Method and device for monitoring health of equalizing air cylinder pressure control module and electronic equipment

Abstract

The application relates to a kind of equalizing air cylinder pressure control module health monitoring method, device and electronic equipment, wherein the method comprises: configuring the equalizing air cylinder pressure curve and pressure deviation range of brake machine in normal working in multiple control conditions, and establishing normal pressure curve model based on pressure curve and pressure curve deviation range;Based on the pressure characteristic data of each control condition of equalizing air cylinder, two key feature points are selected to establish the early warning judgment coordinate system corresponding to each control condition;The health status of the pressure control module of the brake machine to be measured is judged in each control condition by establishing the corresponding circular health state area and circular to-be-measured state area in early warning judgment coordinate system;If the pressure control module is in healthy state in each control condition, the pressure control module is in healthy state. Through the application, brake machine equalizing air cylinder pressure control module fault monitoring and early warning are realized, and key information and parameters are provided for brake machine equalizing air cylinder maintenance.

Description

Technical Field

[0001] This application relates to the field of rail vehicle technology, and in particular to a method, apparatus, electronic device, and computer-readable storage medium for health monitoring of the equalization cylinder pressure control module of a locomotive brake. Background Technology

[0002] The brake system is a component on a locomotive that includes an air compressor that generates and stores pressurized air, a main air cylinder, and brake valves that issue and transmit braking and release commands. As a core component of the locomotive control system, the equalizing air cylinder is responsible for equalizing the air pressure within the main air cylinder.

[0003] During train operation, the braking system is essential for safe, stable, and reliable operation. However, with the increasing number of times critical components of the braking system are activated, and due to various uncertainties such as external environmental factors and fatigue of system components, the system will gradually age, degrade in performance, and eventually malfunction and become inoperable. Therefore, real-time monitoring of the aging status of the brake equalization cylinder pressure control module, and predictive alarms, are of great significance for ensuring the safe operation of locomotives. Summary of the Invention

[0004] This application provides a method, device, electronic device, and computer-readable storage medium for health monitoring of the equalizing air cylinder pressure control module, enabling monitoring and early warning before a fault occurs in the equalizing air cylinder pressure control module of a rail vehicle brake, and providing key information and parameters for the maintenance of the equalizing air cylinder of a rail vehicle brake.

[0005] In a first aspect, embodiments of this application provide a health monitoring method for a balanced air cylinder pressure control module, including:

[0006] The steps for establishing a normal pressure curve model are as follows: Configure the equalization cylinder pressure curve and pressure deviation range of the brake under multiple control conditions for normal operation, and establish a normal pressure curve model based on the pressure curve and pressure curve deviation range.

[0007] The step of establishing the early warning judgment coordinate system is to select two key feature points based on the pressure characteristic data of the equalization air cylinder for each control condition to establish the early warning judgment coordinate system corresponding to each control condition.

[0008] The control condition health monitoring step involves collecting equalization cylinder pressure characteristic data of the fault-free brake under each control condition to establish a corresponding circular health status region in the early warning judgment coordinate system, and collecting equalization cylinder pressure characteristic data of the brake under test under each control condition to establish a corresponding circular test status region in the early warning judgment coordinate system. The health status of the pressure control module of the brake under test under each control condition is determined based on the deviation of the circular test status region from the circular health status region.

[0009] Based on the comprehensive health monitoring steps, if the pressure control module is in a healthy state in every control condition, then the pressure control module is in a healthy state; otherwise, an early warning message is output.

[0010] In some embodiments, the control condition health monitoring step further includes:

[0011] The steps for obtaining the health status range are as follows: collect multiple sets of equalization cylinder pressure characteristic data of the fault-free brake under a control condition; use the average value of two key feature points of the multiple sets of pressure characteristic data as the coordinates of the health circle center; and establish the circular health status region based on a radius configured based on the aggregation evaluation method.

[0012] The step of obtaining the range of the test data state is to collect multiple sets of test pressure characteristic data of the equalization cylinder of the brake under test during the test working period, calculate the average value of the two key feature points of the multiple sets of test pressure characteristic data as the coordinates of the center of the test circle, and establish a circular test state area based on the radius.

