Abb Research Ltd.

Abb Schweiz Ag

Abb Inc.

Kari Saarinen

Mirrasoul Mousavi

James Stoupis

John McGowan

Shiva Sander-Tavallaey

Michal Orkisz

Elina Vartiainen

Hans Andersson

Veronika Domova

Bengt Stridh

Per-Erik Modén

Winston Garcia-Gabin

Andre Carvalho Bittencourt

Jaroslaw Nowak

Jarno Kansanaho

André Carvalho Bittencourt

Per Erik MODÉN

A mechanism and method for deciding whether a bearing is faulty or not. The method is performed by a controller. The method includes obtaining a signal representing vibrations of the bearing. The vibrations are obtained during operation of the bearing. The method includes applying signal segmentation to the signal in at least two frequency bands in order to identify any shock pulse in the signal. The method includes deciding whether the bearing is faulty or not depending on whether or not the signal has any shock pulse.

Decision of faulty bearing

There is provided mechanisms for deciding whether a bearing is faulty or not. A method is performed by a controller. The method comprises obtaining, as a measurement signal, metal particles counting data, where the metal particles counting data indicates number of metal particles present in lubrication oil of the bearing per time unit. The method comprises differentiating the measurement signal, resulting in a differentiated measurement signal. The method comprises deciding, depending on how large share of a probability density estimate of the differentiated measurement signal is above a threshold value, whether the bearing is faulty or not.

Method and controller for deciding whether a bearing is faulty or not

A method for detecting a fault in a robot joint includes the steps of: performing a first torque measurement at the robot joint to thereby obtain a first set of torque values; calculating a first distribution characteristic reflecting a distribution of the first set of torque values; performing a second torque measurement at the robot joint to thereby obtain a second set of torque values; calculating a second distribution characteristic reflecting a distribution of the second set of torque values; and comparing the first and the second distribution characteristics to determine whether a fault is present or not. A difference in the distributions of torque measurements is a robust fault indicator that makes use of the repetitive behavior of the system.

Condition monitoring of an industrial robot

There is provided mechanisms for predicting remaining useful lifetime of a bearing of an electric podded azimuth thruster. A method is performed by a controller. The method includes obtaining operational conditions of the bearing. The method includes predicting the remaining useful lifetime of the bearing using the operational conditions. The lifetime of the bearing is divided in three separate phases. The remaining useful lifetime of the bearing is predicted differently in the three separate phases.

Prediction of remaining useful lifetime for bearings

Systems and methods for classifying power line events are disclosed. Classifying power line events may include receiving measured data corresponding to a signal measured on a power line, such as proximate a substation bus or along the power line, determining from the measured data that the power line event has occurred, extracting at least one event feature from the measured data, and determining at least partially from the at least one event feature at least one probable classification for the power line event. The systems may include an Intelligent Electronic Device (IED) connected to the power line and a processor linked to the IED.

Systems and methods for classifying power line events

Systems and methods for power line event zone identification are disclosed. Power line event zone identification may include receiving measured data corresponding to a signal measured on a power line, determining from the measured data that a power line event has occurred, and identifying a probable one of at least two monitoring zones in which the power line event occurred. The at least two monitoring zones may be defined for an Intelligent Electronic Device (IED). The systems may include an IED connected to the power line and a processor linked to the IED.

Systems and methods for power line event zone identification

A method for inspecting a solar panel of a solar power station is performed in a controller for an unmanned aerial vehicle, UAV, and includes the steps of: receiving an inspection request for a subset of the solar panels navigating, in a first stage, using radio signals, the UAV to an initial location in a vicinity of a particular solar panel of the subset of solar panels; positioning, in a second stage, the UAV using at least one near field sensor of the UAV; and capturing, using the infrared camera, an image of the particular solar panel.

Inspecting a solar panel using an unmanned aerial vehicle

A method of handling a reclosing operation of a recloser in a power system subject to a fault. The method includes a) determining a fault current for each electrical phase, the fault current being determined by a difference between measured current values and a sinusoidal model of a current prior to the fault, bI) calculating a respective sinusoidal model of the fault current for each electrical phase using samples taken before the fault, bII) selecting two sinusoidal models with the largest amplitude to represent faulted electrical phases, bIII) calculating a plurality of sub-features based on the two models, and bIV) determining a main feature value based on the plurality of sub-features, bV) determining, based on the main feature value, whether a temporary fault is present, and c) providing control instructions that the recloser is to reclose in the event that the fault is a temporary fault.

