Vibration monitoring protection system and method, storage medium

Abstract

The present invention provides a vibration monitoring protection system and method, and a storage medium. The system includes: an inertial measurement device, which is arranged on an object to be monitored and is used to detect the spatial three-dimensional axial vibration parameters of the object to be monitored; a processor, which is electrically connected to the inertial measurement device, is used to receive the axial vibration parameters, and to perform noise minimization filtering on the axial vibration parameters, calibrate the filtered axial vibration parameters, and expand the calibrated axial vibration parameters; obtain different data of a set group from the expanded axial vibration parameters, at least perform standard value analysis, Gaussian distribution establishment and corresponding logic control algorithm on the acquired data, create relevant thresholds based on the logic control algorithm, and generate alarms or prompt information based on the relevant thresholds; a wireless communication device is used to receive and output the alarm or prompt information of the processor. The data acquisition and alarm output of the present invention are more accurate, and the probability of accidents is reduced.

Description

Technical Field

[0001] The present invention relates to system monitoring / protection technology, and in particular to a vibration monitoring and protection system and method, and a storage medium. Background Art

[0002] At present, with the continuous development of gas, oil and heavy metal related industries, related safety accidents have gradually increased, and many chemical plant explosions have occurred in recent years. From the survey data, the real cause of these explosions cannot be determined at present. However, it is well known that explosions often cause a large number of deaths and damage to infrastructure. Studies have shown that most of these incidents occur in equipment with many rotating or rotating reciprocating machines and old infrastructure for pipelines to transport liquids. Therefore, the explosion may be caused by the leakage of explosive gases in chemical plants during the normal transportation of explosive gas / liquid pipelines. Based on the study of the causes of accidents, many industries have tried to find a solution to detect chemical leaks using explosive gas testers or test strips, or gas detection business cards or so-called artificial noses. These methods are to detect the percentage of explosive leaked liquid or gas so that maintenance personnel can track the leaking area to find the leaking point to avoid possible explosions. However, the above detection methods require the gas to leak to a certain concentration. For the monitored object in an open environment, it is likely that the accident has occurred before the detection parameters reach the alarm condition. Summary of the invention

[0003] The present invention provides a vibration monitoring protection system and method, and a storage medium, so as to at least solve the above technical problems existing in the prior art.

[0004] One aspect of the present invention provides a vibration monitoring and protection system, comprising:

[0005] An inertial measurement device without natural drift is arranged on the object to be monitored and is used to detect the axial vibration parameters of the object to be monitored in three dimensions;

[0006] a processor, electrically connected to the inertial measurement device, for receiving the axial vibration parameters, performing noise minimization filtering on the axial vibration parameters, calibrating the filtered axial vibration parameters, and expanding the calibrated axial vibration parameters; obtaining different data of a setting group from the expanded axial vibration parameters, at least performing standard value analysis, Gaussian distribution establishment and corresponding logic control algorithm on the obtained data, creating relevant thresholds based on the logic control algorithm, and generating alarm or prompt information based on the relevant thresholds;

[0007] A wireless communication device, comprising at least one prompt information output unit, at least one light source, and a wireless / network communication unit, for receiving alarm or prompt information from a processor, and activating the at least one prompt information output unit and / or at least one light source based at least in part on the alarm or prompt information; and providing a remote maintenance reference strategy to maintenance personnel.

[0008] Optionally, the inertial measurement device includes a three-dimensional axial accelerometer and three axial gyroscopes of an attitude reference system AHRS sensor arranged on the object to be monitored, and is used to measure the three-dimensional axial acceleration, angular velocity and angle;

[0009] The processor is also provided with a high-pass filter, a least squares discrete optimization filter and a low-pass filter for performing high-pass and low-pass filtering on the axial vibration parameters and performing least squares optimization.

[0010] Optionally, the axial vibration parameters include at least one of the following: parameters of acceleration, angular velocity and angle;

[0011] The processor is also used to: determine the offset between the two axes of other dimensions of the inertial measurement device and the set coordinate axis based on the set coordinate axis; automatically concentrate the acceleration parameters measured by the inertial measurement device on the natural force line, so that when the inertial measurement device is in a static state, the acceleration values ​​of the X and Y axes among the three axes should be close to 0, the acceleration value of the Z axis should be close to -9.8, and the angular velocity and angle are both close to 0.

[0012] Optionally, the processor is further configured to:

[0013] Calculate at least one of the three-dimensional axial force, velocity, momentum, and kinetic energy based on the acceleration parameter measured by the inertial measurement device after the measurement parameter calibration, and determine the alarm threshold corresponding to the calculated parameter;

[0014] Based on the comparison between at least one of the acceleration, accumulated speed, force and accumulated energy and the corresponding alarm threshold, it is determined whether the vibration response within the operating time period of the monitored object requires an alarm, and a remote alarm is issued through the wireless communication device when necessary.

[0015] Optionally, the processor is further configured to:

[0016] A normal distribution function is determined for at least one of the acceleration, force, velocity, momentum, kinetic energy, and torque of the coordinate axis measured by the inertial measurement device after the measurement parameter calibration; a normal distribution coefficient of at least one of the acceleration, force, velocity, momentum, kinetic energy, and torque of the coordinate axis is determined based on the normal distribution function; based on the normal distribution coefficient, it is determined whether an alarm is required for the vibration response of the monitored object within the operating time period; and a remote alarm is performed through the wireless communication device when necessary.

[0017] Optionally, the measurement parameters also include determining the lateral inclination angle, pitch angle, roll angle of the object to be monitored in a three-dimensional coordinate system based on the axial vibration parameters measured by the inertial measurement device, and the angular velocity and angle of the AHRS without natural drift;

[0018] The processor is also used to determine whether the vibration response of the monitored object within the operating time period requires an alarm based on comparing at least one of the pitch angle and the roll angle, or at least one of the pitch angle and the roll angle with at least one of acceleration, force, speed, momentum, kinetic energy, and torque of the coordinate axis with the corresponding alarm threshold, and to make a remote alarm through the wireless communication device when necessary.

[0019] Optionally, the object to be monitored includes at least one of a pump, a generator, a ship engine, and a rotating machinery;

[0020] The inertial measurement device is arranged on the top of the installation room of the object to be monitored, or the root area of ​​the object to be monitored, or the pipeline of the object to be monitored, or the tank connected to the object to be monitored.

