CN113049281B

CN113049281B - Fault detection method and device

Info

Publication number: CN113049281B
Application number: CN202110262255.5A
Authority: CN
Inventors: 李鲲鹏; 李雅婧; 高翔宇
Original assignee: Beijing Haopeng Intelligent Technology Co ltd
Current assignee: Beijing Haopeng Intelligent Technology Co ltd
Priority date: 2021-03-10
Filing date: 2021-03-10
Publication date: 2024-07-05
Anticipated expiration: 2041-03-10
Also published as: CN113049281A

Abstract

The application provides a fault detection method and device, wherein the method comprises the following steps: acquiring a hydraulic pressure applied to the hydraulic moving part at a preset position of the hydraulic moving part and movement data of the hydraulic moving part; calculating to obtain performance data of the hydraulic equipment according to the liquid pressure applied to the hydraulic moving part and the movement data of the hydraulic moving part; and acquiring a fault detection result of the hydraulic equipment according to the performance data. According to the technical scheme, when the hydraulic moving part moves to different positions in the working process of the hydraulic equipment, the current performance of the hydraulic equipment is determined by acquiring the hydraulic pressure applied to the hydraulic moving part and the movement data of the hydraulic moving part, and the fault existing in the hydraulic equipment is diagnosed or predicted according to the current performance of the hydraulic equipment, so that the fault occurrence point can be accurately positioned, and the accuracy of fault diagnosis is improved.

Description

Fault detection method and device

Technical Field

The application relates to the technical field of hydraulic equipment, in particular to a fault detection method and device.

Background

The hydraulic equipment has the advantages of large power-mass ratio, stable operation, good rapidity, convenient automation realization and the like, is an important equipment widely used in the fields of rail transportation, production and manufacture, mining, oil gas exploitation, chemical industry, water supply and drainage, environmental protection and the like, and is driven to reciprocate by hydraulic pressure to drive a piston in a hydraulic cylinder so as to achieve the purpose of driving a load to move. The operational safety of the hydraulic equipment directly affects the traffic safety and the operational safety, and therefore, in order to ensure safety, faults occurring in the operation process of the hydraulic equipment and the positions where the faults occur need to be frequently detected.

In the prior art, the monitoring and fault diagnosis of the running state of the hydraulic system are mainly realized by installing an embedded sensor on the hydraulic equipment and components thereof to obtain thermodynamic parameters of the system, so that the running state and the fault of the hydraulic equipment are evaluated and diagnosed.

For large-scale hydraulic equipment, the monitoring and diagnosing mode in the prior art generally can only carry out limited fault monitoring and diagnosing on certain subsystems of the large-scale hydraulic equipment in the engineering application process, and cannot accurately position faults, so that the fault diagnosing accuracy is low.

Disclosure of Invention

The application provides a fault detection method and device, which are used for solving the problem of low accuracy of the existing fault diagnosis method.

In a first aspect, an embodiment of the present application provides a fault detection method applied to a hydraulic apparatus, where the hydraulic apparatus includes a hydraulic pump or a hydraulic motor, a hydraulic cylinder, a hydraulic valve, and a hydraulic moving part, and the method includes the following steps:

acquiring a hydraulic pressure applied to the hydraulic moving part at a preset position of the hydraulic moving part and movement data of the hydraulic moving part;

Calculating to obtain performance data of the hydraulic equipment according to the liquid pressure applied to the hydraulic moving part and the movement data of the hydraulic moving part;

And acquiring a fault detection result of the hydraulic equipment according to the performance data.

In a second aspect, an embodiment of the present application provides a fault detection apparatus, including:

An acquisition module for acquiring a hydraulic pressure applied to the hydraulic moving member at a preset position of the hydraulic moving member and movement data of the hydraulic moving member;

A calculation module for calculating performance data of the hydraulic equipment according to the liquid pressure applied to the hydraulic moving part and the movement data of the hydraulic moving part;

and the detection module is used for acquiring a fault detection result of the hydraulic equipment according to the performance data.

According to the fault detection method and device provided by the embodiment of the application, the current performance of the hydraulic equipment is determined by acquiring the hydraulic pressure applied to the hydraulic moving part and the movement data of the hydraulic moving part when the hydraulic moving part moves to different positions in the working process of the hydraulic equipment, and the fault existing in the hydraulic equipment is diagnosed or predicted according to the current performance of the hydraulic equipment, so that the fault occurrence point can be accurately positioned, and the accuracy of fault diagnosis is improved.

Drawings

Fig. 1 is a schematic diagram of a scenario of a fault detection method according to an embodiment of the present application;

Fig. 2 is a schematic flow chart of a fault detection method according to an embodiment of the present application;

fig. 3 is a schematic structural diagram of a fault detection device according to an embodiment of the present application;

FIG. 4 is a schematic diagram of a processing apparatus according to an embodiment of the present application;

Fig. 5 is a schematic structural diagram of a fault detection system for hydraulic equipment according to an embodiment of the present application.

