CN116465580A

CN116465580A - Bearing rigidity detection method, device and storage medium

Info

Publication number: CN116465580A
Application number: CN202310453301.9A
Authority: CN
Inventors: 徐建伟; 何启源; 陈泓宇; 蒋牧龙; 任杰; 林恺; 杨培平; 张超; 钟海权; 周赞; 刘乐舟; 杨小龙
Original assignee: Engineering Construction Management Branch Of China Southern Power Grid Peak Load Regulation And Frequency Modulation Power Generation Co ltd; Dongfang Electric Machinery Co Ltd DEC
Current assignee: Engineering Construction Management Branch Of China Southern Power Grid Peak Load Regulation And Frequency Modulation Power Generation Co ltd; Dongfang Electric Machinery Co Ltd DEC
Priority date: 2023-04-25
Filing date: 2023-04-25
Publication date: 2023-07-21

Abstract

The embodiment of the application provides a bearing rigidity detection method, a device and a storage medium, wherein the method comprises the following steps: acquiring acting force born by each bearing bush on the bearing in a target movement period; determining a vector track of the resultant force of the bearing in the target motion period according to the acting force, and carrying out vector decomposition on the vector track to obtain the load of each sampling moment; acquiring a motion track of an inner axis relative to the origin in a target motion period, and carrying out vector decomposition on the motion track to obtain motion components of each sampling moment; and acquiring the bearing rigidity of each sampling moment in the target motion period according to the load and the motion component. In the embodiment of the application, the motion track is acquired through the distance sensor group, the vector track is acquired through the force sensor, and then the bearing rigidity is calculated according to the two tracks, so that the accuracy of bearing rigidity detection can be ensured.

Description

Bearing rigidity detection method, device and storage medium

Technical Field

The application relates to the field of hydroelectric generating set operation parameter detection, in particular to a bearing rigidity detection method, a device and a storage medium.

Background

Rigidity is an important parameter for structural design of the hydroelectric generating set, and the detection accuracy of the rigidity influences the normal operation of the hydroelectric generating set. The existing shafting arrangement of the hydroelectric generating set is mostly of a vertical structure, and in the running process, the bearings and the shaft can be connected through a pre-tightening spring, so that the variable bearing rigidity is generated.

In the prior art, the calculation and the test of the rigidity are based on the assumption of small disturbance, but generally speaking, a vertical hydroelectric generating set shafting can generate a larger runout phenomenon in the running process, so that the shaft and the bearing are relatively deviated, and the rigidity of the bearing cannot be accurately detected according to the prior art.

Disclosure of Invention

The embodiment of the application provides a bearing rigidity detection method, a device and a storage medium, which are used for accurately detecting the bearing rigidity in the running process of a hydroelectric generating set.

An embodiment of the present application provides a method for detecting rigidity of a bearing, which is characterized in that the method includes:

the method comprises the steps of obtaining acting forces born by each bearing bush on a bearing in a target movement period, wherein the target movement period is the time of one rotation of the shaft, and the target movement period comprises a plurality of sampling moments;

Determining a vector track of the resultant force of the bearing in the target motion period according to the acting force, and carrying out vector decomposition on the vector track to obtain the load of each sampling moment;

acquiring a motion track of an inner axis relative to the origin in a target motion period, and carrying out vector decomposition on the motion track to obtain motion components of each sampling moment;

and acquiring the bearing rigidity of each sampling moment in the target motion period according to the load and the motion component.

The embodiment of the application also provides a bearing rigidity detection device, which is characterized by comprising:

the acting force unit is used for acquiring acting force born by each bearing bush on the bearing in a target movement period, wherein the target movement period is the time of one rotation of the shaft, and the target movement period comprises a plurality of sampling moments;

the vector track unit is used for determining a vector track of the resultant force of the bearing in the target motion period according to the acting force, and carrying out vector decomposition on the vector track to obtain the load of each sampling moment;

the motion track unit is used for acquiring a motion track of an inner core relative to the origin in a target motion period, and carrying out vector decomposition on the motion track to obtain motion components of each sampling moment;

And the bearing rigidity unit is used for acquiring the bearing rigidity of each sampling moment in the target movement period according to the load and the movement component.

In some embodiments, the load comprises a dynamic load and a static load, and the vector trajectory unit further comprises:

a force balance point subunit, configured to determine a force balance point according to the vector trajectory;

and the stress decomposition subunit is used for carrying out vector decomposition on the resultant force of the bearing at each sampling moment based on the force balance point, and determining the dynamic load and the static load at each sampling moment in the target movement period.

In some embodiments, the motion component includes a dynamic component and a static component, and the motion trajectory unit further includes:

a balance point subunit, configured to determine a balance point according to the motion trail;

and the motion decomposition subunit is used for carrying out vector decomposition on the axis displacement vector of each sampling moment based on the balance point and determining a dynamic component and a static component of each sampling moment in the target motion period.

In some embodiments, the bearing stiffness unit further comprises:

a first included angle subunit, configured to determine a motion vector included angle between the motion load and the motion component;

A dynamic stiffness subunit, configured to calculate dynamic stiffness according to the motion vector included angle and the motion component;

a second included angle subunit, configured to determine a static vector included angle between the static load and the static component;

the static stiffness subunit is used for calculating the static stiffness according to the static vector included angle and the static component;

and determining the bearing rigidity at each sampling moment in the target movement period according to the dynamic rigidity and the static rigidity.

In some embodiments, the bearing stiffness detection apparatus further comprises:

the rigidity force unit is used for calculating rigidity force at each sampling moment according to the rigidity of the bearing;

the speed direction force unit is used for calculating the speed direction force according to the rigidity force and the bearing combined force for the rigidity force at each sampling moment;

the speed vector unit is used for calculating an axle center speed vector according to the motion trail;

and the damping coefficient unit is used for calculating a damping coefficient corresponding to the sampling time according to the speed direction force and the axis speed vector, and the damping coefficient reflects the action effect of the resultant force of the bearing on the shaft.

In some embodiments, the rectangular coordinate system includes two coordinate axes, each coordinate axis and an intersection point of the bearing are provided with a distance sensor, and the motion trail unit further includes:

The thermal motion quantum unit is used for calculating the thermal motion quantity corresponding to the coordinate axis at each sampling moment in the target motion period according to the distance value acquired by the distance sensor;

the offset quantum unit is used for calculating the axis offset of the shaft in the coordinate axis direction according to the distance value acquired by the distance sensor under the same coordinate axis and the thermal motion quantity;

the offset position subunit is used for acquiring offset positions of the axes relative to the origin at each sampling time according to the axis offset;

and the motion track subunit is used for acquiring the motion track of the inner core relative to the origin in the target motion period according to the offset position.

