CN117190920A - Motor axial deviation monitoring method and system - Google Patents
Motor axial deviation monitoring method and system Download PDFInfo
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Abstract
The invention relates to the technical field of motors, and provides a motor axial deviation monitoring method and a motor axial deviation monitoring system, wherein the method comprises the following steps: acquiring bearing wear detection data; collecting motor axial static deviation data and constructing a first motor shaft degradation deviation model; acquiring first mechanical impact real-time monitoring data and first vibration real-time monitoring data; collecting real-time monitoring data of axial deviation of a first motor and constructing a second motor shaft degradation deviation model; obtaining a simulation model of axial deviation of the motor; after the simulation result of the axial deviation of the motor exceeds the safety range, the motor is adjusted to be in a closed state and corrected, the technical problem that the axial deviation of the motor cannot be effectively guaranteed not to exceed the safety range in the operation process is solved, the axial deviation of the motor is monitored, simulated and predicted, the mechanical abrasion of the motor is reduced, the operation stability and reliability of the motor are improved, and meanwhile, the axial deviation of the motor is kept within the safety range, so that the risk of motor operation accidents is reduced, and the service life technical effect of the motor is prolonged.
Description
Technical Field
The invention relates to the technical field of motors, in particular to a motor axial deviation monitoring method and system.
Background
Axial deviation of a motor refers to axial displacement of a rotor shaft of the motor during operation, the motor usually bears high load and high-speed operation in the industrial and traffic fields, and if the axial deviation of the motor exceeds a safe range, the motor is unstable, noise is increased, mechanical abrasion is aggravated, and the like, and even the motor is damaged or accident is possibly caused.
Commonly, devices such as a force transducer or a strain gauge are added on a supporting structure of the motor, and the axial stress condition of the motor is measured to indirectly judge the axial deviation, but the accuracy of indirectly judging the axial deviation is limited; the axial deviation of the motor is judged by analyzing a current signal or a vibration signal generated when the motor operates, but an accurate signal processing algorithm is required, and the operation state of the motor has high requirements and can be influenced by environmental interference.
In summary, the technical problem that the axial deviation of the motor in the running process cannot be effectively guaranteed to be not beyond the safety range exists in the prior art.
Disclosure of Invention
The application provides a motor axial deviation monitoring method and a motor axial deviation monitoring system, and aims to solve the technical problem that the axial deviation of a motor cannot be effectively ensured not to exceed a safety range in the running process in the prior art.
In view of the above problems, the present application provides a method and a system for monitoring axial deviation of a motor.
In a first aspect of the present disclosure, a method for monitoring axial deviation of a motor is provided, where the method is applied to a motor axial deviation monitoring system, and the motor axial deviation monitoring system is communicatively connected to a pyroelectric sensor, and the method includes: under the condition that the three-phase permanent magnet synchronous motor is in a closed state, the pyroelectric sensor is adopted for data acquisition, and bearing wear detection data are obtained; simultaneously, a laser pair Ji Yi is used for collecting motor axial static deviation data of the three-phase permanent magnet synchronous motor; taking the bearing wear detection data and the motor axial static deviation data as input features of an HMM model, and constructing a first motor shaft degradation deviation model; under the condition that the three-phase permanent magnet synchronous motor is in an operating state and is in a constant rotating speed operating condition, mechanical impact monitoring and vibration monitoring are synchronously carried out, and first mechanical impact real-time monitoring data and first vibration real-time monitoring data are obtained; simultaneously, a laser pair Ji Yi is used for collecting real-time monitoring data of axial deviation of a first motor of the three-phase permanent magnet synchronous motor; constructing a second motor shaft degradation offset model based on the first mechanical impact real-time monitoring data, the first vibration real-time monitoring data and the first motor axial deviation real-time monitoring data, wherein a model basis of the second motor shaft degradation offset model is a Daubechies wavelet basis function; combining the first motor shaft degradation offset model and the second motor shaft degradation offset model to obtain a motor axial deviation simulation model; and based on the motor axial deviation simulation model, after the motor axial deviation simulation result exceeds a safety range, the three-phase permanent magnet synchronous motor is regulated to be in a closed state and corrected.
In another aspect of the present disclosure, a motor axial misalignment monitoring system is provided, wherein the system comprises: the data acquisition module is used for acquiring data by adopting the pyroelectric sensor under the condition that the three-phase permanent magnet synchronous motor is in a closed state, so as to acquire bearing wear detection data; meanwhile, the static deviation data acquisition module is used for acquiring motor axial static deviation data of the three-phase permanent magnet synchronous motor by using a laser pair Ji Yi; the first model construction module is used for constructing a first motor shaft degradation offset model by taking the bearing wear detection data and the motor axial static offset data as input features of an HMM model; the first real-time monitoring module is used for synchronously performing mechanical impact monitoring and vibration monitoring under the condition that the three-phase permanent magnet synchronous motor is in an operation state and is in a constant rotation speed operation working condition, and acquiring first mechanical impact real-time monitoring data and first vibration real-time monitoring data; meanwhile, the second real-time monitoring module is used for acquiring real-time monitoring data of axial deviation of the first motor of the three-phase permanent magnet synchronous motor by using a laser pair Ji Yi; the second model building module is used for building a second motor shaft degradation offset model based on the first mechanical impact real-time monitoring data, the first vibration real-time monitoring data and the first motor axial deviation real-time monitoring data, and the model basis of the second motor shaft degradation offset model is Daubechies wavelet basis function; the offset model merging module is used for merging the first motor shaft degradation offset model and the second motor shaft degradation offset model to obtain a motor axial deviation simulation model; and the deviation correction module is used for adjusting the three-phase permanent magnet synchronous motor to be in a closed state and correcting after the motor axial deviation simulation result exceeds a safety range based on the motor axial deviation simulation model.
