CN110514438B - Planet gear meshing vibration decoupling method based on parameter optimization - Google Patents

Planet gear meshing vibration decoupling method based on parameter optimization Download PDF

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CN110514438B
CN110514438B CN201910785509.4A CN201910785509A CN110514438B CN 110514438 B CN110514438 B CN 110514438B CN 201910785509 A CN201910785509 A CN 201910785509A CN 110514438 B CN110514438 B CN 110514438B
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planet
vibration
meshing
decoupling
meshing vibration
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CN110514438A (en
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侯成刚
贠红光
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Xian Jiaotong University
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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
    • 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
    • G01M13/028—Acoustic or vibration analysis

Abstract

The inventionThe method comprises the following steps that 1, a Vold-Kalman order tracking filter is used for separating meshing vibration of a planet wheel to obtain a time domain signal; step 2, carrying out order resampling on the time domain signal obtained in the step 1 to obtain an order waveform; step 3, determining cosine raised power window functions of different planet wheels, multiplying the cosine raised power window functions by the order waveforms obtained in the step 2, and calculating to obtain original vibration signals of the planet wheels
Figure DDA0002177896330000012
Step 4, solving
Figure DDA0002177896330000011
Peak value k of envelope signali；min(ki) When the parameters are the optimal solution in the time of → 0, solving the original vibration signal of the planet wheel without path modulation
Figure DDA0002177896330000013
Complete decoupling of meshing vibration is realized; where i denotes the number of the planet. The method can realize complete decoupling of meshing vibration.

Description

Planet gear meshing vibration decoupling method based on parameter optimization
Technical Field
The invention belongs to the technical field of planetary gearbox fault diagnosis, and particularly relates to a planetary gear meshing vibration decoupling method based on parameter optimization.
Background
The planetary gear transmission has the advantages of small volume, compact structure, strong bearing capacity, high transmission efficiency and the like, and is widely applied to the heavy industrial fields of wind power generation, aerospace, ships, hoisting machinery, metallurgical mining and the like. However, the above-mentioned machine equipment is usually operated under the severe conditions of variable speed and variable load, and the parts inside the gear box are easy to be damaged. Part failure not only causes huge economic loss, but also becomes a great potential safety hazard.
An acceleration sensor is arranged on the outer side of a shell of the gear box to acquire vibration signals, and the condition monitoring of key parts in the gear box is the most widely and mature technical means. In the planetary gear transmission, a plurality of planet gears are simultaneously meshed with the inner gear ring and the sun gear. When the installation error and the manufacturing error of the gears are not considered, the phase difference exists between the vibration generated by meshing of the planetary gears, but the vibration frequency is the same. The sensor collects the sum signal of meshing vibration of a plurality of planet wheels. When any planet wheel is subjected to distributed wear, faults can cause that side frequency bands which are separated from each other by the relative rotation frequency of the planet wheel appear on the two sides of the meshing frequency spectrum. Therefore, the number of the planet wheels with distributed wear in the gearbox cannot be judged through the frequency spectrum of the sum signal, and the wear degree of each planet wheel cannot be evaluated.
Continuous window function synchronous averaging is one of the most effective methods for separating the meshing vibrations of the planets. The method can decompose the meshing sum signal of a plurality of planet wheels to each planet wheel. However, the single planetary gear meshing vibration obtained by the existing continuous window function synchronous average separation is still a signal obtained by adding all planetary gear meshing vibrations according to a certain weight coefficient, namely the planetary gear meshing vibration which is not completely decoupled is obtained by synchronous average.
In summary, a new planet gear meshing vibration decoupling method based on parameter optimization is needed.
Disclosure of Invention
The invention aims to provide a planet gear meshing vibration decoupling method based on parameter optimization, and aims to solve the problem that the planet gear meshing vibration obtained by the conventional continuous window function synchronous average separation is not completely decoupled. The method can realize complete decoupling of meshing vibration.
In order to achieve the purpose, the invention adopts the following technical scheme:
the invention relates to a planet wheel meshing vibration decoupling method based on parameter optimization, which comprises the following steps:
step 1, separating meshing vibration of a planet wheel by using a Vold-Kalman order tracking filter to obtain a time domain signal;
step 2, carrying out order resampling on the time domain signal obtained in the step 1 to obtain an order waveform;
step 3, determining cosine raised power window functions of the N planet wheels, multiplying the cosine raised power window functions by the order waveforms obtained in the step 2, and calculating to obtain N planet wheel windowed synchronous average vibration signals
Figure BDA0002177896310000021
Step 4, respectively solving N
Figure BDA0002177896310000022
Peak value k of envelope signali；min(ki) When the parameters are the optimal solution in the time of → 0, solving the original vibration signal of the planet wheel without path modulation
Figure BDA0002177896310000023
Therefore, complete decoupling of meshing vibration of the N planet wheels is realized;
wherein, i represents the serial number ( i 1,2, N) of planet wheel, and N is the planet wheel number.
