CN112224241B - Speed acquisition system, fault alarm method and device - Google Patents
Speed acquisition system, fault alarm method and device Download PDFInfo
- Publication number
- CN112224241B CN112224241B CN202011293920.9A CN202011293920A CN112224241B CN 112224241 B CN112224241 B CN 112224241B CN 202011293920 A CN202011293920 A CN 202011293920A CN 112224241 B CN112224241 B CN 112224241B
- Authority
- CN
- China
- Prior art keywords
- speed
- fault
- virtual
- detection
- residual error
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L25/00—Recording or indicating positions or identities of vehicles or vehicle trains or setting of track apparatus
- B61L25/02—Indicating or recording positions or identities of vehicles or vehicle trains
- B61L25/021—Measuring and recording of train speed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L15/00—Indicators provided on the vehicle or vehicle train for signalling purposes ; On-board control or communication systems
- B61L15/0018—Communication with or on the vehicle or vehicle train
- B61L15/0036—Conductor-based, e.g. using CAN-Bus, train-line or optical fibres
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L23/00—Control, warning, or like safety means along the route or between vehicles or vehicle trains
Abstract
The invention provides a speed acquisition system, a fault alarm method and a device, wherein the system comprises: including speed acquisition device and a plurality of speed sensor, wherein: the speed acquisition device comprises a processing module and a power supply module, wherein the processing module is connected with each speed sensor through a CAN bus, and the power supply module is used for supplying power to the processing module and each speed sensor; the speed acquisition device is used for carrying out fault alarm prompt based on the detection speed acquired by each speed sensor in a preset time period. The method is applied to the system. The speed acquisition system, the fault alarm method and the fault alarm device provided by the embodiment of the invention improve the reliability of speed data acquisition.
Description
Technical Field
The invention relates to the technical field of rail transit, in particular to a speed acquisition system, a fault alarm method and a fault alarm device.
Background
In the field of rail transit, a speed sensor is generally used for acquiring the running speed of a train, wherein the speed sensor mostly adopts a Hall effect to convert a train speed signal into a pulse signal, and a speed acquisition device acquires the running speed of the train according to the number of pulses acquired in unit time.
In the prior art, most of output physical quantities of a speed sensor are pulse signals, and the running speed of a train is reflected by the frequency of the pulse signals, so that at least two power lines and one signal line (a signal ground and a power ground are in common ground) are required between the speed sensor and a speed acquisition device. As the number of speed sensors increases, the number of speed acquisition device channels increases, and the number of corresponding hardware channels and cables increases. Moreover, the speed sensor transmits effective data through the pulse signals, and power supply ripples and shielding deterioration can cause disturbance of the pulse signals, so that the acquisition of the pulse signals is not facilitated, and the accuracy of data transmission is influenced.
Disclosure of Invention
For solving the problems in the prior art, embodiments of the present invention provide a speed acquisition system, a fault alarm method and a device, which can at least partially solve the problems in the prior art.
In a first aspect, the present invention provides a speed acquisition system, including a speed acquisition device and a plurality of speed sensors, wherein:
the speed acquisition device comprises a processing module and a power supply module, wherein the processing module is connected with each speed sensor through a CAN bus, and the power supply module is used for supplying power to the processing module and each speed sensor;
the speed acquisition device is used for carrying out fault alarm prompt based on the detection speed acquired by each speed sensor in a preset time period.
Wherein each speed sensor is connected to the CAN bus via a serial interface or M12 interface.
The power supply module comprises a first power supply unit and a second power supply unit, the first power supply unit supplies power to each speed sensor, and the second power supply unit is used for supplying power to the processing module.
The speed acquisition device further comprises a fault storage module, and the fault storage module is connected with the processing module.
The speed acquisition device further comprises a reset module, and the reset module is connected with the processing module.
In a second aspect, the present invention provides a fault alarm method for a speed acquisition system according to any one of the above embodiments, including:
acquiring each detection speed acquired by a speed sensor within a preset time period;
obtaining an ideal speed corresponding to each detection speed according to a target speed corresponding to each detection speed and an ideal speed detection model of the speed sensor;
obtaining a residual error corresponding to each detection speed according to each detection speed and an ideal speed corresponding to each detection speed;
obtaining a virtual fault value corresponding to each residual error according to the residual error corresponding to each detection speed and a residual error processing model; wherein the residual processing model is preset;
and if the virtual fault value corresponding to each residual error in the preset time period is judged and obtained to meet the fault rule, carrying out fault alarm prompt.
In a third aspect, the present invention provides a fault warning device, including:
the acquisition unit is used for acquiring each detection speed acquired by the speed sensor within a preset time period;
a first obtaining unit, configured to obtain an ideal speed corresponding to each detection speed according to a target speed corresponding to each detection speed and an ideal speed detection model of the speed sensor;
the second obtaining unit is used for obtaining a residual error corresponding to each detection speed according to each detection speed and an ideal speed corresponding to each detection speed;
a third obtaining unit, configured to obtain a virtual fault value corresponding to each residual according to the residual corresponding to each detection speed and a residual processing model; wherein the residual processing model is preset;
and the judging unit is used for performing fault alarm prompting after judging that the virtual fault value corresponding to each residual error in the preset time period meets the fault rule.
In a fourth aspect, the present invention provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the steps of the fault alarm method according to any of the above embodiments.
In a fifth aspect, the present invention provides a computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the malfunction alerting method according to any one of the above embodiments.
The speed acquisition system, the fault alarm method and the device provided by the embodiment of the invention comprise a speed acquisition device and a plurality of speed sensors, wherein the speed acquisition device comprises a processing module and a power supply module, the processing module is connected with each speed sensor through a CAN bus, the power supply module is used for supplying power to the processing module and each speed sensor, and the speed acquisition device is used for carrying out fault alarm prompt based on the detection speed acquired by each speed sensor in a preset time period, so that the reliability of speed data acquisition is improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts. In the drawings:
fig. 1 is a schematic structural diagram of a velocity acquisition system according to an embodiment of the present invention.
Fig. 2 is a schematic structural diagram of a velocity acquisition system according to another embodiment of the present invention.
Fig. 3 is a schematic structural diagram of a velocity acquisition system according to another embodiment of the present invention.
Fig. 4 is a schematic structural diagram of a velocity acquisition system according to still another embodiment of the present invention.
Fig. 5 is a flowchart illustrating a fault alarm method according to an embodiment of the present invention.
