CN102270829A - Apparatus and calculating method for early warning on health of servo motor - Google Patents
Apparatus and calculating method for early warning on health of servo motor Download PDFInfo
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- CN102270829A CN102270829A CN2010101881643A CN201010188164A CN102270829A CN 102270829 A CN102270829 A CN 102270829A CN 2010101881643 A CN2010101881643 A CN 2010101881643A CN 201010188164 A CN201010188164 A CN 201010188164A CN 102270829 A CN102270829 A CN 102270829A
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Abstract
The invention discloses an apparatus and a calculating method for early warning on health of a servo motor; and the apparatus and the method are applied to estimation on a vibration state of a computer numerical control machine tool. First, a vibration signal is generated by a vibration sensing unit; second, the vibration signal is transmitted sequentially to a data buffer; third, time and frequency domains conversion is carried out on the vibration signal by a time-frequency domain conversion unit; fourth, a deterioration index is calculated by a deterioration index calculation unit and a health index is obtained by a health index calculation unit. Therefore, the utilization of the built-in vibration sensing unit enables installation and wiring for an extra added sensor to be saved; moreover, according to the health index size, the vibration state of operation of the servo motor on the computer numerical control machine tool can be estimated and thus good parses on nonlinear and nonstationary vibration characteristics can be provided.
Description
Technical field
The present invention provides the healthy early warning device and the computational methods thereof of the servomotor of vibration signal time-frequency domain conversion about a kind of healthy early warning device and computational methods thereof of servomotor.
Background technology
In recent years, along with the lifting of high efficiency, high quality of production technology, therefore, comprehensive with plant equipment towards maximize, rapid, systematization, complicated and automation direction development.Also increasing because of equipment scale in the factory, the relevance of each system is also more and more closer, and itself also becomes increasingly complex equipment.So take place if can't predict possible fault in early days, equipment is overhauled maintenance, in case break down, cause economic loss with considerable.
With the example that is operating as of Computerized numerical control machine tool, host computer is passed to the multiple-axis servo driver with position command, rotates in order to drive servomotor.Action by drive system (as guide screw pipe, slide rail or the like) makes platform to move.Yet for a long time operation, can influence the fluency of board running at mechanical consume, lubricating condition to problems such as the heart walk.Also therefore, board produces irregular vibrations and energy dissipation, is unavoidable.In the process of equipment operation, if abnormal vibrations long-term existence is arranged in equipment, do not improve immediately, though the short time still can be kept regular event, be bound to cause the infringement of equipment for a long time, influence its task performance.
For whole servomotor health index estimation is carried out in the systematization computing, collect voltage, electric current, empty consume and the acceleration from board of driver with the calculator of PC-based and advise the shock value that is passed.These time domain datas can pass through fast fourier transform (Fast Fourier transform, FFT) or wavelet conversion (Wavelet Transform WT) changes frequency domain or time-frequency domain into.But these time-frequency domain switch technologies, though the statistical mathematics of utilization and pattern learning can get health status desired value up till now.Yet,,, so, will increase the cost and the space of those calculators of installing so independently calculator is carried out because amount of calculation is big.Be subject to the difference of the driver functions of different labels simultaneously, the signal source and the real-time of fechtable will be restricted.
The research and development of rotary machinery fault diagnosis a lot of year, up to the present, the method for detection vibration signal has a variety of, for signal processing and data analysis, fast fourier transform (FFT) is the method for the most generally using at present, and is most representative a kind of in the frequency domain analysis method.Traditional fourier spectrum analysis (Fourier spectral analysis) can provide easily method to analyze the Energy distribution of data at frequency domain (frequency domain), its principle is based on the composition of signal and does the linear superposition combination by the sine or the cosine function of different frequency, amplitude and phase place, make in time domain, to be difficult to the signal characteristic that shows, can in frequency domain, clearly show.Distribute and linear (linear) time series as long as signal is a stable state (stationary), can present the characteristic of signal effectively by spectral conversion.But, for the data of non-linear (nonlinear) and unstable state (nonstationary), Fourier analysis mainly can cause following shortcoming:
1, in the process of integration, is easy to some information is erased, and may be because of integration produces energy dissipation is caused the wave spectrum illusion to the part of high frequency, allow correct frequency ambiguityization, cause the mistake in the interpretation.
