CN111521866B

CN111521866B - Gyro motor output power stability monitoring method and device

Info

Publication number: CN111521866B
Application number: CN202010412292.5A
Authority: CN
Inventors: 涂毅; 肖昌
Original assignee: Yinhe Electric Co ltd
Current assignee: Yinhe Electric Co ltd
Priority date: 2020-05-15
Filing date: 2020-05-15
Publication date: 2022-02-11
Anticipated expiration: 2040-05-15
Also published as: CN111521866A

Abstract

The application relates to a method and a device for monitoring the stability of output power of a gyro motor. The method comprises the following steps: sending a sampling request to a power meter, receiving waveform data of the power meter during the running of a gyroscope motor according to the sampling request, wherein the waveform data comprises: storing the waveform data into a cache queue according to the electric parameter channel data and the characteristic value data, obtaining a power waveform curve according to the electric parameter channel data in the single-cycle time when the preset detection time is reached, calculating to obtain an active power characteristic value curve of the motor according to the characteristic data in the single-cycle time, and monitoring the stability of the output power of the gyro motor according to the balance degree of the active power characteristic value curve. By adopting the method, the stability of the output power of the gyroscope motor can be monitored.

Description

Gyro motor output power stability monitoring method and device

Technical Field

The application relates to the technical field of monitoring, in particular to a method and a device for monitoring the stability of output power of a gyro motor.

Background

The gyroscope is an angular motion detection device which uses a momentum moment sensitive shell of a high-speed revolving body to rotate around one or two axes which are orthogonal to a self-rotation axis relative to an inertia space, and the gyroscope is firstly used for navigation, but with the development of scientific technology, the gyroscope is widely applied to aviation and aerospace industries. It can be used not only as an indicating instrument, but also as a sensitive element in an automatic control system, namely as a signal sensor. According to the requirement, the gyroscope can provide accurate signals of azimuth, level, position, speed, acceleration and the like, so that a pilot or an automatic navigator is used for controlling navigation bodies such as airplanes, ships or space shuttles to fly according to a certain air route, and in the guidance of the navigation bodies such as missiles, satellite carriers or space detection rockets, the attitude control and the orbit control of the navigation bodies are directly completed by using the signals. As a stabilizer, gyroscopic instruments enable a train to run on a monorail, reduce the sway of a vessel in the storm, enable cameras mounted on aircraft or satellites to be stabilized relative to the ground, and the like. As a precise testing instrument, the gyroscope instrument can provide accurate azimuth reference for ground facilities, mine tunnels, underground railways, oil drilling, missile launching wells and the like. Therefore, the application range of the gyroscope instrument is quite wide, and the gyroscope instrument plays an important role in modern national defense construction and national economy construction.

The gyro motor is a part of a gyroscope, and a motor rotor is a flywheel of the gyroscope and forms the most essential physical property of the gyroscope, namely a gyro effect, under high-speed rotation. The gyro motor has no essential difference from a general motor in principle, but the design and the manufacturing precision of the gyro motor are subject to the requirements of a gyroscope. The rotary inertia of the rotor is larger than that of a common motor, the rotating speed is high and stable, the anti-interference capability of the motor is strong, the heat productivity is small, no additional interference torque is generated on the gyro rotor, the starting time is short, the repeatability is good, the structure is simple, and the like. Early gyroscopes were powder driven and had poor stability and repeatability, and the waste from powder combustion produced a large disturbance to the balance of the gyroscope, causing the gyroscope to drift. Later, a direct current brush motor is adopted, the rotating speed of the direct current brush motor is easy to control, but the direct current brush motor adopts a brush to change the phase, so that large contact friction exists in the phase change process, electric sparks can be generated, and electromagnetic interference is caused. Later, an alternating current motor was adopted, which has a simplified structure and improved reliability and safety because brushes were removed, but the rotation speed of the motor was not controlled well and stability was not high, which was not allowed in a high-precision gyroscope. Later, brushless direct current motors appeared, and after the 70 s of the 20 th century, the rapid development of electronic technology solved the difficult problem that brushless direct current motors with high control precision and high reliability could not be started automatically. Therefore, the direct current brushless motor with high precision, high reliability and low power consumption is widely applied to the gyroscope.

The operation frequency of the existing micro direct current brushless motors with different models is generally in the range of 800Hz to 2000Hz, most of the whole assembly process of the motors is finished manually, and high product qualification rate cannot be guaranteed even if standardized device process production is adopted, so that after the motor assembly is finished by a manufacturer, the whole gyroscope cannot normally work because the gyroscope is used as a high-precision instrument, the fault tolerance rate is very low, after the operation frequency of the motor is converted into a period, the single period time is 1.25 milliseconds to 0.5 milliseconds, and when the motor rotor has abnormal friction or some faults, the output power can appear in single-period real-time waveform sampling, however, common power measuring instruments such as the japan river WT series and the usa folk norm series cannot provide such short refresh time measurement data, and only can calculate the active power of the power measuring instruments through real-time waveform sampling values of a plurality of periods, so that the single-period fault data are very easy to be averaged, and the frequency bands where the abnormality occurs cannot be identified, and the working state of the motor cannot be accurately and accurately evaluated. Errors and hidden using troubles are brought to related application products of the gyroscope.

Disclosure of Invention

Therefore, it is necessary to provide a method and an apparatus for monitoring the stability of output power of a gyro motor, which can solve the problem that the stability of the output power of the gyro motor cannot be accurately monitored.

A gyro motor output power stability monitoring method, the method comprising:

sending a sampling request to a power meter;

the receiving power meter acquires waveform data of the gyroscope motor during operation according to the sampling request; the waveform data includes: electrical parameter channel data and characteristic value data;

storing the waveform data into a cache queue, obtaining a power waveform curve according to the electrical parameter channel data in the single-cycle time when the preset detection time is reached, and calculating to obtain an active power characteristic value curve of the motor according to the characteristic data in the single-cycle time;

and monitoring the stability of the output power of the gyro motor according to the balance degree of the active power characteristic value curve.

In one embodiment, the method further comprises the following steps: and acquiring an electric analog signal obtained by a gyroscope motor by a power meter at the speed of 50kps of each channel, converting the electric analog signal into a digital signal, and obtaining waveform data.

In one embodiment, the method further comprises the following steps: sampling and displaying the waveform data in the cache queue, and monitoring the stability of the output power of the gyro motor; and when the waveform data stored in the cache queue reaches the preset size, writing the waveform data into a local disk.

In one embodiment, the method further comprises the following steps: and obtaining power waveform data according to the electric parameter channel data stored in the cache queue and the electric parameter channel data stored in the local disk.

In one embodiment, the method further comprises the following steps: acquiring the single-cycle time length; filtering a preset synchronous source, calculating all zero-crossing points of the filtered synchronous source, recording the time length between any two adjacent zero-crossing points of any zero-crossing point, and determining the time length as the duration of a single cycle.

In one embodiment, the method further comprises the following steps: constructing a single-cycle database according to the single-cycle duration; the single cycle database includes: a corresponding plurality of monocycle durations in the synchronization source; acquiring electric parameter channel data corresponding to each channel in each single-period market, and calculating a mean square root of the electric parameter channel data to obtain an effective value of each channel waveform; and obtaining a power waveform curve according to the effective value.

In one embodiment, the method further comprises the following steps: constructing a single-cycle database according to the single-cycle duration; the single cycle database includes: a corresponding plurality of monocycle durations in the synchronization source; multiplying the waveform data corresponding to the two phase groups to obtain two paths of power waveform data, and respectively calculating to obtain single-cycle characteristic curves of the two paths of electric power according to the two paths of waveform data in the single-cycle duration; and adding the single-period characteristic curves of the two paths of electric power to obtain an active power characteristic value curve.

A gyro motor output power stability monitoring apparatus, the apparatus comprising:

the request sending module is used for sending a sampling request to the power meter;

the data acquisition module is used for receiving waveform data of the power meter during the operation of the gyroscope motor according to the sampling request; the waveform data includes: electrical parameter channel data and characteristic value data;

the curve calculation module is used for storing the waveform data into a cache queue, obtaining a power waveform curve according to the electrical parameter channel data in the single-cycle time when the preset detection time is reached, and calculating to obtain an active power characteristic value curve of the motor according to the characteristic data in the single-cycle time;

and the detection module is used for monitoring the stability of the output power of the gyro motor according to the balance degree of the active power characteristic value curve.

A computer device comprising a memory and a processor, the memory storing a computer program, the processor implementing the following steps when executing the computer program:

sending a sampling request to a power meter;

A computer-readable storage medium, on which a computer program is stored which, when executed by a processor, carries out the steps of:

sending a sampling request to a power meter;

According to the gyro motor output power stability monitoring method, the gyro motor output power stability monitoring device, the gyro motor output power stability monitoring computer equipment and the storage medium, sampling is carried out through the power meter to obtain the waveform data, but the output power cannot be directly detected through the waveform data, and the stability of the output power cannot be accurately monitored, so that after the waveform data are obtained, secondary calculation needs to be carried out on the output power, namely, the duration of a single cycle is obtained, starting from the duration of the single cycle, a power waveform curve and an active power characteristic curve in the duration of the single cycle are obtained in the calculation of the duration of the single cycle, and the stability of the output power can be monitored through the change of adjacent single cycles.

Drawings

FIG. 1 is a schematic flow chart of a method for monitoring the stability of the output power of a gyro motor in one embodiment;

FIG. 2 is a schematic diagram of a two watt meter method of wiring in one embodiment;

FIG. 3 is a block diagram of an embodiment of a gyro motor output power stability monitoring apparatus;

FIG. 4 is a diagram illustrating an internal structure of a computer device according to an embodiment.

Detailed Description

In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.

In an embodiment, as shown in fig. 1, a method for monitoring output power stability of a gyro motor is provided, which is described by taking the method as an example of being applied to an upper computer, and includes the following steps:

step 102, a sampling request is sent to a power meter.

The power meter is an electric power measuring instrument and can acquire parameters related to the power of a gyroscope motor. In performing power stability monitoring, a sampling request may be sent to the power meter to cause the power meter to begin operation.

And 104, acquiring waveform data of the gyroscope motor during operation by the receiving power meter according to the sampling request.

The power meter starts to sample the gyroscope motor, and because the sampled parameters are more, multi-channel sampling is needed at the same time, so that the waveform data comprises various data, such as: current data, voltage data, characteristic parameters, etc.

And 106, storing the waveform data into a cache queue, obtaining a power waveform curve according to the electrical parameter channel data in the single-cycle time when the preset detection time is reached, and calculating to obtain an active power characteristic value curve of the motor according to the characteristic data in the single-cycle time.

It should be noted that the electrical parameter channel data is real-time data, and therefore, the power waveform curve calculated according to the electrical parameter channel data is transient data, generally speaking, along with the continuous operation of the motor, an abnormal value in the transient data can be monitored, but in actual use, the active power within a period of time is monitored, so that the stability of the motor power can be conveniently monitored. Therefore, it is also necessary to calculate the active power of the motor, which is defined as the average of the instantaneous power, during a single cycle duration.

The single-period time length is determined according to the period of the synchronous source, and the power waveform curve and the active power characteristic value curve in the whole period can be correspondingly calculated by calculating the data in the single-period time length, so that the power stability can be conveniently monitored.

And step 108, monitoring the stability of the output power of the gyro motor according to the balance degree of the active power characteristic value curve.

According to the method for monitoring the stability of the output power of the gyro motor, the waveform data are obtained by sampling through the power meter, but the output power cannot be directly detected through the waveform data, and the stability of the output power cannot be accurately monitored.

In one embodiment, the method further comprises the following steps: sampling and displaying the waveform data in the buffer queue, and monitoring the stability of the output power of the gyro motor; and when the waveform data stored in the cache queue reaches the preset size, writing the waveform data into a local disk.

In a specific embodiment, the power is measured by a two watt meter connection method, as shown in fig. 2, the above-mentioned channels are all measurement channels in the two watt meter, and the theoretical basis of the two watt meter method is kirchhoff's current law, that is: in a lumped circuit, the algebraic sum of all the branch currents flowing into and out of the nodes is equal to zero at any time for any node. That is, the incoming current of two live wires is equal to the outgoing current of the third live wire, or the vector sum of the currents of the three live wires is equal to zero, i.e.:

i_a+i_b+i_c＝0

assuming that the neutral line of the three-phase load is N, according to the definition of the voltage:

u_ab＝u_aN-u_bN,u_cb＝u_cN-u_bN

for the electrical parameter channels, one channel collects voltage parameters and one channel collects current parameters, and the collected electrical parameters comprise u_ab、i_a、u_cb、i_cAnd the instantaneous power can be obtained by multiplying the parameters of the two channels, and the active power is obtained by calculation according to the definition of the active power.

In addition, in one embodiment, when the active power characteristic value curve is obtained, the balance degree of the characteristic value curve can be calculated, a loop traversal mode is used in software, a maximum variable is initially assigned as the minimum value of the current system number, a minimum variable is initially assigned as the maximum value of the current system number, the first element of a data set corresponding to the active power characteristic value curve is compared with the current values of the maximum variable and the minimum variable, and if the first element is smaller than the minimum value or larger than the maximum value, the value of the element is assigned to the maximum value or the minimum value. When the whole data set is traversed, an active power maximum value and an active power minimum value can be accurately obtained. And averaging all values of the original data set to obtain an average value of the active power. The power stability is calculated according to the following formula:

P_w＝(max-min)/AVG

wherein the content of the first and second substances,P_windicating stability and AVG indicating the power waveform curve averaged over all values of the original data set.

It should be understood that, although the steps in the flowchart of fig. 1 are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least a portion of the steps in fig. 1 may include multiple sub-steps or multiple stages that are not necessarily performed at the same time, but may be performed at different times, and the order of performance of the sub-steps or stages is not necessarily sequential, but may be performed in turn or alternately with other steps or at least a portion of the sub-steps or stages of other steps.

In one embodiment, as shown in fig. 3, there is provided a gyro motor output power stability monitoring apparatus including: a request sending module 302, a data obtaining module 304, a curve calculating module 306, and a detecting module 308, wherein:

a request sending module 302, configured to send a sampling request to a power meter;

the data acquisition module 304 is configured to receive waveform data of the power meter during operation of the gyroscope motor according to the sampling request; the waveform data includes: electrical parameter channel data and characteristic value data;

the curve calculation module 306 is configured to store the waveform data in a cache queue, obtain a power waveform curve according to the electrical parameter channel data in a single-cycle time when a preset detection time is reached, and calculate an active power characteristic value curve of the motor according to the characteristic data in the single-cycle time;

and the detection module 308 is configured to monitor the stability of the output power of the gyro motor according to the balance of the active power characteristic value curve.

In one embodiment, the data acquisition module 304 converts the electrical analog signals obtained by the power meter acquiring the gyroscope motor at a speed of 50kps per channel into digital signals to obtain waveform data.

In one embodiment, the device further comprises a storage module, a processing module and a control module, wherein the storage module is used for sampling and displaying the waveform data in the buffer queue, and monitoring the stability of the output power of the gyro motor; and when the waveform data stored in the cache queue reaches the preset size, writing the waveform data into a local disk.

In one embodiment, the curve calculating module 306 is configured to obtain power waveform data according to the electrical parameter channel data stored in the cache queue and the electrical parameter channel data stored in the local disk.

In one embodiment, the curve calculating module 306 is configured to obtain a single-cycle duration, filter a preset synchronization source, calculate all zero-crossing points of the filtered synchronization source, record a time length between any two adjacent zero-crossing points of any zero-crossing point, and determine the time length as the single-cycle duration.

In one embodiment, the curve calculation module 306 is configured to construct a single-cycle database according to the single-cycle duration; the single cycle database includes: a corresponding plurality of monocycle durations in the synchronization source; acquiring electric parameter channel data corresponding to each channel in each single-period market, and calculating a mean square root of the electric parameter channel data to obtain an effective value of each channel waveform; and obtaining a power waveform curve according to the effective value.

In one embodiment, the curve calculation module 306 is configured to construct a single-cycle database according to the single-cycle duration; the single cycle database includes: a corresponding plurality of monocycle durations in the synchronization source; multiplying the waveform data corresponding to the two phase groups to obtain two paths of power waveform data, and respectively calculating to obtain single-cycle characteristic curves of the two paths of electric power according to the two paths of waveform data in the single-cycle duration; and adding the single-period characteristic curves of the two paths of electric power to obtain an active power characteristic value curve.

For specific limitations of the gyro motor output power stability monitoring device, reference may be made to the above limitations of the gyro motor output power stability monitoring method, which are not described herein again. All modules in the gyro motor output power stability monitoring device can be completely or partially realized through software, hardware and a combination thereof. The modules can be embedded in a hardware form or independent from a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules.

In one embodiment, a computer device is provided, which may be a terminal, and its internal structure diagram may be as shown in fig. 4. The computer device includes a processor, a memory, a network interface, a display screen, and an input device connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The network interface of the computer device is used for communicating with an external terminal through a network connection. The computer program is executed by a processor to implement a gyro motor output power stability monitoring method. The display screen of the computer equipment can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer equipment can be a touch layer covered on the display screen, a key, a track ball or a touch pad arranged on the shell of the computer equipment, an external keyboard, a touch pad or a mouse and the like.

Those skilled in the art will appreciate that the architecture shown in fig. 4 is merely a block diagram of some of the structures associated with the disclosed aspects and is not intended to limit the computing devices to which the disclosed aspects apply, as particular computing devices may include more or less components than those shown, or may combine certain components, or have a different arrangement of components.

In an embodiment, a computer device is provided, comprising a memory storing a computer program and a processor implementing the embodiments of the method in the above embodiments when executing the computer program.

In an embodiment, a computer-readable storage medium is provided, on which a computer program is stored, which computer program, when being executed by a processor, is adapted to carry out embodiments of the method in the above-mentioned embodiments.

It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, storage, database, or other medium used in the embodiments provided herein may include non-volatile and/or volatile memory, among others. Non-volatile memory can include read-only memory (ROM), Programmable ROM (PROM), Electrically Programmable ROM (EPROM), Electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), Dynamic RAM (DRAM), Synchronous DRAM (SDRAM), Double Data Rate SDRAM (DDRSDRAM), Enhanced SDRAM (ESDRAM), Synchronous Link DRAM (SLDRAM), Rambus Direct RAM (RDRAM), direct bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).

The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.

Claims

1. A gyro motor output power stability monitoring method, the method comprising:

sending a sampling request to a power meter;

2. The method of claim 1, prior to receiving the waveform data for the power meter during operation of the gyroscope motor based on the sampling request, comprising:

and acquiring an electric analog signal obtained by a gyroscope motor by a power meter at the speed of 50kps of each channel, converting the electric analog signal into a digital signal, and obtaining waveform data.

3. The method of claim 1, further comprising:

sampling and displaying the waveform data in the cache queue to monitor the stability of the output power of the gyro motor;

and when the waveform data stored in the cache queue reaches the preset size, writing the waveform data into a local disk.

4. The method of claim 3, wherein deriving a power waveform profile from the electrical parametric channel data comprises:

and obtaining power waveform data according to the electric parameter channel data stored in the cache queue and the electric parameter channel data stored in the local disk.

5. The method of any one of claims 1 to 4, wherein prior to deriving a power waveform profile from the electrical parametric channel data over a single cycle duration, comprising:

acquiring the single-cycle time length;

the acquiring the single-cycle duration includes:

filtering a preset synchronous source, calculating all zero-crossing points of the filtered synchronous source, recording the time length between any two adjacent zero-crossing points of any zero-crossing point, and determining the time length as the duration of a single cycle.

6. The method of claim 5, wherein said deriving a power waveform profile from said electrical parametric channel data over a single cycle duration comprises:

constructing a single-cycle database according to the single-cycle duration; the single cycle database includes: a corresponding plurality of monocycle durations in the synchronization source;

acquiring electric parameter channel data corresponding to each channel in each single-period duration, and calculating a mean square root of the electric parameter channel data to obtain an effective value of each channel waveform;

and obtaining a power waveform curve according to the effective value.

7. The method of claim 5, wherein calculating an active power characteristic curve of the motor from the characteristic data over a single cycle duration comprises:

multiplying the waveform data corresponding to the two phase groups to obtain two paths of power waveform data, and respectively calculating to obtain single-cycle characteristic curves of the two paths of electric power according to the two paths of waveform data in the single-cycle duration;

and adding the single-period characteristic curves of the two paths of electric power to obtain an active power characteristic value curve.

8. A gyro motor output power stability monitoring device, characterized in that the device includes:

9. A computer device comprising a memory and a processor, the memory storing a computer program, wherein the processor implements the steps of the method of any one of claims 1 to 7 when executing the computer program.

10. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method of any one of claims 1 to 7.