CA1159562A - Vibration diagnosing method and apparatus for a rotary machine - Google Patents
Vibration diagnosing method and apparatus for a rotary machineInfo
- Publication number
- CA1159562A CA1159562A CA000373334A CA373334A CA1159562A CA 1159562 A CA1159562 A CA 1159562A CA 000373334 A CA000373334 A CA 000373334A CA 373334 A CA373334 A CA 373334A CA 1159562 A CA1159562 A CA 1159562A
- Authority
- CA
- Canada
- Prior art keywords
- vibration
- unbalance
- abnormal
- rotor
- pattern
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired
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Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M1/00—Testing static or dynamic balance of machines or structures
- G01M1/30—Compensating unbalance
- G01M1/34—Compensating unbalance by removing material from the body to be tested, e.g. from the tread of tyres
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01H—MEASUREMENT OF MECHANICAL VIBRATIONS OR ULTRASONIC, SONIC OR INFRASONIC WAVES
- G01H1/00—Measuring characteristics of vibrations in solids by using direct conduction to the detector
- G01H1/003—Measuring characteristics of vibrations in solids by using direct conduction to the detector of rotating machines
Abstract
ABSTRACT OF THE DISCLOSURE
A vibration diagnosing method for a rotary machine for diagnosing a vibration in a rotor of the rotary machine by detecting the number of rotations and the vibration in the rotor when the rotor is rotating, comprising means for extracting an unbalance vibration component synchronized with the number of rotations from a signal representing a vibration of the rotor detected, means for judging as to whether the unbalance vibration component is normal or abnormal, depending on the result of the comparison of the extracted unbalance vibration component with its allowance; means for calculating an abnormal vibration component through a vector operation by using the unbalance vibration component and a rotor vibration component in a normal state of the rotor, which is previously stored, when the unbalance vibration component is judged to be abnormal, and normalizing a vibration pattern of the abnormal vibration component; and means for calculating an unbalance originating position in the rotor, which generates the abnormal vibration, by using a comparison of the normalized abnormal vibration pattern with a norma-lized vibration pattern of the previously stored unbalanced vibration, means which compares the amplitudes in the normalized abnormal vibration pattern with those in the normalized vibration pattern previously stored and judges that the position having the approximate amplitudes is the unbalance generating position; and a quantity of the unbalance is calculated by the abnormal vibration component vector opeated, the unbalance generating position, and the influence coefficient of the unbalance vibration previously stored.
A vibration diagnosing method for a rotary machine for diagnosing a vibration in a rotor of the rotary machine by detecting the number of rotations and the vibration in the rotor when the rotor is rotating, comprising means for extracting an unbalance vibration component synchronized with the number of rotations from a signal representing a vibration of the rotor detected, means for judging as to whether the unbalance vibration component is normal or abnormal, depending on the result of the comparison of the extracted unbalance vibration component with its allowance; means for calculating an abnormal vibration component through a vector operation by using the unbalance vibration component and a rotor vibration component in a normal state of the rotor, which is previously stored, when the unbalance vibration component is judged to be abnormal, and normalizing a vibration pattern of the abnormal vibration component; and means for calculating an unbalance originating position in the rotor, which generates the abnormal vibration, by using a comparison of the normalized abnormal vibration pattern with a norma-lized vibration pattern of the previously stored unbalanced vibration, means which compares the amplitudes in the normalized abnormal vibration pattern with those in the normalized vibration pattern previously stored and judges that the position having the approximate amplitudes is the unbalance generating position; and a quantity of the unbalance is calculated by the abnormal vibration component vector opeated, the unbalance generating position, and the influence coefficient of the unbalance vibration previously stored.
Description
l The invention relates generally to a vibration diagnosing method for a rotary machine and an apparatus for executing the method. The invention relates particularly to a method which diagnoses an abnormal vibration caused by an unbalance occurring in a rotating shaft of a rotor in a rotary machine by detecting the number o~ rotations when the rotary machine is rotating and a vlbration in the rotor and, as a result of the diagnosis, which obtains an unbalance position and an unbalance quantity, and an apparatus for executing the method.
This type of the technique is applicable for the maintenance of the rotary machine such as a turbine.
Particularly in recent years, as an atomic or thermal power plant increases in size, a high reliability of the turbine/generators as principal equipment becomes more important. Por a smooth power supply, it is essentia~ to quickly make the maintenance of the equlpment after a failure has occurred. ~herefore, the vibration diagnosis of this type of the rotary machine is extremely of significance. A trouble of the rotary machine has various causes. .Similarly, the abnormal phenomena are various in ~he type. Of those abnormal phenomena, abnormal shaft vibration inter alia is predominant, frequently leading to serious troubles.
. ~
-- 1 _ 1 A shaft system used in a power plant, such as the turbine/generator, constitutes a long and large scale system. Therefore, if a trouble occurring in the system is sensed, it takes an extrodinarily long time to find out a trouble position and a scale of the trouble.
With the above background, there has eagarly been demanded the development of a vibration diagnosing technique which can early find an abnormality in the shaft on the basis of a vibration of the shaft to diagnose its trouble position and a quantity of the abnormal vibration, for the purpose of the improvement of a reliability of the rotary machine and of rationaliz-ing the maintenance and inspection of the rotary machine. Particularly, the abnormal vibration occurring in the shaft contains much of the vibration component synchronized with the number of rotations, i.e. an unbalance vibration. Therefore, it i$ urgent to develope an effective diagnosing technique to find and estimate the generating position of the unbalance vibration as an unbalance vibration source, and the vibration quantity.
So long as we know, there has been onl~ an approach for diagnosing the unbalance originating posi-tion in which a relationship between the number of rotations and a journal vibration is depicted on the polar coordinates for its monitoring over an entire range of the running of the rotary machine and the unbalance originating position is estimated from a feature of a profile of the relationship depicted.
This approach, however, is limited in its unbalance pattern generated and not satisactory in its accuracy of estimating the unbalance originating position. ~urther, a monitoring speed range for the rotary machine is too wide. Accordingly, this appraoch gives insuficient effects also in monitoring the unbalance quantity generated.
Accordingly, an object of the present invention is to provide a vibration diagnosing method for a rotary machine which can judge an unbalance originating position as an unbalance vibration source in the rotor of the rotary machine from the abnormal vibration generated in the rotor, and realizes a smooth running of the rotary machine and ease of the maintenance.
Another object of the present invention is to provide an apparatus for executing the vibration diagnosing method for rotary machines.
In accordance with one aspect of the invention there i5 provided a vibration diagnosing method for a rotary machine for diagnosing a vibration in a rotor of the rotary machine by detecting the number of rotations and the vibrations in the rotor when the rotor is rotating, comprising the steps of: extracting an unbalanc~ vibration component synchronized with the number of rotations from a signal representing a vibration of the rotor detected;
judging as to whether said unbalance vibration component is normal or abnormal, depending on the result of the comparison of the extracted unbalance vibration component with its allowance; calculating an abnormal vibration B
~5~
component through a vector operation by using said ~nbalance vibration component and a rotor vibration component in a normal state o~ the rotor, which is previously stored, when said unbalance vibration component is judged to be abnormal, and normalizing a vibration pattern of said abnormal vibration component; and calculating an unbalance originating position in the rotor, which generates the abnormal vibration, by using a comparison of sa~d normalized abnormal vibration pattern with a normalized vibration pattern of said previously stored unbalanced vibration.
In accordance with another aspect of the invention there is provided a vibration diagnosing apparatus ~or rotary machine for diagnosing a vibratiQn in a rotor of the rotary machine ~y detecting th~ number o~ rotations and the vibration in the rotor when th~ rotor is rotating, comprising a rotation sensor for sensing the number of rotations of the rotor; a vibration detector for detecting a vibration gene~ated in th~ rotor at a proper position of the rotor; a vibration analyzer for extracting an unbalance vibration component 5ynchronized with the number of rotations by using a vibration signal from said vibration detector and a phase reference signal obtained from said rotation sensor; judging means for judging whether said unbalance vibration component is normal or abnormal by comparing an unbalance vibration component derived from said vibration analyzer with a reference value; memory means for previously storing a rotor vibration component in a normal state; first arithmetic means for extracting an abnormal vibration component on the .
basis of an abnormal unbalance vibration component derived from said judging means and a normal vibration component stored in and derived from said memory means; second arithmetic means for specifying a maximum amplitude of an abnormal vibration component from said first a~ithmetic means; third ari~hmetic means for normalizing said abnormal vibration component on the basis of the maximum amplitude of the abnormal vibration component derived from said second arithmetic means; pattern memory means for previously storing the normalized pattern of the unbalance vibration;
unbalance originating position identifying means for identifying a position in the rotor where the unbalanced vibration ~ausing the abnormal vibration is generated on the basis of the comparison of the normalized abnormal vibration pattern from said third arithmetic means with the normalied unbalanced vibration pattern from said pattern memory means.
Such a scheme rapidly judges an abnormal vibration generated in the rotary machine and rapidly specifies an unbalance vibration originating position as an unbalance vibration source, thereby to ensure a smooth and stable operation of the rotary machine.
