CN103968940B - A kind of method and system of electric steering engine oscillation fault diagnosis - Google Patents
A kind of method and system of electric steering engine oscillation fault diagnosis Download PDFInfo
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- CN103968940B CN103968940B CN201410226700.2A CN201410226700A CN103968940B CN 103968940 B CN103968940 B CN 103968940B CN 201410226700 A CN201410226700 A CN 201410226700A CN 103968940 B CN103968940 B CN 103968940B
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- 238000003745 diagnosis Methods 0.000 title claims abstract description 17
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Abstract
nullThe invention discloses a kind of electric steering engine oscillation fault diagnostic method and system，By first enumerator being obtained departure in deviation signal from negative twice count value becoming timing collection，Carry out judgment bias amount whether within the frequency range of default oscillation fault，And by judging that whether peak-to-peak value is more than presetting peak-to-peak value，Whether judge to realize by above-mentioned two is the judgement of periodic signal to deviation signal，Further by whether realizing being whether the judgement of tempolabile signal to control signal less than default control departure to the departure between two secondary control signal，The present invention is by being periodic signal when deviation signal，When control signal is tempolabile signal simultaneously，Obtain the diagnostic result of electric steering engine generation oscillation fault，It is achieved thereby that whether diagnosis electric steering engine there is the function of oscillation fault automatically，The personnel of avoiding carry out detecting the problem that the system responding ability brought reduces.
Description
Technical field
The present invention relates to electric steering engine field, the method particularly relating to the diagnosis of a kind of electric steering engine oscillation fault
And system.
Background technology
Electric steering engine is the actuator of electric rudder system, and the rudder face being widely used in aircraft controls, electricity
Dynamic steering wheel is made up of motor, gear reducer mechanism, position feedback potentiometer etc..
At present, in electric rudder system running, when electric steering engine breaks down, maintainer needs
To be analyzed processing according to the fault that electric steering engine occurs, and manually to keep in repair, so, detection with
Manually maintenance will certainly take the longer time so that the capability of fast response of system reduces.
But, along with the development of armament systems, electric rudder system possesses built-in testing (Build-in Test, BIT)
Function, it has also become the trend of development.
Summary of the invention
In view of this, the present invention provides the method and system that a kind of electric steering engine oscillation fault diagnoses, to solve
Certainly prior art is carried out detecting and keep in repair the fault that electric steering engine occurs by maintainer, reduce system
The problem of capability of fast response, its concrete scheme is as follows:
A kind of method of electric steering engine oscillation fault diagnosis, including:
The periodic signal of deviation signal is monitored；
Deviation signal is become timing from negative, generates and triggers signal, and control counter starts counting up, and obtains the
One count value, meanwhile, the servos control signal gathering host computer transmission is the first control signal；
During described rolling counters forward, gather the peak-to-peak value of deviation signal as first peak peak value；
Deviation signal is become timing from negative again, generates and triggers signal, and control counter starts counting up,
To the second count value, meanwhile, the servos control signal of host computer transmission is gathered as the second control signal；
Obtain the departure between the first count value and the second count value and the first control signal and the second control
Control deviation amount between signal processed；
When meeting pre-conditioned, described electric steering engine generation oscillation fault；Wherein, described pre-conditioned
For:
Described departure is within the frequency range of default oscillation fault, and described first peak peak value is more than pre-
If peak-to-peak value, and described control deviation amount is less than default control departure.
Further, also include:
During described rolling counters forward, gather the maxima and minima of deviation signal；
According to the frequency of oscillation of deviation signal, maximum, minima and peak-to-peak value, electric steering engine is shaken
Swing fault harm grade and carry out classification.
Further, also include:
During described rolling counters forward, the peak-to-peak value gathering deviation signal is the second peak-to-peak value；
When meeting pre-conditioned, described electric steering engine generation oscillation fault；Wherein, described pre-conditioned
For:
Described departure is within the frequency range of default oscillation fault, and described first peak peak value and second
Peak-to-peak value is continuously more than presetting peak-to-peak value, and described control deviation amount is less than default control departure.
Further, described departure, within the frequency range of default oscillation fault, specifically includes:
Described departure is stablized within the frequency range of default oscillation fault for continuous 4 times.
