CN106500829B - A kind of adaptively sampled frequency tracking method - Google Patents
A kind of adaptively sampled frequency tracking method Download PDFInfo
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Abstract
The present invention discloses a kind of adaptively sampled frequency tracking method, and on the basis of the bright detection based on adaptive threshold, the power density spectrum feature acted by analytic learning switch gate, determination frequency records maximum value fmaxWith statistically maximum frequency f 'maxBetween deviation whether reach threshold value, be the sample frequency f for updating vibrating sensorS, k, and resurvey and obtain new statistically maximum frequency f 'max, wherein s indicates intrinsic vibration, and k is the time point of integer, otherwise terminates the update of sample frequency, finally determines optimal equipment sample frequency.The present invention can be used automatically reasonable sample frequency, reduce the energy consumption of system by adaptive frequency sampling mode while guaranteeing detection accuracy, and the trend of tracking vibration frequency variation in due course.
Description
Technical field
The present invention relates to vibration detection fields, and in particular to a kind of adaptively sampled frequency tracking method.
Background technique
What is be currently known is all based on empirical value to vibration sampling, or directly selects to be maximized and adopt to vibration
Sample.Traditional method based on empirical value needs human intervention；The method for choosing maximum value resulted in many cases adopts
Sample, in the case where system vibrational frequency is certain, excessively high sample frequency means the data points that can be obtained in the unit time
It measures excessively high, not can increase the susceptibility of system not only, will lead to the increase of sensor energy consumption instead, and excessive calculating is caused to provide
The consumption of source and storage resource；Meanwhile one section of vibration frequency is changed, traditional mode needs artificially to be set again
It sets, can not automatically update.A kind of frequency sampling mode of equipment setting specific for one can not be applied to another specific equipment,
Need frequently to be directed to distinct device model, equipment base stabilization degree, the installation site of acquisition device and the movement for vibrating source
Mode resets sampling configuration, and frequency sampling mode is caused not have universality.The vibration that system at regular intervals tracking needs to detect
When frequency, it may appear that frequency drift phenomenon, in application scenes, due to mechanical aging, the variation of ambient enviroment or artificial
The reasons such as intervention cause the oscillation point captured that drift phenomenon occurs.The problem of for above-mentioned over-sampling and vibration drift, lacks at present
Few corresponding solution.
Summary of the invention
It is an object of the invention to be directed to above-mentioned problems of the prior art, propose that a kind of adaptively sampled frequency chases after
Track method can use automatically reasonable sample frequency while guaranteeing detection accuracy by adaptive frequency sampling mode,
The energy consumption of reduction system, and the trend of tracking vibration frequency variation in due course.
To achieve the purpose that foregoing invention, the invention is realized by the following technical scheme:
A kind of adaptively sampled frequency tracking method, includes the following steps:
Step S10 saves the vibration data more than or equal to two seconds with shift register collection；
Step S20 judges whether the vibration of current switch door occurs by adaptive threshold, is acted to comprising switch gate
Vibration data seek the first power spectral density distribution, otherwise the step S10 vibration data saved is asked with first time interval
Its second power spectrum density is taken to be distributed；
Step S30 seeks the difference of the distribution of the first power spectral density with second power spectrum density distribution, and calculates difference
Its maximum power accumulated value；
Step S40 takes the frequency record maximum value f for reaching maximum power accumulated value threshold valuemax, and to same maximum power
Data point statistically maximum frequency f ' is obtained by the statistical method about frequencymax；
Step S50, determination frequency record maximum value fmaxWith statistically maximum frequency f 'maxBetween deviation whether reach threshold
Value, is the sample frequency f for updating vibrating sensorS, kAfter enter step S10, wherein s indicate intrinsic vibration, k be integer when
Between point, otherwise terminate the update of sample frequency.
Further, the step S50 is specific as follows to the judgement and operation of deviation: determination frequency records maximum value fmaxWith
Statistically maximum frequency f 'maxBetween difference whether be more than deviation threshold, be further to judge statistically maximum frequency f 'maxIt is
The no sample frequency that is less than reduces threshold value, if then reducing sample frequency fS, kAfter enter step S10, if its greater than sample frequency drop
Low threshold and be less than sample frequency increase threshold value, then keep current sampling frequency fS, k；If frequency record maximum value fmaxWith statistics
Upper maximum frequency f 'maxBetween difference be not above deviation threshold, then increase sample frequency fS, kAfter enter step S10.
