CN110597222A - Fault diagnosis system and fault diagnosis method - Google Patents
Fault diagnosis system and fault diagnosis method Download PDFInfo
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- CN110597222A CN110597222A CN201910770787.2A CN201910770787A CN110597222A CN 110597222 A CN110597222 A CN 110597222A CN 201910770787 A CN201910770787 A CN 201910770787A CN 110597222 A CN110597222 A CN 110597222A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- 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
- G05B23/0259—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterized by the response to fault detection
- G05B23/0262—Confirmation of fault detection, e.g. extra checks to confirm that a failure has indeed occurred
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/24—Pc safety
- G05B2219/24065—Real time diagnostics
Abstract
The application discloses fault diagnosis system includes: the motion state controller is used for reading the position codes in the position encoders, generating a communication condition confirmation message according to the position codes and the vital signals, and sending the communication condition confirmation message to the diagnosis controller; the diagnosis controller is used for determining the communication condition between the motion state controller and the diagnosis controller according to the communication condition confirmation message, polling and sending a fault request message to the motion state controller according to a preset period if the communication condition is normal, and receiving a fault response message reported by the motion state controller in response to the fault request message, wherein the fault response message comprises a position code and fault detail information of the motion state controller; a display for displaying the fault response message. The problem that specific physical positions cannot be distinguished is solved, and accurate fault location is achieved. The application also discloses a corresponding fault diagnosis method.
Description
Technical Field
The present application relates to the field of vehicles, and in particular, to a fault diagnosis system, a fault diagnosis method, and a computer storage medium.
Background
The fault diagnosis system of the suspension, guide and brake controller is an important component part for controlling and monitoring the high-speed magnetic suspension train. The suspension, guide and brake control system is one of the core systems of the magnetic suspension train and bears the suspension, guide and brake functions of the whole train. Therefore, the safety and reliability of the magnetic suspension train are particularly important in the aspect of safe operation of the magnetic suspension train.
The method comprises the steps that real-time state information, life signals and information generated by binding system time information are actively reported by a suspension controller, when a fault is sent, intermediate variables of the suspension controller in the operation process of a plurality of operation cycles before and after the fault occurs are stored in a fault recording unit, the intermediate variables in the operation process are called from the fault recording unit, and fault diagnosis is carried out by combining the binding information.
However, when performing fault diagnosis, the method cannot distinguish the specific physical location of each floating controller, and it is difficult to achieve accurate fault location.
Disclosure of Invention
In view of this, the present application provides a fault diagnosis system, which solves the problem that the specific physical location of each floating controller cannot be distinguished during fault diagnosis, and realizes accurate fault location. Correspondingly, the application also provides a fault diagnosis method, a fault diagnosis device, a storage medium and a computer program product.
A first aspect of the present application provides a fault diagnosis system, the system comprising:
the motion state controller is used for reading the position codes in the position encoders, generating a communication condition confirmation message according to the position codes and the vital signals, and sending the communication condition confirmation message to the diagnosis controller;
the diagnosis controller is used for determining the communication condition between the motion state controller and the diagnosis controller according to the communication condition confirmation message, polling and sending a fault request message to the motion state controller according to a preset period if the communication condition is normal, and receiving a fault response message reported by the motion state controller in response to the fault request message, wherein the fault response message comprises a position code and fault detail information of the motion state controller;
a display for displaying the fault response message.
Optionally, the motion state controller is further configured to:
acquiring state values corresponding to the motion state controllers respectively;
if the state value meets a preset condition, determining that the motion state controller fails;
recording system time information and state values corresponding to the fault occurrence time and the previous fault occurrence time to a memory;
the motion state controller generates the fault detail information by:
determining fault occurrence time, fault end time and fault grade according to the system time information and the state value;
and packaging the fault occurrence time, the fault end time and the fault level to generate the fault detail information.
