CN113252929B - Rotating speed determination method and device, electronic equipment and computer readable storage medium - Google Patents
Rotating speed determination method and device, electronic equipment and computer readable storage medium Download PDFInfo
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- CN113252929B CN113252929B CN202110754669.XA CN202110754669A CN113252929B CN 113252929 B CN113252929 B CN 113252929B CN 202110754669 A CN202110754669 A CN 202110754669A CN 113252929 B CN113252929 B CN 113252929B
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- 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
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- G01H—MEASUREMENT OF MECHANICAL VIBRATIONS OR ULTRASONIC, SONIC OR INFRASONIC WAVES
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Abstract
The application provides a rotating speed determining method, a rotating speed determining device, electronic equipment and a computer readable storage medium, wherein the method comprises the following steps: acquiring a vibration signal group corresponding to a target rotating body; the vibration signal group comprises vibration signals at a plurality of target positions on the target rotating body; carrying out blind source separation on the vibration signal group to obtain a plurality of vibration source signals; determining a frequency converted source signal from a plurality of vibration source signals; the frequency conversion source signal is related to the frequency conversion of the target rotating body; and determining the rotating speed of the target rotating body according to the frequency conversion source signal. According to the rotating speed determining method, the collected vibration signal group of the target rotating body is subjected to blind source separation, noise components existing in a frequency conversion adjacent frequency domain in a single-channel vibration signal can be well eliminated, a frequency conversion source signal highly related to the frequency conversion of the target rotating body is obtained, and therefore the rotating speed result obtained by subsequently utilizing the frequency conversion source signal is more accurate.
Description
Technical Field
The embodiment of the application relates to the technical field of rotating speed measurement, in particular to a rotating speed determining method and device, electronic equipment and a computer readable storage medium.
Background
Rotating equipment is widely used in various industries, and common rotating equipment comprises a generator, a steam turbine, an aircraft engine, a water pump, a ventilator and the like. In order to ensure the safe and normal operation of these rotating bodies, it is necessary to monitor the rotating speed of the rotating bodies. In the prior art, a professional rotating speed measuring device can be used for measuring the rotating speed of the rotating body, but the cost of the rotating speed measuring device is high, and the rotating speed measuring device is difficult to install on the rotating body which is already installed.
Based on this, the prior art proposes various technical schemes for performing time-frequency conversion on the vibration signal of the rotator to extract the rotator frequency conversion so as to obtain the instantaneous rotating speed of the rotator. However, a large amount of noise components exist in the adjacent frequency domain of the rotating body rotating frequency, and the noise components are often difficult to distinguish only depending on the vibration data of a single channel, so that the finally identified instantaneous rotating speed is not accurate enough.
Therefore, the existing rotating speed determining method has the technical problem that the identified instantaneous rotating speed is not accurate enough due to the fact that noise components close to the rotating frequency cannot be separated.
Disclosure of Invention
The embodiment of the application provides a rotating speed determining method, a rotating speed determining device, electronic equipment and a computer storage medium, and aims to solve the technical problem that the identified instantaneous rotating speed is not accurate enough due to the fact that noise components close to the rotating frequency cannot be separated in the existing rotating speed determining method.
In one aspect, an embodiment of the present application provides a method for determining a rotation speed, including:
acquiring a vibration signal group corresponding to a target rotating body; the vibration signal group comprises vibration signals at a plurality of target positions on the target rotating body;
carrying out blind source separation on the vibration signal group to obtain a plurality of vibration source signals;
determining a frequency converted source signal from a plurality of vibration source signals; the frequency conversion source signal is related to the frequency conversion of the target rotating body;
and determining the rotating speed of the target rotating body according to the frequency conversion source signal.
On the other hand, the embodiment of the present application further provides a rotation speed determining apparatus, including:
the vibration signal group acquisition module is used for acquiring a vibration signal group corresponding to the target rotating body; the vibration signal group comprises vibration signals at a plurality of target positions on the target rotating body;
the blind source separation module is used for carrying out blind source separation on the vibration signal group to obtain a plurality of vibration source signals;
the system comprises a frequency conversion source signal determining module, a frequency conversion source signal determining module and a frequency conversion source signal generating module, wherein the frequency conversion source signal determining module is used for determining a frequency conversion source signal from a plurality of vibration source signals; the frequency conversion source signal is related to the frequency conversion of the target rotating body;
and the rotating speed determining module is used for determining the rotating speed of the target rotating body according to the frequency conversion source signal.
On the other hand, the embodiment of the present application further provides an electronic device, where the electronic device includes a processor, a memory, and a rotation speed determination program stored in the memory and executable on the processor, and the processor executes the rotation speed determination program to implement the steps in the rotation speed determination method.
On the other hand, the embodiment of the present application further provides a computer-readable storage medium, on which a rotation speed determination program is stored, where the rotation speed determination program is executed by a processor to implement the steps in the rotation speed determination method.
Compared with the prior art, the method and the device have the advantages that the blind source separation is carried out on the collected vibration signal group of the target rotating body, namely the multi-channel vibration signal, noise components existing in the frequency conversion adjacent frequency domain in the single-channel vibration signal can be well eliminated, the frequency conversion source signal highly related to the frequency conversion of the target rotating body is obtained, and therefore the rotating speed result obtained by subsequently utilizing the frequency conversion source signal in a calculation mode is more accurate.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
Fig. 1 is a schematic view of a scenario of a rotation speed determination method provided in an embodiment of the present application;
FIG. 2 is a schematic flow chart diagram of a first embodiment of a method for determining rotational speed provided in an embodiment of the present application;
FIG. 3 is a schematic flow chart diagram of a second embodiment of a speed determination method provided in an embodiment of the present application;
FIG. 4 is a schematic flow chart diagram of a third embodiment of a speed determination method provided in the embodiments of the present application;
FIG. 5 is a schematic flow chart diagram of a fourth embodiment of a speed determination method provided in the embodiments of the present application;
FIG. 6 is a schematic flow chart diagram of a fifth embodiment of a speed determination method provided in the embodiments of the present application;
FIG. 7 is a schematic flow chart of a sixth embodiment of a method for determining a rotational speed provided in an embodiment of the present application;
fig. 8 is a schematic flow chart of a seventh embodiment in the rotational speed determination method provided in the embodiment of the present application;
fig. 9 is a schematic structural view of an embodiment of the rotational speed determination apparatus provided in the embodiment of the present application;
fig. 10 is a schematic structural diagram of an embodiment of an electronic device provided in the embodiment of the present application.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any inventive step, are within the scope of the present invention.
