Motor on-orbit fault rapid diagnosis method and system based on current characteristic value
By collecting the winding current characteristic values of stepper motors in orbit, and using subdivided step counts and timing information for fault diagnosis, the accuracy of stepper motor fault diagnosis in the aerospace field is solved, and accurate identification and rapid response to stepper motor faults are achieved.
Patent Information
- Application Number
- CN202510333868.1
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-03-20
- Publication Date
- 2025-07-04
AI Technical Summary
The existing technology cannot accurately and quickly diagnose stepper motors on orbit, especially in complex space environments in the aerospace field. The method of judging fault abnormalities of stepper motors can only roughly determine whether the motor is working and cannot accurately diagnose faults.
By determining the number of subdivided steps corresponding to the engineering application scenario of the target stepper motor, the winding current characteristic value is collected, and the fault abnormality type is determined based on the abnormality of the winding current characteristic value, and the fault diagnosis is performed using the timing information of the current characteristic value.
It realizes accurate diagnosis of stepper motor faults, can identify abnormal phase A or phase B faults and their specific modes, and has no added controller performance requirements. It is suitable for microcontrollers in the aerospace field, improving the real-time and rapidity of fault diagnosis.
Smart Images
Figure CN120254598A_ABST
Abstract
Description
Technical Field
[0001] The present invention relates to a method and system for rapid on-orbit fault diagnosis of motors based on current eigenvalues, and belongs to the technical field of motor fault diagnosis. Background Art
[0002] In the aerospace field, stepper motors are widely used in key mission scenarios such as solar array drive assemblies (SADA), antenna pointing mechanisms (APM), hatch control, and attitude adjustment due to their high reliability, no cumulative error, power-off holding torque, and simple controllers. The operating states of such drive and control mechanisms are directly related to the energy supply, communication guarantee, and attitude stability of spacecraft. For example, the solar array drive assembly needs to achieve tens of thousands of fault-free starts and stops under extreme temperatures (-150°C to +120°C) and vacuum radiation environments, while the antenna pointing mechanism needs to maintain a pointing accuracy of 0.1° level under microgravity conditions. However, the complex space environment where spacecraft are located (such as high-energy particle irradiation, thermal cycle stress, mechanical vibration and shock) can easily cause progressive faults such as insulation aging of motor windings, solder joint cracking and virtual connection, and changes in the performance of analog devices leading to current amplitude changes or zero bias. Since the control of stepper motors is relatively simple, a single-chip microcomputer (such as aerospace-grade 80C32) is generally selected as the controller of the stepper motor.
[0003] Currently, the existing methods for judging faults and anomalies of stepper motors are to randomly collect the current signals of stepper motors, which can only roughly judge whether the stepper motor is working, and do not have the ability to accurately and quickly diagnose motor faults on orbit. Summary of the Invention
[0004] In order to solve the technical problem that the existing method for judging faults and anomalies of stepper motors is to randomly collect the current signals of stepper motors, which can only roughly judge whether the stepper motor is working, and does not have the ability to accurately and quickly diagnose motor faults on orbit, the present invention further provides a method and system for rapid on-orbit fault diagnosis of motors based on current eigenvalues.
[0005] The technical solution adopted by the present invention to solve the above problems is: The present invention includes a method for rapid on-orbit fault diagnosis of motors based on current eigenvalues, and the method includes:
[0006] Determine the number of sub-steps corresponding to the engineering application scenario of the target stepper motor;
[0007] Select the corresponding acquisition interval window size according to the number of sub-steps, and acquire multiple winding current eigenvalues of the target stepper motor;
[0008] When it is detected that the abnormal conditions occur in the multiple winding current characteristic values of the target stepper motor, determine the type of fault abnormality of the target stepper motor according to the abnormal conditions of the multiple winding current characteristic values.
[0009] In some embodiments, the number of micro-stepping steps includes 512 micro-stepping steps, 256 micro-stepping steps, 128 micro-stepping steps or 64 micro-stepping steps.
