CN116973120A - Steering gear abnormal sound diagnosis method, device, system, storage medium and vehicle - Google Patents
Steering gear abnormal sound diagnosis method, device, system, storage medium and vehicle Download PDFInfo
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- G01H—MEASUREMENT OF MECHANICAL VIBRATIONS OR ULTRASONIC, SONIC OR INFRASONIC WAVES
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Abstract
The application provides a steering gear abnormal sound diagnosis method, device, system, storage medium and vehicle, and relates to the technical field of vehicle fault diagnosis. The method comprises the following steps: firstly, acquiring a first vibration signal on a steering gear; then, carrying out signal preprocessing on the first vibration signal to obtain a second vibration signal; and finally, determining whether abnormal sound exists in the steering gear according to the magnitude relation between the amplitude of the second vibration signal and the preset threshold value. According to the application, whether abnormal sound occurs to the vehicle can be rapidly diagnosed by collecting the vibration signal on the steering gear, the accuracy is high, and the labor cost is greatly reduced. The application also helps the user to determine the fault reason and the fault position of the knocking abnormal sound, thereby realizing the active diagnosis of the abnormal sound of the vehicle and simultaneously realizing the multistage diagnosis of the abnormal sound.
Description
Technical Field
The application relates to the technical field of vehicle fault diagnosis, in particular to a steering gear abnormal sound diagnosis method, a steering gear abnormal sound diagnosis device, a steering gear abnormal sound diagnosis system, a steering gear abnormal sound diagnosis storage medium and a vehicle.
Background
The steering gear is a key part of one of four systems of the automobile chassis, and the abnormal sound failure mode of the steering gear mainly comprises three main modes of reversing abnormal sound, metal knocking abnormal sound, rotating abnormal sound and the like, wherein the knocking abnormal sound is the most easily perceived and detected by customers. The root causes of abnormal sound are unreasonable size design in the research and development stage, insufficient material selection characteristics, uncovered software debugging performance, and ageing, abrasion and looseness of parts in the after-sales stage, and caused gap change.
In the related art, whether abnormal sound occurs to the vehicle is judged by experience and operation of people, so that the judgment accuracy is low, and a large amount of time and labor cost are consumed.
Disclosure of Invention
The embodiment of the application provides a steering gear abnormal sound diagnosis method, a steering gear abnormal sound diagnosis device, a steering gear abnormal sound diagnosis system, a steering gear abnormal sound diagnosis storage medium and a steering gear abnormal sound diagnosis vehicle, and aims to solve or partially solve the problem that whether abnormal sound occurs to the steering gear or not is judged by means of experience and operation of people at present.
In order to solve the technical problems, the application is realized as follows:
in a first aspect, an embodiment of the present application provides a method for diagnosing abnormal sound of a steering gear, where the method includes:
acquiring a first vibration signal on a steering gear, wherein the first vibration signal is an analog signal;
carrying out signal preprocessing on the first vibration signal to obtain a second vibration signal, wherein the second vibration signal is a digital quantity signal;
and determining whether abnormal sound exists in the steering gear according to the magnitude relation between the amplitude of the second vibration signal and the first preset threshold value.
Optionally, the second vibration signal is multiple, and determining whether the steering gear has abnormal sound according to the magnitude relation between the amplitude of the second vibration signal and the first preset threshold value includes:
dividing a plurality of second vibration signals into the same time domain and the same direction to obtain a first target image;
and judging whether abnormal sound exists in the steering gear according to the relation between the amplitude values of all the second vibration signals in the first target image and a preset first threshold value.
Optionally, in the case that it is determined that the steering gear has abnormal sound, the method further includes:
determining whether a triggering signal characteristic exists in the second vibration signal, wherein the triggering signal is a sine waveform with the amplitude difference value between adjacent wave peaks being larger than a preset second threshold value;
judging the type of abnormal sound of the steering gear to be knocking abnormal sound or other abnormal sound according to whether the second vibration signal has the triggering signal characteristics or not.
Optionally, determining whether the trigger signal feature is present in the second vibration signal comprises:
determining a knocking trigger time point corresponding to the amplitude of the second vibration signal;
determining the amplitude of adjacent time points of the knocking trigger time points;
if the difference value between the amplitude of the adjacent time points and the amplitude of the second vibration signal is larger than a preset second threshold value, determining that the trigger signal characteristics exist in the second vibration signal;
and if the difference value between the amplitude of the adjacent time points and the amplitude of the second vibration signal is smaller than or equal to a preset second threshold value, determining that the trigger signal characteristic does not exist in the second vibration signal.
Optionally, in the case that the abnormal sound type of the diverter is a diverter tapping abnormal sound, the method further includes:
cutting the first target image according to the knocking trigger time point of each second vibration signal to obtain a second target image;
determining a time scale corresponding to each knocking trigger time point in the second target image, and determining the knocking trigger time point with the smallest time scale as a target knocking trigger time point;
and determining the abnormal sound position of the steering gear knocking abnormal sound according to the installation position of the sensor corresponding to the target knocking trigger time point on the steering gear.
