CN109238335A - A kind of sensor fault judgment method - Google Patents
A kind of sensor fault judgment method Download PDFInfo
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- CN109238335A CN109238335A CN201810914767.3A CN201810914767A CN109238335A CN 109238335 A CN109238335 A CN 109238335A CN 201810914767 A CN201810914767 A CN 201810914767A CN 109238335 A CN109238335 A CN 109238335A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
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Abstract
The invention discloses a kind of sensor fault judgment methods, the sensor is used for the device with flexible and/or rotating mechanism, the described method comprises the following steps: device sends the movement output signal that sensor signal can be caused to change to flexible and/or rotating mechanism, start-up study relay, the mechanism action time of time-delay relay record exceeds the time-delay relay and sensor signal changing value then determines that there are failures for sensor less than the first setting value.This method can recognize that drawstring clamping stagnation, signal detection module failure or other situations for causing sensor output value to be kept fixed that conventional fault judgment method cannot recognize that, higher using the aerial work platform safety of the present invention program.
Description
Technical field
The present invention relates to automatic control technology fields, and in particular to a kind of sensor fault judgment method.
Background technique
Aerial work platform is during the work time, it usually needs comes the position of detection structure part using single (double) channel sensor
It sets, is handled by controller to guarantee that job platform is in a safe condition always.In order to meet this requirement, in addition to sensor
It is outer that collection value carries out real-time monitoring processing, it is also necessary to which whether real-time monitoring sensor itself is faulty.When detecting sensor sheet
For body there are when failure, controller just will limit platform movement, only platform be allowed to act toward safe direction, as cantilever crane retracts, luffing
It falls, slowly revolution etc., to make platform be detached from unsafe condition, guarantee safety work.Therefore, sensor failure signals with
The security control tight association of aerial work platform.
In the prior art mainly by the following two kinds of programs to the judgement of sensor fault: 1, when single (double) channel sensor
When using analog output, pass through setting sensor ADC value (analog digital, AD value) or the boundary of actual value
Value (containing the tolerance between minimum value, maximum value, binary channels) carries out the instant judgement of sensor fault, i.e., as sensors A D
Value or actual value are less than minimum value, AD value or actual value and are greater than the difference of maximum value or twin-channel AD value or actual value greater than appearance
When difference, then determine that there are failures for sensor itself；2, when single (double) channel sensor uses controller local area network
When (Controller Area Network, CAN) communication output, the CAN for increasing sensor on the basis of former scheme is logical
News heartbeat detection carries out the judgement of sensor fault, i.e. monitoring control devices to CAN communication heartbeat (time within a certain period of time
Can freely set, generally be set in several seconds) if do not changed, determine that sensor breaks down.
However, there is no being diagnosed to the detection device of sensor itself in these judgement schemes, when sensor itself
Detection device break down (pull rope mechanism of such as linear transducer is stuck, sensor signal detection and processing module failure),
Cause AD value when remaining unchanged or act when being acted beyond the value under original normal condition, but in the boundary of setting
It is worth in range, controller will be considered that sensor is in normal state at this time, it not will do it the movement limitation under sensor fault,
This will carry out great security risk to operating personnel and equipment belt.
Based on this, develops a kind of method that can be realized sensor fault state real-time judge and be of great significance.
Summary of the invention
The technical problems to be solved by the present invention are: the case where providing one kind on the basis of existing hardware, not increasing cost
The lower sensor fault judgment method for realizing the instant breakdown judge under sensor abnormal condition.
In order to solve the above-mentioned technical problem, the technical solution adopted by the present invention are as follows: a kind of sensor fault judgment method, dress
It sets to the movement output signal stretched and/or rotating mechanism transmission can cause sensor signal to change, start-up study relay,
The mechanism action time of time-delay relay record exceeds the time-delay relay and sensor signal changing value is set less than first
Value, then determine that there are failures for sensor.
Further, the method also includes judging whether start-up study relay: when causing sensor signal
There is no following scenario described for the movement output signal of variation for the moment, start-up study relay:
A, movement output signal is that device action exceeds after security restriction position or carry out the pole run to apparatus structure
Signal caused by extreme position；
B, the signal of starting engine or power unit is not detected；
C, movement output electric current is less than minimum current.
