CN101592712B - Method for operating device - Google Patents
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- CN101592712B CN101592712B CN200910141803.8A CN200910141803A CN101592712B CN 101592712 B CN101592712 B CN 101592712B CN 200910141803 A CN200910141803 A CN 200910141803A CN 101592712 B CN101592712 B CN 101592712B
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
- H02P29/02—Providing protection against overload without automatic interruption of supply
- H02P29/024—Detecting a fault condition, e.g. short circuit, locked rotor, open circuit or loss of load
- H02P29/0241—Detecting a fault condition, e.g. short circuit, locked rotor, open circuit or loss of load the fault being an overvoltage
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
- G01R31/34—Testing dynamo-electric machines
- G01R31/343—Testing dynamo-electric machines in operation
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Abstract
The present invention relates to a method for operating a device, namely a method for operating a driving controller 400. According to the invention the damage can be found beforehand in producing the machine part in the production processing process thereby increasing the productivity of the machine. The aim of the invention is realized through the driving controller 400 with an integrated diagnosing and/or monitoring unit for identifying mechanical failure, wherein the machine vibration can be automatically detected besides automatic machine closed-loop control and/or machine open-loop control and furthermore the machine state is analyzed automatically with the detected machine vibration. Therefore the bearing damage can be identified and eliminated beforehand.
Description
Technical field
The present invention relates to a kind of operation for controlling the method for the device of servomotor, and device and application thereof accordingly.
Background technology
Client has higher requirement to the usefulness of machine and device and automaticity, and this has proposed task to machine builder, updates the availability of its product.In this development trend, condition monitoring system plays a part more and more important in the maintenance plan of machine.
Unplanned shutdown is equally undesirable with unnecessary preventative maintenance aborning.Maintenance for state makes final user's higher usage use its serviceable life too, and provides maintenance targetedly to critical component.In order effectively to implement these strategies, machine builder must with parts and the combined efforts of controller manufacturer.Applicant relates to parts and controller manufacturer, relates in particular to for controlling the manufacturer of the device of motor, especially driving governor.
The principle of the device producing as applicant for example, has been shown in the Japanese open source literature that is 2006230039A at publication number.At this, by speed pickup, by driving governor, detected the speed of motor, and by controlling parameter in the situation that consider the speed that detected, that utilizes actual value/ratings relatively adjusts motor speed.
According to the difference of load and working time, on motor, may there is bearing damage, this can cause vibration.These vibrations may be diffused into the peripheral equipment driving by motor, or are diffused into other and are coupled to the mechanical hook-up on motor.For for example, for the motor of driven tool lathe, these vibrations may reduce crudy defective work piece.
The solution of this vibration of hitherto known monitoring is independently monitoring device of relatively described device.This extra monitoring device must be connected with system to be monitored with very high cost, for obtaining distinctive motor data.This means extra cost, and improved expense to machine builder.
Summary of the invention
The object of the present invention is to provide a kind of device, it can be with small extra cost, finds in advance the damage on the driver part of machine, and therefore improves the productive capacity of machine.
The task that the present invention proposes has method and the device of the operation according to the present invention itself and should being used for of this device of the device of driving governor function by a kind of operation.Described device comprise open loop control and/or Closed Loop Control Unit and according to the present invention integrated diagnosis unit, for identifying mechanical fault, be particularly useful for bearing diagnosis.The method according to this invention comprises method step below very less:
A) machine that can be connected with described device is controlled in automatically closed-loop control and/or open loop;
B) automatically detect machine vibration;
C) in the situation that the machine vibration that consideration detects is automatically implemented machine state analysis by described diagnosis unit.
From different from solution well known in the prior art, described vibration is directly by described device itself, to detect and analyze.Do not need outside and expensive be connected and first will be parameterized vibration monitoring mechanism.All parametrizations are all carried out in described device inside automatically.Therefore in practice, described device self, except the function of driving governor, also has the function of vibration detection mechanism or vibration monitoring mechanism.This comes the solution of work to compare with the analysis institution by outside, has reduced cost and has had systematized advantage.Therefore by described device, can with small additional cost directly monitoring driving motor and be connected to the mechanical hook-up on this motor or be connected to the machine on this motor.Outside sensing device is not to force to need.
