Control system fault diagnosis method and device based on direct-current electric mechanism simulator

Abstract

The invention provides a control system fault diagnosis method and device based on a direct-current electric mechanism simulator. The method comprises the following steps: constructing the direct-current electric mechanism simulator; the servo controller sends the same control instruction to the real direct-current electric mechanism and the direct-current electric mechanism simulator at the same time, and first output values of the real direct-current electric mechanism and the direct-current electric mechanism simulator are obtained; comparing the first output values output by the two, and judging whether the real direct-current electric mechanism has a fault or not; if yes, the servo controller is switched to take the direct-current electric mechanism simulator as a control object, the same control instruction is sent to the direct-current electric mechanism simulator and the servo controller at the same time, and second output values of the real direct-current electric mechanism and the direct-current electric mechanism simulator are obtained; according to the second output values of the two, determining the fault type of the real direct-current electric mechanism; according to the fault type, a corresponding self-checking loop is used for self-checking, and a fault point is determined. In this way, accurate positioning of the fault point of the servo motor is achieved.

Description

Technical Field

[0001] The present disclosure relates to the technical field of system detection, and in particular to a control system fault diagnosis method and device based on a DC electric mechanism simulator. Background Art

[0002] The electromechanical servo control system usually consists of a servo controller, motor power amplifier, motor and transmission mechanism, position and speed feedback elements, load, etc. to form a feedback closed loop, such as Figure 2 As shown in the figure, the servo controller usually uses a microprocessor system as the hardware basis, uses A / D or other methods to collect the load position and speed values, and compares them with the received control instructions to obtain the error of the control system. The control algorithm is implemented by microprocessor software. In each control cycle, the servo controller runs the control algorithm once, calculates the motor control quantity with the control error as the input quantity, and drives the motor to rotate through the PWM motor power amplifier. The motor drives the load to the specified position through the transmission mechanism.

[0003] Usually, the servo controller and motor power amplifier are assembled in an electronic component (control component), and the motor and transmission mechanism, position and speed feedback components and load are assembled together to form an electric mechanism component. The entire system is a closed loop. If any component fails, the closed loop will be open, the control system will not work properly and the fault location is difficult. In addition, the existing detection methods can usually only locate the fault, but still cannot accurately locate the more specific fault point. Therefore, the existing technology still lacks an efficient detection method for the specific fault point after the servo motor fault occurs. Summary of the invention

[0004] The present disclosure provides a control system fault diagnosis method and device based on a DC electric mechanism simulator, aiming to solve the problem that the prior art can usually only locate the fault but still cannot accurately locate a more specific fault point.

[0005] According to a first aspect of the present disclosure, a control system fault diagnosis method based on a DC electric mechanism simulator is provided, comprising:

[0006] Mathematically model the real DC motor mechanism and obtain a DC motor mechanism simulator;

[0007] Sending the same control instruction to the real DC electric mechanism and the DC electric mechanism simulator simultaneously by a servo controller to obtain first output values ​​of the real DC electric mechanism and the DC electric mechanism simulator;

[0008] comparing the first output value of the real DC electric mechanism and the first output value of the DC electric mechanism simulator to determine whether the real DC electric mechanism fails;

[0009] If yes, switch the servo controller to take the DC electric mechanism simulator as the control object, and send the same control instruction to the real DC electric mechanism and the DC electric mechanism simulator at the same time to obtain the second output values ​​of the real DC electric mechanism and the DC electric mechanism simulator;

[0010] determining a fault type of the real DC motor mechanism according to the second output value of the real DC motor mechanism and the DC motor mechanism simulator;

[0011] The corresponding self-test circuit is tested according to the fault type of the real DC electric motor to determine the fault point of the real DC electric motor.

[0012] According to the above aspects and any possible implementation, there is further provided an implementation, wherein mathematical modeling of the real DC electric mechanism is performed to obtain a DC electric mechanism simulator, including:

[0013] The real DC electric mechanism is mathematically modeled with respect to the frequency domain transfer function or a DC motor mechanism transfer function is constructed using an active circuit network to obtain a DC electric mechanism simulator.

