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6ES7902-1AB00-0AA0
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從控制器中獲得信號的采樣頻率較低，針對一些高頻采樣或波形信號的特征提取方法將不再適用，取而代之的是按照每一個動作循環(huán)提取固定的信號統(tǒng)計特征，如 RMS、方差、極值、峭度值和特定位置的負(fù)載值等。 在健康評估方面，所要解決的最大挑戰(zhàn)是設(shè)備運行工況的復(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，通過直接對比相似設(shè)備在執(zhí)行相似動作時信號特征的相似程度找到利群點，作為判斷早期故障的依據(jù)。在對設(shè)備進(jìn)行聚類時，首先要根據(jù)設(shè)備的型號和使用時間進(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。
在針對機(jī)械臂的分析上，不同的動作循環(huán)造成的驅(qū)動馬達(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)行相似的動作時，上述的特征分布應(yīng)該十分相似，利用聚類模型可以進(jìn)行自動識別。
在大量機(jī)械臂的數(shù)據(jù)被采集和分析的條件下，對不同種類和運行工況的機(jī)械臂進(jìn)行聚類分析，形成一個個機(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，通過比較每一個機(jī)械臂與集群的差異性來判斷其處于異常的程度，并對集群內(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)計模式識別等方法。
使用選定算法能夠判斷一個機(jī)械臂每一個驅(qū)動馬達(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)分布偏差評估值超過控制邊界并持續(xù)變大時，說明早期故障正在逐步發(fā)展嚴(yán)重。
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