Further, described default peak-to-peak value is particularly as follows: 0.5 degree.
A kind of system of electric steering engine oscillation fault diagnosis, including:
Monitoring modular, the zero crossing monitoring modular being connected with described monitoring modular, monitor with described zero crossing
The enumerator that module is connected, the Monitoring and Controlling module being connected with described monitoring modular, with described enumerator phase
Peak-to-peak value acquisition module even, the controller being connected with described enumerator,
Described monitoring modular is for being monitored the periodic signal of deviation signal；Described zero crossing monitoring mould
Block monitors deviation signal and is become timing from negative, generates and triggers signal, and sends a signal to described enumerator；
Described enumerator starts timing, obtains the first count value, and detects at described zero crossing monitoring modular
Again become timing from negative to deviation signal, generate and trigger signal, and send a signal to enumerator, counting
Device obtains the second count value；Meanwhile, described Monitoring and Controlling module gathers the servos control letter that host computer sends
Number, described servos control signal is the first control signal, and is again become timing from negative in deviation signal,
Send the second control signal；
Described peak-to-peak value acquisition module, during described rolling counters forward, gathers the peak-to-peak value of deviation signal,
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 first control
Control deviation amount between signal processed and the second control signal；When described controller judges to meet pre-conditioned,
The diagnostic signal of output electric steering engine generation oscillation fault, wherein, described pre-conditioned be:
Described departure is within the frequency range of default oscillation fault, and first peak peak value is more than presetting peak
Peak value, and described control deviation amount is less than default control departure.
Further, also include: the maximum acquisition module being respectively connected with described enumerator and controller,
The minima acquisition module being respectively connected with described enumerator and controller,
Described maximum acquisition module and described minima acquisition module during described rolling counters forward,
Gather the maxima and minima of deviation signal respectively, and described maxima and minima is sent to controlling
Device, described controller according to frequency of oscillation, maximum, minima and the peak-to-peak value of described deviation signal,
The oscillation fault hazard rating of electric steering engine is carried out classification.
Further, described controller includes:
The departure judge module being connected with described enumerator, the peak being connected with described peak-to-peak value acquisition module
Peak value judge module, the control judge module being connected with described enumerator, with described departure judge module,
The output module that peak-to-peak value judge module, control judge module are respectively connected with,
Described departure judge module obtains the departure between the first count value and the second count value, and sentences
Whether disconnected described departure is within the frequency range of default oscillation fault；
Described peak-to-peak value judge module is used for judging that whether first peak peak value is more than presetting peak-to-peak value；
Described control judge module obtains the control deviation between the first control signal and the second control signal
Amount, and judge that whether described control deviation amount is less than default control departure；
Described output module in described departure judge module judgment bias amount in the frequency of default oscillation fault
Within the scope of, and peak-to-peak value judge module judge first peak peak value more than preset peak-to-peak value, and control judge
When module judges control deviation amount less than default control departure, output electric steering engine generation oscillation fault
Diagnostic signal.
Further, described controller also includes: the failure sorted module being connected with described output module,
The described failure sorted module foundation frequency of oscillation of deviation signal, maximum, minima and peak-to-peak value,
The oscillation fault hazard rating of electric steering engine is carried out classification.
Further, described default peak-to-peak value is particularly as follows: 0.5 degree.
From technique scheme it can be seen that electric steering engine oscillation fault diagnostic method disclosed by the invention and
First system, by being obtained from negative twice count value becoming timing collection in deviation signal enumerator partially
Residual quantity, carrys out judgment bias amount whether within the frequency range of default oscillation fault, and by judging peak-to-peak
Whether value, more than presetting peak-to-peak value, judges to realize whether deviation signal is to believe in the cycle by above-mentioned two
Number judgement, further by the most inclined less than default control to the departure between two secondary control signal
Whether residual quantity realizes being the judgement of tempolabile signal to control signal, and the present invention is by being week when deviation signal
Phase signal, when control signal is tempolabile signal simultaneously, obtains the diagnosis knot of electric steering engine generation oscillation fault
Really, it is achieved thereby that automatically diagnosis electric steering engine whether there is the function of oscillation fault, it is to avoid personnel enter
The problem that the system responding ability that row detection brings reduces.
