CN104819841B - Built-in-coding-information-based single sensing flexible angle-domain averaging method - Google Patents
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Abstract
The utility model relates to a built-in-coding-information-based single sensing flexible angle-domain averaging method. An encoder is used for reading an angular position signal of a testing shaft in mechanical equipment; transient motion information is obtained by using a polynomial fitting method to obtain a third-order differential Jitter signal and a first-order differential rotation speed signal; fluctuation quantities of an angle-domain uniformly-spaced sampling signal and a rotation signal are calculated of the Jitter signal are calculated, a rotation speed fluctuation quantity threshold value is set to determine whether a signal is a stable one, angle-domain resampling is carried out on a non-stable signal exceeding a threshold value, and otherwise, the signal is treated as the stable one and the original j(t) signal serves as a uniform-angle-interval sampling signal; and a chirp-Z-conversion-based flexible angle domain average method is used for determining whether a fault occurs at the mechanical equipment. Therefore, the number of experiment devices is controlled to the great extent; the data acquisition procedures are simplified; the test cost is reduced; automation of fault feature extraction and diagnosis monitoring can be carried out conveniently; the time is saved; and the efficiency is high.
Description
Technical field
The present invention relates to mechanical fault diagnosis technical field, more particularly to the patrilineal line of descent with only one son in each generation sense based on built-in coding information are soft
Property angle domain averaging method.
Background technology
The vibration analysis of one of maximally efficient approach of mechanical fault diagnosis at this stage, in some occasions, vibration measuring sensing
Device is difficult to install because environment and operating mode are limited.Digit Control Machine Tool sputters in the course of the work substantial amounts of metal fragment and cooling
Liquid, can cause to damage to vibration-measuring sensor.And for equipment such as mechanical hand, robots, its complicated athletic posture is passed to vibration measuring
The installation and wiring of sensor brings difficulty.In addition, Large Machining Center under arms in require totally enclosed working environment, cause
Vibration-measuring sensor cannot be installed at all.Therefore, in the case where vibration information cannot be obtained, new diagnostic message source is built already
Become the problem of mechanical fault diagnosis urgent need to resolve at this stage.With plant equipment automatization, intelligentized development trend, coding
Device has obtained extensive configuration as built-in sensing unit on mechanized equipment, and the position for motor control is fed back, with measurement
High precision, fast response time, measurement range is wide, functional reliability is good, non-cpntact measurement and be easy to control advantage.Built-in coding
Information is the digital quantity signal for changing into the physical quantitys such as angular displacement, spin angular position, the angular velocity on mechanical rotation test axle,
As a kind of new diagnostic message source plant equipment fault diagnosis and health monitoring have broad application prospects.
But the primary output signal of encoder is a kind of complicated multi -components coupled signal, it not only includes initial failure
The transient rotative speed impact for causing, while comprising the rated speed fluctuation caused due to load change, gear time-varying rigidity.And after
The amplitude of person is often more powerful, and to the extraction of fault features difficulty is brought.Time-domain average technique is a kind of traditional machine
Tool fault diagnosis technology, can extract periodic component interested in signal, improve signal to noise ratio, but it is only applicable to determine speed conditions
Under, and in fact, many important equipments different job requirement or under the conditions of its running speed be often non-stationary.Peace
Steady operating mode is compared, and the mechanical equipment vibration signal under variable speed becomes particularly complicated, and the extraction for considerably increasing fault signature is difficult
Degree.2013, French scholar Leclere etc. proposed angle domain average technology, for internal combustion engine and gear distress under variable speed
Diagnosis.But angle domain average method still relies on the cooperation of key signal, this needs extra install sensor and increases to test into
Sheet and difficulty, and its average algorithm is not fee from adverse effect of the truncated error to Signal-to-Noise, realizes only with single biography
Sensor is carried out testing simultaneously and is avoided that the angle domain averaging method of truncated error interference is significant.
The content of the invention
In order to overcome the shortcoming of above-mentioned prior art, it is an object of the invention to provide the patrilineal line of descent with only one son in each generation based on built-in coding information
The flexible angle domain averaging method of sense, realizes that plant equipment can carry out fault signature extraction under steady and variable speed operating mode and examine
Disconnected monitoring.
