An online system for emulating failures in electromechanical devices

Abstract

The present application belongs to the technical field of mechanical and electrical equipment fault maintenance, and particularly relates to a mechanical and electrical equipment fault online simulation system. The system comprises an online simulation module, which is used for completing mechanical and electrical equipment modeling and realizing model reproduction and operation simulation. The mechanical and electrical equipment modeling refers to establishing a finite element model of the mechanical and electrical equipment structure based on a finite element modeling program. The model reproduction refers to establishing a system virtual database for saving the established mechanical and electrical equipment model. The operation simulation includes simulation of structural operation and simulation of parameter state change. The system further comprises a fault generation module, which is used for establishing a fault data set and completing fault parameterization and injection. The present application is mainly used for solving the problems that current mechanical and electrical equipment fault training has limited coverage, cannot effectively express various dynamic characteristic parameters of the mechanical and electrical equipment in the mechanical and electrical fault occurrence process, and the visualized content is limited to structural damage expression, thereby providing a basis for realizing online fault simulation teaching.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of electromechanical equipment fault maintenance, and particularly relates to an electromechanical equipment fault online simulation system. BACKGROUND

[0002] Electromechanical equipment fault maintenance is one of necessary work contents of terminal maintenance of various types of equipment, and needs maintenance personnel to maintain and manage for a long time and timely eliminate faults. Usually, the fault types related to electromechanical equipment will rapidly increase with the complication of its structure and function. For most new contact personnel, the fault types encountered in daily maintenance process are usually several common types, and the occurrence frequency of most fault types is low. Therefore, it is difficult to obtain a comprehensive training effect of fault types, fault characteristics and maintenance content in the training process. At present, video teaching, simulation teaching and the like are mainly used to meet the training of the above-mentioned content, but there are problems of low flexibility, poor simulation effect and the like, and the electromechanical equipment operation characteristics cannot be well obtained when the fault occurs. Scene reproduction based on virtual reality technology is beneficial to the intuitive acquisition of the structure and operation characteristics of electromechanical equipment by students, but there is no good way to realize effective simulation and analysis of faults at present. SUMMARY

[0003] The application aims to provide an electromechanical equipment fault online simulation system for meeting electromechanical equipment fault maintenance training tasks and enriching electromechanical equipment fault simulation online means.

[0004] To achieve the above-mentioned purpose, the application adopts the following technical scheme.

[0005] An electromechanical equipment fault online simulation system comprises an online simulation module, which is used for completing electromechanical equipment modeling and realizing model reproduction and operation simulation.

[0006] The electromechanical equipment modeling refers to that a finite element model of the structure of electromechanical equipment is established based on a finite element modeling program, a suitable polyhedron is selected for meshing and refinement, model physical parameters are configured, and a load distribution mode is determined.

[0007] The model reproduction refers to that a system virtual database for saving the established electromechanical equipment model is established, a corresponding electromechanical equipment model is extracted by a virtual reality 3D engine for virtualization processing, a corresponding request command is established according to different online simulation requests by a command register, the request command is executed by a Web server in the online simulation process and the electromechanical equipment fault virtualization is realized, the electrical structure of the electromechanical equipment is visually expressed by a graphical programming language, various types of serial ports, lines and logic nodes are configured, simulation parameters are written into each electrical structure, and simulation parameter input and output ports are established.

[0008] The operation simulation includes simulation of structural operation and simulation of parameter state change, specifically: for structural operation, action features of corresponding operation content are obtained through image video information, and structural operation is simulated by using a graphical programming tool or a 3D virtual engine; for parameter operation and parameter state change that may be designed in structural operation, running and state parameter information in the operation process of the electromechanical equipment are collected by an edge or terminal device, complete state parameter data are obtained, and feature extraction and dimension reduction processing are performed on the state parameter data according to actual online simulation computing power allocation and simulation accuracy requirements, so as to reduce the feature dimension of the parameter data and simplify the simulation content.