[0010] In some embodiments, the selection of the corresponding acquisition interval window size according to the number of micro-stepping steps includes:
[0011] Determine the optimal acquisition error value according to the number of micro-stepping steps;
[0012] Determine the acquisition interval window size according to the optimal acquisition error value.
[0013] In some embodiments, the winding current characteristic values include:
[0014] The main criterion winding current characteristic value and the auxiliary criterion winding current characteristic value;
[0015] Among them, first collect the main criterion winding current characteristic value in the multiple winding current characteristic values of the target stepper motor; only when it is detected that the main criterion winding current characteristic value is abnormal, then collect the auxiliary criterion winding current characteristic value in the multiple winding current characteristic values of the target stepper motor.
[0016] In some embodiments, the step of when it is detected that the abnormal conditions occur in the multiple winding current characteristic values of the target stepper motor, determine the type of fault abnormality of the target stepper motor according to the abnormal conditions of the multiple winding current characteristic values includes:
[0017] When it is detected that both the main criterion winding current characteristic value and the auxiliary criterion winding current characteristic value of the target stepper motor are abnormal, according to the abnormal conditions of the multiple winding current characteristic values, search for the pre-established correspondence table between the type of fault abnormality and the abnormal conditions of the winding current characteristic values, and determine the type of fault abnormality of the target stepper motor.
[0018] In a second aspect, a rapid on-orbit fault diagnosis system for a motor based on current characteristic values, the system includes:
[0019] A determination unit, configured to determine the number of micro-stepping steps corresponding to the engineering application scenario of the target stepper motor;
[0020] An acquisition unit, configured to select a corresponding acquisition interval window size according to the number of micro-stepping steps, and acquire the multiple winding current characteristic values of the target stepper motor;
[0021] The monitoring unit is configured to, when detecting that abnormal conditions occur in multiple winding current characteristic values of the target stepper motor, determine the type of fault abnormality of the target stepper motor according to the abnormal conditions of the multiple winding current characteristic values.
[0022] In some embodiments, the micro-stepping steps include 512 micro-stepping steps, 256 micro-stepping steps, 128 micro-stepping steps, or 64 micro-stepping steps.
[0023] In some embodiments, the acquisition unit includes:
[0024] The first determination subunit is configured to determine an optimal acquisition error value according to the micro-stepping steps;
[0025] The second determination subunit determines the size of the acquisition interval window according to the optimal acquisition error value.
[0026] In some embodiments, the winding current characteristic values include:
[0027] The main criterion winding current characteristic value and the auxiliary criterion winding current characteristic value;
[0028] Among them, the main criterion winding current characteristic value in the multiple winding current characteristic values of the target stepper motor is acquired first; only when it is detected that the main criterion winding current characteristic value is abnormal, the auxiliary criterion winding current characteristic value in the multiple winding current characteristic values of the target stepper motor is acquired.
[0029] In some embodiments, the monitoring unit is configured to, when detecting that both the main criterion winding current characteristic value and the auxiliary criterion winding current characteristic value of the target stepper motor are abnormal, search a pre-established correspondence table between the type of fault abnormality and the abnormal conditions of the winding current characteristic values according to the abnormal conditions of the multiple winding current characteristic values, and determine the type of fault abnormality of the target stepper motor.
[0030] The beneficial effects of the present invention are as follows:
[0031] 1. The present invention introduces the timing information of the winding current of the stepper motor into the acquisition process of the current value, multiplying the information content contained in the current data, making full use of the micro-stepping control principle of the stepper motor driver, and endowing the current values acquired at different times with different timing characteristics. Through the different combinations of multiple winding current characteristic values in the current data, the specific state information of each phase winding current of the stepper motor can be further analyzed. Compared with the traditional method that can only judge the simple information that the stepper motor has a fault, the present invention can diagnose whether the fault abnormality is in phase A or phase B of the stepper motor, and specifically which fault mode it is, and the fault diagnosis is more accurate.