In the embodiments of the present application, the word "exemplary" is used to mean "serving as an example, instance, or illustration. Any embodiment described herein as "exemplary" is not necessarily to be construed as preferred or advantageous over other embodiments. The following description is presented to enable any person skilled in the art to make and use the invention. In the following description, details are set forth for the purpose of explanation. It will be apparent to one of ordinary skill in the art that the present invention may be practiced without these specific details. In other instances, well-known structures and processes are not shown in detail to avoid obscuring the description of the invention with unnecessary detail. Thus, the present invention is not intended to be limited to the embodiments shown, but is to be accorded the widest scope consistent with the principles and features disclosed in the embodiments herein.
It should be noted that, since the rotation of the rotating body can be understood as a kind of vibration signal per se, the prior art proposes to extract the instantaneous frequency of the rotating body by collecting the vibration signal of the rotating body and performing a time-frequency domain conversion on the vibration signal. For example, a short-time fourier transform is used to transform the vibration signal into a time-frequency space, and a peak extraction method is used to estimate the instantaneous rotation speed of the rotating machine, or the rotation speed frequency is identified in the frequency-domain space according to the geometric characteristics of a hanning window, etc. However, besides generating vibration signals related to rotation, the great rotator itself also generates a great amount of vibration signals related to noise, especially noise vibration signals with frequencies near the frequency conversion, which affects the extraction of the instantaneous frequency conversion, resulting in inaccurate extraction result of the instantaneous frequency conversion.
On the basis of the background, embodiments of the present application provide a method, an apparatus, an electronic device, and a computer storage medium for determining a rotation speed, in which consistency of frequency conversion vibration signals related to a rotation frequency of a rotating body at different positions of the rotating body and difference of noise vibration signals at different positions of the rotating body are utilized, and vibration signals at different positions of the rotating body, that is, multi-channel vibration signals, are collected, and the frequency conversion vibration signals are independent of other noise vibration signals, so that blind source separation is performed on the multi-channel vibration signals, the noise vibration signals can be separated, frequency conversion source signals highly related to the rotation frequency of the rotating body are obtained, and a more accurate extraction result can be obtained when instantaneous frequency conversion is extracted by using the frequency conversion source signals. The details will be described below.
The rotating speed determining method in the embodiment of the invention is applied to a rotating speed determining device, the rotating speed determining device is arranged in an electronic device, the electronic device comprises a memory, a processor and a rotating speed determining program which is stored in the memory and can run on the processor, and the processor executes the rotating speed determining program to realize the steps in the rotating speed determining method.
As shown in fig. 1, fig. 1 is a schematic view of a rotation speed determination scenario according to an embodiment of the present disclosure, where the rotation speed determination scenario includes a rotation speed determination device 100, a sensor 200, and a target rotating body 300. The sensor 200 is mainly used for acquiring a vibration signal of the target rotating body 300 and sending the vibration signal to the rotating speed determining device 100, and a computer storage medium corresponding to the rotating speed determining method is operated in the rotating speed determining device 100 to perform the rotating speed determining step.
The rotating speed determining device 100 in the embodiment of the invention is mainly used for: acquiring a vibration signal group corresponding to a target rotating body; the vibration signal group comprises vibration signals at a plurality of target positions on the target rotating body; carrying out blind source separation on the vibration signal group to obtain a plurality of vibration source signals; determining a frequency converted source signal from a plurality of vibration source signals; the frequency conversion source signal is related to the frequency conversion of the target rotating body; and determining the rotating speed of the target rotating body according to the frequency conversion source signal.
It should be noted that the scene diagram of the rotation speed determination shown in fig. 1 is only an example, and the scene of the rotation speed determination described in the embodiment of the present invention is for more clearly illustrating the technical solution of the embodiment of the present invention, and does not constitute a limitation on the technical solution provided in the embodiment of the present invention.
Based on the above scenario of rotational speed determination, a specific embodiment of a rotational speed determination method is proposed.
As shown in fig. 2, fig. 2 is a schematic flow chart of a first embodiment of a method for determining a rotation speed provided in the embodiment of the present application, where the method for determining a rotation speed in the embodiment includes steps 201 and 204:
and 201, acquiring a vibration signal group corresponding to the target rotator.
On one hand, the rotating speed determining method provided by the embodiment of the application can be used for separating other noise vibration signals generated by the target rotating body so as to improve the measuring precision of the rotating speed, and on the other hand, the rotating speed determining method is mainly used for measuring and monitoring the rotating speed required by rotating speed equipment in the industrial field, so that the rotating speed determining method provided by the embodiment of the application is suitable for the industrial field. In this case, the target rotating body mainly refers to rotating equipment such as a generator, a steam turbine, an aircraft engine, a water pump, a ventilator, and the like. Of course, the rotation speed determination method provided by the present application is not limited to be used in the industrial field, and for any rotating body, the measurement of the rotation speed can be essentially completed by the rotation speed determination method provided by the present application.
In this embodiment, the vibration signal group corresponding to the target rotating body is composed of vibration signals at a plurality of target positions on the target rotating body. Specifically, sensors are arranged at a plurality of target positions of the target rotating body, and at the moment, the sensors can continuously and synchronously acquire vibration signals at the target positions and send the vibration signals to the rotating speed determining device. At this time, the rotation speed determination device acquires a vibration signal group corresponding to the target rotating body, and further completes the determination of the rotation speed of the target rotating body by executing the subsequent steps 202 to 204.
