CN110763465B - Bearing early fault signal detection system based on tristable characteristic with damping - Google Patents
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Abstract
The invention discloses a bearing early fault signal detection system based on a tristable characteristic with damping. The sensor collects an early fault signal of the bearing as one input of the modulation filtering amplification module, and the signal generation module generates a carrier signal with adjustable frequency as the other input; the fault signal is modulated, filtered and amplified, and the output modulated signal is input into a damping-resistant tristable system, wherein the damping-resistant tristable system consists of an adder, an integrator, a multiplier and an amplifier. Compared with the traditional bistable system, the method can effectively enhance the stochastic resonance, and the data acquisition module can detect the early fault signal of the bearing under strong background noise through frequency domain analysis after acquiring the output of the system.
Description
Technical Field
The invention belongs to the field of weak signal detection, and particularly relates to a bearing early fault signal detection system based on a tristable characteristic with damping.
Background
To study the ancient climate problem of the earth, Benzi et al propose a concept of stochastic resonance, that is, under the synergistic effect of a nonlinear system, an input signal and noise, as the noise intensity gradually increases from small to small, the output signal-to-noise ratio of the nonlinear system shows a non-monotonic change that increases to a peak value and then decreases. The traditional weak signal detection methods such as linear filtering and amplification improve the signal-to-noise ratio by suppressing noise, but when the frequency of the signal to be detected is overlapped with the noise frequency band, the signal to be detected is often weakened while the noise is suppressed, so that the detection of the weak signal cannot be effectively carried out. In contrast, stochastic resonance uses noise to enhance the weak signal, thereby increasing the signal-to-noise ratio to detect the weak signal.
The classical nonlinear system for studying stochastic resonance is a bistable system, and bistable stochastic resonance can be described as a nonlinear dynamical phenomenon that unit particles in the bistable system generate periodic transitions between stable potential wells due to the synergistic effect of the potential capability of the system, periodic force due to periodic signals, and random force due to noise, and can be described by a first-order stochastic differential equation, that is, the first-order stochastic differential equation is used for describing the phenomenon that
In the formula (1), x (t) is a motion track of a particle, that is, an output signal after passing through a bistable stochastic resonance system; s (t) is a periodic signal, a is the amplitude of the periodic signal, ω is the angular frequency of the periodic signal, and the phase is set to zero for simplicity; ξ (t) is white Gaussian noise with a mean value of 0 and an intensity of D; v (x) is a potential function of the bistable system, written as
In the formula, a and b are positive real numbers, and the shape of the bistable potential well is controlled, so that the generation of stochastic resonance and the performance thereof are influenced. The bistable system has two stable points + -xmAnd an unstable point xb. In which two steady-state points, i.e. two potential well locations, are
Where they are ramded by Δ V ═ a2Separated by a potential barrier of/4 b, the position of the potential barrier, i.e. the position of an unstable point, is at xbAt 0.
Although the bistable system has a simple structure and is convenient to apply, when an early fault signal of a bearing is detected, the fault signal is very weak and background noise is possibly very large because the fault is in the early stage, and at the moment, a good detection effect cannot be obtained by using the traditional bistable stochastic resonance system. Because extremely weak signals are buried in strong background noise, the barrier height Δ V of a bistable system must be reduced to cause stochastic resonance in the system, but as a result, the two barriers approach each other toward the zero position, so that the transition amplitude of the particle is reduced, i.e., the amplitude of the output signal is reduced. Therefore, the weaker the signal, the smaller the amplitude of the output signal, and the poorer the performance of stochastic resonance, and the poorer the effect of weak signal detection. Therefore, in the detection of the early failure signal of the bearing, a detection system capable of significantly enhancing the stochastic resonance performance and effectively detecting the early failure signal of the bearing is needed.
Disclosure of Invention
The invention aims to provide a bearing early fault signal detection system based on a tristable characteristic with damping in order to overcome the defects of the prior art.