[0021] Another aspect of the present invention provides a vibration monitoring protection method, comprising:

[0022] Acquiring axial vibration parameters in three dimensions of space measured by an inertial measurement device disposed on the object to be monitored;

[0023] Minimize noise filtering on the axial vibration parameters, calibrate the filtered axial vibration parameters, and expand the calibrated axial vibration parameters; obtain different data of a setting group from the expanded axial vibration parameters, at least perform standard value analysis, Gaussian distribution establishment and corresponding logic control algorithm on the obtained data, create relevant thresholds based on the logic control algorithm, and generate alarm or prompt information based on the relevant thresholds;

[0024] The wireless communication device is triggered to output an alarm or prompt information to the user device, reminding the user to perform maintenance on the object to be monitored.

[0025] Optionally, the method further comprises:

[0026] Based on the set coordinate axis, determine the offset between the two axes of the other dimensions of the inertial measurement device and the set coordinate axis; automatically concentrate the acceleration parameters measured by the inertial measurement device on the natural force line, and when the inertial measurement device is in a static state, the acceleration values ​​of the X and Y axes among the three axes should be close to 0, the acceleration value of the Z axis should be close to -9.8, and the angular velocity and angle should also be close to 0; and

[0027] Calculate at least one of the three-dimensional axial force, velocity, momentum, and kinetic energy based on the acceleration parameter measured by the inertial measurement device after the measurement parameter calibration, and determine the alarm threshold corresponding to the calculated parameter;

[0028] Based on the comparison between at least one of the acceleration, accumulated speed, force and accumulated energy and the corresponding alarm threshold, it is determined whether the vibration response of the monitored object during the operation time period requires an alarm, and a remote alarm is performed through the wireless communication / network device when necessary.

[0029] In another aspect, the present invention provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the vibration monitoring and protection method are implemented.

[0030] The present invention collects vibration-related parameters of the rotating monitored object and three-dimensional axial operation-related parameters of the monitored object, performs noise filtering on the collected parameters, and performs calibration and expansion based on the filtered related parameters, so that the detection parameters are more accurate and noise-free; after performing standard value analysis, Gaussian distribution establishment and corresponding logic control algorithm processing on the processed data, the generated judgment result is more accurate and reliable, can provide accurate alarm information for the monitored object, and can alarm related faults in advance, thereby effectively avoiding the occurrence of explosion accidents in gasoline, oil and heavy metal related industries, and improving the operation safety of factories and mines. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 A schematic diagram showing the structure of a vibration monitoring and protection system according to an embodiment of the present invention is shown;

[0032] Figure 2 A schematic diagram of data processing of a processor according to an embodiment of the present invention is shown;

[0033] Figure 3 A schematic diagram showing a logic control algorithm according to an embodiment of the present invention is shown;

[0034] Figure 4 A schematic diagram of Gaussian standard values ​​according to an embodiment of the present invention is shown;

[0035] Figure 5A schematic diagram of alarm information output logic according to an embodiment of the present invention is shown;

[0036] Figure 6 A schematic flow chart of a vibration monitoring and protection method according to an embodiment of the present invention is shown. DETAILED DESCRIPTION

[0037] In order to make the purpose, features and advantages of the present invention more obvious and easy to understand, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present invention.

[0038] Figure 1 FIG. 4 shows a schematic diagram of the structure of the vibration monitoring and protection system according to an embodiment of the present invention. Figure 1 As shown, the vibration monitoring protection system of the embodiment of the present invention includes:

[0039] The inertial measurement device is arranged on the object to be monitored, and is used to detect the spatial three-dimensional axial vibration parameters of the object to be monitored; here, the object to be monitored includes at least one of a pump, a generator, a ship engine, and a rotating machinery. In an embodiment of the present invention, the inertial measurement device includes a three-dimensional axial accelerometer or three axial accelerometers and three axial gyroscopes of an attitude reference system AHRS sensor arranged on the object to be monitored, and is used to measure the three-dimensional axial acceleration and its related lateral inclination, pitch angle, roll angle, angular velocity and angle, so as to determine these parameters and their related effects on the object to be monitored.

[0040] like Figure 1 As shown, in the embodiment of the present invention, multiple objects to be monitored can be monitored, as long as the corresponding inertial measurement device is installed on the device to be monitored, and each inertial measurement device is connected to each other through a processor. The inertial measurement device can also report the detected relevant inertial parameters through the Internet of Things mode, and the processor receives the relevant inertial parameters and analyzes them to determine whether the object to be monitored needs to alarm the background, so as to remind the maintenance personnel to perform necessary maintenance on the object to be monitored.

[0041] In an embodiment of the present invention, a machine vibration monitoring and proactive protection system (MVMPPS) is used to monitor a machine to be monitored and protected. The machine to be monitored and protected here may be a pump, a generator, a reciprocating machine, any rotating machinery and related equipment such as a wind turbine.

[0042] The processor is electrically connected to the inertial measurement device, and is used to receive the axial vibration parameters, and perform noise minimization filtering on the axial vibration parameters, calibrate the filtered axial vibration parameters, and expand the calibrated axial vibration parameters; obtain different data of the setting group from the expanded axial vibration parameters, at least perform standard value analysis, Gaussian distribution establishment and corresponding logic control algorithm on the acquired data, create relevant thresholds based on the logic control algorithm, and generate alarm or prompt information based on the relevant thresholds. In an embodiment of the present invention, the processor can be composed of at least one micro control unit (MCU).

[0043] A wireless communication device, comprising at least one prompt information output unit, at least one light source, and a wireless communication unit, for receiving an alarm or prompt information from a processor, and activating the at least one prompt information output unit and / or at least one light source based at least in part on the alarm or prompt information; and providing a remote maintenance reference strategy to maintenance personnel. In an embodiment of the present invention, the wireless communication device comprises a 3G, 4G, 5G communication device, or an Internet of Things communication device, etc.

[0044] In an embodiment of the present invention, the MVMPPS composed of an inertial measurement device can be installed on a centrifugal pump with a pipeline. As an example, the MVMPPS can also be installed on the roof of the house where the pump is installed to detect the accelerometer response of objects on the X, Y, and Z axes in the coordinate system, such as forward / backward = ±X, left / right = ±Y, and up / down = ±Z. Please note that the MVMPPS can also be installed on any part of the pump system, such as the root area, pipeline, and tank of the pump system, as long as the component or device or subsystem is most sensitive to vibration response or has the highest safety requirements. The MVMPPS of the embodiment of the present invention can be installed on the slope surface of the pump system. Since the embodiment of the present invention can automatically recalibrate the MVMPPS to zero all three-dimensional accelerometers, and other angles and angular rates are also zeroed, the force, energy, and momentum of the inertial measurement device can be initialized from the neutral point (zero point). Therefore, the deviation of uneven slope and temperature and the influence of random noise can be minimized.

[0045] In the embodiment of the present invention, the rotating machine will usually make the machine running sound louder before it fails. In particular, before the rotating machine is damaged, the machine may cause the connection area to rupture or fatigue or liquid leakage. Therefore, the installation of the MVMPPS is not limited by the machine itself. It can be installed at the joints of pipes and other joints that generate vibration due to the rotation of the machine.

