• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
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    • 专利摘要:
    Method for monitoring the condition of an electromechanical system, device for implementing the method and computer program. The present invention relates to a method, a device and a computer program for monitoring the condition of electromechanical systems in which rotating electrical machines are used and where at least one electrical signal is measured during the operation of the electromechanical system. The method of the invention comprises the steps of measuring the current and/or voltage signals of an electromechanical system, measuring an angular position of an axis of rotation of interest in electromechanical systems or estimating the discrete value of the angular position of an axis of rotation of interest of the electromechanical system, synchronize the current and/or voltage signals with the stepped angular displacement of the rotation axis, divide the synchronous electrical signals into intervals corresponding to each complete rotation of the rotation axis, calculate the average of a series of intervals of synchronous electrical signals to obtain an average synchronous electrical signal, extract the magnitude characteristic data from the average synchronous electrical signal values, compare the extracted magnitude characteristic data with a threshold, which is given as a threshold and (...).
    公开号:BR112013029141B1
    申请号:R112013029141-9
    申请日:2012-03-21
    公开日:2021-05-25
    发明作者:James Ottewill；Michal Orkisz
    申请人:Abb Schweiz Ag；
    IPC主号:
    专利说明:

    [001] The present invention refers to a method, a device and an algorithm to monitor the condition of electromechanical systems in which rotating electrical machines are used and where at least one electrical signal is measured during the operation of the electromechanical system. Foundation of the invention
    [002] Condition monitoring techniques are regularly based on the measurement and subsequent analysis of vibration signals using enclosure-mounted housing vibration transducers, such as accelerometers. The main problems associated with the use of cabinet-mounted vibration transducers are related to their mounting, as the measured vibrations are dependent on the transmission path from the vibration source to the transducer. In some situations, the subtle details in the vibration signal can be attenuated by the transmission path which leads to indication losses, decreasing the vibration indication relative to the machine condition. These transmission path effects also mean that cabinet-mounted vibration transducers are typically permanently attached to the structure, and small changes in transducer position can result in different vibration signals being recorded. When the equipment is located in a hostile environment, the performance of these transducers can degrade over time. Cabinet-mounted vibration transducers are also particularly sensitive to environmental noise. Although cabinet-mounted vibration transducers normally do not prevent normal operation of a piece of equipment, in many cases special arrangements are required to mount them to a piece of equipment. For example, many vibration transducers are required to be mounted on flat surfaces, close to the source of vibration. In addition, these transducers are typically unidirectional, and said multiple transducers are needed to obtain sufficient information to make a reliable decision regarding the condition of a piece of equipment.
    [003] Electric motors and electric generators, or more generally, rotating electric machines normally form key parts of electromechanical systems. In recent years, the analysis of currents that can be measured from power cables connecting rotating electrical machines to the power source has proven to be an effective method for monitoring the condition of electromechanical systems. It has been shown that currents, which are induced in a rotating electrical machine, change with operating conditions, often resulting in amplitude and phase modulations of large electrical supply currents in alternating current (AC). Changes in operating conditions related to defects such as broken rotor bars or rotor eccentricity can be related to the amplitude and frequency of the power supply current modulations. Motor Current Signature Analysis (MCSA) involves analyzing current signals measured in the frequency domain in order to diagnose and indicate the trend of ongoing faults. The MCSA is an attractive solution as it is relatively inexpensive to implement, and as the rotating electrical machine is part of the electromechanical system, the method can be considered non-intrusive. MCSA has been used primarily in diagnosing electrical motor failures, although it has also been shown to react to changes in external loads, such as those caused by defects that occur in mechanical components such as bearings or gears.
    [004] Normally, the frequency spectrum of a measured current signal is dominated by means of a current from the alternating current power supply. The electric motor and the attached mechanical system, forming the electromechanical system, cause modulations of the AC power supply current, resulting in lateral bands that appear in the frequency spectrum. Therefore, the dominant AC power supply current can be interpreted as a carrier wave. It's rare that the power supply is ideal; modulations of the phase and amplitude of the AC power supply current may occur, unrelated to the machine's operating condition. This is especially true in electrical drive systems where the control action and pulse width modulation will result in a wave carrying the electrical supply current appearing as a non-stationary waveform. Likewise, it is often the case that the load acting on a rotating electrical machine may be momentary. The non-stationary nature of the carrier wave of the power supply current results in components due to the power supply appearing to be distributed over a range of frequencies. This can increase the difficulty in assessing the operating condition of an electromechanical system.