Further, the extreme position includes limitation of length position and/or angle limit position.
Further, the setting factor of first setting value include the safety of apparatus structure, AD value detection accuracy,
One of actual value, movement speed, response speed corresponding states are a variety of.
Further, the setting factor of the delay time include safe condition before and after mechanism action, movement speed and/
Or response speed；Preferably, delay time when movement just starting can slightly extend, such as 4~5S, after movement operates normally
Delay time be 3S or so.
Further, when the sensor is linear transducer, the method also includes the telescoping mechanisms in device can be with
In the angular range stretched entirely, increase the calibration of the real-time AD value of sensor or the Real-time actual value after conversion and mark Time Pick-off Units
The difference or Real-time actual value and demarcate real that AD value or the comparison step for demarcating actual value: judging real-time AD value and demarcates between AD value
When whether the difference between actual value is respectively smaller than corresponding second setting value, then determine that there are failures for sensor.
Further, if linear transducer, second setting value can be determined specifically according to the actual situation, it is preferable that
For actual value, second setting value is 5~10cm；For AD value, it is practical that second setting value can refer to required setting
It is worth corresponding AD value to determine.If angular transducer, second setting value can be determined specifically according to the actual situation, for reality
Actual value, it is preferable that second setting value is 0.3 °~0.5 °；For AD value, second setting value can refer to required setting
Actual value corresponding AD value determines.
Further, when the sensor is using CAN communication, the method also includes in monitoring CAN communication heartbeat
On the basis of, using controller communication function carry out real time data diagnosis the step of: when communication function return value be function
When defined outlier, then determine that there are failures for sensor.
Further, described device is the similar devices such as aerial work platform.
The beneficial effects of the present invention are: the present invention program can diagnose the drawing that conventional fault judgment method can not diagnose
Rope clamping stagnation, signal detection module failure or other cause sensor output value constant (or in boundary value section in setting)
Failure is promoted by increasing the instant breakdown judge step under sensor abnormal operating state on the basis of routinely judging
The range of sensor fault judgement, by the promotion to sensor fault diagnosis coverage rate, so that aerial work platform
Safety operation it is more reliable and more stable.
Detailed description of the invention
Fig. 1 is the working state figure of the linear transducer of the embodiment of the present invention one；
Fig. 2 is the decision flow chart of the linear transducer of the embodiment of the present invention one；
Fig. 3 is the working state figure of the angular transducer of the embodiment of the present invention two；
Label declaration:
1, linear transducer；2, the first principal arm；3, the first work column；4, angular transducer；5, the second principal arm；6, the second work
Make column；7, turntable.
Specific embodiment
To explain the technical content, the achieved purpose and the effect of the present invention in detail, below in conjunction with embodiment and cooperate attached
Figure is explained.
A kind of sensor fault judgment method, the sensor are used for the device with flexible and/or rotating mechanism, including
Following steps: device sends the movement output signal that sensor signal can be caused to change, starting to flexible and/or rotating mechanism
The mechanism action time of time-delay relay, time-delay relay record exceeds the time-delay relay and sensor signal changing value is small
In the first setting value, then determine that there are failures for sensor.
As can be seen from the above description, the beneficial effects of the present invention are: the present invention program can diagnose conventional fault judgement side
The drawstring clamping stagnation or signal detection module failure that method can not diagnose, by the way that it is non-to increase sensor on the basis of routinely judging
Instant breakdown judge step under normal operating conditions improves the range of sensor fault judgement, by sensor fault
The promotion of diagnosis coverage rate, so that the safety operation of aerial work platform is more reliable and more stable.
Further, the method also includes judging whether start-up study relay: when causing sensor signal
There is no following scenario described for the movement output signal of variation for the moment, start-up study relay: 1), acting output signal as beyond peace
After full restriction site or carry out signal caused by the extreme position run to apparatus structure；
2) signal of starting engine or power unit, is not detected；
3), movement output electric current is less than minimum current.