The above method, further includes step S51, and setpoint frequency increases counter TpCounter T is reduced with frequencyN, initial value
It is zero, when step S50 reduces sample frequency, then frequency reduces counter TNAdd 1；When step S50 increases sample frequency, then frequency
Increase counter TpAdd 1；After step S50, which is executed, keeps sample frequency, frequency increases counter TpSubtract 1, and frequency reduces meter
Number device TNSubtract 1.
The above method, further includes step S52, and determination frequency increases counter TpCounter T is reduced with frequencyNWhether simultaneously
It less than 0, is that sample frequency is stable and terminates, otherwise return step S10.
The above method further includes step S53, after meeting the condition for reducing sample frequency, judges whether to repeat to increase and decrease frequency,
Specific steps are as follows:
Step S531, when frequency increases counter TpCounter T is reduced with frequencyNMeet: Tp> 2 and | Tp-TN| when < 2,
Then determine not in the jitter of two sample frequency points, and further decrease sample frequency, by current statistic maximum frequency
f′maxAs new frequency record maximum value fmax, and frequency reduces counter TNAdd 1, enters back into step S10；
Step S532, when frequency increases counter TpCounter T is reduced with frequencyNIt is unsatisfactory for: Tp> 2 and | Tp-TN| < 2
When, then determine the jitter in two sample frequency points, keeps current sampling frequency, and enter step S52 and judge whether to terminate
The update of current adaptively sampled frequency.
The above method further include:
Step S01, judges whether the time threshold of timer meets, and is to trigger vibrating sensor with sample frequency fS, k
The vibration frequency of target is acquired, and is extracted as secondary main frequency of vibration rate fMax, i, wherein i is acquisition timing；
Step S02 does glide filter, glide filter method to the main frequency of vibration rate of acquisition are as follows:
WhereinFor the basic frequency after sliding, β glide filter coefficient；
Step S03, it is to enter step S10 to rejudge new expire that whether basic frequency, which drifts about, after judging sliding
The sample frequency that basic frequency is not drifted about after foot sliding.
Further, the method that basic frequency is drifted about after the step S03 judgement sliding are as follows: whether basic frequency is big after comparing sliding
In sample frequency increase threshold value, or compare sliding after basic frequency whether be less than sample frequency reduce threshold value, any one satisfaction
Basic frequency is deviated relative to known sampled targets after then determining sliding.
Further, the deviation threshold is θThfs, k, wherein θthFor threshold coefficient；The sample frequency increases threshold value
α2fs, k, wherein α2Judgement factor is improved for sampling；It is α that the sample frequency, which reduces threshold value,1fs, k-1, wherein α1It reduces and sentences for sampling
Disconnected coefficient, fS, k-1For a preceding sample frequency.
Further, the maximum power accumulated value threshold value of the step S40 is 80% maximum power accumulated value.
Further, described to obtain statistically maximum frequency f 'maxMethod are as follows: persistently record the data of same maximum power
Point filters out the maximum data point of frequency from each data point statistics by the data point of rejecting outliers method rejecting abnormalities, should
The frequency of data point is statistically maximum frequency.
A kind of adaptively sampled frequency tracking method of the invention, can be applied not only to switch gate etc. outside the vibration of foundation
There are the detections of additional vibration, also can be applied in common vibration acquisition scene.The adaptive sample frequency inspection
Survey facilitate extra computation caused by reducing traditional fixed sampling frequency storage etc. consumption, while by vibration frequency drift about with
Track makes this method can adapt to the evolutionary change that equipment is generated in time dimension, relative to traditional fixed frequency sampling side
Formula, this method improve the reliability of vibration sampling functions in time.
Detailed description of the invention
The step of Fig. 1 is a kind of adaptively sampled frequency tracking method of the invention is schemed.
Fig. 2 is that a kind of frequency of adaptively sampled frequency tracking method of the invention updates flow chart.
