DE102019001627A1 - Process for wear detection and predictive wear forecast of electromechanical actuators at the operating time of a machine with an internal combustion engine - Google Patents

Abstract

Described is a method for wear detection and predictable wear prognosis of electromechanical actuators (especially throttle valve, exhaust gas recirculation valve, exhaust gas valve and pressure relief valve on the turbocharger or others) for the operating time of a machine with an internal combustion engine with at least one engine control unit, comprising a first measuring method for identifying the actuator wear in the form of motion profiles and the number of different actuator movements within individual movement profiles, the number of different actuator movements being compared with reference data and a second measuring method which recognizes production errors in such a way that the electromechanical actuators are stimulated with a jump and the step response or the settling time of the Actual position to the target position is measured and evaluated.

Description

The invention relates to a method for wear detection and predictive wear forecast of electromechanical actuators at the operating time of a machine with an internal combustion engine.

No methods are known from the prior art, wear detection is not possible since there is no integrated method for wear detection. This means that no wear forecast is possible.

The invention has for its object to provide a method for wear detection and predictive wear forecast of electromechanical actuators at the operating time of a machine with an internal combustion engine.

This object is achieved by the features of patent claim 1. Further embodiments and advantages according to the invention emerge from the subclaims.

Accordingly, a method for wear detection and predictable wear prognosis of electromechanical actuators (especially throttle valve, exhaust gas recirculation valve, exhaust gas valve and pressure relief valve on the turbocharger or others) becomes the operating time of a machine with an internal combustion engine with at least one engine control unit, comprising a first measurement method for identifying the actuator wear in the form of motion profiles and the number of different actuator movements within individual movement profiles, the number of different actuator movements being compared with reference data and a second measuring method which recognizes production errors in such a way that the electromechanical actuators are stimulated with a jump and the step response or the settling time of the Actual position to the target position is measured and evaluated, proposed

• : Zusammensetzung des globalen Verfahrens als schematische Darstellung
• : Testzyklus2OO entstanden aus realen Felddaten
• : Dauerbelastungstest mit Testzyklus200
• : Visualisierung der Dauerlastlauf-Ergebnisse
• : Systemschaubild Zusammenspiel der Systeme und Komponenten
• : Beispielhafter elektromechanischer Aktuator, elektrisches Abgasrückführungsventil, 0 % Stellerposition = Ventil vollständig geöffnet, 100 % Stellerposition = Ventil vollständig geschlossen, Zwischenpositionen sind möglich z.B. 33 % = Ventil zu einem Drittel geschlossen

The invention is explained in more detail by way of example with reference to the accompanying figures. Show it:

• : Composition of the global process as a schematic representation
• : Testycle2OO emerged from real field data
• : Endurance test with test cycle 200
• : Visualization of the continuous load results
• : System diagram Interplay of systems and components
• : Exemplary electromechanical actuator, electric exhaust gas recirculation valve, 0% actuator position = valve fully open, 100% actuator position = valve fully closed, intermediate positions are possible, e.g. 33% = valve one third closed

The global method can be divided into two different measurement methods, as shown in is shown. measurement methods 1 identifies actuator wear in the form of motion profiles and the number of different actuator movements within individual motion profiles. This number is compared with reference data.

The measurement procedure is used to detect and forecast wear on the electromechanical actuators.

The measuring method 2 is used to detect accidental or production errors. This increases the robustness of the entire method, since accidental errors are not possible with the measuring method 1 can be recognized. For this purpose, a diagnostic function is used which controls the respective electromechanical actuator and at the same time the reaction time of the z. B. records operation. The response time is compared with values from the specification. shows the composition of the method in a schematic representation.