All measurement parameters of using in analysis, the actual revolution of the motor for example being driven by described device, just offered described device for realizing control object originally.Thereby do not produce extra wiring expense for described analysis, and also can in the situation that considering rotation speed change, carry out vibration analysis.This has improved again according to the dirigibility of device of the present invention and range of application, and provides the possibility of bearing diagnosis for the bearing of the motor that drives by described device.Especially at conjunction processor bed, the application of preferred combination machine tool is during according to the device that is integrated in driver of the present invention, and the present invention is conducive to reduce costs when manufacturing machine and modification quality.In addition also by the present invention, improved, the productive capacity of these machines.
Preferably in the situation that consider that at least one is stored in the vibration that parameter that machine state changes detects machine that depends in described device.This parameter can refer to that at least one or more makes Closed Loop Control Unit or the parameterized parameter of open loop control module, by it, can derive less desirable machine behavior (for example eigenwert of actual value, the description machine state measured).Further preferably, in the situation that consider that at least one is arranged at least one sensor signal of the sensor (acceleration transducer and/or structure-borne sound sensor) on machine, can implement machine state analysis.These additional sensor signals can be used for analysis result to be optimized and/or to verify, and needn't increase necessary wiring costs for this reason, always also than lower from the method for application external analysis well known in the prior art mechanism.In implementing the framework of foregoing method of operating, at least one parameter of Closed Loop Control Unit and/or open loop control module and the basic parameter that at least one is stored in described device compare, and directly or indirectly draw the deduction about machine state from comparative result.Especially preferred at this, wherein automatically identify described parameter with respect to basic parameter according to the deviation of margin tolerance that can be predetermined.
Common described device comprises Closed Loop Control Unit, it has the closed loop controlling structure of tandem type, for closed-loop control position and/or speed and/or electric current, wherein when analyzing, considered at least one parameter of positioner and/or speed control and/or current controller.Therefore, by corresponding inter-process step (derivation, frequency analysis etc.), in conjunction with the signal pattern existing, identify the bearing damage of existence, and for analysis purpose.
Wherein said machine state analysis constantly machine run duration preferably in real time or time delay ground especially carry out can put beat predetermined time.Therefore can guarantee, according to the model of machine or abrasional behavior difference, come to analyze enduringly or periodically.In the framework of analyzing, preferably comprise extraly following steps: the signal that filters external sensor, and/or the sensor signal of filtering is sampled, and/or the sensor signal of having sampled is carried out to digital conversion, and/or switched signal is carried out to signal analysis, wherein said signal analysis preferably includes enveloping curve analysis equally.
In the framework of analyzing in machine state, wherein said device preferably synchronously detects the state parameter of machine as measured value sequence, and especially, when the curve movement due to machine causes that the rotating speed of machine changes, described measured value sequence is attached troops to a unit in curve movement.In addition preferably, the described measured value sequence being detected by described device is for rotating speed that can be predetermined by standardization, and wherein said device can also be obtained the change degree of the cycle length of the sensor signal having detected in the situation that considering that machine rotational speed changes.Then when machine rotational speed rising being detected by described device, described device can compensate the variation of the cycle length of the sensor signal having detected.Also possibly, in standardization framework according to the present invention, cycle length is elongated when rise of rotational speed, and shortens when rotating speed reduces, in the time interval that wherein changes two of measured value sequence measured values in succession, make the immersion needle with different cycles still keep constant to its cycle.And then, the measured value sequence interval of rotational speed criteria can be set as by interpolation equidistant.Even when the rotation speed change of machine to be monitored, this method also can be used according to device of the present invention.
Especially preferred, memory controller able to programme (SPS, PLC) can be included in described device, by this controller, also can control at least one outside sensor (for example acceleration transducer, tachometer of measuring).Described control can realize the full automation of machine state analytic process, and can be used for equally other automation process.
The present invention proposes, and it is visual for realizing that analysis result is delivered to stage arrangement (such as control desk etc.) from described device; Or described device automatically by being included in operation panel in described device, that analysis result is realized is visual.
In order to realize foregoing method step, described device comprises control assembly, by this control assembly, can process the signal being produced by structure-borne sound sensor or acceleration transducer, is about to described signal filtering, and carries out digitizing according to sample frequency.The diagnosis unit of described device is realized like this at this, and described signal can be analyzed by its frequency spectrum.
