WO2020155147A1 - Procédé et appareil d'obtention d'état de fonctionnement de moteur - Google Patents

Procédé et appareil d'obtention d'état de fonctionnement de moteur Download PDF

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Publication number
WO2020155147A1
WO2020155147A1 PCT/CN2019/074606 CN2019074606W WO2020155147A1 WO 2020155147 A1 WO2020155147 A1 WO 2020155147A1 CN 2019074606 W CN2019074606 W CN 2019074606W WO 2020155147 A1 WO2020155147 A1 WO 2020155147A1
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Prior art keywords
signal
motor
information
operating state
amplitude spectrum
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PCT/CN2019/074606
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English (en)
Chinese (zh)
Inventor
李延召
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深圳市大疆创新科技有限公司
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Application filed by 深圳市大疆创新科技有限公司 filed Critical 深圳市大疆创新科技有限公司
Priority to PCT/CN2019/074606 priority Critical patent/WO2020155147A1/fr
Priority to CN201980005478.4A priority patent/CN111819452A/zh
Publication of WO2020155147A1 publication Critical patent/WO2020155147A1/fr

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
    • G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
    • G01R31/34—Testing dynamo-electric machines
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors

Definitions

  • This application relates to computer technology, and in particular to a method and device for obtaining the running state of a motor.
  • the current method of monitoring the running state of the motor is generally determined by the way of human ear listening, that is, the human ear judges the running state of the motor by listening to the noise during the running of the motor.
  • the user can stand near the motor and listen to the noise during the operation of the motor, or record the noise during the operation of the motor as an audio file for offline listening.
  • the embodiments of the present application provide a method and device for acquiring the running state of a motor, which can efficiently and accurately acquire the running state of the motor.
  • an embodiment of the present application provides a method for acquiring the operating state of a motor, including:
  • the characteristic information of the signal is acquired, and the operating state of the motor is acquired according to the characteristic information.
  • an embodiment of the present application provides an apparatus for obtaining a running state of a motor, including: a memory, a processor, and a communication bus, where the memory and the processor are connected through the communication bus;
  • Memory used to store computer programs
  • the processor is used to call the computer program to perform the following operations:
  • the characteristic information of the signal is acquired, and the operating state of the motor is acquired according to the characteristic information.
  • an embodiment of the present application provides a computer-readable storage medium, including a program or instruction.
  • the program or instruction runs on a computer, the methods described in the first aspect and various possible designs are executed.
  • an embodiment of the present application provides an electronic device including a motor and a device for acquiring the operating state of the motor, and the acquiring device is configured to acquire the operating state of the motor.
  • This application obtains the operating state of the motor by acquiring the characteristic information of the signal related to the motor operating state, and the operating state of the motor is judged without the need for human ears, and the characteristic information of the signal related to the motor operating state can be objectively reflected
  • the running state of the motor therefore, the method for obtaining the running state of the motor of the present application has high efficiency and accuracy.
  • FIG. 1 is a first flowchart of a method for acquiring a motor operating state according to an embodiment of the application
  • Fig. 2 is a noise signal diagram of a motor provided by an embodiment of the application
  • FIG. 3 is a second flowchart of the method for acquiring the operating state of a motor according to an embodiment of the application
  • FIG. 4 is a schematic diagram of triangular window downsampling provided by an embodiment of the application.
  • FIG. 5 is a third flowchart of a method for acquiring a motor running state according to an embodiment of the application
  • FIG. 6 is a schematic diagram of N segments of the signal in FIG. 2;
  • FIG. 7 is a first structural diagram of a device for acquiring a motor operating state provided by an embodiment of the application.
  • FIG. 8 is a second structural diagram of the apparatus for acquiring the operating state of a motor provided by an embodiment of the application.
  • At least one refers to one or more
  • multiple refers to two or more.
  • And/or describes the association relationship of the associated object, indicating that there can be three relationships, for example, A and/or B, which can mean: A alone exists, both A and B exist, and B exists alone, where A, B can be singular or plural.
  • the character “/” generally indicates that the associated objects are in an “or” relationship.
  • the following at least one item (a)” or similar expressions refers to any combination of these items, including any combination of a single item (a) or a plurality of items (a).
  • At least one item (a) of a, b, or c can represent: a, b, c, ab, ac, bc, or abc, where a, b, and c can be single or multiple .
  • the terms “first” and “second” in this application are used to distinguish similar objects, and are not necessarily used to describe a specific sequence or sequence.
  • the "value between x and y" in this embodiment includes not only the value in the interval (x, y), but also the two endpoint values of x and y.
  • the embodiments of the present application provide an efficient and accurate method for obtaining the running state of a motor.
  • Fig. 1 is a first flowchart of a method for acquiring a motor running state according to an embodiment of the application.
  • the execution subject of this embodiment may be a device for acquiring the operating state of the motor, and the device for acquiring the operating state of the motor may be implemented by hardware or software.
  • the method of this embodiment includes:
  • Step S101 Obtain a signal related to the running state of the motor
  • the signal related to the running state of the motor is one or more of the following: the noise signal of the motor, the current signal of the motor, and the signal measured by the inertial measurement unit arranged on the outer wall of the motor.
  • the noise signal of the motor can be collected by a microphone, accelerometer, vibration sensor, piezoelectric crystal and/or barometer; the current signal of the motor can be measured by an ammeter; the signal of the inertial measurement unit can be, for example, a vibration signal or current signal.
  • the signal related to the running state of the motor may also be other signals that can reflect the running state of the motor, and this embodiment is only illustrative.
  • the motor in this embodiment can be a motor that is not mounted on the device, or a motor that has been mounted on the device.
  • the device equipped with a motor can be any electronic device that needs to be driven by a motor, such as radar, drone, The electric fan system, etc., among which the radar can be a mechanical scanning lidar, and the unmanned aerial vehicle can be an unmanned aerial vehicle, an unmanned vehicle, an unmanned ship, etc., which are not limited here.
  • Fig. 2 is a noise signal diagram of a motor provided by an embodiment of the application. As shown in Figure 2, the noise signal in Figure 2 is the original noise signal, that is, the noise signal in the time domain.
