Double-row planetary gear fault impact time interval estimation method and fault diagnosis method

Abstract

The invention belongs to the technical field of fault diagnosis. According to the double-row planetary gear fault impact time interval estimation method and the fault diagnosis method, specific fault teeth are definitely used as initial meshing teeth, the fault impact time interval is determined according to meshing working parameters of all components, a concern point is focused on the meshing process of the specific fault gear, and the fault impact time interval is determined. According to the method, the fault impact condition of a certain row of gears can be relatively independently analyzed, interference of vibration signals of other parts and possible fault signals of another row of gears is reduced, more accurate time interval estimation is achieved, and the accuracy of subsequent double-row planetary gear fault diagnosis is guaranteed.

Description

Technical Field

[0001] The present invention relates to the technical field of fault diagnosis, and in particular to a method for estimating a fault impact time interval of a double-row planetary gear and a fault diagnosis method. Background Art

[0002] The statements in this section merely provide background information related to the present invention and do not necessarily constitute prior art.

[0003] Double-row planetary gear mechanisms are widely used in automatic transmissions and complex drivetrains due to their compact design and high transmission ratios. A typical double-row planetary gear mechanism consists of a sun gear, a first row of planetary gears (meshing with the sun gear, known as the sun-side planetary gears), a second row of planetary gears (meshing with the ring gear, known as the ring-side planetary gears), and a ring gear. Each planetary gear in the first row typically meshes with a corresponding planetary gear in the second row. In a typical design with a shared planetary carrier, both rows of planetary gears typically rotate at the same frequency. In this structure, accurately calculating the time interval between the impact of a faulty planetary gear on the meshing gears (e.g., the impact of a sun-side planetary gear failure on its meshing with the sun gear and the subsequent impact on the meshing gears in the corresponding second row; the impact of a ring-side planetary gear failure on its meshing with the first row of planetary gears and the subsequent impact on the meshing gears in the ring gear) is crucial for accurately locating the faulty planetary gear.

[0004] However, this double-row planetary gear system has significant technical difficulties during operation: the vibration signals generated by the first row of planetary gear sets, the second row of planetary gear sets, and other core components (such as the sun gear, planetary carrier, etc.) are generated simultaneously and severe multi-source signal overlap occurs. Specifically, when a broken tooth fault occurs in a certain row of planetary gear sets (such as the first row of planetary gear sets), the characteristic fault impact signal it generates is very likely to be mixed with the vibration signal generated by the normal operation of the system and the possible fault signal of the other row of planetary gear sets (the second row of planetary gear sets). This complex signal coupling phenomenon directly leads to the following technical defects: it is difficult to reliably identify and separate the broken tooth fault impact characteristics pointing to a specific row of planetary gears (such as the sun gear side or the ring gear side) from the complex signal, and thus it is impossible to accurately determine the specific planetary gear where the fault occurs and its location, which limits the accuracy and reliability of fault diagnosis. Summary of the Invention

[0005] In order to address the shortcomings of the existing technology, the present invention provides a method for estimating the fault impact time interval of a double-row planetary gear and a fault diagnosis method, which can relatively independently analyze the fault impact situation of a certain row of gears, reduce the interference of vibration signals of other components and possible fault signals of another row of gears, achieve more accurate time interval estimation, and ensure the accuracy of double-row planetary gear fault diagnosis.

[0006] In order to achieve the above object, the present invention adopts the following technical solutions: In a first aspect, the present invention provides a method for estimating a fault impact time interval of a double-row planetary gear.

[0007] A method for estimating a fault impact time interval of a double-row planetary gear includes the following steps: For a faulty tooth in the first row of planetary gears meshing with the sun gear, taking the moment when the faulty tooth enters meshing with the sun gear as the initial time point and based on the actual operating parameters of the double-row planetary gear system (including the number of gear teeth, module, speed, and phase relationship), calculate the first time difference required for the faulty tooth to move from the sun gear meshing point to meshing with the second row of planetary gears. This first time difference is used as the fault impact time interval of the planetary gear on the sun gear meshing side. For a faulty tooth in the second row of planetary gears meshing with the ring gear, the initial time point is the moment when the faulty tooth engages with the first row of planetary gears (assuming that the first row of planetary gears has not failed, when the second row of planetary gears fails, the time defined by the faulty tooth of the first row of planetary gears shall be used as the basis, and the delay amount corresponding to the time point of the second row of planetary gears is calculated based on the meshing relationship). Based on the actual operating parameters of the double row of planetary gears system (including the number of gear teeth, module, speed and phase relationship), the second time difference required for the faulty tooth to move from the meshing point between the planetary gear sets to the meshing point of the ring gear is calculated. The second time difference is used as the fault impact time interval of the planetary gear on the ring gear meshing side.

[0008] In a second aspect, the present invention provides a system for estimating a fault impact time interval of a double-row planetary gear.

