CN106527390A - Fault detection and diagnosis method for smart electrohydraulic actuator - Google Patents
Fault detection and diagnosis method for smart electrohydraulic actuator Download PDFInfo
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- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B23/00—Testing or monitoring of control systems or parts thereof
- G05B23/02—Electric testing or monitoring
- G05B23/0205—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults
- G05B23/0218—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterised by the fault detection method dealing with either existing or incipient faults
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- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
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Abstract
The invention relates to a fault detection and diagnosis method for a smart electrohydraulic actuator. The method comprises: when a smart electrohydraulic actuator is in a working state, field input signals including a pressure sensor signal, a displacement sensor signal, a temperature sensor signal, and a liquid level sensor and motion state signal are collected. The method has the following beneficial effects: all faults of an electrohydralic smart (EHS) control system can be detected and diagnosed rapidly and accurately; the automatic control system reliability analysis technology, the fault detection technology, and the artificial intelligence knowledge reasoning determination technology are utilized comprehensively, so that a problem that only a few of people can master the fault detection diagnosis technology can be solved; and thus the user can obtain the real-time healthy state of operation of the whole set of system conveniently and fault spreading and catastrophic event occurrence can be prevented.
Description
Technical field
A kind of the present invention relates to control system fault detection and diagnosis field, more particularly to intelligent electrohydraulic actuator fault detection and diagnosis method.
Background technology
With the continuous improvement of automatic control level, the complexity of system increases sharply, user in the urgent need to improve control system reliability and ease for maintenance, the generation of fault diagnosis technology and develop into improve device systems reliability and maintenanceability open up a new way.Fault diagnosis technology is constantly lifted, and also in expanding day, by space flight at first, aviation gradually expands to every field to application.The fault detection and diagnosis for being applied to automatic control system have its particular/special requirement：Should be able to ensure there is very low misdiagnosis rate and rate of missed diagnosis；Can be according to completely timely carrying out fault diagnosis with imperfect information；Can be rapid, effectively and reliably draw fault detect, the conclusion of diagnosis.
EHS（Electrohydraulic smart）The inherently crucial and important refinery equipment of intelligent electrohydraulic actuator and system, after its operational reliability and failure, the height of maintenance efficiency is huge for the production run and security risk control impact of whole device, and the intellectuality of intelligent electrohydraulic actuator height, digitlization, networking, the integrated fault detection and diagnosis for also having promoted system become indispensable important component part.Site operation personnel and overhaul of the equipments personnel are not only desirable to obtain that operational reliability is high, high electro-hydraulic of maintenance efficiency after failure（Executing agency）Control system, as a kind of crucial and important " special " equipment and system, the managerial and technical staff of Petrochemical Enterprises it would also be desirable to be able to effectively monitor the real time health situation of whole system operation, and intelligent electrohydraulic actuator failure is quick and precisely detected and diagnosed.But, in actual applications, lack corresponding intelligence electrohydraulic actuator fault detection and diagnosis method, it is impossible to meet actual production demand.
The content of the invention
It is an object of the invention to provide a kind of intelligent electrohydraulic actuator fault detection and diagnosis method, to overcome currently available technology above shortcomings.
The purpose of the present invention is to be achieved through the following technical solutions：
A kind of intelligent electrohydraulic actuator fault detection and diagnosis method, comprises the following steps：
Live input signal when the intelligent electrohydraulic actuator of collection is in running order, wherein, the live input signal includes pressure sensor signal, displacement transducer signal, temperature sensor signal, liquid level sensor, tank temperature sensor, oil pipe temperature sensor, pressure sensor, controller signals, hydraulic control valve signal, oil system signal, oil pump signal, power supply signal and motor status signal；
According to the accident analysis strategy being pre-configured with, the live input signal to being gathered is analyzed, and judges whether the parameter value of the live input signal is normal, and in the case of the parameter value that judged result is the live input signal is abnormal, determines the source of trouble；
According to the source of trouble, fault type and size is determined, and according to the fault type and size for determining, by judging that the failure, for the impact of intelligent electrohydraulic actuator overall performance, determines the failure for the failure rank of intelligent electrohydraulic actuator；
According to the failure rank for determining, carry out corresponding sound and light alarm, and the source of trouble of determination and fault type and size and failure rank are sent to the host computer being pre-configured with by network, promote failure source information of the operating personnel according to host computer, fault type and size and failure rank to do to corresponding failure and further diagnose.