[0046] Figure 2 FIG. 4 shows a schematic diagram of data processing of a processor according to an embodiment of the present invention. Figure 2As shown, the control sequence of the processing unit (MCU) of the embodiment of the present invention includes three operation steps, namely: data operation, logic control algorithm and switch logic arrangement. The MCU obtains the three axial parameters measured by the inertial measurement device through the inertial measurement device, such as by setting three inertial measurement devices such as accelerometers, angles and angular rates in the three axes respectively, or directly setting AHRS sensors to perform acceleration measurement, angle and angular rate measurement in the three axes, to achieve acceleration, angle and angular rate measurement in the three axes, and the inertial measurement device can also be called (x, y, z) accelerometer, angle and angular rate.

[0047] In the embodiment of the present invention, when installing an AHRS or three accelerometers, the angle and angular rate do not need to be arranged in the direction of the earth coordinates, and can be set to any direction related to the coordinates of the rotating body.

[0048] Before the accelerometer data measured by the inertial measurement device enters the MCU for operation and calculation, the measured micro-electro-mechanical system (MEMS) data is very noisy and may change over time and temperature due to its natural characteristics from MEMS materials and designs. These data are called raw data with deviation and drift on a single axis. If these data are not properly processed and manipulated, they are difficult to use to accurately predict the machine vibration response.

[0049] In addition, almost all accelerometer sensors have pre-stress in their MEMS mechanical design. Even after eliminating all noise and without any pre-stress, the accelerometer sensor's measurement value will not return to zero. The accelerometer sensor's pre-stress will be transmitted from one sensor to the other, causing serious deviations in the measurement results. The accelerometer sensor's pre-stress is not fixed and can vary from ±0.1m / s 2 or up to ±0.3m / s 2 Since the changes in the preset values ​​on all three axes are not small, this may be the root cause of the failure of vibration monitoring using raw data. Currently, there are methods to establish three-axis acceleration motion models for vibration monitoring functions using a single-axis accelerometer, which obviously does not eliminate the problem of mutually perpendicular coordinate axes. They just move the perpendicular problem from the MEMS side to the processor side.

[0050] In fact, it is very difficult to manufacture a three-axis MEMS sensor with each axis completely perpendicular to each other. Usually, the axial coupling value varies between 3% and 17%. These couplings will make the final measurement lose accuracy later. And the loss of accuracy may be random without any pattern. Therefore, the embodiment of the present invention takes all the above factors into consideration and successfully eliminates these obstacles using an algorithm controlled online by an MCU. Therefore, Figure 2As shown in Figure 1, once the accelerometer data enters the MCU side, the MCU will execute many algorithms to process the data to ensure the accuracy and usefulness of the data. The main algorithm consists of three parts: data operation, logic control algorithm and switching logic arrangement.

[0051] Data manipulation is the operation of the three-axis acceleration measurement values, which can convert and generate various types of operation data so that the control logic can correctly estimate the vibration threshold. The alarm threshold can then be a dynamic change relative to the mass, size, rotation frequency, associated connection items, etc. of various machines. Data manipulation contains three parts.

[0052] When the raw data enters the MCU, it must be filtered to minimize noise and interference during normal operation of the sensor.

[0053] In the embodiment of the present invention, the collected data is firstly subjected to noise minimization filtering, which is achieved by three basic filters: a high-pass filter, a least squares discrete optimization filter and a low-pass filter. Although a three-filter design is used to achieve minimized noise elimination, the required method can add or delete any filter as needed to achieve the filter design that best suits the filter design, thereby reducing the accelerometer MEMS noise effect. The reason for using a discrete least squares filter design is to introduce its advanced time-varying calculation and Newton's deepest search algorithm, which has been proven to remove up to 75% of the operational white random noise without losing the rapidity of the sensor response, which mainly optimizes the least squares standard value of the noise error. The low-pass filter is a combined design that can be used for various machine speed requirements. For example, if the operating system requires a low response speed, a low pass can be introduced to offset more noise effects. In return, it will reduce the response bandwidth of the data output system.

[0054] In the embodiment of the present invention, after filtering the data, the data is calibrated, centered and zeroed, in order to enhance the design and integration of the entire system.

[0055] Data calibration consists of two parts, such as Figure 2As shown. The first one is calibration and the second one is data automatic centering / zeroing. During the design phase, data calibration values ​​and centering values ​​are retained and added in real-time testing. An embodiment of the present invention retains multiple sets of data for calibration and centering. The values ​​of the calibration data are stored, which is called the dynamic storage trim method. Dynamic storage trim fine-tuning is to apply the C code (*pointer) method to various parameters and store them in flash memory using (*pointer). If these trim fine-tuning values ​​are undefined, the default values ​​of these values ​​will be zero. The main purpose of data calibration is to output the output data to the desired machine position area and to focus the output data to the desired value in order to remove all deviations and offsets of the MEMS data. Through data calibration, the machine alarm system will not have any offsets and deviations, so inertial measurement without natural drift can improve the accuracy of MVMPPS.

[0056] Data calibration and centering / zeroing is done by reading the sensor data to check its calibration offset. And control and automatically key in the offset data, adjust the gain parameters and verify the final trigger point of the alarm. After ensuring that the data is centered to the required value, the data must be expanded to further reduce the offset and bias effects on the control logic. Instead of using pure accelerometers to predict machine vibration levels.

[0057] In the embodiment of the present invention, a three-dimensional calibrated accelerometer is used to collect data. In order for the (X, Y, Z) accelerometer to be correctly and reasonably applied to the MVMPPS throughout the testing and monitoring process, the acceleration data of the AHRS or accelerometer sensor must be centrally corrected using an autonomous matrix calculation method after filtering. One of the key goals of the autonomous matrix calculation method is to automatically concentrate the acceleration values ​​of the accelerometer on its natural force line. For example, under static conditions (the accelerometer sensor is not subjected to force), the three axial acceleration values ​​should be close to (A x ~0, A y ~0, A z ~-9.8), where A x is the X-axis acceleration, A y is the Y-axis acceleration, A z is the Z-axis acceleration. The second key goal of the autonomous matrix calculation method is to find the offset of the sensor from each axis to the other two axes based on whether the sensor axes are perpendicular to each other. The third key goal of the autonomous matrix calculation method is to combine the matrix calculation with the deviation angle of the two axes from the vertical to calculate the offset of each angle. Once these deviation angles from the vertical are found, the three axis accelerometers (X, Y, Z) can be calibrated back to their natural force lines, that is, the mass of the object is fixed (F=Ma).

