System having a drive and a smartphone

Abstract

The invention relates to a system, comprising - a drive, which has a transmission driven by an electric motor, - a supporting means having a permanent magnet and - a smartphone, wherein the smartphone has - a vibration sensor, - a data collection device, - a signal transformation means and - an evaluation unit, wherein the smartphone is designed to be suitable for - supplying the data collection device with values recorded by the vibration sensor, - storing a temporal profile of the values in the data collection device as a value profile, - transforming the value profile using the signal transformation means, - evaluating the transformed value profile using the evaluation unit and comparing it with transformed value profiles previously stored in the smartphone and displaying and / or dispatching and / or sending a warning in the event of an excessive deviation of the transformed value profile from the stored transformed value profiles.

Description

[0001] System with drive and smartphone

[0002] Description:

[0003] The invention relates to a system with drive and smartphone.

[0004] It is generally known that a smartphone is a mobile and / or portable communication device whose largest dimension is less than 17 cm and whose mass is less than 200 grams, whereby the smartphone can be operated as a participant in a wireless local area network, in particular for exchanging data with another participant in the local network.

[0005] From KR 2022 0 077 004 A, the closest state of the art is a smartphone sensor-based condition monitoring measurement method.

[0006] A machine monitoring system is known from US 6 297 742 B1.

[0007] A fault analysis method is known from US 2021 / 0 247269 A1.

[0008] AT 523 109 B1 discloses a method for calibrating a control device of an electric motor.

[0009] A method for operating a drive is known from DE 102010 051 864 B4.

[0010] The invention is therefore based on the object of developing a simple and cost-effective analysis of a drive.

[0011] According to the invention, the object is achieved in the system according to the features specified in claim 1.

[0012] Important features of the invention in the system are that the system comprises a drive, in particular a geared motor fed by a converter, which has a gear driven by an electric motor, a support means with a permanent magnet and a smartphone, wherein the smartphone has a vibration sensor, in particular a structure-borne sound sensor, a data collection device, a means for signal transformation and an evaluation unit, wherein the smartphone is designed to supply the values ​​recorded by the vibration sensor to the data collection device, to store a temporal progression of the values ​​in the data collection device as a value progression, to transform the value progression with the means for signal transformation,to evaluate the transformed value curve with the evaluation unit and to compare it with the transformed value curves previously stored in the smartphone and to display and / or send a warning in case of an unacceptably high deviation of the transformed value curve from the stored transformed value curves.

[0013] A major advantage is that the drive can be analyzed using a smartphone. This is because smartphones have a vibration sensor and are thus capable of detecting the structure-borne noise emitted by a drive. This makes it easy and cost-effective to detect structure-borne noise. This also includes vibrations caused by imbalance.

[0014] By comparing the measured values ​​recorded in a good state, any deviating behavior can be identified. A neural network in the evaluation unit is particularly well-suited for this purpose. It records the measured values ​​corresponding to the good state during a learning phase and then evaluates the currently recorded, transformed value curve. In an advantageous embodiment, the evaluation unit has a neural network for comparison, to which the stored, transformed value curves were fed, particularly during a learning phase. The advantage of this is that a comparison can be carried out quickly and easily.

[0015] In an advantageous embodiment, the signal transformation is a Laplace transformation or a Fourier transformation. This is advantageous because the effects resulting from periodic excitations are clearly recognizable, especially in a spectrum. In particular, the unacceptably high amplitude at a first frequency can be quickly, easily, and clearly identified in the spectrum.

[0016] In an advantageous embodiment, the drive has a ferromagnetic part, in particular the bearing flange of the gear unit, wherein the support means having the permanent magnet is magnetically fastened to the ferromagnetic part, wherein the support means has a flat surface on its side facing the smartphone, on which a smartphone is placed, in particular wherein the holding means prevents the smartphone from slipping parallel to the plane of the flat surface, in particular wherein the holding means is designed as an elastically deformable band, in particular which wraps around the smartphone and the drive, or wherein the holding means comprises a material adhering to the housing of the gear unit, in particular plastic, in particular plasticine. It is advantageous in this case that the support means provides a flat surface and thus enables efficient coupling of the smartphone to the drive.By means of the magnetic attraction force, the smartphone is pressed against the support without any play and is thus sufficiently well coupled for structure-borne sound.