The present invention further involves means for calculating quantity of the unbalance generated at the unbalance vibration originating position on the basis of the abnormal vibration component vector-operated and the unbalance vibration previously stored. This means specifies the unbalance quantity of the unbalance vibration generated.
- 4a -:
Fig. 1 is a block diagram of an embodiment of a vibration diagnosing apparatus for a rotary machine according to the present invention;
Fig. 2 is a flow chart for illustrating a flow o~ a diagnosing process in the vibra~ion diagnosing apparatus shown in Fig. l;
Fig. 3 is a graphical representation of a - 4b -, , ~L~
1 vibration pattern of a normalized abnormal vibration component by the apparatus shown in Fig. l;
Figs. 4 and 5 are graphs for representing normalized vibration patterns previously stored in the apparatus shown in Fig. l;
Fig. 6 is a circuit diagram of another embodiment of a vibration diagnosing apparatus for a rotary machine according to the present invention;
Fig. 7 is a flow chart for illustrating a flow of a diagnosiing process by the apparatus shown in Fig. 6;
; Figs. 8 and 9 are graphs for illustrating a vibration pattern for specifying an unbalance vibration originating position by the apparatus shown in Fig. ~;
and Figs. 10 and 11 are graphs for illustrating another vibration pattern ~or specifying an unbalance vibration originating position by the apparatus shown in Fig. 6.
Embodiments of a vibratlon diagnosing method for a rotary machine and its apparatus according to the present invention wil.l be described referring to the drawings. A vibration diagnosing technique for a turbine rotor in a turbine power plant is treated as the embodiment in the specification. Fig. 1 illustrates in block form a construction of the vibration diagnosing apparatus according to the present invention. In the figure~ reference numerals 1 and 2 designate turbine rotors; 3 a generator rotor; 41 to 46 bearing for , 1 supporting the respective rotors.
The vibration diagnosing apparatus accordin~
to the invention diagnoses the dynamic health of the rotor by detectlng the number of rotations of each of the rotors l, 2 and 3 as shown when those are rotating and by a ~ournal vibration at each of the bearings 41 to 46 for the rotors. A rotation sensor 5 is provided for detectin~ the number of rotations or a rotor speed of the rotor l. The sensor 5 is so desinged to sense the number of rotations of the rotor when the rotor speed is increased or decreased. In the present embodi-ment, the sensor 5 is disposed close to the bearing 41 of the turbine rotor 1 so as to sense the number of rotations of the rotor 1. A signal from the sensor 5 is also used as a phase refer0nce signal _ for extracting an unbalance vibration component from a vibration signal through an analyzing process of the vibration signal.
A vibration detector 6 is provided for sensing the journal vibrations at the bearings 41 to 46. In the present embodiment, sensors 61 for sensing rotor vibrations are provided for the bearings, respectively, and signals b from the respective sensors 61 are applied to the vibration detector 6. A vibration signal c from the vibration detector 6 is applied to a vibration analyzer 7 where it is analyzed to extract an unbalance vibration component _ synchronized with the number of rotations. A vibration state depends on the number of rotations. In the present embodiment, therefore, the 1 measure~ vibration signal c is analized with respect to the number of rotations and the result of the analysis is sent to a ~udging device 8. The analysis is conducted on the basis of the phase reference signal a derived from the rotation sensor 5 and the vi~ration signal c from the vibration detector 6. The judging device 8 ~udges whether an unbalance vibration cornponent u as the result of the analysis in the analyzer 7 is normal or not. Since the component _ is already compared with the reference signal a representing a tolerable vibration, the judging device 8 is so desinged as to inhibit the component u from passing therethrough when it is within a tolerable range, and to permit it to pass therethrough only when it is abnormal. Accordingly, when the component _ is judged to be abnormal by the device 8, the device 8 produces an abnormal unbalance vi~ration component u' for transfer to a vector operation unit 10. I~hen the component u is abnormal, u' = u, while when it is normal, u' = 0. The vector operation unit 10 extracts only an abnormal vi~ration component v through a vector operation of the abnormal unbalance component u' a normal vibration. Speci~ically, since the component u' contains the normal vibration component, the unit 10 compares the component u' with the normal vibration to extract only the abnormal vibration component _. To this end, it is necessary to clearly define the normal vibration U in the apparatus. In the present embodiment, this is realized such that the normal vibrations at the 1 bearings 41 to 46 in a normal state are previously stored in a memory 9 and the normal vibration signal U
is supplied from the memory 9 to the vector operation unit 10. In this way, only the abnormal vibration component v due to the unbalance generated in any of - the rotors 1, 2 and 3 is extracted. The component v is further sent to an arithmetic unit 11 for determining a maximum amplitude generating position k where a position k representing the maximum amplitude of the abnormal vibrati.on component v extracted. The unbalance vibration component v is applied to a normalizin~ opera-tion unit 12, as a reference of the maximum amplitude ~enerating position k obtained by the arithmetic unit 11.
In the normalizing operation unit 12, the component v is normalized by the maximum amplitude. The normaliza-tion is required to compare various vibration patterns with the normal vibration component, and the principle of this will be described later. A signal.normalized by the operation unit 12, that is, an abnormal vibration pat~ern V, is transferred to a pattern recognizer 14 where it is compared with various un~alance vibration patterns P previously stored in a pattern memory 13.
Influence coefficients each representing a vibration at each bearing journal when a unit unbalance is applied to a point on each rotor 1, 2 and 3 as viewed in the axial direction are sto.red in the pattern memory 13.
The influence coefficient pattern P transferred ~rom the pattern memory 13 to the pattern recognizer 14 are 1 normalized through the arithmetic units 11 and 12 to be the normalized pattern P. Accordingly, the pattern recogni~er 14 compares the normalized abnormal signal pattern V with the various normalized ~nbalance vibration patterns P, to estimate an unbalance generating position in the rotor. Thus, since the patterns P o~ the unbalance generated at ~arious positions ~re previously stored in the pattern memory 13, if the signal pattern V of the normalized actual abnormal vibration is successively compared with the various unbalance vibration patterns P stored to select the pattern P most similar to the pattern V, a position on the rotor where an unbalance is intentionally produced for storing the pattern P is estimated as the position now providing the abnormal unbalance. A recognition result _ thus obtained is transferred to an unbalance quantity (magnitude and angle) operation unit 15. Applied to the operation unit 15 are the influence coefficient from the memory 13 and the component _' in addition to the recognition result d.
The operation unit 15 calculates an abnormal vibration quantity (magnitude and angle) at the abnormal vibration generating position and its principe will be described later. The unbalance position and the unbalance quantity e are displayed by a display unit 16 such as a line printer or a CRT display.
A principle of diagnosing the unbalance position and unbalance quantity in the present embodiment will be described hereinafter. Symbols used in the following _ 9 _ 1 description will be defined as below, for simplici'cy.
k Number representing the number of rotations (k = 1, 2, ..., K) i Number representing positions of bearings 5 (i = 1, 2, ... , I) j Number representing positions of giving rise of unbalance (~ = 1, 2, ..., J) Ui(k) Unbalance vibration when the k-th rotation at the bearing position i is normal ui(k) Unbalance vibration when the k-th rotation at the bearing position i is abnormal vi(k) Unbalance vibration component arising from only the unbalance when the k-th rotor speed at the bearing position i is abnormal Vi(k) Normalized ui(k) (abnormal vibration pattern) Pi;( ) Vibration at the bearing position i at the k-th rotor speed when a unit unbalance is applied to the unbalance position 1 Pij(k) Normalized Pij(k) (unbalance vibration pat~ern) l l Amplitude of vibration (In the description of Vi(k) and Pi~(k), the term normalize~ means the maximum amplitude is set to 1) ~he descripkion of the unbalance posltion and the unbalance quantity will be given in detail referring to Figs. 1 and 2.
(1) Evaluation of Unbalance Position Assume now that, when the rotor is running, ~, .
5~
1 ~he vibration and the number of rotations are being measured (see blocks 101, 105 and 106 in ~ig~ 2), an abnormal vibration occurs at the k-th rotor speed and the bearing position i. In a step 107, the abnormal vibration is sensed b~ the sensor 61 and detected by the vibration detector 6 and the detected abnormal vibration is applied from the detector 6 to the vibration analyzer 7. The analyzer 7, as described above, properly analyzes the vibration signal c from the vibration detector 6 with relation tG the phase reference signal a ~rom the rotation detector 5, to extract the unbalance vibration ui(k). In a step 108, the ~udging device 8 compares the reference signal a with the unbalance vibration ui(k). When the unbalance vibration is abnormal, the unbalance vibration ui(k) passes through the ~udging device 8 to enter the vector operation unit 10 to calculate a difference between the vibrations o~
each journal in the normal and abnormal states (see step 110). The vector operation unit 10 per~orms the follow-ing calculation;
Vi Ui i ~1 (i = 1, 2, .~
Through the above calculation, onl~ the abnormal ~i~rationcomponent vi(k) is extracted. In other words~ the vec~or operation unit 10 remo~es the normal vibration component ; ui(k) from the unbalance vibration component u~k~ to l obtain only the abnormal vibration component vi(k) (see steps lO9 and llO). The abnormal vibration component vi(k) is a vector quantity containing the in~ormation of phase and amplitude. A step lll calculates by the arithmetic unit ll a position where the abnormal vibration component vi(k) has a maximum or peak amplitude and the maximum amplitude as well, in order to determine the maximum amplitude of the abnormal vibration component.
