Method for troubleshooting a dc electric motor simulator control system

Abstract

The application provides a method for troubleshooting a direct current electric mechanism simulator control system, which inputs the same driving electric signal into a direct current electric mechanism simulator and a real direct current electric mechanism, and determines the component of the direct current electric mechanism simulator with power output failure according to the real-time motion difference of the corresponding objects driven by the two, so that the corresponding component of the real direct current electric mechanism can be repaired to ensure the normal and stable operation of the real direct current electric motor.

Description

Technical Field

[0001] This invention relates to the technical field of DC motor control and management, and in particular to a method for troubleshooting a DC motor simulator control system. Background Technology

[0002] A DC motor is an electric motor driven by direct current. By inputting a DC drive current, the DC brushes inside the DC motor can be driven to rotate. To provide feedback regulation of the DC motor's operation, existing technologies use a DC motor simulator to simulate the operation of a real DC motor, obtaining the power output of the real DC motor. This allows for adjustments to the input drive signal, thereby changing the motor's driving state towards the target object in real time. However, this method only uses a DC motor simulator to synchronously simulate the operating state of the real DC motor and formulate a suitable adjustment scheme for the input drive signal. It cannot use the simulator to troubleshoot faults in the real DC motor in real time, thus failing to guarantee the normal and stable operation of the real DC motor and hindering timely and accurate maintenance. Summary of the Invention

[0003] To address the shortcomings of existing technologies, this invention provides a method for troubleshooting a DC motor simulator control system. The method synchronously inputs the real-time drive signal of the actual DC motor into the DC motor simulator. Based on the difference between the real-time motion state of the actual object driven by the actual DC motor and the real-time motion state of the simulated object driven by the DC motor simulator, it determines whether the DC motor simulator has a power output fault. If a power output fault is found, the DC motor simulator is restarted. Finally, based on the real-time motion state of the simulated object driven by the DC motor simulator after restarting, the faulty component in the DC motor simulator is identified. By inputting the same drive signal to both the DC motor simulator and the actual DC motor, and utilizing the difference in real-time motion between the two driving the corresponding objects, the faulty component in the DC motor simulator can be determined. This allows for the repair of the corresponding components of the actual DC motor, ensuring the normal and stable operation of the actual DC motor.

[0004] This invention provides a method for troubleshooting a DC electric mechanism simulator control system, comprising the following steps:

[0005] Step S1: Collect the real-time input drive electrical signal and real-time output power information of the actual DC electric mechanism during its actual operation; synchronously input the real-time input drive electrical signal into the DC electric mechanism simulator, and collect the corresponding simulated output power information of the DC electric mechanism simulator;

[0006] Step S2: Based on the real-time output power information, determine the real-time motion state of the real object driven by the real DC electric mechanism; based on the simulated output power information, determine the real-time motion state of the simulated object driven by the DC electric mechanism simulator; obtain the difference information between the real-time motion states of the real object and the simulated object.

[0007] Step S3: Based on the difference information, determine whether there is a power output fault in the DC electric mechanism simulator; if there is a power output fault, restart the DC electric mechanism simulator and re-input the real-time input drive signal to the DC electric mechanism simulator.

[0008] Step S4: Based on the real-time motion state of the simulated object after the DC electric mechanism simulator re-enters operation, determine the faulty components of the DC electric mechanism simulator.

[0009] Furthermore, in step S1, acquiring the real-time input drive electrical signal and real-time output power information of the actual DC electric mechanism during its actual operation specifically includes:

[0010] The real-time input drive current signal and real-time output torque information of a real DC electric motor are collected during a complete actual power output cycle, and the real-time input drive current signal is corrected for zero bias.

[0011] Furthermore, in step S1, acquiring the real-time input drive current signal and real-time output torque information of the actual DC electric mechanism within one complete power output cycle, and performing zero-bias correction on the real-time input drive current signal specifically includes:

[0012] Step S101: The real-time input drive current signal of the actual DC electric motor within one complete power output cycle is directly measured using a digital DC ammeter. The magnetic field strength around the transmission line of the actual DC electric motor is measured using a gaussmeter magnetic field strength meter when the real-time input drive current signal is input. The real-time input drive current value I2 corresponding to the real-time input drive current signal is then calculated using the following formula (1) based on the magnetic field strength.