The purpose of the invention is realized by the following technical scheme: a bearing early fault signal detection system based on a tristable characteristic with damping is composed of a sensor, a signal generation module, a modulation filtering amplification module, a tristable system with damping and a data acquisition module; the modulation filtering amplification module consists of a multiplier, a low-pass filter and an amplifier; the damping three-stable-state system comprises a first multiplier, a second multiplier, a third multiplier, a fourth multiplier, a fifth multiplier, a first amplifier, a second amplifier, a third amplifier, a fourth amplifier, a first integrator, a second integrator and an adder; the sensor and the signal generation module are respectively connected with the input end of a multiplier of the modulation filtering amplification module; the multiplier is connected with the input end of the low-pass filter, and the output end of the low-pass filter is connected with the amplifier; the output end of the amplifier of the modulation filtering amplification module is connected with the input end of the adder; the output end of the adder is connected with the input end of the first integrator, the output end of the first integrator is connected with the input ends of the first amplifier and the second integrator, the output end of the second integrator is connected with the second amplifier, the first multiplier, the third multiplier and the data acquisition module respectively, the first multiplier, the second multiplier and the third amplifier are connected in sequence, the third multiplier, the fourth multiplier, the fifth multiplier and the fourth amplifier are connected in sequence, and the first amplifier, the second amplifier, the third amplifier and the fourth amplifier are connected with the input end of the adder.
Further, the tristable system with damping specifically comprises: the adder comprises two operational amplifiers U1, U2 and ten resistors R1-R10; the first integrator comprises operational amplifiers U3 and U4, five resistors R11-R15 and a capacitor C1; the second integrator comprises operational amplifiers U5 and U6, five resistors R16-R20 and a capacitor C2; the first amplifier comprises an operational amplifier U7, an adjustable resistor R22 and two resistors R21, R23; the third amplifier comprises an operational amplifier U8, an adjustable resistor R25 and two resistors R24, R26; the second amplifier comprises an operational amplifier U9, an adjustable resistor R28 and two resistors R27, R29; the fourth amplifier comprises an operational amplifier U10, an adjustable resistor R31 and two resistors R30 and R32; one end of the resistor R1 is connected with the output end of the amplifier of the modulation filtering amplification module, and the other end of the resistor R1 is connected with the inverting input end of the operational amplifier U1; the resistor R2 is connected with one end of the output end of the operational amplifier U10, and the other end of the resistor R2 is connected with the inverting input end of the operational amplifier U1; the resistor R3 is connected with one end of the output end of the operational amplifier U9, and the other end of the resistor R3 is connected with the inverting input end of the operational amplifier U1; one end of the resistor R4 is connected with the output end of the operational amplifier U8, and the other end of the resistor R4 is connected with the inverting input end of the operational amplifier U1; one end of the resistor R5 is connected with the output end of the operational amplifier U7, and the other end of the resistor R5 is connected with the inverting input end of the operational amplifier U1; one end of the resistor R6 is connected with the inverting output end of the operational amplifier U1, and the other end of the resistor R6 is connected with the output end of the operational amplifier U1; one end of the resistor R7 is connected with the non-inverting input end of the operational amplifier U1, and the other end of the resistor R7 is grounded; one end of the resistor R8 is connected with the output end of the operational amplifier U1, and the other end of the resistor R8 is connected with the inverting input end of the operational amplifier U2; one end of the resistor R9 is connected with the inverting input end of the operational amplifier U2, and the other end of the resistor R9 is connected with the output end of the operational amplifier U2; one end of the resistor R10 is connected with the non-inverting input end of the U2, and the other end of the resistor R10 is grounded; one end of the resistor R11 is connected with the output end of the operational amplifier U2, and the other end of the resistor R11 is connected with the inverting input end of the operational amplifier U3; one end of the resistor R12 is connected with the non-inverting input end of the operational amplifier U3, and the other end of the resistor R12 is grounded; one end of the capacitor C1 is connected with the inverting input end of the operational amplifier U3, and the other end of the capacitor C1 is connected with the output end of the operational amplifier U3; one end of the resistor R13 is connected with the output end of the operational amplifier U3, and the other end of the resistor R13 is connected with the inverting input end of the operational amplifier U4; one end of the resistor R14 is connected with the inverting input end of the operational amplifier U4, and the other end of the resistor R14 is connected with the output end of the operational amplifier U4; one end of the resistor R15 is connected with the non-inverting input end of the operational amplifier U4, and the other end of the resistor R15 is grounded; one end of the resistor R16 is connected with the output end of the operational amplifier U4, and the other end of the resistor R16 is connected with the inverting input end of the operational