CN108398260A - The fast evaluation method of gear-box instantaneous angular velocity based on mixing probabilistic method - Google Patents
The fast evaluation method of gear-box instantaneous angular velocity based on mixing probabilistic method Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M13/00—Testing of machine parts
- G01M13/02—Gearings; Transmission mechanisms
- G01M13/021—Gearings
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- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
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Abstract
The present invention provides a kind of fast evaluation method of the gear-box instantaneous angular velocity based on mixing probabilistic method, including：Acquire acoustic emission signal and vibration acceleration signal；Wavelet threshold denoising is carried out to signal；Signal after denoising is normalized；Pre -whitening processing is carried out to normalized signal using cepstrum edit methods；It carries out Gabor transformation and obtains the spectrogram of mixed signal；Each row of mixed spectrum figure are considered as an instantaneous spectrum, the probability density function of instantaneous angular velocity is established in each time step；All probability density functions in given interval are merged into one；Gaussian smoothing is carried out to obtained probability density function；It obtains angular speed and changes over time rule.The present invention improves the system stability under bad working environments, and saved cost without using surveying rotating speed instrument；Limitation departing from rotation speed change to speed estimation still can accurately identify rotating speed in the case where rotation speed change is violent.
Description
Technical field
The present invention relates to rotating machinery signal processing technology fields, more particularly to a kind of tooth based on mixing probabilistic method
The fast evaluation method of roller box instantaneous angular velocity.
Background technology
Gear-box is a kind of important speed change and power transmission member, be widely used in modern industrial equipment, to it
Carry out safety in production important in inhibiting of the condition monitoring and fault diagnosis to enterprise.In the fault diagnosis of gear-box, especially
Under variable speed operating condition, speed estimate is its indispensable component part.Current most widely used speed estimate side
Method is to carry out tachometric survey by installing rotational speed meters.It is additional to pacify but for the more severe industry spot of running environment
Dress rotational speed meters will substantially reduce the reliability of system equipment.In addition, the installation of rotational speed meters will carry out additional designs to equipment, and increase
Add no small cost.
It retrieves and finds by technology, existing no rotational speed meters method for estimating rotating speed is all based on gear case body vibration signal
Analysis.By carrying out frequency domain or time-frequency domain conversion to vibration signal, the meshing frequency at each moment is extracted, in conjunction with gear teeth
Number, so that it is determined that gear-box rotating speed.But device context running environment is generally all relatively more severe, actual measurement gear case body vibration
Signal generally comprises a large amount of noise component(s) and other harmonic wave interference components, especially under variable speed operating mode, extracts each moment
Meshing frequency when be susceptible to spectral blurriness phenomenon.In addition, to be often only applicable to fluctuation of speed range smaller for existing method
Occasion, and the algorithm for estimating having is complex, cannot be satisfied the requirement that industry spot fast implements speed estimate.
Invention content
The technical problem to be solved by the present invention is to：In view of the above shortcomings of the prior art, it provides a kind of general based on mixing
The fast evaluation method of the gear-box instantaneous angular velocity of rate method, it is diagonal without using complex hardware even tachymeter
It spends domain signal and carries out resampling.
For this purpose, the present invention uses following technical scheme：Based on the quick of the gear-box instantaneous angular velocity for mixing probabilistic method
Appraisal procedure includes the following steps：
(1) acceleration transducer and acoustic emission sensor are placed respectively on gear case body, acquires gear case body
Acceleration signal and acoustic emission signal；
(2) wavelet thresholding method is used to carry out denoising smooth to the acoustic emission signal and vibration acceleration signal of acquisition；
(3) to after denoising acoustic emission signal and vibration acceleration signal be normalized respectively；
(4) pre -whitening processing is carried out to normalized acoustic emission signal and vibration acceleration signal, improves the impact of signal
Characteristic removes the resonance of structure；
(5) after pre -whitening processing, Gabor transformation is carried out to acoustic emission signal and vibration acceleration signal, is mixed
Close the spectrogram of signal；
(6) each row of mixed spectrum figure are considered as an instantaneous spectrum, while consider caused by each impact first 10
Harmonic content, to establish the probability density function of instantaneous angular velocity in each time step：
Wherein, ω is set as the parameter of probability density function, and Ω is instantaneous angular velocity, Hi(i ∈ [1...n]) is impact thing
Part sequence, A (Hiω) be the signal after pre -whitening processing instantaneous spectrum, ζiIt is normalization factor, ΩminAnd ΩmaxIt is priori
The minimum and maximum value of instantaneous angular velocity rule；
(7) condition of continuity is introduced, all probability density functions in given interval are merged into one：
(8) obtained probability density function is smoothed；
(9) desired value that probability density function is extracted in each time step, to obtain final angular speed at any time
Changing rule.
