CN112014094B - Shield tunneling machine main driving performance monitoring and repairing method - Google Patents
Shield tunneling machine main driving performance monitoring and repairing method Download PDFInfo
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Abstract
The invention relates to a method for monitoring and repairing the main driving performance of a shield machine, which at least comprises the following steps: receiving a vibration signal transmitted by at least one sensor arranged on a main driving device of the shield machine, scanning all the vibration signals received in the current tunneling ring travel, and extracting at least one first local signal of which the characteristic parameter of the time domain waveform of the vibration signal is greater than a first abnormal threshold; performing a second diagnosis based on the characteristic parameters of the time domain waveform and the characteristic parameters of the frequency domain waveform of the first local signal to determine at least one sensor causing the first local signal; filtering the historical vibration signal based on time domain and frequency domain information of the first local signal to generate a second local signal; constructing a behavior profile for the at least one sensor based on the first and second local signals; and predicting the failure trend of the main driving device of the shield tunneling machine based on the behavior curve.
Description
Technical Field
The invention relates to the technical field of shield tunneling machines, in particular to a method for monitoring and repairing the main driving performance of a shield tunneling machine.
Background
The main driving system of the shield machine is the heart of the shield machine, is the center of power output of the shield machine, directly plays a role in power conversion and output, and simultaneously plays a role in supporting a shield body cutter head and enabling the shield body cutter head to rotate to break rocks. The main drive of the shield machine mainly comprises a main bearing, a main drive box, a connecting ring, a sealing pressure ring, a sealing slip ring, a sealing spacer ring, a speed reducer, a motor or a motor, a torque limiter, a cutter head drive and the like. The connection between the bearing outer ring and the forebody is mainly fixed by bolts through a connecting flange, the inner (tooth) ring is mainly connected with the cutter head through bolts, and the inner ring gear of the bearing, the speed reducer and the hydraulic motor are driven by hydraulic power to directly drive the cutter head to rotate. The main bearing is mainly provided with 2 lip-shaped inner seals and 3 lip-shaped outer seals. The first inner seal is mainly used for preventing dust and dust in the shield body from invading, and the second inner seal is mainly used for preventing lubricating oil in the main bearing from seeping. The first two external seals are mainly used for preventing the penetration of slurry and muck in the soil bin by using permanent grease loss lubrication, and the latter seals are basically the same as the latter seals and are also used for preventing the leakage of lubricating oil in the main bearing.
The main driving system of the shield tunneling machine has a complex structure, has high requirements on a manufacturing process and an assembling process, and is difficult and complex to maintain in the shield tunneling construction process, so that the main driving system and structural parts thereof are required to have long service life and high stability. Common faults of the main drive of the shield machine mainly include abrasion of a sealing slip ring, alarm of a gear oil system, sealing, inspection of lubricating oil products and the like.
For example, chinese patent publication No. CN109297642A discloses a device for testing main drive sealing performance of a shield machine, which includes a fixed outer ring, a rotating inner ring, a rotating support and a driving device, wherein the rotating support is fixed in one end of the fixed outer ring, the rotating inner ring is disposed in the fixed outer ring, and the inner end of the rotating inner ring is fixedly connected with the rotating inner ring of the rotating support; the fixed outer ring comprises a fixed front section and a fixed outer ring rear section which are detachably connected, and a front side cavity and a rear side cavity which are used for arranging a first main driving sealing assembly and a second main driving sealing assembly to be tested are formed between the outer wall of the rotating inner ring and the inner walls of the fixed outer ring front section and the fixed outer ring rear section respectively. The invention can test the static pressure resistance of the main driving sealing system, the friction heating value of the main driving sealing system under different rotating speeds and the dynamic pressure resistance of the main driving sealing system under different pressures by stopping the injection belt pressure of the injection opening of the medium injection ring, and has the advantages of simple structure, convenient and comprehensive test and the like. However, the steps of checking, testing and the like of the shield machine are standard necessary processes before the shield machine leaves a factory or before the shield machine is not shielded, and most of main driving performance faults can be avoided. However, the patent document cannot detect the performance of the main drive in the actual operation of the shield machine, cannot comprehensively acquire the operating state of the main drive of the shield machine to know or predict the occurrence of the fault of the main drive, and actually predicting the occurrence of the fault of the main drive to timely find and eliminate or repair the fault is a trend of the detection and fault diagnosis of the existing shield machine equipment.
For example, chinese patent publication No. CN108760361B discloses a shield machine fault monitoring and early warning system and method, the system includes an upper monitor, a shield machine working condition detection device for monitoring the working condition information of the monitored shield machine in real time, an early warning prompting device controlled by the upper monitor, and a timing circuit connected with the upper monitor, the early warning prompting device is connected with the upper monitor; the shield tunneling machine working condition detection device comprises a main bearing working condition detection device for monitoring the working condition of a main bearing of the shield tunneling machine in real time, a cutter head detection device for monitoring a cutter head of the shield tunneling machine in real time and a cutter head driving detection device for monitoring the working condition of a cutter head driving system in real time, wherein the main bearing working condition detection device, the cutter head detection device and the cutter head driving detection device are all connected with an upper monitor; the main bearing working condition detection device comprises a main bearing vibration detection unit for monitoring the vibration intensity of the main bearing of the shield machine in real time and a main bearing lubricating oil detection device for monitoring lubricating oil supplied to the main bearing of the shield machine in real time; the cutter head detection device comprises a cutter head damage detection device and a cutter head torque detection unit for monitoring the torque of the cutter head of the shield tunneling machine in real time, the cutter head damage detection device is an acoustic emission detection device for monitoring whether damage exists on the cutter head of the shield tunneling machine in real time, and the cutter head torque detection unit and the acoustic emission detection device are both connected with an upper monitor; cutterhead drive detection device includes right the vibration intensity of speed reducer carries out real-time supervision's speed reducer vibration detecting element, to supplying to drive mechanism's lubricating oil carries out real-time supervision's cutterhead drive lubricating oil detection device, to delivering to through the hydraulic pump hydraulic motor's hydraulic oil carries out real-time supervision's hydraulic pump operating mode detection device and right the operating mode of hydraulic pump carries out real-time supervision, the hydraulic pump is the electric pump. Preferably, the upper monitor analyzes and processes the shield machine working condition information received at each analyzing and processing time according to a preset analyzing and processing frequency and a time sequence, and performs fault diagnosis on the monitored shield machine at each time according to the analyzing and processing result to obtain a fault diagnosis result of the monitored shield machine at each analyzing and processing time; the fault diagnosis result comprises a fault preliminary diagnosis result and a fault reason diagnosis result; the fault preliminary diagnosis result comprises whether the monitored shield machine has faults or not, the number of the faults and the types of the faults, wherein the fault types of the monitored shield machine comprise main bearing faults, cutter head faults and cutter head driving faults; the fault reason diagnosis result comprises main bearing seal damage, main bearing lubricating oil quality unqualified, hydraulic oil quality unqualified, speed reducer fault, hydraulic pump electrical fault and cutter head damage. The diagnostic solution disclosed in this patent document is to determine that a corresponding fault has occurred when the detected vibration intensity is greater than a predetermined threshold or the pressure of the hydraulic oil is greater than a predetermined threshold. However, the working condition of the tunneling work of the shield tunneling machine is complex, the types of the faults of the main drive are various, and the fault judgment is carried out by only using one index value, so that the method is not accurate enough and has poor stability. I.e. in some cases the intensity of the vibrations exceeding the threshold value may be a normal behaviour under certain conditions. Therefore, the existing monitoring method has inaccurate monitoring and needs precise fault diagnosis. However, the precise fault diagnosis has the defects of large calculation amount and slow calculation time.
Furthermore, on the one hand, due to the differences in understanding to the person skilled in the art; on the other hand, since the inventor has studied a lot of documents and patents when making the present invention, but the space is not limited to the details and contents listed in the above, however, the present invention is by no means free of the features of the prior art, but the present invention has been provided with all the features of the prior art, and the applicant reserves the right to increase the related prior art in the background.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides a method for monitoring the main driving performance of a shield machine, which at least comprises the following steps:
receiving a vibration signal transmitted by at least one sensor arranged on a main driving device of the shield machine, and storing the vibration signal by taking the stroke of each tunneling ring of the shield machine as a unit;
scanning all vibration signals received in a current tunneling loop travel, and extracting at least one first local signal of which the characteristic parameter of a time domain waveform of the vibration signals is greater than a first abnormal threshold;
performing frequency domain transformation on the first local signal to obtain characteristic parameters of a frequency domain waveform of the first local signal, and performing secondary diagnosis on the basis of the characteristic parameters of a time domain waveform and the characteristic parameters of a frequency domain waveform of the first local signal to determine at least one sensor causing the first local signal;
calling historical vibration signals received in one or more previous tunneling loops of the at least one sensor, and filtering the historical vibration signals to generate second local signals based on time domain and frequency domain information of the first local signals;
constructing a behavior profile for the at least one sensor based on the first and second local signals;
and predicting the failure trend of the main driving device of the shield tunneling machine based on the behavior curve.
According to a preferred embodiment, the characteristic parameter of the time-domain waveform is at least one of an amplitude domain and a time difference domain. And if the first abnormal threshold value indicates that the main driving device of the shield machine has abnormal vibration but can operate in a short term, performing secondary diagnosis based on the characteristic parameters of the time domain waveform and the characteristic parameters of the frequency domain waveform of the first local signal to determine whether the main driving device of the shield machine has a fault. And if the frequency domain characteristic parameter of the first local signal is determined to be in the second abnormal threshold range through the secondary diagnosis, determining that the main driving device of the shield tunneling machine has a fault. And if the frequency domain characteristic parameter of the first local signal is determined to be out of the range of the second abnormal threshold value through the secondary diagnosis, further judgment is needed for the fault of the main driving device of the shield machine.
According to a preferred embodiment, when the first abnormal threshold value indicates that the main driving device of the shield tunneling machine has an abnormal vibration and cannot operate, a secondary diagnosis is performed based on the characteristic parameters of the time-domain waveform and the characteristic parameters of the frequency-domain waveform of the first local signal to determine the failure frequency of the first local signal. And when the secondary diagnosis is carried out to determine that the main driving device of the shield machine has a fault, comparing the fault frequency of the first local signal with the frequency of the vibration signal of the main driving device to determine the part with the fault of the main driving device. At least one sensor that causes the first local signal is determined based on the failed component.
According to a preferred embodiment, in the case that the first abnormal threshold value indicates that the main driving device of the shield machine is abnormal but can operate for a short time and the secondary diagnosis determines that the main driving device of the shield machine needs to be further judged, the first local signals in all the vibration signals received in the current tunneling loop are removed to generate a first stable vibration signal. Historical vibration signals received within a previous one or more ripper loops of at least one sensor that caused the first local signal are retrieved. And filtering the historical vibration signal based on the time domain and/or frequency domain information of the first smooth vibration signal to generate a second smooth vibration signal. And comparing the time domain and/or frequency domain information of the first smooth vibration signal and the second smooth vibration signal. And if the time domain and/or frequency domain variation trends of the first smooth vibration signal and the second smooth vibration signal are consistent, judging that the main driving device of the shield tunneling machine is not in fault. And if the time domain and/or frequency domain variation trends of the first smooth vibration signal and the second smooth vibration signal are inconsistent, judging that the main driving device of the shield tunneling machine has a fault.
According to a preferred embodiment, the step of determining at least one sensor causing the first local signal based on the malfunctioning component comprises at least:
determining at least one sensor monitoring the component based on the failed component;
selecting a sensor which is closest to the failed part and has the same monitored vibration direction as the vibration direction of the first local signal based on at least one sensor for monitoring the part;
selecting a first sensor and a second sensor which are closest to each other and have the same monitored vibration direction as the vibration direction of the first local signal when the number of the sensors for monitoring the part, which have the same monitored vibration direction as the vibration direction of the first local signal, is more than one;
and predicting the failure tendency of the shield tunneling machine based on the behavior curve of the first sensor and the behavior curve of the second sensor.
According to a preferred embodiment, the step of predicting the failure tendency of the main driving device of the shield tunneling machine based on the behavior curve at least comprises the following steps:
searching a first node which initially represents that the vibration is abnormal and can operate for a short time in the behavior curve;
searching a second node which initially represents that the vibration is abnormal and cannot run in the behavior curve;
finding at least one third node between the first node and the second node in the behavior curve, which represents that the vibration is abnormal but can be operated in a short term;
and predicting the failure tendency of the main driving device of the shield machine based on the time interval of reaching the first node and the time interval of the first node and the second node in the behavior curve. And correcting and predicting the failure trend of the main driving device of the shield tunneling machine based on the time interval between the first node and the third node, the time interval between the third nodes adjacent to each other and the time interval between the third node and the second node.
According to a preferred embodiment, the step of performing a frequency-domain transform on the basis of the first local signal to obtain characteristic parameters of a frequency-domain waveform thereof comprises at least:
decomposing the first local signal to obtain a natural resonance frequency domain signal including fault information;
reconstructing the inherent resonance frequency domain signal to filter out interference components in the inherent resonance frequency domain signal;
demodulating the reconstructed inherent resonance frequency domain signal to obtain an envelope signal;
performing a fast fourier transform on the envelope signal to obtain an envelope spectrum of the first local signal.
According to a preferred embodiment, the step of performing a secondary diagnosis based on the characteristic parameters of the time-domain waveform and the characteristic parameters of the frequency-domain waveform of the first local signal to determine the fault frequency of the first local signal at least comprises:
calculating a plurality of fault frequencies related to a main driving device based on parameters of the main driving device of the shield tunneling machine;
setting the plurality of failure frequencies with respect to the main driving device as natural resonant frequencies;
decomposing the first local signal based on the natural resonant frequency to obtain envelope spectrums of a plurality of first local signals corresponding to a plurality of fault frequencies of a main driving device;
and comparing and analyzing the fundamental frequency and the multiple frequency of the envelope spectrum of the plurality of first local signals with the plurality of fault frequencies of the main driving device, thereby determining the fault frequency and the fault type of the first local signals.
The invention also provides a method for repairing the main driving performance of the shield machine, which at least comprises the following steps:
acquiring at least one sensor causing the first local signal by using the monitoring method for the main driving performance of the shield tunneling machine according to the preferred embodiment, and acquiring a failure trend of the main driving device of the shield tunneling machine based on a behavior curve of the at least one sensor;
determining parts and positions of a main driving device of the shield tunneling machine, which need to be repaired, based on the acquired at least one sensor;
and determining a time node for repairing the part based on the acquired failure trend of the main driving device of the shield tunneling machine.
According to a preferred embodiment, the step of determining the time node of the repair part based on the obtained trend of the main driving device of the shield tunneling machine in failure at least comprises the following steps:
obtaining a predicted time node of abnormal vibration but short-term operation based on the acquired failure trend of the main driving device of the shield machine;
and calculating an end time node which is closest to the time node and finishes the tunneling ring stroke based on the time node, thereby determining the time node which takes the end time node as a repair part.
The invention achieves the following beneficial effects: on the one hand, the main drive mostly requires gears and bearings, and most of the failures are also caused by the gears or bearings. Therefore, it is necessary to deal with the gear and bearing induced failures with great emphasis. The frequency of failure of the gears or bearings is mostly concentrated in the low frequency region. The low-frequency signals are sensitive to directions, so that the measurement in the horizontal direction, the measurement in the vertical direction and the measurement in the axial direction need to be considered. Preferably, at the same measuring point, it is generally necessary to provide sensors for detecting three directions. According to the arrangement mode, the number of measuring points required to be arranged on the main driving device of the shield tunneling machine is large, the number of the arranged sensors is large, and then when the vibration signals are scanned, the vibration signals sensed by the sensors are generally collected and overlapped to perform comprehensive analysis.
Just like the above description of the sensor measuring points and number of the main driving device of the shield machine and the monitoring mode of the vibration signals, the superposition of all the vibration signals and the comprehensive analysis can greatly improve the primary monitoring of the abnormal vibration, but the information brought by the time domain waveform of the vibration signals is limited, and the fault parts and fault characteristics cannot be determined in a plurality of sensing data, so that the frequency domain variation is performed through the first local signal to obtain the characteristic parameters of the frequency domain waveform, and then the comparison analysis is performed with the calculated fault frequency and fault characteristics of the main driving device, so as to determine whether the main driving device has faults or not and the fault parts. But also to determine at least one sensor among the plurality of sensors that monitors the data anomaly.
On the other hand, the tunneling operation of the shield machine is that the tunneling ring is used as a unit for tunneling, and the geological properties of the adjacent tunneling rings are similar, so that the monitored data have continuity, the subsequently constructed behavior curve can more accurately represent the operation condition of the driving device of the shield machine, and the subsequent trend of predicting the failure of the main driving device of the shield machine based on the behavior curve can be more accurate. In addition, the data in the limited adjacent tunneling rings only need to be referred to by storing the data in the tunneling rings as a unit and then performing comparative analysis by taking the tunneling rings as a measurement unit, so that the data volume to be processed is greatly reduced, the data processing time is short, and the prediction of the failure tendency of the main driving device of the shield machine can be realized in a short time.
In addition, the method can predict the failure trend of the main driving device of the shield machine, and further can give an early warning to the tunneling work of the shield machine according to the trend, so as to replace or repair the main driving device in advance and avoid further damage of parts. Moreover, the fault development trend of the failed part is obtained according to the historical data in a few limited tunneling rings in the past, and the development trend can be obtained according to the historical data of the part which continuously changes in the near term, so that the prediction of the part fault has the continuity of the fault state, and the obtained prediction data is more accurate. In addition, the intensity of change of the parts after the parts have faults can be obtained according to prediction among different nodes, a basis can be provided for judging the faults of the main driving device, comparison data can be provided for secondary diagnosis when the subsequent vibration abnormity occurs, the fault position can be accurately determined, and convenience is brought to repair of the later driving device.
Drawings
FIG. 1 is a schematic flow chart illustrating steps of a preferred embodiment of a shield tunneling machine main driving performance monitoring method according to the present invention;
fig. 2 is a schematic flow step diagram of a shield tunneling machine main driving performance repairing method according to a preferred embodiment of the invention.
Detailed Description
This is described in detail below with reference to figures 1 and 2.
Preferably, the main drive of the shield machine is made up of a series of mechanical components. For example, the reducer in the main drive includes a series of complex gear structures. The structure of the gear, the bearing and the like is responsible for the transmission of various moments in the driving of the shield tunneling machine. Therefore, the gear and the bearing bear the acting force applied from the outside and the inside in the tunneling process of the shield tunneling machine for a long time, and the fault is easy to occur. In addition, the transmission between the gears and the bearings and the transmission of torque between the gears and the bearings can accelerate the failure of one gear or one bearing and cause irreversible damage to other gears or bearings after the other gear or one bearing is worn. Furthermore, the individual mechanical components need to withstand and transmit forces or moments. And vibration information is generated by all mechanical parts in the moving process. The vibration signal is easy to obtain and determine, so that the main driving performance of the shield tunneling machine can be monitored based on the acquisition and analysis of the vibration signal. In particular, the main drive performance may be monitored from vibration signals of gear components and bearing components in the shield machine main drive.
Preferably, each gear periodically enters and exits mesh during the gearing. For a general spur gear, there are single-tooth engagement and double-tooth engagement. In the case of gears in single tooth engagement, the entire load carried by the gears is carried by a pair of meshing gears. In the case of double meshing, the load carried by the two pairs of meshing gears is carried by the magnitude of the stiffness of each mesh. Therefore, when a pair of gear pairs moves from single meshing to double meshing, the contact force of the two gears is suddenly changed, and the sudden change of the force can excite the vibration of the gears. Preferably, during the gear transmission, the meshing rigidity of each meshing point of the gear pair changes along with the continuous change of the meshing point of the gears, and the change of the rigidity necessarily causes the gears to vibrate. Further, since the gear is slightly deformed when the gear receives an applied force, a meshing impact and a meshing-out impact are generated due to a change in a gear contour line when the gear enters or exits the mesh, and the impact aggravates vibration of the gear. The vibration signal of the gear therefore comprises its natural vibration frequency. However, when a gear fails, not only the waveform of its vibration changes, but also a failure characteristic frequency different from its natural vibration frequency is generated.
Preferably, the bearing includes at least an inner race, an outer race, rolling elements, and a holding frame. Normally, the outer race is mounted in a bearing housing opening and is stationary. The inner race is mounted on the journal for rotation with the axle body. The rolling bodies are the core components of the bearing. The holding frame is used for uniformly arranging all rolling bodies. In the case of a rotating bearing, damage to the components will cause periodic impacts during the rotating contact, and further generate a periodic pulse force, which causes regular vibration of the bearing, and generates a characteristic frequency corresponding to a certain fault. Through signal analysis, a fault of the bearing can be found. Preferably, the failure characteristic frequency of the bearing can be calculated by the geometric dimension and the rotating speed of the bearing.
Preferably, the main drive of the shield machine further comprises a main motor. The main motor is a power source for the rotation of the cutter head. The abnormity of the main motor of the shield machine mainly comprises:
1. electromagnetic vibrations caused by stator anomalies;
2. electromagnetic vibration caused by eccentricity of the stator and the rotor;
3. mechanical vibrations resulting from rotor imbalance;
4. impact vibrations caused by bearing failure;
5. local overheating due to poor electrical contact.
Preferably, the main drive of the shield tunneling machine comprises a hydraulic drive in addition to the motor drive. The hydraulic drive is the main drive source of the shield machine. For example, the shield machine is hydraulically driven in both tunneling and steering. The hydraulic drive mainly comprises a main propelling hydraulic system, a screw conveyor hydraulic system, a duct piece assembling hydraulic system and the like. Preferably, the hydraulic pump is a hydraulically driven power source. The hydraulic pump mainly converts mechanical energy into pressure energy of fluid. The rotary and reciprocating motion of the hydraulic pump generates impact force, which in turn causes vibration. It is therefore also necessary to monitor the vibration signal in the hydraulic drive in addition to the pressure signal in the hydraulic drive.
Therefore, most of faults or performance abnormity caused by the main driving device of the shield tunneling machine can be obtained by monitoring the vibration signals.
Example 1
The embodiment discloses a method for monitoring the main driving performance of a shield tunneling machine, and under the condition of not causing conflict or contradiction, the whole and/or part of the contents of the preferred embodiments of other embodiments can be used as a supplement of the embodiment.
Preferably, the judgment is performed based on the time domain waveform of the vibration signal, and the method can only be applied to the condition that the monitoring fault is obvious. Preferably, the amplitude of the vibration signal is generally used as a main index for the failure judgment. For example, whether the characteristic parameter in the time-domain waveform of the vibration signal exceeds a first abnormal threshold value is used for judging. Preferably, the characteristic parameter of the time-domain waveform may be an amplitude domain or a time-difference domain. Preferably, the magnitude domain may be a peak-to-peak value, a pulse value, a mean square value, a kurtosis value, a margin value, etc. The time difference domain may be an autocorrelation function, a cross-correlation function. Preferably, since the autocorrelation function and the cross-correlation function do not change the period and amplitude of the periodic signal in the vibration signal, the periodic signal can be efficiently extracted from the noise signal when the vibration signal is analyzed by the autocorrelation or cross-correlation function. Generally, when a main driving device of a shield machine normally operates, a vibration signal has a wide frequency spectrum with uniform amplitude, and once the driving device fails, a regular and periodic signal appears in the vibration signal, and the frequency spectrum changes. And the analysis of the autocorrelation or cross-correlation function can effectively extract each periodic component in the noise, thereby determining the defect of the machine. Preferably, the first abnormality threshold may be a maximum value at which the characteristic parameter exceeds a normal range in the time-domain waveform of the vibration signal. In case the characteristic parameter is an autocorrelation function or a cross-correlation function, the first anomaly threshold may also be a maximum value at which the degree of asymmetry of the probability density function exceeds a normal range. Preferably, the method of rating the vibration intensity specified in standard GB11347-1989 is also used. The standard is suitable for the field measurement and evaluation of the vibration intensity of large-scale rotating machinery with the power of more than 300kw and the rotating speed of 10-200 r/s (600-12000 r/min). The power and the rotating speed of each main motor of the driving device of the shield tunneling machine are in the above ranges, and the detection range of the standard GB11347-1989 is met. Preferably, the standard GB11347-1989 specifies that the maximum of the root mean square values of the vibration speed signals measured at a defined measuring point and in a defined measuring direction is the vibration intensity of the main drive of the shield machine. Preferably, the first anomaly threshold may be 11.2 for a rigid support, according to standard GB 11347-1989. The vibration intensity indicated by 11.2 is C. The vibration severity C indicates that the machine is operating for a short period of time, but remedial action must be taken. Preferably, the first anomaly threshold may be 18.0 for a rigid support, according to standard GB 11347-1989. 18.0 indicates a vibration intensity of D. The vibration severity D indicates that the machine needs to be shut down and not allowed to run.
Preferably, the main driving performance of the shield machine can be monitored simultaneously based on different characteristic parameters of the vibration signals. The characteristic parameters of the time domain waveform are adopted to monitor the main driving performance of the shield machine, the required calculation amount is small, and the calculation time is short, so that the fault of the main driving of the shield machine can be detected quickly. However, the fault of the main drive monitored by the characteristic parameters of the time domain waveform has the defect of poor identification. The hidden trouble of the fault which is not obvious in performance can not be found through the characteristic parameters of the time domain waveform. In addition, considering that the vibration signal is the most direct and original parameter for feeding back the operation state of each part of the main drive of the shield tunneling machine, the main drive performance of the shield tunneling machine can be comprehensively fed back. Therefore, the vibration signal needs to be further analyzed, so that the trend of the change of the main driving performance of the shield machine is obtained, and the condition that each part has a fault or does not have a fault but needs to be repaired is predicted.
As shown in fig. 1, the method for monitoring the main driving performance of the shield tunneling machine at least comprises the following steps:
s100: and receiving a vibration signal transmitted by at least one sensor arranged on the main driving device of the shield tunneling machine. And storing the vibration signal by taking the stroke of each tunneling ring of the shield tunneling machine as a unit. Preferably, the tunneling operation of the shield tunneling machine is that tunneling rings are used as units for tunneling, and the geological properties of adjacent tunneling rings are similar, so that the monitored data have continuity, the subsequently constructed behavior curve can more accurately represent the operation condition of the shield tunneling machine driving device, and the subsequent trend of predicting the failure of the shield tunneling machine main driving device based on the behavior curve can be more accurate. In addition, the data in the limited adjacent tunneling rings only need to be referred to by storing the data in the tunneling rings as a unit and then performing comparative analysis by taking the tunneling rings as a measurement unit, so that the data volume to be processed is greatly reduced, the data processing time is short, and the prediction of the failure tendency of the main driving device of the shield machine can be realized in a short time.
Preferably, the sensor of the main driving device of the shield tunneling machine can adopt an acceleration sensor. Such as a piezoelectric acceleration sensor. Preferably, the sensor can be placed at the measuring point by means of magnetic attraction. Preferably, the arrangement of the sensor measurement points and the number of sensors determine the quality of the acquired signal. For example, the position of the measuring point of the sensor requires that the measuring surface be kept flat, thereby avoiding a weak mounting of the sensor. The plurality of sensors are arranged at the positions with frequent faults, so that the parts can be comprehensively monitored, and the failure of data measured by the sensors can be avoided. In addition, the arrangement of a plurality of sensors can avoid that a vibration signal cannot be obtained under the condition that one sensor is damaged or fails. Preferably, the main drive requires mostly gears and bearings, and most failures are due to gears or bearings. Therefore, it is necessary to deal with the gear and bearing induced failures with great emphasis. The frequency of failure of the gears or bearings is mostly concentrated in the low frequency region. The low-frequency signals are sensitive to directions, so that the measurement in the horizontal direction, the measurement in the vertical direction and the measurement in the axial direction need to be considered. Preferably, at the same measuring point, it is generally necessary to provide sensors for detecting three directions. According to the arrangement mode, the number of measuring points required to be arranged on the main driving device of the shield tunneling machine is large, the number of the arranged sensors is large, and then when the vibration signals are scanned, the vibration signals sensed by the sensors are generally collected and overlapped to perform comprehensive analysis.
Preferably, all vibration signals received within the current tunnelling circuit are scanned. At least one first partial signal in which a characteristic parameter of a time-domain waveform of the vibration signal is larger than a first abnormality threshold is extracted. Preferably, when the vibration signals measured by all the sensors are superposed, only the characteristics of the time-domain waveforms of all the vibration signals need to be monitored to make a preliminary judgment. For example, only the amplitude in all vibration signals need to be monitored. When the amplitude in the vibration signal exceeds a first abnormal threshold value, the main driving device of the shield tunneling machine can be preliminarily judged to be abnormal in vibration. This monitoring method is simple and fast, but may suffer from poor stability or sensitivity. The first local signal therefore needs to be further analyzed to determine if a vibration anomaly is actually present. For example, in the shield machine driving device, the failure frequency of each component is different, and the location of the failure and the type of the failure can be determined by comparing and analyzing the frequency domain characteristics of the first local signal.
S200: a frequency domain transform is performed based on the first local signal to obtain characteristic parameters of a frequency domain waveform thereof. A second diagnosis is performed based on the characteristic parameters of the time domain waveform and the characteristic parameters of the frequency domain waveform of the first partial signal to determine at least one sensor causing the first partial signal. Through this setting mode, the beneficial effect who reaches is:
just like the above description of the sensor measuring points and number of the main driving device of the shield machine and the monitoring mode of the vibration signals, the superposition of all the vibration signals and the comprehensive analysis can greatly improve the primary monitoring of the abnormal vibration, but the information brought by the time domain waveform of the vibration signals is limited, and the fault parts and fault characteristics cannot be determined in a plurality of sensing data, so that the frequency domain variation is performed through the first local signal to obtain the characteristic parameters of the frequency domain waveform, and then the comparison analysis is performed with the calculated fault frequency and fault characteristics of the main driving device, so as to determine whether the main driving device has faults or not and the fault parts. But also to determine at least one sensor among the plurality of sensors that monitors the data anomaly. In fact, analyzing the measurement data of each sensor also enables monitoring of the corresponding first local signal, while also not requiring finding the sensor that monitored the anomaly from the first local signal. However, the method of analyzing the measurement data of each sensor requires the processing equipment of the shield machine to analyze each sensor, which not only increases the number of processes processed by the processing equipment, but also requires the processing equipment to allocate a large amount of computing resources for processing. In addition, the processing method for each sensor is extremely inefficient in calculation compared to the method of uniform comprehensive processing and analysis. Let alone that the corresponding processing equipment of the shield tunneling machine needs to reserve and allocate a specific storage space for the measurement data of each sensor.
Preferably, the step of performing a frequency domain transform based on the first local signal to obtain characteristic parameters of a frequency domain waveform thereof at least includes:
s201: the first local signal is decomposed to obtain a natural resonance frequency domain signal including fault information. Preferably, the first local signal may be decomposed using wavelet packet analysis. Preferably, the wavelet packet analysis method is a further extension of wavelet transform, and compared with wavelet transform, the vibration signal can be adaptively decomposed in low frequency band and high frequency band at the same time, so as to perform better time-frequency localization analysis. Preferably, acquiring the natural resonance frequency domain signal including the failure information requires the failure frequency of the main driving apparatus as the natural resonance frequency. When the first local signal is decomposed into the wavelet packets based on the natural resonant frequency, a signal including the natural resonant frequency is retained.
S202: the natural resonance frequency domain signal is reconstructed to filter out the interference components therein. It is preferable that wavelet coefficients of other frequency bands than the natural resonance frequency are set to zero. By the arrangement mode, the signal of the interference component and the signal containing the inherent resonance frequency domain can be decomposed on different frequency bands, and the interference component is shielded by setting the wavelet coefficient to be zero. Preferably, the wavelet packet reconstruction algorithm can be adopted to reconstruct the natural resonance frequency domain signal with the interference components filtered.
S203: and demodulating the reconstructed inherent resonance frequency domain signal to obtain an envelope signal. Preferably, the reconstructed natural resonance frequency domain signal may be demodulated using a hilbert transform to obtain an envelope signal.
S204: the envelope signal is fast fourier transformed to obtain an envelope spectrum of the first partial signal. Preferably, although the fast fourier transform may be directly performed on the reconstructed intrinsic resonance evaluation signal to obtain the characteristic parameters of the frequency domain waveform of the first local signal. For example, the carrier frequency and the accompanying frequency of the first local signal can be obtained by fast fourier transformation, but lack high resolution for time and frequency. Furthermore, if the noise interference of the first local signal is large, it is difficult to obtain an accurate characteristic parameter. Interference of the high-frequency carrier signal can be filtered through Hilbert transform, so that frequency characteristics of the low-frequency band signal are directly extracted.
Preferably, the characteristic parameter of the time-domain waveform may be at least one of an amplitude domain and a time difference domain. And if the first abnormal threshold value indicates that the main driving device of the shield machine has an abnormal vibration but can operate in a short period, performing secondary diagnosis based on the characteristic parameters of the time domain waveform and the characteristic parameters of the frequency domain waveform of the first local signal to determine whether the main driving device of the shield machine has a fault. Preferably, during the excavation process of some shield tunneling machines, the vibration intensity of some parts of the main driving device of the shield tunneling machine exceeding the threshold value may be the normal performance under a specific working condition. For example, when some abnormal vibration occurs in the main driving device of the shield machine, the abnormal vibration may be caused by other reasons, rather than the failure of the gear or the bearing itself in the main driving device. For example, a collision with a geological formation during one driving stroke of the shield machine may cause a vibration anomaly, but the anomaly is transient and not long-term. Further, there is a problem that the stability is poor when the determination is made by using the characteristic parameters of the time domain waveform, and therefore, secondary diagnosis is required. Preferably, if the frequency domain characteristic parameter of the first local signal is determined to be in the second abnormal threshold range through secondary diagnosis, the main driving device of the shield tunneling machine is determined to be in fault. Preferably, if the frequency domain characteristic parameter of the first local signal is determined to be out of the second abnormal threshold range through secondary diagnosis, the fault of the main driving device of the shield tunneling machine needs to be further judged. Preferably, the step of performing the secondary diagnosis based on the characteristic parameter of the time domain waveform and the characteristic parameter of the frequency domain waveform of the first local signal at least includes:
s205: a plurality of failure frequencies related to a main driving device of the shield tunneling machine are calculated based on parameters of the main driving device. Preferably, each component of the main drive has its own characteristic frequency. The characteristic frequency is related to its own parameter. Each component also has a particular failure frequency by which the failed component can be determined. Preferably, the fault type of each component has other spectral characteristics. The type of the fault can be judged through the spectrum characteristics. For example, when the surface of the bearing inner ring is damaged, such as peeling, abrasion, etc., the vibration signal of the bearing inner ring generates impact vibration with a specific frequency.
S206: the plurality of failure frequencies with respect to the main drive device are set as natural resonant frequencies. The first local signal is decomposed based on the natural resonant frequency to obtain a plurality of envelope spectra of the first local signals corresponding to a failure frequency of the main drive device.
S207: the fundamental frequency and the frequency multiplication of the envelope spectrum of the plurality of first partial signals are compared with a plurality of fault frequencies of the main drive device, so that the fault frequency and the fault type of the first partial signals are determined. Preferably, the second anomaly threshold may be a frequency interval or a period between impact vibrations in the fault spectrum feature.
Preferably, when the first abnormal threshold indicates that the main driving device of the shield tunneling machine has a vibration abnormality and cannot operate, secondary diagnosis is performed based on the characteristic parameter of the time-domain waveform and the characteristic parameter of the frequency-domain waveform of the first local signal to determine the failure frequency of the first local signal. Preferably, in the case that the failure of the main driving device of the shield tunneling machine is determined through the secondary diagnosis, the failed frequency of the first local signal is compared with the frequency of the vibration signal of the main driving device to determine the component with the failure of the main driving device. At least one sensor that causes the first local signal is determined based on the failed component.
Preferably, in the case that the first abnormal threshold value indicates that the main driving device of the shield machine is abnormal but can operate for a short time and the secondary diagnosis determines that the main driving device of the shield machine needs to be further judged, the first local signals in all the vibration signals received in the current tunneling loop are removed to generate the first stable vibration signal. Historical vibration signals received within the previous one or more ripper loops of the at least one sensor that caused the first local signal are retrieved. And filtering the historical vibration signal based on the time domain and/or frequency domain information of the first smooth vibration signal to generate a second smooth vibration signal. Preferably, filtering the historical vibration signal based on the time domain and/or frequency domain information of the first smoothed vibration signal to generate the second smoothed vibration signal means that the time and frequency of the second smoothed vibration signal are in one-to-one correspondence. Preferably, the time domain and/or frequency domain information of the first and second smoothed vibration signals are compared. And if the time domain and/or frequency domain variation trends of the first smooth vibration signal and the second smooth vibration signal are consistent, judging that the main driving device of the shield tunneling machine is not in fault. And if the time domain and/or frequency domain variation trends of the first smooth vibration signal and the second smooth vibration signal are inconsistent, judging that the main driving device of the shield tunneling machine has a fault. Through the above arrangement, the beneficial effects that reach are: the frequency domain fault characteristics of the components of the main drive of the shield machine are related to a plurality of factors and are sometimes not obvious in performance. For example, taking a rolling bearing as an example, when the rolling bearing has a defect or surface damage, a faulty component collides with other components to generate an impact pulse, so that the acquired vibration signal carries a certain waveform. This waveform is caused by the point of injury. However, in actual operation, the waveform sea area rotating speed has a relationship, when the power frequency is close to the natural frequency of the system, the waveform is obvious in expression and easy to judge, and when the power frequency is higher or lower than the natural frequency, the waveform is not obvious in expression, so that the waveform is difficult to judge. The invention thus makes the determination by means of the opposite angle, i.e. by means of the opposite, smooth vibration signal without a significant vibration anomaly, in the case where the first local signal gives the occurrence of a vibration anomaly, but a specific fault type cannot be determined. Specifically, when the time domain and/or frequency domain variation trends of the first smooth vibration signal and the corresponding second smooth vibration signal of the last one or more tunneling rings are consistent, the fact that the driving device of the shield tunneling machine does not have a fault, and possibly accidental impact or other accidental transient vibration abnormal conditions are caused is indicated. When the time domain and/or frequency domain variation trends of the two are inconsistent, it is indicated that the first local signal caused by the vibration abnormality in the current heading ring stroke may not be transient vibration abnormality, and the generated impact vibration signal affects signals of other frequency bands in the frequency domain. Preferably, the frequency domain characteristic of the impact signal is that each frequency band of the frequency domain exists, i.e. the vibration signal of the other frequency bands is also affected.
Preferably, the step of determining at least one sensor causing the first local signal based on the malfunctioning component comprises at least:
s208: at least one sensor monitoring the component is determined based on the failed component.
S209: and selecting a sensor which is closest to the failed part and has the same monitored vibration direction as the vibration direction of the first local signal based on at least one sensor for monitoring the part.
S210: in the case where the number of sensors monitoring the component, which have the same monitored vibration direction as the vibration direction of the first local signal, is more than one, the first sensor and the second sensor, which are closest to each other and have the same monitored vibration direction as the vibration direction of the first local signal, are selected.
S211: and predicting the failure tendency of the shield tunneling machine based on the behavior curve of the first sensor and the behavior curve of the second sensor. By the arrangement mode, the failure tendency of the shield machine predicted by the behavior curve of the first sensor can be corrected according to the failure tendency of the shield machine predicted by the behavior curve of the second sensor, so that the accuracy of the predicted tendency is ensured.
S300: and calling historical vibration signals received in the previous tunneling ring or rings of the at least one sensor. A second local signal is generated by filtering the historical vibration signal based on the time domain and frequency domain information of the first local signal. Preferably, the filtering of the historical vibration signal may be performed according to a time window corresponding to the time domain of the first local signal and a frequency band corresponding to the frequency domain, so as to ensure a one-to-one correspondence between the time domain and the frequency domain of the first local signal and the second local signal.
S400: a behavior profile for the at least one sensor is constructed based on the first and second local signals. And predicting the failure trend of the main driving device of the shield tunneling machine based on the behavior curve.
Preferably, the step of predicting the failure tendency of the main driving device of the shield tunneling machine based on the behavior curve at least comprises the following steps:
s401: a first node which initially represents the abnormal vibration but can operate for a short time is searched in the behavior curve.
S402: searching a second node which initially represents that the vibration is abnormal and cannot run in the behavior curve;
s403: finding at least one third node which represents that the vibration is abnormal and can be operated in a short term between the first node and the second node in the behavior curve;
s404: and predicting the failure tendency of the main driving device of the shield machine based on the time interval of reaching the first node and the time interval of the first node and the second node in the behavior curve. And correcting and predicting the failure trend of the main driving device of the shield tunneling machine based on the time interval between the first node and the third node, the interval between the adjacent third nodes and the time interval between the third node and the second node. Through the setting mode, the method can predict and obtain the failure trend of the main driving device of the shield machine, and further can give an early warning to the tunneling work of the shield machine according to the trend, so that the shield machine can be replaced or repaired in advance, and further damage of parts is avoided. Moreover, the fault development trend of the failed part is obtained according to the historical data in a few limited tunneling rings in the past, and the development trend can be obtained according to the historical data of the part which continuously changes in the near term, so that the prediction of the part fault has the continuity of the fault state, and the obtained prediction data is more accurate. In addition, the intensity of change of the parts after the parts have faults can be obtained according to prediction among different nodes, a basis can be provided for judging the faults of the main driving device, comparison data can be provided for secondary diagnosis when the subsequent vibration abnormity occurs, the fault position can be accurately determined, and convenience is brought to repair of the later driving device.
Example 2
The embodiment discloses a method for restoring main driving performance of a mechanism, and under the condition of not causing conflict or contradiction, the whole and/or part of the contents of the preferred implementation modes of other embodiments can be used as a supplement of the embodiment.
As shown in fig. 2, the present invention further provides a method for repairing main driving performance of a shield machine, where the method at least includes:
s500: at least one sensor causing a first local signal is acquired using the shield machine main drive performance monitoring method of embodiment 1. The method for monitoring the main driving performance of the shield tunneling machine in embodiment 1 is used to obtain the failure tendency of the main driving device of the shield tunneling machine based on the behavior curve of at least one sensor. Preferably, the trend of acquiring the failure of the at least one sensor causing the first local signal and the main driving device of the shield tunneling machine is described in embodiment 1, and is not described in detail herein.
S600: and determining parts and positions of the main driving device of the shield tunneling machine which need to be repaired based on the acquired at least one sensor.
S700: and determining a time node for repairing the part based on the acquired failure trend of the main driving device of the shield tunneling machine. Preferably, the step of determining the time node for repairing the part based on the obtained trend of the main driving device of the shield tunneling machine in failure at least comprises the following steps:
obtaining a predicted time node of abnormal vibration but short-term operation based on the acquired failure trend of the main driving device of the shield machine;
and calculating an end time node which is closest to the time node and finishes the tunneling ring stroke based on the time node, thereby determining the time node taking the end time node as a repair part. Through the mode, the position where the fault occurs can be quickly determined, the main driving device can be repaired before the main driving device fails, and the shield machine is prevented from being stopped or safety accidents occur in the tunneling process.
The present specification encompasses multiple inventive concepts and the applicant reserves the right to submit divisional applications according to each inventive concept. The present description contains several inventive concepts, such as "preferably", "according to a preferred embodiment" or "optionally", each indicating that the respective paragraph discloses a separate concept, the applicant reserves the right to submit divisional applications according to each inventive concept.
It should be noted that the above-mentioned embodiments are exemplary, and that those skilled in the art, having benefit of the present disclosure, may devise various arrangements that are within the scope of the present disclosure and that fall within the scope of the invention. It should be understood by those skilled in the art that the present specification and figures are illustrative only and are not limiting upon the claims. The scope of the invention is defined by the claims and their equivalents.
Claims (6)
1. The shield machine main driving performance monitoring method is characterized by at least comprising the following steps:
receiving a vibration signal transmitted by at least one sensor arranged on a main driving device of the shield machine, and storing the vibration signal by taking the stroke of each tunneling ring of the shield machine as a unit;
scanning all vibration signals received in a current tunneling loop travel, and extracting at least one first local signal of which the characteristic parameter of a time domain waveform of the vibration signals is greater than a first abnormal threshold;
performing frequency domain transformation on the first local signal to obtain characteristic parameters of a frequency domain waveform of the first local signal, and performing secondary diagnosis on the basis of the characteristic parameters of a time domain waveform and the characteristic parameters of a frequency domain waveform of the first local signal to determine at least one sensor causing the first local signal;
calling historical vibration signals received in one or more previous tunneling loops of the at least one sensor, and filtering the historical vibration signals to generate second local signals based on time domain and frequency domain information of the first local signals;
constructing a behavior profile for the at least one sensor based on the first and second local signals;
predicting the failure trend of the main driving device of the shield tunneling machine based on the behavior curve;
the characteristic parameter of the time domain waveform is at least one of an amplitude domain and a time difference domain, wherein,
and in the case that the first abnormal threshold value indicates that the main driving device of the shield machine has an abnormal vibration but can operate in a short period, performing secondary diagnosis based on the characteristic parameters of the time domain waveform and the characteristic parameters of the frequency domain waveform of the first local signal to determine whether the main driving device of the shield machine has a fault,
if the frequency domain characteristic parameter of the first local signal is determined to be in a second abnormal threshold range through the secondary diagnosis, determining that a main driving device of the shield tunneling machine breaks down;
if the frequency domain characteristic parameter of the first local signal is determined to be out of the range of the second abnormal threshold value through the secondary diagnosis, the fault of the main driving device of the shield machine needs to be further judged;
when the first abnormal threshold value indicates that the main driving device of the shield machine has abnormal vibration and cannot operate,
performing a second diagnosis based on the characteristic parameters of the time domain waveform and the characteristic parameters of the frequency domain waveform of the first partial signal to determine a fault frequency of the first partial signal,
under the condition that the secondary diagnosis determines that the main driving device of the shield machine has a fault,
comparing the fault frequency of the first local signal with the frequency of the vibration signal of the main driving device to determine a part with a fault of the main driving device;
determining at least one sensor that causes the first local signal based on the failed component;
in the case that the first abnormal threshold value indicates that the main driving device of the shield machine is abnormal but can operate for a short time and the main driving device of the shield machine needs to be further judged through secondary diagnosis,
removing the first local signals in all the vibration signals received in the current tunneling loop travel to generate a first stable vibration signal;
retrieving historical vibration signals received within a previous or previous plurality of ripping loops of at least one sensor that caused the first local signal and filtering the historical vibration signals based on time and/or frequency domain information of the first smooth vibration signal to generate a second smooth vibration signal;
comparing time domain and/or frequency domain information of the first and second smoothed vibration signals, wherein,
if the time domain and/or frequency domain variation trends of the first smooth vibration signal and the second smooth vibration signal are consistent, judging that the main driving device of the shield machine does not break down;
if the time domain and/or frequency domain variation trends of the first smooth vibration signal and the second smooth vibration signal are not consistent, judging that a main driving device of the shield tunneling machine breaks down;
the step of determining at least one sensor causing the first local signal based on the malfunctioning component part comprises at least:
determining at least one sensor monitoring the component based on the failed component;
selecting a sensor which is closest to the failed component and has a monitored vibration direction identical to the vibration direction of the first local signal based on at least one sensor monitoring the component, wherein,
selecting a first sensor and a second sensor which are closest to each other and whose monitored vibration directions are the same as the vibration direction of the first local signal, in a case where the number of sensors monitoring the component whose monitored vibration directions are the same as the vibration direction of the first local signal is larger than one, wherein,
and predicting the failure tendency of the shield tunneling machine based on the behavior curve of the first sensor and the behavior curve of the second sensor.
2. The method for monitoring the main driving performance of the shield tunneling machine according to claim 1, wherein the step of predicting the failure tendency of the main driving device of the shield tunneling machine based on the behavior curve at least comprises the following steps:
searching a first node which initially represents that the vibration is abnormal and can operate for a short time in the behavior curve;
searching a second node which initially represents that the vibration is abnormal and cannot run in the behavior curve;
finding at least one third node between the first node and the second node in the behavior curve, which represents that the vibration is abnormal but can be operated in a short term;
predicting the tendency of the main driving device of the shield tunneling machine to break down based on the time interval of reaching the first node and the time interval of the first node and the second node in the behavior curve, wherein,
and correcting and predicting the failure trend of the main driving device of the shield tunneling machine based on the time interval between the first node and the third node, the time interval between the third nodes adjacent to each other and the time interval between the third node and the second node.
3. The method for monitoring the main driving performance of the shield tunneling machine according to claim 2, wherein the step of performing frequency domain transformation based on the first local signal to obtain the characteristic parameters of the frequency domain waveform at least comprises the following steps:
decomposing the first local signal to obtain a natural resonance frequency domain signal including fault information;
reconstructing the inherent resonance frequency domain signal to filter out interference components in the inherent resonance frequency domain signal;
demodulating the reconstructed inherent resonance frequency domain signal to obtain an envelope signal;
performing a fast fourier transform on the envelope signal to obtain an envelope spectrum of the first local signal.
4. The shield machine main driving performance monitoring method according to claim 3, wherein the step of performing secondary diagnosis based on the characteristic parameters of the time domain waveform and the characteristic parameters of the frequency domain waveform of the first local signal to determine the fault frequency of the first local signal at least comprises:
calculating a plurality of fault frequencies related to a main driving device based on parameters of the main driving device of the shield tunneling machine;
setting the plurality of failure frequencies with respect to the main driving device as natural resonant frequencies;
decomposing the first local signal based on the natural resonant frequency to obtain envelope spectrums of a plurality of first local signals corresponding to a plurality of fault frequencies of a main driving device;
and comparing and analyzing the fundamental frequency and the multiple frequency of the envelope spectrum of the plurality of first local signals with the plurality of fault frequencies of the main driving device, thereby determining the fault frequency and the fault type of the first local signals.
5. The method for repairing the main driving performance of the shield machine is characterized by at least comprising the following steps:
using the method for monitoring the main driving performance of the shield tunneling machine according to any one of claims 1 to 4, acquiring at least one sensor causing the first local signal and a trend of the main driving device of the shield tunneling machine in failure based on a behavior curve of the at least one sensor;
determining parts and positions of a main driving device of the shield tunneling machine, which need to be repaired, based on the acquired at least one sensor;
and determining a time node for repairing the part based on the acquired failure trend of the main driving device of the shield tunneling machine.
6. The method for repairing the main driving performance of the shield tunneling machine according to claim 5, wherein the step of determining the time node for repairing the part based on the obtained tendency of the main driving device of the shield tunneling machine to malfunction at least comprises the steps of:
obtaining a predicted time node of abnormal vibration but short-term operation based on the acquired failure trend of the main driving device of the shield machine;
and calculating an end time node which is closest to the time node and finishes the tunneling ring stroke based on the time node, thereby determining the time node which takes the end time node as a repair part.
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