Methods and systems for monitoring rotating electrical machines
Patent Information
- Authority / Receiving Office
- EP · EP
- Patent Type
- Applications
- Current Assignee / Owner
- SIEMENS AG
- Filing Date
- 2024-10-07
- Publication Date
- 2026-06-24
AI Technical Summary
Existing monitoring systems for electrical rotary machines struggle to accurately and efficiently detect resonance frequencies in real-time, leading to increased vibration amplitudes and potential mechanical damage.
A procedure and system that model the dependence of vibration amplitude on speed to identify resonance areas, using a vibration amplitude speed component model and a resonance model derived from known data, to predict and avoid critical speed ranges.
Enables real-time monitoring and prediction of resonance areas, allowing for timely avoidance of critical speeds and reducing the risk of mechanical damage and instability in electrical rotary machines.
Smart Images
Figure EP2024078098_08052025_PF_FP_ABST
Abstract
Description
[0001] Description
[0002] Methods and systems for monitoring electrical rotating machines
[0003] The present invention relates to a method and a system for monitoring an electrical rotary machine, in which measurement data relating to operation of the machine are provided.
[0004] Furthermore, the invention relates to a computer program product which comprises instructions which, when executed by a computer, cause the computer to carry out the aforementioned method.
[0005] Furthermore, the invention relates to an arrangement for monitoring an electrical rotary machine, the arrangement comprising a measuring device which can be assigned to the machine and the above-mentioned system.
[0006] In addition, the invention relates to a drive system comprising an electric rotary machine and the said arrangement associated with the machine.
[0007] The invention also relates to a simulation program product for simulating an operation of an electric rotary machine and for monitoring the operation simulation.
[0008] DE 197 02 234 A1 relates to a method for monitoring and quality assessment of moving and / or rotating machine parts, which is carried out by vibration analysis, whereby vibrations are recorded by a vibration sensor and evaluated by an evaluation logic circuit. A signal component attributable to damage to a machine part or area is evaluated within predeterminable transition frequency bands by comparison with stored limit values for impending or existing damage or malfunction of the machine part. In order to enable differentiated monitoring even at different speeds, the monitoring frequency bands are adjusted to higher or lower frequencies depending on the movement or rotation speed of the machine parts to be monitored. In addition, a device for carrying out this method is described.
[0009] DE 10 2007 039 699 A1 discloses a method for monitoring vibration level values in a device, wherein a vibration level is detected in at least two frequency bands at at least one position on the device, wherein limit values are calculated from the vibration level values detected in a first time range, in particular teach-in, wherein the vibration level values detected in a second time range, in particular normal operation, are monitored for exceeding or falling below the limit values.
[0010] WO 2023 / 020698 A1 discloses a method for determining an operating state of a drive, in particular an electromechanical drive, which performs rotary movements with variable rotational frequencies during operation.
[0011] Electric rotary machines are used in many industrial applications. Vibration is one of the most important parameters for machine condition monitoring, as it—if measured with sufficiently good measurement technology and in sufficient proximity to the machine's mechanical components—represents a good indicator of potential faults and damage within the corresponding components.
[0012] Many devices for semi- or fully automatic condition monitoring therefore evaluate the vibration data and the vibration level in order to make statements about the "health" of the machine. A fundamental problem here is that the vibration measurement can depend on many external factors, especially if the measurement is not taken directly on the mechanical components (e.g. on the machine's bearing housing). In particular, the load state of the machine, which depends on the application in which the machine is used, has a significant influence on the vibration amplitude as well as the speed. A common cause of an increased vibration level in electrical rotating machines is operation close to a mechanical resonance frequency. It is generally known that mechanical resonance occurs when the vibration level of a mass or a mechanical structure increases close to its respective natural frequency.For a rotating mass or a rotating element, such as that found in an electrical rotary machine, for example a motor or a (rotating) pump, this occurs close to the critical speed(s). In these ranges, i.e. close to the critical speed(s), an increase in the vibration amplitude is observed, which leads to an increase in the mechanical load on the machine components, for example the motor or the pump. In such a case, the operation of the machine can be impaired through, for example, faster fatigue and / or damage to bearings, the emergence of instability, etc., and can even lead to premature failure of the machine.