Method and control system for handling a reclosing operation in a power system

A method of classifying an event in an electrical grid. The method utilizes event related data provided by intelligent electronic devices and provides the operator with a single conclusion classifying the event, thereby helping the operator to determine the mitigation actions. The method includes receiving individual event related data from each intelligent electronic device, and determining whether the event is a fault or a non-fault based on probabilistic methods applied to the event related data. A corresponding system is also presented herein.

Method and system for multi-IED event classification in an electrical grid

Systems and methods for characterizing a device that operated to clear a fault in a power line, such as a power distribution system feeder, are disclosed. Characterizing the device may include receiving measured data corresponding to a current measured along the feeder proximate a substation bus, determining from the measured data that a fault has occurred in at least one phase and has been cleared, subtracting reference data from the measured data to estimate residual fault data, and estimating from the residual fault data a characteristic of the device that operated to clear the fault. The systems may include an Intelligent Electronic Device (IED) and a processor linked to the IED.

Systems and methods for characterizing fault clearing devices

A method of identifying at least one event zone subject to an event in a substation environment of an electrical grid. Thereby, data from multiple intelligent electronic devices can be synthesized in real-time whereby an operator can be presented with a single conclusion describing the event attributes thereby helping the operator to determine the mitigation actions as needed. The method includes receiving first event related data from the intelligent electronic devices, and based on the first event related data, determining whether the at least one monitoring zone subject to the event is a primary monitoring zone of at least one of the intelligent electronic devices or a non-primary monitoring zone for all of the intelligent electronic devices using ensemble decision making and probabilistic methods. It is also presented a system for carrying out the method.

Method and system for multi-IED event zone identification in an electrical grid

The present invention relates to a method and a device for detecting abnormal changes in play in a transmission unit configured to transfer rotational movements of a motor, having a speed of rotation that depends on a torque reference signal (T), to a movable mechanical unit. The device () comprises a first storage () for storing torque reference signal values for the motor at least in a time interval during which the motor is running at a steady state rotation speed, a computing unit () configured to retrieve measured rotation speed values (&#x3c9;) of the motor during said time interval, to identify the steady state rotation speed of the retrieved rotation speed values, to calculate a frequency spectrum of the torque reference signal, to calculate the energy generated around the second harmonic of the identified steady state rotation speed in a selected frequency band of the calculated frequency spectrum, to compare the calculated energy with at least one limit value, and based thereon, to detect abnormal changes in the play, and a second storage () unit for storing the energy calculated at a plurality of different points in time.

Method and a device for detecting abnormal changes in play in a transmission unit of a movable mechanical unit

The subject of the invention is a method for detection and automatic identification of defects in rolling bearings applicable in diagnosing rolling bearings and detecting damage in a very early stage of its occurrence. The inventive method in which the vibrations of a bearing in operation are measured, the measured analogue signals are converted to digital data which are filtered and next shock pulses are detected, whereupon defects present in the tested bearing or bearings are identified, characterized in that the detection of shock pulses is done using shock pulse likelihood ratio (Ms).

Method for detection and automatic identification of damage to rolling bearings

The present invention relates to a method of determining speed of rotation of a motor. The method involves collecting samples with a measuring sensor at a sampling frequency, set on the basis of mechanical vibration of the motor, for the duration of a measurement period and storing the samples in the memory of a data carrier as measurement data of a fixed format. The speed of rotation of the motor is determined from the measurement data by determining the cycle length of a periodic vibration signal in the time domain by means of a maximum likelihood estimate calculated by maximizing a maximum likelihood function adjusted to the measurement data, the speed of rotation being obtained from the frequency point where the maximum likelihood function obtains its maximum value.

Method of determining speed of rotation of a motor and a computer software product to carry out the method

The present invention relates to a method of determining a speed of rotation of a squirrel-cage motor, wherein samples from the current taken by the squirrel-cage motor are collected by an electric current measuring device at a predetermined sampling frequency for a measurement period, the samples being stored as measurement data of a fixed format. The method is characterized by comprising the step of determining the rotation speed of the squirrel-cage motor from the measurement data by determining the base frequency and side frequencies of the electric current taken by the squirrel-cage motor, the rotation speed frequency of the squirrel-cage motor being obtained by subtracting the lower side frequency from the higher side frequency and by dividing the difference thus obtained by two.

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Västerås, Sweden

Kari Saarinen