CN1737383A - Embedded failure diagnosis apparatus of loading machine steering hydraulic system - Google Patents

Embedded failure diagnosis apparatus of loading machine steering hydraulic system Download PDF

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Publication number
CN1737383A
CN1737383A CN 200410064395 CN200410064395A CN1737383A CN 1737383 A CN1737383 A CN 1737383A CN 200410064395 CN200410064395 CN 200410064395 CN 200410064395 A CN200410064395 A CN 200410064395A CN 1737383 A CN1737383 A CN 1737383A
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China
Prior art keywords
module
steering hydraulic
diagnosis
fault
failure diagnosis
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Pending
Application number
CN 200410064395
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Chinese (zh)
Inventor
支开印
王国彪
陈殿生
肖成勇
郝国强
廖智麟
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Shandong Lingong Construction Machinery Co Ltd
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Shandong Lingong Construction Machinery Co Ltd
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Priority to CN 200410064395 priority Critical patent/CN1737383A/en
Publication of CN1737383A publication Critical patent/CN1737383A/en
Pending legal-status Critical Current

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Abstract

This invention discloses an embedded failure diagnosis device of loader steering hydraulic system, characterized in that it is based on the embedded platform of ARM7 micro processing hardware system and muC/OS-II executive system, and the develop means is C language; the device comprises steering hydraulic system and failure diagnosis system, wherein the steering hydraulic system comprises steering pump, priority valve, loaded sensor diverter, composite valve block and steering oil cylinder, and they are interconnected by oil channel; the failure diagnosis system is based on the diagnosis model of failure tree, and the main module comprises communication module, real-time monitoring module, central dispatching module, monitoring data base, failure diagnosis module, failure storage data base and interactive module. The invention can real-time monitor the working condition of the loader steering hydraulic system, diagnose the failure and display the failure reason.