[0009] The fault generation module is further used to establish a fault data set and complete parameterization and injection of faults; the establishment of the fault data set specifically includes: according to experimental simulation and fault data collection, a fault database of structural damage and input-output mismatch caused by mechanical faults is established; the fault data set at least includes hydraulic fault, simulation signal fault and power supply fault.

[0010] Further improvement or specific implementation of the foregoing electromechanical equipment fault online simulation system, the parameterization of the fault at least includes hydraulic fault parameterization, simulation signal fault parameterization, and power supply fault signal parameterization.

[0011] The hydraulic fault parameterization specifically refers to: realizing hydraulic fault simulation injection by directly simulating control of hydraulic constant pressure variable load output mode or simulation control of electric hydraulic pump working state, or by simulating a cutoff device to control hydraulic pump output flow;

[0012] The simulation signal fault parameterization specifically refers to: creating each simulation signal output channel sub-signal by decomposing a simulation signal output channel, creating simulation signal data blocks according to a simulation signal communication protocol, and establishing a simulation fault signal data block database according to data types in each simulation signal data block.

[0013] The power supply fault signal parameterization specifically refers to: battery fault simulation of various types of electric appliance power supply modules, the battery fault including charge and discharge fault, battery electrical parameter fault, and battery power supply fault; and the establishment of a fault signal data block of the corresponding power supply fault by collecting and analyzing electrical parameter features of various types of power supply modules under different fault types.

[0014] Further improvement or specific implementation of the foregoing electromechanical equipment fault online simulation system, the data block of the output channel simulation signal is composed of one or more of a sensor signal synchronization data block, a sensor communication state data block, a sensor signal data block, a sensor signal verification data block, and a sensor signal start-stop flag data block.

[0015] Further improvement or specific implementation of the aforementioned electromechanical equipment fault online simulation system, the simulation signal fault includes electrical simulation signal fault, communication simulation signal fault, data simulation signal fault, simulation signal check error fault.

[0016] Further improvement or specific implementation of the aforementioned electromechanical equipment fault online simulation system, the fault injection specifically includes: determining the required visual fault model according to the parameterized fault model generated by the fault generation module, and establishing the visual fault model expression using unit blocks, color blocks, visual marker layers, etc.; injecting fault signal data blocks during the output of the simulation signal by the online simulation module or replacing the current simulation signal with fault signal data blocks to realize simulation signal fault injection.

[0017] Further improvement or specific implementation of the aforementioned electromechanical equipment fault online simulation system, the electromechanical equipment structure is divided into rigid body structure, flexible body structure, and collision structure.

[0018] For the rigid body structure, entity elements and beam elements are used in ANSYS software to complete the finite element modeling of the rigid body structure, and the inter-structure load element configuration is performed on the generated rigid body structure; HyperMesh is used to complete the meshing of the model and the node processing.

[0019] For the flexible combination structure and the rigid-flexible combination structure, based on the rigid-flexible coupling modeling method and the energy equivalence principle, various ring structures, beam-like structures, and plate-like structures are used to establish the coupling model, and the flexible combination structure and the rigid-flexible combination structure are modeled as a whole structure element.

[0020] For the modeling of the collision structure, the modeling method of the rigid body structure is used to complete the modeling of the rigid body monomer, the stress-strain parameterized model of the rigid body is established through the elastoplastic mathematical model, the mass and load scheme of the rigid body structure are loaded based on the collision mode of the rigid body, and the contact algorithm is selected according to the collision characteristics of the collision structure to create the finite element mathematical joint model of the collision structure.

[0021] Further improvement or specific implementation of the aforementioned electromechanical equipment fault online simulation system, the rigid body structure refers to the basic rigid body structure in the electromechanical equipment for bearing, fixing, and protection, and the flexible body structure refers to the hinge structure, flexible combination structure, and rigid-flexible combination structure; for the hinge structure, static friction models (such as Coulomb model, Stri-beck model) or dynamic friction models (such as GMS friction model, Duhem model, Preisach model) are used for modeling according to the static and dynamic operation mode of the hinge.

