Initial phase determination method and device for planetary gear train vibration signal separation, equipment and medium

Abstract

The invention discloses an initial phase determination method and device for planetary gear train vibration signal separation, equipment and a medium, is applied to the technical field of planetary gear trains, and provides the method for determining a band-pass filtering range based on the rotation frequency of a planet carrier and the rotation frequency of a planet gear in order to solve the technical problem that existing initial phase determination is inaccurate. Filtering the original vibration signals collected by the sensor in at least one planet carrier cycle period based on the band-pass filtering range to obtain at least one group of filtered vibration signals; wherein the cycle period of the planet carrier is the time for a planet gear to rotate a circle along the inner gear ring from the position, closest to the sensor, on the inner gear ring; determining an initial phase of planet wheel vibration signal separation according to the at least one group of filtered vibration signals; in the using process, the accuracy of the initial phase of planet wheel vibration signal separation can be improved, and fault diagnosis can be more accurately carried out on planet wheel teeth.

Description

Technical Field

[0001] The present invention relates to the technical field of planetary gear trains, and in particular to a method, device, electronic device and computer-readable storage medium for determining an initial phase of a planetary gear train vibration signal separation. Background Art

[0002] A planetary gear train is a complex gearbox whose planetary gears both orbit and rotate. This results in complex modulation of the vibration signal relative to sensors fixed to the outer wall of the gearbox, making conventional gear fault diagnosis methods unsuitable for direct application to planetary gear fault diagnosis. Currently, vibration signal separation technology is commonly used to demodulate the original vibration signal and separate the planetary gear vibration signal for planetary gear fault diagnosis. Accurate initial phase is a key requirement for vibration signal separation technology to ensure the validity of the extracted signal.

[0003] In view of this, how to accurately obtain the initial phase of the planetary gear train vibration signal becomes a problem that needs to be solved by those skilled in the art. Summary of the Invention

[0004] The purpose of the embodiments of the present invention is to provide a method, device, electronic device and computer-readable storage medium for determining the initial phase of the separation of the planetary gear vibration signal, which improves the accuracy of the initial phase of the separation of the planetary gear vibration signal during use, and is conducive to more accurate fault diagnosis of the planetary gear teeth.

[0005] To solve the above technical problems, the embodiments of the present invention provide the following technical solutions:

[0006] In one aspect, the present invention provides a method for determining an initial phase of a planetary gear train vibration signal separation, comprising:

[0007] Determine the bandpass filter range based on the planet carrier rotation frequency and the planet gear rotation frequency;

[0008] Filtering the original vibration signal collected by the sensor in at least one planetary carrier cycle based on the bandpass filter range to obtain at least one set of filtered vibration signals; wherein the planetary carrier cycle is the time taken for a planetary gear to rotate one circle along the inner gear ring from the position closest to the sensor on the inner gear ring;

[0009] An initial phase for separating the planetary gear vibration signals is determined based on at least one set of filtered vibration signals.

[0010] In one embodiment, determining the bandpass filtering range based on the planet carrier rotation frequency and the planet gear rotation frequency includes:

[0011] Determine the planet carrier rotational frequency based on the transmission ratio of the planet carrier rotational frequency to the sun gear input shaft rotational frequency and the sun gear input shaft rotational frequency;

[0012] The planet carrier rotation frequency is used as the band-pass filter center frequency, and the band-pass filter range is determined in combination with the planet gear rotation frequency.

[0013] In one embodiment, determining the planet carrier rotational frequency based on the transmission ratio of the planet carrier rotational frequency to the sun gear input shaft rotational frequency and the sun gear input shaft rotational frequency includes:

[0014] The planet carrier rotational frequency is determined based on the transmission ratio of the planet carrier rotational frequency to the sun gear input shaft rotational frequency and the sun gear input shaft rotational frequency in combination with a first relationship; wherein the first relationship is:

[0015] f c =f in ×i c , f c is the planet carrier rotation frequency, f in is the sun gear input shaft rotation frequency, i c It is the transmission ratio of the planet carrier rotation frequency to the sun gear input shaft rotation frequency.

[0016] In one embodiment, the planet carrier rotation frequency is used as the bandpass filter center frequency, and the bandpass filter range is determined in combination with the planet gear rotation frequency, including:

[0017] The planet carrier rotation frequency is used as the bandpass filter center frequency f c , according to the preset coefficient a and the planetary gear rotation frequency f p , determine the bandpass filter range as [f c -a*f p , f c +a*f p ], where a∈(0,1).

[0018] In one embodiment, when the filtered vibration signals are a group, determining the initial phase of the planetary gear vibration signal separation according to at least one group of filtered vibration signals includes:

[0019] Obtaining a corresponding vibration energy signal according to the filtered vibration signal, and determining a data point corresponding to a maximum energy value from the vibration energy signal;

[0020] determining an initial phase according to a position of a data point corresponding to the maximum energy value in the vibration energy signal;

[0021] In the case where there are multiple groups of filtered vibration signals, determining the initial phase of separation of the planetary gear vibration signals according to at least one group of filtered vibration signals includes:

[0022] Performing time-domain synchronous averaging on the plurality of filtered vibration signals to obtain an averaged vibration signal;

[0023] Obtaining a corresponding vibration energy signal based on the averaged vibration signal, and determining a data point corresponding to a maximum energy value from the vibration energy signal;

[0024] The initial phase is determined according to the position of the data point corresponding to the maximum energy value in the vibration energy signal.

[0025] In one embodiment, obtaining a corresponding vibration energy signal according to the filtered vibration signal includes:

[0026] For each sampling point in the filtered vibration signal, square the data corresponding to the sampling point to obtain vibration energy data corresponding to the sampling point;

[0027] Obtaining a vibration energy signal based on the vibration energy data corresponding to each of the sampling points;

[0028] Alternatively, obtaining a corresponding vibration energy signal based on the averaged vibration signal, and determining a data point corresponding to a maximum energy value from the vibration energy signal, may include:

[0029] For each sampling point in the averaged vibration signal, squaring the data corresponding to the sampling point to obtain vibration energy data corresponding to the sampling point;

[0030] A vibration energy signal is obtained based on the vibration energy data corresponding to each of the sampling points.

[0031] In one embodiment, determining the initial phase according to the position of the data point corresponding to the maximum energy value in the vibration energy signal includes:

[0032] Numbering each data point from the first data point to the last data point of the vibration energy signal according to the length of the vibration energy signal, and obtaining the sequence number of the data point corresponding to the maximum energy value;

[0033] The initial phase is obtained based on the length of the vibration energy signal and the sequence number of the data point corresponding to the maximum energy value, combined with the initial phase determination formula; wherein the initial phase determination formula is:

[0034] ,in, Indicates the initial phase.

[0035] In one embodiment, it further includes:

[0036] For each planetary gear, number each gear tooth on the planetary gear in advance;

[0037] Determine the gear tooth on the inner gear ring closest to the sensor as gear tooth X;

[0038] From the first planetary carrier cycle to the Nth planetary carrier cycle, the number of the planetary gear tooth that meshes with the gear tooth X in each planetary carrier cycle is determined, and a mapping relationship between the planetary gear tooth number and the number of planetary carrier cycles is obtained; where N is the minimum number of planetary carrier cycles required for all gear teeth on the planetary gear to mesh once with the gear tooth on the inner gear ring closest to the sensor.

[0039] In one embodiment, it further includes:

[0040] For each planetary gear, in N planetary carrier cycles corresponding to the planetary gear, obtaining an original vibration signal collected by a sensor in each planetary carrier cycle;

[0041] Separating first target vibration data corresponding to the corresponding numbered tooth from the original vibration signal collected by the sensor in each planetary carrier cycle according to the initial phase, the first preset window width, and the mapping relationship between the planetary gear tooth number and the planetary carrier cycle number, and filling the first target vibration data into the element corresponding to the corresponding number in the row corresponding to the current planetary carrier cycle number in the separation and reconstruction initial matrix;

[0042] After the first target vibration data corresponding to N planetary carrier cycles are filled in, a first separation and reconstruction matrix corresponding to the planetary gear is obtained;

[0043] The first separation reconstruction matrix corresponding to the planetary gear is superimposed and reconstructed row by row to obtain a first vibration reconstruction signal corresponding to the planetary gear.

[0044] In one embodiment, it further includes:

[0045] Compensating the initial phase according to a preset compensation phase difference to obtain a compensated initial phase;

[0046] For each planetary gear, a mapping relationship between a planetary gear tooth number corresponding to the planetary gear and a planetary carrier cycle number is corrected according to the initial compensation phase to obtain a corrected mapping relationship between the planetary gear tooth number and the planetary carrier cycle number;

[0047] Separating second target vibration data corresponding to the corresponding numbered tooth from the original vibration signal collected by the sensor in each planetary carrier cycle according to the initial compensation phase, the first preset window width, and the corrected mapping relationship between the planetary gear tooth number and the planetary carrier cycle number, and filling the second target vibration data into the element corresponding to the corresponding number in the row corresponding to the current planetary carrier cycle number in the separation and reconstruction initial matrix;

[0048] After the second target vibration data corresponding to N planetary carrier cycles are filled in, a second separation and reconstruction matrix corresponding to the planetary gear is obtained;

[0049] The second separation reconstruction matrix corresponding to the planetary gear is superimposed and reconstructed row by row to obtain a second vibration reconstruction signal corresponding to the planetary gear.

[0050] In one embodiment, the preset compensation phase difference is determined based on the number of teeth of the inner ring gear and the number of teeth of the planetary gears, combined with a compensation phase difference determination formula; wherein the compensation phase difference determination formula is:

[0051] φb={[Nr-mod(Np, Nr)] / Nr}*2π, where φb represents the preset compensation phase difference, Nr represents the number of teeth on the inner ring gear, Np represents the number of teeth on the planetary gears, and mod(Np, Nr) represents the remainder of Nr over Np.

