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高速铁路是铁路现代化的重要标志,我国采取引进−吸收−消化−再创新的研制思路,在十几年间建造完成了世界上里程最长的高速铁路网络,截止2021年,我国高铁线路总长突破4万公里。在动车组研发方面,保有量达到4000标准组以上,形成了具有自主知识产权的复兴号系列动车组。然而,目前高速动车组仍有部分关键技术被国外垄断,其中,滚动轴承是决定动车组健康状态与寿命的关键部件,却长期依赖进口,动车组轴承市场主要被德国FAG、瑞典SKF和日本NTN等国外企业把持,是一个典型的“卡脖子”难题。
我国幅员辽阔,高铁线路跨度大,动车组长大交路、长时间、高速、持续运行,同时还会面临低温、环境腐蚀、风沙侵害等恶劣运行环境,这使得动车组轴承系统的服役环境异常复杂,由此导致动车组轴承(包括轴箱轴承、牵引电机轴承和齿轮箱轴承)的失效情况严重,其可靠性面临严峻考验,给动车组轴承的设计制造带来了挑战。因此,研究动车组轴承的设计制造及其在服役过程中的可靠性问题具有十分重要的意义。本文总结了近年来关于动车组轴承设计制造及其可靠性的相关研究成果,从动车组轴承设计制造及工艺、故障模式机理及影响分析、故障诊断与状态监测、可靠性建模和评估、可靠性试验5个方面对动车组轴承的研究现状进行综述。
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轴承损伤故障通常会产生特定的故障特征,按照轴承诊断手段可将其分为:基于连续温度信号的分析技术、基于声学信号的分析技术和基于振动信号的分析技术[61]。而按照铁路轴承的监测方法可以分为:轨旁检测系统和车载监测系统。
轨旁检测系统主要是基于温度信号和声学信号,滚动轴承在正常运行时也处于发热状态,但一旦出现磨损或者剥离,温度会大幅增加。EN12082:2007中规定[62],在铁道车辆的运行过程中,轴承温度是重要的监测指标。在20世纪70年代,美国Servo公司最先开发了一套以热辐射原理为基础的轴承温度探测系统,并且得到了广泛应用[63]。法国TGV线上每隔40~50 km就会安装一个轴温报警器,截止2013年英国已经安装的检测装置超过200套。动车组运行过程中,轴承需要在足够的温度下才会触发报警机制,此时轴承往往已经失效,因而无法对轴承的情况进行早期及时诊断。而以声学信号为基础的诊断模式,能够较快地发现轴承故障。90年代中期,美国TTCI[64]开发了轴箱轴承的轨旁声学监测系统,并结合神经网络算法,大幅提升了轴箱轴承监测的准确性。随后,澳大利亚铁路部门通过研究轴承的声学特征,也开发了地面铁路轴承声学监测系统,在铁路和环形铁道进行了试验验证[65]。我国的铁路轴承监测体系的研制起步相对较晚,但发展较快。20世纪70年代,开发的第1代温度探测设备,采用人工记录的方式,尚无法实现联网跟踪的要求。到了20世纪80年代,第2代温度探测设备利用计算机和人工智能,能够实现联网追踪的要求,也能够实现动态监测和进行智能判别。20世纪90年代,哈铁研制的HTK-499型红外线温度探测系统已经能够满足我国铁路的提速需求,能够满足时速360公里的温度监测要求[66]。2003年,在对国外研究成果总结的基础上,结合我国铁路运营的发展现状,研制成功了滚动轴承故障轨边声学诊断系统TADS。
车载监测系统相比于轨旁检测系统能更及时地发现轴承故障,英国铁路利用加速度传感器监控每个轴箱轴承的实时振动状态,研制了铁路轴承车载监测系统[66]。20世纪90年代,SKF公司开发了BOMO车载转向架监测系统,利用温度和振动复合传感器获取更为全面的轴承信息,以提升车载轴承状态评价的准确性,并实现了故障预警功能[67]。2001年,德国铁路系统技术公司开发的车载转向架状态监测系统同样采用振动与温度联合监测技术对轴箱轴承进行故障诊断,在ICE2动车组上进行试验后,安装于ICE3动车组正式使用[68]。目前我国的高速动车组均配备有轴温监测系统[64],温度传感器安装在转向架各个轴端的轴箱上,而监测装置则安装在列车电气柜内,同时具备传感器状态自诊断、温度采集及数据的分析与处理功能。
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轴承故障诊断本质上是模式识别问题,所以主要包含特征提取和分类两个步骤,基于振动信号的诊断当前应用最为广泛。对于动车组轴承的故障诊断技术,本文将其分为基于数据统计和基于人工智能两种主流方法进行综述。