[0009] A double-row planetary gear fault impact time interval estimation system, comprising: The first fault impact interval estimation unit is configured to: for a faulty tooth in the first row of planetary gears meshing with the sun gear, calculate a first time difference required for the faulty tooth to move from a sun gear meshing point to meshing with the second row of planetary gears based on actual operating parameters of the double-row planetary gear system (including the number of gear teeth, module, speed, and phase relationship), with the moment when the tooth enters meshing with the sun gear as an initial time point, and use the first time difference as the fault impact interval of the planetary gear on the sun gear meshing side; The second fault impact interval estimation unit is configured to: for a faulty tooth in the second row of planetary gears meshing with the ring gear, using the time when the faulty tooth in the second row of planetary gears meshes with the first row of planetary gears (assuming that the first row of planetary gears has not failed, when the second row of planetary gears fails, the time defined by the faulty tooth in the first row of planetary gears shall be used as the basis, and the delay amount corresponding to the time point of the second row of planetary gears in this case shall be calculated based on the meshing relationship) as the initial time point, and based on actual operating parameters of the double row of planetary gears system (including the number of gear teeth, module, speed, and phase relationship), calculate a second time difference required for the faulty tooth to move from the meshing point between the planetary gear sets to the meshing point of the ring gear, and use the second time difference as the fault impact interval of the planetary gear on the ring gear meshing side.

[0010] In a third aspect, the present invention provides a double-row planetary gear fault diagnosis method.

[0011] A double-row planetary gear fault diagnosis method includes the following steps: According to the first aspect of the present invention, the method for estimating the fault impact time interval of the double-row planetary gears comprises first determining the fault impact time interval of the sun gear side planetary gears (i.e., the first row of planetary gears) and the fault impact time interval of the ring gear side planetary gears (i.e., the second row of planetary gears); Fault diagnosis is performed by combining the fault impact time interval of the sun-side planetary gear and the corresponding broken tooth phenomenological model (a model that describes phenomena based on observational and experimental data) to obtain the fault diagnosis results of the sun-side planetary gear. The fault diagnosis results of the planetary gear on the ring gear side are obtained by combining the fault impact time interval of the planetary gear on the ring gear side and the corresponding broken tooth phenomenological model.

[0012] In a fourth aspect, the present invention provides a double-row planetary gear fault diagnosis system.

[0013] A double-row planetary gear fault diagnosis system includes the following processes: The impact time interval determining unit is configured to: first determine the fault impact time interval of the sun gear side planetary gear (i.e., the first row of planetary gears) and the fault impact time interval of the ring gear side planetary gear (i.e., the second row of planetary gears) respectively according to the double-row planetary gear fault impact time interval estimation method of the first aspect of the present invention; The sun gear side planetary gear fault diagnosis unit is configured to: perform fault diagnosis based on the fault impact time interval of the sun gear side planetary gear and the corresponding broken tooth phenomenological model to obtain a fault diagnosis result of the sun gear side planetary gear; The ring gear side planetary gear fault diagnosis unit is configured to: perform fault diagnosis based on the fault impact time interval of the ring gear side planetary gear and the corresponding broken tooth phenomenological model to obtain a fault diagnosis result of the ring gear side planetary gear.

[0014] In a fifth aspect, the present invention provides a computer device comprising: a processor and a computer-readable storage medium; a processor adapted to execute a computer program; A computer-readable storage medium having a computer program stored therein, wherein when the computer program is executed by the processor, the method for estimating the fault impact time interval of a double-row planetary gear as described in the first aspect of the present invention is implemented; or the method for diagnosing the fault of a double-row planetary gear as described in the third aspect of the present invention is implemented.

[0015] In a sixth aspect, the present invention provides a computer-readable storage medium storing a computer program, wherein the computer program is suitable for being loaded by a processor and executing the double-row planetary gear fault impact time interval estimation method as described in the first aspect of the present invention; or, executing the double-row planetary gear fault diagnosis method as described in the third aspect of the present invention.

[0016] In the seventh aspect, the present invention provides a computer program product, which includes a computer program. When the computer program is executed by a processor, it implements the double-row planetary gear fault impact time interval estimation method as described in the first aspect of the present invention; or, it implements the double-row planetary gear fault diagnosis method as described in the third aspect of the present invention.

[0017] Compared with the prior art, the present invention has the following beneficial effects: The present invention innovatively proposes a method for estimating the fault impact time interval of double-row planetary gears. This method clearly uses a specific faulty tooth as the initial meshing tooth and strictly derives the fault impact time interval based on the system's meshing operating parameters, accurately positioning the analysis focus on the meshing timing process of the specific faulty gear. This design enables relatively independent analysis of the fault impact characteristics of a certain row of planetary gears (sun gear side or ring gear side), effectively reducing the interference of vibration signals of other components and potential fault signals of the other row of planetary gears, thereby achieving more accurate fault impact time interval estimation and laying a solid foundation for subsequent accurate fault diagnosis of double-row planetary gears.

[0018] The present invention innovatively proposes a double-row planetary gear fault diagnosis method, which makes full use of the aforementioned accurately determined fault impact time interval, can effectively cope with the challenge of severe aliasing of multi-source vibration signals during system operation, accurately locates the impact information of the target fault planetary gear, and significantly reduces the interference of other components and non-target gear row signals; at the same time, by combining the fault impact time interval with the broken tooth phenomenological model for diagnostic analysis, it can fully integrate the physical characteristics and laws of the broken tooth fault, thereby significantly improving the diagnostic accuracy and reliability of the broken tooth fault of the sun gear side planetary gear and the ring gear side planetary gear, and providing strong support for the timely discovery and handling of faults.

[0019] Advantages of additional aspects of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The accompanying drawings, which constitute a part of the present invention, are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute improper limitations on the present invention.