[0032] 2. The present invention does not add new electronic components and does not impose higher computing power requirements on the performance of the controller, and can be popularized and applied to single-chip microcomputers such as 80C32 that are widely used in the control of stepping motors in the aerospace field.
[0033] 3. The present invention quantitatively constrains the acquisition moments of current eigenvalue under the conditions of "different data acquisition errors, different subdivision steps, and different hardware drive structure topologies", relaxes the allowable width of the timing of data acquisition based on error analysis, ensures the credibility of the data acquired at different current eigenvalue points under different conditions, and at the same time guarantees the update rate of current data, improving the real-time performance and rapidity of fault diagnosis. BRIEF DESCRIPTION OF THE DRAWINGS
[0034] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only the embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained according to the provided drawings without creative efforts.
[0035] Figure 1 It is a schematic flowchart of a method for rapid on-orbit fault diagnosis of a motor based on current eigenvalues provided by the present application;
[0036] Figure 2 It is a schematic structural diagram of a power drive circuit of a stepping motor provided by the present application;
[0037] Figure 3 It is a schematic diagram of a current waveform for 64 subdivision steps provided by the present application;
[0038] Figure 4 Provided by the present application Figure 2 Schematic diagram of the distribution of current eigenvalues in the case of topology 1;
[0039] Figure 5 Provided by the present application Figure 2 Schematic diagram of the distribution of current eigenvalues in the case of topology 2;
[0040] Figure 6 Provided by the present application Figure 2 Relationship diagram between acquisition error and acquisition interval window size at the first current eigenvalue point in the case of topology 1;
[0041] Figure 7 Provided by the present application Figure 2 Relationship diagram between acquisition error and acquisition interval window size at the second current eigenvalue point in the case of topology 1;
[0042] Figure 8 Provided by the present application Figure 2Relationship diagram between acquisition error and acquisition interval window size at the second current eigenvalue point in the medium topology 2 case;
[0043] Figure 9 Schematic structural diagram of a rapid on-orbit fault diagnosis system for motors based on current eigenvalues provided by this application. Specific implementation manners Specific implementation manner 1:
[0045] Combined with Figure 1 To illustrate this implementation manner, this implementation manner provides a rapid on-orbit fault diagnosis method for motors based on current eigenvalues. The method includes:
[0046] S101. Determine the subdivision steps corresponding to the engineering application scenario of the target stepper motor;
[0047] S102. Select the corresponding acquisition interval window size according to the subdivision steps, and acquire multiple winding current eigenvalues of the target stepper motor;
[0048] S103. When it is monitored that the multiple winding current eigenvalues of the target stepper motor are abnormal, determine the fault abnormal type of the target stepper motor according to the abnormal conditions of the multiple winding current eigenvalues.
[0049] It should be noted that the power drive circuit of the stepper motor can be divided into two categories according to the different positions of the sampling resistors: for topology 1, the sampling resistor is directly connected in series with the winding and is connected to the center point of the left and right bridge arms; for topology 2, the sampling resistor is set between the negative end of the H-bridge circuit and the power ground. The main difference between the two is that the two-phase current superposition signal of topology 1 is bipolar, and the two-phase current superposition signal of topology 2 is unipolar. As Figure 2 shown, the schematic structural diagram of the power drive circuit of the stepper motor.
[0050] The stepper motor is a widely used driving component. The sine wave microstep drive is a widely used and mature technology. It can effectively improve the step resolution of the stepper motor, improve the running smoothness of the stepper motor, is beneficial to overcoming the resonance and out-of-step of the motor, ensures the smooth and stable operation of the output shaft driving the moving parts, and improves the system performance.