[0014] According to the above aspects and any possible implementation, an implementation is further provided, wherein the first output value of the real DC electric mechanism includes the motor current I(t), the motor speed ω(t) and the mechanism displacement θ(t), and the first output value of the DC electric mechanism simulator includes the simulator motor current I std (t), motor speed ω std (t) and mechanism displacement θ std (t), the second output value of the real DC electric mechanism includes the motor current I1(t), the motor speed ω1(t) and the mechanism displacement θ1(t), and the second output value of the DC electric mechanism simulator includes the simulator motor current Motor speed and mechanism displacement

[0015] According to the above aspects and any possible implementation manner, an implementation manner is further provided, wherein comparing the first output value of the real DC electric mechanism and the first output value of the DC electric mechanism simulator to determine whether the real DC electric mechanism fails includes:

[0016] Making a judgment based on the first output value of the real DC electric mechanism, the first output value of the DC electric mechanism simulator and a preset threshold value of the first output value of the DC electric mechanism simulator;

[0017] When I(t)≤I std(t)-I set or I(t)≥I std (t)+I set , and the judgment condition is satisfied for more than a preset time threshold; or,

[0018] When ω(t)≤ω std (t)-ω set orω(t)≥ω std (t)+ω set , and the judgment condition is satisfied for more than a preset time threshold; or,

[0019] When θ(t)≤θ std (t)-θ set orθ(t)≥θ std (t)+θ set , and when the judgment condition is satisfied for more than a preset time threshold, it is determined that the real DC electric motor mechanism has a fault;

[0020] Among them, I set ,ω set and θ set I std (t),ω std (t) and θ std (t) is the preset threshold value.

[0021] According to the above aspects and any possible implementation manner, an implementation manner is further provided, wherein the switching servo controller takes the DC electric mechanism simulator as a control object, and simultaneously sends the same control instruction to the real DC electric mechanism and the DC electric mechanism simulator, and obtains the second output value of the real DC electric mechanism and the DC electric mechanism simulator, including:

[0022] If it is determined that the real DC electric mechanism fails, the signal connection between the servo controller and the real DC electric mechanism is released, and the signal connection between the servo controller and the DC electric mechanism simulator is established;

[0023] Simultaneously, sinusoidal instructions with the same amplitude and period are sent to the real DC electric mechanism and the DC electric mechanism simulator to obtain second output values ​​of the real DC electric mechanism and the DC electric mechanism simulator.

[0024] According to the above aspects and any possible implementation manner, an implementation manner is further provided, wherein determining the fault type of the real DC motor mechanism according to the second output value of the real DC motor mechanism and the DC motor mechanism simulator comprises:

[0025] If satisfied Then the motor power amplifier and motor armature circuit work normally, otherwise the motor power amplifier and motor armature circuit fail;

[0026] When the motor power amplifier and motor armature circuit are working normally, continue to judge the working status of the motor and speed measurement circuit. If it meets the The motor and the speed measuring circuit are working properly, otherwise the motor and the speed measuring circuit are faulty;

[0027] When the motor and speed measurement circuit are working normally, continue to judge the working status of the transmission mechanism and angle measurement circuit. If The transmission mechanism and the angle measurement circuit work normally, otherwise the transmission mechanism and the angle measurement circuit fail;

[0028] in, Respectively The preset threshold value.

[0029] According to the above aspects and any possible implementation manner, an implementation manner is further provided, wherein the detecting of the corresponding self-test circuit according to the fault type of the real DC electric motor to determine the fault point of the real DC electric motor comprises:

[0030] If the fault type of the real DC motor mechanism is a motor power amplifier and motor armature circuit fault, a self-check is performed through the motor power amplifier self-check circuit. If the power amplifier is normal, the motor is faulty; otherwise, the motor power amplifier is faulty.

[0031] If the fault type of the real DC electric mechanism is the motor and the speed measuring circuit, a self-check is performed through the speed measuring machine self-check circuit. If the speed measuring machine is normal, it is a transmission mechanism fault, otherwise it is a speed measuring machine fault;

[0032] If the fault type of the real DC electric mechanism is a transmission mechanism and angle measurement circuit fault, a self-check is performed through the angular displacement sensor self-check circuit. If the angular displacement is normal, it is a transmission mechanism fault; otherwise, it is an angular displacement fault.