[0013] One possible approach to addressing the problem, which can be particularly relevant for inverter-operated electrical rotary machines, which can have several mechanical resonance frequencies, is to "reprogram" the control of the inverter in such a way that the detected critical speeds at which mechanical resonances occur are avoided. To detect such critical speeds, a run-up measurement is often carried out during commissioning of the electrical rotary machine, whereby the drive train comprising an electronic control unit (e.g. inverter) and an electrical rotary machine (e.g. motor, pump) is accelerated from standstill to a predetermined (e.g.The test involves accelerating the motor (at a speed above the nominal speed), passing through all speeds encountered during operation, and measuring the vibration amplitude relative to the speed throughout the entire test, using, for example, a high-resolution vibration measuring device. This allows the resonance frequencies to be identified during commissioning and taken into account, and in particular avoided, when programming the electronic control unit.
[0014] The detection and avoidance of critical speeds, also known as resonance speeds, during commissioning as described above assumes that the resonance behavior of the electrical rotating machine remains largely constant over a longer period of time during operation. However, experience in the field has shown that resonance ranges can shift or change completely, so that largely constant resonance behavior is not possible. The conventional solution described above would require a new commissioning with resonance determination using a special measuring device to be carried out regularly, particularly when a shift and / or change in one or more resonance ranges is detected. This is impractical, causes loss of time and is associated with greater expense.In addition, values set within the electronic control unit can shift and thus the speed can slip into a resonance range.
[0015] Therefore, the object of the present invention is to provide methods and systems that take into account the real-time changes in the resonance behavior of the electrical rotary machines in a simple manner.
[0016] The object is achieved according to the invention with the method mentioned at the outset in that, for example, a dependency of a speed component of the vibration amplitude on the speed is modeled from the measured data using an evaluation component in order to obtain a vibration amplitude speed component model, one or more speed ranges in which the vibration amplitude reaches its maximum value are determined using the vibration amplitude speed component model of the vibration amplitude, for the determined speed ranges, preferably for each determined speed range, the behavior of the vibration amplitude according to the vibration amplitude speed component model is compared with a resonance model in order to determine whether there is a resonance in the corresponding speed ranges, the determined speed ranges, which preferably contain exactly one resonance, are output.
[0017] In order to determine whether a resonance exists in the corresponding speed ranges, a similarity measure, e.g. correlation, can be used for the similarity of the behavior of the vibration amplitude in the corresponding speed range and the behavior of the vibration amplitude in the resonance model.
[0018] The output can be made, for example, via an output interface directly to a user or to a computer-implemented assistant which is used by the user to control the machine and assists the user in the production process.
[0019] This allows already known and newly occurring resonance areas to be identified and the user can be warned in good time if these "resonance operating points" occur more frequently during operation.
[0020] In one embodiment, it can be provided that the resonance model is determined from known resonance data of different (different sizes, different power, etc.) electrical rotary machines, i.e. the dependences of the speed component of the vibration amplitude on the speed for the corresponding machines, a general resonance model, e.g. in the form of a resonance curve for electrical rotary machines.
[0021] A comparison with a resonance model is useful because otherwise it may happen that although a maximum is determined, this does not correspond to a resonance, i.e., is not characterized by an exponential growth of the oscillation amplitude.
[0022] In one embodiment, it can be provided that for one or more of the determined speed ranges, preferably for each determined speed range, it is determined whether the corresponding maximum value of the vibration amplitude in the respective speed ranges exceeds a predetermined value and the respective speed range is only taken into account further if the maximum value of the vibration amplitude in this range exceeds the predetermined value.
[0023] In one embodiment, it can be provided that different determined speed ranges contain different resonances.
[0024] In one embodiment, it can be provided that for the determined speed ranges containing a resonance, preferably for each determined speed range containing a resonance, at least one characteristic characterizing the corresponding resonance is determined and output, for example, via a further interface.
[0025] For each detected resonance, at least one characteristic of this resonance can be communicated to the machine user. KPIs that can be specified include, for example, the number of operating hours spent in the resonance range; the amplitude of the detected resonance; the value that describes how reliably it was determined that a resonance exists in the corresponding speed range, etc. The user can then see how damaging the resonance is and initiate one or more countermeasures, e.g., avoiding the resonance and / or checking the corresponding mechanical component.
