CN114894299A - Vibration monitoring system and method based on encoder - Google Patents
Vibration monitoring system and method based on encoder Download PDFInfo
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- CN114894299A CN114894299A CN202210730347.6A CN202210730347A CN114894299A CN 114894299 A CN114894299 A CN 114894299A CN 202210730347 A CN202210730347 A CN 202210730347A CN 114894299 A CN114894299 A CN 114894299A
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- G01—MEASURING; TESTING
- G01H—MEASUREMENT OF MECHANICAL VIBRATIONS OR ULTRASONIC, SONIC OR INFRASONIC WAVES
- G01H17/00—Measuring mechanical vibrations or ultrasonic, sonic or infrasonic waves, not provided for in the preceding groups
Abstract
The invention discloses a vibration monitoring system and method based on an encoder, wherein the system comprises: servo motor, servo driver, host computer and encoder. The encoder is arranged on the servo motor and used for acquiring an angle signal and an acceleration signal when the servo motor runs and processing the angle signal and the acceleration signal to obtain a position signal and a vibration signal; the servo driver is connected with the encoder and used for receiving the position signal and the vibration signal sent by the encoder and detecting whether the servo motor operates normally according to the position signal and the vibration signal to obtain a detection result; the upper computer is used for receiving the detection result sent by the servo driver and monitoring and analyzing the detection result according to the historical detection result to obtain an analysis result. The technical scheme of the invention can reduce the complexity of the system and save the cost.
Description
Technical Field
The invention relates to the technical field of vibration monitoring, in particular to a vibration monitoring system and method based on an encoder.
Background
The running state of the servo motor is sensed by an encoder arranged on the servo motor to sense the rotating speed and the position of the servo motor, so that the aim of servo control is fulfilled. An encoder used by the conventional servo motor can only sense two state parameters of the rotating speed and the position of the servo motor, however, in actual use, the servo motor is influenced by factors such as load, environment and the like in the operation process, state information such as vibration and the like in other physical states except the rotating speed and the position in actual operation also continuously changes, and the continuously changing physical information is a powerful basis for evaluating the actual operation state of the servo motor, while in the prior art, a monitoring point and a monitoring control system are additionally arranged outside the servo motor, so that the complexity and the cost of the system are greatly increased.
Accordingly, there is a need for an encoder-based vibration monitoring system that integrates a monitoring system within an encoder to reduce system complexity and cost, thereby addressing the above-mentioned deficiencies.
Disclosure of Invention
It is an object of the present invention to provide an encoder based vibration monitoring system that addresses the above-mentioned deficiencies.
It is another object of the present invention to provide an encoder-based vibration monitoring method that addresses the above-mentioned deficiencies.
To achieve the above object, in one aspect, the present invention provides an encoder-based vibration monitoring system, the tracking system comprising: the device comprises a servo motor, a servo driver, an upper computer and an encoder, wherein the encoder is arranged on the servo motor and used for acquiring an angle signal and an acceleration signal when the servo motor runs and processing the angle signal and the acceleration signal to obtain a position signal and a vibration signal; the servo driver is connected with the encoder and used for receiving the position signal and the vibration signal sent by the encoder and detecting whether the servo motor operates normally according to the position signal and the vibration signal to obtain a detection result; the upper computer is used for receiving the detection result sent by the servo driver and monitoring and analyzing the detection result according to the historical detection result to obtain an analysis result.
The further technical scheme is as follows: the encoder includes: the sensor acquisition assembly is used for acquiring an angle signal and an acceleration signal when the servo motor runs; the processing unit is connected with the sensor acquisition assembly and comprises a first signal conditioning circuit, a second signal conditioning circuit and a microprocessor, wherein the first signal conditioning circuit and the second signal conditioning circuit are respectively used for conditioning the angle signal and the acceleration signal to obtain an angle conditioning signal and an acceleration conditioning signal, and the microprocessor is used for processing the angle conditioning signal and the acceleration conditioning signal to obtain a position signal and a vibration signal; and the output interface is used for sending the position signal and the vibration signal to the servo driver.
The further technical scheme is as follows: the vibration monitoring system further comprises M external acceleration sensors, the encoder further comprises an input interface, and the M external acceleration sensors are connected with the second signal conditioning circuit through the input interface.
