Hydraulic system fault diagnosis and hydraulic leveling system

Abstract

The invention relates to a hydraulic system fault diagnosis and hydraulic leveling system which comprises a signal conditioning board, an acquisition card and a mainboard. The signal conditioning board is used for receiving a switching value signal and an analog quantity signal of the hydraulic system, conditioning the switching value signal and the analog quantity signal and then inputting the signals into the acquisition card; the acquisition card carries out analog-to-digital conversion on the acquired signals and then inputs the signals to the mainboard; the mainboard is provided with a fault diagnosis module and a hydraulic leveling module; the fault diagnosis module carries out diagnosis based on the obtained switching value signal and analog quantity signal of the hydraulic system so as to determine a fault component in the hydraulic system; when the hydraulic leveling module acquires a switching value signal of a leveling control instruction as' 1 ', acquiring a horizontal sensor signal to determine whether the hydraulic system is horizontal or not, and if not, acquiring two support legs on the lower side of the hydraulic system along the non-horizontal direction according to the horizontal sensor signal; and meanwhile, actual control signals corresponding to the two supporting legs are sent to the proportional speed regulating valve control panel, so that the two supporting legs are leveled in the direction.

Description

Technical Field

[0001] The present invention relates to the technical field of hydraulic system fault diagnosis and hydraulic system leveling, and in particular to a hydraulic system fault diagnosis and hydraulic leveling system. Background Art

[0002] Existing hydraulic system fault diagnosis techniques include traditional experience-based methods and modern data-driven approaches. Experience-based methods primarily analyze the hydraulic system's structure and operating characteristics, as well as empirically summarize common faults, to determine and diagnose hydraulic system faults. While this approach can achieve good results in some cases, it also has significant drawbacks. These include the high level of expert experience required and difficulty adapting to changes in the hydraulic system's structure and operating characteristics.

[0003] Data-driven approaches, on the other hand, collect, process, and analyze hydraulic system operating data to extract system characteristics. Machine learning and other methods are then used to assess and diagnose the system's health. This approach offers advantages such as data-driven and highly adaptable nature, making it more adaptable to changes in the hydraulic system's structure and operating characteristics. However, this approach requires machine learning based on large amounts of data.

[0004] In the existing hydraulic system fault diagnosis, when the hydraulic system is found to be overshooting, the hydraulic system cannot be automatically leveled, and manual intervention is required, resulting in low leveling efficiency and low automation level. There is an urgent need in the existing technology for a system that can perform hydraulic system fault diagnosis and achieve automatic leveling at the same time. Summary of the Invention

[0005] In view of the above analysis, an embodiment of the present invention aims to provide a hydraulic system fault diagnosis and hydraulic leveling system to solve the problem in the prior art that the hydraulic fault diagnosis system cannot achieve automatic leveling when the system overshoot is detected.

[0006] An embodiment of the present invention provides a hydraulic system fault diagnosis and hydraulic leveling system, comprising: a signal conditioning board, an acquisition card, and a main board; the signal conditioning board is used to receive switching signals and analog signals from the hydraulic system, condition the switching signals and analog signals, and then input them into the acquisition card; the acquisition card performs analog-to-digital conversion on the acquired signals and then inputs them into the main board; the main board is provided with a fault diagnosis module and a hydraulic leveling module; the fault diagnosis module diagnoses based on the acquired switching signals and analog signals of the hydraulic system and thereby determines a faulty component in the hydraulic system;

[0007] The hydraulic system is equipped with four legs; the hydraulic system includes a CPU board and a proportional speed regulating valve control board;

[0008] When the switch signal collected by the hydraulic leveling module is "1" for the operator to send a leveling control instruction to the CPU board of the hydraulic system, the horizontal sensor signal in the analog quantity is obtained after the preset time to determine whether the hydraulic system is level. If not, it is judged that the hydraulic system has an overshoot condition. According to the horizontal sensor signal, the two legs on the lower side of the hydraulic system in the non-horizontal direction are obtained, and the corresponding actual control signals of the two legs are sent to the proportional speed control valve control board to make it level in that direction.

[0009] Furthermore, the actual control signal of each leg is obtained in the following manner: one of the four legs is set as a reference leg, and the reference leg is controlled to move at a reference speed; with the reference leg as the starting point, the adjacent legs are adjusted in pairs to the same speed, thereby making the speed of the four legs the same, and the control signal of each leg when the speed of the four legs is the same is obtained as the actual control signal.

[0010] Furthermore, the following method is used to adjust the two adjacent legs so that their speeds are the same, and the actual control signals of the legs when the speeds are the same are obtained:

[0011] S1. The leg of the two legs that has obtained the actual control signal is used as the reference leg, and the other leg is the leg to be adjusted;

[0012] S2. Sending a corresponding actual control signal to the reference leg, wherein the actual control signal makes the speed of the reference leg the same as the reference speed, and the control signal of the reference leg remains unchanged during the adjustment process;

[0013] S3. Apply a first control signal to the leg to be adjusted, and then calculate the current speed of the leg to be adjusted based on the reference speed, the distance between the reference leg and the leg to be adjusted, and the rate of change of horizontality in the directions of the reference leg and the leg to be adjusted. If the speed of the leg to be adjusted is the same as the speed of the reference leg, no longer apply the first control signal to the leg to be adjusted, and use the current first control signal as the actual control signal of the leg to be adjusted; otherwise, correct the current first control signal according to the speeds of the reference leg and the leg to be adjusted, use the corrected first control signal as the first control signal to be applied next time, and return to step S3.

