CN106017948A - Tea garden tractor remote fault diagnosis system and method - Google Patents
Tea garden tractor remote fault diagnosis system and method Download PDFInfo
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- CN106017948A CN106017948A CN201610586761.9A CN201610586761A CN106017948A CN 106017948 A CN106017948 A CN 106017948A CN 201610586761 A CN201610586761 A CN 201610586761A CN 106017948 A CN106017948 A CN 106017948A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M17/00—Testing of vehicles
- G01M17/007—Wheeled or endless-tracked vehicles
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- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
- G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
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Abstract
The invention discloses a tea garden tractor remote fault diagnosis system and method. The tea garden tractor remote fault diagnosis system comprises an information acquisition module, an information coding and transmitting module and an information processing module which are sequentially connected, wherein the information acquisition module acquires environmental parameters of tractor parameters, the acquired parameters are coded through the information coding and transmitting module and transmitted to a monitoring center through a wireless network, the information processing module of the monitoring center decodes the information, carries out analysis and diagnosis and displays a result; and a dynamic tractor theoretical condition database is established through a computer equipped with Carsim in analysis and diagnosis, received actual tractor condition data is compared with the theoretical condition data so as to diagnose whether a fault exists or not, and the corresponding fault information is displayed through an LED screen. According to the system and the method disclosed by the invention, real-time tracking and monitoring are carried out through the computer, diagnosis can be performed quickly, a fault is discovered timely, the maintenance cycle of the tea garden tractor is shortened, and the system also has good application values on the aspect of vehicle performance evaluation in the development phase of the tractor.
Description
Technical field
The invention belongs to tractor technical field, be specifically related to a kind of tea place tractor remote failure diagnosis system and method.
Background technology
Tea place tractor (Tea garden tractor): also known as " tea garden tillage machine ", for the machinery of tea place cultivation management.With
Developing rapidly of Internet/Intranet technology, contemporary manufacturing mode is just towards integrated, networking, globalization direction
Development, emerges the Manufactured Theory Makes Enli such as intelligence manufacture, network-manufacturing.Tea place tractor with network as carrier is remote
Remote fault diagnosis system, can allow people know the fault that tea place tractor is occurred faster, disposes event at short notice
Barrier.For being still in China of tea place tugger starting stage, obtain the fault of machine, Ke Yirang faster
We revise the imperfection in product faster, accelerate the developing steps of China's tea place tractor, strengthen the reality to product quality
Execute tracking, there is bigger Practical significance and market value.Additionally, remote fault diagnosis also has for other work aspects
Greater significance.
Summary of the invention
For the problems referred to above, the present invention proposes a kind of tea place tractor remote failure diagnosis system and method, the technology of employing
Scheme is as follows:
A kind of tea place tractor remote failure diagnosis system, including information acquisition module, information coding transmission module and information
Processing module；Described information acquisition module, information coding transmission module, message processing module are sequentially connected；
Described information acquisition module includes environment information acquisition module and tractor information acquisition module；Described environmental information is adopted
Collection module includes gathering the road grade information acquisition module of road grade information, gathering the ambient temperature letter of ambient temperature information
Breath acquisition module and the wind speed information acquisition module of collection wind speed information；Described tractor information acquisition module includes that diesel oil is sent out
Motivation information acquisition module, power train information acquisition module, braking system information acquisition module, steering system information acquisition module with
And hydraulic system information acquisition module；Described Diesel engine information acquisition module is used for gathering engine flywheel rotating speed and chi bar
Shift fork change in location；Described power train information acquisition module is used for gathering rotating speed of transmission shaft and power transmission shaft acceleration；Described braking
It is that information acquisition module is for gathering the angle that brake-shoe turns over；Described steering system information acquisition module is used for gathering steering pump
Rotating speed and the acceleration of knuckle；Described hydraulic system information acquisition module is used for gathering return pressure, hydraulic fluid temperature and liquid
Face height；
Described information coding transmission module includes information coding module and information transmission modular, described information coding module and information
Transport module is connected with each other；Described information coding module is connected with described information acquisition module, for described information gathering mould
The information of block collection carries out coded treatment, and described information transmission modular is for being sent to institute by the information of coding by wireless network
State message processing module；
Described message processing module includes information receiving module, formation-decoding module, information analysis module and information display mould
Block, described information receiving module, formation-decoding module, information analysis module and information display module concatenate mutually；Institute
State information receiving module and received the coding information transmitted by wireless network；Described formation-decoding module is for reception
Coding information is decoded processing；Described information analysis module is for decoded tractor parameter detecting value and theoretical value phase
Contrast, whether diagnosis tractor exists fault；Described information display module is for showing the fault message of tractor.
Further, described environment information acquisition module is realized by sensor group, and described sensor group includes that level indicator, temperature pass
Sensor and constant temperature anemometer.
Further, described diesel engine information acquisition module is realized by first sensor group, described first sensor group bag
Include and be arranged on flywheel and fix the non-contact type tachometric sensor C111 of end and be arranged on the shift fork position at oil feed pump shift fork
Displacement sensor C112；Described power train information acquisition module is realized by the second sensor group, and described second sensor group includes peace
The non-contact type tachometric sensor C141 being contained on drive axle support and be arranged on the acceleration transducer C142 at the bottom of transmission shafts；
Described braking system information acquisition module is realized by the 3rd sensor group, and described 3rd sensor group includes the system being arranged on braking system
The angular transducer C121 of dynamic hoof side；Described steering system information acquisition module is realized by the 4th sensor group, and the described 4th passes
Sensor group includes being arranged on the speed probe C151 of steering pump power transmission shaft one end and being arranged on the acceleration of knuckle side
Sensor C152；Described hydraulic system information acquisition module is realized by the 5th sensor group, and described 5th sensor includes installing
Pressure transducer C131, the thermocouple sensor C132 being arranged in hydraulic oil container drain pan in oil return line and be arranged on
Liquid level sensor C133 in hydraulic oil container drain pan.
Further, described information coding module is realized by pager；Described information transmission modular is realized by WLAN.
Further, described information receiving module is insulted 3070 series realizations by thunder；Described formation-decoding module is by chip microcontroller；
Described information analysis module is realized by the computer equipped with Carsim；Described information display module is realized by LED.