[0013]

[0014] In the above formula (1), B(a) represents the magnetic field strength around the transmission line of the real DC electric mechanism obtained by measuring the transmission line of the transmission line with the real input drive current signal for the a-th time using the gaussmeter magnetic field strength detector; k(a) represents the vertical distance between the gaussmeter magnetic field strength detector and the transmission line; n represents the total number of times the magnetic field strength is measured using the gaussmeter magnetic field strength detector. This represents the maximum value of k(a) as the value of a is taken from 1 to n.

[0015] Step S102: Using the formula (2) below, zero bias correction is performed based on the real-time input drive current value corresponding to the real-time input drive current signal of the actual DC electric mechanism within one complete power output cycle, which is directly measured using a digital DC ammeter.

[0016]

[0017] In the above formula (2), I1 represents the real-time input drive current value obtained after zero bias correction; I1(i) represents the real-time input drive current value corresponding to the real DC electric motor's real-time input drive current signal in one actual complete power output cycle when directly measured by a digital DC ammeter for the i-th time; m represents the total number of times the real-time input drive current signal is directly measured by a digital DC ammeter; || represents the absolute value calculation operation.

[0018] Step S103: Using the following formula (3), based on the real-time input drive current value obtained after zero bias correction and the aforementioned real-time input drive current value I2, perform multi-acquisition channel calibration fitting.

[0019]

[0020] In the above formula (3), I represents the real-time input drive current value obtained after fitting the multi-acquisition channel verification formula; μ1 represents the measurement accuracy coefficient of the digital DC ammeter; and μ2 represents the measurement accuracy coefficient of the gaussmeter magnetic field strength detector.

[0021] Furthermore, in step S1, synchronously inputting the real-time input drive electrical signal into the DC electric mechanism simulator and collecting the corresponding simulated output power information of the DC electric mechanism simulator specifically includes:

[0022] The real-time input drive current signal, after zero bias correction, is synchronously input into the DC electric mechanism simulator, and the corresponding simulated output torque information of the DC electric mechanism simulator is collected.

[0023] Further, in step S2, the real-time motion state of the real object driven by the real DC electric mechanism is determined based on the real-time output power information; the real-time motion state of the simulated object driven by the DC electric mechanism simulator is determined based on the simulated output power information; specifically including:

[0024] Based on the real-time output torque information, the torque output change state of the real DC electric mechanism is obtained, and then the real-time motion trajectory and real-time motion speed of the real object driven by the real DC electric mechanism are determined within a real complete power output cycle.

[0025] Based on the simulated output power information, the torque output change state of the DC electric mechanism simulator is obtained, and then the real-time motion trajectory and real-time motion speed of the simulated object driven by the DC electric mechanism simulator within a complete actual power output cycle are determined.

[0026] Furthermore, in step S2, obtaining the difference information between the real object and the simulated object's real-time motion states specifically includes:

[0027] Based on the real-time motion trajectory and real-time motion speed of the real object, determine the functional relationship between the motion speed of the real object and the change of the motion trajectory within a complete actual power output cycle;

[0028] Based on the real-time motion trajectory and real-time motion speed of the simulated object, determine the functional relationship between the motion speed of the simulated object and the change of motion trajectory within a complete actual power output cycle;

[0029] Based on the two functional relationships mentioned above, determine the difference in the magnitude and direction of the motion speed of the real object and the simulated object at the same trajectory position.

[0030] Furthermore, in step S3, determining whether the DC electric mechanism simulator currently has a power output fault based on the difference information specifically includes:

[0031] Obtain the magnitude and angular deviation values ​​of the motion velocity of the real object and the simulated object at several points on the same motion trajectory;

[0032] If the magnitude deviation of the motion speed at more than half of the motion trajectory points is greater than the preset magnitude deviation threshold or the angular deviation of the motion speed direction is greater than the preset angular deviation threshold, then it is determined that the DC electric mechanism simulator currently has a power output fault; otherwise, it is determined that the DC electric mechanism simulator currently does not have a power output fault.