The further technical scheme is as follows: the second signal conditioning circuit comprises N acceleration amplifying circuits and N A/D conversion circuits connected with the N acceleration amplifying circuits, the N A/D conversion circuits are connected with the microprocessor, M acceleration amplifying circuits in the N acceleration amplifying circuits are connected with the sensor acquisition assembly, and N-M acceleration amplifying circuits are connected with the input interface, wherein N is more than or equal to 2, M is more than or equal to 1, and N is more than M.
The further technical scheme is as follows: the microprocessor is specifically configured to: identifying the type of the received signal; if the signal type is the angle conditioning signal, performing correction and subdivision processing on the angle conditioning signal to obtain a position signal; and if the signal type is the acceleration conditioning signal, performing Fourier transform and inverse transform on the acceleration conditioning signal to obtain a vibration signal.
The further technical scheme is as follows: the position signal comprises operation speed and load position information, the vibration signal comprises vibration amplitude and vibration frequency, and the servo driver is specifically used for: and realizing closed-loop control on the servo motor according to the received running speed and load position information, determining a detection result according to the vibration amplitude, the vibration frequency, a preset vibration amplitude range and a preset vibration frequency range, and uploading the detection result to the upper computer.
The further technical scheme is as follows: the sensor acquisition assembly comprises at least one angle sensor and at least one acceleration sensor, the at least one angle sensor is connected with the first signal conditioning circuit, and the at least one acceleration sensor is connected with the second signal conditioning circuit.
The further technical scheme is as follows: the first signal conditioning circuit comprises a differential amplifying circuit, a comparison circuit, a sampling holding circuit, an anti-jamming circuit and an A/D angle conversion circuit, wherein one end of the differential amplifying circuit is connected with the at least one angle sensor, the other end of the differential amplifying circuit is connected with the comparison circuit and the sampling holding circuit, the other end of the comparison circuit is connected with one end of the anti-jamming circuit, the other end of the sampling holding circuit is connected with one end of the A/D angle conversion circuit, and the other end of the anti-jamming circuit and the other end of the A/D angle conversion circuit are connected with the microprocessor.
In order to achieve the above object, in another aspect, the present invention also provides an encoder-based vibration monitoring method, including: the method comprises the following steps that an encoder collects an angle signal and an acceleration signal when a servo motor runs, and processes the angle signal and the acceleration signal to obtain a position signal and a vibration signal; the servo driver receives the position signal and the vibration signal sent by the encoder, and detects whether the servo motor operates normally according to the position signal and the vibration signal to obtain a detection result; and the upper computer receives the detection result sent by the servo driver and analyzes the detection result to obtain an analysis result.
The further technical scheme is as follows: the position signal comprises running speed and load position information, and the vibration signal comprises vibration amplitude and vibration frequency; the step of detecting whether the servo motor operates normally according to the position signal and the vibration signal to obtain a detection result comprises the following steps: performing closed-loop control on the servo motor according to the running speed and the load position information, and judging whether the vibration amplitude is within a preset vibration amplitude range; if the vibration amplitude is within the preset vibration amplitude range, judging whether the vibration frequency is within a preset vibration frequency range; and if the vibration frequency is within the preset vibration frequency range, setting the detection result as the normal operation of the servo motor, and uploading the detection result to the upper computer.
The embodiment of the invention provides a vibration monitoring system and method based on an encoder. In the system, because the angle signal and the acceleration signal during the operation of the servo motor are acquired through the encoder and processed to obtain the position signal and the vibration signal, a monitoring point and a monitoring control system do not need to be additionally arranged outside the servo motor, and the complexity of the system can be reduced to a certain degree; because the multiplexing servo driver detects the position signal and the vibration signal, the cost can be saved to a certain extent. By adopting the vibration monitoring system based on the encoder provided by the invention, the vibration monitoring system is integrated in the encoder, and the servo driver is multiplexed, so that the vibration monitoring system has the advantages of reducing the complexity of the system, saving the cost and the like.
The invention will become more apparent from the following description when taken in conjunction with the accompanying drawings, which illustrate embodiments of the invention.