The invention relates to a planet wheel meshing vibration decoupling method based on parameter optimization, which comprises the following steps:
(1) separating preset-order meshing vibration of the planet wheel by using a Vold-Kalman order tracking filter;
(2) selecting a cosine raising function
Figure BDA0002177896310000024
As a window function added at the time of synchronous averaging;
where i denotes the number of the planet wheels, fcThe frequency of the planet carrier is changed,
Figure BDA0002177896310000025
the phase difference between meshing vibration of the planet wheels is shown, and N is the number of the planet wheels;
change of
Figure BDA0002177896310000026
Window functions of different values are obtained to obtain synchronous average signals of N planet wheels
Figure BDA0002177896310000027
(3) There is a symmetric coefficient matrix of N × N
Figure BDA0002177896310000028
So that
Figure BDA0002177896310000029
Figure BDA00021778963100000210
Meshing vibrations for the original planet gears for which the path modulation of the gearbox has been eliminated; m, n are only related to the path modulation of the gearbox and the window function added at the time of synchronous averaging;
(4) in matrix expression
Figure BDA0002177896310000031
Multiplying the two sides by the inverse matrix of the coefficient matrix C to obtain the meshing vibration of the original planet gear
Figure BDA0002177896310000032
(5) The coefficients m, n satisfy the relationship
Figure BDA0002177896310000033
Obtained by synchronously averaging coefficient matrix and existing continuous window function
Figure BDA0002177896310000034
Multiplication and solution
Figure BDA0002177896310000035
Peak value k of envelope signali(ii) a When a certain group
Figure BDA0002177896310000036
Has a value of min (k)i) On → 0, the parameter is the optimal solution; solving the original vibration signal of the planet wheel without the path modulation according to the step (4)
Figure BDA0002177896310000037
Thereby realizing complete decoupling of meshing vibration.
Further, in the step (1), the reference frequency of the filter is the meshing frequency of the planet wheel, and the passband bandwidth covers the rotating frequency sideband of the planet carrier three times of the meshing frequency.
Further, the preset steps are 1-5 steps.
Further, taking the number of the planet wheels equal to 3 as an example, the number of the 3 planet wheelsSynchronous average result
Figure BDA0002177896310000038
Expressed as:
Figure BDA0002177896310000039
Figure BDA00021778963100000310
(i 1, 2.., N) is the original planet gear mesh vibration and the amplitude modulation introduced by the gearbox path modulation has been eliminated; m, n are only related to the path modulation of the gearbox and the window function added by the synchronous average;
expressed in matrix form:
Figure BDA00021778963100000311
further, in the step (4), the meshing vibration of the original planet wheel is obtained by multiplying the two sides of the matrix in the step (3) by the inverse matrix of the coefficient matrix
Figure BDA00021778963100000312
The expression is:
Figure BDA0002177896310000041
further, in step (5), the step size is set to 0.001, and the coefficient matrix is synchronously averaged with the existing continuous window function
Figure BDA0002177896310000042
Multiplication and solution
Figure BDA0002177896310000043
Peak value k of envelope signali。
Further, the method of the invention is used for realizing the diagnosis of the distributed wear degree of the gear.
Compared with the prior art, the invention has the following beneficial effects:
the method can realize complete decoupling of meshing vibration. Specifically, the planet gear meshing vibration decoupling method based on parameter optimization does not consider installation errors and manufacturing errors of gears, and assumes that one planet gear is healthy or one planet gear exists, and the health state of the gear teeth of the planet gear is superior to that of the other two planet gears; the amplitude modulation of meshing vibration of the relatively healthy planet wheels is weaker than that of other planet wheels, and path modulation in meshing is eliminated by synchronous averaging; therefore, the envelope signal peak value of the actual meshing vibration signal of the planet wheel is lower, and the planet wheel distributed wear fault diagnosis based on the planet wheel meshing vibration decoupling is realized.
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 are briefly introduced below; it is obvious that the drawings in the following description are some embodiments of the invention, and that for a person skilled in the art, other drawings can be derived from them without inventive effort.