[0033] Furthermore, in step S3, if a power output fault exists, restarting the DC electric mechanism simulator and re-inputting the real-time input drive signal to the DC electric mechanism simulator specifically includes:

[0034] If a power output failure occurs, the DC electric mechanism simulator will be restarted several times until the DC electric mechanism simulator can output torque smoothly after receiving the real-time input drive electrical signal.

[0035] Furthermore, in step S4, based on the real-time motion state of the simulated object after the DC electric mechanism simulator re-enters operation, the components of the DC electric mechanism simulator that are faulty specifically include:

[0036] The real-time motion trajectory and speed of the simulated object are collected after the DC electric mechanism simulator restarts operation.

[0037] Determine the trajectory offset vector between the real-time motion trajectory and the desired motion trajectory, and the velocity deviation vector between the real-time motion speed and the desired motion speed;

[0038] If the trajectory offset vector is not within the preset offset vector range, it is determined that the power output shaft of the DC electric mechanism simulator is faulty;

[0039] If the speed deviation vector is not within the preset deviation vector range, it is determined that the speed change mechanism of the DC electric mechanism simulator is faulty.

[0040] Compared to existing technologies, this method for troubleshooting DC motor simulator control systems synchronously inputs the real-time drive signal of the actual DC motor into the DC motor simulator. Based on the difference between the real-time motion state of the actual object driven by the actual DC motor and the simulated object driven by the DC motor simulator, it determines whether the DC motor simulator has a power output fault. If a power output fault is found, the DC motor simulator is restarted. Finally, based on the real-time motion state of the simulated object driven by the DC motor simulator after restarting, the faulty component in the DC motor simulator is identified. This method inputs the same drive signal to both the DC motor simulator and the actual DC motor, and uses the difference in real-time motion between the two to determine the component in the DC motor simulator with a power output fault. This allows for the repair of the corresponding components of the actual DC motor, ensuring the normal and stable operation of the actual DC motor.

[0041] Other features and advantages of the invention will be set forth in the description which follows, and will be apparent in part from the description, or may be learned by practicing the invention. The objects and other advantages of the invention may be realized and obtained by means of the structures particularly pointed out in the written description, claims, and drawings.

[0042] The technical solution of the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. Attached Figure Description

[0043] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0044] Figure 1 This is a flowchart illustrating the method for troubleshooting a DC electric mechanism simulator control system provided by the present invention. Detailed Implementation

[0045] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0046] See Figure 1 This is a flowchart illustrating a method for troubleshooting a DC electric mechanism simulator control system according to an embodiment of the present invention. The method for troubleshooting a DC electric mechanism simulator control system includes the following steps:

[0047] Step S1: Collect the real-time input drive electrical signal and real-time output power information of the actual DC electric mechanism during its actual operation; synchronously input the real-time input drive electrical signal into the DC electric mechanism simulator, and collect the corresponding simulated output power information of the DC electric mechanism simulator;

[0048] Step S2: Based on the real-time output power information, determine the real-time motion state of the real object driven by the real DC electric mechanism; based on the simulated output power information, determine the real-time motion state of the simulated object driven by the DC electric mechanism simulator; obtain the difference information between the real-time motion states of the real object and the simulated object.

[0049] Step S3: Based on the difference information, determine whether there is a power output fault in the DC electric mechanism simulator; if there is a power output fault, restart the DC electric mechanism simulator and re-input the real-time input drive signal to the DC electric mechanism simulator.

[0050] Step S4: Based on the real-time motion state of the simulated object after the DC electric mechanism simulator re-enters operation, determine the faulty components of the DC electric mechanism simulator.