That is, the maximum amplitude calculated is mathemati-cally expressed by ¦v¦ = ¦vi Imax (2) In order to normalize the vibration difference by themaximum amplitude, a step 112 performs the following operation by the normalizing operation unit 12, Vi(k) = vi(k)/¦v¦ (3) (i = l, 2, ..., I) As a result, the vi(k) is a vector quantity containing phase and amplitude, exhibiting a vibration amplitude pattern o~ ¦Vi(k)¦max = l ~k: constant). This indicates that the vibration di~ference is normalized.
An example of the vibration amplitude pattern is illustrated in Fig. 3. In the graph depicted for k rpm of the rotor speed, the abscissa represents measuring positions and Bl, B2, ... BI corresponding to data at the bearing positions 41 to 46 shown in Fig. l. The l ordinate represents the vibration amplitude ¦Vi(k)¦ of the abnormal vibration component normalized, For example, even thé maximum amplitude is l, like B2.
As described above, the pattern memory 13 stores the influence coefficients Pi~(k) when a unit unbalance is applied to the various unbalance positions (; = l, 2, ..., J). The influence coefficierlt pi~(k~
is also a vector quantity containing the information of phase and amplitude. The influence coefficient Pi~(k~
normalized through the units ll and 12 is determined to have a pattern of the vibration amplitudes ~ith respect to the unbalance positions, with ¦Pij~k~¦max = l (i and k: constant).
An example of the pattern is illustrated in a bar graph shown in Fig. 4. The graphs of Figs. 4 (a) and 4 (b) are plotted when the number of rotations i5 k rpm. The graph o~ Fig. 4 ~a) indicates that when the unbalance occurs at a position ; = 2, i.e. at ~2 in Fig. 2g the unbalance vibration amplitudes of Bl to B6 are present at the bearings 41 to 46, respectively.
The graph in Pig. 4 Cb~ indicates that ~hen the unbalance takes place at a position 3 = 3, i.e. at ~ = 3 in Fig. 2, the bearings 41, 42, ..., 46 have unbalance vibration amplitude as shown~ respectively. The absissa represents measuring positions, as in the case of Fig. 3, and Bl to B6 correspond to the bearings 41, to ;~
46, respectively. ~he ordinate represents the unbalance vibration amplitude ¦Vi(k)¦ of which the maximum 1 amplitude takes 1 as a result of the normali~ation.
A step 113 is as mentioned above. The pattern recogni~er 14 makes a pattern recognition of the abnormal vibration pattern properly processed after actually measured, i.e.
the abnormal vibration amplitude pattern, ~ith relatlon to the unbalance vibration amplitude pattern ¦Pij( )¦
previously stored, thereby to evaluate the unbalance position. As described above, since the various patterns ¦Pi~(k)¦ when the unit unbalance is applied to specific various positions 1 are stored in the pattern memory 13, the normalized the patterns ¦Pi~(k)¦ are compared with the abnormal vibration pattern ¦Vi(k)¦ resulting from the actually measuring, and the ¦Pi~(k)¦ most similar to ¦Vi(k)¦ is selected. In the present example, only the amplitude of the vlbration is taken into account, while ignoring the phase information (although the example further taking account of the phase information will be described later) when the pattern comparison is performed. The pattern comparing operation in the presen~ example will be given below.
The amplitude pattern ¦Vi k)¦ of the abnormal vibration are arranged in order o~ the magnitudeg of il( )1~ lVi2( )1~ Vii(k)l Then, a combination (il, j) satisfying i - il is obtalned from the unbalance vibration amplltude pattern ¦pij(k) Additionally~ a combination (i2, ~') satisfying i = i2 for J satisfying i - il is obtained. Subsequently, this operation is successively repeated. Finally, it is 1 estimated that the vibration amplitude pattern with the combination (i, ~) of the largest number of the repeti-tions is most similar to the abnormal vibration amplitude pattern produced in the rotor.
In other words~ from the ~arious unbalance ~ibra-tion amplitude patterns ¦Pi~Ck)l stored~ a pattern in whlch the bearing position having the maximum amplitude is il - is seiected, and from the pattern selected a pattern in which the bearing position ~ith the second amplitude is i2 is selected. In this way, patterns for the third, fourth amplitudes, .~. will be selected successively.
Finally, a pattern finally left is estimated to be closes in configuration to the abnormal amplitude pattern occuring in the rotor. Accordingly, the unbalance position of the most analogous pattern of those patterns stored represents the actual unbalance position in the rotor.
Then, the following operation of the abnormal ` vibration amplitude ¦~i(k)¦ and the unbalance vi~ration amplitude ¦Pi~(k)¦, which results from the normalization of the unbalance vibration amplitude ¦Pij(k)¦ at the respective positions, is performed I
j i-l (IPij l _ Ivi(k)l)2 (4) ; (~ = 1, 2, ..... , J) ~ - 15 -. . .
.
.
R~ = ~ C5) (~ = 1, 2, .~.,,, J) 1 ~he equations (4) and (5) indicate how the normalized ¦Pi.(k)¦ of the unbalance vibration amplitude J
pattern stored and applied is deviated from the actual abnormal vibration amplitude ¦Vi(k)¦ in the rotor Accordingly, of those posi~ions 1 in the various memory pattern ¦P~ the position i with the least S; and Rj, that is, the position i with the least deviation, represents the actual unbalance position.
Therefore~ the unbalance position in khe rotor may be diagnosed on the basis of the unbalance position obtained by the (i, ~) combination and by the unbalance position providing the least values ~n the equation (4) or (5). An example of this pattern recognition is illustrated ln Table I.
Table I Unbalance Position Evaluation by ~: Pattern Recognition . ~
Amplitude peak Order of Unbalance position, i S or R Judge-: position (from small ment . lVi(k)l - 1 Ipij(k)l = 1 to large) _ _ ~ . B2 B1 _ x -~ 2 B2 B2 o : . B2 B2 2 _ . _ 4 B2 B3 4 x _ _ B2 B4 . x - Cont'd -Table I (Cont'd) I ~ B2 BI j J ¦ X
1 In Table I, o in the Judgement column indicates that the unbalance position is established. ~ indicates high possibility of the unbalance position. x indicates no possibiliky of the unbalance position. Table 1 shows that the abnormal vibration amplitude having the peak value of those ¦Vi(k)¦ ~rom the respective bearings 41 to 46, B2, that is, the data from the bearing 42. The table further shows that when the unit unbalance is applied to the unbalance positions jl, j2, ....
the amplitude patterns having the maximum amplitudes of those unbalance vibration amplitude patterns ¦Pi~(k)¦
obtained from the bearings 41 to 46 as the detection posit~ions or the normalized unbalance vibration amplitude patterns ¦Pij(k)¦, are Bl, B2, B3~ B4, ... (i.e. t'nose at the bearings 41, 42, 43 and 44) at the respective positions jl, ~2, ... . Therefore, two positions where the amplitudes are qual and where the patterns are analogous are ~2 and j3. It is estimated, therefore, that the actual unbalance is produced at either j2 or ~3. Further, S or R representing the deviation having a least value is located at the position ~2. There is a high possibility that the unbalance is at the position where the results of the above two judging operations are , .:
:
1 coincident with each other. The position jl~ however, has the deviation which is second in order as counted from the least one. In addition, the coincident of the amplitude peak values holds at the position jl. There-fore, the judgement for the position Jl is a highpossibility of the unbalance occurance. In this case, if the pattern recognition of Fig. 4 is applied for the second, third and subsequent amplitudes, in addition to the ~irst or peak (maximum) amplitude, the ~udgement of the un~alance position is further improved in accuracy.
The quantity of the unbalance at the position j2, following the unbalance position Judgement as mentioned above, will be given hereinafter.
This type of the technique is applicable for the maintenance of the rotary machine such as a turbine.
Particularly in recent years, as an atomic or thermal power plant increases in size, a high reliability of the turbine/generators as principal equipment becomes more important. Por a smooth power supply, it is essentia~ to quickly make the maintenance of the equlpment after a failure has occurred. ~herefore, the vibration diagnosis of this type of the rotary machine is extremely of significance. A trouble of the rotary machine has various causes. .Similarly, the abnormal phenomena are various in ~he type. Of those abnormal phenomena, abnormal shaft vibration inter alia is predominant, frequently leading to serious troubles.
. ~
-- 1 _ 1 A shaft system used in a power plant, such as the turbine/generator, constitutes a long and large scale system. Therefore, if a trouble occurring in the system is sensed, it takes an extrodinarily long time to find out a trouble position and a scale of the trouble.
With the above background, there has eagarly been demanded the development of a vibration diagnosing technique which can early find an abnormality in the shaft on the basis of a vibration of the shaft to diagnose its trouble position and a quantity of the abnormal vibration, for the purpose of the improvement of a reliability of the rotary machine and of rationaliz-ing the maintenance and inspection of the rotary machine. Particularly, the abnormal vibration occurring in the shaft contains much of the vibration component synchronized with the number of rotations, i.e. an unbalance vibration. Therefore, it i$ urgent to develope an effective diagnosing technique to find and estimate the generating position of the unbalance vibration as an unbalance vibration source, and the vibration quantity.