[0014] Furthermore, the hydraulic leveling module includes a first and a second level sensor. The first level sensor is arranged in the middle of the first leg 1 and the second leg 2 at the front of the hydraulic system; the second level sensor is arranged in the middle of the two legs at the rear of the hydraulic system. The hydraulic leveling module calculates the current speed of the leg to be adjusted based on the reference speed, the distance between the reference leg and the leg to be adjusted, and the rate of change of the horizontality in the direction of the reference leg and the leg to be adjusted, including:

[0015] When adjusting the first and second legs:

[0016] The first outrigger is the reference outrigger, and the speed of the first outrigger is set to the base speed of the outrigger hydraulic cylinder V1 = v;

[0017] The speed after applying the first control signal for the n-1th time to the second leg is:

[0018] V 2(n-1) =a×sin x n-1 +v;

[0019] When the speed of the second leg is set to be greater than the speed of the first leg, x n-1 is a positive value,

[0020] When x n-1 ≥0,

[0021] When x n-1 <0,

[0022] Then the first control signal applied by the proportional speed regulating valve of the second leg for the nth time is obtained as follows:

[0023] M2 n =B2+S2 n ;

[0024] Where v is the reference speed of the hydraulic cylinder of the first leg; a is the distance between the first leg and the second leg; x n-1 S2 is the rate of change of the axial level of the hydraulic system vehicle body reflected by the first level sensor after the first control signal is applied to the second leg for the n-1th time; n-1 is the effective control value of the first control signal applied to the second leg for the n-1th time; B2 is the critical start threshold of the proportional speed control valve control signal of the second leg; M2 n is the first control signal applied to the second leg for the nth time.

[0025] Furthermore, the analog signal includes an input signal, an intermediate signal, an output signal of a hydraulic system proportional speed regulating valve control board, and a pressure signal output by a pressure sensor.

[0026] Furthermore, the hydraulic system further comprises a D / A board, which is used to convert the digital signal output by the CPU board into an analog signal and input it to the proportional speed control valve control board;

[0027] When the fault diagnosis module detects that the operator sends a switch signal of "1" to the CPU board of the hydraulic system to send a leveling or unlocking control instruction, after the first time threshold, the fault diagnosis module detects the input signal value of the corresponding proportional speed control valve control board. If the value is less than the input signal threshold, it prompts that the D / A board output of the hydraulic system or the proportional speed control valve control board has a fault; when the CPU board receives a switch signal of "1" for the leveling or unlocking control instruction, and the intermediate signal voltage of the proportional speed control valve control board is less than the intermediate signal threshold, the fault diagnosis module prompts that the proportional speed control valve control board has a fault; when the output signal value is detected to be less than the first output signal threshold, it prompts that the proportional speed control valve control board and the proportional speed control valve coil power supply circuit have a fault;

[0028] When the pressure signal of the pressure sensor received by the fault diagnosis module is greater than the second output signal threshold, it indicates that the outrigger pressure sensor may be faulty.

[0029] Furthermore, the main board is provided with a LAN interface, a USB interface, and an audio interface; the LAN interface is used to realize fault diagnosis and the hydraulic leveling system to update the program in the CPU board of the hydraulic system; the USB interface is used to receive the output data of the acquisition card; the audio interface is used to provide language prompts for the faulty components in the hydraulic system determined by the fault diagnosis module and / or the overshoot condition of the hydraulic system determined by the hydraulic leveling module.

[0030] Furthermore, the main board is also provided with a data storage module; when an overshoot occurs during the leveling process of the hydraulic system, the hydraulic leveling module obtains the actual control signal of each leg when the speed of the four legs is the same and stores it in the data storage module in the form of a parameter list; the parameter list is input into the program memory of the hydraulic system through the LAN interface to realize the update of the hydraulic system program.

[0031] Furthermore, the fault diagnosis and hydraulic leveling system also includes a display screen; the switch signals and analog signals of the hydraulic system obtained by the fault diagnosis module and the hydraulic leveling module are displayed on the human-computer interaction interface of the display screen in the form of graphics and tables.

[0032] Furthermore, each of the switch signals and analog signals of the hydraulic system obtained by the fault diagnosis module and the hydraulic leveling module corresponds to a channel; the main board is also provided with a coefficient calibration module for performing linear correction on the display data of each channel on the human-computer interaction interface, including: before the fault diagnosis and hydraulic leveling system is used, based on the measured voltage of each channel of the hydraulic system and the voltage difference displayed on the display screen human-computer interaction interface of the fault diagnosis and hydraulic leveling system, linear correction is performed on the data displayed on each channel.

[0033] Compared with the prior art, the present invention can achieve at least one of the following beneficial effects:

[0034] 1. The hydraulic leveling module in the system of the present invention corrects the control signal of the hydraulic flow of the proportional speed control valve when overshoot is detected so that the speed of the four legs is the same. The actual control signal obtained after correction is written into the parameter list, which can be directly called in the subsequent leveling, thereby shortening the subsequent leveling time and improving the leveling efficiency and automation level.

[0035] 2. The fault diagnosis module in the system of the present invention performs diagnosis based on the acquired switching signal and analog signal of the hydraulic system and then determines the faulty component in the hydraulic system, and can accurately locate the faulty component with high detection efficiency.

[0036] 3. The coefficient calibration module in the system of the present invention is used to perform linear correction on the display data of each channel on the human-computer interaction interface. Before the fault diagnosis and hydraulic leveling system is used, the data displayed on each channel is linearly corrected based on the measured voltage of each channel of the hydraulic system and the voltage difference displayed on the human-computer interaction interface of the display screen of the fault diagnosis and hydraulic leveling system, so that the test results are more accurate and reliable.