Fig. 3 a is the contrast schematic diagram of normal vibration and additional vibratory vibrational energy curve in the time domain.
Fig. 3 b is the contrast schematic diagram of normal vibration and the additional vibratory power curve on frequency domain.
Fig. 4 is additional vibratory power diagram.
Fig. 5 is that a kind of frequency drift of adaptively sampled frequency tracking method of the invention updates flow chart.
Specific embodiment
Technical scheme in the embodiment of the invention is clearly and completely described with reference to the accompanying drawings and examples, shows
So, described embodiments are only a part of the embodiments of the present invention, rather than whole embodiments.
For any object, there is an instantaneous acceleration a [t], wherein t is some instantaneous time point, when
It can be obtained when capturing its acceleration value with the acquisition lasting to equipment of certain sample frequency by 3D acceleration transducer
The acceleration value a [n] of discrete series, wherein n is the discrete time point for acquiring data.Under normal condition, equipment is with intrinsic vibration
Dynamic frequency as[n] works.When equipment generate additional vibratory when, the vibration will to equipment generate one be additionally superimposed plus
Speed aΔ[n], detection vibration values at this time are
A [n]=as[n]+aΔ[n]……(1)
Referring to Fig. 1 and Fig. 2, the step of a kind of adaptively sampled frequency tracking method of the embodiment of the present invention, figure and frequency be more
New technological process figure.As a specific embodiment, this method further passes through analysis on the basis of based on adaptive threshold detection
The power density spectrum feature of switch gate movement, determines optimal equipment sample frequency.
The adaptive threshold detection, is realized with the following method:
Step A10 finds out current vibration energy according to the current acceleration value of acceleration transducer；
Step A20, vibrational energy data flow enter low-pass filter and obtain current vibrational energy mean value；Vibrational energy number
According to stream also into shift register collection, mean value is taken to the deposited vibrational energy data in the storage section of shift register collection, then subtract
Vibrational energy mean value adjusted, obtains vibrational energy region average；
Step A30, vibrational energy region average calculate the dynamic threshold of vibrational energy by moving average method；
Step A40, setting marker bit flag indicate vibration persistent state, and initial marker bit flag is 0；Judge vibrational energy
Whether amount region average is greater than twice of dynamic threshold, and whether marker bit flag is 0, is, marker bit flag is set as 1, and remembers
Current time t1 is recorded as the vibration time started, and turns again to step A10 and updates vibrational energy region average and dynamic threshold；
Otherwise when dynamic threshold of the vibrational energy region average less than or equal to twice, then marker bit is set as 0, and record current time t2
As the vibration end time；
Step A50 judges that vibration starts whether be less than preset value with the time interval terminated, is to determine that current vibration is
True external vibration；Otherwise determine that current vibration is sporadic vibration, and return step A10.
The adaptively sampled frequency tracking method of this method, the specific steps are as follows:
Step S10 saves the vibration data more than or equal to two seconds in a manner of shift register collection；Specifically, assuming to work as
Preceding sample frequency is M Hz, and shift register integrates the window size for saving vibration data as NfftSo that Nfft>=2M and NfftFor
2 integral number power, such as work as fs=100Hz, then Nfft=256；
Step S20, is detected by adaptive threshold, judges whether the current switch gate vibration of equipment occurs, and is not being sent out
When raw switch gate vibration, at a time interval to the window of preservation, the i.e. vibration data of the window size, its power frequency is sought
Spectrum is weighted the second power spectrum density distribution P that can averagely find out intrinsic vibration generations(f), f is frequency；Work as detection
When vibrating generation to switch gate, the first power spectral density distribution P is sought to the window of the vibration data acted comprising the switch gate
(f), the distribution of the first power spectral density shown in b P (f) and second power spectrum density are distributed P referring to Fig. 3s(f) comparison diagram；
Step S30, seeks the first power spectral density distribution P (f) and second power spectrum density is distributed Ps(f) difference DELTA Pw
(f)=P (f)-Ps(f), and to difference DELTA Pw(f) its maximum power accumulated value Q is calculatedc(f), specifically:
Step S40 takes the frequency for reaching maximum power accumulated value threshold value, in the present embodiment, with 80% maximum power
Accumulated value as threshold value, referring to Fig. 3 shown in additional vibratory power diagram, dotted line is then 80% vibrational energy point in left side
Principal oscillation frequency, i.e. the frequency record maximum value f of intended vibratorymaxAre as follows:
fmax=max f | Qc(f)≤0.8}……(3)；
And statistically maximum frequency f ' is obtained by the statistical method about frequency to the data point of same maximum powermax,
Specifically embodiment is to continue to record same power points fMax, 1,fMax, 2,…fMax, N, wherein N is the vibration data of statistics
Point；Rejecting outliers method is used to above-mentioned power points, obtains statistically maximum frequency f ' after the data point of rejecting abnormalitiesmax, institute
The rejecting outliers method stated can preferably use the rejecting outliers method based on proximity in the present embodiment, can be with
Using based on density or based on the detection method of model；
Step S50, determination frequency record maximum value fmaxWith statistically maximum frequency f 'maxBetween deviation whether there is compared with
Big deviation is to be compared with multiple threshold values, is that then root system sample frequency is laggard to the biggish deviation when specifically judging
Enter step S10, otherwise terminates frequency-tracking.