One or more technical schemes provided by the application have at least the following technical effects or advantages:
under the condition that the three-phase permanent magnet synchronous motor is in a closed state, a pyroelectric sensor is adopted for data acquisition, so that bearing wear detection data are obtained; simultaneously, a laser pair Ji Yi is used for collecting motor axial static deviation data of the three-phase permanent magnet synchronous motor; taking the bearing wear detection data and the motor axial static deviation data as input features of an HMM model, and constructing a first motor shaft degradation deviation model; under the condition that the three-phase permanent magnet synchronous motor is in an operating state and is in a constant rotating speed operating condition, mechanical impact monitoring and vibration monitoring are synchronously carried out, and first mechanical impact real-time monitoring data and first vibration real-time monitoring data are obtained; simultaneously, a laser pair Ji Yi is used for collecting real-time monitoring data of axial deviation of a first motor of the three-phase permanent magnet synchronous motor; constructing a second motor shaft degradation offset model based on the first mechanical impact real-time monitoring data, the first vibration real-time monitoring data and the first motor axial deviation real-time monitoring data, wherein a model basis of the second motor shaft degradation offset model is a Daubechies wavelet basis function; combining the first motor shaft degradation offset model and the second motor shaft degradation offset model to obtain a motor axial deviation simulation model; based on the motor axial deviation simulation model, after the motor axial deviation simulation result exceeds the safety range, the three-phase permanent magnet synchronous motor is regulated to be in a closed state and corrected, so that the motor axial deviation is monitored, simulated and predicted, the mechanical abrasion of the motor is reduced, the running stability and reliability of the motor are improved, and meanwhile, the motor axial deviation is kept within the safety range, so that the risk of motor running accidents is reduced, and the service life of the motor is prolonged.
The foregoing description is only an overview of the present application, and is intended to be implemented in accordance with the teachings of the present application in order that the same may be more clearly understood and to make the same and other objects, features and advantages of the present application more readily apparent.
Drawings
Fig. 1 is a schematic flow chart of a possible method for monitoring axial deviation of a motor according to an embodiment of the present application;
FIG. 2 is a schematic diagram of a possible flow chart for constructing a third motor shaft degradation offset model in a motor axial deviation monitoring method according to an embodiment of the present application;
fig. 3 is a schematic flow chart of a possible correction of a three-phase permanent magnet synchronous motor in a motor axial deviation monitoring method according to an embodiment of the present application;
fig. 4 is a schematic diagram of a possible structure of a motor axial deviation monitoring system according to an embodiment of the present application.
Reference numerals illustrate: the system comprises a data acquisition module 100, a static deviation data acquisition module 200, a first model construction module 300, a first real-time monitoring module 400, a second real-time monitoring module 500, a second model construction module 600, a deviation model combination module 700 and a deviation correction module 800.
Detailed Description
The embodiment of the application provides a motor axial deviation monitoring method and a motor axial deviation monitoring system, which solve the technical problem that the axial deviation of a motor cannot be effectively ensured not to exceed a safety range in the operation process, realize the monitoring and simulation prediction of the axial deviation of the motor, reduce the mechanical abrasion of the motor, improve the stability and the reliability of the operation of the motor, and simultaneously keep the axial deviation of the motor within the safety range, thereby reducing the risk of motor operation accidents and prolonging the service life of the motor.
Having described the basic principles of the present application, various non-limiting embodiments of the present application will now be described in detail with reference to the accompanying drawings.
Example 1
As shown in fig. 1, an embodiment of the present application provides a motor axial deviation monitoring method, where the motor axial deviation monitoring method is applied to a motor axial deviation monitoring system, and the motor axial deviation monitoring system is communicatively connected to a pyroelectric sensor, and the method includes:
s10: under the condition that the three-phase permanent magnet synchronous motor is in a closed state, the pyroelectric sensor is adopted for data acquisition, and bearing wear detection data are obtained; at the same time
S20: collecting motor axial static deviation data of the three-phase permanent magnet synchronous motor by using a laser pair Ji Yi;
s30: taking the bearing wear detection data and the motor axial static deviation data as input features of an HMM model, and constructing a first motor shaft degradation deviation model;
specifically, the motor axial deviation monitoring system is in communication connection with the pyroelectric sensor, the communication connection is simply through signal transmission interaction, a communication network is formed between the motor axial deviation monitoring system and the pyroelectric sensor, support is provided for motor axial deviation monitoring, the three-phase permanent magnet synchronous motor is a motor, a rotor adopts a permanent magnet to generate a magnetic field, and the motor and three phase currents of the motor run synchronously, so that the motor has high efficiency and high performance generally;
the pyroelectric sensor is a sensor capable of sensing temperature change, and under the condition that the three-phase permanent magnet synchronous motor is in a closed state, the pyroelectric sensor monitors heat energy change generated in the running process of the bearing, friction and heat generation are increased along with the increase of the abrasion degree of the bearing, and then bearing abrasion detection data are acquired; the laser pair Ji Yi is a measuring tool, and detects the position and the direction of the bearing of the three-phase permanent magnet synchronous motor through the laser beam emitted by the laser pair Ji Yi to obtain motor axial static deviation data of the three-phase permanent magnet synchronous motor, namely, whether a motor shaft deviates from a normal position or not is detected, namely, the situation that the motor axis (usually the rotation axis of the motor) deviates from the designed normal position or ideal position is simply detected;
Taking the bearing wear detection data and the motor axial static deviation data as input features of an HMM model, and constructing a first motor shaft degradation deviation model, wherein the first motor shaft degradation deviation model comprises the steps of extracting valuable features from the collected motor axial static deviation data for the HMM model to use, and specifically, extracting features related to the bearing state, such as vibration frequency, acceleration and the like, from the bearing wear detection data; for the motor axial static deviation data, the characteristics such as static axial deviation amount, static axial deviation direction and the like can be extracted;
HMMs are suitable for modeling of sequence data, whereby vibration frequencies, accelerations, and static axial offsets, static axial offset directions need to be organized into a sequence of features in time order. Taking the characteristic sequence as the input of the HMM model, wherein the characteristic sequence is bearing wear detection data and motor axial static deviation data corresponding to the same time period; the HMM model contains hidden states that correspond to invisible system states. In embodiments of the present application, where it is desired to determine the appropriate number of hidden states, some model selection techniques may be used, such as cross-validation, BIC criteria, and the like. The constructed HMM model is trained using the EM algorithm (expectation maximization algorithm) or other suitable training method. The training aim is to find the optimal model parameters, so that the model can better describe the relation between the hidden state and the observed data, and finally the first motor shaft degradation offset model is constructed;
After the first motor shaft degradation offset model is trained, the trained first motor shaft degradation offset model can be utilized to conduct state prediction and fault detection. By monitoring the change of the hidden state, the state of the motor shaft can be monitored in real time or periodically, and possible faults or degradation trends can be found early. By adopting the pyroelectric sensor and the laser pair Ji Yi, bearing wear detection data and motor axial static deviation data can be respectively obtained and a first motor shaft degradation deviation model can be constructed under the closed state of the three-phase permanent magnet synchronous motor, so that support is provided for subsequent axial deviation correction and deviation monitoring.