Optionally, the condition that the state value satisfies the preset condition includes:
the state value of the motion state controller in the current period is different from the state value of the motion state controller in the previous period; alternatively, the first and second electrodes may be,
and the motion state controller keeps the time of the specified state to reach the preset time length.
Optionally, the motion state controller stores the system time information and the state value in a paging storage manner;
and the motion state controller stores the fault occurrence time and the system time information and the state value corresponding to the previous time of the fault occurrence in the same page of the memory.
Optionally, the determining, by the diagnostic controller, the communication condition between the motion state controller and the diagnostic controller according to the communication condition confirmation message includes:
the diagnostic controller receives that the vital signals in N continuous communication condition confirmation messages from the target motion state controller are kept constant, wherein N is greater than 1;
determining that a communication condition between the target motion state controller and the diagnostic controller is abnormal.
Optionally, the motion state controller includes: suspension controller, direction controller and brake controller.
A second aspect of the present application provides a fault diagnosis method, including:
reading a position code in a position encoder, generating a communication condition confirmation message according to the position code and the vital signal, and sending the communication condition confirmation message to a diagnosis controller;
receiving a fault request message sent by the diagnosis controller when the communication condition between the diagnosis controller and the motion state controller is determined to be normal;
in response to the fault request message, sending a fault response message to the diagnostic controller to cause the diagnostic controller to send the fault response message to a display and instruct the display to display the fault response message;
wherein the fault response message includes a position code and fault detail information of the motion state controller.
Optionally, the method further includes:
acquiring a state value of the motion state controller;
if the state value meets a preset condition, determining that the motion state controller fails;
recording system time information and state values corresponding to the fault occurrence time and the previous fault occurrence time to a memory;
the motion state controller generates the fault detail information by:
determining fault occurrence time, fault end time and fault grade according to the system time information and the state value;
and packaging the fault occurrence time, the fault end time and the fault level to generate the fault detail information.
Optionally, the condition that the state value satisfies the preset condition includes:
the state value of the motion state controller in the current period is different from the state value of the motion state controller in the previous period; alternatively, the first and second electrodes may be,
and the motion state controller keeps the time of the specified state to reach the preset time length.
Optionally, the motion state controller stores the system time information and the state value in a paging storage manner;
and the motion state controller stores the fault occurrence time and the system time information and the state value corresponding to the previous time of the fault occurrence in the same page of the memory.
Optionally, the motion state controller includes: suspension controller, direction controller and brake controller.
A third aspect of the present application provides a fault diagnosis method, including:
receiving communication condition confirmation messages sent by each motion state controller, wherein the communication condition confirmation messages are generated by reading position codes in respective position encoders by the motion state controllers and according to the position codes and vital signals;
determining a communication condition between the motion state controller and the diagnostic controller according to the communication condition confirmation message;
if the communication condition is normal, polling and sending a fault request message to the motion state controller according to a preset period;
receiving a fault response message reported by the motion state controller in response to the fault request message, wherein the fault response message comprises a position code and fault detail information of the motion state controller;
sending the fault response message to a display to instruct the display to display the fault response message.
Optionally, the method further includes:
receiving N continuous communication condition confirmation messages from a target motion state controller, wherein the vital signals are kept constant, and N is greater than 1;
determining that a communication condition between the target motion state controller and the diagnostic controller is abnormal.
A fourth aspect of the present application provides a failure diagnosis apparatus, the apparatus including:
the generating module is used for reading the position code in the position encoder and generating a communication condition confirmation message according to the position code and the life signal;
a sending module for sending the communication status confirmation message to a diagnostic controller;
the receiving module is used for receiving a fault request message sent by the diagnosis controller when the communication condition between the diagnosis controller and the motion state controller is determined to be normal;
the sending module is further configured to send a fault response message to the diagnostic controller in response to the fault request message, so that the diagnostic controller sends the fault response message to a display and instructs the display to display the fault response message; wherein the fault response message includes a position code and fault detail information of the motion state controller.
