CN112858714B - Soft calculation method for rotating speed of asynchronous motor - Google Patents

Soft calculation method for rotating speed of asynchronous motor Download PDF

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CN112858714B
CN112858714B CN202011636788.7A CN202011636788A CN112858714B CN 112858714 B CN112858714 B CN 112858714B CN 202011636788 A CN202011636788 A CN 202011636788A CN 112858714 B CN112858714 B CN 112858714B
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asynchronous motor
value
rotating speed
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frequency
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李献文
陈蒙蒙
谭树彬
孟宪静
郎宁宁
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Shenyang Kewangtong Information Technology Co ltd
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
    • G01P3/00—Measuring linear or angular speed; Measuring differences of linear or angular speeds
    • G01P3/42—Devices characterised by the use of electric or magnetic means
    • G01P3/44—Devices characterised by the use of electric or magnetic means for measuring angular speed
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Abstract

The invention belongs to the technical field of rotation speed calculation of asynchronous motors, and particularly provides a soft calculation method for the rotation speed of an asynchronous motor. Firstly, collecting current signals to calculate an effective value, deducing a relation between load current and rotating speed by using current data, and then calculating according to current data to obtain a rough rotating speed value; secondly, the calculated rough value of the rotating speed is corrected by utilizing the frequency spectrum analysis of the motor vibration signal to obtain the accurate value of the rotating speed. The invention solves the problem that the rotating speed of the asynchronous motor is not accurately measured after the tachometer is used for a long time.

Description

Soft calculation method for rotating speed of asynchronous motor
Technical Field
The invention belongs to the technical field of rotation speed calculation of asynchronous motors, and particularly provides a rotation speed soft calculation method of an asynchronous motor.
Background
The asynchronous motor plays an important role in modern production life, and with the gradual complication and refinement of the structure of the asynchronous motor, once the asynchronous motor has serious faults, serious loss is brought to production. Therefore, it is very important to research a fault diagnosis technique for the asynchronous motor. The fault diagnosis is carried out on the asynchronous motor, the rotation speed information of the asynchronous motor is collected as an indispensable step, and the accurate rotation speed information can enable the fault diagnosis result to be more accurate.
At present, the rotating speed of the industrial field asynchronous motor is generally measured by a tachometer, namely the change of other physical quantities caused by mechanical rotation is measured, and rotating speed information is obtained from the relationship between the change of the physical quantities and the rotating speed. At present, the commonly used speed measuring methods at home and abroad include a light reflection method, a magnetoelectric method, a grating method, a Hall switch detection method and the like. The rotating speed result measured by the tachometer under the general condition of measuring the rotating speed of the asynchronous motor is very accurate. However, in practical situations, due to the complicated working background of the asynchronous motor, the long-time running causes dust, moisture and the like to accumulate on the surface of the asynchronous motor. Therefore, the tachometer may be affected by electromagnetic interference and temperature variation or a laser emitting device of the tachometer may be interfered, resulting in inaccurate measurement results of the rotational speed. When the fault diagnosis is performed using the rotation speed information measured in this case, erroneous determination or missing determination may occur.
Therefore, it can be seen from the above situation that how to obtain accurate rotation speed information under the condition of inaccurate measurement of the tachometer is a problem to be solved.
Disclosure of Invention
In order to solve the technical problem, the invention provides a soft calculation method for the rotating speed of an asynchronous motor, wherein a current signal is combined with a vibration signal, so that the problem that the error is caused by the fact that the rotating speed measured by a tachometer is influenced by the working environment sometimes is solved.
The invention is realized in such a way, and provides a soft calculation method for the rotating speed of an asynchronous motor, which comprises the following steps:
1) collecting a current instantaneous value signal of an asynchronous motor;
2) calculating a current effective value according to the collected current instantaneous value signal;
3) calculating a rough rotating speed value of the asynchronous motor according to the effective current value;
4) collecting vibration signals of an asynchronous motor;
5) carrying out vibration signal frequency spectrum analysis according to the collected vibration signal;
6) positioning a rough frequency of the position of the accurate rotating speed value in the frequency spectrum according to the rough rotating speed value calculated in the step 3);
7) and according to the real frequency spectrum, calculating the precise frequency by using the rough frequency, and calculating the precise rotating speed of the asynchronous motor by using the precise frequency.