    [005] In the US patent US 54830201, by Linehan et al., a known method of dealing with the problem presented above is described by incorporating circuits in the data acquisition system that change the sampling rate of the signals of the measured current of according to the change in frequency of the wave carrying the AC power supply current. In this way, a set of sampling data containing only the standing carrier waves is obtained. By also considering only whole numbers of carrier waves, the method guarantees that, when converted to the frequency domain, the components due to discontinuities between the first and last samples are diminished. In this way, it is easier to identify components in the frequency domain, which can be combined with defects.
    [006] From the US patent US 6993439 B2 to Grosjean, a known method for converting a current waveform measured from the time domain to the spatial domain is seen. The angular displacement of the rotor of a rotating electrical machine is identified using a characteristic in a measured waveform of current. For example, the amplitude modulations resulting from switching the tap changer can be used to estimate the rotor position of a DC motor. The current waveform is then normalized to this angular displacement and analyzed in the frequency domain, thus allowing rotating electrical machines that do not rotate at a constant angular velocity to be analyzed in the frequency domain.
    [007] The state of the art described above results in methods of decreasing the variability of the frequency spectrum of the current measured signals. However, even when considering an electromechanical system operating at a constant angular velocity and powered by an idealized power supply, resulting in a stationary power supply current-carrying wave, the amplitudes of the modulation sidebands, caused by the operating conditions of the electromechanical system, are low in relation to the carrier wave of the power supply current and its harmonics. This is particularly true in consideration of failures that occur in the mechanical system to which the electrical machine is connected. In addition, the insufficient resolution of the transducers used to measure current signals can lead to harmonic distortion. As a result, it can be difficult to distinguish components due to the operating condition of the electromechanical system from other more dominant components or from noise signals due to transducer noise, phantom noise from non-constant sources or transient vibrations that occur in the environment of the rotating electrical machine. Synthesis of the invention
    [008] The present invention provides a method for monitoring the condition of an electromechanical system and a device for implementing the method according to the method of the invention. The present invention also provides an algorithm for monitoring the condition of electromechanical systems, said algorithm is capable of being loaded and executed in a computing device data processing unit and said algorithm performs when being executed by the processing unit data from the computing device, the method according to claims 1 to 3.
    [009] The invention presents many advantages over existing methods of condition monitoring, such as those described above. Through the use of both measured angular displacement signals obtained from existing angular displacement transducers and, when these are not available, based on measurements of the motor's electrical voltage and current, the system can be considered as not invasive. In addition, the influence of factors related to the mounting of transducers, such as the effects of the transmission path or the need for access to the elements of the electromechanical system will be reduced.
    [0010] The measured electric motor voltage and current signals are synchronized with the angular displacement of an axis of the electromechanical system before being resampled into discrete angular displacement values, within the range from zero to 2π, which are determined by user. Considering such a discrete angular displacement value of the axis of the electromechanical system, and assuming that said axis has completed more than one complete rotation, this previous process will result in a series of current and/or voltage values of the electric motor all synchronized to that said displacement Discreet angle. The amount of current and/or voltage values of the electric motor contained in this series refers to the number of complete rotations of the axis of the electromechanical system. By taking the average value of the series of current and/or voltage values of the electric motor synchronized with the discrete angular displacement value, the influence of noise and periodic components unrelated to the axis to which the measured voltage signals can be reduced and current were synchronized. By performing the same averaging operation for each of the discrete angular displacement values considered from the axis of the electromechanical system, a synchronous average of the electrical signals comprised of the average of the current and/or voltage values of the electric motor can be created that occur at each angular displacement value considered. The synchronous average of the electrical signals consists of the components of the measured current and voltage signals of the electric motor, which are repeated periodically at each complete rotation of the electromechanical system shaft. As many changes in the operating condition of a rotating mechanical system result in changes in the current and voltage signals of the electric motor that repeat from rotation to rotation, the resulting synchronous average of the electrical signals will incorporate a large amount of information to assess the condition of a machine. The invention also allows for accurate monitoring of the condition of electromechanical devices, even when the axis of said machine does not rotate at a constant angular velocity.