[0051] Among them, the basic principle of the sine wave microstep drive is: respectively provide stepped wave currents approximating sine and cosine functions to the two-phase windings of the stepper motor, and the synthesized torque output of the two phases will be smoother. The current expressions of phase A and phase B can be expressed as:
[0052] i a =I m sinωt≈I m sin(2πn / N) ①
[0053] i b = I m cosωt ≈ I m cos(2πn / N) ②
[0054] where N is the number of subdivision steps; n = 1, 2, 3 ··· n is the number of microstep pulses; Im is the current amplitude; t is the time.
[0055] Under subdivision drive, the step angle of the motor is 2π / (ZN), where Z is the number of teeth, which is equivalent to dividing the rotor tooth pitch into N equal parts. Therefore, equidistant subdivision of the step angle can be achieved, and the torque amplitude is constant. Taking 64 subdivision steps as an example, according to formula ①, N is 64. By sequentially outputting the nth step, a stepped waveform is formed. n represents the timing (phase) of the current and is controlled by the single-chip microcomputer in the stepper motor driver. n circulates forward or backward between 1, 2, 3 ··· 62, 63, 64. As Figure 3 shown, it is a schematic diagram of the current waveform for 64 subdivision steps.
[0056] In some embodiments, the number of subdivision steps includes 512 subdivision steps, 256 subdivision steps, 128 subdivision steps, or 64 subdivision steps.
[0057] In some embodiments, selecting the corresponding acquisition interval window size according to the number of subdivision steps includes:
[0058] Determining the optimal acquisition error value according to the number of subdivision steps;
[0059] Determining the acquisition interval window size according to the optimal acquisition error value.
[0060] In some embodiments, the winding current characteristic values include:
[0061] The main criterion winding current characteristic value and the auxiliary criterion winding current characteristic value;
[0062] Among them, first collect the main criterion winding current characteristic value among the multiple winding current characteristic values of the target stepper motor; only when it is detected that the main criterion winding current characteristic value appears abnormally, then collect the auxiliary criterion winding current characteristic value among the multiple winding current characteristic values of the target stepper motor.
[0063] It should be noted that the drive current of the stepper motor is an alternating variable that changes periodically. The concept of peak value is a characteristic attribute of the alternating variable. For an alternating variable with a constant amplitude, the peak value is a definite value. The difficulty in collecting the peak value of the alternating variable lies in that the peak value only appears at specific moments in the signal period of the alternating variable. The present invention collects the current characteristic value by a method of constraining the current acquisition moment.
[0064] As Figure 4 shown, it is Figure 2Schematic diagram of the current eigenvalue distribution in the case of medium topology 1.
[0065] It can be seen from Figure 4 that for the winding current of topology 1, eigenvalues appear at the 3 / 8 position of the current cycle, namely "the peak value I of the sum of two-phase currents (A+B)max (positive)"; at 2 / 4 of the current cycle, the eigenvalue "the value of the sum of two-phase currents is the peak value of phase B, that is, I (A+B) = I Bmax (positive)"; at the 3 / 4 position of the current cycle, the eigenvalue "the value of the sum of two-phase currents is the peak value of phase A, that is, I (A+B) = I Amax (negative)". The three eigenvalues respectively represent the peak value data of the sum of two-phase currents and the peak value data of single-phase current. Similarly, similar eigenvalues also exist at the 1 / 4, 7 / 8, and 4 / 4 positions of the current cycle. Specifically, the timing table of the current eigenvalue distribution is shown in Table 1:
[0066] Eigenvalue Timing position Information contained in the telemetry value Eigenvalue ① 1 / 4 cycle Peak value of phase A current (forward) Eigenvalue ② 3 / 8 cycle Peak value of the sum of two-phase currents (forward) Eigenvalue ③ 2 / 4 cycle Peak value of phase B current (forward) Eigenvalue ④ 3 / 4 cycle Peak value of phase A current (reverse) Eigenvalue ⑤ 7 / 8 cycle Peak value of the sum of two-phase currents (reverse) Eigenvalue ⑥ 4 / 4 cycle Peak value of phase B current (reverse)
[0067] Table 1
[0068] As Figure 5 shown, it is Figure 2 a schematic diagram of the current eigenvalue distribution in the case of medium topology 2. The eigenvalue distribution of the winding current of topology 2 and the information contained in the eigenvalues are the same as those of topology 1.