[0051] The beneficial effects of the above technical solution are as follows: This method for troubleshooting the control system of a DC electric mechanism simulator synchronously inputs the real-time input drive signal of the real DC electric mechanism into the DC electric mechanism simulator. Based on the difference between the real-time motion state of the real object driven by the real DC electric mechanism and the real-time motion state of the simulated object driven by the DC electric mechanism simulator, it determines whether there is a power output fault in the DC electric mechanism simulator. If a power output fault exists, the DC electric mechanism simulator is restarted. Finally, based on the real-time motion state of the simulated object driven by the DC electric mechanism simulator after restarting, the faulty component of the DC electric mechanism simulator is determined. It inputs the same drive signal to both the DC electric mechanism simulator and the real DC electric mechanism, and uses the difference in the real-time motion of the corresponding objects driven by the two to identify the component with a power output fault in the DC electric mechanism simulator. In this way, the corresponding components of the real DC electric mechanism can be repaired, ensuring the normal and stable operation of the real DC motor.

[0052] Preferably, in step S1, collecting the real-time input drive electrical signal and real-time output power information of the actual DC electric mechanism during its actual operation specifically includes:

[0053] The real-time input drive current signal and real-time output torque information of a real DC electric motor are collected during a complete actual power output cycle, and the real-time input drive current signal is corrected for zero bias.

[0054] The beneficial effects of the above technical solution are as follows: In actual operation, a real DC electric mechanism requires a corresponding drive current signal to drive the internal DC brushes and output a corresponding torque to move external objects. By acquiring the real-time input drive current signal of the real DC electric mechanism within a complete power output cycle, a reference drive current signal can be provided for driving the DC electric mechanism simulator. Furthermore, zero-bias correction of this real-time input drive current signal can effectively remove the zero-bias drift component.

[0055] Preferably, in step S1, acquiring the real-time input drive current signal and real-time output torque information of the actual DC electric mechanism within one complete power output cycle, and performing zero-bias correction on the real-time input drive current signal specifically includes:

[0056] Step S101: The real-time input drive current signal of the actual DC electric motor within one complete power output cycle is directly measured using a digital DC ammeter. The magnetic field strength around the transmission conductor of the actual DC electric motor is measured using a gaussmeter magnetic field strength meter when the real-time input drive current signal is input. The real-time input drive current value I2 corresponding to the real-time input drive current signal is then calculated using the following formula (1) based on this magnetic field strength.

[0057]

[0058] In the above formula (1), B(a) represents the magnetic field strength around the transmission line of the real DC electric mechanism obtained by measuring the transmission line of the transmission line with the real input drive current signal for the a-th time using the gaussmeter magnetic field strength detector; k(a) represents the vertical distance between the gaussmeter magnetic field strength detector and the transmission line; n represents the total number of times the magnetic field strength is measured using the gaussmeter magnetic field strength detector. This represents the maximum value of k(a) as the value of a is taken from 1 to n.

[0059] Step S102: Using the formula (2) below, zero bias correction is performed based on the real-time input drive current value corresponding to the real-time input drive current signal of the actual DC electric mechanism within one complete power output cycle, which is directly measured using a digital DC ammeter.

[0060]

[0061] In the above formula (2), I1 represents the real-time input drive current value obtained after zero bias correction; I1(i) represents the real-time input drive current value corresponding to the real DC electric motor's real-time input drive current signal in one actual complete power output cycle when directly measured by a digital DC ammeter for the i-th time; m represents the total number of times the real-time input drive current signal is directly measured by a digital DC ammeter; || represents the absolute value calculation operation.

[0062] Step S103: Using the following formula (3), based on the real-time input drive current value obtained after zero bias correction and the aforementioned real-time input drive current value I2, perform multi-acquisition channel calibration fitting.

[0063]

[0064] In the above formula (3), I represents the real-time input drive current value obtained after fitting the multi-acquisition channel verification formula; μ1 represents the measurement accuracy coefficient of the digital DC ammeter; and μ2 represents the measurement accuracy coefficient of the gaussmeter magnetic field strength detector.