Optionally, the method further comprises:
acquiring a first torque signal, wherein the first torque signal comprises an operation parameter signal and a stress signal of the vehicle;
performing signal preprocessing on the first moment signal to obtain a second moment signal;
dividing the second moment signal into the same time domain and the same direction, and determining a moment signal zero point, namely a moment value zero time point;
acquiring a moment signal zero point closest to the time sequence distance of the target knocking trigger time point;
judging the sequential time sequence relation between the target knocking trigger time point and the moment zero point closest to the target knocking trigger time point, and judging the component for knocking at the abnormal sound position.
In a second aspect, an embodiment of the present application provides a steering gear abnormal sound diagnosis apparatus, including:
the signal acquisition module is used for acquiring a first vibration signal on the steering gear;
the signal processing module is used for carrying out signal preprocessing on the first vibration signal to obtain a second vibration signal;
and the diagnosis module is used for determining whether abnormal sound exists in the steering gear according to the magnitude relation between the amplitude of the second vibration signal and the first preset threshold value.
In a third aspect, an embodiment of the present application provides a steering gear abnormal sound diagnosis system, including:
acceleration sensor, stress strain sensor and controller;
the acceleration sensor is arranged on the steering gear and used for collecting a first vibration signal of the steering gear and sending the first vibration signal to the controller;
the stress-strain sensor is arranged on the steering gear and used for collecting stress signals of the steering gear and sending the stress signals to the controller;
the controller is configured to receive the first vibration signal and the stress signal, and perform the method according to the first aspect of the embodiment of the present application.
In a fourth aspect, the application also provides a computer-readable storage medium having instructions stored thereon, which when executed by one or more processors, cause the processors to perform the steps of a method as in one or more of the embodiments of the application.
In a fifth aspect, the present application further provides a vehicle, including the steering gear abnormal sound diagnosis system according to the third aspect of the embodiment of the present application.
The embodiment of the application has the following advantages:
firstly, acquiring a first vibration signal on a steering gear, wherein the first vibration signal is an analog signal; then, carrying out signal preprocessing on the first vibration signal to obtain a second vibration signal, wherein the second vibration signal is a digital quantity signal; and finally, determining whether abnormal sound exists in the steering gear according to the magnitude relation between the amplitude of the second vibration signal and the first preset threshold value. According to the application, whether abnormal sound occurs to the vehicle can be rapidly diagnosed by collecting the vibration signal on the steering gear, the accuracy is high, and the labor cost is greatly reduced.
In some embodiments of the application, whether the vehicle has the abnormal knocking sound or not can be determined by whether the vibration signal has the triggering signal characteristic or not, and the position of the specific abnormal knocking sound is locked, so that a user is helped to quickly determine the position where the abnormal knocking sound occurs, and the user can quickly process the abnormal knocking sound.
In some embodiments of the application, the user can be helped to determine the fault cause of the abnormal knocking sound through the running parameter signals of the vehicle and the stress signals on the steering gear, so that the multi-stage diagnosis of the abnormal sound is realized. Therefore, active diagnosis is realized, and the user can realize intelligent analysis of abnormal sound based on the fault cause of the abnormal sound.
Drawings
In order to more clearly illustrate the embodiments of the application or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of a system architecture of a steering gear abnormal sound diagnosis system according to an embodiment of the present application;
FIG. 2 is a flow chart of steps of a method for diagnosing abnormal sound of a steering gear according to an embodiment of the present application;
FIG. 3 is a schematic diagram of time domain processing of a second vibration signal according to an embodiment of the present application;
FIG. 4 is a schematic diagram of vector processing of a second vibration signal in an embodiment of the present application;
FIG. 5 is a flow chart of steps of a method for determining a specific type of abnormal sound in an embodiment of the present application;
FIG. 6 is a flowchart illustrating steps of a method for determining a location of occurrence of a tapping abnormal sound according to an embodiment of the present application;
FIG. 7 is a signal diagram illustrating determining a location of occurrence of a rattle in an embodiment of the present application;
FIG. 8 is a signal diagram of determining the cause of the occurrence of the abnormal knocking in the embodiment of the present application;
FIG. 9 is a schematic block diagram of a steering gear abnormal sound diagnosis apparatus according to an embodiment of the present application;
fig. 10 is a schematic diagram of an abnormal SIN type wave in an embodiment of the present application.
Detailed Description
The following description of the embodiments of the present application will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are some, but not all embodiments of the application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
In the related art, a steering gear is used as a controller of an electric power steering system to receive the input torque of a steering wheel transmitted by a torque sensor, and outputs three-phase current of a motor according to a vehicle speed signal, an engine signal and a motor position signal so as to achieve the purpose of controlling the motor, and the motor is controlled so as to provide proper power for the system, so that steering torque of a driver is reduced. The abnormal sound failure mode mainly comprises three main modes of reversing abnormal sound, namely abnormal sound generated in the reversing process of a vehicle, abnormal sound generated by knocking, abnormal sound generated by rotating a rotating part of the vehicle, and the like, wherein the abnormal sound is the most easily perceived and detected by a customer, whether abnormal sound occurs or not is identified through the feeling of eyes, ears and hands of a person or is detected according to a sound pressure meter and a stethoscope, and the abnormal sound position of the knocking is detected according to personnel quality and experience and is difficult to avoid missing judgment.
