CN116341224A

CN116341224A - Method, system and readable storage medium for designing practical BIT of electromechanical hybrid system

Info

Publication number: CN116341224A
Application number: CN202310243446.6A
Authority: CN
Inventors: 陈圣俭; 宋钱骞; 李焕; 段靖辉; 林枫
Original assignee: Beijing Watertek Information Technology Co Ltd
Current assignee: Beijing Watertek Information Technology Co Ltd
Priority date: 2023-03-14
Filing date: 2023-03-14
Publication date: 2023-06-27

Abstract

The embodiment of the disclosure discloses a practical BIT design method and system for an electromechanical hybrid system and a readable storage medium, wherein the method comprises the following steps: dividing a designed electromechanical hybrid system into one or more detection blocks, and establishing a preliminary fault dictionary of the electromechanical hybrid system; after the electromechanical hybrid system is added into the automatic data acquisition device, each set fault in the preliminary fault dictionary is subjected to simulation test respectively, second characteristic data of monitoring points in each set fault state are obtained, and the first characteristic data in the preliminary fault dictionary are corrected according to the second characteristic data, so that a fault dictionary after first correction is obtained; and after the typical faults are simulated artificially and experimental operation is carried out on the electromechanical hybrid system, actually collecting monitoring point data to obtain third characteristic data, and correcting the fault dictionary data for the second time by using the third characteristic data. The practical problem of the BIT system of the electromechanical hybrid system can be solved.

Description

Method, system and readable storage medium for designing practical BIT of electromechanical hybrid system

Technical Field

The present disclosure relates to the field of testing technology, and more particularly, to a practical BIT design method, system and readable storage medium for an electromechanical hybrid system.

Background

The fault dictionary diagnosis method is to compose a relation array by various possible faults and system response data aiming at each fault condition during pre-test simulation, namely, a certain fault and the response data (or the characteristic data of the response data after secondary processing) are correspondingly stored, and the relation array is called a fault dictionary.

The fault dictionary method is a diagnosis method which can be applied to engineering practice, but for Built-In Test (BIT) design of a complex electromechanical hybrid system, the effective isolation of faults is difficult to realize by the general fault dictionary method, and the real-time performance and the practicability of Test diagnosis are poor.

Disclosure of Invention

The embodiment of the disclosure provides a practical BIT design method of an electromechanical hybrid system, which comprises the following steps:

establishing a preliminary fault dictionary: dividing a designed electromechanical hybrid system into one or more detection blocks, and establishing a preliminary fault dictionary of the electromechanical hybrid system, wherein the preliminary fault dictionary stores identification information of the detection blocks, set faults of each detection block and first characteristic data of monitoring points of software simulation in each set fault state;

correcting a fault dictionary: after the electromechanical hybrid system is detected to be added into an automatic data acquisition device, respectively performing simulation test on each set fault in the preliminary fault dictionary to obtain second characteristic data of monitoring points in each set fault state, and correcting the first characteristic data in the preliminary fault dictionary according to the second characteristic data to obtain a fault dictionary after first correction;

BIT test verification: in the BIT test verification process, fault injection is carried out on the designed electromechanical hybrid system, the injected faults are excitation signals for simulating the equivalent influence result of each set fault in the corrected fault dictionary, and whether faults exist in one or more divided detection blocks is determined.

The disclosed embodiments provide an electromechanical hybrid system utility BIT design system, comprising:

the establishing module is configured to perform establishing the preliminary fault dictionary: dividing a designed electromechanical hybrid system into one or more detection blocks, and establishing a preliminary fault dictionary of the electromechanical hybrid system, wherein the preliminary fault dictionary stores identification information of the detection blocks, set faults of each detection block and first characteristic data of monitoring points of software simulation in each set fault state;

a correction module configured to perform correction of the fault dictionary: after the electromechanical hybrid system is detected to be added into an automatic data acquisition device, respectively performing simulation test on each set fault in the preliminary fault dictionary to obtain second characteristic data of monitoring points in each set fault state, and correcting the first characteristic data in the preliminary fault dictionary according to the second characteristic data to obtain a fault dictionary after first correction;

The verification module is configured to perform BIT test verification: in the BIT test verification process, fault injection is carried out on the designed electromechanical hybrid system, the injected faults are excitation signals which simulate the equivalent influence result of each specific fault in the corrected fault dictionary, and whether one or more divided detection blocks have faults or not is determined.

The disclosed embodiments provide a computer readable storage medium having stored thereon computer instructions which when executed by a processor implement the steps of the method of any of the embodiments.

Compared with the prior art, the practical BIT design method, system and readable storage medium for the electromechanical hybrid system provided by at least one embodiment of the present disclosure have the following beneficial effects:

the designed electromechanical hybrid system is divided into one or more detection blocks, the detection blocks are the fault range where the designed electromechanical hybrid system needs to be isolated and positioned, a fault dictionary is established through the divided detection blocks, fault detection is carried out on each detection block through the fault dictionary, fault diagnosis can be carried out on a stack of components or a plurality of components as a whole, judgment is carried out on one component or another component, effective isolation of built-in test faults of the complex electromechanical hybrid system is achieved, and real-time requirements of the test are met. And after the fault dictionary is established through software simulation, the fault dictionary in pure theory is corrected and perfected to obtain a practical fault dictionary, so that the practical problem of the BIT system is solved.

Additional features and advantages of the disclosure will be set forth in the description which follows, and in part will be apparent from the description, or may be learned by practice of the disclosure. Other advantages of the present disclosure may be realized and attained by the structure particularly pointed out in the written description and drawings.

Drawings

The accompanying drawings are included to provide an understanding of the technical aspects of the present disclosure, and are incorporated in and constitute a part of this specification, illustrate the technical aspects of the present disclosure and together with the embodiments of the disclosure, not to limit the technical aspects of the present disclosure.

FIG. 1 is a flow chart of a method for designing a practical BIT for an electromechanical hybrid system provided by embodiments of the present disclosure;

FIG. 2 is a schematic diagram of the partitioning of a detection block of an electromechanical hybrid system of the design provided by embodiments of the present disclosure;

FIG. 3 is a schematic diagram of a BIT system design flow provided by an embodiment of the disclosure;

fig. 4 is a block diagram of an electromechanical hybrid system practical BIT design system provided in an embodiment of the present disclosure.