  • Step S102 Obtain characteristic information of the signal, and obtain the operating state of the motor according to the characteristic information.
  • the signal related to the running state of the motor can be processed to obtain the characteristic information of the signal related to the running state of the motor.
  • the signal related to the running state of the motor can be directly processed to obtain the characteristic information of the signal related to the running state of the motor. It can also be processed by extracting part of the signal from the signal related to the running state of the motor to obtain the Characteristic information of signals related to operating status.
  • the signal related to the running state of the motor can be a collected signal related to the running state of the motor, or it can be from the collected signal.
  • the signal is extracted from the signal related to the running state of the motor.
  • the signal related to the running state of the motor may be a collected signal related to the running state of the motor.
  • the characteristic information of the signal related to the operating state of the motor may be at least one of the following: intensity information and distribution information.
  • the characteristic information of the signal related to the running state of the motor may also be other information, such as power information, which is not limited here.
  • the intensity information can be obtained based on signals related to the running state of the motor in the time domain, and can also be obtained based on signals related to the running state of the motor in the frequency domain, and signals related to the running state of the motor in the frequency domain. It can be the amplitude spectrum corresponding to the signal related to the running state of the motor.
  • the distribution information may be obtained according to the distribution signal corresponding to the signal related to the running state of the motor, and the distributed signal may be a cepstrum signal corresponding to the signal related to the running state of the motor.
  • the distributed signal corresponding to the signal related to the operating state of the motor in the time domain may also be obtained according to other suitable algorithms.
  • preprocessing the signal related to the running state of the motor may include normalizing the signal related to the running state of the motor or the signal extracted from the signal related to the running state of the motor to obtain the normalized signal. One signal. At this time, the characteristic information of the signal related to the running state of the motor can be obtained according to the normalized signal.
  • the characteristic information of the signal related to the running state of the motor Since the characteristic information of the signal related to the running state of the motor is acquired, the characteristic information can reflect the running state of the motor. After acquiring the characteristic information, the running state of the motor can be acquired according to the characteristic information.
  • the motor may have at least one operating state, and the acquired characteristic information of the signal related to the operating state of the motor is different, and the operating state of the corresponding motor may be different.
  • the running state of the motor corresponding to the characteristic information can be obtained according to the correspondence between the preset characteristic information and the running state of the motor, and the running state of the motor corresponding to the characteristic information can also be obtained according to a machine learning algorithm.
  • acquiring characteristic information of a signal related to the running state of the motor, and acquiring the running state of the motor according to the characteristic information includes: acquiring characteristic information of the signal related to the running state of the motor, according to the The characteristic information obtains the operating state of the motor corresponding to the characteristic information according to a preset correspondence relationship, and the preset correspondence relationship includes a plurality of preset characteristic information and an operating state corresponding to each preset information.
  • obtaining the operating state of the motor corresponding to the feature information according to the preset correspondence relationship includes: determining the target preset feature information corresponding to the feature information; determining the preset correspondence relationship with the target
  • the running state corresponding to the preset characteristic information is the running state of the motor.
  • the motor may have the following but not limited to the following operating states:
  • the characteristic information of the signal related to the operating state of the motor corresponds to a smaller total intensity of the signal, for example, the total intensity of the signal is less than a predefined intensity value.
  • the characteristic information of the signal related to the operating state of the motor corresponds to the total strength of the signal.
  • the total strength of the signal is within the normal range, but the strength of the signal at some frequencies is relatively large, for example, the signal The intensity at some frequencies is outside the normal range.
  • the characteristic information of the signal related to the operating state of the motor corresponds to the total intensity of the signal.
  • the total intensity of the signal is within the normal range, and the intensity of the signal at each frequency is mostly or all within the normal range.
  • the characteristic information of the signal related to the operating state of the motor corresponds to the total strength of the signal.
  • the total strength of the signal is within the normal range, but the strength of the signal at multiple frequencies is slightly higher.
  • the strength of the signal at multiple frequencies is slightly outside the normal range.
  • the characteristic information of the signal related to the operating state of the motor corresponds to a larger total strength of the signal, for example, outside the normal range.
  • a machine learning method may also be used to obtain the operating state of the motor corresponding to the characteristic information according to the characteristic information.
  • the operating state of the motor obtained in this embodiment may also be any one of the states (1) to (5) in the above example.
  • obtaining the operating state of the motor corresponding to the feature information includes: using a machine learning algorithm to obtain the operating state of the motor corresponding to the feature information according to the feature information and a machine learning model.
  • the machine learning model is obtained by using the machine learning algorithm based on multiple training samples and the labels of the training samples.
  • the training samples include the characteristic information of the signal related to the operating state of the first motor.
  • the labels of the training samples are used for Indicates the operating status of the first motor.
  • the feature information obtained in this step is used as the input of the machine learning model, and after calculation by the machine learning algorithm, a target label is output, and the target label is used to indicate the running state of the motor.
  • the first motor may be the motor in this embodiment or other motors.
  • the feature type included in the feature information of the signal related to the operating state of the first motor in the training sample is the same as the feature type included in the feature information of the signal related to the operating state of the motor obtained in this step.
  • the label of the training sample may be a character string indicating the operating state of the first motor. Accordingly, the target label is a character string indicating the operating state of the motor in this implementation.
  • the machine learning model is a neural network model.
  • the neural network algorithm can be any of the following: Back Propagation (BP) neural network, Stacked AutoEncoder (SAE) neural network, Long Short Term Memory Network , LSTM) Neural Networks, Recurrent Neural Networks (RNN), Convolutional Neural Networks.
  • BP Back Propagation
  • SAE Stacked AutoEncoder
  • LSTM Long Short Term Memory Network
  • RNN Recurrent Neural Networks
  • Convolutional Neural Networks Convolutional Neural Networks.
  • the operating state of the motor is obtained by acquiring the characteristic information of the signal related to the motor operating state, and the operating state of the motor is determined without the need for human ears, and the characteristic information of the signal related to the motor operating state can be objective Reflects the running state of the motor. Therefore, the method of this embodiment has high efficiency and accuracy for obtaining the running state of the motor.
