CN113654771A - Formatting method and system for vibration waveform of spring type operating mechanism - Google Patents
Formatting method and system for vibration waveform of spring type operating mechanism Download PDFInfo
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- G—PHYSICS
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- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M13/00—Testing of machine parts
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- G—PHYSICS
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- G01H—MEASUREMENT OF MECHANICAL VIBRATIONS OR ULTRASONIC, SONIC OR INFRASONIC WAVES
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- G01R31/327—Testing of circuit interrupters, switches or circuit-breakers
- G01R31/3271—Testing of circuit interrupters, switches or circuit-breakers of high voltage or medium voltage devices
- G01R31/3275—Fault detection or status indication
Abstract
The invention provides a formatting method and a formatting system for a vibration waveform of a spring type operating mechanism1And a second threshold Q of the starting position2Then, evenly dividing the collected vibration waveform samples of the spring type operating mechanism into N groups according to set conditions, processing the data of each group of sampling points to generate a data set, and then according to the data set and a first threshold Q1Calculating and determining the starting interval of the vibration waveform, and finally, according to the sampling point data in the starting interval of the vibration waveform and a first threshold Q2And calculating and determining the starting position of the vibration waveform. The method and the system can effectively avoidDue to pulse interference in the vibration waveform of the spring type operating mechanism, the accuracy rate of determining the initial position of the vibration waveform reaches more than 99%, and thus, data consistency guarantee is provided for subsequent fault diagnosis.
Description
Technical Field
The present invention relates to the field of high voltage signal processing, and more particularly, to a method and system for formatting a vibration waveform of a spring-type actuator.
Background
The main function of the operating mechanism of the GIS circuit breaker is to realize the opening and closing of the contact. The actuator is a very important component of the circuit breaker, and the failure of the mechanism can have very serious consequences. There are many different types of mechanisms that can be selected for different types of circuit breakers. A common feature of all mechanisms is the storage of potential energy in a resilient medium, which potential energy can be obtained by storing energy for a longer period of time from a low power source, such as a low power motor. During the closing and opening operation, the accumulated energy is released in milliseconds, providing a large operating power to accelerate the contacts to the required speed before the contacts separate.
According to the difference of energy storage modes, the operating mechanism applicable to the GIS circuit breaker generally has three types: a spring type, a hydraulic type, and a compressed air type. In one embodiment, various combinations are also possible, for example pneumatic switching-off and spring switching-on, and vice versa. There are also some medium voltage circuit breakers, for example vacuum circuit breakers, in which an electromagnetic actuator is used. More recently, an actuator is also provided that is motor driven. Among them, the spring type and hydraulic-spring type actuators are the most widely used actuators in practical applications of electric power systems. The spring operating mechanism realizes the opening and closing of the circuit breaker by using the stored spring as a power source. The circuit breaker is widely applied to various products of 72.5 kV-252 kV series circuit breakers (including GIS circuit breakers) of a power system. During the action process of the spring type operating mechanism, metallic collision mainly occurs. The acceleration sensor can be used for measuring abundant vibration signals generated in the action process of the spring type operating mechanism. The vibration signal of the spring-type actuator is also characterized by a latent failure. Through processing and analyzing the vibration signal, the latent fault can be identified, the operating mechanism is maintained and overhauled in time, and the latent fault is prevented from aggravating to cause the failure of the operating mechanism and even the breaker or the isolating switch. The vibration signal is processed and analyzed, and in the first step, the vibration signal needs to be formatted so that the starting time and the time length of the vibration waveform are consistent. If the starting time of the vibration waveform is judged inaccurately due to formatting, the accuracy of the subsequent data processing and analyzing process is greatly influenced. Research shows that the appearance of the first independent pulse waveform of the vibration wave mode is caused by electromagnetic interference brought by the instant of electrifying the opening and closing electromagnet and introduced into a measuring system through a sensor shell or a power supply. Because the on-line monitoring system of the operating mechanism can only share the power supply with the opening and closing electromagnet, the interference is difficult to eliminate. In the prior art, the starting position of vibration is directly judged by setting a threshold value, so that the vibration is easily interfered by a first independent pulse in a waveform, and the occurrence time of the first independent pulse is mistakenly used as the starting time of the vibration waveform. How to eliminate the interference of the first pulse and accurately judge the initial position of the vibration waveform, so that the effective formatting of the vibration waveform of the spring type operating mechanism lacks a relevant technical means.
