Synchronous extraction method for modulation characteristics of planetary gear under dual-channel cooperative driving

Abstract

The invention discloses a synchronous extraction method for modulation characteristics of a planetary gear driven by two channels cooperatively, and relates to the technical field of fault diagnosis of mechanical equipment. Comprising the following steps of Hankel matrix model construction, dual-channel signal synchronous demodulation and modulation feature synchronous extraction, and planetary gear modulation feature synchronous extraction is achieved. According to the synchronous extraction method for the modulation characteristics of the planetary gear under the dual-channel cooperative driving, dual-channel signals are collected by utilizing an orthogonal sensing technology, and the dual-channel signals are analyzed by applying a phase-space reconstruction principle so as to construct a Hankel matrix model. A bivariate refined cyclic spectrum is provided based on the concept of cyclic spectrum, and the bivariate refined cyclic spectrum is applied to a Hankel matrix model to realize synchronous demodulation of dual-channel signals. And performing direct integral operation on the synchronous demodulation signal to generate a double-variable refined cyclic spectrum detector, thereby realizing synchronous extraction of the modulation characteristics of the planetary gear.

Description

Technical Field

[0001] The present invention relates to the technical field of mechanical equipment fault diagnosis, and in particular to a method for synchronously extracting modulation features of dual-channel collaboratively driven planetary gears. Background Art

[0002] With the continuous advancement of modern science and technology, the capacity and operating scale of wind turbines are gradually expanding, and they are rapidly developing towards automation, precision, and intelligence. Planetary gears, as essential components for transmitting power and rotational motion, are widely used in wind turbines due to their compact structure, high transmission accuracy, and wide transmission ratio range. As a key component of wind turbines, planetary gears are more complex than other traditional gear transmissions and require higher manufacturing and assembly precision for their components. Furthermore, because planetary gears typically operate in harsh environments with high speeds and heavy loads, various failures are inevitable. Failure of a critical component in a large wind turbine can result in significant downtime for maintenance, leading to significant economic losses, or even severe equipment damage and fatalities. Therefore, developing effective planetary gear fault diagnosis methods is of great practical significance for ensuring the safe and reliable operation of wind turbines.

[0003] With the rapid development of planetary gear fault diagnosis methods, signal acquisition has evolved from single-channel to multi-channel. Multi-channel signal acquisition, as an automated, integrated processing technique for single-channel information, fully exploits the complementary nature of multi-channel data. However, existing multi-channel fault feature extraction algorithms still face key challenges, hindering their effectiveness and practical application.

[0004] Existing multichannel signal processing methods primarily rely on adaptive decomposition algorithms, whose results are influenced by parameter selection. Furthermore, these decomposition algorithms are susceptible to noise interference, significantly reducing the accuracy of identifying individual pattern components and making it impossible to identify fault information that is overwhelmed by random noise. Existing multichannel signals are processed individually, often resulting in information omissions and loss. With the increasing number of measurement signals, it is imperative to employ effective methods to synchronously process multichannel signals and efficiently extract and mine fault signatures. To address this, we propose a method for synchronously extracting modulation signatures from planetary gears using dual-channel collaborative drive. Summary of the Invention

[0005] In view of the shortcomings of the existing technology, the present invention provides a method for synchronously extracting modulation features of planetary gears with dual-channel collaborative drive, which solves the problems mentioned in the above background technology.

[0006] To achieve the above objectives, the present invention is implemented through the following technical solutions: A method for synchronously extracting modulation features of a dual-channel coordinated driven planetary gear, comprising the following steps:

[0007] Step S1, constructing a Hankel matrix model, analyzing the dual-channel signal using the phase space reconstruction principle to construct a Hankel matrix model;

[0008] Step S2, dual-channel signal synchronous demodulation, by introducing a cyclic spectrum, a two-variable refined cyclic spectrum is proposed, and the cyclic spectrum is applied to the Hankel matrix model to achieve dual-channel signal synchronous demodulation;

[0009] Step S3: synchronous extraction of modulation features. A dual-variable refined cyclic spectrum detector is generated by performing direct integration operation on the synchronous demodulated signal to achieve synchronous extraction of planetary gear modulation features.