  • Fig. 3 is a second flowchart of the method for acquiring the running state of the motor provided by an embodiment of the application. Referring to Fig. 3, the method of this embodiment includes:
  • Step S201 Obtain a signal related to the running state of the motor.
  • step S101 in the previous embodiment, which will not be repeated here.
  • Step S202 Obtain signal intensity information and/or distribution information related to the running state of the motor.
  • acquiring signal strength information and/or distribution information related to the running state of the motor includes:
  • a Fast Fourier Transform (Fast Fourier Transform, FFT for short) may be performed on the signal related to the running state of the motor to obtain the amplitude spectrum corresponding to the signal related to the running state of the motor.
  • each amplitude value in the amplitude spectrum corresponding to the signal related to the running state of the motor may be divided by the amplitude value corresponding to the zero frequency to obtain the normalized amplitude spectrum corresponding to the signal related to the running state of the motor.
  • the amplitude value corresponding to the zero frequency can be called the DC component of the amplitude spectrum, that is, the normalization method in this step is to use the DC component in the amplitude spectrum to remove other components.
  • the following describes the acquisition of the intensity information and/or distribution information of the signal according to the normalized amplitude spectrum.
  • acquiring the intensity information of the signal according to the normalized amplitude spectrum corresponding to the signal includes: acquiring the intensity information according to the normalized amplitude spectrum corresponding to the signal and M preset thresholds, and the intensity information includes M Intensity value, M is an integer greater than or equal to 1.
  • obtaining the intensity information according to the normalized amplitude spectrum corresponding to the signal and M preset thresholds includes: for any one of the M preset thresholds, obtaining the normalized amplitude spectrum The sum of the difference between each amplitude value and the first preset threshold, the sum of the difference between each amplitude value in the normalized amplitude spectrum and the first preset threshold is the intensity information corresponding to the first preset threshold The intensity value. It can be understood that the number of intensity values included in the intensity information can be determined according to the number of preset thresholds.
  • each of the M preset thresholds may be any value from 0 to 1.
  • the intensity information includes 3 intensity values; further, 3 preset threshold values are preset to be 0, 0.1, 0.2.
  • the amplitude values in the normalized amplitude spectrum whose amplitude values are greater than 0 are added to obtain the intensity value E 11 corresponding to the preset threshold value 0 in the intensity information, and each amplitude value in the normalized amplitude spectrum is added to 0.1
  • the difference value of the intensity information is added to obtain the intensity value E 12 corresponding to the preset threshold value of 0.1, and each amplitude value in the normalized amplitude spectrum is added to the difference value of 0.2 to obtain the intensity information
  • E 11 , E 12 and E 13 are three intensity values in the intensity information obtained according to the normalized amplitude spectrum, that is, E 11 , E 12 and E 13 constitute the aforementioned intensity information.
  • obtaining the distribution information of the signal according to the normalized amplitude spectrum corresponding to the signal related to the operating state of the motor includes:
  • obtaining the distributed signal corresponding to the signal according to the normalized amplitude spectrum corresponding to the signal includes:
  • the inverse cosine transform is performed on the normalized amplitude spectrum to obtain the distributed signal corresponding to the signal.
  • Other types of transformations can also be performed on the normalized amplitude spectrum to obtain the distribution signal corresponding to the signal, which is not limited in this embodiment.
  • the distribution signal here may be a cepstrum signal corresponding to the signal related to the operating state of the motor.
  • the distribution signal corresponding to the signal related to the running state of the motor can characterize the composition of the signal related to the running state of the motor, and express the frequency distribution of the signal related to the running state of the motor.
  • obtaining the distribution signal corresponding to the signal includes:
  • Triangular window down-sampling can be performed on the normalized amplitude spectrum to obtain a signal after down-sampling the normalized amplitude spectrum.
  • triangular window down-sampling can be uniform triangular window down-sampling.
  • triangular window downsampling can refer to the schematic diagram of triangular window downsampling in FIG. 4.
  • the signal after down-sampling the normalized amplitude spectrum can be obtained by the following formula:
  • g(j) is the signal after the normalized amplitude spectrum plus triangular window downsampling
  • floor(*) is the rounding operation
  • R is the motor speed
  • fs is the sampling frequency of the signal (that is, the signal obtained in step S201 The sampling frequency of the signal related to the operating state of the motor)
  • N is the length of the first sub-signal to obtain the first normalized amplitude spectrum
  • G(*) is the first normalized amplitude spectrum
  • win(i) is the triangular window Function
  • j is the abscissa of the signal after down-sampling the normalized amplitude spectrum triangular window, where the abscissa can be the number of sampling points or frequency, which is not limited here;
  • the normalized amplitude can also be down-sampled by adding other types of windows to obtain the signal after the normalized amplitude spectrum is down-sampled, which is not limited in this embodiment.
  • the inverse cosine transform can be performed on the signal after the normalized amplitude spectrum is down-sampled to obtain the distributed signal. It is also possible to perform other types of transformations (such as inverse Fourier transform, etc.) on the signal after the normalized amplitude spectrum is down-sampled to obtain the distributed signal, which is not limited in this embodiment.
  • the inverse cosine transform is performed on the signal after the normalized amplitude spectrum is downsampled, and the distributed signal can be obtained by the following formula:
  • C k is the distributed signal
  • k is the abscissa of the distributed signal
  • the abscissa can be the reciprocal frequency
  • Step S203 Acquire the operating state of the motor according to the intensity information and/or distribution information of the signal.
  • obtaining the operating state of the motor corresponding to the energy information and/or the distribution information according to the intensity information and/or distribution information of the signal includes:
  • a machine learning algorithm is used to obtain the operating state of the motor corresponding to the intensity information and/or the distribution information.
  • the machine learning model is obtained by using the machine learning algorithm based on multiple training samples and the labels of the training samples.
  • the training samples include signal strength information and/or distribution information related to the operating state of the first motor.
  • the label of the sample is used to indicate the operating status of the first motor.
  • the intensity information and/or distribution information obtained in this step is used as the input of the machine learning model, and after calculation by the machine learning algorithm, a target label is output, and the target label is used to indicate the running state of the motor.