Disclosure of Invention
In order to solve the problem that the prior art lacks a technical scheme for effectively formatting the vibration waveform of the spring type operating mechanism so as to accurately judge the initial problem of the vibration waveform, the invention provides a method for formatting the vibration waveform of the spring type operating mechanism, which comprises the following steps:
uniformly dividing the vibration waveform sample of the spring type operating mechanism into N groups according to time scales, wherein N is a natural number;
calculating the average value of the set of waveforms according to the data of L sampling points in the ith set of waveforms, taking the absolute value of the difference between the data of each sampling point and the average value, and summing the absolute valuesiGenerating a data set S ═ S1，S2……Si……SNWherein i is more than or equal to 1 and less than or equal to N;
according to the set first threshold value Q1Determining a vibration waveform starting interval of a vibration waveform sample of the spring type operating mechanism by using a data set S, and determining the total number L' of sampling point data of the vibration waveform starting interval, wherein the vibration waveform starting interval is a j-1 th group and a j-1 th group of vibration waveforms, and j is more than or equal to 1 and less than or equal to N-1;
according to the set second threshold value Q2And determining the vibration waveform initial position of the vibration waveform sample of the spring type operating mechanism according to the total number L' of the sampling point data.
Further, before evenly dividing the vibration waveform sample of the spring type operating mechanism into N groups according to the time scale, the method further comprises: collecting vibration waveform data of the spring type operating mechanism, and generating and storing a vibration waveform sample of the spring type operating mechanism according to a set sampling interval when sampling point data is larger than a set acquisition threshold value, wherein the sampling interval comprises [ t-t ]0T and [ t, t + t ]1T is the time when the sample point data is greater than the set acquisition threshold.
Further, the vibration waveform sample of the spring type operating mechanism is evenly divided into N groups according to time scales, wherein the calculation formula of N is as follows:
wherein T is the total time length of the vibration waveform sample of the spring type operating mechanism, TaThe starting time of continuous appearance of a vibration signal in a vibration waveform is determined according to a historical sample of the vibration waveform of the spring type operating mechanism; t is tbIs the moment when the independent pulse appears for the first time in the vibration waveform determined according to the historical sample of the vibration waveform of the spring type operating mechanism,
indicating rounding up.
Taking j from 1 to N-1 in the sequence from small to large, and when the value of j meets a first criterion min (S)j，Sj+1，Sj+2……SN)＞Q1Determining the starting interval of the vibration waveform as the j-1 th group and the j-th group of vibration waveforms, wherein Q1Evenly dividing historical samples of vibration waveforms of the spring type operating mechanism into N groups according to time scales, calculating the average value of the group of waveforms according to data of L sampling points in the ith group of waveforms, taking an absolute value of the difference between the data of each sampling point and the average value, and summing S the absolute valuesiGenerating a data set S ═ S1，S2……Si……SNAfter this, from the data set S' ═ S1，S2……Sx-1And 2 times of the maximum value selected in the vibration waveform group, wherein i is more than or equal to 1 and less than or equal to N, x is the number of the group where the starting position of the vibration waveform is manually determined in the N groups of vibration waveforms, and x is more than or equal to 2 and less than or equal to N.
When j is equal to 1, the total number L' of the sampling point data in the start interval of the vibration waveform is equal to L;
and when j is more than 1 and less than or equal to N-1, the total number L' of the sampling point data in the vibration waveform starting interval is 2L.
Further, the device is based onSet second threshold Q2And determining the vibration waveform initial position of the vibration waveform sample of the spring type operating mechanism according to the total number L' of the sampling point data comprises the following steps:
taking K from 1 to L' -K in the order from small to large, and taking data from the kth sampling point to the K + K-1 sampling point as a data group ZkWherein, K is0≤K≤L’/5；
Calculating a data set ZkAveraging the data of the middle K sampling points, taking the absolute value of the difference between the data of each sampling point and the average value, and summing the absolute valuesk；
When S isk＞Q2Then determining the starting position of the vibration waveform as the kth sampling point, wherein Q2After the initial position of the vibration waveform is manually determined to be the kth sampling point in a historical sample of the vibration waveform of the spring type operating mechanism, calculating the average value of data from the kth sampling point to the K + K-1 th sampling point, taking the absolute value of the difference between the data of each sampling point and the average value, and summing the absolute values to obtain the empirical value.