Further, the extreme position includes limitation of length position and/or angle limit position.
Further, the setting factor of first setting value include the safety of apparatus structure, AD value detection accuracy,
One of actual value, movement speed, response speed corresponding states are a variety of.
Further, the setting factor of the delay time include safe condition before and after mechanism action, movement speed and/
Or movement speed response speed；Preferably, delay time when movement just starting can slightly extend, such as 4~5S, and movement is normal
Delay time after operation is 3S or so.
Further, when the sensor is linear transducer, the sensor fault judgment method further includes filling
In the angular range that the telescoping mechanism set can be stretched entirely, increase the real-time AD value of sensor or Real-time actual value and mark after conversion
The calibration AD value of Time Pick-off Units or the comparison step for demarcating actual value: judging real-time AD value and demarcates the difference or reality between AD value
When actual value and calibration actual value between difference when whether being less than corresponding second setting value, determine that sensor exists if being less than
Failure.
As can be seen from the above description, the beneficial effects of the present invention are: the reality after AD value or conversion by increasing sensor
The comparison step of the AD value or actual value of actual value and mark Time Pick-off Units, when both solving to stretch clamping stagnation but still can normally stretch
The problem of breakdown judge can not accurately be carried out, also it is diagnosable go out other cause constant (or the boundary in setting of sensor output value
In limit value section) failure.
Further, if linear transducer, second setting value can be determined specifically according to the actual situation, it is preferable that
For actual value, second setting value is 5~10cm；For AD value, it is practical that second setting value can refer to required setting
It is worth corresponding AD value to determine.If angular transducer, second setting value can be determined specifically according to the actual situation, for reality
Actual value, second setting value are 0.3 °~0.5 °；For AD value, second setting value can refer to required setting actual value pair
The AD value answered determines.
As can be seen from the above description, the beneficial effects of the present invention are: the second setting value is set according to actual needs, main to use
It is too small to easily cause erroneous judgement in reduction probability of miscarriage of justice, and it is excessive, it will affect the safety of cantilever crane, when comparison result is true, then
Determine that prompt needs repairing there are failure.
Further, when the sensor is using CAN communication, the method also includes in monitoring CAN communication heartbeat
On the basis of, using controller communication function carry out real time data diagnosis the step of: when communication function return value be function
When defined outlier, then determine that there are failures for sensor.
As can be seen from the above description, the beneficial effects of the present invention are: it, can also be same for the sensor using CAN communication
When on the basis of monitoring CAN communication heartbeat, use controller communication function carry out real time data diagnosis, expand diagnosis model
It encloses, when the return value of communication function is not that (it is normal that under normal conditions, function returns to normal value 0 or 1 to normal value as defined in function
State, different controllers have different regulations), it is abnormal also to think that the communication of sensor or value exist, makes sensor fault
Judgement.
Further, described device is the similar devices such as aerial work platform.
The embodiment of the present invention one are as follows: a kind of sensor fault judgment method, the sensor are linear transducer 1, institute
Sensor is stated for aerial work platform, the described method comprises the following steps: is defeated according to the movement for causing sensor signal to change
Signal out judges whether start-up study relay；If after start-up study relay, the mechanism action time of time-delay relay record
The actuation time of the mechanism exceeds the time-delay relay and sensor signal changing value then determines to pass less than the first setting value
There are failures for sensor.
It please refers to shown in Fig. 1, if in aerial work platform (including the first principal arm interconnected 2 and first work column 3)
Linear transducer 1 (such as drawstring ranging, laser ranging or magnetic induction ranging equal length sensor 1) there is drawstring card in A point
Stagnant, signal detection module failure or it is other cause the situation that sensor output value is kept fixed, after sensors A D value or conversion
Actual value is Y1(value be greater than in compass in) sensors A D value or is changed when 2 cantilever crane of the first principal arm is extended to B point
Actual value after calculation is still Y1(value of B point is Y under normal condition2), will not change, if by scheme in the prior art into
Row diagnosis, then controller can not judge that sensor has been in malfunction, therefore, the only judgement side of scheme through the invention
Method just can recognize that the malfunction.
