CN111290365A - Servo system monitoring method and device, computer equipment and storage medium - Google Patents
Servo system monitoring method and device, computer equipment and storage medium Download PDFInfo
- Publication number
- CN111290365A CN111290365A CN202010058083.5A CN202010058083A CN111290365A CN 111290365 A CN111290365 A CN 111290365A CN 202010058083 A CN202010058083 A CN 202010058083A CN 111290365 A CN111290365 A CN 111290365A
- Authority
- CN
- China
- Prior art keywords
- structural component
- servo system
- parameter
- reference signals
- monitoring
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Classifications
-
- 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
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
- G01R31/003—Environmental or reliability tests
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Environmental & Geological Engineering (AREA)
- Testing And Monitoring For Control Systems (AREA)
Abstract
The application relates to a servo system monitoring method, a servo system monitoring device, computer equipment and a storage medium. The method is applied to a servo system, the servo system comprises a plurality of structural components, a plurality of monitoring signal ports are reserved on each structural component, and the method comprises the following steps: acquiring a plurality of reference signals of each structural component obtained through a monitoring signal port, and extracting characteristic parameters of each reference signal; for each characteristic parameter, acquiring a judgment threshold corresponding to the characteristic parameter; and determining whether the structural component corresponding to each characteristic parameter is in fault or not according to each characteristic parameter and the corresponding judgment threshold value. According to the embodiment of the invention, when the characteristic parameters of the reference signals on the structural components are normal, the servo system is not in fault, and when one or more reference signals in the reference signals on the structural components are abnormal, the servo system is in fault, and the abnormal reference signals are the reasons for the fault of the servo system.
Description
Technical Field
The present application relates to the field of servo systems, and in particular, to a servo system monitoring method, apparatus, computer device, and storage medium.
Background
The servo system mainly comprises a controller, a driver and a motor. Because the servo system is a moving part, the influence on other equipment components when the servo system fails is unpredictable, and therefore, the servo system often causes great loss when the servo system fails. In view of the above, the detection of faults in servo systems has been a major concern in engineering.
In the prior art, the process of performing fault detection on a servo system is as follows: a signal comparison circuit is reserved in a design circuit of the controller and the driver, whether the controller and/or the driver have faults is determined through the comparison circuit, when the faults exist, the state flag bit is triggered to change, for example, the state flag bit is changed from 0 to 1, and the controller feeds back the faults of the servo system to an operator through the change of the state flag bit.
However, the above method can only obtain the result of the failure of the servo system, and cannot detect the cause of the failure.
Disclosure of Invention
In view of the foregoing, it is desirable to provide a servo system monitoring method, a servo system monitoring apparatus, a computer device, and a storage medium, which can determine a cause of a failure of a servo system.
A servo system monitoring method is applied to a servo system, the servo system comprises a plurality of structural components, each structural component is reserved with a plurality of monitoring signal ports, and the method comprises the following steps:
acquiring a plurality of reference signals of each structural component obtained through a monitoring signal port, and extracting characteristic parameters of each reference signal;
for each characteristic parameter, acquiring a judgment threshold corresponding to the characteristic parameter;
and determining whether the structural component corresponding to each characteristic parameter is in fault or not according to each characteristic parameter and the corresponding judgment threshold value.
In one embodiment, after determining whether the structural component corresponding to each characteristic parameter is faulty according to each characteristic parameter and the corresponding judgment threshold, the method further includes:
when a structural component with a fault exists in the plurality of structural components, acquiring all reference signals and characteristic parameters of the structural component with the fault;
and generating an alarm message according to all the reference signals and the characteristic parameters of the structural component with the fault, wherein the alarm message is used for indicating that the structural component with the fault needs to be overhauled.
In one embodiment, after determining whether the structural component corresponding to each feature parameter is normal according to each feature parameter and the corresponding judgment threshold thereof, the method includes:
acquiring historical monitoring results of the servo system, wherein the historical monitoring results comprise reference signals and characteristic parameters of the reference signals of the structural components obtained by each monitoring;
fitting according to each historical monitoring result to obtain an aging curve corresponding to each reference signal;
and predicting the usable life of the structural component corresponding to each reference signal according to the aging curve of each reference signal.
In one embodiment, before acquiring, for each feature parameter, a judgment threshold corresponding to the feature parameter, the method further includes:
acquiring parameter aging curves corresponding to the reference signals under different environmental stress conditions;
performing characteristic extraction on the precursor waveform and the subsequent waveform in each parameter aging curve to obtain a precursor characteristic parameter and a subsequent characteristic parameter;
and determining a judgment threshold value corresponding to each characteristic parameter according to the precursor characteristic parameter and the subsequent characteristic parameter to obtain a threshold value set, wherein the threshold value set comprises the judgment threshold values corresponding to each reference signal under different environmental stresses.
In one embodiment, for each feature parameter, obtaining a judgment threshold corresponding to the feature parameter includes:
acquiring environmental stress at the monitoring moment;
and determining a judgment threshold corresponding to each reference signal from the threshold set according to the environmental stress at the monitoring moment.
In one embodiment, the environmental stress includes a working stress and a natural environmental stress, and a parametric aging curve corresponding to each reference signal under different environmental stress conditions is obtained, and the method further includes:
arranging and combining a plurality of preset working stresses and a plurality of preset natural environment stresses to obtain a plurality of stress combinations;
and carrying out limit test on each structural component of the servo system according to each stress combination to obtain a parameter aging curve corresponding to each reference signal.