Therefore, for the diagnosis of abnormal sound types and knocking abnormal sound sources, experience and subjective judgment are mainly relied on, so that missed judgment is easy to cause, the misjudgment rate is high, the problem solving efficiency is low, and a large amount of time and personnel cost are consumed.
Based on the above, the inventor provides the inventive concept of the application, a set of closed loop system is formed by the sensors such as an acceleration sensor, a strain sensor and the like through signal acquisition, processing, analysis, calculation and diagnosis, the steering gear is quickly locked to knock the abnormal sound source, and the abnormal sound diagnosis of the steering gear is automatically executed by the system, so that the quick and accurate diagnosis is realized, and the manual workload is greatly reduced.
Based on the inventive concept of the present application, a first aspect of the present embodiment proposes a steering gear abnormal sound diagnosis system, which includes: acceleration sensor, stress strain sensor and controller; the acceleration sensor is arranged on the steering gear and used for collecting a first vibration signal of the steering gear and sending the first vibration signal to the controller; the stress-strain sensor is arranged on the steering gear and used for collecting stress signals of the steering gear and sending the stress signals to the controller.
In the present embodiment, the steering gear: mainly comprises a steering wheel, a steering column, an intermediate transmission shaft, a steering wheel (gear rack type), and a hub unit. The arrangement positions of the acceleration sensor and the stress strain sensor are different in connection with the steering gear of different vehicle types, and the connection parts related to the steering gear can be used as the alternative arrangement positions, so the application is not limited to this, and an arrangement mode is given as an illustration below.
As an example, as shown in fig. 1, a steering wheel arranges an acceleration sensor A1, an acceleration sensor B1 at a steering column, an acceleration sensor C1 at a center drive shaft, an acceleration sensor D1 at a steering wheel, sensor accelerations E1/F1 at left/right hub units, an acceleration sensor G1 at a subframe, a stress-strain sensor H1 at a tie rod, and a stress-strain sensor H2 at a gear shaft. The acceleration sensor is used for converting vibration at the acquisition position into an electric signal, and the stress strain sensor is used for converting stress at the acquisition position into an electric signal.
For setting sensor parameters, the sensitivity of the acceleration sensor is 50mv/g, the measuring range is +/-100 g pk, the frequency response is 1-5000Hz, the sensitivity of the stress strain sensor is 50 mv/mu, the low frequency response is 0.5Hz, and the measuring range is 100pk mu.
In one embodiment, the acceleration sensor is disposed at least at any two of positions A1-G1, and the stress-strain sensor is disposed at least at any one of positions HI-H2.
Specifically, for the number of the arrangement of the acceleration sensors and the stress strain sensors, the number of the arrangement of the acceleration sensors is more than two, and the more the arrangement of the sensors is, the more accurate the diagnosis of abnormal knocking is; the arrangement of the stress strain sensors must be more than 1 and arranged on a steering pull rod or a gear shaft as much as possible; the stress strain sensor can be preferentially arranged on the steering wheel, the pipe column, the gear shaft of the intermediate shaft and the steering rod of the steering gear and the hub unit; consideration of the arrangement strategy of the sensor position: the sensor is conveniently and efficiently arranged without damage, and the arrangement position shown in fig. 1 is a recommended position.
The following embodiment will show the process of implementing the abnormal sound diagnosis of the steering gear by the controller based on the hardware arrangement of the abnormal sound diagnosis system of the steering gear.
The embodiment of the application provides a steering gear abnormal sound diagnosis method, referring to fig. 2, fig. 2 shows a step flow chart of the steering gear abnormal sound diagnosis method according to the embodiment of the application, and the method comprises the following steps:
s201, acquiring a first vibration signal on a steering gear.
In the present embodiment, continuing with fig. 1, the acceleration sensor A1 collects vibration signals at the steering wheel, the acceleration sensor B1 collects vibration signals at the steering column, the acceleration sensor C1 collects vibration signals at the intermediate transmission shaft, the acceleration sensor D1 collects vibration signals at the steering machine, the acceleration sensor E1/F1 collects vibration signals at the left/right hub unit, and the acceleration sensor G1 collects vibration signals at the sub-frame. The acceleration sensor converts vibration at the acquisition position into an electric signal, so that the first vibration signal is an analog signal, and a plurality of first vibration signals acquired by the sensor group are sent to the data acquisition module through a preset shielding lead to perform corresponding data processing.
S202, performing signal preprocessing on the first vibration signal to obtain a second vibration signal.
