CN103968940A - Method and system for diagnosing oscillation fault of electric steering engine - Google Patents
Method and system for diagnosing oscillation fault of electric steering engine Download PDFInfo
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- CN103968940A CN103968940A CN201410226700.2A CN201410226700A CN103968940A CN 103968940 A CN103968940 A CN 103968940A CN 201410226700 A CN201410226700 A CN 201410226700A CN 103968940 A CN103968940 A CN 103968940A
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Abstract
The invention discloses a method and a system for diagnosing the oscillation fault of an electric steering engine. The method comprises the following steps: firstly, judging whether a deviation value of two count values collected by a counter when deviation signals become positive from negative is in a preset frequency range of the oscillation fault; judging whether a peak-to-peak value is more than a preset peak-to-peak value; and by the two judgments, judging whether the deviation signals are periodic signals, and further judging whether control signals are slowly changing signals by judgment on whether the deviation value between the two control signals is less than a preset control deviation value. The method and the system disclosed by the invention have the advantages that when the deviation signals are the periodic signals and the control signals are the slowly changing signals, a diagnosis result indicating that the electric steering engine has the oscillation fault is obtained, so that the function of automatically judging whether the oscillation fault occurs on the electric steering engine is achieved and the problem that the responsiveness of the system is lowered due to detection by persons is avoided.
Description
Technical field
The present invention relates to electric steering engine field, relate in particular to a kind of method and system of electric steering engine oscillation fault diagnosis.
Background technology
Electric steering engine is the topworks of electric rudder system, is widely used in the rudder face control of aircraft, and electric steering engine is made up of motor, speed reduction unit mechanism, position feedback potentiometer etc.
At present, in electric rudder system operational process, in the time that electric steering engine breaks down, the fault that maintenance personal need to occur according to electric steering engine is carried out analyzing and processing, and manually keeps in repair, like this, detect with manual maintenance and will certainly take the longer time, the capability of fast response of system is reduced.
But along with the development of armament systems, electric rudder system possesses built-in testing (Build-in Test, BIT) function, has become the trend of development.
Summary of the invention
In view of this, the invention provides a kind of method and system of electric steering engine oscillation fault diagnosis, detect and keep in repair by maintenance personal the fault that electric steering engine occurs to solve in prior art, reduced the problem of the capability of fast response of system, its concrete scheme is as follows:
A method for electric steering engine oscillation fault diagnosis, comprising:
Periodic signal to deviation signal is monitored;
Deviation signal becomes timing from bearing, and generates trigger pip, and control counter starts counting, obtains the first count value, and meanwhile, the steering wheel control signal that gathers host computer transmission is the first control signal;
In described rolling counters forward process, gather the peak-to-peak value of deviation signal as first peak peak value;
Deviation signal becomes timing from bearing again, generates trigger pip, and control counter starts counting, obtains the second count value, meanwhile, gathers the steering wheel control signal of host computer transmission as the second control signal;
Obtain the control deviation amount between departure and the first control signal and the second control signal between the first count value and the second count value;
When meeting when pre-conditioned, described electric steering engine generation oscillation fault; Wherein, be describedly pre-conditionedly:
Described departure is within the frequency range of default oscillation fault, and described first peak peak value is greater than default peak-to-peak value, and described control deviation amount is less than default control departure.
Further, also comprise:
In described rolling counters forward process, gather maximal value and the minimum value of deviation signal;
According to oscillation frequency, maximal value, minimum value and the peak-to-peak value of deviation signal, the oscillation fault hazard rating of electric steering engine is carried out to classification.
Further, also comprise:
In described rolling counters forward process, the peak-to-peak value that gathers deviation signal is the second peak-to-peak value;
When meeting when pre-conditioned, described electric steering engine generation oscillation fault; Wherein, be describedly pre-conditionedly:
Described departure is within the frequency range of default oscillation fault, and described first peak peak value and the second peak-to-peak value be greater than default peak-to-peak value continuously, and described control deviation amount is less than default control departure.
Further, described departure, within the frequency range of default oscillation fault, specifically comprises:
Within the continuous frequency range that is stabilized in default oscillation fault for 4 times of described departure.