Accompanying drawing explanation
In order to be illustrated more clearly that the embodiment of the present invention or technical scheme of the prior art, below will be to reality
Execute the required accompanying drawing used in example or description of the prior art to be briefly described, it should be apparent that below,
Accompanying drawing in description is only some embodiments of the present invention, for those of ordinary skill in the art,
On the premise of not paying creative work, it is also possible to obtain other accompanying drawing according to these accompanying drawings.
Fig. 1 is the flow chart of a kind of electric steering engine oscillation fault diagnostic method disclosed in the embodiment of the present invention；
Fig. 2 is the flow chart of a kind of electric steering engine oscillation fault diagnostic method disclosed in the embodiment of the present invention；
Fig. 3 is the structural representation of a kind of electric steering engine oscillation fault diagnostic system disclosed in the embodiment of the present invention
Figure；
Fig. 4 is the structural representation of a kind of electric steering engine oscillation fault diagnostic system disclosed in the embodiment of the present invention
Figure；
Fig. 5 is the structural representation of a kind of controller disclosed in the embodiment of the present invention.
Detailed description of the invention
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 carried out
Clearly and completely describe, it is clear that described embodiment is only a part of embodiment of the present invention, and
It is not all, of embodiment.Based on the embodiment in the present invention, those of ordinary skill in the art are not doing
Go out the every other embodiment obtained under creative work premise, broadly fall into the scope of protection of the invention.
The method that present embodiment discloses the diagnosis of a kind of electric steering engine oscillation fault, its flow chart such as Fig. 1 institute
Show, including:
Step S11, periodic signal to deviation signal are monitored；
The mode using direct measured waveform monitors the periodic signal of deviation signal e.Owing to sending out when rudder system
During raw oscillation fault, the most substantially, i.e. deviation signal e is the most substantially for rudder system feedback signal Vf,
Random interfering signal is less, therefore, directly detects the curve waveform of deviation signal e；Further,
Directly being monitored the periodic signal of deviation signal e, operand is little, and monitoring velocity is fast.
Step S12, deviation signal are become timing from negative, generate and trigger signal, obtain the first count value, adopt
The first control signal that collection host computer sends；
When deviation signal is become timing from negative, when i.e. deviation signal is in zero crossing, generates and trigger signal,
Now, control counter starts timing, obtains the first count value；Meanwhile, the rudder that host computer sends is gathered
Machine control signal, using this servos control signal of collecting as the first control signal.
Step S13, gather deviation signal peak-to-peak value as first peak peak value；
During rolling counters forward, gather the peak-to-peak value of deviation signal, and using this peak-to-peak value as first
Peak-to-peak value.
Step S14, deviation signal are become timing from negative again, generate and trigger signal, obtain the second count value,
Gather the second control signal that host computer sends；
When deviation signal is through a cycle, again become timing from negative, generate and trigger signal, control meter
Number device restarts timing, obtains the second count value, meanwhile, gathers the servos control letter that host computer sends
Number, using this servos control signal of collecting as the second control signal.
Step S15, the departure obtained between the first count value and the second count value and the first control signal
And the control deviation amount between the second control signal；
Respectively obtain the control deviation amount between departure and twice servos control signal of twice timing.
Step S16, when meeting pre-conditioned, electric steering engine generation oscillation fault.
Wherein, pre-conditioned it is: within departure presets the frequency range of oscillation fault again, and first peak
Peak value is more than presetting peak-to-peak value, and control deviation amount is less than default control departure.
Electric steering engine oscillation fault diagnostic method disclosed in the present embodiment, by first to enumerator in deviation
Signal is obtained departure from negative twice count value becoming timing collection, comes whether judgment bias amount is being preset
Within the frequency range of oscillation fault, and preset peak-to-peak value, by upper by judging whether peak-to-peak value is more than
Whether to deviation signal be the judgement of periodic signal, further by twice if stating two judgements and realize
Whether the departure between control signal realizes whether control signal is slow less than default control departure
The judgement of varying signal, the present invention is by being periodic signal when deviation signal, and control signal is gradual letter simultaneously
Number time, obtain the diagnostic result of electric steering engine generation oscillation fault, it is achieved thereby that automatically diagnose electronic rudder
Whether machine there is the function of oscillation fault, it is to avoid personnel carry out detecting the system responding ability brought and reduce
Problem.
