CN112415980A - Fault diagnosis method of control system based on direct current electric mechanism simulator - Google Patents
Fault diagnosis method of control system based on direct current electric mechanism simulator Download PDFInfo
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Abstract
The invention provides a fault diagnosis method of a control system based on a direct current electric mechanism simulator, which constructs the direct current electric mechanism simulator through design, and enables a servo controller to form a closed-loop working system by taking a real direct current electric mechanism as a control object, so that the direct current electric mechanism simulator and the real direct current electric mechanism work in parallel, thus the real-time monitoring of the working state of the real direct current electric mechanism can be realized by comparing the output quantities of the direct current electric mechanism simulator and the real direct current electric mechanism, and the fault type and the fault component of the real direct current electric mechanism can be specifically determined according to the difference condition between the output quantities of different types, thereby improving the accuracy, reliability and high efficiency of fault diagnosis of the real direct current electric mechanism.
Description
Technical Field
The invention relates to the technical field of control system detection, in particular to a fault diagnosis method of a control system based on a direct current electric mechanism simulator.
Background
An electromechanical servo control system generally comprises a servo controller, a motor power amplifier, a motor, a transmission mechanism, a position and speed feedback element, a load and the like to form a feedback closed loop, and the schematic block diagram of the electromechanical servo control system is shown in fig. 1. The servo controller is usually based on a microprocessor system as hardware, and uses a/D or other means to collect the load position and speed values, and compares them with the received control commands, so as to obtain the control error of the electromechanical servo control system, and the control algorithm is implemented by microprocessor software. In each control period of the electromechanical servo control system, the servo controller runs a control algorithm once, calculates the motor control quantity by taking the control error as an input quantity, and drags the motor to rotate through the PWM motor power amplifier and enables the motor to drive the load to reach a specified position through the transmission mechanism.
Typically, the servo controller and motor power amplifier are assembled in a control assembly, while the motor, transmission, position and speed feedback elements and load are assembled in an electric machine assembly. Because the whole electromechanical servo control system is a feedback closed loop, and any one part of the feedback closed loop is broken down to cause an open loop of the feedback closed loop, the electromechanical servo control system cannot work normally and the system fault location is difficult. Therefore, the prior art can not effectively, accurately and quickly diagnose and detect the fault state and the fault position of the electromechanical servo motor in the form of a feedback closed loop.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides a fault diagnosis method of a control system based on a direct current electric mechanism simulator, which comprises the steps of carrying out mathematical modeling on a real direct current electric mechanism about a frequency domain transfer function or constructing the direct current electric mechanism transfer function by utilizing an active circuit network so as to obtain the direct current electric mechanism simulator, instructing a servo controller to respectively send control quantities to the real direct current electric mechanism and the direct current electric mechanism simulator, judging whether the real direct current electric mechanism has faults or not according to the difference between the output value of the real direct current electric mechanism and the output value of the direct current electric mechanism simulator, switching the servo controller to take the direct current electric mechanism simulator as a control object if the real direct current electric mechanism has the faults, and simultaneously applying the same instruction to the real direct current electric mechanism simulator and the direct current electric mechanism simulator, comparing the output states of the real direct current electric mechanism and the direct current electric mechanism simulator relative to the instruction, and diagnosing and positioning the fault of the real direct current electric mechanism according to the comparison result of the output states; therefore, the method for diagnosing the fault of the control system based on the direct current electric mechanism simulator comprises the steps of constructing the direct current electric mechanism simulator through design, enabling the servo controller to form a closed-loop working system by taking the real direct current electric mechanism as a control object, enabling the direct current electric mechanism simulator and the real direct current electric mechanism to work in parallel, comparing the output quantities of the direct current electric mechanism simulator and the real direct current electric mechanism, monitoring the working state of the real direct current electric mechanism in real time, and specifically determining the fault type and the fault component of the real direct current electric mechanism according to the difference condition of the output quantities of different types, so that the accuracy, reliability and high efficiency of fault diagnosis of the real direct current electric mechanism are improved.
