshold value based on the logic control algorithm, and generating an alarm or prompt message based on the related threshold value. In the embodiment of the present invention, the processor may be formed by at least one Micro Control Unit (MCU).
A wireless communication device comprising at least one alert information output unit, at least one light source, a wireless communication unit to receive an alert or alert information from a processor and to activate the at least one alert information output unit and/or at least one light source based at least in part on the alert or alert information; and providing the maintenance reference strategy to the maintenance personnel remotely. In the embodiment of the invention, the line communication equipment comprises 3G, 4G and 5G communication equipment, or Internet of things communication equipment and the like.
In the embodiment of the invention, the MVMPPS formed by the inertia measurement equipment can be arranged on a centrifugal pump with a pipeline. As an example, MVMPPS may also be mounted on the roof of a room where the pump is mounted for detecting object accelerometer responses on the X, Y, Z axes in a coordinate system, such as forward/backward ± X, left/right lateral ± Y, and up/down ± Z. Note that the MVMPPS may also be mounted anywhere on the pumping system, such as on the root area of the pumping system, the piping, and the tank, as long as the components or devices or subsystems are most sensitive to vibration response or have the highest safety requirements. The MVMPPS of embodiments of the present invention may be mounted to a sloped surface of a pumping system. Because the embodiment of the invention can automatically recalibrate the MVMPPS to enable all three-dimensional accelerometers to return to zero, and other angles and angular rates also return to zero, the stress, energy and momentum of the inertial measurement equipment can be initialized from a neutral point (return-to-zero point). Therefore, the deviation of the uneven slope and temperature and the influence of random noise can be minimized.
In the embodiment of the present invention, the rotating machine generally makes the machine operation loud before the failure occurs, and in particular, the machine may cause the connection region to break or fatigue or liquid leakage before the rotating machine is damaged. Therefore, the installation of the MVMPPS is not limited by the machine itself. Can be installed at the joint part of a pipeline and the like which generate vibration motion due to the rotation of the machine.
Fig. 2 shows a data processing schematic diagram of a processor according to an embodiment of the present invention, and as shown in fig. 2, a control sequence of a processing unit (MCU) according to an embodiment of the present invention includes three operation steps, which are respectively: data manipulation, logic control algorithms, and switch logic arrangements. The MCU obtains three axial parameters measured by the inertia measurement equipment through the inertia measurement equipment, for example, three inertia measurement equipment such as an accelerometer, an angle and an angular rate are respectively arranged in three axial directions, or an AHRS sensor is directly arranged to measure the acceleration, the angle and the angular rate of the three axial directions, so that the measurement of the acceleration, the angle and the angular rate of the three axial directions is realized, and the inertia measurement equipment can also be called as an (x, y, z) accelerometer, the angle and the angular rate.
In the embodiment of the invention, the AHRS or three accelerometers are required to be installed, and the arrangement direction of the angles and the angular rates is not required according to the earth coordinates. Any direction related to the coordinates of the revolution solid may be set.
The measured Micro-Electro-Mechanical-System (MEMS) data is very noisy and may vary with time and temperature due to its natural characteristics from MEMS materials and designs before the accelerometer data measured by the inertial measurement device enters the MCU for operation and computation. These data are referred to as raw data with deviations and drifts on a single axis. If these data are not processed and manipulated correctly, they are difficult to use to accurately predict the machine vibration response.
Furthermore, almost all acceleration sensors are pre-stressed in MEMS mechanical design. The accelerometer sensor measurements will not return to zero even after all noise is removed and there is no pre-stress. The preset value of the accelerometer sensor will be conducted from one sensor to the other, resulting in severe deviation of the measurement. The preset value of the accelerometer sensor is not fixed and can vary from + -0.1 m/s2Or up to. + -. 0.3m/s2. This may be the root cause of failure of vibration monitoring using raw data, since the variation of the preset values on all three axes is not small. At present, a method for establishing three axial acceleration motion models by using a single axial accelerometer as a vibration monitoring function is available, which obviously does not eliminate the problem of mutually perpendicular axes. They simply move the vertical problem from the MEMS side to the processor side.
In practice, however, it is very difficult to manufacture a three-axis MEMS sensor in which each axis is perfectly perpendicular to each other. Typically, the axial coupling value varies between 3% and 17%. These couplings will later lose accuracy of the final measurement. And the loss of precision may be random without any pattern being found. Therefore, the embodiment of the invention considers all the factors and successfully eliminates the obstacles by using the MCU online control algorithm. Therefore, as shown in fig. 2, once the accelerometer data enters the MCU side, the MCU will execute many algorithms to process the data to ensure the accuracy and usefulness of the data. The main algorithm comprises three parts: data manipulation, logic control algorithms, and switching logic arrangements.
The data manipulation is manipulation of the three-axis acceleration measurements so that various types of manipulation data can be transformed and generated for the control logic to properly estimate the vibration threshold. The alarm threshold may then be a dynamic change with respect to the mass, size, rotational frequency, associated connection items, etc. of the various machines. The data operation consists of three parts.
As the raw data enters the MCU, it must be filtered to minimize noise and interference during normal sensor operation.