In some embodiments, the target motion cycle is any one of a plurality of motion cycles included in a detection cycle, and the bearing stiffness detection device further includes:

the judging unit is used for judging whether the target movement period is the last movement period of the detection period or not;

a jump unit for:

if not, taking the next motion period as a target motion period;

jump to the step: acquiring acting force born by each bearing bush on the bearing in a target movement period;

A stiffness curve unit for:

if yes, acquiring a bearing stiffness curve of each movement period in the detection period according to all bearing stiffness.

According to the method for detecting the rigidity of the bearing, which is provided by the embodiment of the application, the rigidity of the bearing in operation can be accurately obtained under the condition that the shafting is vibrated by the method for calculating the rigidity of the bearing based on the motion track acquired by the distance sensor group and the vector track acquired by the force sensor, so that a technician can conveniently adjust the operation state of the hydroelectric generating set according to the rigidity.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following description will briefly explain the drawings needed in the description of the embodiments, and it is obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.

Fig. 1a is a schematic view of a scenario of a bearing stiffness detection method provided in an embodiment of the present application;

FIG. 1b is a schematic flow chart of a method for detecting bearing stiffness according to an embodiment of the present disclosure;

FIG. 2a is a schematic diagram of a resultant bearing force provided by an embodiment of the present application;

FIG. 2b is a schematic diagram of a vector trajectory provided by an embodiment of the present application;

FIG. 3 is a schematic diagram of vector decomposition of bearing forces in an embodiment of the present application;

FIG. 4a is a schematic view of the calculation of the amount of thermal motion by the formula (1) in the embodiment of the present application;

FIG. 4b is a schematic view of the calculation of the amount of thermal motion by equation (2) in the embodiment of the present application;

FIG. 5 is a schematic diagram of vector decomposition of a motion trajectory according to an embodiment of the present application;

FIG. 6 is a schematic representation of a bearing stiffness curve in polar representation in an embodiment of the present application;

FIG. 7a is an analysis of bearing to shaft forces provided by embodiments of the present application;

FIG. 7b is a time domain plot of damping coefficients over a period of motion provided by an embodiment of the present application;

FIG. 8a is a schematic view of a scenario of a specific embodiment provided in an embodiment of the present application;

FIG. 8b is a schematic flow chart of a specific embodiment provided in an embodiment of the present application;

FIG. 9 is a schematic diagram of a bearing stiffness detection apparatus of an embodiment of the present application;

fig. 10 is a schematic structural diagram of a bearing stiffness detection system provided in an embodiment of the present application.

Detailed Description

It is noted that the terminology used in the examples section of the embodiments of the present application is used for the purpose of explaining specific embodiments of the present application only and is not intended to limit the present application. In addition, in the description of the embodiments of the present application, unless otherwise indicated, "a plurality" means two or more, and "at least one" means one, two or more. The term "first" is used for descriptive purposes only and is not to be interpreted as indicating or implying relative importance or implicitly indicating the number of technical features indicated. The term "upper level" is used for descriptive purposes only and is not to be construed as implying that the described object is relatively more important. Reference in the specification to "one embodiment" or "some embodiments" or the like means that a particular feature, structure, or characteristic described in connection with the embodiment is included in one or more embodiments of the application. Thus, appearances of the phrases "in one embodiment," "in some embodiments," and the like in various places throughout this specification are not necessarily all referring to the same embodiment, but mean "one or more, but not all, embodiments" unless expressly specified otherwise. The terms "comprising," "including," "having," and variations thereof mean "including but not limited to," unless expressly specified otherwise.

The following description of the embodiments of the present application will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all, of the embodiments of the present application. All other embodiments, which can be made by those skilled in the art based on the embodiments herein without making any inventive effort, are intended to be within the scope of the present application.

First, basic concepts for understanding the related terms of the present application will be described:

hydroelectric generating set: the hydro-generators are divided into vertical and horizontal according to different arrangement modes. For smaller water turbines, the rotational speed is higher, especially impulse water turbines, horizontal shaft generators are often used. The rotating speed of the large-sized water turbine is low, in order to generate 50Hz alternating current, the water turbine generator adopts a plurality of pairs of magnetic poles, and for the water turbine generator with 120 revolutions per minute, the rotor is 25 pairs of magnetic poles. The rotor speed of a 700MW hydro-generator in a three gorges power station is 75r/min (75 revolutions per minute), 40 pairs of magnetic poles are used. Because of the large number of magnetic poles and the large volume, a vertical shaft structure is adopted. The hydro-generator set in this application only considers the vertical shaft structure.

And (3) bearing: in this application, since the hydro-generator is heavy equipment, the bearing load is very large during movement, and a sliding bearing with a strong load capacity is generally adopted, the multi-purpose oil-immersed sliding bearing in a large-sized hydro-generator set is used. The bearing mainly bears mechanical unbalance force of the rotor and unilateral magnetic pulling force caused by eccentric of the rotor, and the main function of the bearing is to prevent the shaft from swinging. The bearing consists of main components such as a bearing bush, a pillar bolt, a bearing seat and the like. During operation of the hydro-generator set, the shaft is the moving part and the bearing is the stationary part. The bearing bush is a part contacted with the shaft and is fixed on the bearing seat through a supporting bolt, a gap is arranged between the bearing bush and the shaft, lubricating oil is filled in the gap generally, and the bearing bush is a direct stressed part for generating force in the shaft in the movement process.

Stiffness: the ability of a material or structure to resist elastic deformation when subjected to a force is an indication of how hard the material or structure is elastically deformed.

The embodiment of the application provides a bearing rigidity detection method, a bearing rigidity detection device and a storage medium.

The bearing rigidity detection method can be integrated in electronic equipment, and the electronic equipment can be terminal equipment or a main control panel.

In some embodiments, the terminal may be a stand-alone device, such as a cell phone, tablet, smart bluetooth device, notebook, or personal computer (Personal Computer, PC) device, which may act as both a memory and a processor. The device is used as a memory for storing instructions, and simultaneously used as a processor for loading the instructions from the memory so as to execute the bearing rigidity detection method; the device is connected with bearing rigidity detection equipment with a detection function, and the command is transmitted to the bearing rigidity detection equipment so that the command can be analyzed and corresponding detection actions can be executed.