In this embodiment, after the data acquisition module receives the plurality of first vibration signals acquired by the sensor group, signal conditioning is performed on the first vibration signals, so as to obtain an effective signal with high signal-to-noise ratio, clean signal, undistorted knocking frequency and no drift, noise except the effective signal needs to be filtered, gain and filtering are performed so as to remove interference parts (an anti-aliasing filter, a low-pass filter, passing below bandwidth frequency and removing frequency components higher than bandwidth frequency) of the signal again, and the first vibration signals are converted into digital quantity signals through ADC calculation, and then DSP (digital signal processing) calculation is performed, so that high-quality (no sensor noise, no wire noise, no power supply noise, no filter noise and ADC noise) digital signals are obtained, namely, the second vibration signals. And sending the second vibration signal to the diagnosis processing module for executing the judging process of judging whether abnormal sound exists according to the second vibration signal.
S203, determining whether abnormal sound exists in the steering gear according to the magnitude relation between the amplitude of the second vibration signal and the first preset threshold value.
In this embodiment, after receiving the plurality of second vibration signals, the same-time domain processing and vector processing are required to be performed on the second vibration signals, and then whether abnormal noise exists in the steering gear is determined according to the amplitude of the processed second vibration signals, that is, the relation between the maximum amplitude of the second vibration and the Limit value stored in the Limit database, where the amplitude of the second vibration signal reflects the vibration condition of the corresponding sensor setting position, and the Limit value is the maximum value of the vibration condition of the normal vehicle.
According to the magnitude relation between Limit and the amplitude of the second vibration, the specific step of determining whether abnormal sound exists in the steering gear comprises the following steps:
and S203-1, dividing the plurality of second vibration signals into the same time domain and the same direction to obtain a first target image.
In this embodiment, since the second vibration signals may be in different time domains, that is, in different time intervals, it is necessary to perform time domain processing on each of the second vibration signals, and perform simultaneous domain processing on a plurality of second vibration signals, that is, all the second vibration signals are divided into the same time domain, and the synchronization of the signal intervals is completed in time sequence by the plurality of second vibration signals processed in the simultaneous domain, and a specific processing procedure is shown in fig. 3. After all the second vibration signals are divided into the same time domain, vector processing is performed on the second vibration signals of the same time domain, so that signal direction display is realized, that is, the directions of all the second vibration signals are displayed in the same direction, and the specific processing result is shown in fig. 4, that is, the image of fig. 4 is the first target image.
S203-2, judging whether abnormal noise exists in the steering gear according to the relation between the amplitudes of all the second vibration signals in the first target image and a preset first threshold value.
In the present embodiment, taking the first target image shown in fig. 4 as an example, the amplitude maximum value, that is, the amplitude X, of any one of the second vibration signals in the first target image is determined. The amplitudes of all the second vibration signals in the first target image are determined, and the number of X1, X2, X3, X4 … … XN and N are obtained to be matched with the number of the arranged accelerator sensors. And then determining whether abnormal sound exists in the steering gear according to the size relation between the X1-XN and a preset first threshold value (namely Limit of a Limit database). If yes, taking a time node in the time domain corresponding to the amplitude X larger than the Limit value as an input of S501.
For example, if X1 is greater than the first threshold, no matter whether X2-XN is related to the preset first threshold, abnormal noise of the steering gear may be determined, and similarly, if the amplitude of any one of the second vibration signals in X1-XN is greater than the first threshold, abnormal noise of the steering gear may be determined. If the amplitudes of all the second vibration signals in the X1-XN are smaller than the first threshold value, the steering gear can be determined to have no abnormal sound, namely whether the reflected vibration condition at the installation position of the steering gear exceeds a preset normal value according to the amplitudes of the second vibration signals is determined to have the abnormal sound.
In the embodiments of S201 to S203, by collecting the vibration signal on the steering gear, the controller rapidly diagnoses whether the abnormal sound occurs in the vehicle, and compared with the subjective judgment by the human, the judgment accuracy is significantly improved, and the labor cost is greatly reduced.
For abnormal sound diagnosis of a vehicle, different diagnosis results are output according to different specific requirements, if only the diagnosis result of whether abnormal sound exists is needed to be obtained, the implementation modes of S201 to S203 are only needed to be executed, if after the abnormal sound exists is diagnosed, the specific type of the abnormal sound is needed to be determined, the steps shown in fig. 5 can be executed:
s501: and determining whether the second vibration signal has a trigger signal characteristic, wherein the trigger signal is a sine waveform with the amplitude difference between adjacent wave peaks being larger than a preset second threshold value.
In the present embodiment, in the first target image shown in fig. 4, it is determined whether or not the second vibration signal has a trigger signal characteristic, that is, whether or not the spectrum signal has a harmonic component other than the fundamental frequency, with respect to any one of the second vibration signals, and it is determined whether or not the spectrum signal has a harmonic component whose spectrum amplitude exceeds the second threshold by the peak detection method, and as shown in fig. 10, it is a schematic diagram of the abnormal SIN type wave, in which the abscissa is time and the ordinate is amplitude. And the step of judging whether the second vibration signal has the trigger signal characteristic according to the waveform of the second vibration signal comprises the following steps:
s501-1: and determining a knocking trigger time point corresponding to the amplitude of the second vibration signal.
And for any one of the second vibration signals, determining a point T of a corresponding time scale coordinate of the amplitude X exceeding the first threshold value in the first target image as a knocking trigger time.