Fig. 6 is a schematic diagram of a fault diagnosis of a speed sensor according to an embodiment of the present invention.
Fig. 7 is a flowchart illustrating a fault alarm method according to another embodiment of the present invention.
Fig. 8 is a schematic structural diagram of a fault alarm device according to an embodiment of the present invention.
Fig. 9 is a schematic physical structure diagram of an electronic device according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the embodiments of the present invention are further described in detail below with reference to the accompanying drawings. The exemplary embodiments and descriptions of the present invention are provided to explain the present invention, but not to limit the present invention. It should be noted that the embodiments and features of the embodiments in the present application may be arbitrarily combined with each other without conflict.
In order to facilitate understanding of the technical solutions provided in the present application, the following briefly describes the research background of the technical solutions in the present application. In order to ensure the operation safety of rail transit vehicles, various sensors are widely applied to vehicles, and the monitoring on the speed, the temperature, the speed and various process variables of the vehicles is realized. With the development of large-scale integrated circuits and electronic information technologies, the digital sensor based on the bus type becomes a technology growth point, the sensor equipment is mounted through the bus, cables and acquisition equipment cannot be increased due to the increase of the number of the sensors, and the integration, miniaturization and light weight of an embedded system are facilitated. Meanwhile, the embedded product is convenient to produce and manufacture cost, field installation and after-sale maintenance. The bus adopted by the common bus type sensor product is mainly IIC, CAN, RS232 and RS485, wherein the IIC and RS232 transmission distance is short, the RS485 and CAN buses CAN be suitable for complex working condition environment, the CAN bus communication distance CAN reach 10km, and the diagnosis, measurement, calibration and application layer protocol based on the CAN (controller Area network) bus is mature, wherein the CANOpen protocol is the application layer protocol based on the CAN physical layer, and is widely applied to the standard communication protocol of a servo control, a sensor and an I/O module unit.
Fig. 1 is a schematic flow chart of a speed acquisition system according to an embodiment of the present invention, and as shown in fig. 1, the speed acquisition system according to the embodiment of the present invention includes a speed acquisition device 1 and a plurality of speed sensors 2, where:
the speed acquisition device 1 comprises a processing module 11 and a power supply module 12, wherein the processing module 11 is connected with each speed sensor 2 through a CAN bus, and the power supply module 12 is used for supplying power to the processing module 11 and each speed sensor 2;
the speed acquisition device 1 is used for carrying out fault alarm prompt based on the detection speed acquired by each speed sensor in a preset time period. The preset time period is set according to actual needs, and the embodiment of the invention is not limited.
Specifically, the speed sensor 2 detects the speed of the object to be measured, obtains a detection speed, and then uploads the detection speed to the speed acquisition device 1. The processing module 11 of the speed acquisition device 1 may obtain each detection speed acquired by the speed sensor 2 within a preset time period, and obtain a target speed of the object to be detected as a target speed corresponding to the detection speed. The processing module 11 may obtain an ideal speed corresponding to each detected speed according to the target speed corresponding to each detected speed and the ideal speed detection model of the speed sensor 2, where the ideal speed detection model of the speed sensor 2 is preset. The processing module 11 calculates a difference between the ideal speed corresponding to each detection speed and each detection speed to obtain a residual error corresponding to each detection speed. The processing module 11 inputs the residual error corresponding to each detection speed into the residual error processing model, and may output a virtual fault value corresponding to each residual error. The processing module 11 may determine whether the virtual fault value corresponding to each residual error in the preset time period satisfies a fault rule, and if the virtual fault value satisfies the fault rule, perform a fault alarm prompt. Wherein the residual processing model is obtained in advance. The fault rule is preset. The power supply module 12 supplies power to each speed sensor 2 through a power line, and the power supply module 12 also supplies power to the processing module 11. The processing module 11 may be a microprocessor. The object to be measured is, for example, a wheel.
The speed acquisition system provided by the embodiment of the invention comprises a speed acquisition device and a plurality of speed sensors, wherein the speed acquisition device comprises a processing module and a power supply module, the processing module is connected with each speed sensor through a CAN bus, the power supply module is used for supplying power to the processing module and each speed sensor, and the speed acquisition device is used for carrying out fault alarm prompt based on the detection speed acquired by each speed sensor in a preset time period, so that the reliability of speed data acquisition is improved. In addition, the speed sensor is convenient for networking through the CAN bus, the speed data is acquired on the premise of not increasing a hardware acquisition channel, and the data acquisition cost is reduced.
On the basis of the above embodiments, further, each speed sensor is connected to the CAN bus through a serial interface or an M12 interface.
On the basis of the above embodiments, further, the power supply module 12 includes a first power supply unit for supplying power to each speed sensor 2 and a second power supply unit for supplying power to the processing module 11. The first power supply unit may provide a voltage of 15V to the speed sensor and the second power supply unit may provide a voltage of 3.3V to the processing module 11.
Fig. 2 is a schematic flow chart of a speed acquisition system according to another embodiment of the present invention, and as shown in fig. 2, based on the foregoing embodiments, the speed acquisition device 1 further includes a fault storage module 13, and the fault storage module 13 is connected to the processing module 11.
In particular, the processing module 11 may monitor the power supply voltage of the power supply module 12 to the speed sensor 2, and stop the power supply of the power supply module 12 to the speed sensor 2 when the power supply voltage exceeds a voltage threshold value, so as to prevent the speed sensor 2 from being damaged due to an excessively high voltage. When the power supply voltage exceeds the voltage threshold, it is determined that the power supply module 12 is faulty, and fault information of the power supply module 12 may be stored in the fault storage module 13.
Fig. 3 is a schematic structural diagram of a speed acquisition system according to another embodiment of the present invention, and as shown in fig. 3, on the basis of the foregoing embodiments, further, the speed acquisition device 1 further includes a reset module 14, and the reset module 14 is connected to the processing module 11.
Specifically, the reset module 14 may monitor the operating state of the processing module 11, and when the operating state of the processing module 11 is abnormal, the reset module 14 may automatically reset the processing module 11. The reset module 14 may adopt a watchdog.
Fig. 4 is a schematic structural diagram of a speed acquisition system according to still another embodiment of the present invention, and as shown in fig. 4, the speed acquisition system according to the embodiment of the present invention includes a speed acquisition device 41 and a plurality of speed sensors 42, where:
the speed acquisition device 41 comprises a processing module 411, a power supply module 412, a fault storage module 413, a reset module 414 and a debugging interface 415, wherein the power supply module 412 comprises a first power supply unit 4121, a second power supply unit 4122 and a third power supply unit 4123.