[0033] According to a second aspect of the present disclosure, a control system fault diagnosis device based on a DC electric mechanism simulator is provided, comprising:

[0034] A DC electric mechanism simulator building unit is used to mathematically model a real DC electric mechanism to obtain a DC electric mechanism simulator;

[0035] A first output value acquisition unit, configured to simultaneously send the same control instruction to the real DC electric mechanism and the DC electric mechanism simulator through a servo controller, so as to acquire first output values ​​of the real DC electric mechanism and the DC electric mechanism simulator;

[0036] a working state judgment unit, used for comparing the first output value of the real DC electric mechanism and the first output value of the DC electric mechanism simulator to judge whether the real DC electric mechanism fails;

[0037] a second output value acquisition unit, configured to, if yes, switch the servo controller to take the DC electric mechanism simulator as the control object, and simultaneously send the same control instruction to the real DC electric mechanism and the DC electric mechanism simulator to acquire the second output values ​​of the real DC electric mechanism and the DC electric mechanism simulator;

[0038] a fault type determination unit, configured to determine a fault type of the real DC motor mechanism according to a second output value of the real DC motor mechanism and the DC motor mechanism simulator;

[0039] The fault point diagnosis unit is used to detect the corresponding self-checking circuit according to the fault type of the real DC electric mechanism and determine the fault point of the real DC electric mechanism.

[0040] According to a third aspect of the present disclosure, an electronic device is provided, which includes a memory and a processor, wherein a computer program is stored in the memory, and when the processor executes the program, the method described above is implemented.

[0041] According to a fourth aspect of the present disclosure, a computer-readable storage medium is provided, on which a computer program is stored, and when the program is executed by a processor, the method described above is implemented.

[0042] Compared with the prior art, the present invention achieves the following beneficial effects:

[0043] The present invention designs a DC electric mechanism simulator to simulate the dynamic characteristics of a real DC electric mechanism, and outputs digital signals such as current, speed and position that simulate the real actuator. By comparing the output values ​​of the real actuator and the simulated mechanism, it is not only possible to monitor the working state of the closed-loop control system in real time, but also to diagnose and determine the type of fault when a fault occurs in the closed-loop control system, and further locate the fault point by self-checking and isolating the power amplifier, tachometer and angular displacement sensor, thus solving the problem that the control system cannot isolate and locate the fault in the open loop of the control loop due to component failure.

[0044] It should be understood that the contents described in the summary of the invention are not intended to limit the key or important features of the embodiments of the present disclosure, nor are they intended to limit the scope of the present disclosure. Other features of the present disclosure will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] The above and other features, advantages and aspects of the embodiments of the present disclosure will become more apparent with reference to the following detailed description in conjunction with the accompanying drawings. The accompanying drawings are used to better understand the present solution and do not constitute a limitation of the present disclosure. In the accompanying drawings, the same or similar reference numerals represent the same or similar elements, among which:

[0046] Figure 1 A flow chart of a control system fault diagnosis method based on a DC motor simulator according to an embodiment of the present disclosure is shown;

[0047] Figure 2 A principle block diagram of an electromechanical servo control system according to an embodiment of the present disclosure is shown;

[0048] Figure 3 A block diagram of a DC torque motor transfer function according to an embodiment of the present disclosure is shown;

[0049] Figure 4 A pulse transfer function block diagram of a DC torque motor mechanism according to an embodiment of the present disclosure is shown;

[0050] Figure 5 A schematic diagram of monitoring the working state of a control system according to an embodiment of the present disclosure is shown;

[0051] Figure 6 A schematic diagram of control system fault isolation and location according to an embodiment of the present disclosure is shown;

[0052] Figure 7 A control system fault diagnosis and location flow chart according to an embodiment of the present disclosure is shown;

[0053] Figure 8 A block diagram of a control system fault diagnosis device based on a DC electric motor simulator according to an embodiment of the present disclosure is shown;

[0054] Fig. 9 A block diagram of an exemplary electronic device capable of implementing embodiments of the present disclosure is shown. DETAILED DESCRIPTION

[0055] In order to make the purpose, technical solution and advantages of the embodiments of the present disclosure clearer, the technical solution in the embodiments of the present disclosure will be clearly and completely described below in conjunction with the drawings in the embodiments of the present disclosure. Obviously, the described embodiments are part of the embodiments of the present disclosure, not all of the embodiments. Based on the embodiments in the present disclosure, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present disclosure.

[0056] In addition, the term "and / or" in this article is only a description of the association relationship between the associated objects, indicating that there can be three relationships. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in this article generally indicates that the associated objects before and after are in an "or" relationship.

[0057] The following describes a specific implementation of a control system fault diagnosis method based on a DC electric mechanism simulator provided by the present disclosure in conjunction with the accompanying drawings.

[0058] Embodiment 1

[0059] like Figure 1 FIG. 1 is a flow chart of a control system fault diagnosis method based on a DC electric mechanism simulator disclosed in the present invention. The method 100 includes:

[0060] S110, mathematically modeling the real DC electric mechanism to obtain a DC electric mechanism simulator.