Furthermore, the rotating speed determining device does not directly determine the vibration signal sent by the sensor as the vibration signal group corresponding to the target rotating body, but preprocesses the vibration signal directly collected by the sensor and then determines the preprocessed vibration signal as the vibration signal group. There are many ways to implement the preprocessing, including filtering, intensity normalization, resampling, etc. Specifically, reference may be made to fig. 6 to 7 and the explanation thereof.
Since the rotating speeds of the positions on the target rotating body are consistent, but the noises at the positions are different, that is, the frequency conversion vibration signals at the positions on the target rotating body are the same, and the noise vibration signals are different. Therefore, each vibration signal included in the vibration signal group can be understood as being formed by mixing the same frequency conversion vibration signal and different noise vibration signals according to a certain proportion.
And 202, carrying out blind source separation on the vibration signal group to obtain a plurality of vibration source signals.
As can be seen from the foregoing description, each vibration signal included in the vibration signal set can be understood as being formed by mixing the same frequency conversion vibration signal and different noise vibration signals according to a certain ratio, and therefore, after the rotation speed determination device performs blind source separation on the vibration signal set, a plurality of vibration source signals can be separated, which correspond to the frequency conversion vibration signal and the noise vibration signal, respectively. It is to be noted that, of course, the plurality of vibration source signals obtained by separating the vibration signal group are not a frequency conversion vibration signal and a noise vibration signal which do not interfere with each other in an ideal state.
In this embodiment, blind source separation refers to separating a source signal from an observed mixed signal. The currently more commonly used blind source separation techniques include: blind source separation based on second-order statistics, blind source separation based on independent component separation, bayesian blind source separation, blind source separation of non-stationary signals and underdetermined blind source separation. Generally, any algorithm can realize the separation of the vibration signal group to obtain the vibration source signal. Considering that the specific blind source separation process belongs to the conventional technical means of those skilled in the art, and the invention does not modify the blind source separation algorithm, the invention does not describe the specific implementation process of each blind source separation. Preferably, since the frequency conversion vibration signal to be separated has good reciprocity and obvious local correlation, the separation operation can be performed by starting with the high-order statistic of the vibration signal, that is, the frequency conversion vibration signal can be better separated by the blind source separation of the second-order statistic.
Specifically, the blind source separation is performed on the vibration signal group by using the second-order statistic, and a specific calculation process for obtaining a plurality of vibration source signals is as follows:
1) set vibration signal set
，
Namely m vibration signals;
2) calculating a time delay
Covariance matrix of time
Calculating a covariance matrix
Characteristic value of
And corresponding feature vectors
Arranging the eigenvalues in descending order, and reserving the first n (n is less than or equal to m) eigenvalues with eigenvalues more than 5 percent of the total sum
Residual eigenvalue
；
3) Calculating a vibration signal noise level estimate
When n = m belongs to positive definite blind source separation, and the input information quantity is considered to be insufficient to estimate the noise intensity, it is advisable
；
4) Computing a vibration signal whitening matrix
Wherein the symbol
Represents the hermitian transpose of the matrix;
5) calculate the whitened vibration signal z = wx and calculate K random time delays
Whitening vibration signal covariance matrix at time
；
6) Will be provided with
Go on to allyA joint diagonalization operation of computing an orthogonal matrix U such that
Wherein
For K pairs of focusing matrixes, separating the obtained multiple vibration source signals
Hybrid matrix
Wherein the symbol
To solve generalized inverse matrix operation.
Wherein the mixing matrix
Each element in the vibration source signal is a mixing coefficient of each vibration source signal relative to each vibration signal.
A frequency translated source signal is determined 203 from the plurality of vibration source signals.
As can be seen from the foregoing description, the vibration source signals obtained by blind source separation correspond to the frequency conversion vibration signals and the noise vibration signals. Therefore, it is necessary to further determine a frequency conversion vibration signal related to the frequency conversion of the target rotating body, that is, a frequency conversion source signal, from the vibration source signal.
In this embodiment, since the rotating body rotates synchronously at each position, that is, the rotating frequency source signal exists in each vibration signal and is the main mixed component of the vibration signal, and the noise source signal related to the noise does not exist in each vibration signal and occupies less mixture of the vibration signals. Based on this feature, the frequency-converted source signal in the vibration source signal can be determined from the spectral feature or from the mixing coefficient. The method comprises the following specific steps:
1) the method is obtained by performing spectrum analysis on the vibration source signal and the frequency spectrum characteristics of the vibration signal. Specifically, the frequency spectrum describes some characteristics of each frequency component in the signal, and it is easy to think that if the frequency spectrum of the vibration source signal exists in all the vibration signals at the same time, the vibration source signal is the frequency conversion source signal. Of course, the spectral analysis usually needs to output a vibration source signal and a spectral image of the vibration signal, and the frequency conversion source signal is determined by comparing the spectral images, which is usually implemented manually or based on image recognition.
2) The signal is obtained by analyzing the mixing coefficient of each vibration source signal. Specifically, in the blind source separation process, in addition to the vibration source signals, a mixing coefficient set of the vibration source signals, that is, a mixing ratio of the vibration source signals to the vibration signals, is obtained through separation. In combination with the above, the frequency conversion source signal exists in all the vibration signals and is the main mixing component of the vibration signals, so the mixing ratio of the frequency conversion source signal to each vibration signal is high and is not 0, while the mixing ratio of the noise source signal to each vibration signal is relatively low and some mixing coefficients are 0. Therefore, the frequency-converted source signal can be determined by the magnitude of each mixing coefficient in the mixing coefficient set.
And 204, determining the rotating speed of the target rotating body according to the frequency conversion source signal.
In this embodiment, the frequency conversion source signal may also be understood as a kind of vibration signal per se, and obviously, may also be used to extract the rotation speed. However, it should be noted that the frequency conversion source signal and the noise source signal in the vibration signal can be well separated through the processing of the foregoing steps, that is, the obtained frequency conversion source signal is highly correlated with the frequency conversion of the target rotating body, and compared with the vibration signal directly collected in the prior art and including a large amount of noise signals, the rotation speed extracted by using the frequency conversion source signal is more accurate.