• In Phase 1 erfolgt die Definition des Testzyklus. Zunächst wird ein realer Test / Lastzyklus (Felddaten eines Gabel-Staplers) vermessen, welcher einem Worst-Case-Szenario - also dem schlimmsten Fall, der in Zukunft eintreten kann, entspricht - wie dies in gezeigt wird. Dieser Lastzyklus beinhaltet in diesem konkreten Beispiel die Messdaten (z. B. bestehend aus der Abgasrückführungsventil-Position auf der Y-Achse in Prozent und der Zeit auf der X-Achse). Die Daten werden mittels Motorsteuergerät aufgezeichnet. Die relative Ventilposition wird vom Ventil mittels elektrischer Spannung kommuniziert. Diese Spannung wird im Motorsteuergerät mittels Analog- / Digital-Wandler diskretisiert. Eine Bewegung entspricht der relativen Ventilposition über der Zeit. Die Ventilposition kann Werte im Intervall von [0%,100%] annehmen. 0% steht für den gänzlich geöffneten Zustand und 100% steht für den gänzlich geschlossenen Zustand des Ventils (vgl. ). Das Ventil wird in Abhängigkeit des Lastzyklus des Verbrennungsmotors auf die jeweilige Position geregelt. Dabei öffnet bzw. schließt der im Aktuator vorhandene elektrische Stellmotor das Ventil. Das hier beschriebene Verstellen der Ventilposition verursacht über die Betriebszeit des Verbrennungsmotors Verschleiß. Insbesondere Kommutator-Verschleiß des elektrischen Stellmotors und mechanischen Verschleiß im Getriebe (Zahnräder) des Ventils. Diese Verschleißarten werden mit dem hier beschriebenen Verfahren prognostiziert. Der Testzyklus wird im Folgenden als Standard Testzyklus200 definiert. Der Testzyklus200 wird im nächsten Schritt skaliert, damit er einer definierten Lebensdauer des Verbrennungsmotors entspricht. Dies wird dadurch erreicht, dass konstante Ventilpositionen (Verharrung des Ventils über längere Zeit, z. B. eine Sekunde in ein und derselben Position) aus den diskretisierten Messdaten gelöscht werden. Sämtliche Bewegungen werden (zeitlich) auf 200 ms Stellzeit gestaucht. Durch Verdichtung und vielfache Wiederholung des Zyklus kann die Lebensdauer des Verbrennungsmotors in kurzer Zeit simuliert werden.

Below is the measurement procedure 1 described. This procedure can be divided into the following phases:

• In phase 1 the test cycle is defined. First, a real test / load cycle (field data of a fork-lift truck) is measured, which corresponds to a worst-case scenario - the worst case scenario that can occur in the future - as in will be shown. In this specific example, this load cycle contains the measurement data (e.g. consisting of the exhaust gas recirculation valve position on the Y axis in percent and the time on the X axis). The data is recorded using an engine control unit. The valve communicates the relative valve position using electrical voltage. This voltage is discretized in the engine control unit by means of an analog / digital converter. One movement corresponds to the relative valve position over time. The valve position can take values in the interval of [0%, 100%]. 0% stands for the fully open state and 100% stands for the fully closed state of the valve (cf. ). The valve is regulated to the respective position depending on the load cycle of the internal combustion engine. The electric servomotor in the actuator opens or closes the valve. The adjustment of the valve position described here causes wear over the operating time of the internal combustion engine. In particular commutator wear of the electric servomotor and mechanical wear in the gear (gear wheels) of the valve. These types of wear are predicted using the procedure described here. The test cycle is defined below as the standard test cycle 200. The test cycle 200 is scaled in the next step so that it corresponds to a defined service life of the internal combustion engine. This is achieved by deleting constant valve positions (persistence of the valve for a long time, e.g. one second in one and the same position) from the discretized measurement data. All movements are (temporally) compressed to 200 ms operating time. The service life of the internal combustion engine can be simulated in a short time by compression and repeated repetition of the cycle.

discloses the test cycle 200, which arises from real field data.

A real and application-oriented test cycle (as used in this description) is preferable to a synthesized cycle (non-contiguous or statistical movement stimulation). Because the real test cycle includes a logical and functional connection of the different movements. In other words, the information of the motion overlay is available in a real application.

The phase 2 represents the load test (cf. Wöhler test). A certain number of the relevant actuators (possibly several of the same type in order to obtain a sufficient sample size) are loaded with the test cycle 200 until the actuators either fail due to wear or work outside their specification. The actuator positions or movements from the test cycle 200 are specified by means of an H-bridge or a controllable voltage source in the form of an electrical voltage (which each represents a position). This means that the test cycle 200 as electrical. Voltage course is stimulated. During the test, the functions of the actuators are continuously monitored and recorded, as shown in is demonstrated. Table 1 shows the number of movements of the test cycle 200. Table 1 Testzyklus200 Runtime = 200 ms. 100 movements = 20.0 [s] great movement 26 medium movement 37 little movement 37 total 100

In the endurance test with the test cycle 200 is shown. In order to meet the requirements of the worst-case scenario, the ambient temperature is raised to 40 ° C during the stress test. The actuators are assessed by the manufacturer at the end of the test to confirm the respective wear.

