Pitching and rotation hydraulic drive fault diagnosis device and method for cantilever type stacker

Abstract

The invention relates to a cantilever type stacker pitching and rotation hydraulic drive fault diagnosis device and method. The cantilever type stacker pitching and rotation hydraulic drive fault diagnosis device comprises a device operation panel and a device controller. According to the invention, through control and detection of analog voltage / current signals and calculation of actual voltage / current signal detection results, whether pitching and rotation hydraulic driving system faults of the cantilever type stacker are electrical control faults or hydraulic control faults can be accurately positioned, and irregular instantaneous and immediate reset faults can be effectively diagnosed. And the fault diagnosis device can carry out line adjustment according to the hydraulic system of the equipment to be diagnosed so as to adapt to various different working conditions. The fault diagnosis device is simple in design, adopts external power supply and battery power supply, is simple to install and convenient to carry, and is internally provided with an integrated circuit board, so that the internal circuits of the diagnosis device are effectively reduced, and the diagnosis device is more stable and reliable to use.

Description

Technical Field

[0001] The invention belongs to the technical field of fault diagnosis, in particular to a device and method for diagnosing faults of a cantilever type stacker's pitch and slewing hydraulic drive. Background Art

[0002] At present, the cantilever stacker has the characteristics of simple equipment structure, low cost of the equipment itself and civil construction foundation, convenient use and maintenance, and continuous operation. It is widely used in various fields such as metallurgy, chemical industry, mining, cement, electricity, building materials, port transportation, etc. at home and abroad. Its main function is to transfer materials through belt conveyors and store them in yards or silos for subsequent port ship transfer and transportation vehicle transfer.

[0003] The cantilever stacker is mainly composed of a traveling mechanism, a slewing mechanism, a pitching mechanism, a tail car belt and a cantilever belt. The slewing mechanism and the pitching mechanism are usually driven by a hydraulic drive system. If the hydraulic drive system fails, the slewing and pitching of the cantilever stacker will not work normally. Since the hydraulic system is composed of electrical control and hydraulic control, after the hydraulic system fails, if the fault is irregular and instantaneous and then reset immediately and the fault signal cannot be self-locked, it is impossible to accurately locate the electrical control fault or the hydraulic control fault. The cause of the fault is extremely difficult to diagnose, the fault phenomenon is very easy to recur, and the troubleshooting time and troubleshooting cycle are relatively long. At the same time, the cantilever stacker is the terminal equipment of the operation process when in use. Once a fault occurs, its upstream equipment will stop running. After the fault is restored, it needs to be reloaded and restarted, which increases the energy consumption of the equipment, reduces the level of equipment integrity, and also affects the equipment's operating efficiency. Summary of the invention

[0004] The purpose of the present invention is to overcome the shortcomings of the prior art and propose a cantilever stacker pitch and slewing hydraulic drive fault diagnosis device and method, which can effectively diagnose irregular instantaneous and immediately reset faults, greatly reducing the troubleshooting time. The fault diagnosis device can adjust the circuit according to the hydraulic system of the equipment to be diagnosed to adapt to various working conditions. The fault diagnosis device is simple in design, powered by external power supply and battery power supply, simple to install, easy to carry, and an integrated circuit board is installed in the diagnostic device, which effectively reduces the internal circuit of the diagnostic device and makes the use of the diagnostic device more stable and reliable.

[0005] The present invention solves the technical problem by adopting the following technical solutions:

[0006] A cantilever stacker pitch and slewing hydraulic drive fault diagnosis device comprises a device operation panel and a device controller, wherein the device operation panel is connected and fixed to a device installation box of the device controller by fixing bolts;

[0007] The device operation panel includes a main panel, a button switch, a voltage / current signal generator analog source calibrator and a digital voltage / current meter, wherein the button switch, the voltage / current signal generator analog source calibrator and the digital voltage / current meter are all installed on the main panel;

[0008] The device controller includes a device installation box, a device handle, a power inlet, an integrated circuit board connector, an integrated circuit board, a power module and a proportional amplifier. The device handle is installed in the middle of the upper outer wall of the device installation box, the power inlet and the integrated circuit board connector are installed on the left outer wall of the device installation box, and the integrated circuit board, the power module and the proportional amplifier are installed inside the device installation box; by operating the button switches and the voltage / current signal generator analog source calibrator on the device operation panel, the voltage / current signals generated by different parts under different signals are collected and compared with the signals collected by the digital voltage / current meter, so as to complete the fault diagnosis of the selected part of the device.