[0069] Now that we already know the distribution and time of the current eigenvalues, in the ideal case, we only need to trigger the current signal sampling at the accurate time corresponding to each eigenvalue and then perform data processing. However, in engineering implementation, the conversion speed and conversion accuracy of analog signals are limited by the device performance and it is impossible to achieve sampling at the exact time. Therefore, when the device performance is limited, it is necessary to appropriately relax the width of the signal acquisition time.
[0070] In this regard, the present invention constrains the acquisition time width of the current eigenvalues and quantitatively analyzes the error changes caused by different acquisition time widths.
[0071] Specifically, this problem can be abstracted as: the numerical change range near T / 8 and T / 4 of the sine wave, a total of 3 cases. According to the trigonometric function formula y = sinθ, θ = arcsiny and formula ①, the relationship between the error at different points and the acquisition time constraint is as Figures 6 - 8 shown. They are respectively Figure 6 For Figure 2 the relationship diagram between the acquisition error and the acquisition interval window size at the first current eigenvalue point in the case of medium topology 1, Figure 7 For Figure 2Relationship diagram between acquisition error and acquisition interval window size at the second current eigenvalue point in the case of medium topology 1 Figure 8 is Figure 2 Relationship diagram between acquisition error and acquisition interval window size at the second current eigenvalue point in the case of medium topology 2. It should be noted that the first current eigenvalue point in the case of topology 1 refers to Figure 4 the current eigenvalue point at the 3 / 8 position in Figure 4 the current eigenvalue point at the 1 / 4 position in the case of topology 1, and the first current eigenvalue point in the case of topology 1 refers to Figure 5 the current eigenvalue point at the 1 / 4 position in Figures 6 - 8 The interval proportion in refers to the acquisition interval window size.
[0072] From Figures 6 - 8 it can be seen that Figure 6 The situation in belongs to a relatively ideal analog current signal acquisition situation: even if the error caused by the change of the current signal is controlled within 1%, it can still ensure that 2 whole steps (referring to subdivision steps) fall into the current signal acquisition interval window in the case of 64 subdivision steps; if there are 512 subdivision steps, then 23 whole steps (referring to subdivision steps) fall into the signal acquisition interval window. This means that the controller that polls and executes tasks sequentially can sample the current eigenvalue point at a higher frequency. In contrast, Figure 7 the situation in and Figure 8 the situation in can only ensure that the complete subdivision steps fall into the acquisition interval window at the cost of amplifying the acquisition error by making the acquisition interval window wide enough.
[0073] Taking the six eigenvalues shown in Table 1 as an example, due to the differences in the acquisition errors of the six eigenvalues, we define eigenvalue ② and eigenvalue ⑤ as the main criterion eigenvalues. For the engineering application scenario with 64 subdivision steps, their acquisition errors should be controlled within 5%, and the acquisition interval window corresponds to 6 subdivision steps. For engineering application scenarios with more than 64 subdivision steps, it is advisable to control the acquisition error within 3%. The remaining 4 eigenvalues are auxiliary criterion eigenvalues. For the engineering application scenario with 64 subdivision steps, their acquisition errors should be controlled within 10%, and the acquisition interval window corresponds to 2 subdivision steps. For engineering application scenarios with more than 64 subdivision steps, it is advisable to control the acquisition error within the range of 2% - 5%. This strategy can ensure the acquisition accuracy of the current signal while ensuring the real-time performance of the signal update frequency.