It can be known from the foregoing description that the use of vibration signal to extract the instantaneous frequency of the rotating body belongs to the prior art, for example, the aforementioned method uses short-time fourier transform to convert the vibration signal into time-frequency space, and uses the peak value extraction method to estimate the instantaneous speed of the rotating machine. Of course, the processing of the vibration signal to extract the instantaneous rotational speed of the rotating body can be implemented based on the hilbert transform, based on the continuous wavelet analysis, based on the fourier/wavelet synchronous compression transform. In consideration of the fact that the method for realizing the specific extraction speed is not improved, the specific realization process is not described in detail. Only by taking the hilbert transform as an example, a calculation formula for calculating the rotating speed of the rotating body is provided, which is specifically as follows:
wherein the content of the first and second substances,
̂ is the frequency conversion source signal
Namely the instantaneous frequency of the target rotating body at each moment, N (t) is the rotating speed of the target rotating body at each moment, and H (·) is Hilbert transform.
In consideration of the fact that a small amount of noise interference may still exist in the separated frequency conversion source signal, in order to further improve the accuracy of the extracted rotating speed, after the frequency conversion source signal is obtained, the frequency conversion source signal is further subjected to filtering correction processing to obtain a corrected frequency conversion source signal, and then the corrected frequency conversion source signal is used for extracting the more accurate rotating speed.
However, because the noise interference contained in the frequency conversion source signal is relatively small, the conventional filtering processing cannot well filter the interference noise existing in the frequency conversion source signal. Therefore, the present application provides a method for denoising a frequency conversion source signal based on a friedel-crafts filter, and please refer to fig. 3 and the content of the explanation thereof.
Compared with the prior art, the method and the device have the advantages that the blind source separation is carried out on the collected vibration signal group of the target rotating body, namely the multi-channel vibration signal, noise components existing in the frequency conversion adjacent frequency domain in the single-channel vibration signal can be well eliminated, the frequency conversion source signal highly related to the frequency conversion of the target rotating body is obtained, and therefore the rotating speed result obtained by subsequently utilizing the frequency conversion source signal in a calculation mode is more accurate.
As shown in fig. 3, fig. 3 is a schematic flow chart of a second embodiment of the rotation speed determining method provided in the embodiment of the present application.
Considering that noise interference may still exist in the separated frequency conversion source signal, in order to further improve the accuracy of the extracted rotation speed, the obtained frequency conversion source signal may be subjected to filtering processing, but because the noise interference existing in the frequency conversion source signal is very little, the conventional filtering often cannot finely remove the noise interference. Therefore, the embodiment provides an implementation scheme capable of performing fine filtering processing on a frequency conversion source signal to remove noise interference, and specifically includes steps 301 to 303:
301, the frequency of the target rotating body at each time is calculated from the frequency conversion source signal.
In this embodiment, the frequency of the target rotating body at each moment, that is, the instantaneous frequency of the rotating body in step 204, may be specifically implemented by short-time fourier transform, hilbert transform, continuous wavelet analysis, fourier/wavelet synchronous compression transform, and the like, and the present invention is not described herein again.
And 302, according to the frequency conversion of the target rotating body at each moment, carrying out filtering processing on the frequency conversion source signal to obtain a corrected frequency conversion source signal.
In this embodiment, compared with the method of filtering the frequency conversion source signal by using the interval, the frequency conversion of the target rotating body at each time is directly used, that is, the frequency conversion source signal is subjected to the friedman filtering, so that only the frequency component of the frequency conversion at each time can be retained, and a fine filtering result can be obtained.
It should be noted that, since the frequency conversion source signal is not an ideal noise-free frequency conversion signal, that is, the frequency conversion at each time of the target rotating body calculated in step 301 has an error, the corrected frequency conversion source signal directly obtained by the friekmann filtering process is not an ideal noise-free frequency conversion signal according to the frequency conversion at each time of the target rotating body. But the iterative thought can be combined, and the noise component of the frequency conversion source signal is eliminated as much as possible by carrying out multiple times of DE-Kalman filtering correction on the frequency conversion source signal, so that a more accurate frequency conversion source signal is obtained. At this time, please refer to fig. 4 and the explanation thereof for a specific process.
303, determining the rotating speed of the target rotating body according to the corrected rotating frequency source signal.
In this embodiment, after further filtering the frequency conversion source signal, noise interference existing in the frequency conversion source signal may be further removed, and at this time, the obtained corrected frequency conversion source signal is processed in combination with the rotation speed determination process provided in step 204, so that a more accurate rotation speed may be obtained.
The embodiment provides a method for filtering a frequency conversion source signal by using the frequency conversion of a target rotating body at each moment obtained by calculation so as to filter out noise interference existing in the frequency conversion source signal, thereby achieving a fine filtering effect and further improving the accuracy of extracting the rotating speed by using the frequency conversion source signal subsequently.
As shown in fig. 4, fig. 4 is a schematic flow chart of a third embodiment of the rotation speed determining method provided in the embodiment of the present application.
In consideration of the fact that the filtering process is performed on the frequency conversion source signal according to the frequency conversion of the target rotating body at each time, it is difficult to filter all the noise signals at once. In this embodiment, in combination with the idea of iteration, the filtering process is performed on the frequency conversion source signal by repeatedly using the frequency conversion of the target rotating body at each time, so that the noise component existing in the frequency conversion source signal can be more effectively eliminated, specifically, the method includes steps 401 to 406:
401, according to the frequency conversion of the target rotating body at each time, filtering processing is performed on the frequency conversion source signal to obtain a corrected frequency conversion source signal.
In this embodiment, according to the frequency conversion of the target rotating body at each time, the frequency conversion source signal is filtered to obtain a specific calculation formula of the modified frequency conversion source signal, which is the same as the calculation formula provided in step 302, and the description of the present invention is omitted here.