In the embodiment of the invention, firstly, the acquired data is subjected to minimum noise filtering, and the minimum noise filtering is performed through three basic filters: a high pass filter, a least squares discrete optimization filter, and a low pass filter. While a three filter design is used to achieve minimal noise cancellation, the desired approach may add or delete any filters as needed to achieve the filter design best suited for the filter design, thereby reducing the accelerometer MEMS noise effects. The reason for using the discrete least squares filtering design is to introduce its advanced time-varying computation and newton's deepest search algorithm, which has been shown to remove up to 75% of the operational white random noise without losing the rapidity of the sensor response, which is mainly the least squares criterion value that optimizes the noise error. The low pass filter is a combination design that can be used for various machine speed requirements. For example, if the operating system requires a low response speed, a low pass may be introduced to counteract more of the noise effects. In return, it will reduce the response bandwidth of the data output system.
In the embodiment of the invention, after the data is filtered, the data is calibrated, centered and zeroed, which is to enhance the design and integration of the whole system.
The data calibration consists of two parts, as shown in FIG. 2. The first is calibration and the second is data auto-centering/zeroing. During the design phase, data calibration values and centering values are retained and added during real-time testing. The embodiments of the present invention preserve multiple sets of data for calibration and centering. The values of the calibration data are stored, which is referred to as a dynamic memory trim approach. Dynamic memory trim trimming is the application of the c-code (— pointer) method to various parameters and uses (— pointer) for storage in flash memory. If these trim values are undefined, the default values for these values will be zero. The primary purpose of the data calibration is to output the output data to the desired machine location area and to focus the output data to the desired value in order to remove all bias and offset of the MEMS data. Through data calibration, the machine alarm system will not have any offset and deviation, therefore, the inertia measurement without natural drift can improve the accuracy of MVMPPS.
Data calibration and centering/zeroing is performed by reading the sensor data to check for calibration offsets. And controls and automatically enters offset data, adjusts gain parameters and validates the final trigger point for the alarm. After ensuring that the data is concentrated to the desired value, the data must be expanded to further reduce the offset and bias effects on the control logic. Instead of using a pure accelerometer to predict the machine vibration level.
In the embodiment of the invention, a three-dimensional calibration accelerometer is adopted to acquire data. In order to enable the (X, Y, Z) accelerometer to be correctly and reasonably applied to MVMPPS throughout the testing and monitoring process, the acceleration data of the AHRS or accelerometer sensor must be centrally corrected using an autonomous matrix calculation method after filtering the data. One of the key objectives of the autonomic matrix computation method is to automatically focus the acceleration values of the accelerometer onto its natural force lines. For example, under static conditions (accelerometer sensor is not stressed), the three axial acceleration values should be close (A)x～0，Ay～0，Az-9.8), wherein AxIs X axial acceleration, AyIs a Y axial acceleration, AzIs the Z axial acceleration. Autonomous matrix computationThe other key target of the method is to find the offset of the sensor from each axis to the other two axes on the basis of detecting whether the axes of the sensor are vertical to each other. The third key objective of the autonomous matrix calculation method is to combine matrix calculation with the off-perpendicularity angles of the two axes, thereby calculating the offset of each angle. Once these off-perpendicular angles are found, the three axial accelerometers (X, Y, Z) can be calibrated back to their natural force line, i.e. the object mass is fixed (F ═ Ma).
After completing the above three automatic calibration and automatic centering methods, it can be found that the angles and angular rates of the three axial off-vertical angles can also be centered and zeroed. All of these calculations can be done automatically using the software matrix angular transformation matrix.
Thus, the three-dimensional accelerometer can be calibrated to approximate the magnitudes of the following equations
Where (abs) is defined as the absolute value of the object item.
The embodiment of the invention can calibrate the acceleration data collected by the (X, Y, Z) axis of the accelerometer on the pump to the precision below the formula (1).
In addition, the angular velocities and angles of the three vertical accelerometers are centered and zeroed.
Therefore, to achieve this accuracy performance, first, the accelerometer must be automatically calibrated and centered.
In the embodiment of the invention, the three-dimensional calibration speed in the time T can be accumulated. In particular, for the accelerometer to be sufficiently accurate, the natural drift of the accelerometer must be less than 0.1m/s per hour2. After the correct three axial accelerometer calibration values are obtained, these values will be used to calculate the three axial velocities. The velocity will be obtained using the following formula, the cycle time being T:
where T may be a calculated time horizon (Δ T), a Real Time Operating System (RTOS), or an operating time of one second, or any time defined by the user.
It is assumed that the system does not have any yaw movement in the x-y plane. Only roll and pitch angles will affect the velocity calculation. Thus, the change in angle caused by these two angles can be formulated as follows:
wherein (V)x，Vy，Vz) Is the velocity calculated by the accelerometer, (V)x M，Vy M，Vz M) Is the new speed of the machine due to the change in the horizontal angle of the ground caused by the effect of the ground (rolling angle phi, pitch angle theta).
When roll and pitch angles are equal to or near zero, the matrix will be an identity matrix, with all matrix diagonal entries being ones. Thus, if AHRS angular velocities and angles without natural drift are used, the three axial velocities do not change. The off-diagonal terms of the matrix in equation (3) are all zero.