Further, described default peak-to-peak value is specially: 0.5 degree.
A system for electric steering engine oscillation fault diagnosis, comprising:
Monitoring modular, the zero crossing monitoring modular being connected with described monitoring modular, the counter being connected with described zero crossing monitoring modular, the Monitoring and Controlling module being connected with described monitoring modular, the peak-to-peak value acquisition module being connected with described counter, the controller being connected with described counter
Described monitoring modular is for monitoring the periodic signal of deviation signal; Described zero crossing monitoring module monitors becomes timing to deviation signal from bearing, and generates trigger pip, and sends a signal to described counter;
Described counter starts timing, obtains the first count value, and detects that at described zero crossing monitoring modular deviation signal becomes timing from bearing again, generates trigger pip, and sends a signal to counter, and counter obtains the second count value; Meanwhile, described Monitoring and Controlling module gathers the steering wheel control signal that host computer sends, and described steering wheel control signal is the first control signal, and again becomes timing from bearing in deviation signal, sends the second control signal;
Described peak-to-peak value acquisition module, in described rolling counters forward process, gathers the peak-to-peak value of deviation signal, and described peak-to-peak value is first peak peak value;
Described controller obtains the departure between the first count value and the second count value, and obtains the control deviation amount between the first control signal and the second control signal; The judgement of described controller meets when pre-conditioned, and the diagnostic signal of output electric steering engine generation oscillation fault wherein, is describedly pre-conditionedly:
Described departure is within the frequency range of default oscillation fault, and first peak peak value is greater than default peak-to-peak value, and described control deviation amount is less than default control departure.
Further, also comprise: the maximal value acquisition module being connected respectively with described counter and controller, the minimum value acquisition module being connected respectively with described counter and controller,
Described maximal value acquisition module and described minimum value acquisition module are in described rolling counters forward process, gather respectively maximal value and the minimum value of deviation signal, and described maximal value and minimum value are sent to controller, described controller, according to oscillation frequency, maximal value, minimum value and the peak-to-peak value of described deviation signal, carries out classification to the oscillation fault hazard rating of electric steering engine.
Further, described controller comprises:
The departure judge module being connected with described counter, the peak-to-peak value judge module being connected with described peak-to-peak value acquisition module, the control judge module being connected with described counter, the output module being connected respectively with described departure judge module, peak-to-peak value judge module, control judge module
Described departure judge module obtains the departure between the first count value and the second count value, and judges that described departure is whether within the frequency range of default oscillation fault;
Described peak-to-peak value judge module is used for judging whether first peak peak value is greater than default peak-to-peak value;
Described control judge module obtains the control deviation amount between the first control signal and the second control signal, and judges whether described control deviation amount is less than default control departure;
Within described output module is being preset the frequency range of oscillation fault in described departure judge module judgment bias amount, and peak-to-peak value judge module judges that first peak peak value is greater than default peak-to-peak value, and control judge module and judge when control deviation amount is less than default control departure, the diagnostic signal of output electric steering engine generation oscillation fault.
Further, described controller also comprises: the failure sorted module being connected with described output module,
Described failure sorted module, according to oscillation frequency, maximal value, minimum value and the peak-to-peak value of deviation signal, is carried out classification to the oscillation fault hazard rating of electric steering engine.
Further, described default peak-to-peak value is specially: 0.5 degree.
Can find out from technique scheme, electric steering engine oscillation fault diagnostic method disclosed by the invention and system, by first counter being obtained to departure in deviation signal from negative twice count value that becomes timing collection, carry out judgment bias amount whether within the frequency range of default oscillation fault, and by judging whether peak-to-peak value is greater than default peak-to-peak value, whether judge to realize to deviation signal by above-mentioned two is the judgement of periodic signal, whether further whether being less than default control departure by the departure between twice control signal, to realize control signal be the judgement of tempolabile signal, the present invention is periodic signal by working as deviation signal, when control signal is tempolabile signal simultaneously, obtain the diagnostic result of electric steering engine generation oscillation fault, thereby realize automatic diagnosis electric steering engine and whether occurred the function of oscillation fault, the problem that the system responses ability of having avoided personnel to detect bringing reduces.