Detailed Description

For the purpose of making the objects, technical solutions and advantages of the embodiments of the present application more apparent, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application, and it is apparent that the described embodiments are some embodiments of the present application, but not all embodiments of the present application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.

The terms "first," "second," "third," "fourth" and the like in the description and in the claims and in the above drawings, if any, are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the invention described herein may be implemented, for example, in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

The following is a description of some of the terms used in the embodiments of the present application to facilitate understanding by those skilled in the art:

Hydraulic equipment: the hydraulic oil control device mainly comprises a power element, an executing element, a control element, an auxiliary element and hydraulic oil. The power element is mainly an oil pump, and the power element is used for converting mechanical energy of the prime motor into pressure energy of liquid. The actuating element is mainly a hydraulic cylinder and a hydraulic motor, and is used for converting the pressure energy of liquid into mechanical energy and driving the load to do linear reciprocating motion or rotary motion. The control elements are mainly various hydraulic valves that control and regulate the pressure, flow and direction of the fluid in the hydraulic system. The auxiliary elements mainly comprise a liquid tank, a filter, a cooler, a heater, an energy accumulator, an oil pipe, a pipe joint, a sealing ring, a quick-change joint, a high-pressure ball valve, a rubber pipe assembly, a pressure measuring joint, a pressure gauge, an oil level gauge, an oil temperature gauge and the like. The liquid is the working medium in the hydraulic system that transfers energy. The hydraulic cylinder consists of a cylinder barrel, a cylinder cover, a piston rod, a sealing device, a buffer device and an exhaust device. The working principle of the hydraulic equipment is that when the hydraulic valve receives a valve opening instruction, the valve at the liquid inlet pipe of the hydraulic cylinder is opened, liquid enters the hydraulic cylinder through the liquid inlet pipe, the hydraulic pressure in the hydraulic cylinder rises to force the piston or the valve core to overcome various resistances (such as spring resistance) to slide, and the piston or the valve core generates relative displacement with the hydraulic cylinder to drive the hydraulic rod to move, so that the aim of driving the load to move is fulfilled, and the complete action of the work of the hydraulic cylinder is completed; when the hydraulic valve receives a valve closing instruction, the hydraulic pressure in the hydraulic cylinder is rapidly reduced, and the piston or the valve core rapidly returns to the original position under the action of opposite acting force (such as spring acting force and pressure on the other side), so that the hydraulic rod drives the load to return to the original position, and a restoring action is completed.

Fig. 1 is a schematic view of a scenario of a fault detection method provided by an embodiment of the present application, as shown in fig. 1, a main architecture of an application scenario provided by the present embodiment includes: a hydraulic device 101 and a processor 102.

When the hydraulic device 101 is in an operation state, various data of the hydraulic device may be collected through a sensor, specifically may include hydraulic pressure in a hydraulic cylinder, hydraulic flow in the hydraulic cylinder, and movement data of a hydraulic moving part, and the collected various data of the hydraulic device may be transmitted to the processor 102.

For example, a preset sampling time interval may be set, and each time a preset sampling time interval passes, each item of data of the hydraulic device is collected, so that a collection sequence of each item of data of the hydraulic device can be obtained.

The processor 102 may acquire hydraulic pressure in a hydraulic moving part (e.g., a motor rotor) and a flow rate of the hydraulic fluid flowing into a hydraulic cylinder or movement data of the hydraulic moving part during operation of the hydraulic device 101 through sensors, process a sampling sequence of each acquired data, and calculate a fault detection result and a fault prediction result through a built-in algorithm or model.

For example, the display terminal 103 may also be configured in the application scenario, and is configured to receive and display the fault detection result and the fault prediction sent by the processor 102, for reference by related technicians.

In the prior art, the monitoring and fault diagnosis of the operation state of the hydraulic equipment are mainly realized by installing an embedded sensor on the hydraulic equipment and components thereof to acquire the thermodynamic parameters of the system, so that the operation state and faults of the hydraulic equipment are evaluated and diagnosed.

In order to overcome the defects, the application provides a fault detection method and a fault detection device, and the technical concept is mainly as follows: when the hydraulic moving part is at the preset position, the hydraulic pressure applied to the hydraulic moving part and the movement data of the hydraulic moving part are acquired, the performance data of the hydraulic equipment are obtained through calculation, then the performance data are utilized to carry out fault detection on the hydraulic equipment to obtain a fault detection result, various health states of various equipment in the hydraulic system can be detected in time, the detection efficiency, the accuracy and the fault positioning precision of the hydraulic equipment are improved, the faults and the fault hidden dangers of the hydraulic equipment can be found in time conveniently, and a basis is provided for the operation of the hydraulic equipment.