In some embodiments, the terminal may be a main control panel, where the main control panel is used to implement man-machine interaction, and the main control panel is connected with a bearing stiffness detection device with a bearing stiffness detection function. The main control panel can comprise a microprocessor, a control, a display screen and the like, wherein the control is used for responding to the operation of a user to generate related operation instructions so that the bearing rigidity detection equipment can execute corresponding actions according to the operation instructions, for example, the bearing rigidity detection equipment is started/closed; the display screen is used for displaying various parameters generated when the bearing rigidity detection equipment works; the microprocessor can store the bearing rigidity detection method and generate corresponding bearing rigidity detection instructions so that the bearing rigidity detection equipment analyzes the instructions and executes corresponding detection actions, and in addition, can receive and analyze data acquired by the bearing rigidity detection equipment during working and transmit the results to the display screen.

In some embodiments, the bearing stiffness detection method may also be integrated in a plurality of electronic devices, for example, the bearing stiffness detection method may be integrated in a plurality of terminals, and the bearing stiffness detection method is jointly implemented by the plurality of terminals, where each terminal may implement different functions of the bearing stiffness detection method.

The following will describe in detail. The numbers of the following examples are not intended to limit the preferred order of the examples.

Example 1

Referring to fig. 1a, an application scenario diagram of a bearing stiffness detection method in the present embodiment is shown. As shown in fig. 1a, the present embodiment may include a bearing stiffness detection apparatus 100, the bearing stiffness detection apparatus 100 including a shaft 110, a bearing 120, a force sensor set 130, a distance sensor set 140, and a processor 150;

specifically, in implementing the bearing stiffness detection method of the present application, the shaft 110 is rotatably connected to the mating bearing 120; establishing a rectangular coordinate system by taking the center of a radial tangential plane of the bearing 120 as an origin, wherein the rectangular coordinate system comprises two coordinate axes, the intersection point of each coordinate axis and the bearing 120 is provided with a distance sensor, and the four distance sensors jointly form a distance sensor group 140; force sensors are arranged on the bearing bushes of the bearing and are used for detecting the acting force from the shaft 110 received by the corresponding bearing bushes during movement, and the force sensors on all the bearing bushes jointly form a force sensor group 130; the force sensor group 130 and the distance sensor 140 send the measured data to the processor 150 for analysis and processing, and a bearing stiffness detection result is generated.

In this embodiment, the description will be made from the perspective of a processor, which may be integrated in the bearing stiffness detection device, and may first obtain the acting force borne by each bearing bush on the bearing in a target movement period, where the target movement period is the time when the shaft rotates one circle, and the target movement period includes a plurality of sampling moments; further, determining a vector track of the resultant force of the bearing in the target motion period according to the acting force, and carrying out vector decomposition on the vector track to obtain the load of each sampling moment; then, a motion track of an inner axis relative to the origin in a target motion period is obtained, and vector decomposition is carried out on the motion track to obtain motion components of each sampling moment; and finally, acquiring the bearing rigidity of each sampling moment in the target motion period according to the load and the motion component.

As shown in fig. 1b, the flow of the method for detecting the rigidity of the bearing in this embodiment may include steps S110 to S140, where the bearing is rotationally connected with a supporting shaft, and a rectangular coordinate system is established by taking the center of a radial tangential plane of the bearing as an origin:

s110, acquiring acting forces born by each bearing bush on the bearing in a target movement period, wherein the target movement period is the time of one rotation of the shaft, and the target movement period comprises a plurality of sampling moments.

In general, force sensors may be mounted on each bearing shell of a bearing to measure the force experienced by each bearing shell of the bearing during a target motion cycle; the force sensor can be a pressure sensor, and the pressure sensor converts a force signal received by the bearing bush in the movement of the hydroelectric generating set into a digital signal and outputs the digital signal to the processor; in some embodiments, the force sensor may be provided at the junction of the bearing shell and the bearing seat in order to measure the force signal more accurately.

The total duration of the target motion period is the time for rotating the shaft for one circle, the target motion period comprises a plurality of sampling moments, and the sampling moments can be uniformly distributed in the target motion period according to a certain time interval; in some embodiments, where the rotational speed of the shaft is constant, the sampling moments in time may be converted to angular samples based on the rotational speed of the shaft. For example, in a target motion cycle having a total duration of time taken for one rotation of the shaft, assuming that 60 seconds are required for one rotation of the shaft, 240 sampling moments may be taken at intervals of 0.25 seconds, which equates to one sampling per 1.5 ° rotation of the shaft.

S120, determining a vector track of the resultant force of the bearing in the target motion period according to the acting force, and carrying out vector decomposition on the vector track to obtain the load of each sampling moment.

During operation of the hydro-generator set, the shaft will exert forces on the bearing, the forces being received primarily by the individual bearing shells on the bearing. In fact, at a certain operating time, since the bearing is internally filled with cooling oil, an oil film is generated between the bearing bush and the shaft during movement, and the bearing bush and the oil film can be regarded as a pre-tightening spring connecting the bearing and the shaft, and the pre-tightening spring is composed ofForce F generated by this _i I.e. the force of the shaft against the bearing shells, wherein i has any value between 1 and n, n being the total number of shells on the bearing. Projecting the acting force born by each bearing bush onto an established rectangular coordinate system to obtain F _i Component force F in X-axis direction _ix Component F on the Y-axis _iy The component force F of the bearing resultant force F in the X-axis direction can be obtained by accumulating all component forces on the X-axis _x And adding all the components in the Y-axis to obtain component F in the Y-axis direction _y F is to F _x And F is equal to _y The resultant force F of the bearing is obtained by synthesis, and F represents the total acting force of the bearing at the current moment. As shown in FIG. 2a, there are 16 bearing shells on the bearing by combining F ₁ ～F ₁₈ Projecting onto coordinate axis, and summing the component forces obtained by projection to obtain F _x And F is equal to _y Further let F _x And F is equal to _y And synthesizing to obtain the bearing resultant force F at the sampling moment.

By the method, the bearing resultant force at each sampling moment in the target motion period can be calculated respectively, the obtained bearing resultant force is reflected on an established rectangular coordinate system as vectors with the origin as a starting point and different lengths and directions, the end points of the bearing resultant force vectors are sequentially connected according to the sampling sequence of the bearing resultant force, a closed graph can be obtained, and the edge curve of the closed graph becomes the vector track of the bearing resultant force in the target motion period. As shown in fig. 2b, there are 360 sampling moments in a target motion period in the figure, and the end points of the resultant force of the bearing corresponding to each sampling moment are sequentially connected to obtain an irregular curve (interpolation smoothing is performed in fig. 2b, and the unit is kN), so that the irregular curve can be defined as a vector track of the resultant force of the bearing in the target motion period.