S40: under the condition that the three-phase permanent magnet synchronous motor is in an operating state and is in a constant rotating speed operating condition, mechanical impact monitoring and vibration monitoring are synchronously carried out, and first mechanical impact real-time monitoring data and first vibration real-time monitoring data are obtained; at the same time
S50: collecting real-time monitoring data of axial deviation of a first motor of the three-phase permanent magnet synchronous motor by using a laser pair Ji Yi;
s60: constructing a second motor shaft degradation offset model based on the first mechanical impact real-time monitoring data, the first vibration real-time monitoring data and the first motor axial deviation real-time monitoring data, wherein a model basis of the second motor shaft degradation offset model is a Daubechies wavelet basis function;
S70: combining the first motor shaft degradation offset model and the second motor shaft degradation offset model to obtain a motor axial deviation simulation model;
s80: and based on the motor axial deviation simulation model, after the motor axial deviation simulation result exceeds a safety range, the three-phase permanent magnet synchronous motor is regulated to be in a closed state and corrected.
Specifically, the axial deviation may be caused by various factors, and further includes bearing wear, mechanical impact or vibration, where mechanical impact monitoring and vibration monitoring are two different monitoring means for detecting different types of faults, and specifically, mechanical impact monitoring is mainly used for monitoring and diagnosing impact conditions of bearings, and vibration monitoring is used for detecting vibration conditions of a motor in an operation process, where two monitoring means are combined, so that the operation conditions of the motor can be more comprehensively evaluated, potential faults can be found and maintained early, and mechanical impact monitoring and vibration monitoring are synchronously performed in a three-phase permanent magnet synchronous motor operation state and under a constant rotation speed operation condition, and the method includes: starting an impact type impact force multidimensional force sensor, monitoring mechanical impact data in real time, and recording first mechanical impact real-time monitoring data; and starting the displacement sensor, monitoring vibration data in real time, and recording first vibration real-time monitoring data. Meanwhile, a laser pair Ji Yi is used for collecting first motor axial deviation real-time monitoring data of the three-phase permanent magnet synchronous motor, and the first mechanical impact real-time monitoring data, the first vibration real-time monitoring data and the moment information corresponding to the first motor axial deviation real-time monitoring data are consistent;
The model basis of the second motor shaft degradation offset model is Daubechies wavelet basis function, preferably, the vibration signal has the characteristics of non-stability, non-linearity and the like, the wavelet decomposition has the characteristics of time-frequency localization and multi-layer decomposition, the local characteristics of the signal can be well described, the non-stationary signal is effectively processed, the orthogonal time domain waveform is quite similar to the bearing vibration waveform, therefore, the wavelet packet decomposition coefficient can well describe the bearing vibration signal, and based on the model, the wavelet transformation essence approximates the signal by utilizing a series of wavelet basis functions. In actual calculation, a Mallat rapid algorithm is generally applied, wherein the Mallat rapid algorithm decomposes discrete approximation signals by constructing a series of low-pass filters and high-pass filter banks, the Mallat rapid algorithm is applied to decompose the first mechanical impact real-time monitoring data, the first vibration real-time monitoring data and the first motor axial deviation real-time monitoring data, a characteristic space of the data in a normal state is established by combining a low-pass filter set and a high-pass filter set obtained by decomposition, and a second motor shaft degradation offset model is formed by fitting data distribution of the characteristic space by using a GMM (Gaussian Mixture Model );
Under the working condition that the three-phase permanent magnet synchronous motor is in a constant rotating speed operation state, the first mechanical impact real-time monitoring data and the first vibration real-time monitoring data can be obtained in real time through mechanical impact monitoring and vibration monitoring. This helps to find anomalies such as mechanical shocks and vibrations in time during operation, thereby taking precautions to avoid possible failure.
Combining the first motor shaft degradation offset model and the second motor shaft degradation offset model to obtain a motor axial deviation simulation model; finally, based on the motor axial deviation simulation model, after the motor axial deviation simulation result exceeds the safety range, the three-phase permanent magnet synchronous motor is adjusted to be in a closed state in advance and corrective measures are taken, such as bearing calibration or damaged bearing replacement can be conducted, so that safe operation of the three-phase permanent magnet synchronous motor is ensured.
Step S80 further includes the steps of:
s81: if the three-phase permanent magnet synchronous motor is connected with the mechanical system, checking whether the coupler and the transmission system work normally or not and setting a first correction operation;
s82: if the three-phase permanent magnet synchronous motor is connected with the laser pair Ji Yi, performing laser pair Ji Yi calibration and setting a second correction operation;
S83: after the first correcting operation and the second correcting operation are completed, measuring the axial deviation by adopting a laser range finder, obtaining an axial deviation value and correcting.
In particular, when it relates to a three-phase permanent magnet synchronous motor connecting different systems, the mechanical system refers to a system for connecting the three-phase permanent magnet synchronous motor with other mechanical equipment or devices, such as a coupling and a transmission system, for transmitting power or motion of the motor; if the three-phase permanent magnet synchronous motor is connected with the mechanical system, checking whether the coupler and the transmission system work normally or not, further ensuring that the connection between the three-phase permanent magnet synchronous motor and the coupler and the transmission system is reliable, and if the coupler and the transmission system do not work normally, setting a first correcting operation, wherein the first correcting operation refers to the condition of connecting the mechanical system, and when the coupler or the transmission system is found to have a problem, taking correcting measures, such as adjusting the position of the coupler or replacing damaged transmission parts;
laser pair Ji Yi is a tool for detecting and adjusting the central axis deviation of the mechanical system, if the three-phase permanent magnet synchronous motor is connected with laser pair Ji Yi, laser pair Ji Yi is calibrated, accuracy of a measurement result of laser pair Ji Yi is ensured, and the second correction operation refers to a process of adjusting or calibrating laser pair Ji Yi; the laser range finder is an instrument for measuring axial deviation values, and measures the distance between bearings by utilizing a laser technology and is used for determining the deviation amount of the motor in the axial direction; after the first correcting operation and the second correcting operation are completed, measuring the axial deviation by adopting a laser range finder, obtaining an axial deviation value and correcting.