Brief description of the drawings
In order to be illustrated more clearly in the embodiment of the present invention or technical scheme of the prior art, to the accompanying drawing of required use in embodiment or description of the Prior Art be briefly described below, apparently, accompanying drawing in the following describes is only some embodiments of the present invention, for those of ordinary skill in the art, do not paying under the prerequisite of creative work, can also obtain according to these accompanying drawings other accompanying drawing.
Fig. 1 is the process flow diagram of the disclosed a kind of electric steering engine oscillation fault diagnostic method of the embodiment of the present invention;
Fig. 2 is the process flow diagram of the disclosed a kind of electric steering engine oscillation fault diagnostic method of the embodiment of the present invention;
Fig. 3 is the structural representation of the disclosed a kind of electric steering engine oscillation fault diagnostic system of the embodiment of the present invention;
Fig. 4 is the structural representation of the disclosed a kind of electric steering engine oscillation fault diagnostic system of the embodiment of the present invention;
Fig. 5 is the structural representation of the disclosed a kind of controller of the embodiment of the present invention.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is clearly and completely described, obviously, described embodiment is only the present invention's part embodiment, instead of whole embodiment.Based on the embodiment in the present invention, those of ordinary skill in the art, not making the every other embodiment obtaining under creative work prerequisite, belong to the scope of protection of the invention.
The present embodiment discloses a kind of method of electric steering engine oscillation fault diagnosis, and its process flow diagram as shown in Figure 1, comprising:
Step S11, the periodic signal of deviation signal is monitored;
Adopt the mode of direct measured waveform to monitor the periodic signal of deviation signal e.Due to when the rudder system generation oscillation fault, periodically obviously, periodically obviously, random interfering signal is less, therefore, directly the curve waveform of deviation signal e is detected for deviation signal e for rudder system feedback signal Vf; And, directly the periodic signal of deviation signal e to be monitored, operand is little, and monitoring velocity is fast.
Step S12, deviation signal become timing from bearing, and generate trigger pip, obtain the first count value, gather the first control signal that host computer sends;
When deviation signal becomes timing from bearing, deviation signal, in the time of zero crossing, generates trigger pip, and now, control counter starts timing, obtains the first count value; Meanwhile, gather the steering wheel control signal that host computer sends, using this steering wheel control signal collecting as the first control signal.
The peak-to-peak value of step S13, collection deviation signal is as first peak peak value;
In rolling counters forward process, gather the peak-to-peak value of deviation signal, and using this peak-to-peak value as first peak peak value.
Step S14, deviation signal become timing from bearing again, generate trigger pip, obtain the second count value, gather the second control signal that host computer sends;
When deviation signal is through one-period, again from negative timing, the generation trigger pip of becoming, control counter restarts timing, obtains the second count value, simultaneously, gather the steering wheel control signal that host computer sends, using this steering wheel control signal collecting as the second control signal.
Step S15, obtain the control deviation amount between departure and the first control signal and the second control signal between the first count value and the second count value;
Obtain respectively the control deviation amount between departure and twice steering wheel control signal of twice timing.
Step S16, when meeting when pre-conditioned, electric steering engine generation oscillation fault.
Wherein, be pre-conditionedly: departure is again within the frequency range of default oscillation fault, and first peak peak value is greater than default peak-to-peak value, and control deviation amount is less than default control departure.
The disclosed electric steering engine oscillation fault of the present embodiment diagnostic method, by first counter being obtained to departure in deviation signal from negative twice count value that becomes timing collection, carry out judgment bias amount whether within the frequency range of default oscillation fault, and by judging whether peak-to-peak value is greater than default peak-to-peak value, whether judge to realize to deviation signal by above-mentioned two is the judgement of periodic signal, whether further whether being less than default control departure by the departure between twice control signal, to realize control signal be the judgement of tempolabile signal, the present invention is periodic signal by working as deviation signal, when control signal is tempolabile signal simultaneously, obtain the diagnostic result of electric steering engine generation oscillation fault, thereby realize automatic diagnosis electric steering engine and whether occurred the function of oscillation fault, the problem that the system responses ability of having avoided personnel to detect bringing reduces.