2, when conversion of signals becomes frequency domain, the information of time-domain just can disappear, and that is to say, can't determine the time that characteristic frequency took place in frequency domain, increases the inconvenience on the analytic signal.
For wavelet conversion (WT), can analytic signal in the three-dimensional distribution of energy-frequency-time, it can resolve into the mixed signal that different frequency is formed the signal of different frequency composition, separation signal and noise effectively.But, owing to wavelet conversion is to be come by the fourier transform correction, still exist energy to disperse, the shortcoming that frequency range increases, and lack adaptability.And, before decomposed signal, must select suitable wavelet basis function earlier, and this basic function is in a single day selected, just must go to analyze all data with it, thereby has limited applicable scope.
Therefore, how to design a kind of healthy early warning device and computational methods thereof of servomotor, can be reducing the installing and the distribution of additional sensor, and provide preferable parsing for non-linear and astable vibrant characteristic, be to desire the big problem that overcomes and solve for the application.
Summary of the invention
In order to address the above problem, the invention provides a kind of healthy early warning device of servomotor, be applied to the shock conditions estimation of Computerized numerical control machine tool.
The healthy early warning device of servomotor comprises servomotor and servo-driver.The built-in at least one vibratory sensation measurement unit of servomotor sensing the operating parameters of servomotor, and produces vibration signal.
Servo-driver connects servomotor, and comprises microprocessor.Microprocessor comprises time-frequency domain converting unit, resolution unit, deterioration index computing unit and health index computing unit.The time-frequency domain converting unit receives vibration signal, and the conversion of vibration signal between time-domain and frequency domain is provided.Resolution unit connects the time-frequency domain converting unit, is a plurality of decomposed signals to receive vibration signal and to decompose vibration signal.The deterioration index computing unit connects resolution unit, according to selected decomposed signal and criticism curve ratio, and to calculate deterioration index.The health index computing unit connects the deterioration index computing unit, calculates health index according to deterioration index.
By this, utilize built-in vibratory sensation measurement unit, can save the installing and the distribution that additionally install transducer additional, and, according to the health index size, run on shock conditions on the Computerized numerical control machine tool with the estimation servomotor, and provide preferable parsing for non-linear and astable vibrant characteristic.
In order to address the above problem, the invention provides a kind of healthy early warning computational methods of servomotor, be applied to the shock conditions estimation of Computerized numerical control machine tool.
The step of the healthy early warning computational methods of servomotor comprises: at first, produce vibration signal by the vibratory sensation measurement unit; Then, transmit vibration signal in regular turn to data buffer; Then, by the time-frequency domain converting unit vibration signal is carried out the time-frequency domain conversion; At last, calculate deterioration index by the deterioration index computing unit, and utilize the health index computing unit to try to achieve health index.
Reach technology, means and the effect that predetermined purpose is taked in order further to understand the present invention, see also following about detailed description of the present invention and accompanying drawing, believe purpose of the present invention, feature and characteristics, go deep into and concrete understanding when getting one thus, yet accompanying drawing only provides reference and explanation usefulness, is not to be used for the present invention is limited.
Description of drawings
The schematic diagram that Figure 1A is connected with a servo-driver for the present invention's one servomotor;
Figure 1B is applied to the stereogram of a Computerized numerical control machine tool for this servomotor of the present invention;
Fig. 2 is the calcspar of this servomotor of the present invention and this servo-driver;
Fig. 3 is the flow chart of the healthy early warning computational methods of the present invention's one servomotor;
Fig. 4 is the flow chart of the time-frequency domain switch process of healthy early warning computational methods of the present invention;
Fig. 5 A is the oscillogram of the present invention's one original time domain vibration signal and a plurality of Time Domain Decomposition signals;
Fig. 5 B is the amplitude-frequency-time three-dimensional distribution map of those Time Domain Decomposition signals of the present invention; And
Fig. 6 is those Time Domain Decomposition signals of the present invention and criticism curve ratio schematic diagram.