Description

Embedded failure diagnosis apparatus of loading machine steering hydraulic system
Affiliated technical field: the invention belongs to technical field of engineering machinery, relate to a kind of embedded failure diagnosis apparatus of loading machine steering hydraulic system.
Background technique: loading machine steering hydraulic system is the basis of realizing loading machine steering.The steering behaviour of steering hydraulic device well is to guarantee the loader driving safety, alleviate driver labor intensity, improve the key factor of operating efficiency.Loader is that manipulation is light, flexible, working stability reliable, good endurance to the basic demand of steering system.
At present, the loading machine steering hydraulic system fault diagnosis is still used the method for simple diagnosis mostly.For example adopt and see (pressure, leakage, speed, vibration etc.), listen (noise, impulsive sound, cavitation erosion sound etc.), touch (temperature rise, vibrate, creep etc.), hear methods such as (fluid whether rotten etc.).In this working procedure, maintenance man's professional knowledge and practical experience have played conclusive effect, because the maintenance management personnel feel different, judgement and experienced difference often have influence on the accuracy of judgement, and do not have quantitative concept.Because loader complex structure, uncertain, the work under bad environment of construction load cause its rate of fault higher.Therefore, along with technological progress and big development of producing, domestic and international project circle, Business circle are more and more paid attention to monitoring of working condition, the fault diagnosis of modern comfort, thereby are made it constantly to be developed.Towards engineering duty, construction machine is implemented monitoring of working condition and fault diagnosis, failure judgement type, reason, position, the order of severity are monitoring of working condition, fault diagnosis field frontier nature problem.
Summary of the invention: the purpose of this invention is to provide a kind of working state and carry out real-time state monitoring, malfunction alarm and carry out fault diagnosis and show the embedded failure diagnosis apparatus of its failure cause at the fault of reporting to the police to loading machine steering hydraulic system.
For achieving the above object, the present invention has taked following technical proposals: it is based upon on the embedded platform with ARM7 little processing hardware system and μ C/OS-II operation system, and developing instrument is the C language; Comprise steering hydraulic system and fault diagnosis system; Said steering hydraulic system is by steering pump, pressure-gradient control valve, the commutator of load sensing type, combination valve block and turn to oil cylinder to be communicated with by oil circuit; Said fault diagnosis system is based on the diagnostic model of fault tree, adopt modular design, main modular comprises communication module, real-time monitoring modular, central dispatching module, Monitoring Data database, fault diagnosis module, failed storage database, human-computer interaction module.
The task of said communication module is: the underlying protocol of 1) finishing communication; 2) fault diagnosis of signal acquiring system; 3) sensor signal that receives also changes into the desired data form and transmits data.
Said real-time monitoring modular is that the Monitoring Data of loader duty parameter standard threshold values direct and normal working is compared, and reports to the police according to the difference degree; This resume module fault is real-time, is the tentative diagnosis to duty parameter.
Said central dispatching module is to be responsible for the scheduling of module and the data and the signal and communication of each intermodule.
Said Monitoring Data database is to deposit the duty parameter that each signal gathering unit is gathered.
Said fault diagnosis module is on the processing basis of real-time monitoring modular the loader duty parameter to be carried out deeper fault diagnosis.Module adopts the method for diagnosing faults based on fault tree, mainly is made of knowledge base and inference machine.
Said failed storage database is the record trouble alarm logging, for the user safeguards and manufacturer's technological improvement provides corresponding data.
Said human-computer interaction module is a demonstration information, the part of fault diagnostic program and user interactions.
The operation conditions of the sensor acquisition steering hydraulic system of the present invention by being installed in each position of loading machine steering hydraulic system, and signal is handled and controlled by the embedded system that is integrated on the loader, the value of important parameter and the working state of critical piece show with different forms by display interface when constantly monitoring the loader operation.When parameter exceeds normal range (NR) or situation when unusual, remind the driver in time to handle by the acoustooptic alarm means, in case injure the driver or cause that certain system of machine is badly damaged.Also provide the steering system fault to show simultaneously, help attendant failure judgement and reason apace, for " periodic maintenance ", " breakdown maintenance " carries out the transition to " state maintenance " that reliable foundation is provided.
The present invention has changed traditional parameter instrumentation demonstration and man-made fault and has judged to have following characteristics:
1) provides the working state of steering hydraulic system to show, made the driver can grasp the working state of loading machine steering hydraulic system in real time.
2) can be automatically and send warning fast, make the driver need not watch the change of instrument constantly attentively, alleviated driver's working strength.
3) divide multistage warning by different parameters to the influence degree of loading machine steering hydraulic system, have self diagnosis and fault Presentation Function, reduce disorderly closedown and complete machine maintenance time, improve the complete machine operational efficiency.
4) in time find and control the fault that loading machine steering hydraulic system may occur, prevent the generation of accident, guaranteed loader reliability of operation and Security.
Set up embedded steering hydraulic system trouble-shooter, be in order to guarantee the operation normally and efficiently of loader, and it is carried out effective monitoring of working condition and fault diagnosis.Whole device is by being installed in the sensor at each position of loader, and the value of important parameter and the working state of critical piece show with different forms by display interface during the operation of real time monitoring loader.When parameter exceeds normal range (NR) or work condition abnormality, in time handle by three grades of acoustooptic alarm drivers, be subjected to badly damaged to prevent the injured or loader system of driver.The present invention also provides failure code to show, helps quick failure judgement point of maintenance man and reason thereof.Also can realize the information and the exchange of technology of engineering machinery user and manufacturer.Determine every diagnosis index and best preventive maintenance interval, in time find and the prevention apparatus fault betterment works mechanical movement situation, raising engineering machinery functional reliability and working life; Reduce the device maintenance expense of engineering machinery user and manufacturer, improve engineering machinery and use economic benefit.Manufacturer has also obtained valuable actual conditions parameter, for technological improvement provides the practical data deposit.
