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Domain Adaptation in Predicting Turbocharger Failures Using Vehicle’s Sensor Measurements 基于车辆传感器测量的涡轮增压器故障预测领域自适应
Pub Date : 2022-06-29 DOI: 10.36001/phme.2022.v7i1.3340
M. Rahat, P. Mashhadi, Sławomir Nowaczyk, T. Rognvaldsson, Atabak Taheri, A. Abbasi
The discrepancy in the distribution of source and target domains is usually referred to as a domain shift. It is one of the reasons for the inferior performance of machine learning solutions at deployment. We illustrate that the domain shift issue is pertinent to the readings of the vehicles’ operational sensors. This is due to the fact that these measurements are collected over a period of time and are susceptible to various changes that happen in the meantime. Examples of these changes are usage pattern variations, aging of the vehicles, seasonal shifts, and driver changes. However, domain adversarial neural networks (DANN) have shown promising results to reduce the negative impact of the domain shift. The present study investigates domain adaptation (DA) in the predictive maintenance field by estimating the remaining useful life (RUL) of turbochargers. The devices are operating on a fleet of VOLVO trucks, and the information about their services is collected over four years between 2016 and 2019. The input features to the model are a set of bi-weekly collected measurements called logged vehicle data (LVD). The contributions of this paper are two-fold. First, we propose a new approach for detecting domain (covariate) shift using an autoencoder. Second, we adapt domain adversarial neural networks to the specific application of predicting turbocharger failures. Finally, we deploy a recurrent feature extraction layer in the DANN architecture to incorporate temporal aspect of the data. The experimental results demonstrate the superiority of the proposed method over the traditional approach.
源域和目标域分布的差异通常被称为域移位。这是机器学习解决方案在部署时性能较差的原因之一。我们说明了域移位问题与车辆操作传感器的读数有关。这是因为这些测量是在一段时间内收集的,并且容易受到其间发生的各种变化的影响。这些变化的例子包括使用模式的变化、车辆的老化、季节的变化和驾驶员的变化。然而,领域对抗神经网络(DANN)在减少领域转移的负面影响方面已经显示出有希望的结果。本文通过对涡轮增压器剩余使用寿命(RUL)的估计,研究了涡轮增压器预测维修领域的领域自适应问题。这些设备在沃尔沃卡车车队上运行,有关其服务的信息是在2016年至2019年的四年时间里收集的。模型的输入特征是一组每两周收集一次的测量数据,称为记录车辆数据(LVD)。本文的贡献是双重的。首先,我们提出了一种使用自编码器检测域(协变量)移位的新方法。其次,我们将领域对抗神经网络应用于涡轮增压器故障预测的具体应用。最后,我们在DANN架构中部署了一个循环特征提取层,以结合数据的时间方面。实验结果表明了该方法相对于传统方法的优越性。
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引用次数: 2
Autonomous Bearing Tone Tracking Algorithm 自主轴承音调跟踪算法
Pub Date : 2022-06-29 DOI: 10.36001/phme.2022.v7i1.3364
Alon Sol, E. Madar, J. Bortman, R. Klein
To date, much of the research done in the field of condition monitoring of rotating machinery is conducted in the frequency domain. The frequency domain analysis specifically for bearings is based on extracting features from the spectrum of the vibration signature. These features are mostly based on the amplitude at the bearing tones along with their sidebands and high order harmonics. Therefore, it is important to determine the location of the mentioned bearing tones in the spectrum accurately and automatically. For the case of ball bearings this process can be problematic due to slippage of the rolling elements and variations in the angle of contact. These may cause the bearing tone to deviate from its nominal value. To this day, the common practice for bearing diagnostics is based on the vibration level at the analytical bearing tones or involvement of experts to identify the true location of the bearing tone. In this research an autonomous algorithm for bearing tone extraction, based on pattern matching, was developed. The proposed algorithm is based on the common assumption that the spectrum of a faulted bearing contains a certain known pattern of prominent peaks. The algorithm “scans” the entire spectrum and determines the frequency value which has the highest correlation to the mentioned pattern. The proposed algorithm was validated and its capabilities are illustrated using experimental data. This algorithm is able to assist any diagnostic approach towards automatic and reliable feature extraction process, both for physics based and data driven approaches.