The first power supply unit 4121 may convert the power voltage provided by the backplane bus into a 15V voltage to be supplied to each of the speed sensors 42 through the front panel connector, the second power supply unit 4122 may convert the power voltage provided by the backplane bus into a 3.3V voltage to be supplied to the processing module 411, and the third power supply unit 4123 may convert the power voltage provided by the backplane bus into a 5V voltage to be supplied to the CAN bus chip 43.
The processing module 411 is connected to the fault storage module 413, the reset module 414, the debug interface 415 and the bus chip 43 respectively. The processing module 411 may monitor the voltage of the first power supply unit 4121, store the failure information of the first power supply unit 4121 to the failure storage module 413; the reset module 414 is configured to reset the processing module 411; the debugging interface 415 can be connected with an external computer to realize program debugging of the speed acquisition device 41; data transmission between the processing module 411 and the CAN bus needs to pass through the bus chip 43, and the bus chip 43 plays a role of isolation. The processing module 411 may be connected to the backplane bus via a CAN bus, and perform a fault alarm prompt based on the detection speed acquired by each speed sensor within a preset time period, and two CAN buses may be provided between the processing module 411 and the backplane bus, one of the two CAN buses being used as a standby, and the fault alarm prompt information may be uploaded via the CAN bus connected to the backplane bus.
A serial interface and/or an M12 interface is provided on the front panel connector, and each speed sensor 42 is connected to the CAN bus and the power line via the serial interface or the M12 interface.
In the speed acquisition system provided by the embodiment of the invention, the speed acquisition device 1 is provided with a CAN bus communication interface, and the CAN bus communication interface conforms to the definition of a standard CAN bus physical layer. The CAN bus communication interface CAN be physically connected with speed sensors of different nodes. The speed acquisition device 1 can provide power for each speed sensor 2 to drive each speed sensor 2 to work normally. The speed acquisition device 1 adopts a CANOpen-based standard application layer protocol, and can realize the configuration of relevant attributes (node ID, transmission rate, sampling period and the like) of each speed sensor and the transmission of effective data. The speed acquisition device 1 can configure the relevant attributes (node ID, transmission rate, sampling period, etc.) of each speed sensor through a Service Data Object (SDO). The speed acquisition device 1 can transmit effective speed Data for each speed sensor through a Process Data Object (PDO for short).
Based on CANOpen protocol, networking and data acquisition of the multi-node speed sensor CAN be realized by using one CAN bus channel, in order to effectively identify the node numbers of different sensors, the node IDs of the networking sensors need to be configured through SDOs respectively, and the independence and uniqueness of the speed sensor of each node are ensured. The speed sensors with different node IDs are networked in the CAN network and realize data interaction, the same transmission rate (such as 250Kbps, 500Kbps, 1Mbps and the like) needs to be configured, and on the basis, the configuration of the sampling period CAN be carried out according to the needs of a user so as to ensure that the different speed sensors upload the effective data of the node speed sensor in the specified sampling period.
Fig. 5 is a schematic flow chart of a fault alarm method according to an embodiment of the present invention, and as shown in fig. 5, a fault alarm method according to a speed acquisition system according to any one of the embodiments of the present invention includes:
s501, acquiring each detection speed acquired by a speed sensor in a preset time period;
specifically, the speed sensor detects the speed of the measured object to obtain a detection speed, and then uploads the detection speed to the speed acquisition device. The speed acquisition device can acquire each detection speed acquired by the speed sensor within a preset time period. The preset time period is set according to actual needs, for example, set to 5s, and the embodiment of the present invention is not limited.
S502, obtaining an ideal speed corresponding to each detection speed according to the target speed corresponding to each detection speed and an ideal speed detection model of the speed sensor;
specifically, when the speed sensor detects the speed of the object to be measured, the object to be measured has a target speed, and the speed acquisition device corresponds each of the acquired detection speeds to the target speed of the object to be measured to obtain a target speed corresponding to each of the acquired detection speeds. The speed acquisition device inputs the target speed corresponding to each detection speed into the ideal speed detection model of the speed sensor, and can output the ideal speed corresponding to each detection speed. The initialization parameters of the ideal speed detection model of the speed sensor can be obtained through testing the speed sensor, and the ideal speed detection model is used for obtaining the speed which can be detected by the speed sensor in an ideal state. The target speed is the speed to which the object to be measured needs to be adjusted.
S503, obtaining a residual error corresponding to each detection speed according to each detection speed and an ideal speed corresponding to each detection speed;
specifically, after obtaining the ideal speed corresponding to each detection speed, the speed acquisition device subtracts each detection speed from the ideal speed corresponding to each detection speed, so as to obtain a residual error corresponding to each detection speed. In an ideal state, the detection speed is equal to the ideal speed, but in the actual use process of the speed sensor, due to the use environment, the aging of the device and the like, the detection speed deviates from the ideal speed, and a residual error is generated.
S504, obtaining a virtual fault value corresponding to each residual error according to the residual error corresponding to each detection speed and the residual error processing model; wherein the residual processing model is preset;
specifically, for the residual error corresponding to each detection speed, the speed acquisition device inputs the residual error corresponding to the detection speed into the residual error processing model, and the virtual fault value corresponding to the residual error can be output through the processing of the residual error processing model. Wherein the residual processing model is preset.
And S505, if the virtual fault value corresponding to each residual error in the preset time period is judged and known to meet the fault rule, carrying out fault alarm prompt.
Specifically, after the speed acquisition device obtains the virtual fault value corresponding to each residual error within the preset time period, it is determined whether the virtual fault value corresponding to each residual error within the preset time period meets a fault rule, and if the virtual fault value meets the fault rule, a fault alarm is given. The fault rule is set according to actual experience, and the embodiment of the invention is not limited.
The fault alarm method provided by the embodiment of the invention can acquire each detection speed acquired by the speed sensor in a preset time period, acquire the ideal speed corresponding to each detection speed according to the target speed corresponding to each detection speed and the ideal speed detection model of the speed sensor, acquire the residual error corresponding to each detection speed according to each detection speed and the ideal speed corresponding to each detection speed, acquire the virtual fault value corresponding to each residual error according to the residual error corresponding to each detection speed and the residual error processing model, perform fault alarm prompt after judging that the virtual fault value corresponding to each residual error in the preset time period meets the fault rule, identify the fault of the speed sensor and improve the reliability of speed data acquisition.