So long as we know, there has been onl~ an approach for diagnosing the unbalance originating posi-tion in which a relationship between the number of rotations and a journal vibration is depicted on the polar coordinates for its monitoring over an entire range of the running of the rotary machine and the unbalance originating position is estimated from a feature of a profile of the relationship depicted.
This approach, however, is limited in its unbalance pattern generated and not satisactory in its accuracy of estimating the unbalance originating position. ~urther, a monitoring speed range for the rotary machine is too wide. Accordingly, this appraoch gives insuficient effects also in monitoring the unbalance quantity generated.
Accordingly, an object of the present invention is to provide a vibration diagnosing method for a rotary machine which can judge an unbalance originating position as an unbalance vibration source in the rotor of the rotary machine from the abnormal vibration generated in the rotor, and realizes a smooth running of the rotary machine and ease of the maintenance.
Another object of the present invention is to provide an apparatus for executing the vibration diagnosing method for rotary machines.
In accordance with one aspect of the invention there i5 provided a vibration diagnosing method for a rotary machine for diagnosing a vibration in a rotor of the rotary machine by detecting the number of rotations and the vibrations in the rotor when the rotor is rotating, comprising the steps of: extracting an unbalanc~ vibration component synchronized with the number of rotations from a signal representing a vibration of the rotor detected;
judging as to whether said unbalance vibration component is normal or abnormal, depending on the result of the comparison of the extracted unbalance vibration component with its allowance; calculating an abnormal vibration B
~5~
component through a vector operation by using said ~nbalance vibration component and a rotor vibration component in a normal state o~ the rotor, which is previously stored, when said unbalance vibration component is judged to be abnormal, and normalizing a vibration pattern of said abnormal vibration component; and calculating an unbalance originating position in the rotor, which generates the abnormal vibration, by using a comparison of sa~d normalized abnormal vibration pattern with a normalized vibration pattern of said previously stored unbalanced vibration.
In accordance with another aspect of the invention there is provided a vibration diagnosing apparatus ~or rotary machine for diagnosing a vibratiQn in a rotor of the rotary machine ~y detecting th~ number o~ rotations and the vibration in the rotor when th~ rotor is rotating, comprising a rotation sensor for sensing the number of rotations of the rotor; a vibration detector for detecting a vibration gene~ated in th~ rotor at a proper position of the rotor; a vibration analyzer for extracting an unbalance vibration component 5ynchronized with the number of rotations by using a vibration signal from said vibration detector and a phase reference signal obtained from said rotation sensor; judging means for judging whether said unbalance vibration component is normal or abnormal by comparing an unbalance vibration component derived from said vibration analyzer with a reference value; memory means for previously storing a rotor vibration component in a normal state; first arithmetic means for extracting an abnormal vibration component on the .
basis of an abnormal unbalance vibration component derived from said judging means and a normal vibration component stored in and derived from said memory means; second arithmetic means for specifying a maximum amplitude of an abnormal vibration component from said first a~ithmetic means; third ari~hmetic means for normalizing said abnormal vibration component on the basis of the maximum amplitude of the abnormal vibration component derived from said second arithmetic means; pattern memory means for previously storing the normalized pattern of the unbalance vibration;
unbalance originating position identifying means for identifying a position in the rotor where the unbalanced vibration ~ausing the abnormal vibration is generated on the basis of the comparison of the normalized abnormal vibration pattern from said third arithmetic means with the normalied unbalanced vibration pattern from said pattern memory means.
Such a scheme rapidly judges an abnormal vibration generated in the rotary machine and rapidly specifies an unbalance vibration originating position as an unbalance vibration source, thereby to ensure a smooth and stable operation of the rotary machine.
The present invention further involves means for calculating quantity of the unbalance generated at the unbalance vibration originating position on the basis of the abnormal vibration component vector-operated and the unbalance vibration previously stored. This means specifies the unbalance quantity of the unbalance vibration generated.
- 4a -:
Fig. 1 is a block diagram of an embodiment of a vibration diagnosing apparatus for a rotary machine according to the present invention;
Fig. 2 is a flow chart for illustrating a flow o~ a diagnosing process in the vibra~ion diagnosing apparatus shown in Fig. l;
Fig. 3 is a graphical representation of a - 4b -, , ~L~
1 vibration pattern of a normalized abnormal vibration component by the apparatus shown in Fig. l;
Figs. 4 and 5 are graphs for representing normalized vibration patterns previously stored in the apparatus shown in Fig. l;
Fig. 6 is a circuit diagram of another embodiment of a vibration diagnosing apparatus for a rotary machine according to the present invention;
Fig. 7 is a flow chart for illustrating a flow of a diagnosiing process by the apparatus shown in Fig. 6;
; Figs. 8 and 9 are graphs for illustrating a vibration pattern for specifying an unbalance vibration originating position by the apparatus shown in Fig. ~;
and Figs. 10 and 11 are graphs for illustrating another vibration pattern ~or specifying an unbalance vibration originating position by the apparatus shown in Fig. 6.
Embodiments of a vibratlon diagnosing method for a rotary machine and its apparatus according to the present invention wil.l be described referring to the drawings. A vibration diagnosing technique for a turbine rotor in a turbine power plant is treated as the embodiment in the specification. Fig. 1 illustrates in block form a construction of the vibration diagnosing apparatus according to the present invention. In the figure~ reference numerals 1 and 2 designate turbine rotors; 3 a generator rotor; 41 to 46 bearing for , 1 supporting the respective rotors.
The vibration diagnosing apparatus accordin~
to the invention diagnoses the dynamic health of the rotor by detectlng the number of rotations of each of the rotors l, 2 and 3 as shown when those are rotating and by a ~ournal vibration at each of the bearings 41 to 46 for the rotors. A rotation sensor 5 is provided for detectin~ the number of rotations or a rotor speed of the rotor l. The sensor 5 is so desinged to sense the number of rotations of the rotor when the rotor speed is increased or decreased. In the present embodi-ment, the sensor 5 is disposed close to the bearing 41 of the turbine rotor 1 so as to sense the number of rotations of the rotor 1. A signal from the sensor 5 is also used as a phase refer0nce signal _ for extracting an unbalance vibration component from a vibration signal through an analyzing process of the vibration signal.
A vibration detector 6 is provided for sensing the journal vibrations at the bearings 41 to 46. In the present embodiment, sensors 61 for sensing rotor vibrations are provided for the bearings, respectively, and signals b from the respective sensors 61 are applied to the vibration detector 6. A vibration signal c from the vibration detector 6 is applied to a vibration analyzer 7 where it is analyzed to extract an unbalance vibration component _ synchronized with the number of rotations. A vibration state depends on the number of rotations. In the present embodiment, therefore, the 1 measure~ vibration signal c is analized with respect to the number of rotations and the result of the analysis is sent to a ~udging device 8. The analysis is conducted on the basis of the phase reference signal a derived from the rotation sensor 5 and the vi~ration signal c from the vibration detector 6. The judging device 8 ~udges whether an unbalance vibration cornponent u as the result of the analysis in the analyzer 7 is normal or not. Since the component _ is already compared with the reference signal a representing a tolerable vibration, the judging device 8 is so desinged as to inhibit the component u from passing therethrough when it is within a tolerable range, and to permit it to pass therethrough only when it is abnormal. Accordingly, when the component _ is judged to be abnormal by the device 8, the device 8 produces an abnormal unbalance vi~ration component u' for transfer to a vector operation unit 10. I~hen the component u is abnormal, u' = u, while when it is normal, u' = 0. The vector operation unit 10 extracts only an abnormal vi~ration component v through a vector operation of the abnormal unbalance component u' a normal vibration. Speci~ically, since the component u' contains the normal vibration component, the unit 10 compares the component u' with the normal vibration to extract only the abnormal vibration component _. To this end, it is necessary to clearly define the normal vibration U in the apparatus. In the present embodiment, this is realized such that the normal vibrations at the 1 bearings 41 to 46 in a normal state are previously stored in a memory 9 and the normal vibration signal U
is supplied from the memory 9 to the vector operation unit 10. In this way, only the abnormal vibration component v due to the unbalance generated in any of - the rotors 1, 2 and 3 is extracted. The component v is further sent to an arithmetic unit 11 for determining a maximum amplitude generating position k where a position k representing the maximum amplitude of the abnormal vibrati.on component v extracted. The unbalance vibration component v is applied to a normalizin~ opera-tion unit 12, as a reference of the maximum amplitude ~enerating position k obtained by the arithmetic unit 11.
In the normalizing operation unit 12, the component v is normalized by the maximum amplitude. The normaliza-tion is required to compare various vibration patterns with the normal vibration component, and the principle of this will be described later. A signal.normalized by the operation unit 12, that is, an abnormal vibration pat~ern V, is transferred to a pattern recognizer 14 where it is compared with various un~alance vibration patterns P previously stored in a pattern memory 13.
Influence coefficients each representing a vibration at each bearing journal when a unit unbalance is applied to a point on each rotor 1, 2 and 3 as viewed in the axial direction are sto.red in the pattern memory 13.