The invention allows for a kind of tea place tractor remote fault diagnosis method, comprise the steps:
1) gathering the information needed, described information includes environmental information and tractor self information；
2) environmental information collected and tractor self information are carried out coded treatment, and sent out by WLAN
Give Surveillance center；
3) information obtained is analyzed processing by Surveillance center, and tractor realizes remote fault diagnosis, and by fault shape
Condition is shown by screen.
Further, described step 1) realization comprise the steps:
1.1) constructing environment information acquisition module, gathers the specifying information of tractor local environment；Described environment information acquisition mould
Block includes road grade information acquisition module, ambient temperature information acquisition module and wind speed information acquisition module；Described road
Grade information acquisition module is a sensor unit, and described sensor unit is level indicator C21, measures incline direction
With angular dimension；Described ambient temperature information acquisition module is a sensor unit, and described sensor unit is a temperature
Sensor C22, measures ambient temperature；Described wind speed information acquisition module is a sensor unit, described sensor
Unit is a constant temperature anemometer C23, measures extraneous wind speed；
1.2) build tractor information acquisition module, gather the specific works information of tractor；Described tractor information gathers mould
Block includes Diesel engine information acquisition module, power train information acquisition module, braking system information acquisition module, and steering system is believed
Breath acquisition module and hydraulic system information acquisition module；Described diesel engine information acquisition module includes information gathering list
Unit, described information acquisition unit is a non-contact type tachometric sensor C111, a shift fork displacement transducer C112, institute
Stating non-contact type tachometric sensor C111 and detect engine flywheel rotating speed, described shift fork displacement transducer C112 detection ruler bar is dialled
Fork change in location, in order to determine fuel delivery；Described power train information acquisition module includes that information acquisition unit, described information are adopted
Collection unit is a speed probe C141 and an acceleration transducer C142, and described speed probe C141 detects biography
Moving axis rotating speed, described acceleration transducer C142 detects power transmission shaft acceleration；Described braking system information acquisition module includes letter
Breath collecting unit, described information acquisition unit is an angular transducer C121, and described angular transducer C121 is used for detecting
The angle that brake-shoe turns over；Described steering system information acquisition module includes that information acquisition unit, described information acquisition unit are one
An individual speed probe C151 and acceleration transducer C152, described speed probe C151 detect steering pump rotating speed,
The acceleration of described acceleration transducer C152 detection knuckle；Described hydraulic system information acquisition module includes information gathering
Unit, described information acquisition unit includes a pressure transducer C131, a thermocouple sensor C132 and a liquid
Level sensor C133, pressure transducer C131 are used for detecting return pressure, and described thermocouple sensor C132 is used for detecting
Hydraulic fluid temperature, described liquid level sensor C133 is used for monitoring liquid level.
Further, described step 2) realization comprise the steps:
2.1) build information coding module, the information encoder collected is edited and released with POCSAG coded system, convenient
Transmission；Described encoder is one block of civilian pager circuit plate；
2.2) build information transmission modular, by network, the information after coding is sent to Surveillance center；Described network is nothing
Line LAN, described WLAN is provided by telecom operators.
Further, described step 3) realization comprise the steps:
3.1) build information receiving module, receive the information sended over by information transmission modular；Described information receiving module bag
Including wireless signal receiver, described wireless signal receiver uses thunder to insult 3070 series；
3.2) building formation-decoding module, the coding information received by information receiving module decodes, correct identification bit synchronization code,
And make sampling instant and POCSAG synchronizing information；Follow-up code word is accurately sampled, often by serial port after one byte of formation
It is sent to information analysis module；Described formation-decoding module is one piece of single-chip microcomputer；
3.3) building information analysis module, be analyzed decoded information processing, whether the working condition of diagnosis tractor
Normally；Described message processing module is made up of the computer being provided with Carsim；
3.4) building information display module, the result obtained by information analysis module shows；Described information display module is
One piece of LED screen.
Further, described step 3.3) described in the working condition of diagnosis tractor realize including as follows the most normally
Step:
3.3.1) by Carsim software building dynamic tractor theory floor data storehouse, provide for the actual condition data collected
Correction data；Described Dynamic Theory floor data storehouse includes Diesel engine theory floor data, power train theory floor data,
Braking system theory floor data, steering system theory floor data and hydraulic system theory floor data；Described diesel engine power
Theoretical floor data includes engine speed, oil feed pump chi bar shift fork displacement；Described power train theory floor data includes transmission
Axle rotating speed and power transmission shaft acceleration；Described braking system theory floor data includes that brake-shoe brakes angle；Described steering system is managed
Opinion floor data includes steering pump rotating speed and knuckle acceleration；Described hydraulic system theory floor data includes fluid pressure
Power, oil liquid temperature and fluid position；
The method in described Carsim software building dynamic tractor theory floor data storehouse is particularly as follows: equipped with the calculating of Carsim
Machine Rcv decoder sends the environmental information of coming, and is entered in Carsim, Carsim set up corresponding analog loop
Border, reality tractor model is inputted computer simultaneously, set up tractor dynamic power model, obtain tractor theory operating mode, electric
Brain dynamically updates simulated environment, real-time update tractor theory floor data storehouse according to receiving the environmental information come；
3.3.2) carrying out information calculating process, described information computation processing method uses matching type or fuzzy algorithmic approach；