[0021] Figure 1 A schematic flow chart of a method for estimating a fault impact time interval of a double-row planetary gear provided by an exemplary embodiment of the present invention; Figure 2 A schematic diagram of a double-row planetary gear provided for an exemplary embodiment of the present invention; Figure 3 An exemplary embodiment of the present invention provides Meshing pair and Schematic diagram of meshing pair; Figure 4 An exemplary embodiment of the present invention provides Meshing pair and Schematic diagram of meshing pair; Figure 5 A schematic flow chart of a double-row planetary gear fault diagnosis method provided by an exemplary embodiment of the present invention; Figure 6 A schematic diagram of a double-row planetary gear fault impact time interval estimation system provided by an exemplary embodiment of the present invention; Figure 7 A schematic diagram of a double-row planetary gear fault diagnosis system provided by an exemplary embodiment of the present invention; Figure 8 A schematic diagram of a computer device is provided for an exemplary embodiment of the present invention. DETAILED DESCRIPTION

[0022] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0023] It should be noted that the following detailed descriptions are exemplary and intended to provide further explanation of the present invention. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art to which the present invention belongs.

[0024] This implementation proposes a method for estimating the time interval of double-row planetary gear fault impact, such as Figure 1 As shown, the following process is included: S101: For a faulty tooth in the first row of planetary gears meshing with the sun gear, the moment when the tooth enters meshing with the sun gear is used as the initial time point; based on actual operating parameters of the double-row planetary gear system (including the number of gear teeth, module, speed, and phase relationship), a first time difference required for the faulty tooth to move from the sun gear meshing point to meshing with the second row of planetary gears is calculated, and the first time difference is used as the fault impact time interval of the planetary gear on the sun gear meshing side; S102: For a faulty tooth in the second row of planetary gears meshing with the ring gear, the moment when the faulty tooth in the second row of planetary gears meshes with the first row of planetary gears (assuming that the first row of planetary gears has not failed, when the second row of planetary gears fails, the time defined by the faulty tooth in the first row of planetary gears shall be used as the basis, and the time point corresponding to the second row of planetary gears at this time shall be calculated based on the meshing relationship) is used as the initial time point; based on the system operating parameters, a second time difference required for the faulty tooth to move from the meshing point between the planetary gear sets to the meshing point of the ring gear is calculated, and the second time difference is used as the fault impact time interval of the planetary gear on the ring gear meshing side.

[0025] The double-row planetary gear structure is often used as a key subsystem in a multi-stage planetary gear transmission system to achieve power transmission and torque amplification. Its typical structure includes a sun gear, a first row of planetary gears, a second row of planetary gears, a ring gear, and a planet carrier. These components form multiple sets of meshing gear pairs, and there is a phase difference between different gear pairs. The present invention uses a two-stage transmission structure including a first-stage single-row planetary gear system and a second-stage double-row planetary gear system as an example to illustrate. Figure 2 As shown, the two-stage transmission structure includes: the first stage (single-row planetary gear train): its sun gear is fixed and meshes with a set of planetary gears; the second stage (double-row planetary gear train): includes the second-stage sun gear for input power, the first row of planetary gears (sun gear side) meshed with the second-stage sun gear, and the second row of planetary gears (ring gear side) meshed with the ring gear; the two-stage gear trains share a planetary carrier and ring gear: the planetary gears of the first stage and the second row of planetary gears (ring gear side) of the second stage are both meshed with different parts of the same ring gear, and the ring gear adopts a floating support method. Figure 2The working state of the structure is demonstrated: power is input by the second-stage sun gear, transmitted to the second row of planetary gears (ring gear side) through the first row of planetary gears (sun gear side), driving the floating supported common ring gear to rotate; the rotation of the common ring gear in turn drives the first-stage planetary gears to rotate; since the first-stage sun gear is fixed, the final power is output by the planetary carrier in terms of torque and speed.

[0026] In this implementation, according to the planetary gear transmission mechanism, the speed characteristic equation of the double-row planetary gear train is: (1); The speed characteristic equation of a single-row planetary gear train is: (2); Where: is the first stage sun gear speed (in this structure ); is the second stage sun gear speed, is the ring gear speed, is the planet carrier speed (two stages share a common planet carrier and ring gear), , and Represents the number of teeth of the planetary gear and sun gear respectively.

[0027] Planetary gear meshing frequency The formula is: (3); in: is the number of teeth of any reference gear, is the speed of the reference gear relative to the planet carrier.

[0028] The present invention sets the second-stage sun gear input torque to 700 rpm and the load torque to 200 N. According to formulas (1)-(3), the speeds and meshing frequencies of each component of the double-row planetary gear can be calculated, as shown in Table 1.

[0029] Table 1: Speed ​​and meshing frequency of each component of double-row planetary gear

[0030] When analyzing the phase relationship between the sun gear and planetary gear pair, select the gear pair Assume that the reference gear pair Moment, gear pair Mesh at the initial meshing point and define the gear pair Relative to the gear pair The phase difference is Similarly, define For gear pair Relative to the gear pair The phase difference is defined as For gear pair Relative to the gear pair Phase difference; For gear pair Relative to the gear pair The phase difference, For gear pair Relative to the gear pair The phase difference, For gear pair In this way, the phase relationship between any two gear pairs in the planetary gear system can be obtained. 、 、 、 、 、 The value range is between (-1, 1). First define function, so that its calculated value remains between (-1, 1), ,in The function is to Round towards zero to the nearest integer, so The function is to remove the integer part of the value and keep the decimal part. When the reference gear pair is used, the phase difference between the same gear pairs has nothing to do with the selected reference point. If the sun gear rotates counterclockwise relative to the planet carrier, and the ring gear rotates counterclockwise relative to the planet carrier, the phase difference 、 、 It can be calculated according to the following formula: (4); (5); (6); in, is the angle parameter, Represents a conversion function.