Detailed Description

The present disclosure describes several embodiments, but the description is illustrative and not limiting, and it will be apparent to those of ordinary skill in the art that many more embodiments and implementations are possible within the scope of the embodiments described in the present disclosure. Although many possible combinations of features are shown in the drawings and discussed in the detailed description, many other combinations of the disclosed features are possible. Any feature or element of any embodiment may be used in combination with or in place of any other feature or element of any other embodiment unless specifically limited.

The present disclosure includes and contemplates combinations of features and elements known to those of ordinary skill in the art. The embodiments, features and elements of the present disclosure that have been disclosed may also be combined with any conventional features or elements to form a unique inventive arrangement as defined by the claims. Any feature or element of any embodiment may also be combined with features or elements from other inventive arrangements to form another unique inventive arrangement as defined in the claims. Thus, it should be understood that any of the features shown and/or discussed in this disclosure may be implemented alone or in any suitable combination. Accordingly, the embodiments are not to be restricted except in light of the attached claims and their equivalents. Further, various modifications and changes may be made within the scope of the appended claims.

Furthermore, in describing representative embodiments, the specification may have presented the method and/or process as a particular sequence of steps. However, to the extent that the method or process does not rely on the particular order of steps set forth herein, the method or process should not be limited to the particular sequence of steps described. Other sequences of steps are possible as will be appreciated by those of ordinary skill in the art. Accordingly, the particular order of the steps set forth in the specification should not be construed as limitations on the claims. Furthermore, the claims directed to the method and/or process should not be limited to the performance of their steps in the order written, and one skilled in the art can readily appreciate that the sequences may be varied and still remain within the spirit and scope of the embodiments of the present disclosure.

Fig. 1 is a flowchart of an electromechanical hybrid system practical BIT design method provided in an embodiment of the present disclosure, and as shown in fig. 1, the electromechanical hybrid system practical BIT design method may include: s101, S102, and S103.

S101: establishing a preliminary fault dictionary: the designed electromechanical hybrid system (which may be referred to as a target system) is divided into one or more detection blocks, and a preliminary fault dictionary of the designed electromechanical hybrid system is established.

The preliminary fault dictionary stores identification information of the detection blocks, set faults of each detection block, and first characteristic data of monitoring points of software simulation under each set fault state.

The current fault dictionary can be applied to engineering practice, and mainly uses a certain component or part as a unit to realize fault diagnosis of built-in test. However, for Built-In Test (BIT) design of a complex electromechanical hybrid system, tolerance exists In component parameters, tolerance exists In component or assembly size and quality, or modeling errors of individual components or assemblies are relatively large or cannot be modeled, so that effective fault isolation is difficult to achieve by the current fault dictionary method, and real-time performance and practicality of Test diagnosis are poor.

In the embodiment of the disclosure, the detection block of the designed electromechanical hybrid system can be determined according to at least one of the composition, the structure and the working principle of the designed electromechanical hybrid system (such as a complex electromechanical hybrid system) and the coupling relation of the information flow, the energy flow and the control flow links among the parts of the system, and the requirement of a user on the size of the fault locating range is combined, and the detection block is the fault range to which the designed electromechanical hybrid system needs to be isolated and located. The designed electromechanical hybrid system is a system that requires BIT design, and may be referred to as a target system.

Fig. 2 is a schematic diagram of division of detection blocks of the designed electromechanical hybrid system according to the embodiment of the present disclosure, and as shown in fig. 2, the designed electromechanical hybrid system may be divided into one or more detection blocks, such as block 1, block 2, and block … … of fig. 1. The test block of fig. 1 may be a functional unit circuit or may be a mechanical part, assembly or complex, such as in a complex electromechanical arming system, the entire engine may be considered a test block.

The fault dictionary can be established through divided detection blocks, fault detection is carried out on each detection block through the fault dictionary, fault diagnosis can be carried out on a stack of components or a plurality of parts as a whole, judgment is not carried out on one component or one part, effective isolation of built-in test faults of the complex electromechanical hybrid system is achieved, and the real-time requirements of the test are met.

In an example embodiment of the present disclosure, establishing a preliminary fault dictionary for a designed electromechanical hybrid system may include:

determining at least one set fault of each detection block according to the fault mode, influence and hazard analysis (Failure Mode Effects and Criticality Analysis, FMECA for short); setting each set fault through software simulation, and acquiring first characteristic data of a monitoring point in each set fault state; and correspondingly storing the set faults and the first characteristic data of the monitoring points in the set fault states, and establishing a preliminary fault dictionary of the designed electromechanical hybrid system.

After the detection blocks are divided for the designed electromechanical hybrid system, typical faults of each detection block, which are representative faults, can be set according to the analysis result of the FMECA. For example, using the entire engine as a test block, typical faults associated with the engine may include: the engine cannot be started, the engine temperature is high, etc. Typical faults of each detection block are set according to the analysis result of the FMECA, and the types and the number of the modes for setting faults are comprehensive and wide.

In the simulation, a group of monitoring point response data is arranged corresponding to each set fault, and the characteristic data of the monitoring points simulated by the software in each fault state can be called first characteristic data through analysis and comparison of the response data of each monitoring point.

The fault dictionary may be built by software simulation: setting each set fault parameter through software simulation, obtaining simulation data of each monitoring point, establishing after feature extraction processing, and storing each typical fault and a feature data corresponding list of the monitoring points simulated by the software in each fault state to form a fault dictionary.

S102: correcting a fault dictionary: after the electromechanical hybrid system is detected to be added into the automatic data acquisition device, each set fault in the fault dictionary is subjected to simulation test respectively, second characteristic data of monitoring points in each set fault state are obtained, and the first characteristic data in the preliminary fault dictionary are corrected according to the second characteristic data, so that the fault dictionary after the first correction is obtained.

The corrected fault dictionary may be used to determine whether there is a fault in the partitioned one or more test blocks during BIT test validation.

The preliminary fault dictionary of the embodiment is established by setting each fault parameter through software and obtaining simulation data of each monitoring point after feature extraction processing, and is a purely theoretical fault dictionary. In addition, the influence of the automatic acquisition circuit of the parameter data of the monitoring points on the originally designed electromechanical hybrid system, the influence of the addition of the vibration sensor and the like on the vibration of the originally designed electromechanical hybrid system and the like are caused by the tolerance of the component parameters in the actual system, the dimensional quality of the components or the assembly and the like, and the modeling error of the individual components or the assembly is relatively large or cannot be modeled, so that the situation of a purely theoretical fault dictionary and actual equipment is greatly different.