Wherein, the accident analysis strategy includes biosensor analysis strategy, set-point analysis strategy, controller analysis strategy, pilot operated valve device analysis strategy, oil system analysis strategy, oil pump analysis strategy and/or power-supply system analysis strategy.
Wherein, according to the biosensor analysis strategy being pre-configured with, the live input signal to being gathered is analyzed, and judges whether the parameter value of the live input signal normally includes：
The parameter value of each sensor signal of advance collection is compared with sensor parameters threshold value set in advance；
In the case where the parameter value that comparative result is the sensor signal is in the sensor parameters threshold range, judge that respective sensor is in effective working condition；
In the case where the parameter value that comparative result is the sensor signal is beyond the sensor parameters threshold range, judge that respective sensor is in non-active operating status.
Wherein, according to the biosensor analysis strategy being pre-configured with, the live input signal to being gathered is analyzed, and judges whether the parameter value of the live input signal normally also includes：
The parameter value of each sensor signal of advance collection is analyzed, the rate of change of the parameter value of each sensor signal is determined, and the parameter value variation rate of each sensor signal for determining is compared with parameter value variation rate set in advance；
Comparative result for sensor signal parameter value variation rate be not inconsistent with parameter value variation rate set in advance in the case of, judge that respective sensor breaks down, wherein, be not inconsistent including differing or not in the range of predictive error.
Wherein, according to the set-point analysis strategy being pre-configured with, the live input signal to being gathered is analyzed, and judges whether the parameter value of the live input signal normally includes：
The parameter value of each sensor signal of advance collection is compared with the given parameters value obtained beforehand through communication network transmission；
In the case where the parameter value that comparative result is the sensor signal is in the range of the given parameters value, judge that respective sensor is in effective working condition；
In the case where the parameter value that comparative result is the sensor signal is beyond the given parameters value scope, judge that respective sensor is in non-active operating status.
Wherein, according to the controller analysis strategy being pre-configured with, the live input signal to being gathered is analyzed, and judges whether the parameter value of the live input signal normally includes：
The parameter value of each controller signals of advance collection is compared with controller parameter threshold value set in advance；
In the case where the parameter value that comparative result is the controller signals is in the controller parameter threshold range, judge that correspondence controller is in effective working condition；
In the case where the parameter value that comparative result is the controller signals is beyond the controller parameter threshold range, judge that correspondence controller is in non-active operating status.
Wherein, according to the pilot operated valve device analysis strategy being pre-configured with, the live input signal to being gathered is analyzed, and judges whether the parameter value of the live input signal normally includes：
The parameter value of each displacement transducer signal of advance collection is analyzed, the rate of change of the parameter value of each displacement transducer signal is determined, and the parameter value variation rate of each displacement transducer signal for determining is compared with parameter value variation rate set in advance；
Comparative result for displacement transducer signal parameter value variation rate be not inconsistent with parameter value variation rate set in advance in the case of, judge that correspondence pilot operated valve device breaks down, wherein, be not inconsistent including differing or not in the range of predictive error.
Wherein, according to the oil system analysis strategy being pre-configured with, the live input signal to being gathered is analyzed, and judges whether the parameter value of the live input signal normally includes：
The parameter value of the tank temperature sensor of the advance collection of advance collection, oil pipe temperature sensor, each pressure sensor and each displacement transducer signal is compared with tank temperature sensor set in advance, oil pipe temperature sensor, each pressure sensor and each displacement transducer parameter threshold respectively；
In the case where the parameter value that comparative result is the tank temperature sensor, oil pipe temperature sensor, pressure sensor and displacement transducer signal is in the range of the tank temperature sensor, oil pipe temperature sensor, pressure sensor and displacement transducer parameter threshold, judge that oil system is in effective working condition；
In the case where the parameter value that comparative result is the tank temperature sensor, oil pipe temperature sensor, pressure sensor and displacement transducer signal is beyond the tank temperature sensor, oil pipe temperature sensor, pressure sensor and displacement transducer parameter threshold scope, judge that oil system is in non-active operating status.