Wherein, Reference numeral:
10 servomotors
102 vibratory sensation measurement units
20 servo-drivers
202 high-speed serial communication interfaces
204 data buffers
206 microprocessors
2062 time-frequency domain converting units
2064 resolution unit
2066 deterioration index computing units
2068 health index computing units
S100～S400 step
S310～S340 step
Sv time domain vibration signal
St1～St9 Time Domain Decomposition signal
Δ g1～Δ g9 intensity difference
Embodiment
Relevant technology contents of the present invention and detailed description, conjunction with figs. is described as follows:
See also Figure 1A and Figure 1B, be respectively the stereogram that schematic diagram that the present invention's one servomotor is connected with a servo-driver and this servomotor are applied to a Computerized numerical control machine tool.Board with Computerized numerical control machine tool is applied as example, comes the detection rotor angle needing the occasion of angle location, motor to need encoder, and then estimation angular speed and angular acceleration values.In practical operation, with the direct transmission of motor rotor, come transmission with shaft coupling sometimes sometimes.And shaft coupling moving or vibrations before and after the more flexible reply of rotor axis direction (Z direction), and the vibrations meeting major part of the X-Y plane vertical with axis direction passes to encoder from the origination point of mechanism.Therefore, installing one vibratory sensation measurement unit 102 in the encoder of this servomotor 10, wherein, this vibratory sensation measurement unit 102 can be an acceleration transducer (G-sensor).This vibratory sensation measurement unit 102 can detect the vibrations and the noise of this servomotor 10, screw rod, slide rail, workbench running.In addition, install another vibratory sensation measurement unit 102 in the stator slot of this servomotor 10, because this servomotor 10 is paid in mechanism with the screw lock, therefore, the vibrations of all platforms can be detected by this vibratory sensation measurement unit 102 full and accurately.That is to say, be fixed on this vibratory sensation measurement unit 102 on the encoder in order to detect the shock wave of drive system; And be fixed on this vibratory sensation measurement unit 102 in the stator slot in order to detect the shock wave on the lower platform.
See also Fig. 2, be the calcspar of this servomotor of the present invention and this servo-driver.The servo drive system of this Computerized numerical control machine tool mainly comprises a servomotor 10 and a servo-driver 20.This servomotor 10 mainly comprises a rotor (not shown), a stator (not shown), is installed in this epitrochanterian encoder (not shown), and at least one vibratory sensation measurement unit 102.Wherein, this vibratory sensation measurement unit 102 can be installed in this encoder of this servomotor 10, to estimate the drive system shock conditions of this Computerized numerical control machine tool; Perhaps, can be installed in this stator slot of this servomotor 10, to estimate the board shock conditions of this Computerized numerical control machine tool.
In practical operation, servomotor 10 simultaneously built-in a plurality of these vibratory sensation measurement units 102 in encoder with stator slot in, in order to the drive system of testing tool machine respectively and board shock conditions in X, Y, Z direction.Yet, for convenience of description, in the present embodiment, illustrate with a vibratory sensation measurement unit 102.This vibratory sensation measurement unit 102 to be sensing the operating parameters of this servomotor 10, and produces a vibration signal Sv.This servo-driver 20 connects this servomotor 10.And this servo-driver 20 comprises a high-speed serial communication interface 202, a data buffer 204 and a microprocessor 206.This data buffer 204 connects this high-speed serial communication interface 202, and in order to receive and to store this vibration signal Sv that this vibratory sensation measurement unit 102 is produced, wherein, this data buffer 204 is a queue buffer (queuebuffer).
This microprocessor 206 connects this data buffer 204.This microprocessor 206 comprises frequency domain converting unit 2062, a resolution unit 2064, a deterioration index computing unit 2066 and a health index computing unit 2068 for the moment.This time-frequency domain converting unit 2062 receives this vibration signal Sv that this data buffer 204 is exported, and this vibration signal Sv is provided the conversion between time-domain and frequency domain.This resolution unit 2064 connects this time-frequency domain converting unit 2062, is a plurality of decomposed signal St1～St9 (referring to Fig. 5 A) to receive this vibration signal Sv and to decompose this vibration signal Sv.This deterioration index computing unit 2066 connects these resolution unit 2064, according to selected those decomposed signals St1～St9 and a criticism curve ratio, and to calculate a deterioration index.Wherein, this criticism curve can be obtained by the rule of thumb of practice operation.This health index computing unit 2068 connects this deterioration index computing unit 2066, calculates a health index according to this deterioration index.As for the calculating of this deterioration index and this health index, describe in detail as after.By this, according to this health index size, run on shock conditions on the Computerized numerical control machine tool to estimate this servomotor 10.