As the off-diagonal terms increase, the diagonal terms will decrease. This indicates that the ground has moved from the (roll and pitch) direction. The larger the off-diagonal term of the matrix in equation (3), the larger the angular displacement. However, the total matrix criterion value will remain unchanged. This is a method of checking ground movement. The above summarizes ground problems affecting rotating machines.
Similarly, if the total standard value of the (x, y, z) velocity is increased from the accelerometer, the vibration force affecting the level of the device to be monitored increases. The effect on these parallel displacement amplitudes.
In embodiments of the present invention, it is also desirable to determine the three-dimensional force based on the measurement parameters. Force is defined as the measurement of mass times the accelerometer, as shown in the following equation:
the three-dimensional momentum is the momentum of three coordinate axes, and is:
three-dimensional kinetic energy refers to kinetic energy of three coordinate axes, where the energy is defined as kinetic energy on a single axis, as follows:
in the present embodiment, the standard value is defined as the square root of all three axes. They are used to calculate the total accelerometer, force or velocity or kinematic energy as follows:
where x defines the front/rear direction of the MVMPPS, y is the right/left direction, and z is the down/up direction. Positive or negative values of these directions follow the right hand rule.
Knowing all of the operational data described above will provide more internal information from the raw measurements, so many alarm trigger thresholds for machine vibration limits can be designed and understood, rather than one from the accelerometer.
When the three-dimensional acceleration is calibrated to almost zero from the previous step (F)z9.8 ~ 0), the estimates of the force and energy of a single axis will be cumulatable from zero to some value. Thus, canUsing the overall values (pure accelerometer, cumulative velocity, force, and cumulative energy) and the alarm thresholds of the individual values to correctly judge the vibration response over the machine's operating time period to determine at least one of: whether equipment (machine) to be monitored is in a state needing maintenance; whether the machine is in an alert state; whether the machine has reached a time to failure, etc.
In the embodiment of the invention, the logic control algorithm is required to be processed based on the data after the alignment is completed. Specifically, after the logic control algorithm obtains the aforementioned different data from the data operation, these will be used to generate the relevant software logic flow for the control algorithm to create the relevant thresholds so that the respective maintenance/attention/warning alarms can be properly triggered. In order to achieve the aims, the logic control algorithm is established by three parts, namely standard value analysis, Gaussian distribution establishment and a control algorithm.
FIG. 3 shows a schematic diagram of a logic control algorithm of an embodiment of the present invention, and as shown in FIG. 3, the normalized values of acceleration, velocity, force, torque, and energy may be considered as the total value of the dynamic motion of the rotating machine under powered operation. These values will be fixed to their individual constants, as called C respectively, assuming that the acceleration, velocity, force, moment and kinematic energy are free of any additional force, moment and energy resourcesA、CV、CF、CMAnd CKEWhere C is defined as a constant and the subscript is the physical motion parameter thereof. Under standard operation, the respective axial physical movements should be orthogonal in the (x, y, z) direction. Therefore, they should be independent of each other. Initially, no coupling between (x, y) or (y, z) or (z, x) occurs. These physical movements may be referred to as gaussian distributions since they are independently distributed.
In the embodiment of the invention, Gaussian normal distribution calculation is also required to be carried out on the three axial collected data. In particular, when the rotary machine and associated equipment are rigid, permanently fixed, and unable to perform any movement, the machine should be in normal operation, and once installed, no failure or malfunction should occur. However, the machine and its associated equipment may not be robust enough for overall system integration. Thus, the possible intrusion forces, momentum or energy may come from the following factors: the rotating machine eccentrically rotates; rotary mechanical systems and connected flexible structure forces and momentums; loosening a fixing screw on the rotary machine; external force or momentum due to maintenance of the required functions; the conveying liquid in the rotary machine changes; the water hammer effect is caused by air bubbles or vacuum on the liquid transport due to temperature changes.
All of which cause changes in force, momentum, and total energy. If the above factors are small and normally distributed for a short time, the rotating machine may remain centered during normal operation. However, if external forces and momentum have been encroached on a certain percentage of the total force or energy, the multi-axis vibration amplitude of the rotary machine will increase to resist the encroaching forces and momentum. In general, if the increments of force, momentum, and energy on the device are normally distributed, the rotating mechanical system can still maintain its functionality smoothly. However, if the force, momentum and energy are not normally distributed, vibration of the rotating machine can produce damaging motion, which can cause damage to the machine, or break connections, or cause leaks in the delivery conduit to relieve pressure, etc. In the embodiment of the invention, the robustness of the connection of the rotating machine for losing the performance is different according to the external force, the momentum and the time length of the energy exerted on the vibration motion. For smaller forces, momentum and energy, rotating machines take longer to lose their robustness. However, if the forces, momentum, and energy exceed the machine vibration threshold, the rotating machine may be immediately damaged. Therefore, methods for predicting shaker thresholds based on various Rotating Machines (RMs) must provide accurate vibration estimates from accurate sensors so that trigger points upon which to base the determination are close enough to provide timely alerts to draw attention. Therefore, the calculation of the normal distribution is used as a first step in calculating the distributed energy required to reach the threshold. However, if it is checked that the external force, momentum, and energy are not normally distributed, the setting of the corresponding threshold is also different.
