Gear speed determination method and system and computer readable storage medium

Abstract

The embodiment of the present application provides a method for determining gear speed, a system thereof, and a computer-readable storage medium, including: collecting a gear vibration signal of a gear to be tested within a test time; performing Fourier transform on the gear vibration signal to obtain a spectrum, the spectrum including the gear frequency and its corresponding amplitude; determining the spectrum energy corresponding to the gear frequency according to the spectrum; determining the gear frequency corresponding to the maximum value in the spectrum energy as the gear meshing frequency; and determining the average gear speed of the gear to be tested within the test time according to the gear meshing frequency and the number of teeth of the gear to be tested. The gear speed determination method of the present application is simple and fast to calculate, has high accuracy, and is low in cost.

Description

Technical Field

[0001] Embodiments of the present application relate to the field of mechanical transmission, and in particular, to a method for determining a gear speed, a system thereof, and a computer-readable storage medium. Background Art

[0002] As coal, oil and other energy sources are gradually depleted, humans are paying more and more attention to the use of renewable energy. Wind energy, as a clean and renewable energy source, is increasingly valued by countries around the world. With the continuous development of wind power technology, the application of wind turbines in power systems is increasing. Wind turbines are large-scale equipment that converts wind energy into electrical energy and are usually installed in areas with abundant wind energy resources.

[0003] At present, wind turbines are installed in high mountains, wilderness, beaches, islands and other wind outlets. They are subject to irregular wind force of changing direction and load, strong gusts, and extreme temperature differences all year round. The various components of wind turbines are prone to failure. The gearbox is an important component of wind turbines. Multiple gearboxes are used in wind turbines. Its main function is to transmit the power generated by the wind wheel under the action of wind to the generator and make it get the corresponding speed. When the gear in the gearbox fails, it is often difficult to find the fault when it occurs because it is installed inside the main engine, which can easily lead to serious consequences. Most gear failure methods based on vibration signals need to determine the gear speed first. The current gear speed determination method has low accuracy when the gear fails. Summary of the invention

[0004] The purpose of the embodiments of the present application is to provide a method for determining a gear speed, a system thereof, and a computer-readable storage medium, which are simple and fast to calculate and have high accuracy.

[0005] One aspect of an embodiment of the present application provides a method for determining a gear speed, comprising:

[0006] Collect the gear vibration signal of the gear to be tested within the testing time;

[0007] Performing Fourier transform on the gear vibration signal to obtain a frequency spectrum, wherein the frequency spectrum includes the gear frequency and its corresponding amplitude;

[0008] Determining the spectrum energy corresponding to the gear frequency according to the spectrum;

[0009] Determine the gear frequency corresponding to the maximum value in the spectrum energy as the gear meshing frequency;

[0010] The average gear speed of the gear to be tested during the testing time is determined according to the gear meshing frequency and the number of teeth of the gear to be tested.

[0011] Optionally, determining the spectrum energy corresponding to the gear frequency according to the spectrum includes:

[0012] According to the frequency spectrum, the product of the amplitude corresponding to each gear frequency and the amplitude corresponding to its double frequency is obtained to determine the frequency spectrum energy corresponding to the gear frequency.

[0013] Optionally, determining the spectrum energy corresponding to the gear frequency according to the spectrum includes:

[0014] Determine a first characteristic frequency and a second characteristic frequency corresponding to each of the plurality of gear frequencies in the frequency spectrum, wherein the first characteristic frequency and the second characteristic frequency are both integer multiples of the corresponding gear frequency and are not equal to each other;

[0015] Determine a first characteristic amplitude according to the frequency spectrum and the first characteristic frequency, and determine a second characteristic amplitude according to the frequency spectrum and the second characteristic frequency; and

[0016] The product of the first characteristic amplitude and the second characteristic amplitude is determined to obtain the spectrum energy corresponding to the gear frequency.

[0017] Optionally, determining a first characteristic amplitude according to the frequency spectrum and the first characteristic frequency includes:

[0018] Determine the maximum value of the amplitude corresponding to the frequency range including the first characteristic frequency in the spectrum as the first characteristic amplitude, or determine the amplitude corresponding to the first characteristic frequency as the first characteristic amplitude; and / or

[0019] The step of determining a second characteristic amplitude according to the frequency spectrum and the second characteristic frequency comprises:

[0020] The maximum value of the amplitude corresponding to the frequency range including the second characteristic frequency in the frequency spectrum is determined as the second characteristic amplitude, or the amplitude corresponding to the second characteristic frequency is determined as the second characteristic amplitude.

