Gear health degree detection method and system based on asymmetric dynamic excitation

Abstract

The invention provides a gear health degree detection method and system based on asymmetric dynamic excitation, a controller is used as an execution main body, the controller is in communication connection with a target motor, and the method comprises the following steps: controlling the target motor to execute a stepping action to an initial angle; taking the initial angle as a target angle, and executing a positioning space-time parameter acquisition step based on the target angle; if the target angle does not meet the circumferential angle threshold value, repeatedly executing the positioning time-space acquisition step until the circumferential angle threshold value is met, and obtaining a plurality of positioning times and positioning errors; obtaining a gear health value based on the positioning time sequence and the positioning error sequence; the positioning space-time parameter acquisition step comprises the following steps: updating a target angle under an asymmetric angle increment formula based on the target angle; and based on the target angle, controlling the target motor to execute a stepping action, and obtaining the positioning time and the positioning error under a preset space-time parameter acquisition mechanism. According to the technical scheme provided by the invention, the fault detection efficiency can be improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of fault detection, in particular to a gear health degree detection method and system based on asymmetric dynamic excitation. BACKGROUND

[0002] When the existing industrial equipment has faults in important components such as gears and bearings, the working efficiency of the transmission system will decrease, and the vibration and noise will increase. If the fault is not detected in time, the transmission system may stop or even be damaged, so the existing industrial equipment needs a method that can detect faults in time to improve safety.

[0003] The existing detection method uses a high-complexity signal processing method for fault detection, which is based on Fourier transform, time-frequency analysis, etc. to calculate dynamic transmission error calculation, and based on Kalman filter and singular value decomposition to perform vibration inversion. However, this method requires high computing power of the processing unit, especially in the case of continuous detection of multi-stage transmission systems, the amount of calculation will greatly increase, slowing down the fault detection efficiency. And the existing detection method is based on the dynamic meshing characteristic analysis of the finite element to perform fault detection, which can achieve high-precision detection, but it needs to build a complex contact mechanics model, and the solution of this model requires complex iterative calculation, which is difficult to realize real-time detection, so its fault detection efficiency is low. And the existing detection method is based on vibration signals for fault detection, but the vibration signal will attenuate along the transmission path and is easily disturbed by environmental noise. In a multi-stage transmission system, the vibration signals of each stage of gears will be superimposed and modulated during the transmission process in the box, causing early fault features to be submerged, reducing the reliability of the evaluation results. If further analysis and processing are based on the obtained vibration signals, the calculation complexity will increase, and the fault detection efficiency will decrease. SUMMARY

[0004] The present application aims to provide a gear health degree detection method and system based on asymmetric dynamic excitation to solve the above technical problems and improve the fault detection efficiency.

[0005] To solve the above technical problems, the present application provides a gear health degree detection method based on asymmetric dynamic excitation, taking a controller as the execution subject, the controller being in communication connection with a target motor, the method comprising the following steps:

[0006] controlling the target motor to perform a stepping action to a preset initial angle;

[0007] taking the preset initial angle as a target angle, and based on the target angle, performing a positioning space-time parameter acquisition step;

[0008] if the target angle does not satisfy the preset circumferential angle threshold, repeatedly performing the positioning space-time acquisition step based on the target angle until the target angle satisfies the preset circumferential angle threshold, to obtain a plurality of positioning times and a plurality of positioning errors corresponding to each positioning space-time parameter acquisition step;

[0009] a plurality of positioning times are taken as a positioning time sequence, a plurality of positioning errors are taken as a positioning error sequence, and the positioning time sequence and the positioning error sequence are calculated and processed to obtain a gear health value;

[0010] The positioning space-time parameter acquisition step includes:

[0011] Based on the target angle, the target angle is updated under a preset asymmetric angle increment formula.

[0012] Based on the target angle, the target motor is controlled to perform a stepping action, and under a preset space-time parameter acquisition mechanism, a positioning time and a positioning error are obtained.

[0013] The above scheme only needs to obtain a gear health value based on a positioning time and a positioning error, and can perform fault detection based on the gear health value. Compared with the existing detection method which requires a complex calculation process, the scheme greatly reduces the calculation complexity required to obtain the gear health value, thereby improving the efficiency of fault detection. In the above scheme, based on the target angle, the target angle is updated under a preset asymmetric angle increment formula, and the corresponding target motor is driven based on the target angle. Therefore, in the process of repeatedly performing the positioning space-time parameter acquisition step, the target motor can perform asymmetric reciprocating stepping actions based on the target angle. Therefore, the target motor can be forced to switch the meshing tooth surface to expose the backlash defect, thereby actively detecting faults. Compared with traditional passive fault detection, the scheme can more timely detect faults and improve fault detection efficiency.

