Operating method for a machine which is driven using a drive, with state identification by means of frequency analysis
A machine having a drive that directly or indirectly excites vibrations in the machine over a frequency range when the drive is connected to the power supply. A sensor detects a time-dependent signal that is characteristic of the excited vibrations. The time-dependent signal is transmitted to a control device that analyzes the frequency of the time-dependent signal and relates the frequency analysis to the excitation that produces the excitation and uses this relationship to determine a state of at least one element of the machine. The control device outputs a message to an operator of the machine on the basis of the state that is determined. Preferably, the control device applies an interference variable that has at least one frequency inside the frequency range to the drive so as to excite vibrations. The interference variable may be a sinusoidal interference variable whose frequency passes through the frequency range, or a pseudobinary interference variable whose spectrum covers the frequency range. If the drive is an electrical three-phase drive, asymmetrical energization may be used.
1. A method for operating a machine having a drive, comprising the steps of:
connecting the drive to a power supply using at least one actuator, so that the drive starts from a standstill when connected to the power supply, and the drive directly or indirectly excites the machine to vibrate over a frequency range;
detecting a time-dependent signal that is characteristic of the excited vibrations;
analyzing the frequency of the time-dependent signal;
determining a state of at least one element of the machine using a relation of the frequency analysis to the excitation,
outputting a message concerning the determined state of the at least one element of the machine to an operator of the machine;
applying an interference variable to the drive to excite vibrations, said interference variable having at least one frequency inside the frequency range.
2. The operating method as claimed in claim 1 , wherein the interference variable is a sinusoidal interference variable having a frequency that passes through the frequency range.
3. The operating method as claimed in claim 1 , wherein the interference variable is a pseudobinary interference variable having a spectrum that covers the frequency range.
4. The operating method as claimed in claim 1 , characterized in that the drive is in the form of an electrical, hydraulic or pneumatic drive.
5. The operating method of claim 1 wherein the actuator is switched by the control device only in a binary manner.
6. The operating method of claim 1 wherein the actuator is driven in a proportional manner.
7. The operating method of claim 1 wherein the sensor is one member of a group consisting of a displacement sensor, a velocity sensor, an acceleration sensor, a force sensor and a pressure sensor.
8. The operating method of claim 1 wherein the signal detected by the sensor is characteristic of the amplitude and the phase angle of the excited vibrations.
9. The operating method of claim 1 further comprising the step of determining the state of the at least one element of the machine using a relation an amplitude of the excited vibrations to an amplitude of the excitation.
10. The operating method of claim 1 further comprising the step of determining the state of the at least one element of the machine using a relation of a phase angle of the excited vibrations to a phase angle of the excitation.
11. A computer program stored on a non-transitory computer-readable medium having machine code wherein the machine code when loaded into a memory of that can be directly executed by a control device for a machine having a drive, the execution of the machine code causing and executed by the control device, causes the control device to operate the machine, said computer program comprising:
program means for connecting the drive to a power supply using at least one actuator, so that the drive starts from a standstill when connected to the power supply, and the drive directly or indirectly excites the machine to vibrate over a frequency range;
program means for detecting a time-dependent signal that is characteristic of the excited vibrations;
program means for analyzing the frequency of the time-dependent signal;
program means for determining a state of at least one element of the machine using a relation of the frequency analysis to the excitation;
program means for outputting a message concerning the determined state of the at least one element of the machine to an operator of the machine; and
program means for applying an interference variable to the drive to excite vibrations, said interference variable having at least one frequency inside the frequency range.
12. The computer program of claim 11 , wherein the interference variable is a sinusoidal interference variable having a frequency that passes through the frequency range.
13. The computer program of claim 11 , wherein the interference variable is a pseudobinary interference variable having a spectrum that covers the frequency range.
14. The computer program of claim 11 further comprising program means for determining the state of the at least one element of the machine using a relation an amplitude of the excited vibrations to an amplitude of the excitation.
15. The computer program of claim 11 further comprising program means for determining the state of the at least one element of the machine using a relation of a phase angle of the excited vibrations to a phase angle of the excitation.
16. A non-transitory data storage medium on which a computer program is stored in machine-readable form, said computer program having machine code that can be directly executed by a control device for a machine having a drive, the execution of the machine code causing the control device to operate the machine by:
connecting the drive to a power supply using at least one actuator, so that the drive starts from a standstill when connected to the power supply, and the drive directly or indirectly excites the machine to vibrate over a frequency range;
detecting a time-dependent signal that is characteristic of the excited vibrations;
analyzing the frequency of the time-dependent signal;
determining a state of at least one element of the machine using a relation of the frequency analysis to the excitation,
outputting a message concerning the determined state of the at least one element of the machine to an operator of the machine; and
applying an interference variable to the drive to excite vibrations, said interference variable having at least one frequency inside the frequency range.
17. The data storage medium of claim 16 further comprising program means for determining the state of the at least one element of the machine using a relation an amplitude of the excited vibrations to an amplitude of the excitation.
18. The data storage medium of claim 16 further comprising program means for determining the state of the at least one element of the machine using a relation of a phase angle of the excited vibrations to a phase angle of the excitation.
19. A control device for a machine having a drive and a computer program, said control device comprising:
means for connecting the drive to a power supply using at least one actuator, so that the drive starts from a standstill when connected to the power supply, and the drive directly or indirectly excites the machine to vibrate over a frequency range;
means for detecting a time-dependent signal that is characteristic of the excited vibrations;
means for analyzing the frequency of the time-dependent signal;
means for determining a state of at least one element of the machine using a relation of the frequency analysis to the excitation,
means for outputting a message concerning the determined state of the at least one element of the machine to an operator of the machine; and
means for applying an interference variable to the drive to excite vibrations, said interference variable having at least one frequency inside the frequency range.
20. The control device of claim 19 further comprising means for determining the state of the at least one element of the machine using a relation an amplitude of the excited vibrations to an amplitude of the excitation.
21. The control device of claim 19 further comprising means for determining the state of the at least one element of the machine using a relation of a phase angle of the excited vibrations to a phase angle of the excitation.
22. A machine having a drive, a control device, and a sensor, said machine comprising:
means for connecting the drive to a power supply using at least one actuator, so that the drive starts from a standstill when connected to the power supply, and the drive directly or indirectly excites the machine to vibrate over a frequency range;
means for detecting a time-dependent signal that is characteristic of the excited vibrations;
means for analyzing the frequency of the time-dependent signal;
means for determining a state of at least one element of the machine using a relation of the frequency analysis to the excitation,
means for outputting a message concerning the determined state of the at least one element of the machine to an operator of the machine; and
means for applying an interference variable to the drive to excite vibrations, said interference variable having at least one frequency inside the frequency range.
23. The machine of claim 22 further comprising means for determining the state of the at least one element of the machine using a relation an amplitude of the excited vibrations to an amplitude of the excitation.
24. The machine of claim 22 further comprising means for determining the state of the at least one element of the machine using a relation of a phase angle of the excited vibrations to a phase angle of the excitation.
25. The machine of claim 22 wherein the drive is an electrical, hydraulic or pneumatic drive.
26. The machine of claim 22 wherein the actuator is switched by the control device only in binary manner.
27. The machine of claim 22 wherein the actuator is driven in a proportional manner.