6ES7902-1AB00-0AA0
6ES7902-1AB00-0AA0
6ES7902-1AB00-0AA0
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福建光沃自動(dòng)化設(shè)備有限公司
聯(lián)系人 ：歐工（銷售經(jīng)理）
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從控制器中獲得信號(hào)的采樣頻率較低，針對(duì)一些高頻采樣或波形信號(hào)的特征提取方法將不再適用，取而代之的是按照每一個(gè)動(dòng)作循環(huán)提取固定的信號(hào)統(tǒng)計(jì)特征，如 RMS、方差、極值、峭度值和特定位置的負(fù)載值等。 在健康評(píng)估方面，所要解決的最大挑戰(zhàn)是設(shè)備運(yùn)行工況的復(fù)雜和設(shè)備多樣性的問題，因此采用了同類對(duì)比（ peer to peer）的方法消除由于工況多樣性造成的建模困難，通過直接對(duì)比相似設(shè)備在執(zhí)行相似動(dòng)作時(shí)信號(hào)特征的相似程度找到利群點(diǎn)，作為判斷早期故障的依據(jù)。在對(duì)設(shè)備進(jìn)行聚類時(shí)，首先要根據(jù)設(shè)備的型號(hào)和使用時(shí)間進(jìn)行第一輪聚類，隨后則要根據(jù)設(shè)備的任務(wù)、環(huán)境和工況進(jìn)行第二輪聚類。
在針對(duì)機(jī)械臂的分析上，不同的動(dòng)作循環(huán)造成的驅(qū)動(dòng)馬達(dá)扭矩是不同的，這里選擇扭矩的最大值、最小值和平均值作為聚類的依據(jù)。當(dāng)機(jī)械臂執(zhí)行相似的動(dòng)作時(shí)，上述的特征分布應(yīng)該十分相似，利用聚類模型可以進(jìn)行自動(dòng)識(shí)別。
在大量機(jī)械臂的數(shù)據(jù)被采集和分析的條件下，對(duì)不同種類和運(yùn)行工況的機(jī)械臂進(jìn)行聚類分析，形成一個(gè)個(gè)機(jī)械臂的“虛擬社區(qū)”，社區(qū)機(jī)械臂的數(shù)據(jù)分析采用集群建模的方法，通過比較每一個(gè)機(jī)械臂與集群的差異性來判斷其處于異常的程度，并對(duì)集群內(nèi)所有機(jī)械臂的健康狀態(tài)進(jìn)行排序。判斷差異性程度的算法有許多種，比如 PCA-T2模型、高斯混合模型、自組織映射圖、統(tǒng)計(jì)模式識(shí)別等方法。
使用選定算法能夠判斷一個(gè)機(jī)械臂每一個(gè)驅(qū)動(dòng)馬達(dá)的監(jiān)控參數(shù)特征與統(tǒng)一集群內(nèi)其他設(shè)備總體分布情況的相似程度，以分布偏差評(píng)估值作為最終的輸出結(jié)果。使用 90% 或 95% 的置信區(qū)間確定其控制邊界，當(dāng)分布偏差評(píng)估值超過控制邊界并持續(xù)變大時(shí)，說明早期故障正在逐步發(fā)展嚴(yán)重。
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