    [0011] The present invention is also advantageous over the existing methods described above, since it allows low resolution transducers to be used to measure the current and voltage values of the electric motor. The measured electric motor voltage and current signals will be more or less quantified as a function of the transducer resolution. The transducer quantization level results result in a digital signal with limited resolution being recorded. Consider again the series of electric motor current and/or voltage values that have all been synchronized to one, the discrete angular displacement value. As mentioned before, the amount of current and/or voltage values of the electric motor that comprise the series will be related to the number of complete rotations of the axis of the electromechanical system. It is assumed that the measurable electric motor voltage and current signals consist of an underlying signal, which contains information regarding the operating condition of the electromechanical system, superimposed with naturally occurring noise, which can be described by an averaged Gauss function. zero. As the number of complete rotations of the axis of the electromechanical system tends to infinity, the proportion of measured values of voltage and/or current of the motor recorded at discrete levels above the underlying signal to those recorded at discrete levels below the underlying signal will be equal to proportion of the distances between the two discrete levels of the transducer and the underlying value. Thus, by performing the operation described above, the resulting average value will tend to the underlying value as the value of the number of complete rotations tends to infinity. Thus, extending this result to all discrete angular displacement values considered from the axis of the electromechanical system, the provided synchronous mean of the electrical signals will tend to the underlying signal, containing the information regarding the operating condition of the electromechanical system, which repeats periodically with each complete rotation of the axis of the electromechanical system. As a result of this increased accuracy and associated decrease in noise influence, the present invention is more sensitive to small changes in the operating condition of an electromechanical device than existing current analysis inventions. Brief description of the drawings - Figure 1 is an image of an electromechanical compressor system together with a schematic view of the device that can be used in the implementation of the present invention; - Figure 2 is a graph of the discrete amplitude signal of the WD stator current, in the time domain (WD presents units of amps [A]); Figure 3 is a graph of a discrete signal of angular displacement 0D and a discrete signal of angular displacement Z-0Descaled, in radians with respect to time; - Figure 4 is a graph of the discrete signal of the WD stator current amplitude, in relation to the angular displacement, in radians, which is achieved by synchronizing the discrete signal of the WD stator current amplitude with the discrete angular displacement signal Z-8D scaled; - Figure 5 is a graph of a discrete signal of the amplitude of the resampled current YD in relation to the angular displacement, in radians. - Figure 6 is a graph of the discrete signal of the resampled current amplitude YD against the angular displacement, in radians, with additional annotations detailing the process of dividing the discrete signal of the resampled current amplitude YD into intervals M of length equal to N; - figure 7 is a graph of the synchronous average of electrical signals Y in relation to the angular displacement, in radians; and - figure 8 presents a diagram of the operations carried out to monitor the condition of the electromechanical system according to the present invention. Detailed description of the invention
    [0012] With reference to figure 1, an example of application of the present invention and the device of the present invention for diagnosing the operating condition of an electromechanical compressor system is presented. A three-phase asynchronous electric motor 1 is used to drive a two-stage reduction gear 2. The output of the gear is connected via shaft 3 to a compressor 4. Mounted on shaft 3 is an angular displacement transducer 5, which can be used to measure the angular displacement of the shaft. A sensor, or a group of sensors, which are able to measure the velocities or accelerations of axis 3, not shown in the drawings, can be used in place of the angular displacement transducer 5. In applications where it is important to follow the angular displacements, velocities or accelerations, as in compressors, it is normal to instrument a system with transducers that convert angular positions into both analog and digital electronic signals. The three-phase asynchronous electric motor 1, the two-phase reduction gear 2, the shaft 3, and the compressor 4 and, if present, the angular displacement transducer 5, together comprise the electromechanical system 6. If a displacement transducer angle 5 or sensor is actually part of the electromechanical system 6, so it is used in the application of the present invention. However, it is also possible to apply the invention if said sensor transducer 5 is not part of the electromechanical system 6. The electric power supply device 7 supplies the three-phase alternating current to the asynchronous electric motor 1 through the cables of power supply 8. The angular displacement transducer 5 (if present) is connected to one of the inputs on the signal conditioning unit 9. One or more outputs of the current measuring devices 10, and/or voltage measuring devices 11 is (are) connected with the other inputs of the signal conditioning unit 9. The current measuring devices 10 and the voltage measuring devices 11 are connected to each of the phases a, b, c of the device. power supply 7. The signal conditioning unit 9 is connected to a computing device 12, with a data processing unit 13 and the communication module 14. In the data processing unit 13 a data storage module 15 and a synchronous averaging module 16 are implemented. Some other modules that are necessary for data processing and calculation, not shown in the drawing, are also implemented in the processor. In addition, the computational device 12 contains the RAM and ROM memories, which are also not shown in the drawing. The computing device 12 is connected to an output unit 17, in which the results of condition monitoring are presented to the user. The output unit 17 can be a monitor, a printer or any device useful for presenting the results of the invention.
