Method for determining rotating speed data of dynamic equipment and related device

Abstract

The invention provides a method for determining rotating speed data of moving equipment and a related device, and the method comprises the steps: obtaining a motion signal of a preset part in the moving equipment, and the motion signal at least comprises a vibration signal and / or a key phase signal; under the condition that the motion signal at least comprises a key-phase signal, when the key-phase signal meets a first preset condition, determining rotation speed data of the moving equipment based on the key-phase signal; and under the condition that the motion signal does not comprise a key phase signal but at least comprises a vibration signal, when the vibration signal meets a second preset condition, determining rotation speed data of the motion equipment based on the vibration signal. According to the embodiment of the invention, by means of double supplementary calculation of the key phase signal and the acceleration vibration signal, the rotating speed data can be calculated through any one of the key phase signal and the acceleration vibration signal, the calculation result can be subjected to double verification, the rotating speed value at the current moment can be determined, the rotating speed difference at the current moment can be output, and therefore whether the rotating equipment operates stably or not is judged.

Description

Technical Field

[0001] The present disclosure relates to the technical field of dynamic equipment parameter testing, and in particular to a method for determining dynamic equipment rotation speed data and a related device. Background Art

[0002] In the process of dynamic equipment status monitoring and fault diagnosis, the equipment speed is the core element and the basis for frequency domain analysis and fault diagnosis and location. The existing algorithms for speed calculation often rely on key phase signals, but many devices do not have the conditions to install key phase sensors, which creates a bottleneck for speed calculation. In addition, most of the existing methods only calculate the speed, and do not perform speed difference calculation and rotation full cycle signal interception functions, which lacks support for downstream work such as equipment fault location and stable working condition judgment. Summary of the invention

[0003] In view of this, the present disclosure aims to provide a method for determining rotational speed data of a moving device and a related device to solve the above-mentioned technical problems in the prior art.

[0004] One aspect of the present disclosure provides a method for determining the rotational speed data of a moving device, comprising: acquiring a motion signal of a predetermined component in the moving device, the motion signal including at least a vibration signal and / or a key phase signal; in a case where the motion signal includes at least a key phase signal, when the key phase signal satisfies a first predetermined condition, determining the rotational speed data of the moving device based on the key phase signal; in a case where the motion signal does not include a key phase signal but includes at least a vibration signal, when the vibration signal satisfies a second predetermined condition, determining the rotational speed data of the moving device based on the vibration signal.

[0005] In some embodiments, when the motion signal includes at least a key phase signal, when the key phase signal satisfies a first predetermined condition, in the rotational speed data of the moving device determined based on the key phase signal, the key phase signal satisfies the first predetermined condition by: determining a key phase signal abnormality factor based on the key phase signal; and judging whether the key phase signal satisfies the first predetermined condition based on the key phase signal abnormality factor and a first preset threshold.

[0006] In some embodiments, in the case where the motion signal includes at least a key phase signal, when the key phase signal satisfies a first predetermined condition, determining the rotational speed data of the moving device based on the key phase signal includes: constructing an edge point array of a rising edge or a falling edge based on the key phase signal; determining the number of signal data points based on the edge point array; and determining the rotational speed value and rotational speed difference of the moving device at the current moment based on the number of signal data points.

[0007] In some embodiments, when the motion signal includes at least a key phase signal, when the key phase signal satisfies a first predetermined condition, after determining the rotational speed data of the moving device based on the key phase signal, it also includes: when the key phase signal does not satisfy the first predetermined condition and the motion signal also includes a vibration signal, when the vibration signal satisfies a second predetermined condition, determining the rotational speed data of the moving device based on the vibration signal; when the key phase signal does not satisfy the first predetermined condition and the motion signal also includes a vibration signal, when the vibration signal does not satisfy the second predetermined condition, controlling the predetermined component to shut down.

[0008] In some embodiments, it also includes: when the key phase signal does not meet the first predetermined condition and the motion signal does not include a vibration signal, controlling shutdown and / or determining sensor failure.

[0009] In some embodiments, when the vibration signal satisfies the second predetermined condition, in the rotational speed data of the moving device determined based on the vibration signal, the vibration signal satisfies the second predetermined condition by: determining a vibration signal abnormality factor based on the vibration signal; and judging whether the vibration signal satisfies the second predetermined condition based on the vibration signal abnormality factor and a second preset threshold.

[0010] In some embodiments, when the vibration signal satisfies a second predetermined condition, the rotational speed data of the moving device is determined based on the vibration signal, including: obtaining the maximum frequency domain amplitude based on the vibration signal from a predetermined channel; obtaining the corresponding calculated frequency value based on the maximum frequency domain amplitude; and obtaining the rotational speed value and speed difference of the moving device at the current moment based on the calculated frequency value.