In some embodiments, the load includes a dynamic load and a static load, and the vector decomposition is performed on the vector trajectory to obtain the load at each sampling time, which includes the following steps A1-A2:

a1, determining a force balance point according to the vector track;

A2, vector decomposition is carried out on the resultant force of the bearing at each sampling moment based on the force balance point, and dynamic load and static load at each sampling moment in the target movement period are determined.

The force balance point is the centroid of the irregular graph formed by the vector tracks, and can be obtained by calculating the arithmetic average value of the final coordinate components of the resultant force vectors of all the bearings in the target motion period. And based on the resulting force balance points, a vector decomposition of the resultant bearing forces for each of the sampling instants may be as shown in fig. 3. In FIG. 3, the resultant force of the bearing at a sampling time is shown, which can be resolved into the dynamic load F at the sampling time by connecting the origin with the force balance point, the end of which _d And static load F _s The method comprises the steps of carrying out a first treatment on the surface of the Wherein, the static load F generated by connecting the origin and the force balance point _s Representing a force that does not change over time during movement; dynamic load F generated by connecting force balance point and end point of resultant force of bearing _d Representing a force that changes rapidly with time during movement.

S130, acquiring a motion track of an inner axis relative to the origin in a target motion period, and carrying out vector decomposition on the motion track to obtain motion components of each sampling moment.

When the hydroelectric generating set operates, besides the tiny deviation of the shaft caused by various forces, the distance between the shaft and the bearing can also change correspondingly due to the deformation effect caused by temperature, so that the axis is deviated relative to the origin defined by the circle center of the longitudinal section of the bearing in the operation process.

In some embodiments, the rectangular coordinate system includes two coordinate axes, a distance sensor is disposed at an intersection point of each coordinate axis and the bearing, and the acquiring the motion track of the axis relative to the origin in the motion cycle of the target may include the following motion track acquiring processes S131 to S134:

s131, calculating the amount of thermal motion corresponding to the coordinate axis at each sampling time in the target motion period according to the distance value acquired by the distance sensor.

The distance sensor can be an optical distance sensor, an ultrasonic distance sensor and the like, and is used for immediately acquiring a distance value between a sensing probe of the distance sensor and a shaft. The distance sensor usually performs data acquisition at a certain sampling frequency, and the sampling frequency of the distance sensor can be set according to the sampling time of the target motion period.

The thermal motion quantity is used for reflecting the relative diameter change of the shaft and the bearing seat under the action of the temperature of a target time point, specifically, as shown in fig. 4a, the shaft is positioned in the middle of the bearing seat, the axis of the shaft diameter section coincides with the circle center of the bearing seat diameter section in a static state, a certain gap is reserved between the inner ring of the bearing seat and the axis, an image is only used for showing the relative position relation between the shaft and the bearing seat and does not represent the real proportion, and the proportion of the actual gap size to the shaft diameter is far smaller than the proportion shown in the figure; the bearing seat body can be regarded as a circular column, and the diameter section of the corresponding bearing seat can be regarded as a circular ring; the geometry of the shaft can be considered as a cylinder and the diameter of the corresponding shaft can be considered as a circle; the inner diameter of the circular ring is larger than the diameter of the circle so as to reserve enough space for the shaft to rotate; Φ (t) is used for representing the inner diameter of the circular ring at a target time point, and when t is 0, Φ (0) is used for representing the inner diameter of the circular ring in an initial state;for representing the diameter of the circle at the target point in time, when t is 0, i.e. +.>For indicating the diameter of the circle in the initial state. Thus, the amount of thermal motion is defined as the amount of change in the bearing housing inner diameter at time t minus the amount of change in the shaft diameter, i.e., the following equation (1):

In actual operation of the water turbine generator set, the shaft and the water turbine generator set are connectedThe structure of the shafting formed by the corresponding bearing seats, the diameter of the shaft and the magnitude difference of the diameter of the bearing seats relative to the variation caused by temperature are large, deformation caused by temperature is possibly uneven, and the like, so that the thermal motion quantity is difficult to calculate by a direct method according to the formula (1). Therefore, the method adopts the method that the circle center of the radial tangential plane of the bearing seat is used as the origin to establish a rectangular coordinate system, the rectangular coordinate system comprises two coordinate axes, each coordinate axis and the intersection point of the bearing seat are provided with a distance sensor, and the amount of heat movement is indirectly calculated according to the distance value measured by the distance sensor. Specifically, as shown in fig. 4b, two distance sensors, which can be denoted as a distance sensor 1 and a distance sensor 2, are installed at the intersection position of the X-axis of the rectangular coordinate system and the inner ring of the circular ring; at the target time point, the distance value measured by the distance sensor 1 is recorded as delta ₁ () The distance value measured by the distance sensor 2 is denoted as delta ₂ () The thermal motion quantity in the X-axis direction at the target time point can be indirectly obtained through the distance value, and the thermal motion quantity in the y-axis can be correspondingly obtained.

In some embodiments, the distance values include an initial distance and a target time point movement distance, where the initial distance is a distance value measured by a distance sensor when the unit has just completed installation and has not yet started running, and the measured initial distances may be respectively denoted as δ for two sensors located in the X-axis direction in fig. 4b ₁ (0) And delta ₂ (0) The method comprises the steps of carrying out a first treatment on the surface of the The movement distance of the target time point is the distance value measured by two sensors at the target time point and can be respectively recorded as delta ₁ () And delta ₂ () Here t is not equal to 0. The amount of heat movement is calculated by the following formula (2):

Δt＝[δ ₁ (t)+δ ₂ (t)]-[δ ₁ (0)+δ ₂ (0)] (2)

and S132, calculating the axis offset of the shaft in the direction of the coordinate axis according to the distance value acquired by the distance sensor and the thermal motion quantity in the same coordinate axis.

The absolute value of the axis offset is the projection distance of the axis of the shaft in the rectangular coordinate system on the target time point to the coordinate axis direction, and the axis offset can have a sign, and the sign is used for indicating that the projection position of the axis on the coordinate axis is located on a positive axis or a negative axis.