[0052] In one embodiment, the mapping relationship between the planetary gear tooth number corresponding to the planetary gear and the number of planetary carrier cycles is corrected according to the initial compensation phase to obtain a corrected mapping relationship between the planetary gear tooth number and the number of planetary carrier cycles, including:

[0053] In a case where the initial compensation phase is a phase difference compensation phase with a preset phase difference added to the initial phase, the planetary gear tooth numbers corresponding to the planetary gears are mapped to the number of planetary carrier cycles, while the position of the number of planetary carrier cycles remains unchanged, and the number of each planetary gear tooth is shifted by one unit in a direction of decreasing the number of planetary carrier cycles according to the current order;

[0054] When the initial compensation phase is a difference between the initial phase and a preset compensation phase difference, in the mapping relationship between the planetary gear tooth number corresponding to the planetary gear and the planetary carrier cycle number, the position of the planetary carrier cycle number is kept unchanged, and the planetary gear tooth numbers are moved as a whole by one unit in the direction of increasing the planetary carrier cycle number according to the current order.

[0055] In one embodiment, it further includes:

[0056] For each planetary gear, a target separated and reconstructed signal having a signal-to-noise ratio that meets a preset requirement is selected from the first separated and reconstructed signal and the second separated and reconstructed signal corresponding to the planetary gear;

[0057] Fault analysis is performed on the planetary gear based on the target separated and reconstructed signal.

[0058] In one embodiment, it further includes:

[0059] Determine the minimum number of planet carrier cycles of the sun gear based on the number of sun gear teeth and the number of inner ring gear teeth;

[0060] numbering each tooth of the sun gear;

[0061] Determine the gear tooth on the inner gear ring closest to the sensor as gear tooth X;

[0062] From the first planet carrier cycle of the sun gear to the Mth planet carrier cycle, determine the sun gear tooth numbers at which different planet gears mesh with the gear teeth X and the sun gear meshes with the planet gears in each planet carrier cycle, and obtain a mapping relationship between the sun gear tooth numbers and the number of planet carrier cycles; the number of sun gear tooth numbers determined in one planet carrier cycle is consistent with the number of planet gears; wherein M is the minimum number of planet carrier cycles of the sun gear;

[0063] Separating third target vibration data corresponding to the corresponding numbered teeth from the original vibration signal collected by the sensor in each planetary carrier cycle according to the initial phase, the second preset window width, and the mapping relationship between the sun gear tooth number and the planetary carrier cycle number, and filling the third target vibration data into the elements corresponding to the corresponding numbers in the row corresponding to the current planetary carrier cycle number in the separation and reconstruction initial matrix;

[0064] After completing filling in the third target vibration data corresponding to M planetary carrier cycles, a third separation and reconstruction matrix corresponding to the sun gear is obtained;

[0065] The third separation reconstruction matrix corresponding to the sun gear is superimposed and reconstructed according to rows to obtain a third vibration reconstruction signal corresponding to the sun gear.

[0066] Another aspect of the present invention provides an initial phase determination device for separating vibration signals of a planetary gear train, comprising:

[0067] A first determination module is used to determine a bandpass filtering range based on the planet carrier rotation frequency and the planet gear rotation frequency;

[0068] a filtering module, configured to filter, based on the bandpass filtering range, an original vibration signal collected by the sensor during at least one planetary carrier cycle to obtain at least one set of filtered vibration signals; wherein the planetary carrier cycle is the time taken for a planetary gear to rotate one circle along the inner gear ring from a position on the inner gear ring closest to the sensor;

[0069] The second determining module is configured to determine an initial phase for separating the planetary gear vibration signals based on at least one set of filtered vibration signals.

[0070] Another aspect of the present invention provides an electronic device, comprising:

[0071] memory for storing computer programs;

[0072] A processor is used to implement the steps of the initial phase determination method for separating the vibration signal of the planetary gear train as described above when executing the computer program.

[0073] On the other hand, the present invention provides a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the steps of the method for determining the initial phase of the planetary gear train vibration signal separation are implemented.

[0074] It can be seen from the above technical solutions that the embodiments of the present invention have the following advantages:

[0075] In an embodiment of the present invention, a method for determining the initial phase of the separation of the vibration signal of a planetary gear system is provided. The method pre-determines the bandpass filtering range based on the rotation frequency of the planetary frame and the rotation frequency of the planetary gear. Since the vibration data affected by the rotation frequency of the planetary frame can more accurately reflect the initial phase, the original vibration signal collected by the sensor in at least one planetary frame cycle is further filtered according to the bandpass filtering range to obtain at least one group of filtered vibration signals, so that the vibration data that is more affected by the planetary frame is retained in the filtered vibration signal, so that the initial phase of the separation of the planetary gear vibration signal can be more accurately determined based on at least one group of filtered vibration signals. The method provided in the present application can improve the accuracy of the initial phase of the separation of the planetary gear vibration signal during use, which is conducive to more accurate fault diagnosis of planetary gear teeth.

[0076] The initial phase provided in the embodiments of the present invention allows for more accurate separation and reconstruction of the planetary gear vibration signal, as well as more accurate separation and reconstruction of the sun gear vibration signal, thereby improving the accuracy of signal separation and reconstruction. Furthermore, by compensating for the initial phase and using the compensated initial phase for vibration signal separation and reconstruction, the embodiments of the present invention improve signal utilization efficiency and the signal-to-noise ratio of the separation results, further facilitating accurate planetary gear tooth fault diagnosis.

[0077] In addition, the present invention also provides corresponding implementation devices, electronic devices and computer-readable storage media for the initial phase determination method of separating the vibration signal of the planetary gear system, further making the method more practical, and the devices, electronic devices and computer-readable storage media have corresponding advantages. BRIEF DESCRIPTION OF THE DRAWINGS

[0078] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the prior art and the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0079] Figure 1 This is a schematic diagram of an existing planetary gear system structure;

[0080] Figure 2 A schematic flow chart of a method for determining an initial phase of a planetary gear train vibration signal separation according to an embodiment of the present invention;

[0081] Figure 3 A schematic flow chart of another initial phase determination method provided by an embodiment of the present invention;

[0082] Figure 4 A mapping index table of planetary gear tooth numbers and planet carrier cycle numbers provided in an embodiment of the present invention;

[0083] Figure 5 A graph showing the corresponding relationship between gear teeth and vibration data provided by an embodiment of the present invention;

[0084] Figure 6 A schematic flow chart of a method for separating and reconstructing vibration signals of a planetary gear train provided by an embodiment of the present invention;

[0085] Figure 7 A schematic diagram of a speed mapping provided by an embodiment of the present invention;

[0086] Figure 8 A schematic diagram of a separation and reconstruction initial matrix provided by an embodiment of the present invention;

[0087] Figure 9 A schematic diagram of a vibration signal data separation process provided by an embodiment of the present invention;

[0088] Figure 10 A schematic diagram of vibration signal data separation and reconstruction provided by an embodiment of the present invention;

[0089] Figure 11 Another schematic diagram of vibration signal data separation and reconstruction provided by an embodiment of the present invention;

[0090] Figure 12 A schematic structural diagram of an initial phase determination device for separating vibration signals of a planetary gear train provided by an embodiment of the present invention;

[0091] Figure 13 A schematic structural diagram of an electronic device provided by an embodiment of the present invention;

[0092] Figure 14 A schematic structural diagram of a computer-readable storage medium provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0093] Embodiments of the present invention provide a method, device, electronic device, and computer-readable storage medium for determining the initial phase of a planetary gear system vibration signal separation, which improves the accuracy of the initial phase of the planetary gear vibration signal separation during use, and facilitates more accurate fault diagnosis of planetary gear teeth.

[0094] To make the objectives, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts shall fall within the scope of protection of the present invention.

[0095] like Figure 1 As shown in the figure, a planetary gearbox (i.e., a planetary gear train) typically includes an internal ring gear, multiple planetary gears (commonly 3-5), a sun gear, a planetary carrier, and other gears, as well as other components such as shafts and bearings. The planetary gears mesh with both the sun gear and the internal ring gear. Driven by the sun gear, the planetary gears mesh with the fixed internal ring gear, rotating and revolving simultaneously. This revolution modulates the meshing position that generates vibration information and the sensor (fixed to the housing). The sun gear is fixed, serving as the input high-speed gear, and meshes with all the planetary gears simultaneously. All the planetary gears are connected to the same planetary carrier via a rotating shaft. The revolution of the planetary gears drives the planetary carrier to rotate, which is connected to the output shaft as a low-speed output. The internal ring gear is usually fixed and does not rotate, and its distance from the sensor is fixed.

[0096] A planetary gear train is a gearbox with a complex structure, in which the planetary gears both revolve and rotate. The vibration signal of the planetary gear train is modulated in a complex manner relative to the sensor fixed on the outer wall of the gearbox. This makes conventional gear fault diagnosis methods unsuitable for direct application to planetary gear fault diagnosis.

[0097] To diagnose planetary gear faults, researchers used different methods to demodulate the original vibration signal. One method used "vibration signal separation technology" to isolate the planetary gear's vibration signal and perform planetary gear fault diagnosis based on this vibration signal. Vibration signal separation technology is a signal processing technique proposed to address the vibration signal modulation problem of planetary gear train components. Its principle is to extract a vibration signal from the collected time domain signal when the planetary gear is closest to the sensor. The multiple extracted vibration signals are then reconstructed into a complete planetary gear vibration signal based on the planetary gear's operating characteristics, and this signal is used for gear fault diagnosis.

[0098] However, in practical engineering applications, the application of vibration signal separation technology has certain prerequisites. Accurate initial phase is a crucial requirement for ensuring the effectiveness of signal extraction. Given the fixed ring gear's annular shape, the meshing position of the planetary gears on the ring gear can be described by radians between 0 and 2π. This radian value describing the position of the planetary gears on the ring gear is typically referred to as the "phase." The vibration signal that vibration signal separation technology focuses on and extracts is the location where the sensor receives the strongest impact information (generally, the meshing position of the planetary gear and the gear closest to the sensor). The phase at this location is referred to as the "initial phase" for signal separation. Once the initial phase is determined, all separation positions are individually determined based on this initial phase, which directly impacts the effectiveness of signal separation. Currently, initial phases are typically determined based on vibration data from a single planetary carrier cycle. However, due to external interference and occasional signal fluctuations, this approach can result in significant discrepancies between the calculated initial phase and the true phase, impacting subsequent separation and the accuracy of fault diagnosis.

