Propulsion motor rotor dynamic balance correction method and system

Abstract

The present application relates to the technical field of electric machines, in particular to a propelling electric machine rotor dynamic balance correction method and system, the method comprising: obtaining time-synchronized rotation speed signals and vibration signals of the electric machine; determining rotation speed change rates at each time, and determining window lengths of analysis windows at each time based on the rotation speed change rates at each time; determining synchronous component proportions and comprehensive stability indexes of the analysis windows at each time, and determining a working condition correction factor of the electric machine based on a running working condition of the electric machine, the rotation speed change rates at each time of the electric machine, and vibration amplitudes of the vibration signals; determining comprehensive confidence levels of the analysis windows at each time according to the synchronous component proportions, the comprehensive stability indexes, and the working condition correction factor, and selecting target data from the vibration signals and the rotation speed signals according to the comprehensive confidence levels, and performing rotor dynamic balance correction using the target data. In this way, the present application improves the accuracy and consistency of propelling electric machine rotor dynamic balance correction results.

Description

Technical Field

[0001] This invention relates to the field of motor technology, and specifically to a method and system for dynamic balancing correction of a propulsion motor rotor. Background Technology

[0002] With the continuous development of electric propulsion systems in ships, electric aircraft, and high-end equipment, propulsion motors are gradually evolving towards higher speeds, higher power densities, and longer-term stable operation. In this process, rotor dynamic balancing, as a technology to ensure smooth motor operation, reduce vibration and noise, and extend the lifespan of key components, has received increasing attention. Currently, in engineering practice, dynamic balancing technology has gradually extended from offline calibration in the manufacturing stage to online monitoring and dynamic optimization in the operation stage. Related systems typically integrate multi-source sensors to continuously collect and analyze operating parameters such as speed and vibration. Simultaneously, with the development of intelligent sensing and data-driven methods, dynamic balancing calibration is gradually evolving towards refinement, real-time operation, and adaptability to meet the high-performance operation requirements of motor systems under complex working conditions.

[0003] In some scenarios, during the actual operation of the propulsion motor, the vibration signal not only includes the synchronous response caused by rotor imbalance, but also superimposed with various asynchronous components such as speed fluctuations, structural coupling, environmental interference, and transient impacts. Especially under dynamic conditions such as start-up, acceleration and deceleration, and sudden load changes, the signal distortion is severe and the stability is poor, resulting in low reliability of the unbalance characteristics of the propulsion motor extracted based on traditional methods. Consequently, the accuracy and consistency of the propulsion motor rotor dynamic balance correction results are low. Summary of the Invention

[0004] To address the technical problem of low accuracy and consistency in the dynamic balancing correction results of propulsion motor rotors, the present invention aims to provide a method for dynamic balancing correction of propulsion motor rotors.

[0005] To solve the above technical problems, the specific technical solution adopted is as follows: In a first aspect, embodiments of the present invention provide a method for dynamic balancing correction of a propulsion motor rotor, comprising: acquiring a time-synchronized speed signal and vibration signal of the motor; determining the speed change rate at each moment based on the speed values ​​at each moment of the speed signal and the speed values ​​at adjacent moments, and determining the window length of the analysis window at each moment based on the speed change rate at each moment; determining the proportion of the synchronization component and the comprehensive stability index of the analysis window at each moment based on the energy of the vibration signal in different frequency bands within the window length corresponding to the analysis window at each moment, and determining the operating condition correction factor of the motor based on the operating condition of the motor, the speed change rate of the motor at each moment, and the vibration amplitude of the vibration signal; determining the comprehensive confidence level of the analysis window at each moment based on the proportion of the synchronization component, the comprehensive stability index, and the operating condition correction factor, selecting target data from the vibration signal and speed signal based on the comprehensive confidence level, and using the target data to perform rotor dynamic balancing correction.

[0006] Optionally, determining the window length of the analysis window at each moment based on the rate of change of rotational speed includes: determining the maximum and minimum window lengths of the motor based on the motor's rotational speed cycle; setting the window length of the analysis window to the maximum value when the rate of change of rotational speed is less than or equal to a preset speed stability threshold; setting the window length of the analysis window to the minimum value when the rate of change of rotational speed is greater than or equal to a preset speed drastic change threshold; and linearly adjusting the window length of the analysis window between the maximum and minimum window lengths based on the normalized result of the rate of change of rotational speed, the maximum window length, and the minimum window length when the rate of change of rotational speed is between the preset speed stability threshold and the preset speed drastic change threshold.

[0007] Optionally, determining the proportion of the synchronization component of the analysis window at each moment based on the energy of the vibration signal within the window length corresponding to the analysis window at each moment in different frequency bands includes: performing spectral analysis on the vibration signal within the window length corresponding to the analysis window to determine the first energy of the 1X frequency component synchronized with the current rotor speed of the motor; determining the second energy within the preset focus frequency band of the motor; and determining the proportion of the synchronization component of the analysis window based on the first energy and the second energy.

[0008] Optionally, based on the energy of the vibration signal in different frequency bands within the window length corresponding to each analysis window at each moment, the comprehensive stability index of the analysis window at each moment is determined, including: determining the third energy in the frequency band that is not synchronized with the current rotor speed of the motor within the analysis window, the third energy including the low-frequency neighborhood energy in the first range and the high-frequency neighborhood energy in the second range, the second range being larger than the first range; determining the relative dominance ratio of the synchronization response based on the first energy and the third energy; determining the phase stability index based on the vibration phase of the 1X frequency component within multiple consecutive analysis windows; and determining the comprehensive stability index based on the relative dominance ratio of the synchronization response, the phase stability index, the preset maximum allowable amplitude fluctuation, and the preset maximum allowable phase fluctuation.

[0009] Optionally, a comprehensive stability index is determined based on the relative dominance ratio of the synchronous response, the phase stability index, the preset maximum allowable amplitude fluctuation, and the preset maximum allowable phase fluctuation. This includes: determining the standard deviation of the relative dominance ratio of the synchronous response within multiple consecutive analysis windows, and calculating a first ratio between the standard deviation and the preset maximum allowable amplitude fluctuation, as well as a second ratio between the phase stability index and the preset maximum allowable phase fluctuation; and determining the comprehensive stability index based on the first and second ratios.