Preferably, in the step 2), the current effective value I is calculated by using the collected current instantaneous value signal according to formula (1)a：
Figure BDA0002878678990000021
IaIs the effective value of the current iaIs the collected current instantaneous value signal, num is the collected current signal iaThe data length of (c).
More preferably, in the step 3), the current effective value I is used according to the formula (2)aCalculating a rough rotating speed value n of the asynchronous motor:
Figure BDA0002878678990000031
wherein f is1For supply frequency, parameter k1For each phase of resistance R of the stator winding1Parameter k2Is a resistance R 'of each phase after the frequency of a rotor winding is reduced'2Parameter k3Is (X)1+X'2)2，X1Leakage reactance per phase of the stator winding, constant, X'2The leakage reactance of each phase after the frequency of the rotor winding is reduced and is also constant, and the parameter k4Is composed of
Figure BDA0002878678990000032
p is the pole pair number, U1For each phase of the voltage of the stator windings,
Figure BDA0002878678990000033
is the power factor, i.e. equation (2) can be transformed into:
Figure BDA0002878678990000034
further preferably, the formula (3) is transformed by the following process:
for asynchronous motors, the speed n and the supply frequency f1And the slip s and the pole pair number p satisfy the following equation:
Figure BDA0002878678990000035
the pole pair number p is a fixed constant and the slip s is a unitless number, typically, the magnitude of the slip is between 0 and 1, when the rotor of the asynchronous motor turns in the opposite direction to the turning direction of the air gap rotating flux density, s is larger than 1, the electromagnetic relation of the asynchronous motor is similar to that of a transformer, a stator winding is equivalent to a primary winding of the transformer, a rotor winding is equivalent to a secondary winding, stator current generates a rotating magnetic field, the magnetic force lines are closed through the stator and the rotor iron core, induced electromotive force is generated in the rotor winding, thereby generating rotor current, and the current and the magnetic flux of the rotating magnetic field act to generate electromagnetic torque to rotate the motor, according to the equivalent circuit of the asynchronous motor, the parameter expression of the mechanical characteristic of the asynchronous motor, namely, under the condition that the stator voltage and frequency parameters are fixed, the functional relation between the electromagnetic torque T and the slip s is as follows:
Figure BDA0002878678990000041
electromagnetic torque T and output power P of asynchronous motor2The relationship between the rotation speed and the rotation speed satisfies the following equation:
Figure BDA0002878678990000042
output power P of asynchronous motor2And the load current satisfy the equation:
Figure BDA0002878678990000043
formula (3) is obtained from formula (4), formula (5), formula (6) and formula (7).
Further preferably, the parameter k is calculated according to the idea of nonlinear least squares1、k2、k3、k4That is, the following system of nonlinear equations is solved:
Fi(x)＝0 (10)
i is the number of the nonlinear equation set, x is the solution of the nonlinear equation set and is a vector, and the current effective value I is obtained according to field acquisitiona4-8 groups of mutually independent data formed by the rotation speed value n are used for establishing an equation set:
Figure BDA0002878678990000044
i is 1-m, and m is the number of samples participating in calculation, namely 4-8; x is k1、k2、k3、k4A matrix with a row and four columns is formed;
for the nonlinear equation set (11), the solution can not be directly solved by a normal method, so only the least square method thought programming is adopted to solve the approximate numerical solution, and an initial value of x [ 1111 ] is given first]The method is realized by programming by using an iteration method, and after multiple iterations, an approximate numerical value can be solved into x0＝[k01 k02 k03 k04]The undetermined coefficient value x solved by the sample data0＝[k01 k02 k03 k04]Is brought into equation (2) because of the undetermined coefficient x0＝[k01 k02 k03 k04]And the frequency of the supply f1Are all known numbers, so that I can be obtainedaThe corresponding relation with n is as follows:
Figure BDA0002878678990000051
compared with the prior art, the invention has the advantages that:
the method for obtaining the rotating speed of the asynchronous motor by combining the current signal and the vibration signal of the asynchronous motor to carry out soft measurement solves the problem that the rotating speed of the asynchronous motor is inaccurate to measure or is not suitable for installing a rotating speed measuring device on site after a tachometer is used for a long time, and greatly reduces the maintenance cost and the hardware investment.