See also Fig. 3, be the flow chart of the healthy early warning computational methods of the present invention's one servomotor.The step of the healthy early warning computational methods of this servomotor comprises: at first, obtain an original vibration signal S100.Then, this vibration signal is orderly sent to a data buffer S200.Then, this vibration signal is carried out time-frequency domain conversion S300.Wherein, the time-frequency domain conversion of this vibration signal can be adopted Hilbert-Huang conversion (Hilbert-Huang Transform, HHT), fast fourier transform (Fast Fourier Transform, FFT), wavelet conversion (Wavelet Transform, WT) or other time-frequency domain switch technology obtain.At last, calculate a deterioration index, and try to achieve a health index S400.As for, the healthy early warning computational methods more detailed description of this servomotor sees also hereinafter.
See also Fig. 4, be the flow chart of the time-frequency domain switch process of healthy early warning computational methods of the present invention.With Hilbert-Huang conversion (HHT) is example, and this step S300 is described in further detail, that is this vibration signal is carried out time-frequency domain conversion S300.After this vibration signal was read via this data buffer, (Empirical Mode Decomposition EMD) decomposed, in the hope of a plurality of eigen mode state functions (Intrinsic Mode Function, IMF) component S310 to carry out the empirical modal decomposition.Then, select main those eigen mode state function (IMF) components S320, and those main eigen mode state function (IMF) components are carried out Hilbert-Huang conversion (HHT) conversion, to obtain a plurality of instantaneous decomposed signal S330.At last, make up those instantaneous decomposed signals, to obtain a Hilbert time-frequency spectrum (Hilbert Spectrum) S340.Wherein, this Hilbert time-frequency spectrum (Hilbert Spectrum) is amplitude-frequency-time three-dimensional distribution map, is that mainly the spectral content of describing signal changes in time, so that can represent the energy or the intensity of signal simultaneously on time and frequency spectrum.
Cooperation is respectively the oscillogram of the present invention's one original time domain vibration signal and a plurality of Time Domain Decomposition signals and the amplitude-frequency-time three-dimensional distribution map of those Time Domain Decomposition signals referring to Fig. 5 A and Fig. 5 B.Original time domain vibration signal Sv shown in Fig. 5 A, can obtain corresponding a plurality of Time Domain Decomposition signal St1～St9 by Hilbert-Huang conversion (HHT), make complicated original time domain vibration signal Sv be decomposed into the signal resolution of limited a plurality of different time yardsticks with it.That is to say, behind the Time Domain Decomposition signal St1～St9 superposition of these main (association is big), almost be this original time domain vibration signal Sv with regard to reducible.Cooperate Figure 1B, be the example explanation with servomotor 10 shock detection, and suppose that these servomotor 10 rotating speeds are w (t).The original time domain vibration signal Sv that this vibratory sensation measurement unit 102 is passed back by Hilbert-Huang conversion (HHT), can obtain corresponding those Time Domain Decomposition signals St1～St9.From going up (referring to Fig. 5 A) down, this first Time Domain Decomposition signal St1 is that 200Hz, this second Time Domain Decomposition signal St2 are that 100Hz, the 3rd Time Domain Decomposition signal St3 are that the two frequency multiplication harmonic waves of servomotor 10 rotating speed w (t), the 4th Time Domain Decomposition signal St4 are the frequency multiplication harmonic wave of w (t).Be depicted as amplitude-frequency-time three-dimensional distribution map of Time Domain Decomposition signal St1～St9 as Fig. 5 B, be pairing Hilbert time-frequency spectrum (HilbertSpectrum), the height among the figure promptly shows the intensity (or energy) of those Time Domain Decomposition signals St1～St9.