[0021] Optionally, the difference between the upper limit value of the frequency range and the characteristic frequency included in the frequency range is in the range of [1, 3], and the difference between the characteristic frequency included in the frequency range and the lower limit value of the frequency range is in the range of [1, 3]; the characteristic frequency is the first characteristic frequency or the second characteristic frequency.

[0022] Optionally, the determining a first characteristic frequency and a second characteristic frequency corresponding to each of the plurality of gear frequencies in the frequency spectrum comprises:

[0023] Determine a plurality of frequency multiples of each of the gear frequencies and the frequency multiple amplitudes corresponding to the plurality of frequency multiples, wherein the plurality of frequency multiples are 1 frequency multiple to n frequency multiples, wherein n is a positive integer greater than or equal to 2;

[0024] For each of the gear frequencies, determine the frequency multiple of the gear frequency corresponding to the maximum value among the multiple frequency multiple amplitudes as the first characteristic frequency; determine the frequency multiple of the gear frequency corresponding to the second largest value among the multiple frequency multiple amplitudes as the second characteristic frequency.

[0025] Optionally, the determining a first characteristic frequency and a second characteristic frequency corresponding to each of the plurality of gear frequencies in the frequency spectrum comprises:

[0026] Determining a gear meshing frequency range according to a speed range and a number of gear teeth of the gear;

[0027] A plurality of the gear frequencies within the gear mesh frequency range are determined.

[0028] Optionally, the determining a plurality of the gear frequencies in the gear meshing frequency range comprises:

[0029] Determine a starting frequency of the gear meshing frequency range, and a plurality of frequencies starting from the starting frequency of the gear meshing frequency range and spaced at fixed frequencies, as the plurality of gear frequencies; or

[0030] It is determined that a plurality of frequencies corresponding to amplitudes within the gear meshing frequency range on the frequency spectrum that are greater than an amplitude threshold are the plurality of gear frequencies.

[0031] Another aspect of an embodiment of the present application provides a gear speed determination system: comprising one or more processors for implementing the above-mentioned gear speed determination method.

[0032] Another aspect of the embodiments of the present application further provides a computer-readable storage medium having a program stored thereon, and when the program is executed by a processor, the gear speed determination method described above is implemented.

[0033] The gear speed determination method of the present application processes the gear vibration signal to obtain the spectral energy of the gear, uses the spectral energy as a basis to obtain the gear meshing frequency, and then calculates the gear speed based on the gear meshing frequency. Since the spectral energy of the gear can more accurately reflect the gear state, the obtained gear speed has a high accuracy, and the calculation is simple and convenient, and easy to use. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 This is a flow chart of a method for determining a gear speed according to an embodiment of the present application;

[0035] Figure 2 for Figure 1 A schematic diagram of the frequency spectrum of the illustrated embodiment;

[0036] Figure 3 for Figure 1 A specific flow chart of step S3 of the illustrated embodiment;

[0037] Figure 4 for Figure 1 A schematic diagram of the spectrum energy of the illustrated embodiment;

[0038] Figure 5 for Figure 1 A schematic diagram of the error of the illustrated embodiment;

[0039] Figure 6 A schematic block diagram of a gear speed determination system according to an embodiment of the present application. DETAILED DESCRIPTION

[0040] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present application. Instead, they are merely examples of devices consistent with some aspects of the present application as detailed in the appended claims.

[0041] The terms used in the embodiments of the present application are only for the purpose of describing specific embodiments, and are not intended to limit the present application. Unless otherwise defined, the technical terms or scientific terms used in the embodiments of the present application should be understood by people with ordinary skills in the field to which the present application belongs. The "first", "second" and similar words used in the specification and claims of the present application do not indicate any order, quantity or importance, but are only used to distinguish different components. Similarly, similar words such as "one" or "one" do not indicate a quantitative limit, but indicate that there is at least one. "Multiple" or "several" means two and more than two. Unless otherwise specified, similar words such as "front", "rear", "lower" and / or "upper" are only for the convenience of explanation, and are not limited to a position or a spatial orientation. Similar words such as "include" or "include" mean that the elements or objects appearing in front of "include" or "include" include the elements or objects listed after "include" or "include" and their equivalents, and do not exclude other elements or objects. Similar words such as "connect" or "connected" are not limited to physical or mechanical connections, and can include electrical connections, whether direct or indirect. The singular forms "a", "said" and "the" used in this specification and the appended claims are also intended to include the plural forms, unless the context clearly indicates otherwise. It should also be understood that the term "and / or" used herein refers to and includes any or all possible combinations of one or more of the associated listed items.