After understanding the characteristics and trend of the axial deviation of the motor, the Ji Yi calibration and the laser range finder are used for measuring, so that accurate axial deviation values can be obtained, correction operation is performed, the safe operation of the three-phase permanent magnet synchronous motor is ensured, the service life of the three-phase permanent magnet synchronous motor is prolonged, and the performance maintenance efficiency of the three-phase permanent magnet synchronous motor is improved.
As shown in fig. 2, the embodiment of the present application further includes the steps of:
s91: under the conditions that the three-phase permanent magnet synchronous motor is in an operating state and is in a high-load operating condition, mechanical impact monitoring and vibration monitoring are synchronously carried out, and second mechanical impact real-time monitoring data and second vibration real-time monitoring data are obtained; at the same time
S92: collecting second motor axial deviation real-time monitoring data of the three-phase permanent magnet synchronous motor by using a laser pair Ji Yi;
s93: and constructing a third motor shaft degradation offset model based on the second mechanical impact real-time monitoring data, the second vibration real-time monitoring data and the second motor axial deviation real-time monitoring data.
Specifically, the operating mode of three-phase PMSM still includes high load operating mode, still includes, be in the three-phase PMSM is running state and is in under the circumstances of high load operating mode, carries out mechanical shock monitoring, vibration monitoring in step, includes: starting an impact type impact force multidimensional force sensor, monitoring mechanical impact data in real time, and recording second mechanical impact real-time monitoring data; and starting the displacement sensor, monitoring vibration data in real time, and recording second vibration real-time monitoring data. Meanwhile, a laser pair Ji Yi is used for collecting second motor axial deviation real-time monitoring data of the three-phase permanent magnet synchronous motor, the second mechanical impact real-time monitoring data, second vibration real-time monitoring data and time information corresponding to the second motor axial deviation real-time monitoring data are consistent, and the second mechanical impact real-time monitoring data refer to real-time monitoring data related to second mechanical impact obtained under the operating state and high load; the second vibration real-time monitoring data refers to real-time monitoring data related to the second vibration obtained under the running state and high load; the second motor axial deviation real-time monitoring data refer to collected real-time monitoring data related to motor axial deviation under the running state and high load;
The model basis of the third motor shaft degradation offset model is Daubechies wavelet basis function, and similar to the process of constructing the second motor shaft degradation offset model, the third motor shaft degradation offset model is constructed based on the second mechanical impact real-time monitoring data, the second vibration real-time monitoring data and the second motor axial deviation real-time monitoring data, and the second motor shaft degradation offset model and the third motor shaft degradation offset model are respectively constructed according to different working conditions, so that the running state of the three-phase permanent magnet synchronous motor can be estimated more accurately.
As shown in fig. 3, step S91 further includes the steps of:
s911: under the condition that the three-phase permanent magnet synchronous motor is in an operating state and is in a high-load operating condition, detecting the temperature of the three-phase permanent magnet synchronous motor and the load thereof to obtain temperature real-time monitoring data, wherein the temperature real-time monitoring data comprise bearing detection temperature, gear detection temperature and connecting part detection temperature;
s912: performing operation monitoring on the three-phase permanent magnet synchronous motor to obtain operation monitoring data, wherein the operation monitoring data comprise motor power monitoring data and motor rotating speed monitoring data;
s913: judging whether the three-phase permanent magnet synchronous motor is in a state with uneven load distribution or not based on the temperature real-time monitoring data and the operation monitoring data;
S914: and if the three-phase permanent magnet synchronous motor is in a state of uneven load distribution, regulating the three-phase permanent magnet synchronous motor to be in a closed state and correcting.
Specifically, when the three-phase permanent magnet synchronous motor is in an overload state, uneven load distribution or unbalance of motor drive is easy to occur, the unbalance of axial force can be caused, so that the axial deviation problem is caused, the unbalanced load can cause overheat of certain parts, and other parts are normal, based on the unbalanced load, temperature detection points are arranged at key positions of a bearing, a gear, a connecting part and the like when the three-phase permanent magnet synchronous motor is in an operation state and is in a high-load operation working condition, the three-phase permanent magnet synchronous motor and the load thereof are subjected to temperature detection, and temperature real-time monitoring data are obtained, wherein the temperature real-time monitoring data comprise bearing detection temperature, gear detection temperature and connecting part detection temperature;
the unbalanced load generally causes the efficiency of the motor to be reduced, and meanwhile, when the load is uneven, the rotating speed of the three-phase permanent magnet synchronous motor may fluctuate or be abnormal, so that the three-phase permanent magnet synchronous motor is subjected to operation monitoring to obtain operation monitoring data, wherein the operation monitoring data comprise motor power monitoring data and motor rotating speed monitoring data, and the motor power monitoring data refer to real-time monitoring and recording of the power consumed by the three-phase permanent magnet synchronous motor and are used for evaluating the energy service condition of the three-phase permanent magnet synchronous motor; the motor rotation speed monitoring data is used for monitoring and recording the motor rotation speed in real time and is used for knowing the running state and efficiency of the motor;
The uneven load distribution state indicates that the motor load is unevenly distributed on each component, and may cause some components to bear larger loads, while other components are lighter in load; judging whether the three-phase permanent magnet synchronous motor is in a state with uneven load distribution or not based on the temperature real-time monitoring data and the operation monitoring data; if the three-phase permanent magnet synchronous motor is in a state of uneven load distribution, the three-phase permanent magnet synchronous motor is adjusted to be in a closed state and corrected, and the method comprises the following steps: the load distribution is redistributed or rearranged, so that the load distribution is uniformly distributed in the rotation process, and the unbalance of the axial force is reduced;
the working state of the three-phase permanent magnet synchronous motor, including temperature and operation parameters, can be known in real time by carrying out temperature detection and operation monitoring on the three-phase permanent magnet synchronous motor. When an uneven load distribution condition is detected, measures can be taken to correct the uneven load distribution, such as adjusting the motor to a closed condition, to avoid excessive loading of certain components, thereby improving the operational safety and performance maintenance of the three-phase permanent magnet synchronous motor. In general, the three-phase permanent magnet synchronous motor is protected from overload, the service life is prolonged, and the stability and reliability of the three-phase permanent magnet synchronous motor under high-load operation conditions are ensured.
