Machine protection system for rotating equipment and method

Abstract

A machine protection system and method for rotating equipment introduces new alarming features and makes use of full proximity probe sensor information, including amplitude and phase. Baseline vibration amplitude and phase data is estimated and tracked according to operating modes of the rotating equipment. Baseline vibration and phase data can be determined using a rolling average and variance and stored in a unit circle or tracked using short term average and long term average baselines. The sensed vibration amplitude and phase is compared with the baseline vibration amplitude and phase data. Operation of the rotating equipment can be controlled based on the vibration amplitude and phase.

Claims

What is claimed is: 1. A method of operating a machine protection system for rotating equipment, the method comprising: (a) sensing vibration amplitude and phase of the rotating equipment; (b) controlling operation of the rotating equipment based on the vibration amplitude and phase; (c) determining the baseline vibration amplitude and phase data using a rolling average and variance and storing baseline vibration amplitude and phase data in a unit circle; and (d) comparing the sensed vibration amplitude and phase with the baseline vibration amplitude and phase data, wherein step (c) is practiced by storing separate baseline vibration amplitude and phase data according to an operating mode of the rotating equipment, and wherein step (d) comprises outputting a signal based on the comparison, step (b) being practiced by controlling the operation of the rotating equipment based on the signal output in step (d). 2. The method according to claim 1 , wherein if the sensed vibration amplitude and phase exceed the baseline vibration amplitude and phase data by a preset deviation, the method comprises triggering an alarm. 3. The method according to claim 2 , wherein the triggering step further comprises shutting down the rotating equipment. 4. A method of operating a machine protection system for rotating equipment, the method comprising: (a) sensing vibration amplitude and phase of the rotating equipment; (b) controlling operation of the rotating equipment based on the vibration amplitude and phase; (c) storing baseline vibration amplitude and phase data in a unit circle; (d) comparing the sensed vibration amplitude and phase with the baseline vibration amplitude and phase data, wherein step (c) is practiced by storing separate baseline vibration amplitude and phase data according to an operating mode of the rotating equipment, and wherein step (d) comprises outputting a signal based on the comparison, step (b) being practiced by controlling the operation of the rotating equipment based on the signal output in step (d); and (e) tracking the baseline amplitude and phase data using short term average and long term average baselines. 5. The method according to claim 4 , further comprising determining short term average on a minute-by-minute basis using data accumulated over an hour, and determining long term average in quarter-hour intervals using data accumulated over 100 hours. 6. The method according to claim 5 , wherein spikes that exceed two times a standard deviation are discounted. 7. A method of operating a machine protection system for rotating equipment, the method comprising: (a) sensing vibration amplitude and phase of the rotating equipment; (b) controlling operation of the rotating equipment based on the vibration amplitude and phase; (c) storing baseline vibration amplitude and phase data in a unit circle by manually entering the baseline amplitude and phase data; and (d) comparing the sensed vibration amplitude and phase with the baseline vibration amplitude and phase data, wherein step (c) is practiced by storing separate baseline vibration amplitude and phase data according to an operating mode of the rotating equipment, and wherein step (d) comprises outputting a signal based on the comparison, step (b) being practiced by controlling the operation of the rotating equipment based on the signal output in step (d), and wherein after collecting a predefined number of data values, the method comprises updating the manually entered baseline amplitude and phase data based on the predefined number of data values.
This invention was made with Government support under Contract No. DE-FC21-95MC-31176 awarded by the Department of Energy. The Government has certain rights in this invention. BACKGROUND OF THE INVENTION This invention relates to turbo-machinery vibration protection systems and, more particularly, to a machine protection system architecture using vector averaging and vector-based anomaly detection with estimated proximity probe vibration baselines. An important prerequisite of any machine protection system (MPS) or a condition monitoring system (CMS) is fault detection. Equipment condition (static or dynamic) is determined through a set of sensor measurements that provides thermal, force, motion, chemical, optical and other related information. Equipment malfunctions or excursions from normal operational domains are then determined by identifying which sensor (or set of sensors) measurements have exceeded their set limits. Thus, detection of anomalies in sensor measurements is important for fault detection. Typical turbo-machinery vibration protection systems utilizing proximity probe data use only amplitude information. A system that uses both amplitude and phase is not available. Similarly, most machinery protection systems algorithms only perform overall amplitude limit checking. Algorithms based on baseline comparisons are similarly not available. There are three types of vibration measurements, i.e., displacement, velocity and acceleration. Even though velocity and acceleration are vector quantities, only amplitude values of these quantities are typically used in measuring and estimating alarm limits. Vibration displacement estimation, however, should include measurement of both amplitude and phase. BRIEF SUMMARY OF THE INVENTION In an exemplary embodiment of the invention, a machine protection system for rotating equipment includes a control system and a vector sensor unit communicating with the control system that senses vibration amplitude and phase. The control system controls operation of the rotating equipment based on the vibration amplitude and phase. The vector sensor unit preferably includes a proximity probe and an angle position sensor. The control system may include a memory storing baseline