Wherein, according to the oil pump analysis strategy being pre-configured with, the live input signal to being gathered is analyzed, and judges whether the parameter value of the live input signal normally includes：
The parameter value of the tank temperature sensor of advance collection, oil pipe temperature sensor, each pressure sensor, power supply signal and motor signal is compared with tank temperature sensor set in advance, oil pipe temperature sensor, each pressure sensor, power supply signal and parameter of electric machine threshold value；
In the case where the parameter value that comparative result is the tank temperature sensor, oil pipe temperature sensor, pressure sensor, power supply signal and motor signal is in the tank temperature sensor, oil pipe temperature sensor, pressure sensor, power supply signal and parameter of electric machine threshold range, judge that oil pump systems are in effective working condition；
In the case where the parameter value that comparative result is the tank temperature sensor, oil pipe temperature sensor, pressure sensor, power supply signal and motor signal is beyond the tank temperature sensor, oil pipe temperature sensor, pressure sensor, power supply signal and parameter of electric machine threshold range, judge that oil pump systems are in non-active operating status；
Wherein, according to the power-supply system analysis strategy being pre-configured with, the live input signal to being gathered is analyzed, and judges whether the parameter value of the live input signal normally includes：
The parameter value of each power supply signal of advance collection is compared with power parameter threshold value set in advance；
In the case where the parameter value that comparative result is the power supply signal is in the power parameter threshold range, judge that corresponding power is in effective working condition；
In the case where the parameter value that comparative result is the power supply signal is beyond the power parameter threshold range, judge that corresponding power is in non-active operating status.
Beneficial effects of the present invention are：The present invention faulty to the institute of the intelligent electro-hydraulic executive control systems of EHS can fast and accurately be detected and diagnosed, energy integrated use Reliability of Automatic Control systems analytical technology, the technology that fault detection technique and Knowledge Reasoning of Artificial Intelligence judge goes to solve the original fault detection and diagnosis technology that only a few peoples can just possess, user is facilitated to understand the real time health situation for grasping whole system operation, to prevent failure propagation and the catastrophic event of prevention from occurring；Simultaneously, to organically be combined based on self-diagnosable system and network diagnostic method, be learnt from other's strong points to offset one's weaknesses, and can further improve the performance of fault diagnosis of robot control system(RCS), the increasingly automated of production process is made, the continuous development of the theoretical research and application of equipment fault checkout and diagnosis is actively promoted.
Description of the drawings
Following for being illustrated more clearly that the embodiment of the present invention or technical scheme of the prior art, accompanying drawing to be used needed for embodiment will be briefly described below, apparently, drawings in the following description are only some embodiments of the present application, for those of ordinary skill in the art, on the premise of not paying creative work, can be with according to these other accompanying drawings of accompanying drawings acquisition.
Fig. 1 is a kind of flow chart of intelligent electrohydraulic actuator fault detection and diagnosis method provided in an embodiment of the present invention.
Specific 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, it is clear that described embodiment is only a part of embodiment of the invention, rather than the embodiment of whole.Based on the embodiment in the present invention, the every other embodiment obtained by those of ordinary skill in the art belongs to the scope of protection of the invention.
A kind of intelligent electrohydraulic actuator fault detection and diagnosis method described in the embodiment of the present invention, comprises the following steps：Live input signal when the intelligent electrohydraulic actuator of collection is in running order, wherein, the live input signal includes pressure sensor signal, displacement transducer signal, temperature sensor signal, liquid level sensor, tank temperature sensor, oil pipe temperature sensor, pressure sensor, controller signals, hydraulic control valve signal, oil system signal, oil pump signal, power supply signal and motor status signal；According to the accident analysis strategy being pre-configured with, the live input signal to being gathered is analyzed, and judges whether the parameter value of the live input signal is normal, and in the case of the parameter value that judged result is the live input signal is abnormal, determines the source of trouble；According to the source of trouble, fault type and size is determined, and according to the fault type and size for determining, by judging that the failure, for the impact of intelligent electrohydraulic actuator overall performance, determines the failure for the failure rank of intelligent electrohydraulic actuator；According to the failure rank for determining, carry out corresponding sound and light alarm, and the source of trouble of determination and fault type and size and failure rank are sent to the host computer being pre-configured with by network, promote failure source information of the operating personnel according to host computer, fault type and size and failure rank to do to corresponding failure and further diagnose.
Wherein, the accident analysis strategy includes biosensor analysis strategy, set-point analysis strategy, controller analysis strategy, pilot operated valve device analysis strategy, oil system analysis strategy, oil pump analysis strategy and/or power-supply system analysis strategy.