[0011] Another aspect of the present disclosure provides a device for determining rotation speed data of a moving device, comprising:

[0012] An acquisition module, used for acquiring a motion signal of a predetermined component in a moving device, wherein the motion signal at least includes a vibration signal and / or a key phase signal;

[0013] A first determination module, configured to determine the rotation speed data of the moving device based on the key phase signal when the motion signal at least includes a key phase signal and the key phase signal satisfies a first predetermined condition;

[0014] The second determination module is used to determine the rotation speed data of the moving device based on the vibration signal when the motion signal does not include the key phase signal but at least includes the vibration signal and when the vibration signal meets a second predetermined condition.

[0015] Another aspect of an embodiment of the present disclosure provides a storage medium storing a computer program, wherein the computer program implements the steps of any of the above methods when executed by a processor.

[0016] Another aspect of an embodiment of the present disclosure provides an electronic device, comprising at least a memory and a processor, wherein a computer program is stored in the memory, and the processor implements the steps of any of the above methods when executing the computer program in the memory.

[0017] The disclosed embodiment adopts a dual supplementary calculation method of key phase signal and acceleration vibration signal, which can not only calculate the rotational speed data through either side, but also double-verify the calculation result. It can not only determine the rotational speed value at the current moment, but also output the rotational speed difference at the current moment, so as to judge whether the moving equipment is running stably. It can also intercept the vibration, pressure and other signals of other channels at the same time in the whole cycle, so as to facilitate fault analysis and fault location within a single cycle.

[0018] In order to make the above-mentioned objectives, features and advantages of the present disclosure more obvious and easy to understand, preferred embodiments are specifically cited below and described in detail with reference to the attached drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In the drawings that are not necessarily drawn to scale, the same reference numerals may describe similar parts in different views. The same reference numerals with letter suffixes or different letter suffixes may represent different instances of similar parts. The drawings generally illustrate various embodiments by way of example and not limitation, and together with the specification and claims, are used to illustrate the disclosed embodiments. When appropriate, the same reference numerals are used throughout the drawings to refer to the same or similar parts. Such embodiments are illustrative and are not intended to be exhaustive or exclusive embodiments of the present apparatus or method. The drawings described herein are used to provide a further understanding of the present disclosure and constitute a part of this application. The illustrative embodiments of the present disclosure and their descriptions are used to explain the present disclosure and do not constitute an improper limitation of the present disclosure. In the drawings:

[0020] Figure 1 This is a schematic diagram of the steps of a method for determining rotation speed data of a moving device provided by an embodiment of the present disclosure;

[0021] Figure 2 This is a second schematic diagram of the steps of a method for determining rotation speed data of a moving device provided by an embodiment of the present disclosure;

[0022] Figure 3 This is a schematic diagram of the third step of a method for determining rotation speed data of a moving device provided by an embodiment of the present disclosure;

[0023] Figure 4This is a fourth schematic diagram of the steps of a method for determining rotation speed data of a moving device provided by an embodiment of the present disclosure;

[0024] Figure 5 This is a schematic diagram of the fifth step of a method for determining rotation speed data of a moving device provided by an embodiment of the present disclosure;

[0025] Figure 6 This is a schematic diagram of the sixth step of a method for determining rotation speed data of a moving device provided by an embodiment of the present disclosure;

[0026] Figure 7 It is a schematic diagram of the overall flow of a method for determining rotational speed data of a moving device provided in an embodiment of the present disclosure. DETAILED DESCRIPTION

[0027] The specific embodiments of the present disclosure are described in detail below with reference to the accompanying drawings, but are not intended to limit the present disclosure.

[0028] It should be understood that various modifications may be made to the embodiments disclosed herein. Therefore, the above description should not be considered as limiting, but merely as an example of an embodiment. Other modifications within the scope and spirit of the present disclosure will occur to those skilled in the art.

[0029] The accompanying drawings, which are incorporated in and constitute a part of the specification, illustrate embodiments of the present disclosure and, together with the general description of the present disclosure given above and the detailed description of the embodiments given below, serve to explain the principles of the present disclosure.

[0030] These and other characteristics of the present disclosure will become apparent from the following description of a preferred form of embodiment given as a non-limiting example, with reference to the attached drawings.

[0031] It should also be understood that, although the present disclosure has been described with reference to some specific examples, those skilled in the art will be able to realize many other equivalent forms of the present disclosure that have the features described in the claims and are therefore within the scope of protection defined thereby.

[0032] The above and other aspects, features and advantages of the present disclosure will become more apparent from the following detailed description when taken in conjunction with the accompanying drawings.

[0033] Specific embodiments of the present disclosure are described hereinafter with reference to the accompanying drawings; however, it should be understood that the disclosed embodiments are merely examples of the present disclosure, which may be implemented in a variety of ways. Well-known and / or repeated functions and structures are not described in detail to avoid obscuring the present disclosure with unnecessary or redundant details. Therefore, the specific structural and functional details disclosed herein are not intended to be limiting, but merely serve as a basis and representative basis for the claims to teach those skilled in the art to use the present disclosure in a variety of ways with substantially any suitable detailed structure.

