CN106644040B - Rotating shaft torsional vibration detection method and device based on multiple sensors - Google Patents
Rotating shaft torsional vibration detection method and device based on multiple sensors Download PDFInfo
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- CN106644040B CN106644040B CN201610885874.9A CN201610885874A CN106644040B CN 106644040 B CN106644040 B CN 106644040B CN 201610885874 A CN201610885874 A CN 201610885874A CN 106644040 B CN106644040 B CN 106644040B
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- G01—MEASURING; TESTING
- G01H—MEASUREMENT OF MECHANICAL VIBRATIONS OR ULTRASONIC, SONIC OR INFRASONIC WAVES
- G01H11/00—Measuring mechanical vibrations or ultrasonic, sonic or infrasonic waves by detecting changes in electric or magnetic properties
- G01H11/02—Measuring mechanical vibrations or ultrasonic, sonic or infrasonic waves by detecting changes in electric or magnetic properties by magnetic means, e.g. reluctance
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- G—PHYSICS
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- G01H—MEASUREMENT OF MECHANICAL VIBRATIONS OR ULTRASONIC, SONIC OR INFRASONIC WAVES
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Abstract
The embodiment of the invention discloses a rotating shaft torsional vibration detection method and a rotating shaft torsional vibration detection device based on multiple sensors, which are used for solving the technical problems of difficult field detection of rotating shaft torsional vibration and large measurement error in the prior art, reducing the field test difficulty and improving the feasibility and the test precision of torsional vibration detection. The method provided by the embodiment of the invention comprises the following steps: determining each installation angle of a plurality of sensors installed on the surface of the inner ring of the measuring bracket according to the installation angle calibration mode; and extracting parallel acquisition results of a plurality of sensors on a single pulse mark preset on the surface of the rotating shaft, and calculating the acquisition results to obtain a torsional vibration result.
Description
Technical Field
The invention relates to the field of shaft torsional vibration detection, in particular to a rotating shaft torsional vibration detection method and device based on multiple sensors.
Background
Many large rotating devices exist in industries such as power generation, metallurgy, petrochemical industry, transportation industry, and the like, such as steam turbines, gas turbines, power generators, fans, compressors, motors, pumps, and the like. Under the action of various factors such as power grid frequency fluctuation, load fluctuation, external impact, motor variable frequency operation and the like, torsional resonance can be generated on the rotating shaft. When the torsional vibration amplitude is large, torsional damage of a shaft system can be caused.
The fault induced by the torsional vibration has strong latency and concealment. Torsional vibration at the initial stage of a fault is difficult to find, once the fault enters the middle and late stages, vicious accidents such as breakage of a large shaft and a blade are caused, and damage and loss caused by the fault are large. Torsional vibration detection techniques and devices are important to protect the safe and stable operation of equipment.
At present, the following methods are mainly used for detecting torsional vibration:
1. and (4) indirect measurement. And mounting a strain gauge on the surface of the shaft, measuring the shaft pulsation torque by adopting a strain method, and calculating to obtain the torsional vibration of the shaft system according to the measured torque and the shaft system model. This is an indirect detection method of torsional vibration based on strain.
2. Non-contact (impulse method). A gear disc or uniformly arranged magnetic steel sheets, reflecting strips and the like are arranged on the rotating shaft, and an eddy current sensor or a magnetic resistance sensor or a photoelectric sensor is used for aligning the gear disc, the magnetic steel sheets, the reflecting strips and the like. During the rotation of the rotating shaft, the sensor senses and outputs a series of pulse signals. In the absence of torsional vibration, the pulse signals are evenly spaced. When the rotating shaft generates torsional vibration, because the instantaneous angular speeds are different, the pulse signals output by the sensor have uneven intervals. On the basis of the principle, an algorithm is programmed, and a torsional vibration signal can be extracted from the non-uniformly spaced pulse signals. This measuring method only needs 1 sensor, but needs to arrange a gear disc or a plurality of magnetic steel sheets and reflective strips distributed at equal intervals on the shaft. In the case of the gear method, a specially processed gear disk needs to be attached to the shaft, and such attachment conditions may not be provided. The indexing error of the gear disc at the position of the split joint surface is large, so that the measurement result is greatly influenced, and the torsional vibration signal is possibly completely covered in the burr signal. When the magnetic steel sheet or reflective strip mode is adopted, the magnetic steel sheets or reflective strips with equal graduation intervals need to be arranged on the shaft, the requirement on the precision of the graduation is high, and the field is sometimes difficult to guarantee.
