Control system for variable speed pumps with active temperature and vibration monitoring and control device

Description

CROSS-REFERENCE TO RELATED APPLICATION

[0001] This application claims benefit to US provisional patent application serial no. 62 / 716,027, filed 8 August 2018.BACKGROUND OF THE INVENTION1. Field of the Invention

[0002] The present invention relates to a pumping system; and more particularly relates to a pumping system having a controller. In particular, the invention refers to an apparatus and a method for controlling pump speed in order to avoid resonances under critical pump speeds.2. Brief Description of Related Art

[0003] In the Variable Speed Pumping application monitoring pump system vibration level and elevated motor temperature have become critical elements to expand pumping system life expediency and reducing the energy consumption. These elements are especially important to be controllable in the pumping application where over speed operation is engaged.

[0004] US 2009 / 204237 A1 discloses a pump system for which it is determined through vibration analysis or current signature analysis techniques that operation is at a critical or resonant frequency, and to alter system speed to avoid such critical frequencies that may accelerate wear of bearing components.

[0005] US 2010 / 0300683 A1 discloses using a 3D pump vibration power spectrum as a vibration analysis technique in order to detect cavitation.SUMMARY OF THE INVENTION

[0006] The present invention provides an active pumping vibration control technique for a variable speed pumping system, in which resonances around critical speeds are detected and avoided automatically by adjusting pump speed accordingly. In particular, the invention suggests an apparatus comprising all the features of claim 1 and a respective method comprising all the features of claim 7. The present invention also provides failure detection and alarm criterions with a real-time graphic display.

[0007] For an over speed pump operation that is now practiced in some specific applications, both the temperature and overall vibration may be raised. The active pump vibration control may also be applied in these speed regions by checking upon the vibration resonances as well as the overall power spectra rising levels respectively to protect pumps from failure. The system dynamic analysis data is acquired for the pump together with hydronic system and integrated to the control system, which shows the exact relationship between the parts and the bands alarmed, to pin point a failure mode with a specific part for calling a service.Specific Embodiments

[0008] According to the present invention, there is provided an apparatus featuring a controller having a signal processor or processing module configured to: receive signaling containing information about a relationship between frequencies of pump vibration resonances detected around critical pump speeds and a 3-dimensional pump vibration power spectrum in the frequency domain with respect to pump speed and pump temperature change differences; and determine corresponding signaling containing information to adjust the pump speed to avoid the pump vibration resonances around the critical pump speeds, based upon the signaling received.

[0009] The signal processor or processing module is configured to provide the corresponding signaling as control signaling to adjust the pump speed.

[0010] The apparatus includes a variable speed pumping control system.

[0011] The controller includes a moving average historic peak detector configured to receive associated signaling containing information about the pump speed, the frequencies of the pump vibration resonances detected, and the pump temperature change differences, and detect and provide moving average historic peaks.

[0012] The moving average historic peak detector is a 3-dimensional moving average historic peak detector.

[0013] The 3-dimensional pump vibration power spectrum of P with respect to the pump speed of n, the frequency domain of f and the temperature change difference of ∇T may take the form of the following equation: P n , f , ∇ T = φ n , f , ∇ T , where the expression φ(n, f, ∇T) is a 3-dimensional power spectra distribution with respect to pump speed of n, time and temperature change difference of ∇T, respectively.

[0014] The controller including the moving average historic peak detector configured to obtain moving average historic peaks over frequency of f in the frequency domain, may use the equation: where n i = 0, ... , n max within a speed region, MAHP(f i ± Δf, Vt, ∇T) is a 3-dimensional moving average historic peak detector with its center frequency at f i which is associated with a given pump speed of n i and with filter lengths of ±Δf along frequency, ∇t along time, and the temperature change difference of ∇T, where the 3-dimensional power spectra distribution is combined over fractional octave bands with respect to the pump speed of n.

[0015] The controller may be configured to implement an active vibration control with respect to the pump speed of n based upon Eq. 2 as follows: fixing the pump speed of n at a value of n trig , as determining when a power spectrum jump of ΔP̂ is greater than a power spectra threshold value of ΔP̂ set for detecting a resonance at a band of i, based upon the relationship: defining a temperature criterion as where ∇T thr i is a temperature change threshold value set up; and defining the power spectrum jump of ΔP̂ by the equation: where ΔP̂ is the power spectrum jump in between φ̂ at speed of n i and ∇T, φ is an overall average power spectra along the pump speed of n, at a time of t, and over the temperature change difference of ∇T, respectively.