Drawings
FIG. 1 is a flow chart of a method provided by the present invention;
fig. 2 is a graph of the spectrum of a vibration signal.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Because the running state monitoring of a large motor or a motor at a key part is relatively sound at present, vibration signals and current signals are usually collected. The asynchronous motor can vibrate in the working process, so that the collected vibration signals contain rich running state information of the asynchronous motor. Due to the complex operation background of the asynchronous motor, the background noise can lead to the discovery of a plurality of frequency components and complex information by carrying out frequency spectrum analysis on the vibration signal of the asynchronous motor, wherein the frequency conversion information is contained. The invention uses the current signal to calculate the rough value of the rotating speed of the asynchronous motor, and then uses the frequency conversion information in the vibration signal frequency spectrum analysis chart to correct the rough value of the rotating speed to obtain the accurate rotating speed value.
Referring to fig. 1, the method provided by the present invention comprises the steps of:
1) collecting current instantaneous signals of an asynchronous motor;
2) according to the collected current instantaneous signal, calculating current effective value I by using the following formulaa；
Figure BDA0002878678990000061
IaIs the effective value of the current iaIs the collected current instantaneous value signal, num is the collected current signal iaThe data length of (c).
3) Calculating a rough rotating speed value of the asynchronous motor according to the effective current value, namely:
Figure BDA0002878678990000062
wherein, f1For supply frequency, parameter k1For each phase of resistance R of the stator winding1Parameter k2Is a resistance R 'of each phase after the frequency of a rotor winding is reduced'2Parameter k3Is (X)1+X'2)2，X1Is leakage reactance per phase of the stator winding, and is constant, X'2The leakage reactance of each phase after the frequency of the rotor winding is reduced is also constant and parameter k4Is composed of
Figure BDA0002878678990000063
p is the pole pair number, U1For each phase of the voltage of the stator windings,
Figure BDA0002878678990000064
is the power factor, i.e. equation (2) can be transformed into:
Figure BDA0002878678990000065
4) collecting vibration signals of an asynchronous motor;
5) carrying out vibration signal frequency spectrum analysis according to the collected vibration signal;
6) positioning the rough frequency of the position of the precise rotating speed value in the frequency spectrum according to the rough rotating speed value calculated in the step 3);
7) and calculating the precise frequency by using the rough frequency according to the real frequency spectrum, and calculating the precise rotating speed of the asynchronous motor by using the precise frequency.
Specifically, the formula (3) is transformed by the following process:
for asynchronous motors, the speed n and the supply frequency f1And the slip s and the pole pair p satisfy the following equation:
Figure BDA0002878678990000071
the pole pair number p is a fixed constant and the slip s is a unitless number, typically, the magnitude of the slip is between 0 and 1, when the rotor of the asynchronous motor turns in the opposite direction to the turning direction of the air gap rotating flux density, s is larger than 1, the electromagnetic relation of the asynchronous motor is similar to that of a transformer, a stator winding is equivalent to a primary winding of the transformer, a rotor winding is equivalent to a secondary winding, stator current generates a rotating magnetic field, the magnetic force lines of which are closed by the stator and the rotor core and generate induced electromotive force in the rotor winding, thereby generating rotor current, and the current and the magnetic flux of the rotating magnetic field act to generate electromagnetic torque to rotate the motor, according to the equivalent circuit of the asynchronous motor, the parameter expression of the mechanical characteristic of the asynchronous motor, namely, under the condition that the stator voltage and frequency parameters are fixed, the functional relation between the electromagnetic torque T and the slip s is as follows:
Figure BDA0002878678990000072
electromagnetic torque T and output power P of asynchronous motor2The relationship of the rotating speed satisfies the following equation:
Figure BDA0002878678990000073
output power P of asynchronous motor2And the load current satisfy the equation:
Figure BDA0002878678990000074
formula (3) is obtained from formula (4), formula (5), formula (6) and formula (7).