[0058] After completing the above three automatic calibration and automatic centering methods, it can be found that the angles and angular rates of the three axial deviations from the vertical angle can also be centered and returned to zero. All these calculations can be automatically completed using the software matrix angle transformation matrix.

[0059] Therefore, the 3D accelerometer can be calibrated to the value close to the following formula

[0060]

[0061] Where (abs) is defined as the absolute value of the object term.

[0062] The embodiment of the present invention can calibrate the acceleration data collected by the (X, Y, Z) axes of the accelerometer on the pump to an accuracy below that of formula (1).

[0063] In addition, the angular rates and angles of the three vertical accelerometers are centered and zeroed.

[0064] Therefore, in order to achieve this accuracy performance, first, the accelerometer must be auto-calibrated and auto-centered.

[0065] In the embodiment of the present invention, the three-dimensional calibration speed can also be accumulated over time T. Specifically, in order for the accelerometer to be sufficiently accurate, the natural drift of the accelerometer must be less than 0.1 m / s per hour. 2 After obtaining the correct calibration values ​​of the three axis accelerometers, these values ​​will be used to calculate the three axis velocities. The velocities will be obtained using the following formula with a cycle time of T:

[0066]

[0067] Where T can be the computation time range (Δt), a real-time operating system (RTOS), one second of operation time, or any user-defined time.

[0068] Assume that the system does not have any yaw movement in the xy plane. Only the roll and pitch angles affect the velocity calculation. Therefore, the angle change caused by these two angles can be formulated as follows:

[0069]

[0070] Among them, (V x , V y , V z ) is the velocity calculated by the accelerometer, (V x M , V y M , V z M ) is the new speed of the machine due to the change in ground level angle caused by ground effects (roll angle φ, pitch angle θ).

[0071] When the roll angle and pitch angle are equal to or close to zero, the above matrix will be a unit matrix, and all matrix diagonal entries are one. Therefore, if the AHRS angular velocity and angle without natural drift are used, the three axial velocities will not change. The non-diagonal entries of the matrix in equation (3) are all zero.

[0072] As the off-diagonal terms increase, the diagonal terms will decrease. This indicates that the ground has moved in the (roll and pitch) direction. The larger the off-diagonal terms in the matrix in equation (3), the greater the angular displacement. However, the total matrix standard value will remain the same. This is a way to check for ground movement. The above summarizes the ground problems that affect rotating machinery.

[0073] Similarly, if the total nominal value of the (x, y, z) velocity from the accelerometer increases, the vibration forces affecting the level of the equipment to be monitored increase. The effect on these parallel displacement amplitudes is affected.

[0074] In the embodiment of the present invention, it is also necessary to determine the three-dimensional force based on the measurement parameters. Force is defined as mass multiplied by the measurement of the accelerometer, as shown in the following formula:

[0075]

[0076] Three-dimensional momentum refers to the momentum of the three coordinate axes, which is:

[0077]

[0078] Three-dimensional kinetic energy refers to the kinetic energy of three coordinate axes, where the energy is defined as the kinetic energy on a single axis, as shown below:

[0079]

[0080] In the present embodiment, the standard values ​​are defined as the square roots of all three axes. They are used to calculate the total accelerometer, force or velocity or kinematic energy as follows:

[0081]

[0082]

[0083]

[0084] Among them, x defines the front / back direction of the MVMPPS, y is the right / left direction, and z is the bottom / up direction. Positive or negative values ​​of these directions follow the right-hand rule.

[0085] Knowing all of the above operational data will provide more insight from the raw measurements so many alarm trigger thresholds for machine vibration limits can be designed and understood, rather than just one threshold from an accelerometer.

[0086] When the three-dimensional acceleration is calibrated to almost zero from the previous step (F z -9.8~0), the estimation of the force and energy of a single axis can be accumulated from zero to a certain value. Therefore, the overall value (pure accelerometer, accumulated velocity, force and accumulated energy) and the alarm threshold of a single value can be used to correctly judge the vibration response during the machine operation period to determine at least one of the following: whether the monitored equipment (machine) is in a state of needing maintenance; whether the machine is in a state of alert; whether the machine has reached the failure time, etc.

[0087] In the embodiment of the present invention, it is also necessary to process the logic control algorithm based on the calibrated and centered data. Specifically, after the logic control algorithm obtains the aforementioned different data from the data operation, it will use these to generate relevant software logic processes for the control algorithm to create relevant thresholds, so that each maintenance / attention / warning alarm can be correctly triggered. In order to achieve these goals, the logic control algorithm is established by three parts: standard value analysis, Gaussian distribution establishment and control algorithm.

[0088] Figure 3 A schematic diagram of a logic control algorithm according to an embodiment of the present invention is shown. Figure 3 As shown in Figure 1, the standard values ​​of acceleration, velocity, force, torque and energy can be considered as the total values ​​of the dynamic motion of the rotating machinery under power-on operation. Assuming that there are no additional force, torque and energy resources for acceleration, velocity, force, torque and kinematic energy, these values ​​will be fixed to their individual constants, respectively referred to as C A , C V , C F , C M and C KE , where C is defined as a constant and the subscripts are its physical motion parameters. Under standard operation, the individual axial physical motions should be orthogonal in the (x, y, z) directions. Therefore, they should be independent of each other. Initially, there will be no coupling between (x, y) or (y, z) or (z, x). Since they are independently distributed, these physical motions can be called Gaussian distributions.

[0089] In the embodiment of the present invention, it is also necessary to perform Gaussian normal distribution calculation on the collected data in the three axes. Specifically, when the rotating machinery and related devices are rigid, permanently fixed, and cannot perform any movement, the machinery should be in normal operation, and once installed, theoretically no malfunction or failure will occur. However, for the integration of the entire system, the machine and its related equipment cannot be strong enough. Therefore, possible intrusive force, momentum or energy may come from the following factors: eccentric rotation of the rotary machine; flexible structural force and momentum of the rotating mechanical system and connections; loosening of fixing screws on the rotating machine; external force or momentum generated by maintaining the required functions; changes in the conveying fluid in the rotary machine; water hammer caused by bubbles or vacuum in the liquid conveying due to temperature changes.