[0016] The controller may be configured to implement the active vibration control by resuming the pump speed of n whenever there is no resonance triggered if ΔP̂ < ΔP̂ Thr i , and setting the trig flag from "true" to "false", respectively.

[0017] The signal processor or processing module may be configured to provide the corresponding signaling as control signaling to control the operation of a pumping system, including staging / de-staging a pump to or from the pumping system.The Method

[0018] According to the present invention, there is provided a method featuring steps for: receiving, with a controller having a signal processor or processing module, signaling containing information about a relationship between frequencies of pump vibration resonances detected around critical pump speeds and a 3-dimensional pump vibration power spectrum in the frequency domain with respect to pump speed and pump temperature change differences, and determining, with the controller, corresponding signaling containing information to adjust the pump speed to avoid the pump vibration resonances around the critical pump speeds, based upon the signaling received.

[0019] The corresponding signaling is provided as control signaling to adjust the pump speed.

[0020] A moving average historic peak detector is implemented in the controller, the moving average historic peak detector being configured to receive associated signaling containing information about the pump speed, the frequencies of the pump vibration resonances detected, and the pump temperature change differences, and detect and provide moving average historic peaks.

[0021] The moving average historic peak detector is a 3-dimensional moving average historic peak detector.BRIEF DESCRIPTION OF THE DRAWING

[0022] The drawing, which is not necessarily drawn to scale, includes the following Figures: Figure 1 is a pump active vibration control and health monitoring system, e.g., adapted or configured with a pump active vibration control adapted on a pump, in which resonances around critical speeds are detected and avoided automatically by adjusting pump speed, according to some embodiments of the present invention. Figure 2 is a graph of a 3-dimensional pump vibration power spectrum in the frequency domain that includes 9 different pump vibration power spectrums of resonances sensed or detected in relation to 9 different time slots for a pump, each pump vibration power spectrum showing amplitude (mm / sec) versus frequency (Hz) of the resonances sensed or detected in a respective time slot for the pump, according to some embodiments of the present invention. Figure 3 is a flow chart and modules of an active pump control signal processing, according to some embodiments of the present invention. Figure 4 is a block diagram of apparatus, e.g., including a pumping system, according to some embodiments of the present invention.

[0023] Similar parts or components in Figures are labeled with similar reference numerals and labels for consistency. Every lead line and associated reference label for every element is not included in every Figure of the drawing to reduce clutter in the drawing as a whole.DETAILED DESCRIPTION OF THE INVENTION1. Introduction

[0024] Pumps are essential to Heating or cooling facility operation. Pre-engineered Pump Health Monitoring solutions, such as a vibration monitoring system, deliver diagnostics information to predict issues and take corrective action to reduce downtime and maintenance costs.

[0025] There are literally dozens of root causes for damage to a pump and related failure, such as cavitation damage, the failure of seals, bearings or other internals, misaligned or imbalanced installation.

[0026] Instead of monitoring pump vibration status, the present invention provides an active pumping vibration control technique for a variable speed pumping system, in which resonances around critical speeds are detected and avoided automatically during pumping operation. The failure detection and alarm criterions are proposed as well with the real-time graphic display, in which each vibration resonance model is presented.

[0027] For an over speed pump operation that is now practiced in some specific applications, both the temperature and overall vibration may be raised. The active pump vibration control proposed above may also be applied in these speed regions by checking upon the vibration resonances as well as the overall power spectra rising levels respectively to protect pumps from failure.

[0028] To achieve that, the pump vibration power spectra with respect to pump speed is obtained by a 3-dimensional moving average historic peak detector with respect to pump speed, frequency and temperature change, respectively. A resonance under a critical speed is then detected and avoided in real-time by adjusting proportional / integral / derivative (pid) speed of drive / pump accordingly.

[0029] The solution can include a wireless field network communicating continuous real-time Active vibration control, diagnostics, and application data from wireless measurement instruments to the host system's HMI display and data applications.2. Pump Active Vibration Control2.1. Pump Vibration Power Spectra Distribution

[0030] A pump active vibration control and health monitoring system S is shown schematically in Figure 1, by way of example, which includes a pump active vibration control C adapted on, or configured in relation to, a pump P, a wireless modem W configured to provide wireless signaling Ws, a health monitoring system HMS having a laptop, one or more databases and one or more remote servers.

