A method for monitoring the state of a slewing drive system

Abstract

The present application relates to a kind of rotary table driving system state monitoring method, belong to metallurgical equipment monitoring technical field.The method specifically includes: S1: through the control system of rotary table driving system, real-time monitoring reads the state variable of rotary table driving system;S2: integration step S1 monitored reading state variable, judge to collect drive motor time sequence data start time;S3: control system collects the time sequence data of drive motor of rotary table driving system;S4: integration step S1 monitored reading state variable, judge to stop collecting drive motor time sequence data time;S5: to the time sequence data of step S3 collection is preprocessed;S6: determine rotary table driving system state.The present application can be under the condition of not installing additional hardware equipment, to the entire drive system of rotary table is carried out real-time accurate state monitoring.

Description

Technical Field

[0001] This invention belongs to the field of metallurgical equipment monitoring technology, and relates to a method for monitoring the status of a rotary table drive system. Background Technology

[0002] In continuous casting, the ladle turret is an indispensable piece of production equipment. Its function is to enable rapid switching between a full ladle and an empty ladle during casting, and to work in conjunction with steelmaking equipment such as the crystallizer to achieve uninterrupted casting production. The rotation of the turret is accomplished through its drive system. The working principle is that the drive motor drives the external gear ring of the slewing bearing through a reducer, thereby rotating the turret. A problem in any part of this system will cause it to malfunction. In particular, the structure of the slewing bearing differs significantly from ordinary bearings, and the loads it bears and its working environment are also very special. It is the core component of the ladle turret, and its safety and stability are crucial to the normal operation of the turret. Any problems will severely hinder production and lead to serious safety accidents. Therefore, online monitoring of the turret's drive system is extremely important.

[0003] In order to achieve condition monitoring of relevant components of the rotary table, some metallurgical equipment engineers have done the following:

[0004] In patent CN103949603A, Li Peng et al. disclosed a monitoring system for the ladle turret of a continuous casting machine. By setting multiple status monitoring points, the system obtains the vibration parameters and displacement values ​​of each monitoring point, which facilitates recording and maintenance. At the same time, it performs logical analysis and judgment, issues alarm signals, and maintains production safety.

[0005] Wang Zefei et al. disclosed an online monitoring system for the operating status of a ladle turret in patent publication number CN214173384U. The system includes at least one inertial sensor mounted on the rotating body of the ladle turret to detect the rotating body's attitude during operation; a control module mounted on the rotating body to receive the attitude data detected by the inertial sensor, process it, and output the data; and a monitoring terminal located beside the ladle turret to receive the data processed by the control module. The inertial sensor is electrically connected to the control module, and the control module is communicatively connected to the monitoring terminal. This system helps operators monitor the real-time operating status of the ladle turret, enabling timely elimination of safety hazards, reducing malfunctions, and improving the safety of the rotating body's operation.

[0006] In their paper "Application Research of Condition Monitoring for Low-Speed ​​Heavy-Duty Equipment Based on Stress Wave Technology," Li Desi et al. disclosed a stress wave technology that enables real-time monitoring of the operating status of low-speed heavy-duty equipment and online diagnosis and analysis of fault phenomena. By using sensors highly sensitive to friction and impact, stress wave signals generated by the relative motion of the moving equipment are acquired in real time. Numerical integration and mathematical statistics are used to perform distributed processing of the stress wave signals, forming a unique diagnostic analysis method, which is then applied to the field of rotary table condition monitoring.

[0007] The above methods mainly target the condition of slewing bearing components, with little mention of reducers and motors, and require additional expensive hardware. Summary of the Invention

[0008] In view of this, the purpose of the present invention is to provide a method for monitoring the status of a rotary table drive system, which enables real-time and accurate monitoring of the entire drive system of the rotary table without the installation of additional hardware devices.

[0009] To achieve the above objectives, the present invention provides the following technical solution:

[0010] A method for monitoring the state of a rotary table drive system, specifically including the following steps:

[0011] S1: The state variables of the rotary table drive system are monitored and read in real time through the control system of the rotary table drive system.

[0012] S2: Integrate the status variables monitored and read in step S1 to determine the start time of collecting timing data of the drive motor;

[0013] S3: The control system collects timing data of the drive motors of the rotary table drive system;

[0014] S4: Integrate the status variables monitored and read in step S1 to determine the time to stop collecting timing data of the drive motor;

[0015] S5: Preprocess the time-series data collected in step S3;

[0016] S6: Determine the status of the rotary table drive system.

[0017] Furthermore, in step S1, the real-time monitoring read status variables refer to reading three variables at fixed intervals: isInverterRun (inverter is running, boolean type), isArmAInCasting (A rotary arm is in the casting position, boolean type), and isArmBInCasting (B rotary arm is in the casting position, boolean type).

[0018] Further, in step S2, the start time for collecting the timing data of the drive motor is determined. Specifically, the three variables monitored and read in step S1 are logically operated to obtain isFetching. The specific logical relationship is: isFetching = isInverterRun && (!isArmAInCasting) && (!isArmBInCasting). When isFetching == true, that is, the inverter is running and neither A rotary arm nor B rotary arm is in the casting position, data collection begins.