[0099] In view of this, the present application provides a method for improving the accuracy of initial phase determination, please refer to Figure 2 , Figure 2 A schematic flow chart of a method for determining the initial phase of a planetary gear train vibration signal separation according to an embodiment of the present invention. The method includes:

[0100] S110: Determine a bandpass filter range based on the planet carrier rotation frequency and the planet gear rotation frequency;

[0101] It should be noted that the present application takes into account that the original vibration signal collected by the sensor during the planetary frame cycle may be subject to external interference, especially in the case of strong environmental noise interference and severe noise pollution. This may result in an inaccurate initial phase obtained by directly separating the planetary gear vibration signal based on the original vibration signal. Therefore, the original signal collected by the sensor during the planetary frame cycle can be filtered. In order to achieve a better filtering effect, the present application also takes into account that the vibration data affected by the planetary frame rotation frequency can more accurately reflect the initial phase. Therefore, the present application can pre-determine the bandpass filter range based on the planetary frame rotation frequency and the planetary gear rotation frequency.

[0102] S120: Filtering the original vibration signal collected by the sensor during at least one planetary carrier cycle based on a bandpass filter range to obtain at least one set of filtered vibration signals; wherein the planetary carrier cycle is the time it takes for a planetary gear to rotate one revolution along the inner gear ring from a position on the inner gear ring closest to the sensor;

[0103] Specifically, for a planetary gear train, the planetary carrier cycle period can be determined first, and then during the planetary carrier cycle process, the original vibration signal collected by the sensor in at least one planetary carrier cycle period can be obtained. That is, one planetary carrier cycle period corresponds to a group of original vibration signals, thereby obtaining at least one original vibration signal corresponding to each planetary carrier cycle period, and then using a bandpass filter range to filter these at least one group of original vibration signals to obtain at least one group of filtered vibration signals.

[0104] It can be understood that since the parameters of each planetary gear in the planetary gear system are consistent, for any planetary gear, during the operation of the planetary gear, the time when the planetary gear runs to the position closest to the sensor on the planetary carrier can be used as the starting moment, and the time from this moment to the next time the planetary gear runs to this position can be recorded. This time is the planetary carrier cycle.

[0105] In practical applications, different planetary gears can be used as references to obtain the original vibration signals collected by the sensor in at least one planetary frame cycle based on the planetary gear, and then at least one group of original vibration signals can be filtered using a bandpass filter range to obtain corresponding filtered vibration signals, so that the filtered vibration signals carry useful signals that are highly correlated with the planetary frame rotation frequency.

[0106] S130: Determine an initial phase for separating the planetary gear vibration signals according to at least one set of filtered vibration signals.

[0107] Specifically, after obtaining at least one group of filtered vibration signals, the planetary gear vibration signals can be further separated according to at least one group of filtered vibration signals to obtain the corresponding initial phase. Since the vibration signals after filtering the original vibration signals according to the bandpass filtering range determined by the planetary carrier rotation frequency and the planetary gear rotation frequency are separated to obtain the corresponding initial phase in this application, the accuracy of the initial phase determination can be improved.

[0108] It can be seen that the method pre-determines the bandpass filter range based on the planetary carrier rotation frequency and the planetary wheel rotation frequency. Since the vibration data affected by the planetary carrier rotation frequency can more accurately reflect the initial phase, the original vibration signal collected by the sensor in at least one planetary carrier cycle is further filtered according to the bandpass filter range to obtain at least one group of filtered vibration signals, so that the filtered vibration signal retains the vibration data that is more affected by the planetary carrier, so that the initial phase of the planetary wheel vibration signal separation can be more accurately determined based on at least one group of filtered vibration signals. The method provided by the present application can improve the accuracy of the initial phase of the planetary wheel vibration signal separation during use, which is conducive to more accurate fault diagnosis of planetary gear teeth.

[0109] The following is a detailed introduction on how to calculate the initial phase more accurately. Please refer to Figure 3 The initial phase calculation flow chart is shown.

[0110] In one embodiment, the process of determining the bandpass filtering range based on the planet carrier rotation frequency and the planet gear rotation frequency in S110 may specifically include:

[0111] Determine the planet carrier rotational frequency based on the transmission ratio of the planet carrier rotational frequency to the sun gear input shaft rotational frequency and the sun gear input shaft rotational frequency;

[0112] The planet carrier rotation frequency is used as the center frequency of the bandpass filter, and combined with the planet gear rotation frequency, the bandpass filter range is determined.

[0113] It should be noted that in order to successfully obtain the planet carrier modulation component in the vibration signal through narrowband filtering, the embodiment of the present invention can pre-acquire the planet carrier rotation frequency (i.e., the rotation frequency of the planet carrier) to calculate the narrowband filtering range. However, the interior of the planetary gear train is a relatively closed environment, and the planet carrier rotation frequency is not a parameter that can be directly measured. The input speed of the transmission system is usually known information. Therefore, the planet carrier rotation frequency can be calculated by the transmission ratio of the planet carrier rotation frequency to the input shaft rotation frequency and the input shaft rotation frequency. For example, the planet carrier rotation frequency can be determined by the first relationship, which is: f c =f in ×i c , where f cis the planet carrier rotation frequency, f in is the input shaft rotation frequency, i c It is the transmission ratio of the planet carrier rotation frequency to the input shaft rotation frequency.

[0114] In order to avoid the planetary gear rotation frequency component from being mixed into the filtered planetary frame rotation modulation component, the present application can determine the narrowband filter center frequency as the planetary frame rotation frequency, which can be calculated based on the preset coefficient a and the planetary gear rotation frequency f. p , get the bandpass filter range [f c -a*f p , f c +a*f p ]), where the bandwidth can be equal to the rotation frequency of the planetary gear, so a=0.5, that is, the bandpass filter range in this application can be [f c -0.5f p , f c +0.5f p ], where f p is the theoretical planetary gear rotation frequency. In addition, in practical applications, bandpass filtering does not only retain the first-order rotation frequency component, but can retain multiple-order rotation frequency components depending on the situation.

[0115] In the present application, after obtaining the rotation frequency of the planetary carrier, the bandpass filter range can be determined, and the obtained original vibration signal can be filtered to obtain the corresponding planetary carrier rotation modulation component.

[0116] In one embodiment, when the filtered vibration signals are in a group, the process of determining the initial phase of the planetary gear vibration signal separation based on at least one group of filtered vibration signals may include:

[0117] Obtain a corresponding vibration energy signal according to the filtered vibration signal, and determine a data point corresponding to a maximum energy value from the vibration energy signal;

[0118] The initial phase is determined according to the position of the data point corresponding to the maximum energy in the vibration energy signal.

[0119] In other words, when the collected original vibration signals are a group, the present application obtains a group of filtered vibration signals after filtering the original vibration signals through a bandpass filter range. The part with the highest energy intensity of the vibration signal in the planetary gear system is also the part with the highest fault signal intensity. Therefore, this position corresponds to the phase with the best separation effect in the planetary carrier cycle, which is called the initial phase. Therefore, in the present application, after obtaining a group of filtered vibration signals, the corresponding vibration energy signal can be obtained according to the filtered vibration signal. Specifically, the data of each sampling point in the vibration signal can be squared to obtain the corresponding vibration energy signal, and then the data point corresponding to the maximum energy value can be determined from the vibration energy signal. According to the position of the data point corresponding to the maximum energy value in the vibration energy signal, for example, each data point in the vibration energy signal can be numbered to obtain the serial number or index of each data point, so that the serial number corresponding to the maximum energy value point (that is, the data point corresponding to the maximum energy value) can be determined. Then, the corresponding initial phase can be obtained by combining the overall length of the vibration energy signal (that is, the length of the planetary carrier cycle vibration signal). For example, the corresponding initial phase can be calculated by the following initial phase determination relationship, wherein the initial phase determination relationship is:

[0120] ,in, The initial phase.

[0121] In one embodiment, when there are multiple groups of filtered vibration signals, the process of determining the initial phase of the planetary gear vibration signal separation based on at least one group of filtered vibration signals may include:

[0122] Performing time-domain synchronous averaging on the multiple filtered vibration signals to obtain an averaged vibration signal;

[0123] Obtain a corresponding vibration energy signal based on the averaged vibration signal, and determine a data point corresponding to a maximum energy value from the vibration energy signal;

[0124] The initial phase is determined according to the position of the data point corresponding to the maximum energy in the vibration energy signal.

[0125] It should be noted that in order to improve the accuracy of initial phase determination, for different planetary gears, the original vibration signals collected by the sensor during multiple planetary carrier cycles with the planetary gear as the reference can be obtained. Then, the multiple groups of original vibration signals are filtered using a bandpass filter range to obtain multiple groups of filtered vibration signals. Each group of filtered vibration signals is then synchronously averaged in the time domain to obtain a group of averaged vibration signals. The data corresponding to each sampling point in the averaged vibration signal is squared to obtain the corresponding vibration energy signal. The data point corresponding to the maximum energy value is then determined from the vibration energy signal. Based on the position of the data point corresponding to the maximum energy value in the vibration energy signal, for example, each data point in the vibration energy signal can be numbered to obtain a sequence number or index for each data point, thereby determining the sequence number corresponding to the maximum energy value point (i.e., the data point corresponding to the maximum energy value). The corresponding initial phase can then be obtained by combining the overall length of the vibration energy signal (i.e., the length of the planetary carrier cycle vibration signal). Specifically, the corresponding initial phase can be calculated using the above-mentioned initial phase determination relationship, thereby making the calculated initial phase more accurate. It should be noted that after obtaining the initial phase, the original vibration signal collected by the sensor during each planetary carrier cycle can be further extracted and reconstructed into a reconstructed signal based on the initial phase, so that planetary gear fault diagnosis can be performed based on the reconstructed signal. The following is a detailed introduction to how to extract the separation and reconstruction matrix and construct the reconstructed signal:

[0126] It is understandable that in the embodiment of the present invention, the minimum number of planetary carrier cycles of the planetary gear system can be determined first, that is, the chasing gear ratio can be determined. Specifically, the sun gear, planetary gears and inner ring gear in the planetary gear system have the same meshing frequency during operation, that is, when one tooth of the sun gear is engaged, one tooth of the planet gear and the inner ring gear are also engaged. Based on this relationship, the number of teeth of the three can be used to calculate how many planetary carrier cycles the planetary gear must go through before all its teeth are engaged once with the teeth on the inner ring gear closest to the sensor. The same is true for the sun gear. This relationship is the minimum number of planetary carrier cycles for the planetary gears in the planetary gear system to return to their initial state, which is called the "chasing gear ratio". The planetary gear chasing gear ratio is defined as P_ HTR (Planet Gear Hunting Tooth Ratio), the sun gear hunting gear ratio is S _HTR (Sun Gear Hunting ToothRatio).