Described control assembly also preferably includes sampling hold circuit, A/D converter, wherein preferably includes in addition mechanism for digitized signal being carried out to rectification, for the mechanism of signal filtering and for signal being transformed into the mechanism of frequency domain.
Device according to the present invention is preferred for moving machining tool, and machine tool especially can reduce the failure rate of this machine for this reason.
Also can be for realizing status monitoring process according to device of the present invention, for by long-range
Diagnosis (for example bearing diagnosis) and remote maintenance prevent possible machine breakdown in advance.
Accompanying drawing explanation
The accompanying drawing the following describes is only used to understand better the present invention, and they are not that the present invention is limited in these embodiments.These accompanying drawings are all partly rough and schematic.In principle, each mode of operation providing in accompanying drawing or text, each principle, each technical construction scheme and each feature can be carried out freedom and combination arbitrarily with feature that comprise or that draw thus in all claims, each feature in text and other accompanying drawing, other mode of operation, principle, technical construction scheme and this open source literature, and therefore all combinations of considering all can add in open scope of the present invention.The combination that also comprises all single embodiment in text is each paragraph of text, in claims at this, is also included in the combination of the different embodiment in text, claims and accompanying drawing.
Fig. 1 a and Fig. 1 b show the comparison of two kinds of different solutions.The first solution has been shown in Fig. 1 a, and it is known and have outside bearing damage and analyze by prior art.The second solution has been shown in Fig. 1 b, and it is according to solution of the present invention and has the machine state analysis that is integrated in driver according to of the present invention.
Embodiment
In the flexible program of Fig. 1 a, driving governor 100 is connected with the servomotor 101 that will regulate according to power.On motor 101, be provided with structure-borne sound sensor 103 and motor speed detecting device 104.The output terminal of structure-borne sound sensor 103 and motor speed detecting device 104 leads to independently diagnostic tool 102 of relative driving governor 100, and this diagnostic tool is connected with mobile data-detection apparatus 106, for example, be connected with kneetop computer 106.Requirement to various outer periphery equipment 102 and associated wiring 107,108 is very high.The expense of implementing continuously thus diagnosis is inevitable very high too.
Press Fig. 1 b according in the flexible program of internal drive formula of the present invention, driving governor 100 is connected with the servomotor 101 that will regulate equally according to power.The solid-borne noise for example detecting by the structure-borne sound sensor 103 on motor 101, needn't relend now and help mobile data-detection apparatus 102 and diagnosis computer 106 as analyzed from known Fig. 1 a.On the contrary, solid acoustic signals is directly delivered on driving governor 100, and this driving governor 100 has diagnosis mechanism 102 as integrated ingredient according to the present invention.Therefore can and therefore based on driver, carry out vibration analysis in the inside of driving governor 100.
Driving governor 100 in the functional framework as open loop control and Closed Loop Control Unit, constantly detects the actual speed of motor 101 at it.Therefore in internal drive, provide the necessary all data of vibration analysis.Therefore driving governor 100 has realized the function that system is the same as shown in Figure 1a together with motor 101.No longer need independent with the mobile data-detection apparatus 106 outside diagnostic tool 102 that for example kneetop computer 106 is connected.The approximate driven controller of function of diagnostic tool and/or data-detection apparatus comprises.Wiring 107,108 has also been saved.In addition, when invariablenes turning speed and when rotating speed is non-constant, can carry out described analysis in internal drive.With from solution well known in the prior art, compare, the cost of implementing like this diagnosis is lower.Especially now can be at any time, though normal operation device and preferably in real time without external intervention carry out vibration diagnosis and/or vibration monitoring.In addition, compare with traditional method, owing to being that parameter to internal drive is processed, thereby improved quality of diagnosis.It is also feasible by the Internet or similar communication tool, carrying out remote-controlled diagnosis operation.
Except the framework of the hardware aspect of system, also there is the application of signal principle aspect, it implements in the firmware of driving governor.When implement software, carry out specially the sampling of high-frequency signal or discretize (owing sampling, aliasing), special frequency inverted (enveloping curve spectrum) and special frequency analysis.