The method that present embodiment discloses the diagnosis of a kind of electric steering engine oscillation fault, its flow chart such as Fig. 2 institute
Show, including:
Step S21, periodic signal to deviation signal are monitored；
Step S22, deviation signal are become timing from negative, generate and trigger signal, obtain the first count value, adopt
The first control signal that collection host computer sends；
When deviation signal is become timing from negative, when i.e. deviation signal is in zero crossing, generates and trigger signal,
Now, control counter starts timing, obtains the first count value；Meanwhile, the rudder that host computer sends is gathered
Machine control signal, using this servos control signal of collecting as the first control signal.
Step S23, gather the peak-to-peak value of deviation signal as first peak peak value, gather the maximum of deviation signal
Value and minima；
During rolling counters forward, gather the peak-to-peak value of deviation signal, and using this peak-to-peak value as first
Peak-to-peak value, meanwhile, gathers the maxima and minima of deviation signal.
Step S24, deviation signal are become timing from negative again, generate and trigger signal, obtain the second count value,
Gather the second control signal that host computer sends；
When deviation signal is through a cycle, again become timing from negative, generate and trigger signal, control meter
Number device restarts timing, obtains the second count value, meanwhile, gathers the servos control letter that host computer sends
Number, using this servos control signal of collecting as the second control signal.
Step S25, the departure obtained between the first count value and the second count value and the first control signal
And the control deviation amount between the second control signal；
Respectively obtain the control deviation amount between departure and twice servos control signal of twice timing.
Further, electric steering engine oscillation fault diagnostic method disclosed in the present embodiment, it is also possible in deviation
During signal second time zero crossing, during rolling counters forward, 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 pre-conditioned, electric steering engine generation oscillation fault；
Wherein, pre-conditioned it is: departure is within the frequency range of default oscillation fault, and first peak
Peak value is more than presetting peak-to-peak value, and control deviation amount is less than default control departure, it addition, when existence the
During two peak-to-peak values, first peak peak value more than presetting peak-to-peak value preferred modification is: first peak peak value and the second peak
Peak value is continuously more than presetting peak-to-peak value.
Wherein, default peak-to-peak value is 0.5 degree, and according to the difference of fault level, default peak-to-peak value also differs.
Step S27, the foundation frequency of oscillation of deviation signal, maximum, minima and peak-to-peak value, to electronic
The vibration hazard rating of steering wheel carries out classification.
When rudder system generation oscillation fault, feedback profile is self-sustained oscillation state, oscillation amplitude and frequency
Difference will cause different consequences, lighter oscillation fault can shorten the service life of rudder system, increase
System power consumption；More serious oscillation fault can damage mechanical transmission component, burns drive circuit or electricity
Machine, lost efficacy in causing the rudder system short time.Therefore, with frequency of oscillation and waveform peak-to-peak value as foundation,
The rudder system vibration extent of injury is carried out classification, 16 grades can be divided into, in order to malfunction is clearer and more definite, real
The now difference reparation to fault.
Electric steering engine oscillation fault diagnostic method disclosed in the present embodiment, by first to enumerator in deviation
Signal is obtained departure from negative twice count value becoming timing collection, comes whether judgment bias amount is being preset
Within the frequency range of oscillation fault, and preset peak-to-peak value, by upper by judging whether peak-to-peak value is more than
Whether to deviation signal be the judgement of periodic signal, further by twice if stating two judgements and realize
Whether the departure between control signal realizes whether control signal is slow less than default control departure
The judgement of varying signal, the present invention is by being periodic signal when deviation signal, and control signal is gradual letter simultaneously
Number time, obtain the diagnostic result of electric steering engine generation oscillation fault, it is achieved thereby that automatically diagnose electronic rudder
Whether machine there is the function of oscillation fault, it is to avoid personnel carry out detecting the system responding ability brought and reduce
Problem；Further, electric steering engine oscillation fault diagnostic method disclosed in the present embodiment, also by right
The classification of oscillation fault hazard rating, specify that malfunction further, it is simple to the maintenance of maintainer.
