CN113884834A - Motor stator insulation defect detection device and method and electronic equipment - Google Patents
Motor stator insulation defect detection device and method and electronic equipment Download PDFInfo
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Abstract
The invention discloses a motor stator insulation defect detection device and method and electronic equipment. The motor stator insulation defect detection device provided by the invention obtains the detection starting position of the target motor stator through the data acquisition module, the control module can control the movable trolley to detect the insulation defect of the target motor stator according to the detection starting position and the detection path, the first sensor of the mechanical arm can detect the insulation defect along the detection path by adopting a partial discharge ultrasonic positioning method, the second sensor can detect the insulation defect through the first sensor, a target position corresponding to the insulation defect is obtained by adopting a partial discharge ultrasonic positioning method, and corresponding image information is collected by the second collector according to the position information, so that the insulation defect in the target motor stator can be quickly identified and positioned, and further provides safety guarantee for zero fault operation and safety maintenance of the target motor stator.
Description
Technical Field
The invention relates to the technical field of hydroelectric equipment, in particular to a motor stator insulation defect detection device and method and electronic equipment.
Background
The hydroelectric power generation capacity of China accounts for more than 18% of the national hydroelectric power generation capacity, and particularly in regions with rich water resources in the south, the hydroelectric power generation capacity accounts for 54% of the total national hydroelectric power generation capacity. Among them, the large-capacity vertical high-voltage motor is an important power generation device, is a power source for the operation of the power grid, and is widely applied to large-scale hydroelectric power plants, so that the safe operation of the hydroelectric generator is an important guarantee for the stability of the power grid.
At present, the operating voltage of a high-capacity vertical high-voltage motor is generally larger than 700V, a winding insulation structure generally adopts a high-voltage forming winding (II type), and according to the international standard IEC 60034-18-42, a small amount of partial discharge is allowed to occur when the motor operates. However, partial discharge may generate a large amount of charged particles to impact the insulating medium, thereby changing the local conductance of the insulation, causing an increase in dielectric loss and a local temperature rise, which may eventually lead to insulation failure. Meanwhile, strong oxidizing gas may be generated in the discharging process to corrode the insulating layer, so that a large amount of charged particles are generated to collide and cut off the insulating molecular structure, and the deterioration of the insulating material is further aggravated. Because the production cost of the high-capacity vertical high-voltage motor reaches thousands of yuan, the high-capacity vertical high-voltage motor needs to be periodically maintained every year, and particularly, insulation breakdown accidents are more easily caused when the hydraulic generator is installed for 10 years or more.
Therefore, a detection device capable of timely finding the internal insulation defects of the motor winding is urgently needed, and insulation breakdown accidents are avoided when the motor runs.
Disclosure of Invention
The invention aims to provide a motor stator insulation defect detection device, a motor stator insulation defect detection method and electronic equipment, which can realize the purpose of quickly identifying and positioning the insulation defect inside a target motor stator.
In a first aspect, an embodiment of the present invention provides a motor stator insulation defect detection apparatus, where the motor stator insulation defect detection apparatus includes: the data acquisition module, the control module and the mechanical arm are respectively arranged on the movable trolley and are electrically connected with each other; the data acquisition module comprises a first collector and a second collector, wherein the first collector is arranged at the front end of the movable trolley and is used for acquiring the detection starting position of the target motor stator; the control module is used for carrying out insulation defect detection on the target motor stator according to a detection starting position and a preset detection path, wherein the detection path is a path formed by taking the detection starting position as a starting point and moving the detection starting position along the inner wall of the target motor stator until the detection starting position is moved again; the two ends of the mechanical arm are respectively and movably connected with a first sensor and a second sensor which are detachable, the first sensor is used for detecting the insulation defect along the detection path by adopting a partial discharge ultrahigh frequency detection method, and the second sensor is used for acquiring position information corresponding to the insulation defect under the condition that the first sensor detects the insulation defect; the second collector is used for collecting corresponding image information according to the position information.
Optionally, the control module is further configured to obtain a trigger threshold of the insulation defect, a sampling frequency, and a moving distance of the movable trolley before the data acquisition module obtains the detection start position of the target motor stator.
Optionally, the first sensor and the second sensor both maintain a preset insulation distance from an inner wall of the target motor stator.
Optionally, the first sensor may be any one of a very high frequency electromagnetic sensor, a narrow band antenna, and a patch antenna, and the second sensor may be an array ultrasonic sensor or a piezoelectric sensor.
Optionally, the array ultrasonic sensor comprises a plurality of MEMS microphones.