[0026] In one embodiment, it can be provided that the electric rotary machine is controlled according to the determined speed ranges containing a resonance in order to avoid these resonance speed ranges.
[0027] In one embodiment, it can be provided that the measurement data include data on the torque and the vibration amplitude and preferably on the rotational speed.
[0028] In one embodiment, it can be provided that, in order to obtain the vibration amplitude speed component model, a torque-vibration amplitude model of the machine is determined from the measurement data, which model a vibration amplitude depending on an applied torque, by means of the torque-vibration amplitude model from the measurement data the dependence of the speed component of the vibration amplitude on the speed is modeled (e.g. by means of best fit, or similar).
[0029] In this case, it can advantageously be provided that the modeling of the dependence of the rotational speed component of the vibration amplitude on the rotational speed using the torque-vibration amplitude model includes determining the values of the rotational speed component and, for example, the torque component of the vibration amplitude from the measured data for preferably all data points. The determination can be made for all three spatial components of the vibration.
[0030] In one embodiment, it can be provided that the measurement data were collected by a measurement carried out during operation of the machine over a period of time, and preferably at least two spatial components of the vibration amplitude were measured during the measurement.
[0031] In one embodiment, it can be provided that the measurement is carried out using a measuring device that is wirelessly attached to a housing of the machine (wireless refers to the attachment of the device; there are no cable connections between the device and the machine).
[0032] The object is also achieved with a system mentioned at the outset for monitoring an electrical rotating machine, wherein the system comprises an input interface, an output interface, a processor and a memory connected to the processor, wherein the memory is configured to carry one or more components executable by the processor, wherein the processor is configured to execute the one or more components provided on the memory, according to the invention in that the input interface is configured to receive measurement data relating to operation of the machine, the memory comprises an evaluation component which is configured to:
[0033] * to model a dependence of a speed component of the vibration amplitude on the speed from the measured data in order to obtain a vibration amplitude speed component model,
[0034] * to determine one or more speed ranges in which the vibration amplitude reaches its maximum value (in the functional sense, mathematically) using the vibration amplitude speed component model of the vibration amplitude,
[0035] * to determine a resonance model for electrical rotary machines from known resonance data of different electrical rotary machines,
[0036] * to determine for the determined speed ranges using the speed component model of the vibration amplitude and the resonance model whether a resonance is present in the corresponding speed ranges, the output interface is set up to output the determined speed ranges containing a resonance.
[0037] The object is also achieved according to the invention with an arrangement mentioned at the outset in that the measuring device is designed to collect measurement data relating to operation of the machine and to send the measurement data to the aforementioned system, preferably wirelessly.
[0038] Furthermore, the object is achieved according to the invention with a simulation program product mentioned at the outset in that the simulation program product comprises a digital twin of the machine, which has a static model and an electromechanical model of the machine, wherein the digital twin of the machine makes it possible to generate simulation measurement data by simulating the operation of the machine, and in particular to simulate vibrations of the machine during the operation simulation, the simulation program product has an evaluation component and is configured to feed the simulation measurement data to the evaluation component, wherein the evaluation component is configured to:
[0039] * to model a dependence of a speed component of the vibration amplitude on the speed from the simulation measurement data in order to obtain a vibration amplitude speed component model,
[0040] * to determine one or more simulation speed ranges in which the vibration amplitude reaches its maximum value using the vibration amplitude speed component model,
[0041] * to determine a resonance model for electrical rotary machines from known resonance data of different electrical rotary machines, * to determine for the determined speed ranges using the speed component model of the vibration amplitude and the resonance model whether a resonance is present in the corresponding simulation speed ranges, the simulation program product is configured to output the determined simulation speed ranges containing a resonance.
[0042] Such a preliminary simulation can, for example, prevent possible real damage to the machine.
[0043] The invention is described and explained in more detail below with reference to the exemplary embodiments shown in the figures. They show:
[0044] FIG 1 is a flowchart of a monitoring method for an electrical rotating machine,
[0045] FIGS 2 to 4 show speed ranges determined by the method of FIG 1, and
[0046] FIG 5 a production environment in which methods and systems disclosed here can be implemented .
[0047] In the exemplary embodiments and figures, identical or equivalent elements may be provided with the same reference numerals. The illustrated elements and their relative sizes are generally not to scale; rather, individual elements may be shown larger in size for clarity and / or clarity.