[0037] 4. The system of the present invention is equipped with a backup lithium battery, which is suitable for outdoor environments where hydraulic systems are used. The system is small and lightweight and is a portable fault diagnosis and hydraulic leveling system.

[0038] 5. The hydraulic system's on-off and analog signals acquired by the fault diagnosis module and hydraulic leveling module of the present invention are displayed on the display's human-machine interface in both graphical and tabular formats. The graphical format conveniently displays the changing trends of hydraulic system components throughout the control process. By analyzing the interrelationships between several graphs, the operating status of the hydraulic system can be analyzed, facilitating the identification of fault points. The tabular format facilitates data statistics and comparison, allowing the understanding of the hydraulic system's operating parameters and changing trends at different operating times for effective fault prevention. Therefore, this system provides effective operating data for each hydraulic system component, providing a strong foundation for system fault prevention.

[0039] 6. In the system of the present invention, the signal conditioning board processes different voltages through optical coupling isolation, so that the system works stably and reliably and the collected data is accurate.

[0040] In the present invention, the above-mentioned technical solutions can be combined with each other to achieve more preferred combinations. Other features and advantages of the present invention will be described in the following description, and some advantages will become apparent from the description or be learned through practice of the present invention. The objectives and other advantages of the present invention can be realized and obtained through the contents particularly pointed out in the description and drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] The accompanying drawings are only for the purpose of illustrating particular embodiments and are not to be considered limiting of the present invention. Like reference symbols denote like parts throughout the drawings.

[0042] Figure 1 It is a schematic diagram of the hydraulic system fault diagnosis and hydraulic leveling system structure;

[0043] Figure 2 A schematic diagram of the relationship between the hydraulic flow control signal of a proportional speed control valve of a hydraulic system fault diagnosis and hydraulic leveling system and the speed of the controlled hydraulic outrigger;

[0044] Figure 3 It is a schematic diagram of a hydraulic system fault diagnosis and hydraulic leveling system with a top view of each hydraulic leg;

[0045] Figure 4 This is a schematic diagram of the motion status of the first leg and the second leg of a hydraulic system fault diagnosis and hydraulic leveling system.

[0046] Reference numerals:

[0047] 1- first leg;

[0048] 2- Second leg;

[0049] 3- third leg;

[0050] 4- fourth leg;

[0051] 5-Observe from the rear of the vehicle to the front. DETAILED DESCRIPTION

[0052] The preferred embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings, wherein the accompanying drawings constitute a part of this application and are used together with the embodiments of the present invention to illustrate the principles of the present invention, and are not used to limit the scope of the present invention.

[0053] A specific embodiment of the present invention discloses a hydraulic system fault diagnosis and hydraulic leveling system, such as Figure 1 shown.

[0054] The fault diagnosis and hydraulic leveling system includes: a signal conditioning board, an acquisition card, and a main board; the signal conditioning board is used to receive switching signals and analog signals from the hydraulic system, condition the switching signals and analog signals, and then input them into the acquisition card; the acquisition card performs analog-to-digital conversion on the collected signals and then inputs them into the main board; the main board is equipped with a fault diagnosis module and a hydraulic leveling module; the fault diagnosis module diagnoses based on the acquired switching signals and analog signals of the hydraulic system and thereby determines the faulty component in the hydraulic system;

[0055] The hydraulic system is equipped with four legs; the hydraulic system includes a CPU board and a proportional speed regulating valve control board;

[0056] When the switch signal collected by the hydraulic leveling module is "1" for the operator to send a leveling control instruction to the CPU board of the hydraulic system, the horizontal sensor signal in the analog quantity is obtained after the preset time to determine whether the hydraulic system is level. If not, it is judged that the hydraulic system has an overshoot condition. According to the horizontal sensor signal, the two legs on the lower side of the hydraulic system in the non-horizontal direction are obtained, and the corresponding actual control signals of the two legs are sent to the proportional speed control valve control board to make it level in that direction.

[0057] The fault diagnosis and hydraulic leveling system also includes a display screen; the switching signals and analog signals of the hydraulic system obtained by the fault diagnosis module and the hydraulic leveling module are displayed on the human-computer interaction interface of the display screen in the form of graphics and tables.

[0058] Specifically, graphical formats facilitate displaying the changing trends of hydraulic system components throughout the entire control process. By analyzing the interrelationships between several graphs, the operating status of the hydraulic system can be analyzed, making it easier to locate fault points. Tabular formats facilitate data statistics and comparison, allowing users to understand the operating parameters and changing trends of the hydraulic system at different operating times, thereby effectively preventing faults.

[0059] The main board is provided with a LAN interface, a USB interface, and an audio interface; the LAN interface is used to realize fault diagnosis and the hydraulic leveling system to update the program in the CPU board of the hydraulic system; the USB interface is used to receive the output data of the acquisition card; the audio interface is used to provide language prompts for faulty components in the hydraulic system determined by the fault diagnosis module and / or overshoot conditions in the hydraulic system determined by the hydraulic leveling module.

[0060] The main board is also equipped with a data storage module. When an overshoot occurs during the leveling process of the hydraulic system, the hydraulic leveling module obtains the actual control signal of each leg when the speed of the four legs is the same and stores it in the data storage module in the form of a parameter list. The parameter list is input into the program memory of the hydraulic system through the LAN interface to realize the update of the hydraulic system program.