  • the training sample when the machine learning algorithm is used to obtain the operating state of the motor corresponding to the intensity information according to the signal strength information and the machine learning model, the training sample includes the signal strength information related to the operating state of the first motor .
  • the training sample includes the distribution information of the signal related to the running state of the first motor.
  • the training sample includes the intensity of the signal related to the operating status of the first motor Information and distribution information.
  • This method uses the machine learning method to obtain the operating state of the motor, and the obtained operating state of the motor has a relatively high accuracy.
  • the operating state of the motor corresponding to the intensity information and/or the distribution information is obtained, and there are three situations as follows:
  • obtaining the operating status of the motor corresponding to the intensity information according to the intensity information of the signal includes: obtaining the operating status of the motor corresponding to the intensity information according to the intensity information of the signal according to a preset correspondence relationship. It is assumed that the corresponding relationship includes multiple preset intensity information and the operating state corresponding to each preset intensity information. Specifically: determining the target preset intensity information corresponding to the intensity information; determining that the operating state corresponding to the target preset intensity information in the preset correspondence is the operating state of the motor.
  • the intensity information includes a first intensity value corresponding to a zero value, a second intensity value corresponding to the second preset threshold value, and a third intensity value corresponding to the first preset threshold value, the first preset threshold value Less than the second preset threshold, the five preset intensity information included in the preset correspondence relationship and the corresponding operating states of the five preset intensity information are as follows:
  • the first type of preset intensity information the first intensity value is less than the first preset intensity value; the operating state corresponding to the first type of preset intensity information is abnormal startup of the motor.
  • the first preset intensity value may be any value between 0.3 and 0.7, such as 0.5.
  • the first intensity value is the intensity value corresponding to the zero value
  • the first intensity value is the total intensity value of the signal related to the running state of the motor
  • the first intensity value can indicate The total intensity value of the signal related to the running state of the motor. Therefore, when the first intensity value is less than the first preset intensity value, it can be considered that the total intensity value of the signal related to the running state of the motor is too small. Therefore, at this time The corresponding running state can be abnormal starting of the motor.
  • the second preset intensity information the first intensity value is greater than or equal to the first preset intensity value and less than or equal to the second preset intensity value, and the second intensity value is greater than the third preset intensity value; the second preset The operation status corresponding to the intensity information is the risk of abnormal operation in the first period of time.
  • the second preset intensity value may be any value from 2.5 to 3.5, for example, 3.
  • the third preset intensity value may be any value from 0.02 to 0.07, such as 0.05.
  • the second intensity value is an intensity value corresponding to the second preset threshold value, and the second preset threshold value is greater than the first preset threshold value, according to the method of obtaining the intensity value in step S202, it can be known that the second intensity value can indicate the operation of the motor The total intensity of the signal segment with relatively high intensity in the state-related signal. Therefore, when the first intensity value is greater than or equal to the first preset intensity value and less than or equal to the second preset intensity value, it can be considered that the total intensity of the signal related to the operating state of the motor is moderate, and the second intensity value is greater than the third preset intensity value.
  • the signal segment with relatively high intensity in the signal related to the operating state of the motor has a large total intensity, and the intensity of certain frequency positions in the signal related to the operating state of the motor is relatively large. Therefore, at this time The corresponding operating state may be the risk of abnormal operation in the first period of time.
  • the third type of preset intensity information the first intensity value is greater than or equal to the first preset intensity value and less than or equal to the second preset intensity value, and the second intensity value is less than or equal to the third preset intensity value and the third intensity value The difference with the second intensity value is less than or equal to the fourth preset intensity value; the operating state corresponding to the third preset intensity information is that the motor is operating normally.
  • the fourth preset intensity value may be any value from 0.3 to 0.7, such as 0.5.
  • the third intensity value is an intensity value corresponding to the first preset threshold value, and the second preset threshold value is greater than the first preset threshold value, according to the method of obtaining the intensity value in step S202, it can be known that the third intensity value may indicate the operation of the motor
  • the state-related signal strength is relatively moderate to the total strength of the signal segment. Therefore, when the first strength value is greater than or equal to the first preset strength value and less than or equal to the second preset strength value, the signal related to the operating state of the motor can be considered The total intensity of is moderate, and the second intensity value is less than or equal to the third preset intensity value.
  • the signal segment with relatively large intensity in the signal related to the motor's operating state has a smaller total intensity, that is, the signal related to the motor's operating state
  • the signal does not exist or the intensity of the frequency position is relatively large, and the difference between the third intensity value and the second intensity value is less than the fourth preset intensity value, indicating that the signal segment of the signal related to the operating state of the motor is relatively moderate in intensity
  • the total intensity of is also small, that is, the signal related to the running state of the motor does not exist or the intensity of the few frequency positions is relatively moderate. Therefore, the corresponding running state at this time can be that the motor is running normally.
  • the fourth type of preset intensity information the first intensity value is greater than or equal to the first preset intensity value and less than or equal to the second preset intensity value, and the second intensity value is less than or equal to the third preset intensity value and the third intensity value The difference between the second intensity value and the fourth preset intensity value is greater than or equal to the fourth preset intensity value; the operation state corresponding to the fourth type of preset intensity information is the risk of abnormal operation during the second duration.
  • the first intensity value is greater than or equal to the first preset intensity value and less than or equal to the second preset intensity value, it can be considered that the total intensity of the signal related to the operating state of the motor is moderate, and the second intensity value is less than or equal to the third
  • the preset intensity value it can be considered that the signal segment with relatively high intensity in the signal related to the motor's operating state has a small total intensity, that is, the signal related to the operating state of the motor does not exist or has a relatively small frequency position.
  • the difference between the third intensity value and the second intensity value is greater than the fourth preset intensity value, it indicates that the signal segment with relatively moderate intensity in the signal related to the motor's operating state has a larger total intensity, that is, the signal related to the motor's operating state
  • the intensity of the more frequency positions in the signal is relatively moderate. Therefore, the corresponding operating state at this time may be the risk of abnormal operation during the second time period.
  • the second duration is greater than the first duration, that is, the intensity of certain frequency positions in the signal related to the operating state of the motor is relatively large, and the intensity of more frequency positions in the signal related to the operating state of the motor is relatively moderate. , The motor is more prone to abnormalities.