Further, the event sequence of judder shock response can be caused to be known in gear-box operational process.
Further, wavelet threshold denoising key step is as follows in step 2)：
(2.1) acoustic emission signal of acquisition and acceleration signal are subjected to wavelet decomposition, obtain each scale coefficient；
(2.2) threshold value is handled, determines high-low threshold value；
(2.3) wavelet reconstruction is carried out to signal, obtains the signal after denoising.
Further, step 3) is normalized signal using the standardization of 0 mean value, i.e., will return raw data set
One turns to the data set that mean value is 0, variance 1.
Further, step 4) realizes the prewhitening of signal using cepstrum editor, and steps are as follows for specific implementation：
(4.1) Fast Fourier Transform is carried out to normalized acoustic emission signal and vibration acceleration signal, respectively obtained
Logarithmic magnitude is composed and phase spectrum；
(4.2) progress fast fourier inverse transformation is composed to Logarithmic magnitude and obtains real cepstrum；
(4.3) to real cepstrum into edlin, i.e., discrete in signal to remove by the zero setting of falling harmonic wave accordingly in real cepstrum
Frequency component；
(4.4) Fast Fourier Transform is carried out to edited real cepstrum, obtains edited Logarithmic magnitude spectrum；
(4.5) edited Logarithmic magnitude spectrum is reconfigured with original logarithmic spectrum to form complex logarithm spectrum；
(4.6) the prewhitening signal that inverse fourier transform obtains original signal is carried out to the complex frequency spectrum.
Further, the normalization factor in step 6) is calculated by following formula：
Further, the condition of continuity in step 7) needs to meet following formula：
Wherein, ΩjIndicate instantaneous angular velocity in the probability density function of j-th of time step, σk=| γ k Δst|, ΔtIt is
The time step of frequency spectrum, γ are the normal accelerations of instantaneous angular velocity.
Further, step 8) is using Gaussian smoothing, specific formula for calculation：
Wherein, setting j and j+k is two moment in gear-box operational process, and k represents the time interval at two moment,
Then, the probability density function [Ω of j moment instantaneous angular velocitiesj]j+kIt is the probability density function by j+k moment instantaneous angular velocities
[Ωj+k] obtained with Gaussian function convolution, so, the probability density function [Ω of j moment instantaneous angular velocitiesj]j+kBefore being the j moment
The coefficient result of probability density function at j+k (k ∈ [- K ..., K]) moment afterwards.
The beneficial effects of the invention are as follows：The method of the present invention improves the system stability under bad working environments, and saves
Cost；Limitation departing from rotation speed change to speed estimation still can accurately be known in the case where rotation speed change is violent
Other rotating speed.
Description of the drawings
Fig. 1 is the flow chart of the appraisal procedure of the present invention.
Fig. 2 is the flow chart that pre -whitening processing is realized using cepstrum editor.
Fig. 3 is the acceleration signal of the gear-box of acquisition.
Fig. 4 is the acoustic emission signal of the gear-box of acquisition.
Fig. 5 is the spectrogram of mixed signal.
Fig. 6 is finally obtained angular speed change curve.
Illustrate mode
Technical scheme of the present invention is described in further detail with reference to embodiments, the present embodiment is in skill of the present invention
Implemented under the premise of art scheme, gives detailed embodiment and specific operating process, but the protection model of the present invention
It encloses and is not limited to following embodiments.
The present embodiment is to carry out speed estimation to a wide range of variable speed process of certain spur gear gear box test table, is assessed
Journey is as shown in Figure 1, specifically include following steps：
1) acceleration transducer and acoustic emission sensor are placed respectively on gear case body, acquires adding for gear case body
Speed signal and acoustic emission signal, as shown in Figure 3,4.