[0065] The beneficial effects of the above technical solution are as follows: Using the above formula (1), the magnetic field strength around the transmission line of the real DC electric mechanism is measured by the Gaussian magnetic field strength detector when the real DC electric mechanism is input with the real-time input drive current signal. The real-time input drive current value corresponding to the real-time input drive current signal is obtained. Then, the corresponding drive current value is obtained by multiple tests of the magnetic field around the current. In addition, symmetrical detection is used during the acquisition, so a part of the zero bias correction can be achieved during the detection. Then, the above formula (2) is used to perform zero bias correction based on the real-time input drive current signal value in a complete power output cycle acquired by the digital DC ammeter, so as to ensure the accuracy of the current acquisition by the digital DC ammeter. Finally, the above formula (3) is used to perform multi-acquisition channel verification fitting based on the real-time input drive current value obtained after zero bias correction and the above real-time input drive current value. Then, the final input drive current signal is calculated by using the form of multi-acquisition channel fitting of the two acquisition methods. This can greatly avoid the error brought by the acquisition instrument and make the acquisition result more accurate, and it can also facilitate subsequent calculation and judgment.

[0066] Preferably, in step S1, the real-time input drive electrical signal is synchronously input into the DC electric mechanism simulator, and the corresponding analog output power information of the DC electric mechanism simulator is collected, specifically including:

[0067] The real-time input drive current signal, after zero bias correction, is synchronously input into the DC electric mechanism simulator, and the corresponding simulated output torque information of the DC electric mechanism simulator is collected.

[0068] The beneficial effects of the above technical solution are as follows: by synchronously inputting the real-time input drive current signal after zero bias correction into the DC electric mechanism simulator, it can be ensured that the DC electric mechanism simulator and the real DC electric mechanism work under the action of the same input drive current signal, which facilitates the quantitative comparison of the torque output by the DC electric mechanism simulator and the real DC electric mechanism.

[0069] Preferably, in step S2, the real-time motion state of the real object driven by the real DC electric mechanism is determined based on the real-time output power information; the real-time motion state of the simulated object driven by the DC electric mechanism simulator is determined based on the simulated output power information; specifically including:

[0070] Based on the real-time output torque information, the torque output change state of the real DC electric mechanism is obtained, and then the real-time motion trajectory and real-time motion speed of the real object driven by the real DC electric mechanism are determined within a real complete power output cycle.

[0071] Based on the simulated power output information, the torque output change state of the DC electric mechanism simulator is obtained, and then the real-time motion trajectory and real-time motion speed of the simulated object driven by the DC electric mechanism simulator within a complete actual power output cycle are determined.

[0072] The beneficial effects of the above technical solution are as follows: The power output terminals of the real DC electric mechanism and the DC electric mechanism simulator are respectively connected to the real object and the simulated object, and the real object and the simulated object have corresponding shapes and weights. Under the action of the drive current signal, the real DC electric mechanism and the DC electric mechanism simulator will output torque to the real object and the simulated object respectively. The output torque will drive the real object and the simulated object to move along the corresponding trajectory at a preset speed. By recording the real-time motion trajectory and real-time motion speed of the real object and the simulated object in a complete actual power output cycle, the output torque of the two can be compared from the perspective of motion trajectory and motion speed, and the difference in output torque between the two can be determined.

[0073] Preferably, in step S2, obtaining the difference information between the real object and the simulated object's real-time motion states specifically includes:

[0074] Based on the real-time motion trajectory and real-time motion speed of the real object, determine the functional relationship between the motion speed of the real object and the change of the motion trajectory within a complete actual power output cycle;

[0075] Based on the real-time motion trajectory and real-time motion speed of the simulated object, determine the functional relationship between the motion speed of the simulated object and the change of motion trajectory within a complete actual power output cycle;

[0076] Based on the two functional relationships mentioned above, determine the difference in the magnitude and direction of the motion speed of the real object and the simulated object at the same trajectory position.

[0077] The beneficial effects of the above technical solution are as follows: Under the action of the corresponding torque, the real object and the simulated object will move along the predetermined motion trajectory respectively, and the motion speed will be different with different motion trajectories. The functional relationship between the motion speed of the real object and the simulated object and the motion trajectory changes within a complete actual power output cycle is determined, which facilitates the subsequent fixed-point comparison of the motion speed of the real object and the simulated object at any different position on the motion trajectory, thereby enabling a detailed comparison of the torque output of the real DC electric mechanism and the DC electric mechanism simulator.