[0017] In an advantageous embodiment, the support means is attached to the drive by means of a screw, which is screwed into a threaded hole in the drive, in particular the ferromagnetic part, and is designed as a holder for the smartphone, in particular with the holder being pressed against the ferromagnetic part by the screw. The advantage here is that a simple, cost-effective, and stable attachment enables a sufficiently good coupling.

[0018] In an advantageous embodiment, the support means is attached to the drive by means of a threaded bolt that is integrally connected to a holder and screwed into a threaded hole in the drive, in particular the ferromagnetic part, and is designed as a holder for the smartphone. This is advantageous because it enables simple, cost-effective, secure coupling and stable fastening.

[0019] In an advantageous embodiment, the converter has a higher-level control system that is suitably configured such that the higher-level control system regulates the amplitude of a first frequency of the vibration detected by the vibration sensor to zero by adjusting the phase and amplitude of a torque ripple, which are transmitted to a control device for controlling the torque of the electric motor of the drive, wherein the torque ripple is added to a torque setpoint of the control device. This is advantageous in that, after an impermissibly high amplitude is detected at the first frequency, active damping can be introduced at this frequency.This is because a sinusoidal torque ripple is added to the setpoint of the converter's torque controller. This ripple has the first frequency and its phase and amplitude are adjusted by a control device such that the amplitude of the first vibration frequency is minimized. Once this minimum is found, the torque ripple thus determined is stored as a function of the angular position of the electric motor's rotor shaft and permanently added to the torque setpoint, even during normal operation. This thus reduces the amplitude of the first vibration frequency.

[0020] In an advantageous embodiment, the electric motor has an angle sensor for determining the angular position, in particular the absolute angular position, of the rotor of the electric motor, and the drive is designed such that the torque ripple determined as a function of the angular position, which has the amplitude and phase at which the amplitude of the first frequency of the vibration does not exceed a permissible level, is permanently added to the torque setpoint during normal operation, in particular when the smartphone is removed from the support means. The advantage here is that the amplitude and phase values ​​determined by the control to minimize the amplitude at the first frequency define a torque ripple that can be permanently added to the torque setpoint depending on the angular position of the rotor shaft.Important features of the method for operating a system are that in a first method step the values ​​recorded by the sensor are stored as a value curve, in a second method step following the first in time the value curve is transformed, in a third method step following the second in time the value curve is checked by a neural network for exceeding a permissible degree of deviation, in particular wherein permissible transformed value curves were supplied to the neural network in a learning phase carried out before the first method step.

[0021] The advantage is that the process can be carried out using a smartphone, making it cost-effective and easy to do.

[0022] In an advantageous embodiment, in a fourth method step following the third step, the amplitude of a first frequency of the vibration detected by the vibration sensor is controlled to zero. The higher-level control system sets the phase and amplitude of a torque ripple, which are transmitted to a control device for controlling the torque of the drive's electric motor, with the torque ripple being added to a torque setpoint of the control device. The advantage here is that the impermissibly high amplitude of the first frequency can be reduced by the control device finding the optimal torque ripple, and then this torque ripple can be added to the torque setpoint as an angle-dependent function permanently, i.e., even after the smartphone has been removed.

[0023] In an advantageous embodiment, the angular position, in particular the absolute angular position, of the rotor of the electric motor is determined, and the phase and the amplitude at which the smallest amplitude of the first frequency is reached are used to determine a torque ripple which has the first frequency, in particular is sinusoidal, and is determined as a function of the angular position and which is added to the torque setpoint, in particular taking the angular dependence into account, in particular wherein the amplitude of the first frequency of the vibration does not exceed a permissible level, in particular during normal operation, i.e. in particular when the smartphone is removed from the support means. The advantage here is that the optimal torque ripple is determined as a function of the angular position of the rotor shaft and can therefore be taken into account during continuous operation.Preferably, the electric motor is a synchronous motor, in particular because the torque ripple can be specified with high precision as a function of the angular position of its rotor shaft.