For achieving the above object, the technical scheme that the present invention program takes is：
Patrilineal line of descent with only one son in each generation sense flexibility angle domain averaging method based on built-in coding information, comprises the following steps：
Step one：The built-in encoder signal in card reading plant equipment is adopted using encoder number, high frequency is carried out to signal
Sampling and pretreatment, obtain testing the angle position signal of axle, are designated as x (t)；
Step 2：The transient motion information of plant equipment is obtained using polynomial fitting method, x (t) is carried out into multinomial plan
The Jitter signals that conjunction and third order difference are obtained are designated as j (t) and first-order difference obtains tach signal v (t)；
Step 3：Angle domain equal interval sampling sequences y (n) of Jitter signals j (t) is calculated, tach signal v is first calculated
T the fluctuation of speed amount of (), fluctuation of speed amount is defined as the standard deviation of tach signal divided by mean speed, be by given threshold
0.5% determines whether stationary signal, more than threshold range signal be non-stationary signal, need to Jitter's signals j (t)
Angle domain resampling is carried out, otherwise as stationary signal process, former j (t) signal is i.e. as equiangularly spaced sampled signal；
Step 4：Using the flexible angle domain mean square based on Chirp-Z (Chirp-Z Transform, CZT) conversion
Order interested is retained and is avoided truncated error by method, CZT by arranging comb filter in frequency spectrum, is obtained and is expected
The frequency sampling value of output order is obtained by equation below：
In formula, y (n) is angle domain equal interval sampling sequence, and N is the length of sequence, and A is the polar coordinate of starting sample point
Value, W is the frequency interval between sampled point, and k is correspondence order,
Then each frequency domain sample value is arranged in into vector array according to the form of discrete fourier, further by discrete Fu
In leaf inverse transformation is i.e. accurate obtains the angle domain average result for expecting order, so that it is determined that the failure that equipment whether there is.
The present invention has the advantages that compared to prior art：
A) angle position signal that the present invention can be measured by encoder high accuracy obtains reflecting the torsion of mechanical health situation
Shake signal, i.e. Jitter signals, and Jitter is a kind of useful signal that can be used for mechanical incipient fault detection, and can be true
Reflect motion and the dynamic characteristic of system.
B) encoder itself is a kind of high-precision key phase device, and Jitter signals can be entered under non-stationary operating mode
Row angle domain resampling, eliminates the impact of rotation speed change, it is adaptable to big fluctuation of speed operating mode.
C) on the basis of conventional Time-domain averaging method, creativeness proposes the flexible angle based on Chirp-Z conversion to the present invention
Degree domain averaging method, CZT efficiently and accurately can be retained order interested by arranging comb filter in frequency spectrum
And truncated error is avoided, improve signal to noise ratio.
D) present invention only utilizes the built-in single encoder information of plant equipment, the failure under the accurate extraction equipment working condition of energy
Information, controlling experimental facilitiess quantity, simplify data acquisition program, reduce testing expense largely, is conducive to
Realize that fault signature extracts the automatization with diagnostic monitoring, save the time, it is in hgher efficiency.
Description of the drawings
Fig. 1 is embodiment test platform structure schematic diagram.
Fig. 2 is embodiment planetary gear tooth root crack fault.
Fig. 3 is the inventive method flow chart.
Fig. 4 is that the epicyclic gearbox intercepted in example plays parking ticket encoder information.
Fig. 5 is that the Jitter signals that third order difference is obtained are carried out to encoder information in example.
Fig. 6 carries out the velocity information that first-order difference is obtained to encoder information for embodiment.
Fig. 7 is that during embodiment epicyclic gearbox even running, planetary gear adopts the result of the inventive method.
Fig. 8 is that embodiment epicyclic gearbox is risen during parking, and planetary gear adopts the result of the inventive method.
Fig. 9 is that during embodiment epicyclic gearbox even running, planetary gear is using the average result of conventional Time-domain.
Figure 10 is that embodiment epicyclic gearbox is risen during parking, and planetary gear is using the average result of conventional Time-domain.
Specific embodiment
The present invention is described in detail with reference to the accompanying drawings and examples.