[0042] Most gear fault diagnosis methods based on vibration signals require speed information. A more accurate gear speed can be obtained by processing the gear vibration signal, thus reducing costs. This application provides a method for determining gear speed. Figure 1 Please refer to the flowchart of the gear speed determination method according to one embodiment of the present application. Figure 1 The gear speed determination method of the present application includes steps S1 to S5:

[0043] Since the present application obtains a relatively accurate gear meshing frequency and further obtains the gear speed by processing the gear vibration signal, first in step S1, the gear vibration signal of the gear to be tested within the test time is collected. In some embodiments, the vibration signal of the gear includes vibration acceleration. An acceleration sensor can be installed on the outer surface of the gearbox to monitor the vibration acceleration of the gear, and the vibration acceleration data of a time period is collected at fixed time intervals, for example, data is collected once every 0.5 hours, the sampling frequency is 51200, and the single collection time is 2.56 seconds. In some embodiments, the collected gear vibration signal is mainly a gear meshing vibration signal, and is similar to a cosine waveform.

[0044] In step S2, the gear vibration signal is subjected to Fourier transform to obtain a spectrum. The gear vibration signal after Fourier transform processing has the frequency on the horizontal axis and the amplitude on the vertical axis. Figure 2 for Figure 1 For a schematic diagram of the spectrum of the illustrated embodiment, please refer to Figure 2 ,After Fourier transform, the spectrum includes the gear frequency and its corresponding amplitude.

[0045] Since the amplitude corresponding to the gear meshing frequency and its multiples is usually greater than other gear frequencies, some gear speed determination methods select the frequency corresponding to the maximum amplitude in the spectrum as the gear meshing frequency. However, when a gear fails, the frequency corresponding to the maximum amplitude may be far from the gear meshing frequency due to the failure. Compared with amplitude, the gear meshing frequency can be determined more accurately by spectrum energy. The gear speed determination method of the present application determines the gear meshing frequency based on spectrum energy and then determines the gear speed, which has high accuracy.

[0046] First, it is necessary to determine the spectral energy corresponding to each gear frequency. In step S3, the spectral energy corresponding to the gear frequency is determined based on the spectrum. In some embodiments, the product of the amplitude corresponding to each gear frequency and the amplitude corresponding to its double frequency can be obtained based on the spectrum to determine the spectral energy corresponding to the gear frequency. When a fault occurs, some gear frequencies may have an amplitude greater than the amplitude corresponding to the gear meshing frequency due to the fault, but the fault frequency is not the correct gear meshing frequency, because the amplitude corresponding to its double frequency is small and close to 0, and the amplitude corresponding to the correct gear meshing frequency is larger. After multiplying the amplitude corresponding to each gear frequency with the amplitude corresponding to its double frequency, the gear meshing frequency can be determined at the point where the spectral energy is maximum. The gear speed determination method of the present application has high accuracy.

[0047] In other embodiments, in order to further improve the accuracy of the gear speed determination method of the present application, the method for determining the spectrum energy may be further refined. In this case, step S3 includes steps S31 to S35. Figure 3 for Figure 1 A specific flow chart of step S3 of the illustrated embodiment.

[0048] In step S31, the gear meshing frequency range is determined according to the gear speed range and the number of gear teeth. Taking the gearbox of a wind turbine as an example, its input gear is meshed with the blades of the wind turbine. The gear meshing frequency range can be determined by detecting the actual speed of the blades of the wind turbine and the tooth ratio of each gear meshing with each other in the gearbox. In other embodiments, the gear speed range can also be determined by the power generation of the wind turbine, and then the gear meshing frequency range can be determined. This makes the calculation simpler. When determining the spectral energy of the gear in step S2, it can be determined only within the gear meshing frequency range, thereby reducing the amount of calculation. The gear speed determination method of the present application is simple to calculate.

[0049] In step S32, multiple gear frequencies in the gear meshing frequency range are determined. These gear frequencies will be used to calculate the spectral energy. In some embodiments, the starting frequency of the gear meshing frequency range and multiple frequencies with the starting frequency of the gear meshing frequency range as the starting point and fixed frequency intervals are determined as multiple gear frequencies. In this way, the spectral energy calculation of the frequencies within the gear meshing range can be completely performed to determine the gear meshing frequency. In some embodiments, the accuracy of the speed determination can be further improved by reducing the fixed frequency interval. In other embodiments, in order to reduce the amount of calculation, an amplitude threshold value can be set, such as 0.25m / s^2, and only the multiple frequencies corresponding to the amplitude within the gear meshing frequency range on the spectrum that are greater than the amplitude threshold value are determined as multiple gear frequencies.