[0034] It should be noted that the terms "first", "second", etc. in the specification and claims of the present disclosure and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present disclosure described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product, or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products, or devices.

[0035] This specification may use the phrases "in one embodiment," "in another embodiment," "in a further embodiment," or "in other embodiments," all of which may refer to one or more of the same or different embodiments according to the present disclosure.

[0036] The first embodiment of the present disclosure provides a method for determining the speed data of a moving device, which is suitable for calculating the speed data of the moving device, and the speed data may be, for example, the speed value at the current moment, the speed difference calculation at the current moment, and the rotation cycle signal interception, etc. The moving device here may be, for example, any rotating motion device, reciprocating motion device, etc. Figure 1 Combined with Figure 7 As shown, the method for determining the rotation speed of the moving device includes:

[0037] S101, obtaining a motion signal of a predetermined component in a moving device, wherein the motion signal at least includes a vibration signal and / or a key phase signal.

[0038] In this step, the motion signal of the predetermined component in the moving device is obtained, and the motion signal includes at least a vibration signal and / or a key phase signal. In this step, specifically, the motion signal of the predetermined component in the moving device is collected based on the preset data acquisition software and hardware device and the preset data acquisition method. The motion signal here may include any one of the key phase signal and the vibration signal, or may not include the key phase signal and the vibration signal. The motion signal collected here serves as an input signal for determining the speed data. In a specific embodiment, for example, the vibration signal and key phase signal of key rotating parts such as the gear box and crankcase in the plunger pump can be collected, and the above-mentioned vibration signal and key phase signal can be used as input signals for the speed data determination method of the moving device.

[0039] Specifically, for the power end of a 5-cylinder plunger pump as a dynamic device, it generally includes components such as a reduction box and a crankcase. For example, acceleration vibration sensors are installed on the input and output bearing sides of the pinion of the reduction box, the input and output bearing sides of the large gear bearing, the output bearing side of the planetary gear, and the horizontal direction of the 1-6 bearings of the crankcase to collect vibration signals of different components. A multi-tooth code disk and a key phase sensor can also be installed on the non-driving end of the crankcase to collect key phase signals. The acquisition frequency fs of the sensor used here can be set to be greater than 25.6khz, the acquisition interval is less than 20s, and the acquisition sample time N length is greater than 4s. Vibration signals and / or key phase signals can be collected through the above sensors.

[0040] In collecting the motion signal of the predetermined component, the signal data collected by one or more sensors can be obtained in a single-channel or multi-channel manner to obtain single-channel signal data or multi-channel signal data for input. For example: the multi-channel signal data is defined as a dictionary consisting of 11 vibration signals and 1 key phase signal in the reduction box and the crankcase, wherein the key of the dictionary is the channel number of the sensor, and the value of the dictionary is an array list consisting of the signal data points of the channel at the current moment, wherein both the key and value of the dictionary can be empty; the dictionary format of the input signal data is as follows:

[0041] input_data={'01':list1,'02':list2,'03':list3,…,'11':list11,'12':list12} ；

[0042] Among them, channels 02-12 are the detection points of the corresponding vibration signals on the reduction box and the crankcase respectively, and channel 01 is the detection point of the key phase signal. Here, the arrays of different detection points can be judged to determine whether the motion signal or input signal contains the corresponding signal. For example, whether the input signal includes the key phase signal can be determined by determining whether the array list1 of the 01 detection point is empty. Whether the input signal includes the vibration signal can be determined by determining whether the array list of the 02-12 detection points is all empty.

[0043] S102: when the motion signal at least includes a key phase signal, and when the key phase signal satisfies a first predetermined condition, determining the rotation speed data of the moving device based on the key phase signal.

[0044] After obtaining the motion signal of a predetermined component in the moving device through the above step S101, and the motion signal includes at least a vibration signal and / or a key phase signal, in this step, when the motion signal includes at least a key phase signal, when the key phase signal satisfies the first predetermined condition, the rotation speed data of the moving device is determined based on the key phase signal. Specifically, after obtaining the collected motion signal based on a single-channel or multi-channel method, the motion signal is first input into the key phase signal judgment branch, in order to judge whether the input motion signal includes a key phase signal. The specific judgment method here can be achieved by whether the array of the corresponding detection points mentioned above is empty.

[0045] When the motion signal includes at least a key phase signal, the key phase signal + vibration signal speed calculation logic branch is entered, and first a specific judgment is made as to whether the key phase signal is abnormal. Here, whether the key phase signal is abnormal is determined by judging whether the first predetermined condition is met, that is, when the key phase signal meets the first predetermined condition, it indicates that the key phase signal is a normal signal rather than an abnormal signal. In addition, under the premise of the existence of a key phase signal, the signal of the entire rotation cycle of the equipment spindle can be intercepted on the basis of the calculated speed value and speed difference, which is helpful for single-cycle signal analysis and fault location and diagnosis.