On the basis of the foregoing embodiments, further, the residual error processing model includes:
wherein the content of the first and second substances,
a virtual fault value representing the kth iteration at time t,
is preset, r 1 (t) represents the residual error at time t, L represents the gain matrix,. represents the differential operator, k is a positive integer and k is less than or equal to a preset value.
Specifically, each detection speed corresponds to a detection time, which is denoted as time t, and then the residual error corresponding to the detection speed is the residual error at time t. The residual error r of the speed acquisition device at the moment of obtaining t 1 After (t), r is 1 (t) into the formula
And
in which iterative operations are performed, i.e. calculation first
Recalculating
Then calculate
Repeating the steps until k is equal to a preset value n, stopping iterative computation, and obtaining
I.e. a virtual fault value, corresponding to the residual error corresponding to the detection speed at time t. Wherein the gain matrix L is obtained in advance and is a constant. The preset value is set according to actual experience, and the embodiment of the invention is not limited.
Fig. 6 is a schematic diagram of a fault diagnosis of a speed sensor according to an embodiment of the present invention, and as shown in fig. 6, in order to ensure stability and reliability of data acquisition and transmission of the speed sensor, a real-time fault diagnosis of the speed sensor is implemented based on the fault diagnosis principle shown in fig. 6. The actual detection model detects the target speed, namely the speed sensor acquires speed signals by using the Hall principle, so that the output process of speed data is realized, and the detection speed can be obtained. An ideal speed detection model of the speed sensor is established, the target speed is input, and the ideal speed corresponding to the detection speed can be output. And subtracting the detection speed from the ideal speed corresponding to the detection speed to obtain residual errors, inputting the residual errors into a residual error processing model, and outputting a virtual fault value corresponding to each residual error. And inputting the virtual fault value corresponding to each residual error in the preset time period into a fault decision model, and outputting a fault judgment result, wherein the fault decision model comprises a fault rule. Whether the speed sensor has faults or not can be judged according to the fault judgment result, and what kind of faults occur can be further prompted. The initial parameters of the ideal speed detection model of the speed sensor are obtained according to the test data of the speed sensor.
According to the working principle of the Hall type speed sensor, the input signal is the magnetic line change caused by the tooth top and the tooth bottom of the speed measuring fluted disc, and the output signal is square wave pulse. It can be seen that the hall-type speed sensor can be simplified into a linear time-invariant system, and therefore, the residual processing in fig. 6 is described as follows for the linear time-invariant system, and the linear time-invariant system with faults is considered as follows:
y(t)＝Cx(t) (2)
wherein x (t) represents the state vector of the system, u (t) represents the control input vector of the system, corresponding to the target speed, f (t) represents the actual fault signal to be diagnosed, y (t) represents the output vector of the system, corresponding to the ideal speed, A, B, C and B f Respectively, known parameter matrices associated with the system of corresponding dimensions.
Defining the residual signal r (t) as the system output vector y (t) and the system output estimation vector
Is expressed as follows:
in order to accurately estimate a fault signal by using system input and output information, the following fault tracker is designed for the systems of the formulas (1) and (2):
wherein Γ is a gain matrix of the fault tracker, L is a gain matrix in the iterative learning process, L and Γ are symmetric matrices with the same row number and column number dimensions, and k represents the number of iterations. To this end, the objective function is constructed as follows:
J[L(t)]＝r(t) T λr(t) (8)
wherein, lambda is a self-defined non-zero positive integer, the formula (8) is known to be a convex function according to the numerical analysis theory, L and gamma can be initialized into an identity matrix and a setting matrix Q is defined in the iterative computation process, and the method comprises the following steps according to Newton iterative computation:
wherein the content of the first and second substances,
wherein the content of the first and second substances,
representing a gradient operation,/ 1 l 2 ...l n Representing the elements in the matrix L, τ k Are vectors that are conjugate and linearly independent of each other, and can be set in the initialization stage and determined by the following formula in the iterative calculation process:
due to tau k In the iteration, the initialization vector in the equation solving process needs to be determined according to a residual signal output by the system, namely the initialization vector can be determined according to the calculation capability and the calculation precision requirement of a processor in engineering application.
On the basis of the foregoing embodiments, further, the fault rule includes at least one fault condition, where the fault condition is:
the virtual fault value corresponding to each residual error in the preset time period is equal to 0; or alternatively
At least one virtual fault value equal to 0 exists in the virtual fault values corresponding to the residual errors in the preset time period, and each virtual fault value except the virtual fault value equal to 0 is in a preset range; or
At least one virtual fault value is not in the preset range in the virtual fault values corresponding to the residual errors in the preset time period, and each virtual fault value except the virtual fault value not in the preset range is in the preset range.
Specifically, the fault rule includes at least one fault condition, where the fault condition may be that virtual fault values corresponding to each residual error in the preset time period are all equal to 0, at least one virtual fault value exists in the virtual fault values corresponding to each residual error in the preset time period and is equal to 0, and each virtual fault value except the virtual fault value equal to 0 is within a preset range, or at least one virtual fault value does not exist in the virtual fault values corresponding to each residual error in the preset time period and is within the preset range except the virtual fault value not within the preset range.
After judging that the virtual fault value corresponding to each residual error in the preset time period meets any fault condition in the fault rule, the speed acquisition device can judge that the virtual fault value corresponding to each residual error in the preset time period meets the fault rule, and can perform fault alarm prompt. The preset range is set according to actual needs, and the embodiment of the invention is not limited.
For example, the fault rule includes three fault conditions, fault condition 1, fault condition 2, and fault condition 3, where fault condition 1 is: the virtual fault value corresponding to each residual error in the preset time period is equal to 0; the fault condition 2 is: at least one virtual fault value equal to 0 exists in the virtual fault values corresponding to the residual errors in the preset time period, and each virtual fault value except the virtual fault value equal to 0 is in a preset range; the fault condition 3 is: at least one virtual fault value is not in the preset range in the virtual fault values corresponding to the residual errors in the preset time period, and each virtual fault value except the virtual fault value not in the preset range is in the preset range.