Based on the corrected frequency conversion source signal, the frequency conversion at each time point of the corrected target rotating body is calculated 402.
In this embodiment, a calculation formula for calculating the frequency conversion according to the modified frequency conversion source signal is the same as the calculation formula provided in step 204, and the description of the present invention is omitted here.
And 403, calculating the frequency conversion error between the frequency conversion of the corrected target rotating body at each moment and the frequency conversion of the target rotating body before correction at each moment according to a preset iterative error calculation formula.
In this embodiment, the frequency of the corrected target rotating body at each time point is the frequency of the target rotating body at each time point calculated from the frequency conversion source signal after the filtering process, and the frequency of the target rotating body at each time point before the correction is the frequency of the target rotating body at each time point calculated from the frequency conversion source signal before the filtering process.
In this embodiment, a specific iterative error calculation formula is as follows:
wherein error is the frequency conversion error, L is the data length,
namely the corrected rotating frequency of the target rotating body at each moment,
the target rotating body is corrected to have a frequency of rotation at each time.
And 404, judging whether the frequency conversion error is larger than a preset error threshold value. If yes, go to step 405; if not, go to step 406.
In this embodiment, the larger the frequency conversion error is, the more noise interference is eliminated after the filtering processing is performed on the frequency conversion source signal, and as the iteration process is performed, the more difficult the noise interference is to be eliminated, the smaller the frequency conversion error is. When the frequency conversion error is smaller than a certain threshold, the noise interference can not be effectively eliminated after the frequency conversion source signal is filtered, and the iteration process can be considered to be terminated. Specifically, the error threshold is preferably 5%.
The corrected frequency conversion source signal is filtered 405 based on the frequency conversion at each time of the corrected target rotating body.
When the frequency conversion error is larger than the preset error threshold, that is, the noise interference can be obviously eliminated after the frequency conversion source signal is subjected to filtering processing, so that the frequency conversion source signal after the correction can be further subjected to filtering processing according to the frequency conversion of the target rotating body at each moment after the correction. After the filtering process, the process returns to step 402 again, so as to achieve the iterative effect.
And 406, acquiring the current frequency conversion source signal, and setting the current frequency conversion source signal as the corrected frequency conversion source signal.
When the frequency conversion error is smaller than or equal to the preset error threshold, obviously, the noise interference can not be effectively eliminated after the frequency conversion source signal is filtered, and therefore, the obtained current frequency conversion source signal can be set as the corrected frequency conversion source signal.
According to the embodiment of the application, the frequency conversion source signal is corrected through iteration, the frequency conversion error between the frequency conversion of the corrected target rotating body at each moment and the frequency conversion of the corrected target rotating body at each moment is used as a condition for judging the end of iteration, when the frequency conversion error is high, the frequency conversion source signal is continuously corrected, and when the frequency conversion error is low, the correction process is ended, so that the noise component in the frequency conversion source signal can be effectively eliminated, and the rotating speed extracted by the finally obtained corrected frequency conversion source signal is more accurate.
As shown in fig. 5, fig. 5 is a schematic flow chart of a fourth embodiment of the rotation speed determining method provided in the embodiment of the present application.
In this embodiment, compare in through the frequency of analysis vibration source signal and vibration signal, utilize the mixed coefficient of vibration source signal can be more convenient confirm the source signal of commentaries on classics frequency, consequently, provide a realization process that utilizes the mixed coefficient of vibration source signal to confirm the source signal of commentaries on classics frequency, include steps 501~ 502:
501, a mixing coefficient set corresponding to each vibration source information is obtained.
In this embodiment, the mixing coefficient set corresponding to each vibration source information is obtained based on the blind source separation, which is specifically referred to the process of performing the blind source separation on the vibration signal group in step 202.
502, according to the mixing coefficient set corresponding to each vibration source information, determining a frequency conversion source signal in the vibration source signals.
The mixing coefficients, i.e. the sets of mixing coefficients, in the respective vibration signals have different characteristics with respect to the noise source signal in view of the frequency converted source signal. Therefore, the rotation speed determination device can determine the frequency conversion source signal in the vibration source signals according to the mixing coefficient set corresponding to each vibration source information.
In the embodiment of the application, the frequency conversion source signal can be accurately, quickly and conveniently determined from a plurality of vibration source signals by utilizing the mixing coefficient set corresponding to each vibration source information obtained in the blind source separation process.
As shown in fig. 6, fig. 6 is a schematic flow chart of a fifth embodiment of the rotation speed determining method provided in the embodiment of the present application.
In this embodiment, a specific implementation process for determining a frequency conversion source signal according to a mixing coefficient set is provided, which includes steps 601 to 603:
601, a first vibration source signal and a first mixing coefficient set corresponding to the first vibration source signal are obtained.
After the rotation speed determining device performs blind source separation on the vibration signal group, besides obtaining a plurality of vibration source signals, a mixing coefficient set of each vibration source signal is obtained, wherein the mixing coefficient set comprises the mixing coefficient of each vibration signal corresponding to the vibration source signal, namely the mixing proportion of each vibration signal.
And 602, judging whether a mixing coefficient lower than a preset mixing threshold exists in the first mixing coefficient set. If not, go to step 603; if yes, other steps are executed.
As can be seen from the foregoing description, the mixing ratio of the frequency conversion source signal to each vibration signal is higher and is not 0, while the mixing ratio of the noise source signal to each vibration signal is relatively lower and some mixing coefficients are 0, so that it can be sequentially determined whether there is a mixing coefficient lower than the preset mixing threshold in each mixing coefficient set. Obviously, if the mixing coefficients in a certain mixing coefficient set are higher than a preset mixing threshold value, it indicates that the vibration source signal corresponding to the mixing coefficient set is more likely to be a frequency conversion source signal.
603, the first vibration source signal is set as a frequency conversion source signal.
If each mixing coefficient in the mixing coefficient set corresponding to the first vibration source signal is higher than the preset mixing threshold, that is, there is no mixing coefficient lower than the preset mixing threshold, the first vibration source signal is more likely to be a frequency conversion source signal. Thus, the first vibration source signal may be set as the frequency conversion source signal.