[0046] like Figure 2 Combined with Figure 7 As shown, the key phase signal here meets the first predetermined condition and is determined in the following manner:

[0047] S201, determining a key phase signal abnormality factor based on the key phase signal;

[0048] S202: Based on the key phase signal abnormality factor and a first preset threshold, determine whether the key phase signal satisfies a first predetermined condition.

[0049] The key phase signal + vibration signal speed calculation logic branch adopted in this embodiment includes a key phase signal validity verification branch. Of course, in the event of a key phase sensor failure or a sensor cable failure, the vibration signal speed calculation branch can be directly called to perform a supplementary speed calculation. Specifically, under the key phase signal + vibration signal speed calculation logic branch, the key phase signal abnormality judgment is first performed, for example, by determining the key phase signal abnormality factor, and performing a threshold judgment on the key phase signal abnormality factor. The key phase signal abnormality factor here includes but is not limited to factors such as the effective value rms, maximum value max, and mean value mean in the time domain or frequency domain. Here, the key phase signal abnormality factor can be set to be greater than or less than the first preset threshold value to determine whether the key phase signal meets the first predetermined condition.

[0050] In this step, when the key phase signal satisfies the first predetermined condition, that is, it indicates that the key phase signal is a normal signal, that is, there is a standard sawtooth wave signal, as Figure 3 Combined with Figure 7 As shown, the rotation speed data of the moving device is determined based on the key phase signal through the following steps.

[0051] S301, constructing an edge point array of a rising edge or a falling edge based on the key phase signal.

[0052] In this step, an array of rising or falling edge points is constructed based on the key phase signal. Specifically, in this step, the array list1 of the key phase signal is obtained, and the mean list1_mean is calculated for the array; then, based on the principle that the sawtooth wave of the key phase signal crosses the mean baseline, each point x in the array list1 is determined. i Belongs to the rising edge point or the falling edge point.

[0053] If x i If the following conditions are met, this point is a rising edge point.

[0054] (x i-1 <list1_mean)and(x i+1 > list1_mean)

[0055] Among them, x i-1 For x i The previous point, x i+1 For x i The next point.

[0056] Similarly, if x i If the following conditions are met, this point is a falling edge point.

[0057] (x i-1 >list1_mean)and(x i+1 <list1_mean).

[0058] Based on the above judgment results, an edge point array list1_edge of the rising edge or falling edge of the key phase signal can be constructed.

[0059] S302: Determine the number of signal data points based on the edge point array.

[0060] After constructing the edge point array of the rising edge or the falling edge based on the key phase signal through the above step S301, in this step, the number of signal data points is determined based on the edge point array. Specifically, the difference sequence of the next value minus the previous value is calculated for the edge point array list1_edge, and the threshold β is set. Here, if the key phase code disk is a toothless code disk, the element array with a difference greater than the threshold β can be screened out, that is, the toothless edge index array list1_max_edge(). In this case, the signal data point corresponding to the middle of every two adjacent indexes in the toothless edge index array list1_max_edge is the signal data point collected within a full rotation cycle of the main axis.

[0061] If the code disk is a non-tooth-missing code disk, based on the number of teeth k of the code disk, determine the signal data point corresponding to the middle of the two edge indexes separated by k data in the edge point array list1_edge, that is, the signal data point collected within a full rotation cycle of the main shaft. In this way, the number of signal data points can be determined based on different states of the code disk. In addition, based on this, the vibration signal can also be indexed for a single full cycle or multiple cycles.

[0062] S303: Determine the current rotation speed value and rotation speed difference of the moving device based on the number of signal data points.

[0063] After the number of signal data points is determined based on the edge point array in the above step S302, in this step, the rotational speed value and rotational speed difference of the moving device at the current moment are determined based on the number of signal data points.

[0064] Specifically, according to the number of signal data points x corresponding to one full rotation cycle of the main shaft, the rotation speed of the predetermined component can be calculated according to each pair of adjacent data in the missing tooth edge index array list1_max_edge or the number of signal data points x adjacent to each k data interval in the edge point array list1_edge:

[0065]

[0066] Among them, x is the number of signal data points corresponding to one full rotation cycle of the spindle, fs is the acquisition frequency of the key phase signal, and rpm is the current spindle speed.

[0067] According to the above formula, the speed data can be calculated based on each pair of adjacent signal data points in the missing edge index array list1_max_edge or the number of adjacent signal data points every k data interval in the edge point array list1_edge, and all speed values ​​are calculated by averaging, maximizing or modal, etc., so as to finally obtain the final speed value rpm at the current moment. In addition, the speed difference rpm_diff at the current moment is obtained by taking the first speed and the last speed and performing the difference.