A servo monitoring device, the device comprising:
the first acquisition module is used for acquiring a plurality of reference signals of each structural component obtained through the monitoring signal port and extracting characteristic parameters of each reference signal;
the second acquisition module is used for acquiring a judgment threshold corresponding to each characteristic parameter;
and the judging module is used for determining whether the structural component corresponding to each characteristic parameter has a fault according to each characteristic parameter and the corresponding judging threshold value.
In one embodiment, the apparatus further comprises:
the third acquisition module is used for acquiring all reference signals and characteristic parameters thereof of the structural component with the fault when the structural component with the fault exists in the plurality of structural components;
and the warning module is used for generating a warning message according to all the reference signals and the characteristic parameters of the structural component with the fault, and the warning message is used for indicating that the structural component with the fault needs to be overhauled.
A computer device comprising a memory and a processor, the memory storing a computer program, the processor implementing the following steps when executing the computer program:
acquiring a plurality of reference signals of each structural component obtained through a monitoring signal port, and extracting characteristic parameters of each reference signal;
for each characteristic parameter, acquiring a judgment threshold corresponding to the characteristic parameter;
and determining whether the structural component corresponding to each characteristic parameter is in fault or not according to each characteristic parameter and the corresponding judgment threshold value.
A computer-readable storage medium, on which a computer program is stored which, when executed by a processor, carries out the steps of:
acquiring a plurality of reference signals of each structural component obtained through a monitoring signal port, and extracting characteristic parameters of each reference signal;
for each characteristic parameter, acquiring a judgment threshold corresponding to the characteristic parameter;
and determining whether the structural component corresponding to each characteristic parameter is in fault or not according to each characteristic parameter and the corresponding judgment threshold value.
The servo system monitoring method, the servo system monitoring device, the computer equipment and the storage medium are applied to a servo system, the servo system comprises a plurality of structural components, and a plurality of monitoring signal ports are reserved on each structural component, and the method comprises the following steps: acquiring a plurality of reference signals of each structural component through a monitoring signal port, and extracting characteristic parameters of each reference signal; for each characteristic parameter, acquiring a judgment threshold corresponding to the characteristic parameter; and determining whether the structural component corresponding to each characteristic parameter is in fault or not according to each characteristic parameter and the corresponding judgment threshold value. According to the embodiment of the invention, when the characteristic parameters of the reference signals on the structural components are normal, the servo system is not in fault, and when one or more reference signals in the reference signals on the structural components are abnormal, the servo system is in fault, and the abnormal reference signals are the reasons for the fault of the servo system.
Drawings
FIG. 1 is a diagram of an exemplary embodiment of a servo system monitoring method;
FIG. 2 is a flow chart illustrating a method for monitoring a servo system according to one embodiment;
FIG. 3 is a flow chart illustrating a servo monitoring method according to another embodiment;
FIG. 4 is a flow chart illustrating a servo monitoring method according to another embodiment;
FIG. 5 is a flow chart illustrating a servo monitoring method according to another embodiment;
FIG. 6 is a combined schematic of environmental stresses in one embodiment;
FIG. 7 is a flowchart illustrating a servo monitoring method according to another embodiment;
FIG. 8 is a block diagram showing a monitoring device of the servo system according to an embodiment;
FIG. 9 is a block diagram showing a structure of a servo monitoring apparatus according to an embodiment;
FIG. 10 is a diagram showing an internal structure of a computer device according to an embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
The servo system monitoring method provided by the application can be applied to the application environment shown in fig. 1. The application environment includes a server 101 and a server system 102. The server 101 may be implemented by a stand-alone server or a server cluster composed of a plurality of servers. The servo system 102 may include a plurality of structural components, each of which has a plurality of monitoring signal ports reserved thereon. Alternatively, the plurality of structural components may be a controller, a driver and an actuator, and alternatively the actuator may be a motor.
In this embodiment, the servo system 102 may run a fixed test case, and when the servo system 102 runs the test case, the reference signal may be acquired through a plurality of monitoring signal ports reserved on the servo system 102, and optionally, each reference signal on each structural component may be acquired for a plurality of times.
The server 101 may acquire a plurality of reference signals of each structural component obtained through the monitoring signal port, and extract characteristic parameters of each reference signal. The server 101 may obtain a judgment threshold corresponding to each feature parameter for each feature parameter, and determine whether the structural component corresponding to each feature parameter is normal according to each feature parameter and the judgment threshold corresponding to the feature parameter.
In one embodiment, as shown in fig. 2, a servo system monitoring method is provided, which is described by taking the method as an example applied to the server in fig. 1, and includes the following steps:
In this embodiment, the plurality of reference signals of each structural component may be pre-stored in a database of the server, and when step 201 is executed, the server may obtain the plurality of reference signals of each structural component from the database.
Optionally, in this embodiment, the plurality of reference signals of each structural component may be directly measured by the server, where the servo system may run a fixed test case, and the reference signals in the process of running the test case by the servo system are acquired through the monitoring signal port of each structural component.
In this embodiment, the process of the server acquiring the multiple reference signals of each structural component may be: and acquiring a reference signal through a monitoring signal port reserved in a servo system by adopting a probe tooling table (a tiled structure) or a crochet hook (a non-tiled structure) and other modes. Taking a probe tooling table with a tiled structure as an example, a tiled structure component adopts a precise jig to be matched with the precise jig, probes are placed according to the positions of corresponding test points on a circuit board on the structure component, and probes with specific functions, such as a high-frequency probe, a large-current probe, a switch probe, a straight probe, a two-claw probe, a cylindrical probe, a star-shaped probe and the like, are respectively selected and used in a targeted manner according to the electrical characteristics of different test points. The reference signal is obtained by the fixture being hardened and brought into close contact with test points on a PCBA (Printed circuit board Assembly, english).