In the vibration survey of carrying out applicant, confirmed functional according to principle of the present invention on the servomotor damaging for test purpose.Before the bearing of servomotor is confirmed as damaging, in a large amount of measurement sequences, determine the normal condition of vibration survey.
The measurement result of normal condition compared for the measurement sequence that has represented the state having damaged for the later stage.After pulling down the cover plate of bearing, by electronic hand-held milling cutter, on the outer ring of rolling bearing, process a dark breach.This carries out under the installment state of bearing, after the bearing cap of servomotor is removed.Therefore there is the failure pattern that typical outer ring is damaged.In the sensor signal of the acceleration transducer using at the trial, can confirm by frequency analyzer the failure pattern of this intentional generation.In the higher range of speeds (> 1000rpm), the failure pattern producing also can clearly identify in the enveloping curve spectrum of sensor signal without misreading.In addition, can also identify electric frequency, rotor rotational frequency and sensor frequency.
For the estimating according to the usefulness of device 100 of the present invention for measuring the acceleration transducer 103 of rotor acceleration on motor 101 that be fixed on for used, by the analog input end that installs 100, read in sensor signal.By sampling by device 100 according to the present invention, produced the frequency spectrum shown in Fig. 2 and 3.Fig. 4 shows corresponding pilot system.
Fig. 2 according to be arranged on servomotor 101 and by unit 100, analyzed the frequency spectrum ，YiHzWei unit (horizontal ordinate) that structure-borne sound sensors 103 show intact bearing for analysis purpose.The spectral line marking with A is the signal (for example electric frequency) that electricity causes.The spectral line marking with B is the signal (for example rotor rotational frequency) that machinery causes.
Fig. 3 shows identical view, but in the situation that exist the rolling bearing having damaged on servomotor 101.Frequency spectrum in Fig. 2 and Fig. 3 is compared, can see obvious difference, these differences can damage to explain by the rolling bearing deliberately causing on the outer ring of rolling bearing already mentioned above.Except frequency part known from Fig. 2, first also can see transfinite frequency C and the harmonic wave (seeing Fig. 3) thereof of outer ring now, they are damaged and are caused by described rolling bearing.
Fig. 4 shows the system of damaging for monitoring bearing according to of the present invention, and this system comprises driving governor 400, servomotor 401, acceleration transducer 403 or structure-borne sound sensor 403.At interface, 405 places can connect higher level's control desk.In addition, this system also can be applicable to the field of status monitoring process.By the diagnosis and the monitoring means (not shown) that are included in device 400, the device 400 shown in Fig. 4 can automatically compensate or identify the vibration occurring on motor 401 at least in part.
Fig. 5 shows the details of processing in the inner sensor signal of carrying out of device according to of the present invention.Device 500 comprises having the control assembly 501 of low-pass filter 502, the sampling hold circuit 503 with metronome 505, A/D converter 504.In device 500, also include equally diagnosis and/or monitoring means 506.This diagnosis and/or monitoring means 506 comprise mechanism 507, for to carrying out rectification by the digitized signal of control assembly 501; Mechanism 508, for signal filtering (low-pass filter, band are logical, down-sampling); Mechanism 509, for being transformed into frequency domain by the module by above 502,503,504,505,507 and 508 sensor signals of processing.
By making sensor signal and a series of pulse, in the interval in the sampling period of metronome 505, multiply each other, realize the sampling of sensor signal in control assembly 501. obtained thus signal continuous in time, but it is just defined as being not equal to zero to upper discrete value t=k*T of time, or identical with original unsampled sensor signal x (t) on the time point of t=k*T.T represents the time at this, and T represents the sampling period, and K represents control variable.The quantification of sort signal or value discretize realize by analog to digital converter 504.This analog to digital converter 504 keeps each analogue value of link 503 to distribute a digital value to sampling.This distribution always in accordance with regulations the quantization level of quantity (this has determined signal resolution) carry out.The resolution of analog to digital converter 504 is higher, and the quantization level providing is just more.