It is as described below with specific embodiment herein to step S50:
Due to the limitation of vibrating sensor, discrete value is only to the sample frequency of target device, it is known that vibrating sensing
The desirable sample frequency of device is fS, i, wherein i ∈ [0, Ns] and fS, i< fS, i+1；The sample frequency that current vibration sensor uses for
fS, k, detected if first operational shock, current sampling frequency is initialized as the value of maximum sampled value or artificial settings, for mesh
The frequency record maximum value f of marking device vibrationmaxIt is initialized as statistically maximum frequency f 'max；Setpoint frequency increases counter Tp
Counter T is reduced with frequencyN, initial value is zero；
Judge whether the deviation is relatively large deviation according to following steps, and accordingly updates sample frequency；
By step S10 to step S40, updated statistically maximum frequency f ' is obtainedmax；
The current statistically maximum frequency f ' of judgementmaxWith frequency record maximum value fmaxWhether meet:
|fmax-f′max|≥θThfs, k……(4)
Wherein θthIt is related with current sample frequency for threshold coefficient, usual θthCoefficient value be 0.1 to 0.2 range
It is interior；If inequality (4) meets, illustrate current statistically maximum frequency f 'maxWith frequency record maximum value fmaxOccur larger
The reason of deviation, deviation may be to cause since sample frequency is too low or frequency drift has occurred in itself, it is therefore desirable to which raising is adopted
Sample frequency fS, kEven fS, k=fS, k+1, and root system frequency record maximum value fmaxEven fmax=f 'max, and renewal frequency
Increase counter Tp, update mode Tp=Tp+ 1, the vibration frequency of S10 acquisition target device is entered step later, and is calculated
Its new statistically maximum frequency f 'max；
The current statistically maximum frequency f ' of judgementmaxWith frequency record maximum value fmaxWhether meet:
|fmax f′max| < θThfs, k……(5)
If inequality (5) meets, and current statistically maximum frequency is without departing from threshold value, then it is assumed that vibrating sensor is adopted
Sample frequency meets vibration and requires；It further determines whether to meet the requirement for reducing sample frequency on this basis, it may be assumed that
f′max< α 1fS, k-1……(6)
Wherein α1Judgement factor is reduced for sampling, usual value is between 0.3-0.4, if inequality (6) are judged as NO,
It is unsatisfactory for reducing the requirement of sample frequency, further judges whether equipment meets current sampling frequency requirement at this time, it may be assumed that
f′max< α2fs, k……(7)
Wherein α2Judgement factor is improved for sampling, usual value is between 0.9-0.95, if above-mentioned inequality (7) is judged as
Very, i.e., equipment cannot more meet current sampling frequency requirement, then improve sample frequency；Otherwise current sampling frequency is kept, simultaneously
Renewal frequency records maximum value fmax=f 'max, and frequency increases counter TpCounter T is reduced with frequencyNSubtract 1 respectively；
If being judged as very in inequality (6), that is, meet the requirement for continuing to reduce sample frequency, is then made whether to repeat to increase and decrease
The judgement of frequency, it may be assumed that
Tp> 2 and | Tp-TN| < 2 ... (7)
Judge whether inequality group (7) meets, is then to determine to exist repeatedly not in the jitter of two sample frequency points
Two sampling point samplings, further decrease sample frequency f at this timeS, k=fS, k-1, and more new record highest frequency, even fmax=
f′max, while frequency reduces counter and adds 1, then reenters step S10 and acquires and calculate new statistically maximum frequency
f′max；If inequality group (7) is unsatisfactory for, i.e., system then keeps current sampling frequency, and sentence in two sample frequency point jitters
It is disconnected whether to terminate current adaptively sampled frequency tracking.