2) wavelet thresholding method is used to carry out denoising smooth to the acoustic emission signal and vibration acceleration signal of acquisition, it is specific to walk
Suddenly include：The acoustic emission signal of acquisition and acceleration signal are subjected to wavelet decomposition, obtain each scale coefficient；At threshold value
Reason, determines high-low threshold value；Wavelet reconstruction is carried out to signal, obtains the signal after denoising.
3) to after denoising acoustic emission signal and vibration acceleration signal be normalized respectively, the present invention use 0
Raw data set will be normalized to the data set that mean value is 0, variance 1 by mean normalization method.
4) pre -whitening processing is carried out to normalized acoustic emission signal and vibration acceleration signal, the impact for improving signal is special
Property, the resonance of structure is removed, the present invention realizes prewhitening using cepstrum editor, and method flow diagram is as shown in Fig. 2, specific steps
Including：
A. Fast Fourier Transform is carried out to normalized acoustic emission signal and vibration acceleration signal, respectively obtains logarithm
Amplitude spectrum and phase spectrum；
B. progress fast fourier inverse transformation is composed to Logarithmic magnitude and obtains real cepstrum；
C. to real cepstrum into edlin, i.e., by the zero setting of falling harmonic wave accordingly in real cepstrum, to remove the discrete frequency in signal
Rate component；
D. Fast Fourier Transform is carried out to edited real cepstrum, obtains edited Logarithmic magnitude spectrum；
E. edited Logarithmic magnitude spectrum is reconfigured with original logarithmic spectrum to form complex logarithm spectrum；
F. the prewhitening signal that inverse fourier transform obtains original signal is carried out to the complex frequency spectrum.
5) after pre -whitening processing, Gabor transformation is carried out to acoustic emission signal and vibration acceleration signal, is mixed
The spectrogram of signal, as shown in Figure 5.
6) each row of spectrogram are considered as an instantaneous spectrum, while consider preceding 10 harmonic waves caused by each impact
Amount, to establish the probability density function of instantaneous angular velocity in each time step：
Wherein, Ω is instantaneous angular velocity, Hi(i ∈ [1 ... n]) relates to the impact event sequence of instantaneous angular velocity, A
(f) the albefaction form of signal transient frequency spectrum, Ω are in response tominAnd ΩmaxIt is the minimum and maximum value of priori instantaneous angular velocity rule,
ζiIt is normalization factor, can be calculated by following formula：
7) condition of continuity is introduced, all probability density functions in given interval are merged into one：
8) Gaussian smoothing is carried out to obtained probability density function, specific formula for calculation is：
Wherein, the probability density function [Ω of j moment instantaneous angular velocitiesj]j+kIt is by the general of j+k moment instantaneous angular velocities
Rate density function [Ωj+k] obtained with Gaussian function convolution.So the probability density function of j moment instantaneous angular velocities
[Ωj]j+kIt is the coefficient result of probability density function at (k ∈ [- K ..., the K]) moment of j+k before and after the j moment.
9) desired value that probability density function is extracted in each time step, is become at any time with the angular speed for obtaining final
Law, as shown in Figure 6.
10) the angular speed change curve is kissed with the angular speed change curve height directly measured with angular encoder
It closes, thus the correctness of provable proposition method of the present invention.
It is by above example, it can be seen that proposed by the present invention based on the fast of the gear-box instantaneous angular velocity for mixing probabilistic method
Fast appraisal procedure is very suitable for the quick estimation of gear-box angular speed, while also can be very accurate in a wide range of variable speed
Angular velocity be identified.