Fig. 2 is a schematic flow chart of a fault detection method provided by an embodiment of the present application, where the fault detection method may be applied to a processor, and may also be applied to other devices with processing functions, as shown in fig. 2, and the fault detection method may include the following steps:

s201, acquiring a hydraulic pressure applied to the hydraulic moving member at a preset position of the hydraulic moving member and movement data of the hydraulic moving member.

In this embodiment, the hydraulic device includes a hydraulic pump or a hydraulic motor, a hydraulic cylinder, a hydraulic valve, and a hydraulic moving part, and the hydraulic moving part includes at least one of a piston, a valve spool, and a rotor of the hydraulic motor, by way of example.

Specifically, taking a hydraulic moving part as an example, when the hydraulic equipment runs, the piston reciprocates in the hydraulic cylinder under the action of the hydraulic pressure and the spring, and the position to which the piston can move in the whole reciprocating process can be regarded as a preset position.

It will be appreciated that the magnitude of the fluid pressure within the hydraulic cylinder may be different when the hydraulic moving parts are in different predetermined positions, as may the difference in the movement data of the hydraulic moving parts.

For example, the movement data of the hydraulic moving part may include a displacement of a piston in the hydraulic cylinder or a displacement of a spool or an angular displacement of a rotor, a movement speed of the piston or a movement speed of the spool or an angular speed of the rotor, a movement acceleration of the piston or a movement acceleration of the spool or an angular acceleration of the rotor.

And S202, calculating the performance data of the hydraulic equipment according to the liquid pressure applied to the hydraulic moving part and the movement data of the hydraulic moving part.

In this embodiment, the performance data of the hydraulic device is used to characterize the current performance of each hydraulic moving part of the hydraulic device, and by way of example, the performance data of the hydraulic device may refer to a resistance value of the piston or the valve core at a preset position or a torque value of the rotor at a preset position during operation of the hydraulic device.

Alternatively, the hydraulic pressure and the movement data of the hydraulic moving part can be used as output through a preset formula or a related algorithm, and the performance data of the hydraulic equipment can be obtained through calculation.

S203, acquiring a fault detection result of the hydraulic equipment according to the performance data.

The fault detection result may be a prediction result for representing whether the hydraulic equipment is faulty currently or predicting a time when the hydraulic equipment is faulty and a location point where the hydraulic moving component is located when the fault occurs, and when the fault detection result is used for representing whether the hydraulic equipment is faulty currently, the calculated performance data may be compared with a performance standard of the hydraulic equipment to determine whether the current performance data of the hydraulic equipment meets the performance standard, so as to obtain whether the hydraulic equipment is faulty.

Optionally, a neural network model can be constructed, and the neural network model is trained according to collected fault data of massive hydraulic equipment as a training sample, so that performance data is input into the trained neural network model, and a fault detection result is output.

Specifically, if the hydraulic moving component includes at least one of a piston, a valve and a rotor, the fault data includes a change relation between a hydraulic pressure, a resistance of the piston or a resistance of a valve core or a torque of the rotor and a displacement of the piston/a displacement of the valve/an angular displacement of the rotor and motion data, and massive fault data are input into the neural network model for training, so as to obtain a trained neural network model.

When the hydraulic equipment operates, operation data of the hydraulic equipment, such as liquid pressure, liquid flow, motion data and the like, are acquired in real time, the liquid pressure applied to the hydraulic motion part when the hydraulic motion part is at a preset position, the resistance applied to the piston or the valve core or the torque applied to the rotor are calculated, the obtained liquid pressure applied to the hydraulic motion part when the hydraulic motion part is at the preset position, the resistance applied to the piston or the valve core or the torque applied to the rotor are input into a trained neural network model, and a fault detection result can be directly output by the model.

When the hydraulic equipment is detected to be faulty, the position and the fault severity level of the fault can be output through the neural network model, specifically, the adaptive encoder depth neural network model is obtained through training by using historical operation data of the hydraulic equipment, and the adaptive encoder depth neural network model is used for representing the corresponding relation between the hydraulic pressure applied to the hydraulic moving part when the hydraulic moving part is at the preset position, the resistance applied to the piston or the valve core or the torque of the rotor and the fault detection result.

For example, if the fault detection result is a fault prediction result that predicts a time when the hydraulic device breaks down and a location point where the hydraulic moving component is located when the fault occurs, the neural network model may be trained using historical operation data of the hydraulic device to obtain an LSTM depth neural network model, where the model is used to characterize a correspondence between a hydraulic pressure applied to the hydraulic moving component when the hydraulic moving component is located at a preset location, a resistance applied to the piston or the valve core, or a torque applied to the rotor and the fault detection result, and the calculated hydraulic pressure applied to the hydraulic moving component when the hydraulic moving component is located at the preset location, the resistance applied to the piston or the valve core, or the torque applied to the rotor, may be input into the trained LSTM depth neural network model, where the model may directly output the fault prediction result.