[0048] FIG. 1 shows an exemplary flow diagram of a method for monitoring an electric rotating machine. In a first step 100, measurement data characterizing the operation of the machine is provided, for example, received.
[0049] The measurement data preferably include data on the torque and the vibration amplitude and preferably on the speed of the machine.
[0050] The measurement data are preferably collected through a measurement carried out during operation of the machine over a period of time. This is a learning phase of the process, during which the machine is familiarized. For example, the vibration and load condition (and preferably the torque) of the machine can be measured over a period of several months, e.g. six months, with one measurement, i.e. one data point, being sufficient every several minutes, e.g. every five minutes.
[0051] The measurement can be carried out in such a way that, for example, at least two, preferably three spatial components of the vibration amplitude are measured.
[0052] The measurement data can be provided, for example, in the form of non-synchronous raw data, in particular time series. In such a case, it can be expedient to subject the provided data to pre-processing 101. Depending on the measurement data provided, this can, for example, provide for the non-synchronized data in the measurement data to be synchronized, for example by combining them into a time series with the same time stamp, and / or for off states of the machine, i.e., the states in which the machine was not in operation, to be filtered out.
[0053] After the measurement data have been provided 100 and preferably preprocessed 101, a dependence of a rotational speed component of the vibration amplitude on the rotational speed is modeled from the measurement data in order to obtain a vibration amplitude-rotational speed component model.
[0054] For this purpose, for example, a torque-dependency model 102 for the machine can first be performed. This model is derived from the measured data that models the vibration amplitude of the machine as a function of the torque applied to it (e.g., a Gaussian process). This yields a torque-vibration amplitude model of the machine.
[0055] The torque-vibration amplitude model can now be used to model the dependence of the speed component of the vibration amplitude on the speed from the measured data, for example using a best-fit method.
[0056] For this purpose, values of the rotational speed component and, for example, the torque component of the vibration amplitude can first be determined from the measured data for preferably all data points 103. This can, for example, be carried out for all three spatial components of the vibration.
[0057] It should be emphasized that determining the torque component values is optional, as there are applications where the torque component is always zero and can be neglected from the outset. Consider, for example, a fan with a torque-speed characteristic curve, meaning that the torque can be uniquely calculated from the speed and vice versa, resulting in the torque component of the vibration amplitude being zero.
[0058] The behavior of the vibration amplitude over the speed range resulting from the measured data can then be modeled 104 from the determined values of the speed component, thereby obtaining the aforementioned vibration amplitude-speed component model. Using the vibration amplitude-speed component model, which describes the behavior of the vibration amplitude as a function of the speed in the measured speed range, one or more speed ranges are determined 105 in which the vibration amplitude reaches its maximum value. In this case, maximum values in the functional sense are mathematically taken into account. In other words, maxima of the modeled vibration with regard to its speed are determined from the vibration amplitude-speed component model of the overall behavior of the speed component of the vibration amplitude. Several maxima can be determined.The speed ranges determined in this way represent good candidates for the resonance ranges which, as already explained, are of great relevance to the user of the machine.
[0059] The process can be accelerated if not all of the determined speed ranges are subsequently taken into account. This can be achieved by means of appropriate optional filtering 106.
[0060] The filtering 106 can, for example, provide that for one or more of the determined speed ranges, preferably for each determined speed range, it is determined whether the corresponding maximum value of the vibration amplitude in the respective speed ranges exceeds a predetermined value and the respective speed range is only further taken into account if the maximum value of the vibration amplitude in this range exceeds the predetermined value.
[0061] In other words, a check can be carried out 106 to determine whether the maxima determined in step 105 lie above a previously determined limit value, which can be determined, for example, from normal values for the vibration. For example, the ISO 10816 standard can be relevant in this regard. If the maxima do not lie above the limit value, they are no longer taken into account in the further process. In order to determine whether a resonance actually exists in the corresponding speed ranges, the behavior of the vibration amplitude according to the speed component model of the vibration amplitude (or according to the vibration amplitude speed component model) is compared 107 with a behavior of the vibration amplitude according to a predetermined resonance model in the respective speed range, preferably in each determined speed range.For example, it can be used to determine how similar the vibration behavior of the machine is to resonance behavior in the respective determined speed range. A similarity measure, e.g., corresponding correlation coefficients or another similarity measure, e.g., Minkowski metrics or dynamic time warping metrics, can be used for this purpose.