In the embodiment of the present invention, in order to test the normal distribution function, it is necessary to verify whether the (x, y, z) axes are independent from each other, define (x-axis force or moment) as α, define (y-axis force or moment) as β, and if α and β are independent, α and β are independent and (α + β) and (α - β) are also independent; then both a and β must follow a normal distribution where a and β are acceleration, velocity, force, momentum, or energy.
From the above, it can be seen that the single axis is independent of the (x, y, z), (x, y, z) accelerometer and the velocity or force should be independent. Therefore, these calibration variables of the above formula are used to estimate the normal distribution calculation. The accelerometer can be described by the following equation:
wherein the (i, j, k) axis represents the (x, y, z) direction. (A) The standard values of (a) would be:
this will satisfy the initial condition calculation. Rearranging equation (1) into a standard value matrix form, the following equation can be generated:
applying the space transformation matrix to equation a above, a matrix format of the form:
wherein (phi, theta, psi) are roll angle, pitch angle and yaw angle of the object to be monitored, respectively. If the fuselage and its associated equipment are rigid, all angles will remain at zero degrees and will not move due to vibrational motion if AHRS angular velocities and angles without natural drift are used, which means (phi 0 deg., theta 0 deg., psi 0 deg.). Thus, the transformation matrix is:
TRthe standard value of (a) will be an identity matrix. Thus, if the system is in normal operation and the relevant detection parameters follow a Gaussian distribution, the standard values of all the aforementioned matrices will remain at their standard values.
For small displacement angles, T, on (phi, theta, psi)RThe off-diagonal terms of (a) will have some value. If these values are above certain ranges, e.g. θ>10 deg., then the off-diagonal terms will not be small because of the use of AHRS angular velocities and angles without natural drift, and these angular variations can be considered to be caused by machine vibrations. This indicates that (x, y, z) is no longer independent. For this reason, it may be considered that vibration of the machine causes the machine to exceed a desired threshold, at which point an alarm is generated and sent to maintenance personnel for attention.
The above case assumes that the criterion values are at the same magnitude, but that the increase in the off-diagonal terms has exceeded the threshold. If external forces, moments, momentum, energy invade the rotating machine, the total standard value of the above dynamic monitoring function is no longer maintained. The reason why the entire standard value is changed is: the diagonal terms are kept unchanged, and the off-diagonal terms are changed; the diagonal terms are changed, and the off-diagonal terms are kept unchanged; or, both diagonal and non-diagonal terms have changed.
In the three possible cases described above, the total normalized value will vary in magnitude across its respective axis. Due to the influence of these external forces, the entire motion of a single axis will no longer be gaussian distributed for the other axes. Therefore, these features will be useful for standard value analysis.
And (3) standard value analysis: from the above-mentioned TRThe gaussian distribution formula in the equation can find that the rotating machine maneuver can be tracked by using a back propagation method of flight dynamics motion due to the rotating machine vibration effect, namely, the maneuver of the rotating machine can be estimated by using the flight dynamics method. If the spin maneuver exceeds the desired threshold, then the external disturbance to the RM may be deemed to place the machine in a maintenance, caution or warning state.
In general, due to vibration effects, it can be attributed to: failure or defect of some parts of the rotating machine; the characteristics of the rotary machine for conveying the materials in the pipeline are changed due to blockage or other reasons; the fixed screw is loosened or loosened due to the long service life of the swing machine; the rusty part of the related device of the rotary machine is fluctuated and overrun; the original position precision of the rotary machine is lost due to the influence of the structural flexibility; the structure of a rotary fatigue machine; other effects such as environmental factors, temperature, humidity, lost ground level, earthquakes, etc.
In embodiments of the present invention, the rotating machine may utilize changes in its vibrations (forces, momentum, and energy) beyond limits to notify maintenance personnel. Vibration (force, momentum, and energy) changes can be measured and compared from their original normal distribution of force, moment, and energy, from small changes or larger changes. Under the same operating conditions, depending on the variation of the amplitude of the vibrations, this may indicate that the rotating machine has its associated hidden information, for example in the case of maintenance; note that in case, a shutdown for further inspection may be required; alarm conditions, which must be handled immediately; otherwise, the machine may be damaged or an explosive event may occur.
Thus, embodiments of the present invention employ calculated standard values of all raw forces, momentums, and energies, as well as all flight dynamics forces and momentum spreads, to help determine the RM threshold. Fig. 4 shows a schematic diagram of the gaussian standard values of the embodiment of the present invention, and as shown in fig. 4, since so many dynamic variables are used for calculating the vibration threshold, the possibility of erroneous judgment is small. The switching logic algorithm of the embodiments of the present invention will help to correctly predict the trigger point.