[0074] In some embodiments, when it is monitored that multiple winding current eigenvalues of the target stepper motor are abnormal, according to the abnormal conditions of the multiple winding current eigenvalues, determining the fault abnormal type of the target stepper motor includes:
[0075] When it is detected that both the main criterion winding current eigenvalue and the auxiliary criterion winding current eigenvalue of the target stepper motor are abnormal, according to the abnormal conditions of the multiple winding current eigenvalues, search for the pre-established correspondence table between the fault abnormal types and the abnormal conditions of the winding current eigenvalues, and determine the fault abnormal type of the target stepper motor.
[0076] It should be noted that after solving the problem of current eigenvalue acquisition, the following is to determine the fault abnormality of the stepper motor according to the acquired current eigenvalues. The specific on-orbit monitoring method for the stepper motor winding current is as follows:
[0077] 1. Under the normal operation of the stepper motor, only odd and even beats are collected. The main criterion eigenvalue ② is collected in the odd beat, and the main criterion eigenvalue ⑤ is collected in the even beat.
[0078] 2. When it is detected that the main criterion eigenvalue is abnormal, then in the next 4 acquisition cycles, the auxiliary criterion eigenvalues ①, ④, ③, and ⑥ are collected in sequence, and the abnormality is identified by combining the criteria.
[0079] For the identified current eigenvalue points, the current data is analyzed, and the fault abnormality discrimination methods for several common current abnormal conditions are given. The correspondence table between different fault abnormal types and the abnormal conditions of the winding current eigenvalues is shown in Table 2 as follows:
[0080]
[0081] Table 2
[0082] Working principle
[0083] 1. The present invention introduces the timing information of the stepper motor current into the acquisition process of the current magnitude, doubling the information content contained in the current data. This method makes full use of the stepper motor driver microstepping control principle: associating the "n" variable in the process of looking up the table and outputting the microstepping reference current waveform with the current signal acquisition and processing process, so as to endow the current magnitude values acquired at different times with different timing characteristics, and prepare for obtaining the current eigenvalues and fault abnormality diagnosis.
[0084] 2. The present invention takes six current eigenvalue points as an example for in-depth extraction of the current state information. Although the acquired current analog quantity is still the signal after the hardware summation of the two-phase winding currents, through the different combinations and judgments of the current data of the six eigenvalue points, the specific state information of each phase winding current of the stepper motor can be further analyzed. Compared with the traditional method that can only judge the simple information that the motor has a fault, the present invention can diagnose whether the A phase or the B phase of the motor is abnormal, as well as which specific fault mode it is, and the fault diagnosis is more accurate.
[0085] 3. The present invention quantitatively constrains the acquisition moments of current eigenvalue under the conditions of "different data acquisition errors, different subdivision steps, and different hardware drive structure topologies", relaxes the allowable width of the data acquisition time sequence based on error analysis, ensures the credibility of the data acquired at different current eigenvalue points under different conditions, and at the same time guarantees the update rate of the current data, improving the real-time performance and rapidity of fault diagnosis. Specific Embodiment 2:
[0087] Based on the method for rapid on-orbit fault diagnosis of a motor based on current eigenvalues disclosed in the above embodiments of the present invention, Figure 9 a rapid on-orbit fault diagnosis system for a motor based on current eigenvalues applying the method for rapid on-orbit fault diagnosis of a motor based on current eigenvalues is specifically disclosed.
[0088] As Figure 9 shown, an embodiment of the present invention discloses a rapid on-orbit fault diagnosis system for a motor based on current eigenvalues, and the system includes:
[0089] A determination unit 901, configured to determine the number of subdivision steps corresponding to the engineering application scenario of the target stepper motor;
[0090] An acquisition unit 902, configured to select a corresponding acquisition interval window size according to the number of subdivision steps, and acquire multiple winding current eigenvalues of the target stepper motor;
[0091] A monitoring unit 903, configured to determine the fault abnormal type of the target stepper motor according to the abnormal conditions of the multiple winding current eigenvalues when it is monitored that the multiple winding current eigenvalues of the target stepper motor are abnormal.
[0092] In some embodiments, the number of subdivision steps includes 512 subdivision steps, 256 subdivision steps, 128 subdivision steps, or 64 subdivision steps.