n_maxpx =

Maximale Bewegungsanzahl je Profil

n_px =

Anzahl Bewegungen pro Profil

t_max =

Zeitschwelle [h]

c_t =

Zeitkonstante = 3600

T_Cycl =

Dauer des Testzyklus200 [s]

In phase 3 reference data is generated as follows: Several motion profiles are defined (number or granularity of the profiles can vary depending on the test cycle). motion profile 1 large movements (e.g.> 30%), movement profile 2 medium movements (e.g. <= 30% and> 10%), movement profile 3 small movements (e.g. <= 10%) (see Table 3). On the basis of the motion profiles, the maximum movements made during the endurance run or stress tests can be determined absolutely (see Table 1). Example: actuator 4 massive wear after 830 operating hours (cf. ). It has the lowest operating time of all actuators. As a first approximation - worst-case analysis - the time threshold of 800 operating hours is defined (see Table 2). The maximum number of movements per profile (reference values) can be calculated according to Formula 1 below (see Table 3): $$n_{maxpx}=\frac{n_{px}·t_{max}·c_t}{T_{Cycl}}$$

n _maxpx =

Maximum number of movements per profile

n _px =

Number of movements per profile

t _max =

Time threshold [h]

c _t =

Time constant = 3600

T _Cycl =

Test cycle duration 200 [s]

Table 2 shows the result of the endurance test with Testzyk-Ius200. Table 2 Runtime test max actuator actuator actuator actuator actuator actuator 1400 1 2 3 4 5 6 operating hours reached Operating hours [h] 1245 1189 1007 830 960 932 to abnormality Time threshold [h] 800 800 800 800 800 800

Table 3 shows the calibratable thresholds of the maximum number of movements per movement profile (right column) according to Formula 1. Table 3 Maximum movement threshold for large movements Profile 1 3744000 Maximum movement threshold for medium movements Profile 2 5328000 Maximum movement threshold for small movements Profile 3 5328000

shows the visualization of the endurance test results. Table 4 Running time test max 1400 operating hours Actuator 1 Actuator 2 Actuator 3 Actuator 4 Actuator 5 Actuator 6 Operating hours reached [h] to abnormality 1245 1189 1007 830 960 932 Time threshold [h] 800 800 800 800 800 800 Deviation [%] 20 20 21 27 21 22

• Der hier erschaffene Prozess (Reduktion der Profilbewegungen durch den Lastzyklus des Verbrennungsmotors) ist stetig und monoton fallend. Dies ist eine Folge aus der Unterabtastung (Abtastung bzw. Berechnung in Vielfachen des Beobachtungsintervalls). Die stark glättende Wirkung führt zu einem linearen Trend(-modell) (Geradengleichung). Der Prozess setzt sich aus Betriebszeit des Verbrennungsmotors und der verbleibenden Bewegungen je Aktuator je Profil zusammen. Zur periodischen Vorhersage der verbleibenden Bewegungen je Profil wird die Exponentielle Glättung verwendet (die Nummerierung bzw. Reihenfolge der Formeln entspricht der Berechnungsreihenfolge im Motorsteuergerät):
  • Berechnung 1. Ordnung als Zwischenwert:

    Z1_t [%] =

    Zwischenwert der Exponentiellen Glättung 1. Ordnung

    α =

    Glättungskonstante für Exponentiellen Glättung 1. Ordnung

    O_bsrv [%] =

    derzeitiger gemessener/berechneter Ist-Wert der verbleibenden Bewegungen

    Z1_t-1 [%] =

    vorheriger Zwischenwert

  $$Z{1}_t=\mathrm{\alpha }\cdot {{\rm O}}_{bsrv}+\left(1-\mathrm{\alpha }\right)\cdot Z{1}_{t-1}$$
  
• Berechnung 2. Ordnung:

  Z2_t [%] =

  Zwischenwert der Exponentiellen Glättung 2. Ordnung

  ß =

  Glättungskonstante für Exponentiellen Glättung 2. Ordnung

  Z1_t [%] =

  Zwischenwert der Exponentiellen Glättung 1. Ordnung

  Z2_t-1 [%] =

  vorheriger Zwischenwert

  $$Z{2}_t=\mathrm{\beta }\cdot Z{1}_t+\left(1-\mathrm{\beta }\right)\cdot Z{2}_{t-1}$$
  