[0010] Optionally, step S1 includes:

[0011] Step S11: collecting dual-channel signals using orthogonal sensing technology;

[0012] Step S12: According to the frequency domain characteristics of the planetary gear, its response signals in the x and y directions are expressed as:

[0013]

[0014] Where A m and B m represents the amplitude of the mth-order meshing frequency in the x and y directions, w r represents the angular frequency of rotation, w m represents the meshing angular frequency;

[0015] Step S13: For the dual-channel signal model (u o (t) and v o (t)), the phase space reconstruction principle is used to construct the Hankel matrix model, which is defined as:

[0016] I=[I(u);I(v)]=[u o (t);v o (t)[.

[0017] Optionally, the expression for collecting dual-channel signals using the orthogonal sensing technology is:

[0018] u(t)=-y(t)sin(ωt)+x(t)cos(ωt)-gcos(ωt)

[0019] v(t)=y(t)cos(ωt)+x(t)sin(ωt)-gsin(ωt)+ω 2 e

[0020] Where u(t) and v(t) represent the tangential channel signal model and the radial channel signal model, x(t) and y(t) represent the vertical signal and the horizontal signal, g represents the acceleration of gravity, ω represents the rotor rotation angular velocity, ω 2 e represents the centrifugal acceleration. When e≤1, the centrifugal acceleration may decrease.

[0021] Optionally, the expressions of step S11 and step S12 are combined to generate a dual-channel signal model u o (t) and v o (t), its expression is:

[0022]

[0023] Optionally, step S2 includes:

[0024] Step S21: Calculate the short-time Fourier transform of the Hankel matrix model I, which is expressed as:

[0025]

[0026] Where N γ represents the window length, R represents the window movement, γ[n] represents the window function, i represents the number of windows, i max =(LN γ +R) / R, L represents the original signal length, w k =kΔw=kF s / N γ ,k=0,…,N w -1 represents discrete frequency, F s Indicates the sampling frequency; for signal Perform phase compensation, the expression is:

[0027] Step S22: Assume w=w k = kΔw and w a =pΔw+δ, derive ww a =w k -w a ≈w k-p ;

[0028]

[0029] Where N0 represents the center point of the window;

[0030] Step S23: multiply the product sequence Perform fast Fourier transform to generate bivariate refined cyclic spectrum;

[0031] Step S24: Then,I(u),i (t,τ) is processed by fast Fourier transform to generate S I(u) (w a ,w k ), which is expressed as:

[0032]

[0033] Where S I(u) (w a ,w k ) in w a Demodulate the fault frequency component;

[0034] Similarly, S I(v) (w a ,w k ) is expressed as:

[0035]

[0036] Optionally, the expression for generating the bivariate refined cyclic spectrum is:

[0037]

[0038] Where R I,i (t,τ) represents the bivariate refined cyclic spectrum coefficient; considering that the amplitudes of I(u) and I(v) are equal and the phase difference is 90°; using S I (w a ,w k ) Analyze the modulation process of I(u);

[0039] The bivariate refined cyclic spectrum coefficient R of I(u) I(u),i (t,τ) is expressed as:

[0040]

[0041] Where, and

[0042] Optionally, the step S3 includes: using integral operation to calculate the I (w a ,w k ) to form a two-variable refined cyclic spectrum detector, which is expressed as:

[0043]

[0044] The present invention provides a method for synchronously extracting modulation features of a planetary gear driven by dual channels.

[0045] It has the following beneficial effects:

[0046] This method for synchronously extracting modulation features from a dual-channel, collaboratively driven planetary gear utilizes orthogonal sensing technology to acquire dual-channel signals and applies phase space reconstruction principles to analyze these signals to construct a Hankel matrix model. Based on the concept of cyclic spectrum, a two-variable refined cyclic spectrum is proposed and applied to the Hankel matrix model to achieve synchronous demodulation of the dual-channel signals. A direct integration operation is performed on the synchronously demodulated signal to generate a two-variable refined cyclic spectrum detector, enabling synchronous extraction of planetary gear modulation features.

[0047] 2. This dual-channel collaboratively driven planetary gear modulation feature synchronous extraction method analyzes the dual-channel signal model using the phase space reconstruction principle, enhancing the comprehensiveness of the acquired model signal and improving the accuracy of planetary gear fault diagnosis. It realizes the synchronous extraction of planetary gear modulation features, overcoming the problem that the two-dimensional cyclic spectrum representation plane is difficult to interpret fault feature information. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] Figure 1 This is a schematic diagram of the orthogonal sensing sensor installed on the planetary gear rotor shaft of the present invention;

[0049] Figure 2 This is a schematic diagram of the analysis results of the dual-variable refined cyclic spectrum detector used in the present invention for the synchronous extraction of dual-channel signal features of planetary gears. DETAILED DESCRIPTION

[0050] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. 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 are within the scope of protection of the present invention.