    [0013] The method of the invention is implemented according to steps 20 to 32 below, shown in figure 8. sooa 20
    [0014] With reference to the electromechanical network shown in figure 1, in step 20, the analog signals of the current Ia, Ib, Ic of the alternating current that feeds the stator winding to at least one of the phases of the three-phase asynchronous electric motor are measured using one of the current measuring devices 10, and/or at least one of the analog voltage signal phases Ua, Ub, Uc that feed the three-phase asynchronous electric motor 1 is measured using the voltage measuring devices 11. The signals Measured analog electrics which assume the analog waveforms are further fed into the signal conditioning unit 9. If an angular displacement transducer 5 is used in the electromechanical system 6, then an angular displacement signal θ from axis 3 will be measured and fed in the signal conditioning unit 9. Step 21
    [0015] In the next step, 21, the measured analog electrical signals Ia, Ib, Ic, Ua, Ub, Uc, are converted into discrete electrical signals IaD, IbD, ICD, UaD, UbD, UCD, respectively. In addition, if an angular displacement signal θ is measured in step 20, then it will be fed into the signal conditioning unit 9 and converted to a discrete angular displacement signal 0D. The signal conditioning unit 9, which generally takes the form of an analog-to-digital converter, is provided with a set of constant PI parameters, which characterize the process of converting analog waveforms to discrete signals, more specifically the rate. sampling rate Fs and the duration of the signal subjected to TL conversion. The sample rate Fs, which defines the number of samples taken per second, can be any value, but a typical minimum rate is 1 kHz, and this is the default setting. The TL signal duration defines the duration of the measured analog electrical signals LD, IbD, ICD, UaD, UbD, UCD, for which the analog-to-digital conversion is applied. In the embodiment of the method of the invention, the minimum value of the TL signal duration is 1 second. Considering the discrete current signal of the phases of the three-phase asynchronous electric motor 1, the current IaD consists of the current value iak of k consecutive samples, which vary from the first sample, k = 1, to k = L, in which L is the number of samples contained in the signal. The other discrete electrical signals IbD, ICD, UaD, UbD, UCD can also be described in an analogous way. If an angular displacement signal θ was fed into the signal conditioning unit 9, it will be converted to the discrete angular displacement signal 0D, which consists of the angular displacement value 0k of the k consecutive samples from the first sampling, k = 1 , at k = L. The conversion process is well known in the art. The discrete electrical signals LD, IOD, ICD, UaD, UbD, UCD and, if available, the angular displacement discrete signal 0D, are automatically transmitted to the computational device 12 via the communication module 14 and stored in the data storage module 15 of the data processing unit 13. Step 22
    [0016] In step 22, the computational device 12 is fed with a constant P2 parameter set that are stored in the data storage module 15 of the data processing unit 13. The constant P2 parameter set consists of the desired amount of averages Mmput to be performed, the number N of sampling points for each complete rotation of axis 3 of electromechanical system 6, an alert threshold value X, and a constant scaling factor Z. In many cases, the constant scaling factor Z describes a relationship between the angular displacements of two interconnected shafts. For example, and with reference to the two-stage gearbox 2 of the example embodiment, by setting the constant scaling factor Z to a value equal to the gear ratio between the gear connected to shaft 3, and a meshed gear in the secondary shaft (lay shaft) of the two-stage reduction box 2 (not shown in figure 1) it is possible to use the method of the invention to diagnose the operating condition of the components mounted on the secondary shaft. In the data processing unit 13 of the computational device 12, the discrete electrical signals LD, IÒD, ICD, UaD, UbD, UCD are combined to form estimates of the intensities of electromechanical systems, such as current spatial phasors, spatial phasors of voltage, the electromagnetic torque developed from the three-phase asynchronous electric motor 1 or an electromagnetic flux developed from the three-phase asynchronous electric motor 1. In the example embodiment of the present invention, only the discrete current signals LD, IbD, ICD, are combined to form a complex discrete spatial phasor signal of the stator current ΦD according to the formula:

    [0017] The absolute value of the complex discrete spatial phasor signal of the stator current ΦD forms a discrete signal of the amplitude of the stator current WD, given as:

    [0018] Figure 2 is a graph of the discrete signal of the WD stator current amplitude, in the time domain. As a consequence of being formed from discrete electrical signals IaD, IbD, ICD, UaD, UbD, UCD, the discrete signal of the stator current amplitude WD consists of the value of the stator current amplitude Wk of k consecutive samples varying from the first sampling, k = 1, à k = L, where L is the sampling duration. In the described embodiment, WD presents the amp units, [A]. Experts in the state of the art will recognize that there are several intensities of the electromechanical system that can be calculated using discrete electrical signals IaD, IbD, ICD, UaD, UbD, UCD and that it should be understood that the discrete signal of the current amplitude of the WD stator, which is used in the subsequent steps, can be replaced by other estimates of the intensities of the electromechanical system, without departing from the scope of the invention, as defined in the claims. If the parameters of the three-phase asynchronous electric motor 1 are needed in estimating certain intensities of the electromechanical system, then these will be included in the constant P2 parameter set that are fed into the computational device 12 and stored in the data storage module 15 of the processing unit 13. Returning to the example embodiment, in addition to the discrete electrical signals IaD, IbD, ICD, UaD, UbD, UCD and, if available, the discrete 3D angular displacement signal, The discrete current amplitude signal WD, calculated in step 22, will be used in subsequent steps. soo 23
    [0019] In step 23, the presence of a discrete signal of the 3D angular displacement within the data transmitted to the data storage module 15 of the data processing unit 13 is verified. If all necessary data, i.e., the signal discrete WD current amplitude and discrete 3D angular displacement signal are present, then step 25 is performed. If the discrete 3D angular displacement signal is absent among the data transmitted to the data processing unit 13, then in step 24 a process of calculating an estimate of the angular displacement stDEst of the rotor of the three-phase asynchronous electric motor 1 rotor will be performed. . Step 24
    [0020] In step 24, in the data processing unit 13, an estimate of the angular displacement θDEst of the rotor of the three-phase asynchronous electric motor 1 is calculated based on the discrete electrical signals IaD, IbD, ICD,UaD, UbD, UCD. Experts in the state of the art will recognize that there are many ways to estimate the angular velocity of the rotor of a rotating electrical machine from the measured electrical signals. Several methods for estimating the first temporal derivative of the electric rotor angle of an electric machine are described by Peter Vas in "Direct torque control and sensorless vector" (Sensoriess vedor and dired torque control) (University of Oxford Publisher, UK , 1998, ISBN 978-0-19-856465-2). An estimate of the mechanical angular displacement of the rotor of the rotating electric machine is obtained by numerically integrating the first time derivative of the angle of the electric rotor of the electric machine using known methods, and then multiplying the resulting signal by the number of pole pairs of the three-phase asynchronous electric motor 1. If necessary, the estimate of the mechanical angular displacement of the rotating electric machine rotor is resampled using known methods, so that the resulting estimate of the angular displacement θDEst is synchronized with the discrete signal of the amplitude of the current WD. The 0DEst consists of the estimated value of the angular displacement lar θkEst of k consecutive samples from the first sampling, k = 1, to k = L. If step 24 is determined, then the estimate of the angular displacement θDEst will be used in subsequent steps. As said estimated data are very similar to an equivalent measured data set, it is convenient to assume that 0D = θDEst and, for reasons of simplification, only the symbol 0D will be used in the description of the subsequent steps. One result of using this functionality is that the methodology retains its attribute of being non-invasive. Step 25
    [0021] In step 25, in the synchronous averaging module 16, the constant scaling factor Z is assumed from the constant parameter set P2 that is stored in the data storage module 15. The discrete angular displacement signal 0D is multiplied by the constant scaling factor Z. The result of multiplying the discrete 3D displacement angle signal by the constant Z scaling factor is a discrete scaled angular displacement signal Z-0D. The Z-0D consists of the estimated angular displacement value Z-0k, from k consecutive samples from the first sampling, k = 1, to k = L. In Figure 3, the original discrete 3D angular displacement signal is shown in a time domain as a solid line, while the dashed line shows the discrete scaled angular displacement signal Z-0D, in which the constant scaling factor Z has a value that represents the output to input ratio of gearbox 2. Step 26
    [0022] Since both the discrete scaled angular displacement signal Z-0D and the discrete signal of the current amplitude of the stator WD are composed of values sampled at the same points in time, it is possible to synchronize the discrete signal of the amplitude of the current WD with the discrete scaled angular displacement signal Z-0D. Therefore, it is possible to show the discrete signal of the WD current amplitude relative to the angular displacement, 0, in radians, as shown in Figure 4. In step 26, in the synchronous averaging module 16, the discrete signal of the amplitude of the current WD, which has been synchronized with the scaled angular displacement discrete signal Z-3D, is resampled at angular positions resulting in the resampling vector 0R. The re-sampling vector 0R consists of the angular displacement values 3R,P resulting as:
    where M is the number of averages to be performed, obtained from the calculation:

    [0023] In which the number of averages to be performed M and the number of sampling points N for each complete rotation of axis 3 of electromechanical system 6 are taken from the constant parameter set P2 that is stored in the data storage module 15 Note that this process requires that the desired number of Mmput averages to be performed by the user in step 22 is less than the total number of full rotations of the scaled angular displacement discrete signal Z-0D. If the user has entered a number greater than the total number of complete rotations of the discrete scaled angular displacement signal Z-0D then the number of averages to be performed M will be limited to the total number of complete rotations of the discrete scaled angular displacement signal Z-0D according to calculation (4). Resampling of the discrete signal of the current amplitude WD at the angular positions that result in the resampling vector 0R is conducted using known techniques. The resulting re-sampled discrete current amplitude signal YD consists of the re-sampled stator current amplitude values yp in p consecutive samples from the first sample, p = 1, to p = MN, where M is the amount of averages to be taken and n is the number of sampling points for each complete rotation. The re-sampled discrete signal of the YD current amplitude is used in subsequent steps. In Fig. 5 the resampled discrete current amplitude signal YD is the result of resampling the discrete current amplitude signal WD in linear intervals of the scaled angular displacement discrete signal Z-0D; Step 27
    [0024] In step 27, in the synchronous averaging module 16, the re-sampled YD current amplitude discrete signal is divided into M consecutive intervals, each containing N consecutive samples, thus allowing the current amplitude values of the re-sampled stator yp are written as ym,n, where n are the consecutive samples from den = làn = Nor are the consecutive intervals ranging from m = 1 to m = M. Figure 6 is a discrete signal graph of amplitude of the resampled YD current in relation to the angular displacement, in radians, with additional annotations that detail the process of dividing the resampled YD current amplitude discrete signal into M intervals of duration equal to N. 28
    [0025] In step 28, in the synchronous averaging module 16, the synchronous average of the electrical signals Y is calculated. The synchronous mean of electrical signals Y consists of n average values of electrical signals y„ calculated using:

    [0026] Therefore, the synchronous average of electrical signals Y can be calculated as:

    [0027] The synchronous mean of electrical signals Y is sampled in linear intervals of angular displacement in the range from zero to two π according to the calculation:
    where 0n is the discrete value of the angular displacement at sampling point n. Figure 7 is a graph of the synchronous average of electrical signals Y versus angular displacement, in radians. soo 29
    [0028] In step 29, in the synchronous averaging module 16, a kurtosis S of the synchronous average of electrical signals Y is calculated according to the formula:

    [0029] The kurtosis S value of the synchronous mean of the Y electrical signals results in a measure of the magnitude of large deviations located in the synchronous mean of the Y electrical signals, which can be caused by localized defects such as tooth breakage or corrosion on gear teeth. Those skilled in the art will appreciate that there are many different signal processing methodologies available for extracting information from the synchronous averaging of electrical Y signals, ranging from time domain metrics, spectral analyzes or time-frequency analyses, which can be substituted for the kurtosis operation given in this step, without significantly changing the scope of the present invention. soo 30
    [0030] In step 30, in the synchronous averaging module 16, the threshold value X is taken from the constant parameter set P2, which is stored in the data storage module 15. A typical value for the value of threshold X is 3.5. If the value of the kurtosis S of the synchronous mean of the electrical signals is below the threshold value X, then the kurtosis S of the synchronous mean of the electrical signals as well as the synchronous average of the Y electrical signals is indicated to the user through the output unit 17 in step 32. If the kurtosis S value of the synchronous mean of the electrical signals is above the threshold value X, then in addition to the S kurtosis of the synchronous average of the electrical signals and the synchronous average of the Y electrical signals, a warning also will be indicated to the user via the output unit 17 in step 31. Step 31