[0050] In step S33, the first characteristic frequency and the second characteristic frequency corresponding to each gear frequency in the multiple gear frequencies in the spectrum are determined, wherein the first characteristic frequency and the second characteristic frequency are both integer multiples of the corresponding gear frequency and are not equal to each other. In some embodiments, the first characteristic frequency is the frequency itself, and the second characteristic frequency is the double frequency of the frequency. In other embodiments, the first characteristic frequency is the frequency itself, and the second characteristic frequency is the quadruple frequency of the frequency. In still other embodiments, the first characteristic frequency is the triple frequency of the frequency, and the second characteristic frequency is the frequency itself.

[0051] For each frequency within the gear meshing frequency range, the selected characteristic frequency has no direct correlation with the multiples of the frequency. In some embodiments, to improve accuracy, the specific determination method is as follows: first, determine the multiple multiples of each gear frequency and the multiple multiple amplitudes corresponding to the multiple multiples, where the multiple multiples are 1 to n multiples, where n is a positive integer greater than or equal to 2; then for each gear frequency, determine the multiple of the gear frequency corresponding to the maximum value among the multiple multiple amplitudes as the first characteristic frequency; determine the multiple of the gear frequency corresponding to the second largest value among the multiple multiple amplitudes as the second characteristic frequency. It is known that when a fault occurs, some gear frequencies may have a corresponding amplitude greater than the amplitude corresponding to the gear meshing frequency due to the fault. However, since the fault frequency is not the true gear meshing frequency, the amplitude corresponding to its frequency multiple is small and close to 0, while the amplitude corresponding to the true gear meshing frequency is the largest. Since only the magnitude of the spectrum energy needs to be qualitatively compared, and the two places with the largest amplitude corresponding to the frequency multiple may not be the first frequency multiple and the second frequency multiple, this application can further ensure that the maximum point in the spectrum energy is the gear meshing frequency by detecting the amplitudes of multiple frequency multiples and selecting the two largest ones to multiply them, thereby improving accuracy. In the illustrated embodiment, n=4, so the range is reasonable and the calculation is simple. In other embodiments, it can also be reduced to 3 to reduce the amount of calculation.

[0052] In step S34, the first characteristic amplitude is determined according to the spectrum and the first characteristic frequency, and the second characteristic amplitude is determined according to the spectrum and the second characteristic frequency. Since the spectrum of the gear frequency has been established in step S2, the amplitude corresponding to the first characteristic frequency can be directly determined as the first characteristic amplitude, and the amplitude corresponding to the second characteristic frequency can be directly determined as the second characteristic amplitude. This makes the calculation simple. In other embodiments, due to sampling accuracy or error, there is a certain error between the first characteristic frequency or the second characteristic frequency and the rotation speed. At this time, step S34 can be specifically determined as the maximum value of the amplitude corresponding to the frequency range including the first characteristic frequency in the spectrum as the first characteristic amplitude, and the maximum value of the amplitude corresponding to the frequency range including the second characteristic frequency in the spectrum as the second characteristic amplitude. In this way, the influence of sampling accuracy and error on the determination of the gear meshing frequency can be reduced, and the accuracy of the gear meshing frequency determined by the gear rotation speed determination method of the present application can be improved. Since the error is often small, the frequency range should not be too large. In some embodiments, the difference between the upper limit of the frequency range and the characteristic frequency included in the frequency range is in the range of [1,3], and the difference between the characteristic frequency included in the frequency range and the lower limit of the frequency range is in the range of [1,3]. In some embodiments, the frequency range can be plus or minus 2 of the characteristic frequency, that is, the frequency range is [characteristic frequency-2, characteristic frequency+2], and the maximum amplitude within this range can be used as the characteristic amplitude.

[0053] In other embodiments, determining the frequency multiple amplitudes corresponding to the multiple frequencies in step S33 can be specifically as follows: for each gear frequency, determining the maximum frequency within the frequency range of the multiple frequencies within the frequency multiple amplitudes corresponding to the frequency multiple amplitudes. At this time, the first characteristic amplitude and the second characteristic amplitude obtained have eliminated errors, and step S34 can also be adaptively omitted.