[0013] The warning level determination step involves calculating the vertical distance difference between the coordinates of the healthy center and the coordinates of the center of the test circle relative to the preset warning line, and then determining the health status of the pressure control module under test based on the vertical distance difference and a preset health threshold. The preset warning line is set based on the fault characteristic values ​​corresponding to two key feature points as the horizontal and vertical coordinate points.

[0014] In some embodiments, the control conditions include: operating position, initial braking position, braking zone, full braking position, and / or emergency braking position.

[0015] In some embodiments, the pressure characteristic data includes: pressure rise characteristics, overshoot characteristics, and / or steady-state characteristics.

[0016] In some embodiments, the boost characteristic selects the maximum slope of the boost curve as the first key feature point and the average value of the boost stabilization stage as the second key feature point.

[0017] Secondly, embodiments of this application provide a health monitoring device for a balanced air cylinder pressure control module, used to implement the health monitoring method for a balanced air cylinder pressure control module as described in the first aspect above, including:

[0018] The normal pressure curve model establishment module is used to configure the equalization cylinder pressure curve and pressure deviation range of the brake under multiple control conditions during normal operation, and to establish a normal pressure curve model based on the pressure curve and pressure curve deviation range. Specifically, the control conditions include: operating position, initial braking position, braking zone, full braking position, and emergency braking position. The pressure curve and pressure deviation range are used as a standard for setting the healthy range, and the pressure curve and pressure deviation range are set based on the requirements of rail vehicle standards or test data.

[0019] The early warning judgment coordinate system establishment module is used to select two key feature points based on the pressure feature data of the equalization cylinder for each control condition to establish the early warning judgment coordinate system corresponding to each control condition; specifically, the pressure feature data includes pressure rise feature, overshoot feature and steady state feature.

[0020] The control condition health monitoring module is used to collect the equalization cylinder pressure characteristic data of the fault-free brake in each control condition, so as to establish a corresponding circular health status region in the early warning judgment coordinate system, and to collect the equalization cylinder pressure characteristic data of the brake under test in each control condition, so as to establish a corresponding circular test status region in the early warning judgment coordinate system, and to determine the health status of the pressure control module of the brake under test in each control condition based on the deviation of the circular test status region relative to the circular health status region.

[0021] The integrated health monitoring module is configured to determine if the pressure control module is in a healthy state under each of the control conditions; otherwise, it outputs an early warning message. Optionally, the early warning message includes: control condition, sub-health state, or fault state.

[0022] In some embodiments, the control condition health monitoring module further includes:

[0023] The health status range acquisition module is used to collect multiple sets of equalization cylinder pressure characteristic data of the faultless brake under a control condition through the brake control unit (BCU). Based on the average value of two key feature points of the multiple sets of pressure characteristic data as the health circle center coordinates, and a radius configured based on the aggregation evaluation method, the circular health status area is established.

[0024] The test data state range acquisition module is used to collect multiple sets of test pressure characteristic data of the equalization cylinder of the brake under test during the test working period through the brake control unit (BCU), and calculate the average value of the two key feature points of the multiple sets of test pressure characteristic data as the coordinates of the test circle center, and establish a circular test state area based on the radius.

[0025] The warning level determination module is used to calculate the vertical distance difference between the coordinates of the healthy center and the coordinates of the center of the test circle relative to the preset warning line, and to determine the health status of the pressure control module under test based on the vertical distance difference and a preset health threshold. The preset warning line is set based on the fault characteristic values ​​corresponding to two key feature points as the horizontal and vertical coordinate points.

[0026] In some embodiments, the control conditions include: operating position, initial braking position, braking zone, full braking position and / or emergency braking position, and the pressure characteristic data includes pressure rise characteristics, overshoot characteristics and / or steady-state characteristics.

[0027] Thirdly, embodiments of this application provide an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements the health monitoring method for the equalization cylinder pressure control module as described in the first aspect above.

[0028] Fourthly, embodiments of this application provide a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the health monitoring method for the equalization cylinder pressure control module as described in the first aspect above.

[0029] Compared to related technologies, the health monitoring method, device, electronic equipment, and computer-readable storage medium for the equalization cylinder pressure control module provided in this application construct pressure curve models and corresponding health status regions for the operating position, initial braking position, braking zone, full braking position, and / or emergency braking position. It uses pressure characteristic data from each control condition to judge the pressure control module, providing a more comprehensive coverage of the pressure control module's operating time, better reflecting actual products, improving data accuracy and reliability, and enhancing practicality.