[0022] Further improvement or specific implementation of the aforementioned online simulation system of mechanical and electrical equipment failure, in the actual online simulation process of failure, generally only need to pay attention to the failure stage and the running state of mechanical and electrical equipment in a short time before and after the failure, in order to reduce the difficulty of feature processing, while retaining the complete stage change characteristics of mechanical and electrical equipment or structure failure, the field embedding algorithm can be used to simplify the establishment of the state feature probability of electrical equipment in the failure process, which can be expressed as

[0023]

[0024] wherein, refers to the typical state feature vector before failure in the running process of mechanical and electrical equipment; refers to the state vector at the beginning of failure, refers to the state vector at time t after the beginning of failure, refers to the state vector at the end of failure, refers to the typical state feature vector after failure; t1 refers to the beginning of failure, t2 refers to the end of failure, wherein δ - refers to the variance of the typical state feature distribution before failure, δ + is the typical state feature after failure, p refers to the probability that the state of mechanical and electrical equipment is in the corresponding typical state feature at the corresponding time node;

[0025] After determining the probability p that the state of mechanical and electrical equipment is in the corresponding typical state feature at the corresponding time node, the typical state feature is determined based on the current probability in the online simulation process, and the graphical programming tool or 3D virtual engine determines the simulation display result by solving the structure and state parameters of each electrical equipment under the corresponding typical state feature.

[0026] Further improvement or specific implementation of the aforementioned online simulation system of mechanical and electrical equipment failure, using LabVIEW programming language to complete the visual expression, in order to ensure the effectiveness of virtual data resources, the import of simulation data resources is completed in the LabVIEW program development environment, and the obtained network data resources are imported into LabVIEW based on the description language of Web service and the resource positioning method, the corresponding Web service function is matched, the web service is generated, and the visual identification module is established according to the service demand, and the visual operation control is called. BRIEF DESCRIPTION OF DRAWINGS

[0027] Figure 1 is a schematic diagram of the online simulation system of mechanical and electrical equipment failure. DETAILED DESCRIPTION

[0028] The application will be described in detail below in combination with specific embodiments.

[0029] The application relates to an electromechanical equipment fault online simulation system, which mainly aims to solve the problems that current electromechanical equipment fault training has a limited coverage, cannot effectively express various dynamic characteristic parameters of electromechanical equipment in the electromechanical fault occurrence process, and the visualized content is limited to structural damage expression, and provides an electromechanical equipment fault online simulation system combining a finite element model, virtual reality technology and simulation data online, so that the characteristic changes in different stages are combined with model reproduction in the online simulation process, the further understanding of various state characteristic change processes in the electromechanical fault occurrence process of students is deepened, and a basis is provided for realizing online fault simulation teaching.

[0030] As shown in Figure 1 The electromechanical equipment fault online simulation system mainly comprises an online simulation module and a fault generation module.

[0031] The online simulation module is used for creating an interactive model of the hardware and software structure of electromechanical equipment, utilizes a finite element program to generate visualized structural characteristics, utilizes a dynamics program to introduce characteristic parameters in the action of electromechanical equipment, and realizes scene reproduction with the change of characteristic parameters through virtual reality technology and web services.

[0032] Specifically, the online simulation module is used for completing electromechanical equipment modeling and realizing model reproduction and operation simulation; the content of electromechanical equipment modeling comprises the following steps: establishing a finite element model of the structure of electromechanical equipment based on a finite element modeling program, selecting appropriate polyhedrons for meshing and refining, configuring model physical parameters, and determining a load distribution mode.

[0033] According to the actual electromechanical equipment structure characteristics and the requirements of fault online and simulation analysis, in order to facilitate processing, the structure relationship of electromechanical equipment is divided into rigid body structure, flexible body structure and collision structure in the application.

[0034] In the application, the rigid body structure refers to a basic rigid body structure in electromechanical equipment for bearing support, fixing and protection, the finite element modeling of the rigid body structure is completed by utilizing solid elements and beam elements in ANSYS software, the load element configuration between structures of the generated rigid body structure is carried out, and the meshing of the model and node processing are completed by utilizing HyperMesh.