[0031] When the direction of rotation is opposite, the meshing phase changes from leading to lagging, and the lagging phase is negative: (7); (8); (9).

[0032] The meshing phase relationship between different meshing pairs 、 、 When calculating, the initial meshing point is set as the reference point. Therefore, the meshing phase relationship between different meshing pairs all selects the initial meshing point as the reference point for the subsequent calculation and derivation process.

[0033] like Figure 3 As shown, For the sun gear, For the first row of planetary gears, For the second row of planetary gears, is the ring gear; Represents the center of the sun wheel, Represents the center of the first row of planetary gears, The center of the second row of planetary gears. The center of the ring gear and the center of the sun gear are theoretically at the same point. Department; is the pressure angle; are the base circle radius of the gear ring and the top circle radius of the gear respectively; are the sun gear base circle radius and tooth tip circle radius respectively; They are the base circle radius and the addendum circle radius of the first row of planetary gears respectively; They are the base circle radius and the top circle radius of the second row planetary gears respectively; and They are Meshing pairs and Theoretical meshing line of the meshing pair; and They are Meshing pairs and The actual meshing line of the meshing pair; and for Meshing pairs and Meshing nodes of meshing pairs; and The actual meshing starting point and by With The point where the radius envelope is located on the base circle of the first row of planetary gears; point Distance point for (base circle tooth thickness of planetary gear); for The meshing pair is at the meshing starting point When meshing The meshing point of the meshing pair, for point by With The point where the radius envelope is located on the base circle of the first row of planetary gears.

[0034] In analyzing Relative to Phase difference When selecting As the base meshing pair, different from most existing methods, it is assumed At this moment, the meshing pair At the initial meshing point Meshing, i.e. selecting the initial meshing point As a reference point, At the point Meshing, Meshing pair and Phase difference of meshing pair It can be expressed as: (10).

[0035] because Meshing pair and The contact of the meshing pair is on the opposite planetary gear tooth surface, so set the point distance for (base circle tooth thickness of planetary gear), according to the meshing characteristics of the gears, point Arrive The arc distance between the base circle and the tooth pitch Integer multiples of , according to the properties of the rounding function, It can be further expressed as: (11); in, (12); (13); (14); (15); (16); (17); (18); Where, is the pressure angle; are the base circle radius, addendum circle radius and pitch circle radius of the planetary gear respectively; is the sun gear pitch radius, is the pitch radius of the gear ring, Represents the modulus.

[0036] Combine formulas (10)-(18), substitute the parameters in Table 1 into the formulas, and combine with the standard gear relationship to obtain .

[0037] like Figure 4 As shown, For the sun gear, For the first row of planetary gears, For the second row of planetary gears, is the ring gear; Represents the center of the sun wheel, Represents the center of the first row of planetary gears, The center of the second row of planetary gears. The center of the ring gear and the center of the sun gear are theoretically at the same point. Department; is the pressure angle; are the base circle radius of the gear ring and the top circle radius of the gear respectively; are the sun gear base circle radius and tooth tip circle radius respectively; They are the base circle radius and the addendum circle radius of the first row of planetary gears respectively; They are the base circle radius and the top circle radius of the second row planetary gears respectively; and is the theoretical meshing line, and is the actual meshing line. and They are Meshing pairs and The actual meshing line of the meshing pair; and for Meshing pairs and Meshing nodes of meshing pairs; and The actual meshing starting point and by With The point where the radius envelope is located on the base circle of the second row of planetary gears; point Distance point for (base circle tooth thickness of planetary gear); For meshing pair At the start point of meshing When meshing The meshing point of the meshing pair, for point by With The point where the radius envelope is located on the base circle of the second row of planetary gears. Relative to Phase difference When selecting Assume that At this moment, the meshing pair At the initial meshing point Meshing, At the point Meshing, Meshing pair and Phase difference of meshing pair It can be expressed as: (19); According to the meshing characteristics of the gears, point Arrive The arc distance between the base circle and the tooth pitch Integer multiples of It can be further expressed as: (20); in, (twenty one); (twenty two); (twenty three); (twenty four); Where, is the pressure angle; They are the base circle radius, top circle radius and pitch circle radius of the planetary gear respectively Represents the modulus, and the phase difference can be obtained by substituting the parameters into the above formula .

[0038] Meshing pair and Phase difference of meshing pair for: (25).

[0039] When a tooth failure occurs in the planetary gear meshing with the sun gear, only one planetary gear has a broken tooth failure, and the other planetary gears are working normally. Assuming that the faulty tooth is the initial meshing tooth, that is, the first tooth, it affects the sun gear in direct contact with it and the planetary gear meshing with the ring gear. At the initial moment At this time, the faulty tooth just enters into meshing with the sun gear. To establish the corresponding model, it is necessary to calculate the time interval from the start of meshing with the sun gear to the meshing with another planetary gear. .

[0040] like Figure 3 As shown, the initial moment is When meshing with another planetary gear, When entering meshing, the interval between these two periods is: (26); in, (27); in, (28); Where, is the base circle tooth thickness of the planetary gear, which is calculated by formula (14). for Gear pair and The angle between the center lines is calculated by formula (15): is the pressure angle; They are respectively the base circle radius and the top circle radius of the planetary gear; .