[0061] In some embodiments, a DC motor simulator may be constructed by mathematically modeling a frequency domain transfer function of a real DC motor or constructing a DC motor transfer function using an active circuit network.

[0062] In some embodiments, a mathematical modeling of a frequency domain transfer function of a real DC motor is performed, including:

[0063] The frequency domain transfer function of a real DC motor is determined by the following formula:

[0064]

[0065] Wherein, θ represents the transmission displacement output by the real DC electric mechanism, K1 represents the current-related proportional coefficient of the real DC electric mechanism, K2 represents the motor speed-related proportional coefficient of the real DC electric mechanism, K3 represents the transmission displacement-related proportional coefficient of the real DC electric mechanism, and K m =K1*K2*K3, s represents the frequency domain input corresponding to the real DC motor mechanism, τ1 represents the motor electrical time constant, τ2 represents the motor electromechanical time constant;

[0066] like Figure 3 As shown, when the control voltage of the real DC motor is V, After the link, the motor current I is obtained. After the step, the motor speed ω is obtained, and finally the integral step The mechanism displacement θ is obtained. Further, the transfer function can be transformed into the form of Pulse transfer function (such as Figure 4 ), the output of the DC motor simulator is calculated.

[0067] For example, in the formula, the current-related proportional coefficient K1 can be 2.2V / A, the motor speed-related proportional coefficient K2 can be 1.2V / rad / s, the transmission displacement-related proportional coefficient K3 can be 5V / rad, the motor electrical time constant τ1 can be 0.0075, the motor electromechanical time constant τ1 can be 12.3, and the control voltage of the real DC motor mechanism can be 28V. By setting the above specific values, a specific frequency domain transfer function can be obtained, that is, To provide a mathematical basis for the subsequent operation of the DC motor simulator.

[0068] In some embodiments, a DC motor mechanism transfer function is constructed using an active circuit network to construct a DC motor mechanism simulator, including:

[0069] The active network is composed of an operational amplifier, an optoelectronic isolator, a plurality of resistor elements and a plurality of capacitor elements. The active circuit network is essentially an analog circuit of the real DC electric mechanism, and is equivalent to the real DC electric mechanism in terms of circuit operation and output. Thus, the input-output state of the active circuit network is analyzed, and the functional relationship between the circuit input and circuit output of the active circuit network is determined, thereby constructing the transfer function of the DC electric mechanism, and then calculating the output of the DC electric mechanism simulator based on the transfer function of the DC electric mechanism.

[0070] For example, the opto-isolator in the active circuit network may be a TLP612-2 opto-isolator, the operational amplifier may be a LM124J operational amplifier, and the parameters of other resistors and capacitors are shown in Table 1 below:

[0071] Table 1

[0072]

[0073]

[0074] In addition, in actual operation, the output of the DC motor simulator corresponding to the active circuit network can be sampled in 16-bit A / D format. By constructing the above active circuit network, the real DC motor can be effectively and accurately simulated, thereby improving the working reliability of the DC motor simulator.

[0075] S120, sending the same control instruction to the real DC electric mechanism and the DC electric mechanism simulator simultaneously through a servo controller to obtain first output values ​​of the real DC electric mechanism and the DC electric mechanism simulator.

[0076] In some embodiments, under normal working conditions, the servo controller forms a closed-loop control system with the real actuator as the control object and executes the control instruction. While controlling the load of the real DC motor mechanism, the servo controller transmits the control amount to the motor mechanism simulator, and the DC motor mechanism simulator and the real DC motor mechanism work in parallel to obtain the first output value of the DC motor mechanism simulator and the real actuator at the same time t.

[0077] The first output value of the real DC electric mechanism includes the motor current I(t), the motor speed ω(t) and the mechanism displacement θ(t), and the first output value of the DC electric mechanism simulator includes the simulator motor current I std (t), motor speed ω std (t) and mechanism displacement θ std (t).

[0078] like Figure 5 As shown in the figure, although the electric mechanism simulator and the servo controller do not form a closed-loop system, the DC electric mechanism simulator is based on the mathematical model of the real actuator, so it can still reflect the internal operating status of the real actuator. Based on the output value of the DC electric mechanism simulator, the servo controller compares the output of the real actuator with the output value of the DC electric mechanism simulator to determine the degree to which the real actuator deviates from the modeled mathematical model, thereby monitoring the working status of the control system.