Optionally, the apparatus further comprises:
the acquisition module is used for acquiring the state value of the motion state controller;
the determining module is used for determining that the motion state controller fails if the state value meets a preset condition;
the recording module is used for recording the fault occurrence time and the system time information and the state value corresponding to the previous time of the fault occurrence to the memory;
the generating module is further configured to generate the fault detail information by:
determining fault occurrence time, fault end time and fault grade according to the system time information and the state value;
and packaging the fault occurrence time, the fault end time and the fault level to generate the fault detail information.
Optionally, the condition that the state value satisfies the preset condition includes:
the state value of the motion state controller in the current period is different from the state value of the motion state controller in the previous period; alternatively, the first and second electrodes may be,
and the motion state controller keeps the time of the specified state to reach the preset time length.
Optionally, the recording module is specifically configured to:
storing the system time information and the state value in a paging storage mode;
and the recording module stores the fault occurrence time and the system time information and the state value corresponding to the previous fault occurrence time in the same page of the memory.
Optionally, the motion state controller includes: suspension controller, direction controller and brake controller.
A fifth aspect of the present application provides a failure diagnosis apparatus, the apparatus including:
the receiving module is used for receiving communication condition confirmation messages sent by the motion state controllers, wherein the communication condition confirmation messages are generated by reading position codes in respective position encoders by the motion state controllers and generating according to the position codes and the vital signals;
a determination module for determining a communication status between the motion state controller and the diagnostic controller according to the communication status confirmation message;
the sending module is used for polling and sending a fault request message to the motion state controller according to a preset period if the communication condition is normal;
the receiving module is further configured to receive a fault response message reported by the motion state controller in response to the fault request message, where the fault response message includes a position code and fault detail information of the motion state controller;
the sending module is further configured to send the fault response message to a display to instruct the display to display the fault response message.
Optionally, the determining module is further configured to:
receiving N continuous communication condition confirmation messages from a target motion state controller, wherein the vital signals are kept constant, and N is greater than 1;
determining that a communication condition between the target motion state controller and the diagnostic controller is abnormal.
A sixth aspect of the present application provides a computer readable storage medium for storing a computer program for performing the method of the second or third aspect of the present application.
A seventh aspect of the present application provides a computer program product comprising computer readable instructions which, when run on a computer, cause the computer to perform the method of the second or third aspect described above.
According to the technical scheme, the embodiment of the application has the following advantages:
embodiments of the present application provide a fault diagnosis system, in which a motion state controller reads a position code in a respective position encoder, generating a communication status confirmation message according to the position code and the vital signal and transmitting the communication status confirmation message to the diagnosis controller, in this way, the diagnostic controller may determine the communication status between the motion state controller and the diagnostic controller according to the communication status confirmation message, and if the communication status is normal, polling and sending a fault request message to the motion state controller according to a preset period, receiving a fault response message reported by the motion state controller in response to the fault request message, the fault response message includes a position code of the motion state controller and fault detail information, and then a display displays the fault response message. The fault diagnosis is realized, and meanwhile, the fault is accurately positioned.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without inventive exercise.
Fig. 1 is a schematic structural diagram of a fault diagnosis system in an embodiment of the present application;
FIG. 2 is a schematic structural diagram of a fault diagnosis system according to an embodiment of the present application;
FIG. 3 is a schematic diagram of a fault diagnosis system storing fault information according to an embodiment of the present application;
FIG. 4 is a schematic diagram of data interaction of a fault diagnosis system according to an embodiment of the present application;
FIG. 5 is a flow chart of a fault diagnosis method in an embodiment of the present application;
fig. 6 is a flowchart of a fault diagnosis method in an embodiment of the present application.
Detailed Description
In order to make the technical solutions of the present application better understood, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
The terms "first," "second," "third," "fourth," and the like in the description and in the claims of the present application and in the drawings described above, if any, are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the application described herein are, for example, capable of operation in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
The method aims at solving the problems that the specific physical position of each suspension controller cannot be distinguished in the existing fault diagnosis method and accurate fault location is difficult to achieve.