Specifically, since the reference distance sensor is any one of the distance sensors corresponding to the coordinate axes, in this embodiment, the distance sensor 1 is set as the reference distance sensor, and the offset of the axis on the X axis at the target time point can be calculated according to the following formula (3):

X _t ＝δ ₁ (t)-δ ₁ (0)-Δt/2 (3)

The calculated offset X of the axis center on the X axis _t There may be signs that indicate that the projected position of the axle center on the X-axis is on the positive axis of the X-axis when the sign is positive and that indicate that the projected position of the axle center on the X-axis is on the negative axis of the X-axis when the sign is negative. It will be appreciated that the sensor 2 may be set as a reference distance sensor in equation (3) for calculating the offset, where the calculation equation for the offset on the X-axis is

X _t ＝δ ₂ (t)-δ ₂ (0)-Δt/2

At this time, when the sign of the offset is positive, it means that the projected position of the axial center on the X axis is located on the negative axis of the X axis, and when the sign is negative, it means that the projected position of the axial center on the X axis is located on the positive axis of the X axis. The choice of reference distance sensor is determined by the discretion of the skilled person and should not be construed as limiting the application. The axial offset of the Y axis can be calculated according to the distance value measured by the distance sensor on the Y axis and the thermal motion quantity in the Y axis direction by the same formula, and will not be described here.

S133, obtaining offset positions of the axes relative to the origin at each sampling time according to the axis offset.

Specifically, for example, at a certain sampling time, the obtained X is calculated by taking a distance sensor of the negative axis position of the X axis as a reference distance sensor _t Is negative; calculating the obtained offset Y of the axle center on the Y axis by taking the distance sensor at the position of the negative axis of the Y axis as a reference distance sensor _t Also beingNegative values; it can be determined that the offset position of the axis relative to the origin at the target point in time is in the third quadrant of the rectangular coordinate system, with coordinates (- | _t |,-| _t |)。

S134, acquiring a motion track of the inner core relative to the origin in the target motion period according to the offset position.

The motion trajectory may be obtained by connecting the axial center positions of adjacent time points in the detection period, for example, connecting coordinate points (x) in line segments on the rectangular coordinate system _t ,y _t ) And coordinate point (x) _t+1 ,y _t+1 ) Where t=1, 2 …, n-1, n is the total number of time points in the detection period. In some embodiments, the motion trajectory may be made smoother by interpolation, which may be an adjacent interpolation, a median interpolation, a lagrangian interpolation, or the like, or a combination of methods. It will be appreciated that whether the motion profile is smoothed, and the manner in which it is smoothed, is determined by the needs of the skilled artisan, and should not be construed as limiting the application.

In some embodiments, the motion component includes a motion component and a static component, and the vector decomposition is performed on the motion track to obtain the motion component at each sampling time, which includes the following steps B1 to B2:

B1, determining a static balance point according to the motion trail;

and B2, carrying out vector decomposition on the axis displacement vector of each sampling moment based on the balance point, and determining the dynamic component and the static component of each sampling moment in the target motion period.

The centroid of the irregular graph formed by the static balance points, namely the motion trail, can be obtained by calculating the arithmetic average value of the end point coordinate components of each axis offset vector in the target motion period. On the other hand, the vector decomposition of the axial center shift vector at each sampling time based on the obtained balance point may be as shown in fig. 5. In FIG. 5, the axis offset vector at a certain sampling time is shown by connecting the origin with the balance point, and the balance point with the axis offset vectorThe axial center offset vector of the sampling time can be decomposed into a dynamic component r of the sampling time _d And static component r _s The method comprises the steps of carrying out a first treatment on the surface of the Wherein, the static component r generated by connecting the origin and the force balance point _s Representing an offset that does not change over time during movement; dynamic component r generated by connecting static balance point and end point of axial offset vector _d Representing the offset that changes rapidly with time during the course of the movement.

And S140, acquiring the bearing rigidity of each sampling moment in the target motion period according to the load and the motion component.

In some embodiments, the obtaining the bearing stiffness at each sampling time in the target motion period according to the load and the motion component may include the following steps S141 to S145 of calculating the bearing stiffness:

s141, determining a motion vector included angle between the dynamic load and the dynamic component;

s142, calculating dynamic rigidity according to the included angle of the motion vector and the motion component;

s143, determining a static vector included angle between the static load and the static component;

s144, calculating static rigidity according to the static vector included angle and the static component;

s145, determining the bearing rigidity at each sampling time in the target movement period according to the dynamic rigidity and the static rigidity.

Specifically, for example, a motion vector included angle between the motion load and the motion component can be calculated according to a vector included angle calculation formula and is denoted as α; similarly, the static vector angle between the static load and the static component can be obtained and is noted as θ; further, the dynamic stiffness k can be obtained by the following formula (4) _d ：

k _d ＝|F _d |cosα/|r _d |， (4)

And the static stiffness k is obtained by the following formula (5) _s ：

k _s ＝|F _s |cosθ/|r _s |， (5)

Wherein the dynamic stiffness k _d Meaning of (2): movingThe degree to which the axle center is offset from the equilibrium position under the action of the load; static stiffness k _s Meaning of (2): under the action of static load, the balance point is offset from the center of the bearing. The obtained dynamic stiffness direction and r _d The direction of the static stiffness is the same as that of r _s The directions are the same, and the bearing rigidity k at the sampling moment can be obtained by vector synthesis of the two parameters according to the directions.

In some embodiments, the target motion period is any one of a plurality of motion periods included in the detection period, and after the bearing stiffness of each sampling time in the target motion period is obtained according to the load and the motion component, the method further includes the following cyclic process:

judging whether the target motion period is the last motion period of the detection period or not;

if not, taking the next motion period as a target motion period;

The method for judging whether the target motion period is the last motion period of the detection period may be: setting a virtual counter, wherein the value of the virtual counter is increased by one every time the shaft rotates for one circle, and judging that the target motion period is the last motion period of the detection period when the value of the virtual counter reaches the total number of the motion periods in the detection period.

The bearing stiffness curve can be obtained by establishing a bearing stiffness-time point coordinate system, wherein the abscissa is a time point counted at time intervals, n is the total number of time points in the target motion period, the ordinate is the value of the bearing stiffness, namely, the coordinate of the midpoint of the coordinate system is (t, |k|), and t=1, 2 … and n; and the bearing stiffness curve can be obtained by sequentially connecting the points according to the time point sequence.