Optionally, the plurality of MEMS microphones are arranged in an arrangement of M × M, where M is greater than or equal to 4.
Optionally, the first collector and the second collector are cameras.
Optionally, a rotating module is arranged on the movable trolley, and the mechanical arm rotates horizontally and is connected with the rotating module.
The motor stator insulation defect detection device provided by the first aspect obtains the detection starting position of the target motor stator through the data acquisition module, the control module can control the movable trolley to detect the insulation defect of the target motor stator according to the detection starting position and the detection path, the first sensor of the mechanical arm can detect the insulation defect along the detection path by adopting a partial discharge ultrahigh frequency detection method, the second sensor can detect the insulation defect through the first sensor, a partial discharge ultrasonic positioning method is adopted to obtain a target position corresponding to the insulation defect, and then a second collector collects corresponding image information according to the position information, so that the insulation defect in the stator of the target motor can be quickly identified and positioned, and further provides safety guarantee for zero fault operation and safety maintenance of the target motor stator.
In a second aspect, an embodiment of the present invention provides a method for detecting insulation defects of a stator of an electric machine, where the method includes:
acquiring a detection initial position of a target motor stator; performing insulation defect detection on the target motor stator by adopting a partial discharge ultrahigh frequency detection technology according to a detection starting position and a detection path, wherein the detection path takes the detection starting position as a starting point and moves along the inner wall direction of the target motor stator until the detection starting position is moved again to form a path; and acquiring a target position corresponding to the insulation defect by adopting a partial discharge ultrasonic positioning method under the condition that the insulation defect is determined to be detected.
Further, before obtaining the detection start position of the target motor stator, the motor stator insulation defect detection method further includes: and acquiring a trigger threshold value and a sampling frequency of the partial discharge signal, and the moving distance of the movable trolley for detecting the insulation defect on the detection path each time.
Further, the method for detecting the insulation defect of the motor stator adopts a partial discharge ultrasonic positioning method to obtain a target position corresponding to the insulation defect under the condition that the insulation defect is determined to be detected, and comprises the following steps:
position coordinates (theta) of the detection start position are acquired0，H0) And position coordinates of the position of the center point of the detection range
According to the position coordinates of the detection initial position, the position coordinates of the central point position of the detection range and a formula
Obtaining an angle difference and a height value of a target position corresponding to the insulation defect relative to a position coordinate of a detection starting position, and taking the angle difference and the height value as a target coordinate (theta, H) of the insulation defect;
the distance between the center line of the mechanical arm and the first sensor is r, the height of the first sensor is H, the forward moving distance of the movable trolley is 2r, the forward moving times of the movable trolley are nth times, the total forward moving times are N, the angle corresponding to the total length of the forward arc is theta, and the rising height of the mechanical arm is H.
In a third aspect, an embodiment of the present invention provides an electronic device, including: a processor, a storage medium and a bus, the storage medium storing machine-readable instructions executable by the processor, the processor and the storage medium communicating via the bus when the electronic device is operating, the processor executing the machine-readable instructions to perform the steps of the method according to the second aspect.
The beneficial effects described in the second to third aspects above may refer to those described in the first aspect, and are not described herein again.
Drawings
Fig. 1 is a schematic structural diagram of a motor stator insulation defect detection device provided by an embodiment of the invention;
fig. 2 shows a schematic structural diagram of a motor stator insulation defect detection apparatus provided in an embodiment of the present invention;
FIG. 3 is a schematic diagram of a control module according to an embodiment of the present invention;
fig. 4 shows a first flow chart of a motor stator insulation defect detection method provided by the embodiment of the invention;
fig. 5 shows a schematic flow chart of a motor stator insulation defect detection method provided by the embodiment of the invention;
fig. 6 shows a schematic structural diagram of an electronic device provided in an embodiment of the present invention.
Detailed Description
While the rework vehicle location management method of the invention will now be described in greater detail with reference to the schematic drawings wherein there is shown a preferred embodiment of the invention, it is to be understood that those skilled in the art may modify the invention herein described while still achieving the advantageous results of the invention. Accordingly, the following description should be construed as broadly as possible to those skilled in the art and not as limiting the invention.
The invention is described in more detail in the following paragraphs by way of example with reference to the accompanying drawings. Advantages and features of the present invention will become apparent from the following description and from the claims. It is to be noted that the drawings are in a very simplified form and are not to precise scale, which is merely for the purpose of facilitating and distinctly claiming the embodiments of the present invention.
The embodiment of the application provides a motor stator insulation defect detection device, can discern the inside insulation defect of target motor stator fast, avoids insulation breakdown to lead to the motor to take off the net accident to take place, has sensitivity height, and detection speed is fast, characteristics such as contactless.