[0093] In some embodiments, the acquisition unit 902 includes:
[0094] A first determination subunit, configured to determine an optimal acquisition error value according to the number of subdivision steps;
[0095] A second determination subunit, configured to determine the acquisition interval window size according to the optimal acquisition error value.
[0096] In some embodiments, the winding current eigenvalues include:
[0097] A main criterion winding current eigenvalue and an auxiliary criterion winding current eigenvalue;
[0098] Among them, first collect the main criterion winding current characteristic value among the multiple winding current characteristic values of the target stepper motor; only when it is monitored that the main criterion winding current characteristic value appears abnormally, then collect the auxiliary criterion winding current characteristic value among the multiple winding current characteristic values of the target stepper motor.
[0099] In some embodiments, the monitoring unit 903 is configured to, when it is monitored that both the main criterion winding current characteristic value and the auxiliary criterion winding current characteristic value of the target stepper motor are abnormal, according to the abnormal conditions of the multiple winding current characteristic values, search for a pre-established correspondence table between the fault abnormal type and the abnormal conditions of the winding current characteristic values, and determine the fault abnormal type of the target stepper motor.
[0100] For the specific working processes of the determination unit 901, the acquisition unit 902, and the monitoring unit 903 in the on-orbit fault rapid diagnosis system for motors based on current characteristic values disclosed in the embodiments of the present invention above, reference may be made to the corresponding content in the on-orbit fault rapid diagnosis method for motors based on current characteristic values disclosed in the above embodiments of the present invention, and details will not be elaborated here.
[0101] In summary, the present application provides an on-orbit fault rapid diagnosis method and system for motors based on current characteristic values, including: determining the subdivision steps corresponding to the engineering application scenario of the target stepper motor; selecting the corresponding acquisition interval window size according to the subdivision steps, and acquiring multiple winding current characteristic values of the target stepper motor; when it is monitored that the multiple winding current characteristic values of the target stepper motor appear abnormally, according to the abnormal conditions of the multiple winding current characteristic values, determining the fault abnormal type of the target stepper motor.
[0102] The beneficial effects of the present invention are:
[0103] 1. The present invention introduces the timing information of the winding current of the stepper motor into the acquisition process of the current quantity value, doubling the information content contained in the current data, making full use of the subdivision control principle of the stepper motor driver, and endowing the current quantity values collected at different times with different timing characteristics. Through the different combinations of multiple winding current characteristic values in the current data, the specific state information of each phase winding current of the stepper motor can be further analyzed. Compared with the traditional method that can only judge the simple information that the stepper motor has a fault, the present invention can diagnose whether it is a phase A fault abnormality or a phase B fault abnormality of the stepper motor, and specifically which fault mode, and the fault diagnosis is more accurate.
[0104] 2. The present invention does not add new electronic components and does not put forward higher computing power requirements for the performance of the controller, and can be popularized and applied on single-chip microcomputers such as 80C32 widely used in the control of stepper motors in the aerospace field.
[0105] 3. The present invention quantitatively constrains the acquisition moments of current eigenvalue under the conditions of "different data acquisition errors, different subdivision steps, and different hardware drive structure topologies", relaxes the allowable width of the timing of data acquisition based on error analysis, ensures the credibility of the data acquired at different current eigenvalue points under different circumstances, and at the same time guarantees the update rate of current data, improving the real-time performance and rapidity of fault diagnosis.
[0106] The above are only the preferred embodiments of the present invention, and do not impose any form of limitation on the present invention. Although the present invention has been disclosed above with the preferred embodiments, it is not intended to limit the present invention. Any person skilled in the art can make some changes or modifications to equivalent embodiments by using the disclosed technical content within the scope of the technical solution of the present invention. However, as long as it does not depart from the content of the technical solution of the present invention, any simple modification, equivalent replacement, and improvement made to the above embodiments within the spirit and principle of the present invention still fall within the protection scope of the technical solution of the present invention.