[0062] In other words, for each of the maxima determined in step 105, which preferably lies above the limit value from step 106, a general model of a resonance can be compared with the (machine-specific) model of the speed components of the vibration from step 104. Several matches can occur across the entire measured speed range if multiple resonance ranges are determined in step 105.
[0063] Preferably, different determined speed ranges contain different resonances.
[0064] This comparison is useful because otherwise it may happen that a maximum is determined which is not a resonance, i.e., is not characterized by an exponential growth of the oscillation amplitude.
[0065] The predetermined resonance model can, for example, be derived from known resonance data of various electrical rotary machines, whereby different machines can differ in size, power, etc. From this historical resonance data, the dependence of the speed component of the vibration amplitude on the speed for the respective machines can be determined and, based on this, a general resonance model can be created, for example in the form of a resonance curve for electrical rotary machines.
[0066] In other words, a general resonance behavior, for example a resonance curve, of the speed components of the vibration amplitude can be modeled from known resonance data of various machines. For this purpose, a Lorenz oscillator model can be used, for example.
[0067] The determined speed ranges containing one, preferably exactly one, resonance are output 108 .
[0068] The output can, for example, be sent to a user or to a computer-implemented assistant. The assistant is, for example, contained in a data processing system that can be used by the user to control the machine and assist the user in the production process.
[0069] Alternatively, it may be provided that the electric rotary machine is controlled according to the determined speed ranges containing resonance in order to avoid these resonance speed ranges during operation.
[0070] It can advantageously be provided that for the determined speed ranges containing a resonance, preferably for each determined speed range containing a resonance, at least one characteristic characterizing the corresponding resonance is determined and output.
[0071] It is advantageous in this case that for preferably each detected resonance at least one characteristic of this resonance can be communicated to the user. The characteristic can for example comprise one or more of the following variables - so-called KPIs: the similarity of the match from step 107, i.e. the similarity of the resonance model with the behavior of the speed component of the vibration amplitude of the machine; the number of operating hours spent in resonance; the amplitude of the detected resonance; the value that describes how reliably it was determined that a resonance exists in the corresponding speed range, etc. In addition, one or more corresponding countermeasures can be proposed, such as the aforementioned avoidance of the resonance regions and / or earlier maintenance and / or inspection of one or more of the mechanical components, such as the machine's bearings, etc.
[0072] The user can then immediately see how damaging the resonance is for the machine and how much the resonance affects its operation.
[0073] Based on this reliable information, the user is continuously guided and assisted through the process and can initiate one or more of the aforementioned countermeasures at any time (avoid approaching resonance, check the corresponding mechanical component).
[0074] FIGS. 2 to 4 all show possible exemplary outputs of the determined resonance speed ranges to a user. Each shows an effective value (RMS, root mean square) of a spatial component of the vibration speed in millimeters per second as a function of the speed (revolutions per minute). FIGS. 2 and 3 show the X-component of the vibration speed, and FIG. 4 shows the Y-component of the vibration speed.
[0075] The oscillating component 200, 300, 400 shown in the respective figure represents the corresponding speed-dependent oscillation components which are determined, for example, in step 103 of the above-mentioned method.
[0076] The solid lines 201, 301, and 401 are the approximate model representing the behavior of the respective spatial component of the rotational speed component of the vibration in the measured rotational speed range. In other words, the vibration amplitude-rotational speed component model determined after step 104 is in the form of a curve for the respective spatial component of the vibration.
[0077] FIG 2 shows only a speed range 202 with a maximum 203 of the vibration amplitude-speed component model 201, which is recognized as a resonance range after a comparison with a resonance model.
[0078] Furthermore, the value of the maximum 203 lies above a vibration limit 204, which is defined, for example, in a standard and is defined, for example, in step 106. This means that the resonance range 202 is recognized as "critical" and also reported as such.
[0079] In the speed component model of the vibration amplitude 301 of FIG. 3, three speed ranges 302a, 302b, and 302c with the corresponding maxima 303a, 303b, and 303c are detected. All three maxima 303a, 303b, and 303c are above the preferably standardized vibration limit value 304, so that each resonance speed range 302a, 302b, and 302c is to be classified as "critical."