3. Non-contact (laser method). The method is based on the laser Doppler effect, and measures torsional vibration by using the Doppler frequency shift effect generated when laser beams irradiate the end face of the rotor. When the laser beam irradiates the surface of the shaft, the linear velocity of the surface of the shaft enables scattered light to generate Doppler frequency shift, the instantaneous value of the frequency shift represents the transient angular velocity of the shaft, and the torsional vibration response of the rotor can be obtained by removing the direct current component. The method can realize absolute measurement of torsional vibration, but the measurement precision is greatly influenced by the transverse vibration of the rotor and the roundness error of the surface of the rotor, and the measurement equipment is expensive.
Disclosure of Invention
The embodiment of the invention provides a rotating shaft torsional vibration detection method and device based on multiple sensors, and solves the technical problems that in the prior art, the rotating shaft torsional vibration is difficult to detect on site and the measurement error is large.
The embodiment of the invention provides a rotating shaft torsional vibration detection method and a rotating shaft torsional vibration detection device based on multiple sensors, which comprise the following steps:
a rotating shaft torsional vibration detection method based on multiple sensors comprises the following steps:
the measuring bracket and the rotating shaft are in concentric position relation with the measuring bracket;
the rotating shaft torsional vibration detection method based on the multiple sensors comprises the following steps:
determining each installation angle of a plurality of sensors installed on the surface of the inner ring of the measuring bracket according to the installation angle calibration mode;
and extracting parallel acquisition results of the plurality of sensors on the single pulse mark preset on the surface of the rotating shaft, and calculating the acquisition results to obtain a torsional vibration result.
Preferably, before determining each installation angle of the plurality of sensors installed on the inner ring surface of the measurement support according to the installation angle calibration method, the method includes:
determining a measuring bracket with a corresponding caliber, which consists of a mounting ring and a base, according to the measuring surface of the rotating shaft;
determining sensors arranged on the holes according to a plurality of uniformly distributed holes on the mounting ring;
the number sequence of the sensors is consistent with the rotation sequence of the rotating shaft in the measuring support, the number of the sensors is marked as i-1, 2, …, n, wherein n is the number of the sensors.
Preferably, before extracting parallel acquisition results of the plurality of sensors on a single pulse mark preset on the surface of the rotating shaft and calculating the acquisition results to obtain a torsional vibration result, the method further includes:
and determining the position of a pulse mark which is preset on the measuring surface of the rotating shaft, wherein the pulse mark comprises a magnetic steel sheet, an iron sheet or a reflective strip.
Preferably, the extracting the parallel acquisition results of the plurality of sensors on the single pulse mark, and the calculating the acquisition results to obtain the torsional vibration result includes:
extracting parallel acquisition results of the plurality of sensors for the single pulse mark, converting the parallel acquisition results into standard signals and outputting the standard signals;
acquiring the output standard signal by a data acquisition card to acquire a multi-channel pulse signal;
and extracting torsional vibration signals from the multi-channel pulse signals, and calculating to obtain a torsional vibration result.