[0061] Each of the switch signals and analog signals of the hydraulic system obtained by the fault diagnosis module and the hydraulic leveling module corresponds to a channel; the main board is also provided with a coefficient calibration module for performing linear correction on the display data of each channel on the human-computer interaction interface, including: before the fault diagnosis and hydraulic leveling system is used, based on the measured voltage of each channel of the hydraulic system and the voltage difference displayed on the display screen human-computer interaction interface of the fault diagnosis and hydraulic leveling system, linear correction is performed on the data displayed on each channel.

[0062] Specifically, if it is found that the voltage displayed in the system human-computer interaction interface has a large error with the measured voltage during actual use, it can be corrected based on linear correction. The formula is: Yd =k c ·x t +b c ;

[0063] Among them, Y d Display voltage value in the system human-computer interaction interface; k c is the proportional coefficient; x t is the measured voltage value of a channel in the hydraulic system; b c is the intercept; parameter k c and b c All are calibrated through the coefficient calibration module.

[0064] In addition, the operator can also set the alarm channel threshold on this interface.

[0065] Specifically, the switch signals include: control switch trigger signal and travel switch in-position signal. The control switch trigger signal includes leveling control signal and locking control signal. The leveling control signal switch state is "1" to start the leveling action, and "0" to stop the leveling action; the locking control signal switch state is "1" to start the hydraulic leg locking action, and "0" to start the hydraulic leg unlocking action; the travel switch in-position signal includes locking in-position signal and unlocking in-position signal. The locking in-position signal switch state is "1" to indicate that the corresponding hydraulic leg is locked in place, and "0" to indicate that the corresponding hydraulic leg is not locked in place; the unlocking in-position signal switch state is "1" to indicate that the corresponding hydraulic leg is unlocked in place, and "0" to indicate that the corresponding hydraulic leg is not unlocked in place; the corresponding signal value when the switch state is "1" The analog signal includes: an input signal from the proportional speed control valve control board with a dynamic range of 0-10V, an intermediate signal from the proportional speed control valve control board with a dynamic range of 0-6V, and an output signal from the proportional speed control valve control board with a dynamic range of 0-1V. The input signal includes a hydraulic flow control signal or a setting signal for pressure regulation used for speed regulation. The intermediate signal is the signal for post-processing the input signal after entering the proportional speed control valve control board. The output signal is a drive signal loaded into the proportional speed control valve coil to activate the hydraulic valve. The analog signal also includes four pressure sensor signals located on the four legs with a dynamic range of 0-10V, two level sensor signals with a dynamic range of -10V to 10V, X-direction and Y-direction levelness signals, where the X direction is the axial direction of the vehicle body and the Y direction is the longitudinal direction of the vehicle body, and two power supply signals of 24V and 12V.

[0066] In one embodiment of the present invention, the fault diagnosis and hydraulic leveling system comprises a portable case, a signal conditioning board, an acquisition card, a mainboard, and a display screen. The portable case comprises a top cover and a main body. A switch button is located on the front of the case to open and close the top cover. The acquisition card, signal conditioning board, and mainboard are arranged in the upper, middle, and lower layers of the case, respectively, with the display screen located inside the top cover. The rear of the case features an aviation connector socket, which is connected to the signal conditioning board via an internal cable. The connector can be connected to the hydraulic system via an external cable to collect digital and analog signals from the hydraulic system. The signal conditioning board performs voltage conversion and optical coupling isolation on the digital and analog signals before inputting them into the acquisition card. A power management board and a removable backup lithium battery are located in the lower layer of the case, providing power to the mainboard. The case is constructed of 6061 aluminum alloy and is lightweight. A 4500 rpm fan is located near the power management board and lithium battery, and operates at 35°C. The motherboard is equipped with a 500G MSATA solid-state drive, which stores the collected analog signals and switch signals through the SATA interface.

[0067] The analog signal includes an input signal, an intermediate signal, an output signal of a hydraulic system proportional speed regulating valve control panel, and a pressure signal output by a pressure sensor.

[0068] The hydraulic system also includes a D / A board, which is used to convert the digital signal output by the CPU board into an analog signal and input it to the proportional speed control valve control board;

[0069] When the fault diagnosis module detects that the operator sends a switch signal of "1" to the CPU board of the hydraulic system to send a leveling or unlocking control instruction, after the first time threshold, the fault diagnosis module detects the input signal value of the corresponding proportional speed control valve control board. If the value is less than the input signal threshold, it prompts that the D / A board output of the hydraulic system or the proportional speed control valve control board has a fault; when the CPU board receives a switch signal of "1" for the leveling or unlocking control instruction, and the intermediate signal voltage of the proportional speed control valve control board is less than the intermediate signal threshold, the fault diagnosis module prompts that the proportional speed control valve control board has a fault; when the output signal value is detected to be less than the first output signal threshold, it prompts that the proportional speed control valve control board and the proportional speed control valve coil power supply circuit have a fault;

[0070] When the pressure signal of the pressure sensor received by the fault diagnosis module is greater than the second output signal threshold, it indicates that the outrigger pressure sensor may be faulty.

[0071] Specifically, when the switching signal of the leveling or unlocking control instruction is "1", after 3 seconds, the fault diagnosis module detects the input value of the corresponding proportional speed control valve control board. If the value is less than 0.5V, an alarm will be issued that "the D / A board output or the proportional speed control valve control board is faulty"; if the input signal value of the proportional speed control valve control board is normal, the fault diagnosis module detects that the intermediate signal is ≤0.5V, and the fault diagnosis module alarms "please check the proportional speed control valve control board". When the fault diagnosis module detects that the output signal value is ≤0.5V, an alarm will be issued that "please check whether the proportional speed control valve control board and the proportional speed control valve coil power supply circuit are normal"; when the fault diagnosis module detects that the outrigger pressure sensor value is ≥9.8V, it means that the pressure is too high, and an alarm will be issued that "please check whether the outrigger pressure sensor is normal".