amplifier U5; one end of the resistor R17 is connected with the non-inverting input end of the operational amplifier U5, and the other end of the resistor R17 is grounded; one end of the capacitor C2 is connected with the inverting input end of the operational amplifier U5, and the other end of the capacitor C2 is connected with the output end of the operational amplifier U5; one end of the resistor R18 is connected with the output end of the operational amplifier U5, and the other end of the resistor R18 is connected with the inverting input end of the operational amplifier U6; one end of the resistor R19 is connected with the inverting input end of the operational amplifier U6, and the other end of the resistor R19 is connected with the output end of the operational amplifier U6; one end of the resistor R20 is connected with the non-inverting input end of the operational amplifier U6, and the other end of the resistor R20 is grounded; one end of the resistor R21 is connected with the output end of the operational amplifier U4, and the other end of the resistor R21 is connected with the inverting input end of the operational amplifier U7; one end of the adjustable resistor R22 is connected with the inverting input end of the operational amplifier U7, and the other end of the adjustable resistor R22 is connected with the output end of the operational amplifier U7; one end of the resistor R23 is connected with the non-inverting input end of the operational amplifier U7, and the other end of the resistor R23 is grounded; two input ends of the first multiplier A1 are connected with the output end of the operational amplifier U5, the output end of the first multiplier A1 is connected with one input end of the second multiplier A2, and the other input end of the second multiplier A2 is connected with the output end of the operational amplifier U5; one end of the resistor R24 is connected with the output end of the second multiplier A2, and the other end is connected with the inverting input end of the operational amplifier U8; one end of the adjustable resistor R25 is connected with the inverting input end of the operational amplifier U8, and the other end of the adjustable resistor R25 is connected with the output end of the operational amplifier U8; one end of the resistor R26 is connected with the non-inverting input end of the operational amplifier U8, and the other end of the resistor R26 is grounded; one end of the resistor R27 is connected with the output end of the operational amplifier U6, and the other end of the resistor R27 is connected with the inverting input end of the operational amplifier U9; one end of the adjustable resistor R28 is connected with the inverting input end of the operational amplifier U9, and the other end of the adjustable resistor R28 is connected with the output end of the operational amplifier U9; one end of the resistor R29 is connected with the non-inverting input end of the operational amplifier U9, and the other end of the resistor R29 is grounded; two input ends of a third multiplier A3 are connected with the output end of an operational amplifier U6, the output end of a third multiplier A3 is connected with two input ends of a fourth multiplier A4, the output end of the fourth multiplier A4 is connected with one input end of a fifth multiplier A5, and the other input end of the fifth multiplier A5 is connected with the output end of the operational amplifier U6; one end of the resistor R30 is connected with the output end of the fifth multiplier A5, and the other end is connected with the inverting input end of the operational amplifier U10; one end of the adjustable resistor R31 is connected with the inverting input end of the operational amplifier U10, and the other end of the adjustable resistor R31 is connected with the output end of the operational amplifier U10; one end of the resistor R32 is connected with the non-inverting input end of the operational amplifier U10, and the other end is grounded.
Further, the output end of the operational amplifier U6 is the output signal end of the damping tristable system.
Further, the system works in the following way: firstly, a sensor collects a bearing fault signal and inputs the bearing fault signal and a carrier signal generated by a signal generation module into a modulation filtering amplification module; then, the modulated signal generated by the modulation filtering amplification module is input into a damping tristable system, the damping coefficient and system parameters of the damping tristable system are adjusted, and the frequency of a carrier signal is changed on the basis of the theoretical value of the characteristic frequency of the fault signal, so that the damping tristable system generates random resonance; and finally, the data acquisition module acquires an output signal of the tri-stable system with the damping for frequency domain analysis and waveform display.
Further, the modulated signal is output by an output end of an amplifier of the modulation filtering amplification module.
The invention has the beneficial effects that: aiming at the problem that the traditional bistable stochastic resonance system cannot generate stochastic resonance even by adjusting system parameters in the practical application of detecting the early bearing fault signal under strong background noise, so that the fault signal cannot be effectively detected, the invention changes the bistable system into a damping tristable system, designs a bearing early fault signal detection system based on the characteristic of the damping tristable system, provides an actual detection circuit, enables the damping tristable system to generate stochastic resonance mainly by adjusting the frequency and the damping coefficient of a carrier signal, obtains better stochastic resonance performance than the traditional bistable system, and effectively detects the early bearing fault signal under the strong background noise.