Wherein, according to the biosensor analysis strategy being pre-configured with, the live input signal to being gathered is analyzed, and judges whether the parameter value of the live input signal normally includes：The parameter value of each sensor signal of advance collection is compared with sensor parameters threshold value set in advance；In the case where the parameter value that comparative result is the sensor signal is in the sensor parameters threshold range, judge that respective sensor is in effective working condition；In the case where the parameter value that comparative result is the sensor signal is beyond the sensor parameters threshold range, judge that respective sensor is in non-active operating status.
Wherein, according to the biosensor analysis strategy being pre-configured with, the live input signal to being gathered is analyzed, and judges whether the parameter value of the live input signal normally also includes：The parameter value of each sensor signal of advance collection is analyzed, the rate of change of the parameter value of each sensor signal is determined, and the parameter value variation rate of each sensor signal for determining is compared with parameter value variation rate set in advance；Comparative result for sensor signal parameter value variation rate be not inconsistent with parameter value variation rate set in advance in the case of, judge that respective sensor breaks down, wherein, be not inconsistent including differing or not in the range of predictive error.
Wherein, according to the set-point analysis strategy being pre-configured with, the live input signal to being gathered is analyzed, and judges whether the parameter value of the live input signal normally includes：The parameter value of each sensor signal of advance collection is compared with the given parameters value for obtaining beforehand through communication network transmission；In the case where the parameter value that comparative result is the sensor signal is in the range of the given parameters value, judge that respective sensor is in effective working condition；In the case where the parameter value that comparative result is the sensor signal is beyond the given parameters value scope, judge that respective sensor is in non-active operating status.
Wherein, according to the controller analysis strategy being pre-configured with, the live input signal to being gathered is analyzed, and judges whether the parameter value of the live input signal normally includes：The parameter value of each controller signals of advance collection is compared with controller parameter threshold value set in advance；In the case where the parameter value that comparative result is the controller signals is in the controller parameter threshold range, judge that correspondence controller is in effective working condition；In the case where the parameter value that comparative result is the controller signals is beyond the controller parameter threshold range, judge that correspondence controller is in non-active operating status.
The active and standby controller of system configuration, active and standby controller is communicated using PPI each other, master controller is per second to send different pieces of information to preparation controller, preparation controller is connected to the data that master controller sends and carries out data processing, the result handled well is returned to into master controller again, the data of return are compared by master controller, further according to the Stakeout ＆ Homicide Preservation Strategy being pre-configured with, judged result is being pre-set in data area, i.e., controller is in effective working condition；Judged result pre-setting data area can be outer, i.e., controller is in non-active operating status, and now control system is diagnosed to be result and reports to the police to host computer, while control system is by automatic self-healing function.
Wherein, according to the pilot operated valve device analysis strategy being pre-configured with, the live input signal to being gathered is analyzed, and judges whether the parameter value of the live input signal normally includes：The parameter value of each displacement transducer signal of advance collection is analyzed, the rate of change of the parameter value of each displacement transducer signal is determined, and the parameter value variation rate of each displacement transducer signal for determining is compared with parameter value variation rate set in advance；Comparative result for displacement transducer signal parameter value variation rate be not inconsistent with parameter value variation rate set in advance in the case of, judge that correspondence pilot operated valve device breaks down, wherein, be not inconsistent including differing or not in the range of predictive error.
When EHS intelligence electrohydraulic control systems receive action regulating command signal, command signal to advance collection, active and standby displacement transducer signal, pressure data, the tracking time, the parameter value of tracking bandwidth is analyzed, and determines the rate of change of the parameter value of active and standby displacement transducer signal, and the parameter value variation rate of each sensor signal for determining is compared with parameter value variation rate set in advance；In the case where the parameter value variation rate that comparative result is active and standby displacement transducer signal is not inconsistent with parameter value variation rate set in advance, judge that corresponding pilot operated valve device breaks down, wherein, it is not inconsistent including differing or not in the range of predictive error, now control system is diagnosed to be result and reports to the police to host computer, while control system is by automatic self-healing function.