[0072] The actual control signal of each leg is obtained in the following way: one of the four legs is set as the reference leg, and the reference leg is controlled to move at the reference speed; with the reference leg as the starting point, the adjacent legs are adjusted to the same speed in pairs, so that the speed of the four legs is the same, and the control signal of each leg when the speed of the four legs is the same is obtained as the actual control signal.

[0073] Use the following method to adjust two adjacent legs to make their speeds the same, and obtain the actual control signals of the legs when the speeds are the same:

[0074] S1. The leg of the two legs that has obtained the actual control signal is used as the reference leg, and the other leg is the leg to be adjusted;

[0075] S2. Sending a corresponding actual control signal to the reference leg, wherein the actual control signal makes the speed of the reference leg the same as the reference speed, and the control signal of the reference leg remains unchanged during the adjustment process;

[0076] S3. Apply a first control signal to the leg to be adjusted, and then calculate the current speed of the leg to be adjusted based on the reference speed, the distance between the reference leg and the leg to be adjusted, and the rate of change of horizontality in the directions of the reference leg and the leg to be adjusted. If the speed of the leg to be adjusted is the same as the speed of the reference leg, no longer apply the first control signal to the leg to be adjusted, and use the current first control signal as the actual control signal of the leg to be adjusted; otherwise, correct the current first control signal according to the speeds of the reference leg and the leg to be adjusted, use the corrected first control signal as the first control signal to be applied next time, and return to step S3.

[0077] It can be understood that the above adjustment process can be completed by the hydraulic system itself. The first control signal sent each time during the adjustment process is issued by the CPU board of the hydraulic system. When the speeds of the two legs are adjusted to the same, the first control signal at this time is recorded as the actual control signal of the leg to be adjusted. Based on this, the actual control signal of each leg can be obtained, and the actual control signal of each leg is stored in the hydraulic leveling module. When overshoot occurs, the actual control signal is directly sent to the corresponding leg.

[0078] During implementation, the initial value of the first control signal is set to the actual control signal of the reference leg, and then the first control signal is continuously corrected according to the speed of the leg to be adjusted and the rate of change of horizontality, so that the speeds of the two legs are finally made the same, and the first control signal of the leg to be adjusted when the speeds are the same is used as its actual control signal.

[0079] Taking the first leg 1 and the second leg 2 as an example, the motion state diagram is as follows Figure 4 shown.

[0080] The hydraulic leveling module includes a first and a second level sensor. The first level sensor is arranged in the middle of the first leg 1 and the second leg 2 at the front of the hydraulic system; the second level sensor is arranged in the middle of the two legs at the rear of the hydraulic system. The hydraulic leveling module calculates the current speed of the leg to be adjusted based on the reference speed, the distance between the reference leg and the leg to be adjusted, and the horizontality change rate of the reference leg and the leg to be adjusted, including:

[0081] When adjusting the first leg 1 and the second leg 2:

[0082] The first leg 1 is the reference leg, and the speed of the first leg 1 is set as the base speed of the leg hydraulic cylinder V1 = v;

[0083] The speed after the n-1th first control signal is applied to the second leg 2 is:

[0084] V 2(n-1) =a×sin x n-1 +v;

[0085] When the speed of the second leg 2 is set to be greater than the speed of the first leg 1, x n-1 is a positive value,

[0086] When x n-1 ≥0,

[0087] When x n-1 <0,

[0088] Then the first control signal applied by the proportional speed regulating valve of the second leg 2 for the nth time is obtained as follows:

[0089] M2n =B2+S2 n ;

[0090] Where v is the reference speed of the hydraulic cylinder of the first leg 1; a is the distance between the first leg 1 and the second leg 2; x n-1 S2 is the level change rate of the hydraulic system vehicle body in the axial direction (defined as the X direction) reflected by the first level sensor after the first control signal is applied to the second leg 2 for the n-1th time; n-1 is the effective control value of the first control signal applied to the second leg 2 for the n-1th time; B2 is the critical start threshold of the proportional speed control valve control signal of the second leg 2; M2 n is the first control signal applied to the second leg 2 for the nth time.

[0091] In a specific embodiment of the present invention, when viewed from the rear of the vehicle to the front 5, the hydraulic system body is provided with a first support leg 1 corresponding to the left front corner of the vehicle front, a second support leg 2 corresponding to the right front corner of the vehicle front, a third support leg 3 corresponding to the right rear corner of the vehicle rear, and a fourth support leg 4 corresponding to the left rear corner of the vehicle rear; the first to fourth support legs 4 are arranged in a rectangle.

[0092] The top view of each hydraulic support leg of the hydraulic system is as follows Figure 3 shown.

[0093] When adjusting the second leg 2 and the third leg 3:

[0094] The second leg 2 is the reference leg;

[0095] The speed after the n-1th first control signal is applied to the third leg 3 is:

[0096]

[0097] When the speed of the third leg 3 is set to be greater than the speed of the second leg 2, y n-1 is a positive value,

[0098] When y n-1 ≥0,

[0099] When y n-1 <0,

[0100] Then the first control signal applied by the proportional speed regulating valve of the third leg 3 for the nth time is obtained:

[0101] M3 n =B3+S3 n ;

[0102] Wherein, b is the distance between the second leg 2 and the third leg 3, and also the distance between the first leg 1 and the fourth leg 4; The speed of the second leg 2 at the end of the adjustment with the first leg 1 as the reference leg; n-1 S3 is the levelness change rate of the hydraulic system vehicle body in radial direction (defined as Y direction) reflected by the second level sensor after the first control signal (n-1) is applied to the third leg 3; n-1 is the effective control value of the first control signal applied to the third leg 3 for the n-1th time; B3 is the critical start threshold of the proportional speed control valve control signal of the third leg 3; M3 n is the first control signal applied to the third leg 3 for the nth time.