迄今为止,在旋转机械状态监测领域所做的许多研究都是在频域进行的。专门针对轴承的频域分析是基于从振动特征的频谱中提取特征。这些特征主要基于承载音及其边带和高次谐波处的振幅。因此,准确、自动地确定上述轴承音在频谱中的位置是很重要的。对于滚珠轴承的情况下,由于滚动元件的滑动和接触角的变化,这个过程可能会有问题。这些可能导致轴承音调偏离其标称值。直到今天,轴承诊断的常见做法是基于分析轴承音调的振动水平或专家的参与来确定轴承音调的真实位置。本文提出了一种基于模式匹配的自主轴承音调提取算法。提出的算法是基于一个共同的假设,即故障轴承的频谱包含一定的已知模式的突出峰。该算法“扫描”整个频谱,并确定与上述模式相关性最高的频率值。实验数据验证了该算法的有效性。该算法能够帮助任何诊断方法实现自动可靠的特征提取过程,无论是基于物理的还是数据驱动的方法。
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引用次数: 0
Deep Learning Representation Pre-training for Industry 4.0 面向工业4.0的深度学习表征预训练
Pub Date : 2022-06-29 DOI: 10.36001/phme.2022.v7i1.2784
Alaaeddine Chaoub, Christophe Cerisara, A. Voisin, B. Iung
Deep learning (DL) approaches have multiple potential advantages that have been explored in various fields, but for prognostic and health management (PHM) applications, this is not the case due to the lack of data in particular applications and also due of the absence of multiple DL-oriented benchmarks as in other fields, which limits the research in this area even though these types of applications will have a strong impact on the industrial world. To introduce the benefits of DL in this area, we should be able to develop models even when we have small data sets, to verify whether or not this is possible, in this thesis we explore the research direction of few shot learning in the context of equipment PHM.
深度学习(DL)方法具有多种潜在优势,已经在各个领域进行了探索,但对于预测和健康管理(PHM)应用,由于缺乏特定应用的数据,并且由于缺乏与其他领域一样的多个面向DL的基准,这限制了该领域的研究,即使这些类型的应用将对工业世界产生强烈影响。为了介绍深度学习在这一领域的优势,我们应该能够在数据集很小的情况下开发模型,为了验证这是否可能,在本文中我们探索了设备PHM背景下的少射学习的研究方向。
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引用次数: 0
Towards Data Reliability Based on Triple Redundancy and Online Outlier Detection 基于三冗余和在线离群点检测的数据可靠性研究
Pub Date : 2022-06-29 DOI: 10.36001/phme.2022.v7i1.3366
Sylvain Poupry, Cédrick Béler, K. Medjaher
Today, air quality monitoring is a global concern. The World Health Organization (WHO) defined standards for each pollutant and each member state is committed to monitoring them continuously and reliably to protect the population. This responsibility is delegated to air quality monitoring associations. To achieve the objectives of reliable, accurate, and continuous measurements, these associations rely on conventional measuring stations with demanding specifications to serve as scientific references and decision supports for the authorities. However, because of heavy investments and required qualified staff, there are few stations and the coverage is coarse for territories of several thousand km2. To circumvent this difficulty, measurement network architectures using Low-Cost Sensors (LCS) have been deployed. Low cost and requiring less qualification, This alternative technology to conventional measuring stations makes it possible to target local pollution that could not otherwise be detected. Although it is more accurate on the spatial dimension, this technology has several drawbacks, notably in terms of measurement repeatability and hardware quality. It is also subject to measurement drifts over time. To overcome these drawbacks, a resilient and reliable architecture based on LCS and triple redundancy has been proposed. The basic principle is based on the implementation of three smart sensors (SmS) using LCS measuring the same parameters on the same perimeter. These SmS communicate with an Aggregator that aggregates the data sent by SmS. The aggregator includes also detection and voting tasks allowing to compare, cross the data, detect faults of LCS online, and provide data that are ready for processing. In this paper, a pre-processing algorithm in four steps is presented. It identifies hardware faults from one or more LCS and reports outliers for verification by an expert. It is configurable and can identify failure behaviors (LCS or air quality). Finally, the proposed algorithm excludes the outliers data from faulty LCS and presents only reliable ones.