Hereinafter will illustrate by taking certain epicyclic gearbox planetary gear fault detect testing stand as an example, the testing stand is by driving electricity
Machine, shaft coupling, encoder, magnetic powder brake, bearing and epicyclic gearbox etc. are constituted, as shown in figure 1, wherein epicyclic gearbox
The interior planetary gear 3 uniform by ring gear 1, sun gear 2 and three is constituted, and planet carrier is connected with output shaft, two encoder peaces
Be mounted at epicyclic gearbox input shaft and output shaft, whole device by Motor drive, by moment of torsion from input shaft along epicyclic gearbox
The magnetic powder brake of outfan is delivered to, magnetic powder brake completes loading procedure.
Design parameter is as follows：1) motor rated power：1.2kW, rated speed：40Hz；2) epicyclic gearbox transmission
Than：5.1:1, the number of teeth of ring gear 1：82, modulus：1, the number of teeth of planetary gear 3：31, modulus：1, the number of teeth of sun gear 2：20, modulus：1；3)
Planetary gear fault type is tooth root crackle, as shown in Figure 2；4) the moment of torsion 0.06N*m under magnetic powder brake rated power.
Using single code device signal to planetary gear diagnosing malfunction in epicyclic gearbox, using the present invention to experimental data
It is analyzed and is contrasted with conventional Time-domain averaging method.
As shown in figure 3, the patrilineal line of descent with only one son in each generation sense flexibility angle domain averaging method based on built-in coding information, comprises the following steps：
Step one：The built-in encoder signal in card reading plant equipment is adopted using encoder number, high frequency is carried out to signal
Sampling and pretreatment, obtain testing the angle position signal of axle, are to obtain a complete parking data, need to go when using data
Fall initial noise section, the data of the common 4s of 6-10s in whole segment signal are intercepted, as shown in figure 4, being designated as x1；
Step 2：The transient motion information of plant equipment is obtained using polynomial fitting method, x1 is carried out into fitting of a polynomial
The Jitter signals obtained with third order difference are designated as j (t) and first-order difference obtains tach signal v1, respectively such as Fig. 5 and Fig. 6 institutes
Show；
Step 3：Angle domain equal interval sampling sequences y (n) of Jitter signals j (t) is calculated, tach signal v1 is first calculated
Fluctuation of speed amount, fluctuation of speed amount is defined as the standard deviation of tach signal divided by mean speed, is 0.5% by given threshold
Determine whether stationary signal, more than threshold range signal be non-stationary signal, in this example for epicyclic gearbox rise stop
Signal, it is 108.8883 that the tach signal according to Fig. 6 calculates the standard deviation of tach signal, and average speed is 253.1542,
And then it is 43.01% to be calculated fluctuation of speed amount, more than 0.5%, so being non-stationary signal, need to Jitter signal j
T () carries out angle domain resampling, in addition contrast signal is set to stationary signal, using former j (t) signal i.e. as equiangularly spaced
Sampled signal；
Step 4：Weak fault information in obtain code device signal, improves signal to noise ratio, using based on Chirp-Z conversion
Flexible angle domain averaging method, CZT efficiently and accurately carries out order interested by arranging comb filter in frequency spectrum
Retain and avoid truncated error, by meshing frequency (because the number of teeth of planetary gear is in this planet Fault Diagnosis of Gear Case example
31 teeth, therefore its meshing frequency is 31 ranks) order of left and right 5 of side frequency retained, and obtains the frequency sampling value of desired output order
Obtained by equation below,
In formula, y (n) is angle domain equal interval sampling sequence, and N is the intercepting data length of 4 seconds, and A deducts 5 for engagement order
Starting sample order corresponding to (i.e. 26 ranks), it is the order of unit 1 in the sampling interval that W is, k for correspondence order value be 26,27,
28 ... 36,
Then each frequency domain sample value is arranged in into vector array according to the form of discrete fourier, further by discrete Fu
In leaf inverse transformation can accurately obtain expect order angle domain average result, as shown in Figure 7 and Figure 8, Fig. 7 is epicyclic gearbox
During even running, planetary gear by flexible angle domain average result when undulate quantity threshold value is set to into 0.5%, Fig. 8 is planet tooth
Roller box during rising and stopping, planetary gear by flexible synchronized averaging result when undulate quantity threshold value is set to into 0.5%, and Fig. 9 and Tu
10 is the result obtained using conventional Time-domain averaging method, and Fig. 9 is during epicyclic gearbox even running, single encoder to be believed
Number carry out the diagnostic result of time domain average；Figure 10 is epicyclic gearbox during rising and stopping, when carrying out to single code device signal
The average diagnostic result in domain.