It can be understood that the fault diagnosis system provided by the application can be used for fault diagnosis of trains, such as a floating train, a high-speed train, a common train, a subway and the like, and in practical application, the fault diagnosis system can be integrated in the train or exist independently of the train.
For the sake of understanding, the fault diagnosis system provided in the present application will be described in detail below with reference to specific embodiments.
Referring to the schematic structural diagram of the fault diagnosis system shown in fig. 1, the fault diagnosis system 100 includes a motion state controller 110, a diagnosis controller 120 and a display 130, wherein:
a motion state controller 110 for reading the position code in the respective position encoder, generating a communication status confirmation message according to the position code and the vital signal, and transmitting the communication status confirmation message to the diagnosis controller;
the diagnosis controller 120 is configured to determine a communication status between the motion state controller and the diagnosis controller according to the communication status confirmation message, and if the communication status is normal, poll the motion state controller according to a preset period to send a fault request message, and receive a fault response message reported by the motion state controller in response to the fault request message, where the fault response message includes a position code and fault detail information of the motion state controller;
a display 130 for displaying the fault response message.
The motion state controller 110 is a controller for controlling a motion state, and may include different motion state controllers for different trains. Taking a suspension train as an example, the motion state controller 110 may specifically include a suspension controller, a guidance controller, and a braking controller, and for a common train and a subway, the motion state controller 110 may specifically include a guidance controller and a braking controller.
In practical applications, the number of each type of motion state controller may be set according to practical needs, and as an example, the number of the levitation controller, the guidance controller and the braking controller may be set to be n, each controller corresponds to a position encoder, and the position codes stored in the position encoders are used for representing the positions of the levitation controller, the guidance controller and the braking controller, and have uniqueness.
Specifically referring to fig. 2, the display 130 is a vehicle-mounted display, the diagnosis Controller 120 is a vehicle-mounted diagnosis Controller, the vehicle-mounted display is connected to the vehicle-mounted diagnosis Controller through an ethernet cable, the vehicle-mounted diagnosis Controller is respectively connected to the suspension controllers 1 to n, the guidance controllers 1 to n, and the brake controllers 1 to n through a Controller Area Network (CAN) bus, the suspension controllers 1 to n are respectively connected to corresponding position encoders, and similarly, the guidance controllers 1 to n and the brake controllers 1 to n are connected to corresponding position encoders 1 to n.
In practical application, after the whole train is electrified, the suspension controller (1-n), the guide controller (1-n) and the brake controller (1-n) firstly read the position codes of the position encoders, and the position codes have uniqueness, so that the specific physical position of each controller can be confirmed. And each controller and the vehicle-mounted diagnosis controller are communicated in a position coding and life signal mode to judge whether the communication of the opposite side is normal. Wherein, the vital signal is a count of the execution period of each program plus 1. And when any received vital signal of the other party is fixed and unchanged in the preset period of the program, the communication of the other party is abnormal. Namely, the vital signals in N continuous communication condition confirmation messages received by the diagnosis controller and originated from the target motion state controller are kept constant, wherein N is more than 1; determining that a communication condition between the target motion state controller and the diagnostic controller is abnormal.
The vehicle-mounted diagnosis controller polls and sends a fault request message to each suspension controller, the steering controller and the brake controller according to a preset period, the fault request message comprises a control frame and a data frame, and the controllers with faults in the suspension controllers, the steering controllers and the brake controllers read fault detail information in respective memories, package the fault detail information and position codes to generate fault response information and send the fault response information to the vehicle-mounted diagnosis controller.
The fault detail information comprises fault occurrence time, fault end time and fault grade. In specific implementation, the motion state controllers such as the suspension controller, the guidance controller, and the brake controller may start fault determination after a preset power-on time period of 10 seconds, and the fault determination process may be to obtain respective corresponding state values of the motion state controllers, and if the state values satisfy a preset condition, for example, a state value of the motion state controller in a current period is different from a state value of the motion state controller in a previous period, or a time for the motion state controller to maintain a specified state reaches the preset time period, it is determined that the motion state controller has a fault, and the motion state controller may record system time information and the state values corresponding to a fault occurrence time and a fault occurrence previous time to a memory.