The standard distribution of force, momentum, and energy calculated from the AHRS sensors of MVMPPS has been converted to six-dimensional aeronautical aerodynamic parameters. The reasons for transferring these (forces, momentum and energy) are: the principle of operation of a Rotating Machine (RM) is similar to an aircraft, which has dynamic motion in more than 6 dimensions; all six angles of motion will be examined to help judge the effect of vibration; during steady state (static conditions on the ground), RM should be 1mg of ground support (downward pressure); if the rotating machine is firmly fixed on the ground and cannot move at all, the vibration force and moment generated when the rotating machine starts the rotating function can be regarded as white noise. Small changes in lift/drag/lateral force and moment can be detected with AHRS sensors under large vibration effects. These minor changes are accumulated to see if they are growing/increasing. These variations may become uncontrollable and are referred to as color noise. The effect of the color noise on the aerodynamic forces and moments of all three axes can then be monitored. These values may be very small, but they still continue to affect the fixed joint support of the RM. Instead of monitoring only the pure three axial accelerometers, the changes in the six degrees of freedom of motion (acceleration, angular velocity and angle) are monitored simultaneously. In this way, it is possible to calculate and accumulate correctly the rotating machines affected by the parallel displacements and by the angular forces and moments. Furthermore, their incremental curves and changes can be obtained. For any parallel displacement force exceeding a certain value, it can be regarded as two or four joint supports are loosened. For any angular moment exceeding a certain value, it can be considered that one or three joint supports will loosen. Once the translational, angular force and moment incremental curves and changes reach the predefined and test values of the three levels, an alarm reporting system is triggered. These three rank values of the alarm system are used to notify (consult, warn, or warn message) the desired crew members of the devices using 3G/4G/5G/wifi/IoT. At the local rotating machine position, a buzzer alarm will be detected. The warning buzzer noise is not cancelled until either the reset on the smartphone or the reset of the MVMPPS on the rotating machine is pressed, which is being notified to the flight crew.
If the notified message is advisory, maintenance records will be collected by the cloud technology. IoT cloud technology will automatically dispatch maintenance crews to repair and maintain machines.
In the embodiment of the invention, aiming at the analyzed conditions, the threshold values of the three possible triggering conditions are discussed by using the standard value of the dynamic maneuver and the Gaussian distribution of five factors. More than three triggering situations may occur in the system monitoring design; however, the desired approach is to estimate the possible cases and classify them as the best estimate of the machine vibration threshold using accelerometers and velocity. Thus, from standard value analysis and gaussian distribution calculations, the following algorithm is generated for all variables to predict the active dynamic threshold.
In the embodiment of the invention, the alarm has at least 11 trigger factors for determining whether there is a real trigger point. Since the threshold breaching operation will occur on the x, y, or z axes, and each axis has at least two variables in 11 calculations. Due to the occurrence of a vibration maneuver fault, it is estimated that at least two alarms out of 11 factors will be triggered. This would be one of the key elements that help determine whether real vibration is occurring. Thus, in the default logic algorithm, 3 of the 11 factors are triggered and the alarm message will be used to determine whether the alarm is a maintenance requirement or a warning.
In an embodiment of the invention, when an alarm message is triggered, its associated value will be recorded and used to determine the level of importance of the message based on machine vibration. Both the trigger value and the standard value added by the IC will be used as and gates to determine the importance level of the message. For any value, one of which is maintenance-required and the other of which is a warning message, the control algorithm determines it as maintenance-required. For any message, one of which is an early warning message and the other of which is a warning message, the control algorithm will determine it as a warning message. In the embodiment of the present invention, three of the over-limit 10 elements are selected as trigger points, and the main reasons are as follows: avoiding false alarm when using a single message; trigger points are allowed to be triggered on time, and all 11 messages are prevented from being used; the standard value and the initial IC value are calculated to ensure that the individual factors do change; the gaussian normal distribution is used to ensure that noise is not due to variations in the characteristics of the conveyed material.
Based on the logic, the situation of fault false alarm can be avoided. Of course, it is also possible to select 2, 4, 5, 6, … …, or all the alarm triggering messages as the points of the real judgment logic, as shown in fig. 5, and add the sum of all the boolean values of the alarm signals together to compare with (0, 5, 1.5, 2.5, 3.5, 4.5, 5.5, etc.). In the present case, the vibration alarm signal is true if the sum value is 2.5 or more. This means that the alarm will not be true unless more than three local signals are triggered. However, the more alert vibration elements selected for vibrating the alert message, the higher the GE trigger value is set, and the more difficult it is to simultaneously initiate a true trigger condition. The conditions for triggering a vibration alarm will be very limited. The fewer factors are selected, the more easily the true trigger condition is detected. The logical decision to trigger a shock message is much easier. The trade-off can be determined from actual testing. However, the following physical judgment is achieved with the cause of three alarm elements; when the two-axis vibration warning element loses the gaussian norm distribution and couples, a system alarm will be triggered. Typically, vibration alert trigger points will be paired; for example, (x-force) and (x-momentum) are typically triggered simultaneously due to their coupling behavior. (y-force and y-momentum) should be independent of the x-axis element. When coupling, triggering, losing normal distribution, the probability of a true triggering situation is much higher than the traditional method that only uses one element as a trigger point. Therefore, the current innovative design can avoid the false triggering function.