As shown in fig. 1, an embodiment of the present application provides an apparatus 100 for detecting insulation defects of a stator of an electric machine, including: the data acquisition module 20, the control module 30 and the mechanical arm 40 are respectively arranged on the movable trolley 10 and are electrically connected with each other; the data acquisition module 20 comprises a first collector 21 and a second collector 22, wherein the first collector 21 is arranged at the front end of the movable trolley and is used for acquiring the detection starting position of the target motor stator; the control module 30 is configured to perform insulation defect detection on the target motor stator according to a detection start position and a preset detection path, where the detection path is a path formed by taking the detection start position as a start point and moving along the inner wall of the target motor stator until the detection start position is reached again; the two ends of the mechanical arm 40 are respectively and movably connected with a first sensor 50 and a second sensor 60 which are detachable, the first sensor 50 is used for detecting insulation defects along the detection path by adopting a partial discharge ultrahigh frequency detection method, and the second sensor 60 is used for acquiring position information corresponding to the insulation defects under the condition that the first sensor 50 detects the insulation defects; the second collector 22 is used for collecting corresponding image information according to the position information.
The target motor stator can be a vertical motor stator, a horizontal motor stator, a high-capacity transformer and the like, and can also be applied to the application scene of cable inspection to identify and position insulation defects.
The movable trolley 10 can adopt an expandable four-wheel vehicle chassis, and the running program is compiled through a single chip microcomputer.
The data acquisition module 10 may include a plurality of data collectors of different types or the same type, and the first collector or the second collector may be an image collector, a temperature sensor, a humidity sensor, and the like. For example, the data acquisition module 10 includes two image collectors, which may be a vehicle-mounted camera and/or a monitoring camera, etc., a monitoring camera may be disposed at the top end of the robot arm 30 to acquire real-time image information of the insulation defect, a vehicle-mounted camera may be disposed at the front end of the movable trolley to acquire an initial position of the detection path, and the data acquisition module may be specifically set according to an actual situation.
The mechanical arm 40 may be made of a carbon fiber material, so that it may have a strong hardness and a low weight.
The first sensor 50 may be a uhf electromagnetic sensor, which employs an archimedes uhf helical antenna, and has a low-band center frequency of 0.35GHz, and the antenna is characterized by a wide frequency band, high sensitivity, large high-frequency gain, and strong anti-interference capability, and after a dielectric covering layer is added, the gain is highly improved, and in addition, for a device with a small size, the first sensor 50 may also detect through multiple narrowband antennas or patch antennas.
The second sensor 60 may be an array ultrasonic sensor employing a plurality of mems microphone arrays, and the location of the insulation defect is determined based on the intensity of the ultrasonic waves received by each microphone. The second sensor 60 may also be a retractable piezoelectric sensor, and when the uhf electromagnetic sensor detects partial discharge, the mechanical arm detects the piezoelectric sensor close to the inner wall of the motor.
Specifically, as shown in fig. 2, when detecting an insulation defect of the vertical motor stator 200, the motor stator insulation defect detecting apparatus may complete insulation defect detection according to the following detection procedures:
step S201, starting the movable cart 10, determining a starting point (i.e., a detection starting position) by using the vehicle-mounted camera of the first collector 21, initializing the motor stator insulation defect detection apparatus, retracting the mechanical arm 30 to the bottommost part, and starting the camera of the second collector 22 at the top end of the mechanical arm.
Step S202, the control module 20 controls the movable trolley 10 and the mechanical arm 40 to perform detection according to a detection path: controlling the movable trolley 10 to be immobile at a detection starting position, controlling the mechanical arm 40 to ascend, determining that the ultrahigh-frequency electromagnetic sensor of the first sensor 50 does not detect partial discharge, controlling the movable trolley 10 to continuously advance for a certain distance after the mechanical arm 40 reaches the highest point, controlling the mechanical arm 40 to descend, controlling the movable trolley 10 to continuously advance for a certain distance after the mechanical arm 40 reaches the lowest point, controlling the mechanical arm 40 to ascend, and repeating the process until the detection starting position is reached; if the ultrahigh frequency electromagnetic sensor of the first sensor 50 detects partial discharge, the movable trolley 10 and the mechanical arm 40 are controlled to stop moving, insulation defect coordinates are recorded, the ultrasonic sensor of the second sensor 60 array and the camera of the second collector 22 are controlled to collect partial discharge images, and all data are stored in a memory;
step S203, the control module 30 is configured to determine whether the movable trolley 10 reaches the detection start position, and if not, repeat the detection step S202 until the detection start position is reached, and stop the detection.