In some embodiments, the edges may be made to run by interpolationThe dynamic curve is smoother, and the interpolation method is the same as the above, and will not be described again here. In some embodiments, the method for converting time sampling into angle sampling may be used to convert the bearing stiffness curve into polar coordinate form, where the converted coordinate is (β, |k|), β is the stress angle of the bearing, and the converted bearing stiffness curve is shown in fig. 6, where the change in stiffness of the bearing in the target motion cycle can be more clearly shown, and the farther the point on the curve is from the origin point, the higher the bearing stiffness at this time is. In some embodiments, since the static stiffness does not change with time in one movement period, the dynamic stiffness curve in the target movement period can be displayed on the same coordinate system according to the requirements of technicians, namely, the coordinates of points on the curve are (beta, |k) _d |)。

In some embodiments, after determining the bearing stiffness at each sampling time within the target motion cycle according to the dynamic stiffness and the static stiffness, the method of the present application may further include the following damping coefficient calculation processes C1 to C4:

c1, calculating the rigidity force of each sampling moment according to the bearing rigidity;

c2, calculating the velocity direction force according to the rigidity force and the bearing resultant force for the rigidity force at each sampling moment;

c3, calculating an axle center speed vector according to the motion trail;

and C4, calculating a damping coefficient corresponding to the sampling moment according to the speed direction force and the axis speed vector, wherein the damping coefficient reflects the effect of the resultant force of the bearing on the shaft.

The resultant force F of the bearing is the acting force of the shaft to the bearing in the moving process, and the-F is the acting force of the bearing to the shaft in the moving process. Specifically, as shown in FIG. 7a, -F can be decomposed into a stiffness force F in the axial displacement direction _stiff Bearing damping force F in axial velocity direction _damp Tangential dynamic stiffness generating force F also in the axial velocity direction _Tang The method comprises the steps of carrying out a first treatment on the surface of the Wherein F is _damp Is the force generated by bearing damping, and the direction of the force is always equal to the axial velocity vector The directions are opposite; f (F) _Tang Is the force generated by tangential stiffness, and +.>Sometimes in the same direction and sometimes in the opposite direction. />The velocity vector of the axial movement at the sampling moment can be obtained by calculating the displacement in unit time according to the movement track.

In practice, it is often difficult to directly determine the two components in the axial velocity direction, since the known stiffness force can be calculated according to the following equation (6):

F _stiff k in the formula (6) of the = -kr (6) is the bearing stiffness, and r is the motion vector; since the directions of the forces are all determined, the sum of the two component forces can be directly calculated according to the force decomposition and recorded as the velocity direction force, and the comprehensive action effect of the velocity direction force in the velocity direction, namely the damping coefficient c, can be obtained according to the following formula (7):

the damping coefficient c reflects the action effect of the acting force of the bearing on the shaft in the axial movement speed direction, as shown in a damping coefficient time domain diagram shown in fig. 7b, the abscissa is the sampling time sequence number in one movement period, and the ordinate is the value (unit: mn·s/m) of the damping coefficient; when the damping coefficient is positive, the bearing force is applied to the shaft to do negative work; when the damping coefficient is negative, it means that the bearing force is doing positive work on the shaft.

In some embodiments, after the bearing stiffness curves of the respective motion periods in the detection period are obtained according to the total bearing stiffness, the bearing stiffness detection method further includes the following steps D1 to D3 of adjusting the bearing operation state according to the detected bearing stiffness:

d1, building a bearing rigidity model according to the bearing rigidity curve;

d2, comparing the bearing rigidity model with a standard model to obtain a comparison result;

and D3, adjusting the running state according to the comparison result.

By acquiring the bearing stiffness curves obtained in a plurality of movement periods in the detection period, a bearing stiffness model can be established according to the data so as to represent the bearing stiffness corresponding to different axial positions of the hydroelectric generating set during operation. The standard model is the bearing rigidity of the bearing under the preset standard condition, wherein the preset standard condition can be constant temperature, uniform stress and the like, and reflects the bearing rigidity under the standard condition. When the comparison result shows that the rigidity of the bearing at a certain offset position is far smaller than that of a preset standard model, the capability of resisting elastic deformation by stress is considered to be low, and the running state of the hydroelectric generating set needs to be adjusted so as to improve the running stability of the hydroelectric generating set. For example, the bearing rigidity can be changed by changing the temperature of the cooling oil to adjust the temperature of the bearing, and the lower the temperature of the bearing seat, the higher the bearing rigidity, under the condition that other conditions are unchanged.

In the embodiment of the application, the method for calculating the bearing rigidity based on the motion track acquired by the distance sensor group and the vector track acquired by the force sensor can accurately obtain the bearing rigidity in operation under the condition that the shafting is vibrated, so that a technician can conveniently adjust the running state of the hydroelectric generating set according to the rigidity, and the normal running of the hydroelectric generating set is ensured.

Example 2

Referring to fig. 8a, an application scenario diagram of a specific embodiment of a bearing stiffness detection method in this embodiment is shown. As shown in fig. 8a, the present embodiment is applied to a hydroelectric generating set 800, where the hydroelectric generating set 800 includes a processor 810, and the processor is at least connected to a distance sensor set 820 and a force sensor set 830, where the distance sensor set 820 is disposed on a bearing 840, and is used to obtain a distance value when the hydroelectric generating set is running. And establishing a rectangular coordinate system by taking the center of a radial tangential plane of the bearing 840 as an origin, wherein the rectangular coordinate system comprises two coordinate axes, the intersection point of each coordinate axis and the bearing 840 is provided with a distance sensor, and all the distance sensors jointly form a distance sensor group 820. Bearing 840 has a plurality of bearing shells, each bearing shell having a force sensor mounted thereon, all of which together form force sensor assembly 830.

Processor 810: controlling the distance sensor set 820 and the force sensor set 830 to start data collection; acquiring a distance value transmitted by the distance sensor set 820; calculating the amount of thermal motion in a detection period according to the distance value; calculating the axle center offset of the axle according to the distance value and the thermal motion quantity; calculating all offset positions of the shaft relative to the origin point within the detection period based on the axis offset amount; according to the moving track of the offset position in the detection period; acquiring and analyzing force signals transmitted by the force sensor group 830 to obtain acting forces born by each bearing bush on the bearing in a detection period; determining a vector locus of a resultant force of the bearing in the detection period according to the acting force; carrying out vector decomposition on the vector track to obtain a load; vector decomposition is carried out on the running track to obtain a motion component; and acquiring the bearing rigidity according to the load and the motion component.

Distance sensor set 820: data acquisition in response to instructions from processor 810; the detected distance value is transmitted to the processor 810.

Force sensor bank 830: data acquisition in response to instructions from processor 810; the detected force signal is transmitted to the processor 810.

In the present embodiment, description will be made from the perspective of the bearing rigidity detection device.