[0079] S130, comparing the first output value of the real DC electric mechanism and the first output value of the DC electric mechanism simulator to determine whether the real DC electric mechanism fails.

[0080] In some embodiments, due to the difference between the DC motor simulator and the physical implementation, the output of the DC motor simulator is not exactly the same as the output of the real DC motor. According to the characteristics of the electromechanical servo control system, the following criteria can be used:

[0081] It is judged according to the first output value of the real DC motor mechanism, the first output value of the DC motor mechanism simulator and the preset threshold value of the first output value of the DC motor mechanism simulator, and when any of the following relationships is met, it is considered that the control system has a fault:

[0082] When I(t)≤I std (t)-I set or I(t)≥Istd (t)+I set , and the judgment condition is established for more than a preset time threshold;

[0083] When ω(t)≤ω std (t)-ω set orω(t)≥ω std (t)+ω set , and the judgment condition is established for more than a preset time threshold;

[0084] When θ(t)≤θ std (t)-θ set orθ(t)≥θ std (t)+θ set , and the judgment condition is established for more than a preset time threshold;

[0085] Among them, I set ,ω set and θ set I std (t),ω std (t) and θ std (t), which can be set by analyzing historical data statistics.

[0086] In this embodiment, the preset time threshold may be selected as 50 ms.

[0087] S140, if yes, that is, it is determined that the real DC electric mechanism fails, the servo controller is switched to take the DC electric mechanism simulator as the control object, and the same control instruction is sent to the real DC electric mechanism and the DC electric mechanism simulator at the same time to obtain the second output value of the real DC electric mechanism and the DC electric mechanism simulator.

[0088] In some embodiments, when the control system is determined to have failed, the closed-loop control system composed of the servo controller and the real DC motor mechanism can no longer work properly. The servo controller is switched to the DC motor mechanism simulator as the control object to realize the closed-loop operation of the simulated system (such as Figure 6 At the same time, when the simulation system is working, the control quantity is sent to the motor power amplifier to drive the real DC motor mechanism to work, and the second output value of the real DC motor mechanism and the DC motor mechanism simulator is obtained.

[0089] The second output value of the real DC electric mechanism includes the motor current I1(t), the motor speed ω1(t) and the mechanism displacement θ1(t), and the second output value of the DC electric mechanism simulator includes the simulator motor current Motor speed and mechanism displacement

[0090] S150: Determine a fault type of the real DC motor mechanism according to the real DC motor mechanism and the second output value of the DC motor mechanism simulator.

[0091] In some embodiments, the second output value of the real DC motor and the second output value of the DC motor simulator are compared to perform fault diagnosis and location:

[0092] If satisfied Then the motor power amplifier and motor armature circuit work normally, otherwise the motor power amplifier and motor armature circuit fail;

[0093] When the motor power amplifier and motor armature circuit are working normally, continue to judge the working status of the motor and speed measurement circuit. If it meets the The motor and the speed measuring circuit are working properly, otherwise the motor and the speed measuring circuit are faulty;

[0094] When the motor and speed measurement circuit are working normally, continue to judge the working status of the transmission mechanism and angle measurement circuit. If The transmission mechanism and angle measurement circuit are working normally, otherwise the transmission mechanism and angle measurement circuit are faulty.

[0095] in, Respectively The preset threshold value can be set by analyzing historical data statistics.

[0096] S160: Detect the corresponding self-detection circuit according to the fault type of the real DC electric motor to determine the fault point of the real DC electric motor.

[0097] In some embodiments, the motor amplifier, tachometer and angular displacement sensor all have corresponding self-test circuits. After determining the fault type, the amplifier, tachometer or angular displacement sensor can be carefully self-tested and isolated to determine whether the motor or the transmission mechanism has a problem.

[0098] Specifically, if the fault type of the real DC electric motor mechanism is a motor power amplifier and motor armature circuit fault, a self-check is performed through the motor power amplifier self-check circuit. If the power amplifier is normal, it is a motor fault, otherwise it is a motor power amplifier fault;

[0099] If the fault type of the real DC electric mechanism is the motor and the speed measuring circuit, a self-check is performed through the speed measuring machine self-check circuit. If the speed measuring machine is normal, it is a transmission mechanism fault, otherwise it is a speed measuring machine fault;

[0100] If the fault type of the real DC electric mechanism is a transmission mechanism and angle measurement circuit fault, a self-check is performed through the angular displacement sensor self-check circuit. If the angular displacement is normal, it is a transmission mechanism fault; otherwise, it is an angular displacement fault.