[0041] like Figure 4 As shown, the initial moment is When meshing with another planetary gear, When entering meshing, the interval between these two periods is: (29); in, (30); (31); Where, is the base circle tooth thickness of the planetary gear, which is calculated by formula (14). for Gear pair and The angle between the center lines is calculated by formula (24): is the pressure angle; are the base circle radius and the top circle radius of the planetary gear respectively; They are the base circle radius of the gear ring and the top circle radius of the gear, which are calculated .

[0042] Based on the time interval calculated above, Figure 5 A double-row planetary gear fault diagnosis method is shown, including the following process: S501: performing fault diagnosis based on the fault impact time interval of the sun gear side planetary gear and the corresponding broken tooth phenomenological model to obtain a fault diagnosis result of the sun gear side planetary gear; S502: performing fault diagnosis based on the fault impact time interval of the planetary gear on the ring gear side and the corresponding broken tooth phenomenological model to obtain a fault diagnosis result of the planetary gear on the ring gear side.

[0043] The present invention uses the meshing stiffness variation law and fault modulation mechanism of the gear pair, uses the periodic function with the meshing frequency as the base frequency to simulate the gear system vibration signal model under fault-free conditions, and uses the rectangular window function to simulate the gear system vibration signal model under fault-free conditions. The amplitude of the fault-free vibration signal is modulated to obtain the phenomenological model of the vibration signal under the fault state of the first row of planetary gear broken teeth: (32); (33); (34); Where, For the The vibration signal expression of the sun gear-planet gear pair is: Indicates the The planetary gear-planetary gear meshing pair vibration signal expression, Indicates all faulty gears Expression of vibration signal generated by meshing gear pair; Represents the rotation frequency of the first row of planetary gears relative to the planet carrier. Assume The gear pair fault amplitude is 10, The gear pair fault amplitude is 5. In the time domain image, the sensor receives two periodic pulse sequences with a time interval of 0.0213s. At the same time, the frequency of the meshing frequency in the frequency domain image is The modulation sidebands of the time-domain periodic pulse series and the frequency-domain sideband distribution characteristics can be used to detect broken tooth faults in planetary gears meshing with the sun gear.

[0044] When a planetary gear meshing with the ring gear breaks a tooth, only one planetary gear breaks a tooth, and the other planetary gears work normally. Assuming that the faulty tooth is the initial meshing tooth, that is, the first tooth, it affects the ring gear in direct contact with it and the first row of planetary gears. At the initial moment , the faulty teeth of the second row of planetary gears mesh with the first row of planetary gears and produce impact. After a period of time, the faulty teeth of the second row of planetary gears begin to mesh with the ring gear and produce impact. The time interval between the two is Similarly, through the meshing stiffness variation law and fault modulation mechanism of the gear pair, a periodic function with meshing frequency as the base frequency is used to simulate the gear system vibration signal model under fault-free conditions, and a rectangular window function is used. The amplitude of the normal vibration signal is modulated to obtain the phenomenological model of the vibration signal under the fault state of the second row planetary gear broken tooth: (35); (36); (37); Where, For the The vibration signal expression of the planetary gear-planetary gear meshing pair meshing with the first row of planetary gears is: Indicates the The vibration signal expression of the double-row planetary gear-ring gear meshing pair is: Indicates all faulty gears Expression of the vibration signal generated by a meshing gear pair. It is the rotational frequency of the planetary gear connected to the ring gear relative to the planetary carrier.

[0045] According to formula (37), a simulation experiment is carried out, assuming The gear pair fault amplitude is 10, The gear pair fault amplitude is 5. In the time domain image, the sensor periodically receives two pulse sequences with a time interval of 0.0340s. At the same time, the frequency domain image describes the modulation sideband around the meshing frequency as follows: ; Therefore, the time domain pulse interval characteristics and frequency domain sideband distribution characteristics can be used to detect the broken tooth fault of the planetary gear meshing with the sun gear in the double-row planetary gear system.

[0046] Specifically, the vibration law of the planetary gear meshing with the sun gear when it fails is as follows: the vibration frequency domain image at the meshing frequency There is a gap near the relative rotation frequency of the planetary gear relative to the planetary carrier Modulation harmonics, i.e. fault characteristic frequencies ; Since the faulty tooth is meshed with the sun gear and another planetary gear respectively, there is a time interval of The time interval between the two pulse sequences is .

[0047] The vibration law of the planetary gear meshing with the ring gear when it fails is as follows: the vibration frequency domain image is at the meshing frequency The relative rotation frequency of the planetary gear with a spacing of Modulation harmonics, i.e. fault characteristic frequencies ; There is a time interval of The time interval between the two pulse sequences is .