今天,空气质量监测是一个全球关注的问题。世界卫生组织(世卫组织)为每一种污染物确定了标准,每个成员国都致力于持续可靠地监测这些标准,以保护人民。这一责任由空气质量监测协会承担。为了实现可靠、准确和连续测量的目标,这些协会依靠具有苛刻规格的传统测量站作为科学参考和决策支持。但是,由于大量投资和需要合格的工作人员,监测站很少,覆盖范围很广,只有几千平方公里。为了克服这一困难,已经部署了使用低成本传感器(LCS)的测量网络架构。成本低,资质要求低。这种替代传统测量站的技术使无法检测到的当地污染成为可能。虽然它在空间维度上更精确,但该技术有几个缺点,特别是在测量可重复性和硬件质量方面。随着时间的推移,它也会受到测量漂移的影响。为了克服这些缺点,提出了一种基于LCS和三重冗余的弹性可靠的体系结构。基本原理是基于使用LCS测量同一周界上相同参数的三个智能传感器(SmS)的实现。这些短信与聚合器通信,聚合器聚合短信发送的数据。聚合器还包括检测和投票任务,允许比较、交叉数据、在线检测LCS故障,并提供准备处理的数据。本文提出了一种分四步进行预处理的算法。它从一个或多个LCS中识别硬件故障,并报告异常值供专家验证。它是可配置的,可以识别故障行为(LCS或空气质量)。最后,该算法排除故障LCS中的异常数据,只给出可靠数据。
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引用次数: 1
Physics-informed Lightweight Temporal Convolution Networks for Fault Prognostics Associated to Bearing Stiffness Degradation 基于物理信息的轻型时间卷积网络用于轴承刚度退化的故障预测
Pub Date : 2022-06-29 DOI: 10.36001/phme.2022.v7i1.3365
Weikun Deng, K. Nguyen, C. Gogu, J. Morio, K. Medjaher
This paper proposes hybrid methods using physics-informed (PI) lightweight Temporal Convolution Neural Network (PITCN) for bearings’ remaining useful life (RUL) prediction under stiffness degradation. It includes three PI hybrid models: a) PI Feature model (PIFM) — constructing physics-informed health indicator (PIHI) to augment the feature space, b) PI Layer model (PILM)—encoding the physics governing equations in a hidden layer, and c) PI Layer Based Loss model (PILLM)—designing PI conflict loss, taking into account the difference before and after integration of the physics input-output relations involved module to the loss function. We simulated 200 different bearing stiffness degradations, using their discrete monitored vibration signals to verify the effectiveness of the proposed method. We also investigate their inference process through feature heat map analysis to interpret how the models melt physics knowledge to assist in capturing the degradation trend. The physics knowledge considered in this paper is the dynamic relationship between vibration amplitude and stiffness in a damped forced vibration model. The results show that all three PITCN models effectively capture degradation-related trend information and perform better than the vanilla lightweight TCN. Furthermore, the visualization of the feature channels highlights the important role of physics information in model training. Channels containing physics information demonstrate higher correlation with results as they significantly dominate the heat map compared to other channels.
本文提出了基于物理信息(PI)轻量级时间卷积神经网络(PITCN)的混合方法,用于刚度退化下轴承剩余使用寿命(RUL)的预测。它包括三种PI混合模型:a) PI特征模型(PIFM)—构造物理信息健康指标(PIHI)来扩大特征空间;b) PI层模型(PILM)—在隐藏层中编码物理控制方程;c)基于PI层的损失模型(PILLM)—设计PI冲突损失,考虑所涉及的物理输入输出关系模块与损失函数集成前后的差异。我们模拟了200种不同的轴承刚度退化,使用它们的离散监测振动信号来验证所提出方法的有效性。我们还通过特征热图分析研究了它们的推理过程,以解释模型如何融合物理知识以帮助捕获退化趋势。本文考虑的物理知识是阻尼强迫振动模型中振动幅值与刚度之间的动态关系。结果表明,这三种PITCN模型都能有效地捕获与退化相关的趋势信息,并且性能优于普通轻量级TCN模型。此外,特征通道的可视化突出了物理信息在模型训练中的重要作用。与其他通道相比,包含物理信息的通道与结果的相关性更高,因为它们显著地支配着热图。
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引用次数: 5
Prediction of Production Line Status for Printed Circuit Boards 印刷电路板生产线状态预测
Pub Date : 2022-06-29 DOI: 10.36001/phme.2022.v7i1.3371
Haichuan Tang, Yin Tian, Junyan Dai, Yuan Wang, Jian-li Cong, Qi Liu, Xuejun Zhao, Yunxiao Fu
This paper focuses on the problem of predicting production line status for Printed Circuit Boards (PCBs). The problem contains three prediction tasks regarding PCB producing process. Firstly, data exploration is carried out and it reveals several data challenges, including data imbalance, data noise, small sample size, and component difference. To predict production line status for components of PCBs using records of inspection on pins, we proposed two possible feature extraction methods to compress the pin-level data into component-level. A statistical feature extraction method, which retrieves descriptive statistics such as mean, standard deviation, maximum, and minimum of pins on the same component, is applied to Task 1, while a PinNumber-based feature extraction method, which keep original values for 2-pin components, is applied to Task3. In addition, a neural-net model with feeding imbalance control is established for Task 1. and a random forests model is applied for both Task 2 and Task 3. Moreover, a threshold moving technique is proposed to optimize the threshold selection. Finally, the result shows that our models achieved f1-scores of 0.44, 0.54, and 0.71 on the test set for the three tasks, respectively.