  • the fifth preset intensity information if the first intensity value is greater than the second preset intensity value.
  • the running state corresponding to the fourth preset intensity information is excessive noise of the motor.
  • the corresponding operating state at this time may be that the noise of the motor is too large.
  • the operating state of the motor corresponding to the intensity information is obtained according to the preset corresponding relationship.
  • the preset corresponding relationship includes multiple preset intensity information and corresponding to each preset intensity information
  • the first intensity value, the second intensity value and the third intensity value included in the intensity information of the signal it is determined which of the above-mentioned (1) to (5) preset intensity information corresponds to the intensity information, if it corresponds to the above-mentioned intensity information.
  • the first type of preset intensity information determines that the running state of the motor is the abnormal start of the motor corresponding to the first type of preset intensity information.
  • obtaining the operating status of the motor corresponding to the intensity information includes: obtaining the operating status of the motor corresponding to the distribution information according to the distribution information of the signal according to a preset correspondence relationship.
  • the corresponding relationship includes multiple types of preset distribution information and operating states corresponding to each type of preset distribution information. Specifically: determining the target preset distribution information corresponding to the distribution information; determining that the operating state corresponding to the target preset distribution information in the preset correspondence is the operating state of the motor.
  • obtaining the operating state of the motor corresponding to the distribution information and intensity information includes: obtaining the distribution information according to the preset corresponding relationship according to the distribution information and intensity information of the signal
  • the operating state of the motor corresponding to the intensity information, the preset correspondence relationship includes a plurality of preset characteristic information and the operating state corresponding to each preset characteristic information.
  • the multiple preset feature information are multiple combinations of each preset intensity information and each preset distribution information. Specifically, it is: determining the target preset characteristic information corresponding to the distribution information and intensity information; determining that the operating state corresponding to the target preset characteristic information in the preset correspondence is the operating state of the motor.
  • This implementation of obtaining the operating state of the motor does not require training of a machine learning model, nor does it require a complex machine learning algorithm.
  • the hardware requirements are not high and the efficiency of obtaining the operating state of the motor is higher than the previous method.
  • the operating state of the motor is obtained by obtaining the strength information and/or distribution information of the signal related to the operating state of the motor, and the operating state of the motor is determined without the need for human ears, and due to the signal related to the operating state of the motor
  • the intensity information and/or distribution information of, can objectively reflect the operating state of the motor. Therefore, the method of this embodiment has high efficiency and accuracy in obtaining the operating state of the motor.
  • FIG. 5 is the third flowchart of the method for acquiring the running state of the motor provided by the embodiment of the application. Referring to FIG. 5, the method of this embodiment includes:
  • Step S301 Obtain a signal related to the running state of the motor.
  • step S101 in the embodiment shown in FIG. 1, which will not be repeated here.
  • Step S302 Extract N segments of sub-signals in the signal related to the running state of the motor, where N is an integer greater than or equal to 1.
  • N may be an integer greater than or equal to 2.
  • the sub-signal in this embodiment is a segment of the sub-signal whose length is less than the length of the signal, and the length of each segment of the sub-signal is the same.
  • the number of sampling points of each sub-signal may be 20000.
  • N-segment sub-signal is the N-segment sub-signal of the signal in FIG. 2.
  • FIG. 6 is a schematic diagram of N segments of sub-signals of the signal in FIG. 2.
  • N-segment sub-signals include: signals between a and b and signals between c and d.
  • the signal between a and b is a sub-signal of the signal in FIG. 2
  • the signal between c and d is a sub-signal of the signal in FIG. 2.
  • Step S303 According to the N-segment sub-signals, obtain signal strength information and/or distribution information related to the running state of the motor.
  • obtaining signal strength information and/or distribution information related to the running state of the motor includes:
  • N normalized amplitude spectra corresponding to N-segment sub-signals, where the N-segment sub-signal corresponds to the N normalized amplitude spectra one-to-one.
  • the N normalized amplitude spectra are the normalized amplitude spectra corresponding to the signal.
  • acquiring the first normalized amplitude spectrum corresponding to the first sub-signal includes:
  • a Fast Fourier Transform (Fast Fourier Transform, FFT for short) may be performed on the first sub-signal to obtain the first amplitude spectrum corresponding to the first sub-signal.
  • each amplitude value in the first amplitude spectrum may be divided by the amplitude value corresponding to the zero frequency to obtain the first normalized amplitude spectrum.
  • the amplitude value corresponding to the zero frequency can be referred to as the DC component of the first amplitude spectrum, that is, the normalization method in this step is to use the DC component in the first amplitude spectrum to remove other components.
  • the following describes the acquisition of the intensity information and distribution information of the signal related to the operating state of the motor according to the N normalized amplitude spectra.
  • obtaining signal intensity information related to the operating state of the motor includes: obtaining N sets of intensity values according to N normalized amplitude spectra, where N normalized amplitudes There is a one-to-one correspondence between the spectrum and the N groups of intensity values. Further, each group of intensity values may include M intensity component values, and M is an integer greater than or equal to 1. In other words, a set of intensity values can be obtained according to each normalized amplitude spectrum, and each set of intensity values includes M intensity component values.
  • the N groups of intensity values obtained above are the signal intensity information related to the operating state of the motor.
  • the method for obtaining N groups of intensity values will be described below.
  • obtaining the first set of intensity values according to the first normalized amplitude spectrum includes: for any of the M preset thresholds A first preset threshold to obtain the sum of the difference between each amplitude value in the first normalized amplitude spectrum and the first preset threshold, each amplitude value in the first normalized amplitude spectrum and the first preset threshold The sum of the differences is the intensity component value corresponding to the first preset threshold in the first set of intensity information. It can be understood that the number of intensity component values in a set of intensity values can be determined according to the number of preset thresholds.
  • each preset threshold can be any value from 0 to 1.
  • the first group of intensity values includes 3 intensity component values; further, 3 preset threshold values are preset to 0, 0.1, 0.2.