The fault prediction result specifically comprises the time of fault occurrence, the fault point, the residual service life of the hydraulic equipment and the like. The historical operation data comprises the hydraulic pressure applied to the hydraulic moving part when the hydraulic moving part is at the preset position, the resistance force applied to the piston or the valve core or the torque of the rotor, and the moment and the fault point of the corresponding hydraulic equipment.

According to the embodiment of the application, when the hydraulic moving part moves to the preset position, the current performance data of the hydraulic equipment is determined by acquiring the hydraulic pressure applied to the hydraulic moving part and the movement data of the hydraulic moving part, so that the fault of the hydraulic equipment is detected, when the hydraulic equipment breaks down, the fault point can be accurately positioned, and the detection efficiency and accuracy of the hydraulic equipment are improved.

In some embodiments, if the sensor of the hydraulic device is set with a preset sampling time interval, the step S201 may be specifically implemented as follows:

Acquiring a time interval sampling sequence of liquid pressure, liquid flow and the like applied to the hydraulic moving part at preset sampling time intervals and a time interval sampling sequence of displacement and the like of the hydraulic moving part;

acquiring a liquid pressure equal-displacement interval sampling sequence applied to the hydraulic moving part, an acceleration equal-displacement interval sampling sequence and a speed equal-displacement interval sampling sequence of the hydraulic moving part according to the liquid pressure equal-time interval sampling sequence, the liquid flow equal-time interval sampling sequence and the displacement equal-time interval sampling sequence of the hydraulic moving part;

And acquiring the liquid pressure applied to the hydraulic moving part at the preset position of the hydraulic moving part and the movement data of the hydraulic moving part according to the liquid pressure displacement interval sampling sequence, the acceleration equal displacement interval sampling sequence and the speed equal displacement interval sampling sequence of the hydraulic moving part.

In this embodiment, a pressure sensor, a liquid flow rate/flow sensor, a displacement/angular displacement sensor, a speed/angular velocity sensor, and an acceleration/angular acceleration sensor may be used to synchronously collect liquid pressure in the hydraulic cylinder and liquid flow of the hydraulic cylinder or motion data of the hydraulic motion component once every preset sampling time interval, and finally, the liquid pressure and liquid flow and the like sampling sequence of the displacement and the like of the hydraulic motion component are collected together by a processor.

In this embodiment, the liquid pressure equal displacement interval sampling sequence may specifically refer to an equal displacement interval sampling sequence of liquid pressure obtained by collecting the liquid pressure once when the hydraulic moving component moves by one preset displacement sampling interval, and after collecting and summarizing the liquid pressure multiple times, the collecting processes of the acceleration equal displacement interval sampling sequence and the velocity equal displacement interval sampling sequence of the hydraulic moving component are similar to those of the same.

According to the embodiment of the application, through acquiring the hydraulic pressure displacement interval sampling sequence applied to the hydraulic moving part and the acceleration displacement interval sampling sequence applied to the hydraulic moving part, when the hydraulic moving part moves to a certain position, the hydraulic pressure corresponding to the position and the acceleration of the hydraulic moving part can be quickly obtained, so that the performance data of the hydraulic equipment at different positions can be obtained, and when the hydraulic equipment fails, the accurate positioning of the failure of the hydraulic equipment can be realized.

Based on the above embodiments, in some embodiments, the step of "obtaining the liquid pressure equal displacement interval sampling sequence applied to the hydraulic moving part, the acceleration equal displacement interval sampling sequence and the velocity equal displacement interval sampling sequence of the hydraulic moving part according to the liquid pressure equal time interval sampling sequence, the liquid flow equal time interval sampling sequence or the displacement equal time interval sampling sequence of the hydraulic moving part" may be specifically implemented by the following steps:

According to the displacement equal time interval sampling sequence of the hydraulic moving part and a preset first formula, calculating to obtain the speed equal time interval sampling sequence of the hydraulic moving part;

According to the speed and time interval sampling sequence and a preset second formula, calculating to obtain an acceleration and time interval sampling sequence of the hydraulic moving part;

determining the corresponding time when the hydraulic moving part moves to each position according to the preset displacement sampling interval and the preset sampling time interval;

And determining a liquid pressure equal displacement interval sampling sequence, a liquid acceleration equal displacement interval sampling sequence and a speed equal displacement interval sampling sequence applied to the hydraulic moving part according to the liquid pressure equal time interval sampling sequence, the acceleration equal time interval sampling sequence of the hydraulic moving part and the corresponding time when the hydraulic moving part moves to each position.

In the embodiment of the application, the hydraulic moving part comprises any one of a piston, a valve and a rotor of a hydraulic motor, and the corresponding time interval sampling sequence of the speed of the hydraulic moving part comprises at least one of the time interval sampling sequence of the moving speed of the piston or the time interval sampling sequence of the angular speed of the valve or the time interval sampling sequence of the angular speed of the rotor.