According to another aspect of the present invention, there is provided a system for formatting a vibration waveform of a spring-type actuator, the system comprising:
the data grouping unit is used for uniformly dividing the vibration waveform samples of the spring type operating mechanism into N groups according to time scales, wherein N is a natural number;
a data set unit for calculating the average value of the group of waveforms according to the data of L sampling points in the ith group of waveforms, taking the absolute value of the difference of the data of each sampling point and the average value, and summing the absolute valuesiGenerating a data set S ═ S1，S2……Si……SNWherein i is more than or equal to 1 and less than or equal to N;
a start interval unit for setting a first threshold Q1And determining a vibration waveform starting interval of the vibration waveform sample of the spring type operating mechanism by using a data set S, and determining the total number L' of sampling point data of the vibration waveform starting interval, wherein the vibration waveThe shape starting interval is the j-1 th group and the j-1 th group of vibration waveforms, and j is more than or equal to 1 and less than or equal to N-1;
a start position unit for setting a second threshold Q2And determining the vibration waveform initial position of the vibration waveform sample of the spring type operating mechanism according to the total number L' of the sampling point data.
Further, the system also comprises a data sample unit which is used for collecting the vibration waveform data of the spring type operating mechanism, and when the sampling point data is larger than a set collection threshold value, generating and storing the vibration waveform sample of the spring type operating mechanism according to a set sampling interval, wherein the sampling interval comprises [ t-t ]0T and [ t, t + t ]1T is the time when the sample point data is greater than the set acquisition threshold.
Further, the data grouping unit evenly divides the vibration waveform sample of the spring type operating mechanism into N groups according to time scales, wherein the calculation formula of N is as follows:
wherein T is the total time length of the vibration waveform sample of the spring type operating mechanism, TaThe starting time of continuous appearance of a vibration signal in a vibration waveform is determined according to a historical sample of the vibration waveform of the spring type operating mechanism; t is tbIs the moment when the independent pulse appears for the first time in the vibration waveform determined according to the historical sample of the vibration waveform of the spring type operating mechanism,
indicating rounding up.
Further, the starting interval unit is based on the set first threshold Q1And determining a vibration waveform starting interval of the vibration waveform sample of the spring type operating mechanism by the data set S, and determining the total number L' of sampling point data of the vibration waveform starting interval comprises the following steps:
taking j from 1 to N-1 in the sequence from small to large, and when the value of j meets a first criterion min (S)j，Sj+1，Sj+2……SN)＞Q1Determining the starting interval of the vibration waveform as the j-1 th group and the j-th group of vibration waveforms, wherein Q1Evenly dividing historical samples of vibration waveforms of the spring type operating mechanism into N groups according to time scales, calculating the average value of the group of waveforms according to data of L sampling points in the ith group of waveforms, taking an absolute value of the difference between the data of each sampling point and the average value, and summing S the absolute valuesiGenerating a data set S ═ S1，S2……Si……SNAfter this, from the data set S' ═ S1，S2……Sx-1And 2 times of the maximum value selected in the vibration waveform group, wherein i is more than or equal to 1 and less than or equal to N, x is the number of the group where the starting position of the vibration waveform is manually determined in the N groups of vibration waveforms, and x is more than or equal to 2 and less than or equal to N.
When j is equal to 1, the total number L' of the sampling point data in the start interval of the vibration waveform is equal to L;
and when j is more than 1 and less than or equal to N-1, the total number L' of the sampling point data in the vibration waveform starting interval is 2L.
Further, the starting position unit is set according to a second threshold Q2And determining the vibration waveform initial position of the vibration waveform sample of the spring type operating mechanism according to the total number L' of the sampling point data comprises the following steps:
taking K from 1 to L' -K in the order from small to large, and taking data from the kth sampling point to the K + K-1 sampling point as a data group ZkWherein, in the step (A),
wherein, K0Is a natural number;
calculating a data set ZkAveraging the data of the middle K sampling points, taking the absolute value of the difference between the data of each sampling point and the average value, and summing the absolute valuesk；
When S isk＞Q2Then determining the starting position of the vibration waveform as the kth sampling point, wherein Q2Is a person in a historical sample of the vibration waveform of the spring type operating mechanismAfter determining that the starting position of the vibration waveform is the kth sampling point, calculating the average value of data from the kth sampling point to the K + K < -1 > sampling point, taking the absolute value of the difference between the data of each sampling point and the average value, and summing the absolute values to obtain an empirical value.