Taking the state value as 0 or 1 as an example, if the state value is 0 in the previous period and is unique in the current period, it may be determined that the motion state controller fails, and in some cases, the motion state controller maintains a specified state, and if the state value is maintained as 0 and the preset time duration is reached, for example, 1 minute, it is determined that the motion state controller fails.
Correspondingly, the motion state controller generates the fault detail information by: and determining the fault occurrence time, the fault end time and the fault level according to the system time information and the state value, and packaging the fault occurrence time, the fault end time and the fault level to generate the fault detail information. The fault level may be generally divided into two levels, for example, if the generated fault does not affect the normal operation of the controller, the fault level may be determined as the first level, and if the generated fault affects the normal operation of the controller, the fault level may be determined as the second level.
It should be noted that, when storing the failure-related information, the motion state controller may store the system time information and the state value in a paging storage manner, where each page has 128 bytes and 512 pages in total, and after the failure is stored for 512 pages, a new page covers a page with the longest time.
The storing process can be specifically shown in fig. 3, the motion state controller stores from a higher page number to a lower page number when storing, and therefore, the motion state controller can first determine whether the flag bit is equal to 0, wherein the flag bit indicates that the failure storage is writable, if so, the next page is equal to the page number in the configuration information, the next cycle is equal to the cycle number in the configuration information, the next page is the next page to be written in the failure storage, then the motion state controller determines whether the next page is not equal to 0, if not, the data is saved, the next page is decremented by 1, and returned to "2", and the next writing is waited, and if equal to 0, the next page is equal to 511, and the cycle number is incremented by 1, the data is saved, and then the next page is decremented by 1, and returned to "2", and the next writing is waited.
Referring to fig. 4, a data interaction process of the vehicle-mounted diagnosis controller and the motion state controller may be shown, the vehicle-mounted diagnosis controller may request real-time information from the motion state controller, and may also request historical fault information, and this embodiment mainly explains the request for the historical fault information. As shown in fig. 4, the on-board diagnosis controller sends a data request to each of the floating controllers, the steering controllers, and the diagnosis controller through a broadcast frame, and each controller sends real-time information or information in the fault memory to the on-board diagnosis controller according to the request content in the data frame. Specifically, the vehicle-mounted diagnosis controller determines the number of requested pages, and if the number of pages is 512, the number of pages of the next page in the fault memory and the cycle number are sent to the vehicle-mounted diagnosis controller, if the number of pages is 513, the fault memory is reset, the number of pages of the fault memory is 511, the cycle number is 1, if the number of pages is 0 to 511 (including an endpoint), the memory data at the last fault time is read, and if the number of pages is a default value default, the memory data is returned to the upper layer.
In view of the above, embodiments of the present application provide a fault diagnosis system, in which a motion state controller reads a position code in a respective position encoder, generating a communication status confirmation message according to the position code and the vital signal and transmitting the communication status confirmation message to the diagnosis controller, in this way, the diagnostic controller may determine the communication status between the motion state controller and the diagnostic controller according to the communication status confirmation message, and if the communication status is normal, polling and sending a fault request message to the motion state controller according to a preset period, receiving a fault response message reported by the motion state controller in response to the fault request message, the fault response message includes a position code of the motion state controller and fault detail information, and then a display displays the fault response message. The fault diagnosis is realized, and meanwhile, the fault is accurately positioned.
Based on the fault diagnosis system provided by the embodiment of the application, the application also provides a corresponding fault diagnosis method, and the detailed description is given below by combining the embodiment.
Referring to the flowchart of the fault diagnosis method shown in fig. 5, the method is applied to a motion state controller in a fault diagnosis system, and the method comprises the following steps:
s501: reading a position code in a position encoder, generating a communication status confirmation message according to the position code and the vital signal, and sending the communication status confirmation message to a diagnostic controller.