[0127] Define Nr as the number of teeth on the inner ring gear, Np as the number of teeth on the planet gear, LCM as the lowest common multiple, and the planet gear chasing gear ratio (P _HTR ) is calculated as follows:

[0128] P_ HTR=LCM(N r , N p ) / N r ; Among them, LCM (N r , N p ) indicates the calculation of N r and N p The least common multiple of .

[0129] Ns is the number of sun gear teeth, and the chasing gear ratio of the sun gear (S _HTR ) is calculated as follows:

[0130] S _HTR =LCM(N r , N s ) / N r , where LCM (N r , N s ) indicates the calculation of N r and N s The least common multiple of .

[0131] In one embodiment, the method may further include:

[0132] For each planetary gear, number each gear tooth on the planetary gear in advance;

[0133] Determine the gear tooth on the inner gear ring that is closest to the sensor as gear tooth X;

[0134] From the first planetary carrier cycle to the Nth planetary carrier cycle, the number of the planetary gear tooth that meshes with gear tooth X in each planetary carrier cycle is determined, and the mapping relationship between the planetary gear tooth number and the number of planetary carrier cycles is obtained; where N is the minimum number of planetary carrier cycles required for all planetary gear teeth to mesh once with the gear tooth on the inner ring gear closest to the sensor.

[0135] It should be noted that, in the embodiment of the present invention, for each planetary gear in the planetary gear system, each gear tooth in the planetary gear can be numbered in advance. For example, when the No. 1 gear tooth of the planetary gear meshes with the gear tooth X on the inner gear ring that is closest to the sensor, a signal is generated, such as Figure 5The vibration signal corresponding to the meshing process of a single tooth in the planetary gear is broken. After the planetary gear rotates one revolution, it meshes with tooth X on the inner ring gear again. At this time, the planetary gear tooth meshing with tooth X on the inner ring gear is no longer tooth 1, but another tooth (for example, tooth 3). When the planetary gear returns to this position after the planetary carrier cycles for the Nth time, tooth 1 on the planetary gear will mesh with tooth X on the inner ring gear again, and in the next revolution, tooth 3 will mesh with tooth X again. This relationship is the cyclic relationship of gear meshing. N is the number of planetary carrier rotations, which is also the minimum number of planetary carrier cycles mentioned above. This minimum number of planetary carrier cycles is defined as the "chasing gear ratio" of the planetary gear. For a certain planetary gear, after each planetary carrier cycle, a gear tooth on the planetary gear will mesh with gear tooth X on the inner ring gear. The gear tooth number and the number of planetary carrier cycles experienced are recorded, thereby obtaining the planetary carrier cycle number corresponding to each gear tooth number, that is, obtaining a mapping index table of planetary gear tooth numbers and planetary carrier cycle numbers.

[0136] For example, if the first planetary gear tooth meshes with the tooth X on the inner ring gear that is closest to the sensor, the next planetary gear tooth that meshes with the inner ring gear tooth X is numbered: 96 ÷ 34 = 2…28, and 28 + 1 = tooth 29.

[0137] The mapping index table can be obtained by sequential calculation (such as Figure 4 As shown in FIG, it is found that every 17 planetary carrier cycles complete a large cycle, so the minimum number of planetary carrier cycles N can be obtained as 17. The constructed mapping relationship table can be used to determine where the extracted data should be placed in the reconstruction matrix each time, which facilitates the construction of the separation reconstruction matrix.

[0138] Furthermore, as the planetary gear train rotates, data segments minimally affected by modulation effects can be sequentially extracted within each planetary carrier cycle. Since the alignment of the sun and planetary gear teeth with the sensor continuously changes during each planetary carrier cycle, vibration signals from all planetary and sun gear teeth can be acquired after several planetary carrier cycles. Clearly, since the planetary gear train operates continuously, the number of planetary and sun gear teeth aligned with the sensor changes periodically within each planetary carrier cycle. Therefore, after determining the minimum number of planetary carrier cycles (i.e., the chasing gear ratio), the window width for data extraction can also be determined using the chasing gear ratio. If the chasing gear ratio determines that N planetary carrier cycles are sufficient to extract a complete set of planetary / sun gear vibration data, the first minimum window width is: Np / N × the number of sampling points corresponding to a single tooth.

[0139] Among them, a section of data with the least influence of modulation effect can be extracted in each planet carrier cycle, such as Figure 5 The number of points in the data segment marked in is the first minimum window width.

[0140] According to the chasing gear ratio, the number of planetary carrier cycles required to extract the vibration data of one planetary gear / sun gear rotation period can be determined respectively. This number of cycles is used to construct a data separation and reconstruction matrix. The number of cycles is the number of rows of the matrix. Each row of the matrix corresponds to the vibration data of one planetary gear / sun gear rotation period, and each column element in the row represents the target data extracted from the corresponding planetary carrier cycle within the period.

[0141] In one embodiment, the method may further include:

[0142] For each planetary gear, in N planetary carrier cycles corresponding to the planetary gear, obtain the original vibration signal collected by the sensor in each planetary carrier cycle;

[0143] Separating first target vibration data corresponding to the corresponding numbered tooth from the original vibration signal collected by the sensor in each planetary carrier cycle according to the initial phase, the first preset window width, and the mapping relationship between the planetary gear tooth number and the planetary carrier cycle number, and filling the first target vibration data into the element corresponding to the corresponding number in the row corresponding to the current planetary carrier cycle number in the separation and reconstruction initial matrix;

[0144] After the first target vibration data corresponding to N planetary carrier cycles are filled in, a first separation and reconstruction matrix corresponding to the planetary gear is obtained;

[0145] The first separation reconstruction matrix corresponding to the planetary gear is superimposed and reconstructed according to rows to obtain a first vibration reconstruction signal corresponding to the planetary gear.

[0146] Please note that, please refer to Figure 6 In practical applications, each planetary gear can be used as a reference. During the operation of the planetary gear system, for each of the N planetary gear carrier cycles that the planetary gear passes through, the original vibration signal collected by the corresponding sensor is obtained for each planetary gear carrier cycle.

[0147] In actual applications, the original vibration signal and the speed pulse are collected synchronously. The speed mapping can be completed by dividing the original vibration signal into multiple small segments according to the speed pulse (please refer to Figure 7). For example, the planetary carrier output shaft has 60 speed pulses per rotation, and each 60 small segments are combined into a segment of planetary carrier cycle data. In addition, in the embodiment of the present invention, considering that the number of points of the original vibration data collected in each planetary carrier cycle may be different, the vibration data of all segmented planetary carrier cycles can be interpolated and re-collected using a number closest to any common multiple of the number of teeth of the inner ring gear, and the length of the vibration data corresponding to each planetary carrier cycle is unified, thereby realizing the preprocessing of all collected original vibration signals, which can effectively avoid the interference of speed fluctuations on the segment length of the vibration data, and the preprocessed original vibration signal is divided into multiple units of the same length, and each unit stores vibration data of a planetary carrier cycle length.

[0148] It should be noted that after the mapping index table of the planetary gear tooth numbers and the planetary carrier cycle period numbers is constructed, the separation and reconstruction initial matrix can be further constructed according to the mapping index table of the planetary gear tooth numbers and the planetary carrier cycle period numbers. Figure 8 The separated reconstruction initial matrix (an empty separated reconstruction matrix) shown here shows that the planetary gear has 34 teeth. Therefore, a row of data can be divided into 34 small grids, each containing the number of points required for a tooth to mesh. A small segment of data is extracted from the preprocessed raw vibration data corresponding to each planetary gear cycle. This segment of data corresponds to a planetary gear tooth number. Based on this number, the segment of data is assigned to the corresponding tooth number in a row. Each row is filled with only the corresponding segment of data, leaving the other positions empty. Assuming that one large cycle occurs every 17 planetary gear cycles, the minimum number of rows in the separated reconstruction initial matrix is 17. This means that the separated reconstruction initial matrix contains 17 rows. The individual segments of data in these 17 rows, taken as a whole, can produce the vibration signal for one planetary gear rotation. If raw data for 170 planetary gear cycles is available, data for 10 planetary gear rotations can be extracted.

[0149] Specifically, the first preset window width in the embodiment of the present invention may be greater than or equal to the first minimum window width. In the process of separating the preprocessed vibration signal, the original vibration data collected by the sensor in the planetary carrier cycle corresponding to each planetary gear tooth number may be used to separate the corresponding first target vibration data from the preprocessed original vibration data using the initial phase and the first preset window width. The method for determining the extracted first target vibration data is as follows: Figure 9 As shown, the first target vibration data is filled into the position corresponding to the corresponding gear tooth number and the number of planet carrier cycles in the constructed separation and reconstruction initial matrix. When the first target vibration data corresponding to N planet carrier cycles are filled in, a complete first separation and reconstruction matrix corresponding to the current planet gear is obtained, as shown in FIG. Figure 10As shown, after obtaining the first separation reconstruction matrix corresponding to the current planetary gear, each row in the first separation reconstruction matrix can be superimposed and reconstructed row by row to obtain a first vibration reconstruction signal corresponding to the planetary gear.

[0150] During data reconstruction, Figure 11 As shown in Figure 10, a dark section of data is a block. According to the mapping index table, we can know which gear meshing data is contained in this block. The number marked above each data section in Figure 10 is the gear tooth number of the planetary gear.

[0151] Calculate the row sum of the separation and reconstruction matrix to obtain a column of reconstructed signals, and then correct the amplitude of the reconstructed signal. The method of correcting the amplitude is to divide the number of overlaps by the number of reconstructed signal points. The number of overlaps is calculated as the first preset window width / first minimum window width, where the first preset window width is an integer multiple of the first minimum window width and the first preset window width is in points. The first preset window width is the number of overlaps calculated when accumulating. In Figure 11, there are 5 overlaps, so divide by 5. Figure 11 and Figure 10 The difference is that Figure 10 adjusts the order of the gear tooth data so that the reconstructed data is sorted starting from 1, while Figure 11 does not adjust the order. However, the analysis is not affected by the end-to-end connection of multiple reconstructed signals. The specific ordering can be determined according to actual needs and is not limited in this embodiment.