The method for determining the frequency conversion source signal provided by the embodiment of the application utilizes the characteristic that the frequency conversion source signal accounts for a relatively high ratio in each vibration signal, and completes the identification of the frequency conversion source signal by sequentially judging whether a mixing coefficient lower than a preset mixing threshold exists in a mixing coefficient set corresponding to each vibration source signal.
As shown in fig. 7, fig. 7 is a schematic flow chart of a sixth embodiment of the rotation speed determining method provided in the embodiment of the present application.
For the convenience of subsequent calculation, the obtained vibration signal group is usually obtained by preprocessing the original vibration signal collected by the sensor, and specifically includes steps 701 to 703:
701, acquiring original vibration signals at a plurality of target positions on a target rotating body through a preset sensor.
In the embodiment of the application, the sensor directly sends the original vibration signals to the rotating speed determining device after acquiring the original vibration signals of a plurality of target positions on the target rotating body, so that the rotating speed determining device executes a subsequent preprocessing process to obtain the vibration signal group of the target rotating body.
And 702, performing filtering pretreatment on each original vibration signal to obtain a plurality of filtered vibration signals.
The sensor directly collects the original vibration signals, obvious noise parts exist in the original vibration signals, therefore, before the vibration signal set is subjected to blind source separation, filtering pretreatment can be carried out on each original vibration signal to eliminate the obvious noise parts in the original vibration signals and obtain a plurality of vibration signals after filtering, so that the calculation amount of subsequent blind source separation is effectively reduced, and the real-time performance of rotation speed determination is improved.
Preferably, the different rotating bodies have stable frequency conversion intervals during normal operation, so that the original vibration signal can be filtered according to the frequency conversion intervals corresponding to the rotating bodies during filtering, so as to improve the filtering effect and avoid filtering out frequency conversion related components.
And 703, performing normalization processing on each filtered vibration signal to obtain a vibration signal group corresponding to the target rotating body.
By carrying out intensity normalization processing on the filtered vibration signals, dimensional influences of different positions in the target rotating body can be eliminated, so that the vibration signals related to frequency conversion in the vibration signals of all the positions can always occupy a higher proportion, and the accuracy of determining the frequency conversion source signals in the vibration source signals by utilizing the mixing coefficient set of the vibration source signals in the follow-up process is improved.
According to the embodiment of the application, the original vibration signals directly collected by the sensor are preprocessed, so that the obvious noise part existing in the original vibration signals can be removed, the calculation amount of the follow-up blind source separation is reduced, and the dimension influence can be eliminated, so that the vibration signals related to the frequency conversion in the vibration signals at all positions can always occupy a higher proportion, and the accuracy of determining the frequency conversion source signals in the vibration source signals by utilizing the mixing coefficient set of the vibration source signals in the follow-up process is improved.
As shown in fig. 8, fig. 8 is a schematic flow chart of a seventh embodiment of the rotation speed determining method provided in the embodiment of the present application.
In this embodiment, it is considered that different rotating bodies have stable frequency conversion intervals during normal operation, and therefore, better filtering effect can be achieved by performing filtering processing on the original vibration signal by using the frequency conversion intervals corresponding to the rotating bodies, which specifically includes steps 801 to 803:
801, model information of the target rotating body is acquired.
In this embodiment, the model information of the target rotating body may be input into the rotating speed determining device by the user, and may also be acquired by other methods, for example, shooting a nameplate of the target rotating body and acquiring the nameplate through image recognition.
And 802, inquiring a preset database, and acquiring a frequency conversion interval corresponding to the model information.
In the rotating speed determining device, the frequency conversion interval corresponding to each type signal is usually pre-stored, so after the model information of the target rotating body is obtained, the frequency conversion interval of the target rotating body can be obtained by querying the preset database.
And 803, performing filtering preprocessing on each original vibration signal according to the frequency conversion interval to obtain a plurality of filtered vibration signals.
The vibration signal of the original vibration signal in the frequency conversion interval is extracted, so that the filtered vibration signal can be obtained.
This application embodiment, through prestoring the frequency conversion interval that each model signal corresponds, then obtain the model signal of target rotator after, can predetermine the database through the inquiry, obtain the frequency conversion interval that the model information corresponds, so, just can utilize this frequency conversion interval to carry out filtering pretreatment to original vibration signal, avoid filtering out the relevant composition of frequency conversion to the effect of filtering has been improved.
As shown in fig. 9, fig. 9 is a schematic structural diagram of an embodiment of the rotation speed determination device.
In order to better implement the method for determining the rotating speed in the embodiment of the present application, on the basis of the method for determining the rotating speed, an embodiment of the present application further provides a device for determining the rotating speed, wherein the device for determining the rotating speed comprises:
a vibration signal set obtaining module 901, configured to obtain a vibration signal set corresponding to the target rotating body; the vibration signal group comprises vibration signals at a plurality of target positions on the target rotating body;
a blind source separation module 902, configured to perform blind source separation on the vibration signal group to obtain multiple vibration source signals;
a frequency conversion source signal determining module 903, configured to determine a frequency conversion source signal from multiple vibration source signals; the frequency conversion source signal is related to the frequency conversion of the target rotating body;
and a rotating speed determining module 904, configured to determine a rotating speed of the target rotating body according to the frequency conversion source signal.
In some embodiments of the present application, the rotation speed determining module includes a frequency conversion calculating submodule, a frequency conversion source signal modifying submodule and a rotation speed determining submodule, wherein:
the frequency conversion calculation secondary module is used for calculating the frequency conversion of the target rotating body at each moment according to the frequency conversion source signal;
the frequency conversion source signal correction secondary module is used for carrying out filtering processing on the frequency conversion source signal according to the frequency conversion of the target rotating body at each moment to obtain a corrected frequency conversion source signal;
and the rotating speed determining submodule is used for determining the rotating speed of the target rotating body according to the corrected rotating frequency source signal.