[0090] All of these will cause changes in force, momentum and total energy. If the above factors are small and normally distributed in a short period of time, the rotating machinery may remain centered in normal operation. However, if the external force and momentum have been invaded to a certain percentage of the total force or energy, the multi-axis vibration amplitude of the rotating machinery will increase to resist the intruding force and momentum. Generally, if the increment of force, momentum and energy on the equipment is normally distributed, the rotating machinery system can still maintain its function smoothly. However, if the force, momentum and energy are not normally distributed, the vibration of the rotating machine will produce damaging motion, which may cause damage to the machine, or interrupt the connection part, or cause the transmission pipeline to leak to release pressure, etc. In the embodiment of the present invention, the connection robustness of the rotating machinery losing its performance is different according to the length of time the external force, momentum and energy are applied to the vibrating motion. For smaller forces, momentum and energy, it takes longer for the rotating machinery to lose its robustness. However, if the force, momentum and energy exceed the machine vibration threshold, the rotating machine may be damaged immediately. Therefore, methods for predicting vibration machine thresholds based on various rotating machines (RM) must provide correct vibration estimates from accurate sensors so that the trigger points used as the basis for judgment are close enough to provide timely alarms to attract attention. Therefore, the calculation of normal distribution is used as the first step to calculate the distributed energy required to reach the threshold. However, if it is checked that the external force, momentum and energy are not normally distributed, the corresponding threshold settings are also different.

[0091] In the embodiment of the present invention, in order to verify the normal distribution function, it is necessary to verify whether the (x, y, z) axes are independent of each other, define (x-axis force or torque) as α, and define (y-axis force or torque) as β. If α and β are independent, α and β are independent and (α+β) and (α-β) are also independent; then a and β must obey the normal distribution, where a and β are acceleration, velocity, force, momentum or energy.

[0092] Based on the above statement, it can be seen that the single axis is independent of (x, y, z), and the (x, y, z) accelerometer and velocity or force should be independent. Therefore, these calibration variables are used to estimate the normal distribution calculation using the above formula. The accelerometer can be described by the following formula:

[0093]

[0094] where the (i, j, k) axes represent the (x, y, z) directions. A standard value for (A) would be:

[0095]

[0096] This will satisfy the initial condition calculation. Rearranging equation (1) into standard value matrix form yields the following equation:

[0097]

[0098] Applying the aerospace transformation matrix to the above formula A can generate the following matrix format:

[0099]

[0100] Among them, (φ, θ, ψ) are the roll angle, pitch angle and yaw angle of the object to be monitored. If the fuselage and its related devices are rigid, all angles will remain at zero degrees. If the AHRS angular velocity and angle without natural drift are used, it will not move due to vibration motion, which means (φ=0°, θ=0°, ψ=0°). Therefore, the transformation matrix is:

[0101]

[0102] T R The standard value of will be an identity matrix. Therefore, if the system is operating normally and the relevant detection parameters follow a Gaussian distribution, the standard values ​​of all the aforementioned matrices will remain at their standard values.

[0103] For small displacement angles on (φ, θ, ψ), T R The off-diagonal terms of will have some values. If these values ​​are above certain ranges, such as θ>10°, the off-diagonal terms will no longer be small, because using AHRS angular velocities and angles without natural drift, these angular changes can be considered to be caused by machine vibration. This indicates that (x, y, z) are no longer independent. For this reason, it can be considered that the vibration of the machine has caused the machine to exceed the required threshold, at which point an alarm is generated and sent to maintenance personnel for attention.

[0104] The above assumes that the standard values ​​are at the same magnitude, but the increment of the off-diagonal terms has exceeded the threshold. If external forces, torques, momentum, energy intrude into the rotating machinery, the total standard value of the above dynamic monitoring function will no longer be maintained. The reason for the change in the overall standard value is: the diagonal terms remain unchanged and the off-diagonal terms change; the diagonal terms change and the off-diagonal terms remain unchanged; or, both the diagonal and off-diagonal terms change.

[0105] In the three possible cases above, the total standard value will change in the amplitude of its individual axes. Due to the influence of these external forces, the overall motion of a single axis will no longer be Gaussian with respect to the other axes. Therefore, these characteristics will be useful for standard value analysis.

[0106] Standard value analysis: From the above T R The Gaussian distribution formula in the equation shows that due to the rotating machinery vibration effect, the back propagation method of flight dynamics motion can be used to track the rotating machinery maneuver, that is, the flight dynamics method is used to estimate the maneuver of the rotating machine. If the rotating maneuver exceeds the desired threshold, it can be considered that the external disturbance to the RM puts the machine in a state requiring maintenance, precautions or warnings.

[0107] Generally, the vibration effect can be attributed to: failure or defects in some parts of the rotating machinery; changes in the characteristics of the material transported by the rotary machine pipeline due to blockage or other reasons; loosening or loosening of the fixing screws caused by the long life of the rotary machine; excessive fluctuations in rusted parts of the rotating machinery related devices; structural flexibility affects the rotating machinery and causes it to lose its original position accuracy; the structure of the rotating machine is fatigued; other influences, such as environmental factors, temperature, humidity, loss of ground level, earthquakes, etc.

[0108] In the embodiments of the present invention, the rotating machinery can use its vibration (force, momentum and energy) changes exceeding the limit to notify the maintenance personnel. The vibration (force, momentum and energy) changes can be measured and compared from its original normally distributed force, torque and energy from small changes or large changes. Under the same operating conditions, according to the change of vibration amplitude, this can indicate that the rotating machinery will have its related hidden information, such as the need for maintenance; attention situation, it may be necessary to stop the machine for further inspection; alarm situation, which must be handled immediately; otherwise, the machine may be damaged or an explosion may occur.

[0109] Therefore, embodiments of the present invention employ calculated standard values ​​of all raw forces, momentum, and energy, as well as all flight dynamics forces and momentum expansion to help determine the RM threshold. Figure 4 A schematic diagram of Gaussian standard values ​​according to an embodiment of the present invention is shown. Figure 4 As shown, since so many dynamic variables are used to calculate the vibration threshold, the possibility of misjudgment is very small. The switch logic algorithm of the embodiment of the present invention will help to correctly predict the trigger point.

[0110] The standard distribution of standard forces, momentum and energy calculated from the AHRS sensors of the MVMPPS has been converted to six-dimensional aerodynamic parameters. The reason for transferring these (forces, momentum and energy) is that: the working principle of the rotating machinery (RM) is similar to that of an aircraft, which has dynamic motion in more than 6 dimensions; all six angles of motion will be checked to help judge the vibration impact; during the steady state (static condition on the ground), the RM should be 1mg (downward pressure) of the ground support; if the rotating machinery is firmly fixed to the ground and cannot move at all, the vibration forces and moments generated by the rotating machinery starting the rotation function can be regarded as white noise. Under larger vibration effects, small changes in lift / drag / side forces and moments can be detected using AHRS sensors. Accumulate these small changes to see if they are growing / increasing. These changes can become uncontrollable and are called colored noise. The impact of colored noise on the aerodynamic forces and moments in all three axes can then be monitored. These values ​​may be very small, but they continue to affect the fixed joint support of the RM. The changes in the six degrees of freedom of motion (acceleration, angular velocity and angle) are monitored simultaneously instead of just monitoring pure three axis accelerometers. In this way, the rotating machinery affected by parallel displacement and angular forces and moments can be correctly calculated and accumulated. In addition, their incremental curves and changes can be obtained. For any parallel displacement force exceeding a certain value, it can be regarded as two or four joint supports loose. For any angular moment exceeding a certain value, it can be regarded as one or three joint supports loose. Once the incremental curves and changes of translation, angular force and moment reach three levels of predefined values ​​and test values, the alarm reporting system will be triggered. These three level values ​​of the alarm system are used to issue notifications (advisory, warning or warning messages) to the required crew members using 3G / 4G / 5G / wifi / IoT devices. At the local rotating machine location, a buzzer alarm will be detected. The warning buzzer noise will not be cancelled until either the notified crew presses reset on the smartphone or the reset of the MVMPPS on the rotating machine is pressed.