[0152] That is, a vibration reconstruction signal of a planetary wheel can be obtained by the above method, and a continuous reconstructed signal can be obtained by connecting the multiple-ring vibration reconstruction signals of the planetary wheel end to end. At this point, the reconstruction of the vibration signal of a planetary wheel is completed, and the planetary gear teeth can be subsequently analyzed for faults based on the vibration reconstruction signal of the planetary wheel.

[0153] In one embodiment, the method may further include:

[0154] Compensating the initial phase according to a preset compensation phase difference to obtain a compensated initial phase;

[0155] For each planetary gear, the mapping relationship between the planetary gear tooth number and the planetary carrier cycle number corresponding to the planetary gear is corrected according to the initial compensation phase, so as to obtain a corrected mapping relationship between the planetary gear tooth number and the planetary carrier cycle number;

[0156] Separating second target vibration data corresponding to the corresponding numbered tooth from the original vibration signal collected by the sensor in each planetary carrier cycle according to the mapping relationship between the initial compensation phase, the first preset window width, and the corrected planetary gear tooth number and the planetary carrier cycle number, and filling the second target vibration data into the element corresponding to the corresponding number in the row corresponding to the current planetary carrier cycle number in the separation and reconstruction initial matrix;

[0157] After the second target vibration data corresponding to N planetary carrier cycles are filled in, a second separation and reconstruction matrix corresponding to the planetary gear is obtained;

[0158] The second separation reconstruction matrix corresponding to the planetary gear is superimposed and reconstructed row by row to obtain a second vibration reconstruction signal corresponding to the planetary gear.

[0159] It should be noted that the initial phase has a great influence on the final separation result. The initial phase position calculated based on the vibration energy is the position with the largest vibration intensity, but this position cannot be guaranteed to be the position with the highest signal-to-noise ratio, and the existing separation method has low utilization efficiency of the original signal. In order to improve the signal utilization efficiency and improve the signal-to-noise ratio of the separation result, the embodiment of the present invention proposes to compensate the obtained initial phase by presetting the supplementary phase difference, and use the compensated initial phase to obtain an additional separation reconstruction matrix and reconstruct it into a reconstructed signal, thereby increasing the amount of information obtained from the original signal.

[0160] Specifically, in this embodiment of the present invention, a preset compensation phase difference φb can be determined based on the number of teeth in the ring gear (Nr) and the number of teeth in the planet gear (Np). Here, φb = {[Nr - mod(Nr, Np)] / Nr} * 2π, where mod(Nr, Np) represents the modulus of Nr over Np. The initial phase is compensated based on this preset compensation phase difference φb to obtain a compensated initial phase. Specifically, multiple compensated initial phases can be obtained, such as a compensated initial phase of φ+φb and a compensated initial phase of φ-φb. (In practical applications, phase compensation is not limited to these two or two times; it can be increased or decreased as appropriate, preferably to avoid overlap with the separation signal range of other planet gears.)

[0161] For each planetary gear, the mapping relationship between the planetary gear tooth number and the planetary carrier cycle number corresponding to the planetary gear can be corrected according to a compensation initial phase to obtain a corrected mapping relationship between the planetary gear tooth number and the planetary carrier cycle number.

[0162] Specifically, when the initial phase compensation is to add a preset compensation phase difference on the basis of the initial phase, in the mapping relationship between the planetary gear tooth numbers corresponding to the planetary gears and the planetary carrier cycle number, the position of the planetary carrier cycle number is kept unchanged, and the planetary gear tooth numbers are overall moved one unit in the direction of decreasing the planetary carrier cycle number according to the current order;

[0163] When the initial compensation phase is a difference in phase difference between the initial phase and the initial phase, the position of the planetary carrier cycle number is kept unchanged in the mapping relationship between the planetary gear tooth number corresponding to the planetary gear and the planetary carrier cycle number, and the planetary gear tooth numbers are moved one unit in the direction of increasing the planetary carrier cycle number according to the current order.

[0164] For example, in the mapping relationship, the compensated initial phase increases by φb compared to the original initial phase, such as Figure 4 As shown, all index numbers ( Figure 4 The second row in the figure) is pushed one position to the left according to the chasing tooth relationship. For example, if tooth number 1 originally corresponds to planetary carrier cycle number 1, and the compensated initial phase increases by one φb compared to the original initial phase, then the corresponding relationship between the adjusted number and the planetary carrier cycle number is that planetary carrier cycle number 1 corresponds to tooth number 29. If the compensated initial phase decreases by one φb compared to the original initial phase, as shown in the following example: Figure 4 As shown, all index numbers ( Figure 4 (The second row in the figure) is pushed right one position according to the chasing tooth relationship. For example, tooth number 1 originally corresponds to planetary carrier cycle number 1. The compensated initial phase increases by one φb compared to the original initial phase. The corresponding relationship between the adjusted number and the planetary carrier cycle number is that planetary carrier cycle number 1 corresponds to tooth number 7.

[0165] For each planetary gear and each initial compensation phase, the following steps can be repeated:

[0166] According to the mapping relationship between the initial compensation phase, the first preset window width, and the corrected planetary gear tooth number and the number of planetary carrier cycles, second target vibration data corresponding to the corresponding numbered gear teeth are separated from the original vibration signal collected by the sensor in each planetary carrier cycle, and the second target vibration data are filled into the elements corresponding to the corresponding numbers in the rows corresponding to the current planetary carrier cycle number in the separation and reconstruction initial matrix; after the second target vibration data corresponding to N planetary carrier cycles are filled in, a second separation and reconstruction matrix corresponding to the planetary gear is obtained; the second separation and reconstruction matrix corresponding to the planetary gear is superimposed and reconstructed according to the rows to obtain a second vibration reconstructed signal corresponding to the planetary gear.

[0167] It should be noted that, for the detailed implementation process of this step, please refer to the process of obtaining the first vibration reconstruction signal based on the initial phase in the above embodiment, and the embodiment of the present invention will not be repeated here.

[0168] For each initial compensation phase, the steps of constructing a separation reconstruction matrix and constructing a vibration reconstruction signal in the above embodiment are repeated to obtain a compensation separation reconstruction matrix. Repeating N times can obtain N compensation separation reconstruction matrices, which can reconstruct N vibration signals.

[0169] It can be understood that by superimposing and reconstructing the separation data matrix, a complete vibration separation signal of the planetary gear can be obtained. By comparing the original vibration separation signal and multiple compensated vibration separation signals, if any signal has a fault frequency characteristic, it can be considered that the planetary gear has a fault characteristic.

[0170] Adjust the initial phase to φ+2π / P n , P n is the number of planetary gears, π is the pi, and the above vibration signal separation and reconstruction process is repeated for the number of planetary gears to obtain the vibration reconstruction signals of all planetary gears.

[0171] By compensating for the initial phase, this application can enhance the fault search range, improve the efficiency of fault signal search, and provide more and more reliable information for subsequent planetary gear system component fault diagnosis methods.

[0172] In one embodiment, the method may further include:

[0173] For each planetary gear, a target separated and reconstructed signal having a signal-to-noise ratio that meets a preset requirement is selected from the first separated and reconstructed signal and the second separated and reconstructed signal corresponding to the planetary gear;

[0174] Fault analysis of planetary gears is performed based on target separation and reconstruction of signals.

[0175] It should be noted that for each planetary gear, the above scheme can obtain the first separated reconstruction signal and each second separated reconstruction signal of the planetary gear, so that a target separated reconstruction signal with a signal-to-noise ratio that meets the preset requirements can be obtained from the first separated reconstruction signal and each second separated reconstruction signal, and further the planetary gear teeth of the planetary gear can be analyzed according to the target separated reconstruction signal, thereby improving the accuracy of the fault analysis.

[0176] Of course, all vibration reconstruction signals can also be used for synthesis. Usually, the original initial phase is compensated twice, that is, the phase is increased by φ+φb and the phase is reduced by φ-φb, to obtain two additional columns of signals. The column with the most obvious fault information can be compared among the three columns of signals. Other data processing methods can also be used for screening or fusion to enhance the fault signal.

[0177] In one embodiment, the method may further include:

[0178] Determine the minimum number of planet carrier cycles of the sun gear based on the number of sun gear teeth and the number of inner ring gear teeth;

[0179] Number each tooth of the sun gear;

[0180] The tooth on the inner gear ring closest to the sensor is determined as tooth X;

[0181] From the first planet carrier cycle of the sun gear to the Mth planet carrier cycle, determine the sun gear tooth numbers at which different planet gears mesh with the gear teeth X and the sun gear meshes with the planet gears in each planet carrier cycle, and obtain a mapping relationship between the sun gear tooth numbers and the number of planet carrier cycles; the number of sun gear tooth numbers determined in one planet carrier cycle is consistent with the number of planet gears; wherein M is the minimum number of planet carrier cycles of the sun gear;

[0182] According to the initial phase, the second preset window width, and the mapping relationship between the sun gear tooth number and the planet carrier cycle number, third target vibration data corresponding to the corresponding numbered teeth are separated from the original vibration signal collected by the sensor in each planet carrier cycle, and the third target vibration data are filled into the elements corresponding to the corresponding numbers in the row corresponding to the current planet carrier cycle number in the separation and reconstruction initial matrix;

[0183] After completing the third target vibration data corresponding to M planetary carrier cycles, the third separation and reconstruction matrix corresponding to the sun gear is obtained;

[0184] The third separation reconstruction matrix corresponding to the sun gear is superimposed and reconstructed according to rows to obtain a third vibration reconstruction signal corresponding to the sun gear.