Referring to Fig. 5, as another specific embodiment, system at regular intervals tracking needs the variation of the frequency of the vibration detected to become
Gesture, thus the frequency drift phenomenon that tracking is likely to occur.In application scenes, due to mechanical aging, the change of ambient enviroment
Change, the reasons such as human intervention, needing oscillation point to be captured, there are drift phenomenons.The present invention has the function of tracking vibration variation tendency
Can, help to ensure that the acquisition of vibration adapts to the variation of time.It is implemented as, frequency vibration captures lasting carry out.In order to
In conjunction with the considerations of power consumption, setting timing (secondary) device, only after timing (secondary) device triggering can to when time main frequency of vibration rate, i.e. target
The frequency record maximum value of vibration extracts, and is defined as fMax, i, i is acquisition timing.
Main frequency of vibration rate after acquisition will carry out glide filter, avoid false judgment caused by unitary sampling deviation.Sliding
Filtering method are as follows:
Program can judge filtered frequency, see whether frequency drift occur.Known current sample frequency is
fS, kIf
Or
Then there is drift relative to known sampled targets in determination frequency, and system is automatically into adaptively sampled frequency mould
Block, it is new suitable using frequency to rejudge.
Above-described embodiment is only to illustrate the present invention and not limits the technical scheme described by the invention；Therefore, although
The present invention has been described in detail referring to above-mentioned each embodiment for this specification, still, the ordinary skill of this field
Personnel should be appreciated that and still can modify or equivalently replace the present invention；And all do not depart from spirit of the invention and
The technical solution and its improvement of range, are intended to be within the scope of the claims of the invention.
Claims (7)
1. a kind of adaptively sampled frequency tracking method, which comprises the steps of:
Step S10 saves the vibration data more than or equal to two seconds with shift register collection；
Step S20 judges whether the vibration of current switch door occurs by adaptive threshold, is the vibration to acting comprising switch gate
Dynamic data seek the distribution of the first power spectral density, otherwise seek it to the step S10 vibration data saved with first time interval
Second power spectrum density distribution；
Step S30, seeks the difference of the distribution of the first power spectral density with second power spectrum density distribution, and calculates it most to difference
High-power accumulated value；
Step S40 takes the frequency record maximum value f for reaching maximum power accumulated value threshold valuemax, and to the number of same maximum power
Strong point obtains statistically maximum frequency f ' by the statistical method about frequencymax；
Step S50, determination frequency record maximum value fmaxWith statistically maximum frequency f 'maxBetween deviation whether reach threshold value,
It is the sample frequency f for updating vibrating sensorS, kAfter enter step S10, wherein s indicate intrinsic vibration, k be integer time
Otherwise point terminates the update of sample frequency.
2. adaptively sampled frequency tracking method according to claim 1, which is characterized in that the step S50 is to deviation
Judge and operate specific as follows: enable the sample frequency of current sensor as fS, k, wherein s indicates intrinsic vibration, and k is integer
Time point；The frequency record maximum value of intended vibratory is fmax, determination frequency record maximum value fmaxWith statistically maximum frequency
f′maxBetween difference whether be more than deviation threshold, be further to judge statistically maximum frequency f 'maxWhether sample frequency is less than
Threshold value is reduced, if then reducing sample frequency fS, kAfter enter step S10, if its be greater than sample frequency reduce threshold value and be less than adopt
Sample frequency increases threshold value, then keeps current sampling frequency fS, k；If frequency record maximum value fmaxWith statistically maximum frequency f 'max
Between difference be not above deviation threshold, then increase sample frequency fS, kAfter enter step S10.