According to the formatting method and system for the vibration waveform of the spring type operating mechanism, provided by the technical scheme of the invention, through analyzing the historical sample of the vibration waveform of the spring type operating mechanism, the empirical value for determining the starting interval and the starting position of the vibration waveform is calculated and used as the first threshold Q for judging the starting interval of the collected sample1And a second threshold Q of the starting position2Then, evenly dividing the collected vibration waveform samples of the spring type operating mechanism into N groups according to set conditions, processing the data of each group of sampling points to generate a data set, and then according to the data set and a first threshold Q1Calculating and determining the starting interval of the vibration waveform, and finally, according to the sampling point data in the starting interval of the vibration waveform and a first threshold Q2And calculating and determining the starting position of the vibration waveform. The method and the system can effectively avoid pulse interference in the vibration waveform of the spring type operating mechanism, so that the accuracy rate of determining the initial position of the vibration waveform reaches more than 99 percent, and further, the data consistency guarantee is provided for subsequent fault diagnosis.
Drawings
A more complete understanding of exemplary embodiments of the present invention may be had by reference to the following drawings in which:
FIG. 1 is a flow chart of a method for formatting a vibration waveform for a spring-type actuator in accordance with a preferred embodiment of the present invention;
fig. 2 is a waveform diagram of vibration when the spring type operating mechanism is closed according to the preferred embodiment of the present invention;
fig. 3 is a schematic structural diagram of a formatting system for vibration waveforms of the spring-type actuator according to a preferred embodiment of the present invention.
Detailed Description
The exemplary embodiments of the present invention will now be described with reference to the accompanying drawings, however, the present invention may be embodied in many different forms and is not limited to the embodiments described herein, which are provided for complete and complete disclosure of the present invention and to fully convey the scope of the present invention to those skilled in the art. The terminology used in the exemplary embodiments illustrated in the accompanying drawings is not intended to be limiting of the invention. In the drawings, the same units/elements are denoted by the same reference numerals.
Unless otherwise defined, terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. Further, it will be understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the relevant art and will not be interpreted in an idealized or overly formal sense.
Fig. 1 is a flowchart of a method for formatting a vibration waveform of a spring type actuator according to a preferred embodiment of the present invention. As shown in fig. 1, the method 100 for formatting the vibration waveform of the spring-type actuator according to the preferred embodiment starts with step 101.
In step 101, collecting vibration waveform data of the spring type operating mechanism, and generating and storing a vibration waveform sample of the spring type operating mechanism according to a set sampling interval when sampling point data is greater than a set collection threshold, wherein the sampling interval comprises [ t-t ]0T and [ t, t + t ]1T is the time when the sample point data is greater than the set acquisition threshold.
In a preferred embodiment, the vibration waveform of the spring type operating mechanism is acquired by an oscilloscope according to a designed sampling rate, when the vibration signal does not trigger an acquisition threshold, the oscilloscope only acquires the signal and does not store the signal, and when the sampling point data is greater than the set acquisition threshold, the vibration waveform sample of the spring type operating mechanism is generated according to a set sampling interval and stored. Fig. 2 is a waveform diagram of vibration when the spring type operating mechanism is closed according to the preferred embodiment of the present invention. As shown in fig. 2, a vibration pulse appears at a position of 0.15s, and with this as an acquisition origin, 150ms sampling point data is acquired forward, and 350ms sampling point data is acquired backward, so that the total time length T of the vibration waveform sample of the spring type operating mechanism is obtained to be 0.5s, wherein 100000 data sampling points are provided in total.
In step 102, the vibration waveform samples of the spring type operating mechanism are evenly divided into N groups according to time scales, wherein N is a natural number.
Preferably, the vibration waveform sample of the spring type operating mechanism is uniformly divided into N groups according to time scales, wherein the calculation formula of N is as follows:
wherein T is the total time length of the vibration waveform sample of the spring type operating mechanism, TaThe starting time of continuous appearance of a vibration signal in a vibration waveform is determined according to a historical sample of the vibration waveform of the spring type operating mechanism; t is tbIs the moment when the independent pulse appears for the first time in the vibration waveform determined according to the historical sample of the vibration waveform of the spring type operating mechanism,
indicating rounding up.
As can be seen from fig. 2, in the vibration waveform of the spring-type actuator, the vibration waveform is continuous not from the occurrence of the first vibration pulse, but the continuous vibration starts after the occurrence of the vibration pulse and a period of time elapses. When the spring type operating mechanism is switched on and off, at the starting time of the current of the switching on and switching off coil for 0.15s, no vibration signal exists in the operating mechanism because the switching on and switching off electromagnet does not start to act, the pulse in the vibration waveform generated at the moment is electromagnetic interference, and the continuous vibration time of the vibration waveform is the time of only 0.17 s. Using FIG. 2 as a vibration waveform history sample, t may be determineda＝0.17s，tb0.15 s. Because the vibration waveforms of samples collected by the same sensor, the same operating mechanism and the same oscilloscope at the same sampling rate and the same filter at different moments have the same characteristics under normal conditions, the samples are collected when the spring type operating mechanism is installed and analyzed and determined to be taAnd tbIs an empirical value that can be formatted as a subsequent sample, the first threshold Q being described below1And a second threshold value Q2The same is true.