The invention provides a fault diagnosis method of a control system based on a direct current electric mechanism simulator, which is characterized by comprising the following steps:
step S1, carrying out mathematical modeling about a frequency domain transfer function on the real direct current electric mechanism or constructing the direct current electric mechanism transfer function by utilizing an active circuit network, thereby obtaining a direct current electric mechanism simulator;
step S2, a servo controller is instructed to send control quantities to the real direct current electric mechanism and the direct current electric mechanism simulator respectively, and whether the real direct current electric mechanism breaks down or not is judged according to the difference between the output value of the real direct current electric mechanism and the output value of the direct current electric mechanism simulator;
step S3, if the real direct current electric mechanism is judged to be in fault, the servo controller is switched to take the direct current electric mechanism simulator as a control object, and the same instruction is simultaneously applied to the real direct current electric mechanism and the direct current electric mechanism simulator;
step S4, comparing the output states of the real direct current electric mechanism and the direct current electric mechanism simulator relative to the instruction, and diagnosing and positioning the fault of the real direct current electric mechanism according to the comparison result of the output states;
further, in step S1, performing mathematical modeling on the real dc electric motor with respect to a frequency domain transfer function to obtain a dc electric motor simulator specifically includes:
constructing a frequency domain transfer function of the real direct current electric mechanism according to the following formula (1):
in the above formula (1), θ represents the transmission displacement of the real dc motor output, K1Representing the current-dependent proportionality coefficient, K, of said real DC motor2Expressing the motor speed-related proportionality coefficient, K, of said real DC motor3Represents a transmission displacement-dependent proportionality coefficient of said real DC motor, and Km＝K1K2K3And s represents a frequency domain input quantity corresponding to the real DC motor, tau1Representing the electrical time constant, τ, of the motor2Represents the electromechanical time constant of the motor;
calculating to obtain the output of the direct current electric mechanism simulator according to the frequency domain transfer function shown in the formula (1);
further, in step S1, constructing a dc motor transfer function using an active circuit network, so as to obtain the dc motor simulator specifically includes:
the active network is formed by an operational amplifier, a photoelectric isolator, a plurality of resistance elements and a plurality of capacitance elements, and the functional relation between the circuit input quantity and the circuit output quantity of the active circuit network is determined, so that the direct current electric mechanism transfer function is obtained through construction, and then the output of the direct current electric mechanism simulator is obtained through calculation according to the direct current electric mechanism transfer function;
further, in step S2, instructing the servo controller to send control quantities to the real dc electric mechanism and the dc electric mechanism simulator respectively includes:
under the normal working state of the real direct current electric mechanism, the servo controller takes the real direct current electric mechanism as a control object so as to form a closed-loop control system and enable the real direct current electric mechanism to execute a control instruction from the servo controller;
the servo controller sends the control instruction to the direct current electric mechanism simulator while controlling the real direct current electric mechanism, so that the real direct current electric mechanism and the direct current electric mechanism simulator work in parallel;
further, in step S2, the determining whether the real dc electric mechanism has a fault according to a difference between the output value of the real dc electric mechanism and the output value of the dc electric mechanism simulator specifically includes:
respectively inputting the same control quantity to the real direct current electric mechanism and the direct current electric mechanism simulator at the same time t, obtaining a motor current value I (t), a motor rotating speed value omega (t) and a motor transmission displacement value theta (t) which are output by the real direct current electric mechanism corresponding to the control quantity, and obtaining a motor current value I (t) which is output by the direct current electric mechanism simulator corresponding to the control quantitystd(t) motor speed value omegastd(t) and motor drive displacement value θstd(t) passing through I (t) and Istd(t), ω (t) and ωstd(t), or θ (t) and θstd(t) the difference between the two, determining whether the real dc electric machine has failed;
further, in the step S2, the first and second signals are processed by I (t) and Istd(t), ω (t) and ωstd(t), or θ (t) and θstd(t) the step of determining whether the real dc motor fails specifically comprises:
setting a motor current threshold I of the direct current electric mechanism simulator corresponding to the control quantity outputset(t) motor speed threshold ωset(t) and Motor Transmission Displacement threshold θset(t) and when any one of the following conditions is satisfied, doesDetermining that the real direct current electric mechanism has a fault:
①I(t)≤Istd(t)-Iset(t) or I (t) ≧ Istd(t)+Iset(t), and the duration of the establishment of the above relation exceeds 50 ms;
②ω(t)≤ωstd(t)-ωset(t) or ω (t) ≧ ωstd(t)+ωset(t), and the duration of the establishment of the above relation exceeds 50 ms;
③θ(t)≤θstd(t)-θset(t) or θ (t) ≧ θstd(t)+θset(t), and the duration of the establishment of the above relation exceeds 50 ms;
further, in step S3, if it is determined that the real dc electric mechanism has a fault, the switching the servo controller to the dc electric mechanism simulator as a control target specifically includes:
if the real direct current electric mechanism is judged to be in fault, the signal connection relation between the servo controller and the real direct current electric mechanism is removed, and the servo controller is switched to take the direct current electric mechanism simulator as a control object, so that the closed-loop work of the direct current electric mechanism simulator is realized;
further, in step S3, the step of simultaneously applying the same command to the real dc electric machine and the dc electric machine simulator specifically includes:
when the direct current electric mechanism simulator works in a closed loop mode, sine instructions with the same amplitude and period are applied to the real direct current electric mechanism and the direct current electric mechanism simulator simultaneously;