See also Fig. 6, be those Time Domain Decomposition signals of the present invention and criticism curve ratio schematic diagram.According to this Hilbert time-frequency spectrum (Hilbert Spectrum) that this time-frequency domain converting unit 2062 is produced, capture the intensity of those Time Domain Decomposition signals St1～St9 under a certain instantaneous time.With the present embodiment is example, there are 9 instantaneous strength values to be captured (as the circular stain on the figure), and, those instantaneous strength values and this criticism curve compare, to obtain the intensity difference Δ g1～Δ g9 of relative populations, that is those instantaneous strength values that are calculated as under institute's respective frequencies of those intensity difference Δs g1～Δ g9 deduct pairing this criticism curve.Wherein, the value of this criticism curve can be considered the boundary of weighing this servomotor running health status.By finding out significantly on the figure, this first intensity difference Δ g1 and this second intensity difference Δ g2 be all on the occasion of, also reflect among this original vibration signal Sv, in frequency is 1, this first Time Domain Decomposition signal St1 under the 200rps and frequency be the shockproofness of this second Time Domain Decomposition signal St2 under the 800rps and this criticism curve value by comparison, be the operational situation that worsens (unusually).In addition, remaining those intensity difference Δs g3～Δ g9 is all negative value, and similarly, the value that also reflects the shockproofness of those Time Domain Decomposition signals St3～St9 among this original vibration signal Sv and this criticism curve is the operational situation of normal (health) by comparison.Be worth mentioning, adopt with a deterioration index Di about this servomotor vibrations deterioration degree and quantize.Wherein, define a maximum permissible value Tm, and the calculating of this deterioration index Di be those on the occasion of intensity difference (in this example for this first intensity difference Δ g1 and this second intensity difference Δ g2) with, again with the ratio of this maximum permissible value Tm.Wherein, maximum permissible value Tm can be obtained by the rule of thumb of practice operation.That is:
Deterioration index Di=(on the occasion of intensity difference Δ g1～Δ g9)/maximum permissible value Tm.
Wherein, if this deterioration index Di surpasses at 1 o'clock, then look it with 1.And a health index Hi can be defined as:
Health index Hi=1-deterioration index Di.
Can learn intuitively that so acute when this servomotor 10 vibrations deterioration degrees, those intensity difference Δs g1～Δ g9 summation of value that then surpasses this criticism curve is big more, makes that this deterioration index Di that is calculated is bigger, relatively, this health index Hi is also less.
In sum, the present invention has following advantage:
1, utilizes this built-in vibratory sensation measurement unit, can save the installing and the distribution that additionally install transducer additional.
2, can this vibratory sensation measurement unit (G-sensor) be set respectively at the stator slot and the encoder of this servomotor, can finish the estimation of board vibrations and drive system vibrations separately by pairing driver and servomotor.
3, the healthy early warning device of this servomotor can provide the different health indicators of multidirectional board vibrations with the drive system shake.
The above; only for the detailed description of preferred embodiment of the present invention and accompanying drawing; feature of the present invention is not limited thereto; be not in order to restriction the present invention; all scopes of the present invention should be as the criterion with following claims, and all closing in the embodiment of the spirit variation similar with it of protection range of the present invention all should be contained in the category of the present invention; any those skilled in the art in the field of the invention, can think easily and variation or revise the claim all can be encompassed in following this case.
Claims (14)
1. the healthy early warning device of a servomotor is applied to the shock conditions estimation of a Computerized numerical control machine tool, it is characterized in that the healthy early warning device of this servomotor comprises:
One servomotor, built-in at least one vibratory sensation measurement unit sensing the operating parameters of this servomotor, and produces a vibration signal; And
One servo-driver connects this servomotor, and this servo-driver comprises a microprocessor;
This microprocessor comprises:
Frequency domain converting unit receives this vibration signal, and the conversion of this vibration signal between time-domain and frequency domain is provided for the moment;
One resolution unit connects this time-frequency domain converting unit, is a plurality of decomposed signals to receive this vibration signal and to decompose this vibration signal;
One deterioration index computing unit connects this resolution unit, according to selected this decomposed signal and a criticism curve ratio, and to calculate a deterioration index; And
One health index computing unit connects this deterioration index computing unit, calculates a health index according to this deterioration index;
By this, utilize this built-in vibratory sensation measurement unit, can save the installing and the distribution that additionally install transducer additional, and, according to this health index size, run on shock conditions on the Computerized numerical control machine tool to estimate this servomotor, and provide preferable parsing for non-linear and astable vibrant characteristic.
2. the healthy early warning device of servomotor as claimed in claim 1 is characterized in that, this servo-driver also comprises a high-speed serial communication interface, its communication interface for transmitting for this vibration signal.