[0080] For the y-component of the vibration velocity shown in FIG. 4, a speed range 402 with a corresponding maximum 403 is determined. In contrast to the situation shown in FIG. 2 or 3, the maximum 403 lies below the vibration limit value 404 defined in the standard, so that the speed range 402 can be classified as "non-critical."
[0081] In any case, the user can immediately identify, from the critical speed ranges output and marked as such, those cases which require countermeasures and those which do not. For example, in the presence of a non-critical resonance range, as in FIG. 4, no further measures are required, and operation of the machine can continue without changes. FIG. 5 shows a production environment in which the monitoring method disclosed herein can be implemented.
[0082] The production environment includes an electric rotary machine embodied as an electric motor 501. The electric motor 501 is operated, for example, by an electronic control unit embodied, for example, as a converter 502. The converter 502 is connected to the grid 503 to supply the electric motor 501 with current and voltage.
[0083] It is understood that the production environment usually comprises a plurality of such machines and corresponding control units.
[0084] In order to monitor the operating behavior of the motor 501, a measuring device 504 is provided. The measuring device 504 is attached to the housing on the outside of the machine 501. The measuring device 504 is designed and configured such that it does not require any wire or cable connections to the machine 501 to perform the measurement. For example, the measuring device 504 records vibrations of the electric motor 501. The vibration or the vibration amplitude is fundamentally a function of the speed and the torque. It can also be provided that the measuring device 504 can record further physical variables, such as stray magnetic fields. Furthermore, it can be provided that the measuring device 504 pre-processes the collected measurement data 507.
[0085] To enable analysis and evaluation of large amounts of data from the production environment 500, the measuring device 504 is advantageously connected to a higher-level IT infrastructure 505. The IT infrastructure 505 has one or more data transfer components 506, such as proxies, gateways, and the like, which are set up and configured to receive the collected and possibly pre-processed measurement data 507 from the measuring device 504 and to transmit them to the corresponding data processing system 508. The data 509 can initially be forwarded, for example wirelessly, for example via WiFi, to a network 510, for example to a cloud infrastructure, and from there transmitted to the data processing system 508.
[0086] The connection of the measuring device 504 to the IT infrastructure 505 can be implemented, for example, by means of a dedicated application 511 running on a portable computing device 512, such as a smartphone, laptop, notebook, or the like. The computing device 512 is preferably connected to the measuring device 504 wirelessly, for example, via Bluetooth, in order to execute the connection application 511 and connect the measuring device 504 to the IT infrastructure 505.
[0087] The data processing system 508 may include a data analysis application 513. The data analysis application 513 may reside in the cloud infrastructure 510 and be executed there. Furthermore, the data processing system 508 may include one or more, for example, local computing units 514, 515, 516, which may establish a corresponding connection 517, 518 to the cloud infrastructure 510 in order to access the data analysis application 513 and perform a corresponding data analysis.
[0088] The data analysis application 513 can generally assist one or more users 519 in the production process. Depending on the issue, the data analysis application 513 can provide support to one or more users 519 in monitoring the engine 501 for maintenance or service optimization and / or for the implementation of new customer business models and / or for predictive maintenance.
[0089] In other words, the data analysis application 513 is a computer-implemented assistant for the users of the one or more electric motors 501 in the production environment 500. The data analysis application 513 may, for example, contain instructions which, when executed by the data processing system 508, cause the data processing system 508 to perform the method steps described with reference to Figures 1 to 4.
[0090] The data analysis application 513 may include one or more input 520 and output 521 interfaces.
[0091] The input interface 520 may be configured to receive the collected measurement data 507, 509 from the cloud infrastructure 510.
[0092] The output interfaces 521 can be configured to send the results of the analysis performed by the data analysis application 513 to one or more visualization devices 522. The respective visualization device 522 can, for example, be configured as part of the corresponding computing unit 514 to 516.
[0093] An evaluation component (not shown here) is implemented in the data analysis application 513, which is configured to: model a dependency of a speed component of the vibration amplitude on the speed from the measured data 507, 509 in order to obtain a vibration amplitude speed component model, use the vibration amplitude speed component model of the vibration amplitude to determine one or more speed ranges in which the vibration amplitude reaches its maximum value, use known resonance data of different electrical rotary machines to determine a resonance model for electrical rotary machines, and use the speed component model of the vibration amplitude and the resonance model to determine whether a resonance exists in the corresponding speed ranges for the determined speed ranges.