further, in step S4, comparing the output states of the real dc electric machine and the dc electric machine simulator with respect to the command, and performing fault diagnosis and location on the real dc electric machine according to the comparison result of the output states specifically includes:
at the same time t, obtaining the motor current value of the real direct current electric mechanism corresponding to the instruction outputI ' (t), a motor speed value ω ' (t) and a motor transmission displacement value θ ' (t), and obtaining a motor current value I ' of the DC motor mechanism simulator corresponding to the command output 'std(t) motor speed value omega'std(t) and Motor drive Displacement value θ'std(t), and then I '(t) and I'std(t), ω '(t) and ω'std(t), or theta '(t) and theta'std(t) differences between, performing fault diagnosis and localization of said real dc electric machine;
further, in the step S4, I '(t) and I'std(t), ω '(t) and ω'std(t), or theta '(t) and theta'std(t) the difference between the real dc electric machine, the fault diagnosing and locating the real dc electric machine specifically comprises:
setting a motor current threshold I 'of the DC motor mechanism simulator corresponding to the command output'set(t) motor speed threshold value omega'set(t) and a motor drive displacement threshold θ'set(t)，
When I is satisfiedstd(t)-Iset(t)≤I(t)≤Istd(t)+Iset(t), determining that the motor power amplification and the motor armature loop part of the real direct current electric mechanism work normally, otherwise, determining that the motor power amplification and the motor armature loop part work abnormally;
when ω is satisfiedstd(t)-ωset(t)≤ω(t)≤ωstd(t)+ωset(t), determining that the motor speed measuring loop part of the real direct current electric mechanism works normally, otherwise, determining that the motor speed measuring loop part works abnormally;
when theta is satisfiedstd(t)-θset(t)≤θ(t)≤θstd(t)+θsetAnd (t), determining that the transmission mechanism and the angle measurement circuit part of the real direct current electric mechanism work normally, otherwise, determining that the transmission mechanism and the angle measurement circuit part work abnormally.
Compared with the prior art, the fault diagnosis method of the control system based on the direct current electric mechanism simulator comprises the steps of carrying out mathematical modeling on a real direct current electric mechanism about a frequency domain transfer function or constructing the direct current electric mechanism transfer function by utilizing an active circuit network so as to obtain the direct current electric mechanism simulator, indicating a servo controller to respectively send control quantities to the real direct current electric mechanism and the direct current electric mechanism simulator, judging whether the real direct current electric mechanism has faults or not according to the difference between the output value of the real direct current electric mechanism and the output value of the direct current electric mechanism simulator, switching the servo controller to take the direct current electric mechanism simulator as a control object if the real direct current electric mechanism has the faults, and simultaneously applying the same instruction to the real direct current electric mechanism simulator and the direct current electric mechanism simulator, comparing the output states of the real direct current electric mechanism and the direct current electric mechanism simulator relative to the instruction, and diagnosing and positioning the fault of the real direct current electric mechanism according to the comparison result of the output states; therefore, the method for diagnosing the fault of the control system based on the direct current electric mechanism simulator comprises the steps of constructing the direct current electric mechanism simulator through design, enabling the servo controller to form a closed-loop working system by taking the real direct current electric mechanism as a control object, enabling the direct current electric mechanism simulator and the real direct current electric mechanism to work in parallel, comparing the output quantities of the direct current electric mechanism simulator and the real direct current electric mechanism, monitoring the working state of the real direct current electric mechanism in real time, and specifically determining the fault type and the fault component of the real direct current electric mechanism according to the difference condition of the output quantities of different types, so that the accuracy, reliability and high efficiency of fault diagnosis of the real direct current electric mechanism are improved.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.
The technical solution of the present invention is further described in detail by the accompanying drawings and embodiments.
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.
FIG. 1 is a schematic block diagram of a prior art electromechanical servo control system.
Fig. 2 is a schematic flow chart of a fault diagnosis method for a control system based on a direct-current electric mechanism simulator provided by the invention.
Fig. 3 is a flow chart for constructing a frequency domain transfer function corresponding to the dc electric mechanism simulator in the fault diagnosis method of the control system based on the dc electric mechanism simulator provided by the present invention.
Fig. 4 is a schematic circuit structure diagram of an active circuit network corresponding to the dc electric mechanism simulator in the fault diagnosis method for the control system based on the dc electric mechanism simulator provided by the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Fig. 1 is a schematic flow chart of a fault diagnosis method for a control system based on a dc electric mechanism simulator according to an embodiment of the present invention. The fault diagnosis method of the control system based on the direct current electric mechanism simulator comprises the following steps:
step S1, carrying out mathematical modeling about a frequency domain transfer function on the real direct current electric mechanism or constructing the direct current electric mechanism transfer function by utilizing an active circuit network, thereby obtaining a direct current electric mechanism simulator;
step S2, the servo controller is instructed to send the control quantity to the real direct current electric mechanism and the direct current electric mechanism simulator respectively, and whether the real direct current electric mechanism has a fault is judged according to the difference between the output value of the real direct current electric mechanism and the output value of the direct current electric mechanism simulator;
step S3, if the real DC electric mechanism is judged to be in fault, the servo controller is switched to take the DC electric mechanism simulator as a control object, and the same instruction is simultaneously applied to the real DC electric mechanism and the DC electric mechanism simulator;
and step S4, comparing the output states of the real direct current electric mechanism and the direct current electric mechanism simulator respectively related to the instruction, and diagnosing and positioning the fault of the real direct current electric mechanism according to the comparison result of the output states.