According to the embodiment of the disclosure, after the fault dictionary is established through software simulation, the fault dictionary in pure theory can be corrected and perfected to obtain a practical fault dictionary, so that the practical problem of the BIT system is solved.

In an example embodiment of the present disclosure, after detecting that the designed electromechanical hybrid system is provided with the acquisition device, performing a simulation test on each set fault of the designed electromechanical hybrid system, and acquiring second characteristic data of the monitoring point acquired by the acquisition device in each set fault state.

The response data of each monitoring point can be obtained by arranging an automatic data acquisition device such as a monitoring circuit or a monitoring sensor, and the like, and the established preliminary fault dictionary is corrected for the first time. After the designed electromechanical hybrid system is placed into an automatic data acquisition device such as an acquisition circuit or an acquisition sensor, the designed electromechanical hybrid system is set with a set fault to carry out simulation test, the data acquired by each monitoring point at the moment is subjected to secondary processing, and the characteristics of the data are extracted to obtain second characteristic data. And when the second characteristic data of the same monitoring point is different from the first characteristic data of the pure theoretical simulation, the second characteristic data is used as the reference, and the fault dictionary database is built again.

In an example embodiment of the present disclosure, correcting the first feature data in the preliminary fault dictionary according to the second feature data to obtain a fault dictionary after the first correction may include:

comparing the second characteristic data of the same monitoring point with the first characteristic data under each set fault state; when the difference between the first characteristic data and the second characteristic data of a certain same monitoring point exceeds a set range, the first characteristic data of the monitoring point is replaced by the second characteristic data, and a fault dictionary after first correction is obtained.

And when the second characteristic data of the same monitoring point is different from the first characteristic data of the pure theoretical simulation, the second characteristic data is used as the reference, and the fault dictionary database is built again. The setting range may be determined according to empirical values, and the embodiments of the present disclosure are not limited and described herein.

In an example embodiment of the present disclosure, after detecting that the electromechanical hybrid system is added to the automatic data collection device, the method may further include:

sending or displaying a reminder for manually simulating the set typical faults of the electromechanical hybrid system to a user, and performing experimental operation after detecting the set typical faults of the electromechanical hybrid system, so as to acquire experimental operation data of a monitoring point, namely third characteristic data; and correcting the second characteristic data in the fault dictionary after the first correction according to the third characteristic data to obtain the fault dictionary after the second correction.

The actual monitoring data of each monitoring point in the designed electromechanical hybrid system experimental operation state can be obtained through experimental operation, and the established fault dictionary is subjected to secondary correction. When the modeling error of the individual modules or components of the designed electromechanical hybrid system is large, the modules or components in the designed electromechanical hybrid system are subjected to artificial fault setting simulation, a system operation experiment is carried out, monitoring point data are actually collected in the operation experiment, and feature extraction is carried out on the monitoring data, so that third feature data are obtained. And when the third characteristic data of the same monitoring point is different from the first characteristic data or the second characteristic data of the pure theoretical simulation, establishing a fault dictionary database again based on the third characteristic data.

In an example embodiment of the present disclosure, correcting the fault dictionary may include: (1) After the automatic data acquisition device is added to the target system, respectively performing simulation test on each set fault in the preliminary fault dictionary to obtain second characteristic data of the monitoring point under each set fault state, and correcting the first characteristic data in the fault dictionary according to the second characteristic data to obtain the fault dictionary after the first correction. (2) After the automatic data acquisition device is added to the target system, the third characteristic data of the monitoring point in the running state is obtained by manually simulating some typical faults of the target system and performing experimental running, and the second characteristic data in the fault dictionary is corrected according to the third characteristic data, so that the fault dictionary after secondary correction is obtained.

The accuracy of the established fault dictionary can be improved by carrying out the first correction and the second correction on the initially established fault dictionary for twice, so that the effective isolation of built-in test faults of the complex electromechanical hybrid system is realized, and the real-time requirement of the test is met.

In an example embodiment of the present disclosure, correcting the second feature data in the fault dictionary after the first correction according to the third feature data to obtain the fault dictionary after the second correction may include:

comparing the third characteristic data of the same monitoring point with the second characteristic data under each set fault state; and when the difference between the second characteristic data and the third characteristic data of a certain same monitoring point exceeds a set range, replacing the second characteristic data of the monitoring point with the third characteristic data to obtain a fault dictionary after the second correction.

And when the third characteristic data of the same monitoring point is different from the second characteristic data in the fault dictionary after the first correction, establishing a fault dictionary database again based on the third characteristic data. The setting range may be determined according to empirical values, and the embodiments of the present disclosure are not limited and described herein.

S103: BIT test verification: in the BIT test verification process, fault injection is carried out on the designed electromechanical hybrid system, the injected faults are excitation signals for simulating the equivalent influence result of each set fault in the corrected fault dictionary, and whether faults exist in one or more divided detection blocks is determined. Wherein the set fault may be some specific typical fault.

The correctness of the BIT system design can be verified based on the corrected fault dictionary. When a designed electromechanical hybrid system truly generates a certain fault set in a fault dictionary, whether the BIT system can accurately detect and diagnose and accurately isolate and position the detection block to which the BIT system belongs is verified.

After the primary fault dictionary is corrected only once, the corrected dictionary is the first corrected dictionary. After the primary fault dictionary is corrected for the first time and the second time, the corrected dictionary is the dictionary after the second time correction.

A fault may be simulated by a link layer fault injection system, which applies different excitation signals to the link nodes of the designed electromechanical hybrid system, depending on the different fault conditions set in the designed electromechanical hybrid system, known as the fault injection system.

In practical applications, it is not easy to simulate a certain fault in a real system, such as a sudden change of a physical parameter in an electronic component or an internal defect fault of a certain component, so that it is very difficult to simulate the fault manually.

Because faults are difficult to realistically implement at the underlying or internal physical level, embodiments of the present disclosure may contemplate de-modeling implementations from a higher level to approximate the realistically simulated possible faults. The effect of the fault can be simulated from a higher layer, such as from the information layer, the energy layer or the control layer, if the effect at this level is the same as the effect caused by the underlying physical fault, i.e. the concept of the effect result.