    [0031] In step 31, the synchronous average of electrical signals Y, kurtosis S and the alert obtained in step 30 are automatically provided to the user through the output unit 18, using known methods. Ehao 32
    [0032] In step 32 the synchronous averaging of electrical signals Y and kurtosis S are automatically provided to the user through the output unit 18, using known methods. In addition, the method of the invention is restarted at step 20. Nomenclature Symbol Name a, b, c phases of the power supply device Ia, Ib, Ic analog current signals Ua, Ub, Uc analog voltage signals Θ signal of angular displacement IaD, IbD, IcD, UaD, UbD, UcD discrete electrical signals θD angular displacement discrete signal P1 constant parameters that characterize the process of converting analog waveforms to discrete signals Fs sampling rate Signal duration submitted to conversion Ía ,k current value at the sampling point k L Number of samples contained in the signal θk angular displacement value at the sampling point k P2 set of constant parameters fed into the computational device 12 M input desired number of averages to be performed N number of points of sampling for each complete rotation of axis 3 of the electromechanical system X warning threshold value z constant scaling factor ΦD discrete signal complex spatial phasor to stator current WD discrete signal of stator current amplitude Wk stator current amplitude value at sampling point k A Amperes (WD units) θDEst estimation of rotor angular displacement of three-phase asynchronous electric motor 1 OkEst estimated angular displacement value at sampling point k Z- 0D discrete scaled angular displacement signal Z-θk, estimated angular displacement value at sampling point k 0R re-sampling vector 0R,p angular displacement values ( which comprise the re-sampling vector 0R) at the sampling point p M number of averages to be taken YD discrete signal of the re-sampled current amplitude YP values of the stator current amplitude re-sampled at the sampling point p ym,n re-sampled stator current amplitude values at sampling point n in interval m Y synchronous average of electrical signals yn average values of sample electrical signals gem n s kurtosis of the synchronous mean of electrical signals Y
    权利要求:
    Claims (6)
    [0001]
    1. Method for monitoring the condition of an electromechanical system, characterized by comprising the steps of: - measuring the current and/or voltage signals of an electromechanical system, - measuring an angular position of a rotation axis of interest in electromechanical systems or estimate the value of the discrete angular position of a rotation axis of interest to the electromechanical system, - synchronize the current and/or voltage signals for the stepped angular displacement of the rotation axis, - divide the synchronous electrical signals into intervals corresponding to each complete rotation of the axis of rotation, - calculate the average of a number of intervals of synchronous electrical signals to obtain an average synchronous electrical signal, - extract the characteristic data from the magnitude of the values of the average synchronous electrical signal, - compare the characteristic data extracted from the magnitude with a threshold, which is given as a threshold, and - indicate an alarm to the user when the threshold is exceeded.
    [0002]
    2. Method according to claim 1, characterized in that the calculation of the average of the M intervals of synchronous electrical signals correspond to M complete rotations, in order to obtain a synchronous average of the electrical signals (Y), which consists of M average values of electrical signals y* is made by the formula:
    [0003]
    3. Method according to any one of the preceding claims, characterized in that the kurtosis S of the synchronous mean of the electrical signals represents the characteristic data of the magnitude of the values of the average synchronous electrical signal and is calculated according to the formula:
    [0004]
    4. Device for monitoring the condition of an electromechanical system, for carrying out the process as defined in any one of claims 1 to 3, characterized in that it comprises: - means for measuring the current and/or voltage signals of an electromechanical system , - means for measuring an angular position of a rotation axis of interest of the electromechanical systems or means for estimating the value of the discrete angular position of a rotation axis of interest of the electromechanical system, - means for synchronizing the current and/or voltage at a stepped angular displacement of the axis of rotation, - means for dividing the synchronous electrical signals into intervals corresponding to each complete rotation of the axis of rotation, - means for averaging a series of intervals of synchronous electrical signals, - means for extract from the mean values of the synchronous electrical signals, the magnitude characteristic data, and compare the extracted characteristic data from the m. magnitude with a threshold, which is given as a threshold, - means to compare the extracted characteristic data of magnitude with a threshold, which is given as a threshold, and - means to indicate an alarm to the user when the threshold is exceeded.