The influence coefficient pattern P transferred ~rom the pattern memory 13 to the pattern recognizer 14 are 1 normalized through the arithmetic units 11 and 12 to be the normalized pattern P. Accordingly, the pattern recogni~er 14 compares the normalized abnormal signal pattern V with the various normalized ~nbalance vibration patterns P, to estimate an unbalance generating position in the rotor. Thus, since the patterns P o~ the unbalance generated at ~arious positions ~re previously stored in the pattern memory 13, if the signal pattern V of the normalized actual abnormal vibration is successively compared with the various unbalance vibration patterns P stored to select the pattern P most similar to the pattern V, a position on the rotor where an unbalance is intentionally produced for storing the pattern P is estimated as the position now providing the abnormal unbalance. A recognition result _ thus obtained is transferred to an unbalance quantity (magnitude and angle) operation unit 15. Applied to the operation unit 15 are the influence coefficient from the memory 13 and the component _' in addition to the recognition result d.
The operation unit 15 calculates an abnormal vibration quantity (magnitude and angle) at the abnormal vibration generating position and its principe will be described later. The unbalance position and the unbalance quantity e are displayed by a display unit 16 such as a line printer or a CRT display.
A principle of diagnosing the unbalance position and unbalance quantity in the present embodiment will be described hereinafter. Symbols used in the following _ 9 _ 1 description will be defined as below, for simplici'cy.
k Number representing the number of rotations (k = 1, 2, ..., K) i Number representing positions of bearings 5 (i = 1, 2, ... , I) j Number representing positions of giving rise of unbalance (~ = 1, 2, ..., J) Ui(k) Unbalance vibration when the k-th rotation at the bearing position i is normal ui(k) Unbalance vibration when the k-th rotation at the bearing position i is abnormal vi(k) Unbalance vibration component arising from only the unbalance when the k-th rotor speed at the bearing position i is abnormal Vi(k) Normalized ui(k) (abnormal vibration pattern) Pi;( ) Vibration at the bearing position i at the k-th rotor speed when a unit unbalance is applied to the unbalance position 1 Pij(k) Normalized Pij(k) (unbalance vibration pat~ern) l l Amplitude of vibration (In the description of Vi(k) and Pi~(k), the term normalize~ means the maximum amplitude is set to 1) ~he descripkion of the unbalance posltion and the unbalance quantity will be given in detail referring to Figs. 1 and 2.
(1) Evaluation of Unbalance Position Assume now that, when the rotor is running, ~, .
5~
1 ~he vibration and the number of rotations are being measured (see blocks 101, 105 and 106 in ~ig~ 2), an abnormal vibration occurs at the k-th rotor speed and the bearing position i. In a step 107, the abnormal vibration is sensed b~ the sensor 61 and detected by the vibration detector 6 and the detected abnormal vibration is applied from the detector 6 to the vibration analyzer 7. The analyzer 7, as described above, properly analyzes the vibration signal c from the vibration detector 6 with relation tG the phase reference signal a ~rom the rotation detector 5, to extract the unbalance vibration ui(k). In a step 108, the ~udging device 8 compares the reference signal a with the unbalance vibration ui(k). When the unbalance vibration is abnormal, the unbalance vibration ui(k) passes through the ~udging device 8 to enter the vector operation unit 10 to calculate a difference between the vibrations o~
each journal in the normal and abnormal states (see step 110). The vector operation unit 10 per~orms the follow-ing calculation;
Vi Ui i ~1 (i = 1, 2, .~
Through the above calculation, onl~ the abnormal ~i~rationcomponent vi(k) is extracted. In other words~ the vec~or operation unit 10 remo~es the normal vibration component ; ui(k) from the unbalance vibration component u~k~ to l obtain only the abnormal vibration component vi(k) (see steps lO9 and llO). The abnormal vibration component vi(k) is a vector quantity containing the in~ormation of phase and amplitude. A step lll calculates by the arithmetic unit ll a position where the abnormal vibration component vi(k) has a maximum or peak amplitude and the maximum amplitude as well, in order to determine the maximum amplitude of the abnormal vibration component.
That is, the maximum amplitude calculated is mathemati-cally expressed by ¦v¦ = ¦vi Imax (2) In order to normalize the vibration difference by themaximum amplitude, a step 112 performs the following operation by the normalizing operation unit 12, Vi(k) = vi(k)/¦v¦ (3) (i = l, 2, ..., I) As a result, the vi(k) is a vector quantity containing phase and amplitude, exhibiting a vibration amplitude pattern o~ ¦Vi(k)¦max = l ~k: constant). This indicates that the vibration di~ference is normalized.
An example of the vibration amplitude pattern is illustrated in Fig. 3. In the graph depicted for k rpm of the rotor speed, the abscissa represents measuring positions and Bl, B2, ... BI corresponding to data at the bearing positions 41 to 46 shown in Fig. l. The l ordinate represents the vibration amplitude ¦Vi(k)¦ of the abnormal vibration component normalized, For example, even thé maximum amplitude is l, like B2.
As described above, the pattern memory 13 stores the influence coefficients Pi~(k) when a unit unbalance is applied to the various unbalance positions (; = l, 2, ..., J). The influence coefficierlt pi~(k~
is also a vector quantity containing the information of phase and amplitude. The influence coefficient Pi~(k~
normalized through the units ll and 12 is determined to have a pattern of the vibration amplitudes ~ith respect to the unbalance positions, with ¦Pij~k~¦max = l (i and k: constant).
An example of the pattern is illustrated in a bar graph shown in Fig. 4. The graphs of Figs. 4 (a) and 4 (b) are plotted when the number of rotations i5 k rpm. The graph o~ Fig. 4 ~a) indicates that when the unbalance occurs at a position ; = 2, i.e. at ~2 in Fig. 2g the unbalance vibration amplitudes of Bl to B6 are present at the bearings 41 to 46, respectively.
The graph in Pig. 4 Cb~ indicates that ~hen the unbalance takes place at a position 3 = 3, i.e. at ~ = 3 in Fig. 2, the bearings 41, 42, ..., 46 have unbalance vibration amplitude as shown~ respectively. The absissa represents measuring positions, as in the case of Fig. 3, and Bl to B6 correspond to the bearings 41, to ;~
46, respectively. ~he ordinate represents the unbalance vibration amplitude ¦Vi(k)¦ of which the maximum 1 amplitude takes 1 as a result of the normali~ation.
A step 113 is as mentioned above. The pattern recogni~er 14 makes a pattern recognition of the abnormal vibration pattern properly processed after actually measured, i.e.
the abnormal vibration amplitude pattern, ~ith relatlon to the unbalance vibration amplitude pattern ¦Pij( )¦
previously stored, thereby to evaluate the unbalance position. As described above, since the various patterns ¦Pi~(k)¦ when the unit unbalance is applied to specific various positions 1 are stored in the pattern memory 13, the normalized the patterns ¦Pi~(k)¦ are compared with the abnormal vibration pattern ¦Vi(k)¦ resulting from the actually measuring, and the ¦Pi~(k)¦ most similar to ¦Vi(k)¦ is selected. In the present example, only the amplitude of the vlbration is taken into account, while ignoring the phase information (although the example further taking account of the phase information will be described later) when the pattern comparison is performed. The pattern comparing operation in the presen~ example will be given below.
The amplitude pattern ¦Vi k)¦ of the abnormal vibration are arranged in order o~ the magnitudeg of il( )1~ lVi2( )1~ Vii(k)l Then, a combination (il, j) satisfying i - il is obtalned from the unbalance vibration amplltude pattern ¦pij(k) Additionally~ a combination (i2, ~') satisfying i = i2 for J satisfying i - il is obtained. Subsequently, this operation is successively repeated. Finally, it is 1 estimated that the vibration amplitude pattern with the combination (i, ~) of the largest number of the repeti-tions is most similar to the abnormal vibration amplitude pattern produced in the rotor.
In other words~ from the ~arious unbalance ~ibra-tion amplitude patterns ¦Pi~Ck)l stored~ a pattern in whlch the bearing position having the maximum amplitude is il - is seiected, and from the pattern selected a pattern in which the bearing position ~ith the second amplitude is i2 is selected. In this way, patterns for the third, fourth amplitudes, .~. will be selected successively.
Finally, a pattern finally left is estimated to be closes in configuration to the abnormal amplitude pattern occuring in the rotor. Accordingly, the unbalance position of the most analogous pattern of those patterns stored represents the actual unbalance position in the rotor.
Then, the following operation of the abnormal ` vibration amplitude ¦~i(k)¦ and the unbalance vi~ration amplitude ¦Pi~(k)¦, which results from the normalization of the unbalance vibration amplitude ¦Pij(k)¦ at the respective positions, is performed I
j i-l (IPij l _ Ivi(k)l)2 (4) ; (~ = 1, 2, ..... , J) ~ - 15 -. . .
.
.
R~ = ~ C5) (~ = 1, 2, .~.,,, J) 1 ~he equations (4) and (5) indicate how the normalized ¦Pi.(k)¦ of the unbalance vibration amplitude J
pattern stored and applied is deviated from the actual abnormal vibration amplitude ¦Vi(k)¦ in the rotor Accordingly, of those posi~ions 1 in the various memory pattern ¦P~ the position i with the least S; and Rj, that is, the position i with the least deviation, represents the actual unbalance position.