The beneficial effects of the technical scheme are as follows: the fault diagnosis method of the control system based on the direct current electric mechanism simulator comprises the steps of constructing the direct current electric mechanism simulator through design, enabling a servo controller to form a closed-loop working system by taking a real direct current electric mechanism as a control object, enabling the direct current electric mechanism simulator and the real direct current electric mechanism to work in parallel, comparing output quantities of the direct current electric mechanism simulator and the real direct current electric mechanism, monitoring the working state of the real direct current electric mechanism in real time, modeling the real direct current electric mechanism essentially, obtaining different types of parameter output quantities such as motor current, motor rotating speed and motor driving displacement in the real direct current shop conveying mechanism in a numerical calculation or circuit simulation mode, and obtaining different types of parameter output quantities according to difference conditions between the different types of parameter output quantities between the real direct current electric mechanism and the direct current electric mechanism simulator, and the fault type and the fault component of the real direct current electric mechanism are specifically determined, so that the accuracy, reliability and efficiency of fault diagnosis of the real direct current electric mechanism are improved.
Preferably, in step S1, the mathematical modeling of the real dc motor with respect to the frequency domain transfer function, so as to obtain the dc motor simulator specifically includes:
constructing a frequency domain transfer function of the real direct current electric mechanism according to the following formula (1):
in the above formula (1), θ represents the transmission displacement of the real dc motor output, K1Representing the current-dependent proportionality coefficient, K, of the real DC motor2Expressing the motor speed-related proportionality coefficient, K, of the real DC motor3Represents a transmission displacement-dependent proportionality coefficient of the real DC motor, and Km＝K1K2K3And s represents the frequency domain input corresponding to the real DC motor, tau1Representing the electrical time constant, τ, of the motor2Represents the electromechanical time constant of the motor;
and calculating to obtain the output of the direct current electric mechanism simulator according to the frequency domain transfer function shown in the formula (1).
Referring to fig. 3, a specific process of performing mathematical modeling on a real dc electric mechanism with respect to a frequency domain transfer function to obtain a corresponding frequency domain transfer function is shown. In particular, the workflow of the real dc motor can be characterized by the above numerical formula (1), i.e. the workflow is characterized by
As can be seen from fig. 2, when the control voltage of the real dc motor is V, the first link is passed
Then obtaining the current I of the motor, and then passing through a second link
Then obtaining the motor rotating speed omega, and finally passing through an integration link
And then obtaining the motor transmission displacement theta, and numerically simulating the working flow of the real direct current electric mechanism through the process to obtain a corresponding direct current electric mechanism simulator, so that the construction difficulty of the direct current electric mechanism simulator can be simplified, and the simulation authenticity and the effectiveness of the direct current electric mechanism simulator can be improved.
For example, in the formula (1), the current-dependent scaling factor K1The value of the motor can be 2.2V/A, and the motor rotating speed related proportionality coefficient K2The value can be 1.2V/rad/s, and the transmission displacement related proportionality coefficient K3The value can be 5V/rad, and the electric time constant tau of the motor1The value can be 0.0075, and the electromechanical time constant tau of the motor is obtained2The value of the control voltage of the real direct current electric mechanism can be 12.3, the value of the control voltage of the real direct current electric mechanism can be 28V, and a specific frequency domain transfer function model can be obtained through setting of the specific numerical value, so that a mathematical basis is provided for the operation of a subsequent direct current electric mechanism simulator.
Preferably, in step S1, constructing the dc motor transfer function by using the active circuit network, so as to obtain the dc motor simulator specifically includes:
the active network is formed by an operational amplifier, a photoelectric isolator, a plurality of resistance elements and a plurality of capacitance elements, and the functional relation between the circuit input quantity and the circuit output quantity of the active circuit network is determined, so that the direct current electric mechanism transfer function is obtained through construction, and the output of the direct current electric mechanism simulator is obtained through calculation according to the direct current electric mechanism transfer function.