In phase 4 the predictions are calibrated and calculated. The reference values are now calibrated in the engine control unit. During the operating period, the control unit calculates the current status (remaining movements per actuator per movement profile) and predicts after how many more operating hours the maximum number of movements per actuator will have been reached. This information is communicated via an interface (e.g. CAN bus). The method of time series analysis is used for the forecast in combination with the method of exponential smoothing, which are explained below:

• The process created here (reduction of the profile movements through the load cycle of the internal combustion engine) is steadily and monotonously falling. This is a consequence of the subsampling (sampling or calculation in multiples of the observation interval). The strong smoothing effect leads to a linear trend (model) (straight line equation). The process consists of the operating time of the internal combustion engine and the remaining movements per actuator per profile. Exponential smoothing is used to periodically predict the remaining movements per profile (the numbering or sequence of the formulas corresponds to the calculation sequence in the engine control unit):
  • calculation 1 , Order as an intermediate value:

    Z1 _t [%] =

    Intermediate value of exponential smoothing 1 , order

    α =

    Smoothing constant for exponential smoothing 1 , order

    O _bsrv [%] =

    current measured / calculated actual value of the remaining movements

    Z1 _t-1 [%] =

    previous intermediate value

  $$Z{1}_t=\mathrm{\alpha }\cdot {{\rm O}}_{bsrv}+\left(1-\mathrm{\alpha }\right)\cdot Z{1}_{t-1}$$
  
• calculation 2 , Order:

  Z2 _t [%] =

  Intermediate value of exponential smoothing 2 , order

  ß =

  Smoothing constant for exponential smoothing 2 , order

  Z1 _t [%] =

  Intermediate value of exponential smoothing 1 , order

  Z2 _t-1 [%] =

  previous intermediate value

  $$Z{2}_t=\mathrm{\beta }\cdot Z{1}_t+\left(1-\mathrm{\beta }\right)\cdot Z{2}_{t-1}$$
  

The smoothing constants (α and ß) can be determined using field data and simulation of the process or with the help of an optimization process.

After exponential smoothing has been calculated (for the entire forecast horizon), Formula 4 is applied. The current smoothing factors at the time of the forecast horizon are smoothed again and multiplied by the forecast horizon. For this purpose, the Y-intercept is added and the result is the forecast (remaining movements) at time FCH (for example, after another 100 hours of operation, the respective actuator will have reached 70% of its total movements). $$FOrecas{t}_{FCH}=\left(2\cdot Z{1}_{t+FCH}\right)-Z{2}_{t+FCH}+FCH\cdot \mathrm{\alpha }\cdot \left(Z{1}_{t+FCH}-Z{2}_{t+FCH}\right)$$

• Eine weitere Möglichkeit besteht darin, den Zeitpunkt des vollkommenen Verschleißes zu berechnen. Anders ausgedrückt, wann bzw. zu welchem Zeitpunkt wird das jeweilige Bauteil die maximale Bewegungsanzahl erreicht haben. Dies gelingt durch Anwendung der Formeln 5 bis 7. Es wird die Steigung m (mittlere Steigung) über den gesamten Forecast Horizont und der Y-Achsenabschnitt berechnet. Dann wird die Geradengleichung nach der (Rest-) Betriebszeit aufgelöst. o_bsrvMin entspricht in diesem Fall 0 % Restbewegungen.

  Forecast_time [h] =

  Betriebszeit in Stunden bis Erreichen der unteren Schwelle o_bsrvMin

  o_bsrvMin [%] =

  untere Schwelle des Verschleißes, hier: 0% Restbewegungen

  m =

  Steigung

  b [%] =

  Y-Achsenabschnitt

  Z1_t+FCH[%] =

  Zwischenwert der Exp. Glättung 1. Ordnung zum Zeitpunkt FCH

  FCH_[h] =

  Forecast Horizont (z. B. 10 · 5 (Beobachtungsintervall) = 50 = FCH

  Z2_t+FCH-1[%] =

  Zwischenwert der Exp. Glättung 2. Ordnung zum Zeitpunkt FCH-1

  Forecast_vec[%]=

  Forecast Vektor der Länge FCH

  T_observ[h] =

  Beobachtungsintervall, eine Forecast Berechnung je T_observ

  $$Forecas{t}_{time}=\left|\frac{\left({\text{o}}_{bsrvMin}-b\right)}{m}\right|$$
  

Calculation of the time of failure:

• Another possibility is to calculate the time of complete wear. In other words, when and at what point in time the respective component will have reached the maximum number of movements. This is achieved by using formulas 5 to 7. The slope m (average slope) is calculated over the entire forecast horizon and the y-intercept. Then the straight line equation is solved after the (remaining) operating time. o _bsrvMin corresponds to 0% residual movements in this case.