S501-2: the amplitude of the neighboring points in time of the tap trigger point in time is determined.
After the knocking trigger time point T is determined, the time scale of the adjacent time point is T-1 or T+1, and then the amplitude X (T-1) or X (T+1) of the second vibration signal at the moment T-1 or T+1 is acquired.
S501-3: if the difference value of the amplitude values of the second vibration signals at adjacent time points is larger than a preset second threshold value or between the time T-1 and the time T+1, if harmonic components with the frequency spectrum amplitude exceeding the second threshold value exist, determining that the trigger signal characteristics exist in the second vibration signals; and if the difference value between the amplitude of the adjacent time points and the amplitude of the second vibration signal is smaller than or equal to a preset second threshold value, determining that the trigger signal characteristic does not exist in the second vibration signal.
After the amplitude X (T-1) or X (T+1) of the second vibration signal at the time T-1 or the time T+1 is obtained, performing difference calculation with the amplitude X of the second vibration signal to obtain δX, and then comparing δX with a preset second threshold value, if the δX is greater than the second threshold value, determining that the second vibration signal has the trigger signal characteristic, and if the δX is less than or equal to the second threshold value, determining that the second vibration signal does not have the trigger signal characteristic.
S502: judging the type of abnormal sound of the steering gear to be knocking abnormal sound or other abnormal sound according to whether the second vibration signal has the triggering signal characteristics or not.
In this embodiment, if the second vibration signal has the trigger signal feature, the type of the abnormal sound of the steering gear is determined to be the knocking abnormal sound, and if the second vibration signal does not have the trigger signal feature, the type of the abnormal sound of the steering gear is determined to be other abnormal sound.
In the implementation manners of S501 to S502, the type of abnormal sound is determined by judging that the second vibration signal has the trigger signal characteristic, and in combination with the implementation manners of S201 to S203, the multi-stage diagnosis of whether the steering gear has abnormal sound and the specific type of the abnormal sound can be realized.
By way of example, a diagnostic report is given as an illustration, the first diagnostic result: abnormal sound exists and the abnormal sound is knocked; the diagnosis basis is as follows: condition 1: the second vibration signal amplitude is greater than Limit; condition 2: the second vibration signal has a "trigger signal" feature; condition 1 is satisfied at the same time as condition 2. Second diagnostic result: abnormal sound exists but is not knocked; the diagnosis basis is as follows: condition 1: the second vibration signal amplitude is greater than Limit; condition 3: the second vibration signal is free of a "trigger signal" feature; condition 1 is satisfied at the same time as condition 3. Third diagnostic result: no abnormal sound exists; the diagnosis basis is as follows: condition 4: the amplitude of the vibration signal is smaller than Limit; condition 5: the vibration signal is absent/present as a "trigger signal" feature.
As a further optimization, when it is determined that the steering gear has abnormal sound and the type of the abnormal sound is knocking abnormal sound, it may also be determined that the abnormal sound is knocked at a specific position, and a specific position where the abnormal sound is generated is determined, so as to help a user perform data analysis or fault processing, and the step of determining the position where the abnormal sound is knocked, as shown in fig. 6, may include:
s601: and cutting the first target image according to the knocking trigger time point of each second vibration signal to obtain a second target image.
In this embodiment, clipping the first target image according to the tapping trigger time point, and obtaining the second target image includes: taking the knocking trigger time point of each second vibration signal as an image origin, taking the preset time length as the image length, taking the preset multiple of the amplitude value as the image width, and cutting the first target image to obtain a plurality of sub-images; and splicing the plurality of sub-images according to the time domain sequence to obtain a second target image. As an example, for any one of the second vibration signals, the tapping trigger time point is taken as a limit, the time point ±t is taken as a time limit, 1.5 times of the amplitude is taken as an amplitude limit, and then the signal is truncated on the first target image, thereby obtaining a sub-image. And executing the operation on each second vibration signal, and splicing the obtained multiple sub-images according to the time domain sequence to obtain a second target image.
S602: determining a time scale corresponding to each knocking trigger time point in the second target image, and determining the knocking trigger time point with the smallest time scale as the target knocking trigger time point.
In the present embodiment, a time scale corresponding to a tapping trigger time point of each second vibration signal is determined from the second target image, taking the second target image shown in fig. 7 as an example. Ta is the tapping trigger time point of one second vibration signal, tb is the tapping trigger time point of the other second vibration signal, and according to the image, the time scale corresponding to Ta is between 4.835 and 4.836, and the time scale corresponding to Tb is between 4.837 and 4.838. Therefore, the time scale corresponding to Ta is smaller than the time scale corresponding to Tb, so the tap trigger time point corresponding to Ta is taken as the target tap trigger time point.
The above embodiment only gives a determination of the target tap trigger time point when there are only 2 second vibration signals. In a possible implementation manner, when N second vibration signals exist, determining time scales Ta-Tn corresponding to tapping trigger time points of all the second vibration signals, sorting according to the time scales from small to large, and taking the tapping trigger time point with the first bit as a target tapping trigger time point, namely, the position of an acceleration sensor corresponding to the target tapping trigger time point is the position closest to a tapping abnormal sound source.