[0078] Preferably, in step S3, determining whether the DC electric mechanism simulator currently has a power output fault based on the difference information specifically includes:

[0079] Obtain the magnitude and angular deviation values ​​of the motion velocity of the real object and the simulated object at several points on the same motion trajectory;

[0080] If the magnitude deviation of the motion speed at more than half of the motion trajectory points is greater than the preset magnitude deviation threshold or the angular deviation of the motion speed direction is greater than the preset angular deviation threshold, then it is determined that the DC electric mechanism simulator currently has a power output fault; otherwise, it is determined that the DC electric mechanism simulator currently does not have a power output fault.

[0081] The beneficial effects of the above technical solution are as follows: It obtains the magnitude deviation of the motion velocity and the angular deviation of the motion velocity direction at several points on the same motion trajectory between the real and simulated objects. If the magnitude deviation of the motion velocity at more than half of the motion trajectory points exceeds a preset magnitude deviation threshold or the angular deviation of the motion velocity direction exceeds a preset angular deviation threshold, it indicates that the simulated object cannot perform stable and continuous motion under the torque output from the DC electric mechanism simulator, meaning that the DC electric mechanism simulator currently has a power output fault. This method allows for the determination of the stability of the DC electric mechanism simulator's output torque from the perspective of the simulated object's motion trajectory and velocity without directly detecting and analyzing the output torque, simplifying the analysis of the DC electric mechanism simulator's output torque.

[0082] Preferably, in step S3, if a power output fault exists, restarting the DC electric mechanism simulator and re-inputting the real-time input drive signal to the DC electric mechanism simulator specifically includes:

[0083] If a power output failure occurs, restart the DC electric mechanism simulator several times until the DC electric mechanism simulator can output torque smoothly after receiving the real-time input drive electrical signal.

[0084] The beneficial effects of the above technical solution are as follows: if a power output fault is determined, the DC electric mechanism simulator will be restarted several times until the DC electric mechanism simulator can output torque smoothly after receiving the real-time input drive electrical signal. This can effectively eliminate the interference of the noise current component of the power supply to the DC electric mechanism simulator.

[0085] Preferably, in step S4, based on the real-time motion state of the simulated object after the DC electric mechanism simulator re-enters operation, the components of the DC electric mechanism simulator that are faulty specifically include:

[0086] The real-time motion trajectory and speed of the simulated object are collected after the DC electric mechanism simulator restarts operation.

[0087] Determine the trajectory offset vector between the real-time motion trajectory and the desired motion trajectory, and the velocity deviation vector between the real-time motion speed and the desired motion speed;

[0088] If the trajectory offset vector is not within the preset offset vector range, it is determined that there is a fault in the power output shaft of the DC electric mechanism simulator;

[0089] If the speed deviation vector is not within the preset deviation vector range, it is determined that there is a fault in the speed change mechanism of the DC electric mechanism simulator.

[0090] The beneficial effects of the above technical solution are as follows: When the trajectory offset vector is not within the preset offset vector range, it indicates that the power output shaft of the DC electric mechanism simulator cannot drive the simulated object to the corresponding trajectory position, i.e., the power output shaft of the DC electric mechanism simulator is faulty; when the speed deviation vector is not within the preset deviation vector range, it indicates that the speed change mechanism of the DC electric mechanism simulator cannot drive the simulated object to move at the corresponding speed, i.e., the speed change mechanism of the DC electric mechanism simulator is faulty. Since there is a correspondence between the DC electric mechanism simulator and the real DC electric mechanism in the internal power mechanism, based on the above judgment results, it can be determined that the power output shaft or speed change mechanism of the real DC electric mechanism is faulty. At this time, repairing the power output shaft or speed change mechanism of the real DC electric mechanism can ensure the normal and continuous operation of the real DC electric mechanism.