[0014] Further, the target angle is updated based on the target angle under a preset asymmetric angle increment formula, including: obtaining the number of times of executing the positioning space-time parameter acquisition step, and based on the number of times, calculating and processing under a preset asymmetric increment variable formula to obtain an increment variable value; based on the increment variable value, calculating and processing under a preset increment quantitative value to obtain a current increment angle value; based on the target angle and the increment angle value, updating the target angle.

[0015] The above scheme can obtain regular and asymmetric incremental variable values under a preset asymmetric incremental variable formula, and the target angle obtained based on the incremental variable values can drive the target motor to forcibly switch the meshing tooth surface and actively excite the gear backlash defect, thereby achieving active detection of the fault, improving the fault detection efficiency, and effectively covering all tooth surfaces by the target angle, reducing the detection blind area, and making the gear health degree score obtained in the subsequent calculation more reliable.

[0016] Further, the calculation processing based on the execution number under a preset asymmetric incremental variable formula to obtain an incremental variable value includes: if the execution number is odd, calculating and processing based on the execution number to obtain a negative incremental variable value; and if the execution number is even, calculating and processing based on the execution number to obtain a positive incremental variable value; wherein the amplitude of the incremental variable value is greater than the amplitude of the preset incremental quantitative value.

[0017] The incremental variable value obtained in the above scheme can make the target motor reciprocate in a non-symmetrical angle from forward stepping to reverse stepping in the process of cyclically executing the positioning time and space parameter acquisition step, and the cyclic motion will end when the cumulative stepping angle of the target motor is a circumference, so that the target motor can forcibly switch the meshing tooth surface to excite the gear backlash defect, thereby achieving active detection of the fault, improving the fault detection efficiency, and effectively covering all tooth surfaces by the cumulative stepping angle of the target motor, making the gear health degree score obtained subsequently more reliable, and improving the accuracy of fault detection.

[0018] Further, the control of the target motor to perform a stepping action based on the target angle and the obtaining of positioning time and positioning error under a preset time and space parameter acquisition mechanism includes: controlling the target motor to perform a stepping action to the target angle based on the target angle, and continuously acquiring the duration of the target motor stepping action and the real-time angle corresponding to the duration; and if the real-time angle and the duration meet a preset precision condition, obtaining the positioning time and the positioning error based on the real-time angle and the duration.

[0019] Further, if the real-time angle and the duration meet a preset precision condition, the obtaining of the positioning time and the positioning error based on the real-time angle and the duration includes: calculating and processing based on the real-time angle and the target angle to obtain an angle absolute difference value; and if the angle absolute difference value meets a preset precision error and the duration meets a preset action time, obtaining the positioning time and the positioning error based on the real-time angle and the duration.

[0020] Further, the current positioning time and the current positioning error are obtained based on the real-time angle and the duration, including: taking the duration as the current positioning time; and performing absolute difference calculation based on the real-time angle and the target angle to obtain the positioning error.

[0021] The above scheme obtains the positioning time and the positioning error based on the obtained real-time angle and duration, and then performs subsequent detection; the existing detection method based on the vibration signal has the technical problem that the vibration signals of gears at all levels are superimposed and modulated during transmission in the box, so that early fault features are submerged, and the reliability of the evaluation result is reduced; therefore, the subsequent detection is performed based on the positioning time and the positioning error in the present scheme, which can improve the reliability of the final health score, and does not require the complex signal processing technology in the prior art, thereby reducing the calculation complexity and detection cost, and further improving the efficiency of fault detection.

[0022] Further, if the real-time angle and the duration meet the preset precision condition, the positioning time and the positioning error are obtained based on the real-time angle and the duration, and the method further includes: if the duration meets a preset timeout threshold, performing absolute difference calculation based on the real-time angle and the target angle to obtain the current positioning error, and taking a preset timeout time as the current positioning time.

[0023] In the above scheme, the target motor is driven to perform a stepping action until the target angle based on the target angle, but when there is a serious fault, the time required for the target motor to perform the stepping action to the target angle will be much greater than the normal time threshold, so the timeout threshold is set in the present scheme, and additional calculation processing is performed when the timeout threshold is reached, so that the positioning error and the positioning time obtained can better reflect the serious fault condition, thereby improving the reliability of fault detection; and when the duration meets the preset timeout threshold, the target motor will no longer be waited to perform the stepping action to meet the preset precision error threshold, but the calculation processing is directly performed to obtain the positioning error and the positioning time, so that the present scheme can reduce the time required for detection and improve the detection efficiency.

[0024] Further, the gear health value is obtained by performing calculation processing based on the positioning time sequence and the positioning error sequence, including: performing calculation processing based on the positioning time sequence to obtain an average positioning time; performing calculation processing based on the positioning error sequence to obtain an average positioning error; and obtaining the gear health value based on the average positioning time and the average positioning error under a preset gear health mechanism.

[0025] Further, the gear health value is obtained based on the average positioning time and the average positioning error under a preset gear health mechanism, comprising: obtaining a positioning time score value based on the average positioning time under a preset positioning time weight; obtaining a positioning error score value based on the average positioning error under a preset positioning error weight; and calculating and processing based on the positioning time score value and the positioning error score value to obtain the gear health value.

[0026] In the above scheme, the gear health value can be obtained based on the positioning error and the positioning time. Compared with the complex fault detection score mechanism of the prior art, the present scheme can perform fault detection based on the simple and intuitive gear health value, so the calculation complexity is lower, and the detection efficiency is improved.

[0027] The present application also provides a gear health detection system based on asymmetric dynamic excitation, comprising: an initialization module for controlling the target motor to perform a stepping action to a preset initial angle; a driving positioning space-time parameter acquisition step module for taking the preset initial angle as a target angle and performing a positioning space-time parameter acquisition step based on the target angle; a positioning space-time parameter acquisition module for repeatedly performing the positioning space-time parameter acquisition step based on the target angle until the target angle meets a preset circumferential angle threshold, obtaining a plurality of positioning times and a plurality of positioning errors corresponding to each positioning space-time parameter acquisition step; and a gear health value acquisition module for taking the plurality of positioning times obtained by the positioning space-time parameter acquisition module as a positioning time sequence, taking the plurality of positioning errors obtained by the positioning space-time parameter acquisition module as a positioning error sequence, and calculating and processing based on the positioning time sequence and the positioning error sequence to obtain a gear health value; the positioning space-time parameter acquisition step comprises: an asymmetric excitation updating module for updating the target angle under a preset asymmetric angle increment formula based on the target angle; and a positioning time and positioning error acquisition module for controlling the target motor to perform a stepping action based on the target angle updated by the asymmetric excitation updating module and obtaining a positioning time and a positioning error under a preset space-time parameter acquisition mechanism.

[0028] The asymmetric excitation updating module of the above scheme can drive the target motor to perform a non-symmetrical reciprocating cycle stepping action, so that the present scheme can force the target motor to switch the meshing tooth surface to expose the backlash defect, thereby achieving active detection of the fault. Compared with the traditional passive fault detection, the fault can be found more timely, and the fault detection efficiency is improved. Moreover, based on the non-symmetrical reciprocating cycle stepping action process, the obtained positioning error and positioning time can better reflect the backlash defect, improve the reliability of the subsequently obtained gear health value, and further improve the fault detection accuracy. BRIEF DESCRIPTION OF DRAWINGS

[0029] Figure 1 A technical implementation flowchart of a gear health degree detection method based on asymmetric dynamic excitation is provided for an embodiment of the present application.

[0030] Figure 2 A hardware system schematic diagram applied to a gear health degree detection method based on asymmetric dynamic excitation is provided for an embodiment of the present application.

[0031] Figure 3 A gear health degree detection system architecture schematic diagram based on asymmetric dynamic excitation is provided for an embodiment of the present application. DETAILED DESCRIPTION

[0032] The technical solutions in the embodiments of the present application will be clearly and completely described with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of protection of the present application.

[0033] Please refer to Figure 1 The present embodiment provides a gear health degree detection method based on asymmetric dynamic excitation, taking a controller as an execution subject, the controller being in communication connection with a target motor. The method comprises the following steps:

[0034] Step S1: controlling the target motor to perform a stepping action to a preset initial angle;

[0035] Step S2: taking the preset initial angle as a target angle, and performing a positioning time-space parameter acquisition step based on the target angle;

[0036] Step S3: if the target angle does not satisfy a preset circumferential angle threshold, repeatedly performing the positioning time-space acquisition step based on the target angle until the target angle satisfies the preset circumferential angle threshold, so as to obtain a plurality of positioning times and a plurality of positioning errors corresponding to each positioning time-space parameter acquisition step;

[0037] Step S4: taking the plurality of positioning times as a positioning time sequence, taking the plurality of positioning errors as a positioning error sequence, and performing calculation and processing based on the positioning time sequence and the positioning error sequence, so as to obtain a gear health value;

[0038] The positioning time-space parameter acquisition step comprises:

[0039] Step S21: updating the target angle under a preset asymmetric angle increment formula based on the target angle;

[0040] Step S22: based on the target angle, control the target motor to perform a stepping action, and under a preset spatiotemporal parameter acquisition mechanism, obtain a positioning time and a positioning error.

[0041] It should be noted that the gear health detection method based on asymmetric dynamic excitation described in the embodiment is applied in a hardware system as shown in the figure, which includes an optical code disc, a master control, a motor and a gear; wherein the output end of the optical code disc is connected with the input end of the master control, for acquiring real-time angles and durations, and transmitting the acquired real-time angles and durations into the master control; the master control can be used as a controller, and its output end is connected with the input end of the motor, for controlling the motor to perform an action; the motor can be used as the target motor, for performing a stepping action to drive the gear to rotate. Figure 2

[0042] The above embodiment only needs to obtain a gear health value based on the positioning time and the positioning error, and can perform fault detection based on the gear health value. Compared with the existing detection method which needs a complex calculation process, the embodiment greatly reduces the calculation complexity required to obtain the gear health value, thereby improving the efficiency of fault detection. In the above embodiment, the target angle is updated based on the target angle and a preset asymmetric angle increment formula, and the corresponding target motor is driven based on the target angle. Therefore, in the process of repeatedly performing the positioning spatiotemporal parameter acquisition step, the target motor can perform a non-symmetrical reciprocating stepping action based on the target angle. Therefore, the target motor can be forced to switch the meshing tooth surface to expose the backlash defect, thereby achieving active detection of faults. Compared with traditional passive fault detection, the embodiment can more timely detect faults and improve the efficiency of fault detection.

[0043] Further, the updating of the target angle based on the target angle and a preset asymmetric angle increment formula includes: acquiring the number of times of execution of the positioning spatiotemporal parameter acquisition step, and based on the number of times of execution, performing calculation processing under a preset asymmetric increment variable formula to obtain an increment variable value; based on the increment variable value, performing calculation processing under a preset increment quantitative value to obtain a current increment angle value; and based on the target angle and the increment angle value, performing calculation processing to update the target angle.

[0044] The above embodiment can obtain a regular and asymmetric increment variable value under a preset asymmetric increment variable formula. The target angle obtained based on the increment variable value can force the target motor to switch the meshing tooth surface, actively excite the gear backlash defect, and achieve active detection of faults, thereby improving the efficiency of fault detection. Moreover, each target angle can effectively cover all tooth surfaces, reduce the detection blind area, and make the gear health score obtained in subsequent calculation more reliable.

[0045] ​It should be noted that the increment angle value obtained in the embodiment should fall within the range of 0.5° to 5° if it is positive; preferably, the obtained increment angle value is 1°.

[0046] Further, the calculation processing based on the execution number under the preset asymmetric increment variable formula to obtain an increment variable value includes: if the execution number is odd, performing calculation processing based on the execution number to obtain a negative increment variable value; if the execution number is even, performing calculation processing based on the execution number to obtain a positive increment variable value; wherein the amplitude of the increment variable value is greater than the amplitude of the preset increment quantitative value.

[0047] The increment variable value obtained in the above embodiment can make the target motor perform asymmetric angle reciprocating motion from forward stepping to reverse stepping in the process of cyclically executing the positioning time parameter acquisition step, and the cyclic motion will end when the accumulated stepping angle of the target motor is a circle, which can make the target motor forcibly switch the meshing tooth surface to excite the gear backlash defect, realize active detection of the fault, and further improve the fault detection efficiency. The stepping accumulation angle of the target motor can effectively cover all tooth surfaces, so that the subsequent gear health degree score has higher reliability, and the accuracy of fault detection is improved.

[0048] It should be noted that the amplitude ratio of the reverse increment angle value and the positive increment angle value obtained in the embodiment should fall within the range of 0.4 to 0.6; therefore, the reverse increment angle value obtained in the embodiment can be set to -1.5°, and the corresponding positive increment angle value is 2°; and the reverse increment angle value obtained in the embodiment can be set to -1°, and the corresponding positive increment angle value is 2°, and at this time, the target motor can be controlled to perform a stepping action to a target angle, and then controlled to perform a pause action, the duration of the pause action is 100 ms, and then the target motor is controlled to perform a next stepping action based on the updated target angle.

[0049] Preferably, the amplitude ratio of the reverse increment angle value and the positive increment angle value obtained is 0.5.

[0050] Further, the target motor is controlled to perform a stepping action based on the target angle, and positioning time and positioning error are obtained under a preset time-space parameter acquisition mechanism, including: the target motor is controlled to perform a stepping action to the target angle based on the target angle, and the duration of the target motor stepping action and the real-time angle corresponding to the duration are continuously acquired; if the real-time angle and the duration meet a preset precision condition, the positioning time and the positioning error are obtained based on the real-time angle and the duration.

[0051] Further, if the real-time angle and the duration meet a preset precision condition, the positioning time and the positioning error are obtained based on the real-time angle and the duration, including: the absolute difference value is obtained by performing calculation processing based on the real-time angle and the target angle; if the absolute difference value meets a preset precision error, and the duration meets a preset action time, the positioning time and the positioning error are obtained based on the real-time angle and the duration.

[0052] Further, the current positioning time and the current positioning error are obtained based on the real-time angle and the duration, including: the duration is taken as the current positioning time; the positioning error is obtained by performing absolute difference value calculation processing based on the real-time angle and the current target angle.

[0053] The above embodiment obtains the positioning time and the positioning error based on the obtained real-time angle and the duration, and then performs subsequent detection; the existing detection method based on the vibration signal has the technical problem that the vibration signals of gears at all levels are superimposed and modulated in the transmission process of the box, so that the early fault features are submerged, and the reliability of the evaluation result is reduced; therefore, the embodiment performs subsequent detection based on the positioning time and the positioning error, can improve the reliability of the finally obtained health degree score, does not need the complex signal processing technology in the prior art, reduces the calculation complexity and the detection cost, and further improves the efficiency of fault detection.

[0054] Further, if the real-time angle and the duration meet a preset precision condition, the positioning time and the positioning error are obtained based on the real-time angle and the duration, including: the absolute difference value is obtained by performing calculation processing based on the real-time angle and the target angle; if the absolute difference value meets a preset precision error, and the duration meets a preset action time, the positioning time and the positioning error are obtained based on the real-time angle and the duration.

[0055] In the above embodiment, the target motor is driven to perform a stepping action until the target angle based on the target angle, but when there is a serious fault, the time required for the target motor to perform the stepping action to the target angle will be much greater than the normal time threshold, so the embodiment sets a timeout threshold, and performs additional calculation processing when the timeout threshold is reached, so that the obtained positioning error and positioning time can better reflect the serious fault condition, and the reliability of fault detection is improved; and when the duration meets the preset timeout threshold, the target motor will no longer be waited to perform the stepping action to meet the preset precision error threshold, but the calculation processing is directly performed to obtain the positioning error and the positioning time, so the embodiment can reduce the detection time and improve the detection efficiency.

[0056] Further, the calculating and processing based on the positioning time sequence and the positioning error sequence to obtain the gear health value comprises: calculating and processing based on the positioning time sequence to obtain an average positioning time; calculating and processing based on the positioning error sequence to obtain an average positioning error; and obtaining the gear health value based on the average positioning time and the average positioning error under a preset gear health mechanism.

[0057] Further, the obtaining the gear health value based on the average positioning time and the average positioning error under the preset gear health mechanism comprises: obtaining a positioning time score value based on the average positioning time under a preset positioning time weight; obtaining a positioning error score value based on the average positioning error under a preset positioning error weight; and calculating and processing based on the positioning time score value and the positioning error score value to obtain the gear health value.

[0058] In the above embodiment, the gear health value can be obtained based on the positioning error and the positioning time, and compared with the complex fault detection score mechanism in the prior art, the fault detection can be performed based on the simple and intuitive gear health value, so that the calculation complexity is lower, and the detection efficiency is improved.

[0059] It should be noted that the sum of the positioning error weight and the positioning time weight in the embodiment is 100%; preferably, the preset positioning error weight is 50%, and the preset positioning time weight is 50%.

[0060] Please refer to Figure 3The embodiment also provides a gear health detection system based on asymmetric dynamic excitation, comprising: an initialization module configured to control a target motor to perform a stepping action to a preset initial angle; a driving positioning time-space parameter acquisition step module configured to take the preset initial angle as a target angle, and perform a positioning time-space parameter acquisition step based on the target angle; a positioning time-space parameter acquisition module configured to repeatedly perform the positioning time-space parameter acquisition step based on the target angle until the target angle meets a preset circumferential angle threshold, if the target angle does not meet the preset circumferential angle threshold, to obtain a plurality of positioning times and a plurality of positioning errors corresponding to each positioning time-space parameter acquisition step; and a gear health value acquisition module configured to take the plurality of positioning times obtained by the positioning time-space parameter acquisition module as a positioning time sequence, take the plurality of positioning errors obtained by the positioning time-space parameter acquisition module as a positioning error sequence, and perform calculation and processing based on the positioning time sequence and the positioning error sequence to obtain a gear health value; the positioning time-space parameter acquisition step comprises: an asymmetric excitation updating module configured to update the target angle under a preset asymmetric angle increment formula based on the target angle; and a positioning time and positioning error acquisition module configured to control the target motor to perform a stepping action based on the target angle updated by the asymmetric excitation updating module, and obtain a positioning time and a positioning error under a preset time-space parameter acquisition mechanism.

[0061] The asymmetric excitation updating module of the above embodiment can drive the target motor to perform a non-symmetrical reciprocating stepping action, so that the positioning error and the positioning time obtained based on the non-symmetrical reciprocating stepping action process of the embodiment can better reflect the backlash defect, improve the reliability of the gear health value obtained subsequently, and further improve the fault detection accuracy; and the embodiment can force the target motor to switch the meshing tooth surface to expose the backlash defect, and thus actively detects the fault, which can discover the fault more timely and improve the fault detection efficiency compared with the traditional passive fault detection.

[0062] The above is the preferred embodiment of the present application, and it should be noted that those skilled in the art can make some improvements and refinements without departing from the principles of the present application, and these improvements and refinements are also considered within the protection scope of the present application.

Claims

1. A method for detecting gear health based on asymmetric dynamic excitation, characterized in that, Using a controller as the execution entity, and the controller being communicatively connected to the target motor, the method includes the following steps: Control the target motor to perform a stepping motion to a preset initial angle; The preset initial angle is used as the target angle, and the positioning spatiotemporal parameter acquisition step is performed based on the target angle; If the target angle does not meet the preset circumferential angle threshold, the positioning spatiotemporal acquisition step is repeated based on the target angle until the target angle meets the preset circumferential angle threshold, thereby obtaining several positioning times and several positioning errors corresponding to each positioning spatiotemporal parameter acquisition step. The positioning times are used as a positioning time series, and the positioning errors are used as a positioning error series. Based on the positioning time series and the positioning error series, calculations are performed to obtain the gear health value. The steps for obtaining the positioning spatiotemporal parameters include: Based on the target angle, the target angle is updated using a preset asymmetric angle increment formula; Based on the target angle, the target motor is controlled to perform stepping motion, and the positioning time and positioning error are obtained under the preset spatiotemporal parameter acquisition mechanism.

2. The gear health detection method based on asymmetric dynamic excitation according to claim 1, characterized in that, The step of updating the target angle based on the target angle using a preset asymmetric angle increment formula includes: The number of times the positioning spatiotemporal parameter step is executed is obtained, and based on the number of executions, calculations are performed under a preset asymmetric incremental variable formula to obtain the incremental variable value; Based on the incremental variable value, calculations are performed under a preset incremental quantitative value to obtain the current incremental angle value; The target angle is updated based on the target angle and the incremental angle value.