Preferably, in electric steering engine oscillation fault diagnostic method disclosed in the present embodiment, when departure continuous 4
Secondary when competing for a championship in the frequency range of default oscillation fault, it is determined that electric steering engine generation oscillation fault, now
Result of determination the most accurate.
Present embodiment discloses the system of a kind of electric steering engine oscillation fault diagnosis, its structural representation such as Fig. 3
Shown in, including:
Monitoring modular 31, the zero crossing monitoring modular 32 being connected with monitoring modular 31, monitor with zero crossing
The enumerator 33 that module 32 is connected, the Monitoring and Controlling module 34 being connected with enumerator 33, with enumerator 33
The peak-to-peak value acquisition module 35 being connected, the controller being connected with enumerator 33 and peak-to-peak value acquisition module 35
36。
Wherein, monitoring modular 31 is for being monitored the periodic signal of deviation signal e.
The mode using direct measured waveform monitors the periodic signal of deviation signal e.Owing to sending out when rudder system
During raw oscillation fault, the most substantially, i.e. deviation signal e is the most substantially for rudder system feedback signal Vf,
Random interfering signal is less, therefore, directly detects the curve waveform of deviation signal e；Further,
Directly being monitored the periodic signal of deviation signal e, operand is little, and monitoring velocity is fast.
Zero crossing monitoring modular 32 monitors deviation signal and is become timing from negative, generates and triggers signal, concurrently
The number of delivering letters starts counting up to enumerator 33, control counter 33.
Enumerator 33 starts timing, obtains the first count value, and monitors at zero crossing monitoring modular 32
Deviation signal is become timing from negative again, generates and triggers signal, and sends a signal to enumerator 33, counting
Think highly of and newly start counting up, obtain the second count value.Enumerator 33 start timing obtain the first count value time,
Monitoring and Controlling module 34 gathers the servos control signal that host computer sends, if this servos control signal is first
Control signal, and again become timing from negative in deviation signal, Monitoring and Controlling module 34 gathers host computer and sends out
The servos control signal sent, this servos control signal is the second control signal.
Peak-to-peak value acquisition module 35, in enumerator 33 counting process, gathers the peak-to-peak value of deviation signal,
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 first control letter
Number and the second control signal between control deviation amount.
When controller judges to meet pre-conditioned, output electric steering engine sends the diagnostic signal of oscillation fault.
Wherein, pre-conditioned it is: within departure presets the frequency range of oscillation fault again, and first peak
Peak value is more than presetting peak-to-peak value, and control deviation amount is less than default control departure.
Electric steering engine oscillation fault diagnostic system disclosed in the present embodiment, by first to enumerator in deviation
Signal is obtained departure from negative twice count value becoming timing collection, comes whether judgment bias amount is being preset
Within the frequency range of oscillation fault, and preset peak-to-peak value, by upper by judging whether peak-to-peak value is more than
Whether to deviation signal be the judgement of periodic signal, further by twice if stating two judgements and realize
Whether the departure between control signal realizes whether control signal is slow less than default control departure
The judgement of varying signal, the present invention is by being periodic signal when deviation signal, and control signal is gradual letter simultaneously
Number time, obtain the diagnostic result of electric steering engine generation oscillation fault, it is achieved thereby that automatically diagnose electronic rudder
Whether machine there is the function of oscillation fault, it is to avoid personnel carry out detecting the system responding ability brought and reduce
Problem.
Electric steering engine oscillation fault diagnostic system disclosed in the present embodiment, its structural representation as shown in Figure 4,
Including:
Monitoring modular 41, the zero crossing monitoring modular 42 being connected with monitoring modular 41, monitor with zero crossing
The enumerator 43 that module 42 is connected, the Monitoring and Controlling module 44 being connected with enumerator 43, with enumerator 43
The peak-to-peak value acquisition module 45 being connected, the maximum acquisition module 46 being connected with enumerator 43, with counting
The minima acquisition module 47 that device 43 is connected, gathers mould with maximum acquisition module 46, minima respectively
The controller 48 that block 47, peak-to-peak value acquisition module 45 are connected.
In addition to the structure identical with a upper embodiment, electric steering engine oscillation fault diagnosis disclosed in the present embodiment
System, also add maximum acquisition module 46, minima acquisition module 47.