[0030] Details of one or more embodiments of this application are set forth in the following drawings and description to make other features, objects and advantages of this application more readily apparent. Attached Figure Description

[0031] The accompanying drawings, which are included to provide a further understanding of this application and form part of this application, illustrate exemplary embodiments of this application and are used to explain this application, but do not constitute an undue limitation of this application. In the drawings:

[0032] Figure 1 This is a flowchart of a health monitoring method for a balanced air cylinder pressure control module according to an embodiment of this application;

[0033] Figure 2 This is a schematic diagram of a normal pressure curve model according to an embodiment of this application;

[0034] Figure 3 This is a schematic diagram of the health status area according to an embodiment of this application;

[0035] Figure 4 This is a schematic diagram of a sub-healthy state area according to an embodiment of this application;

[0036] Figure 5 This is a schematic diagram of the fault state area according to an embodiment of this application;

[0037] Figure 6 This is a schematic diagram of the pressure curve characteristic of the equalization cylinder according to an embodiment of this application;

[0038] Figure 7 This is a structural block diagram of the health monitoring device for the equalization cylinder pressure control module according to an embodiment of this application.

[0039] In the picture:

[0040] 1. Normal pressure curve model establishment module; 2. Early warning judgment coordinate system establishment module;

[0041] 3. Control condition health monitoring module; 301. Health status range acquisition module;

[0042] 302. Module for acquiring the state range of the data to be tested; 303. Module for determining the warning level;

[0043] 4. Comprehensive health monitoring module. Detailed Implementation

[0044] To make the objectives, technical solutions, and advantages of this application clearer, the application is described and illustrated below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application. All other embodiments obtained by those skilled in the art based on the embodiments provided in this application without inventive effort are within the scope of protection of this application.

[0045] Obviously, the accompanying drawings described below are merely some examples or embodiments of this application. Those skilled in the art can apply this application to other similar scenarios based on these drawings without any inventive effort. Furthermore, it is understood that although the efforts made in this development process may be complex and lengthy, for those skilled in the art related to the content disclosed in this application, any changes to design, manufacturing, or production based on the technical content disclosed in this application are merely conventional technical means and should not be construed as insufficient disclosure of the content of this application.

[0046] In this application, the reference to "embodiment" means that a specific feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places in the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment that is mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described in this application may be combined with other embodiments without conflict.

[0047] Unless otherwise defined, the technical or scientific terms used in this application shall have the ordinary meaning understood by one of ordinary skill in the art to which this application pertains. The terms “a,” “an,” “an,” “the,” and similar words used in this application do not indicate quantity limitation and may indicate singular or plural. The terms “comprising,” “including,” “having,” and any variations thereof used in this application are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or device that includes a series of steps or modules (units) is not limited to the listed steps or units, but may also include steps or units not listed, or may include other steps or units inherent to these processes, methods, products, or devices. The terms “connected,” “linked,” “coupled,” and similar words used in this application are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. “Multiple” used in this application refers to two or more. “And / or” describes the relationship between related objects, indicating that three relationships may exist; for example, “A and / or B” can represent: A alone, A and B simultaneously, and B alone. The character " / " generally indicates that the preceding and following objects are in an "or" relationship. The terms "first," "second," and "third" used in this application are merely to distinguish similar objects and do not represent a specific ordering of the objects.

[0048] This application provides a method for health monitoring of a balanced air cylinder pressure control module. Figure 1 This is a flowchart of a health monitoring method for a balanced air cylinder pressure control module according to an embodiment of this application, such as... Figure 1As shown, the process includes the following steps:

[0049] Step S1 of establishing the normal pressure curve model involves configuring the equalization cylinder pressure curves and pressure deviation ranges of the brake under multiple control conditions during normal operation, and establishing a normal pressure curve model based on these pressure curves and deviation ranges. Specifically, the control conditions include: operating position, initial braking position, braking zone, full braking position, and emergency braking position. The pressure curves and pressure deviation ranges are used as standards for setting the healthy range. These pressure curves and deviation ranges are set based on rail vehicle standard requirements or test data, and are optional, such as... Figure 2 As shown, the preferred pressure standards in this application embodiment are: the standard pressure value for the operating position is 600 kPa, the standard pressure value for the initial braking position is 550 kPa, the standard pressure value for the braking zone is 420 kPa < S < 550 kPa, the standard pressure value for the full braking position is 420 kPa, and the standard pressure value for the emergency braking position is 0 kPa; and 20 kPa is set as the pressure deviation range.