And S204, after the detection is stopped, the background system can visualize the position information of the insulation defect and the collected corresponding image information through a human-computer interaction interface.
The motor stator insulation defect detection device provided by the embodiment obtains the detection starting position of the target motor stator through the data acquisition module, the control module can control the movable trolley to detect the insulation defect of the target motor stator according to the detection starting position and the detection path, the first sensor of the mechanical arm can detect the insulation defect along the detection path by adopting a partial discharge ultrasonic positioning method, the second sensor can detect the insulation defect through the first sensor, a target position corresponding to the insulation defect is obtained by adopting a partial discharge ultrasonic positioning method, and corresponding image information is collected by the second collector according to the position information, so that the insulation defect in the target motor stator can be quickly identified and positioned, and further provides safety guarantee for zero fault operation and safety maintenance of the target motor stator.
Further, the control module 30 is further configured to obtain a trigger threshold of the insulation defect, a sampling frequency, and a moving distance of the movable trolley before the data acquisition module obtains the detection start position of the target motor stator.
Specifically, before the motor stator insulation defect detection device operates, an operation and maintenance person can input parameters through a human-computer interaction interface, for example, parameters such as a trigger threshold value of an insulation defect, a sampling frequency and a moving distance of a movable trolley, wherein the trigger threshold value refers to a trigger threshold value of an insulation partial discharge signal, the trigger threshold value should be larger than field noise, the sampling frequency should not be lower than 2.5GS/s, and the advancing distance of the movable trolley can be set according to the width of a groove of a motor, so that the movable trolley and a mechanical arm can perform insulation defect detection according to the parameters, and an insulation defect position coordinate and an insulation defect positioning visual image are obtained.
Further, the first sensor 50 and the second sensor 60 are each maintained at a predetermined insulation distance from the inner wall of the stator of the target motor.
Specifically, the first sensor 50 and the second sensor 60 can be located at a certain insulation distance from the inner wall of the target motor stator, so that the non-contact detection is realized, the detection efficiency is high, and the target motor stator can be operated safely and stably.
Alternatively, the first sensor 50 may be any one of a uhf electromagnetic sensor, a narrowband antenna, and a patch antenna, and the second sensor 60 may be an array ultrasonic sensor or a piezoelectric sensor.
Specifically, the ultra-high frequency electromagnetic sensor can adopt an Archimedes ultra-high frequency spiral antenna, the center frequency of a low frequency band is 0.35GHz, the antenna has the characteristics of wide frequency band, high sensitivity, large high-frequency gain and strong anti-interference capability, and the gain is improved higher after a dielectric covering layer is added. In addition, for smaller devices, the first sensor 50 may be replaced by a multi-narrowband antenna or a patch antenna for detection.
The array ultrasonic sensor can be arranged by adopting a plurality of micro-electro-mechanical system (MEMS) microphones, and the position of an insulation defect is judged according to the intensity of ultrasonic waves received by each microphone. In addition, the second sensor can be replaced by a telescopic piezoelectric sensor, and when the ultrahigh frequency electromagnetic sensor detects partial discharge, the mechanical arm enables the piezoelectric sensor to be close to the inner wall of the motor for detection.
Further, the array ultrasonic sensor comprises a plurality of MEMS microphones.
Furthermore, the MEMS microphones are arranged in an M-by-M manner, wherein M is more than or equal to 4.
Specifically, the array ultrasonic sensor may include a plurality of Micro Electro Mechanical System (MEMS) microphones arranged in an array, and the insulation defect may be more accurately located by using an M × M arrangement.
Further, a rotation module (not shown) is disposed on the movable cart, and the robot arm rotates horizontally and is connected with the rotation module.
Specifically, this portable dolly 10 is provided with rotatory module, and this rotatory module can adopt servo motor to control through control module, realize realizing the rotation that realizes 360 degrees along the horizontal direction, this rotatory module can carry out swivelling joint through articulated, the mode of spiro union with the one end of arm, thereby make the arm also can realize 360 degrees all-round rotations by the horizontal direction, thereby can keep detection area and motor inner wall tangent line parallel.
Further, as shown in fig. 3, the control module specifically includes a signal processing module 01, an FPGA control module 02, and a DSP chip 03.