Because the interrelationship, interaction, and their response signals to external outputs, etc., among the various components, parts or assembly units, are ultimately embodied above the information, energy or control layers throughout the target system to be designed, such as the designed electromechanical hybrid system. The simulation method of the equivalent influence result is equivalent to an external response test after the excitation signal is applied to the black box, namely, specific structural functions and the like in the black box are ignored, and only the response condition of the black box to the outside under certain excitation is focused.

The principles of fault injection may include: according to the influence effect condition generated by a fault, an excitation signal with a specific size is externally added on a designated link layer node so as to simulate the equivalent influence result of the fault.

In an example embodiment of the present disclosure, during BIT testing, fault injection into a designed electromechanical hybrid system to determine whether there is a fault in one or more of the partitioned detection blocks may include:

after fault injection, collecting monitoring data of each monitoring point, and obtaining fourth characteristic data through characteristic extraction; determining whether the divided one or more detection blocks have faults through a rule-based diagnosis method and combining a corrected fault dictionary.

After fault injection is implemented, each monitoring point T is automatically collected _Mi And T _i Feature data (i.e., fourth feature data) is obtained by feature extraction, and the fault condition can be determined by combining rule-based diagnosis rules with comparison of the feature data stored in the corrected fault dictionary.

The feature data (such as the first feature data, the second feature data, the third feature data or the fourth feature data) is data obtained by extracting features from the monitoring data of the monitoring point. Simulation data (response data) T acquired for each monitoring point _Mi And T _i A certain secondary processing is performed to obtain a smaller amount of data which is more representative or more representative of the attribute features, called feature extraction. The specific feature extraction method to be adopted is based on the methodThe physical meaning and specific meaning of the monitoring point monitoring data are determined, for example, the average value, the effective value, the variance, the standard deviation, the skewness, the peak value, the kurtosis, the frequency component, the power spectrum and other frequency spectrum characteristics are extracted.

In an example embodiment of the present disclosure, after fault injection, the method may further include:

the fault detection rate and the fault isolation rate are statistically analyzed; when the fault detection rate and the fault isolation rate meet the design requirements, BIT design is completed; and when one of the fault detection rate and the fault isolation rate does not meet the design requirement, the steps of establishing a preliminary fault dictionary, correcting the fault dictionary and carrying out BIT test verification are re-executed until BIT design is completed.

Test verification of a BIT system may include: BIT system fault injection test, statistical analysis detection rate, isolation rate and the like.

Through multiple fault injection experiments, the designed BIT system fault detection rate, fault isolation rate and fault positioning effect conditions can be verified. The fault detection rate, the fault isolation rate and the fault positioning effect of the BIT system (such as the designed electromechanical hybrid system) designed through multiple fault injection verification can adopt the existing scheme, and the embodiment is not limited and described in detail herein.

Whether BIT design is finished can be judged by verifying whether indexes such as fault detection rate, isolation rate and the like meet requirements. The existing scheme can be adopted to verify whether the indexes such as the fault detection rate, the isolation rate and the like meet the requirements, and the embodiment is not limited and repeated here.

If the test verification of the fault injection system shows that the designed BIT system can not meet the index requirements of fault detection rate, isolation rate and the like, the steps of establishing the fault dictionary, correcting the fault dictionary and BIT test verification are required to be re-executed, and iterative perfecting design is performed again.

In an example embodiment of the present disclosure, when the steps of establishing the preliminary fault dictionary, correcting the fault dictionary, and BIT test verification are re-performed, at least one implementation of the following may be further included:

repartitioning fault detection blocks, changing part or all of the positions of the monitoring points, increasing or decreasing the number of the monitoring points, adopting different characteristic expressions for the monitoring point data, or adopting different algorithms with the same characteristic for the monitoring point data.

The iteratively refined content may include: the detection blocks of the electromechanical hybrid system are divided again, the positions of individual or all monitoring points are changed, the number of the monitoring points is increased or reduced, different characteristic expressions (different secondary data processing methods) are adopted for the monitoring point data, or different algorithms of the same characteristic are adopted (for example, the characteristic data are obtained by taking an average value, and different average value algorithms can be adopted for the monitoring data to take an average value) until the design index requirement is met.

According to the practical BIT design method for the electromechanical hybrid system, the designed electromechanical hybrid system is divided into one or more detection blocks, the detection blocks are fault ranges to which the designed electromechanical hybrid system needs to be isolated and positioned, a fault dictionary is established through the divided detection blocks, fault detection is carried out on each detection block through the fault dictionary, fault diagnosis can be carried out on a stack of components or a plurality of components as a whole, judgment is not carried out on one component or one component, effective isolation of built-in test faults of the complex electromechanical hybrid system is achieved, and real-time requirements of the test are met. And after the fault dictionary is established through software simulation, the fault dictionary in pure theory is corrected and perfected to obtain a practical fault dictionary, so that the practical problem of the BIT system is solved.

In an example embodiment of the present disclosure, as shown in fig. 2, each detection block may be provided with two types of monitoring points, one type of monitoring point T _i (T as in FIG. 2) ₁ 、T ₂ ……T ₈ ) Is positioned in the detection block and is provided with another type of monitoring point T _Mi (T as in FIG. 2) _M1 、T _M2 ……T _M11 ) And i is a positive integer at the joint of the two detection blocks.

The monitoring points can be divided into two types, one is the monitoring point T at the joint between the detection blocks _Mi May be referred to as an output monitoring point. Another category belongs to the supplementary monitoring point T _i ，T _i Located inside each detection block, which may be referred to as internal monitoringAnd (5) a dot. In the simulation, a group of monitoring points T are arranged corresponding to each set fault _Mi Response data and a set of monitoring points T _i The response data can be analyzed and compared with the response data of each monitoring point to locate the fault into a certain fault dictionary block, and the fault location and isolation can be realized.

The response data of the monitoring points can be determined according to actual conditions, and for an electronic information system, the response data of the monitoring points can take the voltage or level value of the response data; for non-electric systems such as machinery, hydraulic pressure, optics and the like, each monitoring point needs to monitor specific parameters, and the specific parameters need to be selected according to the positioning requirements of faults, such as pressure, flow rate, displacement, illuminance, temperature or vibration acceleration and the like.