[0101] According to the embodiments of the present disclosure, the following technical effects are achieved:

[0102] The present invention designs a DC electric mechanism simulator to simulate the dynamic characteristics of a real DC electric mechanism, and outputs digital signals such as current, speed and position that simulate the real actuator. By comparing the output values ​​of the real actuator and the simulated mechanism, it is not only possible to monitor the working state of the closed-loop control system in real time, but also to diagnose and determine the type of fault when a fault occurs in the closed-loop control system, and further locate the fault point by self-checking and isolating the power amplifier, tachometer and angular displacement sensor, thus solving the problem that the control system cannot isolate and locate the fault in the open loop of the control loop due to component failure.

[0103] It should be noted that, for the aforementioned method embodiments, for the sake of simplicity of description, they are all expressed as a series of action combinations, but those skilled in the art should be aware that the present disclosure is not limited by the described order of actions, because according to the present disclosure, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all optional embodiments, and the actions and modules involved are not necessarily required by the present disclosure.

[0104] The above is an introduction to the method embodiment. The following is a further explanation of the scheme disclosed in the present invention through an apparatus embodiment.

[0105] Figure 8 FIG. 8 is a block diagram of a control system fault diagnosis device 800 based on a DC motor simulator according to an embodiment of the present disclosure. Figure 8 As shown, the device 800 includes:

[0106] A DC electric mechanism simulator construction unit 810 is used to perform mathematical modeling on a real DC electric mechanism to obtain a DC electric mechanism simulator;

[0107] A first output value acquisition unit 820 is used to send the same control instruction to the real DC electric mechanism and the DC electric mechanism simulator through a servo controller at the same time to acquire first output values ​​of the real DC electric mechanism and the DC electric mechanism simulator;

[0108] A working state judgment unit 830 is used to compare the first output value of the real DC electric mechanism and the first output value of the DC electric mechanism simulator to judge whether the real DC electric mechanism fails;

[0109] A second output value acquisition unit 840 is configured to switch the servo controller to take the DC electric mechanism simulator as the control object, and simultaneously send the same control instruction to the real DC electric mechanism and the DC electric mechanism simulator to acquire the second output values ​​of the real DC electric mechanism and the DC electric mechanism simulator;

[0110] a fault type determination unit 850, configured to determine a fault type of the real DC motor mechanism according to the second output value of the real DC motor mechanism and the DC motor mechanism simulator;

[0111] The fault point diagnosis unit 860 is used to detect the corresponding self-test circuit according to the fault type of the real DC electric motor and determine the fault point of the real DC electric motor.

[0112] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working process of the described module can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here.

[0113] In the technical solution disclosed herein, the acquisition, storage and application of user personal information involved are in compliance with the provisions of relevant laws and regulations and do not violate public order and good morals.

[0114] According to an embodiment of the present disclosure, the present disclosure also provides an electronic device, a readable storage medium and a computer program product.

[0115] Fig. 9 A schematic block diagram of an electronic device 900 that can be used to implement an embodiment of the present disclosure is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present disclosure described and / or required herein.

[0116] The electronic device 900 includes a computing unit 901, which can perform various appropriate actions and processes according to a computer program stored in the ROM 902 or a computer program loaded from the storage unit 908 into the RAM 903. In the RAM 903, various programs and data required for the operation of the electronic device 900 can also be stored. The computing unit 901, the ROM 902, and the RAM 903 are connected to each other via a bus 904. An I / O interface 905 is also connected to the bus 904.

[0117] Multiple components in the electronic device 900 are connected to the I / O interface 905, including: an input unit 906, such as a keyboard, a mouse, etc.; an output unit 907, such as various types of displays, speakers, etc.; a storage unit 908, such as a disk, an optical disk, etc.; and a communication unit 909, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 909 allows the electronic device 900 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0118] The computing unit 901 may be a variety of general and / or special processing components with processing and computing capabilities. Some examples of the computing unit 901 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various computing units running machine learning model algorithms, digital signal processors (DSPs), and any appropriate processors, controllers, microcontrollers, etc. The computing unit 901 performs the various methods and processes described above, such as method 100. For example, in some embodiments, the method 900 may be implemented as a computer software program, which is tangibly contained in a machine-readable medium, such as a storage unit 908. In some embodiments, part or all of the computer program may be loaded and / or installed on the electronic device 900 via the ROM 902 and / or the communication unit 909. When the computer program is loaded into the RAM 903 and executed by the computing unit 901, one or more steps of the method 100 described above may be performed. Alternatively, in other embodiments, the computing unit 901 may be configured to perform the method 100 in any other appropriate manner (e.g., by means of firmware).