[0103] When adjusting the first leg 1 and the fourth leg 4:

[0104] The first leg 1 is the reference leg, and the speed of the first leg 1 is set to the reference speed of the leg hydraulic cylinder V1 = v;

[0105] The speed after the n-1th first control signal is applied to the fourth leg 4 is:

[0106] V 4(n-1) =v+b×sinz n-1 ;

[0107] When the speed of the fourth leg 4 is set to be greater than the speed of the first leg 1, x n-1 is a positive value,

[0108] When z n-1 ≥0,

[0109] When z n-1 <0,

[0110] Then the first control signal applied by the proportional speed regulating valve of the fourth leg 4 for the nth time is obtained:

[0111] M4 n =B4+S4 n

[0112] Among them, z n-1 S4 is the Y-direction level change rate reflected by the second level sensor after the first control signal is applied to the fourth leg 4 for the (n-1)th time. n-1 is the effective control value of the first control signal applied to the fourth leg 4 for the n-1th time; B4 is the critical start threshold of the proportional speed control valve control signal of the fourth leg 4; M4 n is the first control signal applied to the fourth leg 4 for the nth time.

[0113] Specifically, since the head of the vehicle is the cab, the vehicle body platform can be used to place the crane's boom or the lifting device of an engineering ladder, and the center of gravity is often located relatively rearward of the vehicle body. Therefore, when calculating the radial level change rate of the hydraulic system vehicle body, the radial level change rate of the hydraulic system vehicle body reflected by the second level sensor is used.

[0114] The base speed of the outrigger hydraulic cylinder is:

[0115]

[0116] Among them, q is the standard flow rate of the proportional speed control valve corresponding to the opening; A is the cross-sectional area of ​​the rodless cavity of the hydraulic cylinder.

[0117] The actual control signal of the speed regulating valve is the sum of the start critical threshold value B and the control effective value S; the start critical threshold value B is obtained by the following method:

[0118] The pressure signal of the rodless chamber of the corresponding hydraulic cylinder is obtained through the pressure sensor of each leg to be adjusted; the hydraulic flow control signal of the proportional speed control valve of each leg to be adjusted increases from zero to a set step size; when the pressure signal of the rodless chamber begins to fluctuate, the hydraulic flow control signal of the proportional speed control valve is recorded to obtain the starting critical threshold B of the speed control valve control signal.

[0119] It is understood that if other legs are used as reference legs, the adjustment method can also be inferred by referring to the above method. For example, if the second leg 2 is used as the reference leg, the speed of the second leg 2 and the third leg 3 are first adjusted to the same state; then, using the third leg 3 as the reference leg, the fourth leg 4 and the third leg 3 are adjusted to the same speed state, and the first leg 1 and the second leg 2 are adjusted to the same speed state.

[0120] It can be seen that by taking the reference leg as the starting point, the reference leg and its adjacent leg are first used as a pair of legs to be adjusted. After the adjustment is completed, the speed of the adjacent leg of the reference leg is made the same as the speed of the reference leg, and the control signal applied to the adjacent leg when the speed is the same is obtained as the actual control signal of the leg; then, the adjacent leg and the leg adjacent to the adjacent leg are adjusted, and finally the speeds of the four legs are made the same, and the actual control signal of each leg when the speed is the same is obtained.

[0121] Specifically, when the axial and / or radial leveling time of the hydraulic system vehicle body exceeds the set time threshold, the hydraulic leveling module will detect that the leveling process of the hydraulic system has an overshoot condition, and at this time it will start the adjustment strategy of the hydraulic flow control signal of the proportional speed control valve. When the hydraulic flow control signal of the proportional speed control valve is less than the starting critical threshold, the controlled outrigger is in a stationary state. When the hydraulic flow control signal of the proportional speed control valve is above the starting critical threshold B, the speed of the controlled outrigger increases approximately in direct proportion with the increase of the control signal. Therefore, the hydraulic flow control signal of the proportional speed control valve is divided into the sum of the starting critical threshold B and the control effective value S. The schematic diagram of the relationship between the hydraulic flow control signal of the proportional speed control valve and the speed of the controlled hydraulic outrigger is shown as follows. Figure 2 The actual control signal of the hydraulic flow of the proportional speed control valve of each leg is equal to the sum of the start critical threshold value of the control signal and the control effective value.