In this embodiment, the servo system may include a plurality of structural components, each structural component may be provided with a plurality of monitoring signal ports, and each monitoring signal port may correspond to at least one reference signal of the structural component.
Alternatively, in the embodiments of the present application, the plurality of structural components may include a controller, a driver, an actuator, and the like.
In this embodiment, a plurality of monitoring signal ports on the controller may be used to collect reference signals as shown in table 1; multiple monitor signal ports on the drive may be used to collect reference signals as shown in table 2; a plurality of monitoring signal ports on the actuators can be used to acquire reference signals as shown in table 3.
TABLE 1
TABLE 2
TABLE 3
It should be noted that tables 1, 2 and 3 only exemplarily show a plurality of reference signals of each structural component, and the actual plurality of reference signals of each structural component may be more than those shown in tables 1, 2 and 3 or less than those shown in tables 1, 2 and 3.
In this embodiment, there are various ways to extract the characteristic parameters of each reference signal, for example, mean value, maximum value, minimum value, variance, standard deviation, peak value, root mean square, peak factor, kurtosis, skewness, etc. may be found. As can be seen from the reference signals shown in tables 1, 2, and 3, the difference of the reference signal on each structural component is large, and the reference signal cannot be extracted by using a uniform characteristic parameter extraction method, so in this embodiment, for each reference signal, a suitable characteristic parameter extraction method may be used according to the signal characteristic of the reference signal, and this embodiment is not limited herein.
In this embodiment, the server may store in advance a determination threshold corresponding to each of the reference signals shown in table 1, table 2, and table 3, where the determination threshold is used to determine whether the corresponding characteristic parameter is within a normal range.
The server may further store a determination threshold corresponding to a reference signal not shown in table 1, table 2, and table 3.
For each feature parameter, the server may determine, according to the type of the feature parameter, a determination threshold corresponding to the feature parameter from a plurality of pre-stored determination thresholds.
In this embodiment, for each feature parameter, the server may compare the feature parameter with the corresponding judgment threshold, and when all the feature parameters meet the corresponding judgment thresholds, it indicates that each structural component has no fault, that is, the servo system is normal.
In this embodiment, when the characteristic parameter of any one or more reference signals in the structural component does not meet the corresponding judgment threshold, it is judged that the structural component is faulty. When any one or more structural components in the servo system fail, the servo system fails.
At this time, the server may obtain a comparison result between each of the characteristic parameters and the corresponding judgment threshold, and may obtain all the characteristic parameters and reference signals whose judgment results are abnormal, which are the reasons for the failure of the servo system.
The monitoring method of the servo system is applied to the servo system, the servo system comprises a plurality of structural components, and a plurality of monitoring signal ports are reserved on each structural component, and the method comprises the following steps: acquiring a plurality of reference signals of each structural component through a monitoring signal port, and extracting characteristic parameters of each reference signal; for each characteristic parameter, acquiring a judgment threshold corresponding to the characteristic parameter; and determining whether the structural component corresponding to each characteristic parameter is in fault or not according to each characteristic parameter and the corresponding judgment threshold value. According to the embodiment of the invention, when the characteristic parameters of the reference signals on each structural component are normal, the servo system is not in fault, and when one or more reference signals in the reference signals on each structural component are abnormal, the servo system is in fault, and the abnormal reference signals are the reasons for the fault of the servo system. Compared with the mode that the servo system fault is determined through the state bit in the prior art, the servo system monitoring method can directly obtain the reason of the fault of the servo system, and the monitoring efficiency of the servo system is improved.
In one embodiment, as shown in fig. 3, after step 203, the servo system monitoring method may further include the steps of:
In this embodiment, the structural component with the fault may be determined through step 203, and the server may obtain all reference signals of the structural component with the fault and the characteristic parameters of each reference signal.
When a certain structural component fails, it is described that there is a characteristic parameter that does not meet the judgment threshold in the characteristic parameters of the structural component, and it should be described that there may also be a characteristic parameter whose load corresponds to the judgment threshold in the characteristic parameters of the structural component that fails. In this embodiment, the server not only obtains the characteristic parameter and the reference signal that do not meet the corresponding determination threshold, but also obtains the characteristic parameter and the reference signal that meet the determination threshold of the failed structural component.
The server may generate an alarm message based on all reference signals and their characteristic parameters of the malfunctioning structural component. The monitoring personnel of the servo system can acquire the alarm message and acquire all reference signals of the structural component with the fault in the alarm message and the characteristic parameters of each reference signal.
Optionally, the server may send the warning message to a visualization terminal, and the visualization terminal may display all reference signals and characteristic parameters thereof of the failed structural component in the warning message.
In the servo system, a certain reference signal on a certain structural component is influenced by other reference signals in the same structural component and also influenced by reference signals on other structural components, so that the reason that the characteristic parameter of a certain reference signal does not meet the corresponding judgment threshold value may not be that the hardware corresponding to the reference signal has a fault, but may be that other hardware has a fault to cause the fault of the reference signal. In order to accurately determine the cause of the failure of the servo system, in this embodiment, the server may generate an alarm message for all reference signals and characteristic parameters thereof of the failed structural component, so that a monitoring person of the servo system may determine a propagation path of the failure by analyzing the characteristic parameters and the reference signals which do not conform to the corresponding determination threshold, the characteristic parameters and the reference signals which conform to the determination threshold in the failed structural component, thereby determining the root cause of the problem causing the failure of the servo system.
In one embodiment, as shown in fig. 4, after step 203, the servo system monitoring method may further include the steps of:
The historical monitoring result comprises each reference signal and characteristic parameters of each structural component obtained by each monitoring.