Firstly, after receiving an upper computer initialization command signal, the DSP chip 03 initializes each module, sets working parameters, and sends a start command to the FPGA control module 02 to determine a sampling frequency. A first sensor (such as an electromagnetic sensor shown in fig. 3) and a second sensor (such as an ultrasonic sensor shown in fig. 3) start to collect partial discharge characteristic signals, and the signals are amplified, filtered and detected by a signal processing module 01, and transmitted to an FPGA control module 02 after AD conversion and other operations; video signals acquired by the camera (not shown in the figure) are input into the FPGA control module 02 after being subjected to AD conversion, and partial discharge signals are stored in an FIFO (first in first out) embedded in the FPGA control module 02 and wait for being read by the DSP chip 03; after the video signal is transmitted to the FPGA control module 02, the FPGA control module 02 serves as a coprocessor to perform cache, and waits for the DSP chip 03 to read; the DSP chip 03 reads data, performs digital filtering, digital fusion and other processing on the data, packs and transmits the preprocessed data to an upper computer, and establishes a database to realize display and storage through visual editing software.
As shown in fig. 4 and 5, an embodiment of the present invention provides a motor stator insulation defect detection method, which is applied to a motor stator insulation defect detection apparatus in any of the above embodiments, and the method includes:
and S401, acquiring a detection initial position of the target motor stator.
Specifically, the detection start position of the target motor stator may be obtained by a first collector of a movable trolley in the motor stator insulation defect detection apparatus, and the coordinates of the detection start position may include a height at which a mechanical arm on the movable trolley rises and an angle value corresponding to a total length of an arc through which the movable trolley advances, that is, (θ 0, H) H0)。
And S402, carrying out insulation defect detection on the target motor stator by adopting a partial discharge ultrahigh frequency detection technology according to the detection initial position and the detection path.
The detection path is a path formed by taking the detection starting position as a starting point and moving along the inner wall direction of the target motor stator until the detection starting position is reached again.
Specifically, the movable trolley starts to move from a detection starting position, and a first sensor on a mechanical arm of the movable trolley is driven to perform insulation defect detection on a target motor stator in real time by adopting a partial discharge ultrahigh frequency detection technology.
The detection path can be set according to the shape of the target motor stator, can be preset in the control module in advance, can also be set on site according to the situation on site, can be a local area of the target motor stator, and can also be a whole area.
According to the detection path, the movable trolley is kept still at the detection initial position, and the mechanical arm moves up and down in a return manner to obtain a partial discharge signal;
determining that the target motor stator has insulation defects under the condition that the partial discharge signal is greater than the trigger threshold of the partial discharge signal;
and when the partial discharge signal is not larger than the trigger threshold of the partial discharge signal, continuing to move according to the moving distance until the partial discharge signal moves to the detection starting position again.
Specifically, start movable trolley starts, confirms starting point (detecting initial position promptly) through first collector (can be on-vehicle camera), initializes this motor stator insulation defect detection device, and the arm contracts to bottommost, opens second collector (can be the camera on arm top).
Controlling the movable trolley to be fixed at a detection initial position, controlling the mechanical arm to ascend, determining that the first sensor (which can be an ultrahigh frequency electromagnetic sensor) does not detect partial discharge, controlling the movable trolley to continuously advance for a certain distance after the mechanical arm reaches the highest point, controlling the mechanical arm to descend, controlling the movable trolley to continuously advance for a certain distance after the mechanical arm reaches the lowest point, controlling the mechanical arm to ascend, and repeating the process until the detection initial position is reached; if the ultrahigh frequency electromagnetic sensor detects partial discharge, controlling the movable trolley and the mechanical arm to stop moving, recording insulation defect coordinates, controlling the array ultrasonic sensor and the camera to collect a partial discharge image, and storing all data into a memory;
and judging whether the movable trolley reaches the detection starting position, if not, repeating the detection steps until the movable trolley reaches the detection starting position, and stopping detection.
When the partial discharge signal is larger than the trigger threshold of the partial discharge signal, determining that the target motor stator has insulation defects; and when the partial discharge signal is not larger than the trigger threshold of the partial discharge signal, continuing to move according to the moving distance until the partial discharge signal moves to the detection starting position again.
And S403, under the condition that the insulation defect is determined to be detected, acquiring a target position corresponding to the insulation defect by adopting a partial discharge ultrasonic positioning method.
Specifically, when the insulation defect is determined to be detected, the target position corresponding to the insulation defect can be obtained by the second sensor by using a partial discharge ultrasonic positioning method. Assuming that the two ends of the top support of the mechanical arm extend equidistantly, considering the length of the sensor, the detection range can be approximate to a rectangle, if the distance between the center line of the mechanical arm and the ultrahigh frequency electromagnetic sensor is r, the height of the ultrahigh frequency electromagnetic sensor is h, the distance for the movable trolley to travel forwards for a short section is 2r, the forward travel time of the trolley is N times, the total forward travel time is N times, and the starting point coordinate is (theta)0，H0) Wherein N is more than or equal to 1 and less than or equal to N, and N is a positive integer.