The equal time interval sampling sequence of the acceleration of the hydraulic moving part corresponds to at least one of the equal time interval sampling sequence of the moving acceleration of the piston or the moving acceleration of the valve or the angular acceleration of the rotor.

Further, the preset first formula may be:

in the above formula, V (nΔt) represents the moving speed of the piston or the valve core at nΔt, X (nΔt) represents the displacement of the piston or the valve core at nΔt, ω (nΔt) represents the angular speed of the rotor at nΔt, θ (nΔt) represents the angular displacement of the rotor at nΔt, and n is the n-th preset sampling time interval;

The preset second formula may be:

In the above formula, a (nΔt) represents the moving acceleration of the piston or the valve element at nΔt, σ (nΔt) represents the angular acceleration of the rotor at nΔt, and n is the n-th preset sampling time interval.

In this embodiment, taking mΔx or mΔθ as the preset position as an example, m is the number of displacement sampling points/angular displacement sampling points, Δx is the displacement sampling interval of the piston or the valve core, Δθ is the equiangular displacement sampling interval of the rotor, when calculating the time T _m corresponding to the movement of the piston or the valve core to mΔx or the rotation of the rotor to mΔθ, if mΔx or mΔθ is located between X ((i-1) Δt) and X (i Δt), the time T _m corresponding to mΔx or mΔθ is:

T_m＝(i-1)Δt+Δτ

In the above formula, when a ((i-1) Δt) is not less than δ or σ ((i-1) Δt) is not less than δ,

Or (b)

When a ((i-1) Δt) < δ or σ ((i-1) Δt) < δ,

Or (b)

In the above formula, delta is a preset threshold value, and m is 0,1 and … N.

In the present embodiment, after obtaining the equal time interval sampling sequence of the piston or the spool at the displacement mΔx or the time T _m corresponding to the angular displacement of the rotor at the displacement mΔθ, in combination with the equal time interval sampling sequence of the hydraulic pressure applied to the hydraulic moving member, the moving speed of the piston or the spool or the angular speed of the rotor obtained in the above steps, the equal time interval sampling sequence of the moving acceleration of the piston or the spool or the equal time interval sampling sequence of the angular acceleration of the rotor may be calculated according to the interpolation calculation method, when the hydraulic moving member is at the displacement mΔx or the angular displacement mΔθ (denoted as V (mΔx)) or the angular speed of the rotor (denoted as ω (mΔθ), the moving acceleration of the piston or the spool (denoted as a (mΔx)) or the angular acceleration of the rotor (denoted as σ (mΔθ)) and the hydraulic cylinder internal hydraulic pressure (denoted as P (mΔx)), the hydraulic pressure applied to the hydraulic moving member includes the hydraulic valve or the hydraulic pressure in the first chamber of the hydraulic cylinder, denoted as P ₁ (m Δx) and the hydraulic pressure in the second chamber of the hydraulic valve or the hydraulic pressure in the second chamber denoted as P (m+64).

Exemplary methods of interpolation computation include piecewise linear difference computation methods, hermite piecewise difference computation methods, and cubic spline difference computation methods.

In this embodiment, the calculation of the displacement interval sampling sequence of the hydraulic pressure applied to the hydraulic moving component, the calculation of the displacement interval sampling sequence of the moving acceleration of the piston or the valve, or the calculation of the angular acceleration displacement interval sampling sequence of the rotor are finally performed according to the calculation of the displacement interval sampling sequence of the preset displacement of the moving speed of the piston or the valve, the calculation of the angular speed of the rotor, the calculation of the displacement interval sampling sequence of the preset displacement of the angular acceleration of the rotor, the calculation of the displacement interval sampling sequence of the displacement of the hydraulic pressure applied to the hydraulic moving component, and the calculation of the displacement interval sampling sequence of the angular acceleration of the piston or the valve.

The calculation formula of the displacement interval sampling sequence of the moving speed of the piston or the valve is as follows:

In the above formula, (mΔx) represents the moving speed of the piston or the valve spool at the displacement/angular displacement mΔx;

the calculation formula of the interval sampling sequence of the displacement acceleration of the piston or the valve is as follows:

In the above formula, a (mΔx) represents the moving acceleration of the piston or the valve element at the displacement/angular displacement mΔx;

The calculation formula of the angular velocity displacement interval sampling sequence of the rotor is as follows:

in the above formula, ω (mΔθ) represents the moving angular velocity of the rotor at the angular displacement mΔθ;

The calculation formula of the angular acceleration displacement interval sampling sequence of the rotor is as follows:

In the above formula, σ (mΔθ) represents the movement angular acceleration of the rotor at the angular displacement mΔθ;

the calculation formula of the fluid pressure displacement interval sampling sequence applied to the hydraulic moving part is as follows:

in the above equation, P (mΔx) represents the fluid pressure of the piston or valve at mΔx.