Drawings
FIG. 1 is a block diagram of an embodiment of an encoder-based vibration monitoring system of the present invention;
FIG. 2 is a block diagram of an encoder in the vibration monitoring system of FIG. 1;
FIG. 3 is a block diagram of a second signal conditioning circuit in the vibration monitoring system of FIG. 1;
FIG. 4 is a block diagram of a first signal conditioning circuit in the vibration monitoring system of FIG. 1;
FIG. 5 is a schematic flow chart diagram illustrating an embodiment of an encoder-based vibration monitoring method of the present invention;
FIG. 6 is a sub-flowchart of an embodiment of an encoder-based vibration monitoring method according to the present invention.
Detailed Description
The technical solutions in the embodiments will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, wherein like reference numerals represent like elements in the drawings. It is apparent that the embodiments to be described below are only a part of the embodiments of the present invention, and not all of them. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1-5, an encoder-based vibration monitoring system 10 provided by an embodiment of the present invention includes: servo motor 11, servo driver 12, host computer 13 and the said encoder 14. The encoder 14 is installed on the servo motor 11, and is configured to acquire an angle signal and an acceleration signal when the servo motor 11 operates, and process the angle signal and the acceleration signal to obtain a position signal and a vibration signal; the servo driver 12 is connected to the encoder 14, and is configured to receive the position signal and the vibration signal sent by the encoder 14, and detect whether the servo motor 11 operates normally according to the position signal and the vibration signal to obtain a detection result; the upper computer 13 is used for receiving the detection result sent by the servo driver 12 and monitoring and analyzing the detection result according to the historical detection result to obtain an analysis result. In the vibration monitoring system based on the encoder 14 provided by this embodiment, because the encoder 14 is used for acquiring the angle signal and the acceleration signal during the operation of the servo motor 11 and processing the angle signal and the acceleration signal to obtain the position signal and the vibration signal, a monitoring point and a monitoring control system do not need to be additionally arranged outside the servo motor 11, and the complexity of the system can be reduced to a certain extent; since the multiplexing servo driver 12 detects the position signal and the vibration signal, the cost can be saved to a certain extent.
In some embodiments, such as the present embodiment, the encoder 14 includes a sensor acquisition assembly, a processing unit, an output interface 146, and an input interface 147, as shown in fig. 2. The sensor acquisition assembly is used for acquiring an angle signal and an acceleration signal when the servo motor 11 runs; the processing unit is connected with the sensor acquisition assembly and comprises a first signal conditioning circuit 143, a second signal conditioning circuit 144 and a microprocessor 145, wherein the first signal conditioning circuit 143 and the second signal conditioning circuit 144 are respectively used for conditioning the angle signal and the acceleration signal to obtain an angle conditioning signal and an acceleration conditioning signal, and the microprocessor 145 is used for processing the angle conditioning signal and the acceleration conditioning signal to obtain a position signal and a vibration signal; the output interface 146 is used for sending the position signal and the vibration signal to the servo driver 12. More specifically, the sensor collecting assembly includes a first collecting member 141 and a second collecting member 142, the first collecting member 141 includes at least one angle sensor, the collecting member includes at least one acceleration sensor, the at least one angle sensor is connected to the first signal conditioning circuit 143, and the at least one acceleration sensor is connected to the second signal conditioning circuit 144. It should be noted that, in this embodiment, the acceleration sensor is a MEMS acceleration sensor, and has the characteristics of low power consumption and good stability.