Drawings
FIG. 1 is a structural block diagram of a bearing early fault signal detection system based on a tristable characteristic with damping;
FIG. 2 is a block diagram of a modulation filtering amplification module;
FIG. 3 is a block diagram of a damped tristable system architecture;
FIG. 4 is a circuit diagram of a damped tristable system;
FIG. 5 is a time domain diagram of an original fault signal of a bearing outer ring;
FIG. 6 is a power spectrum of an original fault signal of a bearing outer ring;
FIG. 7 is a graph of the output power spectrum of a bi-stable system;
fig. 8 is a plot of the output power of a damped tristable system.
Detailed Description
As shown in FIG. 1, the bearing early fault signal detection system based on the tristable characteristic with damping of the invention is composed of a sensor, a signal generation module, a modulation filtering amplification module, a tristable system with damping and a data acquisition module; the sensor and the signal generation module are connected with the modulation filtering amplification module, the modulation filtering amplification module is connected with the damping tristable system, and finally the damping tristable system is connected with the data acquisition module; the signal to be measured is an early fault signal of the bearing, the signal is input into the modulation filtering amplification module together with a carrier signal with adjustable amplitude and frequency generated by the signal generation module after being collected by the sensor, then the modulated signal output from the modulation filtering amplification module is input into the tri-stable system with damping, the damping coefficient and the system parameters are adjusted, and the frequency of the carrier signal is changed on the basis of the theoretical value of the characteristic frequency of the fault signal obtained by calculation, so that the tri-stable system with damping generates random resonance; and finally, acquiring the output signal of the system by a data acquisition module, and performing frequency domain analysis and waveform display.
As shown in fig. 2, the circuit of the modulation filtering amplification module is composed of a multiplier, a low pass filter and an amplifier, wherein the multiplier is connected with the input end of the low pass filter, the output end of the low pass filter is connected with the amplifier, the signal to be measured collected by the sensor and the carrier signal generated by the signal generation module are respectively input to the two input ends of the multiplier, and finally the modulated signal is output from the amplifier.
As shown in fig. 3, the circuit with damping tristable system is composed of five multipliers, four amplifiers, two integrators and an adder, wherein the output end of the adder is connected with the input end of the first integrator, the output end of the first integrator is respectively connected with the input ends of the first amplifier and the second integrator, the output end of the second integrator is respectively connected with the second amplifier, the first multiplier and the third multiplier, the first multiplier, the second multiplier and the third amplifier are sequentially connected, the third multiplier, the fourth multiplier, the fifth multiplier and the fourth amplifier are sequentially connected, and the first amplifier, the second amplifier, the third amplifier and the fourth amplifier are all connected with the input end of the adder.
As shown in fig. 4, the specific circuit of the damping tristable system is formed as follows: the adder comprises two operational amplifiers U1, U2 and ten resistors R1-R10, wherein one end of the resistor R1 is connected with the output end of the modulation filtering amplification module and is connected with the output modulated signal output by the modulation filtering amplification module, the other end of the resistor R1 is connected with the inverting input end of the operational amplifier U1, one end of the resistor R6 is connected with the inverting output end of the operational amplifier U1, the other end of the resistor R7 is connected with the output end of the U1, one end of the resistor R7 is connected with the non-inverting input end of the operational amplifier U1, and the; one end of a resistor R8 is connected with the output end of the operational amplifier U1, the other end of the resistor R8 is connected with the inverting input end of the operational amplifier U2, one end of a resistor R9 is connected with the inverting input end of the operational amplifier U2, the other end of the resistor R9 is connected with the output end of the U2, one end of a resistor R10 is connected with the non-inverting input end of the U2, and the other end of the resistor R10.
The first integrator comprises operational amplifiers U3 and U4, five resistors R11-R15 and a capacitor C1, one end of a resistor R11 is connected with the output end of the adder, the other end of the resistor R11 is connected with the inverting input end of the operational amplifier U3, one end of a resistor R12 is connected with the non-inverting input end of U3, the other end of the resistor R12 is grounded, one end of a capacitor C1 is connected with the inverting input end of U3, and the other end of the capacitor C1 is connected with the output end of U3; one end of a resistor R13 is connected with the output end of the operational amplifier U3, the other end of the resistor R13 is connected with the inverting input end of the operational amplifier U4, one end of a resistor R14 is connected with the inverting input end of the U4, the other end of the resistor R14 is connected with the output end of the U4, one end of a resistor R15 is connected with the non-inverting input end of the U4, and the other end of the resistor R15.