[0185] It should be noted that, according to the present invention, the initial phase determined in the embodiment can also be separated and reconstructed from the vibration signal of the sun gear. Specifically, in the embodiment of the present invention, the teeth of the sun gear can be numbered in advance, and the minimum number of planetary carrier cycles M of the sun gear can be calculated based on the number of sun gear teeth and the number of teeth of the inner ring gear, that is, the sun gear chasing gear ratio (such as S described above) can be calculated. _HTR). After obtaining the minimum number of planetary carrier cycles M of the sun gear, we can start from the first planetary carrier cycle and record the tooth on the sun gear that is closest to the sensor when each planetary gear passes the sensor in turn during each planetary carrier cycle. For example, there are P planetary gears on the planetary carrier. After completing one planetary carrier cycle, the P planetary gears will pass the sensor in turn. When each planetary gear passes the sensor, there is a tooth on the sun gear that is closest to the sensor (that is, the meshing vibration signal of the sun gear and the planetary gear has the shortest transmission path to the sensor P times in one planetary carrier cycle). The number of this tooth is recorded. That is, in one planetary carrier cycle, the numbers of the P sun gear teeth will be recorded. The numbers of the P sun gear teeth recorded in the next planetary carrier cycle will change. After M planetary carrier cycles, the numbers of the P sun gear teeth recorded again are consistent with the numbers of the sun gear teeth recorded in the first planetary carrier cycle. Therefore, M can be obtained as the minimum number of planetary carrier cycles of the sun gear. In this application, a mapping relationship between the sun gear tooth number and the planet carrier cycle number can be established based on the team relationship between the numbers of the P sun gear teeth recorded in each planet carrier cycle and the number of planet carrier cycles, which can be recorded in a table.

[0186] In an embodiment of the present invention, P segments of data can be collected during each planetary carrier cycle. Therefore, based on the initial phase, the second preset window width, and the mapping relationship between the sun gear tooth number and the number of planetary carrier cycles, the third target vibration data corresponding to the corresponding numbered teeth can be separated from the original vibration signal collected by the sensor during each planetary carrier cycle. That is, P segments of original vibration signals are collected during one planetary carrier cycle. The third target vibration data corresponding to the corresponding numbered sun gear tooth is separated from each segment of the original vibration signal, thereby obtaining P third target vibration data corresponding to the numbers of the P sun gear teeth corresponding to the number of the current planetary carrier cycle. The P third target vibration data are then respectively entered into the elements corresponding to the P sun gear tooth numbers in the row corresponding to the current planetary carrier cycle number in the separation and reconstruction initial matrix. In this embodiment of the present invention, the second preset window width is an integer multiple of the second minimum window width of the sun gear, where the second minimum window width of the sun gear is the ratio of the number of sun gear teeth to the sun gear chasing gear ratio.

[0187] After completing the third target vibration data corresponding to each of the M planetary carrier cycles, a third separation and reconstruction matrix corresponding to the sun gear is obtained. Using the aforementioned planetary gear vibration signal separation and reconstruction method, the third separation and reconstruction matrix corresponding to the sun gear is reconstructed by row-by-row superposition to obtain a third vibration reconstructed signal corresponding to the sun gear. To obtain a more accurate sun gear vibration reconstructed signal, the amplitude of the third vibration reconstructed signal is corrected. This amplitude correction is performed by dividing the reconstructed signal by the number of overlaps, where the number of overlaps is calculated as the second preset window width divided by the second minimum window width. This results in a sun gear vibration reconstructed signal.

[0188] In practical applications, the initial phase after compensation based on the preset phase difference may be used to separate and reconstruct the vibration signal of the sun gear again to obtain a compensated vibration reconstructed signal of the sun gear.

[0189] It can be understood that, according to the determined initial phase, the embodiment of the present invention can not only more accurately separate and reconstruct the planetary gear vibration signal, but also improve the accuracy of separating and reconstructing the sun gear vibration signal.

[0190] The present invention also provides a corresponding device for the method for determining the initial phase of a planetary gear train vibration signal separation, further enhancing the practicality of the method. The device can be described from the perspective of functional modules and hardware. The following describes the device for determining the initial phase of a planetary gear train vibration signal separation provided by the present invention. This device is used to implement the method for determining the initial phase of a planetary gear train vibration signal separation provided by the present invention. In this embodiment, the device for determining the initial phase of a planetary gear train vibration signal separation may include or be divided into one or more program modules. These one or more program modules are stored in a storage medium and executed by one or more processors to implement the method for determining the initial phase of a planetary gear train vibration signal separation disclosed in the above embodiment. A program module, as referred to in the present invention, refers to a series of computer program instruction segments capable of performing a specific function. It is more suitable for describing the execution process of the device for determining the initial phase of a planetary gear train vibration signal separation in a storage medium than the program itself. The following description will specifically introduce the functions of each program module in this embodiment. The device for determining the initial phase of a planetary gear train vibration signal separation described below and the method for determining the initial phase based on the planetary gear train vibration signal separation described above can be referenced in conjunction with each other.

[0191] From the perspective of functional modules, see Figure 12 , Figure 12 This is a structural diagram of an initial phase determination device for separating vibration signals of a planetary gear train provided by the present invention. The device may include:

[0192] A first determining module 11 is configured to determine a bandpass filtering range based on the planet carrier rotation frequency and the planet gear rotation frequency;

[0193] a filtering module 12 configured to filter, based on a bandpass filtering range, the raw vibration signal collected by the sensor during at least one planetary carrier cycle to obtain at least one set of filtered vibration signals; wherein the planetary carrier cycle is the time it takes for a planetary gear to rotate one revolution along the inner gear ring from the position closest to the sensor on the inner gear ring;

[0194] The second determining module 13 is configured to determine an initial phase for separating the planetary gear vibration signals according to at least one set of filtered vibration signals.

[0195] In one embodiment, the first determining module 11 includes:

[0196] a first determining unit, configured to determine the rotational frequency of the planet carrier according to a transmission ratio between the rotational frequency of the planet carrier and the rotational frequency of the sun gear input shaft and the rotational frequency of the sun gear input shaft;

[0197] The second determining unit is configured to use the planet carrier rotation frequency as the band-pass filter center frequency and determine the band-pass filter range in combination with the planet gear rotation frequency.

[0198] In one embodiment, the first determining unit is specifically configured to:

[0199] The planet carrier rotational frequency is determined based on the transmission ratio between the planet carrier rotational frequency and the sun gear input shaft rotational frequency and the sun gear input shaft rotational frequency in combination with the first relationship; wherein the first relationship is:

[0200] f c =f in ×i c , f c is the planet carrier rotation frequency, f in is the sun gear input shaft rotation frequency, i c It is the transmission ratio of the planet carrier rotation frequency to the sun gear input shaft rotation frequency.

[0201] In one embodiment, the second determining unit is configured to:

[0202] The planet carrier rotation frequency is used as the bandpass filter center frequency f c , according to the preset coefficient a and the planetary gear rotation frequency f p , determine the bandpass filter range as [f c -a*f p , f c +a*f p ], where a∈(0,1).

[0203] In one embodiment, when the filtered vibration signals are a group, the second determining module 13 includes:

[0204] a third determining unit, configured to obtain a corresponding vibration energy signal based on the filtered vibration signal, and determine a data point corresponding to a maximum energy value from the vibration energy signal;

[0205] a fourth determining unit, configured to determine an initial phase according to a position of a data point corresponding to an energy maximum value in the vibration energy signal;

[0206] In the case that the filtered vibration signal is a plurality of groups, the second determining module 13 includes:

[0207] a calculation unit, configured to perform time-domain synchronous averaging on the plurality of filtered vibration signals to obtain an averaged vibration signal;

[0208] a fifth determining unit, configured to obtain a corresponding vibration energy signal based on the averaged vibration signal, and determine a data point corresponding to a maximum energy value from the vibration energy signal;

[0209] The sixth determining unit is configured to determine the initial phase according to the position of the data point corresponding to the maximum energy value in the vibration energy signal.

[0210] In one embodiment, the third determining unit is configured to:

[0211] For each sampling point in the filtered vibration signal, square the data corresponding to the sampling point to obtain the vibration energy data corresponding to the sampling point;

[0212] Based on the vibration energy data corresponding to each sampling point, a vibration energy signal is obtained, and a data point corresponding to a maximum energy value is determined from the vibration energy signal;

[0213] Or, a fifth determining unit is configured to:

[0214] For each sampling point in the averaged vibration signal, square the data corresponding to the sampling point to obtain the vibration energy data corresponding to the sampling point;

[0215] A vibration energy signal is obtained based on the vibration energy data corresponding to each sampling point.

[0216] The fourth determining unit or the sixth determining unit is configured to:

[0217] According to the length of the vibration energy signal, each data point is numbered from the first data point to the last data point of the vibration energy signal, and the sequence number of the data point corresponding to the maximum energy is obtained;

[0218] The initial phase is obtained based on the length of the vibration energy signal and the sequence number of the data point corresponding to the maximum energy value, combined with the initial phase determination formula; wherein the initial phase determination formula is:

[0219] ,in, Indicates the initial phase.

[0220] In one embodiment, the device further comprises:

[0221] A first numbering module is used to pre-number each gear tooth on each planetary gear;

[0222] The third determination module is used to determine the gear tooth number corresponding to each planetary carrier cycle from the first planetary carrier cycle to the Nth planetary carrier cycle, and obtain a mapping relationship between the planetary gear tooth number and the number of planetary carrier cycles; wherein N is the minimum number of planetary carrier cycles required for all gear teeth on the planetary gear to mesh once with the gear tooth on the inner gear ring closest to the sensor.

[0223] In one embodiment, the device further comprises:

[0224] An acquisition module is used to acquire, for each planetary gear, an original vibration signal collected by a sensor in each planetary gear cycle in N planetary gear cycle periods corresponding to the planetary gear;

[0225] A first separation module is configured to separate first target vibration data corresponding to the corresponding numbered gear teeth from the original vibration signal collected by the sensor in each planetary carrier cycle according to the initial phase, the first preset window width, and the mapping relationship between the planetary gear tooth number and the planetary carrier cycle number, and fill the first target vibration data into the element corresponding to the corresponding number in the row corresponding to the current planetary carrier cycle number in the separation and reconstruction initial matrix;

[0226] A first writing module is used to obtain a first separation and reconstruction matrix corresponding to the planet gear after first target vibration data corresponding to N planet carrier cycles are filled in;

[0227] The first reconstruction module is used to superimpose and reconstruct the first separation reconstruction matrix corresponding to the planetary gear according to rows to obtain a first vibration reconstruction signal corresponding to the planetary gear.