Under normal circumstances, B point is extend out to from A point when 2 cantilever crane of the first principal arm or be retracted to A point from B point, necessarily have arm
Variation in frame length.Real output signal during taking cantilever crane to stretch out or retract is as condition start-up study relay t1,
When being more than delay time t1It (is set according to actual conditions, need to consider arm support safe state, movement speed of movement front and back etc., no
Too long, general value 3s or so is preferably set), A, B point sensor AD value or conversion after actual value Y1With Y2Difference be less than setting value
K1(situations such as comprehensively considering the safety of structure, the detection accuracy of AD value, the conversion of the length of actual value carries out the value setting, and one
As in the case of can value 50~100 to AD value；Can value 10cm or so to actual value), being considered as sensor values, there are problems, out
Existing sensor fault.
Rule of judgment is improved, to avoid judging by accident, for considering the case when without breakdown judge:
1) when, the first principal arm 2 extend out to maximum operation length of curve limitation movement, without the breakdown judge；
2), the first principal arm 2 is retracted to full reduced state, without the breakdown judge；
3) inactive engine or when power unit, without the breakdown judge；
4) without the breakdown judge when movement output electric current is less than minimum current, because when electric current is less than minimum current not
Have actual act.
For may be used also when linear transducer 1 stretches clamping stagnation but still can normally stretch (sensor output value changes)
Further to be differentiated by increasing following steps: as shown in Fig. 2, in the angular range that principal arm can be stretched entirely, will sense
The AD value of device or the actual value Y after conversion1With the AD value or actual value Y when calibration0It is compared, that is, judges Y1Whether be greater than etc.
In Y0+K2(K2It factually sets, too small to easily cause erroneous judgement for reducing probability of miscarriage of justice, safety that is excessive and will affect cantilever crane, one
As in the case of, which, which takes, 50~100 is advisable), when comparison result be it is true, be considered as sensor there are failure, prompt to need to carry out
Maintenance.
The embodiment of the present invention two are as follows: a kind of fault method of sensor, difference from the first embodiment is that the biography
Sensor is angular transducer 4.
As shown in figure 3, if aerial work platform (including the second principal arm interconnected 5 and second being mounted on turntable 7
Work column 6) in angular transducer 4 there is signal detection module failure in first position point or other cause sensor output value
Actual value after the situation being kept fixed, sensors A D value or conversion is Y3(the value size is within the scope of boundary value), works as arm
When frame luffing is up to second position point, the actual value after sensors A D value or conversion is still Y3(assuming that second under normal condition
The value set a little is Y4), it will not change.At this point, controller can not judge sensor if still using prior art
It is in malfunction, therefore only scheme just can recognize that the malfunction through the invention.
Under normal circumstances, when 5 cantilever crane of the second principal arm is from first position point luffing up to second position point or from the second position
Point luffing necessarily has the variation in 5 cantilever crane angle of the second principal arm down toward first position point.Take 5 luffing range of cantilever support of the second principal arm
Real output signal is as condition start-up study relay t2, when being more than delay time t2It (is set according to actual conditions, needs to consider
Arm support safe state, the movement speed etc. for acting front and back, should not be arranged too long, general value 3s or so), the first and second location point
Actual value Y after sensors A D value or conversion3With Y4Difference be less than setting value K3(comprehensively consider the safety of structure, the inspection of AD value
Situations such as surveying precision, actual value corresponding angle carries out the value setting, under normal circumstances can 50~100 (not simultaneous interpretation of value to AD value
Sensor can have any different)；Can be 0.5 ° of value or so to actual value), being considered as sensor values, there are problems, sensor fault occur.
, principal arm luffing to maximum Rule of judgment is improved, to avoid judging by accident, in situations where, without breakdown judge: 1)
When angle or minimum angles；2), inactive engine or when power unit；3) when, movement output electric current is less than minimum current not
The breakdown judge is carried out, because electric current does not have actual act when being less than minimum current.