The second integrator comprises operational amplifiers U5 and U6, five resistors R16-R20 and a capacitor C2, one end of a resistor R16 is connected with the output end of the first integrator, the other end of the resistor R16 is connected with the inverting input end of an operational amplifier U5, one end of a resistor R17 is connected with the non-inverting input end of the U5, the other end of the resistor R17 is grounded, one end of a capacitor C2 is connected with the inverting input end of the operational amplifier U5, and the other end of the capacitor C2 is connected with the output end of the U5; one end of the resistor R18 is connected with the output end of the operational amplifier U5, the other end of the resistor R18 is connected with the inverting input end of the operational amplifier U6, one end of the resistor R19 is connected with the inverting input end of the U6, the other end of the resistor R19 is connected with the output end of the U6, one end of the resistor R20 is connected with the non-inverting input end of the U6, the other end of the resistor R20 is grounded, and the output end of the second integrator is.
The first amplifier comprises an operational amplifier U7 and three resistors R21-R23, one end of a resistor R21 is connected with the output end of the first integrator, the other end of the resistor R21 is connected with the inverting input end of the operational amplifier, one end of an adjustable resistor R22 is connected with the inverting input end of the U7, the other end of the adjustable resistor R22 is connected with the output end of the U7, one end of a resistor R23 is connected with the non-inverting input end of the U7, the other end of the resistor R23 is grounded, meanwhile, the output end of the first amplifier is connected with one end of a resistor R5, and the other end of the resistor R.
The first multiplier and the second multiplier are respectively composed of multipliers A1 and A2, two input ends of a multiplier A1 are connected with the output end of an operational amplifier U5, the output end of A1 is connected with one input end of a multiplier A2, and the other input end of A2 is connected with the output end of an operational amplifier U5; the third amplifier comprises an operational amplifier U8 and three resistors R24-R26, one end of the resistor R24 is connected with the output end of the multiplier A2, the other end of the resistor R24 is connected with the inverting input end of the U8, one end of the adjustable resistor R25 is connected with the inverting input end of the U8, the other end of the adjustable resistor R25 is connected with the output end of the U8, one end of the resistor R26 is connected with the non-inverting input end of the U8, the other end of the resistor R26 is grounded, the output end of the third amplifier is connected with one end of a resistor R4, and the other end of the resistor R.
The second amplifier comprises an operational amplifier U9 and three resistors R27-R29, one end of a resistor R27 is connected with the output end of the second integrator, the other end of the resistor R27 is connected with the inverting input end of the operational amplifier U9, one end of an adjustable resistor R28 is connected with the inverting input end of the resistor U9, the other end of the adjustable resistor R28 is connected with the output end of the resistor U9, one end of a resistor R29 is connected with the non-inverting input end of the resistor U9, the other end of the resistor R29 is grounded, the output end of the second amplifier is connected with one end of the resistor R3, and the other end of the resistor.
The third multiplier, the fourth multiplier and the fifth multiplier are respectively composed of multipliers A3, A4 and A5, two input ends of the multiplier A3 are connected with the output end of the second integrator, the output end of the A3 is connected with two input ends of the multiplier A4, the output end of the A4 is connected with one input end of the multiplier A5, and the other input end of the A5 is connected with the output end of the second integrator; the fourth amplifier comprises an operational amplifier U10 and three resistors R30-R32, one end of a resistor R30 is connected with the output end of the fifth multiplier, the other end of the resistor R30 is connected with the inverting input end of the operational amplifier U10, one end of an adjustable resistor R31 is connected with the inverting input end of the resistor U10, the other end of the adjustable resistor R31 is connected with the output end of the resistor U10, one end of a resistor R32 is connected with the non-inverting input end of the resistor U10, the other end of the resistor R32 is grounded, the output end of the fourth amplifier is connected with one end of a resistor R2, and the other end of the.
The technical scheme of the invention is further explained by the specific implementation mode in combination with the attached drawings.