[0050] Step S2, establishing the early warning judgment coordinate system, involves selecting two key feature points based on the pressure characteristic data of the equalizing air cylinder for each control condition to establish the early warning judgment coordinate system corresponding to each control condition. Specifically, the pressure characteristic data includes pressure rise characteristics, overshoot characteristics, and steady-state characteristics. This embodiment takes the pressure rise stage of the equalizing air cylinder pressure curve as an example. Figure 6 As shown, the maximum slope is selected as the first key feature point, and the average pressure of the equalizing air cylinder during the pressure stabilization stage is selected as the second key feature point. For each control condition, the two key feature points can be flexibly selected according to the pressure characteristics of the control condition, which will not be listed one by one here.

[0051] Considering that the pressure characteristic data of the equalization cylinder under actual normal working conditions does not strictly follow the normal pressure curve model, this application uses clustered evaluation method based on the actual collected scatter data to determine the health status range, thereby improving the practicality of the early warning data. The established early warning judgment coordinate system is as follows: Figures 3-5 As shown.

[0052] Step S3, the health monitoring of control conditions, involves collecting the equalization cylinder pressure characteristic data of the fault-free brake under each control condition. This equalization cylinder pressure characteristic data conforms to a normal pressure curve model. A corresponding circular health status region is established in the early warning judgment coordinate system. Similarly, the equalization cylinder pressure characteristic data of the brake under test under each control condition is collected. A corresponding circular test status region is established in the early warning judgment coordinate system. The health status of the pressure control module of the brake under test under each control condition is determined based on the deviation of the circular test status region from the circular health status region. Specifically, this includes:

[0053] In step S301 of obtaining the health status range, multiple sets of equalization cylinder pressure characteristic data of the faultless brake corresponding to a control condition are collected by the brake control unit (BCU), such as the operating position. The average value of two key feature points of the multiple sets of pressure characteristic data is used as the coordinates of the health circle center. A radius configured based on the aggregation evaluation method is used to establish the circular health status region. Optionally, the aggregation evaluation method in this embodiment can be calculated based on the distance between the scatter data of the pressure characteristic data in the early warning judgment coordinate system and the coordinates of the health circle center, or it can be a clustering algorithm, such as the K-means algorithm.

[0054] Step S302 for obtaining the range of the test data state: The brake control unit (BCU) collects multiple sets of test pressure characteristic data of the equalization cylinder of the brake under test during the test working period, and calculates the average value of the two key feature points of the multiple sets of test pressure characteristic data as the coordinates of the test circle center, and establishes a circular test state area based on the radius.

[0055] In the warning level determination step S303, the vertical distance difference between the coordinates of the healthy center and the coordinates of the center of the test circle relative to the preset warning line is calculated based on a preset warning line. The health status of the pressure control module under test is then determined based on this vertical distance difference and a preset health threshold. The preset warning line is set using the fault characteristic values ​​corresponding to two key feature points as the horizontal and vertical coordinates. The preset health threshold includes: a healthy state threshold, a sub-healthy state threshold, and a fault state threshold. Optionally, the healthy state threshold is set to FP≤30, and the healthy state area is as follows: Figure 3 As shown; the sub-health state threshold is set to 30 < FP ≤ 50, and the sub-health state area is as follows. Figure 4 As shown; the fault state threshold is set to FP > 50, and the fault state region is as follows. Figure 5 As shown.

[0056] Repeat steps S301 to S303 until the health status of the pressure control module under the test is obtained under 5 control conditions, then proceed to step S4 for judgment.

[0057] In the comprehensive health monitoring step S4, if the pressure control module is in a healthy state in every control condition, then the pressure control module is in a healthy state; otherwise, an early warning message is output. Optionally, the early warning message includes: control condition, sub-health state, or fault state.