Further preferably, the parameter k is calculated according to a non-linear least squares method1、k2、k3、k4The nonlinear least squares method can be viewed as solving the following nonlinear system of equations:
Fi(x)＝0 (10)
i is the number of the nonlinear equation set, x is the solution of the nonlinear equation set and is a vector, and the current effective value I is obtained according to field acquisitionaAnd 4-8 groups of mutually independent data formed by the rotating speed value n are used for establishing an equation set:
Figure BDA0002878678990000081
i is 1-m, m is the number of samples participating in calculation, namely 4-8; x is k1、k2、k3、k4A matrix with a row and four columns is formed;
for the nonlinear equation set (11), the solution can not be directly solved by a normal method, so only the least square method thought programming is adopted to solve the approximate numerical solution, and an initial value of x [ 1111 ] is given first]The method is realized by programming by using an iteration method, and after multiple iterations, an approximate numerical value can be solved into x0＝[k01 k02 k03 k04]The undetermined coefficient value x solved by the sample data0＝[k01 k02 k03 k04]Is brought into equation (2) because of the undetermined coefficient x0＝[k01 k02 k03 k04]And the frequency of the supply f1Are all known numbers, so that I can be obtainedaThe corresponding relation with n is as follows:
Figure BDA0002878678990000082
examples 1,
Firstly, current signals of the asynchronous motor are collected in real time, an effective value is calculated, the calculation result is substituted into a formula (12), and the rough rotating speed of the asynchronous motor is 995.8265 r/min. The parameter k is obtained by calculation through programming1、k2、k3、k4Since the operation of the above equation ignores the influence of the magnetic flux and the like, only the rough value n _1 of the rotational speed is obtained through calculation of the current signal.
Secondly, carrying out frequency spectrum analysis by using the vibration signal, correcting the obtained rough value of the rotating speed, and obtaining a rotating speed value n according to the frequency conversion information. And carrying out frequency spectrum analysis on the vibration signal of the asynchronous motor. Sampling 5s results in 5000 sets of data according to a hypothetical signal sampling frequency of 1000 hz. The spectrogram of the vibration signal obtained through fast Fourier transform is shown in FIG. 2, and it can be seen from FIG. 2 that a frequency component of about 16.61hz appears at the position closest to n _1/60, and the frequency information is obtained after real frequency spectrum calculation, wherein the frequency information is 16.6016hz, and the accurate rotating speed n is calculated to be 996.096 r/min.

Claims (5)

1. A soft calculation method for the rotating speed of an asynchronous motor is characterized by comprising the following steps:
1) collecting a current instantaneous value signal of an asynchronous motor;
2) calculating a current effective value according to the collected current instantaneous value signal;
3) calculating a rough rotating speed value of the asynchronous motor according to the effective current value;
4) collecting vibration signals of an asynchronous motor;
5) carrying out vibration signal frequency spectrum analysis according to the collected vibration signal;
6) positioning a rough frequency of the position of the accurate rotating speed value in the frequency spectrum according to the rough rotating speed value calculated in the step 3);
7) and calculating the precise frequency by using the rough frequency according to the real frequency spectrum, and calculating the precise rotating speed of the asynchronous motor by using the precise frequency.
2. A soft calculation method of rotation speed of asynchronous motor according to claim 1, characterized in that in step 2), the effective value of current I is calculated using the collected instantaneous value signal of current according to formula (1)a：
Figure FDA0003578937690000011
IaIs the effective value of the current iaIs collectedCurrent instantaneous value signal, num is collection current signal iaThe data length of (c).