本文主要研究印制电路板生产线状态预测问题。该问题包含三个关于PCB生产过程的预测任务。首先,对数据进行挖掘,揭示了数据不平衡、数据噪声、小样本、成分差异等数据挑战。为了利用引脚检测记录预测pcb组件的生产线状态,我们提出了两种可能的特征提取方法,将引脚级数据压缩到组件级。将统计特征提取方法应用于任务1,该方法检索同一组件上引脚的平均值、标准差、最大值和最小值等描述性统计数据,而将基于pinnumber的特征提取方法应用于任务3,该方法保留2引脚组件的原始值。此外,针对任务1,建立了具有进料不平衡控制的神经网络模型。任务2和任务3均采用随机森林模型。此外,提出了一种阈值移动技术来优化阈值的选择。最后,结果表明,我们的模型在三个任务的测试集上分别获得了0.44,0.54和0.71的f1分数。
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引用次数: 1
Novel Metrics to Evaluate Probabilistic Remaining Useful Life Prognostics with Applications to Turbofan Engines 新指标评估概率剩余使用寿命预测与应用于涡扇发动机
Pub Date : 2022-06-29 DOI: 10.36001/phme.2022.v7i1.3320
Ingeborg de Pater, M. Mitici
Well-established metrics such as the Root Mean Square Error or the Mean Absolute Error are not suitable to evaluate estimated distributions of the Remaining Useful Life (i.e., probabilistic prognostics). We therefore propose novel metrics to evaluate the quality of probabilistic Remaining Useful Life prognostics. We estimate the distribution of the Remaining Useful Life of turbofan engines using a Convolutional Neural Network with Monte Carlo dropout. The accuracy and sharpness of the obtained probabilistic prognostics are evaluated using the Continuous Ranked Probability Score (CRPS) and weighted CRPS. The reliability of the obtained probabilistic prognostics is evaluated using the α-Coverage and the Reliability Score. The results show that the estimated distributions of the Remaining Useful Life of turbofan engines are accurate, reliable and sharp when using a Convolutional Neural Network with Monte Carlo dropout. In general, the proposed metrics are suitable to evaluate the accuracy, sharpness and reliability of probabilistic Remaining Useful Life prognostics.