[0035] Considering the needs in the application, in order to realize the full-state simulation of electromechanical equipment faults and obtain complete fault states, the structural changes of electromechanical equipment in the time sequence space of the electromechanical equipment fault occurrence process and the dynamic characteristic changes generated by the interaction between structural parts of electromechanical equipment are considered.

[0036] Based on the capability of the current modeling program and method, first, in this application, the finite element modeling of the rigid body structure is completed based on the use of solid elements and beam elements in ANSYS software. The above modeling process calls the solid modeling and meshing tool of ANSYS program, which is the pre-processing module of ANSYS program, and can obtain the finite element model of the rigid structure required in this application to complete the fault simulation. On this basis, by calling the analysis and calculation module or the post-processing module of ANSYS program, the input and output control of the simulation data of the characteristic can be realized directly or as an auxiliary input of the simulation data in the subsequent step.

[0037] In the actual implementation process, the appropriate Solid solid element should be selected for discrete modeling according to the actual size, thickness and material characteristics of the rigid body structure, and the contact feature should be created according to the possible contact mode between the rigid body and other structures. For the part of the rigid structure which does not involve mechanism characteristic analysis or does not need to be expressed in detail, MPC rigid element, BEAM beam element and other element modules should be considered for simplified expression.

[0038] The flexible body structure refers to a hinge structure, a flexible combination structure, and a rigid-flexible combination structure. The flexible body structure is the basic structure of various connections, interactions and feature transmission. For different types of flexible body structures, corresponding processing is carried out according to the requirements of this application. Specifically:

[0039] For the hinge structure, a static friction model (such as Coulomb model, Stri-beck model) or a dynamic friction model (such as GMS friction model, Duhem model, Preisach model) is used for modeling according to the static and dynamic running mode of the hinge. For the flexible combination structure and the rigid-flexible combination structure, based on the rigid-flexible coupling modeling method, based on the energy equivalence principle, various ring structures, beam-like structures and plate-like structures are used to establish the coupling model, and the flexible combination structure and the rigid-flexible combination structure are taken as the whole structure element for finite element modeling.

[0040] For the hinge structure, in the process of establishing the static friction model or the dynamic friction model, the friction coefficient, contact area and other structural characteristic parameters of the hinge involved should be determined through the friction experiment of the related structure of the hinge. At the same time, for the transient signal involved in the hinge action process, in order to facilitate simulation, the signal characteristics can be extracted by using empirical mode decomposition, and they can be used as input or output characteristics in the action and fault simulation process according to the needs.

[0041] For the flexible combination structure and the rigid-flexible combination structure, based on the rigid-flexible coupling modeling method, based on the energy equivalence principle, various ring structures, beam-like structures and plate-like structures are used to establish the coupling model, and the flexible combination structure and the rigid-flexible combination structure are taken as the whole structure element for finite element modeling.

[0042] The flexible combination structure and the rigid-flexible combination structure have very complex internal action characteristics, but in the actual use process of the electromechanical device, the equivalent principle can be used to simplify the processing by only considering the structural and dynamic characteristics of the flexible combination structure and the rigid-flexible combination structure as unit bodies in the overall structure of the electromechanical device, the complex multi-dimensional structure is simplified through rigid-flexible coupling dynamics modeling or rigid-flexible-thermal coupling dynamics modeling, and the simplified structure and input and output characteristics are used as the characteristic elements of the model for processing.

[0043] For modeling of the collision structure, the modeling method based on the rigid body structure is used to model the rigid body unit, the stress and strain parameterization model of the rigid body is established through the elastic-plastic mathematical model, the mass and load scheme of the rigid body structure are loaded based on the collision mode of the rigid body, and the contact algorithm is selected according to the collision characteristics of the collision structure to create the finite element mathematical joint model of the collision structure.