    [0005]
    Device according to claim 4, characterized in that the means for synchronizing the current and/or voltage signals to a staggered angular displacement of the axis of rotation, the means for dividing the synchronous electrical signals into intervals corresponding to each complete rotation of the axis of rotation, the means for averaging a series of intervals of synchronous electrical signals, the means for extracting from the average values of the synchronous electrical signals, the characteristic magnitude data, and the comparison of the characteristic data extracted from the magnitude with a threshold, which is given as a threshold, are implemented in a synchronous averaging module (16) of a computational device (12).
    [0006]
    6. Algorithm for monitoring the condition of an electromechanical system, said algorithm being capable of being loaded and executed in a data processing unit (13) of a computational device (12), and said algorithm being characterized by performing, when being executed by the data processing unit of the computational device, the method as defined in any one of claims 1 to 3.
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    公开号 | 公开日 | 专利标题
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    同族专利:
    公开号 | 公开日
    WO2012152353A1|2012-11-15|
    US9459088B2|2016-10-04|
    JP2014516154A|2014-07-07|
    CA2828268C|2018-05-22|
    US20140074427A1|2014-03-13|
    ZA201307503B|2014-12-23|
    CN103502827A|2014-01-08|
    AU2012252901A1|2013-11-28|
    BR112013029141A2|2017-02-07|
    DK2523009T3|2015-04-07|
    EP2523009B1|2015-01-28|
    JP5932022B2|2016-06-08|
    CA2828268A1|2012-11-15|
    AU2012252901B2|2016-09-01|
    EP2523009A1|2012-11-14|
    CN103502827B|2015-12-23|
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    法律状态:
    2017-12-19| B25A| Requested transfer of rights approved|Owner name: ABB SCHWEIZ AG (CH) |
    2018-01-30| B25L| Entry of change of name and/or headquarter and transfer of application, patent and certificate of addition of invention: publication cancelled|Owner name: ABB TECHNOLOGY AG (CH) |
    2018-02-06| B25C| Requirement related to requested transfer of rights|Owner name: ABB TECHNOLOGY AG (CH) |
    2018-05-29| B25L| Entry of change of name and/or headquarter and transfer of application, patent and certificate of addition of invention: publication cancelled|Owner name: ABB SCHWEIZ AG (CH) Free format text: ANULADA A PUBLICACAO CODIGO 25.3 NA RPI NO 2457 DE 06/02/2018 POR TER SIDO INDEVIDA. Owner name: ABB SCHWEIZ AG (CH) |
    2018-06-05| B25A| Requested transfer of rights approved|Owner name: ABB SCHWEIZ AG (CH) |
    2018-12-18| B06F| Objections, documents and/or translations needed after an examination request according [chapter 6.6 patent gazette]|
    2019-08-13| B06U| Preliminary requirement: requests with searches performed by other patent offices: procedure suspended [chapter 6.21 patent gazette]|
    2021-03-09| B09A| Decision: intention to grant [chapter 9.1 patent gazette]|
    2021-05-25| B16A| Patent or certificate of addition of invention granted [chapter 16.1 patent gazette]|Free format text: PRAZO DE VALIDADE: 20 (VINTE) ANOS CONTADOS A PARTIR DE 21/03/2012, OBSERVADAS AS CONDICOES LEGAIS. |
    优先权:
    申请号 | 申请日 | 专利标题
    EP11460026.5A|EP2523009B1|2011-05-12|2011-05-12|Method and apparatus for monitoring the condition of electromechanical systems|
    EP11460026.5|2011-05-12|
    PCT/EP2012/001233|WO2012152353A1|2011-05-12|2012-03-21|Method and apparatus for monitoring the condition of electromechanical systems|
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