[0094] The determined speed ranges containing a resonance can be visualized, for example, on one or more visualization devices 522 and thus output to a user.
[0095] The resonance data required to determine the resonance model can be present in the cloud infrastructure 510 and accessible to the data processing system 508, wherein the data processing system 508 can form the resonance model. Alternatively or additionally, the resonance data can be made available to the data processing system 508 from another database not shown here, wherein the database does not have to be part of the cloud infrastructure 510. In particular, it can be provided that the resonance data is fed to the data analysis application 513, and the data analysis application 513 forms the resonance model.
[0096] To support users, particularly during development or engineering of the production environment, the data processing system 508 may include a simulation program 523 designed to simulate the operating behavior of the electric rotary machines 501 and to monitor the operating behavior simulation. For this purpose, the simulation program includes a digital twin of the electric motor 501. The digital twin includes a static model, e.g., in the form of a CAD file, and an electromechanical model of the motor 501. It enables simulation measurement data to be generated by simulating the operation of the machine, and, in particular, vibrations of the machine to be simulated during the operating simulation.
[0097] The simulation measurement data, which preferably comprise the simulated vibration data, are fed via the input interface 520 to the data analysis application 513, which can analyze the simulation measurement data like the real measurement data 507, 509 with regard to the resonance speed ranges and output the determined, preferably critical resonance speed ranges and preferably visualize them on the corresponding visualization devices 520.
[0098] In order to ensure independence of the simulation program product from the other software packages, it is expedient if the simulation program product includes the data analysis application 513.
[0099] Furthermore, the data analysis application 513 can determine one or more KPIs relating to the respective detected resonance. The data analysis application 513 can, for example, determine the following KPIs: the similarity of the resonance model's agreement with the real or simulated behavior of the speed component of the machine's vibration amplitude; the number of real or simulated operating hours spent in resonance; the amplitude of the detected resonance; the value describing how reliably it was determined that a resonance exists in the corresponding speed range.
[0100] The purpose of this description is merely to provide illustrative examples and to indicate further advantages and special features of this invention. In particular, the features disclosed in connection with the methods described here can be usefully used to further develop the production environment described here and / or to simulate it, and vice versa.
Claims
Patent claims 1. A method for monitoring an electrical rotating machine (501), wherein measurement data (507, 509) relating to operation of the machine are provided (100), a dependency of a rotational speed component of the vibration amplitude on the rotational speed is modeled (104) from the measurement data (507, 509) in order to obtain a vibration amplitude rotational speed component model (201, 301, 401), one or more rotational speed ranges (202, 302a, 302b, 302c, 402) are determined (105) on the basis of the vibration amplitude rotational speed component model (201, 301, 401) of the vibration amplitude, in which the vibration amplitude reaches its maximum value (203, 303a, 303b, 303c, 403), for the determined rotational speed ranges (202, 302a, 302b, 302c, 402) the behavior of the vibration amplitude according to the vibration amplitude speed component model (201, 301, 401) is compared with a resonance model in order to determine whether in the corresponding speed ranges (202, 302a, 302b, 302c,402) a resonance is present, the determined speed ranges (202, 302a, 302b, 302c, 402) containing a resonance are output., 2. The method according to claim 1, wherein a resonance model for electrical rotary machines is determined from known resonance data of various electrical rotary machines.
3. Method according to claim 1 or 2, wherein for one or more of the determined speed ranges (202, 302a, 302b, 302c, 402) it is determined whether the corresponding maximum value (203, 303a, 303b, 303c, 403) of the vibration amplitude in the respective speed ranges (202, 302a, 302b, 302c, 402) exceeds a predetermined value (204, 304, 404) and the respective speed range (202, 302a, 302b, 302c, 402) only then is further taken into account if the maximum value (203, 303a, 303b, 303c, 403) of the vibration amplitude in this area exceeds the predetermined value (204, 304, 404).
4. Method according to one of claims 1 to 3, wherein for the determined speed ranges (202, 302a, 302b, 302c, 402) containing a resonance, at least one characteristic characterizing the corresponding resonance is determined and output.
