CN113890444A - Method and system for determining standard value of characteristic current amplitude - Google Patents
Method and system for determining standard value of characteristic current amplitude Download PDFInfo
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- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
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- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
- H02P21/18—Estimation of position or speed
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- H—ELECTRICITY
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- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/22—Current control, e.g. using a current control loop
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- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
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- H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
- H02P29/02—Providing protection against overload without automatic interruption of supply
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Abstract
The invention relates to a method for determining a standard value of a characteristic current amplitude, which comprises the following steps: selecting a motor mechanical vibration standard value corresponding to the sensed induction motor; and acquiring a characteristic current amplitude value standard value of the sensed induction motor based on the selected motor mechanical vibration standard value. The method and the system for determining the standard value of the characteristic current amplitude provided by the embodiment of the invention determine the reasonable standard value of the characteristic current amplitude by referring to the existing industry standard, have scientificity and have small calculated amount; and through the detection to the characteristic current amplitude, can catch the phenomenon that the characteristic current value obviously increases when unusual mechanical vibration takes place to predict in induction motor's trouble early, can realize the long-range online condition assessment of induction motor, accomplish the prediction maintenance to induction motor trouble, compare in traditional after the fact maintenance, the prediction maintenance can provide more sufficient maintenance preparation time, the safety risk of greatly reduced industrial enterprise production.
Description
Technical Field
The invention belongs to the technical field of motor fault detection, and particularly relates to a method and a system for determining a standard value of a characteristic current amplitude.
Background
The safe operation of the induction motor is directly related to the stable operation of production type enterprises, and the evaluation of the safe operation of the induction motor and the fault diagnosis of the induction motor are very important in the industrial field. The stator current analysis (MCSA) is a non-invasive fault diagnosis method for an induction motor, which performs fault diagnosis of the induction motor by analyzing a stator current frequency spectrum during the operation of the induction motor and capturing a characteristic frequency caused by fault vibration. At present, MCSA is mainly used for diagnosing an induction motor after the induction motor fails, namely, after the induction motor fails and stops, the fault reason causing abnormal vibration is judged by analyzing a recording waveform.
For the evaluation of the safe operation of the induction motor, the MCSA has a great problem in the industrial field, namely, the problem of fault occurrence and severity determination. The MCSA is only a fault diagnosis method of a frequency domain technology, and no method for further evaluating the fault degree is provided after the characteristic frequency of the characteristic current of the stator of the induction motor is detected. For some faults, such as rotor eccentricity, etc., even if the induction motor is operating normally, a characteristic frequency corresponding to it occurs. This makes it possible to perform failure prediction or motor state evaluation using the MCSA method, which requires attention not only to whether the characteristic frequency is present, but also to how much the characteristic frequency content is. Therefore, determining a reasonable standard value for the characteristic frequency content (the standard value may also be referred to as an alarm threshold) becomes the key to fault prediction or motor state assessment.
Disclosure of Invention
The invention provides a method and a system for determining a characteristic current amplitude standard value, which aim to solve the technical problem of determining a reasonable characteristic frequency content standard value when the existing stator current analysis method is used for fault prediction or motor state evaluation.
According to a first aspect of embodiments of the present invention, a method for determining a standard value of a characteristic current amplitude includes:
selecting a motor mechanical vibration standard value corresponding to the sensed induction motor;
and acquiring a characteristic current amplitude value standard value of the sensed induction motor based on the selected motor mechanical vibration standard value.
In some embodiments, the method for obtaining the characteristic current amplitude standard value of the sensed induction motor comprises: obtaining a characteristic current amplitude standard value of the detected induction motor through a motor model; based on the selected motor mechanical vibration standard value, acquiring a characteristic current amplitude standard value of the sensed induction motor, including: based on the selected motor mechanical vibration standard value, calculating a characteristic current amplitude value of the detected induction motor corresponding to the mechanical vibration standard value through the motor model, and acquiring a characteristic current amplitude standard value based on the characteristic current amplitude value;
or,
the method for obtaining the characteristic current amplitude standard value of the sensed induction motor comprises the following steps: obtaining a characteristic current amplitude standard value of the measured induction motor through a field test; based on the selected motor mechanical vibration standard value, acquiring a characteristic current amplitude standard value of the sensed induction motor, including: and presetting the fault degree with the same effect as the motor mechanical vibration standard value in a test based on the selected motor mechanical vibration standard value, detecting the current of the tested motor under the fault degree, resolving a characteristic current amplitude from the detected current, and obtaining the characteristic current amplitude standard value based on the characteristic current amplitude.
In some embodiments, the standard value of mechanical vibration of the motor comprises a standard value of mechanical vibration displacement root-mean-square and/or a standard value of mechanical vibration speed root-mean-square.
In certain embodiments, the electric machine model comprises: a motor mechanistic model, a motor datamation model, or a fuzzy logic model.
In some embodiments, in response to different motor fault types, calculating a vibration displacement standard value under a corresponding current characteristic frequency for the mechanical vibration displacement root-mean-square standard value and/or the mechanical vibration speed root-mean-square standard value;
and acquiring a characteristic current amplitude standard value of the sensed induction motor based on the vibration displacement standard value.
In some embodiments, the motor model includes a motor mechanism model, and the obtaining a characteristic current amplitude standard value of the sensed motor by the motor model includes:
acquiring relevant parameters of a sensed induction motor;
constructing an air gap variation function based on the fault type and the vibration displacement standard value;
acquiring air gap permeability based on the constructed air gap variation function;
calculating inductance parameters based on the obtained air gap permeability and the related parameters of the sensed induction motor, and constructing a motor mechanism model;
and acquiring a characteristic current amplitude standard value of the sensed induction motor based on the constructed motor mechanism model.
In some embodiments, when the root mean square standard value of the mechanical vibration displacement and/or the root mean square standard value of the mechanical vibration speed are multiple, the vibration displacement standard value at the corresponding current characteristic frequency is calculated for each standard value.
In some embodiments, the parameters related to the sensed induction motor include motor parameters of the sensed induction motor and current operating state parameters of the sensed induction motor, the current operating state parameters of the sensed induction motor include power supply voltage and load parameters, and the current operating state parameters of the sensed induction motor characterize the current operating state of the sensed induction motor.
In some embodiments, said obtaining air gap permeability based on said constructed air gap variation function comprises: and carrying out Fourier decomposition on the ratio of the vacuum permeability to the constructed air gap change function, constructing an air gap permeability expression based on a primary term in the decomposed expression, and acquiring the air gap permeability based on the constructed air gap permeability expression.
In some embodiments, said obtaining a characteristic current amplitude standard value of said sensed motor based on said constructed motor mechanism model comprises: and obtaining the amplitude of the current corresponding to the characteristic frequency in a frequency spectrum analysis mode based on the current waveform of the motor mechanism model in a steady state, and taking the amplitude as the standard value of the characteristic current amplitude of the detected induction motor in the steady state.
According to a second aspect of the embodiments of the present invention, a system for determining a standard value of a characteristic current amplitude comprises:
the system comprises a selection module, a detection module and a control module, wherein the selection module is used for pre-selecting relevant parameters of a detected induction motor, a motor mechanical vibration standard value corresponding to the detected induction motor and a motor fault type of the detected induction motor, the relevant parameters of the detected induction motor comprise current operation state parameters of the detected induction motor, and the current operation state parameters of the detected induction motor comprise load parameters and power supply voltage;
and the calculation module is used for calculating the characteristic current amplitude standard value of the sensed induction motor based on the pre-selected related parameters, the motor mechanical vibration standard value and the motor fault type.
In certain embodiments, the system implements a method as described in any of the previous claims.
The embodiment of the invention has the following beneficial effects: the method and the system for determining the standard value of the characteristic current amplitude provided by the embodiment of the invention determine the reasonable standard value of the characteristic current amplitude by using the existing industry standard for reference, have scientificity and have small calculated amount; and through the detection to the characteristic current amplitude, can catch the phenomenon that the characteristic current value obviously increases when unusual mechanical vibration takes place to predict in induction motor's trouble early, can realize the long-range online condition assessment of induction motor, accomplish the prediction maintenance to induction motor trouble, compare in traditional after the fact maintenance, the prediction maintenance can provide more sufficient maintenance preparation time, the safety risk of greatly reduced industrial enterprise production. Furthermore, the method and the system for determining the standard value of the characteristic current amplitude provided by the embodiment of the invention can effectively improve the accuracy of the standard value of the characteristic current amplitude by comprehensively considering the influences of the motor parameter, the operation state and the fault type.
Drawings
FIG. 1 is a schematic flow chart illustrating a method for determining a standard value of a characteristic current amplitude according to an embodiment of the present invention;
FIG. 2 is a schematic flow chart diagram illustrating an embodiment of the obtaining step in the method for determining the standard value of the characteristic current amplitude according to the embodiment of the present invention;
FIG. 3 is a schematic flow chart of a method for determining a standard value of a characteristic current amplitude according to an embodiment of the present invention when the standard value is multiple;
FIG. 4 is a schematic structural diagram of a system for determining a standard value of a characteristic current amplitude according to an embodiment of the present invention;
fig. 5 is a schematic structural diagram illustrating an embodiment of an obtaining module included in a system for determining a standard value of a characteristic current amplitude according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to specific embodiments and the accompanying drawings. Those skilled in the art will appreciate that the present invention is not limited to the drawings and the following examples.
As described above, the stator current analysis method is used for fault prediction or motor state evaluation, and the standard value of the characteristic frequency content is a key parameter. The applicant finds through research that the characteristic current amplitude can be used for representing the characteristic frequency content, and for the determination of the characteristic current amplitude standard value, when the characteristic current amplitude standard value is determined through experience evaluation by an experience evaluation method, for example, through maintenance experience of equipment managers or through evaluation experience of expert groups, when the characteristic current amplitude standard value is determined through the experience evaluation, a fault is considered when the characteristic current amplitude exceeds the characteristic current amplitude standard value, but the experience evaluation method is greatly influenced by subjective factors, and some industrial enterprises even have the phenomenon that various types of motors make unified standards, so that the fault judgment accuracy of the MCSA is seriously influenced; the characteristic current amplitude standard value can also be determined by a method according to historical data statistics, the historical data statistics can be the maximum value of the historical data, or can be a value with a certain minimum occurrence probability after the historical data obeys a certain distribution, but the method according to the historical data statistics cannot provide a reasonable characteristic current amplitude standard value under the condition that the operation state changes. In addition, the characteristic frequency content standard value can be determined by a method for customizing the fault characteristic quantity, and whether the current motor running state is close to the fault state or not is judged by calculating the characteristic distance. It can be seen that the above processing methods for determining the standard value of the content of the characteristic frequency all have the defect that the standard value is unreasonable. At the same time, the applicant has noticed that the induction machine has a phenomenon of significant characteristic current value increase in the early stage of the fault, and this phenomenon can be detected for condition evaluation and analysis. In view of this, the embodiment of the present invention provides a method and a system for determining a characteristic current amplitude standard value, which determine a reasonable characteristic current amplitude standard value by using the existing industry standard for reference, and have scientificity and small calculation amount; and through the detection to the characteristic current amplitude, can catch the phenomenon that the characteristic current value obviously increases when unusual mechanical vibration takes place to predict in induction motor's trouble early, can realize the long-range online condition assessment of induction motor, accomplish the prediction maintenance to induction motor trouble, compare in traditional after the fact maintenance, the prediction maintenance can provide more sufficient maintenance preparation time, the safety risk of greatly reduced industrial enterprise production. Further, the applicant further finds that the characteristic current amplitude is comprehensively influenced by three aspects of motor parameters, fault types and operation states (or load states), and particularly changes along with changes of the operation states, so that in some embodiments, the method and the system for determining the standard value of the characteristic current amplitude provided by the embodiments of the present invention further comprehensively consider influences of the three aspects of the motor parameters, the operation states and the fault types, so as to effectively improve accuracy of the standard value of the characteristic current amplitude.
In the embodiment of the present invention, the device or apparatus implementing the scheme has computing capability and is at least capable of performing input and output operations, including but not limited to embedded devices. Alternatively, in the embodiment of the present invention, the device or apparatus implementing the scheme has detection capability.
The method for determining the standard value of the characteristic current amplitude provided by the invention can be shown in fig. 1, and comprises the following steps:
and 20, acquiring a characteristic current amplitude standard value of the sensed motor based on the selected motor mechanical vibration standard value.
In step 10, the standard value of the mechanical vibration of the motor is derived from a mechanical vibration standard, which may be a standard selected by a user from existing industry standards applicable to the sensed motor, or may be a default standard applicable to the sensed motor or a standard selected by a system according to the sensed motor. Existing industry standards such as ISO 10816, GB/T6075, etc.
In one embodiment, the standard value of the mechanical vibration of the motor comprises a standard value of a root mean square displacement of the mechanical vibration and/or a standard value of a root mean square speed of the mechanical vibration. In step 20, in response to different motor fault types, calculating a vibration displacement standard value under a corresponding current characteristic frequency for the mechanical vibration displacement root-mean-square standard value and/or the mechanical vibration speed root-mean-square standard value; and acquiring a characteristic current amplitude standard value of the sensed induction motor based on the vibration displacement standard value.
In step 20, the method for obtaining the characteristic current amplitude standard value of the sensed induction motor includes, but is not limited to: obtaining based on a motor model or obtaining based on a field test method. When the characteristic current amplitude standard value of the sensed motor is obtained based on the motor model, the obtaining of the characteristic current amplitude standard value of the sensed motor based on the selected motor mechanical vibration standard value includes: and calculating the characteristic current amplitude of the sensed induction motor corresponding to the mechanical vibration standard value through the motor model based on the selected mechanical vibration standard value of the motor, and acquiring the characteristic current amplitude standard value based on the characteristic current amplitude. When the characteristic current amplitude standard value of the detected induction motor is obtained based on a field test method, the obtaining of the characteristic current amplitude standard value of the detected induction motor based on the selected motor mechanical vibration standard value comprises the following steps: and presetting the fault degree with the same effect as the motor mechanical vibration standard value in a test based on the selected motor mechanical vibration standard value, detecting the current of the tested motor under the fault degree, resolving a characteristic current amplitude from the detected current, and obtaining the characteristic current amplitude standard value based on the characteristic current amplitude. The same effect as the standard value of mechanical vibration of the motor means that a vibration value equal to the standard value of mechanical vibration is generated. For example, if one of the standard values of the mechanical vibration is 2.8mm/s, for the eccentric fault, the dynamic eccentric effect can be adjusted manually by a dynamic balancing machine, so that the vibration speed just reaches 2.8mm/s when the vibration measuring instrument is used for measuring; for bearing outer ring faults, a shallow groove can be machined on the outer ring, so that the vibration speed generated when the ball rolls through the groove just reaches 2.8 mm/s.
The motor model is used for converting a mechanical standard into a current standard.
The motor model may adopt a motor data model, for example, a neural network is used to construct the motor data model based on the selected motor mechanical vibration standard, and the characteristic current amplitude standard value of the measured induction motor is calculated based on the constructed motor data model.
The motor model may also adopt a motor mechanical model, for example, a motor mechanical model is constructed based on the selected motor mechanical vibration standard and the parameter corresponding to the measured induction motor, and the characteristic current amplitude standard value of the measured induction motor is calculated through the constructed motor mechanical model. A more detailed exemplary description will follow, taking as an example a mechanical model of the machine.
The motor model can also adopt models such as a fuzzy logic model, a general model constructed by a genetic algorithm and the like to convert a mechanical standard into a current standard.
The method for determining the standard value of the characteristic current amplitude provided by the embodiment of the invention formulates the standard value of the characteristic current amplitude by taking the existing mechanical vibration standard of the motor as a basis, has scientificity and has small calculated amount; and through the detection to the characteristic current amplitude, can catch the phenomenon that the characteristic current value obviously increases when unusual mechanical vibration takes place to predict in induction motor's trouble early, can realize the long-range online condition assessment of induction motor, accomplish the prediction maintenance to induction motor trouble, compare in traditional after the fact maintenance, the prediction maintenance can provide more sufficient maintenance preparation time, the safety risk of greatly reduced industrial enterprise production.
Embodiments of the present invention are further described below with reference to the accompanying drawings. Fig. 2 is a flowchart of an obtaining step (corresponding to obtaining a standard value of the characteristic current amplitude of the measured induction motor based on the selected motor mechanical vibration standard), which may be implemented in a device with computing capability, according to an embodiment of the present invention, wherein the standard value of the motor mechanical vibration includes a root mean square standard value of mechanical vibration displacement and/or a root mean square standard value of mechanical vibration velocity, and in step 20, in response to different motor fault types, a vibration displacement standard value at a corresponding current characteristic frequency is calculated for the root mean square standard value of the mechanical vibration displacement and/or the root mean square standard value of the mechanical vibration velocity; and acquiring a characteristic current amplitude standard value of the sensed induction motor through a motor model based on the vibration displacement standard value. The embodiment further comprehensively considers the influences of three aspects of motor parameters, operation states and fault types, so that the accuracy of the standard value of the characteristic current amplitude can be effectively improved.
In one embodiment, the motor mechanical vibration standard value comprises a mechanical vibration peak standard value, which can be expressed in δ in mm (millimeters) or μm (micrometers). The standard value of other units may also be used as the standard value of the mechanical vibration of the motor, for example, in another embodiment, the standard value of the mechanical vibration of the motor includes a standard value of vibration speed in mm/s (millimeter/second), and when the standard value of other units is used as the reference standard value, the standard value of other units may be unit-converted and converted into a magnitude in meters or meters/second for the convenience of subsequent processing, for example, the standard value of vibration speed or vibration acceleration may be unit-converted and converted into a magnitude in mm or μm or mm/s or μm/s with reference to "GB/T6075.1-2012" vibration of a machine for detection and evaluation on a non-rotating component.
As shown in fig. 2, the motor model according to the embodiment of the present invention includes a motor mechanism model, and the obtaining a characteristic current amplitude standard value of the sensed motor by the motor model includes:
and step 100, acquiring relevant parameters of the sensed induction motor.
The relevant parameters include motor parameters and current operating state parameters. The motor parameters may be selected from, but are not limited to: stator bore D, core length l, air gap length g0Number of lines per slot wkNumber of stator slots ZsStator phase resistor RsRotor phase resistance RrStator leakage inductance LosRotor leakage inductance LorPitch y1The number of pole pairs p, the number of parallel branches a, the number of phases m, the moment of inertia J, the connection method and the winding form. Wherein, the connection method and the winding form have no specific numerical value, and the difference of the connection method can be used for the voltage u at the d-axis end of the stator in the modelsdAnd stator q shaft end voltage usqHaving an effect, the difference in winding form will have on the pitch y1The influence and therefore the connections and winding forms can also be included in the motor parameters. The current operating state parameter of the measured induction motor is used for representing the current operating state of the measured induction motor, and can be selected from, but not limited to, the current load curve PLAnd three-phase supply voltage U. When the fault type is a bearing fault, the relevant parameters further include bearing parameters, which may be selected from, but not limited to, the outer diameter DOInner diameter DIDiameter of ball DBNumber of rolling elements NbAnd a rolling element contact angle β. The pitch in this embodiment refers primarily to the first pitch, hence y with subscript1And (4) showing.
And 200, constructing an air gap variation function based on the fault type and the vibration displacement standard value.
The applicant notices that when no vibration is ideal, the air gap of the motor is constant, and the stator of the motor has no characteristic current; during vibration, the air gap of the motor changes along with time, the air gap magnetic permeability lambda is influenced, and then inductance parameters (the inductance parameters comprise self-inductance parameters and mutual inductance parameters) in the motor are influenced, finally, the numerical value of the inductance parameters fluctuates, and the fluctuation of the parameters is the main reason for generating characteristic frequency of stator current, and is also the working principle of the stator current analysis method MCSA in the embodiment of the invention. Based on this, in this embodiment, when the motor mechanism model process is constructed, the air gap permeability λ is taken as one of the links, the air gap permeability λ is derived by using the air gap variation function g (θ, t), and then the expression of each inductance parameter is derived according to the air gap permeability λ.
A uniform expression may be used for different types of air gap variation functions. When the types of faults are different, some variables in the expressions may take different values or expressions.
In an embodiment, the constructing the air gap variation function based on the fault type and the vibration displacement standard value may include constructing the air gap variation function based on a fault mechanism of the fault type and the vibration displacement standard value. When the standard value of the mechanical vibration of the motor adopts the standard value of the mechanical vibration peak value, the expression of the air gap variation function is as follows:
g(θ,t)＝g0{1-δ·F(t)cos[θ+M·2πfrt]}，
where θ represents the rotor radial angular coordinate, t represents time, g0Represents the air gap length, δ tableShowing a standard value of a mechanical vibration peak value, F (t) showing a rule of a fault occurring on time, wherein a self-defined fault occurring function can be adopted, M shows a motion rule of a maximum deviation point on a rotor radial angle coordinate theta, values are different according to different fault types, and frIndicating the rotor rotational frequency. Regarding the value of M, considering that M is related to the spatial variation of the fault occurrence point, therefore, when the fault occurrence point does not vary spatially, the value of M is 0, such as a static eccentricity fault; when the fault point changes in space, due to the motion characteristics of the rotor of the rotating electrical machine, the spatial change frequency is often related to the rotor speed, and at this time, the value of M is the ratio of the change frequency to the rotor speed, if the inner ring fails, the fault point rotates along with the inner ring, the inner ring speed is approximately equal to the rotor speed, and at this time, the value of M can be 1. With respect to the customized fault occurrence function employed by f (t), in one embodiment, for a constantly existing fault, f (t) takes a value of 1, such as an off-center fault; for a fault which is not constantly present, f (t) needs to be constructed into a periodic function with the same frequency as the fault, the frequency needs to be determined according to the fault type, and the frequency corresponding to the common concentrated bearing fault can be referred to the table below.
Wherein D isBDenotes the diameter of the rolling element, DCIndicates the pitch diameter of the bearing, NBDenotes the number of rolling elements, beta denotes the contact angle of the rolling elements, frIndicating the rotor rotational frequency. In step 200, motor parameters of the sensed motor may be used as appropriate.
And step 300, acquiring the air gap permeability based on the constructed air gap variation function.
In an embodiment, the obtaining the air gap permeability based on the constructed air gap variation function may include: permeability to vacuum mu0Fourier decomposition is carried out on the ratio of the air gap change function and the constructed air gap change function, and an air gap magnetic permeability expression is obtained after high-order terms in the decomposed expression are ignored, so that the air gap magnetic permeability expression can be based onAnd acquiring the air gap magnetic permeability. The air gap permeability λ (t) is expressed as:
wherein, mu0Denotes the vacuum permeability, λ0(t) is a first order term in the decomposed expression,
for the high-order terms in the decomposed expression, n represents the serial number of the term after fourier expansion, and θ represents the rotor radial angular coordinate.
And step 400, calculating inductance parameters based on the acquired air gap permeability and the related parameters of the sensed induction motor, and constructing a motor mechanism model.
The architecture of the electromechanical mechanism model can be chosen according to the accuracy requirements. For example, according to the modeling mechanism, the electromechanical rational model may employ: models are established based on a winding function method, an improved winding function method, an air gap magnetic conductance theory, an equivalent magnetic circuit method or finite element analysis and the like; according to the symmetry degree of the parameters, the motor mechanism model can adopt the following steps: a multi-loop model, a three-phase orthogonal model or a two-phase orthogonal model of the cage type motor and the like.
In one embodiment, the system of state equations of the motor physics model may include flux linkage equations and rotor motion equations. In an alternative embodiment, the motor mechanism model can adopt a cage type induction motor two-phase orthogonal equivalent model.
Wherein, the magnetic linkage equation:
wherein: psi ═ psisd ψsq ψrd ψrq]T，
U＝[usd usq urd urq]T，
ΨsdRepresenting stator d-axis flux linkage, ΨsqRepresenting stator q-axis flux linkage, ΨrdRepresenting the d-axis flux linkage of the rotor, ΨrqRepresenting rotor q-axis flux linkage, usdRepresenting the stator d-axis voltage, usqRepresenting stator q-axis terminal voltage, urdRepresenting the d-axis voltage, u, of the rotorrqRepresenting the rotor q-axis voltage, RsRepresenting stator phase resistance, LrRepresenting rotor phase inductance, LmRepresenting stator-rotor mutual inductance, LsRepresenting stator phase inductance, ω1Representing the angular velocity of rotation of the motor model equivalent to two orthogonal coordinate systems, ω, when dq coordinate system is selected1The value is 100 pi rad/s, RrRepresenting the rotor phase resistance and omega representing the rotor electrical angular velocity.
Equation of motion of the rotor:
ω represents the rotor electrical angular velocity, t represents time, p represents the pole pair number, LmExpressing stator-rotor mutual inductance, J expressing moment of inertia, isqRepresenting equivalent rotor q-axis current irdRepresenting equivalent rotor d-axis current isdRepresenting d-axis current, i, of stator phase windingrqRepresenting stator phase winding q-axis current, PLRepresenting the motor load power.
Wherein:
inductance parameters in a two-phase orthogonal equivalent model of the cage-type induction motor are as follows:
wherein,
Lmrepresenting stator-rotor mutual inductance, LsRepresenting stator phase inductance, LrRepresenting rotor phase inductance, LmsIndicating main inductance, LosRepresenting stator leakage inductance, LorDenotes rotor leakage inductance, w denotes the number of turns in series of the phase winding, τ denotes the pole pitch, l denotes the core length, p denotes the pole pair number, λ0(t) is permeability to vacuum μ0A first order term, k, in the expression after Fourier decomposition of the ratio of the first order term to the constructed air gap variation functionwAnd the winding coefficient is represented, and the motor parameters are needed by inductance parameters.
Polar distance:
wherein D represents the stator inner diameter; p represents the number of pole pairs.
Number of turns of phase winding in series:
wherein ZsRepresenting the number of stator slots; w is akRepresenting the number of lines per slot; m represents the number of phases.
Winding coefficient:
wherein k isyDenotes the short-range coefficient, q denotes the number of slots per pole per phase, θsIndicating the electrical angle per cell.
Short range coefficient:
wherein y is1Pitch is indicated and τ is the pole pitch.
Electrical angle per cell:
wherein p represents the number of pole pairs, ZsThe number of stator slots is indicated.
Each phase slot of each poleNumber:
wherein ZsDenotes the number of stator slots, p denotes the number of pole pairs, and m denotes the number of phases.
To sum up, for the motor parameters, what needs to be used is: stator bore D, core length l, air gap length g0Number of lines per slot wkNumber of stator slots ZsStator phase resistor RsRotor phase resistance RrStator leakage inductance LosRotor leakage inductance LorPitch y1Pole pair number p, parallel branch number a, phase number m, moment of inertia J, connection method and winding form. Wherein, the connection method and the winding form have no specific numerical value, and the difference of the connection method can be used for the voltage u at the d-axis end of the stator in the modelsdAnd stator q shaft end voltage usqHaving an effect, the difference in winding form will have on the pitch y1The influence is therefore also included in the machine parameters, the connections and the winding form.
And 500, acquiring a characteristic current amplitude standard value of the sensed motor based on the constructed motor mechanism model.
The method for obtaining the characteristic current amplitude standard value based on the constructed motor mechanism model comprises the following steps: setting an initial value of the state variable, solving a current waveform of the motor mechanism model in a steady state by using a numerical calculation method, intercepting a section of the current waveform to perform spectrum analysis, and obtaining an amplitude of the current under the characteristic frequency, wherein the amplitude is a characteristic current amplitude standard value of the detected induction motor in the steady state. The meaning of the amplitude is the content of the characteristic current of the motor stator when the mechanical vibration reaches the mechanical vibration standard value of the motor. The conversion of the mechanical vibration standard into the characteristic current standard is completed at this time.
The state variables include: four magnetic chains psi of stator and rotorsd、Ψsq、Ψrd、ΨrqAnd the rotor electrical angular velocity ω. The initial values may theoretically take on any non-zero value within their respective nominal range. Two general methods of value are given here: 1. taking the value of the motor in the non-starting state: Ψsd(0)＝0、Ψsq(0)＝0、Ψrd(0)＝0、Ψrq(0) 0, ω (0) 1e-3 (min); 2. taking the value under the rated operation state of the motor, also called rated value: Ψsd(0)＝ΨsdN、Ψsq(0)＝ΨsqN、Ψrd(0)＝ΨrdN、Ψrq(0)＝ΨrqN，ω(0)＝πpfrN/30. E.g. ΨsdNIs referred to as ΨsdWhen the model of a motor is known, the ratings of these parameters are also known.
The root mean square standard value of the mechanical vibration displacement and/or the root mean square standard value of the mechanical vibration speed can be one or more. For the case that the standard value is multiple, according to the method for determining the standard value of the characteristic current amplitude provided by the embodiment of the present invention, a corresponding standard value of the characteristic current amplitude is determined for each standard value. Generally, more than one standard value of mechanical vibration of the motor is given to the standard value of mechanical vibration of the same motor. For example, ISO 10816 divides a certain type of motor vibration level into four levels of ABCD according to the mechanical vibration speed (the subsequent example can be referred to). There is one standard value of electromechanical vibration between each class, and thus, for four classes, there are three standard values of electromechanical vibration. By adopting the determination method provided by the invention, the plurality of motor mechanical vibration standard values can be converted into the corresponding characteristic current amplitude standard values one by one. These standard values are not conflicting at the time of evaluation, but the characteristic current amplitude is graded similarly to the mechanical vibration standard. Fig. 3 shows an example of a flow of establishing a vibration standard of a characteristic current amplitude based on a motor mechanical vibration standard value. Acquiring a new vibration threshold value from a mechanical vibration standard, selecting a fault type to construct an air gap variation function, and deriving a magnetic permeability expression; constructing a motor mechanism model under vibration, and obtaining a characteristic current amplitude under the vibration threshold value through solving the model and spectrum analysis; when the mechanical vibration standard is not completely converted, returning to the step of obtaining a new vibration threshold value from the mechanical vibration standard, and repeating the steps until the mechanical vibration standard is completely converted; a vibration criterion based on the characteristic current amplitude is established. In the event of a fault prediction or an evaluation of the operating state of the electric machine, a motor operating state criterion based on the characteristic current amplitude can be established.
Although the present embodiment uses a motor mechanical model as an example to describe the method for determining the standard value of the characteristic current amplitude in detail, these descriptions are only used to illustrate a specific implementation manner of the embodiment of the present invention, and the protection scope of the present invention is not limited to the present embodiment, and it should be understood that any technical solution that uses the existing motor mechanical vibration standard as a basis to establish the standard value of the characteristic current amplitude should fall into the protection scope of the present invention.
The embodiment of the present invention further provides a system for determining a standard value of a characteristic current amplitude, which can be shown in fig. 4, and includes:
the system comprises a selection module, a detection module and a control module, wherein the selection module is used for pre-selecting relevant parameters of a detected induction motor, a motor mechanical vibration standard value corresponding to the detected induction motor and a motor fault type of the detected induction motor, the relevant parameters of the detected induction motor comprise current operation state parameters of the detected induction motor, and the current operation state parameters of the detected induction motor comprise load parameters and power supply voltage;
and the calculation module is used for calculating the characteristic current amplitude standard value of the sensed induction motor based on the pre-selected related parameters, the motor mechanical vibration standard value and the motor fault type.
In an embodiment, the obtaining module, which may be described with reference to fig. 5, includes:
the parameter acquisition module is used for acquiring relevant parameters of the sensed induction motor;
the function building module is used for building an air gap variation function based on the fault type and the vibration displacement standard value;
the air gap magnetic permeability obtaining module is used for obtaining air gap magnetic permeability based on the constructed air gap change function;
the model building module is used for calculating inductance parameters based on the acquired air gap permeability and the related parameters of the sensed induction motor and building a motor mechanism model;
and the standard value obtaining module is used for obtaining the characteristic current amplitude standard value of the sensed motor based on the constructed motor mechanism model.
The same contents as those of the foregoing method in the system provided by the embodiment of the present invention are not repeated herein, and those skilled in the art can know the related contents of the system provided by the embodiment of the present invention by referring to the foregoing description of the related method.
The embodiment of the invention can also establish the condition grade evaluation rule of the induction motor by taking the characteristic current as an index. The vibration level of the induction motor can be divided into a plurality of intervals according to the characteristic current by referring to the existing mechanical vibration standard (such as ISO 10816, GB/T6075 and the like). For example: according to the ISO 10816 standard, motors can be classified into four classes, good (a-region), allowed operation (B-region), tolerable (C-region) and not allowed (D-region), according to the vibration speed. At the moment, the amplitude of the characteristic current under a certain fault is calculated according to the limit value of the vibration speed in the ISO 10816 standard by the conversion method provided by the invention, namely, the division rule of the standard can be transferred to the characteristic current standard, so that the condition grade of the motor can be evaluated by utilizing the characteristic current standard.
For example, for a YB-180M-2 motor, the vibration region is divided as shown in the following table according to the ISO 10816 standard:
the above boundary values can be converted into the characteristic current amplitude standard for different fault types according to the method provided by the embodiment of the invention, and the results are shown in the following table. The bearing is a 6308C3 ball bearing, and the motor is set to a rated operation state.
As used herein, the term "include" and its various variants are to be understood as open-ended terms, which mean "including, but not limited to. The term "based on" may be understood as "based at least in part on". The term "one embodiment" may be understood as "at least one embodiment". The term "another embodiment" may be understood as "at least one other embodiment".
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
The embodiments of the present invention have been described above. However, the present invention is not limited to the above embodiment. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (12)
1. A method of determining a standard value for a characteristic current amplitude, comprising:
selecting a motor mechanical vibration standard value corresponding to the sensed induction motor;
and acquiring a characteristic current amplitude value standard value of the sensed induction motor based on the selected motor mechanical vibration standard value.
2. The method of claim 1, wherein the obtaining a standard value of the characteristic current amplitude of the sensed motor comprises: obtaining a characteristic current amplitude standard value of the detected induction motor through a motor model; based on the selected motor mechanical vibration standard value, acquiring a characteristic current amplitude standard value of the sensed induction motor, including: based on the selected motor mechanical vibration standard value, calculating a characteristic current amplitude value of the detected induction motor corresponding to the mechanical vibration standard value through the motor model, and acquiring a characteristic current amplitude standard value based on the characteristic current amplitude value;
or,
the method for obtaining the characteristic current amplitude standard value of the sensed induction motor comprises the following steps: obtaining a characteristic current amplitude standard value of the measured induction motor through a field test; based on the selected motor mechanical vibration standard value, acquiring a characteristic current amplitude standard value of the sensed induction motor, including: and presetting the fault degree with the same effect as the motor mechanical vibration standard value in a test based on the selected motor mechanical vibration standard value, detecting the current of the tested motor under the fault degree, resolving a characteristic current amplitude from the detected current, and obtaining the characteristic current amplitude standard value based on the characteristic current amplitude.
3. The method of claim 1, wherein the motor mechanical vibration norm values comprise a mechanical vibration displacement root mean square norm value and/or a mechanical vibration speed root mean square norm value.
4. The method of claim 2, wherein the motor model comprises: a motor mechanistic model, a motor datamation model, or a fuzzy logic model.
5. The method according to claim 3, characterized in that in response to different motor fault types, calculating a vibration displacement standard value at the corresponding current characteristic frequency for the mechanical vibration displacement root-mean-square standard value and/or the mechanical vibration speed root-mean-square standard value;
and acquiring a characteristic current amplitude standard value of the sensed induction motor based on the vibration displacement standard value.
6. The method of claim 5, wherein the motor model comprises a motor mechanism model, and the obtaining a characteristic current amplitude standard value of the sensed motor through the motor model comprises:
acquiring relevant parameters of a sensed induction motor;
constructing an air gap variation function based on the fault type and the vibration displacement standard value;
acquiring air gap permeability based on the constructed air gap variation function;
calculating inductance parameters based on the obtained air gap permeability and the related parameters of the sensed induction motor, and constructing a motor mechanism model;
and acquiring a characteristic current amplitude standard value of the sensed induction motor based on the constructed motor mechanism model.
7. The method according to claim 5, wherein when the root mean square standard value of mechanical vibration displacement and/or the root mean square standard value of mechanical vibration speed are/is plural, the standard value of vibration displacement at the corresponding current characteristic frequency is calculated for each standard value.
8. The method of claim 6, wherein the parameters associated with the sensed induction motor include motor parameters of the sensed induction motor and current operating state parameters of the sensed induction motor, the current operating state parameters of the sensed induction motor including supply voltage and load parameters, the current operating state parameters of the sensed induction motor characterizing the current operating state of the sensed induction motor.
9. The method of claim 6, wherein the obtaining the air gap permeability based on the constructed air gap variation function comprises: and carrying out Fourier decomposition on the ratio of the vacuum permeability to the constructed air gap change function, constructing an air gap permeability expression based on a primary term in the decomposed expression, and acquiring the air gap permeability based on the constructed air gap permeability expression.
10. The method of claim 6, wherein obtaining a characteristic current amplitude standard value of the sensed motor based on the constructed motor mechanism model comprises: and obtaining the amplitude of the current corresponding to the characteristic frequency in a frequency spectrum analysis mode based on the current waveform of the motor mechanism model in a steady state, and taking the amplitude as the standard value of the characteristic current amplitude of the detected induction motor in the steady state.
11. A system for determining a normalized value for a magnitude of a characteristic current, comprising:
the system comprises a selection module, a detection module and a control module, wherein the selection module is used for pre-selecting relevant parameters of a detected induction motor, a motor mechanical vibration standard value corresponding to the detected induction motor and a motor fault type of the detected induction motor, the relevant parameters of the detected induction motor comprise current operation state parameters of the detected induction motor, and the current operation state parameters of the detected induction motor comprise load parameters and power supply voltage;
and the calculation module is used for calculating the characteristic current amplitude standard value of the sensed induction motor based on the pre-selected related parameters, the motor mechanical vibration standard value and the motor fault type.
12. The system of claim 11, wherein the system implements the method of any of claims 1-11.
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