In the embodiment of the present application, when the servo system leaves the factory, the servo system monitoring method disclosed in steps 201 to 203 may be performed on the servo system, and a plurality of reference signals and characteristic parameters of each structural component may be obtained. Optionally, the server may store a plurality of reference signals and characteristic parameters of each structural component, which are obtained by monitoring at the time of factory shipment, as the historical monitoring result.
In addition, the servo system can monitor regularly or irregularly during normal operation, and the server can record the obtained reference signal and characteristic parameters thereof and monitoring time of each monitoring.
Optionally, after the servo system leaves the factory, if the servo system is not used for a long time, regular monitoring is needed. Alternatively, after a long period of time, when it is needed, the servo system also needs to be monitored to determine whether each structural component of the servo system is malfunctioning. In summary, the server may also record the reference signal obtained by monitoring and the characteristic parameter thereof to form a historical monitoring result.
And step 402, fitting according to each historical monitoring result to obtain an aging curve corresponding to each reference signal.
For each reference signal of each structural component, the server may obtain the reference signal obtained by each monitoring disclosed in step 401 and the characteristic parameter thereof, and fit the characteristic parameter corresponding to the reference signal through fitting software to obtain an aging curve corresponding to the reference signal.
And step 403, predicting the available life of the structural component corresponding to each reference signal according to the aging curve of each reference signal.
The server may determine, from the aging curve of the reference signal, a target time point at which the characteristic parameter of the reference signal does not meet the corresponding determination threshold. The server can also determine the current time point of the reference signal in the aging curve at the current moment according to the current characteristic parameters of the reference signal, and the difference value between the target time point and the current time point is the service life of the structural component corresponding to the reference signal predicted according to the reference signal.
And if the number of the reference signals corresponding to each structural component is multiple, the prediction result can be obtained. Taking the structural component as the controller for example, the controller corresponds to five reference signals, and the usable lives of the controller determined according to each reference signal are 3 months, 3.5 months, 4 months, 2.8 months and 10 months, respectively. Then it can be determined that the controller has a usable life of 2.8 months.
In the embodiment, when the servo system has no fault, the available service life of each structural component of the servo system can be predicted, so that when the available service life is close to, an operator can replace or overhaul the servo system in preparation, and the problem that other structural components of the servo system are uncontrollably and destructively influenced due to hard damage of the servo system is avoided.
In one embodiment, as shown in fig. 5, before step 202, the servo system monitoring method may further include the steps of:
In this embodiment, in a development stage of the servo system, a limit test may be performed on each structural component of the servo system to obtain a parameter aging curve corresponding to each reference signal of each structural component.
In an alternative implementation, the environmental stresses of the test case include working stresses and natural environmental stresses. Wherein, the working stress can refer to the working load of the servo system, and the natural environment stress can refer to the temperature and the humidity. The process of acquiring the parameter aging curve corresponding to each reference signal under different environmental stress conditions by the server may include the following steps:
and A, arranging and combining a plurality of preset working stresses and a plurality of preset natural environment stresses to obtain a plurality of stress combinations.
The preset working stresses may be, for example, 50% load, 80% load, 100% load, 120% load, and the like, as shown in fig. 6. The multiple preset natural environment stresses can be divided into conditions of (temperature 65 degrees and humidity 70%), (temperature 85 degrees and humidity 70%), (temperature 105 degrees and humidity 70%) and the like.
By permutation and combination, various stress combinations can be obtained, such as (50% load, temperature 65 °, humidity 70%), (100% load, temperature 65 °, humidity 70%), (120% load, temperature 85 °, humidity 70%), and so on.
It should be noted that, in this embodiment, the setting of the stress combination may be set according to the environmental stress of the actual operation of the servo system.
And B, carrying out limit test on each structural component of the servo system according to each stress combination to obtain a parameter aging curve corresponding to each reference signal.
In this embodiment, multiple samples of the same batch of servo systems may be selected as test and analysis objects, the same test case is run on the tooling table by changing the environmental stress, and all reference signals are collected, and the data is recorded and saved.
Wherein, changing the environmental stress can be realized by setting a stress combination set, for example, a plurality of stress combination sets with single stress or multiple stresses as variables can be established, and each stress combination set changes one or more working stresses (or relieves stresses) in each stress combination.
Firstly, under normal environmental stress, a servo system is controlled to operate a specific test case, reference signals are synchronously acquired, and characteristic parameters of the reference signals are extracted and recorded.
And then, continuously changing the environmental stress according to the stress combination set, and controlling the servo system to run a specific test case, wherein the environmental stress is continuously changed, namely, each stress combination with the stress combination set is respectively applied to the servo system to change the environmental stress, so that the aging acceleration, the failure and the fault excitation of the servo system are realized.
Further, the server can synchronously acquire reference signals in the aging, failure and fault excitation processes of the servo system. And extracting characteristic parameters of each reference signal.
The data fitting can be carried out according to the characteristic parameters of the reference signals under the normal environmental stress and the characteristic parameters of the reference signals when the environmental stress is changed, so that the parameter aging curves corresponding to the reference signals are obtained.
The parameter aging curve corresponding to each reference signal under different environmental stress variables can be determined according to the above process for each stress combination set.
And 502, performing feature extraction on the precursor waveform and the subsequent waveform in each parameter aging curve to obtain a precursor feature parameter and a subsequent feature parameter.
In this embodiment, for each parameter aging curve corresponding to the reference signal, a waveform position of the characteristic parameter of the reference signal when the characteristic parameter does not meet the corresponding judgment threshold in the corresponding parameter aging curve is a fault position, a specific waveform before the fault position is a precursor waveform, and a specific waveform after the fault position is a subsequent waveform.