If the code name that i is institute's monitoring parameter, i=1～11, i=1 represent that rotary speed of diesel engine, i=2 represent the displacement of ratch,
I=3 represents that throttle position, i=4 represent power train rotating speed of transmission shaft, and i=5 represents power train power transmission shaft acceleration, and i=6 represents system
Dynamic is the displacement of actuating mechanism, and i=7 represents steering system pump speed, and i=8 represents the acceleration of steering system universal joint, i=9 table
Showing the oil liquid pressure of hydraulic system, i=10 represents the oil liquid temperature of hydraulic system, and i=11 represents the fluid position of hydraulic system；
Described matching type is:
Definition actual condition data N2iWith theoretical floor data N1iGap beIf βiMonitor corresponding to i
The specification error allowed band of parameter, when the theoretical floor data of certain structure actual condition data and this structure of numbered i
Gap Δi≤βiTime, then it is diagnosed as these actual condition data and is consistent with theoretical floor data, be otherwise in unusual service condition, root
According to the monitoring parameter corresponding to i, the mechanism gone wrong can be obtained；
Described fuzzy algorithmic approach is:
Input parameter alphai, parameter betai, calculate output fault diagnosis parameter δi, described parameter alphaiFor actual condition data M2iWith reason
Opinion floor data M1iDifference, describedConcretely comprise the following steps:
A. build fuzzy reasoning table and Fuzzy processing function and parameter is carried out Fuzzy Processing
First by parameter alphaiAnd parameter betaiBasic domain be quantified as [-3 ,+3], be separated into 7 grades, i.e. [-3 ,-2 ,-1,0,
+ 1 ,+2 ,+3]；Set up 7*7 rule list afterwards, set up form rule list as follows: NB represent negative big, PB represent honest,
NM represent negative in, PM represent that center, NS represent that negative little, PS represents that the least, ZO represents zero；
{PB,PB,PM,PB,PS,PS,ZO},
{PB,PB,PM,PS,PS,ZO,ZO},
{PM,PM,PM,PS,ZO,NS,NS},
{PM,PM,PS,ZO,NS,NM,NM},
{PS,PS,ZO,NS,NS,NM,NM},
{ZO,NS,NS,NM,NM,NM,NB},
{ZO,ZO,NM,NB,NM,NB,NB}；
Use and wait point triangle to process function to αiCarry out obfuscation: set up array es [i], be used for storing the value after α obfuscation,
Altogether asking 7 times, wherein i ∈ [0 6], when i value is different, a, b, c value is different；
Es [0]=(α-a)/(b-a)；Now a=-3, b=-2；
Es [1]=(α-a)/(b-a)；Now a=-3, b=-1；
Es [2]=(α-a)/(b-a)；Now a=-2, b=-1；
Es [3]=(c-α)/(c-b)；Now a=-1, b=0, c=1；
Es [4]=(c-α)/(c-b)；Now a=0, b=1, c=2；
Es [5]=(c-α)/(c-b)；Now a=1, b=2, c=3；
Es [6]=(c-α)/(c-b)；Now a=2, b=2.5, c=3；
Use and wait a point triangle process function that β carries out obfuscation: set up array ecs [j], after being used for storing β obfuscation
Value, altogether ask 7 times, wherein j ∈ [0 6], when j value is different, a, b, c value is different；
Ecs [0]=(β-a)/(b-a)；Now a=-3, b=-2；
Ecs [1]=(β-a)/(b-a)；Now a=-3, b=-1；
Ecs [2]=(β-a)/(b-a)；Now a=-2, b=-1；
Ecs [3]=(c-β)/(c-b)；Now a=-2, b=0, c=1；
Ecs [4]=(c-β)/(c-b)；Now a=-1, b=0, c=2；
Ecs [5]=(c-β)/(c-b)；Now a=0, b=1, c=2；
Ecs [6]=(c-β)/(c-b)；Now a=1, b=2, c=3；
B. max-min algorithm is used to carry out fuzzy reasoning
Show that the least degree of membership lsd, the credibility of rule pass through minimizing operation by traversal es [i] that seeks common ground, ecs [j]
Obtain, i.e. start successively es [i] and ecs [j] to be compared successively from j=0, less value is stored in corresponding form [i] [j]；Again
Find out numerical value maximum for form [i] [j] in form table, remember i, j now, then according to the form rule list of customization, press
Find position according to i+1 row jth+1 row, this location point is designated as kp, give different values according to kp to a, b, c；As
Under:
If kp=NB, a=-3b=-2c=-1；
If kp=NM, a=-3b=-2c=0；
If kp=NS, a=-3b=-1c=1；
If kp=ZO, a=-2b=0c=2；
If kp=PS, a=-1b=1c=3；
If kp=PM, a=0b=2c=3；
If kp==PB, a=1b=2c=3；
According to the position in rule list, carry out anti fuzzy method, take triangle anti fuzzy method to process function z=(b-a) * lsd+a；
Y=c-(c-b) * lsd；Final according to δi=(y+z)/2 draw Diagnostic parameters δi, and according to δiIt is worth diagnostic result, as follows:
δi< 1, running status is good；
1<δi< 10, fault rate is bigger；
δi> 10, correspondence position breaks down.
Beneficial effects of the present invention:
1, this system is with network as carrier, it is achieved quick diagnosis, finds fault in time, reduces tea place tractor maintenance week
Phase.
2, the present invention proposes research on remote fault diagnosis technology and can also be used for other aspects, such as in tractor development by should
System carries out vehicle performance assessment, can save human resources, reduces cost, improves the market competitiveness.
3, efficient processing speed is high to the processing accuracy of sample.
Accompanying drawing explanation
Fig. 1 is system global structure figure；
Fig. 2 is information acquisition module structure chart；
Fig. 3 is information coding transmission function structure chart；
Fig. 4 is message processing module structure chart；
Fig. 5 is remote monitoring diagnostic method flow diagram of the present invention；
Fig. 6 is system information flow direction figure；
Fig. 7 is the flow chart of matching type in information computation processing method；
Fig. 8 is the flow chart of fuzzy algorithmic approach in information computation processing method.
Detailed description of the invention
The invention will be further described with specific embodiment below in conjunction with the accompanying drawings.
As it is shown in figure 1, remote monitoring diagnostic system of the present invention mainly includes information acquisition module, information coding transmission mould
Block and message processing module, described information acquisition module, information coding transmission module and message processing module are sequentially connected.
As in figure 2 it is shown, described information acquisition module includes environment information acquisition module, tractor information acquisition module.
Described environment information acquisition module includes road grade information acquisition module, ambient temperature information acquisition module and wind speed
Information acquisition module.Described road grade information acquisition module is a sensor unit, and described sensor unit is for being arranged on
One level indicator C21 of tractor chassis, is used for measuring incline direction and angular dimension；Described ambient temperature information gathers mould
Block is a sensor unit, and described sensor unit is the temperature sensor C22 being arranged on body exterior, measures
Ambient temperature；Described wind speed information acquisition module is a sensor unit, and described sensor unit is one and is arranged on
The constant temperature anemometer C23 of body exterior, is used for measuring extraneous wind speed.