In step 103, calculating the average value of the set of waveforms according to the data of L sampling points in the ith set of waveforms, taking the absolute value of the difference between the data of each sampling point and the average value, and summing the absolute valuesiGenerating a data set S ═ S1，S2……Si……SNWherein i is more than or equal to 1 and less than or equal to N;
in step 104, according to the set first threshold Q1And determining a vibration waveform starting interval of the vibration waveform sample of the spring type operating mechanism by the data set S, and determining the total number L' of sampling point data of the vibration waveform starting interval, wherein the vibration waveform starting interval is a j-1 th group and a j-1 th group of vibration waveforms, and j is more than or equal to 1 and less than or equal to N-1.
In step 105, according to the set second threshold Q2And determining the vibration waveform initial position of the vibration waveform sample of the spring type operating mechanism according to the total number L' of the sampling point data.
Preferably, the first threshold Q according to the setting1And determining a vibration waveform starting interval of the vibration waveform sample of the spring type operating mechanism by the data set S, and determining the total number L' of sampling point data of the vibration waveform starting interval comprises the following steps:
taking j from 1 to N-1 in the sequence from small to large, and when the value of j meets a first criterion min (S)j，Sj+1，Sj+2……SN)＞Q1Determining the starting interval of the vibration waveform as the j-1 th group and the j-th group of vibration waveforms, wherein Q1Evenly dividing historical samples of vibration waveforms of the spring type operating mechanism into N groups according to time scales, calculating the average value of the group of waveforms according to data of L sampling points in the ith group of waveforms, taking an absolute value of the difference between the data of each sampling point and the average value, and summing S the absolute valuesiGenerating a data set S ═ S1，S2……Si……SNAfter this, from the data set S' ═ S1，S2……Sx-1And 2 times of the maximum value selected in the vibration waveform group, wherein i is more than or equal to 1 and less than or equal to N, x is the number of the group where the starting position of the vibration waveform is manually determined in the N groups of vibration waveforms, and x is more than or equal to 2 and less than or equal to N.
When j is equal to 1, the total number L' of the sampling point data in the start interval of the vibration waveform is equal to L;
and when j is more than 1 and less than or equal to N-1, the total number L' of the sampling point data in the vibration waveform starting interval is 2L.
Preferably, the second threshold Q according to setting2And determining the vibration waveform initial position of the vibration waveform sample of the spring type operating mechanism according to the total number L' of the sampling point data comprises the following steps:
taking K from 1 to L' -K in the order from small to large, and taking data from the kth sampling point to the K + K-1 sampling point as a data group ZkWherein, K is0≤K≤L’/5；
Calculating a data set ZkAveraging the data of the middle K sampling points, taking the absolute value of the difference between the data of each sampling point and the average value, and summing the absolute valuesk；
When S isk＞Q2Then determining the starting position of the vibration waveform as the kth sampling point, wherein Q2After the initial position of the vibration waveform is manually determined to be the kth sampling point in a historical sample of the vibration waveform of the spring type operating mechanism, calculating the average value of data from the kth sampling point to the K + K-1 th sampling point, taking the absolute value of the difference between the data of each sampling point and the average value, and summing the absolute values to obtain the empirical value.
Fig. 3 is a schematic structural diagram of a formatting system for vibration waveforms of the spring-type actuator according to a preferred embodiment of the present invention. As shown in fig. 3, the system 300 for formatting vibration waveforms of a spring-type actuator according to the preferred embodiment includes:
a data sample unit 301, configured to collect vibration waveform data of the spring-type operating mechanism, and when the sampling point data is greater than a set collection threshold, generate and store a vibration waveform sample of the spring-type operating mechanism according to a set sampling interval, where,the sampling interval includes [ t-t0T and [ t, t + t ]1T is the time when the sample point data is greater than the set acquisition threshold.