[0044] The model reproduction refers to:

[0045] A system virtual database for saving the established electromechanical device model is established, and the corresponding electromechanical device model is extracted for virtualization processing by using a virtual reality 3D engine;

[0046] The corresponding request command is established according to different requests of online simulation by using a command register, and the request command is executed by using a Web server in the online simulation process to realize the virtualization of the electromechanical device fault;

[0047] Visual expression, visual modeling of the electrical structure of the electromechanical device is realized through a graphical programming language, configuration of various serial ports, lines and logic nodes is realized, simulation parameters are written into each electrical structure, and simulation parameter input and output ports are established;

[0048] In particular, the LabVIEW programming language is used to complete the visual expression in the embodiment, in order to ensure the effectiveness of the virtual data resource, the import of the simulation data resource is completed in the LabVIEW program development environment, the obtained network data resource is imported into LabVIEW based on the description language of the Web service and the resource positioning method, the corresponding Web service function is matched, the Web service is generated, and the visual identification module is established according to the service demand, and the visual operation control is called.

[0049] The operation simulation includes simulation of structure operation and simulation of parameter state change, and specifically:

[0050] For structure operation, the action characteristics of the corresponding operation content are obtained through image video information, and the structure operation is simulated by using a graphical programming tool or a 3D virtual engine;

[0051] For the parameter operation and the parameter state change that can be designed in the structural operation, the running and state parameter information in the operation process of the electromechanical equipment are collected through the edge or terminal device, complete state parameter data are acquired, and feature extraction and dimension reduction processing are performed on the state parameter data according to actual online simulation calculation power distribution and simulation accuracy requirements, so as to reduce the feature dimension of the parameter data and simplify the simulation content.

[0052] In particular, in the actual fault online simulation process, only the running state of the electromechanical equipment in the fault stage and a short time before and after the fault occurs needs to be concerned, in order to reduce the difficulty of feature processing and at the same time retain the change features of the electromechanical equipment or structure in the complete stage when the fault occurs, a field embedding algorithm can be used to simplify the establishment of the state feature probability of the electrical equipment in the fault process, which can be expressed as

[0053]

[0054] wherein, is a typical state feature vector before the fault in the running process of the electromechanical equipment; is a state vector at the fault start time, is a state vector at the time t after the fault starts, is a state vector at the fault end time, is a typical state feature vector after the fault; t1 is the fault start time, t2 is the fault end time, and δ - is the variance of the typical state feature distribution before the fault, δ + is a typical state feature after the fault, and p is the probability that the state of the electromechanical equipment is in the corresponding typical state feature at the corresponding time node.

[0055] After the probability p that the state of the electromechanical equipment is in the corresponding typical state feature at the corresponding time node is determined, the typical state feature is determined based on the current probability in the online simulation process, and the graphical programming tool or 3D virtual engine determines the simulation display result by solving the structure and state parameters of each electrical equipment in the corresponding typical state feature;

[0056] The fault generation module is further used to establish a fault data set and complete parameterization and injection of the fault.

[0057] The fault generation module specifically refers to: according to experimental simulation and fault data collection, a fault database caused by mechanical fault, such as structural damage and input-output mismatch, is established; the fault data set at least includes hydraulic fault, simulation signal fault and power supply fault

[0058] The parameterization processing of the hydraulic fault specifically includes: simulating and injecting the hydraulic fault by simulating the control of the hydraulic constant pressure variable load output mode, or simulating the working state of the electric hydraulic pump, or simulating the cut-off device to control the output flow of the hydraulic pump;

[0059] The parameterization processing of the analog signal fault specifically includes:

[0060] The analog signal output channel is decomposed to create sub-signals of each analog signal output channel, the data block of the output channel analog signal is composed of one or more of a sensor signal synchronization data block, a sensor communication state data block, a sensor signal data block, a sensor signal verification data block, and a sensor signal start and end flag data block, an analog signal data block is created according to the analog signal communication protocol, an analog fault signal data block database is established according to the data type in each analog signal data block, and the analog signal fault includes an electrical analog signal fault, a communication analog signal fault, a data analog signal fault, and an analog signal verification error fault.