[0010] Optionally, determining the motor's operating condition correction factor based on the motor's operating conditions, the motor's speed change rate at various times, and the vibration amplitude of the vibration signal includes: determining the motor's operating condition based on the motor's speed change rate at various times and the vibration amplitude of the vibration signal; determining the motor's operating condition correction factor based on the operating condition, wherein the operating condition correction factor takes different values ​​under different operating conditions; wherein the operating conditions include steady-state conditions, starting conditions, rapid acceleration conditions, and impact conditions; when the speed change rate is less than or equal to a preset speed stability threshold and the motor's vibration amplitude is less than a preset steady-state amplitude multiple threshold, it is determined to be a steady-state condition; when the motor's speed rises from zero and the speed change rate continues to exceed a first preset time within a preset range, it is determined to be a starting condition; when the speed change rate is greater than or equal to a preset speed abrupt change threshold, it is determined to be a rapid acceleration condition; when the motor's vibration amplitude is greater than or equal to a steady-state amplitude multiple threshold, it is determined to be an impact condition.

[0011] Optionally, selecting target data from vibration and rotational speed signals based on overall confidence includes: selecting high-confidence data from vibration and rotational speed signals with an overall confidence greater than a preset confidence threshold; and determining the high-confidence data as target data.

[0012] Optionally, rotor dynamic balancing correction using target data includes: calculating rotor imbalance by calling the corresponding influence coefficient from a pre-built influence coefficient matrix library based on the average speed of the analysis window where the target data is located; determining the mass and phase position that need to be compensated based on the rotor imbalance; and performing rotor dynamic balancing correction on the motor using the mass and phase position that need to be compensated.

[0013] Secondly, embodiments of the present invention provide a propulsion motor rotor dynamic balancing correction system, comprising: an acquisition module for acquiring a time-synchronized motor speed signal and vibration signal; a determination module for determining the speed change rate at each moment based on the speed values ​​at each moment of the speed signal and the speed values ​​at adjacent moments, and determining the window length of the analysis window at each moment based on the speed change rate at each moment; the determination module is further configured to determine the proportion of the synchronization component and the comprehensive stability index of the analysis window at each moment based on the energy of the vibration signal in different frequency bands within the window length corresponding to the analysis window at each moment, and determine the motor operating condition correction factor based on the motor's operating conditions, the speed change rate of the motor at each moment, and the vibration amplitude of the vibration signal; the determination module is further configured to determine the comprehensive confidence level of the analysis window at each moment based on the proportion of the synchronization component, the comprehensive stability index, and the operating condition correction factor, and select target data from the vibration signal and speed signal based on the comprehensive confidence level, and perform rotor dynamic balancing correction using the target data.

[0014] Thirdly, embodiments of the present invention provide a propulsion motor rotor dynamic balancing correction system, comprising: a processor and a memory; wherein the memory is used to store a computer program that can run on the processor; the processor is used to execute the program stored in the memory to implement the steps of the propulsion motor rotor dynamic balancing correction method mentioned in the first aspect.

[0015] This invention offers the following advantages: By acquiring time-synchronized rotational speed and vibration signals, the embodiments of this invention dynamically adjust the window length of the analysis window based on the rate of change of rotational speed at each moment. This allows for shortening the window to improve time resolution and suppress spectral broadening and phase distortion during rapid rotational speed fluctuations, and extending the window to improve frequency resolution and signal-to-noise ratio during stable rotational speeds. This adaptively optimizes the relationship between time resolution and frequency resolution, providing a high-quality data foundation for unbalanced feature extraction. Furthermore, this invention calculates the proportion of synchronization components and the comprehensive stability index within each analysis window, and introduces a condition correction factor based on operating conditions. This constructs a multi-level data confidence assessment from three dimensions: frequency domain correlation, time domain stability, and operating condition rationality. Specifically, the proportion of synchronization components is used to filter vibration signals primarily dominated by rotor imbalance; the comprehensive stability index is used to exclude non-stationary data affected by transient disturbances; and the condition correction factor effectively suppresses interference from pseudo-synchronous or pseudo-stable responses under special operating conditions such as startup, rapid acceleration, and impact. By integrating these three factors into a comprehensive confidence score, adaptive screening of high-reliability data is achieved. Finally, the present invention performs rotor dynamic balance correction based on the selected target data, thereby avoiding interference from speed fluctuations, impact disturbances and unsteady conditions on the unbalance calculation results, improving the accuracy and consistency of dynamic balance correction under complex dynamic conditions, and enhancing the operational stability and reliability of the propulsion motor system. Attached Figure Description

[0016] To more clearly illustrate the technical solutions and advantages in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 A flowchart of a method for dynamic balancing correction of a propulsion motor rotor is provided in one embodiment of the present invention; Figure 2 This is a schematic diagram of a propulsion motor rotor dynamic balancing correction system according to an embodiment of the present invention; Figure 3 This is a schematic diagram of a propulsion motor rotor dynamic balancing correction system provided in another embodiment of the present invention. Detailed Implementation

[0018] To further illustrate the technical means and effects adopted by the present invention to achieve its intended purpose, the following, in conjunction with the accompanying drawings and preferred embodiments, details the specific implementation, structure, features, and effects of a propulsion motor rotor dynamic balancing correction method and system proposed according to the present invention. In the following description, different "one embodiment" or "another embodiment" do not necessarily refer to the same embodiment. Furthermore, specific features, structures, or characteristics in one or more embodiments can be combined in any suitable form.

[0019] The terms "first," "second," etc., used in the specification and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such terms are interchangeable where appropriate; this is merely a way of distinguishing objects with the same attributes in the embodiments of this application. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion, so that a process, method, system, product, or apparatus that comprises a series of units is not necessarily limited to those units, but may include other units not explicitly listed or inherent to those processes, methods, products, or apparatuses.