The present embodiment discloses a kind of method of electric steering engine oscillation fault diagnosis, and its process flow diagram as shown in Figure 2, comprising:
Step S21, the periodic signal of deviation signal is monitored;
Step S22, deviation signal become timing from bearing, and generate trigger pip, obtain the first count value, gather the first control signal that host computer sends;
When deviation signal becomes timing from bearing, deviation signal, in the time of zero crossing, generates trigger pip, and now, control counter starts timing, obtains the first count value; Meanwhile, gather the steering wheel control signal that host computer sends, using this steering wheel control signal collecting as the first control signal.
The peak-to-peak value of step S23, collection deviation signal, as first peak peak value, gathers maximal value and the minimum value of deviation signal;
In rolling counters forward process, gather the peak-to-peak value of deviation signal, and using this peak-to-peak value as first peak peak value, meanwhile, gather maximal value and the minimum value of deviation signal.
Step S24, deviation signal become timing from bearing again, generate trigger pip, obtain the second count value, gather the second control signal that host computer sends;
When deviation signal is through one-period, again from negative timing, the generation trigger pip of becoming, control counter restarts timing, obtains the second count value, simultaneously, gather the steering wheel control signal that host computer sends, using this steering wheel control signal collecting as the second control signal.
Step S25, obtain the control deviation amount between departure and the first control signal and the second control signal between the first count value and the second count value;
Obtain respectively the control deviation amount between departure and twice steering wheel control signal of twice timing.
Further, the disclosed electric steering engine oscillation fault of the present embodiment diagnostic method, can also be in deviation signal for the second time when zero crossing, in rolling counters forward process, and the peak-to-peak value of Resurvey deviation signal, and using this peak-to-peak value as the second peak-to-peak value.
Step S26, when meeting when pre-conditioned, electric steering engine generation oscillation fault;
Wherein, pre-conditionedly be: departure is within the frequency range of default oscillation fault, and first peak peak value is greater than default peak-to-peak value, and control deviation amount is less than default control departure, in addition, in the time there is the second peak-to-peak value, first peak peak value is greater than default peak-to-peak value preferred modification and is: first peak peak value and the second peak-to-peak value are greater than default peak-to-peak value continuously.
Wherein, default peak-to-peak value is 0.5 degree, and according to the difference of fault level, default peak-to-peak value is not identical yet.
Step S27, oscillation frequency, maximal value, minimum value and peak-to-peak value according to deviation signal, carry out classification to the vibration hazard rating of electric steering engine.
In the time of rudder system generation oscillation fault, feedback profile is continuous oscillation state, and the difference of oscillation amplitude and frequency will cause different consequences, and lighter oscillation fault can shorten the serviceable life of rudder system, increases system power consumption; More serious oscillation fault can damage mechanical transmission component, burns driving circuit or motor, causes losing efficacy in the rudder system short time.Therefore, taking oscillation frequency and waveform peak-to-peak value as foundation, the rudder system vibration extent of injury is carried out to classification, can be divided into 16 grades, so that malfunction is clearer and more definite, realize the difference reparation to fault.
The disclosed electric steering engine oscillation fault of the present embodiment diagnostic method, by first counter being obtained to departure in deviation signal from negative twice count value that becomes timing collection, carry out judgment bias amount whether within the frequency range of default oscillation fault, and by judging whether peak-to-peak value is greater than default peak-to-peak value, whether judge to realize to deviation signal by above-mentioned two is the judgement of periodic signal, whether further whether being less than default control departure by the departure between twice control signal, to realize control signal be the judgement of tempolabile signal, the present invention is periodic signal by working as deviation signal, when control signal is tempolabile signal simultaneously, obtain the diagnostic result of electric steering engine generation oscillation fault, thereby realize automatic diagnosis electric steering engine and whether occurred the function of oscillation fault, the problem that the system responses ability of having avoided personnel to detect bringing reduces, further, the disclosed electric steering engine oscillation fault of the present embodiment diagnostic method, also by the classification to oscillation fault hazard rating, further clear and definite malfunction, is convenient to maintenance personal's maintenance.