3. Method for soft calculation of the rotation speed of an asynchronous motor according to claim 1, characterized in that in step 3) the current effective value I is used according to formula (2)aCalculating a rough rotating speed value n of the asynchronous motor:
Figure FDA0003578937690000012
wherein, f1For supply frequency, parameter k1For each phase of resistance R of the stator winding1Parameter k2Is a resistance R 'of each phase after the frequency of a rotor winding is reduced'2Parameter k3Is (X)1+X'2)2，X1Is leakage reactance per phase of the stator winding, and is constant, X'2The leakage reactance of each phase after the frequency of the rotor winding is reduced and is also constant, and the parameter k4Is composed of
Figure FDA0003578937690000021
p is the number of pole pairs, U1For each phase of the voltage of the stator windings,
Figure FDA0003578937690000022
is the power factor, i.e. equation (2) can be transformed into:
Figure FDA0003578937690000023
4. a soft calculation method of the rotation speed of an asynchronous motor according to claim 3, characterized in that said formula (3) is transformed by the following process:
for asynchronous motors, the rough speed value n and the supply frequency f1And the slip s and the pole pair p satisfy the following equation:
Figure FDA0003578937690000024
the magnetic pole pair number p is a fixed constant, the slip s is a number without unit, when the rotor of the asynchronous motor turns to the opposite direction of the air gap rotating flux density, s is more than 1, otherwise, 0 is more than s < 1, the electromagnetic relation of the asynchronous motor is similar to that of a transformer, the stator winding is equivalent to the primary winding of the transformer, the rotor winding is equivalent to the secondary winding, the stator current generates a rotating magnetic field, the magnetic line of force of the rotating magnetic field is closed through the stator and the rotor iron core, and induced electromotive force is generated in the rotor winding, so that rotor current is generated, the current and the magnetic flux of the rotating magnetic field act to generate electromagnetic torque, so that the motor rotates, according to the equivalent circuit of the asynchronous motor, the parameter expression of the mechanical characteristic of the asynchronous motor, namely under the condition that the stator voltage and frequency parameters are fixed, the function relationship between the electromagnetic torque T and the slip s is:
Figure FDA0003578937690000031
electromagnetic torque T and output power P of asynchronous motor2The relationship between the rough rotating speed value and the rough rotating speed value satisfies the following equation:
Figure FDA0003578937690000032
output power P of asynchronous motor2And the effective value of the current satisfies the equation:
Figure FDA0003578937690000033
formula (3) is obtained from formula (4), formula (5), formula (6) and formula (7).
5. Asynchronous machine according to claim 3The soft calculation method of the rotating speed of the motor is characterized in that the parameter k is calculated according to the thought of the nonlinear least square method1、k2、k3、k4That is, the following system of nonlinear equations is solved:
Fi(x)＝0 (10)
i is the number of the nonlinear equation set, x is the solution of the nonlinear equation set and is a vector, and the current effective value I is obtained according to field acquisitionaAnd 4-8 groups of mutually independent data formed by the rough rotating speed value n, establishing an equation set:
Figure FDA0003578937690000034
i is 1-m, and m is the number of samples participating in calculation, namely 4-8; x is k1、k2、k3、k4A matrix with a row and four columns is formed;
for the nonlinear equation set (11), the direct solution can not be realized through a normal method, so that the approximate numerical solution is solved only by adopting the least square method thought programming, and an initial value of x [ 1111 ] is given firstly]The method is realized by programming by using an iteration method, and after multiple iterations, an approximate numerical value can be solved into x0＝[k01 k02 k03 k04]The undetermined coefficient value x solved by the sample data0＝[k01k02 k03 k04]Is substituted into equation (2) because of the undetermined coefficient x0＝[k01 k02 k03 k04]And frequency f of supply1Are all known numbers, so that I can be obtainedaThe corresponding relation with n is as follows:
Figure FDA0003578937690000041
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