Description of drawings: Fig. 1 is a load sensing type all hydraulic pressure steering-gear structural representation of the present invention;
Fig. 2 is many fork fault tree schematic representation;
Fig. 3 is the fault propagation digraph schematic representation of fault tree;
Fig. 4 is a steering hydraulic system fault tree schematic representation;
Fig. 5 is a pressure-gradient control valve fault tree schematic representation;
Fig. 6 is a steering box fault tree schematic representation;
Fig. 7 is a combination valve block fault tree schematic representation;
Fig. 8 is the software system structure block diagram representation;
Fig. 9 is the software system function block diagram representation.
Among the figure 1, steering pump 2, pressure-gradient control valve 3, load sensing type commutator 4, combination valve block 5, turn to oil cylinder
Embodiment: with reference to the accompanying drawings, steering hydraulic system of the present invention mainly by pressure-gradient control valve 2, BZZ5 type load sensing commutator 3, turn to oil cylinder 5 and pipeline etc. to form, as shown in Figure 1.Collaborate or shunt by pressure-gradient control valve 2, can raise the efficiency, reduce the wastage.This steering system has following characteristics: 1) element compact structure, size is little.2) all element self oiling, the life-span is long.3) turn to reliably, handle light and flexible.4) can realize and equipment hydraulic system interflow, reduce power loss, improve system effectiveness.
Fault diagnosis system working principle of the present invention, as shown in Figure 2 to Figure 3, fault diagnosis system adopts the diagnostic model based on fault tree, and Fig. 2 is the fault tree of fork more than, and Fig. 3 is the fault propagation digraph of fault tree.Arrow among Fig. 3 is represented the direction of fault propagation, and the w value on every paths (limit) is the weights that fault is propagated.The fault propagation digraph of fault tree is to have between node and or logical relation cum rights directed tree.Be in the bottom of tree based on the source of trouble of fault tree diagnosis, the fault propagation direction is for from bottom to top promptly from bottom event → intermediate event → top event.
Because the fault diagnosis of hydraulic system is a kind of fuzzy knowledge, do not have explication and serious the analysis, so this system expresses knowledge with production rule, the general representation of rule is:
R#?IF?A?THEN?B?with?CF(B,A)
Wherein, R# is regular number, and IF partly is the various performances (fact) of fault, and THEN partly is the reason that produces these performances.CF (CertainlyFaclor) is the confidence value (being weights) of rule, and expression A is to the degree of support of conclusion B, and span is between [1,1].In this knowledge base, all rules form a progressive inference network, and network is a multilayer, form " tree " structure.
The essence of inference system reasoning is a kind of search.It is the control module of computer.According to the equipment state of input, the expertise that utilizes knowledge base to store removes solution, diagnosis problem by certain inference strategy.Usually, the adoptable inference strategy of hydraulic system has forward reasoning (claim not only data driven), backward reasoning (but also claiming target drives) or positive and negative mixed inference.Native system carries out search inquiry with the structural type of " search tree ", adopts step as follows: 1) with the sampled data in the storage as the deduction prerequisite.2) search is each bar rule of conclusion (THEN part) with this prerequisite.3) as prerequisite, repeat recurrence with the fact (IF part) of each bar rule again, search is developed in depth, till finding out the evidence node.This inference system is a kind of Depth Search, and it is to carry out deep search earlier, then gradually to horizontal development, so that spread all over whole estimation reason storehouse.This production inference logic is accepted by the people easily, and accountability is good, also is convenient to the replenishing of knowledge base, renewal etc.
Steering hydraulic system fault tree of the present invention as shown in Figure 4, the pressure-gradient control valve fault tree as shown in Figure 5, the steering box fault tree as shown in Figure 6, the combination valve block fault tree is as shown in Figure 7.
Fault diagnosis software system architecture of the present invention and function thereof are shown in Fig. 8,9, and the present invention is that developing instrument is the C language on the embedded platform that is based upon with ARM7 little processing hardware system and μ C/OS-II operation system.Software adopts modular design, and its system construction drawing as shown in Figure 8.Main modular comprises:
Communication module: 1) finish the underlying protocol of communication; 2) fault diagnosis of signal acquiring system; 3) sensor signal that receives also changes into the desired data form and transmits data.
Real-time monitoring modular: the Monitoring Data of loader duty parameter standard threshold values direct and normal working is compared, report to the police according to the difference degree; This resume module fault is real-time, is the tentative diagnosis to duty parameter.
Central dispatching module: be responsible for the scheduling of module and the data and the signal and communication of each intermodule.
Monitoring Data database: deposit the duty parameter that each signal gathering unit is gathered.
Fault diagnosis module: on the processing basis of real-time monitoring modular, the loader duty parameter is carried out deeper fault diagnosis.Module adopts the method for diagnosing faults based on fault tree, mainly is made of knowledge base and inference machine.
1) knowledge base is mainly used in the diagnosis principle of depositing hydraulic system fault, reflects the causality of various faults;
2) inference machine mainly solves the selection and the application problem of knowledge, controls the solution procedure of whole problem.It brings coupling according to the sampled data in the storage with the diagnosis principle in the knowledge base, utilizes suitable control algorithm to infer conclusion then.
Module is divided into hydraulic system of working fault diagnosis submodule and steering hydraulic system fault diagnosis submodule, and this processing is with strong points.Move hydraulic system of working fault diagnosis submodule at ordinary times, then move steering hydraulic system fault diagnosis submodule when turning to.Improve the operational efficiency of whole system.
The failed storage database: the record trouble alarm logging, for the user safeguards and manufacturer's technological improvement provides corresponding data.
Human-computer interaction module: demonstration information is the part of fault diagnostic routine and user interactions.
The workflow of status monitoring and fault diagnosis software system operation is as shown in Figure 9: Fig. 9 is the software system function block diagram.