Preferably, in the disclosed electric steering engine oscillation fault of the present embodiment diagnostic method, when departure is continuous while competing for a championship in for 4 times in the frequency range of default oscillation fault, judge electric steering engine generation oscillation fault, result of determination is now more accurate.
The present embodiment discloses a kind of system of electric steering engine oscillation fault diagnosis, and its structural representation as shown in Figure 3, comprising:
Monitoring modular 31, the zero crossing monitoring modular 32 being connected with monitoring modular 31, the counter 33 being connected with zero crossing monitoring modular 32, the Monitoring and Controlling module 34 being connected with counter 33, the peak-to-peak value acquisition module 35 being connected with counter 33, the controller 36 being connected with counter 33 and peak-to-peak value acquisition module 35.
Wherein, monitoring modular 31 is for monitoring the periodic signal of deviation signal e.
Adopt the mode of direct measured waveform to monitor the periodic signal of deviation signal e.Due to when the rudder system generation oscillation fault, periodically obviously, periodically obviously, random interfering signal is less, therefore, directly the curve waveform of deviation signal e is detected for deviation signal e for rudder system feedback signal Vf; And, directly the periodic signal of deviation signal e to be monitored, operand is little, and monitoring velocity is fast.
Zero crossing monitoring modular 32 monitors deviation signal and becomes timing from bearing, and generates trigger pip, and sends a signal to counter 33, and control counter 33 starts counting.
Counter 33 starts timing, obtains the first count value, and monitors deviation signal at zero crossing monitoring modular 32 and again become timing from negative, generates trigger pip, and sends a signal to counter 33, and counter restarts counting, obtains the second count value.In the time that counter 33 starts timing and obtains the first count value, Monitoring and Controlling module 34 gathers the steering wheel control signal that host computer sends, if this steering wheel control signal is the first control signal, and again become timing from bearing in deviation signal, Monitoring and Controlling module 34 gathers the steering wheel control signal that host computer sends, and this steering wheel control signal is the second control signal.
Peak-to-peak value acquisition module 35, in counter 33 counting processes, gathers the peak-to-peak value of deviation signal, and this peak-to-peak value is first peak peak value.
Controller obtains the departure between the first count value and the second count value, and obtains the control deviation amount between the first control signal and the second control signal.
When controller judgement meets when pre-conditioned, output electric steering engine sends the diagnostic signal of oscillation fault.
Wherein, be pre-conditionedly: departure is again within the frequency range of default oscillation fault, and first peak peak value is greater than default peak-to-peak value, and control deviation amount is less than default control departure.
The disclosed electric steering engine oscillation fault of the present embodiment diagnostic system, by first counter being obtained to departure in deviation signal from negative twice count value that becomes timing collection, carry out judgment bias amount whether within the frequency range of default oscillation fault, and by judging whether peak-to-peak value is greater than default peak-to-peak value, whether judge to realize to deviation signal by above-mentioned two is the judgement of periodic signal, whether further whether being less than default control departure by the departure between twice control signal, to realize control signal be the judgement of tempolabile signal, the present invention is periodic signal by working as deviation signal, when control signal is tempolabile signal simultaneously, obtain the diagnostic result of electric steering engine generation oscillation fault, thereby realize automatic diagnosis electric steering engine and whether occurred the function of oscillation fault, the problem that the system responses ability of having avoided personnel to detect bringing reduces.
The disclosed electric steering engine oscillation fault of the present embodiment diagnostic system, its structural representation as shown in Figure 4, comprising:
Monitoring modular 41, the zero crossing monitoring modular 42 being connected with monitoring modular 41, the counter 43 being connected with zero crossing monitoring modular 42, the Monitoring and Controlling module 44 being connected with counter 43, the peak-to-peak value acquisition module 45 being connected with counter 43, the maximal value acquisition module 46 being connected with counter 43, the minimum value acquisition module 47 being connected with counter 43, the controller 48 being connected with maximal value acquisition module 46, minimum value acquisition module 47, peak-to-peak value acquisition module 45 respectively.