3. The gear health detection method based on asymmetric dynamic excitation according to claim 2, characterized in that, The step of calculating the incremental variable value based on the number of executions, using a preset asymmetric incremental variable formula, includes: If the number of executions is odd, then calculations are performed based on the number of executions to obtain a negative incremental variable value; If the number of executions is even, then calculations are performed based on the number of executions to obtain a positive incremental variable value; The magnitude of the incremental variable value is greater than the magnitude of the preset incremental quantitative value.

4. The gear health detection method based on asymmetric dynamic excitation according to claim 1, characterized in that, The step of controlling the target motor to perform a stepping motion based on the target angle, and obtaining the positioning time and positioning error under a preset spatiotemporal parameter acquisition mechanism, includes: Based on the target angle, the target motor is controlled to perform a stepping motion to the target angle, and the duration of the stepping motion of the target motor and the real-time angle corresponding to the duration are continuously acquired. If the real-time angle and the duration meet the preset accuracy conditions, the positioning time and positioning error are obtained based on the real-time angle and the duration.

5. The gear health detection method based on asymmetric dynamic excitation according to claim 4, characterized in that, If the real-time angle and the duration meet a preset accuracy condition, then the positioning time and positioning error are obtained based on the real-time angle and the duration, including: The absolute angle difference is obtained by calculating the real-time angle and the target angle. If the absolute difference of the angle meets the preset accuracy error and the duration meets the preset action time, then the positioning time and positioning error are obtained based on the real-time angle and the duration.

6. The gear health detection method based on asymmetric dynamic excitation according to claim 4, characterized in that, The process of obtaining the current positioning time and current positioning error based on the real-time angle and the duration includes: Use the duration as the current positioning time; The positioning error is obtained by calculating the absolute difference between the real-time angle and the current target angle.

7. The gear health detection method based on asymmetric dynamic excitation according to claim 4, characterized in that, If the real-time angle and the duration meet a preset accuracy condition, then the positioning time and positioning error are obtained based on the real-time angle and the duration, further comprising: If the duration meets the preset timeout threshold, then the absolute difference between the real-time angle and the current target angle is calculated to obtain the current positioning error, and the preset timeout time is used as the current positioning time.

8. The gear health detection method based on asymmetric dynamic excitation according to claim 1, characterized in that, The calculation and processing based on the positioning time series and the positioning error series to obtain the gear health value includes: The average positioning time is obtained by performing calculations based on the positioning time series. The average positioning error is obtained by performing calculations based on the positioning error sequence. Based on the average positioning time and the average positioning error, a gear health value is obtained under a preset gear health mechanism.

9. The gear health detection method based on asymmetric dynamic excitation according to claim 8, characterized in that, The process of obtaining a gear health value based on the average positioning time and the average positioning error under a preset gear health mechanism includes: Based on the average positioning time, a positioning time score is obtained under a preset positioning time weight. Based on the average positioning error, a positioning error score is obtained under a preset positioning error weight. The gear health value is obtained by calculating and processing the positioning time score and the positioning error score.

10. A gear health detection system based on asymmetric dynamic excitation, characterized in that, A gear health detection method for implementing an asymmetric dynamic excitation as described in any one of claims 1 to 9 includes: The initialization module is used to control the target motor to perform stepping motions to a preset initial angle; The module for driving the positioning spatiotemporal parameter acquisition step is used to take a preset initial angle as the target angle and, based on the target angle, execute the positioning spatiotemporal parameter acquisition step. If the target angle does not meet the preset circumferential angle threshold, the positioning spatiotemporal parameter acquisition module repeats the positioning spatiotemporal parameter acquisition step based on the target angle until the target angle meets the preset circumferential angle threshold, thereby obtaining several positioning times and several positioning errors corresponding to each positioning spatiotemporal parameter acquisition step. The gear health value acquisition module takes several positioning times obtained by the positioning spatiotemporal parameter acquisition module as a positioning time sequence, takes several positioning errors obtained by the positioning spatiotemporal parameter acquisition module as a positioning error sequence, and performs calculations based on the positioning time sequence and the positioning error sequence to obtain the gear health value. The steps for obtaining the positioning spatiotemporal parameters include: An asymmetric excitation update module is used to update the target angle based on the target angle and under a preset asymmetric angle increment formula. The positioning time and positioning error acquisition module is used to control the target motor to perform stepping actions based on the target angle updated by the asymmetric excitation update module, and to obtain the positioning time and positioning error under the preset spatiotemporal parameter acquisition mechanism.

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