[0019] Furthermore, in step S3, the timing data of the drive motor is collected as motorCurrent (drive motor current, Real type), and is collected at a certain period, with a period of 10ms to 100s, preferably 2s.

[0020] Further, in step S4, the timing of stopping the drive motor timing data acquisition is determined. Specifically, the three variables monitored and read in step S1 are logically operated to obtain isStopFetching(!isInverterRun)&&(isArmAInCasting||isArmBInCasting). When isStopFetching==true, that is, the inverter stops, and (either A rotary arm is in the casting position, or B rotary arm is in the casting position), the data acquisition is stopped.

[0021] Furthermore, in step S5, the collected data is preprocessed, specifically: the time-series data set X of motorCurrent is preprocessed. real ={x0 real x1 real x2 real ,...,xn real Preprocessing is performed first, converting the Real type to Int type to obtain the time series data set X. int ={x0 int x1 int x2 int ,...,xn int Then, calculate the mode (X) of the time series data. int ), mode(X int )=x int ,iff f(x int )>n / 2; where iff means "if and only if", that is, if there exists an element x int It is in the data set x int The number of times f(x) appears in int If x is greater than half the size n of the dataset, then this element x is... intThat is, the mode, used in mode(X) int )express.

[0022] Furthermore, in step S6, the state of the rotary table drive system is determined by: firstly calculating the percentage deviation of the mode value of the current, dev, using the following formula:

[0023] dev = ABS((mode(X) int )-current std ) / current std )

[0024] If dev <level warning If so, the state is normal;

[0025] If dev≥level warning And dev <level error If so, a yellow card warning will be issued;

[0026] If dev≥level error If so, a red card fault warning will be issued;

[0027] Where ABS represents the absolute value, current std This is the standard current value, which can be obtained by analyzing historical data; level warning The warning threshold, level error The fault threshold, level warning <lecel error .

[0028] The beneficial effects of this invention are as follows: by collecting the current data of the drive motor and applying mathematical algorithms, this invention can determine the status of the drive system in real time, and can perform real-time and accurate status monitoring of the entire drive system of the rotary table without installing additional hardware equipment.

[0029] Other advantages, objectives, and features of the invention will be set forth in part in the description which follows, and in part will be apparent to those skilled in the art from the following examination, or may be learned from practice of the invention. The objectives and other advantages of the invention can be realized and obtained through the following description. Attached Figure Description

[0030] To make the objectives, technical solutions, and advantages of the present invention clearer, the preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings, wherein:

[0031] Figure 1 This is the left view of the rotary table;

[0032] Figure 2This is a top view of the rotary table;

[0033] Figure 3 This is a partially enlarged view of the drive mechanism in this invention;

[0034] Figure 4 This is a program logic flowchart. Detailed Implementation

[0035] The following specific examples illustrate the implementation of the present invention. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and various details in this specification can be modified or changed based on different viewpoints and applications without departing from the spirit of the present invention. It should be noted that the illustrations provided in the following embodiments are only schematic representations of the basic concept of the present invention. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0036] The accompanying drawings are for illustrative purposes only and are schematic diagrams, not actual pictures. They should not be construed as limiting the invention. To better illustrate the embodiments of the invention, some parts in the drawings may be omitted, enlarged, or reduced, and do not represent the actual product dimensions. It is understandable to those skilled in the art that some well-known structures and their descriptions may be omitted in the drawings.

[0037] In the accompanying drawings of the embodiments of the present invention, the same or similar reference numerals correspond to the same or similar components. In the description of the present invention, it should be understood that if terms such as "upper," "lower," "left," "right," "front," and "rear" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, they are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, the terms used to describe positional relationships in the drawings are only for illustrative purposes and should not be construed as limiting the present invention. For those skilled in the art, the specific meaning of the above terms can be understood according to the specific circumstances.

[0038] Example 1:

[0039] This embodiment provides a method for monitoring the status of a rotary table drive system. The drive system involved is, for example... Figure 1 and Figure 2 As shown, its function is to enable rapid switching between a full ladle of molten steel and an empty ladle of molten steel during the casting process, thus creating the basic conditions for continuous casting.

[0040] The drive system includes components such as a drive motor, a reducer, and a slewing bearing. Figure 3As shown, the drive motor drives the outer gear ring of the slewing bearing to rotate through the reducer, thereby realizing the rotation of the slewing table and completing the rapid switching between the ladle containing molten steel and the ladle containing casting waste.

[0041] The ladle containing molten steel and the ladle containing casting waste are respectively placed on the two rotating arms (rotating arm A and rotating arm B) of the rotary table.

[0042] The condition monitoring method includes the following steps, such as Figure 4 As shown:

[0043] S1: The state variables of the rotary table drive system are monitored and read in real time through the control system of the rotary table drive system.