Because can not realize in practice high sample frequency arbitrarily, avoid aliasing, so continuous signal must be limited in its bandwidth.This by above connecting analog low-pass filter 502 realize, this low-pass filter is also contained in equally according in device of the present invention.By low-pass filter 502, can filter out higher frequency part.For digital reconstruction with investigate the frequency part of continuous time signal, according to the present invention, by device 500, with step below, realize described digitizing:
1. by filter, make the sensor signal filtering of sensor 501;
2. the signal of such filtering is passed to sampling holding device 503 for sampling;
3. the signal of being sampled by sampling holding device 503 is passed to analog to digital converter 504,
For generation of digital signal.
Except selected low-pass filter 502 herein, bandpass filter also provides a kind of possibility of avoiding aliasing, by described bandpass filter, the frequency outside Nyquist region can be detected " reliably ".Certainly this only has the bandwidth when bandpass filter,, by region, accurately between two axis of reflection, just may realize.By previously described law, the frequency in this region is partly reflected in Nyquist region.Then owing to having understood the bandwidth of bandpass filter, described aliasing frequency can accurately be attached to corresponding frequency domain (owing Nyquist sampling).By this technology, only need by bandpass filter, realize simulation frequency overlapped-resistable filter for high-frequency part, just can use existing system.May be considered that equally, make two or more frequency overlapped-resistable filters parallel, their output terminal or sample individually by region.Described sequence of values can correspondingly be processed, and therefore, after the stack of following, the frequency ratio of the signal of generation is sampled much higher by classic method.
When keeping link 503 to sample by sampling, in principle framework according to the present invention, do not observe wittingly this sampling principle (owing sampling), and always consider the appearance of aliasing frequency.For closed-loop control machine, this there will not be serious problem conventionally, because the amplitude of the expectation of aliasing frequency is negligiblely little.According to the performance (configuration of close loop control circuit) of setting, set fixing sample frequency, in its scope in kHz (approximately 4kHz).
The damage frequency of the rolling bearing occurring in structural framing of the present invention refers to the excitation of shock pulse shape, and it can periodically repeat when the invariablenes turning speed of rotor.Even also can vibrate or vibrate under the intact state of servomotor 101,401 its bearings, therefore can not from acceleration signal, direct derivation go out bearing damage.According to frequency inverted of the present invention, it carries out in driving governor 100,400, has brought remedial measures.The system that shows as sustainable vibration excited by impact of servomotor 101,401, and the excitation with damped vibration of impact pulse type makes a response, this subsequently can influence power excitation and acceleration signal between actual transfer behavior.By FFT (Fast Fourier Transform (FFT)) algorithm, described acceleration signal resolves into its harmonious ingredient.
In addition, the positive peak or the reversal point that connect acceleration signal have also formed a kind of curve, and this curve approaches the curve of serrate vibration very much.Serrate vibration is known from Fourier expansion or Fourier synthesis.It can be determined clearly in the frequency spectrum of traditional Fourier transform.Serrate vibration is comprised of a plurality of even-multiples of fundamental vibration and this fundamental vibration.This multiple is also referred to as harmonic wave, and its amplitude counts at harmonic order the l/n that declines when n increases.Therefore in frequency domain, show the obvious characteristic of serrate vibration.Described method is also referred to as enveloping curve modulation or enveloping curve analysis in signal is processed.In framework of the present invention, enveloping curve analysis realizes by following steps:
(1) by negative value being asked square, being negated or truncation, realize the digital rectification 507 of time signal, and
(2) by down-sampling, carry out digital low-pass filtering 508, and
(3) DFT (discrete Fourier transformation) 509.
The principle of enveloping curve analysis is included in according in device 100 of the present invention in hardware and/or software.The significant advantage of the method is to suppress harmonious vibration, and utilize discordant vibration.For pure Fourier transform, only calculate the harmonious ingredient of vibration on the contrary, and all other discordant systematicness and periodicity all keep being covered.Therefore it is visual that, enveloping curve analysis is adapted at making in frequency domain the shock pulse repetition frequency of bearing damage most.
Foregoing functional module 502,503,504,505,507,508,509 is closely worked with being included in together with the digital computation unit (not shown) in device 100 of the present invention.Module 507,508,509 can combine in order to realize enveloping curve analysis.Originally the sensor signal that will analyze comes from the external sensor 510 (structure-borne sound sensor, acceleration transducer or like) of linking on control assembly 501.