FIG. 1 is a schematic flow chart of a planet gear meshing vibration decoupling process based on parameter optimization according to an embodiment of the invention;
FIG. 2 is a schematic time domain waveform of the order tracking separated meshing vibrations in an embodiment of the present invention;
FIG. 3 is a schematic diagram of the order waveforms of the meshing vibrations after equal angle resampling in an embodiment of the present invention;
FIG. 4 is a diagram of an added cosine raising power window function according to an embodiment of the present invention;
FIG. 5 is a schematic diagram of partially decoupled vibration waveforms of three planet wheels obtained for synchronous average separation of a continuous window function in the embodiment of the present invention;
FIG. 6 shows three planets in an embodiment of the invention
Figure BDA0002177896310000051
A schematic diagram of the relationship of (1);
FIG. 7 is a schematic diagram of meshing vibration of three planet gears which are completely decoupled in the embodiment of the invention;
FIG. 8 is a schematic diagram of comparison of vibration envelope signals and tooth profiles of three completely decoupled planetary gear meshes in the embodiment of the invention; fig. 8(a) is a schematic diagram of a number 1 planetary gear, fig. 8(b) is a schematic diagram of a number 2 planetary gear, and fig. 8(c) is a schematic diagram of a number 3 planetary gear.
Detailed Description
In order to make the purpose, technical effect and technical solution of the embodiments of the present invention clearer, the following clearly and completely describes the technical solution of the embodiments of the present invention with reference to the drawings in the embodiments of the present invention; it is to be understood that the described embodiments are only some of the embodiments of the present invention. Other embodiments, which can be derived by one of ordinary skill in the art from the disclosed embodiments without inventive faculty, are intended to be within the scope of the invention.
Referring to fig. 1, a planet gear meshing vibration decoupling method based on parameter optimization in an embodiment of the present invention includes the following steps:
step 1, separating meshing vibration of a planet wheel by using a Vold-Kalman order tracking filter to obtain a time domain signal;
step 2, carrying out order resampling on the time domain signal obtained in the step 1 to obtain an order waveform;
step 3, determining cosine raised power window functions of the N planet wheels respectively, multiplying the cosine raised power window functions by the order waveforms obtained in the step 2, and calculating to obtain N planet wheel windowed synchronous average vibration signals
Figure BDA0002177896310000052
Step 4, respectively solving N
Figure BDA0002177896310000053
Peak value k of envelope signali；min(ki) When the parameters are the optimal solution in the time of → 0, solving the original vibration signal of the planet wheel without path modulation
Figure BDA0002177896310000054
Therefore, complete decoupling of meshing vibration of the N planet wheels is realized;
wherein, i represents the serial number ( i 1,2, N) of planet wheel, and N is the planet wheel number.
The planet wheel meshing vibration decoupling method based on parameter optimization can realize complete decoupling of meshing vibration.
The embodiment of the invention provides a planet wheel meshing vibration decoupling method based on parameter optimization, which comprises the following steps:
(1) 1-5 order meshing vibration of the planet wheel is separated by using a Vold-Kalman order tracking filter; the reference frequency of the filter is the meshing frequency of the planet wheels, and the passband bandwidth covers the rotating frequency sideband of the planet carrier three times of the meshing frequency.
(2) 1-5 order meshing vibration obtained by order tracking separation is added to be used as meshing vibration of the planet wheel, and the meshing vibration time domain signal is subjected to equal-angle resampling according to the collected rotating speed information to obtain an order waveform, so that the same number of sampling points of the planet wheel rotating for one circle is ensured.
(3) Selecting a cosine raising function
Figure BDA0002177896310000061
As a window function added at the time of synchronous averaging. Wherein: i represents the serial number of the planet wheel; f. ofcRotating the frequency of the planet carrier;
Figure BDA0002177896310000062
the phase difference between the meshing vibration of the planet wheels is shown, and N is the number of the planet wheels. Change of
Figure BDA0002177896310000063
Window functions of different values are obtained to separate signals of different planet wheels
Figure BDA0002177896310000064
(4) Taking the number of the planet wheels as 3 as an example, the synchronous average result of the 3 planet wheels
Figure BDA0002177896310000065
Expressed as:
Figure BDA0002177896310000066
Figure BDA0002177896310000067
the original planet gears are vibrated in mesh and the amplitude modulation introduced by the gearbox path modulation has been eliminated. m, n are only related to the path modulation of the gearbox and the window function added by the synchronous averaging.