Fig. 4 is a schematic circuit diagram of an active circuit network corresponding to the dc electric mechanism simulator. The active circuit network can be composed of an operational amplifier, a photoelectric isolator, a plurality of resistance elements and a plurality of capacitance elements, the active circuit network is essentially an analog circuit of the real direct current electric mechanism, and the active circuit network is equivalent to the real direct current electric mechanism in circuit operation and output, so that the synchronous monitoring of the working state of the real direct current electric mechanism can be realized by analyzing the input-output state of the active circuit network. For example, the optoelectronic isolator in the active circuit network may be a TLP612-2 optoelectronic isolator, the operational amplifier may be an LM124J operational amplifier, and parameters of other resistive and capacitive elements are shown in table 1 below:
TABLE 1
In addition, in actual operation, the output of the dc motor simulator corresponding to the active circuit network can be sampled in 16-bit a/D form. By constructing the active circuit network, effective and accurate circuit simulation can be performed on the real direct current motor, so that the working reliability of the direct current motor mechanism simulator is improved.
Preferably, in step S2, the instructing the servo controller to send the control quantities to the real dc electric machine and the dc electric machine simulator respectively includes:
under the normal working state of the real direct current electric mechanism, the servo controller takes the real direct current electric mechanism as a control object so as to form a closed-loop control system and enable the real direct current electric mechanism to execute a control instruction from the servo controller;
the servo controller controls the real direct current electric mechanism and simultaneously sends the control instruction to the direct current electric mechanism simulator, so that the real direct current electric mechanism and the direct current electric mechanism simulator work in parallel.
The beneficial effects of the technical scheme are as follows: the real direct current electric mechanism is used as a control object by indicating the servo controller, a closed-loop control system is formed by the real direct current electric mechanism, and the same control instruction is sent to the direct current electric mechanism simulator, so that the simulation of the synchronous working running state of the real direct current electric mechanism can be realized by utilizing the direct current electric mechanism simulator while the normal work of the real direct current electric mechanism is ensured, and the synchronous monitoring of the real direct current electric mechanism is realized.
Preferably, in step S2, the determining whether the real dc electric mechanism is faulty or not according to the difference between the output value of the real dc electric mechanism and the output value of the dc electric mechanism simulator specifically includes:
respectively inputting the same control quantity to the real direct current electric mechanism and the direct current electric mechanism simulator at the same time t, obtaining the motor current value I (t), the motor rotating speed value omega (t) and the motor transmission displacement value theta (t) which are output by the real direct current electric mechanism corresponding to the control quantity, and obtaining the motor current value I (t) which is output by the direct current electric mechanism simulator corresponding to the control quantitystd(t) motor speed value omegastd(t) and motor drive displacement value θstd(t) passing through I (t) and Istd(t), ω (t) and ωstd(t), or θ (t) and θstd(t) the difference between the two, and determining whether the real direct current electric mechanism is in fault.
The beneficial effects of the technical scheme are as follows: because the real direct current electric mechanism comprises different elements such as a motor power amplifier, a motor, a transmission mechanism and the like, different types of working parameters such as motor current, motor rotating speed, motor transmission displacement and the like can be generated in the working process, if the real direct current electric mechanism breaks down, at least one corresponding parameter can be correspondingly abnormal, and thus, whether the real direct current electric mechanism breaks down or not can be quickly and effectively judged by judging the difference state between the output quantities of the parameters such as the motor current, the motor rotating speed and the motor transmission displacement and the like under the condition that the real direct current electric mechanism and the direct current electric mechanism simulator receive the same input quantity.
Preferably, in the step S2, the first and second phases are defined by I (t) and Istd(t), ω (t) and ωstd(t), or θ (t) and θstd(t) the difference between the real dc motor and the real dc motor to determine whether the real dc motor fails specifically includes:
setting motor current threshold I of the DC electric mechanism simulator corresponding to the control quantity outputset(t) Motor rotational speedThreshold value omegaset(t) and Motor Transmission Displacement threshold θset(t), and determining that the real dc motor is out of order when any one of the following conditions is satisfied:
①I(t)≤Istd(t)-Iset(t) or I (t) ≧ Istd(t)+Iset(t), and the duration of the establishment of the above relation exceeds 50 ms;
②ω(t)≤ωstd(t)-ωset(t) or ω (t) ≧ ωstd(t)+ωset(t), and the duration of the establishment of the above relation exceeds 50 ms;
③θ(t)≤θstd(t)-θset(t) or θ (t) ≧ θstd(t)+θset(t), and the duration in which the above relation holds is more than 50 ms.
The beneficial effects of the technical scheme are as follows: because the real direct current electric mechanism comprises different elements such as a motor power amplifier, a motor, a transmission mechanism and the like, different types of working parameters such as motor current, motor rotating speed, motor transmission displacement and the like can be generated in the working process, if one part of the real direct current electric mechanism breaks down, the corresponding parameter output quantity is abnormal, so that the specific fault type and fault area of the real direct current electric mechanism can be determined in a targeted manner through the conditions of the first, the second and the third, and in the actual operation, the motor current threshold value I is determinedset(t) motor speed threshold ωset(t) and Motor Transmission Displacement threshold θsetAnd (t) can be set according to the actual type of the real direct current electric mechanism, so that the validity and objectivity of the conditions (I), (II) and (III) are ensured.