[0051] See also Figure 1-Figure 2 The present invention provides a technical solution: a method for synchronously extracting modulation features of a dual-channel coordinated driven planetary gear, comprising the following steps:

[0052] Step S1, constructing a Hankel matrix model, analyzing the dual-channel signal using the phase space reconstruction principle to construct a Hankel matrix model;

[0053] Step S11: Use the orthogonal sensing technology to collect dual-channel signals. The expression for collecting dual-channel signals using the orthogonal sensing technology is:

[0054] u(t)=-y(t)sin(ωt)+x(t)cos(ωt)-gcos(ωt)

[0055] v(t)=y(t)cos(ωt)+x(t)sin(ωt)-g sin(ωt)+ω 2 e

[0056] Where u(t) and v(t) represent the tangential channel signal model and the radial channel signal model, x(t) and y(t) represent the vertical signal and the horizontal signal, g represents the acceleration of gravity, ω represents the rotor rotation angular velocity, ω 2 e represents the centrifugal acceleration. When e≤1, the centrifugal acceleration may decrease;

[0057] Step S12: According to the frequency domain characteristics of the planetary gear, its response signals in the x and y directions are expressed as:

[0058]

[0059] Where A m and B m represents the amplitude of the mth-order meshing frequency in the x and y directions, w r represents the rotation angular frequency, w m represents the meshing angular frequency;

[0060] Combine the expressions of step S11 and step S12 to generate a dual-channel signal model u o (t) and v o (t), its expression is:

[0061]

[0062]

[0063] Step S13: For the dual-channel signal model (u o (t) and v o (t)), the phase space reconstruction principle is used to construct the Hankel matrix model, which is defined as:

[0064] I=[I(u);I(v)]=[u o (t);v o (t)].

[0065] Step S2, dual-channel signal synchronous demodulation, by introducing a cyclic spectrum, a two-variable refined cyclic spectrum is proposed, and the cyclic spectrum is applied to the Hankel matrix model to achieve dual-channel signal synchronous demodulation;

[0066] Step S21: Calculate the short-time Fourier transform of the Hankel matrix model I, which is expressed as:

[0067]

[0068] Where N γrepresents the window length, R represents the window movement, γ[n] represents the window function, i represents the number of windows, i max =(LN γ +R) / R, L represents the original signal length, w k =kΔw=kF s / N γ ,k=0,…,N w -1 represents discrete frequency, F s Indicates the sampling frequency; for signal Perform phase compensation, the expression is:

[0069] Step S22: Assume w=w k = kΔw and w a =pΔw+δ, derive ww a =w k -w a ≈w k-p ;

[0070]

[0071] Where N0 represents the center point of the window;

[0072] Step S23: multiply the product sequence Perform fast Fourier transform to generate a bivariate refined cyclic spectrum; the expression for generating a bivariate refined cyclic spectrum is:

[0073]

[0074] Where R I,i (t,τ) represents the bivariate refined cyclic spectrum coefficient; considering that the amplitudes of I(u) and I(v) are equal and the phase difference is 90°; using S I (w a ,w k ) Analyze the modulation process of I(u);

[0075] The bivariate refined cyclic spectrum coefficient R of I(u) I(u),i (t,τ) is expressed as:

[0076]

[0077] Where, and

[0078] Step S24: Then, I(u),i (t,τ) is processed by fast Fourier transform to generate S I(u) (w a ,w k ), which is expressed as:

[0079]

[0080] Where S I(u) (w a ,w k ) in w a Demodulate the fault frequency component;

[0081] Similarly, S I(v) (w a ,w k ) is expressed as:

[0082]

[0083] Step S3: synchronous extraction of modulation features. A dual-variable refined cyclic spectrum detector is generated by performing direct integration operation on the synchronous demodulated signal to achieve synchronous extraction of planetary gear modulation features.

[0084] Using integral operation in S I (w a ,w k ) to form a two-variable refined cyclic spectrum detector, which is expressed as:

[0085]

[0086] As an application of this embodiment:

[0087] By acquiring dual-channel signals using orthogonal sensing technology and applying the phase space reconstruction principle to analyze them, a Hankel matrix model is constructed. Based on the concept of cyclic spectrum, a two-variable refined cyclic spectrum is proposed and applied to the Hankel matrix model to achieve synchronous demodulation of the dual-channel signals. A direct integration operation is performed on the synchronously demodulated signals to generate a two-variable refined cyclic spectrum detector, which enables synchronous extraction of planetary gear modulation features.