And after the speed acquisition device obtains the virtual fault values corresponding to the residual errors in the preset time period, judging whether each virtual fault value is 0 and whether the virtual fault value is within a preset range. If all the virtual fault values are judged to be 0, the virtual fault values corresponding to the residual errors in the preset time period meet the fault condition 1, and fault alarm prompt can be performed. If at least one virtual fault value equal to 0 exists in each virtual fault value and each virtual fault value except the virtual fault value equal to 0 is within a preset range, the virtual fault value corresponding to each residual error in the preset time period meets a fault condition 2, and fault alarm prompt can be performed. If at least one virtual fault value in the virtual fault values is not in the preset range and each virtual fault value except the virtual fault value not in the preset range is in the preset range, the virtual fault value corresponding to each residual error in the preset time period meets the fault condition 1, and fault alarm prompt can be performed.
Fig. 7 is a schematic flow chart of a fault alarm method according to another embodiment of the present invention, and as shown in fig. 7, on the basis of the foregoing embodiments, further, if it is determined that the virtual fault value corresponding to each residual error in the preset time period satisfies the fault rule, the performing fault alarm prompting includes:
s5051, acquiring a fault condition met by a virtual fault value corresponding to each residual error in the preset time period, and acquiring a fault reason corresponding to the fault condition; the fault reason corresponding to the fault condition is preset;
specifically, a corresponding fault reason may be preset for each fault condition, and after determining that the virtual fault value corresponding to each residual error in the preset time period satisfies the fault condition, the speed acquisition device queries and obtains the fault reason corresponding to the fault condition according to the fault condition that the virtual fault value corresponding to each residual error in the preset time period satisfies.
S5052, outputting the fault reason corresponding to the fault condition while performing fault alarm prompting.
Specifically, after the speed acquisition device obtains the fault reason corresponding to the fault condition, the speed acquisition device can output the fault reason corresponding to the fault condition while giving a fault alarm prompt, so that a worker can conveniently perform troubleshooting.
For example, table 1 is a comparison table of fault conditions and fault causes, and the speed acquisition device may query and obtain a corresponding fault cause according to the fault conditions included in the fault rule, and then output the fault cause together with a fault alarm prompt. The staff can obtain the failure cause analysis from table 1 according to the failure cause, so as to perform troubleshooting.
TABLE 1 comparison of Fault conditions and causes
The speed acquisition method provided by the embodiment of the invention realizes networking and mounting of the speed sensor multi-node equipment based on the CAN physical layer on the premise of not increasing the hardware and the cable of the speed acquisition channel. Configuring attribute information of different node sensors, such as node IDs, transmission rates, sampling periods and the like, by using SDOs of CANOpen standard application layer protocols; the PDO of CANOpen standard application layer protocol is utilized to realize the transmission of effective data of the sensor body, namely, the multi-node networking of the speed sensor is realized through a CAN bus physical layer, and the configuration and the message receiving and sending of the speed sensor of each node are realized through the CANOpen application layer protocol.
Compared with the prior art, the speed acquisition system and the speed acquisition method provided by the embodiment of the invention have the following advantages:
firstly, a digital transmission medium is adopted, a traditional speed sensor adopts a voltage type/current type analog quantity output signal, the transmission distance of a CAN bus is long, and the anti-interference capability in the transmission process is strong.
And secondly, the advantages are obvious in the acquisition process of the multi-node speed sensor, the networking is convenient, and the data acquisition work of the multi-node speed sensor can be realized on the premise of not increasing hardware acquisition channels and cables.
Finally, the cost is saved to a certain extent, the installation volume and weight are reduced, and troubleshooting, maintenance and overhaul of products are facilitated.
Fig. 8 is a schematic structural diagram of a malfunction alerting device according to an embodiment of the present invention, and as shown in fig. 8, the malfunction alerting device according to the embodiment of the present invention includes an obtaining unit 801, a first obtaining unit 802, a second obtaining unit 803, a third obtaining unit 804, and a determining unit 805, where:
the acquiring unit 801 is configured to acquire each detection speed acquired by the speed sensor within a preset time period; the first obtaining unit 802 is configured to obtain an ideal speed corresponding to each detection speed according to a target speed corresponding to each detection speed and an ideal speed detection model of the speed sensor; the second obtaining unit 803 is configured to obtain a residual error corresponding to each detection speed according to each detection speed and an ideal speed corresponding to each detection speed; the third obtaining unit 804 is configured to obtain a virtual fault value corresponding to each residual according to the residual corresponding to each detection speed and the residual processing model; wherein the residual processing model is preset; the determining unit 805 is configured to perform a fault alarm prompt after determining and knowing that the virtual fault value corresponding to each residual in the preset time period meets the fault rule.
Specifically, the speed sensor detects the speed of the object to be measured, obtains a detection speed, and then uploads the detection speed to the acquisition unit 801. The acquisition unit 801 may acquire each detection speed acquired by the speed sensor within a preset time period. The preset time period is set according to actual needs, for example, set to 5s, and the embodiment of the present invention is not limited.
When the speed of the measured object is detected, the measured object has a target speed, and the speed acquisition device can correspond each acquired detection speed to the target speed of the measured object to obtain the target speed corresponding to each detection speed. The first obtaining unit 802 inputs the target speed corresponding to each detected speed into the ideal speed detection model of the speed sensor, and may output the ideal speed corresponding to each detected speed. The ideal speed detection model of the speed sensor is preset, and initialization parameters of the ideal speed detection model of the speed sensor can be obtained through testing of the speed sensor, and the ideal speed detection model is used for obtaining the speed which can be detected by the speed sensor in an ideal state. The target speed is the speed to which the object to be measured needs to be adjusted.
After obtaining the ideal velocity corresponding to each detection velocity, the second obtaining unit 803 subtracts each detection velocity from the ideal velocity corresponding to each detection velocity, and may obtain a residual error corresponding to each detection velocity. In an ideal state, the detection speed is equal to the ideal speed, but in the actual use process of the speed sensor, due to the use environment, the aging of the device and the like, the detection speed deviates from the ideal speed, and a residual error is generated.
For the residual error corresponding to each detection speed, the third obtaining unit 804 inputs the residual error corresponding to the detection speed into the residual error processing model, and the virtual fault value corresponding to the residual error can be output after the residual error processing model is processed. Wherein the residual processing model is preset.
After obtaining the virtual fault value corresponding to each residual error within the preset time period, the determining unit 805 may determine whether the virtual fault value corresponding to each residual error within the preset time period satisfies a fault rule, and if the virtual fault value satisfies the fault rule, perform a fault alarm prompt. The fault rule is set according to actual experience, and the embodiment of the invention is not limited.