[0058] Based on the above steps, this application collects the pressure rise characteristics, overshoot characteristics, and steady-state characteristics of the equalizing cylinder under different control conditions (operating position, initial braking position, braking zone, full braking position, and / or emergency braking position) of the brake control unit (BCU). It establishes a data feature model for normal operation of the equalizing cylinder and a coordinate system for equalizing cylinder fault early warning. By comparing the characteristic data of the locomotive equalizing cylinder under different operating conditions during selected time periods with the normal operating health status area, the application distinguishes the warning level based on the vertical distance difference between the health center coordinates and the measured center coordinates relative to the preset judgment warning line. This predicts the comprehensive health status of the locomotive equalizing cylinder pressure control module and outputs alarm information, achieving fault early warning for the locomotive equalizing cylinder pressure control module. This provides more comprehensive coverage of the pressure control module's operating time, better reflects actual products, improves data accuracy and reliability, and enhances practicality.

[0059] This application also provides a health monitoring device for the equalization cylinder pressure control module, used to implement the health monitoring method for the equalization cylinder pressure control module described in the above embodiments. Figure 7 This is a structural block diagram of the health monitoring device for the equalization cylinder pressure control module according to an embodiment of this application, with reference to... Figure 7 As shown, the device includes:

[0060] The normal pressure curve model establishment module 1 is used to configure the equalization cylinder pressure curve and pressure deviation range of the brake under multiple control conditions during normal operation, and to establish a normal pressure curve model based on the pressure curve and pressure curve deviation range. Specifically, the control conditions include: operating position, initial braking position, braking zone, full braking position, and emergency braking position. The pressure curve and pressure deviation range are used as a standard for setting the healthy range. This pressure curve and pressure deviation range are set based on rail vehicle standard requirements or test data, and are optional, such as... Figure 2 As shown, the preferred pressure standards in this application embodiment are: the standard pressure value for the operating position is 600 kPa, the standard pressure value for the initial braking position is 550 kPa, the standard pressure value for the braking zone is 420 kPa < S < 550 kPa, the standard pressure value for the full braking position is 420 kPa, and the standard pressure value for the emergency braking position is 0 kPa; and 20 kPa is set as the pressure deviation range.

[0061] The early warning judgment coordinate system establishment module 2 is used to select two key feature points based on the pressure characteristic data of the equalizing air cylinder for each control condition to establish an early warning judgment coordinate system corresponding to each control condition; specifically, the pressure characteristic data includes pressure rise characteristics, overshoot characteristics, and steady-state characteristics; this embodiment takes the pressure rise stage of the equalizing air cylinder pressure curve as an example, such as... Figure 6As shown, the maximum slope is selected as the first key feature point, and the average pressure of the equalizing air cylinder during the pressure stabilization stage is selected as the second key feature point. For each control condition, the two key feature points can be flexibly selected according to the pressure characteristics of the control condition, which will not be listed one by one here.

[0062] The control condition health monitoring module 3 is used to collect the equalization cylinder pressure characteristic data of the fault-free brake in each control condition. Here, the equalization cylinder pressure characteristic data of the fault-free brake conforms to the normal pressure curve model, so as to establish a corresponding circular health state region in the early warning judgment coordinate system. It also collects the equalization cylinder pressure characteristic data of the brake under test in each control condition, so as to establish a corresponding circular test state region in the early warning judgment coordinate system. Based on the deviation of the circular test state region from the circular health state region, the health status of the pressure control module of the brake under test in each control condition is judged.

[0063] The integrated health monitoring module 4 is used to determine if the pressure control module is in a healthy state under each of the control conditions; otherwise, it outputs a warning message. Optionally, the warning message includes: control condition, sub-health state, or fault state.

[0064] In some embodiments, the control condition health monitoring module 3 further includes:

[0065] The health status range acquisition module 301 is used to collect multiple sets of equalization cylinder pressure characteristic data of the faultless brake corresponding to a control condition through the brake control unit (BCU). Based on the average value of two key feature points of the multiple sets of pressure characteristic data as the coordinates of the health circle center, and a radius configured based on the aggregation evaluation method, the circular health status region is established. Optionally, the aggregation evaluation method in this embodiment can be based on the distance between the scatter data of the pressure characteristic data in the early warning judgment coordinate system and the coordinates of the health circle center, or it can be a clustering algorithm, such as the K-means algorithm.