[0228] In one embodiment, the device further comprises:

[0229] A compensation module is used to compensate the initial phase according to a preset compensation phase difference to obtain a compensated initial phase;

[0230] a correction module for correcting, for each planetary gear, a mapping relationship between a planetary gear tooth number corresponding to the planetary gear and a planetary carrier cycle number according to an initial compensation phase, to obtain a corrected mapping relationship between the planetary gear tooth number and the planetary carrier cycle number;

[0231] A second separation module is configured to separate second target vibration data corresponding to the corresponding numbered gear teeth from the original vibration signal collected by the sensor in each planetary carrier cycle according to the initial compensation phase, the first preset window width, and the corrected mapping relationship between the planetary gear tooth number and the planetary carrier cycle number, and fill the second target vibration data into the element corresponding to the corresponding number in the row corresponding to the current planetary carrier cycle number in the separation and reconstruction initial matrix;

[0232] The second writing module is used to obtain a second separation and reconstruction matrix corresponding to the planet gear after the second target vibration data corresponding to N planet carrier cycles are filled in;

[0233] The second reconstruction module is used to superimpose and reconstruct the second separation reconstruction matrix corresponding to the planetary gear according to rows to obtain a second vibration reconstruction signal corresponding to the planetary gear.

[0234] In one embodiment, the preset compensating phase difference is determined based on the number of teeth of the inner ring gear and the number of teeth of the planetary gears, combined with a compensating phase difference determination formula; wherein the compensating phase difference determination formula is:

[0235] φb={[Nr-mod(Np, Nr)] / Nr}*2π, where φb represents the preset compensation phase difference, Nr represents the number of teeth on the inner ring gear, Np represents the number of teeth on the planetary gears, and mod(Np, Nr) represents the remainder of Nr over Np.

[0236] In one embodiment, the modification module is configured to:

[0237] In the case where the initial compensation phase is a process of adding a preset compensation phase difference to the initial phase, the mapping relationship between the planetary gear tooth numbers corresponding to the planetary gears and the planetary carrier cycle number is maintained, and the position of the planetary carrier cycle number is shifted by one unit in the direction of decreasing the planetary carrier cycle number according to the current order;

[0238] When the initial compensation phase is a difference in phase difference between the initial phase and the initial phase, the position of the planetary carrier cycle number is kept unchanged in the mapping relationship between the planetary gear tooth number corresponding to the planetary gear and the planetary carrier cycle number, and the planetary gear tooth numbers are moved one unit in the direction of increasing the planetary carrier cycle number according to the current order.

[0239] In one embodiment, the device further comprises:

[0240] a screening module, configured to screen, for each planetary gear, a target separated and reconstructed signal having a signal-to-noise ratio that meets a preset requirement from the first separated and reconstructed signal and the second separated and reconstructed signal corresponding to the planetary gear;

[0241] The analysis module is used to perform fault analysis on the planetary gear based on the target separation and reconstruction signal.

[0242] In one embodiment, the device further comprises:

[0243] A fourth determination module is used to determine the minimum number of planet carrier cycles of the sun gear based on the number of teeth on the sun gear and the number of teeth on the inner ring gear;

[0244] A second numbering module is used to number each gear tooth of the sun gear;

[0245] a fifth determining module, configured to determine the sun gear tooth numbers corresponding to each planet carrier cycle from the first planet carrier cycle to the Mth planet carrier cycle of the sun gear, and obtain a mapping relationship between the sun gear tooth numbers and the number of planet carrier cycles; wherein the sun gear tooth numbers in one planet carrier cycle correspond one-to-one to the planet gears; and wherein M is the minimum number of planet carrier cycles of the sun gear;

[0246] a third separation module, configured to separate, from the original vibration signal collected by the sensor in each planetary carrier cycle, third target vibration data corresponding to the corresponding numbered teeth according to the initial phase, the second preset window width, and the mapping relationship between the sun gear tooth number and the planetary carrier cycle number, and to fill the third target vibration data into the elements corresponding to the corresponding numbers in the row corresponding to the current planetary carrier cycle number in the separation and reconstruction initial matrix;

[0247] A third writing module is used to obtain a third separation and reconstruction matrix corresponding to the sun gear after completing filling in the third target vibration data corresponding to M planetary carrier cycles;

[0248] The third reconstruction module is used to superimpose and reconstruct the third separation reconstruction matrix corresponding to the sun gear according to rows to obtain a third vibration reconstruction signal corresponding to the sun gear.

[0249] It should be noted that the initial phase determination device for separating the planetary gear train vibration signal provided in the embodiment of the present invention has the same beneficial effects as the initial phase determination method for separating the planetary gear train vibration signal provided in the above embodiment, and for the specific introduction of the initial phase determination method for separating the planetary gear train vibration signal involved in the embodiment of the present invention, please refer to the above embodiment, and this application will not repeat it here.

[0250] The initial phase determination device for separating the planetary gear train vibration signal mentioned above is described from the perspective of functional modules. Furthermore, the present invention also provides an electronic device, which is described from the perspective of hardware. Figure 13 A structural diagram of an electronic device provided in an embodiment of the present application, such as Figure 13As shown, the electronic device includes: a memory 20 for storing computer programs;

[0251] The processor 21 is configured to implement the steps of the method for determining the initial phase of the planetary gear train vibration signal separation according to the above embodiment when executing the computer program.

[0252] The electronic device provided in this embodiment may include but is not limited to a smart phone, a tablet computer, a laptop computer, or a desktop computer.

[0253] Among them, the processor 21 may include one or more processing cores, such as a 4-core processor, an 8-core processor, etc. The processor 21 can be implemented in at least one hardware form of DSP (Digital Signal Processing), FPGA (Field-Programmable Gate Array), and PLA (Programmable Logic Array). The processor 21 may also include a main processor and a coprocessor. The main processor is a processor for processing data in the awake state, also known as a CPU (Central Processing Unit); the coprocessor is a low-power processor for processing data in the standby state. In some embodiments, the processor 21 may be integrated with a GPU (Graphics Processing Unit), which is responsible for rendering and drawing the content to be displayed on the display screen. In some embodiments, the processor 21 may also include an AI (Artificial Intelligence) processor, which is used to process computing operations related to machine learning.

[0254] The memory 20 may include one or more computer-readable storage media, which may be non-transitory. The memory 20 may also include high-speed random access memory and non-volatile memory, such as one or more disk storage devices or flash memory storage devices. In some embodiments, the memory 20 may be an internal storage unit of the electronic device, such as a server's hard drive. In other embodiments, the memory 20 may also be an external storage device of the electronic device, such as a plug-in hard drive equipped on a server, a Smart Media Card (SMC), a Secure Digital (SD) card, a flash memory card, etc. Furthermore, the memory 20 may include both an internal storage unit and an external storage device of the electronic device. The memory 20 can be used not only to store application software installed in the electronic device and various types of data, such as the program code used in the process of executing the initial phase determination method for separating the vibration signals of a planetary gear train, but also to temporarily store data that has been output or is about to be output. In this embodiment, the memory 20 is used to store at least the following computer program 201. When loaded and executed by the processor 21, the computer program can implement the relevant steps of the method for determining the initial phase of the planetary gear train vibration signal separation disclosed in any of the aforementioned embodiments. Furthermore, the resources stored in the memory 20 may also include an operating system 202 and data 203, which may be stored in a temporary or permanent manner. The operating system 202 may include Windows, Unix, Linux, etc. The data 203 may include, but is not limited to, data corresponding to the initial phase determination result of the planetary gear train vibration signal separation.

[0255] In some embodiments, the electronic device may further include a display screen 22, an input / output interface 23, a communication interface 24, a power supply 25, and a communication bus 26. Among them, the display screen 22 and the input / output interface 23, such as a keyboard, are user interfaces, and the optional user interface may also include a standard wired interface, a wireless interface, etc. Optionally, in some embodiments, the display may be an LED display, a liquid crystal display, a touch-sensitive liquid crystal display, and an OLED (Organic Light-Emitting Diode) touch device, etc. The display may also be appropriately referred to as a display screen or a display unit, which is used to display information processed in the electronic device and to display a visual user interface. The communication interface 24 may optionally include a wired interface and / or a wireless interface, such as a WI-FI interface, a Bluetooth interface, etc., which is generally used to establish a communication connection between the electronic device and other electronic devices. The communication bus 26 may be a peripheral component interconnect (PCI) bus or an extended industry standard architecture (EISA) bus, etc. The bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 13 Only one thick line is used in the diagram, but this does not mean that there is only one bus or one type of bus.

[0256] Those skilled in the art will understand that Figure 13 The structure shown in the figure does not constitute a limitation of the electronic device, and may include more or fewer components than shown in the figure.

[0257] It can be understood that if the initial phase determination method for separating the planetary gear train vibration signal in the above embodiment 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 technical solution of the present application is essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product. The computer software product is stored in a storage medium and executes all or part of the steps of the methods of each embodiment of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM), random access memory (RAM), electrically erasable programmable ROM, register, hard disk, removable disk, CD-ROM, magnetic disk or optical disk, etc. Various media that can store program codes.

[0258] Based on this, Figure 14As shown, an embodiment of the present invention further provides a computer-readable storage medium, on which a computer program 31 is stored. When the computer program 31 is executed by a processor, the steps of the initial phase determination method for separating the vibration signal of the planetary gear system as described above are implemented.

[0259] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. Reference can be made to the common and similar parts between the various embodiments. For the devices disclosed in the embodiments, since they correspond to the methods disclosed in the embodiments, the description is relatively simple, and the relevant parts can be referred to the method description.

[0260] It should also be noted that, in this specification, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variants thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or apparatus. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of additional identical elements in the process, method, article, or apparatus comprising the element.

[0261] The above description of the disclosed embodiments is intended to enable one skilled in the art to implement or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention is not limited to the embodiments shown herein but is intended to conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A method for determining the initial phase of a planetary gear train vibration signal separation, characterized in that: include: Determine the bandpass filter range based on the planet carrier rotation frequency and the planet gear rotation frequency; Filtering the original vibration signal collected by the sensor in at least one planetary carrier cycle based on the bandpass filter range to obtain at least one set of filtered vibration signals; wherein the planetary carrier cycle is the time taken for a planetary gear to rotate one circle along the inner gear ring from the position closest to the sensor on the inner gear ring; An initial phase for separating the planetary gear vibration signals is determined based on at least one set of filtered vibration signals.

2. The method for determining the initial phase of a planetary gear train vibration signal separation according to claim 1, wherein: The determining of the bandpass filtering range based on the planet carrier rotation frequency and the planet gear rotation frequency includes: Determine the planet carrier rotational frequency based on the transmission ratio of the planet carrier rotational frequency to the sun gear input shaft rotational frequency and the sun gear input shaft rotational frequency; The planet carrier rotation frequency is used as the band-pass filter center frequency, and the band-pass filter range is determined in combination with the planet gear rotation frequency.