As shown in fig. 8b, the implementation main body of the bearing stiffness detection method in this embodiment is a processor, and the flow of the bearing stiffness detection method is as follows:

s801, controlling the distance sensor group and the force sensor group to start data acquisition;

s802, acquiring a distance value transmitted by a distance sensor group, and calculating the amount of heat movement in a detection period according to the distance value;

s803, calculating the axle center offset of the axle according to the distance value and the thermal motion quantity;

s804, calculating all offset positions of the shaft relative to the origin in the detection period based on the shaft center offset amount;

s805, according to the moving track of the offset position in the detection period;

s806, acquiring and analyzing force signals transmitted by the force sensor group to obtain acting forces born by each bearing bush on the bearing in a detection period;

s807, determining a vector track of the resultant force of the bearing in the detection period according to the acting force;

s808, carrying out vector decomposition on the vector track to obtain a load;

s809, vector decomposition is carried out on the running track to obtain a motion component;

And S810, acquiring the bearing rigidity according to the load and the motion component.

The steps included in the method for detecting the rigidity of the bearing in this embodiment are basically identical to the specific implementation manner of the steps in embodiment 1, and are not described herein.

From the above, in the embodiment of the application, the method for calculating the bearing rigidity based on the motion track acquired by the distance sensor group and the vector track acquired by the force sensor can accurately obtain the bearing rigidity in running under the condition that the shafting is vibrated, so that a technician can conveniently adjust the running state of each bearing according to the rigidity, and the normal running of the whole hydroelectric generating set is ensured.

In order to better implement the method, the embodiment of the application provides a bearing rigidity detection device, which can be particularly integrated in electronic equipment, wherein the electronic equipment can be equipment such as a terminal and a server, and the electronic equipment is connected with the bearing rigidity detection equipment and is controlled by an instruction to execute preset detection actions. In some embodiments, the terminal may be a stand-alone device, such as a cell phone, tablet, smart bluetooth device, notebook, or personal computer (Personal Computer, PC) device, which may act as both a memory and a processor. The device is used as a memory for storing instructions, and simultaneously used as a processor for loading the instructions from the memory so as to execute the bearing rigidity detection method; the device is connected with bearing rigidity detection equipment with a bearing rigidity detection function, and the command is transmitted to the bearing rigidity detection equipment so that the command can be analyzed and corresponding detection actions can be executed.

In some embodiments, the terminal may be a main control panel, where the main control panel is used to implement man-machine interaction, and the main control panel is connected with a bearing stiffness detection device with a bearing stiffness detection function. The main control panel can comprise a microprocessor, a plurality of controls, a display screen and the like, wherein the controls are used for responding to the operation of a user to generate related operation instructions so that the bearing rigidity detection equipment can execute corresponding actions according to the operation instructions; the display screen is used for displaying various parameters generated when the bearing rigidity detection equipment works; the microprocessor can store the bearing rigidity detection method and generate corresponding bearing rigidity detection instructions, so that the bearing rigidity detection equipment analyzes the instructions and executes corresponding detection actions.

For example, in the present embodiment, a description will be given of a method of the present embodiment taking a case where the bearing rigidity detecting device is specifically integrated in the bearing rigidity detecting apparatus as an example.

For example, as shown in fig. 9, the bearing rigidity detecting apparatus 900 may include a force unit 910, a vector trajectory unit 920, a motion trajectory unit 930, and a bearing rigidity unit 940.

the acting force unit 910 is configured to obtain acting forces borne by each bearing bush on the bearing in a target movement period, where the target movement period is a period of one rotation of the shaft, and the target movement period includes a plurality of sampling moments;

the vector track unit 920 is configured to determine a vector track of a resultant force of the bearing in the target motion period according to the acting force, and perform vector decomposition on the vector track to obtain a load at each sampling moment;

the motion track unit 930 is configured to obtain a motion track of an axis relative to the origin in a target motion period, and perform vector decomposition on the motion track to obtain motion components at each sampling moment;

and the bearing rigidity unit 940 is used for acquiring the bearing rigidity of each sampling moment in the target movement period according to the load and the movement component.

In some embodiments, the bearing stiffness unit further comprises:

a jump unit for:

if not, taking the next motion period as a target motion period;

a stiffness curve unit for:

In the implementation, each unit may be implemented as an independent entity, or may be implemented as the same entity or several entities in any combination, and the implementation of each unit may be referred to the foregoing method embodiment, which is not described herein again.

From the above, the bearing rigidity detection device provided by the application can calculate the bearing rigidity based on the motion track acquired by the distance sensor group and the vector track acquired by the force sensor, and can accurately obtain the bearing rigidity in operation under the condition that the shafting is vibrated, so that a technician can conveniently adjust the running state of the hydroelectric generating set according to the rigidity, and the normal running of the hydroelectric generating set is ensured.

The embodiment of the application also provides a bearing rigidity detection system which can be a terminal, a server and other equipment.

For example, the terminal can be a mobile phone, a tablet computer, an intelligent Bluetooth device, a notebook computer, a personal computer and other devices; the server may be a single server or a server cluster composed of a plurality of servers.

In the present embodiment, a detailed description will be given taking an example in which the bearing rigidity detection system of the present embodiment is a server, for example, as shown in fig. 10, which shows a schematic diagram of a structure of the server according to the embodiment of the present application, specifically:

the bearing stiffness detection system may include one or more processors 1001 of a processing core, one or more memories 1002 of a computer readable storage medium, a power supply 1003, an input module 1004, and a communication module 1005, among other components. It will be appreciated by those skilled in the art that the bearing stiffness detection system structure shown in fig. 10 is not limiting of the bearing stiffness detection system and may include more or fewer components than shown, or certain components in combination, or a different arrangement of components. Wherein:

the processor 1001 is a control center of the bearing stiffness detection system, connects respective parts of the entire bearing stiffness detection system using various interfaces and lines, and performs various functions of the bearing stiffness detection system and processes data by running or executing software programs and/or modules stored in the memory 1002 and calling data stored in the memory 1002, thereby performing overall monitoring of the bearing stiffness detection system. In some embodiments, the processor 1001 may include one or more processing cores; in some embodiments, the processor 1001 may integrate an application processor that primarily processes operating systems, user pages, applications, and the like, with a modem processor that primarily processes wireless communications. It will be appreciated that the modem processor described above may not be integrated into the processor 1001.

The memory 1002 may be used to store software programs and modules, and the processor 1001 executes various functional applications and data processing by executing the software programs and modules stored in the memory 1002. The memory 1002 may mainly include a storage program area that may store an operating system, application programs required for at least one function (such as a sound playing function, an image playing function, etc.), and a storage data area; the stored data area may store data created from the use of the bearing stiffness detection system, etc. In addition, memory 1002 may include high-speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other volatile solid-state storage device. Accordingly, the memory 1002 may also include a memory controller to provide the processor 1001 with access to the memory 1002.