When the mechanical arm rises to the height H, the ultrahigh frequency electromagnetic sensor detects a partial discharge signal, and the coordinate of the central point of the detection range isCombined formula (1)
The angle of the insulation defect with respect to the detection start position can be obtained, and the target coordinates (θ, H) of the insulation defect can be obtained. It should be noted that, because the attenuation of the partial discharge signal is fast, the central point of the detection range can be approximated to the position information of the insulation defect, and the corresponding image information can be acquired according to the position information.
It should be noted that both the partial discharge ultrahigh frequency detection technology and the partial discharge ultrasonic positioning method can be implemented by using the conventional partial discharge detection method, and are not described herein again.
The motor stator insulation defect detection method provided by this embodiment detects an insulation defect of a target motor stator by obtaining a detection start position of the target motor stator and by using a partial discharge ultrahigh frequency detection technique according to the detection start position and a detection path, and obtains position information and image information corresponding to the insulation defect by using a partial discharge ultrasonic positioning method when the insulation defect is determined to be detected. The internal insulation defect of the target motor stator can be quickly identified and positioned, and further safety guarantee is provided for zero-fault operation and safety maintenance of the target motor stator.
Further, before obtaining the detection start position of the target motor stator, the motor stator insulation defect detection method further includes: and acquiring a trigger threshold value and a sampling frequency of the partial discharge signal, and the moving distance of the movable trolley for detecting the insulation defect on the detection path each time.
Specifically, before the motor stator insulation defect detection device operates, an operation and maintenance person can input parameters through a human-computer interaction interface, for example, parameters such as a trigger threshold value of an insulation defect, a sampling frequency, a moving distance of a movable trolley for performing insulation defect detection on a detection path each time, and the like, wherein the trigger threshold value refers to a trigger threshold value of an insulation partial discharge signal, which should be larger than field noise, the sampling frequency should be not lower than 2.5GS/s, and the advancing distance of the movable trolley can be set according to the width of a groove of a motor, so that the movable trolley and a mechanical arm can perform insulation defect detection according to the parameters to obtain an insulation defect position coordinate and an insulation defect positioning visual image.
Further, the method for detecting the insulation defect of the motor stator, under the condition that the insulation defect is determined to be detected, adopts a partial discharge ultrasonic positioning method to obtain a target position corresponding to the insulation defect, and comprises the following steps:
position coordinates (theta) of the detection start position are acquired0，H0) And position coordinates of the position of the center point of the detection range
According to the position coordinates of the detection initial position, the position coordinates of the central point position of the detection range and a formula
And obtaining the angle difference and the height value of the target position corresponding to the insulation defect relative to the position coordinate of the detection starting position, and taking the angle difference and the height value as the target coordinate (theta, H) of the insulation defect.
The distance between the center line of the mechanical arm and the first sensor is r, the height of the first sensor is H, the distance of the movable trolley moving forwards is 2r, the number of times of the movable trolley moving forwards is nth, the total number of times of the movable trolley moving forwards is N, the angle corresponding to the total length of the arc of the movable trolley moving forwards is theta, and the rising height of the mechanical arm is H.
Specifically, the method for calculating the target coordinates of the target position of the insulation defect includes:
s4.1, the top support of the mechanical arm extends towards two ends at equal intervals, the length of the sensor is considered, the detection range can be approximate to a rectangle, the distance between the center line of the mechanical arm and the ultrahigh frequency electromagnetic sensor is r, the height of the ultrahigh frequency electromagnetic sensor is h, the distance for the movable trolley to travel forwards for a small section is 2r, the forward travel time of the movable trolley is N times, the total forward travel time is N times, and the starting point coordinate is (theta)0，H)；
S4.2 when the mechanical arm risesWhen the height H is reached, partial discharge is detected, and the coordinate of the central point of the detection range isBecause the attenuation of the partial discharge signal is fast, the central point of the detection range can be approximately regarded as the position of the insulation defect;
s4.3 according to (S4.1) and (S4.2), combining the formulas
An angle theta of the insulation defect relative to the starting point is obtained, and target coordinates (theta, H) of the insulation defect are output.
As shown in fig. 5, the method for detecting insulation defects of a motor stator provided by the present invention is suitable for detecting insulation defects of a vertical motor stator by using acoustic-electric combination, and the specific detection process is as follows:
s501, determining a detection phase, and introducing double running voltage (rms).