[0061] The parameterization processing of the power supply fault signal specifically includes:

[0062] The battery fault simulation of various types of electrical power supply modules is included, the battery fault includes a charge and discharge fault, a battery electrical parameter fault, and a battery power supply fault, and the fault signal data block of the corresponding power supply fault is established by collecting and analyzing the electrical parameter characteristics of various types of power supply modules under different fault types.

[0063] The fault injection refers to: determining the required visual fault model according to the parameterized fault model generated by the fault generation module, and establishing the visual fault model expression by using unit blocks, color blocks, and visual marker layers; and injecting the fault signal data block or replacing the current simulation signal with the fault signal data block during the output of the simulation signal by the online simulation module.

[0064] In particular, in order to improve the stability of the system and ensure that the initial state of the system can be quickly restored during the simulation process, the system fault tolerance module is also provided to facilitate the quick switching of the training content.

[0065] The system fault tolerance module is used to store and update the structure and characteristic parameters of a plurality of electromechanical equipment simulation systems in the initialized or specific state, to create a restoration and recovery point of the system, so as to create a restoration point when the system error is recovered and the training subject is switched, etc.

[0066] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, and are not limited to the protection scope of the present application. Although the present application has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present application can be modified or replaced equivalently without departing from the essence and scope of the technical solutions of the present application.

Claims

1. An online system for simulating faults in an electromechanical device, characterized by, The online simulation module is used to complete electromechanical equipment modeling and realize model reproduction and operation simulation. The electromechanical equipment modeling refers to establishing a finite element model of the electromechanical equipment structure based on a finite element modeling program, selecting a suitable polyhedron for meshing and refining, configuring model physical parameters, and determining a load distribution mode. The model reproduction refers to establishing a system virtual database for saving the established electromechanical equipment model, extracting the corresponding electromechanical equipment model for virtualization processing by using a virtual reality 3D engine; establishing corresponding request commands according to different requests of online simulation by using a command register, executing the request commands by using a Web server in the online simulation process, and realizing electromechanical equipment fault virtualization; visualizing the electrical structure of the electromechanical equipment by using a graphical programming language, configuring various types of serial ports, lines and logic nodes, writing simulation parameters into each electrical structure, and establishing simulation parameter input and output ports. The operation simulation includes simulation of structural operation and simulation of parameter state change. Specifically, for structural operation, the action characteristics of the corresponding operation content are obtained through image video information, and the structural operation is simulated by using a graphical programming tool or a 3D virtual engine; for parameter operation and parameter state change involved in the structural operation, the running and state parameter information in the operation process of the electromechanical equipment are collected by using an edge device or a terminal device, complete state parameter data are obtained, and feature extraction and dimension reduction processing are performed on the state parameter data according to actual online simulation computing power distribution and simulation accuracy requirements, so as to reduce the feature dimension of the parameter data and simplify the simulation content. The fault generation module is used to establish a fault data set and complete parameterization and injection of faults. Establishing the fault data set specifically includes: establishing a database of structure damage caused by mechanical faults and input / output mismatch faults according to experimental simulation and fault data collection; the fault data set at least includes hydraulic fault, simulation signal fault and power supply fault. The electromechanical equipment structure is divided into rigid body structure, flexible body structure and collision structure. For rigid body structure in The finite element modeling of rigid body structure is completed by using entity unit and beam unit in software, and the inter-structure load element configuration is performed on the generated rigid body structure. The grid division and node processing of the model are completed. For the flexible combined structure and the rigid-flexible combined structure, based on the rigid-flexible coupling modeling method and the energy equivalence principle, various ring structures, beam-like structures and plate-like structures are used to establish a coupling model, and the flexible combined structure and the rigid-flexible combined structure are taken as a whole structure unit for finite element modeling. For modeling of the collision structure, the modeling method of the rigid body structure is used to complete modeling of the rigid body monomer, an elastic-plastic mathematical model is used to establish a stress-strain parameterization model of the rigid body, the mass and load scheme of the rigid body structure are loaded based on the rigid body collision mode, and a contact algorithm is selected according to the collision characteristics of the collision structure to create a finite element mathematical joint model of the collision structure.