The fault alarm device provided by the embodiment of the invention can acquire each detection speed acquired by the speed sensor in a preset time period, acquire an ideal speed corresponding to each detection speed according to a target speed corresponding to each detection speed and an ideal speed detection model of the speed sensor, acquire a residual error corresponding to each detection speed according to each detection speed and the ideal speed corresponding to each detection speed, acquire a virtual fault value corresponding to each residual error according to the residual error corresponding to each detection speed and the residual error processing model, perform fault alarm prompt after judging that the virtual fault value corresponding to each residual error in the preset time period meets a fault rule, identify the fault of the speed sensor and improve the reliability of speed data acquisition.
The embodiment of the apparatus provided in the embodiment of the present invention may be specifically configured to execute the processing flows of the above method embodiments, and the functions of the apparatus are not described herein again, and refer to the detailed description of the above method embodiments.
Fig. 9 is a schematic physical structure diagram of an electronic device according to an embodiment of the present invention, and as shown in fig. 9, the electronic device may include: a processor (processor)901, a communication Interface (Communications Interface)902, a memory (memory)903 and a communication bus 904, wherein the processor 901, the communication Interface 902 and the memory 903 are communicated with each other through the communication bus 904. The processor 901 may call logic instructions in the memory 903 to perform the following method: acquiring each detection speed acquired by a speed sensor within a preset time period; obtaining an ideal speed corresponding to each detection speed according to a target speed corresponding to each detection speed and an ideal speed detection model of the speed sensor; obtaining a residual error corresponding to each detection speed according to each detection speed and an ideal speed corresponding to each detection speed; obtaining a virtual fault value corresponding to each residual error according to the residual error corresponding to each detection speed and a residual error processing model; wherein the residual processing model is preset; and if the virtual fault value corresponding to each residual error in the preset time period is judged and obtained to meet the fault rule, carrying out fault alarm prompt.
In addition, the logic instructions in the memory 903 may be implemented in a software functional unit and stored in a computer readable storage medium when the logic instructions are sold or used as a separate product. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
The present embodiment discloses a computer program product comprising a computer program stored on a non-transitory computer readable storage medium, the computer program comprising program instructions which, when executed by a computer, enable the computer to perform the method provided by the above-mentioned method embodiments, for example, comprising: acquiring each detection speed acquired by a speed sensor within a preset time period; obtaining an ideal speed corresponding to each detection speed according to a target speed corresponding to each detection speed and an ideal speed detection model of the speed sensor; obtaining a residual error corresponding to each detection speed according to each detection speed and an ideal speed corresponding to each detection speed; obtaining a virtual fault value corresponding to each residual error according to the residual error corresponding to each detection speed and a residual error processing model; wherein the residual processing model is preset; and if the virtual fault value corresponding to each residual error in the preset time period is judged and obtained to meet the fault rule, carrying out fault alarm prompt.
The present embodiment provides a computer-readable storage medium, which stores a computer program, where the computer program causes the computer to execute the method provided by the above method embodiments, for example, the method includes: acquiring each detection speed acquired by a speed sensor within a preset time period; obtaining an ideal speed corresponding to each detection speed according to a target speed corresponding to each detection speed and an ideal speed detection model of the speed sensor; obtaining a residual error corresponding to each detection speed according to each detection speed and an ideal speed corresponding to each detection speed; obtaining a virtual fault value corresponding to each residual error according to the residual error corresponding to each detection speed and a residual error processing model; wherein the residual processing model is preset; and if the virtual fault value corresponding to each residual error in the preset time period is judged and obtained to meet the fault rule, carrying out fault alarm prompt.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
In the description herein, reference to the description of the terms "one embodiment," "a particular embodiment," "some embodiments," "for example," "an example," "a particular example," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
The above-mentioned embodiments are intended to illustrate the objects, technical solutions and advantages of the present invention in further detail, and it should be understood that the above-mentioned embodiments are only exemplary embodiments of the present invention, and are not intended to limit the scope of the present invention, and any modifications, equivalent substitutions, improvements and the like made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (11)
1. A speed acquisition system comprising a speed acquisition device and a plurality of speed sensors, wherein:
the speed acquisition device comprises a processing module and a power supply module, wherein the processing module is connected with each speed sensor through a CAN bus, and the power supply module is used for supplying power to the processing module and each speed sensor;
the speed acquisition device is used for acquiring each detection speed acquired by the speed sensor within a preset time period; obtaining an ideal speed corresponding to each detection speed according to a target speed corresponding to each detection speed and an ideal speed detection model of the speed sensor; obtaining a residual error corresponding to each detection speed according to each detection speed and an ideal speed corresponding to each detection speed; obtaining a virtual fault value corresponding to each residual error according to the residual error corresponding to each detection speed and a residual error processing model; wherein the residual processing model is preset; if the virtual fault value corresponding to each residual error in the preset time period is judged and obtained to meet the fault rule, fault alarm prompting is carried out;
wherein the fault rule includes at least one fault condition, the fault condition being:
the virtual fault value corresponding to each residual error in the preset time period is equal to 0; or
At least one virtual fault value equal to 0 exists in the virtual fault values corresponding to the residual errors in the preset time period, and each virtual fault value except the virtual fault value equal to 0 is in a preset range; or
At least one virtual fault value is not in the preset range in the virtual fault values corresponding to the residual errors in the preset time period, and each virtual fault value except the virtual fault value not in the preset range is in the preset range.
2. The system of claim 1, wherein each speed sensor is connected to the CAN bus via a serial interface or an M12 interface.
3. The system of claim 1, wherein the power module comprises a first power unit to power each speed sensor and a second power unit to power the processing module.
4. The system of claim 1, wherein the speed acquisition device further comprises a fault storage module, the fault storage module coupled to the processing module.
5. The system of any one of claims 1 to 4, wherein the velocity capture device further comprises a reset module, the reset module being coupled to the processing module.