The precursor waveform and the subsequent waveform of the parametric aging curve corresponding to different reference signals may not be the same.
The precursor waveform and the subsequent waveform can be analyzed to obtain precursor characteristic parameters and subsequent characteristic parameters.
Optionally, the characteristic parameter corresponding to the precursor waveform may be determined as a precursor characteristic parameter, and the characteristic parameter corresponding to the subsequent waveform may be determined as a subsequent characteristic parameter.
In this embodiment, a set of precursor characteristic parameters and subsequent characteristic parameters may be used as the judgment threshold corresponding to the characteristic parameter of one reference signal.
In this embodiment, under different environmental stresses, each reference signal may correspond to a different parameter aging curve, and each parameter aging curve may obtain a set of precursor characteristic parameters and subsequent characteristic parameters, that is, each parameter aging curve may obtain a judgment threshold. Thus, for each reference signal, there may be a different decision threshold under different environmental stresses.
In this embodiment, by changing the environmental stress, the determination threshold corresponding to each reference signal is determined under different environmental stresses. The accuracy of the judgment threshold is improved, so that the judgment result of whether the structural component corresponding to each characteristic parameter is in fault or not is more accurate according to each characteristic parameter and the corresponding judgment threshold, and the misjudgment is avoided.
In one embodiment, as shown in fig. 7, after step 403, the servo system monitoring method may further include the following steps:
The monitoring time is a time when the servo system is monitored. The environmental stress at the moment of monitoring can be working stress and natural environmental stress.
The server can obtain the judgment threshold corresponding to each reference signal under the environmental stress condition from the database according to the environmental stress at the monitoring moment.
In the embodiment, the judgment threshold corresponding to each reference signal is determined through different environmental stresses, so that the precision of the judgment threshold is improved, and the judgment result of whether the structural component corresponding to each characteristic parameter fails or not according to each characteristic parameter and the corresponding judgment threshold is more accurate.
It should be understood that although the various steps in the flow charts of fig. 2-6 are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least some of the steps in fig. 2-6 may include multiple steps or multiple stages, which are not necessarily performed at the same time, but may be performed at different times, which are not necessarily performed in sequence, but may be performed in turn or alternately with other steps or at least some of the other steps.
In one embodiment, as shown in fig. 8, there is provided a servo system monitoring apparatus, the apparatus comprising: a first obtaining module 801, a second obtaining module 802, and a determining module 803, wherein:
a first obtaining module 801, configured to obtain multiple reference signals of each structural component obtained through a monitoring signal port, and extract characteristic parameters of each reference signal;
a second obtaining module 802, configured to obtain, for each feature parameter, a judgment threshold corresponding to the feature parameter;
the determining module 803 is configured to determine whether a structural component corresponding to each feature parameter fails according to each feature parameter and its corresponding determining threshold.
In one embodiment, as shown in fig. 9, the apparatus further comprises:
a third obtaining module 901, configured to obtain all reference signals and characteristic parameters thereof of a failed structural component when the failed structural component exists in the plurality of structural components;
and an alarm module 902, configured to generate an alarm message according to all reference signals and characteristic parameters thereof of the failed structural component, where the alarm message is used to indicate that the failed structural component needs to be repaired.
In one embodiment, the apparatus further comprises:
the fourth acquisition module is used for acquiring historical monitoring results of the servo system, wherein the historical monitoring results comprise reference signals and characteristic parameters of the reference signals of the structural components obtained by each monitoring;
the fifth acquisition module is used for fitting according to each historical monitoring result to obtain an aging curve corresponding to each reference signal;
and the prediction module is used for predicting the available service life of the structural component corresponding to each reference signal according to the aging curve of each reference signal.
In one embodiment, the second obtaining module 802 further obtains a parameter aging curve corresponding to each reference signal under different environmental stress conditions; performing characteristic extraction on the precursor waveform and the subsequent waveform in each parameter aging curve to obtain a precursor characteristic parameter and a subsequent characteristic parameter; and determining a judgment threshold value corresponding to each characteristic parameter according to the precursor characteristic parameter and the subsequent characteristic parameter to obtain a threshold value set, wherein the threshold value set comprises the judgment threshold values corresponding to each reference signal under different environmental stresses.
In one embodiment, the second obtaining module 802 further obtains environmental stress at the monitoring time; and determining a judgment threshold corresponding to each reference signal from the threshold set according to the environmental stress at the monitoring moment.
In one embodiment, the second obtaining module 802 further includes performing permutation and combination on multiple preset working stresses and multiple preset natural environment stresses to obtain multiple stress combinations; and carrying out limit test on each structural component of the servo system according to each stress combination to obtain a parameter aging curve corresponding to each reference signal.
For the specific definition of the servo system monitoring device, reference may be made to the above definition of the servo system monitoring method, which is not described herein again. All or part of the modules in the servo system monitoring device can be realized by software, hardware and a combination thereof. The modules can be embedded in a hardware form or independent from a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules.
In one embodiment of the present application, a computer device is provided, and the computer device may be a server, and the internal structure diagram thereof may be as shown in fig. 10. The computer device includes a processor and a memory connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The computer program is executed by a processor to implement a method of monitoring a servo system.
Those skilled in the art will appreciate that the architecture shown in fig. 10 is merely a block diagram of some of the structures associated with the disclosed aspects and is not intended to limit the computing devices to which the disclosed aspects apply, as particular computing devices may include more or less components than those shown, or may combine certain components, or have a different arrangement of components.