Claims (8)

1, a kind of embedded failure diagnosis apparatus of loading machine steering hydraulic system is characterized in that it is based upon on the embedded platform with ARM7 little processing hardware system and μ C/OS-II operation system, and developing instrument is the C language; Comprise steering hydraulic system and fault diagnosis system; Said steering hydraulic system is by steering pump, pressure-gradient control valve, the commutator of load sensing type, combination valve block and turn to oil cylinder to be communicated with by oil circuit successively; Said fault diagnosis system is based on the diagnostic model of fault tree, adopt modular design, main modular comprises communication module, real-time monitoring modular, central dispatching module, Monitoring Data database, fault diagnosis module, failed storage database, human-computer interaction module.
2, embedded failure diagnosis apparatus of loading machine steering hydraulic system according to claim 1 is characterized in that the task of said communication module is: the underlying protocol of 1) finishing communication; 2) fault diagnosis of signal acquiring system; 3) sensor signal that receives also changes into the desired data form and transmits data.
3, embedded failure diagnosis apparatus of loading machine steering hydraulic system according to claim 1, it is characterized in that said real-time monitoring modular is that the Monitoring Data of loader duty parameter standard threshold values direct and normal working is compared, and reports to the police according to the difference degree; This resume module fault is real-time, is the tentative diagnosis to duty parameter.
4, embedded failure diagnosis apparatus of loading machine steering hydraulic system according to claim 1 is characterized in that said central dispatching module is to be responsible for the scheduling of module and the data and the signal and communication of each intermodule.
5, embedded failure diagnosis apparatus of loading machine steering hydraulic system according to claim 1 is characterized in that said Monitoring Data database is to deposit the duty parameter that each signal gathering unit is gathered.
6, embedded failure diagnosis apparatus of loading machine steering hydraulic system according to claim 1 is characterized in that said fault diagnosis module is on the processing basis of real-time monitoring modular the loader duty parameter to be carried out deeper fault diagnosis.Module adopts the method for diagnosing faults based on fault tree, mainly is made of knowledge base and inference machine.
7, embedded failure diagnosis apparatus of loading machine steering hydraulic system according to claim 1 is characterized in that said failed storage database is the record trouble alarm logging, for the user safeguards and manufacturer's technological improvement provides corresponding data.
8, embedded failure diagnosis apparatus of loading machine steering hydraulic system according to claim 1 is characterized in that said human-computer interaction module is a demonstration information, the part of fault diagnostic program and user interactions.
CN 200410064395 2004-08-21 2004-08-21 Embedded failure diagnosis apparatus of loading machine steering hydraulic system Pending CN1737383A (en)

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Application Number Priority Date Filing Date Title
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Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102003426A (en) * 2010-12-23 2011-04-06 山东临工工程机械有限公司 Flow conversion control valve
CN102079331A (en) * 2010-12-27 2011-06-01 长沙科达建设机械制造有限公司 Hydraulic control device for multiple drive steering ways of wheel type vehicle
CN102722156A (en) * 2012-06-21 2012-10-10 国电南瑞科技股份有限公司 Method for displaying fault of control system and controlling fault tolerance in production process of metallurgy industry
CN102975766A (en) * 2012-12-12 2013-03-20 潍柴动力股份有限公司 Electric hydraulic power-assisted steering system failure diagnosing method and controller
CN104454785A (en) * 2014-09-25 2015-03-25 中南大学 Engineering machinery hydraulic cylinder fault diagnosis system and fault sample signal acquisition method applicable to same
CN107607334A (en) * 2017-08-24 2018-01-19 芜湖中意液压科技股份有限责任公司 Transporter fluid-link steering fault detection system

Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102003426A (en) * 2010-12-23 2011-04-06 山东临工工程机械有限公司 Flow conversion control valve
CN102079331A (en) * 2010-12-27 2011-06-01 长沙科达建设机械制造有限公司 Hydraulic control device for multiple drive steering ways of wheel type vehicle
CN102722156A (en) * 2012-06-21 2012-10-10 国电南瑞科技股份有限公司 Method for displaying fault of control system and controlling fault tolerance in production process of metallurgy industry
CN102722156B (en) * 2012-06-21 2014-07-02 国电南瑞科技股份有限公司 Method for displaying fault of control system and controlling fault tolerance in production process of metallurgy industry
CN102975766A (en) * 2012-12-12 2013-03-20 潍柴动力股份有限公司 Electric hydraulic power-assisted steering system failure diagnosing method and controller
CN102975766B (en) * 2012-12-12 2015-05-13 潍柴动力股份有限公司 Electric hydraulic power-assisted steering system failure diagnosing method and controller
CN104454785A (en) * 2014-09-25 2015-03-25 中南大学 Engineering machinery hydraulic cylinder fault diagnosis system and fault sample signal acquisition method applicable to same
CN104454785B (en) * 2014-09-25 2016-09-07 中南大学 A kind of engineering machinery hydraulic cylinder fault diagnosis system and the fault sample signal acquisition method being suitable for therewith
CN107607334A (en) * 2017-08-24 2018-01-19 芜湖中意液压科技股份有限责任公司 Transporter fluid-link steering fault detection system

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