In an example embodiment of the present disclosure, acquiring the first characteristic data of the monitoring point in each set fault state may include:

acquiring simulation data of monitoring points in each set fault state; and carrying out secondary processing on the simulation data of each monitoring point within a preset time period to obtain first characteristic data of the monitoring point.

Simulation data (response data) T acquired for each monitoring point _Mi And T _i A certain secondary processing is performed to obtain a smaller amount of data which is more representative or more representative of the attribute features, called feature extraction. The specific feature extraction method is determined according to the physical meaning and specific meaning of the monitoring point monitoring data, for example, the spectrum features of mean value, effective value, variance, standard deviation, skewness, peak value, kurtosis, frequency component, power spectrum and the like are extracted.

In an example embodiment of the present disclosure, the secondary treatment may include, but is not limited to, the following: such as averaging, maximizing, minimizing, or spectral analysis, etc.

The average value or maximum value processing method can be adopted when the temperature of the central processing unit (Central Processing Unit, CPU for short) is monitored. The voltage of a certain node of the monitoring circuit can adopt a mean value or interval value processing method, and the maximum value and the minimum value of a plurality of monitoring data of the node are taken to form a monitoring interval value. The abnormal condition of the engine is monitored, the vibration data of the engine can be subjected to spectrum analysis, and the specific fault condition of the engine can be determined by comparing the different conditions of the spectrums. Taking the fault condition of the monitoring engine as an example, the basis for judging the fault of the monitoring engine can be parameters of different dimensions or the combination of multidimensional parameters, and the monitoring engine can be specifically determined by combining software simulation, simulation running experiments and the like, and the embodiment of the disclosure is not limited and described in detail herein.

The feature extraction manners of the second feature data, the third feature data and the fourth feature data are the same as those of the first feature data, and the embodiment is not limited and described in detail herein.

In an example embodiment of the present disclosure, determining whether the divided one or more detection blocks have a fault by a rule-based diagnostic rule in combination with the corrected fault dictionary may include:

in the BIT test verification process, determining whether one or more divided detection blocks have faults or not based on preset rules; when the fault cannot be determined based on the preset rule, the corrected fault dictionary is consulted to determine whether one or more divided detection blocks have faults. Whether the detection block of the designed electromechanical hybrid system fails or not can be positioned based on the set rule, and when the failure cannot be determined based on the judgment of the set rule, the failure is positioned by referring to the corrected failure dictionary. After the primary fault dictionary is corrected only once, the corrected dictionary is the dictionary after the first correction. After the primary fault dictionary is corrected for the first time and the second time, the corrected dictionary is the dictionary after the second time correction.

In an example embodiment of the present disclosure, consulting the corrected fault dictionary to determine whether the partitioned one or more detection blocks are faulty may include:

Comparing the fourth characteristic data of the same monitoring point with the characteristic data stored in the corrected fault dictionary; and when the difference between the fourth characteristic data of the same monitoring point and the characteristic data stored in the corrected fault dictionary is in a set range, referring to the corrected fault dictionary, acquiring a set fault and a detection block corresponding to the characteristic data in the corrected fault dictionary, and determining that the detection block has the set fault.

After the primary fault dictionary is corrected only once, the characteristic data of the corrected dictionary is second characteristic data. After the primary fault dictionary is corrected for the first time and the second time, the characteristic data of the corrected dictionary is third characteristic data.

Based on the corrected fault dictionary, it is possible to locate whether the detection block of the designed electromechanical hybrid system is faulty. When fault diagnosis is actually carried out, after the actual response data of the designed electromechanical hybrid system is obtained through online testing, the actual test data or the characteristic data (fourth characteristic data) thereof is compared with the characteristic data (second characteristic data or third characteristic data) stored in a fault dictionary, the set fault corresponding to the characteristic data with the difference of the fourth characteristic data within the set range in the fault dictionary is the diagnosis fault, and the detection block corresponding to the characteristic data in the fault dictionary is the fault block.

In an example embodiment of the present disclosure, determining whether the divided one or more detection blocks have a failure based on a preset rule may include at least one of:

when the test data of the monitoring point Ti in a certain detection block is normal, but the test data of the output monitoring point TMi of the detection block is abnormal, judging that the fault occurs in the last output stage of the detection block, or determining that the fault occurs in the next stage or the later stage of the last output stage of the detection block;

when the test data of the monitoring point Ti in a certain detection block is abnormal and the test data of the output monitoring point TMi of the detection block is also abnormal, judging that a fault occurs in the detection block;

when the test data of the monitoring point Ti in a certain detection block is abnormal, but the test data of the output monitoring point TMi of the detection block is normal, the fault is judged to occur in the detection block.

Whether a detection block of the BIT system fails may be located based on set rules. As the detection block shown in fig. 2, the fault diagnosis rule may include the following:

at a monitoring point T inside a certain detection block _i The test data is normal, but the detection block outputs a monitoring point T _Mi When the test data is abnormal, the fault can be determined to occur at the last output stage of the detection block or at the next stage or even at the later stage.

Testing monitoring point T in certain detection block _i Abnormal test data and the output monitoring point T of the detection block _Mi When the test data is also abnormal, it can be determined that a fault occurs within the present detection block.

Testing monitoring point T in certain detection block _i The test data is abnormal, but the detection block outputs a monitoring point T _Mi When the test data is normal, it can be determined that a fault occurs in the present test block, and the reason for this is that the fault is masked by specific logic or that the fault is not sensitively propagated.

In an exemplary embodiment of the present disclosure, when a fault cannot be determined based on a judgment of a set rule and a fault block cannot be accurately located by looking up a fault dictionary, a multiple fault condition generally exists at this time, and a plurality of detection blocks that may be faulty are given according to the preset rule to determine the multiple fault condition.

Fig. 3 is a schematic diagram of a BIT system design flow provided in an embodiment of the present disclosure, and as shown in fig. 3, may include:

s301: and (5) preliminary establishment of a fault dictionary. The preliminary establishment of the fault dictionary may include: system blocking, fault setting, test point (monitoring point) selection and monitoring data feature extraction.

The system partitioning may include: according to the composition, structure and working principle of the designed electromechanical hybrid system (namely the system needing BIT design) and the coupling relation of information flow, energy flow and control flow links among all parts of the system, and combining the requirements of users on the size of the fault locating range, the detection block of the designed electromechanical hybrid system is determined, and the detection block is the fault range which the BIT system needs to be isolated and located.