[0009] Moreover, there are a total of 7 button switches, which are installed on the upper left side of the main panel. From top to bottom, the first row has 1 main power switch for the fault diagnosis device, the second row has 3 switches, and from left to right the first one is the pitch control valve power switch, the second one is the pitch No. 1 cylinder direction valve power switch, and the third one is the pitch No. 2 cylinder direction valve power switch. There are 3 switches in the third row, and from left to right the first one is the slew control valve power switch, the second one is the slew No. 1 motor direction valve power switch, and the third one is the slew No. 2 motor direction valve power switch.

[0010] Moreover, there are three voltage / current signal generator simulation source calibrators, which are installed on the upper right side of the main panel. From left to right, the first one is the pitch voltage / current signal generator simulation source calibrator, the second one is the rotation motor No. 1 voltage / current signal generator simulation source calibrator, and the third one is the rotation motor No. 2 voltage / current signal generator simulation source calibrator.

[0011] Moreover, there are a total of 10 digital voltage / current meters, which are installed on the lower part of the main panel. From top to bottom and from left to right, the first one in the first row is the digital voltage / current meter for the pitch control valve coil, the second one is the digital voltage / current meter for the coil in the direction of pitch No. 1 cylinder, the third one is the digital voltage / current meter for the lower coil in the direction of pitch No. 1 cylinder, the fourth one is the digital voltage / current meter for the coil in the direction of pitch No. 2 cylinder, and the fifth one is the digital voltage / current meter for the lower coil in the direction of pitch No. 2 cylinder. The first one in the second row is the digital voltage / current meter for the rotation control valve coil, the second one is the digital voltage / current meter for the counterclockwise coil of rotation No. 1 motor, the third one is the digital voltage / current meter for the clockwise coil of rotation No. 1 motor, the fourth one is the digital voltage / current meter for the counterclockwise coil of rotation No. 2 motor, and the fifth one is the digital voltage / current meter for the clockwise coil of rotation No. 2 motor.

[0012] Moreover, there are three proportional amplifiers installed at the lower right side of the device installation box. From left to right, the first one is the pitch proportional amplifier, the second one is the rotation motor No. 1 proportional amplifier, and the third one is the rotation motor No. 2 proportional amplifier.

[0013] A diagnostic method for a cantilever stacker pitch and slewing hydraulic drive fault diagnostic device comprises the following steps:

[0014] Step 1, connect the pitch control valve coil, the upward coil of pitch No. 1 oil cylinder, the downward coil of pitch No. 1 oil cylinder, the upward coil of pitch No. 2 oil cylinder, the downward coil of pitch No. 2 oil cylinder, the slewing control valve coil, the counterclockwise coil of slewing No. 1 motor, the clockwise coil of slewing No. 1 motor, the counterclockwise coil of slewing No. 2 motor, the clockwise coil of slewing No. 2 motor, the output coil of pitch proportional valve, the output coil of slewing No. 1 proportional valve and the output coil of slewing No. 2 proportional valve to the connector of the integrated circuit board through corresponding lines respectively in the pitch and slewing hydraulic station of the cantilever stacker;

[0015] Step 2: Operate the button switch on the operation panel of the device to supply power to the hydraulic system components of the required diagnosis location;

[0016] Step 3: Adjust the voltage value of the voltage / current signal generator analog source calibrator of the device, i.e., the input voltage of the device, within the voltage value range of 0-10V. Each time the voltage / current signal generator analog source calibrator of the device is adjusted, the detection value of the input voltage of the voltage / current signal generator analog source calibrator of the device and the output voltage value detected by the corresponding digital voltage / current meter are collected, and the fault is judged;

[0017] Step 4: Output the result of the fault judgment in step 3.