In one embodiment, a computer device is provided, comprising a memory and a processor, the memory having a computer program stored therein, the processor implementing the following steps when executing the computer program:
acquiring a plurality of reference signals of each structural component obtained through a monitoring signal port, and extracting characteristic parameters of each reference signal; for each characteristic parameter, acquiring a judgment threshold corresponding to the characteristic parameter; and determining whether the structural component corresponding to each characteristic parameter is in fault or not according to each characteristic parameter and the corresponding judgment threshold value.
In one embodiment of the application, the processor when executing the computer program further performs the steps of: when a structural component with a fault exists in the plurality of structural components, acquiring all reference signals and characteristic parameters of the structural component with the fault; and generating an alarm message according to all the reference signals and the characteristic parameters of the structural component with the fault, wherein the alarm message is used for indicating that the structural component with the fault needs to be overhauled.
In one embodiment of the application, the processor when executing the computer program further performs the steps of: acquiring historical monitoring results of the servo system, wherein the historical monitoring results comprise reference signals and characteristic parameters of the reference signals of the structural components obtained by each monitoring; fitting according to each historical monitoring result to obtain an aging curve corresponding to each reference signal; and predicting the usable life of the structural component corresponding to each reference signal according to the aging curve of each reference signal.
In one embodiment of the application, the processor when executing the computer program further performs the steps of: acquiring parameter aging curves corresponding to the reference signals under different environmental stress conditions; performing characteristic extraction on the precursor waveform and the subsequent waveform in each parameter aging curve to obtain a precursor characteristic parameter and a subsequent characteristic parameter; and determining a judgment threshold value corresponding to each characteristic parameter according to the precursor characteristic parameter and the subsequent characteristic parameter to obtain a threshold value set, wherein the threshold value set comprises the judgment threshold values corresponding to each reference signal under different environmental stresses.
In one embodiment of the application, the processor when executing the computer program further performs the steps of: acquiring environmental stress at the monitoring moment; and determining a judgment threshold corresponding to each reference signal from the threshold set according to the environmental stress at the monitoring moment.
In one embodiment of the application, the processor when executing the computer program further performs the steps of: arranging and combining a plurality of preset working stresses and a plurality of preset natural environment stresses to obtain a plurality of stress combinations; and carrying out limit test on each structural component of the servo system according to each stress combination to obtain a parameter aging curve corresponding to each reference signal.
The implementation principle and technical effect of the computer device provided by the embodiment of the present application are similar to those of the method embodiment described above, and are not described herein again.
In an embodiment of the application, a computer-readable storage medium is provided, on which a computer program is stored, which computer program, when being executed by a processor, carries out the steps of:
acquiring a plurality of reference signals of each structural component obtained through a monitoring signal port, and extracting characteristic parameters of each reference signal; for each characteristic parameter, acquiring a judgment threshold corresponding to the characteristic parameter; and determining whether the structural component corresponding to each characteristic parameter is in fault or not according to each characteristic parameter and the corresponding judgment threshold value.
In one embodiment of the application, the computer program, when executed by the processor, may further implement the steps of: when a structural component with a fault exists in the plurality of structural components, acquiring all reference signals and characteristic parameters of the structural component with the fault; and generating an alarm message according to all the reference signals and the characteristic parameters of the structural component with the fault, wherein the alarm message is used for indicating that the structural component with the fault needs to be overhauled.
In one embodiment of the application, the computer program, when executed by the processor, may further implement the steps of: acquiring historical monitoring results of the servo system, wherein the historical monitoring results comprise reference signals and characteristic parameters of the reference signals of the structural components obtained by each monitoring; fitting according to each historical monitoring result to obtain an aging curve corresponding to each reference signal; and predicting the usable life of the structural component corresponding to each reference signal according to the aging curve of each reference signal.
In one embodiment of the application, the computer program, when executed by the processor, may further implement the steps of: acquiring parameter aging curves corresponding to the reference signals under different environmental stress conditions; performing characteristic extraction on the precursor waveform and the subsequent waveform in each parameter aging curve to obtain a precursor characteristic parameter and a subsequent characteristic parameter; and determining a judgment threshold value corresponding to each characteristic parameter according to the precursor characteristic parameter and the subsequent characteristic parameter to obtain a threshold value set, wherein the threshold value set comprises the judgment threshold values corresponding to each reference signal under different environmental stresses.
In one embodiment of the application, the computer program, when executed by the processor, may further implement the steps of: acquiring environmental stress at the monitoring moment; and determining a judgment threshold corresponding to each reference signal from the threshold set according to the environmental stress at the monitoring moment.
In one embodiment of the application, the computer program, when executed by the processor, may further implement the steps of: arranging and combining a plurality of preset working stresses and a plurality of preset natural environment stresses to obtain a plurality of stress combinations; and carrying out limit test on each structural component of the servo system according to each stress combination to obtain a parameter aging curve corresponding to each reference signal.
The implementation principle and technical effect of the computer-readable storage medium provided in the embodiment of the present application are similar to those of the method embodiment described above, and are not described herein again.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, storage, database or other medium used in the embodiments provided herein can include at least one of non-volatile and volatile memory. Non-volatile Memory may include Read-Only Memory (ROM), magnetic tape, floppy disk, flash Memory, optical storage, or the like. Volatile Memory can include Random Access Memory (RAM) or external cache Memory. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM), among others.
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. A servo system monitoring method is applied to a servo system, the servo system comprises a plurality of structural components, each structural component is reserved with a plurality of monitoring signal ports, and the method comprises the following steps:
acquiring a plurality of reference signals of each structural component obtained through the monitoring signal port, and extracting characteristic parameters of each reference signal;
for each characteristic parameter, acquiring a judgment threshold corresponding to the characteristic parameter;
and determining whether the structural component corresponding to each characteristic parameter has a fault according to each characteristic parameter and the corresponding judgment threshold value.