[0024] Further advantages emerge from the dependent claims. The invention is not limited to the combination of features in the claims. Further possible combinations of claims and / or individual claim features and / or features of the description and / or the figures will become apparent to those skilled in the art, particularly from the problem and / or the problem posed by comparison with the prior art.

[0025] The invention will now be explained in more detail using schematic illustrations:

[0026] Figure 1 shows a system according to the invention, comprising a drive.

[0027] Figure 2 shows a second system with a drive designed as an electric motor.

[0028] Figure 3 shows a bracket 30 with a materially connected threaded bolt 31 for a third system.

[0029] As shown in Figure 1, the system comprises a drive, in particular a geared motor, wherein a support means 2 is attached to a ferromagnetic part of the drive, for example a bearing flange, which support means comprises a permanent magnet and is thus magnetically held on the ferromagnetic part of the drive.

[0030] The support means 2 has a flat surface on its side facing away from the drive, on which a smartphone 3 is placed.

[0031] A holding means 4 prevents the smartphone from slipping parallel to the plane of the flat surface, in particular from slipping sideways of the smartphone relative to the support means 2.

[0032] The holding means 4 can be designed as an elastically deformable band which wraps around the smartphone 3 and the drive, or the holding means 4 comprises a material adhering to the housing of the transmission, in particular plastic, in particular plasticine.

[0033] Smartphone 3 has a sensor for detecting vibration, particularly structure-borne sound. Also located in smartphone 3 is a data collection device in which the values ​​detected by the sensor are stored.

[0034] Thus, after recording the temporal progression of the vibration values, in particular the structure-borne sound, an evaluation of the recorded data can be carried out. For this purpose, the smartphone 3 has a means for signal transformation, in particular a means for Fourier transformation.

[0035] Preferably, the recorded signal curve is transformed, in particular Fourier transformed, in particular by applying an FFT, in particular Fast Fourier Transformation.

[0036] The transformed value curve is fed to an evaluation unit, which compares the transformed value curve with previously stored transformed value curves and issues a warning message on smartphone 3 if an unacceptably large deviation is detected. In a further development, the evaluation unit has a neural network to which permissible value curves are fed during a learning phase, so that the evaluation unit detects unacceptably deviating value curves once operation has begun after the learning phase. For example, an imbalance on one of the rotatably mounted shafts of the gear motor can be detected.

[0037] Preferably, the smartphone 3 has a ferromagnetic part so that the smartphone 3 is magnetically held by the permanent magnet.

[0038] In a further embodiment according to the invention, the smartphone 3 is placed in a holder 30, which is pressed against a flat surface area by means of a screw that is screwed into a threaded hole in the ferromagnetic part, in particular the bearing plate, and in particular by the screw head. The screw head has a permanent magnet, in particular so that the smartphone 3 rests as directly as possible against the screw head. The holder prevents the smartphone 3 from slipping sideways. Alternatively, as shown in Figure 3, instead of the screw, a threaded bolt 31 is designed as a composite part with the holder, in particular that is to say is integrally connected to the holder. The threaded bolt is screwed into the threaded hole in the ferromagnetic part, in particular the bearing plate. In this way, a particularly good coupling can be achieved.In a further development, a permanent magnet can additionally be arranged in the holder, so that the smartphone 3 is additionally magnetically attracted if it has a ferromagnetic part or a permanent magnet. The evaluation unit, the signal transformation means, and the data collection device are arranged within the signal electronics of the smartphone 3 and are preferably implemented in a single component, in particular an IC.

[0039] In further embodiments according to the invention, a Laplace transformation is carried out instead of the Fourier transformation.