The fault settings may include: after the designed electromechanical hybrid system is divided into detection blocks, typical faults of each dictionary block can be set according to the analysis result of FMECA, and the types and the number of the set faults are as comprehensive and wide as possible, and are representative.

Site selection may include: the monitoring points can be divided into two types, one is the monitoring point T at the joint between the detection blocks _Mi Another category belongs to the supplementary monitoring point T _i ，T _i Is positioned inside each detection block. In the simulation, a group of monitoring points T are arranged corresponding to each set fault _Mi Response data and a set of monitoring points T _i The response data can be analyzed and compared with the response data of each monitoring point to locate the fault into a certain fault dictionary block, and the fault location and isolation can be realized.

Monitoring data feature extraction may include: simulation data (response data) T acquired for each monitoring point _Mi And T _i A certain secondary processing is performed to obtain a smaller amount of data which is more representative or more representative of the attribute features, called feature extraction. The specific feature extraction method is determined according to the physical meaning and specific meaning of the monitoring point monitoring data, for example, the spectrum features of mean value, effective value, variance, standard deviation, skewness, peak value, kurtosis, frequency component, power spectrum and the like are extracted.

Monitoring point T for simulating software in each typical fault and each fault state listed above _Mi And T _i The corresponding list of the characteristic data is stored to form a preliminary fault dictionary.

S302: and (5) perfect design of a fault dictionary. The perfect design of the fault dictionary can be realized by the following modes: after an automatic data acquisition device such as a monitoring circuit or a monitoring sensor is arranged in a target system, performing software simulation test; after a monitoring circuit or a monitoring sensor is arranged on the target system, the test operation acquires actual monitoring data.

The perfect design of the fault dictionary can be realized by the following modes:

first,: an automatic data acquisition monitoring circuit or a monitoring sensor device is arranged. The established fault dictionary can be corrected by arranging a monitoring circuit or a monitoring sensor and other acquisition devices. After the designed target system is placed into an automatic data acquisition circuit or an acquisition device such as an acquisition sensor, the set fault of the target system is set for simulation test, the data acquired by each monitoring point at the moment are subjected to secondary processing, and the characteristics of the data are extracted to obtain second characteristic data. And when the second characteristic data of the same monitoring point is different from the first characteristic data of the pure theoretical simulation, the second characteristic data is used as the reference, and the fault dictionary database is built again.

Secondly: and (5) acquiring monitoring data by test operation. The actual monitoring data of each monitoring point in the designed target system experimental operation state can be obtained through experimental operation, and the established fault dictionary is corrected. When the modeling error of the individual modules or components of the designed electromechanical hybrid system is large, carrying out artificial specific typical fault simulation on the modules or components in the designed electromechanical hybrid system, carrying out a system operation experiment, actually collecting monitoring point data in the operation experiment, and carrying out feature extraction on the monitoring data to obtain third feature data. And when the third characteristic data of the same monitoring point is different from the first characteristic data or the second characteristic data of the pure theoretical simulation, establishing a fault dictionary database again based on the third characteristic data.

S303: and (5) testing and verifying the BIT system. Test verification of a BIT system may include: BIT system fault injection test, statistical analysis detection rate, isolation rate and the like.

The principle of fault injection includes: according to the effect of a fault, on the designated link layer node, outsideAn excitation signal of a specific magnitude is added to simulate the equivalent impact result of the fault. After fault injection is implemented, each monitoring point T is automatically collected _Mi And T _i Feature extraction is performed to obtain feature data, and the fault condition can be judged by combining the comparison of the feature data stored in the fault dictionary with a rule-based diagnosis rule.

Through multiple fault injection experiments, the designed BIT system fault detection rate, fault isolation rate and fault positioning effect conditions can be verified. The fault detection rate, the fault isolation rate and the fault positioning effect of the BIT system designed through multiple fault injection verification can adopt the existing scheme, and the embodiment is not limited and described in detail herein.

S304: judging whether the index meets the requirement. If yes, executing S305; otherwise, S301 is performed.

S305: and (5) finishing the design.

And through verification, the BIT system meeting the index requirements of fault detection rate, isolation rate and the like is the final BIT design system.

If the test verification of the fault injection system proves that the designed BIT system can not meet the index requirements of fault detection rate, isolation rate and the like, the iterative perfection design is needed to be carried out again.

The iteratively refined content may include: repartitioning fault detection blocks, changing the positions of individual monitoring points, increasing the number of the monitoring points, adopting different characteristic expressions (secondary data processing methods) or adopting different algorithms of the same characteristic for the monitoring point data until the design index requirement is met.

FIG. 4 is a block diagram of an exemplary embodiment of an electromechanical hybrid system practical BIT design system, as shown in FIG. 4, which may include: a setup module 41, a correction module 42 and a verification module 43.

The establishing module is configured to perform establishing the preliminary fault dictionary: dividing a designed electromechanical hybrid system into one or more detection blocks, and establishing a preliminary fault dictionary of the designed electromechanical hybrid system, wherein the preliminary fault dictionary stores identification information of the detection blocks, set faults of each detection block and first characteristic data of monitoring points of software simulation under each set fault state;

A correction module configured to perform correction of the fault dictionary: after the electromechanical hybrid system is detected to be added into the automatic data acquisition device, respectively performing simulation test on each set fault in the preliminary fault dictionary to obtain second characteristic data of monitoring points in each set fault state, and correcting the first characteristic data in the fault dictionary according to the second characteristic data to obtain a fault dictionary after first correction;

the verification module is configured to perform BIT test verification: in the BIT test verification process, fault injection is carried out on the designed electromechanical hybrid system, the injected faults are excitation signals for simulating the equivalent influence result of each set fault in the corrected fault dictionary, and whether faults exist in one or more divided detection blocks is determined.

The built-in test design system provided in the embodiments of the present disclosure is used to implement the technical solution of the method embodiment shown in fig. 1, and its implementation principle and implementation effect are similar, and are not repeated here.

In an example embodiment of the present disclosure, the correcting module corrects the first feature data in the preliminary fault dictionary according to the second feature data to obtain a fault dictionary after the first correction, and may include:

Comparing the second characteristic data of the same monitoring point with the first characteristic data under each set fault state;

when the difference between the first characteristic data and the second characteristic data of a certain same monitoring point exceeds a set range, the first characteristic data of the monitoring point is replaced by the second characteristic data, and a fault dictionary after first correction is obtained.