  • the amplitude values in the first normalized amplitude spectrum whose intensity value is greater than 0 are added to obtain the intensity component value E 11 corresponding to the preset threshold 0 in the first group of intensity values, and the first normalized amplitude spectrum is The sum of the difference between each amplitude value and 0.1 is added to obtain the intensity component value E 12 corresponding to the preset threshold 0.1 in the first group of intensity values, and the difference between each amplitude value in the first normalized amplitude spectrum and 0.2 The sum is added to obtain the intensity component value E 13 corresponding to the preset threshold 0.2 in the first group of intensity values.
  • E 11 , E 12 and E 13 are the three intensity component values in the first group of intensity values obtained according to the first normalized amplitude spectrum, that is, E 11 , E 12 and E 13 form the aforementioned first group Strength value.
  • obtaining distribution information of signals related to the operating state of the motor includes:
  • N normalized amplitude spectra obtain N distributed signals corresponding to the signals related to the operating state of the motor, and the N normalized amplitudes correspond to the N distributed signals one-to-one.
  • the inverse cosine transform is performed on the first normalized amplitude spectrum to obtain the first distributed signal. It is also possible to perform other types of transformations (such as inverse Fourier transform, etc.) on the first normalized amplitude to obtain the first distributed signal, which is not limited in this embodiment.
  • the first normalized amplitude spectrum is obtained according to the first normalized amplitude spectrum, including :
  • down-sampling the first normalized amplitude spectrum to obtain the signal after down-sampling the first normalized amplitude spectrum includes: performing triangular window down-sampling on the first normalized amplitude spectrum to obtain the first normalized amplitude spectrum Unify the signal after the amplitude spectrum is downsampled.
  • triangular window down-sampling can be uniform triangular window down-sampling.
  • the first normalized amplitude may also be down-sampled by adding other types of windows to obtain a signal after down-sampling the first normalized amplitude spectrum, which is not limited in this embodiment.
  • the inverse cosine transform may be performed on the signal after the down-sampling of the first normalized amplitude spectrum to obtain the first distributed signal. It is also possible to perform other types of transformations (such as inverse Fourier transform, etc.) on the first normalized amplitude to obtain the first distributed signal, which is not limited in this embodiment.
  • each distribution signal a set of distribution values can be obtained, and each set of distribution values includes K distribution component values.
  • the N sets of distribution values are the distribution information of signals related to the running state of the motor.
  • obtaining the first set of distribution values according to the first distribution signal includes: determining the top K of the first distribution signals
  • the distribution value is the first set of distribution values.
  • Step S304 Obtain the operating state of the motor according to the intensity information and/or distribution information of the signal.
  • obtaining the operating state of the motor corresponding to the intensity information and/or the distribution information according to the intensity information and/or the distribution information of the signal includes:
  • a machine learning algorithm is used to obtain the operating state of the motor corresponding to the N sets of intensity values and/or N sets of distribution values.
  • the machine learning model is obtained by using the machine learning algorithm based on multiple training samples and the labels of the training samples.
  • the training samples include N sets of intensity values and N sets of distribution values of signals related to the operating state of the first motor.
  • the label of the training sample is used to indicate the running state of the first motor.
  • the N sets of intensity values and N sets of distribution values obtained in this step are used as the input of the machine learning model, and after calculation by the machine learning algorithm, a target label is output, and the target label is used to indicate the running state of the motor.
  • the training sample when the machine learning algorithm is used to obtain the operating state of the motor corresponding to the intensity information according to the N sets of intensity values of the signal and the machine learning model, the training sample includes the information of the signal related to the operating state of the first motor. N groups of intensity values.
  • the training sample includes N sets of distributions of signals related to the operating state of the first motor value.
  • the training sample includes the first motor N sets of intensity values and N sets of distribution values of signals related to the operating state.
  • This method uses the machine learning method to obtain the operating state of the motor, and the obtained operating state of the motor has a relatively high accuracy.
  • the operating state of the motor corresponding to the intensity information and/or the distribution information is obtained, and there are three situations as follows:
  • obtaining the operating state of the motor corresponding to the intensity information according to the intensity information of the signal includes: obtaining the operating state of the motor corresponding to the N groups of intensity values according to a preset correspondence relationship according to the N groups of intensity values of the signal State, the preset correspondence relationship includes a variety of preset intensity information and an operating state corresponding to each type of preset intensity information. Specifically: determining the target preset intensity information corresponding to the N groups of intensity values; determining that the operating state corresponding to the target preset intensity information in the preset correspondence is the operating state of the motor.
  • each of the N sets of intensity values includes an intensity component value corresponding to a zero value, an intensity component value corresponding to the second preset threshold value, and an intensity component value corresponding to the first preset threshold value
  • the first preset threshold is smaller than the second preset threshold.
  • the preset correspondence relationship is the same as in the corresponding example in the previous embodiment.
  • the N sets of intensity values included in the intensity information of the signal determine which of the above-mentioned (1) to (5) preset intensity information corresponds to the N sets of intensity values. If it corresponds to the first type of preset intensity information, then It is determined that the running state of the motor is the abnormal start of the motor corresponding to the first preset intensity information.
  • each of the N groups of intensity values includes an intensity component value corresponding to a zero value, an intensity component value corresponding to the second preset threshold value, and an intensity component value corresponding to the first preset threshold value, Then there are N intensity component values corresponding to the zero value, N intensity component values corresponding to the second preset threshold, and N intensity component values corresponding to the first preset threshold.
  • the average value of the N intensity component values corresponding to the zero value can be obtained, the first intensity value can be obtained, and the N intensity values corresponding to the second preset threshold can be obtained.
  • the average value of the component values is used to obtain the second intensity value, and the average value of the N intensity component values corresponding to the first preset threshold is obtained to obtain the third intensity value.
  • the median value or the mean square deviation of the N intensity component values corresponding to the zero value can also be obtained according to other suitable algorithms, such as median value, mean square error, etc., to obtain the first intensity value.
  • the median value or mean square deviation of the N intensity component values corresponding to the second preset threshold value is obtained to obtain the second intensity value, and the median value or mean square deviation of the N intensity component values corresponding to the first preset threshold value is obtained to obtain the first Three intensity values.