2. The method of claim 1, wherein after determining whether the structural component corresponding to each of the characteristic parameters has failed according to each of the characteristic parameters and the corresponding determination threshold, the method further comprises:
when a structural component with a fault exists in the plurality of structural components, acquiring all reference signals and characteristic parameters of the structural component with the fault;
and generating an alarm message according to all the reference signals and the characteristic parameters of the structural component with the fault, wherein the alarm message is used for indicating that the structural component with the fault needs to be overhauled.
3. The method of claim 1, wherein after determining whether the structural component corresponding to each of the characteristic parameters is normal according to each of the characteristic parameters and the corresponding determination threshold, the method comprises:
acquiring historical monitoring results of the servo system, wherein the historical monitoring results comprise reference signals and characteristic parameters of the reference signals of the structural components, which are obtained by monitoring each time;
fitting to obtain an aging curve corresponding to each reference signal according to each historical monitoring result;
and predicting the usable life of the structural component corresponding to each reference signal according to the aging curve of each reference signal.
4. The method according to claim 1, wherein before obtaining, for each of the feature parameters, the determination threshold corresponding to the feature parameter, the method further comprises:
acquiring a parameter aging curve corresponding to each reference signal under different environmental stress conditions;
carrying out feature extraction on the precursor waveform and the subsequent waveform in each parameter aging curve to obtain a precursor feature parameter and a subsequent feature parameter;
and determining a judgment threshold value corresponding to each characteristic parameter according to the precursor characteristic parameter and the subsequent characteristic parameters to obtain a threshold value set, wherein the threshold value set comprises the judgment threshold values corresponding to each reference signal under different environmental stresses.
5. The method according to claim 4, wherein the obtaining, for each of the feature parameters, a judgment threshold corresponding to the feature parameter includes:
acquiring environmental stress at the monitoring moment;
and determining a judgment threshold value corresponding to each reference signal from the threshold value set according to the environmental stress at the monitoring moment.
6. The method of claim 4, wherein the environmental stresses include operating stresses and natural environmental stresses, and wherein obtaining a parametric aging curve corresponding to each of the reference signals under different environmental stress conditions further comprises:
arranging and combining a plurality of preset working stresses and a plurality of preset natural environment stresses to obtain a plurality of stress combinations;
and carrying out limit test on each structural component of the servo system according to each stress combination to obtain a parameter aging curve corresponding to each reference signal.
7. A servo monitoring device, the device comprising:
the first acquisition module is used for acquiring a plurality of reference signals of each structural component obtained through the monitoring signal port and extracting characteristic parameters of each reference signal;
the second obtaining module is used for obtaining a judgment threshold corresponding to each characteristic parameter;
and the judging module is used for determining whether the structural component corresponding to each characteristic parameter has a fault according to each characteristic parameter and the corresponding judging threshold value.
8. The apparatus of claim 7, further comprising:
a third obtaining module, configured to obtain all reference signals and characteristic parameters thereof of a failed structural component when the failed structural component exists in the plurality of structural components;
and the warning module is used for generating a warning message according to all the reference signals and the characteristic parameters of the structural component with the fault, and the warning message is used for indicating that the structural component with the fault needs to be overhauled.
9. A computer device comprising a memory and a processor, the memory storing a computer program, wherein the processor implements the steps of the method of any one of claims 1 to 6 when executing the computer program.
10. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method of any one of claims 1 to 6.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010058083.5A CN111290365A (en) | 2020-01-19 | 2020-01-19 | Servo system monitoring method and device, computer equipment and storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010058083.5A CN111290365A (en) | 2020-01-19 | 2020-01-19 | Servo system monitoring method and device, computer equipment and storage medium |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111290365A true CN111290365A (en) | 2020-06-16 |
Family
ID=71021208
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010058083.5A Pending CN111290365A (en) | 2020-01-19 | 2020-01-19 | Servo system monitoring method and device, computer equipment and storage medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111290365A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113341927A (en) * | 2021-06-11 | 2021-09-03 | 江西洪都航空工业集团有限责任公司 | Flight control system servo actuator BIT fault detection method and device |
| CN117310452A (en) * | 2023-11-29 | 2023-12-29 | 中国电子产品可靠性与环境试验研究所（（工业和信息化部电子第五研究所）（中国赛宝实验室）） | Method, device, computer equipment and storage medium for determining electromagnetic signal leakage |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS60101602A (en) * | 1983-11-07 | 1985-06-05 | Shimadzu Corp | Monitor device of control signal |