In some embodiments, such as this embodiment, the vibration monitoring system further includes M external acceleration sensors, and the encoder 14 further includes an input interface 147, and the M external acceleration sensors are connected to the second signal conditioning circuit 144 via the input interface 147. The second signal conditioning circuit 144 includes N acceleration amplifying circuits and N a/D conversion circuits connected thereto, the N a/D conversion circuits are connected to the microprocessor 145, M acceleration amplifying circuits among the N acceleration amplifying circuits are connected to the sensor collecting assembly, and N-M acceleration amplifying circuits are connected to the input interface 147, where N is not less than 2, M is not less than 1, and N > M. Specifically, when N is 2 and M is 1, as shown in fig. 3, the second signal conditioning circuit 144 includes a first acceleration amplifying circuit 1441, a second acceleration amplifying circuit 1442, a first a/D conversion circuit 1443, and a second a/D conversion circuit 1444, where the first acceleration amplifying circuit 1441 is connected to the first a/D conversion circuit 1443, and the second acceleration amplifying circuit 1442 is connected to the second a/D conversion circuit 1444, at this time, only 1 acceleration sensor needs to be arranged in the sensor assembly to be connected to the first acceleration amplifying circuit 1441, and correspondingly, only 1 external acceleration sensor needs to be arranged; understandably, when N is greater than 2 and M is greater than 1, it is shown that M acceleration sensors need to be arranged in the sensor assembly, that is, an acceleration sensor array is formed to be connected with the M acceleration amplifying circuits, and correspondingly, N-M external acceleration sensors need to be deployed. It should be noted that, in this embodiment, the external acceleration sensor may be disposed on the housing of the servo motor 11, and may further collect the vibration signal, so as to better monitor the servo motor 11. It should be further noted that a plurality of acceleration sensors are built in, so that sampling precision can be improved, and vibration signals of the servo motor 11 can be acquired more accurately.
In some embodiments, such as this embodiment, the microprocessor 145 is specifically configured to identify the type of signal received; if the signal type is the angle conditioning signal, performing correction and subdivision on the angle conditioning signal to obtain a position signal, wherein correction specifically comprises removing a direct current signal in the angle conditioning signal and enabling the signal amplitude to be equal, and subdivision specifically comprises solving position information contained in the corrected signal and improving the resolution of the position information; and if the signal type is the acceleration conditioning signal, performing Fourier transform and inverse transform on the acceleration conditioning signal to obtain a vibration signal, wherein the acceleration conditioning signal comprises a first acceleration conditioning signal and a second acceleration conditioning signal. It should be noted that the first acceleration conditioning signal is a signal acquired and processed by the acceleration sensor in the sensor assembly; the second acceleration conditioning signal is a signal acquired and processed by the M external acceleration sensors. It should be noted that, in this embodiment, if the microprocessor receives the angle-conditioned signals and the acceleration-conditioned signals, before the processing, the microprocessor further performs filtering and fitting operations on the angle-conditioned signals and the acceleration-conditioned signals.
In some embodiments, for example, in this embodiment, the position signal includes operation speed and load position information, the vibration signal includes vibration amplitude and vibration frequency, and the servo driver 12 is specifically configured to implement closed-loop control on the servo motor 11 according to the received operation speed and load position information, determine a detection result according to the vibration amplitude, the vibration frequency, a preset vibration amplitude range, and a preset vibration frequency range, and upload the detection result to the upper computer 13. It should be noted that, in this embodiment, the closed-loop control is to adjust the operation speed according to the collected operation speed and load position information. The determination process of the detection result will be specifically described in the following vibration monitoring method, and will not be described herein again.
In some embodiments, such as this embodiment, the first signal conditioning circuit 143 includes a differential amplifier circuit 1431, a comparator circuit 1432, a sample-and-hold circuit 1433, an anti-jamming circuit 1434, and an a/D angle converter circuit 1435, wherein one end of the differential amplifier circuit 1431 is connected to the at least one angle sensor, the other end of the differential amplifier circuit 1431 is connected to the comparator circuit 1432 and the sample-and-hold circuit 1433, the other end of the comparator circuit 1432 is connected to one end of the anti-jamming circuit 1434, the other end of the sample-and-hold circuit 1433 is connected to one end of the a/D angle converter circuit 1435, and the other end of the anti-jamming circuit 1434 and the other end of the a/D angle converter circuit 1435 are connected to the microprocessor. Specifically, as shown in fig. 4, in the present embodiment, the differential amplification circuit 1431 includes a first differential amplification circuit, a second differential amplification circuit, and a third differential amplification circuit; the comparison circuit 1432 includes a first comparison circuit, a second comparison