[0020] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains.

[0021] The specific scheme of the propulsion motor rotor dynamic balancing correction method provided by the present invention will be described in detail below with reference to the accompanying drawings.

[0022] Example 1: Please see Figure 1 The flowchart illustrates a method for dynamic balance correction of a propulsion motor rotor according to an embodiment of the present invention, including: Step S101: Obtain the time-synchronized motor speed signal and vibration signal.

[0023] Specifically, in this embodiment of the invention, the rotor dynamic balance analysis of the motor requires a strict time correspondence between the rotational speed and the vibration signal; otherwise, deviations in frequency and phase analysis will occur. Therefore, it is necessary to obtain time-aligned rotational speed and vibration signals to ensure the accuracy of subsequent analysis steps such as frequency extraction and phase calculation.

[0024] Furthermore, in this embodiment of the invention, a photoelectric encoder (resolution ≥ 1024 lines) is installed at the end of the motor shaft to acquire the motor speed signal in real time. The sampling frequency is set to more than 10 times the frequency corresponding to the highest speed of the motor (e.g., the highest speed of 3000 rpm corresponds to 50 Hz, so the sampling frequency is set to 500 Hz).

[0025] Furthermore, in this embodiment of the invention, piezoelectric vibration sensors are installed horizontally (x-direction) and vertically (y-direction) on the motor bearing housing to collect vibration signals, wherein the vibration signals can be vibration acceleration signals in the x-direction. Vibration acceleration signal in the y direction The sampling frequency is consistent with the rotation speed signal.

[0026] Furthermore, in this embodiment of the invention, a high-precision clock (error ≤ 1ms) is used within the system to add timestamps to all acquired signals, ensuring... , , Aligned on the same time base. Represents continuous-time rotational speed signal, unit: rpm. Represents the vibration acceleration signal in the x-direction, unit: , This represents the vibration acceleration signal in the y-direction, in units of: We obtain raw, continuously aligned time series data, which can be directly used for subsequent analysis.

[0027] Step S102: Determine the rate of change of rotational speed at each moment based on the rotational speed signal at each moment and the rotational speed values ​​at adjacent moments, and determine the window length of the analysis window at each moment based on the rate of change of rotational speed at each moment.

[0028] Specifically, because the rotational speed of a propulsion motor exhibits significant non-stationary characteristics during actual operation, the frequency components of the vibration signal drift over time when the speed changes rapidly. If a fixed-length analysis window is used, information from multiple speed states can easily be mixed into a single window, leading to spectral broadening, 1X frequency positioning offset, and phase calculation distortion, thus reducing the accuracy of subsequent unbalanced feature extraction. Therefore, during periods of large speed fluctuations, shortening the analysis window allows the rotational speed within each window to remain approximately consistent, improving the ability to capture instantaneous dynamic features and reducing the impact of asynchronous disturbances on the analysis results. However, under relatively stable speed conditions, the statistical characteristics of the vibration signal tend to stabilize. Using a short window at this time results in insufficient frequency resolution, inaccurate energy estimation, and increased phase jitter, hindering the accurate extraction of the 1X synchronization component. Therefore, extending the analysis window improves spectral resolution and signal-to-noise ratio, resulting in higher concentration of vibration energy and obtaining more stable and reliable amplitude and phase information.

[0029] Furthermore, dynamically adjusting the length of the analysis window based on the rate of change of rotational speed essentially adaptively optimizes the trade-off between "time resolution" and "frequency resolution" under different operating conditions, providing a higher-quality input data foundation for subsequent synchronization dominance analysis, stability assessment, and confidence calculation. Therefore, this embodiment of the invention focuses on the synchronized rotational speed signal... Segmented by sampling points, take the first... Rotational speed at time Compared to the previous moment -1 speed value To calculate the change in rotational speed per unit time, record the first... Rate of change of rotational speed at time t ,in The sampling time interval is determined by the sampling frequency. calculate, .

[0030] Furthermore, the length of the analysis window is inversely proportional to the rate of change of rotational speed. Preset upper and lower limits ensure that the analysis window is neither too short nor too long, avoiding the loss of crucial information or the introduction of irrelevant disturbances. Therefore, as an optional embodiment of the present invention, determining the window length of the analysis window at each moment based on the rate of change of rotational speed includes: determining the maximum and minimum window lengths of the motor based on the motor's rotational speed cycle; setting the window length of the analysis window to the maximum value when the rate of change of rotational speed is less than or equal to a preset rotational speed stability threshold; setting the window length of the analysis window to the minimum value when the rate of change of rotational speed is greater than or equal to a preset rotational speed drastic change threshold; and linearly adjusting the window length of the analysis window between the maximum and minimum window lengths based on the normalized result of the rate of change of rotational speed, the maximum window length, and the minimum window length when the rate of change of rotational speed is between the preset rotational speed stability threshold and the preset rotational speed drastic change threshold.

[0031] Specifically, embodiments of the present invention can determine the maximum and minimum window lengths of the motor by pre-setting the number of corresponding speed cycles. For example, when the rotor speed of the motor is 3000 rpm, the duration of one speed cycle is 0.02 s. Embodiments of the present invention preset the minimum window length. Corresponding to 5 rotational speed cycles, at a rotor speed of 3000 rpm, the value is 5 × 0.02 = 0.1 s, corresponding to 50 sampling points. Preset maximum window length. This corresponds to 20 rotational speed cycles, such as 0.4s, and 200 sampling points.

[0032] Furthermore, the embodiments of the present invention preset a speed stabilization threshold. (e.g., 0.5 rpm / s) and preset speed change threshold (e.g., 10 rpm / s), the window length is calculated through linear mapping.

[0033] Furthermore, in this embodiment of the invention, the following formula is used to determine the first... Window length at time : In the above formula, Indicates the first The window length at any given time. This indicates the maximum window length. This indicates the minimum window length. Indicates the first The rate of change of rotational speed at time t. This indicates the speed stabilization threshold. This represents the threshold for abrupt changes in rotational speed. Among them, Indicates the rate of change of rotational speed The normalized result. It is worth noting that if... If the calculated value is not an integer, it can be rounded to the nearest integer.