| US20020088113A1 (en) * | 2001-01-09 | 2002-07-11 | Mirae Corporation | Index head in semiconductor device test handler |
| CN104502856A (en) * | 2014-12-26 | 2015-04-08 | 骐俊通联（厦门）科技有限公司 | Method and system for detecting vehicle storage battery service life |
| CN105352588A (en) * | 2015-09-08 | 2016-02-24 | 北京航空航天大学 | Design of vibration detection system of brushless direct current motor |
| CN206161814U (en) * | 2016-11-15 | 2017-05-10 | 中国电子产品可靠性与环境试验研究所 | Servo motor reliability testing system |
| CN106959394A (en) * | 2017-02-15 | 2017-07-18 | 清华大学 | A kind of high-voltage large-capacity STATCOM state evaluating methods and system |
| CN108051742A (en) * | 2017-12-22 | 2018-05-18 | 中国电子产品可靠性与环境试验研究所 | The condition monitoring system of servo-drive system reliability test process and its abnormal alarm method |
| CN108896913A (en) * | 2018-05-10 | 2018-11-27 | 燕山大学 | A kind of evaluation method of health state of lithium ion battery |
| CN109031014A (en) * | 2017-12-28 | 2018-12-18 | 国网湖北省电力公司宜昌供电公司 | A kind of transformer synthesis reliability assessment and prediction technique based on operation data |
| CN109708872A (en) * | 2017-10-20 | 2019-05-03 | 株洲中车时代电气股份有限公司 | A kind of train gear-box shaft coupling method for diagnosing faults, apparatus and system |
-
2020
- 2020-01-19 CN CN202010058083.5A patent/CN111290365A/en active Pending
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS60101602A (en) * | 1983-11-07 | 1985-06-05 | Shimadzu Corp | Monitor device of control signal |
| US20020088113A1 (en) * | 2001-01-09 | 2002-07-11 | Mirae Corporation | Index head in semiconductor device test handler |
| CN104502856A (en) * | 2014-12-26 | 2015-04-08 | 骐俊通联（厦门）科技有限公司 | Method and system for detecting vehicle storage battery service life |
| CN105352588A (en) * | 2015-09-08 | 2016-02-24 | 北京航空航天大学 | Design of vibration detection system of brushless direct current motor |
| CN206161814U (en) * | 2016-11-15 | 2017-05-10 | 中国电子产品可靠性与环境试验研究所 | Servo motor reliability testing system |
| CN106959394A (en) * | 2017-02-15 | 2017-07-18 | 清华大学 | A kind of high-voltage large-capacity STATCOM state evaluating methods and system |
| CN109708872A (en) * | 2017-10-20 | 2019-05-03 | 株洲中车时代电气股份有限公司 | A kind of train gear-box shaft coupling method for diagnosing faults, apparatus and system |
| CN108051742A (en) * | 2017-12-22 | 2018-05-18 | 中国电子产品可靠性与环境试验研究所 | The condition monitoring system of servo-drive system reliability test process and its abnormal alarm method |
| CN109031014A (en) * | 2017-12-28 | 2018-12-18 | 国网湖北省电力公司宜昌供电公司 | A kind of transformer synthesis reliability assessment and prediction technique based on operation data |
| CN108896913A (en) * | 2018-05-10 | 2018-11-27 | 燕山大学 | A kind of evaluation method of health state of lithium ion battery |
Non-Patent Citations (1)
| Title |
|---|
| 胡湘洪等: "石英加计伺服电路加速退化数据处理方法研究", 《电子产品可靠性与环境试验》 * |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113341927A (en) * | 2021-06-11 | 2021-09-03 | 江西洪都航空工业集团有限责任公司 | Flight control system servo actuator BIT fault detection method and device |
| CN113341927B (en) * | 2021-06-11 | 2022-12-02 | 江西洪都航空工业集团有限责任公司 | Flight control system servo actuator BIT fault detection method and device |
| CN117310452A (en) * | 2023-11-29 | 2023-12-29 | 中国电子产品可靠性与环境试验研究所（（工业和信息化部电子第五研究所）（中国赛宝实验室）） | Method, device, computer equipment and storage medium for determining electromagnetic signal leakage |
| CN117310452B (en) * | 2023-11-29 | 2024-03-26 | 中国电子产品可靠性与环境试验研究所（（工业和信息化部电子第五研究所）（中国赛宝实验室）） | Method, device, computer equipment and storage medium for determining electromagnetic signal leakage |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US20220155373A1 (en) | Motor malfunction monitoring device, drive motor system and motor malfunction monitoring method | |
| KR100514021B1 (en) | Apparatus for diagnosing defect of equipment using signal therefrom | |
| US11269322B2 (en) | Failure diagnosis system | |
| JP2004150440A (en) | Method for performing diagnosis on system | |
| US7912669B2 (en) | Prognosis of faults in electronic circuits | |
| CN111290365A (en) | Servo system monitoring method and device, computer equipment and storage medium | |
| CN111637924B (en) | Detection method and detection device for abnormality of excavator and readable storage medium | |
| WO2008127535A1 (en) | Machine condition monitoring using pattern rules | |
| CN110696990A (en) | Ship generator component influence identification method and system based on data driving | |
| CN113655370A (en) | Method, device and system for determining abnormal test working condition of chip and related equipment | |
| KR101490471B1 (en) | System and method for measuring and diagnosing signal | |
| Pecho et al. | Vibration fault detection of fuel pump using recurrence quantification analysis | |
| CN116298719A (en) | Equipment insulation aging identification method and device, electronic equipment and storage medium | |
| CN113172764B (en) | Monitoring method and system for mixing plant | |
| US20180087489A1 (en) | Method for windmill farm monitoring | |
| CN113035266B (en) | Hard disk performance test method, device, computer equipment and storage medium | |
| CN113678107B (en) | Method and computing device for detecting and locating faults in acquisition systems | |
| KR101781366B1 (en) | System for monitoring vibration and driving parameter of power plant | |
| JP7257928B2 (en) | test equipment | |
| CN109783263B (en) | Method and system for processing aging test fault of server | |
| US10996270B1 (en) | System and method for multiple device diagnostics and failure grouping | |
| CN112737120A (en) | Generation method and device of regional power grid control report and computer equipment | |
| CN117470411A (en) | Temperature monitoring method and semiconductor device | |
| CN113986142B (en) | Disk fault monitoring method, device, computer equipment and storage medium | |
| CN117761442B (en) | Electronic load aging degree testing method, system and testing equipment |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20200616 |
|
| RJ01 | Rejection of invention patent application after publication |