In some embodiments, if the displacement equal time interval sampling sequence of the hydraulic moving component includes a displacement equal time interval sampling sequence of the piston or the valve core or an angular displacement equal time interval sampling sequence of the rotor, the step of "obtaining the displacement equal time interval sampling sequence applied to the hydraulic moving component at the preset sampling time interval" may be specifically implemented by the following steps:

Acquiring a sampling sequence of equal time intervals of the liquid flow rate applied to the hydraulic moving part at preset sampling time intervals;

and calculating to obtain a time interval sampling sequence of the displacement of the piston or the valve core or an angular displacement of the rotor according to the time interval sampling sequence of the liquid flow and a preset third formula.

In this embodiment, only the pressure sensor and the liquid flow rate/flow sensor may be used to collect the liquid pressure and the liquid flow rate applied to the hydraulic moving part, so as to obtain a sampling sequence of equal time intervals of the liquid pressure applied to the hydraulic moving part at a preset sampling time interval, and calculate a sampling sequence of equal time intervals of the displacement of the piston or the valve core or a sampling sequence of equal time intervals of the angular displacement of the rotor.

The third formula is preset as follows:

In the above expression, Δt represents a preset sampling time interval, X (nΔt) represents a displacement of the piston or the valve element at nΔt, θ (nΔt) represents an angular displacement of the rotor at nΔt, Q (iΔt) represents a flow rate of the fluid flowing into/out of the hydraulic cylinder or a flow rate of the fluid flowing into the hydraulic motor at iΔt, a represents an effective area of the piston or the valve element, η represents a volumetric efficiency of the hydraulic motor, and Q represents a displacement of the hydraulic motor.

For example, if a flow rate sensor is used and a flow rate is monitored, Q (iΔt) may be further calculated from the flow rate:

Q(iΔt)＝S(iΔt)×A_t

In the above formula, S (iDeltat) is the flow velocity at the moment iDeltat, and the effective inner sectional area of the A _t inflation tube.

For example, taking a hydraulic cylinder as an example, acquiring an opening or closing signal of an electromagnetic valve of the hydraulic cylinder by reading a control command sent by a control system, synchronously measuring the liquid pressure in a cavity of the hydraulic cylinder and the liquid flow velocity flowing into the cavity through a liquid inlet pipe at preset sampling time intervals to obtain a sampling sequence of equal time intervals of the liquid pressure and the liquid flow or the liquid flow velocity, and then calculating the displacement of a piston or a valve core corresponding to any time sampling point moment (nDeltat) through the calculation formula to obtain a theoretical motion track and a theoretical position X (nDeltat) of a cylinder starting rod.

According to the embodiment of the application, through presetting a third formula, a liquid flow and other time interval sampling sequence, the displacement and other time interval sampling sequence of the piston or the valve core or the angular displacement and other time interval sampling sequence of the rotor can be calculated, so that the use of a displacement/angular displacement sensor can be reduced, and the fault detection cost is reduced.

Based on the above embodiments, in some embodiments, the step S202 may specifically include the following steps:

Calculating an equal angular displacement interval sampling sequence of the resistance exerted by the piston or the valve core according to the equal angular displacement interval sampling sequence of the fluid pressure displacement applied to the hydraulic motion component and the equal angular displacement interval sampling sequence of the movement acceleration displacement of the piston or the valve core or the angular acceleration displacement interval sampling sequence of the rotor;

and determining performance data of the hydraulic equipment according to the displacement interval sampling sequence of the resistance force exerted by the piston or the valve core or the equal angular displacement interval sampling sequence of the rotor torque.

In this embodiment, the piston or the valve core divides the hydraulic cylinder into two parts, namely a first chamber and a second chamber, respectively, and the blocking force of the piston or the valve core is three parts, namely the thrust force of the liquid in the two chambers in the hydraulic cylinder on the piston or the valve core, the elastic force of a spring connected with the piston or the valve core, and the friction force generated during the load movement process connected with a starting rod connected with the piston or the valve core.

Specifically, the thrust force generated by the first chamber on the piston or the valve core is denoted as F ₁(mΔx),F₁(mΔx)＝A×P₁ (mΔx), the thrust force generated by the second chamber on the piston or the valve core is denoted as F ₂(mΔx),F₂(mΔx)＝A×P₂ (mΔx), the spring force is denoted as F _E,F_E =k (mΔx-C), and the friction force generated during the load movement is denoted as Ma (mΔx).

Wherein K is the spring coefficient of the spring, C is a constant, the values of K and C are determined according to the relevant parameters of the spring during implementation, and M is the load mass.

In this embodiment, the displacement interval sampling sequence of the resistance applied to the piston or the spool or the equiangular displacement interval sampling sequence of the rotor torque may be calculated according to the thrust force of the liquid in the two chambers in the hydraulic cylinder on the piston or the spool, the elastic force of the spring connected to the piston or the spool, the friction force generated during the load movement connected to the starting rod connected to the piston or the spool, and a preset fourth formula.