Even in order also to implement the vibration survey shown in Fig. 2 and Fig. 3 when rotating speed is non-constant, by the method according to this invention or device 100 according to the present invention, implement rotational speed criteria.It is 2500rpm that test (the seeing equally Fig. 4) Plays of for example implementing applicant changes into rotating speed.When the signal of scanning acceleration transducer 103, the invariablenes turning speed ground of servomotor 101 rises, and this is for setting in motion curve.
Due to this rise of rotational speed, in described measurement, in acceleration transducer signals, do not have to produce the rule remaining unchanged, this can reach by enveloping curve analysis.But described curve movement (it is stored in driving governor) is known for device according to the present invention, and sensor signal can be carried out rotational speed criteria.Described standardized advantage is that the actual speed of machine can be standardized into rotating speed arbitrarily.Thereby, even also can measure and analyze as enveloping curve analysis subsequently when invariablenes turning speed.In the situation that considering final rotating speed and/or initial rotating speed, by the time interval elongated, realize standardization.Provide the time signal that for example initial rotational speed criteria is changed into 2500rpm for this reason.
And then, have the signal of Equidistant Nodes by the interpolation generation of standardized signal, it has carried out enveloping curve analysis.The result of analyzing by the enveloping curve according to the time signal of rotational speed criteria of the present invention of vibration survey, can see outer ring pulleying frequency and its harmonic wave significantly, as it, at invariablenes turning speed, carry out during at 2500rpm vibration survey desired.The steps necessary of rotational speed criteria can be delivered in compound arbitrarily curve movement.
Description above and the measurement of enforcement have confirmed that sensor signal comprises the clear and definite information about definite bearing damage state.The sampling of being undertaken by device according to the present invention provides such information, this information as the evidence of bearing damage from enveloping curve analysis.
Understanding according to the present invention can be used as the further basis to status monitoring (machine monitoring) area research.Especially clearly recommend, by the present invention in conjunction with the shock pulse and the utilization that are caused by bearing damage or do not utilize enveloping curve analysis in frequency domain, it to be investigated for machine monitoring object.
Especially clearly recommend, in conjunction with understanding according to the present invention, in the situation that only investigate the internal state parameter of driving governor, do not use the structure-borne sound sensor/acceleration transducer of any outside.According to the degree of bearing damage, it is meaningful or attainable utilizing or not utilizing the solution of external sensor.
To being integrated in the major criterion that the usefulness of the vibration survey of driver evaluates, it is the possibility of measuring when rotating speed is non-constant.By this method of rotational speed criteriaization, when rotating speed is different, this also can measure in the process of curve movement.This constant test rotating speed to other side necessity of servomotor, no longer includes strict restriction.For diagnostic system common on market, this understanding can be regarded the significant advantage of the vibration survey scheme that is integrated in driver as.
The fundamental vibration of take in Fig. 6 is described in the inner method of carrying out rotational speed criteria of device as having exemplified, and shortens constantly its cycle length (with reference to upper figure).
Drop to T9 from T1 the cycle length of actual vibration, and vibration has obviously been " shortened ".The understanding that time based on to cycle length or " shortening degree " changes, the single cycle of whole vibration is by the method according to this invention elongated or " elongation " again.In this meaning, as broad as long for the node of digital signal and the variation in the time interval in the situation that while considering rotation speed change according to being standardized in of cycle length of the present invention, the time of the cycle length of signal changes.According in the basic conception of rotational speed criteria of the present invention, the understanding based on to curve movement, the at random rotating speed of required standard.This design, from practice, therefore can be implemented vibration survey on rotating speed slope or in curve movement process.The precondition of invariablenes turning speed means for many application, for carrying out vibration survey and monitoring subsequently, must interrupt normal operation.But " real-time state monitoring (namely " on the fly (online) "), this and machine builder's hope is inconsistent according to so-called.Now, the present invention just can realize monitoring without this interruption.
Claims (32)
1. an operation is for controlling the method with the device (100) of state analysis to motor (101), wherein said device (100) comprises diagnosis unit, the fault of the motor (101) that will be controlled by described device (100) for identification, and wherein said device (100) comprises Closed Loop Control Unit and/or open loop control module, and described method comprises following methods step:
A) machine is controlled in closed-loop control machine and/or open loop;
B) detect at least one machine vibration;
C) by described diagnosis unit in the situation that consider the machine vibration detected, implement machine state analysis.