[0068] In some embodiments, after step S102, Figure 4 Combined with Figure 7 As shown, it also includes:

[0069] S401, when the key phase signal does not satisfy the first predetermined condition and the motion signal further includes a vibration signal, when the vibration signal satisfies a second predetermined condition, determining the rotation speed data of the moving device based on the vibration signal.

[0070] In this step, when the key phase signal does not satisfy the first predetermined condition and the motion signal also includes a vibration signal, when the vibration signal satisfies the second predetermined condition, the rotational speed data of the moving device is determined based on the vibration signal. Specifically, if the key phase signal is in the current abnormal state, that is, it presents an abnormal sawtooth wave signal, then the predetermined component in the moving device may be in a shutdown state, or the key phase sensor or cable may be in a faulty state. Then it is necessary to continue to determine whether the motion signal includes a vibration signal. The specific determination method here can be achieved by whether the array of the corresponding detection points mentioned above is empty.

[0071] like Figure 5 Combined with Figure 7 As shown, the vibration signal here meets the second predetermined condition and is determined in the following manner:

[0072] S501, determining a vibration signal abnormality factor based on the vibration signal;

[0073] S502: Based on the vibration signal abnormality factor and a second preset threshold, determine whether the vibration signal satisfies a first predetermined condition.

[0074] Specifically, under the key phase signal + vibration signal speed calculation logic branch, the vibration signal abnormality judgment can also be performed, for example, by determining the vibration signal abnormality factor, and performing a threshold judgment on the vibration signal abnormality factor, where the vibration signal abnormality factor includes but is not limited to indicator factors such as the effective value rms of the vibration signal in the time domain and the maximum amplitude max_fft in the frequency domain. Here, the vibration signal abnormality factor can be set to be greater than or less than the second preset threshold to determine whether the vibration signal meets the first predetermined condition.

[0075] In one embodiment, for example, the effective value rms of the vibration signal in the time domain and the maximum amplitude max_fft in the frequency domain are expressed in the following manner:

[0076]

[0077] max_fft=max(fft j ),j=1,…n / 2

[0078] Among them, x is the time domain value of the vibration signal, n is the number of signal data points in a sample time domain, and fft is the frequency domain amplitude of the vibration signal.

[0079] The above-mentioned vibration signal abnormality factor is determined by calculation, and the vibration signal abnormality judgment is performed by setting a corresponding threshold through, for example, the historical data distribution analysis result.

[0080] Specifically, when the vibration signal satisfies the second predetermined condition, the vibration signal speed calculation logic branch is enabled, and the speed value and speed difference at the current moment are calculated based on the multi-channel vibration signals.

[0081] Here, the rotation speed data of the moving device is determined based on the vibration signal, such as Figure 6 Combined with Figure 7 As shown, the following steps are included:

[0082] S601: Acquire a maximum frequency domain amplitude based on the vibration signal from a predetermined channel.

[0083] In this step, the maximum frequency domain amplitude is obtained based on the vibration signal. Specifically, taking the above-mentioned 5-cylinder electric-driven plunger pump 02 channel as an example, the length of each sample data is N seconds, the signal acquisition frequency is fs, the data per second is fast Fourier transformed, and the maximum value of the frequency domain amplitude is calculated to obtain the maximum frequency domain amplitude max_values.

[0084] S602: Acquire a corresponding calculated frequency value based on the maximum frequency domain amplitude.

[0085] After obtaining the maximum frequency domain amplitude based on the vibration signal in step S601, in this step, the calculated frequency value is obtained based on the maximum frequency domain amplitude. Specifically, in this step, the frequency domain data index value max_values_index corresponding to the maximum frequency domain amplitude max_values ​​is first obtained, and the frequency value corresponding to the frequency domain data index value is calculated, that is:

[0086] fre_1=max_values_index / dpi;

[0087] Among them, dpi is the frequency domain resolution, and fre_1 is the frequency value corresponding to the maximum frequency domain amplitude calculated in the first second.

[0088] Similarly, we can further obtain the frequency value corresponding to the maximum frequency domain amplitude at every 1 second within N seconds to form a frequency value list:

[0089] fre_list=[fre1,fre2,…fre N ];

[0090] Further, the median of the frequency values ​​in the frequency value list fre_list, ie, fre_list_median, is calculated based on the above frequency value list. To this end, the calculated frequency value here may be the frequency value corresponding to the maximum frequency domain amplitude at different times, the median of the frequency value, etc.

[0091] S603: Obtain the current rotation speed value and rotation speed difference based on the calculated frequency value.

[0092] After obtaining the corresponding calculated frequency value based on the maximum frequency domain amplitude in step S602, in this step, the speed value and speed difference at the current moment are obtained based on the calculated frequency value. Specifically, for example, the speed value of the predetermined component at the current moment can be calculated based on the median of the frequency value:

[0093]

[0094] Among them, fre_weight is the constant weight of the frequency value median fre_list_median and the input rotational frequency. If it is used to obtain the rotational speed of the reduction gearbox, it is the number of teeth of the small gear of the reduction gearbox in this embodiment, and it can be other parameters in other embodiments.