[0091] As can be seen from the above embodiments, the method for troubleshooting the DC electric mechanism simulator control system synchronously inputs the real-time input drive signal of the real DC electric mechanism into the DC electric mechanism simulator. Based on the difference between the real-time motion state of the real object driven by the real DC electric mechanism and the real-time motion state of the simulated object driven by the DC electric mechanism simulator, it determines whether there is a power output fault in the DC electric mechanism simulator. If a power output fault exists, the DC electric mechanism simulator is restarted. Finally, based on the real-time motion state of the simulated object driven by the DC electric mechanism simulator after restarting, the faulty component of the DC electric mechanism simulator is determined. The same drive signal is input to both the DC electric mechanism simulator and the real DC electric mechanism, and the difference in the real-time motion of the corresponding objects driven by the two is used to determine the component of the DC electric mechanism simulator with a power output fault. In this way, the corresponding component of the real DC electric mechanism can be repaired to ensure the normal and stable operation of the real DC motor.

[0092] Obviously, those skilled in the art can make various modifications and variations to this invention without departing from its spirit and scope. Therefore, if these modifications and variations fall within the scope of the claims of this invention and their equivalents, this invention also intends to include these modifications and variations.

Claims

1. A method for troubleshooting a DC electric mechanism simulator control system, characterized in that, It includes the following steps: Step S1: Collect the real-time input drive electrical signal and real-time output power information of the actual DC electric mechanism during its actual operation; synchronously input the real-time input drive electrical signal into the DC electric mechanism simulator, and collect the corresponding simulated output power information of the DC electric mechanism simulator; Step S2: Based on the real-time output power information, determine the real-time motion state of the real object driven by the real DC electric mechanism; based on the simulated output power information, determine the real-time motion state of the simulated object driven by the DC electric mechanism simulator; obtain the difference information between the real-time motion states of the real object and the simulated object. Step S3: Based on the difference information, determine whether there is a power output fault in the DC electric mechanism simulator; if there is a power output fault, restart the DC electric mechanism simulator and re-input the real-time input drive signal to the DC electric mechanism simulator. Step S4: Based on the real-time motion state of the simulated object after the DC electric mechanism simulator re-enters operation, determine the faulty components of the DC electric mechanism simulator. Specifically, in step S1, collecting the real-time input drive electrical signals and real-time output power information of the actual DC electric mechanism during its actual operation includes: The real-time input drive current signal and real-time output torque information of a real DC electric motor are collected during a complete actual power output cycle, and the real-time input drive current signal is corrected for zero bias. Specifically, in step S1, acquiring the real-time input drive current signal and real-time output torque information of a real DC electric motor within one actual complete power output cycle, and performing zero-bias correction on the real-time input drive current signal, includes: Step S101: The real-time input drive current signal of the actual DC electric motor within one complete power output cycle is directly measured using a digital DC ammeter. The magnetic field strength around the transmission line of the actual DC electric motor is measured using a gaussmeter magnetic field strength meter when the real-time input drive current signal is input. The real-time input drive current value I2 corresponding to the real-time input drive current signal is then calculated using the following formula (1) based on the magnetic field strength. In the above formula (1), B(a) represents the magnetic field strength around the transmission line of the real DC electric mechanism obtained by measuring the transmission line of the transmission line with the real input drive current signal for the a-th time using the gaussmeter magnetic field strength detector; k(a) represents the vertical distance between the gaussmeter magnetic field strength detector and the transmission line; n represents the total number of times the magnetic field strength is measured using the gaussmeter magnetic field strength detector. This represents the maximum value of k(a) as the value of a is taken from 1 to n. Step S102: Using the formula (2) below, zero bias correction is performed based on the real-time input drive current value corresponding to the real-time input drive current signal of the actual DC electric mechanism within one complete power output cycle, which is directly measured using a digital DC ammeter. In the above formula (2), I1 represents the real-time input drive current value obtained after zero bias correction; I1(i) represents the real-time input drive current value corresponding to the real DC electric motor's real-time input drive current signal in one actual complete power output cycle, which is directly measured by the digital DC ammeter for the i-th time; m represents the total number of times the real-time input drive current signal is directly measured by the digital DC ammeter; || represents the absolute value calculation. Step S103: Using the following formula (3), based on the real-time input drive current value obtained after zero bias correction and the aforementioned real-time input drive current value I2, perform multi-acquisition channel calibration fitting. In the above formula (3), I represents the real-time input drive current value obtained after fitting the multi-acquisition channel verification formula; μ1 represents the measurement accuracy coefficient of the digital DC ammeter; and μ2 represents the measurement accuracy coefficient of the gaussmeter magnetic field strength detector.