Except the structure identical with a upper embodiment, the disclosed electric steering engine oscillation fault of the present embodiment diagnostic system, has also increased maximal value acquisition module 46, minimum value acquisition module 47.
Wherein, maximal value acquisition module 46 and minimum value acquisition module 47 are in counter 43 counting processes, gather respectively maximal value and the minimum value of deviation signal, and this maximal value and minimum value are sent to controller 48, oscillation frequency, maximal value, minimum value and peak-to-peak value by controller 48 according to deviation signal, carry out classification to the oscillation fault hazard rating of electric steering engine.
In the time of rudder system generation oscillation fault, feedback profile is continuous oscillation state, and the difference of oscillation amplitude and frequency will cause different consequences, and lighter oscillation fault can shorten the serviceable life of rudder system, increases system power consumption; More serious oscillation fault can damage mechanical transmission component, burns driving circuit or motor, causes losing efficacy in the rudder system short time.Therefore, taking oscillation frequency and waveform peak-to-peak value as foundation, the rudder system vibration extent of injury is carried out to classification, can be divided into 16 grades, so that malfunction is clearer and more definite, realize the difference reparation to fault.
The disclosed electric steering engine oscillation fault of the present embodiment diagnostic system, by first counter being obtained to departure in deviation signal from negative twice count value that becomes timing collection, carry out judgment bias amount whether within the frequency range of default oscillation fault, and by judging whether peak-to-peak value is greater than default peak-to-peak value, whether judge to realize to deviation signal by above-mentioned two is the judgement of periodic signal, whether further whether being less than default control departure by the departure between twice control signal, to realize control signal be the judgement of tempolabile signal, the present invention is periodic signal by working as deviation signal, when control signal is tempolabile signal simultaneously, obtain the diagnostic result of electric steering engine generation oscillation fault, thereby realize automatic diagnosis electric steering engine and whether occurred the function of oscillation fault, the problem that the system responses ability of having avoided personnel to detect bringing reduces, further, the disclosed electric steering engine oscillation fault of the present embodiment diagnostic system, also by the classification to oscillation fault hazard rating, further clear and definite malfunction, is convenient to maintenance personal's maintenance.
Preferably, in the disclosed electric steering engine oscillation fault of the present embodiment diagnostic system, default peak-to-peak value is specifically as follows: 0.5 degree.
The present embodiment discloses a kind of controller, and its structural representation as shown in Figure 5, comprising:
The departure judge module 51 being connected with counter, the peak-to-peak value judge module 52 being connected with peak-to-peak value acquisition module, the control judge module 53 being connected with counter, the output module 54 being connected respectively with departure judge module 51, peak-to-peak value judge module 52, control judge module 53.
Wherein, departure judge module 51 obtains the departure between the first count value and the second count value, and judges that this departure is whether within the frequency range of default oscillation fault.
Peak-to-peak value judge module 52 is for judging whether first peak peak value is greater than default peak-to-peak value.
Control judge module 53 and obtain the control deviation amount between the first control signal and the second control signal, and judge whether control deviation amount is less than default control departure.
Within departure judge module 51 judgment bias amounts are preset the frequency range of oscillation fault again, and peak-to-peak value judge module 52 judges that first peak peak value is greater than default peak-to-peak value, and control judge module 53 and judge that, when control deviation amount is less than default control departure, output module 54 is exported the diagnostic signal of electric steering engine generation oscillation fault.
The present embodiment discloses a kind of controller, this controller is applied in electric steering engine oscillation fault diagnostic system, realize pre-conditioned judgement by departure judge module, peak-to-peak value judge module, control judge module, when meeting when pre-conditioned, the diagnostic signal being broken down by output module.This programme has been realized automatically and electric steering engine has been carried out to the diagnosis of oscillation fault, the problem taking time and effort of having avoided Artificial Diagnosis to bring.