[0095] In addition, for example, the speed difference at the current moment can be calculated based on the frequency value corresponding to the maximum frequency domain amplitude at different moments:

[0096]

[0097] In this embodiment, the above steps can be used to calculate a speed value and a speed difference based on a non-empty vibration signal from any predetermined channel, and then the speed value and speed difference of the overall predetermined component can be calculated based on the speed values ​​and speed differences obtained from all channels. The calculation method used here includes but is not limited to obtaining the speed values ​​and speed differences of all channels by taking the average, median, mode, etc.

[0098] S402, when the key phase signal does not satisfy the first predetermined condition and the motion signal also includes a vibration signal, when the vibration signal does not satisfy the second predetermined condition, controlling the predetermined component to shut down.

[0099] Here, when the motion signal includes a vibration signal, but the vibration signal does not meet the second predetermined condition, the predetermined component is controlled to shut down, thereby ensuring the safe operation of the moving equipment.

[0100] In some implementations, after step S102, the method further includes:

[0101] S403: When the key phase signal does not satisfy the first predetermined condition and the motion signal does not include a vibration signal, control shutdown and / or determine sensor failure.

[0102] Specifically, here, when the motion signal does not include a vibration signal, the output calculation result is empty. In addition, a predetermined component can be controlled to shut down, and of course a key phase fault label can be set.

[0103] S103: When the motion signal does not include a key phase signal but at least includes a vibration signal, and when the vibration signal satisfies a second predetermined condition, determining the rotation speed data of the moving device based on the vibration signal.

[0104] When it is determined that the motion signal does not include a key phase signal, and the vibration signal judgment branch determines that the motion signal at least includes a key phase signal, it is necessary to make a specific judgment on whether the motion signal is abnormal. Here, whether the vibration signal is abnormal is determined by whether the second predetermined condition is met. That is, when the vibration signal meets the second predetermined condition, it indicates that the vibration signal is a normal signal rather than an abnormal signal. Specifically, by using a single-channel or multi-channel method to collect signals, the signal data is input into the key phase signal judgment branch, and the motion signal is continuously judged to include a vibration acceleration signal. If the vibration acceleration signal is not included, the logic is exited, and the output calculation result is empty; otherwise, the vibration signal is entered into the speed calculation logic branch.

[0105] Similar to the above steps S501 and S502, when the input motion signal does not include a key phase signal but includes a vibration signal, the data enters the vibration signal speed calculation logic branch. This branch first calculates and determines the vibration signal abnormality factor, and determines whether the input vibration signal is normal by setting a threshold value. If all the vibration signals are abnormal, the logic is exited, the output calculation result is empty, and the control device is shut down; if the vibration signal is normal, the speed data of the moving device is determined based on the vibration signal. Here, the judgment of the second predetermined condition and the method of determining the speed data based on the vibration signal are as described above.

[0106] In the embodiment of the present disclosure, regardless of whether the motion signal includes a key phase signal, the rotation speed data can be calculated and determined through the key phase signal or the vibration signal, thereby determining the operating stability of the moving device.

[0107] The disclosed embodiment adopts a dual supplementary calculation method of key phase signal and acceleration vibration signal, which can not only calculate the rotational speed data through either side, but also double-verify the calculation result. It can not only determine the rotational speed value at the current moment, but also output the rotational speed difference at the current moment, so as to judge whether the moving equipment is running stably. It can also intercept the vibration, pressure and other signals of other channels at the same time in the whole cycle, so as to facilitate fault analysis and fault location within a single cycle.

[0108] Based on the same inventive concept as the first embodiment above, the second embodiment of the present disclosure provides a device for determining rotation speed data of a moving device, comprising:

[0109] An acquisition module, used for acquiring a motion signal of a predetermined component in a moving device, wherein the motion signal at least includes a vibration signal and / or a key phase signal;

[0110] A first determination module, configured to determine the rotation speed data of the moving device based on the key phase signal when the motion signal at least includes a key phase signal and the key phase signal satisfies a first predetermined condition;

[0111] The second determination module is used to determine the rotation speed data of the moving device based on the vibration signal when the motion signal does not include the key phase signal but at least includes the vibration signal and when the vibration signal meets a second predetermined condition.

[0112] Furthermore, the first determining module includes:

[0113] A key phase signal abnormality factor determining unit, used to determine the key phase signal abnormality factor based on the key phase signal;

[0114] The first judgment unit is used to judge whether the key phase signal meets a first predetermined condition based on the key phase signal abnormality factor and a first preset threshold.

[0115] Furthermore, the first determining module includes:

[0116] A construction unit, used to construct an edge point array of a rising edge or a falling edge based on the key phase signal;

[0117] a signal data point number determination unit, configured to determine the signal data point number based on the edge point array;

[0118] The first determination unit is used to determine the current rotation speed value and rotation speed difference of the moving device based on the number of signal data points.