Wherein, maximum acquisition module 46 and minima acquisition module 47 in enumerator 43 counting process,
Gather the maxima and minima of deviation signal respectively, and this maxima and minima is sent to controller
48, by controller 48 according to frequency of oscillation, maximum, minima and the peak-to-peak value of deviation signal, to electricity
The oscillation fault hazard rating of dynamic steering wheel carries out classification.
When rudder system generation oscillation fault, feedback profile is self-sustained oscillation state, oscillation amplitude and frequency
Difference will cause different consequences, lighter oscillation fault can shorten the service life of rudder system, increase
System power consumption；More serious oscillation fault can damage mechanical transmission component, burns drive circuit or electricity
Machine, lost efficacy in causing the rudder system short time.Therefore, with frequency of oscillation and waveform peak-to-peak value as foundation,
The rudder system vibration extent of injury is carried out classification, 16 grades can be divided into, in order to malfunction is clearer and more definite, real
The now difference reparation to fault.
Electric steering engine oscillation fault diagnostic system disclosed in the present embodiment, by first to enumerator in deviation
Signal is obtained departure from negative twice count value becoming timing collection, comes whether judgment bias amount is being preset
Within the frequency range of oscillation fault, and preset peak-to-peak value, by upper by judging whether peak-to-peak value is more than
Whether to deviation signal be the judgement of periodic signal, further by twice if stating two judgements and realize
Whether the departure between control signal realizes whether control signal is slow less than default control departure
The judgement of varying signal, the present invention is by being periodic signal when deviation signal, and control signal is gradual letter simultaneously
Number time, obtain the diagnostic result of electric steering engine generation oscillation fault, it is achieved thereby that automatically diagnose electronic rudder
Whether machine there is the function of oscillation fault, it is to avoid personnel carry out detecting the system responding ability brought and reduce
Problem；Further, electric steering engine oscillation fault diagnostic system disclosed in the present embodiment, also by right
The classification of oscillation fault hazard rating, specify that malfunction further, it is simple to the maintenance of maintainer.
Preferably, in electric steering engine oscillation fault diagnostic system disclosed in the present embodiment, preset peak-to-peak value tool
Body can be: 0.5 degree.
Present embodiment discloses a kind of controller, its structural representation is as it is shown in figure 5, include:
The departure judge module 51 being connected with enumerator, the peak-to-peak value being connected with peak-to-peak value acquisition module is sentenced
Disconnected module 52, the control judge module 53 being connected with enumerator, with departure judge module 51, peak-to-peak value
The output module 54 that judge module 52, control judge module 53 are respectively connected with.
Wherein, departure judge module 51 obtains the departure between the first count value and the second count value,
And judge that this departure is whether within the frequency range of default oscillation fault.
Peak-to-peak value judge module 52 is used for judging that whether first peak peak value is more than presetting 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 that whether control deviation amount is less than default control departure.
Within departure judge module 51 judgment bias amount presets the frequency range of oscillation fault again, and peak
Peak value judge module 52 judges first peak peak value more than presetting peak-to-peak value, and control judge module 53 judges
When control deviation amount is less than default control departure, output module 54 exports electric steering engine generation oscillation fault
Diagnostic signal.
Present embodiment discloses a kind of controller, this controller is applied to the diagnosis of electric steering engine oscillation fault and is
In system, by departure judge module, peak-to-peak value judge module, control judge module realization to default bar
The judgement of part, when meeting pre-conditioned, output module the diagnostic signal broken down.We
Case achieves the diagnosis that electric steering engine automatically carries out oscillation fault, it is to avoid it is time-consuming that Artificial Diagnosis brings
The problem of effort.
Further, controller disclosed in the present embodiment, it is also possible to including: be connected with output module 54
Failure sorted module 55.
Failure sorted module 55 according to frequency of oscillation, maximum, minima and the peak-to-peak value of deviation signal,
The oscillation fault hazard rating of electric steering engine is carried out classification.
Controller disclosed in the present embodiment, adds failure sorted module, specify that malfunction, it is simple to
The maintenance of maintainer.