Preferably, the mounting angle calibration method includes:
the rotation speed of the rotating shaft in low-speed rotation is recorded as omega ', and the output pulse signals of the sensors are collected and recorded as L ' by taking the sensor with the number of 1 as a reference 'i,i＝1,2,...,n；
Taking the positive and negative time points of the pulse signal as a trigger reference point, and recording the trigger time as T i1, 2.. n, which is calculated by presetting a first formula, to obtain an adjacent sensor pulse signal L'i,L'i+1The time difference between them, preset the first formula:
Δt′i＝T′i+1-Ti',i＝1,2,...,n。
calculating the arc length delta theta between any two sensors in the circumferential direction by presetting a second formulaiThe preset second formula is:
Δθi＝ω1·Δt′i,i＝1,2,...,n。
the installation angle of the sensor marked with the number 1 is 0 DEG, and the installation angles theta of the other sensors are obtained by presetting a third formulaiThe preset third formula is:
preferably, the extracting a torsional vibration signal from the multi-channel pulse signal, and the calculating to obtain the torsional vibration result includes:
taking the sensor with the number of 1 as a reference, acquiring and recording the output pulse signals of each sensor in the process of rotating the rotating shaft for one circle, and recording the output pulse signals as LiN, taking a pulse signal from a positive and negative time point as a trigger reference point, and recording the trigger time as TiN, and obtaining adjacent sensor pulse signals L by presetting a fourth formulai，Li+1Time difference Δ t therebetweeniN, preset a fourth formula as:
Δti＝Ti+1-Ti,i＝1,2,...,n。
calculating the instantaneous angular velocity omega in the process of one rotation through a preset sixth formulaiThe preset sixth formula is:
by continuously testing a plurality of cycles in the same way, the instantaneous angular velocity signal omega in the measured time period can be obtainedi1,2, N, where N is the total number of sampling points. Calculating the average value of the instantaneous angular velocity signal by presetting a sixth formula
The preset sixth formula is:
obtaining torsional vibration angular velocity signal by calculating according to a preset seventh formula
The preset seventh formula is:
integrating the torsional vibration angular velocity signal by a preset eighth formula to obtain a torsional angular displacement signal
The preset eighth formula is:
a torsional vibration detection apparatus comprising:
a determination unit for determining installation angles of a plurality of sensors installed on an inner ring surface of the measurement bracket;
the extraction unit is used for extracting the parallel acquisition results of the plurality of sensors on the single pulse marks;
and the computing unit is used for computing the acquisition result to obtain a torsional vibration result.
Preferably, the determination unit includes:
the first determining subunit is used for determining the measuring support with the corresponding caliber according to the measuring surface of the rotating shaft;
the second determining subunit is used for determining a pulse mark preset on the measuring surface of the rotating shaft;
the numbering unit is used for numbering the sensors;
and the third determining subunit is used for determining each installation angle of the plurality of sensors installed on the inner ring surface of the measuring bracket according to the installation angle calibration mode.
Preferably, the extraction unit comprises:
the first extraction subunit is used for extracting the acquisition result of the sensor, converting the acquisition result and outputting the converted acquisition result;
and a second extraction subunit, configured to extract the torsional vibration signal from the multichannel pulse signal.
Preferably, the calculation unit includes:
the first calculating subunit calculates the installation angles of the plurality of sensors in an installation angle calibration mode;
and the second calculating subunit calculates and integrates the torsional vibration signal to obtain a torsional vibration result.
According to the technical scheme, the embodiment of the invention has the following advantages:
the embodiment of the invention provides a rotating shaft torsional vibration detection method and a rotating shaft torsional vibration detection device based on multiple sensors, which comprise the following steps: determining each installation angle of a plurality of sensors installed on the surface of the inner ring of the measuring support through a torsional vibration detection device according to an installation angle calibration mode; through draw a plurality ofly by torsional vibration detection device the sensor is to presetting the parallel acquisition result of the single pulse mark on pivot surface is right the acquisition result calculates and obtains the torsional vibration result, has solved pivot torsional vibration witnessed inspections difficulty and the big technical problem of measuring error among the prior art, has reduced the field test difficulty, improves the feasibility and the test accuracy that the torsional vibration detected, is particularly useful for rotary machine torsional vibration to detect and the analysis, and then helps the unit to carry out the torsional vibration state aassessment.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without inventive exercise.