[0044] In step S1, three variables are read periodically: isInverterRun (inverter is running, boolean type), isArmAInCasting (A rotary arm is in the casting position, boolean type), and isArmBInCasting (B rotary arm is in the casting position, boolean type).

[0045] S2: Integrate the status variables read from step S1 to determine the start time of collecting timing data of the drive motor.

[0046] In step S2, the start time of data collection is determined, and the three variables monitored and read in step S1 are logically operated to obtain isFetching. The specific logical relationship is as follows: isFetching = isInverterRun && (!isArmAInCasting) && (!isArmBInCasting). When isFetching == true, that is, the inverter is running and neither A rotary arm nor B rotary arm is in the casting position, data collection begins.

[0047] S3: The control system collects timing data of the drive motors of the rotary table drive system.

[0048] In step S3, the timing data collected is motorCurrent (drive motor current, Real type), and the data is collected in 2-second intervals.

[0049] S4: Integrate the status variables read from step S1 to determine the time to stop collecting timing data of the drive motor.

[0050] In step S4, the time to stop data acquisition is determined. The three variables monitored and read in step S1 are logically operated to obtain isStopFetching = (!isInverterRun) && (isArmAInCasting||isArmBInCasting). When isStopFetching == true, that is, the inverter stops, and (either A rotary arm is in the casting position, or B rotary arm is in the casting position), data acquisition is stopped.

[0051] S5: Preprocess the time series data collected in step S3.

[0052] In step S5, the time series data set X of motorCurrent is processed. real ={x0 real x1 real x2 real ,...,x200 real Preprocessing is performed first, converting the Real type to Int type to obtain the time series data set X. int ={x0 int x1 int x2 int ,...,x200 int Then, calculate the mode (X) of the time series data. int ), mode(X int ) = 21, iff f(X) int )>100.

[0053] S6: Determine the status of the rotary table drive system, specifically:

[0054] First, calculate the percentage deviation (dev) of the mode of the current, using the following formula:

[0055] dev = ABS((mode(X) int )-current std ) / current std ) = 0.35,

[0056] level warning =0.25;

[0057] level error =0.55;

[0058] dev≥level warning And dev <level error If so, a yellow card warning will be issued.

[0059] Example 2:

[0060] If in step S5 of the embodiment, mode(X) int ) does not exist, iff f(x) int If ) < 100, then the judgment of the drive system status is cancelled.

[0061] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the present invention, and all such modifications or substitutions should be covered within the scope of the claims of the present invention.

Claims

1. A method for monitoring the state of a rotary table drive system, characterized in that, The method specifically includes the following steps: S1: The state variables of the rotary table drive system are monitored and read in real time through the control system of the rotary table drive system. S2: Integrate the status variables monitored and read in step S1 to determine the start time of collecting timing data of the drive motor; S3: The control system collects timing data of the drive motors of the rotary table drive system; S4: Integrate the status variables monitored and read in step S1 to determine the time to stop collecting timing data of the drive motor; S5: Preprocess the time-series data collected in step S3; S6: Determine the status of the rotary table drive system; In step S1, the state variables refer to the three variables read periodically, namely... This indicates that the frequency converter is running and is of type boolean. This indicates that rotary arm A is in the pouring position and is of type boolean. This indicates that the B-arm rotary valve is in the pouring position and is of type boolean; In step S3, the timing data of the drive motor is collected as motorCurrent, which represents the drive motor current and is of type Real, and is collected periodically. In step S5, the collected time-series data is preprocessed, specifically: the time-series data set of motorCurrent is preprocessed. = { , , , ..., Preprocessing is performed first, converting the Real type to Int type to obtain the time series data set. = { , , , ..., Then, calculate the mode of the time series data. ), mode( ) = , iff f( )> n / 2; where iff means "if and only if", that is, if there exists an element It is in the data set The number of times f( appears in) (), greater than the size of the data set n If half of it is, then this element That is, the mode, using mode( )express; In step S6, the state of the rotary table drive system is determined, specifically by first calculating the percentage deviation of the mode value of the current. dev The formula is as follows: if If so, the state is normal; if and If so, a yellow card warning will be issued; if dev≥ If so, a red card fault warning will be issued; in, This indicates taking the absolute value. This is the standard value of the current. As the warning threshold, The fault threshold, < .

2. The condition monitoring method according to claim 1, characterized in that, In step S2, the start time for collecting the timing data of the drive motor is determined. Specifically, this involves performing logical operations on the three variables monitored and read in step S1 to obtain... The specific logical relationship is as follows: = &&(! )&&(! ),when When ==true, the frequency converter is running and neither A nor B rotary arms are in the pouring position, and data collection begins.

3. The condition monitoring method according to claim 2, characterized in that, In step S4, determining the time to stop collecting drive motor timing data specifically involves performing logical operations on the three variables monitored and read in step S1 to obtain isStopFetching= &&( When isStopFetching==true, the frequency converter stops, and either rotary arm A is in the pouring position or rotary arm B is in the pouring position, data acquisition stops.

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