2. by method claimed in claim 1, wherein in the situation that considered that at least one parameter being stored in described device (100) carries out described machine state analysis, above-mentioned parameter can depend on machine state and change, wherein, when carrying out described machine state analysis, also to additionally consider that at least one is arranged on sensor signal acceleration transducer (103) and/or that be arranged on the structure-borne sound sensor (103) on machine (101) on machine (101).
3. by method claimed in claim 2, wherein carrying out described machine state while analyzing, consider a plurality ofly to depend on actual machine state and be stored in the parameter in described device (100).
4. by method claimed in claim 2, wherein at least one parameter of Closed Loop Control Unit and/or open loop control module and basic parameter that at least one is stored in described device (100) compare.
5. by method claimed in claim 4, wherein automatically identify described parameter with respect to basic parameter according to the deviation of margin tolerance that can be predetermined.
6. by method claimed in claim 1, comprising Closed Loop Control Unit, this Closed Loop Control Unit has the closed loop controlling structure of tandem type, be used for closed-loop control position and/or speed and/or electric current, and wherein when analyzing, considered at least one parameter of positioner and/or speed control and/or current controller.
7. by method claimed in claim 1, wherein said machine state analysis constantly machine run duration have beat and carry out or time delay have beat and carry out.
8. by method claimed in claim 2, wherein additionally comprise following methods step:
A) by sensor signal filtering and/or
B) sensor signal of filtering is sampled and/or
C) sensor signal of having sampled is carried out digital conversion and/or
D) switched signal is carried out to signal analysis.
9. by method claimed in claim 8, wherein said signal analysis comprises enveloping curve analysis.
10. by the method described in any one in aforementioned claim 1 to 9, wherein said device (100) detects the state parameter of machine (101) as measured value sequence, and above-mentioned measured value sequence is attached to described curve movement.
11. by method claimed in claim 10, the measured value sequence wherein being detected by described device (100) for rotating speed that can be predetermined by standardization.
12. by method claimed in claim 2, and wherein said device (100) is obtained the change degree of the cycle length of the sensor signal having detected in the situation that considering that machine rotational speed changes.
13. by method claimed in claim 2, and wherein said device (100) is being identified the variation that compensates the cycle length of the sensor signal having detected when machine rotational speed rises by described device.
14. by the method described in claim 13, and wherein said cycle length is elongated when rise of rotational speed, and shortens when rotating speed reduces.
15. by method claimed in claim 10, wherein changes the time interval of two of measured value sequence measured values in succession, makes the cycle of measured value sequence keep constant.
16. by the method described in claim 11, and wherein the measured value sequence interval of rotational speed criteria is set as equidistant by interpolation.
17. by method claimed in claim 2, wherein in described device (100), is integrated with memory controller able to programme, and at least described sensor (103) is also controlled by this controller.
18. by aforementioned method claimed in claim 1, wherein analysis result is delivered to higher level's control device (105) or higher level's control desk (105) is visual for realizing from device (100), and/or wherein said device (100) automatically by being included in operation panel (700) in described device (100), that analysis result is realized is visual.
19. by method claimed in claim 1, and wherein said motor (101) is motor.
20. by method claimed in claim 1, and wherein said device (100) is driving governor.
21. by method claimed in claim 7, and wherein said machine state analysis has in real time beat at machine run duration constantly and carries out.
22. by method claimed in claim 10, wherein by above-mentioned measured value sequence in the situation that be attached to described curve movement because the curve movement of machine (101) causes that the rotating speed of machine (101) changes.
23. 1 kinds for moving the device of motor (101), described device has the closed-loop control device for closed-loop control machine, it is characterized in that, also comprise diagnosis unit, for identifying mechanical fault on motor (101) and also for identifying bearing damage.
24. by the device described in claim 23, comprising control assembly, by this control assembly, can produce the testing agency (103) of vibration by for detection of based on vibration signal process, make it possible to described signal filtering, and can carry out digitizing according to sample frequency, wherein said signal can utilize diagnosis unit to analyze by the frequency spectrum of this signal.