[0122] Specifically, the hydraulic leveling module first detects the axial horizontality of the hydraulic system body through the horizontal sensor. If the second horizontal sensor reflects that the right side of the hydraulic system body is higher than the left side (observed from the rear of the vehicle to the front 5), the corresponding actual control signal is sent to the first leg 1 and the fourth leg 4, so that the first leg 1 and the fourth leg 4 are extended at the same time; if the second horizontal sensor reflects that the left side of the hydraulic system body is higher than the right side (observed from the rear of the vehicle to the front 5), the corresponding actual control signal is sent to the second leg 2 and the third leg 3, and the second leg 2 and the third leg 3 are extended at the same time; after sending, the axial horizontality of the hydraulic system body of the horizontal sensor is obtained in real time, and the horizontality is detected to see whether it is within the set threshold range. If it is within the set threshold range, the hydraulic leveling module believes that the axial direction of the hydraulic system body has been leveled, and stops sending actual control signals to the two lower legs; if it is detected that the horizontality is greater than the set threshold range, the actual control signal continues to be sent to the two legs until the axial direction of the hydraulic system body is leveled. The hydraulic system then uses a level sensor to detect the radial levelness of the vehicle body. If the second level sensor indicates that the front of the vehicle is higher than the rear of the vehicle, a corresponding actual control signal is sent to the third leg 3 and the fourth leg 4, causing them to extend simultaneously. If the second level sensor indicates that the rear of the vehicle is higher than the front of the vehicle, a corresponding actual control signal is sent to the first leg 1 and the second leg 2, causing them to extend simultaneously. After sending the actual control signal, the radial levelness of the vehicle body as detected by the level sensor is acquired in real time to detect whether the levelness is within a set threshold range. If so, the control computer deems the vehicle body radially leveled and stops sending actual control signals to the two legs. If the levelness is greater than the set threshold range, actual control signals continue to be sent to the two lower legs until the vehicle body is radially leveled. At this time, the axial (X-direction) horizontality of the hydraulic system body is checked again to see if it is within the set threshold range. If the axial levelness of the hydraulic system body is greater than the set threshold range, the hydraulic system continues to obtain the two legs along the lower side of the hydraulic system body axis, and simultaneously sends the corresponding actual control signals to the two lower legs... In this way, the axial and radial leveling of the hydraulic system body are alternately performed with the actual control signals until the axial and radial levelness of the platform hydraulic system body are both within the set threshold range, and the leveling is completed.

[0123] Compared to existing technologies, the hydraulic leveling module provided in this embodiment corrects the actual hydraulic flow control signal of the proportional speed control valve when overshoot is detected, ensuring that all four legs have the same speed. The corrected actual control signal is then written into a parameter list, allowing it to be directly referenced during subsequent leveling, thereby shortening subsequent leveling time. The fault diagnosis module provided in this embodiment uses acquired switching and analog signals from the hydraulic system to diagnose and identify faulty components within the hydraulic system, accurately locating the faulty components. The coefficient calibration module provided in this embodiment performs linear correction on the data displayed on each channel of the human-machine interface. Before use, the fault diagnosis and hydraulic leveling system performs linear correction on the data displayed on each channel based on the measured voltage difference between each hydraulic system channel and the voltage displayed on the display screen of the fault diagnosis and hydraulic leveling system, ensuring more accurate and reliable test results. The hydraulic system fault diagnosis and hydraulic leveling system provided in this embodiment includes a backup lithium battery, making it suitable for outdoor use. The system is compact and lightweight, making it a portable fault diagnosis and hydraulic leveling system. The use of hydraulic system fault diagnosis and hydraulic leveling systems improves the efficiency of hydraulic system troubleshooting, provides effective operating data for each hydraulic system component, and provides a strong guarantee for system fault prevention. In this system, the signal conditioning board uses optical coupling to isolate different voltages, making the system stable and reliable and the collected data accurate.

[0124] Those skilled in the art will appreciate that all or part of the process steps of the above-described embodiments can be implemented by instructing related hardware through a computer program, and the program can be stored in a computer-readable storage medium, such as a magnetic disk, an optical disk, a read-only memory, or a random access memory.

[0125] The above description is only a preferred specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any changes or substitutions that can be easily thought of by any technician familiar with this technical field within the technical scope disclosed by the present invention should be covered by the scope of protection of the present invention.

Claims

1. A hydraulic system fault diagnosis and hydraulic leveling system, characterized in that: The fault diagnosis and hydraulic leveling system includes: a signal conditioning board, an acquisition card, and a main board; the signal conditioning board is used to receive switching signals and analog signals from the hydraulic system, condition the switching signals and analog signals, and then input them into the acquisition card; the acquisition card performs analog-to-digital conversion on the collected signals and then inputs them into the main board; the main board is equipped with a fault diagnosis module and a hydraulic leveling module; the fault diagnosis module diagnoses based on the acquired switching signals and analog signals of the hydraulic system and thereby determines the faulty component in the hydraulic system; The hydraulic system is equipped with four legs; the hydraulic system includes a CPU board and a proportional speed regulating valve control board; When the hydraulic leveling module collects the switch signal of the operator sending the leveling control instruction to the CPU board of the hydraulic system and it is "1", the level sensor signal in the analog quantity is obtained after the preset time to determine whether the hydraulic system is level. If not, it is judged that the hydraulic system has an overshoot condition. According to the level sensor signal, the two legs on the lower side of the hydraulic system in the non-horizontal direction are obtained, and the corresponding actual control signals of the two legs are sent to the proportional speed control valve control board to make it level in that direction.

2. The fault diagnosis and hydraulic leveling system according to claim 1, characterized in that: The actual control signal of each leg is obtained in the following way: one of the four legs is set as the reference leg, and the reference leg is controlled to move at the reference speed; with the reference leg as the starting point, the adjacent legs are adjusted to the same speed in pairs, so that the speed of the four legs is the same, and the control signal of each leg when the speed of the four legs is the same is obtained as the actual control signal.

3. The fault diagnosis and hydraulic leveling system according to claim 2, characterized in that: Use the following method to adjust two adjacent legs to make their speeds the same, and obtain the actual control signals of the legs when the speeds are the same: S1. The leg of the two legs that has obtained the actual control signal is used as the reference leg, and the other leg is the leg to be adjusted; S2. Sending a corresponding actual control signal to the reference leg, wherein the actual control signal makes the speed of the reference leg the same as the reference speed, and the control signal of the reference leg remains unchanged during the adjustment process; S3. Applying a first control signal to the leg to be adjusted, and then calculating a current speed of the leg to be adjusted based on a reference speed, a distance between the reference leg and the leg to be adjusted, and a rate of change in horizontality between the reference leg and the leg to be adjusted; if the speed of the leg to be adjusted is the same as the speed of the reference leg, no longer applying the first control signal to the leg to be adjusted, and using the current first control signal as the actual control signal for the leg to be adjusted; Otherwise, the current first control signal is corrected according to the speeds of the reference leg and the leg to be adjusted, and the corrected first control signal is used as the first control signal to be applied next time, and the process returns to step S3.