[0018] Furthermore, the step 3 comprises the following steps:

[0019] Step 3.1, within the voltage value range of 0-10V, the voltage value of the voltage / current signal generator analog source calibrator of the device is adjusted, and each adjustment is performed on the input voltage detection value of the voltage / current signal generator analog source calibrator of the device and the corresponding output voltage value detected by the digital voltage / current meter;

[0020] Step 3.2: Each test group performs n input voltage adjustments, and correspondingly collects n different output voltage data information; wherein the input voltage value generated by the voltage / current signal generator analog source calibrator is V in , the n sets of data collected are The output voltage value detected by the digital voltage / current meter is V out , n groups of data are collected as By comparing the input voltage and output voltage, the voltage difference V is obtained. df =Vin -V out , the voltage difference of n sets of data is

[0021] Step 3.3: Set the fault diagnosed by the diagnostic device to be event Y=y fault , if it is normal and has no fault, it is considered as event Y=y normal ;Difference between device input and output voltage V df =0 is event X=x0, and the difference between input and output voltage is event X=x1; then the prior probabilities of the four events are:

[0022] P(Y=y fault ), P(Y=y normal ), P(X=x0) and P(X=x1)

[0023] Step 3.4: When V is known df ≠0, the probability of the device diagnosing a fault or the probability of normal operation without faults is obtained; the input and output voltage differences collected each time are substituted into the formula to obtain the diagnostic status of the device, P(y fault |x1)=1, it is diagnosed as a fault, P(y normal |x0)=1, the diagnosis is normal and without fault;

[0024] Step 3.5: Establish a naive Bayes model and take the maximum posterior probability to determine the fault diagnosis of the device;

[0025]

[0026] The calculation results show that when C k ,k=1, the category with the largest probability value is fault. k ,When k = 2, the category with the largest probability value is normal and fault-free.

[0027] The advantages and positive effects of the present invention are:

[0028] The present invention calculates the actual voltage / current signal detection results by controlling and detecting the simulated voltage / current signal to accurately locate whether the fault of the pitch and slewing hydraulic drive system of the cantilever stacker is an electrical control fault or a hydraulic control fault. It can effectively diagnose irregular instantaneous and immediately reset faults, greatly reducing the troubleshooting time. The fault diagnosis device can adjust the circuit according to the hydraulic system of the equipment to be diagnosed to adapt to various working conditions. The fault diagnosis device is simple in design, and the power supply adopts external power supply and battery power supply. It is easy to install and carry. The diagnostic device is equipped with an integrated circuit board, which effectively reduces the internal circuit of the diagnostic device and makes the use of the diagnostic device more stable and reliable. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 It is the front view of the overall structure of the present invention;

[0030] Figure 2 This is a front view of the operation panel of the device of the present invention;

[0031] Figure 3 It is a front view of the controller of the device of the present invention;

[0032] Figure 4 It is a front view of the integrated circuit board of the device of the present invention;

[0033] Figure 5 It is a schematic diagram of the circuit connection of the integrated circuit board components of the device of the present invention.

[0034] Description of labels:

[0035] Device operation panel 1; main body panel 11; button switch 12; voltage / current signal generator analog source tester 13; digital voltage / current meter 14; device controller 2; device installation box 21; device handle 22; power inlet 23; integrated circuit board connector 24; integrated circuit board 25; integrated circuit board power connector 251; integrated circuit board battery box group 252;

[0036] Integrated circuit board via 253; integrated circuit board component connector 254; integrated circuit board external hydraulic component connector 255;

[0037] Power supply module 26; proportional amplifier 27. DETAILED DESCRIPTION

[0038] The present invention is further described in detail below with reference to the accompanying drawings.

[0039] A cantilever stacker pitch and slewing hydraulic drive fault diagnosis device, such as Figure 1 As shown, the cantilever stacker pitch and slewing hydraulic fault diagnosis device comprises: a device operating panel 1 and a device controller 2. The device operating panel 1 and the device mounting box 21 of the device controller 2 are connected and fixed by fixing bolts.

[0040] like Figure 2 As shown, the device operation panel 1 is mainly composed of a main panel 11, a button switch 12, a voltage / current signal generator analog source calibrator 13 and a digital voltage / current meter 14. The main panel 11 is the surface of the device operation panel 1, and the button switch 12, the voltage / current signal generator analog source calibrator 13 and the digital voltage / current meter 14 are all installed on the main panel.

[0041] like Figure 2As shown, there are 7 button switches 12, which are respectively installed on the upper left side of the main panel. From top to bottom, the first row has 1 main power switch for the fault diagnosis device, the second row has 3, and from left to right the first one is the power switch for the pitch control valve, the second one is the power switch for the pitch No. 1 cylinder direction valve, and the third one is the power switch for the pitch No. 2 cylinder direction valve. The third row has 3, and from left to right the first one is the power switch for the slew control valve, the second one is the power switch for the slew No. 1 motor direction valve, and the third one is the power switch for the slew No. 2 motor direction valve.