The fourth formula is preset as follows:

F(mΔx)＝A×[P₁(mΔx)-P₂(mΔx)]-K(mΔx-C)-Ma(mΔx)

In the above formula, Δx represents a preset displacement sampling interval, F (mΔx) represents a resistance force applied to the piston or the valve element when the piston or the valve element is displaced by mΔx, P ₁ (mΔx) represents a liquid pressure in the first chamber when the piston or the valve element is displaced by mΔx, P ₂ (mΔx) represents a liquid pressure in the second chamber when the piston or the valve element is displaced by mΔx, K represents an elastic coefficient of a spring of the hydraulic cylinder, C represents a constant, M represents a mass of a load connected to the valve element or the piston, a (mΔx) represents a moving acceleration of the piston or the valve element when the piston or the valve element is displaced by mΔx, and M represents the number of displacement sampling points.

In the above expression, T (mΔθ) represents the torque of the rotor at the angular displacement mΔθ, P (mΔθ) represents the pressure of the rotor at the angular displacement mΔθ, Q (mΔθ) represents the instantaneous flow rate of the rotor at the angular displacement mΔθ, ω (mΔθ) represents the instantaneous rotational speed of the rotor at the angular displacement mΔθ, and m represents the number of displacement sampling points.

In some embodiments, the step S203 may be implemented by the following steps:

extracting characteristic values of a liquid pressure displacement interval sampling sequence applied to a hydraulic moving part and an equal displacement interval sampling sequence of resistance force exerted by a piston or a valve core or an equal angular displacement interval sampling sequence of rotor torque;

And inputting the characteristic value into a deep neural network model which is obtained through pre-training so as to obtain a fault detection result of the hydraulic equipment.

The fault detection result is used for indicating whether the hydraulic equipment has a fault currently and predicting the operation state of the hydraulic equipment.

The characteristic values include, for example, a displacement value of the piston or the spool at a maximum value of the liquid pressure and a maximum value of the liquid pressure, a displacement value of the piston or the spool at a minimum value of the liquid pressure and a maximum value of the resistance to the piston or the spool and a displacement value corresponding to a maximum value of the resistance to the piston or the spool and a minimum value of the resistance to the piston or the spool and a displacement value corresponding to a minimum value of the resistance to the piston or the spool, an angular displacement value of the rotor at a maximum value of the liquid pressure, an angular displacement value of the rotor at a minimum value of the liquid pressure, an angular displacement value corresponding to a maximum value of the rotor torque and a maximum value of the torque, and an angular displacement value corresponding to a minimum value of the rotor torque and a minimum value of the torque.

As an example, the average value, root mean square value, kurtosis, skewness, margin, pulse degree, and the like of the liquid pressure, the resistance force applied to the piston or the spool, or the rotor torque may also be extracted as the characteristic values from the liquid pressure displacement interval sampling sequence applied to the hydraulically moving part and the displacement interval sampling sequence of the resistance force applied to the piston or the spool, or the rotor torque.

For example, the values of the failure characteristic frequency and the distribution pattern characteristics of the energy in different frequency bands may also be extracted as characteristic values from the frequency spectrum of the displacement interval sampling sequence of the hydraulic pressure applied to the hydraulic moving part, the displacement interval sampling sequence of the resistance applied to the piston or the spool, or the frequency spectrum of the equiangular displacement interval sampling sequence of the rotor torque.

For example, taking a hydraulic cylinder as an example, obtaining a liquid pressure displacement interval sampling sequence, a piston/valve core moving speed equal displacement interval sampling sequence or a rotor angular speed equal displacement interval sampling sequence, a valve core resistance equal displacement interval sampling sequence or a rotor torque equal displacement interval sampling sequence of different hydraulic cylinders in a healthy state and a non-healthy state respectively through the steps, and obtaining the positions of the liquid pressure, the moving speed of the valve core/piston, the rotating speed of the rotor and the valve core/piston resistance, the maximum value and the maximum value of the rotor torque, the positions of the minimum value and the minimum value, and, the value of each displacement/angular displacement sampling point is related to the change of the opening and closing times and the service time of the electromagnetic valve, and the frequency spectrum of a liquid pressure displacement interval sampling sequence, the frequency spectrum of a valve core/piston displacement speed equal interval sampling sequence or the frequency spectrum of a rotor angular speed equal interval sampling sequence in the healthy state and the unhealthy state are related to the change of the characteristic frequency value and the energy distribution mode in different frequency bands and the distribution mode in different frequency bands along with the service time of the frequency spectrum of the valve core/piston resistance equal interval sampling sequence or the frequency spectrum of the rotor torque equal interval sampling sequence.

In this embodiment, the neural network model trained in advance may be an adaptive encoder depth neural network model and a Long Short-Term Memory neural network (LSTM).