Once a true alarm is determined, the vibration alarm message will be processed in three levels, as shown in fig. 5. RM software vibrates the alarm process until the alarm system has been determined to be a true alarm. The alarm messages sent to maintenance personnel and plant managers or higher level management personnel will depend on the basis that the remote control manager needs to know to follow the maintenance procedure. In an embodiment of the invention, the alert message comprises three levels. Since the trigger values are offset from the original IC values and standard values, the importance of the vibration alarm will depend on the amount of offset of the trigger values from the original IC values and standard values. For example, if the offset value is within ± 10%, no message should be sent. However, if the offset value is between 20% and 30% of its original value over several time ranges, a hint message will be sent. If the vibration alarm value reaches more than 250% of its original value, a warning message will appear. If the alert value is between the prompt and warning messages, an early warning message may occur. The reason for choosing 250% above its original value is to match 2.5 times as discussed previously in fig. 5. This value is arbitrary and can be changed according to the actual test results.
On the MVMPPS, a warning light and a buzzer are installed to notify in-plant maintenance personnel locally when the RM vibration alarm is triggered. During normal operation (no alarm), the standard machine lights will light up and the buzzer will turn off. In the embodiment of the invention, the frequency and amplitude of the buzzer sound of the lamp and the buzzer are different, and the lamp and the buzzer are used for vibrating the alarm logic switch. For example, if a message (reminder message) requiring maintenance is triggered, the frequency will be the lowest on/off flashing, and the buzzer will sound the lowest and the frequency is the lowest, which is called the reminder message.
In embodiments of the present invention, remote messages of this alert message may be sent using the Internet using 4G/5G/Wi-Fi and/or Bluetooth to elicit a higher level of attention. When the RM vibration alarm switches to the warning message, the higher frequency will flash on/off for the attention of the surrounding maintenance personnel. The network warning message will be sent to the coordinator. For a warning message, the buzzer and speaker will sound a sharp beep and flash at the fastest rate.
In the embodiment of the invention, the purpose of using 3G/4G/5G, Wi-Fi or Bluetooth is to connect the Internet, and the following points can be achieved: sending an instant message to a maintenance person or a higher-level manager; sending data and communicating with cloud computing to reset a trigger point; recording online trigger data using cloud storage for maintenance or insurance debates; monitoring the vibration condition on line for remote control; automatically dispatching a maintenance team to repair the detected problem; recording the reason and repair of the problem and part change to automatically generate a maintenance log book;
the embodiment of the invention can be used for vibration monitoring/protecting and alarming of new/old rotating machinery, and 3G/4G/5G or Wifi is used as a communication protocol using the Internet of things and cloud technology during operation. Thus, the internet of things and cloud technologies can help handle scheduling and logging events. The smartphone will alert the plant owner or maintenance manager or maintenance personnel to implement autonomous functions through smartphone remote control or local field notification. Embodiments of the present invention are capable of autonomous/seamless/intelligent monitoring/protection/alarm/reporting to required personnel or teams. The process will also be logged using cloud technology so that maintenance members can go directly to the desired event machine location for repair and/or maintenance. Further, if all incident events can be designed to be automatically written into the cloud record with date and time and final processing status. Thus, an autonomous maintenance procedure can be achieved.
Fig. 6 is a schematic flow chart of a vibration monitoring and protecting method according to an embodiment of the present invention, and as shown in fig. 6, the vibration monitoring and protecting method according to the embodiment of the present invention includes the following processing steps:
In the embodiment of the invention, the inertial measurement equipment comprises three axial accelerometers and three axial gyroscopes which are arranged on a three-dimensional axial accelerometer or an AHRS sensor on an object to be monitored and are used for measuring three-dimensional axial acceleration, angular velocity and angle.
The object to be monitored includes at least one of a pump, a generator, a ship engine, and a rotary machine.
Step 602, performing minimum noise filtration on the axial vibration parameter, calibrating the filtered axial vibration parameter, and expanding the calibrated axial vibration parameter; acquiring different data of a set group from the expanded axial vibration parameters, at least performing standard value analysis, Gaussian distribution establishment and a corresponding logic control algorithm on the acquired data, establishing a related threshold value based on the logic control algorithm, and generating an alarm or prompt message based on the related threshold value.
In the embodiment of the invention, the axial vibration parameters are subjected to high-pass and low-pass filtering and least square optimization.
Determining the offset between two axes of other dimensions of the inertial measurement equipment and a set coordinate axis on the basis of the set coordinate axis; automatically concentrating acceleration parameters measured by the inertial measurement equipment to a natural force line, and under the static condition of the inertial measurement equipment, enabling the acceleration value of X, Y axis in three axial directions to be close to 0, the acceleration value of Z axis to be close to-9.8, and the angular velocity and the angle to be close to 0; and
calculating at least one of stress, speed, momentum and kinetic energy in a three-dimensional axial direction based on the acceleration parameter measured by the inertial measurement equipment after the measurement parameter calibration, and determining an alarm threshold value corresponding to the calculated parameter;
and comparing at least one of the acceleration, the accumulated speed, the stress and the accumulated energy with a corresponding alarm threshold value, determining whether the vibration response of the object to be monitored in the running time period needs to be alarmed, and remotely alarming through the wireless communication equipment when the vibration response needs to be alarmed.