Further, the disclosed controller of the present embodiment, can also comprise: the failure sorted module 55 being connected with output module 54.
Failure sorted module 55, according to oscillation frequency, maximal value, minimum value and the peak-to-peak value of deviation signal, is carried out classification to the oscillation fault hazard rating of electric steering engine.
The disclosed controller of the present embodiment, has increased failure sorted module, and clear and definite malfunction, is convenient to maintenance personal's maintenance.
In this instructions, each embodiment adopts the mode of going forward one by one to describe, and what each embodiment stressed is and the difference of other embodiment, between each embodiment identical similar part mutually referring to.For the disclosed device of embodiment, because it corresponds to the method disclosed in Example, so description is fairly simple, relevant part illustrates referring to method part.
Professional can also further recognize, unit and the algorithm steps of each example of describing in conjunction with embodiment disclosed herein, can realize with electronic hardware, computer software or the combination of the two, for the interchangeability of hardware and software is clearly described, composition and the step of each example described according to function in the above description in general manner.These functions are carried out with hardware or software mode actually, depend on application-specific and the design constraint of technical scheme.Professional and technical personnel can realize described function with distinct methods to each specifically should being used for, but this realization should not thought and exceeds scope of the present invention.
The software module that the method for describing in conjunction with embodiment disclosed herein or the step of algorithm can directly use hardware, processor to carry out, or the combination of the two is implemented.Software module can be placed in the storage medium of any other form known in random access memory (RAM), internal memory, ROM (read-only memory) (ROM), electrically programmable ROM, electrically erasable ROM, register, hard disk, moveable magnetic disc, CD-ROM or technical field.
To the above-mentioned explanation of the disclosed embodiments, make professional and technical personnel in the field can realize or use the present invention.To be apparent for those skilled in the art to the multiple amendment of these embodiment, General Principle as defined herein can, in the situation that not departing from the spirit or scope of the present invention, realize in other embodiments.Therefore, the present invention will can not be restricted to these embodiment shown in this article, but will meet the widest scope consistent with principle disclosed herein and features of novelty.
Claims (10)
1. a method for electric steering engine oscillation fault diagnosis, is characterized in that, comprising:
Periodic signal to deviation signal is monitored;
Deviation signal becomes timing from bearing, and generates trigger pip, and control counter starts counting, obtains the first count value, and meanwhile, the steering wheel control signal that gathers host computer transmission is the first control signal;
In described rolling counters forward process, gather the peak-to-peak value of deviation signal as first peak peak value;
Deviation signal becomes timing from bearing again, generates trigger pip, and control counter starts counting, obtains the second count value, meanwhile, gathers the steering wheel control signal of host computer transmission as the second control signal;
Obtain the control deviation amount between departure and the first control signal and the second control signal between the first count value and the second count value;
When meeting when pre-conditioned, described electric steering engine generation oscillation fault; Wherein, be describedly pre-conditionedly:
Described departure is within the frequency range of default oscillation fault, and described first peak peak value is greater than default peak-to-peak value, and described control deviation amount is less than default control departure.
2. method according to claim 1, is characterized in that, also comprises:
In described rolling counters forward process, gather maximal value and the minimum value of deviation signal;
According to oscillation frequency, maximal value, minimum value and the peak-to-peak value of deviation signal, the oscillation fault hazard rating of electric steering engine is carried out to classification.
3. method according to claim 1, is characterized in that, also comprises:
In described rolling counters forward process, the peak-to-peak value that gathers deviation signal is the second peak-to-peak value;
When meeting when pre-conditioned, described electric steering engine generation oscillation fault; Wherein, be describedly pre-conditionedly:
Described departure is within the frequency range of default oscillation fault, and described first peak peak value and the second peak-to-peak value be greater than default peak-to-peak value continuously, and described control deviation amount is less than default control departure.
4. method according to claim 1, is characterized in that, described departure, within the frequency range of default oscillation fault, specifically comprises:
Within the continuous frequency range that is stabilized in default oscillation fault for 4 times of described departure.
5. method according to claim 1, is characterized in that, described default peak-to-peak value is specially: 0.5 degree.