  Forecast _time [h] =

  Operating time in hours until the lower threshold is reached o _bsrvMin

  o _bsrvMin [%] =

  lower threshold of wear, here: 0% residual movements

  m =

  pitch

  b [%] =

  Y-intercept

  Z1 _{t + FCH [%]} =

  Intermediate value of exp. Smoothing 1 , Order at time FCH

  FCH _[h] =

  Forecast horizon (e.g. 10 · 5 (observation interval) = 50 = FCH

  Z2 _{t + FCH-1} [%] =

  Intermediate value of exp. Smoothing 2 , Order at time FCH-1

  Forecast _vec [%] =

  Forecast vector of length FCH

  T _observ [h] =

  Observation _interval , one forecast calculation per T _observ

  $$FOrecas{t}_{time}=\left|\frac{\left({\text{O}}_{bsrvMin}-b\right)}{m}\right|$$
  

$$\begin{array}{l}\text{Steigung }m:\\ m=\frac{Forecas{t}_{vec}\left[end\right]-Forecas{t}_{vec}\left[start\right]}{T_{observ}\cdot length\left(Forecas{t}_{vec}\right)}\end{array}$$

With: $$\begin{array}{l}\text{y-intercept}b:\\ b=\left(2\cdot Z{1}_{t+FCH}\right)-Z{2}_{t+FCH-1}\end{array}$$

$$\begin{array}{l}\text{pitch}m:\\ m=\frac{FOrecas{t}_{vec}\left[end\right]-FOrecas{t}_{vec}\left[start\right]}{T_{Observ}\cdot lenGtH\left(FOrecas{t}_{vec}\right)}\end{array}$$

M =

MAPE [%]

n =

Anzahl der Prognosen

A_t =

aktuell bestimmter Wert der verbleibenden Bewegungen [%]

F_t =

prognostizierter Wert der verbleibenden Bewegungen [%]

$$\text{M}=\frac{100}{n}{\displaystyle \sum _{t=1}^n\left|\frac{A_t-F_t}{A_t}\right|}$$

The prediction result is continuously monitored during the runtime. For this purpose, the forecast error (MAPE, Mean Absolute Percentage Error, see Formula 4) is determined periodically. If an excessive deviation appears over several periods, the smoothing coefficients of the exponential smoothing are adjusted more, if the deviation is small, the smoothing factors are adjusted slightly or not.

M =

MAPE [%]

n =

Number of forecasts

A _t =

currently determined value of the remaining movements [%]

F _t =

forecast value of the remaining movements [%]

$$\text{M}=\frac{100}{n}{\displaystyle \underset{t=1}{\overset{n}{\Sigma }}\left|\frac{A_t-F_t}{A_t}\right|}$$

The forecast of the remaining movements or the remaining operating time is compared with the regular maintenance interval of the internal combustion engine. If a regular maintenance interval cannot be reached due to the fact that the remaining operating time is less than the difference between the time of the regular maintenance interval and the remaining operating time, the time to be observed for the electromechanical actuator maintenance is communicated. If the regular maintenance interval can be reached, the status is communicated that the electromechanical actuators should be replaced during the next regular maintenance. If the electromechanical actuators are not serviced in good time, a diagnostic status is activated.

In the system diagram or the interaction of the systems and components is shown. For example, actuator 1 = throttle valve, actuator 2 = exhaust gas recirculation valve, actuator 3 = exhaust gas valve, actuator 4 = pressure relief valve on the turbocharger. The actuators 1 - 4 are regulated components of the internal combustion engine. The positions or movements of the actuators are regulated via the engine control unit depending on the load spectra requested (e.g. by the driver of a machine). The engine control unit identifies the individual movements in the respective profiles and calculates the forecast using formulas 2 to 8. The calculated forecast value is, for. B. via CAN bus (J1939) telegram made available to other systems (signaling).