As an implementation manner, a normal distribution function is determined for at least one of acceleration, stress, speed, momentum, kinetic energy and moment of coordinate axes measured by the inertial measurement device after measurement parameter calibration, a normal distribution coefficient of at least one of acceleration, stress, speed, momentum, kinetic energy and moment of coordinate axes is determined based on the normal distribution function, whether a vibration response of the object to be monitored in a running time period needs to be alarmed or not is determined based on the normal distribution coefficient, and remote alarming is performed through the wireless communication device when needed.
Or, the measurement parameters further include determining a transverse inclination angle, a pitch angle and a yaw angle of the object to be monitored in a three-dimensional coordinate system based on the axial vibration parameters measured by the inertial measurement equipment; correspondingly, the embodiment of the invention also determines whether the vibration response of the object to be monitored in the operation time period needs to be alarmed or not based on at least one of the pitch angle and the roll angle or comparing at least one of the pitch angle and the roll angle with at least one of acceleration, stress, speed, momentum, kinetic energy and moment of a coordinate axis with a corresponding alarm threshold value, and remotely alarms through the wireless communication equipment when needed.
The vibration monitoring and protecting method according to the embodiment of the present invention can be understood by referring to the related description of the vibration monitoring and protecting system, and the detailed processing procedure thereof is not described herein again.
In addition to the above-described methods and apparatus, embodiments of the present application may also be a computer program product comprising computer program instructions that, when executed by a processor, cause the processor to perform the steps in the methods according to the various embodiments of the present application described in the "exemplary methods" section of this specification, above.
The computer program product may be written with program code for performing the operations of embodiments of the present application in any combination of one or more programming languages, including an object oriented programming language such as Java, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computing device, partly on the user's device, as a stand-alone software package, partly on the user's computing device and partly on a remote computing device, or entirely on the remote computing device or server.
Furthermore, embodiments of the present application may also be a computer-readable storage medium having stored thereon computer program instructions that, when executed by a processor, cause the processor to perform steps in a method according to various embodiments of the present application described in the "exemplary methods" section above of this specification.
The computer-readable storage medium may take any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. A readable storage medium may include, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples (a non-exhaustive list) of the readable storage medium include: an electrical connection having one or more wires, a portable disk, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
The foregoing describes the general principles of the present application in conjunction with specific embodiments, however, it is noted that the advantages, effects, etc. mentioned in the present application are merely examples and are not limiting, and they should not be considered essential to the various embodiments of the present application. Furthermore, the foregoing disclosure of specific details is for the purpose of illustration and description and is not intended to be limiting, since the foregoing disclosure is not intended to be exhaustive or to limit the disclosure to the precise details disclosed.
The block diagrams of devices, apparatuses, systems referred to in this application are only given as illustrative examples and are not intended to require or imply that the connections, arrangements, configurations, etc. must be made in the manner shown in the block diagrams. These devices, apparatuses, devices, systems may be connected, arranged, configured in any manner, as will be appreciated by those skilled in the art. Words such as "including," "comprising," "having," and the like are open-ended words that mean "including, but not limited to," and are used interchangeably therewith. The words "or" and "as used herein mean, and are used interchangeably with, the word" and/or, "unless the context clearly dictates otherwise. The word "such as" is used herein to mean, and is used interchangeably with, the phrase "such as but not limited to".
It should also be noted that in the devices, apparatuses, and methods of the present application, the components or steps may be decomposed and/or recombined. These decompositions and/or recombinations are to be considered as equivalents of the present application.
The previous description of the disclosed aspects is provided to enable any person skilled in the art to make or use the present application. Various modifications to these aspects will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other aspects without departing from the scope of the application. Thus, the present application is not intended to be limited to the aspects shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
The foregoing description has been presented for purposes of illustration and description. Furthermore, the description is not intended to limit embodiments of the application to the form disclosed herein. While a number of example aspects and embodiments have been discussed above, those of skill in the art will recognize certain variations, modifications, alterations, additions and sub-combinations thereof.
Claims (10)
1. A vibration monitoring protection system, the system comprising:
the inertial measurement equipment is arranged on an object to be monitored and used for detecting three-dimensional axial vibration parameters of the space of the object to be monitored;
the processor is electrically connected with the inertia measuring equipment and is used for receiving the axial vibration parameters, carrying out minimum noise filtration on the axial vibration parameters, calibrating the filtered axial vibration parameters and expanding the calibrated axial vibration parameters; acquiring different data of a set group from the expanded axial vibration parameters, at least performing standard value analysis, Gaussian distribution establishment and a corresponding logic control algorithm on the acquired data, establishing a related threshold value based on the logic control algorithm, and generating an alarm or prompt message based on the related threshold value;
a wireless communication device comprising at least one alert information output unit, at least one light source, a wireless communication unit to receive an alert or alert information from a processor and to activate the at least one alert information output unit and/or at least one light source based at least in part on the alert or alert information; and providing the maintenance reference strategy to the maintenance personnel remotely.
2. The system of claim 1, wherein the inertial measurement device comprises three axial accelerometers, three axial gyroscopes of a three-dimensional axial accelerometer or an attitude reference system (AHRS) sensor disposed on the object to be monitored for measuring three-dimensional axial acceleration, angular velocity and angle;
the processor is also provided with a high-pass filter, a least square discrete optimization filter and a low-pass filter, and is used for performing high-pass and low-pass filtering on the axial vibration parameters and performing least square optimization.