In this specification, each embodiment uses the mode gone forward one by one to describe, and each embodiment stresses
Being the difference with other embodiments, between each embodiment, identical similar portion sees mutually.
For device disclosed in embodiment, owing to it corresponds to the method disclosed in Example, so describing
Fairly simple, relevant part sees method part and illustrates.
Professional further appreciates that, respectively shows in conjunction with what the embodiments described herein described
The unit of example and algorithm steps, it is possible to electronic hardware, computer software or the two be implemented in combination in,
In order to clearly demonstrate the interchangeability of hardware and software, the most general according to function
Describe composition and the step of each example.These functions perform with hardware or software mode actually,
Depend on application-specific and the design constraint of technical scheme.Professional and technical personnel can be to each specific
Should be used for use different methods to realize described function, but this realization is it is not considered that beyond this
The scope of invention.
The method described in conjunction with the embodiments described herein or the step of algorithm can directly use hardware,
The software module that processor performs, or the combination of the two implements.Software module can be placed in and deposit at random
Reservoir (RAM), internal memory, read only memory (ROM), electrically programmable ROM, electric erasable can
Well known in programming ROM, depositor, hard disk, moveable magnetic disc, CD-ROM or technical field
In any other form of storage medium.
Described above to the disclosed embodiments, makes professional and technical personnel in the field be capable of or uses
The present invention.Multiple amendment to these embodiments will be aobvious and easy for those skilled in the art
See, generic principles defined herein can without departing from the spirit or scope of the present invention,
Realize in other embodiments.Therefore, the present invention is not intended to be limited to the embodiments shown herein,
And it is to fit to the widest scope consistent with principles disclosed herein and features of novelty.
Claims (10)
1. the method for an electric steering engine oscillation fault diagnosis, it is characterised in that including:
The periodic signal of deviation signal is monitored；
Deviation signal is become timing from negative, generates and triggers signal, and control counter starts counting up, and obtains the
One count value, meanwhile, the servos control signal gathering host computer transmission is the first control signal；
During described rolling counters forward, gather the peak-to-peak value of deviation signal as first peak peak value；
Deviation signal is become timing from negative again, generates and triggers signal, and control counter starts counting up,
To the second count value, meanwhile, the servos control signal of host computer transmission is gathered as the second control signal；
Obtain the departure between the first count value and the second count value and the first control signal and the second control
Control deviation amount between signal processed；
When meeting pre-conditioned, described electric steering engine generation oscillation fault；Wherein, described pre-conditioned
For:
Described departure is within the frequency range of default oscillation fault, and described first peak peak value is more than pre-
If peak-to-peak value, and described control deviation amount is less than default control departure.
Method the most according to claim 1, it is characterised in that also include:
During described rolling counters forward, gather the maxima and minima of deviation signal；
According to the frequency of oscillation of deviation signal, maximum, minima and peak-to-peak value, electric steering engine is shaken
Swing fault harm grade and carry out classification.
Method the most according to claim 1, it is characterised in that also include:
When deviation signal is become timing from negative again, during described rolling counters forward, gather deviation letter
Number peak-to-peak value be the second peak-to-peak value；
When meeting pre-conditioned, described electric steering engine generation oscillation fault；Wherein, described pre-conditioned
For:
Described departure is within the frequency range of default oscillation fault, and described first peak peak value and second
Peak-to-peak value is continuously more than presetting peak-to-peak value, and described control deviation amount is less than default control departure.
Method the most according to claim 1, it is characterised in that described departure is in default vibration event
Within the frequency range of barrier, specifically include:
Described departure is stablized within the frequency range of default oscillation fault for continuous 4 times.
Method the most according to claim 1, it is characterised in that described default peak-to-peak value particularly as follows:
0.5 degree.
6. the system of an electric steering engine oscillation fault diagnosis, it is characterised in that including:
Monitoring modular, the zero crossing monitoring modular being connected with described monitoring modular, monitor with described zero crossing
The enumerator that module is connected, the Monitoring and Controlling module being connected with described monitoring modular, with described enumerator phase
Peak-to-peak value acquisition module even, the controller being respectively connected with described enumerator and peak-to-peak value acquisition module,
Described monitoring modular is for being monitored the periodic signal of deviation signal；Described zero crossing monitoring mould
Block monitors deviation signal and is become timing from negative, generates and triggers signal, and sends a signal to described enumerator；
Described enumerator starts counting up, and obtains the first count value, and in described zero crossing monitoring module monitors
Again become timing from negative to deviation signal, generate and trigger signal, and send a signal to enumerator, counting
Device obtains the second count value；Meanwhile, described Monitoring and Controlling module gathers the servos control letter that host computer sends
Number, described servos control signal is the first control signal, and is again become timing from negative in deviation signal,
Send the second control signal；
Described peak-to-peak value acquisition module is during described rolling counters forward, when described zero crossing monitoring modular
Monitoring deviation signal and become timing from negative, gather the peak-to-peak value of deviation signal, described peak-to-peak value is first
Peak-to-peak value；
Described controller obtains the departure between the first count value and the second count value, and obtains the first control
Control deviation amount between signal processed and the second control signal；When described controller judges to meet pre-conditioned,
The diagnostic signal of output electric steering engine generation oscillation fault, wherein, described pre-conditioned be:
Described departure is within the frequency range of default oscillation fault, and first peak peak value is more than presetting peak
Peak value, and described control deviation amount is less than default control departure.
System the most according to claim 6, it is characterised in that also include: with described enumerator and
The maximum acquisition module that controller is respectively connected with, the minimum being respectively connected with described enumerator and controller
Value acquisition module,
Described maximum acquisition module and described minima acquisition module during described rolling counters forward,
Gather the maxima and minima of deviation signal respectively, and described maxima and minima is sent to controlling
Device, described controller according to frequency of oscillation, maximum, minima and the peak-to-peak value of described deviation signal,
The oscillation fault hazard rating of electric steering engine is carried out classification.
System the most according to claim 6, it is characterised in that described controller includes:
The departure judge module being connected with described enumerator, the peak being connected with described peak-to-peak value acquisition module
Peak value judge module, the control judge module being connected with described enumerator, with described departure judge module,
The output module that peak-to-peak value judge module, control judge module are respectively connected with,
Described departure judge module obtains the departure between the first count value and the second count value, and sentences
Whether disconnected described departure is within the frequency range of default oscillation fault；
Described peak-to-peak value judge module is used for judging that whether first peak peak value is more than presetting peak-to-peak value；
Described control judge module obtains the control deviation between the first control signal and the second control signal
Amount, and judge that whether described control deviation amount is less than default control departure；
Described output module in described departure judge module judgment bias amount in the frequency of default oscillation fault
Within the scope of, and peak-to-peak value judge module judge first peak peak value more than preset peak-to-peak value, and control judge
When module judges control deviation amount less than default control departure, output electric steering engine generation oscillation fault
Diagnostic signal.
System the most according to claim 8, it is characterised in that described controller also includes: with institute
State the failure sorted module that output module is connected,
The described failure sorted module foundation frequency of oscillation of deviation signal, maximum, minima and peak-to-peak value,
The oscillation fault hazard rating of electric steering engine is carried out classification.
System the most according to claim 6, it is characterised in that described default peak-to-peak value particularly as follows:
0.5 degree.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410226700.2A CN103968940B (en) | 2014-05-27 | A kind of method and system of electric steering engine oscillation fault diagnosis |
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| 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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| Publication Number | Publication Date |
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| CN103968940A CN103968940A (en) | 2014-08-06 |
| CN103968940B true CN103968940B (en) | 2016-11-30 |
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| JP4382647B2 (en) * | 2004-11-30 | 2009-12-16 | 株式会社ショーワ | Method and apparatus for detecting abnormal noise in electric power steering apparatus |
| CN102288286A (en) * | 2011-06-16 | 2011-12-21 | 中国科学院沈阳自动化研究所 | Method for analyzing and evaluating measure point precision of gearbox in vibration acceleration sensor |
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Address after: 611130 Changan Road, Liucheng, Wenjiang District, Chengdu, Sichuan Province, No. 198 Patentee after: Sichuan Aerospace beacon Servo Control Technology Co., Ltd. Address before: 611100 Liucheng Road, Wenjiang, Sichuan, No. Changan Road, No. 198 Patentee before: Fenghuo Machine Works of China Aerospace Science and Technology Corporation |