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从时域角度对动车组轴承进行故障诊断,是通过直接对原始采集信号进行研究和分析,不对信号进行滤波缩放处理,时域数据可最大程度还原信号所具备的能量信息,直观且易于理解。其中,时域信号的有量纲参数主要有:峰值、均方根值。有量纲指标值表征了信号在各时刻的统计特性。时域信号的无量纲参数指标主要包括了:峰值因子、峭度、峭度因子、波形因子、脉冲因子和裕度因子等[69]。文献[70]对每一个时域统计参数进行了研究,指出无量纲参数受旋转机械转速、载荷以及信号绝对水平等影响较大,所以对诊断精度有较好的鲁棒性。均方根值能够很好反映轴承全寿命周期,在失效不同阶段中的加速度信号中能量变化[71],适合描述轴承从正常到失效的过程中,轴承振动水平和局部损伤程度之间的变化关系[72-73]。峭度和峰值指标对信号的波形变化非常敏感,能够反映出轴承缺陷发展趋势,偏斜度适用于不对称、非线性信号,可以描述滚动轴承的故障特征。鉴于峭度对周期信号转速和频率带宽在高频、窄带范围的有效性,文献[74]利用峭度值作为评估标准,选择合适参数对小波多分辨率分析完成优化,成功运用到了动车组滚动轴承早期故障诊断中。文献[75]提出了一种基于时延峰度的自适应边界确定方法,并通过动车组故障模拟信号和实际轴箱轴承振动信号验证了该方法的有效性。结果表明,该方法能自适应地确定含有故障信息共振带的合理边界。虽然时域统计指标在故障诊断中应用广泛,但是极容易受噪声等干扰成分的影响,而我国高速动车组轴承的服役环境复杂多变,势必存在较多的噪声干扰成分,因此时域统计指标在高速动车组轴承实际故障诊断中的应用并不多。
与时域分析法相比,频域分析法和时频域分析法能够更有效地提取故障响应特征,可以更多地滤除噪声干扰对诊断的负面影响。动车组滚动轴承匀速运行过程中,轴承缺陷与滚道或滚动体发生周期碰撞引起周期性的响应,采用傅里叶变换可将振动信号变换到频域,在频域中识别目标故障特征频率。但傅里叶变换只适用于平稳信号分析,而动车组滚动轴承故障信号是非平稳信号,只分析其频域全局特性存在局限性。此外,动车组轴承的服役环境恶劣,承受来自轨道、环境等多源激扰,轴承的振动信号的频率成分十分复杂,轴承故障信号中幅值较小的故障特征频率极易被其他干扰频率成分掩盖,所以仅依靠傅里叶变换对动车组轴承进行故障诊断效果往往并不好。当前动车组轴承故障信号分析,通常采用以离散小波变换、小波包分解等为代表的时频分析方法,或以包络谱分析、Teager能量算子、导数包络算子以及倒谱分析、倒包络谱分析为代表的调制频率识别方法。表1为近年来国内外基于数据统计特征的动车组轴承故障诊断方法。
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人工智能和模式识别等学科的兴起使得智能化的故障诊断成为可能,智能诊断技术的大量应用减少了对人工的依赖性,而且提高了诊断效率。因此动车组轴承的故障诊断也朝着人工智能的方向发展,当前用于动车组滚动轴承的智能诊断技术主要有神经网络、专家系统、模糊逻辑和支持向量机等,表2列举了近年来国内外基于人工智能的动车组轴承故障诊断技术。
目前针对动车组轴承故障诊断的研究处在快速发展阶段,在大数据和人工智能背景下,轴承故障诊断的算法也愈加丰富,但是真正能够运用到工程实际,即在线运行动车组轴承故障诊断的方法却很少。原因主要可能在于,目前多数训练集采用的是实验室台架实验获得的故障数据,如何将变量可控的台架实验数据迁移至复杂的实际振动环境中是难点。此外,实际动车组轴承的部分监测信号(包括振动、温度等)往往采样率偏低,可能无法完全覆盖高速旋转轴承故障的特征频带,且不同信号源间的采样率也有所差异,因此,如何有效融合多维度多源信号也是实现动车组轴承在途故障诊断的关键。
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3.1. 铁道车辆轴承监测系统
3.2. 动车组轴承故障诊断技术
3.2.1. 基于数据统计特征的诊断方法
3.2.2. 基于人工智能的诊断方法
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