[0034] In this way, an analysis window adapted to the current speed change is assigned to each moment, ensuring the accuracy of subsequent frequency domain analysis. This completes the dynamic selection of the adaptive analysis window, determining the optimal signal analysis range for each moment.

[0035] Step S103: Based on the energy of the vibration signal in different frequency bands within the window length corresponding to each analysis window at each time, determine the proportion of the synchronization component and the comprehensive stability index of the analysis window at each time. Based on the operating conditions of the motor, the speed change rate of the motor at each time, and the vibration amplitude of the vibration signal, determine the operating condition correction factor of the motor.

[0036] Specifically, in actual operation, vibration signals often contain multiple frequency components. Only the 1X frequency component, synchronized with the rotational speed, directly corresponds to rotor mass imbalance, while other frequency components mostly originate from structural resonance, bearing failure, or external disturbances. By calculating the proportion of 1X frequency energy in the overall spectrum, the proportion of "effective information" in the current signal can be effectively measured. Therefore, for short window data with an analysis window length less than the rotational speed stability threshold, this embodiment of the invention employs refined Fast Fourier Transform (FFT) or Chirp-Z Transform for spectrum analysis to ensure the frequency resolution of the 1X band. When synchronization dominance is high, it indicates that the vibration at that moment mainly reflects the imbalance response, and its data has strong physical correlation and can be used for correction; conversely, it indicates that the signal is greatly disturbed by non-target factors, and direct participation in correction will introduce errors.

[0037] Furthermore, as an optional embodiment of the present invention, determining the proportion of the synchronization component of the analysis window at each moment based on the energy of the vibration signal within the window length corresponding to the analysis window at each moment in different frequency bands includes: performing spectrum analysis on the vibration signal within the window length corresponding to the analysis window to determine the first energy of the 1X frequency component synchronized with the current rotor speed of the motor; determining the second energy within the preset focus frequency band of the motor; and determining the proportion of the synchronization component of the analysis window based on the first energy and the second energy.

[0038] Specifically, the embodiments of the present invention analyze the vibration signals within each analysis window. , Perform Fast Fourier Transform on each frequency to find the 1X frequency. (Unit: Hz) Corresponding frequency band ( Then obtain the frequency band of this 1X frequency component. The first energy in the analysis window corresponding to the k-th time. Then, calculate the total energy (second energy) within the preset focus frequency band (0.1X to 10X RPM range) of the motor in the analysis window corresponding to the k-th time point. In this embodiment of the invention, the k-th time point is recorded as... The proportion of synchronization components at a given time is as follows: In the above formula, Indicates the first The proportion of the synchronization component in the analysis window at any given time ranges from 0 to 1. The closer it is to 1, the more the vibration is dominated by imbalance. The closer it is to 0, the greater the interference from factors. This represents the first energy in the analysis window corresponding to the k-th time step. This indicates the second energy within the preset frequency band (0.1X to 10X RPM range) of the motor.

[0039] Furthermore, even if the vibration signal at a certain moment is dominated by the 1X frequency component, if its amplitude or phase fluctuates drastically between adjacent moments, it may still indicate that the system is in a transient process or affected by random disturbances. Such data is also unsuitable for dynamic balancing calculations. In actual operation, even if the synchronization component accounts for a high proportion at a certain moment, factors such as speed fluctuations, transient impacts, or multi-source vibration coupling may cause the synchronization response to become unstable in a short period of time, thereby reducing its reliability for dynamic balancing calculations. Therefore, it is necessary to introduce a synchronization response stability index based on the dominance of synchronization to further screen the data at each moment.

[0040] Furthermore, as an optional embodiment of the present invention, determining the comprehensive stability index of the analysis window at each moment based on the energy of the vibration signal in different frequency bands within the window length corresponding to the analysis window at each moment includes: determining the third energy in the frequency band that is not synchronized with the current rotor speed of the motor within the analysis window, the third energy including the low-frequency neighborhood energy in the first range and the high-frequency neighborhood energy in the second range, the second range being greater than the first range; determining the relative dominance ratio of the synchronization response based on the first energy and the third energy; determining the phase stability index based on the vibration phase of the 1X frequency component within multiple consecutive analysis windows; and determining the comprehensive stability index based on the relative dominance ratio of the synchronization response, the phase stability index, the preset maximum allowable amplitude fluctuation, and the preset maximum allowable phase fluctuation.

[0041] Specifically, within each analysis window, the obtained synchronization component energy... Based on this, a third energy is simultaneously extracted from the frequency band that is asynchronous with the current rotor speed of the motor. This third energy includes low-frequency neighborhood energy within the first range (e.g., 0.5X~0.9X frequency band). and high-frequency neighborhood energy in the second frequency range (e.g., 1.1X~3X frequency band) It is used to characterize asynchronous perturbation components.

[0042] Furthermore, in this embodiment of the invention, the relative dominance ratio of the synchronization response is determined using the following formula: In the above formula, Indicates the first The relative dominance of synchronous response in the analysis window at any given time. This represents the first energy in the analysis window corresponding to the k-th time step. This indicates the low-frequency neighborhood energy within the first frequency band (e.g., 0.5X~0.9X frequency band). This indicates the high-frequency neighborhood energy within the second frequency band (e.g., 1.1X~3X frequency band). To prevent the use of tiny constants with a denominator of zero, such as those with a value of 0.001.

[0043] Furthermore, in subsequent embodiments of the present invention... Within each analysis window, calculate the fluctuation (standard deviation) of the relative dominance ratio of the synchronous response. , The smaller the value, the more stable the advantage of the synchronous component relative to other components remains, and the higher the stability of the vibrating structure.

[0044] Furthermore, the vibration phase of rotor imbalance should remain stable. Large phase fluctuations indicate asynchronous disturbances or changes in operating conditions. Traditional phase stability only considers the differences between adjacent windows, but does not consider the coupling relationship between phase and speed changes.