[0088] While embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions, and variations may be made to these embodiments without departing from the principles and spirit of the invention, and that the scope of the invention is defined by the appended claims and their equivalents.

Claims

1. A method for synchronously extracting modulation features of a dual-channel coordinated driven planetary gear, characterized by: The steps include: Step S1, constructing a Hankel matrix model, analyzing the dual-channel signal using the phase space reconstruction principle to construct a Hankel matrix model; Step S2, dual-channel signal synchronous demodulation, by introducing a cyclic spectrum to propose a two-variable refined cyclic spectrum, and applying it to the Hankel matrix model to achieve dual-channel signal synchronous demodulation; Step S3: synchronous extraction of modulation features. A dual-variable refined cyclic spectrum detector is generated by performing direct integration operation on the synchronous demodulated signal to achieve synchronous extraction of planetary gear modulation features.

2. The method for synchronously extracting modulation features of a dual-channel coordinated driven planetary gear according to claim 1, characterized in that: The step S1 comprises: Step S11: collecting dual-channel signals using orthogonal sensing technology; Step S12: According to the frequency domain characteristics of the planetary gear, its response signals in the x and y directions are expressed as: Where A m and B m represents the amplitude of the mth-order meshing frequency in the x and y directions, w r represents the angular frequency of rotation, w m represents the meshing angular frequency; Step S13: For the dual-channel signal model (u o (t) and v o (t)), the phase space reconstruction principle is used to construct the Hankel matrix model, which is defined as: I=[I(u);I(v)]=[u o (t);v o (t)]。 3. The method for synchronously extracting modulation features of a dual-channel coordinated driven planetary gear according to claim 2, characterized in that: The expression for collecting dual-channel signals using the orthogonal sensing technology is: u(t)=-y(t)sin(ωt)+x(t)cos(ωt)-gcos(ωt) v(t)=y(t)cos(ωt)+x(t)sin(ωt)-g sin(ωt)+ω 2 e Where u(t) and v(t) represent the tangential channel signal model and the radial channel signal model, x(t) and y(t) represent the vertical signal and the horizontal signal, g represents the acceleration of gravity, ω represents the rotor rotation angular velocity, ω 2 e represents the centrifugal acceleration. When e≤1, the centrifugal acceleration may decrease.

4. The method for synchronously extracting modulation features of a dual-channel coordinated driven planetary gear according to claim 3, characterized in that: Combine the expressions of step S11 and step S12 to generate a dual-channel signal model u o (t) and v o (t), its expression is:

5. The method for synchronously extracting modulation features of a dual-channel coordinated driven planetary gear according to claim 1, characterized in that: The step S2 comprises: Step S21: Calculate the short-time Fourier transform of the Hankel matrix model I, which is expressed as: Where N γ represents the window length, R represents the window movement, γ[n] represents the window function, i represents the number of windows, i max =(LN γ +R) / R, L represents the original signal length, w k =kΔw=kF s / N γ ,k=0,…,N w -1 represents discrete frequency, F s Indicates the sampling frequency; for signal Perform phase compensation, the expression is: Step S22: Assume w=w k = kΔw and w a =pΔw+δ, derive ww a =w k -w a ≈w k-p ; Where N0 represents the center point of the window; Step S23: multiply the product sequence Perform fast Fourier transform to generate bivariate refined cyclic spectrum; Step S24: Then, I(u),i (t,τ) is processed by fast Fourier transform to generate S I(u) (w a ,w k ), which is expressed as: Where S I(u) (w a ,w k ) in w a Demodulate the fault frequency component; Similarly, S I(v) (w a ,w k ) is expressed as:

6. The method for synchronously extracting modulation features of a dual-channel coordinated driven planetary gear according to claim 1, characterized in that: The expression for generating the bivariate refined cyclic spectrum is: Where R I,i (t,τ) represents the bivariate refined cyclic spectrum coefficient; considering that the amplitudes of I(u) and I(v) are equal and the phase difference is 90°; using S I (w a ,w k ) Analyze the modulation process of I(u); The bivariate refined cyclic spectrum coefficient R of I(u) I(u),i (t,τ) is expressed as: Where, and 7. The method for synchronously extracting modulation features of a dual-channel coordinated driven planetary gear according to claim 1, characterized in that: The step S3 comprises: using integral operation to calculate the I (w a ,w k ) to form a two-variable refined cyclic spectrum detector, which is expressed as:

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