Claims
1. A rapid on-orbit fault diagnosis method for motors based on current eigenvalues, characterized in that The method includes: Determining the number of micro - stepping steps corresponding to the engineering application scenario of the target stepper motor; Selecting the corresponding acquisition interval window size according to the number of micro - stepping steps, and acquiring multiple winding current characteristic values of the target stepper motor; When it is monitored that the multiple winding current characteristic values of the target stepper motor are abnormal, determining the fault abnormal type of the target stepper motor according to the abnormal conditions of the multiple winding current characteristic values.
2. The method according to claim 1, wherein The number of micro - stepping steps includes 512 micro - stepping steps, 256 micro - stepping steps, 128 micro - stepping steps or 64 micro - stepping steps.
3. The method according to claim 1, wherein The selecting the corresponding acquisition interval window size according to the number of micro - stepping steps includes: Determining the optimal acquisition error value according to the number of micro - stepping steps; Determining the acquisition interval window size according to the optimal acquisition error value.
4. The method according to claim 1, wherein The winding current characteristic values include: Main - criterion winding current characteristic values and auxiliary - criterion winding current characteristic values; Among them, first acquire the main - criterion winding current characteristic values among the multiple winding current characteristic values of the target stepper motor; only when it is monitored that the main - criterion winding current characteristic values are abnormal, then acquire the auxiliary - criterion winding current characteristic values among the multiple winding current characteristic values of the target stepper motor.
5. The method according to claim 4, wherein The when it is monitored that the multiple winding current characteristic values of the target stepper motor are abnormal, determining the fault abnormal type of the target stepper motor according to the abnormal conditions of the multiple winding current characteristic values includes: When it is monitored that both the main - criterion winding current characteristic values and the auxiliary - criterion winding current characteristic values of the target stepper motor are abnormal, according to the abnormal conditions of the multiple winding current characteristic values, searching the pre - established correspondence table between the fault abnormal type and the abnormal conditions of the winding current characteristic values, and determining the fault abnormal type of the target stepper motor.
6. A rapid on-orbit fault diagnosis system for motors based on current eigenvalues, characterized in that, The system includes: A determination unit, used to determine the number of micro - stepping steps corresponding to the engineering application scenario of the target stepper motor; An acquisition unit, used to select the corresponding acquisition interval window size according to the number of micro - stepping steps, and acquire multiple winding current characteristic values of the target stepper motor; A monitoring unit, used to when it is monitored that the multiple winding current characteristic values of the target stepper motor are abnormal, determine the fault abnormal type of the target stepper motor according to the abnormal conditions of the multiple winding current characteristic values.
7. The system according to claim 1, characterized in that, The number of micro - stepping steps includes 512 micro - stepping steps, 256 micro - stepping steps, 128 micro - stepping steps or 64 micro - stepping steps.
8. The system according to claim 1, wherein The acquisition unit includes: A first determination sub - unit, used to determine the optimal acquisition error value according to the number of micro - stepping steps; A second determination sub - unit, used to determine the acquisition interval window size according to the optimal acquisition error value.
9. The system according to claim 1, wherein The winding current characteristic values include: Main - criterion winding current characteristic values and auxiliary - criterion winding current characteristic values; Among them, first acquire the main - criterion winding current characteristic values among the multiple winding current characteristic values of the target stepper motor; only when it is monitored that the main - criterion winding current characteristic values are abnormal, then acquire the auxiliary - criterion winding current characteristic values among the multiple winding current characteristic values of the target stepper motor.
10. The system according to claim 9, wherein, The monitoring unit is configured to, when it monitors that both the main criterion winding current eigenvalue and the auxiliary criterion winding current eigenvalue of the target stepper motor are abnormal, search a pre-established correspondence table between fault abnormal types and abnormal conditions of winding current eigenvalues according to the abnormal conditions of the plurality of winding current eigenvalues, and determine the fault abnormal type of the target stepper motor.