[0042] like Figure 2 As shown, there are three voltage / current signal generator simulation source calibrators 13, which are respectively installed on the upper right side of the main panel 11. From left to right, the first one is the pitch voltage / current signal generator simulation source calibrator, the second one is the rotation motor No. 1 voltage / current signal generator simulation source calibrator, and the third one is the rotation motor No. 2 voltage / current signal generator simulation source calibrator.

[0043] like Figure 2 As shown, there are 10 digital voltage / current meters 14, which are respectively installed on the lower part of the main body panel. From top to bottom and from left to right, the first one in the first row is a digital voltage / current meter for the pitch control valve coil, the second one is a digital voltage / current meter for the coil in the direction of pitch No. 1 cylinder, the third one is a digital voltage / current meter for the lower coil in the direction of pitch No. 1 cylinder, the fourth one is a digital voltage / current meter for the coil in the direction of pitch No. 2 cylinder, and the fifth one is a digital voltage / current meter for the lower coil in the direction of pitch No. 2 cylinder. The first one in the second row is a digital voltage / current meter for the swing control valve coil, the second one is a digital voltage / current meter for the counterclockwise coil of swing No. 1 motor, the third one is a digital voltage / current meter for the clockwise coil of swing No. 1 motor, the fourth one is a digital voltage / current meter for the counterclockwise coil of swing No. 2 motor, and the fifth one is a digital voltage / current meter for the clockwise coil of swing No. 2 motor.

[0044] like Figure 3 As shown, the device controller 2 is mainly composed of a device installation box 21, a device handle 22, a power inlet 23, an integrated circuit board connector 24, an integrated circuit board 25, a power module 26 and a proportional amplifier 27. The device handle 22 is installed in the middle of the upper outer wall of the device installation box 21, the power inlet 23 and the integrated circuit board connector 24 are installed on the left outer wall of the device installation box 21, and the integrated circuit board 25, the power module 26 and the proportional amplifier 27 are installed inside the device installation box 21.

[0045] like Figure 3 As shown, the device installation box 21 is the installation body of the device controller 2, and the various accessories of the device controller are respectively installed on the upper outer wall, the left outer wall and the inside of the device installation box 21.

[0046] like Figure 3As shown, the device handle 22 is installed in the middle of the upper outer wall of the device installation box 21, which is convenient for carrying the device when in use.

[0047] like Figure 3 As shown, the power inlet 23 is installed above the left outer wall of the device installation box 21. The external power supply of the device enters from the inlet 23 and is connected to the internal power module 26 of the device installation box 21 to provide external power for the device. The external power supply is used when the internal power supply of the device fails.

[0048] like Figure 3 , Figure 4 As shown, the integrated circuit board connector 24 is installed in the lower middle of the left side wall of the device installation box 21. One side of each connector is connected to the corresponding connector 255 on the integrated circuit board 25 in the device installation box through a line, and the other side is connected to the corresponding action elements of various external parts through a line.

[0049] like Figure 3 , Figure 4 , Figure 5 As shown, the integrated circuit board 25 is installed on the left side inside the device installation box 21, and is mainly composed of an integrated circuit board power connector 251, an integrated circuit board battery box group 252, an integrated circuit board via 253, an integrated circuit board component connector 254, and an integrated circuit board external hydraulic component connector 255. The control connection circuit of the device is integrated on the circuit board 24, and the circuits of various components of the device are connected to the circuit board 25 through the connector on the circuit board. The battery box group 252 integrated on the integrated circuit board 25 provides power for the device after the battery is assembled. The device can still be used normally when it is not connected to an external power supply, making the device more convenient and efficient to use.

[0050] like Figure 3 As shown, the power module 26 is installed on the upper right side of the device installation box 21 to convert the external incoming main power into a DC working voltage for the operation of the corresponding components of the device.

[0051] like Figure 3 As shown, there are three proportional amplifiers 27 installed at the lower right side of the device installation box 21. From left to right, the first one is the pitch proportional amplifier, the second one is the rotation motor No. 1 proportional amplifier, and the third one is the rotation motor No. 2 proportional amplifier.