5. The method according to one of claims 1 to 4, wherein the electric rotary machine (501) is controlled according to the determined speed ranges (202, 302a, 302b, 302c, 402) containing a resonance.
6. Method according to one of claims 1 to 5, wherein the measurement data (507, 509) comprise data on the torque and the vibration amplitude and preferably on the rotational speed.
7. The method according to one of claims 1 to 6, wherein, in order to obtain the vibration amplitude speed component model (201, 301, 401), a torque vibration amplitude mode 11 of the machine (501) is determined (102) from the measurement data (507, 509), which models a vibration amplitude as a function of an applied torque, by means of the torque vibration amplitude model from the measurement data (507, 509) the dependence of the speed component of the vibration amplitude on the speed is modeled.
8. The method according to claim 7, wherein modeling the dependence of the speed component of the vibration amplitude on the speed by means of the torque-vibration amplitude model comprises determining (103) the values of the speed component and, for example, the torque component of the vibration amplitude from the measurement data for data points.
9. Method according to one of claims 1 to 8, wherein the measurement data (507, 509) were collected by a measurement carried out during operation of the machine (501) over a period of time, and preferably at least two spatial components of the vibration amplitude were measured during the measurement.
10. The method according to claim 9, wherein the measurement is carried out using a measuring device (504) wirelessly attached to a housing of the machine (501).
11. A computer program product comprising instructions which, when executed by a computer, cause the computer to carry out a method according to any one of claims 1 to 10.
12. System for monitoring an electric rotating machine (501), wherein the system comprises an input interface (520), an output interface (521), a processor and a memory connected to the processor, wherein the memory is configured to carry one or more components executable by the processor, wherein the processor is configured to execute the one or more components provided on the memory, wherein the input interface (520) is configured to receive measurement data (507, 509) relating to an operation of the machine (501), the memory comprises an evaluation component (513) which is configured to: * to model a dependence of a speed component of the vibration amplitude on the speed from the measured data (507, 509) in order to obtain a vibration amplitude speed component model (201, 301, 401), * to determine one or more speed ranges (202, 302a, 302b, 302c, 402) based on the vibration amplitude speed component model (201, 301, 401) of the vibration amplitude, in which the vibration amplitude reaches its maximum value (203, 303a, 303b, 303c, 403), * to determine a resonance model for electrical rotary machines from known resonance data of different electrical rotary machines, * to determine for the determined speed ranges (202, 302a, 302b, 302c, 402) using the speed component model (201, 301, 401) of the vibration amplitude and the resonance model whether a resonance is present in the corresponding speed ranges (202, 302a, 302b, 302c, 402), the output interface (521) is set up to output the determined speed ranges (202, 302a, 302b, 302c, 402) containing a resonance.
13. Arrangement for monitoring an electric rotary machine (501), the arrangement comprising a measuring device assignable to the machine and a system according to claim 12, wherein the measuring device (504) is configured to collect measurement data (507, 509) relating to an operation of the machine (501) and to transmit the measurement data (507, 509) to the system (508), preferably wirelessly.
14. Drive system comprising an electric rotary machine (501) and an arrangement associated with the machine according to claim 13.
15. Simulation program product for simulating an operation of an electric rotary machine (501) and for monitoring the operation simulation, wherein the simulation program product comprises a digital twin of the machine (501) which has a static and an electromechanical model of the machine (501), wherein the digital twin of the machine (501) enables simulation measurement data to be generated by simulating the operation of the machine (501), and in particular to simulate vibrations of the machine (501) during the operational simulation, the simulation program product comprises an evaluation component (513) and is configured to supply the simulation measurement data to the evaluation component (513), wherein the evaluation component (513) is configured to: * to model a dependence of a speed component of the vibration amplitude on the simulated speed from the simulation measurement data in order to obtain a vibration amplitude speed component model, * to determine one or more simulated speed ranges in which the vibration amplitude reaches its maximum value using the vibration amplitude speed component model, * to determine a resonance model for electrical rotary machines from known resonance data of different electrical rotary machines, * to determine for the determined simulated speed ranges using the speed component model of the vibration amplitude and the resonance model whether a resonance is present in the corresponding simulated speed ranges, the simulation program product is configured to output the determined simulated speed ranges containing a resonance.