[0119] Furthermore, the second determining module includes:

[0120] A second determining unit is used to determine the rotation speed data of the moving device based on the vibration signal when the key phase signal does not satisfy the first predetermined condition and the motion signal also includes a vibration signal and when the vibration signal satisfies a second predetermined condition;

[0121] A shutdown control unit is used to control the predetermined component to shut down when the key phase signal does not meet the first predetermined condition and the motion signal also includes a vibration signal and when the vibration signal does not meet the second predetermined condition.

[0122] Furthermore, the shutdown control unit further comprises: controlling shutdown and / or determining sensor failure when the key phase signal does not satisfy the first predetermined condition and the motion signal does not include a vibration signal.

[0123] Furthermore, the second determining module further includes:

[0124] a vibration signal abnormality factor determining unit, configured to determine a vibration signal abnormality factor based on the vibration signal;

[0125] The second judgment unit is used to judge whether the vibration signal meets a second predetermined condition based on the vibration signal abnormality factor and a second preset threshold.

[0126] Furthermore, the second determination unit is used to: obtain a maximum frequency domain amplitude based on the vibration signal from a predetermined channel; obtain a corresponding calculated frequency value based on the maximum frequency domain amplitude; and obtain a speed value and a speed difference of the moving device at a current moment based on the calculated frequency value.

[0127] The disclosed embodiment adopts a dual supplementary calculation method of key phase signal and acceleration vibration signal, which can not only calculate the rotational speed data through either side, but also double-verify the calculation result. It can not only determine the rotational speed value at the current moment, but also output the rotational speed difference at the current moment, so as to judge whether the moving equipment is running stably. It can also intercept the vibration, pressure and other signals of other channels at the same time in the whole cycle, so as to facilitate fault analysis and fault location within a single cycle.

[0128] A third embodiment of the present disclosure provides a storage medium storing a computer program. When the computer program is executed by a processor, the steps of implementing the above method include:

[0129] S11, obtaining a motion signal of a predetermined component in a moving device, wherein the motion signal at least includes a vibration signal and / or a key phase signal;

[0130] S12, in the case where the motion signal includes at least a key phase signal, when the key phase signal satisfies a first predetermined condition, determining the rotation speed data of the moving device based on the key phase signal;

[0131] S13, when the motion signal does not include a key phase signal but at least includes a vibration signal, when the vibration signal satisfies a second predetermined condition, determining the rotation speed data of the moving device based on the vibration signal.

[0132] Of course, other steps of the control method can also be used to implement the above embodiment.

[0133] The disclosed embodiment adopts a dual supplementary calculation method of key phase signal and acceleration vibration signal, which can not only calculate the rotational speed data through either side, but also double-verify the calculation result. It can not only determine the rotational speed value at the current moment, but also output the rotational speed difference at the current moment, so as to judge whether the moving equipment is running stably. It can also intercept the vibration, pressure and other signals of other channels at the same time in the whole cycle, so as to facilitate fault analysis and fault location within a single cycle.

[0134] A fourth embodiment of the present disclosure provides an electronic device, the electronic device comprising at least a memory and a processor, the memory storing a computer program, and the processor implementing the steps of the above method when executing the computer program on the memory, specifically comprising:

[0135] S21, obtaining a motion signal of a predetermined component in a moving device, wherein the motion signal at least includes a vibration signal and / or a key phase signal;

[0136] S22, in the case where the motion signal includes at least a key phase signal, when the key phase signal satisfies a first predetermined condition, determining the rotation speed data of the moving device based on the key phase signal;

[0137] S23, when the motion signal does not include a key phase signal but at least includes a vibration signal, when the vibration signal satisfies a second predetermined condition, determining the rotation speed data of the moving device based on the vibration signal.

[0138] The disclosed embodiment adopts a dual supplementary calculation method of key phase signal and acceleration vibration signal, which can not only calculate the rotational speed data through either side, but also double-verify the calculation result. It can not only determine the rotational speed value at the current moment, but also output the rotational speed difference at the current moment, so as to judge whether the moving equipment is running stably. It can also intercept the vibration, pressure and other signals of other channels at the same time in the whole cycle, so as to facilitate fault analysis and fault location within a single cycle.

[0139] The technicians in the relevant field can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional units and modules is used as an example for illustration. In practical applications, the above-mentioned function allocation can be completed by different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiment can be integrated in a processing unit, or each unit can exist physically separately, or two or more units can be integrated in one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of this application. The specific working process of the units and modules in the above-mentioned system can refer to the corresponding process in the aforementioned method embodiment, which will not be repeated here.