6. a system for electric steering engine oscillation fault diagnosis, is characterized in that, comprising:
Monitoring modular, the zero crossing monitoring modular being connected with described monitoring modular, the counter being connected with described zero crossing monitoring modular, the Monitoring and Controlling module being connected with described monitoring modular, the peak-to-peak value acquisition module being connected with described counter, the controller being connected respectively with described counter and peak-to-peak value acquisition module
Described monitoring modular is for monitoring the periodic signal of deviation signal; Described zero crossing monitoring module monitors becomes timing to deviation signal from bearing, and generates trigger pip, and sends a signal to described counter;
Described counter starts timing, obtains the first count value, and again becomes timing from bearing in described zero crossing monitoring module monitors to deviation signal, generates trigger pip, and sends a signal to counter, and counter obtains the second count value; Meanwhile, described Monitoring and Controlling module gathers the steering wheel control signal that host computer sends, and described steering wheel control signal is the first control signal, and again becomes timing from bearing in deviation signal, sends the second control signal;
Described peak-to-peak value acquisition module, in described rolling counters forward process, gathers the peak-to-peak value of deviation signal, and described peak-to-peak value is first peak peak value;
Described controller obtains the departure between the first count value and the second count value, and obtains the control deviation amount between the first control signal and the second control signal; The judgement of described controller meets when pre-conditioned, and the diagnostic signal of output electric steering engine generation oscillation fault wherein, is describedly pre-conditionedly:
Described departure is within the frequency range of default oscillation fault, and first peak peak value is greater than default peak-to-peak value, and described control deviation amount is less than default control departure.
7. system according to claim 6, is characterized in that, also comprises: the maximal value acquisition module being connected respectively with described counter and controller, and the minimum value acquisition module being connected respectively with described counter and controller,
Described maximal value acquisition module and described minimum value acquisition module are in described rolling counters forward process, gather respectively maximal value and the minimum value of deviation signal, and described maximal value and minimum value are sent to controller, described controller, according to oscillation frequency, maximal value, minimum value and the peak-to-peak value of described deviation signal, carries out classification to the oscillation fault hazard rating of electric steering engine.
8. system according to claim 6, is characterized in that, described controller comprises:
The departure judge module being connected with described counter, the peak-to-peak value judge module being connected with described peak-to-peak value acquisition module, the control judge module being connected with described counter, the output module being connected respectively with described departure judge module, peak-to-peak value judge module, control judge module
Described departure judge module obtains the departure between the first count value and the second count value, and judges that described departure is whether within the frequency range of default oscillation fault;
Described peak-to-peak value judge module is used for judging whether first peak peak value is greater than default peak-to-peak value;
Described control judge module obtains the control deviation amount between the first control signal and the second control signal, and judges whether described control deviation amount is less than default control departure;
Within described output module is being preset the frequency range of oscillation fault in described departure judge module judgment bias amount, and peak-to-peak value judge module judges that first peak peak value is greater than default peak-to-peak value, and control judge module and judge when control deviation amount is less than default control departure, the diagnostic signal of output electric steering engine generation oscillation fault.
9. system according to claim 8, is characterized in that, described controller also comprises: the failure sorted module being connected with described output module,
Described failure sorted module, according to oscillation frequency, maximal value, minimum value and the peak-to-peak value of deviation signal, is carried out classification to the oscillation fault hazard rating of electric steering engine.
10. system according to claim 6, is characterized in that, described default peak-to-peak value is specially: 0.5 degree.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201410226700.2A CN103968940B (en) | 2014-05-27 | A kind of method and system of electric steering engine oscillation fault diagnosis |
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| CN201410226700.2A CN103968940B (en) | 2014-05-27 | A kind of method and system of electric steering engine oscillation fault diagnosis |
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| CN103968940A true CN103968940A (en) | 2014-08-06 |
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| CN114313307A (en) * | 2022-01-26 | 2022-04-12 | 北京北航天宇长鹰无人机科技有限公司 | Unmanned aerial vehicle control plane fault alarm method and device based on machine learning |
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