FIG. 1 is a schematic flow chart of a multi-sensor-based shaft torsional vibration detection method according to an embodiment of the present invention;
FIG. 2 is another schematic flow chart of a multi-sensor-based shaft torsional vibration detection method according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a torsional vibration detection apparatus according to an embodiment of the present invention;
fig. 4 is another schematic structural diagram of a torsional vibration detection apparatus provided in the present invention;
FIG. 5 is a graph of a synchronously acquired sensor output pulse signal (without torsional oscillation) provided by the practice of the present invention;
FIG. 6 is a simulated torsional vibration signal provided by an implementation of the present invention;
FIG. 7 is a diagram of multi-sensor output pulse signals (in torsional mode) under torsional vibration of a rotating shaft according to an embodiment of the present invention;
FIG. 8 is a torsional vibration signal extracted from a pulse interval provided by an implementation of the present invention;
fig. 9 is a schematic physical structure diagram of a measurement bracket according to an embodiment of the present invention.
Illustratively, the A1-An sensors, 1 measurement mount, 2 pulse markers, 3 spindle.
Detailed Description
The embodiment of the invention provides a rotating shaft torsional vibration detection method and device based on multiple sensors, which are used for solving the technical problems of difficult field detection of rotating shaft torsional vibration and large measurement error in the prior art, reducing the field test difficulty and improving the feasibility and the test precision of torsional vibration detection.
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 obvious that the embodiments described below 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.
Referring to fig. one, a method for detecting torsional vibration of a rotating shaft based on multiple sensors according to an embodiment of the present invention includes:
101. determining each installation angle of a plurality of sensors installed on the surface of the inner ring of the measuring bracket according to the installation angle calibration mode;
in practical application, the measuring support 1 is fixed on the outer side of the rotating shaft 3, the measuring support 1 is of a hollow structure, the caliber of the measuring support 1 corresponds to the diameter of the rotating shaft 3, and the caliber and the rotating shaft are in a concentric circle position relation. Before the plurality of sensors A1-An are installed on the inner ring surface of the measuring bracket 1, the installation angles of the plurality of sensors A1-An installed on the inner ring surface of the measuring bracket 1 are determined according to the installation angle calibration mode. The mounting angle calibration mode is as follows:
the number of revolutions of the rotor shaft 3 at the time of low-speed rotation is ω ', and the output pulse signal of each sensor, denoted by L ', is collected and recorded with reference to the sensor a1 numbered 1 'i,i＝1,2,...,n；
Taking the positive and negative time points of the pulse signal as a trigger reference point, and recording the trigger time as T i1, 2.. n, which is calculated by presetting a first formula, to obtain an adjacent sensor pulse signal L'i,L'i+1The time difference between them, preset the first formula:
Δt′i＝T′i+1-Ti',i＝1,2,...,n。
calculating the arc length delta theta between any two sensors in the circumferential direction by presetting a second formulaiThe preset second formula is:
Δθi＝ω1·Δt′i,i＝1,2,...,n。
the installation angle of the sensor a1, which is numbered 1, is 0 deg., and the installation angles theta of the remaining sensors are obtained by presetting a third formulaiThe preset third formula is:
102. and extracting the parallel collected results of the plurality of sensors on the single pulse mark preset on the surface of the rotating shaft, and calculating the collected results to obtain the torsional vibration result.
After the plurality of sensors A1-An are installed on the surface of the inner ring of the measuring bracket 1 according to the installation angle calibration mode, the parallel acquisition results of the plurality of sensors A1-An on the single pulse mark 1 on the rotating shaft 3 are extracted, and the acquisition results are calculated to obtain the torsional vibration result.
In the above, a detailed description of a multi-sensor based shaft torsional vibration detection method is provided, and a detailed description of the process of the multi-sensor based shaft torsional vibration detection method is provided below. Referring to fig. 2, another embodiment of a method for detecting torsional vibration of a rotating shaft based on multiple sensors according to an embodiment of the present invention includes:
201. determining a measuring bracket with a corresponding caliber, which consists of a mounting ring and a base, according to the measuring surface of the rotating shaft;
firstly, the surface is measured according to the rotating shaft 3, and the measuring support 1 with the corresponding caliber is determined, wherein the measuring support 1 consists of a plurality of uniformly distributed mounting rings and a base.
202. Determining sensors arranged on the holes according to a plurality of uniformly distributed holes on the mounting ring;
after the measuring bracket 1 with the corresponding caliber is determined, the sensors A1-An are installed on a plurality of uniformly distributed holes on the installation ring of the measuring bracket 1 according to needs, the sensors A1-An are numbered along the rotation direction consistent with the rotation sequence of the rotating shaft 3 in the measuring bracket 1, and are marked as i being 1,2, …, n, wherein n is the number of the sensors.