3. The method for determining the initial phase of a planetary gear train vibration signal separation according to claim 2, wherein: Determining the planet carrier rotational frequency according to the transmission ratio of the planet carrier rotational frequency to the sun gear input shaft rotational frequency and the sun gear input shaft rotational frequency includes: The planet carrier rotational frequency is determined based on the transmission ratio of the planet carrier rotational frequency to the sun gear input shaft rotational frequency and the sun gear input shaft rotational frequency in combination with a first relationship; wherein the first relationship is: f c =f in ×i c , f c is the planet carrier rotation frequency, f in is the sun gear input shaft rotation frequency, i c It is the transmission ratio of the planet carrier rotation frequency to the sun gear input shaft rotation frequency.

4. The method for determining the initial phase of a planetary gear train vibration signal separation according to claim 3, wherein: The method of using the planet carrier rotation frequency as the bandpass filter center frequency and combining it with the planet gear rotation frequency to determine the bandpass filter range includes: The planet carrier rotation frequency is used as the bandpass filter center frequency f c , according to the preset coefficient a and the planetary gear rotation frequency f p , determine the bandpass filter range as [f c -a*f p , f c +a*f p ], where a∈(0,1).

5. The method for determining the initial phase of a planetary gear train vibration signal separation according to claim 1, wherein: In a case where the filtered vibration signals are a group, determining the initial phase of the planetary gear vibration signal separation according to at least one group of the filtered vibration signals includes: Obtaining a corresponding vibration energy signal according to the filtered vibration signal, and determining a data point corresponding to a maximum energy value from the vibration energy signal; determining an initial phase according to a position of a data point corresponding to the maximum energy value in the vibration energy signal; In the case where there are multiple groups of filtered vibration signals, determining the initial phase of separation of the planetary gear vibration signals according to at least one group of filtered vibration signals includes: Performing time-domain synchronous averaging on the plurality of filtered vibration signals to obtain an averaged vibration signal; Obtaining a corresponding vibration energy signal based on the averaged vibration signal, and determining a data point corresponding to a maximum energy value from the vibration energy signal; The initial phase is determined according to the position of the data point corresponding to the maximum energy value in the vibration energy signal.

6. The method for determining the initial phase of a planetary gear train vibration signal separation according to claim 5, characterized in that: Determining the initial phase according to the position of the data point corresponding to the maximum energy value in the vibration energy signal includes: Numbering each data point from the first data point to the last data point of the vibration energy signal according to the length of the vibration energy signal, and obtaining the sequence number of the data point corresponding to the maximum energy value; The initial phase is obtained based on the length of the vibration energy signal and the sequence number of the data point corresponding to the maximum energy value, combined with the initial phase determination formula; wherein the initial phase determination formula is: ,in, Indicates the initial phase.

7. The method for determining the initial phase of a planetary gear train vibration signal separation according to any one of claims 1 to 6, characterized in that: Also includes: For each planetary gear, number each gear tooth on the planetary gear in advance; Determine the gear tooth on the inner gear ring closest to the sensor as gear tooth X; From the first planetary carrier cycle to the Nth planetary carrier cycle, the number of the planetary gear tooth that meshes with the gear tooth X in each planetary carrier cycle is determined, and a mapping relationship between the planetary gear tooth number and the number of planetary carrier cycles is obtained; where N is the minimum number of planetary carrier cycles required for all gear teeth on the planetary gear to mesh once with the gear tooth on the inner gear ring closest to the sensor.

8. The method for determining the initial phase of a planetary gear train vibration signal separation according to claim 7, wherein: Also includes: For each planetary gear, in N planetary carrier cycles corresponding to the planetary gear, obtaining an original vibration signal collected by a sensor in each planetary carrier cycle; Separating first target vibration data corresponding to the corresponding numbered tooth from the original vibration signal collected by the sensor in each planetary carrier cycle according to the initial phase, the first preset window width, and the mapping relationship between the planetary gear tooth number and the planetary carrier cycle number, and filling the first target vibration data into the element corresponding to the corresponding number in the row corresponding to the current planetary carrier cycle number in the separation and reconstruction initial matrix; After the first target vibration data corresponding to N planetary carrier cycles are filled in, a first separation and reconstruction matrix corresponding to the planetary gear is obtained; The first separation reconstruction matrix corresponding to the planetary gear is superimposed and reconstructed row by row to obtain a first vibration reconstruction signal corresponding to the planetary gear.

9. The method for determining the initial phase of a planetary gear train vibration signal separation according to claim 8, characterized in that: Also includes: Compensating the initial phase according to a preset compensation phase difference to obtain a compensated initial phase; For each planetary gear, a mapping relationship between a planetary gear tooth number corresponding to the planetary gear and a planetary carrier cycle number is corrected according to the initial compensation phase to obtain a corrected mapping relationship between the planetary gear tooth number and the planetary carrier cycle number; Separating second target vibration data corresponding to the corresponding numbered tooth from the original vibration signal collected by the sensor in each planetary carrier cycle according to the initial compensation phase, the first preset window width, and the corrected mapping relationship between the planetary gear tooth number and the planetary carrier cycle number, and filling the second target vibration data into the element corresponding to the corresponding number in the row corresponding to the current planetary carrier cycle number in the separation and reconstruction initial matrix; After the second target vibration data corresponding to N planetary carrier cycles are filled in, a second separation and reconstruction matrix corresponding to the planetary gear is obtained; The second separation reconstruction matrix corresponding to the planetary gear is superimposed and reconstructed row by row to obtain a second vibration reconstruction signal corresponding to the planetary gear.

10. The method for determining the initial phase of a planetary gear train vibration signal separation according to claim 9, wherein: The preset compensation phase difference is determined based on the number of teeth of the inner ring gear and the number of teeth of the planetary gears, combined with a compensation phase difference determination formula; wherein, the compensation phase difference determination formula is: φb={[Nr-mod(Np, Nr)] / Nr}*2π, where φb represents the preset compensation phase difference, Nr represents the number of teeth on the inner ring gear, Np represents the number of teeth on the planetary gears, and mod(Np, Nr) represents the remainder of Nr over Np.

11. The method for determining the initial phase of a planetary gear train vibration signal separation according to claim 10, wherein: The step of correcting the mapping relationship between the planetary gear tooth number and the planetary carrier cycle number corresponding to the planetary gear according to the initial compensation phase to obtain a corrected mapping relationship between the planetary gear tooth number and the planetary carrier cycle number includes: In a case where the initial compensation phase is a phase difference compensation phase with a preset phase difference added to the initial phase, the planetary gear tooth numbers corresponding to the planetary gears are mapped to the number of planetary carrier cycles, while the position of the number of planetary carrier cycles remains unchanged, and the number of each planetary gear tooth is shifted by one unit in a direction of decreasing the number of planetary carrier cycles according to the current order; When the initial compensation phase is a difference between the initial phase and a preset compensation phase difference, in the mapping relationship between the planetary gear tooth number corresponding to the planetary gear and the planetary carrier cycle number, the position of the planetary carrier cycle number is kept unchanged, and the planetary gear tooth numbers are moved as a whole by one unit in the direction of increasing the planetary carrier cycle number according to the current order.

12. The method for determining the initial phase of a planetary gear train vibration signal separation according to claim 1, wherein: Also includes: For each planetary gear, a target separated and reconstructed signal having a signal-to-noise ratio that meets a preset requirement is selected from the first separated and reconstructed signal and the second separated and reconstructed signal corresponding to the planetary gear; Fault analysis is performed on the planetary gear based on the target separated and reconstructed signal.

13. The method for determining the initial phase of a planetary gear train vibration signal separation according to claim 1, wherein: Also includes: Determine the minimum number of planet carrier cycles of the sun gear based on the number of sun gear teeth and the number of inner ring gear teeth; numbering each tooth of the sun gear; Determine the gear tooth on the inner gear ring closest to the sensor as gear tooth X; From the first planet carrier cycle of the sun gear to the Mth planet carrier cycle, determine the sun gear tooth numbers at which different planet gears mesh with the gear teeth X and the sun gear meshes with the planet gears in each planet carrier cycle, and obtain a mapping relationship between the sun gear tooth numbers and the number of planet carrier cycles; the number of sun gear tooth numbers determined in one planet carrier cycle is consistent with the number of planet gears; wherein M is the minimum number of planet carrier cycles of the sun gear; Separating third target vibration data corresponding to the corresponding numbered teeth from the original vibration signal collected by the sensor in each planetary carrier cycle according to the initial phase, the second preset window width, and the mapping relationship between the sun gear tooth number and the planetary carrier cycle number, and filling the third target vibration data into the elements corresponding to the corresponding numbers in the row corresponding to the current planetary carrier cycle number in the separation and reconstruction initial matrix; After completing filling in the third target vibration data corresponding to M planetary carrier cycles, a third separation and reconstruction matrix corresponding to the sun gear is obtained; The third separation reconstruction matrix corresponding to the sun gear is superimposed and reconstructed according to rows to obtain a third vibration reconstruction signal corresponding to the sun gear.

14. An initial phase determination device for separating vibration signals of a planetary gear train, characterized in that: include: A first determination module is used to determine a bandpass filtering range based on the planet carrier rotation frequency and the planet gear rotation frequency; a filtering module, configured to filter, based on the bandpass filtering range, an original vibration signal collected by the sensor during at least one planetary carrier cycle to obtain at least one set of filtered vibration signals; wherein the planetary carrier cycle is the time taken for a planetary gear to rotate one circle along the inner gear ring from a position on the inner gear ring closest to the sensor; The second determining module is configured to determine an initial phase for separating the planetary gear vibration signals based on at least one set of filtered vibration signals.

15. An electronic device, characterized in that: include: memory for storing computer programs; A processor, configured to implement the steps of the method for determining the initial phase of the planetary gear train vibration signal separation as claimed in any one of claims 1 to 7 when executing the computer program.

16. A computer-readable storage medium, characterized in that The computer-readable storage medium stores a computer program, which, when executed by a processor, implements the steps of the method for determining the initial phase of the planetary gear train vibration signal separation according to any one of claims 1 to 7.

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