[0040] In further embodiments of the invention, the electric motor has an angle sensor that detects the absolute angular position of the electric motor's rotor shaft and feeds it to the signal electronics of a converter that powers the electric motor. The signal electronics has a control device that is supplied with a torque setpoint and also the motor current detected at the electric motor.

[0041] The converter has a rectifier that supplies a unipolar intermediate circuit voltage to the inverter, with the electric motor being supplied from the inverter's AC-side connection. The intermediate circuit voltage is also detected by a sensor and fed to the control device.

[0042] From the measured variables, in particular the motor current and the intermediate circuit voltage, an actual value, specifically a model value, of the electric motor's torque is determined. The control device determines a motor voltage as a manipulated variable. The motor voltage is provided by the inverter, which is powered by the intermediate circuit voltage, by operating its power semiconductor switches in a pulse-width modulated manner.

[0043] The actual value of the torque is controlled by the control device to the torque setpoint by setting the pulse width modulation ratio for the power semiconductor switches.

[0044] The value curve determined by Smartphone 3 reveals, particularly in problematic cases, at least the first frequency of the spectrum with an unacceptably high amplitude. The cause of this could be, for example, bearing damage or wear on a tooth of a gear component of the transmission. However, if the excessive amplitude is caused by a geometric deviation in the tooth shape or tooth spacing, an increased amplitude is present, but no direct damage.

[0045] According to the invention, by appropriately specifying the temporal profile of the pulse width modulation ratio, a sinusoidal torque ripple is added to the specified torque setpoint, so that the controller device regulates the actual torque value to this rippled torque setpoint. The first frequency is specified as the frequency of the torque ripple. The amplitude and phase of the torque ripple are adjusted by a higher-level control system in such a way that the excessively high amplitude is regulated to zero or at least within the permissible range. In this way, a reduction in structure-borne noise emissions can be achieved.

[0046] The aforementioned torque ripple thus functions as a temporally periodic component of the torque setpoint. The total torque setpoint is thus formed as the sum of the torque setpoint and the torque ripple, with the torque ripple changing more rapidly over time relative to the torque setpoint. In particular, the torque setpoint is constant over time.

[0047] The smartphone 3 is connected wirelessly, in particular via radio wave transmission and / or a Bluetooth, WLAN, or NFC communication connection, to the signal electronics of the converter, so that the amplitude of the first frequency can be transmitted to the signal electronics after being determined by the smartphone 3. The higher-level control can be located either in the smartphone 3 or in the signal electronics of the converter.

[0048] The torque ripple determined in this way can then be determined as a function of the angular position of the rotor shaft and thus can later be used permanently in normal operation of the drive to reduce emissions.

[0049] The first frequency may deviate from the electric motor's speed if the high amplitude is caused by a geared part whose speed is reduced according to a gear ratio. Nevertheless, the speed of the geared part is used for the torque ripple.

[0050] 1 Drive, in particular gear motor 2 Support means with permanent magnet

[0051] 3 smartphones

[0052] 4 holding devices

[0053] 30 bracket

[0054] 31 threaded bolts

Claims

Patent claims:

1. System comprising a drive, in particular a geared motor fed by an inverter, which has a gear driven by an electric motor, a support means with a permanent magnet and a smartphone, characterized in that the smartphone has a vibration sensor, in particular a structure-borne sound sensor, a data collection device, a means for signal transformation and an evaluation unit, wherein the smartphone is designed to supply the values recorded by the vibration sensor to the data collection device, to store a temporal progression of the values in the data collection device as a value progression, to transform the value progression with the means for signal transformation,to evaluate the transformed value curve with the evaluation unit and to compare it with the transformed value curves previously stored in the smartphone and to display and / or send a warning in case of an unacceptably high deviation of the transformed value curve from the stored transformed value curves.

2. System according to claim 1, characterized in that the evaluation unit for comparing has a neural network to which the stored transformed value curves were fed, in particular in a learning phase.

3. System according to one of the preceding claims, characterized in that the signal transformation is a Laplace transformation or a Fourier transformation.