3. adaptively sampled frequency tracking method according to claim 2, which is characterized in that it further include step S51, setting
Frequency increases counter TpCounter T is reduced with frequencyN, initial value zero, when step S50 reduces sample frequency, then frequency subtracts
Few counter TNAdd 1；When step S50 increases sample frequency, then frequency increases counter TpAdd 1；It keeps adopting when step S50 is executed
After sample frequency, frequency increases counter TpSubtract 1, and frequency reduces counter TNSubtract 1.
4. adaptively sampled frequency tracking method according to claim 3, which is characterized in that it further include step S52, judgement
Frequency increases counter TpCounter T is reduced with frequencyNIt whether simultaneously less than 0, is that sample frequency is stable and terminates, and otherwise returns
Return step S10.
5. adaptively sampled frequency tracking method according to claim 4, which is characterized in that further include step S53, meet
After the condition for reducing sample frequency, judge whether to repeat to increase and decrease frequency, specific steps are as follows:
Step S531, when frequency increases counter TpCounter T is reduced with frequencyNMeet: Tp> 2 and | Tp-TN| when < 2, then sentence
Determine not in the jitter of two sample frequency points, and further decrease sample frequency, by current statistic maximum frequency f 'maxMake
For new frequency record maximum value fmax, and frequency reduces counter TNAdd 1, enters back into step S10；
Step S532, when frequency increases counter TpCounter T is reduced with frequencyNIt is unsatisfactory for: Tp> 2 and | Tp-TN| when < 2, then
Determine the jitter in two sample frequency points, keep current sampling frequency, and enters step S52 and judge whether to terminate currently certainly
Adapt to the update of sample frequency.
6. adaptively sampled frequency tracking method according to claim 1, which is characterized in that the maximum of the step S40
Power accumulated value threshold value is 80% maximum power accumulated value.
7. adaptively sampled frequency tracking method according to claim 1, which is characterized in that the acquisition is statistically maximum
Frequency f 'maxMethod are as follows: the data point for persistently recording same maximum power passes through the number of rejecting outliers method rejecting abnormalities
Strong point filters out the maximum data point of frequency from each data point statistics, and the frequency of the data point is statistically maximum frequency.
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| CN106896338B (en) * | 2017-04-17 | 2019-06-25 | 南京国电南自电网自动化有限公司 | A kind of system based on combining unit identification abnormal data |
| CN106932088A (en) * | 2017-04-20 | 2017-07-07 | 北京微澄科技有限公司 | A kind of vibration monitoring methods, devices and systems of mobile article |
| CN107255562A (en) * | 2017-06-09 | 2017-10-17 | 江苏大学 | The establishing method of Circular gratings sample frequency in gear train assembly torsional vibration measurement experiment |
| DE102017212715B3 (en) * | 2017-07-25 | 2019-01-31 | Robert Bosch Gmbh | Method for processing continuous sensor signals and sensor system |
| CN107908133B (en) * | 2017-11-10 | 2019-07-09 | 上海交通大学 | A kind of frequency adaptively acquires distribution method |
| CN108896309A (en) * | 2018-07-16 | 2018-11-27 | 安徽工业大学 | A kind of on-line monitoring system for low-speed heave-load device |
| EP3712577B1 (en) * | 2019-03-22 | 2023-07-26 | ABB Schweiz AG | Apparatus for equipment monitoring |
| CN111130504B (en) * | 2019-12-23 | 2023-03-03 | 成都理工大学 | Data acquisition method capable of self-adjusting sampling frequency |
| CN111147079B (en) * | 2019-12-26 | 2023-04-07 | 长安大学 | Data acquisition method and device with adaptive and adjustable sampling frequency |
| CN112502031A (en) * | 2020-11-11 | 2021-03-16 | 河海大学 | Self-adaptive anti-seismic noise reduction method and device and bridge pier |
| CN112393795B (en) * | 2020-11-25 | 2022-03-15 | 深圳市西城微科电子有限公司 | Digital processing method of electronic scale and electronic scale |
| CN112817250A (en) * | 2020-12-28 | 2021-05-18 | 深圳市翌日科技有限公司 | Sensor data acquisition method and circuit |
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