Claims (8)
1. the fast evaluation method of the gear-box instantaneous angular velocity based on mixing probabilistic method, it is characterised in that：It is described quickly to comment
The method of estimating includes the following steps：
(1) acceleration transducer and acoustic emission sensor are placed respectively on gear case body, acquires the acceleration of gear case body
Spend signal and acoustic emission signal；
(2) wavelet thresholding method is used to carry out denoising smooth to the acoustic emission signal and vibration acceleration signal of acquisition；
(3) to after denoising acoustic emission signal and vibration acceleration signal be normalized respectively；
(4) pre -whitening processing is carried out to normalized acoustic emission signal and vibration acceleration signal, improves the impact characteristics of signal,
Remove the resonance of structure；
(5) after pre -whitening processing, Gabor transformation is carried out to acoustic emission signal and vibration acceleration signal, obtains mixing letter
Number spectrogram；
(6) each row of mixed spectrum figure are considered as an instantaneous spectrum, while consider preceding 10 harmonic waves caused by each impact
Amount, to establish the probability density function of instantaneous angular velocity in each time step：
Wherein, ω is set as the parameter of probability density function, and Ω is instantaneous angular velocity, Hi(i ∈ [1...n]) is that impact event is suitable
Sequence, A (Hiω) be the signal after pre -whitening processing instantaneous spectrum, ζiIt is normalization factor, ΩminAnd ΩmaxIt is that priori is instantaneous
The minimum and maximum value of angular speed rule；
(7) condition of continuity is introduced, all probability density functions in given interval are merged into one：
(8) obtained probability density function is smoothed；
(9) desired value that probability density function is extracted in each time step, is changed over time with the angular speed for obtaining final
Rule.
2. the fast evaluation method of the gear-box instantaneous angular velocity according to claim 1 based on mixing probabilistic method,
It is characterized in that, the event sequence of judder shock response can be caused to be known in gear-box operational process.
3. the fast evaluation method of the gear-box instantaneous angular velocity according to claim 1 based on mixing probabilistic method,
It is characterized in that, wavelet threshold denoising key step is as follows in step 2)：
(2.1) acoustic emission signal of acquisition and acceleration signal are subjected to wavelet decomposition, obtain each scale coefficient；
(2.2) threshold value is handled, determines high-low threshold value；
(2.3) wavelet reconstruction is carried out to signal, obtains the signal after denoising.
4. the fast evaluation method of the gear-box instantaneous angular velocity according to claim 1 based on mixing probabilistic method,
It is characterized in that, step 3) is normalized signal using the standardization of 0 mean value, i.e., will be normalized to raw data set
Value is the data set of 0, variance 1.
5. the fast evaluation method of the gear-box instantaneous angular velocity according to claim 1 based on mixing probabilistic method,
It is characterized in that, step 4) realizes the prewhitening of signal using cepstrum editor, and steps are as follows for specific implementation：
(4.1) Fast Fourier Transform is carried out to normalized acoustic emission signal and vibration acceleration signal, respectively obtains logarithm
Amplitude spectrum and phase spectrum；
(4.2) progress fast fourier inverse transformation is composed to Logarithmic magnitude and obtains real cepstrum；
(4.3) to real cepstrum into edlin, i.e., by the zero setting of falling harmonic wave accordingly in real cepstrum, to remove the discrete frequency in signal
Component；
(4.4) Fast Fourier Transform is carried out to edited real cepstrum, obtains edited Logarithmic magnitude spectrum；
(4.5) edited Logarithmic magnitude spectrum is reconfigured with original logarithmic spectrum to form complex logarithm spectrum；
(4.6) the prewhitening signal that inverse fourier transform obtains original signal is carried out to the complex frequency spectrum.
6. the fast evaluation method of the gear-box instantaneous angular velocity according to claim 1 based on mixing probabilistic method,
It is characterized in that, the normalization factor in step 6) is calculated by following formula：
7. the fast evaluation method of the gear-box instantaneous angular velocity according to claim 1 based on mixing probabilistic method,
It is characterized in that, the condition of continuity in step 7) needs to meet following formula：
Wherein, ΩjIndicate instantaneous angular velocity in the probability density function of j-th of time step, σk=| γ k Δst|, ΔtIt is frequency spectrum
Time step, γ is the normal acceleration of instantaneous angular velocity.
8. the fast evaluation method of the gear-box instantaneous angular velocity according to claim 1 based on mixing probabilistic method,
It is characterized in that, step 8) is using Gaussian smoothing, specific formula for calculation：
Wherein, setting j and j+k is two moment in gear-box operational process, and k represents the time interval at two moment, then, j
Probability density function [the Ω of moment instantaneous angular velocityj]j+kIt is the probability density function by j+k moment instantaneous angular velocities
[Ωj+k] obtained with Gaussian function convolution, so, the probability density function [Ω of j moment instantaneous angular velocitiesj]j+kBefore being the j moment
The coefficient result of probability density function at j+k (k ∈ [- K ..., K]) moment afterwards.
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