[0045] Therefore, embodiments of the present invention consider taking continuous values. Vibrational phase sequence of 1X frequency components in each analysis window , Indicates the first The vibrational phase of the 1X frequency component in the analysis window. Indicates the first The vibration phase of the 1X frequency component in each analysis window is calculated. Therefore, the phase stability index is denoted by averaging the absolute values ​​of the phase differences between adjacent vibration phases. It is the following formula: In the above formula, Indicates the first Phase stability index at any given time. This represents the absolute value of the phase difference between the vibration phases of adjacent analysis windows. Indicates continuous An analysis window. The smaller the value, the more stable the phase and the better the data synchronization. = , For the first The vibrational phase of the 1X frequency components in each analysis window. For the first -1 analysis window of the vibration phase of the 1X frequency component. If Then the value taken this time is .

[0046] Furthermore, only signals with stable amplitude and phase are considered reliable data. Therefore, the two indices are normalized and fused to obtain a comprehensive stability index. Thus, as an optional embodiment of the present invention, the comprehensive stability index is determined based on the relative dominance ratio of the synchronization response, the phase stability index, a preset maximum allowable amplitude fluctuation, and a preset maximum allowable phase fluctuation. This includes: determining the standard deviation of the relative dominance ratio of the synchronization response within multiple consecutive analysis windows, and calculating a first ratio between the standard deviation and the preset maximum allowable amplitude fluctuation, and a second ratio between the phase stability index and the preset maximum allowable phase fluctuation; and determining the comprehensive stability index based on the first and second ratios.

[0047] Specifically, the embodiments of the present invention preset the maximum allowable fluctuation of amplitude. (e.g., 0.2) and the preset maximum allowable fluctuation of the phase (e.g., 15°), will , After normalization and multiplication, the overall stability index is determined using the following formula: In the above formula, Indicates the first The comprehensive stability index of the analysis window at any given time. The standard deviation represents the relative dominance of synchronous responses across multiple consecutive analysis windows. This indicates the maximum allowable fluctuation of the preset amplitude. This indicates the phase stability index. This indicates the maximum permissible fluctuation of the preset phase. This represents the maximum value function.

[0048] Thus, the embodiments of the present invention complete the synchronous response stability assessment, thereby further screening stable and reliable vibration data.

[0049] Step S104: Based on the proportion of synchronous components, comprehensive stability index and working condition correction factor, determine the comprehensive confidence level of the analysis window at each moment, select target data from vibration signal and speed signal based on comprehensive confidence level, and use the target data to perform rotor dynamic balance correction.

[0050] Specifically, after obtaining the proportion of the synchronization component and the comprehensive stability index, considering the actual operation process, vibration signals often exhibit obvious non-steady-state characteristics under special conditions such as startup, rapid acceleration, or impact. Even if the proportion of the synchronization component is high or shows a certain degree of stability within a local time period, the vibration response may not be entirely dominated by rotor imbalance, but rather influenced by system inertial effects, external excitation, or transient load changes, leading to deviations in the data at the physical mechanism level. Therefore, it is difficult to effectively distinguish between "true imbalance response formed under normal operating conditions" and "pseudo-stable or pseudo-synchronous response generated under abnormal operating conditions." Therefore, a condition identification mechanism is considered to correct the reliability of data under different operating states.

[0051] Furthermore, as an optional embodiment of the present invention, determining the motor's operating condition correction factor based on the motor's operating conditions, the motor's speed change rate at various times, and the vibration amplitude of the vibration signal includes: determining the motor's operating condition based on the motor's speed change rate at various times and the vibration amplitude of the vibration signal; determining the motor's operating condition correction factor based on the operating condition, wherein the operating condition correction factor takes different values ​​under different operating conditions; wherein the operating conditions include steady-state conditions, starting conditions, rapid acceleration conditions, and impact conditions; when the speed change rate is less than or equal to a preset speed stability threshold and the motor's vibration amplitude is less than a preset steady-state amplitude multiple threshold, it is determined to be a steady-state condition; when the motor's speed rises from zero and the speed change rate continues to exceed a first preset time within a preset range, it is determined to be a starting condition; when the speed change rate is greater than or equal to a preset speed drastic change threshold, it is determined to be a rapid acceleration condition; when the motor's vibration amplitude is greater than or equal to a steady-state amplitude multiple threshold, it is determined to be an impact condition.

[0052] Specifically, in the embodiments of the present invention, the preset interval can be and The interval between [the specified range]. The first preset time can be 3 seconds. For example, in the startup condition: the speed starts to rise from 0, and [the specified range is missing here]. exist and If the motor remains in the preset range for more than 3 seconds, it indicates that the motor is in the starting condition.

[0053] Rapid acceleration conditions: If the motor is in a rapid acceleration condition, it is indicated that the motor is operating at 10 rpm / s for more than two consecutive sampling points.

[0054] Impact condition: The vibration amplitude of the motor at that time Under these circumstances, it is determined to be an impact condition. The steady-state amplitude multiplier threshold can be obtained by taking the average of the vibration amplitudes within the most recent steady-state operating condition period as the threshold. If the system is in the initial startup phase or lacks historical steady-state data, then... Set to the factory calibration average.

[0055] Steady-state operating condition: When the rate of change of speed is less than or equal to the preset speed stability threshold. Furthermore, the vibration amplitude of the motor is less than the preset steady-state amplitude multiple threshold. Under these conditions, it is determined to be a steady-state operating condition.

[0056] Furthermore, embodiments of the present invention monitor the rate of change of rotational speed in real time. and vibration amplitude To match the above operating condition characteristics, the times of special operating conditions are marked. Data reliability is low under special operating conditions, so a correction factor is used to reduce its impact on correction. Under steady-state operating conditions, the correction factor is 1, which does not affect the data weights. Therefore, the operating condition correction factor for the motor at time k is... It is written as follows: In the above formula, For the first The operating condition correction factor at any given time ranges from 0 to 1; a larger value indicates higher data reliability. The steady-state operating condition represents the rate of change of rotational speed. And the vibration amplitude is stable .