circuit, and a third comparison circuit, and the sample-and-hold circuit 1433 includes a first sample-and-hold circuit and a second sample-and-hold circuit; the immunity circuit 1434 includes a first immunity circuit, a second immunity circuit, and a third immunity circuit; the a/D angle conversion circuit 1435 includes a first a/D angle conversion circuit and a second a/D angle conversion circuit. More specifically, in practical application, one end of the first comparison circuit is connected to the first differential amplification circuit, and the other end of the first comparison circuit is connected to the first anti-jamming circuit; one end of the second comparison circuit is connected with the second differential amplification circuit, and the other end of the second comparison circuit is connected with the second anti-interference circuit; one end of the third comparison circuit is connected with the third differential amplification circuit, and the other end of the third comparison circuit is connected with the third anti-jamming circuit; one end of the first sampling holding circuit is connected with the third differential amplifying circuit, and the other end of the first sampling holding circuit is connected with the first A/D angle conversion circuit; one end of the second sampling holding circuit is connected with the second differential amplifying circuit, and the other end of the second sampling holding circuit is connected with the second A/D angle conversion circuit. It should be noted that, in this embodiment, the differential amplifier circuit 1431 is configured to amplify the angle signal output by the angle sensor, so that the amplified angle signal can meet the requirements of the subsequent a/D angle conversion circuit 1435 and the microprocessor 145; the comparison circuit 1432 is a square wave pulse signal that can be directly processed by the microprocessor 145 by comparing the signal input by the differential amplification circuit 1431 with a reference level; the anti-jamming circuit 1434 may prevent the square wave pulse signal from being disturbed by noise; the sample-and-hold circuit 1433 is to ensure that the timing of the a/D angle sampling loop is consistent with the square wave generating loop; the a/D angle conversion circuit 1435 converts the analog quantity output from the sample-and-hold circuit 1433 into a digital quantity that can be processed by the microprocessor 145.
Referring to fig. 5, fig. 5 shows a schematic flow chart of an embodiment of the vibration monitoring method based on an encoder according to the present invention, the tracking method is applied to the vibration monitoring system, and the specific working principle of the vibration monitoring system according to the present invention is further described in detail below. As shown in fig. 5, the method comprises the steps of:
s200, collecting an angle signal and an acceleration signal when a servo motor operates by an encoder, and processing the angle signal and the acceleration signal to obtain a position signal and a vibration signal;
in the embodiment of the invention, the encoder comprises a sensor acquisition component, a processing unit, an output interface and an input interface, wherein the processing unit comprises a first signal conditioning circuit, a second signal conditioning circuit and a microprocessor, and the sensor acquisition component comprises at least one angle sensor and at least one acceleration sensor; the angle sensor and the acceleration sensor in the encoder collect angle signals and acceleration signals when the servo motor runs, and the angle signals and the acceleration signals are processed to obtain position signals and vibration signals. The specific processing process includes that the first signal conditioning circuit and the second signal conditioning circuit condition the angle signal and the acceleration signal to obtain an angle conditioning signal and an acceleration conditioning signal, the micro-processing corrects, subdivides and processes the angle conditioning signal to obtain a position signal, and the acceleration conditioning signal is subjected to Fourier transform and inverse transform to obtain a vibration signal.
S210, a servo driver receives the position signal and the vibration signal sent by the encoder, and detects whether the servo motor operates normally according to the position signal and the vibration signal to obtain a detection result;
in the embodiment of the present invention, the servo driver receives the position signal and the vibration signal sent by the encoder, where the position signal includes the operation speed and the load position information, and the vibration signal includes a vibration amplitude and a vibration frequency. The method comprises the steps of firstly realizing closed-loop control on the servo motor according to the running speed and the load position information, then determining a detection result according to the vibration amplitude, the vibration frequency, a preset vibration amplitude range and a preset vibration frequency range, uploading the detection result to an upper computer, and judging whether the vibration amplitude is in the preset vibration amplitude range.
In an embodiment, for example, referring to fig. 6, the step S210 may include the following steps S211 to S215.
S211, judging whether the vibration amplitude is in a preset vibration amplitude range, if so, executing a step S212, otherwise, executing a step S214;
s212, judging whether the vibration frequency is in a preset vibration frequency range; if the vibration frequency is within the preset vibration frequency range, executing step S213, otherwise executing step S214;
s213, setting the detection result as normal operation of the servo motor;
s214, setting the detection result that the servo motor is not operated normally;
s215, uploading the detection result to the upper computer.
In the embodiment of the invention, after the servo motor is subjected to closed-loop control according to the running speed and the load position information, whether the vibration amplitude is within a preset vibration amplitude range is judged; if the vibration amplitude is within the preset vibration amplitude range, continuously judging whether the vibration frequency is within a preset vibration frequency range; and if the vibration frequency is within the preset vibration frequency range, setting the detection result as that the servo motor normally operates. Understandably, if the vibration amplitude is not in the preset vibration amplitude range or the vibration frequency is not in the preset vibration frequency range, the detection result is set to abnormal operation of the servo motor, and finally the servo driver uploads the detection result to the upper computer. In this embodiment, the order of determining the vibration amplitude and the vibration frequency is not particularly limited.
S220, the upper computer receives the detection result sent by the servo driver and analyzes the detection result to obtain an analysis result.
In the embodiment of the invention, the upper computer receives the detection result sent by the servo driver, and if the detection result is that the servo motor operates normally, the detection result and the monitoring process related to the detection result are stored in a preset file; and if the detection result indicates that the servo motor is not operated normally, calling a historical monitoring result, and analyzing the current vibration condition of the servo motor according to the historical monitoring result to obtain an analysis result. Understandably, if the analysis result still indicates that the servo motor is abnormally operated, an alarm instruction can be sent to a related alarm device to stop the operation of the servo motor.
In summary, in the vibration monitoring system and method based on the encoder provided by this embodiment, because the encoder collects the angle signal and the acceleration signal during the operation of the servo motor, and processes the angle signal and the acceleration signal to obtain the position signal and the vibration signal, it is not necessary to additionally arrange a monitoring point and a monitoring control system outside the servo motor, and the system complexity can be reduced to a certain extent; because the multiplexing servo driver detects the position signal and the vibration signal, the cost can be saved to a certain extent. By adopting the vibration monitoring system based on the encoder provided by the invention, the vibration monitoring system is integrated in the encoder, and the servo driver is multiplexed, so that the vibration monitoring system has the advantages of reducing the complexity of the system, saving the cost and the like.
The present invention has been described in connection with the preferred embodiments, but the present invention is not limited to the embodiments disclosed above, and is intended to cover various modifications, equivalent combinations, which are made in accordance with the spirit of the present invention.
Claims (10)
1. An encoder-based vibration monitoring system, comprising: a servo motor, a servo driver, an upper computer and the encoder, wherein,
the encoder is arranged on the servo motor and used for acquiring an angle signal and an acceleration signal when the servo motor runs and processing the angle signal and the acceleration signal to obtain a position signal and a vibration signal;
the servo driver is connected with the encoder and used for receiving the position signal and the vibration signal sent by the encoder and detecting whether the servo motor operates normally according to the position signal and the vibration signal to obtain a detection result;
the upper computer is used for receiving the detection result sent by the servo driver and monitoring and analyzing the detection result according to the historical detection result to obtain an analysis result.
2. The encoder-based vibration monitoring system of claim 1 wherein the encoder comprises:
the sensor acquisition assembly is used for acquiring an angle signal and an acceleration signal when the servo motor runs;
the processing unit is connected with the sensor acquisition assembly and comprises a first signal conditioning circuit, a second signal conditioning circuit and a microprocessor, wherein the first signal conditioning circuit and the second signal conditioning circuit are respectively used for conditioning the angle signal and the acceleration signal to obtain an angle conditioning signal and an acceleration conditioning signal, and the microprocessor is used for processing the angle conditioning signal and the acceleration conditioning signal to obtain a position signal and a vibration signal;
and the output interface is used for sending the position signal and the vibration signal to the servo driver.
3. The encoder-based vibration monitoring system of claim 2 wherein: the vibration monitoring system further comprises M external acceleration sensors, the encoder further comprises an input interface, and the M external acceleration sensors are connected with the second signal conditioning circuit through the input interface.
4. The encoder-based vibration monitoring system of claim 3, wherein: the second signal conditioning circuit comprises N acceleration amplifying circuits and N A/D conversion circuits connected with the N acceleration amplifying circuits, the N A/D conversion circuits are connected with the microprocessor, M acceleration amplifying circuits in the N acceleration amplifying circuits are connected with the sensor acquisition assembly, and N-M acceleration amplifying circuits are connected with the input interface, wherein N is more than or equal to 2, M is more than or equal to 1, and N is more than M.