2. The electromechanical device failure online simulation system of claim 1, wherein, The parameterization of the fault at least includes hydraulic fault parameterization, simulation signal fault parameterization and power supply fault signal parameterization. The hydraulic fault parameterization specifically refers to: through directly simulating the control of the hydraulic constant pressure variable load output mode or simulating the working state of the electric hydraulic pump, or through simulating the cutoff device to control the output flow of the hydraulic pump to realize the simulation of the hydraulic fault injection; The analog signal fault parameterization specifically refers to: through decomposing the analog signal output channel, creating each analog signal output channel sub-signal, creating analog signal data blocks according to the analog signal communication protocol, and establishing analog fault signal data block databases according to the data types in each analog signal data block; The power supply fault signal parameterization specifically refers to: including battery fault simulation of various types of electric appliance power supply modules, the battery fault includes charging and discharging fault, battery electrical parameter fault, battery power supply fault; by collecting and analyzing the electrical parameter characteristics of various types of power supply modules under different fault types, the fault signal data block of the corresponding power supply fault is established.

3. The electromechanical device failure online simulation system of claim 2, wherein, The analog signal data block is composed of one or more of a sensor signal synchronization data block, a sensor communication state data block, a sensor signal data block, a sensor signal verification data block, and a sensor signal start and end marker data block.

4. The online analog system for mechanical-electrical device failure according to claim 2, wherein, The analog signal fault includes electrical analog signal fault, communication analog signal fault, data analog signal fault, and analog signal verification error fault.

5. The online analog system for mechanical-electrical device failure according to claim 2, wherein, The fault simulation injection specifically includes: determining the required visual fault model according to the parameterized fault model generated by the fault generation module, and establishing a visual fault model expression using unit blocks, color blocks, and visual marker layers; injecting fault signal data blocks or replacing the current analog signal with fault signal data blocks during the output of the analog signal by the online simulation module to realize analog signal fault injection.

6. The online analog system for mechanical-electrical device failure according to claim 1, wherein, The rigid body structure refers to a basic rigid body structure in a mechanical and electrical device for bearing, supporting, fixing, and protecting, and the flexible body structure refers to a hinge structure, a flexible combination structure, and a rigid-flexible combination structure; for the hinge structure, a static friction model or a dynamic friction model is used for modeling according to the static and dynamic running mode of the hinge.

7. The online analog system for mechanical-electrical device failure according to claim 1, wherein, In the actual fault online simulation process, the running state of the mechanical and electrical device needs to be concerned during the fault stage and a short period of time before and after the fault occurs. In order to reduce the difficulty of feature processing while retaining the complete stage change characteristics of the mechanical and electrical device or structure when the fault occurs, a domain embedding algorithm is used to simplify the establishment of the electrical equipment state feature probability, which is represented as ， wherein denotes the typical state feature vector before the failure during operation of the mechatronic device; denotes the state vector at the beginning of the failure, denotes the state vector at the time t after the beginning of the failure, denotes the state vector at the end of the failure, denotes the typical state feature vector after the failure; denotes the beginning of the failure, denotes the end of the failure, wherein denotes the variance of the typical state feature distribution before the failure, denotes the typical state feature after the failure, denotes the probability that the state of the mechatronic device is in the respective typical state feature at the respective time node. determining a probability that the state of the electromechanical device at the respective time node is in the respective typical state characteristic Afterwards, the typical state characteristic is determined in the online simulation process based on the current probability, and the graphical programming tool or the 3D virtual engine determines the simulation display result by solving the structure and state parameters of each electrical device under the corresponding typical state characteristic.

8. The online analog system for mechanical-electrical device failure according to claim 1, wherein, LabVIEW programming language is used to complete the visual expression. In order to ensure the effectiveness of the virtual data resources, the import of the simulation data resources is completed in the LabVIEW program development environment, and the network data resources obtained are imported into LabVIEW based on the description language of Web service and the resource positioning method, the corresponding Web service function is matched, the web service is generated, and the visual recognition module is established according to the service demand, and the visual operation control is called.

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