In some embodiments of the present application, the frequency conversion source signal modification submodule includes a frequency conversion source signal modification first unit, a modified frequency conversion calculation unit, a frequency conversion error calculation unit, a frequency conversion source signal modification second unit, and a modified frequency conversion source signal determination unit, where:
a frequency conversion source signal correction first unit, configured to perform filtering processing on a frequency conversion source signal according to the frequency conversion of the target rotating body at each time, so as to obtain a corrected frequency conversion source signal;
the corrected rotating frequency calculating unit is used for calculating the rotating frequency of the corrected target rotating body at each moment according to the corrected rotating frequency source signal;
the frequency conversion error calculation unit is used for calculating the frequency conversion error between the corrected target rotating body at each moment and the frequency conversion error of the target rotating body before correction at each moment according to a preset iterative error calculation formula;
a second frequency conversion source signal correction unit, configured to, if the frequency conversion error is greater than a preset error threshold, perform filtering processing on the corrected frequency conversion source signal according to the frequency conversion of the corrected target rotating body at each time;
and the corrected frequency conversion source signal determining unit is used for acquiring the current frequency conversion source signal and setting the current frequency conversion source signal as the corrected frequency conversion source signal if the frequency conversion error is less than or equal to the preset error threshold.
In some embodiments of the present application, the blind source separation module is further configured to perform blind source separation on the vibration signal group to obtain a plurality of vibration source signals and a mixing coefficient set corresponding to each vibration source information;
the conversion source signal determining module is further configured to determine a conversion source signal in the vibration source signals according to the mixing coefficient set corresponding to each vibration source information.
In some embodiments of the present application, the conversion source signal determining module includes a mixing coefficient set obtaining sub-module and a conversion source signal setting sub-module, where:
the mixing coefficient set acquisition secondary module is used for acquiring the first vibration source signal and a first mixing coefficient set corresponding to the first vibration source signal;
and the frequency conversion source signal setting secondary module is used for setting the first vibration source signal as the frequency conversion source signal if the mixing coefficient lower than the preset mixing threshold value does not exist in the first mixing coefficient set.
In some embodiments of the present application, the vibration signal group obtaining module includes an original vibration signal collecting submodule, a filtering preprocessing submodule and a normalization processing submodule, wherein:
the original vibration signal acquisition secondary module is used for acquiring original vibration signals at a plurality of target positions on the target rotating body through a preset sensor;
the filtering preprocessing submodule is used for carrying out filtering preprocessing on each original vibration signal to obtain a plurality of filtered vibration signals;
and the normalization processing secondary module is used for performing normalization processing on the filtered vibration signals to obtain a vibration signal group corresponding to the target rotating body.
In some embodiments of the present application, the filtering preprocessing submodule includes a model obtaining unit, a frequency conversion determining unit, and a filtering preprocessing unit, where:
a model acquisition unit configured to acquire model information of the target rotating body;
the frequency conversion determining unit is used for inquiring a preset database and acquiring a frequency conversion interval corresponding to the model information;
and the filtering preprocessing unit is used for performing filtering preprocessing on each original vibration signal according to the frequency conversion interval to obtain a plurality of filtered vibration signals.
An embodiment of the present invention further provides an electronic device, as shown in fig. 10, fig. 10 is a schematic structural diagram of an embodiment of the electronic device provided in the embodiment of the present application.
The electronic device includes a memory, a processor, and a rotation speed determination program stored in the memory and executable on the processor, and the steps of the rotation speed determination method in any of the embodiments are implemented when the processor executes the rotation speed determination program.
Specifically, the method comprises the following steps: the electronic device may include components such as a processor 1001 of one or more processing cores, memory 1002 of one or more storage media, a power supply 1003, and an input unit 1004. Those skilled in the art will appreciate that the electronic device configuration shown in fig. 10 does not constitute a limitation of the electronic device and may include more or fewer components than those shown, or some components may be combined, or a different arrangement of components. Wherein:
the processor 1001 is a control center of the electronic device, connects various parts of the entire electronic device using various interfaces and lines, and performs various functions of the electronic device and processes data by running or executing software programs and/or modules stored in the memory 1002 and calling data stored in the memory 1002, thereby performing overall monitoring of the electronic device. Optionally, processor 1001 may include one or more processing cores; preferably, the processor 1001 may integrate an application processor, which mainly handles operating systems, user interfaces, application programs, etc., and a modem processor, which mainly handles wireless communications. It will be appreciated that the modem processor described above may not be integrated into the processor 1001.
The memory 1002 may be used to store software programs and modules, and the processor 1001 executes various functional applications and data processing by operating the software programs and modules stored in the memory 1002. The memory 1002 may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required by at least one function (such as a sound playing function, an image playing function, etc.), and the like; the storage data area may store data created according to use of the electronic device, and the like. Further, the memory 1002 may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other volatile solid state storage device. Accordingly, the memory 1002 may also include a memory controller to provide the processor 1001 access to the memory 1002.
The electronic device further includes a power source 1003 for supplying power to each component, and preferably, the power source 1003 may be logically connected to the processor 1001 through a power management system, so that functions of managing charging, discharging, power consumption, and the like are implemented through the power management system. The power source 1003 may also include any component including one or more of a dc or ac power source, a recharging system, a power failure detection circuit, a power converter or inverter, a power status indicator, and the like.
The electronic device may further include an input unit 1004, and the input unit 1004 may be used to receive input numeric or character information and generate keyboard, mouse, joystick, optical or trackball signal inputs related to user settings and function control.
Although not shown, the electronic device may further include a display unit and the like, which will not be described in detail herein. Specifically, in this embodiment, the processor 1001 in the electronic device loads the executable file corresponding to the process of one or more application programs into the memory 1002 according to the following instructions, and the processor 1001 runs the application programs stored in the memory 1002, thereby implementing any step in the rotation speed determining method provided by the embodiment of the present invention.