[0031] Figure 2 shows the pump vibration power spectrum, e.g., including nine (9) different spectrums over nine (9) different time periods labeled t 1 , ..., t 3 , ,..., t 5 ,..., t 8 , t 9 .

[0032] The power spectra distribution of P with respect to the pump speed of n, the frequency domain of f as well as the temperature change difference of ∇T, may be represented in the form of P n , f , ∇ T = φ n , f , ∇ T , where φ(n, f, ∇T) is an expression of 3-dimensional power spectra distribution with respect to pump speed, time and temperature change, respectively.

[0033] With φ(n, f , ∇T), the detailed resonances of the pump vibration with respect to pump speed, frequency and temperature change can be analyzed and each dynamic mode may be identified accordingly.2.2. Discrete Power Spectra Distribution

[0034] To achieve the Active vibration control, the pump vibration resonances power spectra of P̂ or φ̂, with respect to pump speed of n, as well as temperature change of ∇T, may be obtained by a peak detector over frequency of f in the frequency domain, which may be represented as P ^ n i , ∇ T = φ ^ n i , MAHP f i ± Δf , ∇ t , ∇ T , where n i = 0, ... n max within a speed region, MAHP(f i ± Δf, ∇t, ∇T) is a 3- dimensional moving average historic peak detector with its center frequency at f i which is associated with pump speed of n i , and with the filter lengths of ±Δf along frequency, ∇t along time, and the temperature change of ∇T , where the power spectra is combined over fractional octave bands with respect to the pump speed of n.2.3. Pump Active Vibration Control

[0035] Therefore, the Active vibration control with respect to pump speed of n based upon Eq. 2 may be derived as following.

[0036] The pump speed of n may be fixed at a value of n trig , as n = n trig when the power spectra has a jump of ΔP̂ which is greater than a power spectra threshold value of ΔP̂ Thr i set for detecting a resonance at the band of i, i.e., Δ P ^ ≥ Δ P ^ Thr i , together with a temperature criterion defined as ∇ T ≥ ∇ T thr i , where ∇T thr i is a temperature change threshold value set up, and ΔP̂ may be defined in form of Δ P ^ n i , ∇ T = abs φ ^ n i , ∇ T − φ ¯ , where ΔP̂ is the power spectrum jump in between φ̂ at speed of n i and ∇T, φ is the overall average power spectra along speed of n, at the time of t, and over the temperature change of ∇T, respectively.

[0037] A trig flag is raised as "true" accordingly.

[0038] The pump speed resumes to pid control on speed of n, whenever there is no resonance triggered, i.e., ΔP̂ < ΔP̂ Thr i , and the trig flag is set "false", respectively.

[0039] In general, the pump speed is frozen at n trig momentarily whenever a resonance-trigger signal is triggered, and resumes back to the pid function speed control soon after the trigger signal is vanished.

[0040] By way of example, Figure 3 shows a flow chart and modules generally indicated as 1 for implementing the active pump control signal processing, according to some embodiments of the present invention. In Figure 3, the active pump control signal processing may be implemented, e.g., using an Acc (e.g., an accumulator) 2, a IIR High Pass (HP) 10 Hz cut-off module 3, Low Pass (LP) 500 Hz cut-off module 4, a Fast Fourier Transform (FFT) module 5, a moving average historic peak (MAHP) detector module 6 and a decision making module 7, consistent with that set forth herein. In operation, the decision making module 7 is configured to provide decision signaling to adjust the pump speed to n = n trig if ΔP̂ ≥ ΔP̂ Thr i and ∇T ≥ ∇T thr i is true (i.e. Yes); and to provide corresponding decision signaling to adjust the pump speed to n = n if ΔP̂ ≥ ΔP̂ Thr i and ∇T ≥ ∇T thr i is false (i.e. No).

[0041] Note that the temperature change threshold condition of Eq. 5 is only for over speed operation to protect the motor and pump failure.2.4. Failure Prevention

[0042] An individual modes failure detection and alarm may be expressed in form of Δ P ^ n i , ∇ T ≥ Δ P ^ Thr i , ∇ T ≥ ∇ T thr i , where Δ P ^ n i , ∇ T = abs φ ^ n i , ∇ T − φ ¯ 0 , where φ̂(n i , ∇T) is the power spectra combined over fractional octave bands with respect to the pump speed of n, and φ 0 is the overall power averaged over the pump speed at the beginning of the pump installation.