Preferably, in step S3, if it is determined that the real dc electric mechanism has a fault, the switching the servo controller to the dc electric mechanism simulator as the control target specifically includes:
if the real direct current electric mechanism is judged to have a fault, the signal connection relation between the servo controller and the real direct current electric mechanism is removed, and the servo controller is switched to take the direct current electric mechanism simulator as a control object, so that the closed-loop work of the direct current electric mechanism simulator is realized.
The beneficial effects of the technical scheme are as follows: if the real direct current electric mechanism is judged to be in fault, closed-loop work cannot be achieved between the real direct current electric mechanism and the servo controller, at the moment, the signal connection relation between the servo controller and the real direct current electric mechanism is removed, the servo controller is switched to take the direct current electric mechanism simulator as a control object, and the direct current electric mechanism simulator can be guaranteed to accurately simulate the working state of the real direct current electric mechanism.
Preferably, in step S3, the step of simultaneously applying the same command to the real dc electric machine and the dc electric machine simulator specifically includes:
when the direct current electric mechanism simulator works in a closed loop mode, sine commands with the same amplitude and period are applied to the real direct current electric mechanism and the direct current electric mechanism simulator at the same time.
The beneficial effects of the technical scheme are as follows: by applying sine commands with the same amplitude and period to the real direct current electric mechanism and the direct current electric mechanism simulator, the controllability of synchronous excitation of the real direct current electric mechanism and the direct current electric mechanism simulator can be improved to the maximum extent by using the sine commands as excitation signals.
Preferably, in step S4, comparing the output states of the real dc electric machine and the dc electric machine simulator with respect to the command, and performing fault diagnosis and location on the real dc electric machine according to the comparison result of the output states specifically includes:
at the same time t, acquiring a motor current value I ' (t), a motor speed value omega ' (t) and a motor transmission displacement value theta ' (t) of the real direct current electric mechanism corresponding to the command output, and acquiring a motor current value I ' of the direct current electric mechanism simulator corresponding to the command output 'std(t) motor speed value omega'std(t) and Motor drive Displacement value θ'std(t), and then I '(t) and I'std(t), ω '(t) and ω'std(t), or θ' (t)And theta'std(t) the difference between the real direct current electric mechanism, and carrying out fault diagnosis and positioning on the real direct current electric mechanism.
The beneficial effects of the technical scheme are as follows: because the real direct current electric mechanism comprises different elements such as a motor power amplifier, a motor, a transmission mechanism and the like, different types of working parameters such as motor current, motor rotating speed, motor transmission displacement and the like can be generated in the working process, if the real direct current electric mechanism fails, at least one corresponding parameter can be correspondingly abnormal, and thus, by judging the difference state between the output quantities of the parameters such as the motor current, the motor rotating speed, the motor transmission displacement and the like under the condition that the real direct current electric mechanism and the direct current electric mechanism simulator receive the same input quantity, the real direct current electric mechanism can quickly and effectively judge which component in the real direct current electric mechanism fails.
Preferably, in step S4, I '(t) and I'std(t), ω '(t) and ω'std(t), or theta '(t) and theta'std(t) the difference between the real dc electric machine, the fault diagnosing and locating the real dc electric machine specifically comprises:
setting a motor current threshold value I 'of the DC motor simulator corresponding to the command output'set(t) motor speed threshold value omega'set(t) and a motor drive displacement threshold θ'set(t)，
When I is satisfiedstd(t)-Iset(t)≤I(t)≤Istd(t)+Iset(t), determining that the motor power amplification and the motor armature loop part of the real direct current electric mechanism work normally, otherwise, determining that the motor power amplification and the motor armature loop part work abnormally;
when ω is satisfiedstd(t)-ωset(t)≤ω(t)≤ωstd(t)+ωset(t), determining that the motor speed measuring loop part of the real direct current electric mechanism works normally, otherwise, determining that the motor speed measuring loop part works abnormally;
when theta is satisfiedstd(t)-θset(t)≤θ(t)≤θstd(t)+θset(t), then determining the true DC motorThe transmission mechanism and the angle measurement circuit part work normally, otherwise, the transmission mechanism and the angle measurement circuit part work abnormally.
The beneficial effects of the technical scheme are as follows: through the three judgment conditions, the fault area of the real direct current electric mechanism can be accurately and quickly positioned, so that the accuracy, reliability and high efficiency of fault diagnosis of the real direct current electric mechanism are improved.