[0066] The test data state range acquisition module 302 is used to collect multiple sets of test pressure characteristic data of the equalization cylinder of the test brake during the test working period through the brake control unit BCU, and calculate the average value of the two key feature points of the multiple sets of test pressure characteristic data as the coordinates of the test circle center, and establish a circular test state area based on the radius.

[0067] The warning level determination module 303 is used to calculate the vertical distance difference between the coordinates of the healthy center and the coordinates of the center of the test circle relative to the preset warning line, and to determine the health status of the pressure control module under test based on the vertical distance difference and a preset health threshold. The preset warning line is set based on the fault characteristic values ​​corresponding to two key feature points as the horizontal and vertical coordinate points. The preset health threshold includes: a healthy state threshold, a sub-healthy state threshold, and a fault state threshold. Optionally, the healthy state threshold is set to FP≤30, and the healthy state area is as follows: Figure 3 As shown; the sub-health state threshold is set to 30 < FP ≤ 50, and the sub-health state area is as follows. Figure 4 As shown; the fault state threshold is set to FP > 50, and the fault state region is as follows. Figure 5 As shown.

[0068] Based on the above-mentioned modules, the health status of the pressure control module under test can be obtained under five control conditions. Thus, the overall health status of the locomotive equalization cylinder pressure control module can be predicted, and alarm information can be output to realize early warning of faults in the locomotive equalization cylinder pressure control module. This provides more comprehensive coverage of the working period of the pressure control module, is more in line with actual products, improves data accuracy and reliability, and enhances practicality.

[0069] It should be noted that the above modules can be functional modules or program modules, and can be implemented through software or hardware. For modules implemented through hardware, the above modules can reside in the same processor; or the above modules can be located in different processors in any combination.

[0070] In addition, combined Figure 1 The health monitoring method for the equalization cylinder pressure control module described in this application embodiment can be implemented by an electronic device, which may include a processor and a memory storing computer program instructions. Specifically, the processor may include a central processing unit (CPU), an application-specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of this application. The memory may include a mass storage device for data or instructions. For example, and not limitingly, the memory may include a hard disk drive (HDD), a floppy disk drive, a solid-state drive (SSD), flash memory, an optical disk drive, a magneto-optical disk drive, magnetic tape, or a Universal Serial Bus (USB) drive, or a combination of two or more of these.

[0071] Furthermore, in conjunction with the health monitoring method for the equalizing air cylinder pressure control module in the above embodiments, this application embodiment can provide a computer-readable storage medium for implementation. This computer-readable storage medium stores computer program instructions; when these computer program instructions are executed by a processor, they implement any of the health monitoring methods for the equalizing air cylinder pressure control module in the above embodiments.

[0072] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0073] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the invention patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. An equalizing wind cylinder pressure control module health monitoring method, characterized by, The method comprises the following steps: a normal pressure curve model establishing step, configuring the equalizing cylinder pressure curve and pressure deviation range of a normally working brake under multiple control conditions, and establishing a normal pressure curve model based on the pressure curve and pressure curve deviation range; a pre-warning judgment coordinate system establishing step, selecting two key feature points based on the pressure feature data of the equalizing cylinder of each control condition to establish a pre-warning judgment coordinate system corresponding to each control condition; a control condition health monitoring step, collecting the equalizing cylinder pressure feature data of a fault-free brake under each control condition to establish a corresponding circular health state area in the pre-warning judgment coordinate system, and collecting the equalizing cylinder pressure feature data of a to-be-tested brake under each control condition to establish a corresponding circular to-be-tested state area in the pre-warning judgment coordinate system, and judging the health state of the pressure control module of the to-be-tested brake under each control condition based on the deviation of the circular to-be-tested state area relative to the circular health state area; a comprehensive health monitoring step, if the pressure control module is in a healthy state under each control condition, the pressure control module is in a healthy state, otherwise, outputting a pre-warning information; wherein, the control condition health monitoring step further comprises: a health state range obtaining step, collecting multiple sets of equalizing cylinder pressure feature data of a fault-free brake under a control condition, taking the average value of the two key feature points of multiple sets of pressure feature data as the health center coordinates, and establishing the circular health state area based on a radius configured by an aggregation evaluation method; a to-be-tested data state range obtaining step, collecting multiple sets of to-be-tested pressure feature data of the equalizing cylinder of a to-be-tested brake during a to-be-tested condition period, calculating the average value of the two key feature points of multiple sets of to-be-tested pressure feature data as to-be-tested center coordinates, and establishing a circular to-be-tested state area based on the radius; a pre-warning level judgment step, calculating the vertical distance difference of the health center coordinates and the to-be-tested center coordinates relative to a preset judgment pre-warning line based on a preset judgment pre-warning line, and judging the health state of the to-be-tested pressure control module based on the vertical distance difference and a preset health threshold.