S603: and determining the abnormal sound position of the steering gear knocking abnormal sound according to the installation position of the sensor corresponding to the target knocking trigger time point on the steering gear.
In one embodiment, according to the position of the acceleration sensor corresponding to the target knocking trigger time point, determining that the position of the knocking abnormal sound source is on the steering gear, and acquiring a time domain signal of a stress strain sensor installed on the steering gear. And carrying out synchronous domain processing on the vibration signal of the acceleration sensor corresponding to the target knocking trigger time point and the time domain signal of the stress strain sensor, and judging a specific structural member generating abnormal sound on the steering gear, thereby determining the cause of the abnormal sound.
In another embodiment, according to the position of the acceleration sensor corresponding to the target knocking trigger time point, determining that the position of the knocking abnormal sound source is on the steering wheel, the steering column and the middle transmission shaft, acquiring a torque signal of the whole vehicle/steering device, performing synchronous domain processing on the vibration signal and the torque signal of the acceleration sensor corresponding to the target knocking trigger time point, and determining a specific structural member generating abnormal sound on the steering wheel, the steering column and the middle transmission shaft, thereby determining the cause of the abnormal sound. And compounding a comparison result by using the trigger signal position of the second vibration signal, wherein the time of striking the trigger time point is the trend striking source, identifying the signal source of the related sensor, and outputting the source main body range.
In another embodiment, the embodiment shows an implementation mode with fewer acceleration sensors, taking as an example that only the acceleration sensor A1 is arranged at the steering wheel and the acceleration sensor D1 is arranged at the steering wheel, if according to the diagnosis result, the time scale of the tapping trigger time point corresponding to the signal collected by the sensor A1 is smaller than the time scale of the tapping trigger time point corresponding to the signal collected by the sensor D1, it is indicated that the sensor A1 collects the tapping abnormal sound on the steering wheel before the sensor D1, and also indicates that the occurrence position of the tapping abnormal sound is closer to the sensor A1. The occurrence range of abnormal sound can be determined to be A1-D1. Therefore, the acceleration sensor D1 originally arranged at the steering gear can be installed at the middle transmission shaft, and the abnormal sound occurrence range is dynamically adjusted according to the time scale relationship between the time scale of the knocking trigger time point corresponding to the signal collected by the sensor A1 and the time scale of the knocking trigger time point corresponding to the signal collected by the sensor D1, if the finally determined abnormal sound occurrence range is: A1-B1, the abnormal sound position of the steering gear knocking abnormal sound can be determined to be between the steering wheel and the steering column.
In one possible implementation manner, this embodiment shows an implementation manner in which a large number of acceleration sensors are arranged, taking the acceleration sensors A1-G1 as an example, after determining the time scales of the tapping trigger time points of all the acceleration sensors in the second target image, the trigger time point with the closest (i.e., smallest) time scale value of the tapping trigger time points may be taken as the target tapping trigger time point, and if the sensor A1 is the sensor corresponding to the target tapping trigger time point, the steering wheel may be determined as the abnormal sound position of the tapping abnormal sound, and the steering wheel may be infinitely close to the actual abnormal position. The more the number of acceleration sensors is arranged, the more accurate the diagnosis result is. The user can set a corresponding number of acceleration sensors according to actual demands.
As a further optimization, after determining the abnormal sound position of the knocking abnormal sound generated by the steering gear, it can be further determined what cause causes the knocking abnormal sound to occur. And judging the non-rotating meshing part/rotating meshing part in the position range of the corresponding acceleration sensor as a part generating abnormal sound according to the time sequence relation of the target knocking trigger time point relative to the torque signal zero point or the stress strain sensor zero point.
The specific implementation steps of the method can comprise:
acquiring a first torque signal, wherein the first torque signal comprises an operation parameter signal and a stress signal of the vehicle; the moment signal is a torque signal which can be output by the whole vehicle/steering gear or a signal output by a stress strain sensor.
Performing signal preprocessing on the first moment signal to obtain a second moment signal;
dividing the second moment signal into the same time domain and the same direction, and determining a moment signal zero point, namely a moment value zero time point;
acquiring a moment signal zero point closest to the time sequence distance of the target knocking trigger time point;
judging the sequential time sequence relation between the target knocking trigger time point and the moment zero point closest to the target knocking trigger time point, and judging the component which specifically generates knocking.
If the time scale of the moment signal zero point is smaller than the time scale of the target knocking trigger time point, determining that the reason for knocking abnormal sound of the steering gear is knocking caused by the supporting component;
if the time scale of the moment signal zero point is larger than the time scale of the target knocking trigger time point, determining that the abnormal sound knocking caused by the steering gear is knocking caused by rotating the meshing part.