The above formula is expressed in matrix form:
Figure BDA0002177896310000068
(5) multiplying the two sides of the matrix in the previous step by the inverse matrix of the coefficient matrix to obtain the meshing vibration of the original planet wheel
Figure BDA0002177896310000069
Figure BDA00021778963100000610
(6) When the synchronous average window function is cosine raised power window, the coefficients m and n satisfy the relation
Figure BDA00021778963100000611
Changing the coefficient
Figure BDA0002177896310000071
Setting step length to 0.001, and synchronously averaging coefficient matrix and existing continuous window function
Figure BDA0002177896310000072
Multiplication and solution
Figure BDA0002177896310000073
Peak value k of envelope signali. When a certain group
Figure BDA0002177896310000074
Has a value of min (k)i) → 0, the parameter is the optimal solution, and the original vibration signal of the planet wheel without the path modulation can be obtained according to the step (5)
Figure BDA0002177896310000079
Complete decoupling of meshing vibration is achieved.
In order to verify the effectiveness of the invention, the method is applied to the analysis of the vibration data of the test bed of the planetary gearbox. The structure of the planetary gear box is as follows: the planetary gear box has 3 each planet wheel, and the sun gear is the input shaft, and the planet carrier is the output shaft, and the drive ratio is 3. The output shaft of the gear box and the external coupler have the problem of shaft misalignment, so that the stress of the planet carrier is eccentric, one planet wheel in the three planet wheels is subjected to large-amplitude eccentric load for a long time, the abrasion is large, and the abrasion of the other two planet wheels is small. The operation conditions are as follows: the motor drives the input shaft to rotate through the coupler, the magnetic powder brake loads the output shaft, and the rotation frequency of the motor is 200 rpm. The acceleration sensor is arranged on the outer side of the gearbox case and used for collecting vibration signals, and the rotating speed sensor is used for collecting rotating speed information of the input shaft of the gearbox.
Referring to fig. 2 to 8, fig. 2 shows the sum signal of the meshing oscillation of the planet gears 1-5 times obtained by the Vold-Kalman order tracking filter. Fig. 3 is an order waveform obtained by performing equal-angle resampling on the meshing vibration of the planet wheel and a signal. Fig. 4 is a cosine raised power window function added in a synchronous average mode, and the phase difference between the window functions is consistent with the phase difference between meshing vibration of single planet wheels. Fig. 5 shows three planet gear meshing vibration waveforms obtained by continuous window function synchronous average separation. Due to partial decoupling, amplitude modulation caused by distributed abrasion appears in three separated planet wheel signals. Setting the step size to 0.001, changing from 0 to 1
Figure BDA0002177896310000075
Value to obtain corresponding
Figure BDA0002177896310000076
And calculating the respective planet gear meshPeak-to-peak value k of combined vibration envelope signali. FIG. 6 shows three planet gears
Figure BDA0002177896310000077
A graph of the relationship (c). When the optimal decoupling coefficient
Figure BDA0002177896310000078
And the peak value of the envelope signal of the No. 1 planet wheel is minimum. Fig. 7 is a waveform diagram of fully decoupled three planet meshing vibrations using an optimal decoupling factor.
To further illustrate the effectiveness of the method, the outer profile of the gear teeth is photographed as a basis for judging the degree of wear. Fig. 8 shows that three gear teeth are shot at a time, the wear graph of each gear tooth is arranged according to the meshing sequence of the planet gears, and the meshing vibration signals of the planet gears obtained by synchronous averaging are compared one by one. The envelope amplitude change of the No. 1 planet wheel is small, which shows that the health states of all gear teeth are similar, the actually shot picture shows that the involute tooth profile of the gear teeth of the No. 1 planet wheel is complete, the abrasion of the gear teeth is small, and the involute tooth profile is consistent with an envelope signal. The envelope signals of the other two planet wheels have obvious amplitude modulation, which shows that the gear teeth of the two planet wheels have different degrees of wear. Meanwhile, the local amplitude of the envelope curve of the No. 2 planet wheel is larger than that of the No. 3 planet wheel, and the abrasion of the gear teeth of the No. 2 planet wheel is more serious than that of the No. 3 planet wheel. It can be seen from the planet wheel teeth of a cogwheel of actual shooting, the 1 ~ 3 teeth of a cogwheel of No. 2 planet wheel, 12 ~ 18 teeth of a cogwheel all have more serious wearing and tearing, take number 17 tooth as an example, see from its involute flank profile, and the tooth root of the teeth of a cogwheel has been cut the part, proves that this teeth of a cogwheel receive the eccentric load that the misalignment leads to for a long time, and the teeth of a cogwheel wearing and tearing are serious. No. 4 ~ 6 teeth of a cogwheel of No. 3 planet wheel have great wearing and tearing equally. In conclusion, the envelope curve change of the synchronous average result of the three planet wheels is basically consistent with the gear wear condition, and the envelope amplitude at the position with larger gear wear is larger. Experiments prove that the decoupling method provided by the invention can be used for completely decoupling the meshing vibration of the planet wheel and diagnosing the distributed wear degree of the gear.
Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art can make modifications and equivalents to the embodiments of the present invention without departing from the spirit and scope of the present invention, which is set forth in the claims of the present application.

Claims (7)

1. A planet gear meshing vibration decoupling method based on parameter optimization is characterized by comprising the following steps:
(1) separating preset-order meshing vibration of the planet wheel by using a Vold-Kalman order tracking filter;
(2) selecting a cosine raising function
Figure FDA0002490664820000011
As a window function added at the time of synchronous averaging;
where i denotes the number of the planet wheels, fcThe frequency of the planet carrier is changed,
Figure FDA0002490664820000012
the phase difference between meshing vibration of the planet wheels is shown, and N is the number of the planet wheels;
change of
Figure FDA0002490664820000013
Obtaining different window functions to respectively obtain synchronous average signals of N planet wheels
Figure FDA0002490664820000014
(3) There is a symmetric coefficient matrix of N × N
Figure FDA0002490664820000015
So that
Figure FDA0002490664820000016
Figure FDA0002490664820000017
Meshing vibrations for the original planet gears for which the path modulation of the gearbox has been eliminated; m, n are only related to the path modulation of the gearbox and the window function added at the time of synchronous averaging;
(4) in matrix expression
Figure FDA0002490664820000018
Multiplying the two sides by the inverse matrix of the coefficient matrix C to obtain the meshing vibration of the original planet gear
Figure FDA0002490664820000019
(5) The coefficients m, n satisfy the relationship
Figure FDA00024906648200000110
Obtained by synchronously averaging coefficient matrix and existing continuous window function
Figure FDA00024906648200000111
Multiplication and solution
Figure FDA00024906648200000112
Peak value k of envelope signali(ii) a When a certain group
Figure FDA00024906648200000113
Has a value of min (k)i) On → 0, the parameter is the optimal solution; solving the original vibration signal of the planet wheel without the path modulation according to the step (4)
Figure FDA00024906648200000114
Thereby realizing complete decoupling of meshing vibration.
2. The planetary gear meshing vibration decoupling method based on parameter optimization according to claim 1, wherein in the step (1), the reference frequency of the filter is the meshing frequency of the planetary gear, and the passband bandwidth covers a planetary carrier frequency-rotating sideband which is three times of the meshing frequency on both sides.
3. The method for decoupling vibration of planetary gear engagement based on parameter optimization according to claim 1, wherein in step (1), the preset order is 1-5 orders.
4. The method for decoupling vibration of planetary gear engagement based on parameter optimization according to claim 1, wherein in step (3), synchronous average results of 3 planetary gears are obtained
Figure FDA0002490664820000021
Expressed as:
Figure FDA0002490664820000022
Figure FDA0002490664820000023
the original planet gears are vibrated in mesh, and the amplitude modulation introduced by the gearbox path modulation is eliminated; m, n are only related to the path modulation of the gearbox and the window function added by the synchronous average;
expressed in matrix form:
Figure FDA0002490664820000024
5. the method for decoupling planetary gear meshing vibration based on parameter optimization according to claim 4, wherein in the step (4), the inverse matrix of the coefficient matrix is multiplied on two sides of the matrix in the step (3) to obtain the meshing vibration of the original planetary gear
Figure FDA0002490664820000025
The expression is:
Figure FDA0002490664820000026
6. the method for decoupling planetary gear meshing vibration based on parameter optimization according to claim 5, wherein in the step (5), the step length is set to be 0.001, and the coefficient matrix is obtained by synchronously averaging the coefficient matrix with the existing continuous window function
Figure FDA0002490664820000027
Multiplication and solution
Figure FDA0002490664820000028
Peak value k of envelope signali。
7. The method for decoupling vibration of planetary gear engagement based on parameter optimization according to any of claims 1 to 6, characterized by being used for realizing diagnosis of the degree of distributed wear of gears.
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