As can be seen from the above description of the embodiments, the method for diagnosing a fault of a control system based on a dc electric mechanism simulator includes performing mathematical modeling on a real dc electric mechanism with respect to a frequency domain transfer function or constructing a dc electric mechanism transfer function using an active circuit network, thereby obtaining a dc electric mechanism simulator, instructing a servo controller to send control quantities to the real dc electric mechanism and the dc electric mechanism simulator, respectively, and determining whether the real dc electric mechanism has a fault according to a difference between an output value of the real dc electric mechanism and an output value of the dc electric mechanism simulator, if it is determined that the real dc electric mechanism has a fault, switching the servo controller to use the dc electric mechanism simulator as a control object, and applying the same instruction to the real dc electric mechanism and the dc electric mechanism simulator at the same time, comparing the output states of the real direct current electric mechanism and the direct current electric mechanism simulator relative to the instruction, and diagnosing and positioning the fault of the real direct current electric mechanism according to the comparison result of the output states; therefore, the method for diagnosing the fault of the control system based on the direct current electric mechanism simulator comprises the steps of constructing the direct current electric mechanism simulator through design, enabling the servo controller to form a closed-loop working system by taking the real direct current electric mechanism as a control object, enabling the direct current electric mechanism simulator and the real direct current electric mechanism to work in parallel, comparing the output quantities of the direct current electric mechanism simulator and the real direct current electric mechanism, monitoring the working state of the real direct current electric mechanism in real time, and specifically determining the fault type and the fault component of the real direct current electric mechanism according to the difference condition of the output quantities of different types, so that the accuracy, reliability and high efficiency of fault diagnosis of the real direct current electric mechanism are improved.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (10)
1. The fault diagnosis method of the control system based on the direct current electric mechanism simulator is characterized by comprising the following steps of:
step S1, carrying out mathematical modeling about a frequency domain transfer function on the real direct current electric mechanism or constructing the direct current electric mechanism transfer function by utilizing an active circuit network, thereby obtaining a direct current electric mechanism simulator;
step S2, a servo controller is instructed to send control quantities to the real direct current electric mechanism and the direct current electric mechanism simulator respectively, and whether the real direct current electric mechanism breaks down or not is judged according to the difference between the output value of the real direct current electric mechanism and the output value of the direct current electric mechanism simulator;
step S3, if the real direct current electric mechanism is judged to be in fault, the servo controller is switched to take the direct current electric mechanism simulator as a control object, and the same instruction is simultaneously applied to the real direct current electric mechanism and the direct current electric mechanism simulator;
and step S4, comparing the output states of the real direct current electric mechanism and the direct current electric mechanism simulator respectively related to the instruction, and carrying out fault diagnosis and positioning on the real direct current electric mechanism according to the comparison result of the output states.
2. The method of diagnosing a fault in a control system based on a direct current electric machine simulator according to claim 1, wherein:
in step S1, the mathematical modeling of the frequency domain transfer function on the real dc electric mechanism to obtain the dc electric mechanism simulator specifically includes:
constructing a frequency domain transfer function of the real direct current electric mechanism according to the following formula (1):
in the above formula (1), θ represents the transmission displacement of the real dc motor output, K1Representing the current-dependent proportionality coefficient, K, of said real DC motor2Expressing the motor speed-related proportionality coefficient, K, of said real DC motor3Represents a transmission displacement-dependent proportionality coefficient of said real DC motor, and Km＝K1K2K3And s represents a frequency domain input quantity corresponding to the real DC motor, tau1Representing the electrical time constant, τ, of the motor2Represents the electromechanical time constant of the motor;
and calculating to obtain the output of the direct current electric mechanism simulator according to the frequency domain transfer function shown in the formula (1).
3. The method of diagnosing a fault in a control system based on a direct current electric machine simulator according to claim 1, wherein:
in step S1, constructing a dc motor transfer function using the active circuit network, so as to obtain the dc motor simulator specifically includes:
the active network is formed by an operational amplifier, a photoelectric isolator, a plurality of resistance elements and a plurality of capacitance elements, the functional relation between the circuit input quantity and the circuit output quantity of the active circuit network is determined, so that the direct current electric mechanism transfer function is obtained through construction, and the output of the direct current electric mechanism simulator is obtained through calculation according to the direct current electric mechanism transfer function.
4. The method of diagnosing a fault in a control system based on a direct current electric machine simulator according to claim 1, wherein:
in step S2, instructing the servo controller to send control quantities to the real dc electric machine and the dc electric machine simulator respectively includes:
under the normal working state of the real direct current electric mechanism, the servo controller takes the real direct current electric mechanism as a control object so as to form a closed-loop control system and enable the real direct current electric mechanism to execute a control instruction from the servo controller;
and the servo controller sends the control instruction to the direct current electric mechanism simulator while controlling the real direct current electric mechanism, so that the real direct current electric mechanism and the direct current electric mechanism simulator work in parallel.