[0052] A diagnostic method for a cantilever stacker pitch and slewing hydraulic drive fault diagnostic device comprises the following steps:

[0053] Step 1. Connect the pitch control valve coil, pitch No. 1 cylinder upward coil, pitch No. 1 cylinder downward coil, pitch No. 2 cylinder upward coil, pitch No. 2 cylinder downward coil, swing control valve coil, swing No. 1 motor counterclockwise coil, swing No. 1 motor clockwise coil, swing No. 2 motor counterclockwise coil, swing No. 2 motor clockwise coil, pitch proportional valve output coil, swing 1 proportional valve output coil and swing 2 proportional valve output coil in the cantilever stacker pitch and swing hydraulic station to the connector of the integrated circuit board through corresponding lines respectively.

[0054] Step 2: Operate the button switch on the operating panel of the device to supply power to the hydraulic system components of the required diagnosis location.

[0055] Step 3: Adjust the voltage value of the device's voltage / current signal generator analog source calibrator, i.e., the device input voltage, within the voltage value range of 0-10V. Each time the adjustment is made, the detection value of the input voltage of the device's voltage / current signal generator analog source calibrator and the corresponding output voltage value detected by the digital voltage / current meter are collected, and the fault is judged.

[0056] This step includes the following steps:

[0057] Step 3.1. Adjust the voltage value of the device's voltage / current signal generator analog source calibrator, i.e., the device input voltage, within the voltage value range of 0-10V. Each adjustment collects the detection value of the input voltage of the device's voltage / current signal generator analog source calibrator and the corresponding output voltage value detected by the digital voltage / current meter.

[0058] Step 3.2: Assume that each test group performs n input voltage adjustments, and correspondingly collects n different output voltage data information. Set the input voltage value generated by the voltage / current signal generator analog source calibrator to V in , the n sets of data collected are The output voltage value detected by the digital voltage / current meter is V out , n groups of data are collected as By comparing the input voltage and the output voltage, the voltage difference V can be obtained. df =V in -V out , then the voltage difference of n sets of data can be obtained as

[0059] Step 3.3: Assume that the diagnostic device diagnoses a fault as event Y=y fault , if it is normal and has no fault, it is considered as event Y=y normal ;Difference between device input and output voltage V df=0 is event X=x0, and the difference between input and output voltage is event X=x1. Then the prior probabilities of the four events are:

[0060] P(Y=y fault ), P(Y=y normal ), P(x=x0) and P(x=x1)

[0061] Step 3.4: When V is known df ≠0, we can get the probability of the device diagnosing a fault or the probability of normal operation without faults. That is, when X=x is an event that has occurred, then this event is the probability of the occurrence of the event Y=y. The posterior probability can be derived from the prior probability, and the posterior probability calculation formula is:

[0062] P(Y=y fault |X=x1)

[0063] The calculation formula is:

[0064] P(y fault |x1)

[0065] Through the Bayesian formula, the posterior probability can be calculated using the prior probability and the likelihood function.

[0066] The Bayesian formula is as follows:

[0067]

[0068] In the formula, the denominator is transformed according to the total probability formula, that is, if the event group Y = y1, Y = y2, ..., Y = y n If the events in are incompatible and the sum is a complete set, then this event group is a complete event group, from which we can derive the total probability formula of the event X=x:

[0069]

[0070] Substituting X=x1 into the formula, we can get:

[0071]

[0072] In this example, the value range of the Y event is {fault, normal}, that is, fault and normal without fault, it can be concluded that:

[0073] Px1)=Σ i＝{fault,normal} P(y i )P(x1|y i )

[0074] That is, the denominator is transformed into the above formula.

[0075] According to independent conditional probability (Bayes theorem):

[0076] P(A|B)P(B)=P(A∩B)=P(B|A)P(A)

[0077] According to Bayes' theorem, dividing both sides of the equation by P(B) yields

[0078]

[0079] That is, the molecule in this case is:

[0080] P(x1|y fault )P(y fault )

[0081] Substituting the numerator and denominator into the Bayesian formula, we get:

[0082]

[0083] Similarly, when X = x0, the Bayesian formula can be obtained as follows:

[0084]

[0085] Substituting the input and output voltage difference collected each time into the formula, the diagnostic status of the device can be obtained respectively, that is, P(y fault |x1)=1, it is diagnosed as a fault, P(y normal When |x0)=1, the diagnosis is normal and without fault.

[0086] Step 3.5: To realize the classification and prediction function of multi-sample data, a naive Bayes model is established, and the maximum posterior probability is taken to determine the fault diagnosis status of the device.