The embodiment of the application also comprises the following steps:
s94: before the three-phase permanent magnet synchronous motor is in an operating state, a bolt fixing point set on the three-phase permanent magnet synchronous motor is statistically determined;
s95: based on the bolt fixing point set, bolt loosening inspection and bolt missing inspection are carried out, and a bolt installation inspection result is obtained;
s96: using a level meter in the installation process to check the placement position of the three-phase permanent magnet synchronous motor, and obtaining a horizontally placed installation check result;
s97: and judging whether to acquire an operation permission instruction according to the bolt installation checking result and the horizontally placed installation checking result after confirming that the supporting structure of the three-phase permanent magnet synchronous motor is in a balanced state.
Specifically, before the three-phase permanent magnet synchronous motor is started, the following steps can be adopted to check and solve the problem of axial deviation of a motor shaft caused by improper installation or support, wherein the method comprises the steps of counting the bolt fixing positions on the three-phase permanent magnet synchronous motor and determining a bolt fixing point set on the three-phase permanent magnet synchronous motor before the three-phase permanent magnet synchronous motor is in an operating state, wherein the bolt fixing point set refers to a fixing bolt position set of the three-phase permanent magnet synchronous motor and is used for fixing the three-phase permanent magnet synchronous motor and a supporting structure thereof together so as to ensure stable installation of the three-phase permanent magnet synchronous motor;
Loosening or missing of bolts can cause unstable or dangerous conditions to occur to the motor during operation, so that bolt loosening detection and bolt missing detection are performed based on the bolt fixing point set, whether the bolts are loosened or missing is determined, and bolt installation detection results are obtained, wherein the bolt installation detection results comprise bolt loosening detection results and bolt missing detection results; using a level meter in the installation process to check the placement position of the three-phase permanent magnet synchronous motor, judging whether the placement position of the three-phase permanent magnet synchronous motor is in a horizontal position, and obtaining a horizontal placement installation check result;
after confirming that the supporting structure of the three-phase permanent magnet synchronous motor is in a balanced state, the stable installation and the balanced state of the structure of the three-phase permanent magnet synchronous motor can be ensured through the bolt installation and inspection results and the horizontally placed installation and inspection results, when the bolt installation and inspection results and the horizontally placed installation and inspection results are all passed, the motor is installed correctly, the bolts are fastened without obvious defects and are in a horizontal position, namely the motor is ready and can start to operate, the operation permission instruction is acquired, any one of the bolt installation and inspection result and the horizontally placed installation and inspection result is not passed, the operation permission instruction cannot be acquired, the operation permission instruction is the necessary condition for adjusting the three-phase permanent magnet synchronous motor in a closed state to an operating state, and in a simple way, the three-phase permanent magnet synchronous motor cannot be started under the condition that the operation permission instruction cannot be acquired. The service life of the three-phase permanent magnet synchronous motor can be prolonged by preventing the problems of loosening, missing and the like of bolts, and the stability and the reliability of the three-phase permanent magnet synchronous motor under the high-load running condition are ensured.
Step S97 further includes the steps of:
s971: confirming that the supporting structure of the three-phase permanent magnet synchronous motor is in an unbalanced state, and balancing the supporting structure to obtain a preliminary balance adjustment result;
s972: based on the preliminary balance adjustment result, acquiring installation guide information of the three-phase permanent magnet synchronous motor, wherein the installation guide information comprises supporting structure bearing capacity and motor running torque;
s973: and setting basic information adjustment measures through the installation guide information, wherein the basic information adjustment measures comprise adjustment of basic dimensions and reinforcement of a basic structure.
Specifically, the support structure in the installation process of the three-phase permanent magnet synchronous motor may have an unbalanced condition, which may cause vibration or instability of the three-phase permanent magnet synchronous motor during operation, thereby confirming that the support structure of the three-phase permanent magnet synchronous motor is in an unbalanced state, performing support structure balance, and obtaining a preliminary balance adjustment result, wherein the corresponding adjustment of the support structure balance comprises adding a gasket or adjusting support legs to enable the three-phase permanent magnet synchronous motor to be stably and horizontally installed on a foundation, so that the support structure is mechanically balanced, and therefore the three-phase permanent magnet synchronous motor is ensured not to be subjected to additional load or vibration during operation, and the preliminary balance adjustment result refers to a preliminary effect obtained after mechanical balance adjustment is performed;
Based on the preliminary balance adjustment result and a product manual of the three-phase permanent magnet synchronous motor, acquiring installation instruction information of the three-phase permanent magnet synchronous motor, wherein the installation instruction information comprises supporting structure bearing force and motor running torque, the supporting structure bearing force is the force required to be born by the supporting structure, and the motor running torque is the rotation torque generated by the three-phase permanent magnet synchronous motor;
setting basic information adjustment measures through the installation guide information, wherein the basic information adjustment measures comprise adjustment of basic size and reinforcement of a basic structure, and the adjustment of the basic size is to adjust the size and shape of a supporting structure so as to adapt to the operation requirement of the three-phase permanent magnet synchronous motor; the stability of the supporting structure is enhanced by the reinforcing foundation structure, and the safe operation of the three-phase permanent magnet synchronous motor is ensured. The supporting structure of the three-phase permanent magnet synchronous motor is ensured to be in a balanced state, so that the three-phase permanent magnet synchronous motor can be more stable during operation, the influence of vibration and unstable factors is reduced, and the operation safety and performance maintenance of the three-phase permanent magnet synchronous motor are improved.
The embodiment of the application also comprises the following steps:
s98: connecting the three-phase permanent magnet synchronous motor with an inverter, wherein the inverter is used for converting direct current into alternating current;
S99: electrically setting the inverter based on a parameter setting section in an inverter use specification, and configuring the inverter into a feedback braking mode;
S9A: after the inverter is configured in the feedback braking mode, feedback braking adjustment parameters are obtained, wherein the feedback braking adjustment parameters comprise feedback braking intensity, starting speed and feedback voltage in feedback energy.