4. System according to one of the preceding claims, characterized in that the drive has a ferromagnetic part, in particular a bearing flange of the gear, wherein the support means having the permanent magnet is magnetically fastened to the ferromagnetic part, wherein the support means has a flat surface on its side facing the smartphone, on which a smartphone is placed, in particular wherein the holding means prevents the smartphone from slipping parallel to the plane of the flat surface, in particular wherein the holding means is designed as an elastically deformable band, in particular which wraps around the smartphone and the drive, or wherein the holding means has a material adhering to the housing of the gear, in particular plastic, in particular plasticine.

5. System according to one of the preceding claims, characterized in that the support means is fastened to the drive by means of a screw which is screwed into a threaded bore of the drive, in particular of the ferromagnetic part, and is designed as a holder for the smartphone, in particular wherein the holder is pressed against the ferromagnetic part by the screw, or that the support means is fastened to the drive by means of a metallic threaded bolt which is materially connected to a holder and is screwed into a threaded bore of the drive, in particular of the ferromagnetic part, and is designed as a holder for the smartphone, in particular wherein the permanent magnet is arranged in the holder, in particular is arranged overmolded with plastic.

6. System according to one of the preceding claims, characterized in that the converter has a higher-level control which is suitably set up in such a way that the higher-level control regulates the amplitude of a first frequency of the vibration detected by the vibration sensor to zero, in that the higher-level control sets, in particular as manipulated variables, the phase and the amplitude of a torque ripple, in particular therefore a temporally periodic component of the setpoint value for torque, wherein the torque ripple is added to a torque setpoint to form the setpoint value for torque, which is transmitted to a control device for controlling the torque of the electric motor of the drive, wherein the control device regulates the actual value of the torque of the electric motor of the drive to the setpoint value for torque, in particular by setting the motor voltage and / or the motor current of the electric motor.

7. System according to one of the preceding claims, characterized in that the electric motor has an angle sensor for determining the angular position, in particular the absolute angular position, of the rotor of the electric motor and the drive is designed such that the torque ripple determined as a function of the angular position, which has the amplitude and phase at which the amplitude of the first frequency of the vibration does not exceed a permissible level, is permanently added to the torque setpoint during normal operation, in particular when the smartphone is removed from the support means.

8. Method for operating a system, in particular according to one of the preceding claims, characterized in that in a first method step the values detected by the sensor are stored as a value curve, in a second method step following the first in time the value curve is transformed, in a third method step following the second in time the value curve is checked by a neural network for exceeding a permissible degree of deviation, in particular wherein permissible transformed value curves were supplied to the neural network in a learning phase carried out before the first method step.

9. Method according to one of the preceding claims, characterized in that in a fourth method step following the third in time, the amplitude of a first frequency of the vibration detected by the vibration sensor is controlled to zero by the higher-level control setting the phase and amplitude of a torque ripple, in particular a temporally periodic portion of the torque setpoint, which are transmitted to a control device for controlling the torque of the electric motor of the drive, wherein the torque ripple is added to a torque setpoint of the control device, and / or in a fourth method step following the third in time, the amplitude of a first frequency of the vibration detected by the vibration sensor is controlled to zero by the higher-level control setting the phase and amplitude of a torque ripple, in particular as manipulated variables,wherein the torque ripple is added to a torque setpoint to form the torque setpoint, which is transmitted to a control device for controlling the torque of the electric motor of the drive, wherein the control device regulates the actual value of the torque of the electric motor of the drive to the torque setpoint, in particular by adjusting the motor voltage and / or the motor current of the electric motor.

10. System according to one of the preceding claims, characterized in that the angular position, in particular absolute angular position, of the rotor of the electric motor is determined and that phase and that amplitude at which the smallest amplitude of the first frequency is reached are used to determine a torque ripple which has the first frequency, in particular is sinusoidal, and is determined as a function of the angular position and which is added to the torque setpoint, in particular taking the angular dependence into account, in particular wherein the amplitude of the first frequency of the vibration does not exceed a permissible level, in particular during normal operation, i.e. in particular when the smartphone is removed from the support means.

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