2. The method for troubleshooting a DC electric mechanism simulator control system as described in claim 1, characterized in that: In step S1, the real-time input drive electrical signal is synchronously input into the DC electric mechanism simulator, and the analog output power information corresponding to the DC electric mechanism simulator is collected, specifically including: The real-time input drive current signal, after zero bias correction, is synchronously input into the DC electric mechanism simulator, and the corresponding simulated output torque information of the DC electric mechanism simulator is collected.

3. The method for troubleshooting a DC electric mechanism simulator control system as described in claim 2, characterized in that: In step S2, the real-time motion state of the real object driven by the real DC electric mechanism is determined based on the real-time output power information; the real-time motion state of the simulated object driven by the DC electric mechanism simulator is determined based on the simulated output power information; specifically including: Based on the real-time output torque information, the torque output change state of the real DC electric mechanism is obtained, and then the real-time motion trajectory and real-time motion speed of the real object driven by the real DC electric mechanism are determined within a real complete power output cycle. Based on the simulated output power information, the torque output change state of the DC electric mechanism simulator is obtained, and then the real-time motion trajectory and real-time motion speed of the simulated object driven by the DC electric mechanism simulator within a complete actual power output cycle are determined.

4. The method for troubleshooting a DC electric mechanism simulator control system as described in claim 3, characterized in that: In step S2, obtaining the difference information between the real object and the simulated object's real-time motion states specifically includes: Based on the real-time motion trajectory and real-time motion speed of the real object, determine the functional relationship between the motion speed of the real object and the change of the motion trajectory within a complete actual power output cycle; based on the real-time motion trajectory and real-time motion speed of the simulated object, determine the functional relationship between the motion speed of the simulated object and the change of the motion trajectory within a complete actual power output cycle; based on the above two functional relationships, determine the difference in the magnitude and direction of the motion speed between the real object and the simulated object at the same motion trajectory position point.

5. The method for troubleshooting a DC electric mechanism simulator control system as described in claim 4, characterized in that: In step S3, determining whether the DC electric mechanism simulator currently has a power output fault based on the difference information specifically includes: Obtain the magnitude and angular deviation values ​​of the motion velocity of the real object and the simulated object at several points on the same motion trajectory; If the magnitude deviation of the motion speed at more than half of the motion trajectory points is greater than the preset magnitude deviation threshold or the angular deviation of the motion speed direction is greater than the preset angular deviation threshold, then it is determined that the DC electric mechanism simulator currently has a power output fault; otherwise, it is determined that the DC electric mechanism simulator currently does not have a power output fault.

6. The method for troubleshooting a DC electric mechanism simulator control system as described in claim 5, characterized in that: In step S3, if a power output fault exists, restarting the DC electric mechanism simulator and re-inputting the real-time input drive signal to the DC electric mechanism simulator specifically includes: If a power output failure occurs, the DC electric mechanism simulator will be restarted several times until the DC electric mechanism simulator can output torque smoothly after receiving the real-time input drive electrical signal.

7. The method for troubleshooting a DC electric mechanism simulator control system as described in claim 6, characterized in that: In step S4, based on the real-time motion state of the simulated object after the DC electric mechanism simulator re-enters operation, the components of the DC electric mechanism simulator that are faulty specifically include: The real-time motion trajectory and speed of the simulated object are collected after the DC electric mechanism simulator restarts operation. Determine the trajectory offset vector between the real-time motion trajectory and the desired motion trajectory, and the velocity deviation vector between the real-time motion speed and the desired motion speed; If the trajectory offset vector is not within the preset offset vector range, it is determined that the power output shaft of the DC electric mechanism simulator is faulty; If the speed deviation vector is not within the preset deviation vector range, it is determined that the speed change mechanism of the DC electric mechanism simulator is faulty.

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