The data grouping unit 302 is used for uniformly dividing the vibration waveform samples of the spring type operating mechanism into N groups according to time scales, wherein N is a natural number;
a data set unit 303 for calculating an average value of the set of waveforms from data of L sample points in the ith set of waveforms, taking an absolute value of a difference of the data of each sample point from the average value, and summing the absolute values SiGenerating a data set S ═ S1，S2……Si……SNWherein i is more than or equal to 1 and less than or equal to N;
a start interval unit 304 for setting a first threshold Q according to1Determining a vibration waveform starting interval of a vibration waveform sample of the spring type operating mechanism by using a data set S, and determining the total number L' of sampling point data of the vibration waveform starting interval, wherein the vibration waveform starting interval is a j-1 th group and a j-1 th group of vibration waveforms, and j is more than or equal to 1 and less than or equal to N-1;
a starting position unit 305 for setting a second threshold Q according to2And determining the vibration waveform initial position of the vibration waveform sample of the spring type operating mechanism according to the total number L' of the sampling point data.
Preferably, the data grouping unit 302 uniformly divides the vibration waveform samples of the spring-type operating mechanism into N groups according to a time scale, where the calculation formula of N is:
wherein T is the total time length of the vibration waveform sample of the spring type operating mechanism, TaThe time when the independent pulse appears for the first time in the vibration waveform is determined according to the historical sample of the vibration waveform of the spring type operating mechanism; t is tbIs the starting moment of continuous occurrence of the vibration signal in the vibration waveform determined according to the historical samples of the vibration waveform of the spring type operating mechanism,
indicating rounding up.
Preferably, the start interval unit 304 is configured according to a set first threshold Q1And determining a vibration waveform starting interval of the vibration waveform sample of the spring type operating mechanism by the data set S, and determining the total number L' of sampling point data of the vibration waveform starting interval comprises the following steps:
taking j from 1 to N-1 in the sequence from small to large, and when the value of j meets a first criterion min (S)j，Sj+1，Sj+2……SN)＞Q1Determining the starting interval of the vibration waveform as the j-1 th group and the j-th group of vibration waveforms, wherein Q1Evenly dividing historical samples of vibration waveforms of the spring type operating mechanism into N groups according to time scales, calculating the average value of the group of waveforms according to data of L sampling points in the ith group of waveforms, taking an absolute value of the difference between the data of each sampling point and the average value, and summing S the absolute valuesiGenerating a data set S ═ S1，S2……Si……SNAfter this, from the data set S' ═ S1，S2……Sx-1And 2 times of the maximum value selected in the vibration waveform group, wherein i is more than or equal to 1 and less than or equal to N, x is the number of the group where the starting position of the vibration waveform is manually determined in the N groups of vibration waveforms, and x is more than or equal to 2 and less than or equal to N.
When j is equal to 1, the total number L' of the sampling point data in the start interval of the vibration waveform is equal to L;
and when j is more than 1 and less than or equal to N-1, the total number L' of the sampling point data in the vibration waveform starting interval is 2L.
Preferably, the start position unit 305 sets a second threshold Q according to2And determining the vibration waveform initial position of the vibration waveform sample of the spring type operating mechanism according to the total number L' of the sampling point data comprises the following steps:
taking K from 1 to L' -K in the order from small to large, and taking data from the kth sampling point to the K + K-1 sampling point as a data group ZkWherein, in the step (A),
wherein, K0Is a natural number;
calculating a data set ZkAveraging the data of the middle K sampling points, taking the absolute value of the difference between the data of each sampling point and the average value, and summing the absolute valuesk；
When S isk＞Q2Then determining the starting position of the vibration waveform as the kth sampling point, wherein Q2After the initial position of the vibration waveform is manually determined to be the kth sampling point in a historical sample of the vibration waveform of the spring type operating mechanism, calculating the average value of data from the kth sampling point to the K + K-1 th sampling point, taking the absolute value of the difference between the data of each sampling point and the average value, and summing the absolute values to obtain the empirical value.
The step of formatting the vibration waveform sample by the system for formatting the vibration waveform of the spring type operating mechanism is the same as the step of formatting the vibration waveform sample by the method for formatting the vibration waveform of the spring type operating mechanism, the technical effect is the same, and the method is not repeated herein.
The invention has been described with reference to a few embodiments. However, other embodiments of the invention than the one disclosed above are equally possible within the scope of the invention, as would be apparent to a person skilled in the art from the appended patent claims.
Generally, all terms used in the claims are to be interpreted according to their ordinary meaning in the technical field, unless explicitly defined otherwise herein. All references to "a/an/the [ device, component, etc ]" are to be interpreted openly as referring to at least one instance of said device, component, etc., unless explicitly stated otherwise. The steps of any method disclosed herein do not have to be performed in the exact order disclosed, unless explicitly stated.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solutions of the present invention and not for limiting the same, and although the present invention is described in detail with reference to the above embodiments, those of ordinary skill in the art should understand that: modifications and equivalents may be made to the embodiments of the invention without departing from the spirit and scope of the invention, which is to be covered by the claims.