Specifically, the feedback braking is a method for converting kinetic energy into electric energy and feeding back the electric energy, and can realize energy recovery and energy saving in some applications, based on the method, a three-phase permanent magnet synchronous motor is connected with an inverter to realize control of the three-phase permanent magnet synchronous motor, so that the three-phase permanent magnet synchronous motor can perform speed change and reverse operation as required, and the inverter is used for converting a direct-current power supply into an alternating-current power supply with adjustable frequency and amplitude, and converting the direct-current power supply into an alternating-current power supply with adjustable frequency and amplitude;
in the electrical setting, the inverter is adjusted and configured based on a parameter setting section in an inverter usage specification, so that the inverter operates in a feedback braking mode, specifically, when the three-phase permanent magnet synchronous motor is decelerated or stopped, the three-phase permanent magnet synchronous motor is operated as a generator, and generated electric energy is fed back to a power grid or consumed through the inverter, so that braking is realized, and the step-by-step expansion comprises: step one, preparing tools and data: ensuring a paper or electronic version of inverter use instruction, wherein the inverter use instruction is public information and contains detailed information of electrical setting and functional configuration; suitable tools, e.g., computers, download lines, screwdrivers, test pens, etc., to make the necessary hardware connections and settings. Step two, connecting a computer and an inverter: the download line is used to connect the computer to the communication interface of the inverter, typically a serial communication interface (e.g., RS 232) or USB interface. Step three, opening setting software of an inverter: corresponding setup software is downloaded and installed according to the instructions in the inverter usage instructions, the downloaded software typically being used to configure various parameters of the inverter. And step four, enabling a feedback braking mode: selecting or starting a feedback braking mode, and inputting parameters or configuration information of a parameter setting section in an inverter using instruction, such as feedback braking strength, starting speed, feedback voltage and the like, according to the prompt of software;
After the inverter is configured into a feedback braking mode, feedback braking adjustment parameters are obtained, wherein the feedback braking adjustment parameters comprise feedback braking intensity, starting speed and feedback voltage in feedback energy, the feedback braking intensity refers to the electric energy fed back by the inverter in the braking process, and the braking effect of the three-phase permanent magnet synchronous motor can be controlled by adjusting the feedback braking intensity, so that the three-phase permanent magnet synchronous motor realizes a stable braking process; the starting speed refers to the speed of the three-phase permanent magnet synchronous motor converted from the running state to the feedback braking state, and when feedback braking is started can be controlled by setting the starting speed so as to adapt to different braking requirements; the feedback voltage in the feedback energy refers to the voltage fed back to the power grid by the inverter in the feedback braking process, and the voltage fluctuation of the power grid in the feedback braking process can be controlled by adjusting the feedback voltage so as to ensure the stable operation of the power grid;
by connecting the three-phase permanent magnet synchronous motor with the inverter and configuring the inverter into a feedback braking mode, accurate control and braking operation of the three-phase permanent magnet synchronous motor can be realized. The feedback braking can feed back the energy generated when the three-phase permanent magnet synchronous motor is decelerated or stopped to the power grid, so that the energy waste is reduced, and the energy utilization efficiency is improved. The three-phase permanent magnet synchronous motor is enabled to be more stable in the braking process, impact and mechanical loss during braking are reduced, the service life of the three-phase permanent magnet synchronous motor is prolonged, meanwhile, the feedback braking adjustment parameters are adjusted, braking requirements under different working conditions can be met, and more flexible and reliable braking control is achieved.
In summary, the method and the system for monitoring the axial deviation of the motor provided by the embodiment of the application have the following technical effects:
1. under the condition that the three-phase permanent magnet synchronous motor is in a closed state, a pyroelectric sensor is adopted for data acquisition, so that bearing wear detection data are obtained; simultaneously, a laser pair Ji Yi is used for collecting motor axial static deviation data of the three-phase permanent magnet synchronous motor; taking the bearing wear detection data and the motor axial static deviation data as input features of an HMM model, and constructing a first motor shaft degradation deviation model; under the condition that the three-phase permanent magnet synchronous motor is in an operating state and is in a constant rotating speed operating condition, mechanical impact monitoring and vibration monitoring are synchronously carried out, and first mechanical impact real-time monitoring data and first vibration real-time monitoring data are obtained; simultaneously, a laser pair Ji Yi is used for collecting real-time monitoring data of axial deviation of a first motor of the three-phase permanent magnet synchronous motor; constructing a second motor shaft degradation offset model based on the first mechanical impact real-time monitoring data, the first vibration real-time monitoring data and the first motor axial deviation real-time monitoring data, wherein a model basis of the second motor shaft degradation offset model is a Daubechies wavelet basis function; combining the first motor shaft degradation offset model and the second motor shaft degradation offset model to obtain a motor axial deviation simulation model; based on the motor axial deviation simulation model, after the motor axial deviation simulation result exceeds the safety range, the three-phase permanent magnet synchronous motor is regulated to be in a closed state and corrected.
2. Because the three-phase permanent magnet synchronous motor is connected with the inverter, the inverter is used for converting direct current into alternating current; electrically setting the inverter based on a parameter setting section in the inverter usage specification, and configuring the inverter into a feedback braking mode; after the inverter is configured in the feedback braking mode, feedback braking adjustment parameters are obtained, wherein the feedback braking adjustment parameters comprise feedback braking intensity, starting speed and feedback voltage in feedback energy. By connecting the three-phase permanent magnet synchronous motor with the inverter and configuring the inverter into a feedback braking mode, accurate control and braking operation of the three-phase permanent magnet synchronous motor can be realized. The feedback braking can feed back the energy generated when the three-phase permanent magnet synchronous motor is decelerated or stopped to the power grid, so that the energy waste is reduced, and the energy utilization efficiency is improved. The three-phase permanent magnet synchronous motor is enabled to be more stable in the braking process, impact and mechanical loss during braking are reduced, the service life of the three-phase permanent magnet synchronous motor is prolonged, meanwhile, the feedback braking adjustment parameters are adjusted, braking requirements under different working conditions can be met, and more flexible and reliable braking control is achieved.
Example two
Based on the same inventive concept as the motor axial deviation monitoring method in the foregoing embodiments, as shown in fig. 4, an embodiment of the present application provides a motor axial deviation monitoring system, where the motor axial deviation monitoring system is communicatively connected to a pyroelectric sensor, and the system includes:
the data acquisition module 100 is used for acquiring data by adopting the pyroelectric sensor under the condition that the three-phase permanent magnet synchronous motor is in a closed state, and acquiring bearing wear detection data; at the same time
The static deviation data acquisition module 200 is used for acquiring motor axial static deviation data of the three-phase permanent magnet synchronous motor by using a laser pair Ji Yi;
the first model construction module 300 is configured to construct a first motor shaft degradation offset model by using the bearing wear detection data and the motor axial static offset data as input features of an HMM model;
the first real-time monitoring module 400 is configured to perform mechanical impact monitoring and vibration monitoring synchronously under the condition that the three-phase permanent magnet synchronous motor is in an operation state and is in a constant rotation speed operation condition, so as to obtain first mechanical impact real-time monitoring data and first vibration real-time monitoring data; at the same time
The second real-time monitoring module 500 is configured to collect real-time monitoring data of axial deviation of the first motor of the three-phase permanent magnet synchronous motor by using a laser pair Ji Yi;
a second model building module 600, configured to build a second motor shaft degradation offset model based on the first mechanical impact real-time monitoring data, the first vibration real-time monitoring data, and the first motor axial deviation real-time monitoring data, where a model basis of the second motor shaft degradation offset model is a Daubechies wavelet basis function;
the offset model merging module 700 is configured to merge the first motor shaft degradation offset model and the second motor shaft degradation offset model to obtain a motor axial deviation simulation model;
and the deviation correcting module 800 is configured to adjust the three-phase permanent magnet synchronous motor to a closed state and correct the three-phase permanent magnet synchronous motor after the motor axial deviation simulation result exceeds the safety range based on the motor axial deviation simulation model.