In this embodiment, the running parameter signals of the vehicle may be steering wheel torque, steering wheel rotation absolute angle, steering wheel angular acceleration, and are acquired through a car CANbus or other communication modes (OBD, CANFD, flexRay, EPS-TAS, etc.), the stress signals are acquired through a stress-strain sensor, and the first stress signals are subjected to signal conditioning, gain, filtering, and then removing the interference part of the signals, and are subjected to signal preprocessing such as ADC calculation, DSP calculation, etc., to obtain the second moment signals. Because the second moment signals may be in different time domains, i.e. in different time intervals, it is necessary to perform time domain graphics processing on each of the second moment signals, and perform simultaneous domain processing on a plurality of second moment signals, i.e. divide all the second moment signals into the same time domain. After all the second moment signals are divided into the same time domain, vector processing is carried out on the second moment signals of the signals in the same time domain, so that signal direction display is realized, namely, the directions of all the second moment signals are displayed in the same direction.
As an example, fig. 8 shows a process of determining a cause of the steering gear knocking abnormal sound based on the second moment signal, ta is a time scale of the abnormal sound position of the knocking abnormal sound mapped on the second moment signal, tzero is a time scale of a vehicle relative rest time point (i.e. the pull rod force is 0 and the torque is 0), if Ta is greater than Tzero, it may be determined that the cause of the knocking abnormal sound at the position is that the integral engagement member controls the supporting member to cause the knocking, and taking the steering abnormal sound of the steering wheel as an example, it may be determined that the cause of the steering abnormal sound of the steering wheel is that the steering wheel supporting member is faulty. If Ta is less than or equal to Tzero, it can be determined that the cause of the abnormal sound of knocking at the position is knocking caused by the rotating engagement member, and taking the abnormal sound of steering of the steering wheel as an example, it can be determined that the cause of the abnormal sound of steering of the steering wheel is failure of the rotating gear of the steering wheel.
In a possible implementation mode, a microphone can be arranged in the steering gear, the sensitivity of the microphone is 50mv/Pa, the dynamic range is 15.5dB (A) -137dB (A), the frequency response is 3.15-20kHz, and the microphone is used for verifying the diagnosis result.
The embodiment of the application also provides a steering gear abnormal sound diagnosis device, and referring to fig. 9, the steering gear abnormal sound diagnosis device of the application is shown, and the device can comprise the following modules:
the signal acquisition module 901 is used for acquiring a first vibration signal on the steering gear;
the signal processing module 902 is configured to perform signal preprocessing on the first vibration signal to obtain a second vibration signal;
the diagnosing module 903 is configured to determine whether the steering gear has abnormal sound according to a magnitude relation between the amplitude of the second vibration signal and the first preset threshold.
In one possible embodiment, the diagnostic module includes:
the signal processing sub-module is used for dividing a plurality of second vibration signals into the same time domain and the same direction to obtain a first target image;
and the judging sub-module is used for judging whether the steering gear has abnormal sound or not according to the relation between the amplitude values of all the second vibration signals in the first target image and a preset first threshold value.
In a possible embodiment, the apparatus further comprises: a type diagnostic module, the type diagnostic module comprising:
the determining submodule is used for determining whether the second vibration signal has a trigger signal characteristic, and the trigger signal is a sine waveform of which the amplitude difference between adjacent wave peaks is larger than a preset second threshold value;
and the judging submodule is used for judging whether the abnormal sound of the steering gear is knocking abnormal sound or other abnormal sound according to whether the triggering signal characteristics exist in the second vibration signal.
In one possible implementation, determining the sub-module includes:
the first determining unit is used for determining a knocking trigger time point corresponding to the amplitude of the second vibration signal;
a second determining unit for determining the amplitude of the neighboring time points of the tapping trigger time point;
the judging unit is used for determining that the second vibration signal has the trigger signal characteristic if the difference value between the amplitude of the adjacent time points and the amplitude of the second vibration signal is larger than a preset second threshold value; and if the difference value between the amplitude of the adjacent time points and the amplitude of the second vibration signal is smaller than or equal to a preset second threshold value, determining that the trigger signal characteristic does not exist in the second vibration signal.
In a possible embodiment, the apparatus further comprises: a location diagnostic module, the location diagnostic module comprising:
the image cutting sub-module is used for cutting the first target image according to the knocking trigger time point of each second vibration signal to obtain a second target image;
the time determining submodule is used for determining time scales corresponding to all the knocking trigger time points in the second target image, and determining the knocking trigger time point with the smallest time scale as the target knocking trigger time point;
the position determining sub-module is used for determining the abnormal sound position of the steering gear knocking abnormal sound according to the installation position of the sensor on the steering gear corresponding to the target knocking trigger time point.
The embodiment of the application also provides a vehicle, which comprises the steering gear abnormal sound diagnosis system for implementing the first aspect.
Embodiments of the present application also provide a computer readable storage medium having instructions stored thereon, which when executed by a controller, cause the controller to perform the method steps of the second aspect of the embodiments of the present application.
It will be appreciated by those skilled in the art that embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, embodiments of the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, embodiments of the application may take the form of a computer program product on one or more computer-usable vehicles having computer-usable program code embodied therein, including but not limited to disk storage, CD-ROM, optical storage, and the like.