6. A malfunction alerting method using the speed acquisition system according to any one of claims 1 to 5, comprising:
acquiring each detection speed acquired by a speed sensor within a preset time period;
obtaining an ideal speed corresponding to each detection speed according to a target speed corresponding to each detection speed and an ideal speed detection model of the speed sensor;
obtaining a residual error corresponding to each detection speed according to each detection speed and an ideal speed corresponding to each detection speed;
obtaining a virtual fault value corresponding to each residual error according to the residual error corresponding to each detection speed and a residual error processing model; wherein the residual processing model is preset;
if the virtual fault value corresponding to each residual error in the preset time period is judged and obtained to meet the fault rule, fault alarm prompting is carried out;
wherein the fault rule includes at least one fault condition, the fault condition being:
the virtual fault value corresponding to each residual error in the preset time period is equal to 0; or
At least one virtual fault value equal to 0 exists in the virtual fault values corresponding to the residual errors in the preset time period, and each virtual fault value except the virtual fault value equal to 0 is in a preset range; or
At least one virtual fault value is not in the preset range in the virtual fault values corresponding to the residual errors in the preset time period, and each virtual fault value except the virtual fault value not in the preset range is in the preset range.
7. The method of claim 6, wherein the residual processing model comprises:
wherein the content of the first and second substances,
virtual fault value, r, representing the kth iteration at time t k+1 (t) represents the residual for the kth iteration at time t,
is preset, r 1 (t) represents the residual error at time t, L represents the gain matrix,. represents the differential operator, k is a positive integer and k is less than or equal to a preset value.
8. The method according to claim 6, wherein if it is determined that the virtual fault value corresponding to each residual error in the preset time period satisfies a fault rule, performing a fault alarm prompt includes:
according to the fault condition met by the virtual fault value corresponding to each residual error in the preset time period, obtaining a fault reason corresponding to the fault condition; the fault reason corresponding to the fault condition is preset;
and outputting the fault reason corresponding to the fault condition while performing fault alarm prompt.
9. A malfunction alerting device, comprising:
the acquisition unit is used for acquiring each detection speed acquired by the speed sensor within a preset time period;
a first obtaining unit, configured to obtain an ideal speed corresponding to each detection speed according to a target speed corresponding to each detection speed and an ideal speed detection model of the speed sensor;
the second obtaining unit is used for obtaining a residual error corresponding to each detection speed according to each detection speed and an ideal speed corresponding to each detection speed;
a third obtaining unit, configured to obtain a virtual fault value corresponding to each residual according to the residual corresponding to each detection speed and a residual processing model; wherein the residual processing model is preset;
the judging unit is used for carrying out fault alarm prompting after judging that the virtual fault value corresponding to each residual error in the preset time period meets the fault rule;
wherein the fault rule includes at least one fault condition, the fault condition being:
the virtual fault value corresponding to each residual error in the preset time period is equal to 0; or
At least one virtual fault value equal to 0 exists in the virtual fault values corresponding to the residual errors in the preset time period, and each virtual fault value except the virtual fault value equal to 0 is in a preset range; or
At least one virtual fault value is not in the preset range in the virtual fault values corresponding to the residual errors in the preset time period, and each virtual fault value except the virtual fault value not in the preset range is in the preset range.
10. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the steps of the method according to any of claims 6 to 8 are implemented when the computer program is executed by the processor.
11. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method of any one of claims 6 to 8.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011293920.9A CN112224241B (en) | 2020-11-18 | 2020-11-18 | Speed acquisition system, fault alarm method and device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011293920.9A CN112224241B (en) | 2020-11-18 | 2020-11-18 | Speed acquisition system, fault alarm method and device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112224241A CN112224241A (en) | 2021-01-15 |
| CN112224241B true CN112224241B (en) | 2022-08-02 |
Family
ID=74124288
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011293920.9A Active CN112224241B (en) | 2020-11-18 | 2020-11-18 | Speed acquisition system, fault alarm method and device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112224241B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112833919B (en) * | 2021-03-25 | 2023-11-03 | 成都纵横自动化技术股份有限公司 | Management method and system for redundant inertial measurement data |
| CN113353126B (en) * | 2021-06-09 | 2022-10-28 | 中铁十二局集团电气化工程有限公司 | Railway traffic signal monitoring device and monitoring method thereof |
Citations (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1557664A (en) * | 2004-01-16 | 2004-12-29 | 湖南科技大学 | Bus type intelligent sensor set for state monitoring |
| DE102006023947A1 (en) * | 2006-05-17 | 2007-11-22 | Siemens Ag | Method for generating a speed signal |
| CN101110155A (en) * | 2007-08-27 | 2008-01-23 | 北京交通大学 | Built-in intelligent fault diagnosing device based on data inosculating pattern recognition and method thereof |
| CN102607867A (en) * | 2012-02-22 | 2012-07-25 | 北京交通大学 | On-passage fault detection system based on GLRT (generalized likelihood ratio test) train suspension system and detection method of on-passage fault detection system |
| CN102768121A (en) * | 2012-07-31 | 2012-11-07 | 北京交通大学 | Method for detecting fault of train suspension system on basis of robust observer |
| CN102879680A (en) * | 2012-09-26 | 2013-01-16 | 中南大学 | Rail transit vehicle equipment universal detection and fault diagnosis method and system |
| KR20140123880A (en) * | 2013-04-15 | 2014-10-23 | 샬롬엔지니어링 주식회사 | System for controlling automatically a train using smart signal |
| CN104655868A (en) * | 2013-11-22 | 2015-05-27 | 西安易目软件科技有限公司 | Speed acquisition system for traction drive system |
| CN106292619A (en) * | 2015-06-11 | 2017-01-04 | 河南思维自动化设备股份有限公司 | LKJ train control system condition monitoring and fault diagnosis method and system |