诸如均方根误差或平均绝对误差等已建立的度量不适合评估剩余使用寿命的估计分布(即概率预测)。因此,我们提出了新的指标来评估概率剩余使用寿命预测的质量。利用蒙特卡罗dropout卷积神经网络估计了涡扇发动机剩余使用寿命的分布。使用连续排序概率评分(CRPS)和加权CRPS来评估获得的概率预测的准确性和清晰度。得到的概率预测的可靠性用α-覆盖率和可靠性评分进行评估。结果表明,采用蒙特卡罗dropout卷积神经网络估算的涡扇发动机剩余使用寿命分布准确、可靠、清晰。一般来说,所提出的指标适合于评估概率剩余使用寿命预测的准确性、清晰度和可靠性。
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引用次数: 4
Hybrid Fault Prognostics for Nuclear Applications: Addressing Rotating Plant Model Uncertainty 核应用的混合故障预测:解决旋转电厂模型的不确定性
Pub Date : 2022-06-29 DOI: 10.36001/phme.2022.v7i1.3321
Jennifer Blair, B. Stephen, Blair Brown, Alistair Forbes, S. Mcarthur
Nuclear plant operators are required to understand the uncertainties associated with the deployment of prognostics toolsin order to justify their inclusion in operational decision making processes and satisfy regulatory requirements. Operationaluncertainty can cause underlying prognostics models to underperform on assets that are subject to evolving impactsof age, manufacturing tolerances, operating conditions, and operating environment effects, of which may be capturedthrough a condition monitoring (CM) system that itself may be degraded. Sources of uncertainty in the data acquisitionpipeline can impact the health of CM data used to estimate the remaining useful life (RUL) of assets. These uncertaintiescan disguise or misrepresent developing faults, where (for example) the fault identification is not achieved until it hasprogressed to an unmanageable state. This leaves little flexibility for the operator’s maintenance decisions and generallyundermines model confidence. One method to quantify and account for operational uncertainty is calibrated hybrid models, employing physics, knowledgeor data driven methods to improve model accuracy and robustness. Hybrid models allow known physical relations tooffset full reliance on potentially untrustworthy data, whilst reducing the need for an abundance of representative historicaldata to reliably identify the monitored asset’s underlying behavioural trends. Calibration of the model then ensuresthe model is updated and representative of the real monitored asset by accounting for differences between the physics orknowledge model and CM data. In this paper, an open-source bearing knowledge informed machine learning (ML) model and CM datasets are utilizedin an illustrative bearing prognostic application. The uncertainty incurred by the decisions made at key stages in thedevelopment of the model’s data acquisition and processing pipeline are assessed and demonstrated by the resultant impacton RUL prediction performance. It was shown that design decisions could result in multiple valid pipeline designswhich generated different predicted RUL trajectories, increasing the uncertainty in the model output.
核电厂运营商必须了解与部署预测工具相关的不确定性,以证明将其纳入运营决策过程并满足监管要求是合理的。运行的不确定性可能导致潜在的预测模型在资产上表现不佳,这些资产受到年限、制造公差、运行条件和运行环境影响的不断变化的影响,这些影响可能通过状态监测(CM)系统捕获,而CM系统本身可能会退化。数据获取管道中的不确定性来源可能影响用于估计资产剩余使用寿命(RUL)的CM数据的健康状况。这些不确定性可以掩盖或错误地描述开发中的错误,例如,直到故障发展到无法管理的状态时才实现故障识别。这给运营商的维护决策留下了很少的灵活性,通常会破坏模型的可信度。一种量化和解释操作不确定性的方法是校准混合模型,采用物理、知识或数据驱动的方法来提高模型的准确性和鲁棒性。混合模型允许已知的物理关系来抵消对潜在不可信数据的完全依赖,同时减少了对大量代表性历史数据的需求,以可靠地识别受监测资产的潜在行为趋势。然后对模型进行校准,通过考虑物理或知识模型与CM数据之间的差异,确保模型更新并代表实际监控资产。在本文中,一个开源的轴承知识告知机器学习(ML)模型和CM数据集被用于说明性轴承预测应用。在模型的数据采集和处理管道开发的关键阶段做出的决策所产生的不确定性被评估并通过结果影响RUL预测性能来证明。结果表明,设计决策可能导致多个有效的管道设计,这些管道设计产生不同的预测RUL轨迹,增加了模型输出的不确定性。
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引用次数: 1
Long Horizon Anomaly Prediction in Multivariate Time Series with Causal Autoencoders 基于因果自编码器的多元时间序列长视界异常预测
Pub Date : 2022-06-29 DOI: 10.36001/phme.2022.v7i1.3367
M. Asres, G. Cummings, A. Khukhunaishvili, P. Parygin, S. Cooper, D. Yu, J. Dittmann, C. Omlin
Predictive maintenance is essential for complex industrial systems to foresee anomalies before major system faults or ultimate breakdown. However, the existing efforts on Industry 4.0 predictive monitoring are directed at semi-supervised anomaly detection with limited robustness for large systems, which are often accompanied by uncleaned and unlabeled data. We address the challenge of predicting anomalies through data-driven end-to-end deep learning models using early warning symptoms on multivariate time series sensor data. We introduce AnoP, a long multi-timestep anomaly prediction system based on unsupervised attention-based causal residual networks, to raise alerts for anomaly prevention. The experimental evaluation on large data sets from detector health monitoring of the Hadron Calorimeter of the CMS Experiment at LHC CERN demonstrates the promising efficacy of the proposed approach. AnoP predicted around 60% of the anomalies up to seven days ahead, and the majority of the missed anomalies are abnormalities with unpredictable noisy-like behavior. Moreover, it has discovered previously unknown anomalies in the calorimeter’s sensors.