[0111] If the notification message is advisory, the maintenance record will be collected by cloud technology. IoT cloud technology will automatically dispatch a maintenance team to repair and maintain the machine.

[0112] In the embodiment of the present invention, for the above analyzed situation, the thresholds of the above three possible triggering situations are explored using the standard values ​​of dynamic maneuvers and the Gaussian distribution of five factors. More than three triggering situations may occur in the system monitoring design; however, the required method is to estimate the possible situations and classify them into the best estimate of the machine vibration threshold using accelerometers and speed. Therefore, from the standard value analysis and Gaussian distribution calculation, the following algorithm is generated for all variables to predict the active dynamic threshold.

[0113] In the embodiment of the present invention, the alarm has at least 11 triggering factors to determine whether there is a real trigger point. Since the threshold breakthrough operation will occur on the x, y, or z axis, and each axis has at least two variables in 11 calculations. Due to the occurrence of a vibration motor failure, it is estimated that at least two alarms of the 11 factors will be triggered. This will be one of the key factors to help determine whether a real vibration occurs. Therefore, in the default logic algorithm, 3 of the 11 factors are triggered, and the alarm message will be used to determine whether the alarm is a maintenance requirement or a warning.

[0114] In an embodiment of the present invention, when an alarm message is triggered, its associated value will be recorded and used to determine the importance level of the message based on the machine vibration. Both the trigger value and the standard value added by the IC will be used as an AND gate to determine the importance level of the message. For any value where one requires maintenance and the other is a warning message, the control algorithm determines it as requiring maintenance. For any message where one is an early warning message and the other is a warning message, the control algorithm will determine it as a warning message. In an embodiment of the present invention, three of the 10 elements that exceed the limit are selected as trigger points. The main reasons are: to avoid false alarms when using a single message; to allow the trigger point to be triggered on time, avoiding the use of all 11 messages; the calculation of the standard value and the initial IC value is to ensure that individual factors have indeed changed; and the use of Gaussian normal distribution is to ensure that the noise is not caused by changes in the characteristics of the conveying material.

[0115] Based on the above logic, false fault alarms can be avoided. Of course, you can also choose 2, 4, 5, 6, ..., or all alarm trigger messages as the real judgment logic point, such as Figure 5As shown, the sum of all alarm signal Boolean values ​​is added together and compared with (0, 5, 1.5, 2.5, 3.5, 4.5, 5.5, ...), etc. In the current case, if the sum value is greater than or equal to 2.5, the vibration alarm signal is true. This means that the alarm will not be true unless more than three local signals are triggered. However, the more alarm vibration elements are selected for the vibration alarm message, and the higher the GE trigger value is set, the more difficult it is to start the real trigger situation at the same time. The conditions for triggering the vibration alarm will be greatly limited. The fewer factors are selected, the easier it is to detect the real trigger situation. The logical judgment of triggering the vibration message will be much easier. The trade-off can be determined from actual testing. However, the reason for the three alarm elements is used to implement the following physical judgment; when the two-axis vibration alarm elements lose the Gaussian standard value distribution and couple, the system alarm will be triggered. Usually, the vibration reminder trigger points are paired; for example, (x-force) and (x-momentum) are usually triggered at the same time due to their coupling behavior. (y force and y momentum) should be independent of the x-axis element. When coupling, triggering, and losing normal distribution, the probability of a true triggering situation is much higher than the traditional method of using only one element as the trigger point. Therefore, the current innovative design can avoid false triggering of functions.

[0116] Once a genuine alarm is identified, the vibration alarm message will be processed in three levels, such as Figure 5 As shown. The RM software vibration alarm process to the alarm system has been determined to be a true alarm. The alarm messages sent to maintenance personnel and plant managers or higher-level managers will depend on the need-to-know basis for the remote control administrator to follow the maintenance procedures. In an embodiment of the present invention, the alarm message contains three levels. Since the trigger value is offset from the original IC value and the standard value, the importance of the vibration alarm will depend on the offset of the trigger value from the original IC value and the standard value. For example, if the offset value is within ±10%, no message should be sent. However, if the offset value is between 20% and 30% of its original value within several time frames, a prompt message will be sent. If the vibration alarm value reaches more than 250% of its original value, a warning message will appear. If the alarm value is between the prompt and warning messages, an early warning message will appear. The reason for choosing a value higher than 250% of its original value is to match Figure 5 This value is arbitrary and can be changed based on actual test results.

[0117] On the MVMPPS, warning lights and buzzers are installed to notify the in-plant maintenance personnel locally when the RM vibration alarm is triggered. During normal operation (no alarm), the standard machine lights will be on and the buzzer will be off. In the embodiment of the present invention, the frequency and amplitude of the buzzer sound of the lights and buzzers can be different for the vibration alarm logic switch. For example, if a message (prompt message) requiring maintenance is triggered, the frequency will be the lowest on / off flashing, and the buzzer will sound and the frequency will be the lowest, which is called a prompt message.

[0118] In the embodiment of the present invention, a remote message of this prompt message can be sent using 4G / 5G / Wi-Fi and / or Bluetooth using the Internet to attract a higher level of attention. When the RM vibration alarm switches to a warning message, the frequency will be higher and the on / off flashing will be higher for the attention of the surrounding maintenance personnel. The network warning message will be sent to the coordinator. For the warning message, the buzzer and speaker will emit a sharp beep and flash at the fastest speed.