Therefore~ the unbalance position in khe rotor may be diagnosed on the basis of the unbalance position obtained by the (i, ~) combination and by the unbalance position providing the least values ~n the equation (4) or (5). An example of this pattern recognition is illustrated ln Table I.
Table I Unbalance Position Evaluation by ~: Pattern Recognition . ~
Amplitude peak Order of Unbalance position, i S or R Judge-: position (from small ment . lVi(k)l - 1 Ipij(k)l = 1 to large) _ _ ~ . B2 B1 _ x -~ 2 B2 B2 o : . B2 B2 2 _ . _ 4 B2 B3 4 x _ _ B2 B4 . x - Cont'd -Table I (Cont'd) I ~ B2 BI j J ¦ X
1 In Table I, o in the Judgement column indicates that the unbalance position is established. ~ indicates high possibility of the unbalance position. x indicates no possibiliky of the unbalance position. Table 1 shows that the abnormal vibration amplitude having the peak value of those ¦Vi(k)¦ ~rom the respective bearings 41 to 46, B2, that is, the data from the bearing 42. The table further shows that when the unit unbalance is applied to the unbalance positions jl, j2, ....
the amplitude patterns having the maximum amplitudes of those unbalance vibration amplitude patterns ¦Pi~(k)¦
obtained from the bearings 41 to 46 as the detection posit~ions or the normalized unbalance vibration amplitude patterns ¦Pij(k)¦, are Bl, B2, B3~ B4, ... (i.e. t'nose at the bearings 41, 42, 43 and 44) at the respective positions jl, ~2, ... . Therefore, two positions where the amplitudes are qual and where the patterns are analogous are ~2 and j3. It is estimated, therefore, that the actual unbalance is produced at either j2 or ~3. Further, S or R representing the deviation having a least value is located at the position ~2. There is a high possibility that the unbalance is at the position where the results of the above two judging operations are , .:
:
1 coincident with each other. The position jl~ however, has the deviation which is second in order as counted from the least one. In addition, the coincident of the amplitude peak values holds at the position jl. There-fore, the judgement for the position Jl is a highpossibility of the unbalance occurance. In this case, if the pattern recognition of Fig. 4 is applied for the second, third and subsequent amplitudes, in addition to the ~irst or peak (maximum) amplitude, the ~udgement of the un~alance position is further improved in accuracy.
The quantity of the unbalance at the position j2, following the unbalance position Judgement as mentioned above, will be given hereinafter.
(2) Calculation of the Unbalance Quantity A case to be discussed is that, at k rpm of the rotor, the unbalance is produced at the position j2 and the abnormal vibration is sensed at B2 (or the bearing 42). A step 115 executes the task of determining the quantity of the unbalance produced at the position j2, by using the abnormal vibration component vi(k) sensed ~rom the bearings 41 to 46 and the unbalance vibration pattern Pij(k) stored and applied. The calculation by the operation unit 15 follows.
A quantity o~ the unbalance produced at a point J is generally designated by w~k and is a vector quantity containing the magnitude and angle information.
As mentioned above, the unbalance quantity to be discussed here is that at the position J2 and hence ~L~ Zi l is denoted as wJ2. The abnormal vibration component vi(k) detected is related, by the following equation, to the vibration pat~ern Pij2(k) at the position ~2 of those vi~ration patterns Pij(k) stored and applied.
i i~2 j2 (6) (i = l, 2, ... I) In the equation (6), when i = l, the unbalance quantity produced is v (k) J2 ~ (7) When i ~ l, the unbalance quantity wj2 is unsatisfacto-rily deflned by the equation (6). To define this, the method of least squares is used. Assumption is made that, when the unbalance quantity w~2 is produced at the position j2, the detected abnormal vibration component vi(k) is deviated by ~vi(k). On the assumption, an evaIuation function is defined. At this time, the equation (6) is rewritten into i + ~vi( ) = pij2(k)-w (8) (i = l, 2, ..., I) 15 The evaluatlon function J is J = ~ l~Vi(k) 12 ~3) 1 As seen the unbalance quantity w~2 to be calculated is the one to minimize the evaluation function J of the equation (9). To realize this, the equation (8) is substituted for the equation (9) and the J is partially differentiated by the w~2 to make an obtained result equal to zero. As a result, the unbalance quantity can be obtained through the working out of the following equation.
W {pTp3-1 ~V (10) where w is a vector quantity of the unbalance, p is a matrix of the influence coefficient (unbalance vibration : pattern), v is a vector quantity of abnormal vector, and ~ is a Eermite matrix of the p which is given by P = ~ Plj2 (k) v = 'vl (k) w = wj2 .. (13 P2j2 V2 lP6~2 J 16~
.
- -- 20 _ $~
1 Thus, through the ~udging operation for the unbalance position and quantity, it is possible to rapidly know the abnormal unbalance originating position in the rotor and a quantity or a degree of the abnormal unbalance.
The judging operation for the unbalance position can be automated, thereby ~o greatly contribute to the automation of the trouble shorting in this field. Of course, this fact makes the maintenance and inspection of the equipment using the rotary machine.
In the above-mentioned embodiment, the pattern recognizer 14 is used for diagnosing the unbalance position. An operator can make the pattern recognition, in place of the pattern recognizer 14. In this case, it is necessary to display ~he unbalance vibration amplitude pattern to help the operator in his pattern recognition. To illustrate the detail of this embodi-ment, a block diagram of the embodiment is shown in Fig. 6 and a flow chart of its process flow is illust-rated in Fig. 7. Only differences of the present embodiment from that in Figs. 1 and 2 will be described for simplicity. In the present embodiment, an operator judges the unbalance position after seeing the contents displayed on a display unit 14a, and keys the unbalance position into the diagnosing apparatus. Then, the inputted data is processed by the above-mentioned unbalance quantity determining procedure, and the result of the process is displayed.
Description will be gi~ren about a judging 1 pattern used as a reference to ~udge the unbalance position by the operator.
On a screen of the display~ the unbalance position 1 (~ = 1, 2, ..., J) and the measured unbalance are taken along the abscissa, while the Dearing position number i (i = 1, 2, ..., I) is along the ordinate. The abnormal vibration amplitude pattern ¦Vi(k)¦ and the normalized vibration amplitude pattern ¦Pij(k)¦ are concurrently displayed on the coorinates of the screen. After comparatively observing both the patterns, the operator distinctively finds out the most analogous pattern. In the ~udgement by the pattern comparison, only the ampoitude is taken into account, while neglecting the phase information (an example by considering further the phase information will described later). The pattern ~udgement of this example will be made in the following manner.
Firstly, the abnormal vibration patterns ¦Vi(k)¦ are arranged in accordance with the bearing positions, and are numbered in the order from large to small, like {1, 2, 3, .... I}. Numbers are applied to the ~ of the abnormal vibration amplitude patterns ¦Pi~(k)¦ in accordance with the bearing positions, like {1, 2, 3, ..., I}j in the order from large to small.
Those ordered numbers are displayed in the coordinates on the display screen. ~he operator successively compares the numbered patterns of the abnormal vibration amplitude pa~terns ¦Vi(k)¦ with those of the un~alance 1 vibration amplitude pa~terns ¦Pi~(k)¦, to select the j of which the patterns are most analogous to each other.
The ~ selected is estimated to be closest to the unbalance generating position in the rotor.
Then, the normalized abnormal vibration ampli-tude ¦Vi(k)¦ and the normalized unbalance vibration amplitude ¦Pi (k)¦ at the respective unbalance positions are mathematically processed by the arithmetic unit 14b in accordance with the equations (4) and (5). This process is executed in the process step 114b of the square sum and root-mean-square value. The results of the calculations are displayed in the form of a bar graph on the screen of the display device 14a in which the unbalance generating positions j (~ = 1, 2, ... J) are taken along ~he abscissa and S; and R; defined by the equation (4) or (5) is along the ordinate.
This process corresponds to a step 114b of monitor of unbalance position. The bar graph indicates how the stored unbalance vibration amplitude patterns are deviated from the actual a~normal vibration amplitudes. There-fore, the j having the least value of Sj or Rj is estimated to be closest to the actual unbalance generat-lng position.
As described above, the operator can judge the actual unbalance generating position in the rotor on the basis of the unbalance position obtained from the graph representing the amplitude, and the unbalance generating positions on the abscissa and the actual . ..-; ~ 23 _ : .
- ' : .
~ r ~ ~
1 measuring posi~ions on the ordinate, and the unbalance position judged from the bar graphs obtained by the equation (4) or (5). Examples for this ~udgement are illustrated in Figs. 8 and 9.
In Fig. 8, U.A. on the abscissa designates actually measured vibration ampli'cudes, U.A. has 1 repre-senting the maximum amplitude at the position B2, 2 at the position Bl and 3 at the position B3. Similarly, numbers corresponding to the magnitudes of the amplitudes are applied for the unbalance positions ~1, j2, ..., jI. At the position j2, the maximum amplitude position is at the bearing position B2, and the ampli-tudes are located at the Bl, B3, B4, B~ and B5 in this order: This pattern is exactly the same as the abnormal vibration amplitude pattern actually measured. As a result, the unbalance position in the rotor is estimated to be j2 at high probability. Nevertherless, the pattern at the unbalance position j3 is also relatively analogous to the abnormal vibration amplitude pattern.