Specifically, a neutral point of the motor is disconnected, a detection phase of the motor to be detected is determined, a shell is grounded, and twice of normal operating voltage (effective value, power frequency) is introduced into the phase to be detected;
and S502, inputting detection parameters.
Specifically, the sampling rate (not less than 2.5GS/s), the trigger threshold (which should be greater than the site noise setting), the advance distance (depending on the motor slot width);
s503, starting the movable trolley and determining a detection starting point.
Specifically, the movable trolley is started, a detection starting point is determined, a starting point is determined through a vehicle-mounted camera, equipment is initialized, the mechanical arm is contracted to the bottommost part, and the camera at the top end of the mechanical arm is started;
and S504, the movable trolley and the mechanical arm run according to the designated detection path.
Specifically, the movable trolley and the mechanical arm move forward and detect according to a preset route: the movable trolley is fixed, the mechanical arm rises, the trolley advances for a certain distance after reaching the highest point under the condition that the ultrahigh frequency electromagnetic sensor does not detect partial discharge, the mechanical arm descends, the trolley advances for a certain distance after reaching the lowest point, the mechanical arm rises, and the process is repeated until reaching the starting point; if the ultrahigh frequency electromagnetic sensor detects Partial Discharge (PD), the movable trolley and the mechanical arm stop moving, insulation defect PD coordinates (theta, H) are recorded, the array ultrasonic sensor and the top camera collect partial discharge images, all data are stored in a memory, and PD ultrasonic video signals can be displayed through a screen;
and S505, judging whether the starting point is reached.
Specifically, the movable trolley judges whether the movable trolley reaches the starting point, the movable trolley repeats the detection step (S504) when the movable trolley does not reach the starting point, and the detection is stopped when the movable trolley reaches the starting point;
s506, counting all detected PD signals and displaying all defect positions.
Specifically, after the detection is stopped, the background system reports the insulation defect image and the position coordinates of the human-computer interaction interface.
The method for detecting the insulation defect of the stator of the vertical motor through the acoustoelectric combination realizes that the insulation defect can be detected by operation and maintenance personnel when the operation and maintenance personnel do not approach to the live equipment. The device adopts the cooperation of superfrequency electromagnetic sensor, array ultrasonic sensor and arm top camera each other, combines human-computer interaction interface, can accurately discern rapidly and fix a position insulating defect, realizes that high capacity vertical motor "zero fault" operation and safe maintenance provide technical support.
It should be understood that the above-described embodiments are merely exemplary, and that the circuits and methods disclosed in the embodiments of the present invention may be implemented in other ways. For example, the division of the modules into only one logical functional division may be implemented in other ways, and for example, multiple modules or components may be combined or integrated into another system, or some features may be omitted, or not implemented. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection of devices or modules through some communication interfaces, and may be in an electrical, mechanical or other form. In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit.
The functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a non-volatile computer-readable storage medium executable by a processor. Based on such understanding, the technical solution of the present invention or parts thereof which substantially contribute to the prior art may be embodied in the form of a software product stored in a storage medium and including instructions for causing a processor to execute the steps of all or part of the method according to the embodiments of the present invention.
That is, those skilled in the art will appreciate that embodiments of the present invention may be implemented in any form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects.
Optionally, an embodiment of the present invention further provides an electronic device, where the electronic device may be a server, a computer, or a like device, and fig. 6 illustrates a schematic structural diagram of the electronic device provided in the embodiment of the present invention.
As shown in fig. 6, the electronic device may include: a processor 601, a storage medium 602 and a bus 603, wherein the storage medium 602 stores machine-readable instructions executable by the processor 601, when the electronic device is operated, the processor 601 and the storage medium 602 communicate with each other through the bus 603, and the processor 601 executes the machine-readable instructions to execute the steps of the motor stator insulation defect detection method as described in the foregoing embodiments. The specific implementation and technical effects are similar, and are not described herein again.
For ease of illustration, only one processor is described in the above electronic device. However, it should be noted that in some embodiments, the electronic device in the present invention may further include multiple processors, and thus, the steps performed by one processor described in the present invention may also be performed by multiple processors in combination or individually. For example, if the processor of the electronic device executes steps a and B, it should be understood that steps a and B may also be executed by two different processors together or separately in one processor. For example, a first processor performs step a and a second processor performs step B, or the first processor and the second processor perform steps a and B together, etc.