The bearing stiffness detection system also includes a power supply 1003 that powers the various components, and in some embodiments, the power supply 1003 may be logically connected to the processor 1001 by a power management system, thereby performing functions such as managing charging, discharging, and power consumption by the power management system. The power supply 1003 may also include one or more of any of a direct current or alternating current power supply, a recharging system, a power failure detection circuit, a power converter or inverter, a power status indicator, and the like.

The bearing stiffness detection system may also include an input module 1004, the input module 1004 being operable to receive entered numeric or character information and to generate keyboard, mouse, joystick, optical or trackball signal inputs related to user settings and function control.

The bearing stiffness detection system may also include a communication module 1005, in some embodiments the communication module 1005 may include a wireless module, and the bearing stiffness detection system may provide wireless broadband internet access to the user by short-range wireless transmission through the wireless module of the communication module 1005. For example, the communication module 1005 may be used to assist a user in e-mail, browsing web pages, accessing streaming media, and the like.

Although not shown, the bearing stiffness detection system may also include a display unit or the like, which is not described in detail herein. Specifically, in this embodiment, the processor 1001 in the bearing stiffness detection system loads executable files corresponding to the processes of one or more application programs into the memory 1002 according to the following instructions, and the processor 1001 executes the application programs stored in the memory 1002, so as to implement various functions as follows:

The specific implementation of each operation above may be referred to the previous embodiments, and will not be described herein.

From the above, in the bearing rigidity detection system provided in the embodiment of the present application, the method for calculating the bearing rigidity based on the motion track obtained by the distance sensor set and the vector track obtained by the force sensor can accurately obtain the bearing rigidity in operation under the condition that the shafting is vibrated, so that a technician can adjust the running state of the hydroelectric generating set according to the rigidity, and the normal operation of the hydroelectric generating set is ensured.

Those of ordinary skill in the art will appreciate that all or a portion of the steps of the various methods of the above embodiments may be performed by instructions, or by instructions controlling associated hardware, which may be stored in a computer-readable storage medium and loaded and executed by a processor.

To this end, embodiments of the present application provide a computer readable storage medium having stored therein a plurality of instructions capable of being loaded by a processor to perform the steps of any of the bearing stiffness detection methods provided by embodiments of the present application. For example, the instructions may perform the steps of:

The instructions stored in the storage medium may perform steps in any of the bearing stiffness detection methods provided in the embodiments of the present application, so that the beneficial effects that any of the bearing stiffness detection methods provided in the embodiments of the present application can be achieved, which are detailed in the previous embodiments and are not repeated herein.

The foregoing has described in detail a method and apparatus for detecting bearing stiffness provided by embodiments of the present application, and specific examples have been applied herein to illustrate the principles and embodiments of the present application, the above description of embodiments being only for aiding in the understanding of the method and core ideas of the present application; meanwhile, as those skilled in the art will have variations in specific embodiments and application scope in light of the ideas of the present application, the present description should not be construed as limiting the present application in view of the above.

Claims

1. The bearing rigidity detection method is characterized in that the bearing is rotationally connected with a matched shaft, and a rectangular coordinate system is established by taking the center of a radial tangential plane of the bearing as an origin;

The method comprises the following steps:

2. A method of bearing stiffness detection as claimed in claim 1 wherein the load includes dynamic and static loads;

the vector analysis is carried out on the vector track to obtain the load of each sampling moment, and the method comprises the following steps:

determining a force balance point according to the vector track;

and carrying out vector decomposition on the resultant force of the bearing at each sampling moment based on the force balance point, and determining the dynamic load and the static load at each sampling moment in the target movement period.

3. A method of bearing stiffness detection as claimed in claim 2 wherein the motion component comprises a dynamic component and a static component;

the vector decomposition is carried out on the motion trail to obtain motion components of each sampling moment, and the vector decomposition comprises the following steps:

determining a static balance point according to the motion trail;

and carrying out vector decomposition on the axis displacement vector of each sampling moment based on the balance point, and determining the dynamic component and the static component of each sampling moment in the target motion period.

4. A method of bearing stiffness detection as claimed in claim 3 wherein said obtaining bearing stiffness for each sample time in said target motion cycle based on said load and motion components comprises:

determining a motion vector included angle between the motion load and the motion component;

calculating dynamic rigidity according to the included angle of the motion vector and the motion component;

determining a static vector included angle between the static load and the static component;

calculating static rigidity according to the static vector included angle and the static component;

5. The method for detecting bearing stiffness according to claim 4, wherein after determining bearing stiffness at each sampling time in the target motion cycle according to the dynamic stiffness and the static stiffness, the method comprises:

Calculating the rigidity force of each sampling moment according to the bearing rigidity;

for the stiffness force at each sampling moment, calculating the speed direction force according to the stiffness force and the bearing resultant force;

calculating an axle center speed vector according to the motion trail;

and calculating a damping coefficient corresponding to the sampling moment according to the speed direction force and the axis speed vector, wherein the damping coefficient reflects the effect of the resultant force of the bearing on the shaft.

6. The method for detecting rigidity of bearing according to claim 1, wherein said rectangular coordinate system comprises two coordinate axes, and a distance sensor is provided at an intersection point of each of said coordinate axes and said bearing;

the acquiring the motion track of the inner core relative to the origin in the target motion period comprises the following steps:

according to the distance value obtained by the distance sensor, calculating the thermal motion quantity corresponding to the coordinate axis at each sampling moment in the target motion period;

calculating the axis offset of the shaft in the coordinate axis direction according to the distance value obtained by the distance sensor under the same coordinate axis and the thermal motion quantity;

acquiring offset positions of the axes relative to the origin at each sampling time according to the axis offset;

And acquiring a motion track of the inner core relative to the origin in the target motion period according to the offset position.

7. A bearing stiffness test method according to any one of claims 1 to 5 wherein the target motion cycle is any one of a plurality of motion cycles included in the test cycle,

after the bearing rigidity of each sampling moment in the target motion period is obtained according to the load and the motion component, the method comprises the following steps:

if not, taking the next motion period as a target motion period;

8. A bearing rigidity detection device, characterized by comprising:

9. A storage medium storing a plurality of instructions adapted to be loaded by a processor to perform the method of bearing stiffness detection of any one of claims 1 to 7.

10. A bearing stiffness detection system, comprising: at least one processor; at least one memory for storing at least one program; when the at least one program is executed by the at least one processor, the at least one processor is caused to implement the bearing stiffness detection method as claimed in any one of claims 1 to 7.