In an example embodiment of the disclosure, the correction module is further configured to: :

after the electromechanical hybrid system is detected to be added into an automatic data acquisition device, the fault dictionary after the first correction is subjected to secondary correction:

sending or displaying a reminder for manually simulating the set typical faults of the electromechanical hybrid system to a user, and performing test operation after detecting the typical fault operation set by the user in a straight line to acquire test operation data of a monitoring point, namely third characteristic data; and correcting the second characteristic data in the fault dictionary after the first correction according to the third characteristic data to obtain the fault dictionary after the second correction.

In an example embodiment of the present disclosure, the correcting module corrects the second feature data in the fault dictionary after the first correction according to the third feature data to obtain the fault dictionary after the second correction, and may include:

Comparing the third characteristic data of the same monitoring point with the second characteristic data under each set fault state;

and when the difference between the second characteristic data and the third characteristic data of a certain same monitoring point exceeds a set range, replacing the second characteristic data of the monitoring point with the third characteristic data to obtain a fault dictionary after the second correction.

In an example embodiment of the present disclosure, the verifying module performs fault injection to the designed electromechanical hybrid system during BIT test verification, and determining whether the divided one or more detection blocks have faults may include:

after fault injection, collecting monitoring data of each monitoring point, and obtaining fourth characteristic data through characteristic extraction;

determining whether the divided one or more detection blocks have faults through a rule-based diagnosis method and combining a corrected fault dictionary.

In an example embodiment of the present disclosure, the verifying module determining whether the divided one or more detection blocks have a fault through a rule-based diagnosis rule in combination with the corrected fault dictionary may include:

in the BIT test process, determining whether one or more divided detection blocks have faults or not based on preset rules;

When the fault cannot be determined based on the preset rule, the corrected fault dictionary is consulted to determine whether one or more divided detection blocks have faults.

In an example embodiment of the present disclosure, the verifying module consulting the corrected fault dictionary to determine whether the divided one or more detection blocks have faults may include:

comparing the fourth characteristic data of the same monitoring point with the characteristic data stored in the corrected fault dictionary;

and when the difference between the fourth characteristic data of a certain same monitoring point and the characteristic data stored in the corrected fault dictionary is in a set range, referring to the corrected fault dictionary, acquiring a set fault and a detection block corresponding to the characteristic data in the corrected fault dictionary, and determining that the detection block has the set fault.

In an example embodiment of the present disclosure, each detection block is provided with two types of monitoring points, one type of monitoring point T _i Is positioned in the detection block and is provided with another type of monitoring point T _Mi The connecting part is positioned at the joint of the two detection blocks; the verification module determines whether the divided one or more detection blocks have faults based on preset rules, and the verification module comprises at least one of the following components:

at a monitoring point T inside a certain detection block _i The test data is normal, but the detection block outputs a monitoring point T _Mi When the test data is abnormal, judging that the fault occurs in the last output stage of the detection block, or determining that the fault occurs in the next stage or the later stage of the last output stage of the detection block;

at a monitoring point T inside a certain detection block _i Abnormal test data and the output monitoring point T of the detection block _Mi When the test data is abnormal, judging that a fault occurs in the detection block;

at a monitoring point T inside a certain detection block _i The test data is abnormal, but the detection block outputs a monitoring point T _Mi And when the test data are normal, judging that the fault occurs in the detection block.

In an example embodiment of the disclosure, the verification module is further to:

after fault injection, the fault detection rate and the fault isolation rate are statistically analyzed;

when the fault detection rate and the fault isolation rate meet the design requirements, BIT design is completed;

and when one of the fault detection rate and the fault isolation rate does not meet the design requirement, re-executing the steps of establishing a preliminary fault dictionary, correcting the fault dictionary and BIT test verification until BIT design is completed.

In an example embodiment of the disclosure, the verification module is further to: and when the steps of establishing the preliminary fault dictionary, correcting the fault dictionary and BIT test verification are re-executed, executing at least one implementation mode of the following:

In an example embodiment of the present disclosure, the establishing module establishes a preliminary fault dictionary for the electromechanical hybrid system may include:

determining at least one set fault of each detection block according to the fault mode, the influence and the analysis result of the hazard analysis FMECA;

setting each set fault through software simulation, and acquiring first characteristic data of a monitoring point in each set fault state;

and correspondingly storing the set faults and the first characteristic data of the monitoring points in the set fault states, and establishing a preliminary fault dictionary of the electromechanical hybrid system.

In an example embodiment of the present disclosure, each detection block is provided with two types of monitoring points, one type of monitoring point T _i Is positioned in the detection block and is provided with another type of monitoring point T _Mi The connecting part is positioned at the joint of the two detection blocks; the establishing module obtains first characteristic data of the monitoring point under each set fault state, and may include:

acquiring simulation data of monitoring points in each set fault state;

And carrying out secondary processing on the simulation data of each monitoring point within a preset time period to obtain first characteristic data of the monitoring point.

The disclosed embodiments also provide a computer readable storage medium having stored thereon computer instructions which, when executed by a processor, implement the steps of the built-in test design method described in any of the above embodiments.

Those of ordinary skill in the art will appreciate that all or some of the steps, systems, functional modules/units in the apparatus, and methods disclosed above may be implemented as software, firmware, hardware, and suitable combinations thereof. In a hardware implementation, the division between the functional modules/units mentioned in the above description does not necessarily correspond to the division of physical components; for example, one physical component may have multiple functions, or one function or step may be performed cooperatively by several physical components. Some or all of the components may be implemented as software executed by a processor, such as a digital signal processor or microprocessor, or as hardware, or as an integrated circuit, such as an application specific integrated circuit. Such software may be distributed on computer readable media, which may include computer storage media (or non-transitory media) and communication media (or transitory media). The term computer storage media includes both volatile and nonvolatile, removable and non-removable media implemented in any method or technology for storage of information such as computer readable instructions, data structures, program modules or other data, as known to those skilled in the art. Computer storage media includes, but is not limited to, RAM, ROM, EEPROM, flash memory or other memory technology, CD-ROM, digital Versatile Disks (DVD) or other optical disk storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other medium which can be used to store the desired information and which can be accessed by a computer. Furthermore, as is well known to those of ordinary skill in the art, communication media typically embodies computer readable instructions, data structures, program modules or other data in a modulated data signal such as a carrier wave or other transport mechanism and includes any information delivery media.