Claims (10)
1. A method for formatting a vibration waveform for a spring-type actuator, the method comprising:
uniformly dividing the vibration waveform sample of the spring type operating mechanism into N groups according to time scales, wherein N is a natural number;
calculating the average value of the set of waveforms according to the data of L sampling points in the ith set of waveforms, taking the absolute value of the difference between the data of each sampling point and the average value, and summing the absolute valuesiGenerating a data set S ═ S1，S2……Si……SNWherein i is more than or equal to 1 and less than or equal to N;
according to the set first threshold value Q1Determining a vibration waveform starting interval of a vibration waveform sample of the spring type operating mechanism by using a data set S, and determining the total number L' of sampling point data of the vibration waveform starting interval, wherein the vibration waveform starting interval is a j-1 th group and a j-1 th group of vibration waveforms, and j is more than or equal to 1 and less than or equal to N-1;
according to the set second threshold value Q2And determining the vibration waveform initial position of the vibration waveform sample of the spring type operating mechanism according to the total number L' of the sampling point data.
2. The method of claim 1, wherein prior to evenly dividing the spring-type actuator vibration waveform samples into N groups on a time scale further comprises: collecting vibration waveform data of the spring type operating mechanism, and generating and storing a vibration waveform sample of the spring type operating mechanism according to a set sampling interval when sampling point data is larger than a set acquisition threshold value, wherein the sampling interval comprises [ t-t ]0T and [ t, t + t ]1T is sample data bigAt the moment of the set acquisition threshold.
3. The method of claim 1, wherein the spring-type actuator vibration waveform samples are evenly divided into N groups according to a time scale, wherein N is calculated by the formula:
wherein T is the total time length of the vibration waveform sample of the spring type operating mechanism, TaThe starting time of continuous appearance of a vibration signal in a vibration waveform is determined according to a historical sample of the vibration waveform of the spring type operating mechanism; t is tbIs the moment when the independent pulse appears for the first time in the vibration waveform determined according to the historical sample of the vibration waveform of the spring type operating mechanism,
indicating rounding up.
4. Method according to claim 1, characterized in that said first threshold Q according to a setting1And determining a vibration waveform starting interval of the vibration waveform sample of the spring type operating mechanism by the data set S, and determining the total number L' of sampling point data of the vibration waveform starting interval comprises the following steps:
taking j from 1 to N-1 in the sequence from small to large, and when the value of j meets a first criterion min (S)j，Sj+1，Sj+2……SN)＞Q1Determining the starting interval of the vibration waveform as the j-1 th group and the j-th group of vibration waveforms, wherein Q1Evenly dividing historical samples of vibration waveforms of the spring type operating mechanism into N groups according to time scales, calculating the average value of the group of waveforms according to data of L sampling points in the ith group of waveforms, taking an absolute value of the difference between the data of each sampling point and the average value, and summing S the absolute valuesiGenerating a data set S ═ S1，S2……Si……SNAfter this, from the data set S' ═ S1，S2……Sx-1And 2 times of the maximum value selected in the vibration waveform group, wherein i is more than or equal to 1 and less than or equal to N, x is the number of the group where the starting position of the vibration waveform is manually determined in the N groups of vibration waveforms, and x is more than or equal to 2 and less than or equal to N.
When j is equal to 1, the total number L' of the sampling point data in the start interval of the vibration waveform is equal to L;
and when j is more than 1 and less than or equal to N-1, the total number L' of the sampling point data in the vibration waveform starting interval is 2L.
5. Method according to claim 4, characterized in that said second threshold Q according to a setting2And determining the vibration waveform initial position of the vibration waveform sample of the spring type operating mechanism according to the total number L' of the sampling point data comprises the following steps:
taking K from 1 to L' -K in the order from small to large, and taking data from the kth sampling point to the K + K-1 sampling point as a data group ZkWherein, K is0≤K≤L’/5；
Calculating a data set ZkAveraging the data of the middle K sampling points, taking the absolute value of the difference between the data of each sampling point and the average value, and summing the absolute valuesk；
When S isk＞Q2Then determining the starting position of the vibration waveform as the kth sampling point, wherein Q2After the initial position of the vibration waveform is manually determined to be the kth sampling point in a historical sample of the vibration waveform of the spring type operating mechanism, calculating the average value of data from the kth sampling point to the K + K-1 th sampling point, taking the absolute value of the difference between the data of each sampling point and the average value, and summing the absolute values to obtain the empirical value.