vibration amplitude and phase data in a unit circle, and a comparison unit that compares the sensed vibration amplitude and phase with the baseline vibration amplitude and phase data. In this context, the memory stores separate baseline vibration amplitude and phase data according to an operating mode of the rotating equipment. A comparison unit outputs a signal based on the comparison, and a central processing unit of the control system controls the operation of the rotating equipment based on the signal from the comparison unit. In another exemplary embodiment of the invention, a method of operating a machine protection system for rotating equipment includes the steps of sensing vibration amplitude and phase of the rotating equipment, and controlling operation of the rotating equipment based on the vibration amplitude and phase. The stored baseline amplitude and phase data may be determined using a rolling average and variance. The method may include tracking the baseline amplitude and phase data using short term average and long term average baselines. The short term averages are preferably determined on a minute-by-minute basis using data accumulated over an hour, and the long term averages are preferably determined in quarter-hour intervals using data accumulated over 100 hours. Spikes that exceed two times a standard deviation are discounted. In one arrangement, the baseline amplitude and phase data is entered manually. In this context, after collecting a predefined number of data values, the manually entered baseline amplitude and phase data is updated based on the predefined number of data values. If the sensed vibration amplitude and phase exceed the baseline vibration amplitude and phase data by a preset deviation, an alarm is triggered. The triggering step may further include shutting down the rotating equipment. BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a schematic illustration of the automated vibration baseline tracking and machine protection system of the present invention; FIG. 2 is a table of gas turbine operating modes; and FIG. 3 is a flow chart showing the method of operating a machine protection system for rotating equipment. DETAILED DESCRIPTION OF THE INVENTION In the following detailed description, a gas turbine is used as an exemplary application of the anomaly detection and machine protection system of the present invention. Those of ordinary skill in the art will contemplate that the principles are applicable to any MPS or CMS that monitors or controls rotating equipment, such as for example, pumps, electric motors, steam turbines, hydraulic turbines, etc. The invention is thus not meant to be limited to the described application. Normal equipment operational domain is characterized by baselines that describe variations in sensor values under specific operating conditions. Baselines can be static, transient or dynamic depending upon the type of sensor signal. Baseline values therefore define anomaly detection limits. Anomalies can be detected by comparing the value of a variable, either discrete or continuous, to either a fixed or varying limit. Varying limits are determined through statistical means. Thus, anomalies can be determined by comparing current (sensed) values with a short term average, comparing the short term average values with long term average values, or comparing long term average values with an initial baseline value. Of course, other combinations of comparisons can also be made depending on the application. Sample size, time duration to estimate the averages, and threshold values to detect anomalies are dependent on the type of anomaly to be detected, i.e., vibration, combustion, or performance. Standard deviations for each of the time ranges are calculated to determine the quality of the sensor signal. Typically, measurements of physical quantities requires information from multiple sensors. In order to calculate baseline values in these situations, vector averaging should be performed. Vibration displacement anomaly detection is used as a specific example to explain generally the anomaly detection procedure of the present invention. FIG. 1 is a schematic illustration of a control loop for operation of a gas turbine 10 , and FIG. 3 is a flowchart showing a method of operating a machine protection system for rotating equipment. A vector sensor unit 12 includes one or more proximity probes 14 and an angle position sensor 16 . In the present embodiment, the angle position sensor 16 detects an angle position of the rotor. A control system 18 , such as the General Electric Mark V control system controls the operation of the gas turbine 10 . A processor 20 and memory 22 form part of the control system and receive data input from the vector sensor unit 12 . The memory 22 stores baseline vibration amplitude and phase data in a unit circle 24 (step S 2 in FIG. 3 ), which incorporates deviation ranges for triggering alarms. Vibration temporal displacement is measured by the vector sensor unit 12 (step S 1 in FIG. 3) and is characterized by both amplitude and phase. Vibration alarms are generated by comparing with a comparator in the control system 18 the proximity probe amplitude and phase measurements vectorially with a set of baseline displacement values, including baseline vibration amplitude and phase data (step S 3 in FIG. 3 ). As indicated in the illustrated unit circle 24 , if the vector deviation is more than a first predetermined deviation, then a yellow alarm is generated; and if it is more than a second deviation, then a red alarm is generated. Upon generation of the red alarm, the control system 18 may be programmed to shut down the gas turbine 10 . Similar baseline comparisons are utilized when generating seismic probe related vibration alarms. Unlike the vector sensor unit measurements, however, seismic probes do not have phase information available. Control of the rotating equipment operation is shown in step S 4 in FIG. 3 . At a given time, the vibration level of a gas turbine depends upon a number of factors, such as type of design, alignment, bearing design, RPM, load, rotor temperatures, type of start, etc. Estimation of vibration baselines is therefore difficult. Referring to FIG. 2, a gas turbine operating mode parameter (GT-OPMODE) is used in determining the operating mode of the unit. Specific vibration limits and deviation criteria can be defined for each operation mode. Averaging calculations are performed for each of the several unique gas turbine operational modes. FIG. 2 is a table listing 26 gas turbine