[0057] Furthermore, after calculating the proportion of synchronous components, the stability of synchronous response, and the operating condition correction factor, it is necessary to integrate the evaluation results of the above multiple dimensions to form a comprehensive judgment on the overall reliability of the data at each moment. This process essentially involves filtering the vibration signal step-by-step from different levels: first, the proportion of synchronous components determines whether the signal mainly originates from rotor imbalance, i.e., confirming the physical correlation of the data from the frequency domain components; second, the stability of the synchronous response assesses the continuity and consistency of the imbalance response in time, ensuring it is not affected by transient disturbances; finally, combined with the operating condition correction factor, operating state information is introduced to correct the credibility of data under non-steady-state conditions such as startup, acceleration, or impact, thereby avoiding interference from abnormal operating conditions on the analysis results.

[0058] Therefore, the embodiments of the present invention use the following formula to calculate the first... Overall confidence level of the data at any given time: In the above formula, Indicates the first The overall confidence level of the data at any given time ranges from 0 to 1, with values ​​closer to 1 indicating more reliable data. For the first The operating condition correction factor at any given time. Indicates the first The comprehensive stability index of the analysis window at any given time. Indicates the first The percentage of synchronous components in the analysis window at any given time.

[0059] Furthermore, integrating the above three indicators allows for unified constraints on data in terms of "relevance," "stability," and "effective operating conditions." Through this multi-dimensional collaborative evaluation method, only data that simultaneously meets the criteria of imbalance dominance, stable response, and being under reasonable operating conditions will be assigned a high overall confidence level. If any condition is not met, its overall confidence level will be significantly reduced.

[0060] Furthermore, as an optional embodiment of the present invention, selecting target data from vibration signals and rotational speed signals based on comprehensive confidence includes: selecting high-confidence data from vibration signals and rotational speed signals with a comprehensive confidence greater than a preset confidence threshold; and determining the high-confidence data as target data.

[0061] Specifically, this embodiment of the invention filters high-reliability data based on comprehensive confidence levels, downweights or eliminates low-confidence data, ensuring that only high-quality data participates in dynamic balance correction. The preset confidence threshold in this embodiment is denoted as... . The value can range from 0.6 to 0.8, and can be adjusted according to the motor type. Values ​​higher than this are acceptable. The data is high-confidence data and is directly used in the calculation; data below this level... The data was deleted to eliminate its impact on the results.

[0062] Furthermore, as an optional embodiment of the present invention, rotor dynamic balance correction using target data includes: calculating rotor imbalance by calling the corresponding influence coefficient from a pre-built influence coefficient matrix library based on the average speed of the analysis window in which the target data is located; determining the mass and phase position to be compensated based on the rotor imbalance; and performing rotor dynamic balance correction on the motor using the mass and phase position to be compensated.

[0063] Specifically, in this embodiment of the invention, firstly, for the selected high-confidence target data, the average rotational speed within the analysis window of its time period is calculated. Based on this average rotational speed, the influence coefficient matrix corresponding to the rotational speed range is matched and called from a pre-built steady-state influence coefficient matrix library. The steady-state influence coefficient matrix describes the linear relationship between vibration response and unbalance under known trial weight conditions. Subsequently, the vibration amplitude and phase data at each moment within the analysis window are weighted and fused according to time weights (e.g., the closer to the center of the window, the higher the weight), to obtain the fused vibration response vector. Using this vibration response vector and the called steady-state influence coefficient matrix, the rotor unbalance (including the magnitude of the unbalance mass and the phase angle) is solved using the least squares method.

[0064] Then, a compensation scheme is determined based on the calculated imbalance: the compensation mass is equal to the imbalance, and the compensation phase position is the opposite of the imbalance phase (i.e., plus 180°). If the actuator is a liquid-filled or electromagnetic counterweight, the compensation command is converted into control parameters for each channel; if it is a manual counterweight, the compensation mass and installation angle are output.

[0065] Finally, the compensation command is sent to the motor's built-in automatic balancing actuator to complete the online dynamic balancing correction; or it is output to an external maintenance terminal for manual addition of counterweights after shutdown to achieve rotor dynamic balancing correction.

[0066] Furthermore, the above process fully leverages the accurate characterization of unbalanced responses by high-confidence data, reducing the interference of low-quality data on the calculation results. This ensures that the final compensation scheme maintains high accuracy and reliability even under complex operating conditions. After obtaining the initial correction results, the system continuously monitors the motor's operating status and dynamically updates the data confidence level to achieve closed-loop optimization of the dynamic balance correction. When the vibration amplitude is detected to still exceed the preset threshold or the operating conditions change, the system automatically re-screens valid data and calculates new unbalance quantities, adjusting the compensation strategy accordingly. Through this real-time feedback and iterative optimization mechanism, the dynamic balance correction is transformed from a one-time static process into a continuous adaptive process, thereby maintaining stable control and performance optimization of the motor's vibration level during long-term operation.

[0067] This invention acquires time-synchronized rotational speed and vibration signals, and dynamically adjusts the analysis window length based on the rotational speed change rate at each moment. This allows for shorter windows to improve temporal resolution and suppress spectral broadening and phase distortion during rapid rotational speed fluctuations, and longer windows to improve frequency resolution and signal-to-noise ratio during stable rotational speeds. This adaptively optimizes the relationship between temporal and frequency resolution, providing a high-quality data foundation for unbalanced feature extraction. Furthermore, this invention calculates the proportion of synchronization components and a comprehensive stability index within each analysis window, and introduces a condition correction factor based on operating conditions. This constructs a multi-level data confidence assessment from three dimensions: frequency domain correlation, time domain stability, and operating condition rationality. Specifically, the proportion of synchronization components is used to filter vibration signals primarily dominated by rotor imbalance; the comprehensive stability index is used to exclude non-stationary data affected by transient disturbances; and the condition correction factor effectively suppresses interference from pseudo-synchronous or pseudo-stable responses under special operating conditions such as startup, rapid acceleration, and impact. By integrating these three factors into a comprehensive confidence score, adaptive screening of high-reliability data is achieved. Finally, this invention performs rotor dynamic balancing correction based on the selected target data, fundamentally avoiding interference from speed fluctuations, impact disturbances, and unsteady operating conditions on the unbalance calculation results, thus improving the accuracy and consistency of dynamic balancing correction under complex dynamic conditions. This enhances the operational stability and reliability of the propulsion motor system.