203. Determining each installation angle of a plurality of sensors installed on the surface of the inner ring of the measuring bracket according to the installation angle calibration mode;
after the sensors are numbered, the mounting angles of the plurality of sensors A1-An mounted on the inner ring surface of the measuring support 1 are determined according to a mounting angle calibration mode, so that the sensors can be mounted accurately, and measuring errors are reduced. Wherein, the installation angle calibration mode includes:
the number of revolutions of the rotor shaft 3 at the time of low-speed rotation is ω ', and the output pulse signal of each sensor, denoted by L ', is collected and recorded with reference to the sensor a1 numbered 1 'i,i＝1,2,...,n；
Taking the positive and negative time points of the pulse signal as a trigger reference point, and recording the trigger time as T i1, 2.. n, which is calculated by presetting a first formula, to obtain an adjacent sensor pulse signal L'i,L'i+1The time difference between them, preset the first formula:
Δt′i＝T′i+1-Ti',i＝1,2,...,n。
calculating the circumferential direction by presetting a second formulaArc length Δ θ between any two sensorsiThe preset second formula is:
Δθi＝ω1·Δt′i,i＝1,2,...,n。
the installation angle of the sensor a1, which is numbered 1, is 0 deg., and the installation angles theta of the remaining sensors are obtained by presetting a third formulaiThe preset third formula is:
it should be noted that after the installation angle of the sensor is determined and the sensor is installed, the distance from the head of the sensor a 1-An to the surface of the rotating shaft 3 and the installation angle are adjusted according to the technical requirements of the sensor, so that the sensor a 1-An can accurately receive the pulse signal. Wherein, the sensors A1-An are locked on the bracket by bolts.
204. Determining the position of a pulse mark prearranged on the measuring surface of the rotating shaft;
the preset of the pulse mark 1 is determined on the measuring surface of the rotating shaft 3 to be measured, only one pulse mark 1 needs to be marked, wherein the pulse mark 1 can be a reflective strip, an iron sheet or a magnetic steel sheet and the like. The pulse mark 1 and the sensors a1 to An are selected from a combination of An eddy current sensor + An iron sheet, a magnetoresistive sensor + a magnetic steel sheet, a photoelectric sensor + a reflective strip, but not limited thereto.
205. Extracting parallel acquisition results of the plurality of sensors for the single pulse mark, converting the parallel acquisition results into standard signals and outputting the standard signals;
after the multiple sensors A1-An synchronously and parallelly acquire the single pulse mark 1, extracting the parallel acquisition results of the sensors A1-An on the single pulse mark 1 according to the type, the principle and the technical requirements of the sensors A1-An, converting the parallel acquisition results into 0-10V standard signals and outputting the signals to a data acquisition card.
206. Acquiring the output standard signal by a data acquisition card to acquire a multi-channel pulse signal;
the output signals of the sensors A1-An are connected to a multi-channel high-sampling-rate synchronous data acquisition card, and multi-channel pulse signals are acquired through the data acquisition card. In order to ensure the measurement precision, the sampling frequency of the acquisition card is recommended to be more than 250KHz, and the channel number of the acquisition card is recommended to be more than 8.
207. And extracting torsional vibration signals from the multi-channel pulse signals, and calculating to obtain a torsional vibration result.