[0043] The failure detection and alarm may be expressed in form of the overall power spectra as Δ P ^ overall ≥ Δ P ^ Thr all , and ∇ T ≥ ∇ T thr all , where Δ P ^ overall = abs φ ¯ − φ ¯ 0 , where φ is the overall power spectrum averaged over the pump speed, and φ 0 , is the overall power averaged over the pump speed at the beginning of the pump installation, ΔP̂ Thr all the overall threshold for vibration.

[0044] Equations 7-12 may be used for active pump vibration control as well, especially for the over speed operation, when the overall power spectrum averaged over the pump speed may exceed their thresholds set up, while checking upon any resonances to avoid as well the same as for the resonances handled in the normal operation speed region in Equations 3-6.

[0045] Varying pump speed may be realized by staging or de-staging a pump to a pump system to avoid the over vibration introduced by over speeding operation.

[0046] In addition, to pin point a failure mode with a specific part, as the best practice for calling a service, the system dynamic analysis for the pump together with hydronic system should be carried out as well, ahead of time. Therefore, the exact relationship of the parts and the bands alarmed are known specifically to the control system.Figure 4

[0047] According to some embodiments, the present invention includes, or takes the form of, apparatus 10 featuring a controller 11 having a signal processor or processing module 10a configured to: receive signaling containing information about a relationship between frequencies of pump vibration resonances detected around critical pump speeds and a 3-dimensional pump vibration power spectrum in the frequency domain with respect to pump speed and pump temperature change differences; and determine corresponding signaling containing information to adjust the pump speed to avoid the pump vibration resonances around the critical pump speeds, based upon the signaling received, based upon the signaling received.

[0048] The signal processor or processing module 10a is configured to provide the corresponding signaling as control signaling to adjust the pump speed.The Controller 11

[0049] By way of example, the functionality of the controller 11 may be implemented using hardware, software, firmware, or a combination thereof. In a typical software implementation, the controller would include one or more microprocessor-based architectures having, e. g., at least one signal processor or microprocessor like element 10a. A person skilled in the art would be able to program such a microcontroller (or microprocessor)-based implementation to perform the functionality described herein without undue experimentation. The invention is not intended to be limited to any particular implementation using technology either now known or later developed in the future. The invention is intended to include implementing the functionality of the processors 10a as stand-alone processor or processor module, as separate processor or processor modules, as well as some combination thereof.

[0050] The apparatus 10 and / or controller 11 may also include other signal processor circuits or components 10b, e.g., including memory modules like random access memory (RAM) and / or read only memory (ROM), input / output devices and control, and data and address buses connecting the same, and / or at least one input processor and at least one output processor.

[0051] The apparatus 10 may also include other circuitry and components 10c, including sensors for detecting pump speed, pump vibration, pump temperature, e.g., such as accelerometers, thermistors, etc.

[0052] By way of example, the 3-dimensional pump vibration power spectrum may be suitably sensed. The sensed signaling may be suitably processed using the modules 3, 4, 5 and 6 in Figure 3, and suitably stored in one or more memory modules that may form part of the circuits or components 10b. The 3-dimensional pump vibration power spectrum may also be suitably updated and adapted over time consistent with that set forth herein.

[0053] By way of further example, the functionality of the controller 11 may be implemented in whole or in part in the pump active vibration control C (Fig. 1), the health monitoring system HMS (Fig. 1), or some combination thereof, according to some embodiments of the present invention.Various Embodiments

[0054] The present invention may be implemented in one or more different embodiments, e.g., consistent with that set forth below, provided that they fall under the scope of the appended claims: According to some embodiments, the present invention may include, or take the form of, a variable speed pumping control system with active temperature and vibration monitoring and control means having primarily a variable speed pumping control system with active temperature and vibration monitoring and control device, which is capable for active pump vibration control and failure detection for a pumping hydronic system with a VFD drive. The active pump vibration control may be primarily realized by on-operation vibration and temperature elevation detection by voiding the resonance speeds directly and / or simply by alternating pump speed for certain rising levels based upon their overall vibration power spectra not only for normal operation, but also for over speed pump operation as well.

[0055] According to some embodiments, the present invention may include, or take the form of, the active temperature and vibration monitoring and control means having a 3-dimensional moving average historic peak detector, an automatic resonance detector, a pump / drive speed altering module, and a failure mode evaluation module with associated their real-time spectra display and alarming of P ^ n i , ∇ T .

[0056] According to some embodiments, the present invention may include, or take the form of, the 3-dimensional moving average historic peak detector for the active pumping vibration control and monitoring means having the form of MAHP(f i ± Δf, ∇T) with its center frequency at f i and the filter lengths of ±Δf along frequency and ∇T along the time. The power spectra may be combined over fractional octave bands with respect to the pump speed of n.

[0057] According to some embodiments, the present invention may include, or take the form of, the automatic resonance detector for the active pumping vibration control and monitoring means having the form of ΔP̂(n i ) ≥ ΔP̂ Thr i and ∇T ≥ ∇T thri , with ΔP̂(n i , ∇T) = abs(φ̂(n i , ∇T) - φ 0 ). Here, φ̂(n i ) is the power spectra combined and averaged over the pump speed of n, φ 0 is the overall power averaged over the pump speed at the beginning of the pump installation, and the power spectra threshold values of ΔP̂ Thr , i and ∇T thri sets for detecting a resonance at the band of i.

[0058] Alternatively, according to some embodiments, the present invention may include, or take the form of, the automatic resonance detector for the active pumping vibration control and monitoring means having the form of ΔP̂ overall ≥ ΔP̂ Thr all and ∇T ≥ ∇T thr all, with ΔP̂ overall = abs(φ - φ 0 ). Here, φ is the overall power spectrum averaged over the pump speed, φ 0 is the overall power averaged over the pump speed at the beginning of the pump installation, and the power spectra threshold values of ΔP̂ Thr all and ∇T thr all sets for detecting a resonance at the band of i.

[0059] Alternatively, according to some embodiments, the present invention may include, or take the form of, the active temperature and vibration monitoring and control means having the active pump vibration control specially for the over speed operation, when the overall power spectrum and temperature may exceed thresholds set up the same as represented in Eqs. 7-12, for avoiding the resonances as well as their overall spectra limits.

[0060] According to some embodiments, the present invention may include, or take the form of, the active temperature and vibration monitoring and control means having the graphic real-time spectra display and alarming, in which the vibration spectra, the overall power spectra averaged over the pump speed, temperature, as well as their corresponding thresholds are displayed graphically in real-time.

[0061] According to some embodiments, the present invention may include, or take the form of, the active temperature and vibration monitoring and control means having system dynamic analysis data acquired for the pump together with the hydronic system and integrated to the control system, which shows the exact relationship between the parts and the bands alarmed, to pin point a failure mode with a specific part for calling a service.

[0062] According to some embodiments, the present invention may include, or take the form of, the active temperature and vibration monitoring and control means having all close loop or open loop hydronic pumping systems, such as primary pumping systems, secondary pumping systems, water circulating systems, and pressure booster systems. The systems mentioned here may consist of a single zone or multiple zones as well.

[0063] According to some embodiments, the present invention may include the vibration sensors, e.g., such as any accelerators, mems sensors, and so forth.

[0064] According to some embodiments, the present invention may include control signals transmitting and wiring technologies, e.g., such as all conventional sensing and transmitting means that are used currently in the art.

[0065] Preferably, wireless sensor signal transmission technologies would be optimal and favorable.

[0066] According to some embodiments, the present invention may include pumps for the hydronic pumping systems, e.g., such as a single pump, a circulator, a group of parallel ganged pumps or circulators, a group of serial ganged pumps or circulators, or their combinations.References

[0067] This application forms part of a family of technologies, as follows: Reference [1]: by Andrew Cheng, James Gu, entitled "Method and Apparatus for Pump Control Using Varying Equivalent System Characteristic Curve, a / k / a an Adaptive Control Curve," issued as US Patent no. 8,700,221, on 15 April 2014. Reference [2]:by Andrew Cheng, James Gu, Graham Scott, entitled "Dynamic Linear Control Methods And Apparatus For Variable Speed Pump Control," issued as US Patent no. 10,048,701, on 14 August 2018. Reference [3]: by Andrew Cheng, James Gu, Graham Scott, entitled "Sensorless Adaptive Pump Control with Self-Calibration Apparatus for Hydronic Pumping Systems" issued as US Patent no. 9,897,084, on 20 February 2018. Reference [4]: by Andrew Cheng, James Gu, Graham Scott, entitled "System and Flow Adaptive Pumping Control Apparatus - A Minimum Pumping Energy Operation Control System vs. Sensorless Application," issued as US Patent no. 9,846,416, on 19 December 2017. Reference [5]: by Andrew Cheng, James Gu, entitled "No Flow Detection Means for Sensorless Pumping Control Applications," issued as US Patent no. 10,317,894, on 11 June 2019. Reference [6]: by Andrew Cheng, James Gu, Kyle Schoenheit, entitled "Advanced Real Time Graphic Sensorless Energy Saving Pump Control System," filed on 22 July 2016, and assigned US serial no. 15 / 217,070, which claims benefit to US provisional application serial no. 62 / 196,355, filed 24 July 2015. Reference [7]: by Andrew Cheng, Matt Ruffo and Ruff Jordan, entitled "Adaptive Water Level Controls For Water Empty Or Fill Applications," filed on 21 March 2018, and assigned US serial no. 15 / 927,296, which claims benefit to US provisional application serial no. 62 / 196,355, filed 21 March 2017. The Invention

[0068] The embodiments shown and described in detail herein are provided by way of example only; and the invention is not intended to be limited to the particular configurations, dimensionalities, and / or design details of these parts or elements included herein. In other words, one skilled in the art would appreciate that design changes to these embodiments may be made and such that the resulting embodiments would be different than the embodiments disclosed herein, but would still be within the present invention, provided that they fall under the scope of the appended claims.

[0069] Although the invention has been described and illustrated with respect to exemplary embodiments thereof, the foregoing and various other additions and omissions may be made therein and thereto without departing from the present invention, which is solely defined by the appended claims.

Claims

1. Apparatus (10) comprising: a controller (11) comprising a 3-dimensional moving average historic peak detector configured to: receive associated signaling containing information about a pump speed, frequencies of pump vibration resonances detected, and pump temperature change differences, and detect and provide moving average historic peaks, the controller (11) having a signal processor or processing module (10a) configured to: receive signaling containing information about a relationship between frequencies of pump vibration resonances detected around critical pump speeds and also about a 3-dimensional pump vibration power spectrum in the frequency domain with respect to pump speed and pump temperature change differences, wherein the 3-dimensional pump vibration power spectrum with respect to pump speed is obtained by the 3-dimensional moving average historic peak detector with respect to pump speed, frequency and temperature change, respectively, thereby detecting a resonance under a critical speed; and determine corresponding signaling containing information to adjust the pump speed to avoid such a resonance in real-time by adjusting proportional / integral / derivative pump speed accordingly, referred to hereinafter as pid function speed control, based upon the signaling received.

2. Apparatus (10) according to claim 1, wherein the 3-dimensional pump vibration power spectrum of P with respect to the pump speed of n, the frequency domain of f and the temperature change difference of ∇T takes the form of the following equation: P n , f , ∇ T = φ n , f , ∇ T , where the expression of φ(n, f, ∇T) is a 3-dimensional power spectra distribution with respect to pump speed of n, time and temperature change difference of ∇T, respectively.

3. Apparatus (10) according to claim 2, wherein the moving average historic peak detector is configured to obtain moving average historic peaks over frequency of f in the frequency domain, using the equation: where ni = 0, ... , nmax within a speed region, MAHP(fi ± Δf, Vt, ∇T) is a 3-dimensional moving average historic peak detector with its center frequency at fi which is associated with a given pump speed of ni, and with filter lengths of ±Δf along frequency, ∇t along time, and the temperature change difference of ∇T, where the 3- dimensional power spectra distribution is combined over fractional octave bands with respect to the pump speed of n.

4. Apparatus (10) according to claim 3, wherein the controller (11) is configured to implement an active vibration control (C) with respect to the pump speed of n based upon Eq. 2 as follows: fixing the pump speed of n at a value of ntrig, as determining when a power spectrum jump of ΔP̂ is greater than a power spectra threshold value of ΔP̂Thr i set for detecting a resonance at a band of i, based upon the relationship: defining a temperature criterion as where ∇Tthr i is a temperature change threshold value set up; and defining the power spectrum jump of ΔP̂ by the equation: where ΔP̂ is the power spectrum jump in between φ̂ at speed of ni and ∇T, φ is an overall average power spectra along the pump speed of n, at a time of t, and over the temperature change difference of ∇T, respectively, wherein the pump speed is adjusted to n = ntrig if ΔP̂ ≥ ΔP̂Thr i and ∇T ≥ ∇Tthr i is true; and adjusted to n = n if ΔP̂ ≥ ΔP̂Thr i and ∇T ≥ ∇Tthr i is false.