  • obtaining the operating state of the motor corresponding to the intensity information includes: obtaining the operating state of the motor corresponding to the N sets of distribution values according to the preset corresponding relationship according to the N sets of distribution values of the signal ,
  • the preset correspondence relationship includes multiple types of preset distribution information and operating states corresponding to each type of preset distribution information. Specifically: determining the target preset distribution information corresponding to the N sets of distribution values; determining that the operating state corresponding to the target preset distribution information in the preset correspondence is the operating state of the motor.
  • the distribution information and intensity information of the signal obtain the operating state of the motor corresponding to the distribution information and intensity information, including: obtaining and obtaining and corresponding to the N groups of intensity values and N groups of distribution values of the signal according to the preset corresponding relationship
  • the operating states of the motors corresponding to the N sets of intensity values and the N sets of distribution values, and the preset correspondence relationship includes multiple preset feature information and operating states corresponding to each preset feature information.
  • the multiple preset feature information are multiple combinations of each preset intensity information and each preset distribution information. Specifically: determining the target preset information corresponding to the N sets of intensity values and the N sets of distribution values; determining that the operating state corresponding to the target preset information in the preset correspondence is the operating state of the motor.
  • This implementation of obtaining the operating state of the motor does not require training of a machine learning model, nor does it require a complex machine learning algorithm.
  • the hardware requirements are not high and the efficiency of obtaining the operating state of the motor is higher than the previous method.
  • the operating state of the motor is obtained by obtaining the strength information and/or distribution information of the signal related to the operating state of the motor, and the operating state of the motor is determined without the need for human ears, and due to the signal related to the operating state of the motor
  • the intensity information and/or distribution information of, can objectively reflect the operating state of the motor. Therefore, the method of this embodiment has high efficiency and accuracy in obtaining the operating state of the motor.
  • the "acquiring a signal related to the operating state of the motor” in the foregoing embodiment includes: acquiring a plurality of signals related to the operating state of the motor within a preset period of time.
  • “according to the characteristic information of the signal related to the running state of the motor, obtaining the running state of the motor according to the characteristic information” includes: for a first signal among the signals related to the running state of the motor , Acquiring characteristic information of the first signal; acquiring the operating state of the motor according to the characteristic information corresponding to each of the multiple signals related to the operating state of the motor.
  • the multiple signals related to the operating state of the motor may be the same type of signal, or may be different types of signals.
  • the characteristic information of the signal is obtained by the method of the embodiment shown in Fig. 3 or Fig. 5, and the running state of the motor is obtained according to the characteristic information, that is, in the preset duration
  • the operating status of multiple motors is acquired in the internal, if the number of target operating statuses in the acquired operating status of multiple motors is greater than the preset value, the operating status of the motor is considered to be the target operating status; this can enhance the aforementioned operating status
  • the robustness of the acquisition method can be set to any value between 0.5 hour and 1 day, or it can be set to 3 to 5 days, or even longer. In other embodiments, more than one is related to the running state of the motor.
  • Related signals may have partially overlapping signals, and the preset duration can be set according to actual needs, which is not limited here.
  • 10 signals related to the running state of the motor are acquired within a preset time period, and the preset value is 5.
  • the method of the embodiment shown in FIG. 3 or FIG. 5 is used to obtain 10 motor running states based on 10 signals related to the motor running state, and 10 motor running states are obtained.
  • 6 of the 10 motor running states are that the motor noise is too large, and it is determined that the motor's running state is that the motor noise is too large.
  • FIG. 7 is a first structural diagram of an apparatus for acquiring a motor operating state according to an embodiment of the application; referring to FIG. 7, the apparatus 600 for acquiring a motor operating state in this embodiment includes a memory 61, a processor 62, and a communication bus 63. The memory 61 and the processor 62 are connected through the communication bus;
  • the memory 61 is used to store computer programs
  • the processor 62 is configured to call the computer program and perform the following operations:
  • the characteristic information of the signal is acquired, and the operating state of the motor is acquired according to the characteristic information.
  • the processor 62 may be a CPU, and the processor 62 may also be other general-purpose processors, digital signal processors (DSP), application specific integrated circuits (ASIC), field programmable gate arrays (FPGA), or other programmable logic devices. , Discrete gates or transistor logic devices, discrete hardware components, etc.
  • the general-purpose processor may be a microprocessor or any conventional processor.
  • the device for acquiring the operating state of the motor in this embodiment can be used to implement the technical solutions in the foregoing method embodiments, and its implementation principles and technical effects are similar, and will not be repeated here.
  • FIG. 8 is a second structural diagram of the device for acquiring the operating state of a motor provided by an embodiment of the application; referring to FIG. 8, the device 600 for acquiring the operating state of a motor in this embodiment, on the basis of the device shown in FIG. 7, further includes: The communication bus 63 is connected to the signal collector 64 and the motor 65 of the processor;
  • the signal collector 64 is configured to collect signals related to the operating state of the motor 65;
  • the processor 62 is specifically configured to perform the following operations when acquiring a signal related to the running state of the motor:
  • the signal related to the operating state of the motor 65 is obtained from the signal collector 64.
  • the signal collector 64 may include at least one of the following: a microphone, an accelerometer, a vibration sensor, a piezoelectric crystal, a barometer, an ammeter, and an inertial measurement unit.
  • the device for acquiring the operating state of the motor in this embodiment can be used to implement the technical solutions in the foregoing method embodiments, and its implementation principles and technical effects are similar, and will not be repeated here.
  • the processor 62 is further configured to perform the following operations when acquiring characteristic information of the signal:
  • the signal is preprocessed.
  • the preprocessing includes normalizing the signal to obtain a normalized signal.
  • the characteristic information includes intensity information and/or distribution information of the signal, and when the processor 62 obtains the characteristic information of the signal, and obtains the operating state of the motor according to the characteristic information, specifically Used to perform the following operations:
  • the operating state of the motor is acquired.