The device is formed by connecting a sensor, a signal generating module, a modulation filtering amplifying module, a damping-resistant three-stable-state system and a data acquisition module in series. The hardware circuit implementation of the damping tristable system is the key of the bearing early fault signal detection system. A damped tristable system can be represented by the following equation:
in the formula-k1x+k3x3-k5x5The potential energy of a tristable system, -gamma dx/dt represents the damping force, and A cos (ω t) + ξ (t) represents the axis submerged under strong background noiseBearing early fault signals. Fig. 3 is a block diagram of a damped tristable system, which mainly comprises an amplifier, an adder, an integrator and a multiplier. Inputting a modulated signal obtained by modulating, filtering and amplifying an early fault signal to an input end of an adder, wherein the output of the adder is connected to the input of a first integrator; the output of the first integrator is connected to the input end of the adder after passing through the first amplifier, and damping term output feedback-gamma dx/dt is generated; meanwhile, the output of the first integrator is connected to the input end of the second integrator, the output of the second integrator is connected to the input end of the adder after passing through the second amplifier, and a tristable system linear term output feedback-k is generated1x; the output of the second integrator is connected to the input end of the adder after passing through the first multiplier, the second multiplier and the third amplifier in sequence to generate a first nonlinear term output feedback k of the three-stable system3x3(ii) a The output of the second integrator is connected to the input end of the adder after sequentially passing through a third multiplier, a fourth multiplier, a fifth multiplier and a fourth amplifier to generate a second nonlinear term output feedback-k of the tristable system5x5。
Fig. 4 is a circuit diagram of a damped tristable system. The adjustable resistors R22, R25, R28 and R31 can respectively realize dynamic adjustment of damping term parameters, tristable system linear term parameters and nonlinear term parameters. The operational amplifier chip can be OPA177GP with pins 4 and 7 connected to positive and negative 12V DC power supplies respectively. The multiplier chip can select AD633JRZ, the 5 pins and the 8 pins of the multiplier chip are respectively connected with a positive and negative 12V direct current power supply, and the 2 pins, the 4 pins and the 6 pins of the multiplier chip are grounded.
According to the adiabatic approximation theory, the nonlinear system is easier to generate stochastic resonance under the condition of small parameter signals (small amplitude, small frequency and small noise), and the early fault signals of the bearing are generally medium-low frequency periodic signals and do not meet the condition of the small parameter signals. In order to satisfy the adiabatic approximation theory, an effective method is to modulate the fault signal to be detected to convert the fault signal into a low-frequency signal with small parameters, so that the invention utilizes the modulation filtering amplification module shown in fig. 2 to multiply and modulate the fault signal, and then filter and amplify the fault signal to obtain a modulated signal consisting of a difference frequency signal and white gaussian noise, wherein the frequency of the difference frequency signal is the difference between the frequency of the fault signal and the frequency of the carrier signal.
The beneficial effects of the present invention are illustrated by the following specific examples:
the invention is used for detecting the early fault signal of the bearing, and the model of the bearing is N/NU205 EM. Taking the outer ring fault as an example, the theoretical value of the fault frequency is f when the bearing rotating frequency f is 25Hz can be calculated according to the calculation formula of the characteristic frequency of the bearing outer ring faultT121.2 Hz. However, due to the interference of background noise such as vibration, and the fault is in an early stage, the fault signal is very weak, and any periodic component cannot be distinguished from a time domain diagram of the original fault signal acquired by the sensor, as shown in fig. 5. Fig. 6 is a power spectrum of an original fault signal, and due to large interference of other frequency components, a characteristic fault frequency of about 121.2Hz cannot be distinguished. Selecting the amplitude B of the carrier signal as 1 and the frequency fZAnd the frequency is 121.1Hz, and the original fault signal acquired by the sensor and the carrier signal are input into the modulation filtering amplification module together to obtain a modulated signal. And the modulated signals are respectively input into hardware circuits of a traditional bistable system and a tristable system with damping, the damping coefficient and system parameters are properly adjusted to generate stochastic resonance, and the output is resampled by a data acquisition module and then subjected to frequency domain analysis. FIG. 7 is a graph of the output power spectrum of a conventional bistable system at the difference frequency Δ f1A peak of 0.0111 exists at 0.2619Hz, which is recovered to obtain the frequency f of the fault signal0＝Δf1+fZThis is relatively close to the theoretical value of the fault signal frequency at 121.4Hz, indicating that the presence of a fault signal has been detected. But the spectral peak is not very prominent and the spectral peak is also very small. Compared with the traditional bistable system, the output power spectrogram of the damping tristable system has more prominent spectral peak and is at the difference frequency delta f2The spectral peak at 0.2304Hz is 0.1491, which is 10 times as high as the peak of the output spectrum of the bistable system, which significantly enhances the output of the stochastic resonance, see fig. 8. And restoring it to obtain a fault signal with a frequency f0＝Δf2+fZ121.3Hz, also closer to the theoretical value of the fault signal frequency. Example results show that the invention can accurately detectThe bearing early fault signal under strong background noise is generated, and the application of the bearing early fault signal in the bearing early fault detection is feasible and effective.