Wherein, according to the oil system analysis strategy being pre-configured with, the live input signal to being gathered is analyzed, and judges whether the parameter value of the live input signal normally includes：The parameter value of the tank temperature sensor of the advance collection of advance collection, oil pipe temperature sensor, each pressure sensor and each displacement transducer signal is compared with tank temperature sensor set in advance, oil pipe temperature sensor, each pressure sensor and each displacement transducer parameter threshold respectively；In the case where the parameter value that comparative result is the tank temperature sensor, oil pipe temperature sensor, pressure sensor and displacement transducer signal is in the range of the tank temperature sensor, oil pipe temperature sensor, pressure sensor and displacement transducer parameter threshold, judge that oil system is in effective working condition；In the case where the parameter value that comparative result is the tank temperature sensor, oil pipe temperature sensor, pressure sensor and displacement transducer signal is beyond the tank temperature sensor, oil pipe temperature sensor, pressure sensor and displacement transducer parameter threshold scope, judge that oil system is in non-active operating status.
Wherein, according to the oil pump analysis strategy being pre-configured with, the live input signal to being gathered is analyzed, and judges whether the parameter value of the live input signal normally includes：The parameter value of the tank temperature sensor of advance collection, oil pipe temperature sensor, each pressure sensor, power supply signal and motor signal is compared with tank temperature sensor set in advance, oil pipe temperature sensor, each pressure sensor, power supply signal and parameter of electric machine threshold value；In the case where the parameter value that comparative result is the tank temperature sensor, oil pipe temperature sensor, pressure sensor, power supply signal and motor signal is in the tank temperature sensor, oil pipe temperature sensor, pressure sensor, power supply signal and parameter of electric machine threshold range, judge that oil pump systems are in effective working condition；In the case where the parameter value that comparative result is the tank temperature sensor, oil pipe temperature sensor, pressure sensor, power supply signal and motor signal is beyond the tank temperature sensor, oil pipe temperature sensor, pressure sensor, power supply signal and parameter of electric machine threshold range, judge that oil pump systems are in non-active operating status；
By the tank temperature sensor of advance collection, oil pipe temperature sensor, and active and standby pressure sensor, motor overload signal, the parameter value of motor power phase sequential signal are compared with preliminary setting data.In the case where the parameter value that comparative result is the sensor signal is in the range of the given parameters value, judge that oil pump systems are in effective working condition；In the case where the parameter value that comparative result is the sensor signal is beyond the given parameters value scope, judge that oil pump systems are in non-active operating status.
Wherein, according to the power-supply system analysis strategy being pre-configured with, the live input signal to being gathered is analyzed, and judges whether the parameter value of the live input signal normally includes：The parameter value of each power supply signal of advance collection is compared with power parameter threshold value set in advance；In the case where the parameter value that comparative result is the power supply signal is in the power parameter threshold range, judge that corresponding power is in effective working condition；In the case where the parameter value that comparative result is the power supply signal is beyond the power parameter threshold range, judge that corresponding power is in non-active operating status.
The power-supply system diagnosis sub-power power-supply system of this EHS intelligence electrohydraulic control systems（380VAC）Diagnosis and control power-supply system（24VDC）Diagnosis, is both designed as double power-supply system.Dynamic power system（380VAC）Diagnose the active and standby two-way electrical source of power phase sequence sensor signal of advance collection; analysis, such as main road power failure are compared with preliminary setting data, system automatically switches to stand-by power source; to guarantee that system is normally run, and diagnostic result is reported to the police to host computer.
Control power-supply system（24VDC）Diagnosing the active and standby two-way control power supply signal sensor signal of advance collection, analysis, such as main road power failure being compared with preliminary setting data, system automatically switches to stand-by power source, to guarantee that system is normally run, and diagnostic result is reported to the police to host computer.
During concrete operations, when judging whether sensor fails, the parameter value of each sensor signal of advance collection is compared with sensor parameters threshold value set in advance, the parameter threshold scope is [3.6mA, 20.5mA], in the case where the parameter value variation rate that comparative result is sensor signal is not inconsistent with parameter value variation rate set in advance, judge that respective sensor breaks down, wherein, it is not inconsistent including differing or not in the range of predictive error.In set-point analysis strategy, it is [3.6mA beforehand through the given parameters value scope for obtaining of communication network transmission, 20.5mA], in the case where the parameter value that comparative result is the sensor signal is in the range of the given parameters value, judge that respective sensor is in effective working condition；In the case where the parameter value that comparative result is the sensor signal is beyond the given parameters value scope, judge that respective sensor is in non-active operating status.
In actual applications, will be according to the actual conditions of diagnosis object, including the fault message that can be obtained, to diagnosing understanding program of object itself etc., go to select suitable diagnostic method or comprehensive several diagnostic methods, with accurate as far as possible, breakdown judge is made quickly, reduce the failure cost for occurring, intelligent its intelligentized fault detection and diagnosis of electro-hydraulic liquid executing agency of EHS, energy integrated use Reliability of Automatic Control systems analytical technology, the technology that fault detection technique and Knowledge Reasoning of Artificial Intelligence judge goes to solve the original fault detection and diagnosis technology that only a few peoples can just possess.
The present invention is not limited to above-mentioned preferred forms; anyone can draw other various forms of products under the enlightenment of the present invention; however, make any change in its shape or structure, and it is every with technical scheme identical or similar to the present application, it is within the scope of the present invention.
Claims (10)
1. a kind of intelligent electrohydraulic actuator fault detection and diagnosis method, it is characterised in that comprise the following steps：
Live input signal when the intelligent electrohydraulic actuator of collection is in running order, wherein, the live input signal includes pressure sensor signal, displacement transducer signal, temperature sensor signal, liquid level sensor, tank temperature sensor, oil pipe temperature sensor, pressure sensor, controller signals, hydraulic control valve signal, oil system signal, oil pump signal, power supply signal and motor status signal；
According to the accident analysis strategy being pre-configured with, the live input signal to being gathered is analyzed, and judges whether the parameter value of the live input signal is normal, and in the case of the parameter value that judged result is the live input signal is abnormal, determines the source of trouble；
According to the source of trouble, fault type and size is determined, and according to the fault type and size for determining, by judging that the failure, for the impact of intelligent electrohydraulic actuator overall performance, determines the failure for the failure rank of intelligent electrohydraulic actuator；
According to the failure rank for determining, carry out corresponding sound and light alarm, and the source of trouble of determination and fault type and size and failure rank are sent to the host computer being pre-configured with by network, promote failure source information of the operating personnel according to host computer, fault type and size and failure rank to do to corresponding failure and further diagnose.
2. intelligent electrohydraulic actuator fault detection and diagnosis method according to claim 1, characterized in that, the accident analysis strategy includes biosensor analysis strategy, set-point analysis strategy, controller analysis strategy, pilot operated valve device analysis strategy, oil system analysis strategy, oil pump analysis strategy and/or power-supply system analysis strategy.
3. intelligent electrohydraulic actuator fault detection and diagnosis method according to claim 2, it is characterized in that, according to the biosensor analysis strategy being pre-configured with, the live input signal to being gathered is analyzed, and judges whether the parameter value of the live input signal normally includes：
The parameter value of each sensor signal of advance collection is compared with sensor parameters threshold value set in advance；
In the case where the parameter value that comparative result is the sensor signal is in the sensor parameters threshold range, judge that respective sensor is in effective working condition；
In the case where the parameter value that comparative result is the sensor signal is beyond the sensor parameters threshold range, judge that respective sensor is in non-active operating status.
4. intelligent electrohydraulic actuator fault detection and diagnosis method according to claim 3; it is characterized in that; according to the biosensor analysis strategy being pre-configured with, the live input signal to being gathered is analyzed, and judges whether the parameter value of the live input signal normally also includes：
The parameter value of each sensor signal of advance collection is analyzed, the rate of change of the parameter value of each sensor signal is determined, and the parameter value variation rate of each sensor signal for determining is compared with parameter value variation rate set in advance；
Comparative result for sensor signal parameter value variation rate be not inconsistent with parameter value variation rate set in advance in the case of, judge that respective sensor breaks down, wherein, be not inconsistent including differing or not in the range of predictive error.
5. intelligent electrohydraulic actuator fault detection and diagnosis method according to claim 2, it is characterized in that, according to the set-point analysis strategy being pre-configured with, the live input signal to being gathered is analyzed, and judges whether the parameter value of the live input signal normally includes：
The parameter value of each sensor signal of advance collection is compared with the given parameters value obtained beforehand through communication network transmission；
In the case where the parameter value that comparative result is the sensor signal is in the range of the given parameters value, judge that respective sensor is in effective working condition；
In the case where the parameter value that comparative result is the sensor signal is beyond the given parameters value scope, judge that respective sensor is in non-active operating status.
6. intelligent electrohydraulic actuator fault detection and diagnosis method according to claim 2, it is characterized in that, according to the controller analysis strategy being pre-configured with, the live input signal to being gathered is analyzed, and judges whether the parameter value of the live input signal normally includes：
The parameter value of each controller signals of advance collection is compared with controller parameter threshold value set in advance；
In the case where the parameter value that comparative result is the controller signals is in the controller parameter threshold range, judge that correspondence controller is in effective working condition；
In the case where the parameter value that comparative result is the controller signals is beyond the controller parameter threshold range, judge that correspondence controller is in non-active operating status.
7. intelligent electrohydraulic actuator fault detection and diagnosis method according to claim 2, it is characterized in that, according to the pilot operated valve device analysis strategy being pre-configured with, the live input signal to being gathered is analyzed, and judges whether the parameter value of the live input signal normally includes：
The parameter value of each displacement transducer signal of advance collection is analyzed, the rate of change of the parameter value of each displacement transducer signal is determined, and the parameter value variation rate of each displacement transducer signal for determining is compared with parameter value variation rate set in advance；
Comparative result for displacement transducer signal parameter value variation rate be not inconsistent with parameter value variation rate set in advance in the case of, judge that correspondence pilot operated valve device breaks down, wherein, be not inconsistent including differing or not in the range of predictive error.
8. intelligent electrohydraulic actuator fault detection and diagnosis method according to claim 2, it is characterized in that, according to the oil system analysis strategy being pre-configured with, the live input signal to being gathered is analyzed, and judges whether the parameter value of the live input signal normally includes：
The parameter value of the tank temperature sensor of the advance collection of advance collection, oil pipe temperature sensor, each pressure sensor and each displacement transducer signal is compared with tank temperature sensor set in advance, oil pipe temperature sensor, each pressure sensor and each displacement transducer parameter threshold respectively；
In the case where the parameter value that comparative result is the tank temperature sensor, oil pipe temperature sensor, pressure sensor and displacement transducer signal is in the range of the tank temperature sensor, oil pipe temperature sensor, pressure sensor and displacement transducer parameter threshold, judge that oil system is in effective working condition；
In the case where the parameter value that comparative result is the tank temperature sensor, oil pipe temperature sensor, pressure sensor and displacement transducer signal is beyond the tank temperature sensor, oil pipe temperature sensor, pressure sensor and displacement transducer parameter threshold scope, judge that oil system is in non-active operating status.
9. intelligent electrohydraulic actuator fault detection and diagnosis method according to claim 2, it is characterized in that, according to the oil pump analysis strategy being pre-configured with, the live input signal to being gathered is analyzed, and judges whether the parameter value of the live input signal normally includes：
The parameter value of the tank temperature sensor of advance collection, oil pipe temperature sensor, each pressure sensor, power supply signal and motor signal is compared with tank temperature sensor set in advance, oil pipe temperature sensor, each pressure sensor, power supply signal and parameter of electric machine threshold value；
In the case where the parameter value that comparative result is the tank temperature sensor, oil pipe temperature sensor, pressure sensor, power supply signal and motor signal is in the tank temperature sensor, oil pipe temperature sensor, pressure sensor, power supply signal and parameter of electric machine threshold range, judge that oil pump systems are in effective working condition；
In the case where the parameter value that comparative result is the tank temperature sensor, oil pipe temperature sensor, pressure sensor, power supply signal and motor signal is beyond the tank temperature sensor, oil pipe temperature sensor, pressure sensor, power supply signal and parameter of electric machine threshold range, judge that oil pump systems are in non-active operating status.
10. intelligent electrohydraulic actuator fault detection and diagnosis method according to claim 2, it is characterized in that, according to the power-supply system analysis strategy being pre-configured with, the live input signal to being gathered is analyzed, and judges whether the parameter value of the live input signal normally includes：
The parameter value of each power supply signal of advance collection is compared with power parameter threshold value set in advance；
In the case where the parameter value that comparative result is the power supply signal is in the power parameter threshold range, judge that corresponding power is in effective working condition；
In the case where the parameter value that comparative result is the power supply signal is beyond the power parameter threshold range, judge that corresponding power is in non-active operating status.
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| CN201510578429.3A CN106527390A (en) | 2015-09-11 | 2015-09-11 | Fault detection and diagnosis method for smart electrohydraulic actuator |
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