[0054] In step S35, the product of the first characteristic amplitude and the second characteristic amplitude is determined to obtain the spectrum energy corresponding to the gear frequency. Figure 4 for Figure 1 For a schematic diagram of the spectrum energy of the embodiment shown, please refer to Figure 4 After obtaining the first characteristic amplitude and the second characteristic amplitude, the spectrum energy can be obtained by multiplying the two to determine the rotation speed.

[0055] In some embodiments, the value range of the spectrum frequency can be determined according to the gear meshing frequency range and the value of n in step S33. Figure 2 In this embodiment, n=4. Since the collected vibration signal is distorted at low speed and cannot reflect the degree of gear failure, and the wind turbine power generation is very low or even zero at this time, the gear meshing frequency range can be set to [100, 800] Hz. At this time, the horizontal axis frequency of the spectrum ranges from [400, 3200] Hz, and the spectrum energy range is determined according to the gear meshing frequency range. Please refer to Figure 4 The value range of the horizontal axis of the spectrum energy is [100, 800] Hz, which can reduce the amount of detection data and thus reduce the complexity of calculation.

[0056] Since the fault frequency is not the true gear meshing frequency, the amplitude corresponding to its frequency multiple is small and close to 0, so the corresponding spectrum energy is small, while the spectrum energy corresponding to the correct gear meshing frequency is the largest. In step S4, the gear frequency corresponding to the maximum value in the spectrum energy is determined to be the gear meshing frequency. In some embodiments, the first characteristic frequency is one frequency multiple of the frequency, and the gear meshing frequency is the first characteristic frequency.

[0057] In step S5, the average gear speed of the gear to be tested during the test time is determined according to the gear meshing frequency and the number of teeth of the gear to be tested. The formula is: Where speed is the average gear speed, f mes h is the gear meshing frequency obtained in step S4, f teeth is the number of teeth.

[0058] The gear speed determination method of the present application processes the gear vibration signal to obtain the spectral energy of the gear, uses the spectral energy as a basis to obtain the gear meshing frequency, and then calculates the gear speed based on the gear meshing frequency. It cleverly utilizes the principle that the spectral energy of the gear can more accurately reflect the gear state. The obtained gear speed has high accuracy regardless of whether the gear is operating normally or when a fault occurs, and the calculation is simple and convenient, and it is easy to use. Figure 5 for Figure 1 For a schematic diagram of the error of the illustrated embodiment, please refer to Figure 5 , the method was applied to 150 gearbox vibration signals, and the error was defined as The maximum error is only 0.0128.

[0059] The embodiment of the present application also provides a gear speed determination system 200, which can be applied to a wind turbine. Figure 6 FIG. 2 is a schematic block diagram of a gear speed determination system 200 according to an embodiment of the present application. Figure 6 As shown, the gear speed determination system 200 may include one or more processors 201 for implementing the gear speed determination method described in any of the above embodiments. In some embodiments, the gear speed determination system 200 may include a computer-readable storage medium 202, which may store a program that can be called by the processor 201 and may include a non-volatile storage medium. In some embodiments, the gear speed determination system 200 may include a memory 203 and an interface 204. In some embodiments, the gear speed determination system 200 of the embodiment of the present application may also include other hardware according to actual applications.

[0060] The gear speed determination system 200 of the embodiment of the present application has similar beneficial technical effects as the gear speed determination method described above, so it will not be described in detail here.

[0061] The embodiment of the present application further provides a computer-readable storage medium. The computer-readable storage medium stores a program, and when the program is executed by a processor, the method for determining the gear speed described in any of the above embodiments is implemented.

[0062] The embodiments of the present application may take the form of a computer program product implemented on one or more storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing program code. Computer-readable storage media include permanent and non-permanent, removable and non-removable media, and information storage can be implemented by any method or technology. Information can be a computer-readable instruction, a data structure, a module of a program, or other data. Examples of computer-readable storage media include but are not limited to: new types of memory such as phase change memory / resistive memory / magnetic memory / ferroelectric memory (PRAM / RRAM / MRAM / FeRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, read-only compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, tape disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device.

[0063] The gear speed determination method and system thereof and computer-readable storage medium provided in the embodiment of the present application are introduced in detail above. Specific examples are used herein to illustrate the gear speed determination method and system thereof and computer-readable storage medium in the embodiment of the present application. The description of the above embodiments is only used to help understand the core idea of ​​the present application and is not intended to limit the present application. It should be pointed out that for ordinary technicians in this technical field, without departing from the spirit and principles of the present application, several improvements and modifications can be made to the present application, and these improvements and modifications should also fall within the scope of protection of the claims attached to the present application.