[0048] Figure 6 A double-row planetary gear fault impact time interval estimation system is shown, comprising: The first fault impact interval estimation unit 601 is configured to: for a faulty tooth in the first row of planetary gears meshing with the sun gear, calculate a first time difference required for the faulty tooth to move from the sun gear meshing point to meshing with the second row of planetary gears based on actual operating parameters of the double-row planetary gear system (including the number of gear teeth, module, speed, and phase relationship), with the moment when the tooth enters meshing with the sun gear as an initial time point; and use the first time difference as the fault impact interval of the planetary gear on the sun gear meshing side; The second fault impact interval estimation unit 602 is configured to: for a faulty tooth in the second row of planetary gears meshing with the ring gear, take the moment when the faulty tooth in the second row of planetary gears meshes with the first row of planetary gears (assuming that the first row of planetary gears has not failed, when the second row of planetary gears fails, the time defined by the faulty tooth in the first row of planetary gears shall be used as the basis, and the delay amount corresponding to the time point of the second row of planetary gears is calculated according to the meshing relationship) as the initial time point; calculate a second time difference required for the faulty tooth to move from the meshing point between the planetary gear sets to the meshing point of the ring gear based on the system operating parameters, and take the second time difference as the fault impact interval of the planetary gear on the ring gear meshing side. Figure 7 A double-row planetary gear fault diagnosis system is shown, comprising: The impact time interval determining unit 701 is configured to respectively determine the fault impact time interval of the sun gear side planetary gears (i.e., the first row of planetary gears) and the fault impact time interval of the ring gear side planetary gears (i.e., the second row of planetary gears); The sun gear side planetary gear fault diagnosis unit 702 is configured to: perform fault diagnosis based on the fault impact time interval of the sun gear side planetary gear and the corresponding broken tooth phenomenological model to obtain a fault diagnosis result of the sun gear side planetary gear; The ring gear side planetary gear fault diagnosis unit 703 is configured to perform fault diagnosis based on the fault impact time interval of the ring gear side planetary gear and the corresponding broken tooth phenomenological model to obtain a fault diagnosis result of the ring gear side planetary gear.

[0049] It is understandable that each of the above-mentioned units can be separately or completely combined into one or several other units to form a unit, or one (or some) of the units can be further divided into multiple functionally smaller units to form a unit, which can achieve the same operation without affecting the realization of the technical effects of the embodiments of the present application. The above-mentioned units are divided based on logical functions. In actual applications, the functions of one unit can also be implemented by multiple units, or the functions of multiple units can be implemented by one unit. In other embodiments of the present application, the system may also include other units. In actual applications, these functions can also be implemented with the assistance of other units and can be implemented by the collaboration of multiple units.

[0050] According to another embodiment of the present application, the system described in this embodiment can be constructed by running a computer program (including program code) capable of executing the steps involved in the corresponding method of the present invention on a general-purpose computing device such as a computer, which includes processing elements and storage elements such as a central processing unit (CPU), random access memory (RAM), and read-only memory (ROM). The computer program can be recorded on, for example, a computer-readable recording medium, and loaded into the above-mentioned computing device through the computer-readable recording medium and run therein.

[0051] Figure 8 A computer device is shown, which includes a processor 801, a communication interface 802, and a computer-readable storage medium 803. The processor 801, the communication interface 802, and the computer-readable storage medium 803 may be connected via a bus or other means.

[0052] Among them, the communication interface 802 is used to receive and send data, the computer-readable storage medium 803 can be stored in the memory of the electronic device, the computer-readable storage medium 803 is used to store a computer program, the computer program includes program instructions, and the processor 801 is used to execute the program instructions stored in the computer-readable storage medium 803.

[0053] The processor 801 is the computing core and control core of the electronic device, which is suitable for implementing one or more instructions, and is specifically suitable for loading and executing one or more instructions to implement corresponding method processes or corresponding functions.

[0054] The processor 801 is configured to perform the following process: For a faulty tooth in the first row of planetary gears meshing with the sun gear, the initial time point is the moment when the tooth enters meshing with the sun gear. Based on the actual operating parameters of the double-row planetary gear system (including the number of gear teeth, module, speed, and phase relationship), the first time difference required for the faulty tooth to move from the sun gear meshing point to meshing with the second row of planetary gears is calculated. The first time difference is used as the fault impact time interval of the planetary gear on the sun gear meshing side. For a faulty tooth in the second row of planetary gears meshing with the ring gear, the initial time point is the moment when the tooth enters meshing with the first row of planetary gears (assuming that the first row of planetary gears are not faulty, when the second row of planetary gears fail, the time defined by the faulty tooth on the first row of planetary gears is used as the basis. In this case, the delay amount corresponding to the time point of the second row of planetary gears is calculated based on the meshing relationship). Based on the system operating parameters, the second time difference required for the faulty tooth to move from the meshing point between the planetary gear sets to the meshing point of the ring gear is calculated. The second time difference is used as the fault impact time interval of the planetary gear on the ring gear meshing side.

[0055] Alternatively, fault diagnosis is performed in combination with the fault impact time interval of the sun gear side planetary gear and the corresponding broken tooth phenomenological model to obtain the fault diagnosis result of the sun gear side planetary gear; fault diagnosis is performed in combination with the fault impact time interval of the ring gear side planetary gear and the corresponding broken tooth phenomenological model to obtain the fault diagnosis result of the ring gear side planetary gear.

[0056] The present invention also provides a computer-readable storage medium, which is a memory device in an electronic device for storing programs and data. It is understood that the computer-readable storage medium herein may include both built-in storage media in the electronic device and, of course, extended storage media supported by the electronic device. The computer-readable storage medium provides storage space that stores the processing system of the electronic device.

[0057] Furthermore, the storage space also stores one or more instructions suitable for being loaded and executed by the processor. These instructions may be one or more computer programs (including program code). It should be noted that the computer-readable storage medium herein may be a high-speed RAM memory or a non-volatile memory, such as at least one disk storage device; alternatively, it may be at least one computer-readable storage medium located remotely from the processor.

[0058] In one embodiment, the computer-readable storage medium stores one or more instructions; the processor loads and executes the one or more instructions stored in the computer-readable storage medium to implement the following process: For a faulty tooth in the first row of planetary gears meshing with the sun gear, the initial time point is the moment when the tooth enters meshing with the sun gear. Based on the actual operating parameters of the double-row planetary gear system (including the number of gear teeth, module, speed, and phase relationship), the first time difference required for the faulty tooth to move from the sun gear meshing point to meshing with the second row of planetary gears is calculated. The first time difference is used as the fault impact time interval of the planetary gear on the sun gear meshing side. For a faulty tooth in the second row of planetary gears meshing with the ring gear, the initial time point is the moment when the tooth enters meshing with the first row of planetary gears (assuming that the first row of planetary gears are not faulty, when the second row of planetary gears fail, the time defined by the faulty tooth on the first row of planetary gears is used as the basis. In this case, the delay amount corresponding to the time point of the second row of planetary gears is calculated based on the meshing relationship). Based on the system operating parameters, the second time difference required for the faulty tooth to move from the meshing point between the planetary gear sets to the meshing point of the ring gear is calculated. The second time difference is used as the fault impact time interval of the planetary gear on the ring gear meshing side.

[0059] Alternatively, fault diagnosis is performed in combination with the fault impact time interval of the sun gear side planetary gear and the corresponding broken tooth phenomenological model to obtain the fault diagnosis result of the sun gear side planetary gear; fault diagnosis is performed in combination with the fault impact time interval of the ring gear side planetary gear and the corresponding broken tooth phenomenological model to obtain the fault diagnosis result of the ring gear side planetary gear.

[0060] The present invention also provides a computer program product or computer program, which includes computer instructions stored in a computer-readable storage medium. A processor of an electronic device reads the computer instructions from the computer-readable storage medium and executes the computer instructions, causing the electronic device to perform the following process: For a faulty tooth in the first row of planetary gears meshing with the sun gear, the initial time point is the moment when the tooth enters meshing with the sun gear. Based on the actual operating parameters of the double-row planetary gear system (including the number of gear teeth, module, speed, and phase relationship), the first time difference required for the faulty tooth to move from the sun gear meshing point to meshing with the second row of planetary gears is calculated. The first time difference is used as the fault impact time interval of the planetary gear on the sun gear meshing side. For a faulty tooth in the second row of planetary gears meshing with the ring gear, the initial time point is the moment when the tooth enters meshing with the first row of planetary gears (assuming that the first row of planetary gears are not faulty, when the second row of planetary gears fail, the time defined by the faulty tooth on the first row of planetary gears is used as the basis. In this case, the delay amount corresponding to the time point of the second row of planetary gears is calculated based on the meshing relationship). Based on the system operating parameters, the second time difference required for the faulty tooth to move from the meshing point between the planetary gear sets to the meshing point of the ring gear is calculated. The second time difference is used as the fault impact time interval of the planetary gear on the ring gear meshing side.

[0061] Alternatively, fault diagnosis is performed in combination with the fault impact time interval of the sun gear side planetary gear and the corresponding broken tooth phenomenological model to obtain the fault diagnosis result of the sun gear side planetary gear; fault diagnosis is performed in combination with the fault impact time interval of the ring gear side planetary gear and the corresponding broken tooth phenomenological model to obtain the fault diagnosis result of the ring gear side planetary gear.

[0062] Those skilled in the art will appreciate that the units and algorithmic steps of each example described in conjunction with the embodiments disclosed in this application can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional technical personnel may use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0063] The above embodiments can be implemented in whole or in part using software, hardware, firmware, or any combination thereof. When implemented using software, they can be implemented in whole or in part in the form of a computer program product. A computer program product comprises one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the processes or functions according to the embodiments of the present application are generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted via a computer-readable storage medium. The computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via wired (e.g., coaxial cable, optical fiber, digital line) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium can be any available medium that can be accessed by a computer, or a data processing device such as a server or data center that integrates one or more available media. Available media can include magnetic media (e.g., floppy disks, hard disks, magnetic tapes), optical media (e.g., DVDs), or semiconductor media (e.g., solid-state drives).

[0064] The foregoing description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Those skilled in the art will readily appreciate that various modifications and variations of the present invention are possible. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present invention are intended to be within the scope of protection of the present invention.

Claims

1. A method for estimating the time interval of a double-row planetary gear fault impact, characterized in that: The following processes are included: For a faulty tooth in the first row of planetary gears meshing with the sun gear, taking the moment when the faulty tooth enters meshing with the sun gear as the initial time point, based on the actual operating parameters of the double-row planetary gear system and the initial time point, calculate the first time difference required for the faulty tooth to move from the sun gear meshing point to meshing with the second row of planetary gears. This first time difference is used as the fault impact time interval of the planetary gear on the sun gear meshing side. For a faulty tooth in the second row of planetary gear sets meshing with the ring gear, taking the moment when the faulty tooth enters meshing with the first row of planetary gears as the initial time point, based on the actual operating parameters of the double-row planetary gear system and combined with the initial time point, the second time difference required for the faulty tooth to move from the meshing point between the planetary gear sets to the meshing point of the ring gear is calculated, and the second time difference is used as the fault impact time interval of the planetary gear on the ring gear meshing side.

2. The method for estimating the time interval of a double-row planetary gear fault impact according to claim 1, wherein: The fault impact time interval of the planetary gear on the sun gear meshing side is: ; in, , , is the base circle tooth thickness of the planetary gear, for Gear pair and The angle between the centers of the gear pairs, is the pressure angle, are the base circle radius and tooth top circle radius of the first row of planetary gears respectively, The gear pair represents the sun gear and the first row of planetary gears. A gear pair consisting of planetary gears, The gear pair represents the first row of planetary gears. The first planetary gear and the second planetary gear A gear pair consisting of planetary gears, 、 and They represent the center of the sun gear, the first row of planetary gears, The center of the first planetary gear and the first planetary gear in the second row The center of the planetary gear.

3. The method for estimating the time interval of a double-row planetary gear fault impact according to claim 1, wherein: The fault impact time interval of the planetary gear on the ring gear meshing side is: ; , , is the base circle tooth thickness of the planetary gear, for Gear pair and The angle between the lines connecting the centers of the circles, is the pressure angle, are the base circle radius and the top circle radius of the planetary gear respectively; are the base circle radius of the gear ring and the top circle radius of the gear, The gear pair represents the ring gear and the second row of planetary gears. A gear pair consisting of planetary gears, The gear pair represents the first row of planetary gears. The first planetary gear and the second planetary gear A gear pair consisting of planetary gears, 、 and Represents the center of the ring gear, the first row of planetary gears The center of the first planetary gear and the first planetary gear in the second row The center of the planetary gear, the center of the ring gear and the center of the sun gear are .

4. A double-row planetary gear fault impact time interval estimation system, characterized in that: include: The first fault impact interval estimation unit is configured to: calculate, for a faulty tooth in the first row of planetary gears meshing with the sun gear, a first time difference required for the faulty tooth to move from a sun gear meshing point to meshing with the second row of planetary gears, taking the moment when the faulty tooth enters meshing with the sun gear as an initial time point, and based on actual operating parameters of the double-row planetary gear system at the initial time point, and use the first time difference as a fault impact interval of the planetary gear on the sun gear meshing side; The second fault impact interval estimation unit is configured to: for a faulty tooth in the second row of planetary gear sets meshing with the ring gear, take the moment when the faulty tooth enters meshing with the first row of planetary gears as an initial time point, calculate, based on actual operating parameters of the double-row planetary gear system and in combination with the initial time point, a second time difference required for the faulty tooth to move from the meshing point between the planetary gear sets to the meshing point of the ring gear, and take the second time difference as the fault impact time interval of the planetary gear on the ring gear meshing side.

5. A double-row planetary gear fault diagnosis method, characterized in that: The following processes are included: The method for estimating the fault impact time interval of a double-row planetary gear according to any one of claims 1 to 3, wherein the fault impact time interval of the planetary gear meshing with the sun gear and the fault impact time interval of the planetary gear meshing with the ring gear are determined respectively; The fault diagnosis results of the sun gear side planetary gear are obtained by combining the fault impact time interval of the sun gear side planetary gear and the corresponding broken tooth phenomenological model. The fault diagnosis results of the planetary gear on the ring gear side are obtained by combining the fault impact time interval of the planetary gear on the ring gear side and the corresponding broken tooth phenomenological model.

6. The double-row planetary gear fault diagnosis method according to claim 5, characterized in that: The fault impact time interval of the planetary gear on the sun gear side is substituted into the corresponding planetary gear broken tooth phenomenological model, and the corresponding time domain image and frequency domain image are determined to perform fault diagnosis of the planetary gear meshing with the sun gear; the fault impact time interval of the planetary gear on the ring gear side is substituted into the corresponding planetary gear broken tooth phenomenological model, and the corresponding time domain image and frequency domain image are determined to perform fault diagnosis of the planetary gear meshing with the ring gear.

7. A double-row planetary gear fault diagnosis system, characterized in that: The following processes are included: an impact time interval determining unit, configured to: determine the fault impact time interval of the planetary gear meshing with the sun gear and the fault impact time interval of the planetary gear meshing with the ring gear respectively according to the double-row planetary gear fault impact time interval estimation method according to any one of claims 1 to 3; The sun gear side planetary gear fault diagnosis unit is configured to: perform fault diagnosis based on the fault impact time interval of the sun gear side planetary gear and the corresponding broken tooth phenomenological model to obtain a fault diagnosis result of the sun gear side planetary gear; The ring gear side planetary gear fault diagnosis unit is configured to: perform fault diagnosis based on the fault impact time interval of the ring gear side planetary gear and the corresponding broken tooth phenomenological model to obtain a fault diagnosis result of the ring gear side planetary gear.

8. A computer device, characterized in that: include: a processor and a computer-readable storage medium; a processor adapted to execute a computer program; A computer-readable storage medium having a computer program stored therein, wherein when the computer program is executed by the processor, the method for estimating the fault impact time interval of a double-row planetary gear as described in any one of claims 1 to 3 is implemented; or the method for diagnosing the fault of a double-row planetary gear as described in any one of claims 5 to 6 is implemented.

9. A computer-readable storage medium, characterized in that The computer-readable storage medium stores a computer program, which is suitable for being loaded by a processor and executing the double-row planetary gear fault impact time interval estimation method according to any one of claims 1 to 3; or executing the double-row planetary gear fault diagnosis method according to any one of claims 5 to 6.

10. A computer program product, characterized in that The computer program product includes a computer program, and when the computer program is executed by a processor, it implements the double-row planetary gear fault impact time interval estimation method according to any one of claims 1 to 3; or implements the double-row planetary gear fault diagnosis method according to any one of claims 5 to 6.

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