5. The method of diagnosing a fault in a control system based on a direct current electric machine simulator according to claim 1, wherein:
in step S2, the determining whether the real dc electric mechanism has a fault according to the difference between the output value of the real dc electric mechanism and the output value of the dc electric mechanism simulator specifically includes:
respectively inputting the same control quantity to the real direct current electric mechanism and the direct current electric mechanism simulator at the same time t, obtaining a motor current value I (t), a motor rotating speed value omega (t) and a motor transmission displacement value theta (t) which are output by the real direct current electric mechanism corresponding to the control quantity, and obtaining a motor current value I (t) which is output by the direct current electric mechanism simulator corresponding to the control quantitystd(t) motor speed value omegastd(t) and motor drive displacement value θstd(t) passing through I (t) and Istd(t), ω (t) and ωstd(t), or θ (t) and θstd(t) the difference between the two, determining whether the real dc electric machine is malfunctioning.
6. The method of diagnosing a fault in a control system based on a direct current electric machine simulator according to claim 5, wherein:
in the step S2, the first and second signals are processed by I (t) and Istd(t), ω (t) and ωstd(t), or θ (t) and θstd(t) the step of determining whether the real dc motor fails specifically comprises:
setting a motor current threshold I of the direct current electric mechanism simulator corresponding to the control quantity outputset(t) motor speed threshold ωset(t) and Motor Transmission Displacement threshold θset(t), and determining that the real dc motor is out of order when any one of the following conditions is satisfied:
①I(t)≤Istd(t)-Iset(t) or I (t) ≧ Istd(t)+Iset(t), and the duration of the establishment of the above relation exceeds 50 ms;
②ω(t)≤ωstd(t)-ωset(t) or ω (t) ≧ ωstd(t)+ωset(t), and the duration of the establishment of the above relation exceeds 50 ms;
③θ(t)≤θstd(t)-θset(t) or θ (t) ≧ θstd(t)+θset(t), and the duration in which the above relation holds is more than 50 ms.
7. The method of diagnosing a fault in a control system based on a direct current electric machine simulator according to claim 1, wherein:
in step S3, if it is determined that the real dc electric machine is faulty, the switching the servo controller to the dc electric machine simulator as the control target specifically includes:
and if the real direct current electric mechanism is judged to have a fault, removing the signal connection relation between the servo controller and the real direct current electric mechanism, and switching the servo controller to use the direct current electric mechanism simulator as a control object, thereby realizing the closed-loop work of the direct current electric mechanism simulator.
8. The method of diagnosing a fault in a control system based on a direct current electric machine simulator according to claim 7, wherein:
in step S3, the step of simultaneously applying the same command to the real dc electric machine and the dc electric machine simulator specifically includes:
and when the direct current electric mechanism simulator works in a closed loop mode, sine instructions with the same amplitude and period are applied to the real direct current electric mechanism and the direct current electric mechanism simulator simultaneously.
9. The method of diagnosing a fault in a control system based on a direct current electric machine simulator according to claim 1, wherein:
in step S4, comparing the output states of the real dc electric machine and the dc electric machine simulator with respect to the command, and performing fault diagnosis and location on the real dc electric machine according to the comparison result of the output states specifically includes:
at the same time t, acquiring a motor current value I ' (t), a motor speed value omega ' (t) and a motor transmission displacement value theta ' (t) of the real direct current electric mechanism corresponding to the command output, and acquiring a motor current value I ' of the direct current electric mechanism simulator corresponding to the command output 'std(t) motor speed value omega'std(t) and Motor drive Displacement value θ'std(t), and then I '(t) and I'std(t), ω '(t) and ω'std(t), or theta '(t) and theta'std(t) the difference between the real direct current electric mechanism, and carrying out fault diagnosis and positioning on the real direct current electric mechanism.
10. The method for diagnosing a fault in a control system based on a direct current electric machine simulator according to claim 9, wherein:
in step S4, I '(t) and I'std(t), ω '(t) and ω'std(t), or theta '(t) and theta'std(t) difference between the real DC motor and the real DC motor, and performing fault diagnosis on the real DC motorAnd the positioning specifically comprises:
setting a motor current threshold I 'of the DC motor mechanism simulator corresponding to the command output'set(t) motor speed threshold value omega'set(t) and a motor drive displacement threshold θ'set(t)，
When I is satisfiedstd(t)-Iset(t)≤I(t)≤Istd(t)+Iset(t), determining that the motor power amplification and the motor armature loop part of the real direct current electric mechanism work normally, otherwise, determining that the motor power amplification and the motor armature loop part work abnormally;
when ω is satisfiedstd(t)-ωset(t)≤ω(t)≤ωstd(t)+ωset(t), determining that the motor speed measuring loop part of the real direct current electric mechanism works normally, otherwise, determining that the motor speed measuring loop part works abnormally;
when theta is satisfiedstd(t)-θset(t)≤θ(t)≤θstd(t)+θsetAnd (t), determining that the transmission mechanism and the angle measurement circuit part of the real direct current electric mechanism work normally, otherwise, determining that the transmission mechanism and the angle measurement circuit part work abnormally.
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