Each motion state controller counts according to the execution period of the respective program, generates a life signal based on the count value, and can package the position code and the life signal to generate a communication condition confirmation message and send the message to the diagnosis controller, so that the opposite-end diagnosis controller confirms the communication condition, and the abnormal misdiagnosis of the communication condition as the occurrence of a fault in the motion state controller by the opposite-end diagnosis controller is avoided.
S502: and receiving a fault request message sent by the diagnosis controller when the communication condition between the diagnosis controller and the motion state controller is determined to be normal.
The diagnostic controller may specifically determine the communication condition between it and the motion state controller by: acquiring a state value of the motion state controller, and determining that the motion state controller fails if the state value meets a preset condition, wherein the preset condition specifically may be that the state value of the motion state controller in a current period is different from the state value of the motion state controller in a previous period; or the time for the motion state controller to keep the designated state reaches the preset time length.
Further, the motion state controller records system time information and state values corresponding to a fault occurrence time and a fault occurrence previous time to a memory, then determines a fault occurrence time, a fault end time and a fault level according to the system time information and the state values, and packages the fault occurrence time, the fault end time and the fault level to generate the fault detail information.
When the information is stored, the motion state controller can also store the system time information and the state value in a paging storage mode, and for convenience of tracing, the fault occurrence time and the system time information and the state value corresponding to the time before the fault occurrence time can also be stored in the same page of the memory.
S503: and responding to the fault request message, sending a fault response message to the diagnosis controller so that the diagnosis controller sends the fault response message to a display and instructs the display to display the fault response message.
Wherein the fault response message includes a position code and fault detail information of the motion state controller. Therefore, the fault diagnosis controller can conveniently and accurately position the fault, and the fault position and the fault details are displayed through the display, so that maintenance personnel can conveniently carry out fault removal based on the displayed fault position and fault details information.
The embodiment of the present application further provides a specific implementation manner of the fault diagnosis method, referring to a flowchart of the fault diagnosis method shown in fig. 6, where the method is applied to a diagnosis controller, and includes the following steps:
s601: and receiving the communication condition confirmation message sent by each motion state controller.
The communication condition confirmation message is generated by the motion state controller reading the position code in the respective position encoder according to the position code and the vital signal. The vital signal is generated by counting according to the execution cycle of each program by the motion state controller.
S602: determining a communication condition between the motion state controller and the diagnostic controller according to the communication condition confirmation message. If the communication status is normal, S603 is executed.
Specifically, if the vital signal in N consecutive communication condition confirmation messages received by the diagnostic controller from the target motion state controller remains fixed, and N is greater than 1, it is determined that the communication condition between the target motion state controller and the diagnostic controller is abnormal.
S603: and polling and sending a fault request message to the motion state controller according to a preset period.
S604: and receiving a fault response message reported by the motion state controller in response to the fault request message.
S605: sending the fault response message to a display to instruct the display to display the fault response message.
The fault response message includes a position code and fault detail information of the motion state controller. The fault detail information is generated by the motion state controller with fault according to the historical fault information stored in the fault memory. For a specific implementation process, reference is made to the embodiment shown in fig. 5, which is not described herein again.
It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the above-described systems, apparatuses and units may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In the several embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the units is only one logical division, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
It should be understood that in the present application, "at least one" means one or more, "a plurality" means two or more. "and/or" for describing an association relationship of associated objects, indicating that there may be three relationships, e.g., "a and/or B" may indicate: only A, only B and both A and B are present, wherein A and B may be singular or plural. The character "/" generally indicates that the former and latter associated objects are in an "or" relationship. "at least one of the following" or similar expressions refer to any combination of these items, including any combination of single item(s) or plural items. For example, at least one (one) of a, b, or c, may represent: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", wherein a, b, c may be single or plural.
The above embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions in the embodiments of the present application.