| CN108839677A (en) * | 2018-05-07 | 2018-11-20 | 中国铁路总公司 | A kind of integrity of train detection method and system |
| DE102017214667A1 (en) * | 2017-08-22 | 2019-02-28 | Siemens Aktiengesellschaft | Train monitoring system |
| CN109597403A (en) * | 2018-12-14 | 2019-04-09 | 江南大学 | Mechatronic control system method for diagnosing faults based on iterative learning filter |
| CN110271581A (en) * | 2019-06-11 | 2019-09-24 | 武汉创牛科技有限公司 | A kind of vehicle trouble acquires maintenance system in real time |
| CN110450819A (en) * | 2019-08-26 | 2019-11-15 | 广州地铁集团有限公司 | A kind of onboard ATC equipment operational system based on non-contact data acquisition |
| KR20200067680A (en) * | 2018-12-04 | 2020-06-12 | 광주광역시도시철도공사 | A life checking system of ATC decoder board components and the managing method of ATC decoder board using thereof |
| EP3702238A1 (en) * | 2019-02-15 | 2020-09-02 | Thales Holdings UK Plc | Diagnostic system and a method of diagnosing faults |
| CN111856064A (en) * | 2020-07-29 | 2020-10-30 | 浙江万里学院 | Intelligent speed sensing device |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102390408B (en) * | 2011-10-25 | 2013-12-18 | 张健 | Safety monitoring system of rail wagon |
| US9211809B2 (en) * | 2013-03-15 | 2015-12-15 | General Electric Company | System and method of vehicle system control based on a vehicle reference speed |
| US9778056B2 (en) * | 2014-09-30 | 2017-10-03 | General Electric Company | System and method for displaying planned speed values |
| AT518354B1 (en) * | 2016-02-02 | 2018-06-15 | B & R Ind Automation Gmbh | Method for operating a conveyor in the form of a long stator linear motor |
| US10204461B2 (en) * | 2016-07-19 | 2019-02-12 | GM Global Technology Operations LLC | Detection and reconstruction of sensor faults |
-
2020
- 2020-11-18 CN CN202011293920.9A patent/CN112224241B/en active Active
Patent Citations (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1557664A (en) * | 2004-01-16 | 2004-12-29 | 湖南科技大学 | Bus type intelligent sensor set for state monitoring |
| DE102006023947A1 (en) * | 2006-05-17 | 2007-11-22 | Siemens Ag | Method for generating a speed signal |
| CN101110155A (en) * | 2007-08-27 | 2008-01-23 | 北京交通大学 | Built-in intelligent fault diagnosing device based on data inosculating pattern recognition and method thereof |
| CN102607867A (en) * | 2012-02-22 | 2012-07-25 | 北京交通大学 | On-passage fault detection system based on GLRT (generalized likelihood ratio test) train suspension system and detection method of on-passage fault detection system |
| CN102768121A (en) * | 2012-07-31 | 2012-11-07 | 北京交通大学 | Method for detecting fault of train suspension system on basis of robust observer |
| CN102879680A (en) * | 2012-09-26 | 2013-01-16 | 中南大学 | Rail transit vehicle equipment universal detection and fault diagnosis method and system |
| KR20140123880A (en) * | 2013-04-15 | 2014-10-23 | 샬롬엔지니어링 주식회사 | System for controlling automatically a train using smart signal |
| CN104655868A (en) * | 2013-11-22 | 2015-05-27 | 西安易目软件科技有限公司 | Speed acquisition system for traction drive system |
| CN106292619A (en) * | 2015-06-11 | 2017-01-04 | 河南思维自动化设备股份有限公司 | LKJ train control system condition monitoring and fault diagnosis method and system |
| DE102017214667A1 (en) * | 2017-08-22 | 2019-02-28 | Siemens Aktiengesellschaft | Train monitoring system |
| CN108839677A (en) * | 2018-05-07 | 2018-11-20 | 中国铁路总公司 | A kind of integrity of train detection method and system |
| KR20200067680A (en) * | 2018-12-04 | 2020-06-12 | 광주광역시도시철도공사 | A life checking system of ATC decoder board components and the managing method of ATC decoder board using thereof |
| CN109597403A (en) * | 2018-12-14 | 2019-04-09 | 江南大学 | Mechatronic control system method for diagnosing faults based on iterative learning filter |
| EP3702238A1 (en) * | 2019-02-15 | 2020-09-02 | Thales Holdings UK Plc | Diagnostic system and a method of diagnosing faults |
| CN110271581A (en) * | 2019-06-11 | 2019-09-24 | 武汉创牛科技有限公司 | A kind of vehicle trouble acquires maintenance system in real time |
| CN110450819A (en) * | 2019-08-26 | 2019-11-15 | 广州地铁集团有限公司 | A kind of onboard ATC equipment operational system based on non-contact data acquisition |
| CN111856064A (en) * | 2020-07-29 | 2020-10-30 | 浙江万里学院 | Intelligent speed sensing device |
Non-Patent Citations (1)
| Title |
|---|
| 基于故障跟踪估计器的故障诊断新方法;颜秉勇;《***工程与电子技术》;20130228;第35卷(第2期);第378页第1-10段 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN112224241A (en) | 2021-01-15 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN112224241B (en) | Speed acquisition system, fault alarm method and device | |
| US9128109B1 (en) | Method and system for detecting errors in indicated air speed | |
| CN107222362A (en) | A kind of vehicle CAN network automatic test platform and its optimization method | |
| CN112630682B (en) | Sensor fault detection method, device and equipment | |
| CN109709934A (en) | A kind of flight control system fault diagnosis redundancy design method | |
| CN106926699A (en) | The control display methods and its control system of Digital Automobile combination instrument | |
| CN104535735B (en) | Water quality remote on-line monitoring method | |
| CN105071957A (en) | CAN bus fault diagnosis method and system | |
| CN110688732A (en) | Simulation test platform and method for speed and distance measuring system | |
| CN106599367A (en) | Method for detecting abnormal state of spacecraft | |
| CN110525513B (en) | Fault monitoring method and fault monitoring system of wire-controlled steering system | |
| CN205719015U (en) | The two line process variable transmitter used in industrial processes | |
| CN105197260B (en) | A kind of satellite momentum wheel abnormal in early stage detection method based on Shewhart control chart | |
| CN110389249B (en) | Detection device | |
| CN108494626B (en) | Intelligent diagnosis method for communication faults of Profibus DP industrial field bus with improper physical installation | |
| CN209606831U (en) | A kind of complicated various industrial equipment state Centralizing inspection and fault diagnosis system | |
| CN113485311B (en) | AK (automatic K) protocol wheel speed sensor testing device and method based on hardware-in-the-loop architecture | |
| CN115407731A (en) | Production line working state monitoring and fault early warning system and method | |
| CN112362227A (en) | Pressure acquisition system and pressure acquisition method | |
| CN113844499A (en) | ATO speed measurement method and system for train automatic driving system | |
| CN108020396B (en) | A kind of intelligent monitoring device and system suitable for wind-tunnel measurements system | |
| CN110928747B (en) | Baud rate monitoring method and device for asynchronous serial bus | |
| CN117914223B (en) | Control system of servo motor | |
| CN103984233A (en) | Four-rotor aircraft dual-granularity fault diagnosis method based on hybrid model | |
| CN112873214B (en) | Robot state real-time monitoring system and method based on acceleration information |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |