CN112665712B - Wide-area order tracking method and system for monitoring train running gear - Google Patents
Wide-area order tracking method and system for monitoring train running gear Download PDFInfo
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Abstract
The invention discloses a wide-area order tracking method for monitoring a train running gear, which comprises the steps of obtaining a time domain-vibration signal sequence f (t) acquired by a vibration sensor, and obtaining a key phase-vibration signal sequence f (theta) acquired by a key phase sensor at each key phase point; constructing any phase by adopting a spline interpolation method according to the relation between the key phase theta and the time t in the f (theta) and the f (t)
As a function of time t
According to functional relationship
And the relation with the time domain-vibration signal sequence f (t), and the relation between any phase and vibration signal is constructed by adopting a spline interpolation method to obtain the phase-vibration signal sequence
To pair
Carrying out equal-angle resampling to obtain a resampled phase-vibration signal sequence; and carrying out Fourier transform on the resampled phase-vibration signal sequence to obtain the frequency and amplitude of the vibration signal. The invention realizes the accurate order tracking of the characteristics of the train in running in a wider speed range.
Description
Technical Field
The invention relates to the technical field of mechanical fault diagnosis, in particular to a wide-area order tracking method and system for monitoring a train running gear.
Background
During the running process of the train, according to the route arrangement, the train has continuous starting-constant speed-braking periods, and the working operation frequency of the running part of the train can be continuously changed along with the change of the speed of the train. Due to the continuous change of the working rotating speed, the vibration signal generated when the rotary machine operates under the variable working condition not only contains the vibration information of mechanical equipment parts, but also contains rotating speed and load information, and the information is fused together, so that the vibration signal presents very complex non-stationary characteristics, and the signal generates serious amplitude and frequency modulation. If the traditional spectrum analysis technology such as Fourier analysis is directly adopted for the non-stationary vibration signals, serious frequency ambiguity can be generated, and the corresponding problems can be misjudged or missed.
Therefore, the conventional time series-based spectrum analysis is difficult to accurately monitor and analyze the device, and an order analysis technique must be used to track the operating frequency of the device. Order analysis is used to analyze information collected from devices with periodic motion, such as sound and vibration signals. This includes rotating machines such as turbines, motors, pumps, compressors, etc. Many mechanical properties of a machine change as the periodic motion of the machine changes. The time domain non-stationary signal is converted into the angular domain stationary signal through equal-angle sampling, the influence caused by speed change can be removed from the vibration signal, the problem that the characteristic information under the condition of variable working conditions is difficult to accurately extract by using the traditional frequency spectrum analysis method is solved, and in addition, the method has a certain inhibiting effect on the component irrelevant to the rotating speed in the signal. If the original signal has larger noise, the interference to important characteristic information is easy to cause, and the actual judgment is influenced.
On the premise of realizing order analysis, the traditional vibration signal collected in equal time must be converted into the vibration signal in equal angle, and the most widely used realization method at present is to control a data acquisition card to realize equal angle sampling of the signal by installing a frequency multiplier. However, for the train running gear operation site, the frequency multiplier scheme has the disadvantages that: because the general running environment of the train running gear is severe, the reliability of the system is greatly reduced by additionally installing a frequency multiplier; secondly, the existing equipment needs to be modified when a frequency multiplier is installed, and the difficulty is high; in addition, the input of the frequency multiplier is not small cost expenditure. Meanwhile, many rotating devices are provided with a high-speed shaft and a low-speed shaft, generally only one of the rotating devices is provided with a rotating speed sensor, if order analysis is to be realized, a rotating speed signal is required, the device is required to be modified according to the traditional method, and an additional special rotating speed sensor is additionally arranged, so that the system installation difficulty is greatly increased.
In Order to reduce the difficulty of field construction, a Computed Order Tracking (COT) method is generally adopted, which is more simplified than the conventional Order Tracking. Such methods require careful design of algorithms and are often limited to assumptions about target operating conditions. The patent application number 201110026078 is an order analysis implementation method for a rotating machine, which performs equal-angle resampling on an output signal of a capture card according to a low-speed shaft pulse with an updated frequency and a rotating speed pulse on a current high-speed shaft to obtain an equal-angle signal, but the resampling interpolation mode is linear interpolation, and a large error is brought under a low rotating speed. According to the technical scheme, for rotating machinery such as a shaft body, in the speed rising and speed falling stages of the rotating machinery, a fitting curve f (t) of each order component spectrum is assumed to be a quadratic smooth curve, but the actual train start and stop often has a relation of three times or even more than three times of time, and order analysis can be diverged based on quadratic assumption. The vibration acceleration signal processed by the device disclosed in patent publication No. CN103499443B is also based on the second order relationship assumption, and the order analysis is diverged. The method has the technical scheme that the method is characterized in that the method is that the patent publication number is CN102798462B, instantaneous phases of meshing frequency components are obtained by Hilbert conversion, then self-demodulation conversion is carried out on original vibration signals, order spectrums of rotary equipment are obtained, and order tracking without time scales is finished.
All need to assume the order of operating condition signal among the prior art to appoint the resampling order, if the resampling order that sets up is less will lead to the mode aliasing, increase the resampling order and can avoid this phenomenon, but can influence algorithm efficiency, more importantly, often do not know the highest order that wants the analysis in the reality, even if increased the sampling order, the mode aliasing can not avoid completely yet.
Disclosure of Invention
In view of this, the present invention provides a wide-area order tracking method and system for monitoring a train running gear, which can realize accurate order tracking of train running characteristics in a wide speed range.
To achieve the above object, the present invention provides a wide-area order tracking method for train running gear monitoring, the method comprising:
s1, acquiring a time-based time domain-vibration signal sequence f (t) acquired by a vibration sensor, and acquiring a key phase-based key phase-vibration signal sequence f (theta) acquired by a key phase sensor at each key phase point;
S2、constructing any phase by adopting a spline interpolation method according to the relation between the key phase-vibration signal sequence f (theta) and the key phase theta and the time t in the time domain-vibration signal sequence f (t)
As a function of time t
S3, according to the phase
As a function of time t
And the relation between the time t and the time domain-vibration signal sequence f (t), and the relation between any phase and vibration signal is constructed by adopting a spline interpolation method to obtain the phase-vibration signal sequence based on the phase
S4, for the phase-vibration signal sequence
Carrying out equal-angle resampling to obtain a resampled phase-vibration signal sequence;
and S5, carrying out Fourier transform on the resampled phase-vibration signal sequence to obtain the frequency and amplitude of the vibration signal.
Preferably, the step S1 includes: the method comprises the steps of collecting a time domain-vibration signal sequence through a vibration sensor arranged on a transmission bearing of a train running part, wherein the train running part comprises a bogie, a wheel part and a gear part.
Preferably, the step S2 includes:
selecting a number of adjacent key phase points (theta) in the key phase vibration signal sequence f (theta) i ，θ i+j ) Corresponding to a time interval of (t) i ，t i+j ) And according to the time domain vibration signal sequence f (t) corresponding to the time interval (t) i ，t i+j ) The vibration signal sequence of (2) adopts a quadratic B-spline curve fitting method to construct an arbitrary phase
As a function of time t
Preferably, the functional relationship
Satisfies the following conditions:
at each time interval t m ，t m+1 ]Above is a second order polynomial;
at each internal node t m A continuous derivative with a first order thereon;
satisfy at all nodes
Equal to the corresponding key phase.
Preferably, the step S3 includes:
according to the key phase-vibration signal sequence f (theta) and the time domain-vibration signal sequence f (t), any two adjacent key phase points (theta) i ，θ i+1 ) Corresponding time point (t) k ，t k+1 ，t k+2 ，...，t k+s ) The vibration signal sequence of (1);
from said phase
As a function of time t
The phase position of the time point is obtained by knowing the phase position of the corresponding time point
Corresponding to the vibration signal (f (t (theta)) i ))，f(t k )，f(t k+1 )，...，f(t k+s )，f(t(θ i+1 ) ));
performing curve fitting on the data set by adopting a quadratic B-spline curve fitting method to obtain a relation for constructing any phase and vibration signal and obtain a phase-vibration signal sequence based on the phase
Preferably, the step S3 includes: phase-vibration signal sequence of phase obtained by cubic B-spline interpolation method
Preferably, the step S4 includes: the resampling interval is set to delta phi and the resampling interval delta phi is set to 2 pi.
Preferably, the step S4 includes: the resampling interval is set to Δ φ, and the resampling interval Δ φ is set to an integer fraction of 2 π or an integer multiple of 2 π.
Preferably, the step S5 includes:
carrying out Fourier transform on the resampled phase-vibration signal sequence, setting the resample number psi in a complete rotation period, and acquiring the original frequency f and the original amplitude y of the vibration signal;
normalizing the frequency to obtain normalized frequency f norm And normalized amplitude y norm ；
Wherein, theta startt For the starting phase of the entire sample, θ end Is the end phase of the entire sample, θ end -θ startt For the phase width of the entire sampled signal, θ i+1 -θ i The phase width of a single vibration signal.
To achieve the above object, the present invention provides a wide-area order tracking system for train running gear monitoring, the system comprising:
the acquisition module is used for acquiring a time-based time domain-vibration signal sequence f (t) acquired by the vibration sensor and acquiring a key phase-based key phase-vibration signal sequence f (theta) acquired by the key phase sensor at each key phase point;
the phase time construction module is used for constructing any phase by adopting a spline interpolation method according to the relation between the key phase theta and the time t in the key phase-vibration signal sequence f (theta) and the time domain-vibration signal sequence f (t)
As a function of time t
A phase vibration signal construction module according to the phase
As a function of time t
And the relation between the time t and the time domain-vibration signal sequence f (t), and the relation between any phase and vibration signal is constructed by adopting a spline interpolation method to obtain the phase-vibration signal sequence based on the phase
A resampling module for the phase-vibration signal sequence
Carrying out equal-angle resampling to obtain a resampled phase-vibration signal sequence;
and the Fourier transform module is used for carrying out Fourier transform on the resampled phase-vibration signal sequence to acquire the frequency and the amplitude of the vibration signal.
Compared with the prior art, the wide-area order tracking method and system for monitoring the train running gear, provided by the invention, have the beneficial effects that: the time-domain vibration signals based on time are acquired through the vibration sensor, the key phase vibration signals based on phases of all the key phase points are acquired through the key phase sensor, the key phase vibration signals and the time-domain vibration signals are converted with high precision by adopting a spline interpolation method, and the characteristics of a train during running are accurately tracked in a wider speed range of the train; and a special rotating speed sensor is not required to be installed, and only a common vibration sensor is required, so that equipment is not required to be modified, and the difficulty in system installation is greatly reduced.
Drawings
Fig. 1 is a flow diagram of a wide-area order tracking method for train running gear monitoring according to one embodiment of the invention.
Fig. 2 is a schematic diagram of a resampled phase-vibration signal sequence according to an embodiment of the invention.
FIG. 3 is a diagram of normalized order tracking analysis according to an embodiment of the present invention.
Fig. 4 is a system block diagram of a wide-area order tracking system for train running gear monitoring according to one embodiment of the present invention.
Detailed Description
The present invention will be described in detail with reference to the specific embodiments shown in the drawings, which are not intended to limit the present invention, and structural, methodological, or functional changes made by those skilled in the art according to the specific embodiments are included in the scope of the present invention.
In one embodiment of the invention, as shown in fig. 1, the invention provides a wide-area order tracking method for train running gear monitoring, the method comprising:
s1, acquiring a time-based time domain-vibration signal sequence f (t) acquired by a vibration sensor, and acquiring a key phase-based key phase-vibration signal sequence f (theta) acquired by the key phase sensor at each key phase point;
s2, constructing any phase by adopting a spline interpolation method according to the relation between the key phase-vibration signal sequence f (theta) and the key phase theta and the time t in the time domain-vibration signal sequence f (t)
As a function of time t
S3, according to the phase
As a function of time t
And the relation between the time t and the time domain vibration signal sequence f (t), and the relation between any phase and the vibration signal is constructed by adopting a spline interpolation method to obtain a phase-vibration signal sequence based on the phase
S4, for the phase-vibration signal sequence
Carrying out equal-angle resampling to obtain a resampled phase-vibration signal sequence;
and S5, carrying out Fourier transform on the resampled phase-vibration signal sequence to obtain the frequency and amplitude of the vibration signal.
Acquiring a time-based time domain-vibration signal sequence f (t) acquired by the vibration sensor, and acquiring a key phase-based key phase-vibration signal sequence f (theta) acquired by the key phase sensor at each key phase point. Specifically, a time domain-vibration signal sequence is acquired by a vibration sensor mounted on a drive bearing of a train running gear, which includes a bogie, a wheel portion and a gear portion. At each point in time (t) 1 ，t 2 ，t 3 ，...，t n ) The time domain-vibration signal sequence (f (t) is collected 1 )，f(t 2 )，f(t 3 )，...，f(t n )). The vibration sensor in the present invention may be an acceleration sensor, a velocity sensor, or a displacement sensor, and is not limited to a vibration signal, and the vibration signal may be a displacement signal, an acceleration signal, a velocity signal, or the like. By means of key phase sensors mounted on the bogie drive bearings, at respective key phase points (theta) 1 ，θ 2 ，θ 3 ，...，θ n ) Acquired key phase based key phase-vibration signal sequence (f (theta)) 1 )，f(θ 2 )，f(θ 3 )，...，f(θ n ) Vibration signals are measured at a fixed key phase angle by a key phase sensor. The time domain-vibration signal sequence is a signal sequence based on the time domain, whose collected data are data of 1s, 2s, etc., and the key phase-vibration signal sequence is data based on the key phase, whose collected data are data at phases of 90 °, 180 °, etc.
Constructing any phase by adopting a spline interpolation method according to the relation between the key phase-vibration signal sequence f (theta) and the key phase theta and the time t in the time domain-vibration signal sequence f (t)
As a function of time t
In particular, several adjacent key phase points (θ) are selected in the key phase vibration signal sequence f (θ) i ，θ i+1 ) Corresponding to a time interval of(t i ，t i+j ) When the key phase sensor collects the vibration signal at the key phase point, the corresponding collection time is obtained at the same time, and the time interval (t) corresponding to the time interval (t) in the time domain vibration signal sequence f (t) is obtained i ，t i+j ) The vibration signal sequence of (2) adopts a quadratic B-spline curve fitting method to construct an arbitrary phase
As a function of time t
Wherein the functional relationship
Satisfies the following conditions:
at each time interval t m ，t m+1 ]Above is a second order polynomial;
at each internal node t m A continuous derivative with a first order above;
satisfy at all nodes
Equal to the corresponding key phase.
According to the functional relation between the phase theta and the time t
And the relation between the time t and the time domain vibration signal sequence f (t), and the relation between any phase and the vibration signal is constructed by adopting a spline interpolation method to obtain a phase-vibration signal sequence based on the phase
From top to bottomThe embodiments described above may be seen in that a set of time domain-vibration signal sequences is acquired based on time, and a set of key phase-vibration signal sequences is acquired based on key phase points, so that for any two adjacent key phase points (θ) i ，θ i+1 ) There are several time points of vibration signal data in between. According to the key phase-vibration signal sequence f (theta) and the time domain-vibration signal sequence f (t), any two adjacent key phase points (theta) i ，θ i+1 ) Corresponding time point (t) k ，t k+1 ，t k+2 ，...，t k+s ) By the phase θ and time t in step S3
The phase position of the time point is obtained by knowing the phase position of the corresponding time point
Corresponding to the vibration signal (f (t (theta)) i ))，f(t k )，f(t k+1 )，...，f(t k+s )，f(t(θ i+1 ) ) and fitting the data set by a quadratic B-spline curve fitting method to construct an arbitrary relation between the phase and the vibration signal to obtain a phase-vibration signal sequence based on the phase
The method of fitting the quadratic B-spline curve is the same as the embodiment in step S3. According to an embodiment of the invention, a cubic B-spline interpolation method is adopted to obtain a phase-vibration signal sequence of a phase
For the phase-vibration signal sequence
And carrying out equal-angle resampling to obtain a resampled phase-vibration signal sequence. Setting the resampling interval to delta phi, the phase-vibration signal sequence
Carrying out equal-angle resampling, and acquiring a vibration signal sequence corresponding to (0, delta phi, 2 delta phi, n delta phi)
The resampling interval may be set to Δ φ to 2 π. The resampling interval is also set to be an integer fraction of 2 pi or an integer multiple of 2 pi.
And carrying out Fourier transform on the resampled phase-vibration signal sequence to obtain the frequency and amplitude of the vibration signal. Specifically, the phase-vibration signal sequence after resampling is subjected to fourier transform, the resampling number in a complete rotation period is set to be psi, the original frequency f and the original amplitude y of the vibration signal are obtained, normalization processing is performed on the original frequency f and the original amplitude y, and the normalized frequency f is obtained norm And normalized amplitude y norm ；
Wherein, theta startt For the starting phase of the entire sample, θ end Is the end phase of the entire sample, θ end -θ startt For the phase width of the entire sampled signal, θ i+1 -θ i The phase width of a single vibration signal.
In one embodiment of the invention, as shown in fig. 4, the invention provides a wide-area order tracking system for train running gear monitoring, the system comprising:
the acquisition module 40 acquires a time-domain vibration signal sequence f (t) acquired by the vibration sensor based on time, and acquires a key phase-based key phase vibration signal sequence f (theta) acquired by the key phase sensor at each key phase point;
the phase time constructing module 41 constructs an arbitrary phase by using a spline interpolation method according to the relationship between the key phase θ and the time t in the key phase-vibration signal sequence f (θ) and the time domain-vibration signal sequence f (t)
As a function of time t
A phase vibration signal construction module 42 according to said phase
As a function of time t
And the relation between the time t and the time domain-vibration signal sequence f (t), and the relation between any phase and vibration signal is constructed by adopting a spline interpolation method to obtain the phase-vibration signal sequence based on the phase
A resampling module 43 for the phase-vibration signal sequence
Carrying out equal-angle resampling to obtain a resampled phase-vibration signal sequence;
and a fourier transform module 44 for performing fourier transform on the resampled phase-vibration signal sequence to obtain the frequency and amplitude of the vibration signal.
The acquisition module acquires a time domain-vibration signal sequence f (t) at each moment point through a vibration sensor arranged on a transmission bearing of the train running part. The key phase-based key phase-vibration signal sequence f (theta) collected at the corresponding respective key phase points by the key phase sensors mounted on the truck to transmit the bearings, the vibration signals are measured at fixed key phase angles by the key phase sensors. Phase (C)The bit time construction module constructs any phase by adopting a quadratic B spline curve fitting method according to the relation between the key phase theta and the time t in the key phase-vibration signal sequence f (theta) and the time domain-vibration signal sequence f (t)
As a function of time t
The phase vibration signal construction module is used for constructing a phase vibration signal according to the phase
As a function of time t
And the relation between the time t and the time domain-vibration signal sequence f (t), and performing curve fitting on the data set by adopting a quadratic B-spline curve fitting method to construct the relation between any phase and vibration signal to obtain the phase-vibration signal sequence based on the phase
A resampling module sets a resampling interval for the phase-vibration signal sequence
And carrying out equal-angle resampling to obtain a resampled phase-vibration signal sequence. And the Fourier transform module performs Fourier transform on the resampled phase-vibration signal sequence and performs normalization processing to obtain normalized frequency and amplitude.
Although the preferred embodiments of the present invention have been disclosed for illustrative purposes, those skilled in the art will appreciate that various modifications, additions and substitutions are possible, without departing from the scope and spirit of the invention as disclosed in the accompanying claims.
Claims (8)
1. A method of wide-area order tracking for train running gear monitoring, the method comprising the steps of:
s1, acquiring a time-based time domain-vibration signal sequence f (t) acquired by a vibration sensor, and acquiring a key phase-based key phase-vibration signal sequence f (theta) acquired by a key phase sensor at each key phase point;
s2, constructing any phase by adopting a spline interpolation method according to the relation between the key phase-vibration signal sequence f (theta) and the key phase theta and the time t in the time domain-vibration signal sequence f (t)
As a function of time t
S3, according to the phase
As a function of time t
And the relation between the time t and the time domain-vibration signal sequence f (t), and the relation between any phase and vibration signal is constructed by adopting a spline interpolation method to obtain the phase-vibration signal sequence based on the phase
S4, for the phase-vibration signal sequence
Carrying out equal-angle resampling to obtain a resampled phase-vibration signal sequence;
s5, carrying out Fourier transform on the resampled phase-vibration signal sequence to obtain the frequency and amplitude of a vibration signal;
the step S2 includes:
selecting a number of adjacent key phase points (theta) in the key phase-vibration signal sequence f (theta) i ,θ i+j ) Corresponding to a time interval of (t) i ,t i+j ) And according to the time domain-vibration signal sequence f (t) corresponding to the time interval (t) i ,t i+j ) The vibration signal sequence adopts a quadratic B-spline curve fitting method to construct any phase
As a function of time t
The step S3 includes:
according to the key phase-vibration signal sequence f (theta) and the time domain-vibration signal sequence f (t), any two adjacent key phase points (theta) i ,θ i+1 ) Corresponding time point (t) k ,t k+1 ,t k+2 ,…,t k+s ) The vibration signal sequence of (1);
from said phase
As a function of time t
The phase position of the time point is obtained by knowing the phase position of the corresponding time point
Corresponding to the vibration signal (f (t (theta)) i )),f(t k ),f(t k+1 ),…,f(t k+s ),f(t(θ i+1 ) ));
performing curve fitting on the data set by adopting a quadratic B-spline curve fitting method to obtain any constructed phase
In relation to the vibration signalTo phase-vibration signal sequences based on phase
2. The wide-area order tracking method for train running gear monitoring according to claim 1, wherein the step S1 comprises:
the method comprises the steps of collecting a time domain-vibration signal sequence through a vibration sensor arranged on a transmission bearing of a train running part, wherein the train running part comprises a bogie, a wheel part and a gear part.
3. The method of wide-area order tracking for train running gear monitoring according to claim 1, wherein said functional relationship
Satisfies the following conditions:
4. The wide-area order tracking method for train running gear monitoring according to claim 3, which comprisesCharacterized in that said step S3 comprises: phase-vibration signal sequence of phase obtained by cubic B-spline interpolation method
5. The wide-area order tracking method for train running gear monitoring according to claim 4, wherein said step S4 comprises: the resampling interval is set to Δ φ, and the resampling interval Δ φ is set to 2 π.
6. The wide-area order tracking method for train running gear monitoring according to claim 5, wherein said step S4 comprises: the resampling interval is set to delta phi and the resampling interval delta phi is set to an integer fraction of 2 pi or an integer multiple of 2 pi.
7. The wide-area order tracking method for train running gear monitoring according to claim 6, wherein said step S5 comprises:
carrying out Fourier transform on the resampled phase-vibration signal sequence, setting the resample number psi in a complete rotation period, and acquiring the original frequency f and the original amplitude y of the vibration signal;
normalizing the frequency to obtain normalized frequency f norm And normalized amplitude y norm ；
Wherein, theta startt For the start phase of the entire sample, θ end Is the end phase of the entire sample, θ end -θ startt For the whole sampled signalPhase width of (e), theta i+1 -θ i The phase width of a single vibration signal.
8. A wide-area order tracking system for train running monitoring, characterized in that the system performs the wide-area order tracking method for train running monitoring as claimed in any one of claims 1 to 7, the system comprising:
the acquisition module is used for acquiring a time-based time domain-vibration signal sequence f (t) acquired by the vibration sensor and acquiring a key phase-based key phase-vibration signal sequence f (theta) acquired by the key phase sensor at each key phase point;
the phase time construction module is used for constructing any phase by adopting a spline interpolation method according to the relation between the key phase theta and the time t in the key phase-vibration signal sequence f (theta) and the time domain-vibration signal sequence f (t)
As a function of time t
A phase vibration signal construction module according to the phase
As a function of time t
And the relation between the time t and the time domain-vibration signal sequence f (t), and the relation between any phase theta and the vibration signal is constructed by adopting a spline interpolation method to obtain the phase-vibration signal sequence based on the phase
A resampling module for the phase-vibration signal sequence
Carrying out equal-angle resampling to obtain a resampled phase-vibration signal sequence;
and the Fourier transform module is used for carrying out Fourier transform on the resampled phase-vibration signal sequence to acquire the frequency and the amplitude of the vibration signal.
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