[0068] Example 2: Corresponding to the propulsion motor rotor dynamic balancing correction method provided in the above embodiments, based on the same technical concept, this embodiment of the invention also provides a propulsion motor rotor dynamic balancing correction system, which is used to perform the above-described propulsion motor rotor dynamic balancing correction method. Figure 2This is a schematic diagram of a propulsion motor rotor dynamic balancing correction system according to an embodiment of the present invention, as shown below. Figure 2 As shown. The dynamic balancing system for the propulsion motor rotor can vary significantly depending on its configuration or performance. It may include one or more processors 201 and memory 202. The memory 202 stores computer programs that can run on the processor 201. The processor 201 executes the programs stored in the memory 202 to achieve the above... Figure 1 The various steps in the method embodiment are described. The memory 202 can be temporary or persistent storage. The application stored in the memory 202 may include one or more modules (not shown in the figures), each module may include a series of computer-executable instructions for the propulsion motor rotor dynamic balancing correction system.

[0069] Furthermore, the processor 201 can be configured to communicate with the memory 202 and execute a series of computer-executable instructions in the memory 202 on the propulsion motor rotor dynamic balancing correction system. The propulsion motor rotor dynamic balancing correction system may also include one or more power supplies 203, one or more wired or wireless network interfaces 204, one or more input / output interfaces 205, and one or more keyboards 206.

[0070] Specifically, in this embodiment, the propulsion motor rotor dynamic balancing correction system includes a processor, a communication interface, a memory, and a communication bus; wherein, the processor, communication interface, and memory communicate with each other via the bus; the memory stores computer programs; and the processor executes the programs stored in the memory to achieve the above... Figure 1 The various steps in the method embodiments are the same as those in the above method embodiments, and have the same beneficial effects. To avoid repetition, the embodiments of the present invention will not be described again here.

[0071] Example 3: Corresponding to the propulsion motor rotor dynamic balancing correction method provided in the above embodiments, based on the same technical concept, this embodiment of the invention also provides a propulsion motor rotor dynamic balancing correction system, which is used to perform the above-described propulsion motor rotor dynamic balancing correction method. Figure 3 This is a schematic diagram of another propulsion motor rotor dynamic balancing correction system provided in one embodiment of the present invention, as shown below. Figure 3As shown, another propulsion motor rotor dynamic balancing correction system 300 includes: an acquisition module 301, used to acquire the speed signal and vibration signal of the time-synchronized motor; a determination module 302, used to determine the speed change rate at each moment based on the speed signal at each moment and the speed values ​​at adjacent moments, and to determine the window length of the analysis window at each moment based on the speed change rate at each moment; the determination module 302 is further used to determine the proportion of the synchronization component and the comprehensive stability index of the analysis window at each moment based on the energy of the vibration signal in different frequency bands within the window length corresponding to the analysis window at each moment, and to determine the operating condition correction factor of the motor based on the operating condition of the motor, the speed change rate of the motor at each moment and the vibration amplitude of the vibration signal; the determination module 302 is further used to determine the comprehensive confidence level of the analysis window at each moment based on the proportion of the synchronization component, the comprehensive stability index and the operating condition correction factor, and to select target data from the vibration signal and speed signal based on the comprehensive confidence level, and to perform rotor dynamic balancing correction using the target data.

[0072] It should be noted that the propulsion motor rotor dynamic balancing correction system provided in this embodiment of the invention and the propulsion motor rotor dynamic balancing correction method provided in this embodiment of the invention are based on the same application concept. Therefore, the specific implementation of this embodiment can refer to the implementation of the aforementioned propulsion motor rotor dynamic balancing correction method, and has the same or similar beneficial effects. Repeated parts will not be described again.

[0073] It should be noted that the order of the above embodiments of the present invention is merely for descriptive purposes and does not represent the superiority or inferiority of the embodiments. The processes depicted in the accompanying drawings do not necessarily require a specific or sequential order to achieve the desired result. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0074] The various embodiments in this specification are described in a progressive manner. The same or similar parts between the various embodiments can be referred to each other. Each embodiment focuses on describing the differences from other embodiments.