To this end, an embodiment of the present invention provides a computer storage medium, which may include: read Only Memory (ROM), Random Access Memory (RAM), magnetic or optical disks, and the like. A computer program is stored thereon, and a computer readable storage medium stores a rotation speed determining program, which when executed implements the steps in any one of the rotation speed determining methods provided by the embodiments of the present invention.
In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and parts that are not described in detail in a certain embodiment may refer to the above detailed descriptions of other embodiments, and are not described herein again.
In a specific implementation, each unit or structure may be implemented as an independent entity, or may be combined arbitrarily to be implemented as one or several entities, and the specific implementation of each unit or structure may refer to the foregoing method embodiment, which is not described herein again.
The above operations can be implemented in the foregoing embodiments, and are not described in detail herein.
The above is a detailed description of a method for determining a rotation speed provided in the embodiments of the present application, and a specific example is applied in the description to explain the principle and the implementation of the present invention, and the description of the above embodiments is only used to help understanding the method of the present invention and the core idea thereof; meanwhile, for those skilled in the art, according to the idea of the present invention, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present invention.
Claims (8)
1. A method of determining a rotational speed, comprising:
acquiring a vibration signal group corresponding to a target rotating body; the vibration signal group comprises vibration signals at a plurality of target positions on the target rotating body;
blind source separation is carried out on a plurality of vibration signals in the vibration signal group to obtain a plurality of vibration source signals;
determining a frequency converted source signal from the plurality of vibration source signals; the frequency conversion source signal is related to the frequency conversion of the target rotating body;
calculating the frequency conversion of the target rotating body at each moment according to the frequency conversion source signal;
according to the frequency conversion of the target rotating body at each moment, filtering the frequency conversion source signal to obtain a corrected frequency conversion source signal;
calculating the frequency of the target rotating body at each moment after correction according to the corrected frequency conversion source signal;
according to a preset iterative error calculation formula, calculating the frequency conversion error between the corrected frequency of the target rotating body at each moment and the frequency conversion error of the target rotating body at each moment before correction;
if the frequency conversion error is larger than a preset error threshold value, carrying out filtering processing on the corrected frequency conversion source signal according to the frequency conversion of the corrected target rotating body at each moment;
if the frequency conversion error is smaller than or equal to a preset error threshold value, acquiring a current frequency conversion source signal, and setting the current frequency conversion source signal as a modified frequency conversion source signal; and determining the rotating speed of the target rotating body according to the corrected rotating frequency source signal.
2. The method of claim 1, wherein determining a frequency translated source signal from the plurality of vibration source signals comprises:
acquiring a mixing coefficient set corresponding to each vibration source signal;
and determining a frequency conversion source signal in the vibration source signals according to the mixing coefficient set corresponding to each vibration source signal.
3. The method of claim 2, wherein the determining of the frequency-converted source signal from the set of mixing coefficients corresponding to each of the vibration source signals comprises;
acquiring a first vibration source signal and a first mixing coefficient set corresponding to the first vibration source signal;
and if the mixing coefficient lower than a preset mixing threshold value does not exist in the first mixing coefficient set, setting the first vibration source signal as a frequency conversion source signal.
4. The method according to any one of claims 1 to 3, wherein the acquiring of the vibration signal set corresponding to the target rotating body comprises:
acquiring original vibration signals at a plurality of target positions on a target rotating body through a preset sensor;
carrying out filtering pretreatment on each original vibration signal to obtain a plurality of filtered vibration signals;
and carrying out normalization processing on the filtered vibration signals to obtain a vibration signal group corresponding to the target rotating body.
5. The method of claim 4, wherein the pre-filtering each of the original vibration signals to obtain a plurality of filtered vibration signals comprises:
acquiring model information of the target rotating body;
inquiring a preset database, and acquiring a frequency conversion interval corresponding to the model information;
and carrying out filtering pretreatment on each original vibration signal according to the frequency conversion interval to obtain a plurality of filtered vibration signals.
6. A rotational speed determining apparatus, characterized by comprising:
the vibration signal group acquisition module is used for acquiring a vibration signal group corresponding to the target rotating body; the vibration signal group comprises vibration signals at a plurality of target positions on the target rotating body;
the blind source separation module is used for carrying out blind source separation on a plurality of vibration signals in the vibration signal group to obtain a plurality of vibration source signals;
a frequency conversion source signal determination module for determining a frequency conversion source signal from the plurality of vibration source signals; the frequency conversion source signal is related to the frequency conversion of the target rotating body; the frequency conversion calculation secondary module is used for calculating the frequency conversion of the target rotating body at each moment according to the frequency conversion source signal;
a frequency conversion source signal correction first unit, configured to perform filtering processing on the frequency conversion source signal according to the frequency conversion of the target rotating body at each time, so as to obtain a corrected frequency conversion source signal;
a corrected frequency conversion calculation unit, configured to calculate a frequency conversion of the corrected target rotating body at each time according to the corrected frequency conversion source signal;
the frequency conversion error calculation unit is used for calculating the frequency conversion error between the corrected frequency conversion of the target rotating body at each moment and the frequency conversion error of the target rotating body before correction at each moment according to a preset iterative error calculation formula;
a second frequency conversion source signal correction unit, configured to, if the frequency conversion error is greater than a preset error threshold, perform filtering processing on the corrected frequency conversion source signal according to the frequency conversion of the corrected target rotating body at each time;
a modified frequency conversion source signal determining unit, configured to obtain a current frequency conversion source signal and set the current frequency conversion source signal as a modified frequency conversion source signal if the frequency conversion error is smaller than or equal to a preset error threshold;
and the rotating speed determining submodule is used for determining the rotating speed of the target rotating body according to the corrected rotating frequency source signal.
7. An electronic device, comprising a processor, a memory, and a rotation speed determination program stored in the memory and executable on the processor, wherein the processor executes the rotation speed determination program to implement the steps of the rotation speed determination method according to any one of claims 1 to 5.
8. A computer-readable storage medium, having a rotational speed determination program stored thereon, the rotational speed determination program being executed by a processor to implement the steps in the rotational speed determination method according to any one of claims 1 to 5.
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