3. The system of claim 1, wherein the axial vibration parameters include at least one of: parameters of acceleration, angular velocity and angle;
the processor is further configured to: determining the offset between the three axes of other dimensions of the inertial measurement equipment and a set coordinate axis on the basis of the set coordinate axis; automatically concentrating the acceleration parameters measured by the inertial measurement equipment to a natural force line, and under the static condition of the inertial measurement equipment, enabling the acceleration value of X, Y in three axial directions to be close to 0, the acceleration value of a Z axis to be close to-9.8, and the angular speed and the angle to be close to 0.
4. The system of claim 3, wherein the processor is further configured to:
calculating at least one of stress, speed, momentum and kinetic energy in a three-dimensional axial direction based on the acceleration parameter measured by the inertial measurement equipment after the measurement parameter calibration, and determining an alarm threshold value corresponding to the calculated parameter;
and determining whether the vibration response of the object to be monitored in the running time period needs to be alarmed or prompted based on the comparison of at least one of the acceleration, the accumulated speed, the stress and the accumulated energy with a corresponding alarm threshold value, and remotely alarming through the wireless communication equipment when needed.
5. The system of claim 3, wherein the processor is further configured to:
determining a normal distribution function for at least one of acceleration, stress, speed, momentum, kinetic energy and moment of coordinate axes measured by the inertial measurement equipment after the measurement parameters are calibrated, determining a normal distribution coefficient of at least one of acceleration, stress, speed, momentum, kinetic energy and moment of coordinate axes based on the normal distribution function, determining whether the vibration response of the object to be monitored in the running time period needs to be alarmed or not based on the normal distribution coefficient, and remotely alarming through the wireless or internet of things IoT communication equipment when needed.
6. The system of claim 5, wherein the measuring parameters further comprise determining a lateral tilt angle, a pitch angle, a roll angle of the object to be monitored in a three-dimensional coordinate system, and an angular velocity and an angle from the AHRS based on the axial vibration parameters measured by the inertial measurement device;
the processor is further configured to determine whether a vibration response of the object to be monitored in the operating time period needs to be alarmed or not based on at least one of the pitch angle and the roll angle, or at least one of acceleration, stress, speed, momentum, kinetic energy, and moment of a coordinate axis, and a corresponding alarm threshold, and remotely alarm through the wireless communication device when needed.
7. The system of claims 1 to 6, wherein the object to be monitored comprises rotating equipment comprising: at least one of a pump, a generator, a marine engine, and a rotary machine;
the inertia measurement equipment is arranged at the top of the installation room of the object to be monitored, or the root area of the object to be monitored, or the pipeline of the object to be monitored, or the tank body connected with the object to be monitored.
8. A vibration monitoring protection method, the method comprising:
acquiring three-dimensional axial vibration parameters of space measured by inertial measurement equipment arranged on an object to be monitored;
carrying out minimum noise filtration on the axial vibration parameters, calibrating the filtered axial vibration parameters, and expanding the calibrated axial vibration parameters; acquiring different data of a set group from the expanded axial vibration parameters, at least performing standard value analysis, Gaussian distribution establishment and a corresponding logic control algorithm on the acquired data, establishing a related threshold value based on the logic control algorithm, and generating an alarm or prompt message based on the related threshold value;
and triggering the wireless communication equipment to output alarm or prompt information to user equipment to remind the user equipment of maintaining the object to be monitored.
9. The method of claim 8, further comprising:
determining the offset between two axes of other dimensions of the inertial measurement equipment and a set coordinate axis on the basis of the set coordinate axis; automatically concentrating acceleration parameters measured by the inertial measurement equipment to a natural force line, and under the static condition of the inertial measurement equipment, enabling the acceleration value of X, Y axis in three axial directions to be close to 0, the acceleration value of Z axis to be close to-9.8, and the angular velocity and the angle to be close to 0; and
calculating at least one of stress, speed, momentum and kinetic energy in a three-dimensional axial direction based on the acceleration parameter measured by the inertial measurement equipment after the measurement parameter calibration, and determining an alarm threshold value corresponding to the calculated parameter;
and determining whether the vibration response of the object to be monitored in the running time period needs to be alarmed or not based on at least one of acceleration, accumulated speed, stress and accumulated energy compared with a corresponding alarm threshold value, and remotely alarming through the wireless communication or IoT equipment when needed.
10. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the steps of the vibration monitoring protection method according to claim 8 or 9.
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| CN114964140A (en) * | 2022-06-06 | 2022-08-30 | 中交第一航务工程局有限公司 | Total station vertical angle value taking method and system under vibration observation condition |
| CN117419761A (en) * | 2023-09-27 | 2024-01-19 | 成都天测皓智科技有限公司 | High-precision intelligent sensing refuse landfill situation monitoring method and system |
| CN117434878A (en) * | 2023-12-22 | 2024-01-23 | 山东朝辉自动化科技有限责任公司 | Monitoring device for digital stock ground intelligent control equipment based on unmanned aerial vehicle |
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