Therefore, an example of quallta'cively comparing the measured and stored vibration amplitude patterns by using the equation (4) or (5), is illustrated in Fig. 9.
As shown, the unbalance position having the least deviation R or S is j2 and the deviation R or S increases in the order of j3, jl, ..., jj, ... jJ. Consequently, it can be estimated that the unbalance generating position is j2. Therefore, the operator judges that the unbalance generating position is the j2 at the highest probability, 1 and then executes the operation of ~he quantity of the unbalance at the j2.
In this way, the abnormal unbalance originating source in the rotor is always monitored by the display, and when the abnormal vibration takes place, the operator immediately checks it and determines the unbalance quantity.
The a~ove two embodiments diagnosed the unbalance generating position on the basis of only the vibration amplitude pattern, while the phase information. However, an e~fective diagnosis is possible by taking the phase information into account. In the case of the diagnosis by using the phase information additionally, the phase must be standardized with respect to the maximum amplitude (= 0) over all the positions in the axial direction.
It is assumed that the phase range defined by 1~1 < 90, where ~ designates the standardized phase, is in-phase, while the phase range defined by 90 < ~ < 270 is antiphase. Accordingly, the patterns appearing as shown in Figs. 3 and 8 becomes those shown in Figs. 10 and 11 in the present embodiment. Further, Vi(k) and Pij(k) replace ¦Vi(k)¦ and ¦Pij(k)¦, respectively, in order that the vector quantity containing phase and amplitude is used for the data processing for the dynamic health of the rotary machine.
As described above, the diagnosing technique for the rotary machine rapidly judges the abnormal vibration taking place in the rotor o~ the rotary machine, 1 and quickly finds out the unbalance position as the unbalance vibration generating source. Therefore, the present invention secures a smooth operation of various types of rotary ma~hines.
A quantity o~ the unbalance produced at a point J is generally designated by w~k and is a vector quantity containing the magnitude and angle information.
As mentioned above, the unbalance quantity to be discussed here is that at the position J2 and hence ~L~ Zi l is denoted as wJ2. The abnormal vibration component vi(k) detected is related, by the following equation, to the vibration pat~ern Pij2(k) at the position ~2 of those vi~ration patterns Pij(k) stored and applied.
i i~2 j2 (6) (i = l, 2, ... I) In the equation (6), when i = l, the unbalance quantity produced is v (k) J2 ~ (7) When i ~ l, the unbalance quantity wj2 is unsatisfacto-rily deflned by the equation (6). To define this, the method of least squares is used. Assumption is made that, when the unbalance quantity w~2 is produced at the position j2, the detected abnormal vibration component vi(k) is deviated by ~vi(k). On the assumption, an evaIuation function is defined. At this time, the equation (6) is rewritten into i + ~vi( ) = pij2(k)-w (8) (i = l, 2, ..., I) 15 The evaluatlon function J is J = ~ l~Vi(k) 12 ~3) 1 As seen the unbalance quantity w~2 to be calculated is the one to minimize the evaluation function J of the equation (9). To realize this, the equation (8) is substituted for the equation (9) and the J is partially differentiated by the w~2 to make an obtained result equal to zero. As a result, the unbalance quantity can be obtained through the working out of the following equation.
W {pTp3-1 ~V (10) where w is a vector quantity of the unbalance, p is a matrix of the influence coefficient (unbalance vibration : pattern), v is a vector quantity of abnormal vector, and ~ is a Eermite matrix of the p which is given by P = ~ Plj2 (k) v = 'vl (k) w = wj2 .. (13 P2j2 V2 lP6~2 J 16~
.
- -- 20 _ $~
1 Thus, through the ~udging operation for the unbalance position and quantity, it is possible to rapidly know the abnormal unbalance originating position in the rotor and a quantity or a degree of the abnormal unbalance.
The judging operation for the unbalance position can be automated, thereby ~o greatly contribute to the automation of the trouble shorting in this field. Of course, this fact makes the maintenance and inspection of the equipment using the rotary machine.
In the above-mentioned embodiment, the pattern recognizer 14 is used for diagnosing the unbalance position. An operator can make the pattern recognition, in place of the pattern recognizer 14. In this case, it is necessary to display ~he unbalance vibration amplitude pattern to help the operator in his pattern recognition. To illustrate the detail of this embodi-ment, a block diagram of the embodiment is shown in Fig. 6 and a flow chart of its process flow is illust-rated in Fig. 7. Only differences of the present embodiment from that in Figs. 1 and 2 will be described for simplicity. In the present embodiment, an operator judges the unbalance position after seeing the contents displayed on a display unit 14a, and keys the unbalance position into the diagnosing apparatus. Then, the inputted data is processed by the above-mentioned unbalance quantity determining procedure, and the result of the process is displayed.
Description will be gi~ren about a judging 1 pattern used as a reference to ~udge the unbalance position by the operator.
On a screen of the display~ the unbalance position 1 (~ = 1, 2, ..., J) and the measured unbalance are taken along the abscissa, while the Dearing position number i (i = 1, 2, ..., I) is along the ordinate. The abnormal vibration amplitude pattern ¦Vi(k)¦ and the normalized vibration amplitude pattern ¦Pij(k)¦ are concurrently displayed on the coorinates of the screen. After comparatively observing both the patterns, the operator distinctively finds out the most analogous pattern. In the ~udgement by the pattern comparison, only the ampoitude is taken into account, while neglecting the phase information (an example by considering further the phase information will described later). The pattern ~udgement of this example will be made in the following manner.
Firstly, the abnormal vibration patterns ¦Vi(k)¦ are arranged in accordance with the bearing positions, and are numbered in the order from large to small, like {1, 2, 3, .... I}. Numbers are applied to the ~ of the abnormal vibration amplitude patterns ¦Pi~(k)¦ in accordance with the bearing positions, like {1, 2, 3, ..., I}j in the order from large to small.
Those ordered numbers are displayed in the coordinates on the display screen. ~he operator successively compares the numbered patterns of the abnormal vibration amplitude pa~terns ¦Vi(k)¦ with those of the un~alance 1 vibration amplitude pa~terns ¦Pi~(k)¦, to select the j of which the patterns are most analogous to each other.
The ~ selected is estimated to be closest to the unbalance generating position in the rotor.
Then, the normalized abnormal vibration ampli-tude ¦Vi(k)¦ and the normalized unbalance vibration amplitude ¦Pi (k)¦ at the respective unbalance positions are mathematically processed by the arithmetic unit 14b in accordance with the equations (4) and (5). This process is executed in the process step 114b of the square sum and root-mean-square value. The results of the calculations are displayed in the form of a bar graph on the screen of the display device 14a in which the unbalance generating positions j (~ = 1, 2, ... J) are taken along ~he abscissa and S; and R; defined by the equation (4) or (5) is along the ordinate.
This process corresponds to a step 114b of monitor of unbalance position. The bar graph indicates how the stored unbalance vibration amplitude patterns are deviated from the actual a~normal vibration amplitudes. There-fore, the j having the least value of Sj or Rj is estimated to be closest to the actual unbalance generat-lng position.
As described above, the operator can judge the actual unbalance generating position in the rotor on the basis of the unbalance position obtained from the graph representing the amplitude, and the unbalance generating positions on the abscissa and the actual . ..-; ~ 23 _ : .
- ' : .
~ r ~ ~
1 measuring posi~ions on the ordinate, and the unbalance position judged from the bar graphs obtained by the equation (4) or (5). Examples for this ~udgement are illustrated in Figs. 8 and 9.
In Fig. 8, U.A. on the abscissa designates actually measured vibration ampli'cudes, U.A. has 1 repre-senting the maximum amplitude at the position B2, 2 at the position Bl and 3 at the position B3. Similarly, numbers corresponding to the magnitudes of the amplitudes are applied for the unbalance positions ~1, j2, ..., jI. At the position j2, the maximum amplitude position is at the bearing position B2, and the ampli-tudes are located at the Bl, B3, B4, B~ and B5 in this order: This pattern is exactly the same as the abnormal vibration amplitude pattern actually measured. As a result, the unbalance position in the rotor is estimated to be j2 at high probability. Nevertherless, the pattern at the unbalance position j3 is also relatively analogous to the abnormal vibration amplitude pattern.
Therefore, an example of quallta'cively comparing the measured and stored vibration amplitude patterns by using the equation (4) or (5), is illustrated in Fig. 9.
As shown, the unbalance position having the least deviation R or S is j2 and the deviation R or S increases in the order of j3, jl, ..., jj, ... jJ. Consequently, it can be estimated that the unbalance generating position is j2. Therefore, the operator judges that the unbalance generating position is the j2 at the highest probability, 1 and then executes the operation of ~he quantity of the unbalance at the j2.
In this way, the abnormal unbalance originating source in the rotor is always monitored by the display, and when the abnormal vibration takes place, the operator immediately checks it and determines the unbalance quantity.