Below is the measurement procedure 2 described. In order to increase the robustness of the global method, in addition to the motion profiles (measuring method 1 ) the control response time of the electromechanical actuators is checked (measuring method 2 ). The movement profiles make the wear and the wear forecast visible or measurable. However, accidental or production errors in the drive of the electromechanical actuator cannot be detected in this way. A further measurement method is therefore described in order to be able to recognize random errors in the drive of the actuator and thus to make the global method more robust with regard to random errors. How the measuring process works 2 : At a defined and convenient time, e.g. B. after (run-on time) or before the operating time of the internal combustion engine, the electromechanical actuators are stimulated with a jump (from 0% = closed to 100% = completely open). The step response, more precisely the settling time of the actual position to the target position, is measured and evaluated. The required actuating time or settling time of the actuators when new can be found in the manufacturer's specification. The tolerance range (or series spread) of the settling time is 19% according to the specification. Table 4 shows the wear-related deviations of the actuators used from the measurement process 1 , It can be seen that the tolerance range of the settling time of 19% has been exceeded. The settling time is one of the features used to identify abnormalities in the individual actuators. Others are e.g. B. Internal resistance of the actuator, torque, speed, etc. The settling time is the only one that can be measured automatically during the operation of the internal combustion engine (from the point of view of the engine control unit especially for non-intelligent electromechanical actuators such as H-bridge actuators). The settling time without the other features mentioned is considered too imprecise in itself to represent precise forecasts or the exact wear. That is why it is used in this procedure for wear identification as additional information, but above all for the detection of random errors in the drive. For this purpose, a threshold (in consultation with the manufacturer instead of 19%, 33%) is defined as to when a significant deviation of the settling time from the new condition but also from the normal wear and tear (as shown in Table 4) can be seen.

Claims (10)

Process for wear detection and predictable wear prognosis of electromechanical actuators at the operating time of a machine with an internal combustion engine with at least one engine control unit, comprising a first measurement method for identifying the wear of the actuator (especially throttle valve, exhaust gas recirculation valve, exhaust gas valve and pressure relief valve on the turbocharger or others) in the form of movement profiles and the number the different actuator movements within individual movement profiles, the number of different actuator movements being compared with reference data, and a second measuring method which recognizes production errors in such a way that the electromechanical actuators are stimulated with a jump and the step response or the settling time of the actual Position to the target position is measured and evaluated. Process for wear detection and predictable wear forecast of electromechanical actuators at the operating time of a machine with an internal combustion engine Claim 1 , characterized in that a real test or load cycle is measured. Process for wear detection and predictable wear forecast of electromechanical actuators at the operating time of a machine with an internal combustion engine according to one or more of the preceding claims, characterized in that the real test or load cycle is digitized and scaled so that it corresponds to a defined service life of the internal combustion engine. Process for wear detection and predictable wear prognosis of electromechanical actuators at the operating time of a machine with an internal combustion engine according to one or more of the preceding claims, characterized in that the actuators in question (preferably several of the same type in order to obtain a sufficient sample size) with the test or load cycle in this way be loaded for a long time until the actuators either fail due to wear or work outside their specification. Process for wear detection and predictable wear forecast of electromechanical actuators at the operating time of a machine with an internal combustion engine according to one or more of the preceding claims, characterized in that the functions of the actuators are continuously monitored and recorded during the test. Method for wear detection and predictable wear forecast of electromechanical actuators at the operating time of a machine with an internal combustion engine according to one or more of the preceding claims, characterized in that a plurality of motion profiles are defined for generating reference data. Method for wear detection and predictable wear forecast of electromechanical actuators at the operating time of a machine with an internal combustion engine according to one or more of the preceding claims, characterized in that the reference data are calibrated in the engine control unit. Process for wear detection and predictable wear forecast of electromechanical actuators at the operating time of a machine with an internal combustion engine according to one or more of the preceding claims, characterized in that the control unit calculates and predicts the current state or the remaining movements per actuator and per movement profile during the operating time how many more operating hours the maximum number of movements per actuator will be reached. Method for wear detection and predictable wear forecast of electromechanical actuators at the operating time of a machine with an internal combustion engine according to one or more of the preceding claims, characterized in that the time series analysis method is used for the wear forecast in combination with the exponential smoothing method. Method for wear detection and predictable wear forecast of electromechanical actuators at the operating time of a machine with an internal combustion engine according to one or more of the preceding claims, characterized in that the forecast of the remaining movements or the remaining operating time is compared with the control maintenance interval of the internal combustion engine. If a regular maintenance interval cannot be reached due to the fact that the remaining operating time is less than the difference between the time of the regular maintenance interval and the remaining operating time, the timing of the electromechanical actuators to be observed is communicated with a timely maintenance notice. If the regular maintenance interval can be reached in time, the status is communicated that the electromechanical actuators should be replaced during the next regular maintenance. If timely maintenance of the electromechanical actuators is not carried out, a diagnostic status is activated and communicated.

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