Claims

1. A method of correcting dynamic balance of a propelling motor rotor, characterized in that, include: Acquire the time-synchronized speed and vibration signals of the motor; Based on the rotational speed signal at each time point and the rotational speed values ​​at adjacent times points, the rotational speed change rate at each time point is determined, and the window length of the analysis window at each time point is determined based on the rotational speed change rate at each time point. Based on the energy of the vibration signal in different frequency bands within the window length corresponding to each analysis window at each time, the proportion of the synchronization component and the comprehensive stability index of the analysis window at each time are determined. Based on the operating conditions of the motor, the speed change rate of the motor at each time, and the vibration amplitude of the vibration signal, the operating condition correction factor of the motor is determined. Based on the proportion of the synchronous component, the comprehensive stability index, and the working condition correction factor, the comprehensive confidence level of the analysis window at each moment is determined, and target data is selected from the vibration signal and speed signal based on the comprehensive confidence level, and the target data is used to perform rotor dynamic balance correction. The window length for determining the analysis window at each time point includes: The maximum and minimum window lengths of the motor are determined based on the motor's rotational speed cycle. If the rate of change of rotational speed is less than or equal to a preset rotational speed stabilization threshold, the window length of the analysis window is set to the maximum value of the window length. If the rate of change of rotational speed is greater than or equal to a preset threshold for drastic change in rotational speed, the window length of the analysis window is set to the minimum value of the window length. When the rotational speed change rate is between the preset rotational speed stability threshold and the preset rotational speed drastic change threshold, the window length of the analysis window is linearly adjusted between the maximum window length and the minimum window length based on the normalized result of the rotational speed change rate, the maximum window length, and the minimum window length. The formula for calculating the window length at time k is: in, Indicates the first Window length at any given time This indicates the maximum window length. This represents the minimum window length. Indicates the first Rate of change of rotational speed at time t. Indicates the speed stabilization threshold. Indicates the threshold for drastic changes in rotational speed; Determining the proportion of synchronization components in the analysis window at each time point includes: Spectral analysis is performed on the vibration signal within the window length corresponding to the analysis window to determine the first energy of the 1X frequency component that is synchronized with the current rotor speed of the motor; Determine the second energy within the preset frequency band of interest of the motor; The proportion of the synchronization component in the analysis window is determined based on the first energy and the second energy. No. The formula for calculating the proportion of synchronization components at a given time is: in, Indicates the first The proportion of synchronization components in the analysis window at any given time. This represents the first energy in the analysis window corresponding to the k-th time step. This indicates the second energy within the preset frequency band of interest for the motor; The comprehensive stability indices for determining the analysis window at each time point include: The third energy within the analysis window that is out of sync with the current rotor speed of the motor is determined. The third energy includes low-frequency neighborhood energy in a first range and high-frequency neighborhood energy in a second range, where the second range is greater than the first range. Based on the first energy and the third energy, determine the relative dominance ratio of the synchronous response; The phase stability index is determined based on the vibration phase of the 1X frequency components within a series of analysis windows. Determine the standard deviation of the relative dominance ratio of the synchronization response within multiple consecutive analysis windows, and calculate the first ratio between the standard deviation and the preset maximum allowable amplitude fluctuation, and the second ratio between the phase stability index and the preset maximum allowable phase fluctuation; The comprehensive stability index is determined based on the first ratio and the second ratio; No. The formula for calculating the comprehensive stability index of the analysis window at any given time is: in, Indicates the first The comprehensive stability index of the analysis window at any given time. The standard deviation of the relative dominance of synchronous responses across multiple consecutive analysis windows. This indicates the maximum allowable fluctuation of the preset amplitude. This indicates the phase stability index. This indicates the maximum permissible fluctuation of the preset phase. Represents the maximum value function; No. The formula for calculating the relative dominance of the synchronous response of the analysis window at a given time is: in, Indicates the first The relative dominance of synchronous response in the analysis window at any given time. This represents the first energy in the analysis window corresponding to the k-th time step. This represents the energy in the low-frequency neighborhood of the first frequency band. This represents the high-frequency neighborhood energy within the second frequency band. To prevent constants with a denominator of zero; The formula for calculating the phase stability index is: in, This represents the absolute value of the phase difference between the vibration phases of adjacent analysis windows. Indicates continuous One analysis window; Determining the operating condition correction factor for the motor includes: The operating condition of the motor is determined based on the rate of change of the motor speed at each moment and the vibration amplitude of the vibration signal. The operating condition correction factor of the motor is determined based on the operating conditions, wherein the operating condition correction factor takes different values ​​under different operating conditions; The operating conditions include steady-state conditions, startup conditions, rapid acceleration conditions, and impact conditions. When the rate of change of the rotational speed is less than or equal to a preset stable speed threshold and the vibration amplitude of the motor is less than a preset steady-state amplitude multiple threshold, it is determined to be a steady-state operating condition. When the motor speed starts to rise from zero and the rate of change of speed continues to exceed a first preset time within a preset range, it is determined to be a starting condition. If the rate of change of rotational speed is greater than or equal to a preset threshold for drastic change in rotational speed, it is determined to be a rapid acceleration condition. If the vibration amplitude of the motor is greater than or equal to the steady-state amplitude multiple threshold, it is determined to be an impact condition. The operating condition correction factor for the motor at time k is: in, For the first The operating condition correction factor at any given time; The step of selecting target data from the vibration signal and rotational speed signal based on the comprehensive confidence level includes: Select high-confidence data from the vibration signal and rotation speed signal whose overall confidence level is greater than a preset confidence threshold; The high-confidence data is identified as the target data; No. The formula for calculating the overall confidence level of the data at time t is: in, Indicates the first The overall confidence level of the data at any given time; The rotor dynamic balance correction using the target data includes: Based on the average rotational speed within the analysis window of the target data, the corresponding influence coefficient is retrieved from the pre-built influence coefficient matrix library to calculate the rotor imbalance. The mass and phase position that need to be compensated are determined based on the rotor imbalance. The rotor dynamic balance of the motor is corrected using the mass and phase position that need to be compensated.

2. A dynamic balancing system for a propulsion motor rotor, the system being used to implement the method of claim 1, characterized in that, include: The acquisition module is used to acquire the speed and vibration signals of the time-synchronized motor. The determination module is used to determine the rate of change of rotational speed at each moment based on the rotational speed signal at each moment and the rotational speed values ​​at adjacent moments, and to determine the window length of the analysis window at each moment based on the rate of change of rotational speed at each moment. The determining module is also used to determine the proportion of the synchronization component and the comprehensive stability index of the analysis window at each moment based on the energy of the vibration signal in different frequency bands within the window length corresponding to the analysis window at each moment, and to determine the operating condition correction factor of the motor based on the operating condition of the motor, the speed change rate of the motor at each moment and the vibration amplitude of the vibration signal. The determining module is further configured to determine the comprehensive confidence level of the analysis window at each moment based on the proportion of the synchronous component, the comprehensive stability index and the working condition correction factor, and select target data from the vibration signal and speed signal based on the comprehensive confidence level, and use the target data to perform rotor dynamic balance correction.

3. A dynamic balancing correction system for a propulsion motor rotor, characterized in that, include: Processor and memory; wherein the memory is used to store computer programs that can run on the processor; A processor is used to execute a program stored in memory to implement the steps of the propulsion motor rotor dynamic balancing correction method as described in claim 1.

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