operating modes. In order to estimate and track vibration baselines, rolling average and variance are used. Assuming N measurements of a parameter M is made within a time frame or window of T sec, rolling average is calculated as follows: M =SUM( M 1 , M 2 , . . . M n )/ N where M 1 and M n are the measured values of first and last data reading. At any given reading, the first measurement is dropped and the last measurement is added in. Since the reading rate is not known, N is a variable. All calculations are performed when GT-OPMODE does not change for the period under consideration. With respect to vibration vector averaging and variance, a comparison of alarm levels is made against the current (sensed) value and the baseline data. If the current value exceeds a preset deviation, depending upon the operating mode, an alarm is triggered. An alarm is also triggered if the standard deviation of the hourly averaged value is above a prescribed amount. Since the vector sensor unit measures both amplitude and phase, the deviation is estimated vectorially. Deviation is estimated as the difference between measured and averaged value. Vector average of N measured vector variables <M> is estimated as follows: < M avg>=sqrt((Σ Mx/N ) 2 +(Σ My/N ) 2 ) where N is the total number of measurements, Mx=<M>cos Θ, My=<M> sin Θ. <Θavg>=atan(Θ My/ΘMx ) Measurement variation is obtained using: DM=<M>−<M avg> DΘ=<Θ>−<Θavg> Variance/Spread in amplitude is obtained by: SM =sqrt(Θ( DM ) 2 /N ) Variance/Spread in phase is obtained by: S Θ=sqrt(Θ( D Θ) 2 /N ) Variance/Spread is an important factor used in determining vibration baseline values and also in generating alarms if the spread is high. In the case of proximity probe measurements, both amplitude and phase data are utilized in calculating rolling average, deviation, and spread. For seismic probes, the available amplitude scalar information should be used. Two sets of averages are used to track baselines and detect anomalies—short and long term baselines. Under thermal transient conditions, soon after startup and the unit is loaded, short term average is estimated every minute, and long term average every fifteen minutes. Under steady state conditions, short term average is estimated using data accumulated over an hour. Long term average represents the most recent one hundred hours of data. Short term averages are used to estimate the long term average. The estimated and stored parameters using short and long term historical data include amplitude, phase (for prox probes only), variance in amplitude, and variance in phase (for prox probes only). With the described turbine application, short term average vibration baseline data is stored once every minute under GT-OPMODE 7 through 11 and every hour under GT-OPMODE 14 through 18 . Spurious data points or spikes are data sets that have a spread of more than or less than twice the deviation and are not be used in averaging calculation. Long term average data is stored every fifteen minutes under GT-OPMODE 7 through 11 and every 100 hours under GT-OPMODE 14 through 18 . Spurious data sets are similarly not used in averaging calculation. In some cases, such as soon after a major overhaul, automated vibration baseline tracking may not be successful. In such a case, vibration baselines are entered manually (e.g., through remote operation or the like). An initialization option is provided to set the baseline values manually for new and overhauled systems. After a minimum number of values of data (e.g., 100 values) are collected, then the baseline values are updated based on operating information, if the particular GT-OPMODE criteria is satisfied. Alarming of a parameter is carried out by comparing current or real time values with the baseline data and estimating the parameter deviation. In order to reduce noise in the signal, near real time values are estimated using an average data estimated using three to five data snapshots. If the deviation exceeds a certain amount, an alarm is generated. Alarming will depend upon the type of vibration measurement. For vector sensor unit data, a vector comparison of the current vibration information relative to the baseline data should be carried out. For seismic data, since it is a scalar measurement, direct comparison between instantaneous and baseline values should be carried out. Deviation from baseline is estimated as follows: < DM>=<M current>−< MLT _baseline> if DM is greater than a first deviation Yellow alarm; if DM is greater than a second deviation Red alarm; if DM is greater than a third deviation then trigger station alarm. Similar deviation patterns can be established for seismic probes. Additionally, the current averaged data (three to five snapshots) is compared against the previous short term baseline data, the short term baseline data is compared against long term baseline data, and the long term baseline data is compared against initial state baseline data, all of which have parameters and deviation limits according to operating mode that triggers alarms. In addition to alarming based on the baseline comparison described above, an option to alarm using absolute measurements is also desirable. There also may be an option to alarm on spreads. Referring to FIG. 1, vibration data is continuously gathered by the processor 20 (OSM) and the current (instantaneous average of last five data sets) data is compared against the short and long term baseline data. In the event of an anomaly and depending on its type, either remote notification or communication with the control system 18 is established to perform station alarm, shut down or other functions. With the structure and method according to the invention, a machine protection system architecture is provided that uses proximity probes as part of its system with vector averaging and vector based anomaly detection capabilities. Additionally, baseline vibration amplitude and phase data are automatically estimated according to machine operating modes. The resulting arrangement provides a new level of sophistication for vibration machine protection systems for rotating equipment. While the invention has been described in connection with what is presently considered to be the most practical and preferred embodiments, it is to be understood that the invention is not to be limited to the disclosed embodiments, but on the contrary, is intended to cover various modifications and equivalent arrangements included within the spirit and scope of the appended claims.

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