The embodiment of the present invention three are as follows: a kind of sensor fault judgment method, the difference with embodiment one are: described
Sensor transmits data using CAN communication, therefore, can also be by following during sensors with auxiliary electrode carries out breakdown judge
Method is diagnosed: on the basis of monitoring CAN communication heartbeat, real time data diagnosis is carried out using the communication function of controller,
To expand diagnostic area.If when the return value of communication function is not (under normal conditions, the function return of normal value as defined in function
Value 0 or 1 is normal condition, different regulations can be carried out to normal value according to different controllers), also think the communication of sensor
Or there is exception in value, make sensor fault judgement.
Alleged minimum current is minimum current value needed for mechanism completes corresponding actions in the present invention.First in the present invention,
Second, third setting value etc. is only to distinguish each setting value not doing any restriction, and value can be identical or not identical.This
Outside, movement speed alleged by the present invention refers to that the speed in device action operational process, alleged response speed refer to device by static
State is to the speed started before movement operation during this.
In conclusion a kind of sensor fault judgment method provided by the invention, this method can recognize that conventional fault
Drawstring clamping stagnation that judgment method cannot recognize that, signal detection module failure or other cause sensor output value to be kept fixed
Situation, it is higher using the aerial work platform safety of the present invention program.
The above description is only an embodiment of the present invention, is not intended to limit the scope of the invention, all to utilize this hair
Equivalents made by bright specification and accompanying drawing content are applied directly or indirectly in relevant technical field, similarly include
In scope of patent protection of the invention.
Claims (8)
1. a kind of sensor fault judgment method, it is characterised in that: the sensor is used for flexible and/or rotating mechanism
Device the described method comprises the following steps: device is sent to flexible and/or rotating mechanism can cause sensor signal variation
Output signal is acted, the mechanism action time of start-up study relay, time-delay relay record sets beyond the time-delay relay
Fixed delay time and sensor signal changing value then determines that there are failures for sensor less than the first setting value.
2. sensor fault judgment method according to claim 1, it is characterised in that: further include judging whether start-up study
The step of relay: when there is no following scenario described a period of time, start-up studies for the movement output signal for causing sensor signal to change
Relay:
A, movement output signal is that device action exceeds after security restriction position or carry out the limit position run to apparatus structure
Set generated signal；
B, the signal of starting engine or power unit is not detected；
C, movement output electric current is less than minimum current.
3. sensor fault judgment method according to claim 2, it is characterised in that: the extreme position includes length pole
Extreme position and/or angle limit position.
4. sensor fault judgment method according to claim 1-3, it is characterised in that: first setting value
Setting factor include that the safety of apparatus structure, the detection accuracy of AD value, actual value, movement speed, response speed correspond to shape
One of state is a variety of.
5. sensor fault judgment method according to claim 1-3, it is characterised in that: the delay time
Setting factor includes safe condition, movement speed and/or the response speed before and after mechanism action.
6. sensor fault judgment method according to claim 1-3, it is characterised in that: when the sensor is
When linear transducer, the sensor fault judgment method further includes the angular range that can stretch entirely of telescoping mechanism in device
Interior, the calibration AD value or calibration for increasing the real-time AD value of sensor or the Real-time actual value after conversion and mark Time Pick-off Units are practical
The comparison step of value: judge that the difference between difference or Real-time actual value between real-time AD value and calibration AD value and calibration actual value is
It is not no when being less than corresponding second setting value, determine sensor if being less than there are failures.
7. sensor fault judgment method according to claim 1-3, it is characterised in that: when the sensor is
When using CAN communication, the method also includes on the basis of monitoring CAN communication heartbeat, using controller communication function into
Row real time data diagnose the step of: when the return value of communication function be function as defined in outlier when, then determine that sensor is deposited
In failure.
8. sensor fault judgment method according to claim 1-3, it is characterised in that: described device is high-altitude
Job platform.
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| CN201810914767.3A CN109238335B (en) | 2018-08-13 | 2018-08-13 | Sensor fault judgment method |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114253123A (en) * | 2021-11-29 | 2022-03-29 | 国家电网有限公司 | Main distribution feedback adjusting method of speed regulator |
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