[0119] In the embodiment of the present invention, the purpose of using 3G / 4G / 5G, Wi-Fi or Bluetooth is to connect to the Internet, which can do the following: send instant messages to maintenance personnel or higher-level management personnel; send data and communicate with cloud computing to reset trigger points; use cloud storage to record online trigger data for maintenance or insurance debate; monitor vibration conditions online for remote control; automatically dispatch maintenance teams to repair detected problems; record the cause and repair of problems and parts changes to automatically generate maintenance log books;

[0120] Embodiments of the present invention can be used for vibration monitoring / surveillance / protection and alarm of new / old rotating machinery, and its operation will use 3G / 4G / 5G or Wifi as the communication protocol using IoT and cloud technology. Therefore, IoT and cloud technology can help process scheduling and record events. The smartphone will alert the plant owner or maintenance manager or maintenance personnel to achieve autonomous functions through smartphone remote control or local field notification. Embodiments of the present invention can autonomously / seamlessly / intelligently monitor / protect / alarm / report to the required personnel or team. The process will also be recorded using cloud technology so that maintenance members can go directly to the required event machine location for repair and / or maintenance. In addition, if all accident events can be designed to be automatically written to the cloud record with date and time and final processing status. Therefore, an autonomous maintenance process can be achieved.

[0121] Figure 6 FIG. 4 is a flow chart showing a vibration monitoring protection method according to an embodiment of the present invention. Figure 6 As shown, the vibration monitoring protection method of the embodiment of the present invention includes the following processing steps:

[0122] Step 601: Acquire spatial three-dimensional axial vibration parameters measured by an inertial measurement device disposed on the object to be monitored.

[0123] In an embodiment of the present invention, the inertial measurement device includes a three-dimensional axial accelerometer or three axial accelerometers and three axial gyroscopes of an attitude reference system AHRS sensor arranged on the object to be monitored, which are used to measure the three-dimensional axial acceleration, angular velocity and angle.

[0124] The object to be monitored includes at least one of a pump, a generator, a ship engine, and a rotating machine.

[0125] Step 602, perform minimum noise filtering on the axial vibration parameters, calibrate the filtered axial vibration parameters, and expand the calibrated axial vibration parameters; obtain different data of the setting group from the expanded axial vibration parameters, at least perform standard value analysis, Gaussian distribution establishment and corresponding logic control algorithm on the acquired data, create relevant thresholds based on the logic control algorithm, and generate alarm or prompt information based on the relevant thresholds.

[0126] In the embodiment of the present invention, high-pass and low-pass filtering are performed on the axial vibration parameters, and least squares optimization is performed.

[0127] Step 603: trigger the wireless communication device to output an alarm or prompt information to the user equipment, reminding the user to perform maintenance on the object to be monitored.

[0128] Based on the set coordinate axis, determine the offset between the two axes of the other dimensions of the inertial measurement device and the set coordinate axis; automatically concentrate the acceleration parameters measured by the inertial measurement device on the natural force line, and when the inertial measurement device is in a static state, the acceleration values ​​of the X and Y axes among the three axes should be close to 0, the acceleration value of the Z axis should be close to -9.8, and the angular velocity and angle should also be close to 0; and

[0129] Calculate at least one of the three-dimensional axial force, velocity, momentum, and kinetic energy based on the acceleration parameter measured by the inertial measurement device after the measurement parameter calibration, and determine the alarm threshold corresponding to the calculated parameter;

[0130] Based on the comparison between at least one of the acceleration, accumulated speed, force and accumulated energy and the corresponding alarm threshold, it is determined whether the vibration response within the operating time period of the monitored object requires an alarm, and a remote alarm is issued through the wireless communication device when necessary.

[0131] As an implementation method, a normal distribution function is determined for at least one of the acceleration, force, velocity, momentum, kinetic energy, and torque of the coordinate axis measured by the inertial measurement device after measurement parameter calibration; a normal distribution coefficient of at least one of the acceleration, force, velocity, momentum, kinetic energy, and torque of the coordinate axis is determined based on the normal distribution function; based on the normal distribution coefficient, it is determined whether an alarm is required for the vibration response of the monitored object during the operating time period; and a remote alarm is performed through the wireless communication device when necessary.

[0132] Alternatively, the measurement parameters also include determining the lateral inclination angle, pitch angle, and yaw angle of the object to be monitored in the three-dimensional coordinate system based on the axial vibration parameters measured by the inertial measurement device; correspondingly, the embodiment of the present invention also compares at least one of the pitch angle and the roll angle, or at least one of the pitch angle and the roll angle with at least one of the acceleration, force, velocity, momentum, kinetic energy, and torque of the coordinate axis with the corresponding alarm threshold to determine whether the vibration response of the object to be monitored within the operating time period requires an alarm, and if necessary, a remote alarm is performed through the wireless communication device.

[0133] The vibration monitoring and protection method of the embodiment of the present invention can be understood by referring to the relevant description of the vibration monitoring and protection system mentioned above, and its specific processing process will not be repeated here.

[0134] In addition to the above-mentioned methods and devices, an embodiment of the present application may also be a computer program product, which includes computer program instructions, which, when executed by a processor, enable the processor to execute the steps of the method according to various embodiments of the present application described in the above-mentioned "Exemplary Method" section of this specification.

[0135] The computer program product may be written in any combination of one or more programming languages ​​to write program codes for performing the operations of the embodiments of the present application, including object-oriented programming languages, such as Java, C++, etc., and conventional procedural programming languages, such as "C" language or similar programming languages. The program code may be executed entirely on the user computing device, partially on the user device, as an independent software package, partially on the user computing device and partially on a remote computing device, or entirely on a remote computing device or server.

[0136] In addition, an embodiment of the present application may also be a computer-readable storage medium on which computer program instructions are stored. When the computer program instructions are executed by a processor, the processor executes the steps of the method according to various embodiments of the present application described in the above "Exemplary Method" section of this specification.

[0137] The computer readable storage medium can adopt any combination of one or more readable media. The readable medium can be a readable signal medium or a readable storage medium. The readable storage medium can include, for example, but is not limited to, a system, device or device of electricity, magnetism, light, electromagnetic, infrared, or semiconductor, or any combination of the above. More specific examples (non-exhaustive list) of readable storage media include: an electrical connection with one or more wires, a portable disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above.

[0138] The basic principles of the present application are described above in conjunction with specific embodiments. However, it should be noted that the advantages, strengths, effects, etc. mentioned in the present application are only examples and not limitations, and it cannot be considered that these advantages, strengths, effects, etc. are required by each embodiment of the present application. In addition, the specific details disclosed above are only for the purpose of illustration and ease of understanding, not for limitation, and the above details do not limit the present application to being implemented by adopting the above specific details.

[0139] The block diagrams of the devices, apparatuses, equipment, and systems involved in this application are only illustrative examples and are not intended to require or imply that they must be connected, arranged, and configured in the manner shown in the block diagram. As will be appreciated by those skilled in the art, these devices, apparatuses, equipment, and systems can be connected, arranged, and configured in any manner. Words such as "including", "comprising", "having", etc. are open words, referring to "including but not limited to", and can be used interchangeably with them. The words "or" and "and" used here refer to the words "and / or" and can be used interchangeably with them, unless the context clearly indicates otherwise. The words "such as" used here refer to the phrase "such as but not limited to", and can be used interchangeably with them.