4. The fault diagnosis and hydraulic leveling system according to claim 3, characterized in that: The hydraulic leveling module includes a first and a second level sensor. The first level sensor is arranged in the middle of the first leg 1 and the second leg 2 at the front of the hydraulic system; the second level sensor is arranged in the middle of the two legs at the rear of the hydraulic system. The hydraulic leveling module calculates the current speed of the leg to be adjusted based on the reference speed, the distance between the reference leg and the leg to be adjusted, and the horizontality change rate of the reference leg and the leg to be adjusted, including: When adjusting the first and second legs: The first outrigger is the reference outrigger, and the speed of the first outrigger is set to the base speed of the outrigger hydraulic cylinder V1 = v; The speed after applying the first control signal for the n-1th time to the second leg is: V 2(n-1) =a×sinx n-1 +v; When the speed of the second leg is set to be greater than the speed of the first leg, x n-1 is a positive value, When x n-1 ≥0, When x n-1 <0, Then the first control signal applied by the proportional speed regulating valve of the second leg for the nth time is obtained as follows: <h2 style=";text-align:left;direction:ltr">M2<h2 style=";text-align:left;direction:ltr"> n <h2 style=";text-align:left;direction:ltr"> =B2+S2<h2 style=";text-align:left;direction:ltr"> n <h2 style=";text-align:left;direction:ltr"> ; Where v is the reference speed of the hydraulic cylinder of the first leg; a is the distance between the first leg and the second leg; x n-1 S2 is the rate of change of the axial level of the hydraulic system vehicle body reflected by the first level sensor after the first control signal is applied to the second leg for the n-1th time; n-1 is the effective control value of the first control signal applied to the second leg for the n-1th time; B2 is the critical start threshold of the proportional speed control valve control signal of the second leg; M2 n is the first control signal applied to the second leg for the nth time.

5. The fault diagnosis and hydraulic leveling system according to claim 1, characterized in that: The analog signal includes an input signal, an intermediate signal, an output signal of a hydraulic system proportional speed regulating valve control panel, and a pressure signal output by a pressure sensor.

6. The fault diagnosis and hydraulic leveling system according to claim 5, characterized in that: The hydraulic system also includes a D / A board, which is used to convert the digital signal output by the CPU board into an analog signal and input it to the proportional speed control valve control board; When the fault diagnosis module detects that the operator sends a "1" switch signal to the CPU board of the hydraulic system to send a leveling or unlocking control command, after a first time threshold, the fault diagnosis module detects the corresponding proportional speed control valve control board input signal value. If the value is less than the input signal threshold, it indicates that the hydraulic system's D / A board output or the proportional speed control valve control board has a fault. When the CPU board receives a "1" switch signal of the leveling or unlocking control command, and the intermediate signal voltage of the proportional speed control valve control board is less than the intermediate signal threshold, the fault diagnosis module indicates that the proportional speed control valve control board has a fault. When the output signal value is detected to be less than the first output signal threshold, it indicates that the proportional speed control valve control board and the proportional speed control valve coil power supply circuit have a fault. When the pressure signal of the pressure sensor received by the fault diagnosis module is greater than the second output signal threshold, it indicates that the outrigger pressure sensor may be faulty.

7. The fault diagnosis and hydraulic leveling system according to claim 5, characterized in that: The main board is provided with a LAN interface, a USB interface, and an audio interface; the LAN interface is used to realize fault diagnosis and the hydraulic leveling system to update the program in the CPU board of the hydraulic system; the USB interface is used to receive the output data of the acquisition card; the audio interface is used to provide language prompts for faulty components in the hydraulic system determined by the fault diagnosis module and / or overshoot conditions in the hydraulic system determined by the hydraulic leveling module.

8. The fault diagnosis and hydraulic leveling system according to claim 7, characterized in that: The main board is also equipped with a data storage module. When an overshoot occurs during the leveling process of the hydraulic system, the hydraulic leveling module obtains the actual control signal of each leg when the speed of the four legs is the same and stores it in the data storage module in the form of a parameter list. The parameter list is input into the program memory of the hydraulic system through the LAN interface to realize the update of the hydraulic system program.

9. The fault diagnosis and hydraulic leveling system according to claim 1, characterized in that: The fault diagnosis and hydraulic leveling system also includes a display screen; the switching signals and analog signals of the hydraulic system obtained by the fault diagnosis module and the hydraulic leveling module are displayed on the human-computer interaction interface of the display screen in the form of graphics and tables.

10. The fault diagnosis and hydraulic leveling system according to claim 9, characterized in that: Each of the switch signals and analog signals of the hydraulic system obtained by the fault diagnosis module and the hydraulic leveling module corresponds to a channel; the main board is also provided with a coefficient calibration module for performing linear correction on the display data of each channel on the human-computer interaction interface, including: before the fault diagnosis and hydraulic leveling system is used, based on the measured voltage of each channel of the hydraulic system and the voltage difference displayed on the display screen human-computer interaction interface of the fault diagnosis and hydraulic leveling system, linear correction is performed on the data displayed on each channel.

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