5. Apparatus (10) according to claim 4, wherein the controller (11) is also configured to implement the active vibration control (C) by resuming the pump speed of n whenever there is no resonance triggered if ΔP̂< ΔP̂Thr i, and setting the trig flag from "true" to "false", respectively.

6. Apparatus (10) according to one of the claims 1 to 5, wherein the signal processor or processing module (10a) is configured to provide the corresponding signaling as control signaling to control the operation of a pumping system, including staging / de-staging a pump (P) to or from the pumping system.

7. A method comprising: implementing in a controller (11) a 3-dimensional moving average historic peak detector configured to: receive associated signaling containing information about a pump speed, frequencies of pump vibration resonances detected, and pump temperature change differences, and detect and provide moving average historic peaks, receiving, with the controller (11) having a signal processor or processing module (10a), signaling containing information about a relationship between frequencies of pump vibration resonances detected around critical pump speeds and also about a 3-dimensional pump vibration power spectrum in the frequency domain with respect to pump speed and pump temperature change differences, wherein the 3-dimensional pump vibration power spectrum with respect to pump speed is obtained by the 3-dimensional moving average historic peak detector with respect to pump speed, frequency and temperature change, respectively, thereby detecting a resonance under a critical speed; and determining, with the controller (11), corresponding signaling containing information to adjust the pump speed to avoid such a resonance in real-time by adjusting proportional / integral / derivative pump speed accordingly, based upon the signaling received.

8. The method according to claim 7, wherein the method comprises implementing the 3-dimensional pump vibration power spectrum of P with respect to the pump speed of n, the frequency domain of f and the temperature change difference of ∇T using the following equation: P n , f , ∇ T = φ n , f , ∇ T , where the expression φ(n,f, ∇T) is a 3-dimensional power spectra distribution with respect to pump speed of n, time and temperature change difference of ∇T, respectively.

9. The method according to claim 8, wherein the moving average historic peak detector is configured to obtain moving average historic peaks over frequency of f in the frequency domain, using the equation: where ni = 0, ... , nmax within a speed region, MAHP(fi ± Δf, ∇t, ∇T) is a 3-dimensional moving average historic peak detector with its center frequency at fi which is associated with a given pump speed of ni, and with filter lengths of ±Δf along frequency, ∇t along time, and the temperature change difference of ∇T, where the 3- dimensional power spectra distribution is combined over fractional octave bands with respect to the pump speed of n.

10. The method according to claim 9, wherein the method comprises configuring the controller (11) to implement an active vibration control (C) with respect to the pump speed of n based upon Eq. 2 as follows: fixing the pump speed of n at a value of ntrig, as determining when a power spectrum jump of ΔP̂ is greater than a power spectra threshold value of ΔP̂Thr i set for detecting a resonance at a band of i, based upon the relationship: defining a temperature criterion as where ∇Tthr i is a temperature change threshold value set up; and defining the power spectrum jump of ΔP̂ by the equation: where ΔP̂ is the power spectrum jump in between φ̂ at speed of ni and ∇T, φ is an overall average power spectra along the pump speed of n, at a time of t, and over the temperature change difference of ∇T, respectively, wherein the pump speed is adjusted to n = ntrig if ΔP̂ ≥ ΔP̂Thr i and ∇T ≥ ∇Tthr i is true; and adjusted to n = n if ΔP̂ ≥ ΔP̂Thr i and ∇T ≥ ∇Tthr i is false.

11. The method according to claim 10, wherein the method comprises configuring the controller (11) to implement the active vibration control (C) by resuming the pump speed of n whenever there is no resonance triggered if ΔP̂ < ΔP̂Thr i, and setting a trig flag from "true" to "false", respectively.

12. The method according to one of the claims 7 to 11, wherein the method comprises providing with the signal processor or processing module (11a) the corresponding signaling as control signaling to control the operation of a pumping system, including staging / de-staging a pump (P) to or from the pumping system.