3. the healthy early warning device of servomotor as claimed in claim 1, it is characterized in that, this servo-driver also comprises a data buffer, connects this high-speed serial communication interface and this microprocessor respectively, to receive and to store this vibration signal that this vibratory sensation measurement unit is produced.
4. the healthy early warning device of servomotor as claimed in claim 1 is characterized in that, this vibratory sensation measurement unit is installed in the encoder of this servomotor, to estimate the drive system shock conditions of this Computerized numerical control machine tool.
5. the healthy early warning device of servomotor as claimed in claim 1 is characterized in that, this vibratory sensation measurement unit is installed in the stator slot of this servomotor, to estimate the board shock conditions of this Computerized numerical control machine tool.
6. the healthy early warning device of servomotor as claimed in claim 1 is characterized in that, this data buffer is a queue buffer.
7. the healthy early warning device of servomotor as claimed in claim 1 is characterized in that, this vibratory sensation measurement unit is an acceleration transducer.
8. the healthy early warning device of servomotor as claimed in claim 1 is characterized in that, this criticism curve is for to obtain with the rule of thumb.
9. the healthy early warning device of servomotor as claimed in claim 1 is characterized in that, this deterioration index should obtain by these those decomposed signals of deterioration index computing unit comparison and this criticism curve calculation.
10. the healthy early warning computational methods of a servomotor are applied to the shock conditions estimation of a Computerized numerical control machine tool; The step of the healthy early warning computational methods of this servomotor comprises:
(a) produce a vibration signal by a vibratory sensation measurement unit;
(b) transmit this vibration signal to one data buffer in regular turn;
(c) by a period of time frequency domain converting unit this vibration signal is carried out time-frequency domain conversion; And
(d) calculate a deterioration index by a deterioration index computing unit, and utilize a health index computing unit to try to achieve a health index.
11. healthy early warning computational methods as claimed in claim 10 is characterized in that, this step (c) also comprises:
(c1) carry out empirical modal and decompose, in the hope of a plurality of eigen mode state function components;
(c2) select this main eigen mode state function component;
(c3) this main eigen mode state function component is carried out Hilbert-Huang conversion, to obtain a plurality of instantaneous decomposed signals; And
(c4) this instantaneous decomposed signal of combination is to obtain a Hilbert time-frequency spectrum.
12. healthy early warning computational methods as claimed in claim 10 is characterized in that, the time-frequency domain conversion of this vibration signal can be a Hilbert-Huang conversion.
13. healthy early warning computational methods as claimed in claim 10 is characterized in that, the time-frequency domain conversion of this vibration signal can be a fast fourier transform.
14. healthy early warning computational methods as claimed in claim 10 is characterized in that, the time-frequency domain conversion of this vibration signal can be a wavelet conversion.
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| CN108390517A (en) * | 2018-03-29 | 2018-08-10 | 苏州晟贝科动力科技有限公司 | A kind of electric vehicle motor controller assembly having security alarm function |
| CN109916624A (en) * | 2019-03-22 | 2019-06-21 | 南京理工大学 | A kind of ball screw assembly, fatigue failure diagnostic method based on Hilbert Huang |
| CN111060192A (en) * | 2019-10-21 | 2020-04-24 | 张国基 | Calculation chip system for abnormal vibration of mechanical equipment |
| TWI741366B (en) * | 2019-09-10 | 2021-10-01 | 英業達股份有限公司 | System and method for estimating transportation risk |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108390517A (en) * | 2018-03-29 | 2018-08-10 | 苏州晟贝科动力科技有限公司 | A kind of electric vehicle motor controller assembly having security alarm function |
| CN109916624A (en) * | 2019-03-22 | 2019-06-21 | 南京理工大学 | A kind of ball screw assembly, fatigue failure diagnostic method based on Hilbert Huang |
| CN109916624B (en) * | 2019-03-22 | 2020-11-06 | 南京理工大学 | Hilbert yellow-based fatigue failure diagnosis method for ball screw pair |
| TWI741366B (en) * | 2019-09-10 | 2021-10-01 | 英業達股份有限公司 | System and method for estimating transportation risk |
| CN111060192A (en) * | 2019-10-21 | 2020-04-24 | 张国基 | Calculation chip system for abnormal vibration of mechanical equipment |
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| CN102270829B (en) | 2014-12-03 |
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