Further, the state and positioning determining module 800 is further configured to perform the following steps:
if the three-phase permanent magnet synchronous motor is connected with the mechanical system, checking whether the coupler and the transmission system work normally or not and setting a first correction operation;
If the three-phase permanent magnet synchronous motor is connected with the laser pair Ji Yi, performing laser pair Ji Yi calibration and setting a second correction operation;
after the first correcting operation and the second correcting operation are completed, measuring the axial deviation by adopting a laser range finder, obtaining an axial deviation value and correcting.
Further, the motor axial deviation monitoring system is further configured to perform the steps of:
under the conditions that the three-phase permanent magnet synchronous motor is in an operating state and is in a high-load operating condition, mechanical impact monitoring and vibration monitoring are synchronously carried out, and second mechanical impact real-time monitoring data and second vibration real-time monitoring data are obtained; at the same time
Collecting second motor axial deviation real-time monitoring data of the three-phase permanent magnet synchronous motor by using a laser pair Ji Yi;
and constructing a third motor shaft degradation offset model based on the second mechanical impact real-time monitoring data, the second vibration real-time monitoring data and the second motor axial deviation real-time monitoring data.
Further, the motor axial deviation monitoring system is further configured to perform the steps of:
under the condition that the three-phase permanent magnet synchronous motor is in an operating state and is in a high-load operating condition, detecting the temperature of the three-phase permanent magnet synchronous motor and the load thereof to obtain temperature real-time monitoring data, wherein the temperature real-time monitoring data comprise bearing detection temperature, gear detection temperature and connecting part detection temperature;
Performing operation monitoring on the three-phase permanent magnet synchronous motor to obtain operation monitoring data, wherein the operation monitoring data comprise motor power monitoring data and motor rotating speed monitoring data;
judging whether the three-phase permanent magnet synchronous motor is in a state with uneven load distribution or not based on the temperature real-time monitoring data and the operation monitoring data;
and if the three-phase permanent magnet synchronous motor is in a state of uneven load distribution, regulating the three-phase permanent magnet synchronous motor to be in a closed state and correcting.
Further, the motor axial deviation monitoring system is further configured to perform the steps of:
before the three-phase permanent magnet synchronous motor is in an operating state, a bolt fixing point set on the three-phase permanent magnet synchronous motor is statistically determined;
based on the bolt fixing point set, bolt loosening inspection and bolt missing inspection are carried out, and a bolt installation inspection result is obtained;
using a level meter in the installation process to check the placement position of the three-phase permanent magnet synchronous motor, and obtaining a horizontally placed installation check result;
and judging whether to acquire an operation permission instruction according to the bolt installation checking result and the horizontally placed installation checking result after confirming that the supporting structure of the three-phase permanent magnet synchronous motor is in a balanced state.
Further, the motor axial deviation monitoring system is further configured to perform the steps of:
confirming that the supporting structure of the three-phase permanent magnet synchronous motor is in an unbalanced state, and balancing the supporting structure to obtain a preliminary balance adjustment result;
based on the preliminary balance adjustment result, acquiring installation guide information of the three-phase permanent magnet synchronous motor, wherein the installation guide information comprises supporting structure bearing capacity and motor running torque;
and setting basic information adjustment measures through the installation guide information, wherein the basic information adjustment measures comprise adjustment of basic dimensions and reinforcement of a basic structure.
Further, the motor axial deviation monitoring system is further configured to perform the steps of:
connecting the three-phase permanent magnet synchronous motor with an inverter, wherein the inverter is used for converting direct current into alternating current;
electrically setting the inverter based on a parameter setting section in an inverter use specification, and configuring the inverter into a feedback braking mode;
after the inverter is configured in the feedback braking mode, feedback braking adjustment parameters are obtained, wherein the feedback braking adjustment parameters comprise feedback braking intensity, starting speed and feedback voltage in feedback energy.
Any of the steps of the methods described above may be stored as computer instructions or programs in a non-limiting computer memory and may be called by a non-limiting computer processor to identify any method for implementing an embodiment of the present application, without unnecessary limitations.
Further, the first or second element may not only represent a sequential relationship, but may also represent a particular concept, and/or may be selected individually or in whole among a plurality of elements. It will be apparent to those skilled in the art that various modifications and variations can be made to the present application without departing from the scope of the application. Thus, the present application is intended to include such modifications and alterations insofar as they come within the scope of the application or the equivalents thereof.
Claims (8)
1. A method for monitoring motor axial misalignment, the method being applied to a motor axial misalignment monitoring system, the motor axial misalignment monitoring system being in communication with a pyroelectric sensor, the method comprising:
under the condition that the three-phase permanent magnet synchronous motor is in a closed state, the pyroelectric sensor is adopted for data acquisition, and bearing wear detection data are obtained; at the same time
Collecting motor axial static deviation data of the three-phase permanent magnet synchronous motor by using a laser pair Ji Yi;
taking the bearing wear detection data and the motor axial static deviation data as input features of an HMM model, and constructing a first motor shaft degradation deviation model;
under the condition that the three-phase permanent magnet synchronous motor is in an operating state and is in a constant rotating speed operating condition, mechanical impact monitoring and vibration monitoring are synchronously carried out, and first mechanical impact real-time monitoring data and first vibration real-time monitoring data are obtained; at the same time
Collecting real-time monitoring data of axial deviation of a first motor of the three-phase permanent magnet synchronous motor by using a laser pair Ji Yi;
constructing a second motor shaft degradation offset model based on the first mechanical impact real-time monitoring data, the first vibration real-time monitoring data and the first motor axial deviation real-time monitoring data, wherein a model basis of the second motor shaft degradation offset model is a Daubechies wavelet basis function;
combining the first motor shaft degradation offset model and the second motor shaft degradation offset model to obtain a motor axial deviation simulation model;
and based on the motor axial deviation simulation model, after the motor axial deviation simulation result exceeds a safety range, the three-phase permanent magnet synchronous motor is regulated to be in a closed state and corrected.