[0140] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0141] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0142] In the embodiments provided in the present application, it should be understood that the disclosed devices / terminal equipment and methods can be implemented in other ways. For example, the device / terminal equipment embodiments described above are only schematic. For example, the division of the modules or units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0143] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0144] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0145] If the integrated module is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the present application implements all or part of the processes in the above-mentioned embodiment method, and can also be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium. When the computer program is executed by the processor, the steps of the above-mentioned motor torque control method embodiments can be implemented. Among them, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, U disk, mobile hard disk, disk, optical disk, computer memory, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), electric carrier signal, telecommunication signal and software distribution medium. It should be noted that the content contained in the computer-readable medium can be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, computer-readable media do not include electric carrier signals and telecommunication signals.

[0146] In addition, the features of the embodiments shown in the drawings of the present application or the various embodiments mentioned in this specification are not necessarily understood as independent embodiments. Instead, each feature described in one example of an embodiment can be combined with one or more other desired features from other embodiments to produce other embodiments not described in words or with reference to the drawings.

[0147] The embodiments described above are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, a person skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. Such modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application, and should all be included in the protection scope of the present application.

Claims

1. A method for determining the rotation speed data of a moving device, characterized in that: include: Acquire a motion signal of a predetermined component in a moving device, wherein the motion signal at least includes a vibration signal and / or a key phase signal; In the case where the motion signal at least includes a key phase signal, when the key phase signal satisfies a first predetermined condition, determining the rotation speed data of the moving device based on the key phase signal; In the case that the motion signal does not include a key phase signal but at least includes a vibration signal, when the vibration signal satisfies a second predetermined condition, the rotation speed data of the moving device is determined based on the vibration signal.

2. The determination method according to claim 1, characterized in that: In the case where the motion signal at least includes a key phase signal, when the key phase signal satisfies a first predetermined condition, in determining the rotation speed data of the moving device based on the key phase signal, the key phase signal satisfies the first predetermined condition by the following method: Determining a key phase signal abnormality factor based on the key phase signal; Based on the key phase signal abnormality factor and a first preset threshold, it is determined whether the key phase signal satisfies a first predetermined condition.

3. The determination method according to claim 1, characterized in that: In the case where the motion signal at least includes a key phase signal, when the key phase signal satisfies a first predetermined condition, determining the rotation speed data of the moving device based on the key phase signal, determining the rotation speed data of the moving device based on the key phase signal includes: Constructing an edge point array of a rising edge or a falling edge based on the key phase signal; Determining the number of signal data points based on the edge point array; The current rotation speed value and rotation speed difference of the moving device are determined based on the number of signal data points.

4. The determination method according to claim 1, characterized in that: In the case where the motion signal at least includes a key phase signal, when the key phase signal satisfies a first predetermined condition, after determining the rotation speed data of the moving device based on the key phase signal, the method further includes: In the case where the key phase signal does not satisfy the first predetermined condition and the motion signal further includes a vibration signal, when the vibration signal satisfies the second predetermined condition, determining the rotation speed data of the moving device based on the vibration signal; In the case that the key phase signal does not satisfy the first predetermined condition and the motion signal further includes a vibration signal, when the vibration signal does not satisfy the second predetermined condition, the predetermined component is controlled to stop.

5. The determination method according to claim 4, characterized in that: Also includes: When the key phase signal does not satisfy the first predetermined condition and the motion signal does not include a vibration signal, the machine is controlled to shut down and / or a sensor failure is determined.

6. The determination method according to claim 4, characterized in that: When the vibration signal satisfies the second predetermined condition, in determining the rotation speed data of the moving device based on the vibration signal, the vibration signal satisfies the second predetermined condition by: determining a vibration signal abnormality factor based on the vibration signal; Based on the vibration signal abnormality factor and a second preset threshold, it is determined whether the vibration signal satisfies a second predetermined condition.

7. The determination method according to claim 4, characterized in that: When the vibration signal satisfies the second predetermined condition, determining the rotation speed data of the moving device based on the vibration signal comprises: obtaining a maximum frequency domain amplitude based on the vibration signal from a predetermined channel; Acquire a corresponding calculated frequency value based on the maximum frequency domain amplitude; The current rotation speed value and the rotation speed difference of the moving device are obtained based on the calculated frequency value.

8. A device for determining rotation speed data of a moving device, characterized in that: include: An acquisition module, used for acquiring a motion signal of a predetermined component in a moving device, wherein the motion signal at least includes a vibration signal and / or a key phase signal; A first determination module, configured to determine the rotation speed data of the moving device based on the key phase signal when the motion signal at least includes a key phase signal and the key phase signal satisfies a first predetermined condition; The second determination module is used to determine the rotation speed data of the moving device based on the vibration signal when the motion signal does not include the key phase signal but at least includes the vibration signal and when the vibration signal meets a second predetermined condition.

9. A storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 7 are implemented.

10. An electronic device, comprising at least a memory and a processor, wherein a computer program is stored in the memory, wherein: The processor implements the steps of the method of any one of claims 1 to 7 when executing the computer program on the memory.

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