Claims (4)
1. A bearing early fault signal detection system based on a tristable characteristic with damping is characterized by comprising a sensor, a signal generation module, a modulation filtering amplification module, a tristable system with damping and a data acquisition module; the modulation filtering amplification module consists of a multiplier, a low-pass filter and an amplifier; the damping three-stable-state system comprises a first multiplier, a second multiplier, a third multiplier, a fourth multiplier, a fifth multiplier, a first amplifier, a second amplifier, a third amplifier, a fourth amplifier, a first integrator, a second integrator and an adder; the sensor and the signal generation module are respectively connected with the input end of a multiplier of the modulation filtering amplification module; the multiplier is connected with the input end of the low-pass filter, and the output end of the low-pass filter is connected with the amplifier; the output end of the amplifier of the modulation filtering amplification module is connected with the input end of the adder; the output end of the adder is connected with the input end of a first integrator, the output end of the first integrator is respectively connected with the input ends of a first amplifier and a second integrator, the output end of the second integrator is respectively connected with a second amplifier, a first multiplier, a third multiplier and a data acquisition module, the first multiplier, the second multiplier and the third amplifier are sequentially connected, the third multiplier, a fourth multiplier, a fifth multiplier and a fourth amplifier are sequentially connected, and the first amplifier, the second amplifier, the third amplifier and the fourth amplifier are all connected with the input end of the adder;
the tristable system with the damping specifically comprises: the adder comprises two operational amplifiers U1, U2 and ten resistors R1-R10; the first integrator comprises operational amplifiers U3 and U4, five resistors R11-R15 and a capacitor C1; the second integrator comprises operational amplifiers U5 and U6, five resistors R16-R20 and a capacitor C2; the first amplifier comprises an operational amplifier U7, an adjustable resistor R22 and two resistors R21, R23; the third amplifier comprises an operational amplifier U8, an adjustable resistor R25 and two resistors R24, R26; the second amplifier comprises an operational amplifier U9, an adjustable resistor R28 and two resistors R27, R29; the fourth amplifier comprises an operational amplifier U10, an adjustable resistor R31 and two resistors R30 and R32; one end of the resistor R1 is connected with the output end of the amplifier of the modulation filtering amplification module, and the other end of the resistor R1 is connected with the inverting input end of the operational amplifier U1; the resistor R2 is connected with one end of the output end of the operational amplifier U10, and the other end of the resistor R2 is connected with the inverting input end of the operational amplifier U1; the resistor R3 is connected with one end of the output end of the operational amplifier U9, and the other end of the resistor R3 is connected with the inverting input end of the operational amplifier U1; one end of the resistor R4 is connected with the output end of the operational amplifier U8, and the other end of the resistor R4 is connected with the inverting input end of the operational amplifier U1; one end of the resistor R5 is connected with the output end of the operational amplifier U7, and the other end of the resistor R5 is connected with the inverting input end of the operational amplifier U1; one end of the resistor R6 is connected with the inverting output end of the operational amplifier U1, and the other end of the resistor R6 is connected with the output end of the operational amplifier U1; one end of the resistor R7 is connected with the non-inverting input end of the operational amplifier U1, and the other end of the resistor R7 is grounded; one end of the resistor R8 is connected with the output end of the operational amplifier U1, and the other end of the resistor R8 is connected with the inverting input end of the operational amplifier U2; one end of the resistor R9 is connected with the inverting input end of the operational amplifier U2, and the other end of the resistor R9 is connected with the output end of the operational amplifier U2; one end of the resistor R10 is connected with the non-inverting input end of the U2, and the other end of the resistor R10 is grounded; one end of the resistor R11 is connected with the output end of the operational amplifier U2, and the other end of the resistor R11 is connected with the inverting input end of the operational amplifier U3; one end of the resistor R12 is connected with the non-inverting input end of the operational amplifier U3, and the other end of the resistor R12 is grounded; one end of the capacitor C1 is connected with the inverting input end of the operational amplifier U3, and the other end of the capacitor C1 is connected with the output end of the operational amplifier U3; one end of the resistor R13 is connected with the output end of the operational amplifier U3, and the other end of the resistor R13 is connected with the inverting input end of the operational amplifier U4; one end of the resistor R14 is connected with the inverting input end of the operational amplifier U4, and the other end of the resistor R14 is connected with the output end of the operational amplifier U4; one end of the resistor R15 is connected with the non-inverting input end of the operational amplifier U4, and the other end of the resistor R15 is grounded; one end of the resistor R16 is connected with the output end of the operational amplifier U4, and the other end of the resistor R16 is connected with the inverting input end of the operational amplifier U5; one end of the resistor R17 is connected with the non-inverting input end of the operational amplifier U5, and the other end of the resistor R17 is grounded; one end of the capacitor C2 is connected with the inverting input end of the operational amplifier U5, and the other end of the capacitor C2 is connected with the output end of the operational amplifier U5; one end of the resistor R18 is connected with the output end of the operational amplifier U5, and the other end of the resistor R18 is connected with the inverting input end of the operational amplifier U6; one end of the resistor R19 is connected with the inverting input end of the operational amplifier U6, and the other end of the resistor R19 is connected with the output end of the operational amplifier U6; one end of the resistor R20 is connected with the non-inverting input end of the operational amplifier U6, and the other end of the resistor R20 is grounded; one end of the resistor R21 is connected with the output end of the operational amplifier U4, and the other end of the resistor R21 is connected with the inverting input end of the operational amplifier U7; one end of the adjustable resistor R22 is connected with the inverting input end of the operational amplifier U7, and the other end of the adjustable resistor R22 is connected with the output end of the operational amplifier U7; one end of the resistor R23 is connected with the non-inverting input end of the operational amplifier U7, and the other end of the resistor R23 is grounded; two input ends of the first multiplier A1 are connected with the output end of the operational amplifier U5, the output end of the first multiplier A1 is connected with one input end of the second multiplier A2, and the other input end of the second multiplier A2 is connected with the output end of the operational amplifier U5; one end of the resistor R24 is connected with the output end of the second multiplier A2, and the other end is connected with the inverting input end of the operational amplifier U8; one end of the adjustable resistor R25 is connected with the inverting input end of the operational amplifier U8, and the other end of the adjustable resistor R25 is connected with the output end of the operational amplifier U8; one end of the resistor R26 is connected with the non-inverting input end of the operational amplifier U8, and the other end of the resistor R26 is grounded; one end of the resistor R27 is connected with the output end of the operational amplifier U6, and the other end of the resistor R27 is connected with the inverting input end of the operational amplifier U9; one end of the adjustable resistor R28 is connected with the inverting input end of the operational amplifier U9, and the other end of the adjustable resistor R28 is connected with the output end of the operational amplifier U9; one end of the resistor R29 is connected with the non-inverting input end of the operational amplifier U9, and the other end of the resistor R29 is grounded; two input ends of a third multiplier A3 are connected with the output end of an operational amplifier U6, the output end of a third multiplier A3 is connected with two input ends of a fourth multiplier A4, the output end of the fourth multiplier A4 is connected with one input end of a fifth multiplier A5, and the other input end of the fifth multiplier A5 is connected with the output end of the operational amplifier U6; one end of the resistor R30 is connected with the output end of the fifth multiplier A5, and the other end is connected with the inverting input end of the operational amplifier U10; one end of the adjustable resistor R31 is connected with the inverting input end of the operational amplifier U10, and the other end of the adjustable resistor R31 is connected with the output end of the operational amplifier U10; one end of the resistor R32 is connected with the non-inverting input end of the operational amplifier U10, and the other end is grounded.
2. The system for detecting the early failure signal of the bearing based on the tristable damping characteristic as claimed in claim 1, wherein the output end of the operational amplifier U6 is the output signal end of the tristable damping system.
3. The system for detecting the early failure signal of the bearing based on the characteristic of the damped tristable state as claimed in claim 1 is characterized in that the system works in the following way: firstly, a sensor collects a bearing fault signal and inputs the bearing fault signal and a carrier signal generated by a signal generation module into a modulation filtering amplification module; then, the modulated signal generated by the modulation filtering amplification module is input into a damping tristable system, the damping coefficient and system parameters of the damping tristable system are adjusted, and the frequency of a carrier signal is changed on the basis of the theoretical value of the characteristic frequency of the fault signal, so that the damping tristable system generates random resonance; and finally, the data acquisition module acquires an output signal of the tri-stable system with the damping for frequency domain analysis and waveform display.
4. The system for detecting the early failure signal of the bearing based on the characteristic of damped tristable state as claimed in claim 3 wherein said modulated signal is outputted by the output end of the amplifier of the modulation filtering amplification module.
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