2. The equalize wind cylinder pressure control module health monitoring method of claim 1, wherein, The control conditions include: a running position, an initial braking position, a braking zone, a full braking position, and / or an emergency braking position.

3. The equalize wind cylinder pressure control module health monitoring method of claim 1, wherein, The pressure feature data includes: a pressure rise feature, an overshoot feature, and / or a steady state feature.

4. The equalize wind cylinder pressure control module health monitoring method of claim 3, wherein, The pressure rise feature selects the maximum value of the pressure rise curve slope as the first key feature point, and selects the average value of the pressure rise stable stage as the second key feature point.

5. An equalize air tank pressure control module health monitoring device, characterized by, The method comprises the following steps: a normal pressure curve model establishing module, configured to configure the equalizing cylinder pressure curve and pressure deviation range of a normally working brake under multiple control conditions, and establish a normal pressure curve model based on the pressure curve and pressure curve deviation range; a pre-warning judgment coordinate system establishing module, configured to select two key feature points based on the pressure feature data of the equalizing cylinder of each control condition to establish a pre-warning judgment coordinate system corresponding to each control condition; The control condition health monitoring module is configured to collect balanced cylinder pressure characteristic data of a fault-free brake in each control condition, to establish a corresponding circular health state region in the early warning judgment coordinate system, and to collect balanced cylinder pressure characteristic data of a to-be-tested brake in each control condition, to establish a corresponding circular to-be-tested state region in the early warning judgment coordinate system, and to judge the health state of the pressure control module of the to-be-tested brake in each control condition based on deviation of the circular to-be-tested state region relative to the circular health state region. The comprehensive health monitoring module is configured to determine that the pressure control module is in a healthy state if the pressure control module is in a healthy state in each control condition, or to output early warning information. The control condition health monitoring module further includes: The health state range acquisition module is configured to collect balanced cylinder pressure characteristic data of a plurality of fault-free brakes in a control condition, to establish the circular health state region based on an average value of the two key characteristic points of the pressure characteristic data as a health center coordinate, and to establish the circular health state region based on a radius configured by an aggregation evaluation method. The to-be-tested data state range acquisition module is configured to collect to-be-tested pressure characteristic data of a balanced cylinder of a plurality of to-be-tested brakes in a to-be-tested condition period, to calculate an average value of the two key characteristic points of the to-be-tested pressure characteristic data as a to-be-tested center coordinate, and to establish a circular to-be-tested state region based on the radius. The early warning level judgment module is configured to calculate a vertical distance difference of the health center coordinate and the to-be-tested center coordinate relative to a preset judgment early warning line based on a preset judgment early warning line, and to judge the health state of the to-be-tested pressure control module based on the vertical distance difference and a preset health threshold.

6. The equalizing wind tank pressure control module health monitoring device of claim 5, wherein, The control conditions include an operating position, an initial braking position, a braking zone, a full braking position, and / or an emergency braking position, and the pressure characteristic data includes a pressure rise characteristic, an overshoot characteristic, and / or a steady state characteristic.

7. An electronic device comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, characterized in that, The processor executes the computer program to implement the balanced cylinder pressure control module health monitoring method of any one of claims 1 to 4.

8. A computer-readable storage medium having stored thereon a computer program, characterized in that, The program is executed by the processor to implement the balanced cylinder pressure control module health monitoring method of any one of claims 1 to 4.

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