In some embodiments, a processor may include one or more processing cores (e.g., a single-core processor (S) or a multi-core processor (S)). Merely by way of example, a Processor may include a Central Processing Unit (CPU), an Application Specific Integrated Circuit (ASIC), an Application Specific Instruction Set Processor (ASIP), a Graphics Processing Unit (GPU), a Physical Processing Unit (PPU), a Digital Signal Processor (DSP), a Field Programmable Gate Array (FPGA), a Programmable Logic Device (PLD), a controller, a microcontroller Unit, a Reduced Instruction Set computer (Reduced Instruction Set computer), a microprocessor, or the like, or any combination thereof.
Based on this, the embodiment of the present invention further provides a program product, where the program product may be a storage medium such as a usb disk, a removable hard disk, a ROM, a RAM, a magnetic disk or an optical disk, and the storage medium may store a computer program, and the computer program is executed by a processor to perform the steps of the motor stator insulation defect detection apparatus in the foregoing method embodiment. The specific implementation and technical effects are similar, and are not described herein again.
The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention, and the present invention shall be covered thereby. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (10)
1. An insulation defect detection device of a motor stator is characterized by comprising: the data acquisition module, the control module and the mechanical arm are respectively arranged on the movable trolley and are electrically connected with each other;
the data acquisition module comprises a first collector and a second collector, wherein the first collector is arranged at the front end of the movable trolley and is used for acquiring the detection starting position of the target motor stator;
the control module is used for controlling the movable trolley to carry out insulation defect detection on the target motor stator according to the detection starting position and a detection path, wherein the detection path is a path formed by taking the detection starting position as a starting point and moving along the inner wall direction of the target motor stator until the detection starting position is moved again;
the two ends of the mechanical arm are respectively and movably connected with a first detachable sensor and a second detachable sensor, the first sensor is used for detecting the insulation defect along the detection path by adopting a partial discharge ultrahigh frequency detection method, and the second sensor is used for acquiring position information corresponding to the insulation defect by adopting a partial discharge ultrasonic positioning method under the condition that the first sensor detects the insulation defect;
the second collector is arranged at the top end of the mechanical arm and used for collecting corresponding image information according to the position information.
2. The apparatus of claim 1, wherein the first sensor and the second sensor each maintain a predetermined insulation distance from an inner wall of the target motor stator.
3. The device according to claim 1 or 2, wherein the first sensor is any one of a very high frequency electromagnetic sensor, a narrow band antenna and a patch antenna, and the second sensor is an array ultrasonic sensor or a piezoelectric sensor.
4. The apparatus of claim 3, wherein the array ultrasonic sensor comprises a plurality of micro-electro-mechanical system (MEMS) microphones.
5. The device of claim 4, wherein the plurality of MEMS microphones are arranged in M, wherein M is greater than or equal to 4.
6. The apparatus of claim 1, wherein the first and second collectors are cameras.
7. The apparatus according to any one of claims 1 to 6, wherein a rotation module is provided on the mobile cart, and the robot arm is horizontally rotated and connected with the rotation module.
8. A motor stator insulation defect detection method applied to the motor stator insulation defect detection device according to any one of claims 1 to 7, the method comprising:
acquiring a detection initial position of the inner wall of a target motor stator;
performing insulation defect detection on the target motor stator by adopting a partial discharge ultrahigh frequency detection technology according to the detection starting position and a detection path, wherein the detection path takes the detection starting position as a starting point and moves along the inner wall direction of the target motor stator until the detection starting position is moved again to form a path;
and acquiring a target position corresponding to the insulation defect by adopting a partial discharge ultrasonic positioning method under the condition that the insulation defect is determined to be detected.
9. The motor stator insulation defect detection method of claim 8, wherein before obtaining the detection start position of the target motor stator, the method further comprises:
and acquiring a trigger threshold value and a sampling frequency of the partial discharge signal, and a moving distance for detecting the insulation defect on the detection path each time.
10. The method according to claim 9, wherein in the case that it is determined that the insulation defect is detected, acquiring a target position corresponding to the insulation defect by using a partial discharge ultrasonic positioning method comprises:
acquiring a position coordinate (theta) of the detection start position0，H0) And position coordinates of the position of the center point of the detection range
According to the position coordinates of the detection initial position, the position coordinates of the central point position of the detection range and a formula
Obtaining an angle difference and a height value of a target position corresponding to the insulation defect relative to a position coordinate of the detection starting position, and taking the angle difference and the height value as a target coordinate (theta, H) of the insulation defect;
the distance between the center line of the mechanical arm and the first sensor is r, the height of the first sensor is H, the distance of the movable trolley moving forwards is 2r, the number of times of the movable trolley moving forwards is nth, the total number of times of forward movement is N, the angle corresponding to the total length of the forward arc is theta, and the height of the mechanical arm rising is H.
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