6. A system for formatting a vibration waveform for a spring-type actuator, said system comprising:
the data grouping unit is used for uniformly dividing the vibration waveform samples of the spring type operating mechanism into N groups according to time scales, wherein N is a natural number;
a data set unit for calculating the average value of the group of waveforms according to the data of L sampling points in the ith group of waveforms, taking the absolute value of the difference of the data of each sampling point and the average value, and summing the absolute valuesiGenerating a data set S ═ S1，S2……Si……SNWherein i is more than or equal to 1 and less than or equal to N;
a start interval unit for setting a first threshold Q1Determining a vibration waveform starting interval of a vibration waveform sample of the spring type operating mechanism by using a data set S, and determining the total number L' of sampling point data of the vibration waveform starting interval, wherein the vibration waveform starting interval is a j-1 th group and a j-1 th group of vibration waveforms, and j is more than or equal to 1 and less than or equal to N-1;
a start position unit for setting a second threshold Q2And determining the vibration waveform initial position of the vibration waveform sample of the spring type operating mechanism according to the total number L' of the sampling point data.
7. The system of claim 6, further comprising a data sampling unit for collecting the vibration waveform data of the spring-type actuator, and generating and storing the vibration waveform data of the spring-type actuator according to a set sampling interval when the sampling point data is greater than a set collection threshold, wherein the sampling interval includes [ t-t [ ]0T and [ t, t + t ]1T is the time when the sample point data is greater than the set acquisition threshold.
8. The system of claim 6, wherein the data grouping unit evenly divides the spring-type actuator vibration waveform samples into N groups according to a time scale, wherein N is calculated by the formula:
in the formula, T is the vibration wave of the spring type operating mechanismTotal time length of shape sample, taThe starting time of continuous appearance of a vibration signal in a vibration waveform is determined according to a historical sample of the vibration waveform of the spring type operating mechanism; t is tbIs the moment when the independent pulse appears for the first time in the vibration waveform determined according to the historical sample of the vibration waveform of the spring type operating mechanism,
indicating rounding up.
9. The system of claim 6, wherein the start interval unit is based on a set first threshold Q1And determining a vibration waveform starting interval of the vibration waveform sample of the spring type operating mechanism by the data set S, and determining the total number L' of sampling point data of the vibration waveform starting interval comprises the following steps:
taking j from 1 to N-1 in the sequence from small to large, and when the value of j meets a first criterion min (S)j，Sj+1，Sj+2……SN)＞Q1Determining the starting interval of the vibration waveform as the j-1 th group and the j-th group of vibration waveforms, wherein Q1Evenly dividing historical samples of vibration waveforms of the spring type operating mechanism into N groups according to time scales, calculating the average value of the group of waveforms according to data of L sampling points in the ith group of waveforms, taking an absolute value of the difference between the data of each sampling point and the average value, and summing S the absolute valuesiGenerating a data set S ═ S1，S2……Si……SNAfter this, from the data set S' ═ S1，S2……Sx-1And 2 times of the maximum value selected in the vibration waveform group, wherein i is more than or equal to 1 and less than or equal to N, x is the number of the group where the starting position of the vibration waveform is manually determined in the N groups of vibration waveforms, and x is more than or equal to 2 and less than or equal to N.
When j is equal to 1, the total number L' of the sampling point data in the start interval of the vibration waveform is equal to L;
and when j is more than 1 and less than or equal to N-1, the total number L' of the sampling point data in the vibration waveform starting interval is 2L.
10. The system of claim 9, wherein the home location unit is configured to set a second threshold Q2And determining the vibration waveform initial position of the vibration waveform sample of the spring type operating mechanism according to the total number L' of the sampling point data comprises the following steps:
taking K from 1 to L' -K in the order from small to large, and taking data from the kth sampling point to the K + K-1 sampling point as a data group ZkWherein, in the step (A),
wherein, K0Is a natural number;
calculating a data set ZkAveraging the data of the middle K sampling points, taking the absolute value of the difference between the data of each sampling point and the average value, and summing the absolute valuesk；
When S isk＞Q2Then determining the starting position of the vibration waveform as the kth sampling point, wherein Q2After the initial position of the vibration waveform is manually determined to be the kth sampling point in a historical sample of the vibration waveform of the spring type operating mechanism, calculating the average value of data from the kth sampling point to the K + K-1 th sampling point, taking the absolute value of the difference between the data of each sampling point and the average value, and summing the absolute values to obtain the empirical value.
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