[0140] It should also be noted that in the apparatus, device and method of the present application, each component or each step can be decomposed and / or recombined. Such decomposition and / or recombination should be regarded as equivalent solutions of the present application.

[0141] The above description of the disclosed aspects is provided to enable any person skilled in the art to make or use the present application. Various modifications to these aspects will be readily apparent to those skilled in the art, and the general principles defined herein may be applied to other aspects without departing from the scope of the present application. Therefore, the present application is not intended to be limited to the aspects shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.

[0142] The above description has been given for the purpose of illustration and description. In addition, this description is not intended to limit the embodiments of the present application to the forms disclosed herein. Although multiple example aspects and embodiments have been discussed above, those skilled in the art will recognize certain variations, modifications, changes, additions and sub-combinations thereof.

Claims

1. A vibration monitoring and protection system, characterized in that: The system comprises: An inertial measurement device is arranged on the object to be monitored and is used to detect the axial vibration parameters of the object to be monitored in three dimensions; a processor, electrically connected to the inertial measurement device, for receiving the axial vibration parameters, performing noise minimization filtering on the axial vibration parameters, calibrating the filtered axial vibration parameters, and expanding the calibrated axial vibration parameters; obtaining different data of a setting group from the expanded axial vibration parameters, at least performing standard value analysis, Gaussian distribution establishment and corresponding logic control algorithm on the obtained data, creating relevant thresholds based on the logic control algorithm, and generating alarm or prompt information based on the relevant thresholds; A wireless communication device, comprising at least one prompt information output unit, at least one light source, and a wireless communication unit, configured to receive an alarm or prompt information from a processor, and activate the at least one prompt information output unit and / or the at least one light source based at least in part on the alarm or prompt information; and provide a remote maintenance reference strategy to a maintenance personnel; The axial vibration parameters include at least one of the following: acceleration, angular velocity and angle parameters; The processor is further used to: determine the offset between two axes of other dimensions of the inertial measurement device and the set coordinate axis based on the set coordinate axis; automatically concentrate the acceleration parameters measured by the inertial measurement device on the natural force line, so that when the inertial measurement device is in a static state, the acceleration values ​​of the X and Y axes among the three axes should be close to 0, the acceleration value of the Z axis should be close to -9.8, and the angular velocity and angle should be close to 0; The processor is further configured to: Calculate at least one of the three-dimensional axial force, velocity, momentum, and kinetic energy based on the acceleration parameter measured by the calibrated inertial measurement device, and determine an alarm threshold corresponding to the calculated parameter; Based on the comparison of at least one of the acceleration, the accumulated speed, the force, and the accumulated energy with the corresponding alarm threshold, determining whether the vibration response of the monitored object within the operation time period requires an alarm or prompt, and if necessary, remotely alarming through the wireless communication device; The processor is further configured to: Determine a normal distribution function for at least one of the acceleration, force, velocity, momentum, kinetic energy, and torque of the coordinate axis measured by the inertial measurement device after the measurement parameter calibration; determine a normal distribution coefficient of at least one of the acceleration, force, velocity, momentum, kinetic energy, and torque of the coordinate axis based on the normal distribution function; determine whether an alarm is required for the vibration response of the monitored object within the operating time period based on the normal distribution coefficient, and perform a remote alarm through the wireless or IoT communication device when necessary; The measurement parameters also include determining the lateral inclination angle, pitch angle, roll angle of the object to be monitored in a three-dimensional coordinate system based on the axial vibration parameters measured by the inertial measurement device, and the angular velocity and angle from the AHRS; The processor is also used to determine whether the vibration response of the monitored object within the operating time period requires an alarm based on comparing at least one of the pitch angle and the roll angle, or at least one of the pitch angle and the roll angle with at least one of acceleration, force, speed, momentum, kinetic energy, and torque of the coordinate axis with the corresponding alarm threshold, and to make a remote alarm through the wireless communication device when necessary.

2. The system according to claim 1, characterized in that The inertial measurement device includes a three-dimensional axial accelerometer or three axial accelerometers and three axial gyroscopes of an attitude reference system AHRS sensor arranged on the object to be monitored, and is used to measure the three-dimensional axial acceleration, angular velocity and angle; The processor is also provided with a high-pass filter, a least squares discrete optimization filter and a low-pass filter for performing high-pass and low-pass filtering on the axial vibration parameters and performing least squares optimization.

3. The system according to claim 1 or 2, characterized in that: The object to be monitored includes rotating equipment, including at least one of a pump, a generator, a ship engine, and a rotating machine; The inertial measurement device is arranged on the top of the installation room of the object to be monitored, or the root area of ​​the object to be monitored, or the pipeline of the object to be monitored, or the tank connected to the object to be monitored.

4. A vibration monitoring protection method, characterized in that: The method comprises: Acquiring axial vibration parameters in three dimensions of space measured by an inertial measurement device disposed on the object to be monitored; Minimize noise filtering on the axial vibration parameters, calibrate the filtered axial vibration parameters, and expand the calibrated axial vibration parameters; obtain different data of a setting group from the expanded axial vibration parameters, at least perform standard value analysis, Gaussian distribution establishment and corresponding logic control algorithm on the obtained data, create relevant thresholds based on the logic control algorithm, and generate alarm or prompt information based on the relevant thresholds; Triggering the wireless communication device to output an alarm or prompt information to the user device, reminding the user to perform maintenance on the object to be monitored; Wherein, calibrating the filtered axial vibration parameters includes: Based on the set coordinate axis, determine the offset between the two axes of the other dimensions of the inertial measurement device and the set coordinate axis; automatically concentrate the acceleration parameters measured by the inertial measurement device on the natural force line, and when the inertial measurement device is in a static state, the acceleration values ​​of the X and Y axes among the three axes should be close to 0, the acceleration value of the Z axis should be close to -9.8, and the angular velocity and angle should be close to 0; and Calculate at least one of the three-dimensional axial force, velocity, momentum, and kinetic energy based on the acceleration parameter measured by the calibrated inertial measurement device, and determine an alarm threshold corresponding to the calculated parameter; The creating of relevant thresholds based on the logic control algorithm and generating alarm or prompt information based on the relevant thresholds include: Based on the comparison between at least one of the acceleration, accumulated speed, force and accumulated energy and the corresponding alarm threshold, it is determined whether the vibration response within the operating time period of the monitored object requires an alarm, and a remote alarm is performed through the wireless communication or IoT device when necessary.

5. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the vibration monitoring protection method according to claim 4 are implemented.

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