Claims

1. A method for determining a gear speed, characterized in that: The gear speed determination method comprises: Collect the gear vibration signal of the gear to be tested within the testing time; Performing Fourier transform on the gear vibration signal to obtain a frequency spectrum, wherein the frequency spectrum includes the gear frequency and its corresponding amplitude; According to the spectrum, the spectrum energy corresponding to the gear frequency is determined; wherein, a first characteristic frequency and a second characteristic frequency corresponding to each of the multiple gear frequencies in the spectrum are determined, wherein the first characteristic frequency and the second characteristic frequency are both integer multiples of the corresponding gear frequency and are not equal to each other; according to the spectrum and the first characteristic frequency, a first characteristic amplitude is determined, and according to the spectrum and the second characteristic frequency, a second characteristic amplitude is determined; the product of the first characteristic amplitude and the second characteristic amplitude is determined to obtain the spectrum energy corresponding to the gear frequency; Determine the gear frequency corresponding to the maximum value in the spectrum energy as the gear meshing frequency; The average gear speed of the gear to be tested during the testing time is determined according to the gear meshing frequency and the number of teeth of the gear to be tested.

2. The method for determining the gear speed according to claim 1, characterized in that: Determining the spectrum energy corresponding to the gear frequency according to the spectrum includes: According to the frequency spectrum, the product of the amplitude corresponding to each gear frequency and the amplitude corresponding to its double frequency is obtained to determine the frequency spectrum energy corresponding to the gear frequency.

3. The method for determining the gear speed according to claim 1, characterized in that: The determining a first characteristic amplitude according to the frequency spectrum and the first characteristic frequency includes: Determine the maximum value of the amplitude corresponding to the frequency range including the first characteristic frequency in the spectrum as the first characteristic amplitude, or determine the amplitude corresponding to the first characteristic frequency as the first characteristic amplitude; and / or The step of determining a second characteristic amplitude according to the frequency spectrum and the second characteristic frequency comprises: The maximum value of the amplitude corresponding to the frequency range including the second characteristic frequency in the frequency spectrum is determined as the second characteristic amplitude, or the amplitude corresponding to the second characteristic frequency is determined as the second characteristic amplitude.

4. The method for determining the gear speed according to claim 3, characterized in that: The difference between the upper limit value of the frequency range and the characteristic frequency included in the frequency range is in the range of [1, 3], and the difference between the characteristic frequency included in the frequency range and the lower limit value of the frequency range is in the range of [1, 3]; the characteristic frequency is the first characteristic frequency or the second characteristic frequency.

5. The method for determining the gear speed according to claim 1, characterized in that: The determining of a first characteristic frequency and a second characteristic frequency corresponding to each of the plurality of gear frequencies in the frequency spectrum comprises: Determine a plurality of frequency multiples of each of the gear frequencies and the frequency multiple amplitudes corresponding to the plurality of frequency multiples, wherein the plurality of frequency multiples are 1 frequency multiple to n frequency multiples, wherein n is a positive integer greater than or equal to 2; For each of the gear frequencies, determine the frequency multiple of the gear frequency corresponding to the maximum value among the multiple frequency multiple amplitudes as the first characteristic frequency; determine the frequency multiple of the gear frequency corresponding to the second largest value among the multiple frequency multiple amplitudes as the second characteristic frequency.

6. The method for determining the gear speed according to claim 1, characterized in that: The determining of a first characteristic frequency and a second characteristic frequency corresponding to each of the plurality of gear frequencies in the frequency spectrum comprises: Determining a gear meshing frequency range according to a speed range and a number of gear teeth of the gear; A plurality of the gear frequencies within the gear mesh frequency range are determined.

7. The method for determining the gear speed according to claim 6, characterized in that: The determining of a plurality of the gear frequencies within the gear meshing frequency range comprises: Determine a starting frequency of the gear meshing frequency range, and a plurality of frequencies starting from the starting frequency of the gear meshing frequency range and spaced at fixed frequencies, as the plurality of gear frequencies; or It is determined that a plurality of frequencies corresponding to amplitudes within the gear meshing frequency range on the frequency spectrum that are greater than an amplitude threshold are the plurality of gear frequencies.

8. A gear speed determination system, characterized in that: It comprises one or more processors, used to implement the gear speed determination method according to any one of claims 1-7.

9. A computer-readable storage medium, characterized in that: A program is stored thereon, and when the program is executed by a processor, a method for determining a gear speed as described in any one of claims 1 to 7 is implemented.

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