By under two kinds of situations, both approaches are contrasted, it can be clearly seen that method proposed by the invention can not only
Effect more more preferable than conventional Time-domain averaging method is shown under steady operating mode, and epicyclic gearbox can be diagnosed to be and playing parking
The planetary gear tooth root crack fault that stage conventional Time-domain averagely can not be diagnosed to be.From example it can also be seen that the method for the present invention
Artificially the undulate quantity threshold value of designated analysis variable can also be adjusted, with reference to practical situation, it be changed within the specific limits
Size, with certain redundancy.It is to improve operation efficiency when different degrees of failure is recognized.
Claims (1)
1. the flexible angle domain averaging method of patrilineal line of descent with only one son in each generation sense based on built-in coding information, it is characterised in that comprise the following steps：
Step one：The built-in encoder signal in card reading plant equipment is adopted using encoder number, high frequency sampling is carried out to signal
And pretreatment, obtain testing the angle position signal of axle, it is designated as x (t)；
Step 2：Using polynomial fitting method obtain plant equipment transient motion information, by x (t) carry out fitting of a polynomial and
The Jitter signals that third order difference is obtained are designated as j (t), and by fitting of a polynomial and first-order difference tach signal v (t) is obtained；
Step 3：Angle domain equal interval sampling sequences y (n) of Jitter signals j (t) is calculated, tach signal v (t) is first calculated
Fluctuation of speed amount, fluctuation of speed amount is defined as the standard deviation of tach signal divided by mean speed, is sentenced for 0.5% by given threshold
Whether disconnected is stationary signal, is non-stationary signal more than the signal of threshold range, needs to carry out angle to Jitter signals j (t)
Degree domain resampling, otherwise as stationary signal process, former j (t) signal is i.e. as equiangularly spaced sampled signal；
Step 4：Using the flexible angle domain averaging method based on Chirp-Z conversion, CZT in frequency spectrum by arranging pectination filter
Ripple device, order interested is retained and truncated error is avoided, and obtains the frequency sampling value of desired output order by following public affairs
Formula is obtained：
In formula, y (n) is angle domain equal interval sampling sequence, and N is the length of sequence, and A is the polar value of starting sample point, and W is
Frequency interval between sampled point, k is correspondence order,
Then each frequency domain sample value is arranged in into vector array according to the form of discrete fourier, further by discrete fourier
Inverse transformation can accurately obtain the angle domain average result for expecting order, so that it is determined that the failure that plant equipment whether there is.
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| CN105277362B (en) * | 2015-11-23 | 2017-09-12 | 西安交通大学 | Gear distress detection method based on encoder multidigit angular signal |
| CN105629219B (en) * | 2015-12-29 | 2018-03-06 | 大连楼兰科技股份有限公司 | The method of balanced range accuracy and operand |
| CN105527097A (en) * | 2016-01-15 | 2016-04-27 | 重庆机床(集团)有限责任公司 | Rotation speed motion feature detector |
| CN108871742B (en) * | 2018-05-03 | 2021-08-13 | 西安交通大学 | Improved key-phase-free fault feature order extraction method |
| CN109877647B (en) * | 2019-04-19 | 2020-12-22 | 华东理工大学 | Machine tool servo shaft performance degradation evaluation system based on built-in encoder |
| CN110580471B (en) * | 2019-09-12 | 2021-11-02 | 北京航空航天大学 | Mechanical equipment fault diagnosis method based on encoder signal transient characteristics |
| CN110779723B (en) * | 2019-11-26 | 2020-11-24 | 安徽大学 | Hall signal-based precise fault diagnosis method for variable-speed working condition motor bearing |
| CN114934852A (en) * | 2022-04-29 | 2022-08-23 | 潍柴动力股份有限公司 | Filter element cleanliness estimation method and device based on exhaust oxygen concentration |
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