对于复杂的工业系统来说,预测性维护在主要系统故障或最终故障之前预见异常是必不可少的。然而,工业4.0预测监测的现有工作主要针对半监督异常检测,对于大型系统的鲁棒性有限,这些系统通常伴随着未清理和未标记的数据。我们通过数据驱动的端到端深度学习模型,利用多变量时间序列传感器数据的早期预警症状,解决了预测异常的挑战。我们引入了一种基于无监督的基于注意的因果残差网络的长时间多步异常预测系统AnoP,以发出异常警报以预防异常。对欧洲核子研究中心LHC强子量热仪探测器健康监测大数据集的实验评估表明,该方法具有良好的效果。AnoP可以提前7天预测60%左右的异常,而大多数未被发现的异常都带有不可预测的噪音行为。此外,它还在热量计的传感器中发现了以前未知的异常。
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引用次数: 2
Experimental Validation of Multi-fidelity Models for Prognostics of Electromechanical Actuators 机电执行器多保真度预测模型的实验验证
Pub Date : 2022-06-29 DOI: 10.36001/phme.2022.v7i1.3347
L. Baldo, P. Berri, M. D. Dalla Vedova, P. Maggiore
The growing adoption of electrical energy as a secondary form of onboard power leads to an increase of electromechanical actuators (EMAs) use in aerospace applications. Therefore, innovative prognostic and diagnostic methodologies are becoming a fundamental tool to early identify faults propagation, prevent performance degradation, and ensure an acceptable level of safety and reliability of the system. Furthermore, prognostics entails further advantages, including a better ability to plan the maintenance of the various equipment, manage the warehouse and maintenance personnel, and a reduction in system management costs.Frequently, such approaches require the development of typologies of numerical models capable of simulating the performance of the EMA with different levels of fidelity: monitoring models, suitably simplified to combine speed and accuracy with reduced computational costs, and high fidelity models (and high computational intensity), to generate databases, develop predictive algorithms and train machine learning surrogates. Because of this, the authors developed a high-fidelity multi-domain numerical model (HF) capable of accounting for a variety of physical phenomena and gradual failures in the EMA, as well as a low-fidelity counterpart (LF). This simplified model is derived by the HF and intended for monitoring applications. While maintaining a low computing cost, LF is fault sensitive and can simulate the system position, speed, and equivalent phase currents.These models have been validated using a dedicated EMA test bench, designed and implemented by authors. The HF model can simulate the operation of the actuator in nominal conditions as well as in the presence of incipient mechanical faults, such as a variation in friction and an increase of backlash in the reduction gearbox.Comparing the preliminary results highlights satisfactory consistency between the experimental test bench and the two numerical models proposed by the authors.
越来越多地采用电能作为机载动力的第二种形式,导致机电致动器(ema)在航空航天应用中的使用增加。因此,创新的预测和诊断方法正在成为早期识别故障传播,防止性能下降,并确保系统达到可接受的安全性和可靠性水平的基本工具。此外,预测带来了更多的优势,包括更好地计划各种设备的维护,管理仓库和维护人员,以及减少系统管理成本。通常,这种方法需要开发能够以不同保真度模拟EMA性能的数值模型类型:监测模型,适当简化以将速度和准确性与降低的计算成本相结合,以及高保真度模型(和高计算强度),以生成数据库,开发预测算法和训练机器学习替代品。因此,作者开发了一个高保真多域数值模型(HF),能够解释EMA中的各种物理现象和逐渐失效,以及一个低保真对应(LF)。这个简化模型是由高频导出的,用于监测应用。在保持较低的计算成本的同时,LF具有故障敏感性,可以模拟系统的位置、速度和等效相电流。这些模型已通过专门的EMA测试台进行验证,该测试台由作者设计和实现。高频模型可以模拟执行器在标称条件下的操作,以及在出现早期机械故障的情况下的操作,例如摩擦的变化和减速箱中隙隙的增加。初步结果对比表明,实验台架与作者提出的两种数值模型具有较好的一致性。
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引用次数: 3
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