Claims

1. An electromechanical hybrid system practical BIT design method, comprising:

2. The method of claim 1, wherein the correcting the first feature data in the preliminary fault dictionary according to the second feature data to obtain a first corrected fault dictionary includes:

3. The method of claim 1, wherein upon detecting that the electro-mechanical hybrid system is incorporated into an automated data acquisition device, the method further comprises:

sending or displaying a reminder for manually simulating the set typical faults of the electromechanical hybrid system to a user, and performing experimental operation after detecting the set typical faults executed by the user to acquire experimental operation data of monitoring points, namely third characteristic data; and correcting the second characteristic data in the fault dictionary after the first correction according to the third characteristic data to obtain the fault dictionary after the second correction.

4. A method according to claim 3, wherein correcting the second feature data in the first corrected fault dictionary according to the third feature data to obtain the second corrected fault dictionary comprises:

5. The method of claim 1, wherein the performing fault injection into the designed electromechanical hybrid system during BIT test verification to determine whether the partitioned one or more detection blocks have faults comprises:

6. The method of claim 5, wherein determining whether the partitioned one or more detection blocks are faulty by rule-based diagnostics in combination with the modified fault dictionary comprises:

In the BIT test verification process, determining whether one or more divided detection blocks have faults or not based on preset rules;

7. The method of claim 6, wherein consulting the corrected fault dictionary to determine whether the partitioned one or more detection blocks are faulty comprises:

8. The method according to claim 6, wherein each detection block is provided with two types of monitoring points, one type of monitoring point T _i Is positioned in the detection block and is provided with another type of monitoring point T _Mi The connecting part is positioned at the joint of the two detection blocks; the determining whether one or more divided detection blocks have faults based on preset rules comprises at least one of the following steps:

At a monitoring point T inside a certain detection block _i The test data is normal, but the detection block outputs a monitoring point T _Mi When the test data is abnormal, determining that the fault occurs in the final output stage of the detection block, orDetermining that a fault occurs at a stage next to or subsequent to a final output stage of the detection block;

9. The method of claim 1, wherein after fault injection, the method further comprises:

the fault detection rate and the fault isolation rate are statistically analyzed;

10. The method of claim 9, wherein the re-executing the steps of establishing a preliminary fault dictionary, revising a fault dictionary, and BIT test verification further comprises at least one implementation of:

11. The method of claim 1, wherein the establishing the preliminary fault dictionary for the electromechanical hybrid system comprises:

12. The method of claim 11, wherein each detection block is provided with two types of monitoring points, one type of monitoring point T _i Is positioned in the detection block and is provided with another type of monitoring point T _Mi The connecting part is positioned at the joint of the two detection blocks; the obtaining the first characteristic data of the monitoring point under each set fault state comprises the following steps:

acquiring simulation data of monitoring points in each set fault state;

13. The method of claim 12, wherein the secondary treatment comprises at least one of: averaging, maximizing, minimizing or spectral analysis.

14. An electromechanical hybrid system utility BIT design system, comprising:

a correction module configured to perform correction of the fault dictionary: after the electromechanical hybrid system is detected to be added into an automatic data acquisition device, respectively performing simulation test on each set fault in the preliminary fault dictionary to obtain second characteristic data of monitoring points in each set fault state, and correcting the first characteristic data in the preliminary fault dictionary according to the second characteristic data to obtain a fault dictionary after first correction; the verification module is configured to perform BIT test verification: in the BIT test verification process, fault injection is carried out on the designed electromechanical hybrid system, the injected faults are excitation signals for simulating the equivalent influence result of each set fault in the corrected fault dictionary, and whether faults exist in one or more divided detection blocks is determined.

15. The system of claim 14, wherein the correction module corrects the first feature data in the preliminary fault dictionary according to the second feature data to obtain a first corrected fault dictionary, comprising:

16. The system of claim 14, wherein the correction module is further configured to:

17. The system of claim 16, wherein the correction module corrects the second feature data in the first corrected fault dictionary based on the third feature data to obtain a second corrected fault dictionary, comprising:

18. The system of claim 14, wherein the verification module performs fault injection into the designed electromechanical hybrid system during BIT test verification to determine whether the partitioned one or more detection blocks have faults, comprising:

19. The system of claim 18, wherein the validation module determines whether the partitioned one or more detection blocks are faulty by a rule-based diagnostic rule in combination with the modified fault dictionary, comprising:

20. The system of claim 19, wherein the verification module consults the corrected fault dictionary to determine whether the partitioned one or more detection blocks are faulty, comprising:

and when the difference between the fourth characteristic data of a certain same monitoring point and the storage characteristic data of the corrected fault dictionary is in a set range, referring to the corrected fault dictionary, acquiring a set fault and a detection block corresponding to the characteristic data in the corrected fault dictionary, and determining that the detection block has the set fault.

21. The system of claim 19, wherein each detection block is provided with two types of monitoring points, one type of monitoring point T _i Is positioned in the detection block and is provided with another type of monitoring point T _Mi The connecting part is positioned at the joint of the two detection blocks; the verification module determines whether the divided one or more detection blocks have faults based on preset rules, and the verification module comprises at least one of the following components:

22. The system of claim 14, wherein the verification module is further configured to:

23. The system of claim 22, wherein the verification module is further configured to: and when the steps of establishing the preliminary fault dictionary, correcting the fault dictionary and BIT test verification are re-executed, executing at least one implementation mode of the following:

24. The system of claim 14, wherein the establishing module establishes a preliminary fault dictionary for the electromechanical hybrid system, comprising:

25. The system of claim 24, wherein each detection block is provided with two types of monitoring points, one type of monitoring point T _i Is positioned in the detection block and is provided with another type of monitoring point T _Mi The connecting part is positioned at the joint of the two detection blocks; the establishing module obtains first characteristic data of the monitoring points under each set fault state, and the first characteristic data comprises:

Acquiring simulation data of monitoring points in each set fault state;

26. The system of claim 25, wherein the secondary treatment comprises at least one of: averaging, maximizing, minimizing or spectral analysis.

27. A computer readable storage medium having stored thereon computer instructions, which when executed by a processor, implement the steps of the method of any of claims 1-13.