Claims (10)
1. A fault diagnosis system, comprising:
the motion state controller is used for reading the position codes in the position encoders, generating a communication condition confirmation message according to the position codes and the vital signals, and sending the communication condition confirmation message to the diagnosis controller;
the diagnosis controller is used for determining the communication condition between the motion state controller and the diagnosis controller according to the communication condition confirmation message, polling and sending a fault request message to the motion state controller according to a preset period if the communication condition is normal, and receiving a fault response message reported by the motion state controller in response to the fault request message, wherein the fault response message comprises a position code and fault detail information of the motion state controller;
a display for displaying the fault response message.
2. The system of claim 1, wherein the motion state controller is further configured to:
acquiring state values corresponding to the motion state controllers respectively;
if the state value meets a preset condition, determining that the motion state controller fails;
recording system time information and state values corresponding to the fault occurrence time and the previous fault occurrence time to a memory;
the motion state controller generates the fault detail information by:
determining fault occurrence time, fault end time and fault grade according to the system time information and the state value;
and packaging the fault occurrence time, the fault end time and the fault level to generate the fault detail information.
3. The system of claim 2, wherein the state value satisfying the preset condition comprises:
the state value of the motion state controller in the current period is different from the state value of the motion state controller in the previous period; alternatively, the first and second electrodes may be,
and the motion state controller keeps the time of the specified state to reach the preset time length.
4. The system of claim 2, wherein the motion state controller stores the system time information and the state values in paged storage;
and the motion state controller stores the fault occurrence time and the system time information and the state value corresponding to the previous time of the fault occurrence in the same page of the memory.
5. The system of any of claims 1 to 4, wherein the diagnostic controller determining the communication condition between the motion state controller and the diagnostic controller based on the communication condition confirmation message comprises:
the diagnostic controller receives that the vital signals in N continuous communication condition confirmation messages from the target motion state controller are kept constant, wherein N is greater than 1;
determining that a communication condition between the target motion state controller and the diagnostic controller is abnormal.
6. The system of any one of claims 1 to 4, wherein the motion state controller comprises: suspension controller, direction controller and brake controller.
7. A fault diagnosis method, characterized in that the method comprises:
reading a position code in a position encoder, generating a communication condition confirmation message according to the position code and the vital signal, and sending the communication condition confirmation message to a diagnosis controller;
receiving a fault request message sent by the diagnosis controller when the communication condition between the diagnosis controller and the motion state controller is determined to be normal;
in response to the fault request message, sending a fault response message to the diagnostic controller to cause the diagnostic controller to send the fault response message to a display and instruct the display to display the fault response message;
wherein the fault response message includes a position code and fault detail information of the motion state controller.
8. The method of claim 7, further comprising:
acquiring a state value of the motion state controller;
if the state value meets a preset condition, determining that the motion state controller fails;
recording system time information and state values corresponding to the fault occurrence time and the previous fault occurrence time to a memory;
the motion state controller generates the fault detail information by:
determining fault occurrence time, fault end time and fault grade according to the system time information and the state value;
and packaging the fault occurrence time, the fault end time and the fault level to generate the fault detail information.
9. The method of claim 8, wherein the state value satisfying a preset condition comprises:
the state value of the motion state controller in the current period is different from the state value of the motion state controller in the previous period; alternatively, the first and second electrodes may be,
and the motion state controller keeps the time of the specified state to reach the preset time length.
10. A fault diagnosis method, characterized in that the method comprises:
receiving communication condition confirmation messages sent by each motion state controller, wherein the communication condition confirmation messages are generated by reading position codes in respective position encoders by the motion state controllers and according to the position codes and vital signals;
determining a communication condition between the motion state controller and the diagnostic controller according to the communication condition confirmation message;
if the communication condition is normal, polling and sending a fault request message to the motion state controller according to a preset period;
receiving a fault response message reported by the motion state controller in response to the fault request message, wherein the fault response message comprises a position code and fault detail information of the motion state controller;
sending the fault response message to a display to instruct the display to display the fault response message.
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