[0087] Set n groups of voltage difference data and diagnostic categories are assumed to be the sample set Test instance, where m represents the number of samples and n represents the number of features.

[0088] In the Bayesian formula, y i i=1,2,…,m represents the sample category, and y i The value is {C1,C2,…C k}. (y i Fault and normal fault-free in the device diagnosis category, characterized by V df =0 and V df ≠0). According to the basic formula of naive Bayes classification:

[0089]

[0090] After simplifying the formula, the formula for the naive Bayes classifier is:

[0091]

[0092] According to the prior probability, we can get the number of sample categories K = 2, namely the probability of failure and the probability of normal failure. Divide the sample set into two sub-sample sets for conditional probability calculation. k The sub-sample sets are calculated separately, and the feature X in the sample set can be calculated. j =A j The probability of 1: P(X j =A j 1|C k ). P(X j =A j 1|C k ) is the feature value in this subset A j The ratio of the number of samples with 1 to the number of samples in this subset.

[0093]

[0094] For the sample set x that needs to be detected j , j = 1, 2, ... n, calculate its for each category C k , the posterior probability of k = 1, 2 is:

[0095]

[0096] The calculation results show that when C k , k = 1 when the category with the largest probability value is the fault. k ,When k = 2, the category with the largest probability value is normal and fault-free.

[0097] Step 4: Output the result of the fault judgment in step 3.

[0098] It should be emphasized that the embodiments described in the present invention are illustrative rather than restrictive. Therefore, the present invention includes but is not limited to the embodiments described in the specific implementation manner. Any other implementation manners derived by those skilled in the art based on the technical solution of the present invention also fall within the scope of protection of the present invention.

Claims

1. A fault diagnosis device for the pitch and slewing hydraulic drive of a cantilever stacker, characterized in that: It includes a device operation panel and a device controller, wherein the device operation panel is connected and fixed to a device installation box of the device controller by fixing bolts; The device operation panel includes a main panel, a button switch, a voltage / current signal generator analog source calibrator and a digital voltage / current meter, wherein the button switch, the voltage / current signal generator analog source calibrator and the digital voltage / current meter are all installed on the main panel; The device controller includes a device installation box, a device handle, a power inlet, an integrated circuit board connector, an integrated circuit board, a power module and a proportional amplifier. The device handle is installed in the middle of the upper outer wall of the device installation box, the power inlet and the integrated circuit board connector are installed on the left outer wall of the device installation box, and the integrated circuit board, the power module and the proportional amplifier are installed inside the device installation box; by operating the button switches and the voltage / current signal generator analog source calibrator on the device operation panel, the voltage / current signals generated by different parts under different signals are collected and compared with the signals collected by the digital voltage / current meter, so as to complete the fault diagnosis of the selected part of the device.

2. The cantilever stacker pitch and slewing hydraulic drive fault diagnosis device according to claim 1 is characterized in that: There are a total of 7 button switches, which are installed on the upper left side of the main panel. From top to bottom, the first row has 1 that is the main power switch of the fault diagnosis device, the second row has 3, and from left to right the first one is the pitch control valve power switch, the second one is the pitch No. 1 cylinder direction valve power switch, and the third one is the pitch No. 2 cylinder direction valve power switch. There are a total of 3 in the third row, from left to right the first one is the slew control valve power switch, the second one is the slew No. 1 motor direction valve power switch, and the third one is the slew No. 2 motor direction valve power switch.

3. The cantilever stacker pitch and slewing hydraulic drive fault diagnosis device according to claim 1, characterized in that: There are three voltage / current signal generator simulation source calibrators, which are installed on the upper right side of the main panel. From left to right, the first one is the pitch voltage / current signal generator simulation source calibrator, the second one is the rotation motor No. 1 voltage / current signal generator simulation source calibrator, and the third one is the rotation motor No. 2 voltage / current signal generator simulation source calibrator.