2. A method of monitoring motor axial misalignment as claimed in claim 1 wherein the three-phase permanent magnet synchronous motor is brought to a closed condition and corrected, the method further comprising:
if the three-phase permanent magnet synchronous motor is connected with the mechanical system, checking whether the coupler and the transmission system work normally or not and setting a first correction operation;
if the three-phase permanent magnet synchronous motor is connected with the laser pair Ji Yi, performing laser pair Ji Yi calibration and setting a second correction operation;
after the first correcting operation and the second correcting operation are completed, measuring the axial deviation by adopting a laser range finder, obtaining an axial deviation value and correcting.
3. A method of monitoring axial misalignment of an electrical machine as claimed in claim 1 wherein the method further comprises:
under the conditions that the three-phase permanent magnet synchronous motor is in an operating state and is in a high-load operating condition, mechanical impact monitoring and vibration monitoring are synchronously carried out, and second mechanical impact real-time monitoring data and second vibration real-time monitoring data are obtained; at the same time
Collecting second motor axial deviation real-time monitoring data of the three-phase permanent magnet synchronous motor by using a laser pair Ji Yi;
and constructing a third motor shaft degradation offset model based on the second mechanical impact real-time monitoring data, the second vibration real-time monitoring data and the second motor axial deviation real-time monitoring data.
4. A method of monitoring motor axial misalignment as claimed in claim 3 wherein, in the event that the three-phase permanent magnet synchronous motor is operating and in a high load operating condition, the method further comprises:
under the condition that the three-phase permanent magnet synchronous motor is in an operating state and is in a high-load operating condition, detecting the temperature of the three-phase permanent magnet synchronous motor and the load thereof to obtain temperature real-time monitoring data, wherein the temperature real-time monitoring data comprise bearing detection temperature, gear detection temperature and connecting part detection temperature;
performing operation monitoring on the three-phase permanent magnet synchronous motor to obtain operation monitoring data, wherein the operation monitoring data comprise motor power monitoring data and motor rotating speed monitoring data;
judging whether the three-phase permanent magnet synchronous motor is in a state with uneven load distribution or not based on the temperature real-time monitoring data and the operation monitoring data;
and if the three-phase permanent magnet synchronous motor is in a state of uneven load distribution, regulating the three-phase permanent magnet synchronous motor to be in a closed state and correcting.
5. A method of monitoring axial misalignment of an electrical machine as claimed in claim 1 wherein the method further comprises:
Before the three-phase permanent magnet synchronous motor is in an operating state, a bolt fixing point set on the three-phase permanent magnet synchronous motor is statistically determined;
based on the bolt fixing point set, bolt loosening inspection and bolt missing inspection are carried out, and a bolt installation inspection result is obtained;
using a level meter in the installation process to check the placement position of the three-phase permanent magnet synchronous motor, and obtaining a horizontally placed installation check result;
and judging whether to acquire an operation permission instruction according to the bolt installation checking result and the horizontally placed installation checking result after confirming that the supporting structure of the three-phase permanent magnet synchronous motor is in a balanced state.
6. A method of monitoring axial misalignment of a motor as claimed in claim 5 wherein the support structure of the three-phase permanent magnet synchronous motor is determined to be in equilibrium, the method further comprising:
confirming that the supporting structure of the three-phase permanent magnet synchronous motor is in an unbalanced state, and balancing the supporting structure to obtain a preliminary balance adjustment result;
based on the preliminary balance adjustment result, acquiring installation guide information of the three-phase permanent magnet synchronous motor, wherein the installation guide information comprises supporting structure bearing capacity and motor running torque;
And setting basic information adjustment measures through the installation guide information, wherein the basic information adjustment measures comprise adjustment of basic dimensions and reinforcement of a basic structure.
7. A method of monitoring axial misalignment of an electrical machine as claimed in claim 1 wherein the method further comprises:
connecting the three-phase permanent magnet synchronous motor with an inverter, wherein the inverter is used for converting direct current into alternating current;
electrically setting the inverter based on a parameter setting section in an inverter use specification, and configuring the inverter into a feedback braking mode;
after the inverter is configured in the feedback braking mode, feedback braking adjustment parameters are obtained, wherein the feedback braking adjustment parameters comprise feedback braking intensity, starting speed and feedback voltage in feedback energy.
8. An electrical machine axial misalignment monitoring system for implementing a method of electrical machine axial misalignment monitoring according to any one of claims 1-7, the electrical machine axial misalignment monitoring system being in communication with a pyroelectric sensor, comprising:
the data acquisition module is used for acquiring data by adopting the pyroelectric sensor under the condition that the three-phase permanent magnet synchronous motor is in a closed state, so as to acquire bearing wear detection data; at the same time
The static deviation data acquisition module is used for acquiring motor axial static deviation data of the three-phase permanent magnet synchronous motor by using a laser pair Ji Yi;
the first model construction module is used for constructing a first motor shaft degradation offset model by taking the bearing wear detection data and the motor axial static offset data as input features of an HMM model;
the first real-time monitoring module is used for synchronously performing mechanical impact monitoring and vibration monitoring under the condition that the three-phase permanent magnet synchronous motor is in an operation state and is in a constant rotation speed operation working condition, and acquiring first mechanical impact real-time monitoring data and first vibration real-time monitoring data; at the same time
The second real-time monitoring module is used for acquiring real-time monitoring data of axial deviation of the first motor of the three-phase permanent magnet synchronous motor by using a laser pair Ji Yi;
the second model building module is used for building a second motor shaft degradation offset model based on the first mechanical impact real-time monitoring data, the first vibration real-time monitoring data and the first motor axial deviation real-time monitoring data, and the model basis of the second motor shaft degradation offset model is Daubechies wavelet basis function;
the offset model merging module is used for merging the first motor shaft degradation offset model and the second motor shaft degradation offset model to obtain a motor axial deviation simulation model;
And the deviation correction module is used for adjusting the three-phase permanent magnet synchronous motor to be in a closed state and correcting after the motor axial deviation simulation result exceeds a safety range based on the motor axial deviation simulation model.
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