The method comprises the following steps of (1) extracting torsional vibration signals from multi-channel pulse signals synchronously detected by a data acquisition card, wherein the algorithm is as follows:
taking the sensor A1 with the number of 1 as a reference, acquiring and recording the output pulse signals of the sensors A1-An in the process of one rotation of the rotating shaft 3, and recording the output pulse signals as LiN, taking a pulse signal from a positive and negative time point as a trigger reference point, and recording the trigger time as TiN, and obtaining adjacent sensor pulse signals L by presetting a fourth formulai，Li+1Time difference Δ t therebetweeniN, preset a fourth formula as:
Δti＝Ti+1-Ti,i＝1,2,...,n。
calculating the instantaneous angular velocity omega in the course of one rotation by a preset fifth formulaiThe preset fifth formula is:
by continuously testing a plurality of cycles in the same way, the instantaneous angular velocity signal omega in the measured time period can be obtainedi1,2, N, where N is the total number of sampling points. Calculating the average value of the instantaneous angular velocity signal by presetting a sixth formula
The preset sixth formula is:
calculating to obtain torsional vibration angular velocity information by presetting a seventh formulaNumber (C)
The preset seventh formula is:
integrating the torsional vibration angular velocity signal by a preset eighth formula to obtain a torsional angular displacement signal
The preset eighth formula is:
in order to describe the process of the multi-sensor-based rotating shaft torsional vibration detection method provided by the embodiment of the invention in detail, the structure of a torsional vibration detection device will be described below. The torsional vibration detection device provided by the embodiment of the invention comprises:
a determination unit 301 for determining the installation angles of a plurality of sensors installed on the inner ring surface of the measurement mount;
an extracting unit 302, configured to extract parallel acquisition results of a single pulse marker by a plurality of sensors;
and the calculating unit 303 is configured to calculate the acquisition result to obtain a torsional vibration result.
In order to describe the structure of a torsional vibration detection device provided in an embodiment of the present invention, the structure of the torsional vibration detection device will be described in more detail below. The torsional vibration detection device provided by the embodiment of the invention comprises:
the determining unit 401 is configured to determine the installation angles of the plurality of sensors installed on the inner ring surface of the measurement support, and specifically includes:
the first determining sub-unit 4011 is configured to determine the measurement support 1 with the corresponding caliber according to the measurement surface of the rotating shaft 3;
a second determining sub-unit 4012 for determining a pulse mark 1 preset on the measuring surface of the spindle 3;
a numbering unit 4013 configured to number the sensors;
and a third determining sub-unit 4014 configured to determine each installation angle of the plurality of sensors a 1-An installed on the inner ring surface of the measurement support 1 according to the installation angle calibration manner.
The extracting unit 402 is configured to extract parallel acquisition results of a single pulse mark by a plurality of sensors, and specifically includes:
the first extraction subunit 4021 is used for extracting the acquisition results of the sensors a1 to An, and outputting the acquisition results after conversion;
a second extraction subunit 4022, configured to extract a torsional vibration signal from the multichannel pulse signal.
The calculating unit 403 is configured to calculate an acquisition result to obtain a torsional vibration result, and specifically includes:
the first calculation subunit 4031 is used for calculating the installation angles of the sensors A1-An in An installation angle calibration mode;
and the second calculating subunit 4032 is configured to calculate and integrate the torsional vibration signal to obtain a torsional vibration result.
It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the above-described systems, apparatuses and units may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In the several embodiments provided in the present application, it should be understood that the disclosed system, apparatus and method may be implemented in other manners. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the units is only one logical division, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes a plurality of instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
The above-mentioned embodiments are only used for illustrating the technical solutions of the present invention, and not for limiting the same; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (5)
1. A rotating shaft torsional vibration detection method based on multiple sensors comprises the following steps: measure the support, and with measure the support and be the pivot of concentric circles position relation, its characterized in that, pivot torsional oscillation detection step based on multisensor includes:
determining each installation angle of a plurality of sensors installed on the surface of the inner ring of the measuring bracket according to the installation angle calibration mode; the calibration mode of the installation angle comprises the following steps:
the rotation speed of the rotating shaft in low-speed rotation is recorded as omega ', and the output pulse signals of the sensors are collected and recorded as L ' by taking the sensor with the number of 1 as a reference 'i,i＝1,2,...,n；
Taking the positive and negative time points of the pulse signal as a trigger reference point, and recording the trigger time as Ti1, 2.. n, which is calculated by presetting a first formula, to obtain an adjacent sensor pulse signal L'i,L'i+1The preset first formula is as follows:
Δt'i＝T'i+1-Ti',i＝1,2,...,n；
calculating the arc length delta theta between any two sensors in the circumferential direction by presetting a second formulaiThe preset second formula is as follows:
Δθi＝ω1·Δt'i,i＝1,2,...,n；
the installation angle of the sensor marked with the number 1 is 0 DEG, and the installation angles theta of the other sensors are obtained by presetting a third formulaiThe preset third formula is as follows:
extracting parallel acquisition results of the plurality of sensors on a single pulse mark preset on the surface of the rotating shaft, converting the parallel acquisition results into standard signals and outputting the standard signals;
acquiring the output standard signal by a data acquisition card to acquire a multi-channel pulse signal;
taking the sensor with the number of 1 as a reference, acquiring and recording the output pulse signals of each sensor in the process of rotating the rotating shaft for one circle, and recording the output pulse signals as LiN, taking a pulse signal from a positive and negative time point as a trigger reference point, and recording the trigger time as TiN, and obtaining adjacent sensor pulse signals L by presetting a fourth formulai,Li+1Time difference Δ t therebetweeni1.. n, the preset fourth formula is:
Δti＝Ti+1-Ti,i＝1,2,...,n；
calculating the instantaneous angular velocity omega in the course of one rotation by a preset fifth formulaiThe preset fifth formula is as follows:
by continuously testing a plurality of cycles in the same way, the instantaneous angular velocity signal omega in the measured time period can be obtainedi1, 2., N, where N is the total number of sampling points; calculating the average value of the instantaneous angular velocity signal by presetting a sixth formula
The preset sixth formula is:
obtaining torsional vibration angular velocity signal by calculating according to a preset seventh formula
The preset seventh formula is as follows:
multiplying torsional angular velocity signals by a preset eighth formulaDividing to obtain torsional angle displacement signals
The preset eighth formula is:
2. the method for detecting the torsional vibration of the rotating shaft based on the multiple sensors according to claim 1, wherein the determining of the installation angles of the multiple sensors installed on the inner ring surface of the measuring bracket according to the installation angle calibration mode comprises:
determining a measuring bracket with a corresponding caliber, which consists of a mounting ring and a base, according to the measuring surface of the rotating shaft;
determining sensors mounted on the holes according to a plurality of uniformly distributed holes in the mounting ring;
the number sequence of the sensors is consistent with the rotation sequence of a rotating shaft in the measuring support, and the number of the sensors is recorded as i ═ 1, 2.
3. The method for detecting torsional vibration of a rotating shaft based on multiple sensors according to claim 1, wherein before the step of extracting the parallel acquisition results of the multiple sensors on the single pulse marks and converting the parallel acquisition results into standard signals and outputting the standard signals, the method further comprises the following steps:
and determining the position of a pulse mark which is preset on the measuring surface of the rotating shaft, wherein the pulse mark comprises a magnetic steel sheet, an iron sheet or a reflective strip.
4. A torsional vibration detection apparatus, comprising:
a determination unit for determining installation angles of a plurality of sensors installed on an inner ring surface of the measurement bracket; the calibration mode of the installation angle comprises the following steps:
the rotation speed of the rotating shaft at low speed is recorded as omega', and the sensor with the number of 1 is taken as the baseQuasi, collecting and recording output pulse signals of all sensors, and recording the output pulse signals as L'i,i＝1,2,...,n；
Taking the positive and negative time points of the pulse signal as a trigger reference point, and recording the trigger time as Ti1, 2.. n, which is calculated by presetting a first formula, to obtain an adjacent sensor pulse signal L'i,L'i+1The preset first formula is as follows:
Δt'i＝T'i+1-Ti',i＝1,2,...,n；
calculating the arc length delta theta between any two sensors in the circumferential direction by presetting a second formulaiThe preset second formula is as follows:
Δθi＝ω1·Δt'i,i＝1,2,...,n；
the installation angle of the sensor marked with the number 1 is 0 DEG, and the installation angles theta of the other sensors are obtained by presetting a third formulaiThe preset third formula is as follows:
the extraction unit is used for extracting the parallel acquisition results of the plurality of sensors on the single pulse marks preset on the surface of the rotating shaft, converting the parallel acquisition results into standard signals and outputting the standard signals;
acquiring the output standard signal by a data acquisition card to acquire a multi-channel pulse signal; the extraction unit includes: the first extraction subunit is used for extracting the acquisition result of the sensor, converting the acquisition result and outputting the converted acquisition result;
a second extraction subunit, configured to extract a torsional vibration signal from the multichannel pulse signal;
the computing unit is used for computing the acquisition result to obtain a torsional vibration result; the computing unit is specifically configured to:
taking the sensor with the number of 1 as a reference, acquiring and recording the output pulse signals of each sensor in the process of rotating the rotating shaft for one circle, and recording the output pulse signals as LiN is taken as a trigger base from a positive and negative moment point of a pulse signalPunctuating, recording the trigger time as TiN, and obtaining adjacent sensor pulse signals L by presetting a fourth formulai,Li+1Time difference Δ t therebetweeni1.. n, the preset fourth formula is:
Δti＝Ti+1-Ti,i＝1,2,...,n；
calculating the instantaneous angular velocity omega in the course of one rotation by a preset fifth formulaiThe preset fifth formula is as follows:
by continuously testing a plurality of cycles in the same way, the instantaneous angular velocity signal omega in the measured time period can be obtainedi1, 2., N, where N is the total number of sampling points; calculating the average value of the instantaneous angular velocity signal by presetting a sixth formula
The preset sixth formula is:
obtaining torsional vibration angular velocity signal by calculating according to a preset seventh formula
The preset seventh formula is as follows:
integrating the torsional vibration angular velocity signal by a preset eighth formula to obtain a torsional angular displacement signal
The preset eighth formula is:
5. the torsional vibration detection apparatus according to claim 4, wherein the determination unit includes:
the first determining subunit is used for determining the measuring support with the corresponding caliber according to the measuring surface of the rotating shaft;
the second determining subunit is used for determining a pulse mark preset on the measuring surface of the rotating shaft;
the numbering unit is used for numbering the sensors;
and the third determining subunit is used for determining each installation angle of the plurality of sensors installed on the inner ring surface of the measuring bracket according to the installation angle calibration mode.
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| CN107389181B (en) * | 2017-08-25 | 2019-08-06 | 杭州电子科技大学 | A kind of torsional oscillation detection method and its sensor of application |
| CN109163797A (en) * | 2018-09-26 | 2019-01-08 | 重庆齿轮箱有限责任公司 | One kind being based on pulsed shafting torsional vibration test system and method |
| CN111380603B (en) * | 2018-12-29 | 2022-06-03 | 上海齐耀重工有限公司 | Torsional vibration monitoring device for diesel engine |
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| US5253531A (en) * | 1992-04-10 | 1993-10-19 | Walker Dana A | System and method for monitoring torsional vibrations and operating parameters of rotating shafts |
| CN101545824A (en) * | 2008-03-25 | 2009-09-30 | 唐德尧 | Fault diagnosis technology for mechanical tower |
| CN201408075Y (en) * | 2009-05-19 | 2010-02-17 | 中国船舶重工集团公司第七一一研究所 | Cam-type torsional vibration sensor and torsional vibration measuring instrument |
| CN103925988A (en) * | 2014-04-25 | 2014-07-16 | 哈尔滨工程大学 | Method for measuring torsional vibration of shafting |
| CN104266813A (en) * | 2014-10-29 | 2015-01-07 | 吉林大华机械制造有限公司 | Magnetic torsional vibration exciter and magnetic torsional vibration exciting system |
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| US5253531A (en) * | 1992-04-10 | 1993-10-19 | Walker Dana A | System and method for monitoring torsional vibrations and operating parameters of rotating shafts |
| CN101545824A (en) * | 2008-03-25 | 2009-09-30 | 唐德尧 | Fault diagnosis technology for mechanical tower |
| CN201408075Y (en) * | 2009-05-19 | 2010-02-17 | 中国船舶重工集团公司第七一一研究所 | Cam-type torsional vibration sensor and torsional vibration measuring instrument |
| CN103925988A (en) * | 2014-04-25 | 2014-07-16 | 哈尔滨工程大学 | Method for measuring torsional vibration of shafting |
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