5. The encoder-based vibration monitoring system of claim 2 wherein: the microprocessor is specifically configured to:
identifying the type of the received signal;
if the signal type is the angle conditioning signal, performing correction and subdivision processing on the angle conditioning signal to obtain a position signal;
and if the signal type is the acceleration conditioning signal, performing Fourier transform and inverse transform on the acceleration conditioning signal to obtain a vibration signal.
6. The encoder-based vibration monitoring system of claim 5, wherein: the position signal comprises operation speed and load position information, the vibration signal comprises vibration amplitude and vibration frequency, and the servo driver is specifically used for:
and realizing closed-loop control on the servo motor according to the received running speed and load position information, determining a detection result according to the vibration amplitude, the vibration frequency, a preset vibration amplitude range and a preset vibration frequency range, and uploading the detection result to the upper computer.
7. The encoder-based vibration monitoring system of claim 3, wherein: the sensor acquisition assembly comprises at least one angle sensor and at least one acceleration sensor, the at least one angle sensor is connected with the first signal conditioning circuit, and the at least one acceleration sensor is connected with the second signal conditioning circuit.
8. The encoder-based vibration monitoring system of claim 7, wherein: the first signal conditioning circuit comprises a differential amplifying circuit, a comparison circuit, a sampling holding circuit, an anti-jamming circuit and an A/D angle conversion circuit, wherein one end of the differential amplifying circuit is connected with the at least one angle sensor, the other end of the differential amplifying circuit is connected with the comparison circuit and the sampling holding circuit, the other end of the comparison circuit is connected with one end of the anti-jamming circuit, the other end of the sampling holding circuit is connected with one end of the A/D angle conversion circuit, and the other end of the anti-jamming circuit and the other end of the A/D angle conversion circuit are connected with the microprocessor.
9. An encoder-based vibration monitoring method, comprising:
the method comprises the following steps that an encoder collects an angle signal and an acceleration signal when a servo motor runs, and processes the angle signal and the acceleration signal to obtain a position signal and a vibration signal;
the servo driver receives the position signal and the vibration signal sent by the encoder, and detects whether the servo motor operates normally according to the position signal and the vibration signal to obtain a detection result;
and the upper computer receives the detection result sent by the servo driver and analyzes the detection result to obtain an analysis result.
10. The encoder-based vibration monitoring method of claim 9, wherein: the position signal comprises running speed and load position information, and the vibration signal comprises vibration amplitude and vibration frequency; the step of detecting whether the servo motor operates normally according to the position signal and the vibration signal to obtain a detection result comprises the following steps:
performing closed-loop control on the servo motor according to the running speed and the load position information, and judging whether the vibration amplitude is within a preset vibration amplitude range;
if the vibration amplitude is within the preset vibration amplitude range, judging whether the vibration frequency is within a preset vibration frequency range;
and if the vibration frequency is within the preset vibration frequency range, setting the detection result as the normal operation of the servo motor, and uploading the detection result to the upper computer.
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| CN205563194U (en) * | 2016-04-19 | 2016-09-07 | 上海山里智能科技有限公司 | Control and collection system of rotatory test system |
| CN110987167A (en) * | 2019-12-17 | 2020-04-10 | 北京昊鹏智能技术有限公司 | Fault detection method, device, equipment and storage medium for rotary mechanical equipment |
| CN111780863A (en) * | 2020-01-20 | 2020-10-16 | 上海杰臻电气技术有限公司 | Port and wharf online vibration monitoring system |
| CN111693304A (en) * | 2020-06-19 | 2020-09-22 | 西南交通大学 | Vehicle fault detection method and device, computer equipment and readable storage medium |
| CN111999065A (en) * | 2020-07-24 | 2020-11-27 | 农业农村部南京农业机械化研究所 | Motor noise vibration test system and test method |
| CN114061743A (en) * | 2020-08-03 | 2022-02-18 | 新疆金风科技股份有限公司 | Vibration monitoring method, device, equipment and medium for wind generating set |
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