  • the processor 62 acquires the intensity information and/or distribution information of the signal, it is specifically configured to perform the following operations:
  • the processor 62 is specifically configured to perform the following operations when acquiring the normalized amplitude spectrum corresponding to the signal:
  • the processor 62 is specifically configured to perform the following operations when acquiring the intensity information of the signal according to the normalized amplitude spectrum corresponding to the signal:
  • the intensity information is obtained according to the normalized amplitude spectrum corresponding to the signal and M preset thresholds, where the intensity information includes M intensity values, and M is an integer greater than or equal to 1.
  • the processor 62 is specifically configured to perform the following operations when acquiring the intensity information according to the normalized amplitude spectrum corresponding to the signal and M preset thresholds:
  • the sum of the difference between each amplitude value in the normalized amplitude spectrum and the first preset threshold is obtained, and each amplitude value is compared with the first preset threshold.
  • the sum of the difference of the threshold value be the intensity value corresponding to the first preset threshold in the intensity information.
  • the preset threshold is any value from 0 to 1.
  • the processor 62 is specifically configured to perform the following operations when acquiring the distribution information of the signal according to the normalized amplitude spectrum corresponding to the signal:
  • the first K distribution values in the distribution signal are distribution information of the signal, where K is an integer greater than or equal to 1.
  • the processor 62 is specifically configured to perform the following operations when obtaining the distributed signal corresponding to the signal according to the normalized amplitude spectrum corresponding to the signal:
  • the distributed signal corresponding to the signal is obtained.
  • the processor 62 is specifically configured to perform the following operations when obtaining the distributed signal corresponding to the signal according to the signal after down-sampling the normalized amplitude spectrum:
  • the processor 62 is specifically configured to perform the following operations when down-sampling the normalized amplitude spectrum to obtain a signal after down-sampling the normalized amplitude spectrum:
  • Triangular window down-sampling is performed on the normalized amplitude spectrum to obtain a signal after the down-sampled normalized amplitude spectrum.
  • the triangular window downsampling is uniform triangular window downsampling.
  • the motor includes at least one of the operating states
  • the characteristic information of the signal is acquired
  • the processor 62 is specifically configured to execute when acquiring the operating state of the motor according to the characteristic information Do as follows:
  • the characteristic information of the signal is acquired, and the operating state of the motor corresponding to the characteristic information is acquired according to the characteristic information according to a preset corresponding relationship.
  • the preset corresponding relationship includes multiple preset characteristic information and each The operating status corresponding to the preset feature information.
  • the processor 62 is specifically configured to perform the following operations when acquiring the operating state of the motor corresponding to the characteristic information according to a preset correspondence relationship according to the characteristic information:
  • Target preset feature information corresponding to the feature information, where the target preset feature information is feature information in the multiple preset feature information;
  • the operating state corresponding to the target preset information in the preset correspondence is the operating state of the motor.
  • the at least one of the operating states is at least one of the following:
  • the motor starts abnormally, the motor has a risk of abnormal operation after the first time period, the motor operates normally, the motor has a risk of abnormal operation after the second time period, and the noise during the operation of the motor is excessive ;
  • the first duration is less than the second duration.
  • the processor 62 is specifically configured to perform the following operations when acquiring the operating state of the motor corresponding to the characteristic information according to the characteristic information:
  • a machine learning algorithm is used to obtain the operating state of the motor corresponding to the characteristic information.
  • the machine learning algorithm is a neural network algorithm
  • the machine learning model is a neural network model
  • the signal related to the running state of the motor is one or more of the following:
  • the noise signal of the motor and the current signal of the motor are signals measured by an inertial measurement unit provided on the outer wall of the motor.
  • the noise signal of the motor is collected by a microphone, an accelerometer, a vibration sensor, a piezoelectric crystal, and/or a barometer.
  • the processor 62 is specifically configured to perform the following operations when acquiring a signal related to the running state of the motor:
  • the processor 62 is specifically configured to perform the following operations when acquiring characteristic information of the signal and acquiring the operating state of the motor according to the characteristic information:
  • the device for acquiring the operating state of the motor in this embodiment can be used to implement the technical solutions in the foregoing method embodiments, and its implementation principles and technical effects are similar, and will not be repeated here.
  • An embodiment of the present application also provides a computer-readable storage medium, including a program or instruction, and when the program or instruction runs on a computer, the method described in the foregoing method embodiment is executed.
  • An embodiment of the present application also provides an electronic device, including a motor and the above-mentioned obtaining device for obtaining the operating state of the motor.
  • the device for acquiring the operating state of the motor in this embodiment can be used to implement the technical solutions in the foregoing method embodiments, and its implementation principles and technical effects are similar, and will not be repeated here.
  • the electronic device can be any electronic device that needs to be driven by a motor, such as a radar, a drone, an electric fan system, etc., where the radar can be a mechanical scanning lidar, and the drone can be a Human aircraft, unmanned vehicles, unmanned ships, etc., are not limited here.
  • a motor such as a radar, a drone, an electric fan system, etc.
  • the radar can be a mechanical scanning lidar
  • the drone can be a Human aircraft, unmanned vehicles, unmanned ships, etc., are not limited here.
  • a person of ordinary skill in the art can understand that all or part of the steps in the foregoing method embodiments can be implemented by a program instructing relevant hardware.
  • the aforementioned program can be stored in a computer readable storage medium. When the program is executed, it executes the steps including the foregoing method embodiments; and the foregoing storage medium includes: ROM, RAM, magnetic disk, or optical disk and other media that can store program codes.

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  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
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  • Control Of Electric Motors In General (AREA)

Abstract

L'invention concerne un procédé et un appareil d'obtention d'état de fonctionnement de moteur. Le procédé consiste à : obtenir un signal lié à un état de fonctionnement d'un moteur (S101) ; et obtenir des informations de caractéristiques du signal, et obtenir l'état de fonctionnement du moteur selon les informations de caractéristiques (S102). Le procédé et l'appareil d'obtention d'état de fonctionnement de moteur selon l'invention permettent d'obtenir de manière efficace et précise un état de fonctionnement d'un moteur.
PCT/CN2019/074606 2019-02-02 2019-02-02 Procédé et appareil d'obtention d'état de fonctionnement de moteur WO2020155147A1 (fr)

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CN201980005478.4A CN111819452A (zh) 2019-02-02 2019-02-02 电机运行状态的获取方法和装置

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