The a~ove two embodiments diagnosed the unbalance generating position on the basis of only the vibration amplitude pattern, while the phase information. However, an e~fective diagnosis is possible by taking the phase information into account. In the case of the diagnosis by using the phase information additionally, the phase must be standardized with respect to the maximum amplitude (= 0) over all the positions in the axial direction.
It is assumed that the phase range defined by 1~1 < 90, where ~ designates the standardized phase, is in-phase, while the phase range defined by 90 < ~ < 270 is antiphase. Accordingly, the patterns appearing as shown in Figs. 3 and 8 becomes those shown in Figs. 10 and 11 in the present embodiment. Further, Vi(k) and Pij(k) replace ¦Vi(k)¦ and ¦Pij(k)¦, respectively, in order that the vector quantity containing phase and amplitude is used for the data processing for the dynamic health of the rotary machine.
As described above, the diagnosing technique for the rotary machine rapidly judges the abnormal vibration taking place in the rotor o~ the rotary machine, 1 and quickly finds out the unbalance position as the unbalance vibration generating source. Therefore, the present invention secures a smooth operation of various types of rotary ma~hines.
Claims (8)
1. A vibration diagnosing method for a rotary machine for diagnosing a vibration in a rotor of the rotary machine by detecting the number of rotations and the vibration in the rotor when the rotor is rotating, comprising the steps of:
extracting an unbalance vibration component synchronized with the number of rotations from a signal representing a vibration of the rotor detected;
judging as to whether said unbalance vibration component is normal or abnormal, depending on the result of the comparison of the extracted unbalance vibration component with its allowance;
calculating an abnormal vibration component through a vector operation by using said unbalance vibration component and a rotor vibration component in a normal state of the rotor, which is previously stored, when said unbalance vibration component is judged to be abnormal, and normalizing a vibration pattern of said a normal vibration component; and calculating an unbalance originating position in the rotor, which generates the abnormal vibration, by using a comparison of said normalized abnormal vibration pattern with a normalized vibration pattern of said previously stored unbalanced vibration.
extracting an unbalance vibration component synchronized with the number of rotations from a signal representing a vibration of the rotor detected;
judging as to whether said unbalance vibration component is normal or abnormal, depending on the result of the comparison of the extracted unbalance vibration component with its allowance;
calculating an abnormal vibration component through a vector operation by using said unbalance vibration component and a rotor vibration component in a normal state of the rotor, which is previously stored, when said unbalance vibration component is judged to be abnormal, and normalizing a vibration pattern of said a normal vibration component; and calculating an unbalance originating position in the rotor, which generates the abnormal vibration, by using a comparison of said normalized abnormal vibration pattern with a normalized vibration pattern of said previously stored unbalanced vibration.
2. A vibration diagnosing method according to claim 1, wherein a position in the rotor where the unbalance vibration takes place is calculated on the basis of comparison of the vibration amplitudes in the normalized abnormal vibration pattern with those in the normalized abnormal vibration pattern previously stored.
3. A vibration diagnosing method according to claim 2, wherein a square sum or a root-mean-square value of differences between the normalized abnormal vibration pattern and the normalized unbalance vibration pattern previously stored is operated, and the position having the least value of the square sum or the root-means-square value is judged to be the actual unbalance position.
4. A vibration diagnosing method according to claim 1, wherein a quantity of the unbalance generated at the unbalance position is calculated by the vibration component vector-operated with unbalance vibration previously stored.
5. A vibration diagnosing method according to claim 4, wherein influence coefficients of the unbalance vibration previously stored are used for the calculation of the unbalance quantity.
6. A vibration diagnosing method for a rotary machine for diagnosing a vibration in a rotor of the rotary machine by detecting the number of rotations and the vibration in the rotor when the rotor is rotating, comprising the steps of:
extracting an unbalance vibration component synchronized with the number of rotations from a signal representing a vibration of the rotor detected;
judging as to whether said unbalance vibration component is normal or abnormal, depending on the result of the comparison of the extracted unbalance vibration component with its allowance;
calculating an abnormal vibration component through a vector operation by using said unbalance vibration component and a rotor vibration component in a normal state of the rotor, which is previously stored, when said unbalance vibration component is judged to be abnormal, and normalizing a vibration pattern of said abnormal vibration component; and calculating an unbalance originating position in the rotor, which generates the abnormal vibration, by using a comparison of said normalized abnormal vibration pattern with a normalized vibration pattern of said previously stored unbalanced vibration; and calculating a quantity of the unbalance generated at said unbalance position by using the abnormal vibration component calculated through the vector operation and influence coefficients representing the normalized unbalance vibrations previously stored.
extracting an unbalance vibration component synchronized with the number of rotations from a signal representing a vibration of the rotor detected;
judging as to whether said unbalance vibration component is normal or abnormal, depending on the result of the comparison of the extracted unbalance vibration component with its allowance;
calculating an abnormal vibration component through a vector operation by using said unbalance vibration component and a rotor vibration component in a normal state of the rotor, which is previously stored, when said unbalance vibration component is judged to be abnormal, and normalizing a vibration pattern of said abnormal vibration component; and calculating an unbalance originating position in the rotor, which generates the abnormal vibration, by using a comparison of said normalized abnormal vibration pattern with a normalized vibration pattern of said previously stored unbalanced vibration; and calculating a quantity of the unbalance generated at said unbalance position by using the abnormal vibration component calculated through the vector operation and influence coefficients representing the normalized unbalance vibrations previously stored.
7. A vibration diagnosing apparatus for rotary machine for diagnosing a vibration in a rotor of the rotary machine by detecting the number of rotations and the vibration in the rotor when the rotor is rotating, comprising:
a rotation sensor for sensing the number of rotations of the rotor;
a vibration detector for detecting a vibration generated in the rotor at a proper position of the rotor;
a vibration analyzer for extracting an unbalance vibration component synchronized with the number of rotations by using a vibration signal from said vibration detector and a phase reference signal obtained from said rotation sensor;
judging means for judging whether said unbalance vibration component is normal or abnormal by comparing an unbalance vibration component derived from said vibration analyzer with a reference value;
memory means for previously storing a rotor vibration component in a normal state;
first arithmetic means for extracting an abnormal vibration component on the basis of an abnormal unbalance vibration component derived from said judging means and a normal vibration component stored in and derived from said memory means;
second arithmetic means for specifying a maximum amplitude of an abnormal vibration component from said first arithmetic means;
third arithmetic means for normalizing said abnormal vibration component on the basis of the maximum amplitude of the abnormal vibration component derived from said second arithmetic means;
pattern memory means for previously storing the normalized pattern of the unbalance vibration;
unbalance originating position identifying means for identifying a position in the rotor where the unbalanced vibration causing the abnormal vibration is generated on the basis of the comparison of the normalized abnormal vibration pattern from said third arithmetic means with the normalized unbalanced vibration pattern from said pattern memory means.
a rotation sensor for sensing the number of rotations of the rotor;
a vibration detector for detecting a vibration generated in the rotor at a proper position of the rotor;
a vibration analyzer for extracting an unbalance vibration component synchronized with the number of rotations by using a vibration signal from said vibration detector and a phase reference signal obtained from said rotation sensor;
judging means for judging whether said unbalance vibration component is normal or abnormal by comparing an unbalance vibration component derived from said vibration analyzer with a reference value;
memory means for previously storing a rotor vibration component in a normal state;
first arithmetic means for extracting an abnormal vibration component on the basis of an abnormal unbalance vibration component derived from said judging means and a normal vibration component stored in and derived from said memory means;
second arithmetic means for specifying a maximum amplitude of an abnormal vibration component from said first arithmetic means;
third arithmetic means for normalizing said abnormal vibration component on the basis of the maximum amplitude of the abnormal vibration component derived from said second arithmetic means;
pattern memory means for previously storing the normalized pattern of the unbalance vibration;
unbalance originating position identifying means for identifying a position in the rotor where the unbalanced vibration causing the abnormal vibration is generated on the basis of the comparison of the normalized abnormal vibration pattern from said third arithmetic means with the normalized unbalanced vibration pattern from said pattern memory means.
8. A vibrating diagnosing apparatus according to claim 7, further comprising a fourth arithmetic unit for calculating a quantity of the abnormal vibration generated at said unbalance position by using the abnormal vibration component derived from said first arithmetic unit and influence component from said pattern memory.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP34032/80 | 1980-03-19 | ||
| JP3403280A JPS56130634A (en) | 1980-03-19 | 1980-03-19 | Method and device for monitoring oscillation of rotary machine |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CA1159562A true CA1159562A (en) | 1983-12-27 |
Family
ID=12402999
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CA000373334A Expired CA1159562A (en) | 1980-03-19 | 1981-03-18 | Vibration diagnosing method and apparatus for a rotary machine |
Country Status (3)
| Country | Link |
|---|---|
| US (1) | US4435770A (en) |
| JP (1) | JPS56130634A (en) |
| CA (1) | CA1159562A (en) |
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- 1981-03-18 CA CA000373334A patent/CA1159562A/en not_active Expired
- 1981-03-19 US US06/245,517 patent/US4435770A/en not_active Expired - Lifetime
Also Published As
| Publication number | Publication date |
|---|---|
| US4435770A (en) | 1984-03-06 |
| JPS6317167B2 (en) | 1988-04-12 |
| JPS56130634A (en) | 1981-10-13 |
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