Embodiments of the present application are described with reference to flowchart illustrations and/or block diagrams of methods, terminal devices (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing terminal device to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing terminal device, create a system for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
Finally, it is further noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. "and/or" means either or both of which may be selected. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or terminal that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or terminal. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article or terminal device comprising the element.
The above detailed description of the steering gear abnormal sound diagnosis method, device, system, storage medium and vehicle provided by the application applies specific examples to illustrate the principle and implementation of the application, and the above examples are only used for helping to understand the method and core idea of the application; meanwhile, as those skilled in the art will have variations in the specific embodiments and application scope in accordance with the ideas of the present application, the present description should not be construed as limiting the present application in view of the above.
Claims (10)
1. A method for diagnosing abnormal sound of a steering gear, the method comprising:
acquiring a first vibration signal on a steering gear, wherein the first vibration signal is an analog signal;
performing signal preprocessing on the first vibration signal to obtain a second vibration signal, wherein the second vibration signal is a digital quantity signal;
and determining whether abnormal sound exists in the steering gear according to the magnitude relation between the amplitude of the second vibration signal and the first preset threshold value.
2. The method of claim 1, wherein the second vibration signal is a plurality of, and determining whether the steering gear has abnormal sound according to a magnitude relation between the magnitude of the second vibration signal and a first preset threshold value comprises:
dividing a plurality of second vibration signals into the same time domain and the same direction to obtain a first target image;
and judging whether abnormal sound exists in the steering gear according to the relation between the amplitude values of all the second vibration signals in the first target image and a preset first threshold value.
3. The method of claim 2, wherein in the event that the diverter is determined to have abnormal sound, the method further comprises:
determining whether the second vibration signal has a trigger signal characteristic or not, wherein the trigger signal is a sine waveform with the amplitude difference value between adjacent wave peaks being larger than a preset second threshold value;
and judging the type of abnormal sound of the steering gear to be knocking abnormal sound or other abnormal sound according to whether the second vibration signal has the characteristics of the trigger signal.
4. A method according to claim 3, wherein determining whether the second vibration signal is characterized by a trigger signal comprises:
determining a knocking trigger time point corresponding to the amplitude of the second vibration signal;
determining the amplitude of adjacent time points of the knocking trigger time points;
if the difference value between the amplitude of the adjacent time points and the amplitude of the second vibration signal is larger than a preset second threshold value, determining that the second vibration signal has a trigger signal characteristic;
and if the difference value between the amplitude of the adjacent time points and the amplitude of the second vibration signal is smaller than or equal to the preset second threshold value, determining that the second vibration signal has no trigger signal characteristic.
5. The method of claim 3, wherein in the event that the type of abnormal sound of the diverter is a diverter tap abnormal sound, the method further comprises:
cutting the first target image according to the knocking trigger time point of each second vibration signal to obtain a second target image;
determining a time scale corresponding to each knocking trigger time point in the second target image, and determining the knocking trigger time point with the smallest time scale as a target knocking trigger time point;
and determining the abnormal sound position of the steering gear knocking abnormal sound according to the installation position of the sensor corresponding to the target knocking trigger time point on the steering gear.
6. The method of claim 5, wherein the method further comprises:
acquiring a first torque signal, wherein the first torque signal comprises an operation parameter signal and a stress signal of the vehicle;
performing signal preprocessing on the first moment signal to obtain a second moment signal;
dividing the second moment signal into the same time domain and the same direction, and determining a moment signal zero point, namely a moment value zero time point;
acquiring a moment signal zero point closest to the time sequence distance of the target knocking trigger time point;
judging the sequential time sequence relation between the target knocking trigger time point and the moment zero point closest to the target knocking trigger time point, and judging the component for knocking at the abnormal sound position.
7. A steering gear abnormal sound diagnosis apparatus, characterized in that the apparatus comprises:
the signal acquisition module is used for acquiring a first vibration signal on the steering gear;
the signal processing module is used for carrying out signal preprocessing on the first vibration signal to obtain a second vibration signal;
and the diagnosis module is used for determining whether abnormal sound exists in the steering gear according to the magnitude relation between the amplitude of the second vibration signal and the first preset threshold value.
8. A diverter abnormal sound diagnostic system, the system comprising:
acceleration sensor, stress strain sensor and controller;
the acceleration sensor is arranged on the steering gear and used for collecting a first vibration signal of the steering gear and sending the first vibration signal to the controller;
the stress-strain sensor is arranged on the steering gear and used for collecting stress signals of the steering gear and sending the stress signals to the controller;
the controller is configured to receive the first vibration signal and the stress signal and perform the method of any of claims 1-6.
9. A computer readable storage medium, on which a computer program is stored, characterized in that the program, when being executed by a processor, implements the method according to any of claims 1-6.
10. A vehicle comprising the steering gear abnormal sound diagnosis system according to claim 8.
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| CN202210429413.6A CN116973120A (en) | 2022-04-22 | 2022-04-22 | Steering gear abnormal sound diagnosis method, device, system, storage medium and vehicle |
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| CN202210429413.6A CN116973120A (en) | 2022-04-22 | 2022-04-22 | Steering gear abnormal sound diagnosis method, device, system, storage medium and vehicle |
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