4. The cantilever stacker pitch and slewing hydraulic drive fault diagnosis device according to claim 1, characterized in that: There are a total of 10 digital voltage / current meters, which are installed on the lower part of the main panel. From top to bottom and from left to right, the first one in the first row is the digital voltage / current meter for the pitch control valve coil, the second one is the digital voltage / current meter for the coil in the direction of pitch No. 1 cylinder, the third one is the digital voltage / current meter for the lower coil in the direction of pitch No. 1 cylinder, the fourth one is the digital voltage / current meter for the coil in the direction of pitch No. 2 cylinder, and the fifth one is the digital voltage / current meter for the lower coil in the direction of pitch No. 2 cylinder; the first one in the second row is the digital voltage / current meter for the swing control valve coil, the second one is the digital voltage / current meter for the counterclockwise coil of swing No. 1 motor, the third one is the digital voltage / current meter for the clockwise coil of swing No. 1 motor, the fourth one is the digital voltage / current meter for the counterclockwise coil of swing No. 2 motor, and the fifth one is the digital voltage / current meter for the clockwise coil of swing No. 2 motor.

5. The cantilever stacker pitch and slewing hydraulic drive fault diagnosis device according to claim 1, characterized in that: There are three proportional amplifiers installed at the lower right side of the device installation box. From left to right, the first one is the pitch proportional amplifier, the second one is the rotation motor No. 1 proportional amplifier, and the third one is the rotation motor No. 2 proportional amplifier.

6. A diagnostic method for a cantilever stacker pitch and slewing hydraulic drive fault diagnostic device according to any one of claims 1 to 5, characterized in that: The following steps are involved: Step 1, connect the pitch control valve coil, the upward coil of pitch No. 1 oil cylinder, the downward coil of pitch No. 1 oil cylinder, the upward coil of pitch No. 2 oil cylinder, the downward coil of pitch No. 2 oil cylinder, the slewing control valve coil, the counterclockwise coil of slewing No. 1 motor, the clockwise coil of slewing No. 1 motor, the counterclockwise coil of slewing No. 2 motor, the clockwise coil of slewing No. 2 motor, the output coil of pitch proportional valve, the output coil of slewing No. 1 proportional valve and the output coil of slewing No. 2 proportional valve to the connector of the integrated circuit board through corresponding lines respectively in the pitch and slewing hydraulic station of the cantilever stacker; Step 2: Operate the button switch on the operation panel of the device to supply power to the hydraulic system components of the required diagnosis location; Step 3: Adjust the voltage value of the voltage / current signal generator analog source calibrator of the device, i.e., the input voltage of the device, within the voltage value range of 0-10V. Each time the voltage / current signal generator analog source calibrator of the device is adjusted, the detection value of the input voltage of the voltage / current signal generator analog source calibrator of the device and the output voltage value detected by the corresponding digital voltage / current meter are collected, and the fault is judged; Step 4: Output the result of the fault judgment in step 3.

7. The diagnostic method of the cantilever stacker pitch and slewing hydraulic drive fault diagnostic device according to claim 6, characterized in that: The step 3 comprises the following steps: Step 3.1, within the voltage value range of 0-10V, the voltage value of the voltage / current signal generator analog source calibrator of the device is adjusted, and each adjustment is performed on the input voltage detection value of the voltage / current signal generator analog source calibrator of the device and the corresponding output voltage value detected by the digital voltage / current meter; Step 3.2: Each test group performs n input voltage adjustments, and correspondingly collects n different output voltage data information; wherein the input voltage value generated by the voltage / current signal generator analog source calibrator is V in , the n sets of data collected are The output voltage value detected by the digital voltage / current meter is V out , n groups of data are collected as By comparing the input voltage and output voltage, the voltage difference V is obtained. df =V in -V out , the voltage difference of n sets of data is Step 3.3: Set the fault diagnosed by the diagnostic device to be event Y=y fault , if it is normal and has no fault, it is considered as event Y=y normal ;Difference between device input and output voltage V df =0 is event X=x0, and the difference between input and output voltage is event X=x1; then the prior probabilities of the four events are: P(Y=y fault )、P(Y=y normal )、P(X=x0)or P(X=x1) Step 3.4: When V is known df ≠0, the probability of the device diagnosing a fault or the probability of normal operation without faults is obtained; the input and output voltage differences collected each time are substituted into the formula to obtain the diagnostic status of the device, P(y fault |x1)=1, it is diagnosed as a fault, P(y normal |x0)=1, the diagnosis is normal and without fault; Step 3.5: Establish a naive Bayes model and take the maximum posterior probability to determine the fault diagnosis of the device; The calculation results show that when C k , when k = 1, the category with the largest probability value is fault. k When k=2, the category with the largest probability value is normal and fault-free.

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