[0119] Various implementations of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0120] The program code for implementing the method of the present disclosure may be written in any combination of one or more programming languages. These program codes may be provided to a processor or controller of a general-purpose computer, a special-purpose computer, or other programmable data processing device, so that the program code, when executed by the processor or controller, enables the functions / operations specified in the flow chart and / or block diagram to be implemented. The program code may be executed entirely on the machine, partially on the machine, partially on the machine and partially on a remote machine as a stand-alone software package, or entirely on a remote machine or server.

[0121] In the context of the present disclosure, a machine-readable medium may be a tangible medium that may contain or store a program for use by or in conjunction with an instruction execution system, device, or equipment. A machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or equipment, or any suitable combination of the foregoing. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0122] To provide interaction with a user, the systems and techniques described herein can be implemented on a computer having: a display device for displaying information to the user; and a keyboard and a pointing device (e.g., a mouse or trackball) through which the user can provide input to the computer. Other types of devices can also be used to provide interaction with the user; for example, the feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including acoustic input, voice input, or tactile input).

[0123] The systems and techniques described herein may be implemented in a computing system that includes back-end components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes front-end components (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such back-end components, middleware components, or front-end components. The components of the system may be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), and the Internet.

[0124] A computer system may include a client and a server. The client and the server are generally remote from each other and usually interact through a communication network. The relationship of client and server is generated by computer programs running on respective computers and having a client-server relationship with each other. The server may be a cloud server, a server of a distributed system, or a server combined with a blockchain.

[0125] In the technical solution disclosed herein, the acquisition, storage and application of user personal information involved are in compliance with the provisions of relevant laws and regulations and do not violate public order and good morals.

[0126] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps recorded in this disclosure can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solution of this disclosure can be achieved, and this document is not limited here.

[0127] The above specific implementations do not constitute a limitation on the protection scope of the present disclosure. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present disclosure shall be included in the protection scope of the present disclosure.

Claims

1. A control system fault diagnosis method based on a DC electric mechanism simulator, characterized in that: include: Mathematically model the real DC motor mechanism and obtain a DC motor mechanism simulator; Sending the same control instruction to the real DC electric mechanism and the DC electric mechanism simulator simultaneously by a servo controller to obtain first output values ​​of the real DC electric mechanism and the DC electric mechanism simulator; comparing the first output value of the real DC electric mechanism and the first output value of the DC electric mechanism simulator to determine whether the real DC electric mechanism fails; If yes, switch the servo controller to take the DC electric mechanism simulator as the control object, and send the same control instruction to the real DC electric mechanism and the DC electric mechanism simulator at the same time to obtain the second output values ​​of the real DC electric mechanism and the DC electric mechanism simulator; determining a fault type of the real DC motor mechanism according to the second output value of the real DC motor mechanism and the DC motor mechanism simulator; The corresponding self-test circuit is tested according to the fault type of the real DC electric motor to determine the fault point of the real DC electric motor.

2. The method according to claim 1, characterized in that The method of mathematically modeling the real DC electric mechanism to obtain a DC electric mechanism simulator includes: The real DC electric mechanism is mathematically modeled with respect to the frequency domain transfer function or a DC motor mechanism transfer function is constructed using an active circuit network to obtain a DC electric mechanism simulator.

3. The method according to claim 1, characterized in that The first output value of the real DC electric mechanism includes the motor current I(t), the motor speed ω(t) and the mechanism displacement θ(t), and the first output value of the DC electric mechanism simulator includes the simulator motor current I std (t), motor speed ω std (t) and mechanism displacement θ std (t), the second output value of the real DC electric mechanism includes the motor current I1(t), the motor speed ω1(t) and the mechanism displacement θ1(t), and the second output value of the DC electric mechanism simulator includes the simulator motor current Motor speed and mechanism displacement 4. The method according to claim 3, characterized in that The comparing the first output value of the real DC electric mechanism and the first output value of the DC electric mechanism simulator to determine whether the real DC electric mechanism fails includes: Making a judgment based on the first output value of the real DC electric mechanism, the first output value of the DC electric mechanism simulator and a preset threshold value of the first output value of the DC electric mechanism simulator; When I(t)≤I std (t)-I set or I(t)≥I std (t)+I set , and the judgment condition is satisfied for more than a preset time threshold; or, When ω(t)≤ω std (t)-ω set orω(t)≥ω std (t)+ω set , and the judgment condition is satisfied for more than a preset time threshold; or, When θ(t)≤θ std (t)-θ set orθ(t)≥θ std (t)+θ set , and when the judgment condition is satisfied for more than a preset time threshold, it is determined that the real DC electric motor mechanism has a fault; Among them, I set ,ω set and θ set I std (t),ω std (t) and θ std (t) is the preset threshold value.