25. by the device described in claim 24, and the wherein said testing agency (103) for detection of vibration is structure-borne sound sensor (103) and/or acceleration transducer (103)
26. by the device described in claim 24 or 25, wherein said control assembly comprises low-pass filter, sampling hold circuit and A/D converter, and wherein said device comprises for digitized signal being carried out to the mechanism of rectification and for the mechanism of signal filtering with for signal being transformed into the mechanism of frequency domain.
27. by the device described in claim 23, and wherein said motor is motor.
28. by the device described in claim 23, and wherein said device is driving governor.
29. by the device described in any one in aforementioned claim 23 to 25, and this device moves like that according to the method described in any one in aforementioned claim 1 to 22.
30. devices as described in any one in claim 23 to 29 are for the purposes of machining tool.
31. purposes as claimed in claim 30, wherein said machining tool is machine tool.
The purposes of 32. devices as described in any one in claim 23 to 29 in remote supervision system field.
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| DE102008025596.3 | 2008-05-28 |
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| DE102010009164B4 (en) * | 2010-02-24 | 2020-07-02 | Hanning Elektro-Werke Gmbh & Co. Kg | Method and device for controlling a textile machine or a driven part of a textile machine |
| CN102270829B (en) * | 2010-06-01 | 2014-12-03 | 台达电子工业股份有限公司 | Apparatus and calculating method for early warning on health of servo motor |
| JP5647439B2 (en) * | 2010-06-08 | 2014-12-24 | デルタ エレクトロニクス，インコーポレイテッド | Servo motor health warning device and calculation method thereof |
| EP2574947A1 (en) * | 2011-09-30 | 2013-04-03 | ABB Technology AG | A method of determining stationary signals for the diagnostics of an electromechanical system |
| CN102426095A (en) * | 2011-11-08 | 2012-04-25 | 昆明理工大学 | Method for extracting fluctuation of rotating speed through impact analysis |
| CN103776470B (en) * | 2014-01-24 | 2016-02-03 | 中国北方车辆研究所 | A kind of circle sampling filtering method for frequency quantity |
| DE102014018664A1 (en) * | 2014-12-13 | 2016-06-16 | Baumüller Nürnberg GmbH | Method for operating an inverter and converters |
| US10134204B2 (en) * | 2015-09-23 | 2018-11-20 | Caterpillar Inc. | Method and system for collecting machine operation data using a mobile device |
| CN105334833B (en) * | 2015-11-26 | 2019-03-26 | 上海辰竹仪表有限公司 | A kind of injection molding machine remote monitoring system |
| CN105629852B (en) * | 2016-02-19 | 2018-07-17 | 西安大医数码科技有限公司 | A kind of monitoring device of closed-loop control system, method and closed-loop control system |
| DE102016214957A1 (en) | 2016-08-11 | 2018-02-15 | Robert Bosch Gmbh | Electronic control gear and reader |
| DE102016225403A1 (en) * | 2016-12-19 | 2018-06-21 | Robert Bosch Gmbh | Method and device for determining a position of an actuating element |
| CN106769041B (en) * | 2016-12-23 | 2019-02-15 | 安徽大学 | Permanent magnet synchronous motor bearing online fault diagnosis device and method under variable rotating speed working condition |
| DE102017000821A1 (en) * | 2017-01-28 | 2018-08-02 | Lenze Drives Gmbh | Electric drive unit with intelligent maintenance requirement monitoring |
| DE102018211850A1 (en) | 2018-07-17 | 2020-01-23 | Ziehl-Abegg Se | Method for evaluating the operational readiness of an electric motor and electric motor and fan |
| DE102019204071A1 (en) * | 2019-03-25 | 2020-10-01 | Robert Bosch Gmbh | Method for recognizing a first operating state of a handheld power tool |
| JP7298414B2 (en) * | 2019-09-20 | 2023-06-27 | 株式会社明電舎 | Abnormality predictive diagnostic system for rotating machine, Abnormality predictive diagnostic method for rotating machine |
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| JP2015057944A (en) | 2015-03-26 |
| JP2009291065A (en) | 2009-12-10 |
| CN101592712A (en) | 2009-12-02 |
| DE102008025596B4 (en) | 2020-06-10 |
| DE102008025596A1 (en) | 2010-02-18 |
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