Described tractor information acquisition module includes Diesel engine information acquisition module, power train information acquisition module, braking
It is information acquisition module, steering system information acquisition module and hydraulic system information acquisition module.Described diesel engine machine information
Acquisition module includes that information acquisition unit, described information acquisition unit include a non-contact type tachometric sensor C111, one
Shift fork displacement transducer C112；Described non-contact type tachometric sensor C111 is arranged on the fixing end of flywheel, non-contact type tachometric
Sensor C111 is used for detecting engine flywheel rotating speed；Described shift fork displacement transducer C112 installs at oil feed pump shift fork, uses
In detection ruler bar shift fork change in location, in order to determine fuel delivery.Described power train information acquisition module includes information acquisition unit,
Described information acquisition unit includes an a non-contact type tachometric sensor C141 and acceleration transducer C142, described non-
Contact speed probe C141 is fixed on drive axle support for detecting rotating speed of transmission shaft, described acceleration transducer
C142 is contained at the bottom of transmission shafts, is used for detecting power transmission shaft acceleration.Described braking system information acquisition module includes information gathering list
Unit, described information acquisition unit includes that an angular transducer C121, described angular transducer C121 are placed in described braking
The brake-shoe side of system, for detecting the angle that brake-shoe turns over.Described steering system information acquisition module includes information gathering list
Unit, described information acquisition unit includes an a speed probe C151 and acceleration transducer C152, and described rotating speed passes
Sensor C151 is arranged on steering pump power transmission shaft one end, is used for detecting steering pump rotating speed；Described acceleration transducer C152
It is arranged on knuckle side, for detecting the acceleration of knuckle.Described hydraulic system information acquisition module includes information gathering
Unit, described information acquisition unit includes a pressure transducer C131, a thermocouple sensor C132 and a liquid
Level sensor C133, described pressure transducer C131 is arranged in oil return line, is used for detecting return pressure；Described thermocouple
Sensor C132 is arranged in hydraulic oil container oil sump, is used for detecting hydraulic fluid temperature；Described liquid level sensor C133 installs
In oil sump, it is used for monitoring liquid level.
As it is shown on figure 3, described information coding transmission module includes information coding module and information transmission modular, described information is compiled
Code module and information transmission modular are connected with each other, and the input of described information coding module is connected with described information acquisition module.
Described information coding module is made up of pager circuit plate, for the information of the sensor collection is carried out coded treatment, institute
State information transmission modular to be made up of WLAN, for the information after coding is sent to Surveillance center by wireless network
Message processing module.
As shown in Figure 4, described message processing module includes information receiving module, formation-decoding module, information analysis module with
And information display module, described information receiving module, formation-decoding module, information analysis module and information display module depend on
Secondary concatenate mutually.Described information receiving module receives, by WLAN, the coding information that wireless network transmissions comes, by nothing
Line signal receiver forms, and described wireless signal receiver uses thunder to insult 3070 series and realizes；Described formation-decoding module by
Chip microcontroller, for being decoded process to the coding information received；Described information analysis module is by the meter equipped with Carsim
Calculation machine forms, and for comparing decoded tractor parameter detecting value and theoretical value, whether diagnosis tractor exists fault；
Described information display module is made up of one piece of LED screen, for showing the fault message of tractor.
As shown in Figure 5 and Figure 6, the diagnostic method of the present invention is achieved by the steps of:
1) information needed by information acquisition module collection；The information of described needs includes environmental information and tractor self letter
Breath.
2) by information coding transmission module, the information collected is carried out coded treatment, and sent by WLAN
To the message processing module of Surveillance center；
3) information obtained is processed by the message processing module of Surveillance center, and tractor is realized remote fault diagnosis,
And show.
Described step 1) comprise the following steps:
1.1) constructing environment information acquisition module, for gathering the specifying information of tractor local environment.Described environmental information is adopted
Collection module includes road grade information acquisition module, ambient temperature information acquisition module and wind speed information acquisition module.Described
Road grade information acquisition module is a sensor unit, and described sensor unit is level indicator C21, measures
Direction and angular dimension；Described ambient temperature information acquisition module is a sensor unit, and described sensor unit is one
Temperature sensor C22, measures ambient temperature；Described wind speed information acquisition module is a sensor unit, described biography
Sensor cell is a constant temperature anemometer C23, is used for measuring extraneous wind speed.
1.2) tractor information acquisition module is built, for gathering the specific works information of tractor.Described tractor information is adopted
Collection module includes Diesel engine information acquisition module, power train information acquisition module, braking system information acquisition module, turns to
It is information acquisition module and hydraulic system information acquisition module.Described Diesel engine information acquisition module includes information gathering
Unit, described information acquisition unit includes a non-contact type tachometric sensor C111, a shift fork displacement transducer C112；
Described non-contact type tachometric sensor C111 is arranged on the fixing end of flywheel, and non-contact type tachometric sensor C111 sends out for detection
Motivation Speed of Reaction Wheels；Described shift fork displacement transducer C112 installs at oil feed pump shift fork, becomes for detection ruler bar shift fork position
Change, in order to determine fuel delivery.Described power train information acquisition module includes information acquisition unit, described information acquisition unit bag
Include a non-contact type tachometric sensor C141 and an acceleration transducer C142, described non-contact type tachometric sensor
C141 is fixed on drive axle support for detecting rotating speed of transmission shaft, and described acceleration transducer C142 is contained at the bottom of transmission shafts,
For detecting power transmission shaft acceleration.Described braking system information acquisition module includes information acquisition unit, described information acquisition unit
It is placed in the brake-shoe side of described braking system including an angular transducer C121, described angular transducer C121, is used for
The angle that detection brake-shoe turns over.Described steering system information acquisition module includes information acquisition unit, described information acquisition unit
Including an a speed probe C151 and acceleration transducer C152, described speed probe C151 is arranged on steering oil
Pump drive shaft one end, is used for detecting steering pump rotating speed；Described acceleration transducer C152 is arranged on knuckle side, uses
Acceleration in detection knuckle.Described hydraulic system information acquisition module includes information acquisition unit, described information gathering list
Unit includes a pressure transducer C131, a thermocouple sensor C132 and a liquid level sensor C133, described pressure
Force transducer C131 is arranged in oil return line, is used for detecting return pressure；Described thermocouple sensor C132 is arranged on hydraulic pressure
In fuel tank oil sump, it is used for detecting hydraulic fluid temperature；Described liquid level sensor C133 is arranged in oil sump, is used for monitoring
Liquid level.
Described step 2) comprise the following steps:
2.1) build information coding module, the information encoder collected is edited and released with certain coded system, convenient biography
Defeated.Described coded system is POCSAG coding；Described encoder is one block of civilian pager circuit plate.
2.2) build information transmission modular, by network, the information after coding is sent to Surveillance center.Described network is nothing
Line LAN, described WLAN is provided by telecom operators.
Described step 3) comprise the following steps:
3.1) build information receiving module, receive the information sended over by information transmission modular.Described information receiving module bag
Including wireless signal receiver (using thunder to insult 3070 series), described wireless signal receiver is provided by telecom operators.
3.2) building formation-decoding module, the coding information received by information receiving module decodes, correct identification bit synchronization code,
And make sampling instant and POCSAG synchronizing information；Follow-up code word is accurately sampled, often by serial port after one byte of formation
It is sent to information analysis module.Described formation-decoding module is one piece of single-chip microcomputer.
3.3) building information analysis module, be analyzed decoded information processing, whether the working condition of diagnosis tractor
Normally.Described message processing module is made up of the computer being provided with Carsim.
3.4) building information display module, the result obtained by information analysis module shows.Described information display module by
One piece of LED screen composition.
As it is shown in fig. 7, described step 3.3) realization comprise the following steps:
3.3.1) build dynamic tractor theory floor data storehouse, provide correction data for the actual condition data collected.Institute
Stating Dynamic Theory floor data storehouse and include Diesel engine theory floor data, power train theory floor data, braking system is theoretical
Floor data, steering system theory floor data and hydraulic system theory floor data；Described diesel engine power theory operating mode number
According to including engine speed, oil feed pump chi bar shift fork displacement；Described power train theory floor data include rotating speed of transmission shaft and
Power transmission shaft acceleration；Described braking system theory floor data includes that brake-shoe brakes angle；Described steering system theory floor data
Including steering pump rotating speed and knuckle acceleration；Described hydraulic system theory floor data includes oil liquid pressure, fluid temperature
Degree and fluid position.Described dynamic tractor theory floor data storehouse is provided by Carsim software.
Described step 3.3.1) comprise the following steps:
Computer Rcv decoder equipped with Carsim sends the environmental information of coming, and is entered in Carsim, by
Carsim sets up corresponding simulated environment, reality tractor model is inputted computer simultaneously, sets up tractor dynamic power model (soft
Part carries corresponding model library), obtain tractor theory operating mode, computer dynamically updates simulation according to receiving the environmental information come
Environment, real-time update tractor theory floor data storehouse.
3.3.2) information calculating process is carried out, described information computation processing method employing matching type or fuzzy algorithmic approach:
If the code name that i is institute's monitoring parameter, i=1～11, i=1 represent that rotary speed of diesel engine, i=2 represent the displacement of ratch,
I=3 represents that throttle position, i=4 represent power train rotating speed of transmission shaft, and i=5 represents power train power transmission shaft acceleration, and i=6 represents system
Dynamic is the displacement of actuating mechanism, and i=7 represents steering system pump speed, and i=8 represents the acceleration of steering system universal joint, i=9 table
Showing the oil liquid pressure of hydraulic system, i=10 represents the oil liquid temperature of hydraulic system, and i=11 represents the fluid position of hydraulic system；
As it is shown in fig. 7, described matching type realizes process: define actual condition data N2iWith theoretical floor data N1iGap
ForIf βiRegulation gap allowed band (being set to constant) of monitoring parameter corresponding to i.When numbered i's
The gap Δ of the theoretical floor data of certain structure actual condition data and this structurei≤βiTime, then it is diagnosed as this actual condition data
It is consistent with theoretical floor data, is otherwise in unusual service condition, according to the monitoring parameter corresponding to i, can be gone wrong
Mechanism.
Such as: at a time under t, there are following data:
Ambient temperature T=30 DEG C；
Wind speed V=10m/s；
Road grade is α0=0.05；
Now, the rotating speed of the Diesel engine be given in Carsim is N11, and reality is by Diesel engine information acquisition module
In the rotary speed of diesel engine that collects of speed probe C111 be N21.ThenIf Δi≤βi, (the present invention
Embodiment sets βiIt is 10%) then claim rotary speed of diesel engine normal, otherwise rotary speed of diesel engine is abnormal.Described analysis mould
Block is made up of the computer being provided with Carsim.
As shown in Figure 8, the process that realizes of described fuzzy algorithmic approach: input parameter alphai, parameter betai, calculate output fault diagnosis ginseng
Number δi, described parameter alphaiFor actual condition data M2iWith theoretical floor data M1iDifference, describedParticularly as follows:
A. build fuzzy reasoning table and Fuzzy processing function and parameter is carried out Fuzzy Processing
First by parameter alphaiAnd parameter betaiBasic domain be quantified as [-3 ,+3], be separated into 7 grades, i.e. [-3 ,-2 ,-1,0,
+ 1 ,+2 ,+3].Set up 7*7 rule list afterwards, set up form rule list as follows: (NB represent negative big, PB represent honest,
NM represent negative in, PM represent that center, NS represent that negative little, PS represents that the least, ZO represents zero)
{PB,PB,PM,PB,PS,PS,ZO},
{PB,PB,PM,PS,PS,ZO,ZO},
{PM,PM,PM,PS,ZO,NS,NS},
{PM,PM,PS,ZO,NS,NM,NM},
{PS,PS,ZO,NS,NS,NM,NM},
{ZO,NS,NS,NM,NM,NM,NB},
{ZO,ZO,NM,NB,NM,NB,NB}；
Use and wait point triangle to process function to αiCarry out obfuscation, specifically: set up array es [i], be used for storing α mould
Value after gelatinizing, asks 7 times, wherein i ∈ [0 6] altogether, and when i value is different, a, b, c value is different.
Es [0]=(α-a)/(b-a)；Now a=-3, b=-2；
Es [1]=(α-a)/(b-a)；Now a=-3b=-1；
Es [2]=(α-a)/(b-a)；Now a=-2b=-1；
Es [3]=(c-α)/(c-b)；Now a=-1b=0c=1；
Es [4]=(c-α)/(c-b)；Now a=0b=1c=2；
Es [5]=(c-α)/(c-b)；Now a=1b=2c=3；
Es [6]=(c-α)/(c-b)；Now a=2b=2.5c=3；
Use and wait a point triangle process function β to be carried out obfuscation, specifically: set up array ecs [j], be used for storing β
Value after obfuscation, asks 7 times, wherein j ∈ [0 6] altogether, and when j value is different, a, b, c value is different.
Ecs [0]=(β-a)/(b-a)；Now a=-3, b=-2；
Ecs [1]=(β-a)/(b-a)；Now a=-3b=-1；
Ecs [2]=(β-a)/(b-a)；Now a=-2b=-1；
Ecs [3]=(c-β)/(c-b)；Now a=-2b=0c=1；
Ecs [4]=(c-β)/(c-b)；Now a=-1b=0c=2；
Ecs [5]=(c-β)/(c-b)；Now a=0b=1c=2；
Ecs [6]=(c-β)/(c-b)；Now a=1b=2c=3；
B. max-min fuzzy filtering algorithm is used to carry out fuzzy reasoning
By traversal es [i] that seeks common ground, ecs [j] show that (credibility of rule passes through minimizing operation to the least degree of membership lsd
Obtain (plan minimal solution), i.e. start successively es [i] and ecs [j] to be compared successively from j=0, less value is stored in corresponding form [i] [j]
In, such as es [0]=1；Es [1]=2；Es [2]=3；Es [3]=4；Es [5]=5；Es [6]=2 and ecs [0]=3 contrasts,
Find out relatively small data and insert form [i] [0], i.e. form [i] [0]=1；Form [i] [1]=2；Form [i] [0]=3；
Form [i] [4]=3；Form [i] [5]=3；Form [i] [6]=2, and then when j=1, makes es [i] and ecs [1] compare, and deposits
Storage is in form [i] [2], by that analogy；Find out the numerical value of form [i] [j] maximum in form table again, remember i, j now,
Then according to the form rule list of customization, find position according to i+1 row jth+1 row, this location point is designated as kp, according to
Kp, gives different values to a, b, c.
If kp=NB；A=-3b=-2c=-1；
If kp=NM；A=-3b=-2c=0；
If kp=NS；A=-3b=-1c=1；
If kp=ZO；A=-2b=0c=2；
If kp=PS；A=-1b=1c=3；
If kp=PM；A=0b=2c=3；
If kp==PB, a=1b=2c=3；
According to the position in rule list, carry out anti fuzzy method, take triangle anti fuzzy method to process function z=(b-a) * lsd+a；
Y=c-(c-b) * lsd；Final according to δi=(y+z)/2 draw Diagnostic parameters δi。
According to following standard, result being shown in LED screen, diagnostic criteria is:
The a series of detailed description of those listed above is only for illustrating of the feasibility embodiment of the present invention, it
And be not used to limit the scope of the invention, all without departing from the skill of the present invention equivalent implementations made of spirit or change
Should be included within the scope of the present invention.
Claims (10)
1. a tea place tractor remote failure diagnosis system, it is characterised in that include that information acquisition module, information encode
Transport module and message processing module；Described information acquisition module, information coding transmission module, message processing module are successively
It is connected；
Described information acquisition module includes environment information acquisition module and tractor information acquisition module；Described environmental information is adopted
Collection module includes gathering the road grade information acquisition module of road grade information, gathering the ambient temperature letter of ambient temperature information
Breath acquisition module and the wind speed information acquisition module of collection wind speed information；Described tractor information acquisition module includes that diesel oil is sent out
Motivation information acquisition module, power train information acquisition module, braking system information acquisition module, steering system information acquisition module with
And hydraulic system information acquisition module；Described Diesel engine information acquisition module is used for gathering engine flywheel rotating speed and chi bar
Shift fork change in location；Described power train information acquisition module is used for gathering rotating speed of transmission shaft and power transmission shaft acceleration；Described braking
It is that information acquisition module is for gathering the angle that brake-shoe turns over；Described steering system information acquisition module is used for gathering steering pump
Rotating speed and the acceleration of knuckle；Described hydraulic system information acquisition module is used for gathering return pressure, hydraulic fluid temperature and liquid
Face height；
Described information coding transmission module includes information coding module and information transmission modular, described information coding module and information
Transport module is connected with each other；Described information coding module is connected with described information acquisition module, for described information gathering mould
The information of block collection carries out coded treatment, and described information transmission modular is for being sent to institute by the information of coding by wireless network
State message processing module；
Described message processing module includes information receiving module, formation-decoding module, information analysis module and information display mould
Block, described information receiving module, formation-decoding module, information analysis module and information display module concatenate mutually；Institute
State information receiving module and received the coding information transmitted by wireless network；Described formation-decoding module is for reception
Coding information is decoded processing；Described information analysis module is for decoded tractor parameter detecting value and theoretical value phase
Contrast, whether diagnosis tractor exists fault；Described information display module is for showing the fault message of tractor.
A kind of tea place the most according to claim 1 tractor remote failure diagnosis system, it is characterised in that described ring
Environment information acquisition module is realized by sensor group, and described sensor group includes level indicator, temperature sensor and constant temperature anemometer.
A kind of tea place the most according to claim 1 tractor remote failure diagnosis system, it is characterised in that described bavin
Oil machine engine information acquisition module is realized by first sensor group, and described first sensor group includes being arranged on flywheel
Fix the non-contact type tachometric sensor C111 of end and be arranged on the shift fork displacement transducer C112 at oil feed pump shift fork；Described
Power train information acquisition module is realized by the second sensor group, and described second sensor group includes being arranged on drive axle support
Non-contact type tachometric sensor C141 and be arranged on the acceleration transducer C142 at the bottom of transmission shafts；Described braking system information is adopted
Collection module is realized by the 3rd sensor group, and described 3rd sensor group includes that the angle being arranged on the brake-shoe side of braking system passes
Sensor C121；Described steering system information acquisition module is realized by the 4th sensor group, and described 4th sensor group includes being arranged on
The speed probe C151 of steering pump power transmission shaft one end and the acceleration transducer C152 being arranged on knuckle side；Described
Hydraulic system information acquisition module is realized by the 5th sensor group, and described 5th sensor includes the pressure being arranged in oil return line
Sensor C131, the thermocouple sensor C132 being arranged in hydraulic oil container drain pan and be arranged in hydraulic oil container drain pan
Liquid level sensor C133.
A kind of tea place the most according to claim 1 tractor remote failure diagnosis system, it is characterised in that described letter
Breath coding module is realized by pager；Described information transmission modular is realized by WLAN.
A kind of tea place the most according to claim 1 tractor remote failure diagnosis system, it is characterised in that described letter
Breath receiver module is insulted 3070 series by thunder and is realized；Described formation-decoding module is by chip microcontroller；Described information analysis module
Realized by the computer equipped with Carsim；Described information display module is realized by LED.
6. a tea place tractor remote fault diagnosis method, it is characterised in that comprise the steps:
1) gathering the information needed, described information includes environmental information and tractor self information；
2) environmental information collected and tractor self information are carried out coded treatment, and sent out by WLAN
Give Surveillance center；
3) information obtained is analyzed processing by Surveillance center, and tractor realizes remote fault diagnosis, and by fault shape
Condition is shown by screen.
Method for diagnosing faults the most according to claim 6, it is characterised in that described step 1) realization include as follows
Step:
1.1) constructing environment information acquisition module, gathers the specifying information of tractor local environment；Described environment information acquisition mould
Block includes road grade information acquisition module, ambient temperature information acquisition module and wind speed information acquisition module；Described road
Grade information acquisition module is a sensor unit, and described sensor unit is level indicator C21, measures incline direction
With angular dimension；Described ambient temperature information acquisition module is a sensor unit, and described sensor unit is a temperature
Sensor C22, measures ambient temperature；Described wind speed information acquisition module is a sensor unit, described sensor
Unit is a constant temperature anemometer C23, measures extraneous wind speed；
1.2) build tractor information acquisition module, gather the specific works information of tractor；Described tractor information gathers mould
Block includes Diesel engine information acquisition module, power train information acquisition module, braking system information acquisition module, and steering system is believed
Breath acquisition module and hydraulic system information acquisition module；Described diesel engine information acquisition module includes information gathering list
Unit, described information acquisition unit is a non-contact type tachometric sensor C111, a shift fork displacement transducer C112, institute
Stating non-contact type tachometric sensor C111 and detect engine flywheel rotating speed, described shift fork displacement transducer C112 detection ruler bar is dialled
Fork change in location, in order to determine fuel delivery；Described power train information acquisition module includes that information acquisition unit, described information are adopted
Collection unit is a speed probe C141 and an acceleration transducer C142, and described speed probe C141 detects biography
Moving axis rotating speed, described acceleration transducer C142 detects power transmission shaft acceleration；Described braking system information acquisition module includes letter
Breath collecting unit, described information acquisition unit is an angular transducer C121, and described angular transducer C121 is used for detecting
The angle that brake-shoe turns over；Described steering system information acquisition module includes that information acquisition unit, described information acquisition unit are one
An individual speed probe C151 and acceleration transducer C152, described speed probe C151 detect steering pump rotating speed,
The acceleration of described acceleration transducer C152 detection knuckle；Described hydraulic system information acquisition module includes information gathering
Unit, described information acquisition unit includes a pressure transducer C131, a thermocouple sensor C132 and a liquid
Level sensor C133, pressure transducer C131 are used for detecting return pressure, and described thermocouple sensor C132 is used for detecting
Hydraulic fluid temperature, described liquid level sensor C133 is used for monitoring liquid level.
Method for diagnosing faults the most according to claim 6, it is characterised in that described step 2) realization include as follows
Step:
2.1) build information coding module, the information encoder collected is edited and released with POCSAG coded system, convenient
Transmission；Described encoder is one block of civilian pager circuit plate；
2.2) build information transmission modular, by network, the information after coding is sent to Surveillance center；Described network is nothing
Line LAN, described WLAN is provided by telecom operators.
Method for diagnosing faults the most according to claim 6, it is characterised in that described step 3) realization include as follows
Step:
3.1) build information receiving module, receive the information sended over by information transmission modular；Described information receiving module bag
Including wireless signal receiver, described wireless signal receiver uses thunder to insult 3070 series；
3.2) building formation-decoding module, the coding information received by information receiving module decodes, correct identification bit synchronization code,
And make sampling instant and POCSAG synchronizing information；Follow-up code word is accurately sampled, often by serial port after one byte of formation
It is sent to information analysis module；Described formation-decoding module is one piece of single-chip microcomputer；
3.3) building information analysis module, be analyzed decoded information processing, whether the working condition of diagnosis tractor
Normally；Described message processing module is made up of the computer being provided with Carsim；
3.4) building information display module, the result obtained by information analysis module shows；Described information display module is
One piece of LED screen.
Method for diagnosing faults the most according to claim 9, it is characterised in that described step 3.3) described in examine
The working condition of disconnected tractor realizes comprising the steps: the most normally
3.3.1) by Carsim software building dynamic tractor theory floor data storehouse, provide for the actual condition data collected
Correction data；Described Dynamic Theory floor data storehouse includes Diesel engine theory floor data, power train theory floor data,
Braking system theory floor data, steering system theory floor data and hydraulic system theory floor data；Described diesel engine power
Theoretical floor data includes engine speed, oil feed pump chi bar shift fork displacement；Described power train theory floor data includes transmission
Axle rotating speed and power transmission shaft acceleration；Described braking system theory floor data includes that brake-shoe brakes angle；Described steering system is managed
Opinion floor data includes steering pump rotating speed and knuckle acceleration；Described hydraulic system theory floor data includes fluid pressure
Power, oil liquid temperature and fluid position；
The method in described Carsim software building dynamic tractor theory floor data storehouse is particularly as follows: equipped with the calculating of Carsim
Machine Rcv decoder sends the environmental information of coming, and is entered in Carsim, Carsim set up corresponding analog loop
Border, reality tractor model is inputted computer simultaneously, set up tractor dynamic power model, obtain tractor theory operating mode, electric
Brain dynamically updates simulated environment, real-time update tractor theory floor data storehouse according to receiving the environmental information come；
3.3.2) carrying out information calculating process, described information computation processing method uses matching type or fuzzy algorithmic approach；
If the code name that i is institute's monitoring parameter, i=1～11, i=1 represent that rotary speed of diesel engine, i=2 represent the displacement of ratch,
I=3 represents that throttle position, i=4 represent power train rotating speed of transmission shaft, and i=5 represents power train power transmission shaft acceleration, and i=6 represents system
Dynamic is the displacement of actuating mechanism, and i=7 represents steering system pump speed, and i=8 represents the acceleration of steering system universal joint, i=9 table
Showing the oil liquid pressure of hydraulic system, i=10 represents the oil liquid temperature of hydraulic system, and i=11 represents the fluid position of hydraulic system；
Described matching type is:
Definition actual condition data N2iWith theoretical floor data N1iGap beIf βiMonitor corresponding to i
The specification error allowed band of parameter, when the theoretical floor data of certain structure actual condition data and this structure of numbered i
Gap Δi≤βiTime, then it is diagnosed as these actual condition data and is consistent with theoretical floor data, be otherwise in unusual service condition, root
According to the monitoring parameter corresponding to i, the mechanism gone wrong can be obtained；
Described fuzzy algorithmic approach is:
Input parameter alphai, parameter betai, calculate output fault diagnosis parameter δi, described parameter alphaiFor actual condition data M2iWith reason
Opinion floor data M1iDifference, describedConcretely comprise the following steps:
A. build fuzzy reasoning table and Fuzzy processing function and parameter is carried out Fuzzy Processing
First by parameter alphaiAnd parameter betaiBasic domain be quantified as [-3 ,+3], be separated into 7 grades, i.e. [-3 ,-2 ,-1,0,
+ 1 ,+2 ,+3]；Set up 7*7 rule list afterwards, set up form rule list as follows: NB represent negative big, PB represent honest,
NM represent negative in, PM represent that center, NS represent that negative little, PS represents that the least, ZO represents zero；
{PB,PB,PM,PB,PS,PS,ZO},
{PB,PB,PM,PS,PS,ZO,ZO},
{PM,PM,PM,PS,ZO,NS,NS},
{PM,PM,PS,ZO,NS,NM,NM},
{PS,PS,ZO,NS,NS,NM,NM},
{ZO,NS,NS,NM,NM,NM,NB},
{ZO,ZO,NM,NB,NM,NB,NB}
Use and wait point triangle to process function to αiCarry out obfuscation: set up array es [i], be used for storing the value after α obfuscation,
Altogether asking 7 times, wherein i ∈ [0 6], when i value is different, a, b, c value is different；
Es [0]=(α-a)/(b-a)；Now a=-3, b=-2；
Es [1]=(α-a)/(b-a)；Now a=-3, b=-1；
Es [2]=(α-a)/(b-a)；Now a=-2, b=-1；
Es [3]=(c-α)/(c-b)；Now a=-1, b=0, c=1；
Es [4]=(c-α)/(c-b)；Now a=0, b=1, c=2；
Es [5]=(c-α)/(c-b)；Now a=1, b=2, c=3；
Es [6]=(c-α)/(c-b)；Now a=2, b=2.5, c=3；
Use and wait a point triangle process function that β carries out obfuscation: set up array ecs [j], after being used for storing β obfuscation
Value, altogether ask 7 times, wherein j ∈ [0 6], when j value is different, a, b, c value is different；
Ecs [0]=(β-a)/(b-a)；Now a=-3, b=-2；
Ecs [1]=(β-a)/(b-a)；Now a=-3, b=-1；
Ecs [2]=(β-a)/(b-a)；Now a=-2, b=-1；
Ecs [3]=(c-β)/(c-b)；Now a=-2, b=0, c=1；
Ecs [4]=(c-β)/(c-b)；Now a=-1, b=0, c=2；
Ecs [5]=(c-β)/(c-b)；Now a=0, b=1, c=2；
Ecs [6]=(c-β)/(c-b)；Now a=1, b=2, c=3；
B. max-min algorithm is used to carry out fuzzy reasoning
Described max-min algorithm particularly as follows: by seek common ground traversal es [i], ecs [j] draw the least degree of membership lsd,
The credibility of rule is obtained by minimizing operation, i.e. starts es [i] and ecs [j] to be compared successively, by less successively from j=0
Value is stored in corresponding form [i] [j]；Find out numerical value maximum for form [i] [j] in form table again, remember i, j now, then root
According to the form rule list of customization, find position according to i+1 row jth+1 row, this location point is designated as kp, according to kp pair
A, b, c give different values；As follows:
If kp=NB, a=-3b=-2c=-1；
If kp=NM, a=-3b=-2c=0；
If kp=NS, a=-3b=-1c=1；
If kp=ZO, a=-2b=0c=2；
If kp=PS, a=-1b=1c=3；
If kp=PM, a=0b=2c=3；
If kp==PB, a=1b=2c=3；
According to the position in rule list, carry out anti fuzzy method, take triangle anti fuzzy method to process function z=(b-a) * lsd+a；
Y=c-(c-b) * lsd；Final according to δi=(y+z)/2 draw Diagnostic parameters δi, and according to δiIt is worth diagnostic result, as follows:
δi< 1, running status is good；
1<δi< 10, fault rate is bigger；
δi> 10, correspondence position breaks down.
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| CN106717216A (en) * | 2016-11-30 | 2017-05-31 | 广西壮族自治区都安瑶族自治县科学技术情报研究所 | A kind of farm tractor for being capable of temperature sensor |
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| CN111158307A (en) * | 2020-01-20 | 2020-05-15 | 成都新泰高科技术有限公司 | Tower crane fault diagnosis system |
| CN112364434A (en) * | 2020-11-10 | 2021-02-12 | 济南轨道交通集团有限公司 | Fault positioning method and system based on vehicle state BIM model |
| CN112814784A (en) * | 2020-12-29 | 2021-05-18 | 江苏奥畋工程科技有限公司 | Intelligent ship turbine fault diagnosis system based on complex network |
| CN114185331A (en) * | 2022-02-17 | 2022-03-15 | 潍柴雷沃重工股份有限公司 | Fault information display method, device, system, equipment, medium and tractor |
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