5. The method according to claim 1, characterized in that The switching servo controller takes the DC electric mechanism simulator as a control object, and simultaneously sends the same control instruction to the real DC electric mechanism and the DC electric mechanism simulator, to obtain the second output value of the real DC electric mechanism and the DC electric mechanism simulator, including: If it is determined that the real DC electric mechanism fails, the signal connection between the servo controller and the real DC electric mechanism is released, and the signal connection between the servo controller and the DC electric mechanism simulator is established; Simultaneously, sinusoidal instructions with the same amplitude and period are sent to the real DC electric mechanism and the DC electric mechanism simulator to obtain second output values ​​of the real DC electric mechanism and the DC electric mechanism simulator.

6. The method according to claim 4, characterized in that The step of determining the fault type of the real DC electric mechanism according to the second output value of the real DC electric mechanism and the DC electric mechanism simulator comprises: If satisfied Then the motor power amplifier and motor armature circuit work normally, otherwise the motor power amplifier and motor armature circuit fail; When the motor power amplifier and motor armature circuit are working normally, continue to judge the working status of the motor and speed measurement circuit. If it meets the The motor and the speed measuring circuit are working properly, otherwise the motor and the speed measuring circuit are faulty; When the motor and speed measurement circuit are working normally, continue to judge the working status of the transmission mechanism and angle measurement circuit. If The transmission mechanism and the angle measurement circuit work normally, otherwise the transmission mechanism and the angle measurement circuit fail; in, Respectively The preset threshold value.

7. The method according to claim 6, characterized in that The step of detecting the corresponding self-test circuit according to the fault type of the real DC electric motor to determine the fault point of the real DC electric motor includes: If the fault type of the real DC motor mechanism is a motor power amplifier and motor armature circuit fault, a self-check is performed through the motor power amplifier self-check circuit. If the power amplifier is normal, the motor is faulty; otherwise, the motor power amplifier is faulty. If the fault type of the real DC electric mechanism is the motor and the speed measuring circuit, a self-check is performed through the speed measuring machine self-check circuit. If the speed measuring machine is normal, it is a transmission mechanism fault, otherwise it is a speed measuring machine fault; If the fault type of the real DC electric mechanism is a transmission mechanism and angle measurement circuit fault, a self-check is performed through the angular displacement sensor self-check circuit. If the angular displacement is normal, it is a transmission mechanism fault; otherwise, it is an angular displacement fault.

8. A control system fault diagnosis device based on a DC electric mechanism simulator, characterized in that: include: A DC electric mechanism simulator building unit is used to mathematically model a real DC electric mechanism to obtain a DC electric mechanism simulator; A first output value acquisition unit, configured to simultaneously send the same control instruction to the real DC electric mechanism and the DC electric mechanism simulator through a servo controller, so as to acquire first output values ​​of the real DC electric mechanism and the DC electric mechanism simulator; a working state judgment unit, used for comparing the first output value of the real DC electric mechanism and the first output value of the DC electric mechanism simulator to judge whether the real DC electric mechanism fails; a second output value acquisition unit, configured to, if yes, switch the servo controller to take the DC electric mechanism simulator as the control object, and simultaneously send the same control instruction to the real DC electric mechanism and the DC electric mechanism simulator to acquire the second output values ​​of the real DC electric mechanism and the DC electric mechanism simulator; a fault type determination unit, configured to determine a fault type of the real DC motor mechanism according to a second output value of the real DC motor mechanism and the DC motor mechanism simulator; The fault point diagnosis unit is used to detect the corresponding self-checking circuit according to the fault type of the real DC electric mechanism and determine the fault point of the real DC electric mechanism.

9. An electronic device, comprising: at least one processor; as well as a memory communicatively connected to the at least one processor; wherein, The memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform the method according to any one of claims 1 to 7.

10. A non-transitory computer-readable storage medium storing computer instructions, wherein: The computer instructions are used to cause the computer to execute the method according to any one of claims 1-7.

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