The self-adaptive encoder depth neural network model is used for judging whether the equipment has faults or not according to the characteristic values and judging the positions of the faults, and the LSTM depth neural network model is used for predicting the running state of the equipment, such as the remaining service life and other health states of the equipment, according to the characteristic values.

Specifically, the adaptive encoder depth neural network model includes: the model adopts the pre-stored historical fault information of all hydraulic equipment as a training sample to train, wherein the training sample comprises historical fault characteristic values of the hydraulic equipment and fault positions and fault grades corresponding to the historical fault characteristic values; the historical fault characteristic values comprise a change mode of liquid pressure along with displacement when faults occur, a change mode of blocking force of a piston or a valve core along with displacement, a change mode of rotor torque along with angular displacement, a value of fault characteristic frequency, a distribution mode of energy at different frequencies and the like. And inputting the training sample into the adaptive encoder depth neural network for training to obtain an adaptive encoder depth neural network model.

The LSTM deep neural network model comprises: the LSTM model adopts prestored historical data as a training sample, the built model is trained to obtain an LSTM deep neural network model, and the training sample comprises a historical fault characteristic value of hydraulic equipment, and the service time and the working times of equipment corresponding to the historical fault characteristic value; the historical fault characteristic values comprise a change mode of liquid pressure along with displacement, a change mode of the blocked force of a piston or a valve core along with displacement, a change mode of rotor torque along with angular displacement, a value of fault characteristic frequency, a distribution mode of energy at different frequencies and the like; the historical fault characteristic values comprise data of different hydraulic equipment in an operation state without faults, and the historical data are input into an LSTM deep neural network model for training.

In the step, the characteristic values extracted in the step are input into the adaptive encoder depth neural network model and the LSTM depth neural network model which are obtained through training in advance, so that the fault position, the fault grade and the fault occurrence time of the hydraulic equipment which are respectively output can be obtained, and the running state information such as the residual service life and the like can be predicted for the hydraulic equipment which does not have faults.

In some embodiments, the fault detection method may further include the following steps:

and sending the fault detection result to the display terminal.

The display terminal may be, but not limited to, a mobile phone, a computer, or the like with a display device.

Specifically, the fault detection result can be sent to the display terminal through the network to be displayed, and the fault detection result is presented to related technicians in the modes of sound, light, electricity, images and the like so as to prompt the technicians to take corresponding measures in time. The predicted operating state of the hydraulic device, i.e. the current operating state of the hydraulic device and the predicted service life (or the operating state of the hydraulic device at a future point in time) of the fault prediction result can also be sent to a data center through a network, and then pushed to relevant technicians by the data center, so that the technicians can know the operating state of the device in time.

By way of example, the method for diagnosing faults of the hydraulic equipment and judging the health states such as the fault positions, the fault severity and the like can also be used for judging the faults of the hydraulic equipment according to the extracted characteristic values by adopting fault diagnosis and mode identification methods based on mathematical models, parameter estimation, expert systems, artificial neural networks, deep neural networks, information fusion, example comparison, fuzzy theory and the like; and estimating the running state of the equipment by adopting a failure model and an intelligent reasoning algorithm according to the extracted current and historical characteristic values, predicting the fault position, time and residual service life of the hydraulic equipment, and giving reasonable maintenance and guarantee suggestions.

In the embodiment, the self-adaptive encoder depth neural network model and the LSTM depth neural network model are obtained through training by taking fault information of different hydraulic equipment when faults occur and historical operation data of the hydraulic equipment when faults do not occur as training samples, and then characteristic values such as a change mode of liquid pressure along with displacement, a change mode of resistance force of a piston or a valve core along with displacement, a change mode of rotor torque along with angular displacement, a value of fault characteristic frequency, a distribution mode of energy at different frequencies and the like are obtained according to the current operation of the hydraulic equipment, and the change relation of each characteristic value along with the opening and closing times of an electromagnetic valve and service time and the like; the characteristic values are directly input into the trained adaptive encoder depth neural network model and the LSTM depth neural network model, fault information corresponding to the characteristic values and future running states of the prediction equipment can be automatically output, and detection and prediction results are sent to a display terminal for display, so that the accuracy and efficiency of fault detection are improved, and the effect of early warning is achieved.

The following are examples of the apparatus of the present application that may be used to perform the method embodiments of the present application. For details not disclosed in the embodiments of the apparatus of the present application, please refer to the embodiments of the method of the present application.

Fig. 3 is a schematic structural diagram of a fault detection device according to an embodiment of the present application, as shown in fig. 3, the fault detection device 30 includes an obtaining module 31, a calculating module 32, and a detecting module 33, where:

The acquisition module 31 is for acquiring the hydraulic pressure applied to the hydraulic moving part at the preset position of the hydraulic moving part and the movement data of the hydraulic moving part. The calculation module 32 is used for calculating the performance data of the hydraulic equipment according to the hydraulic pressure applied to the hydraulic moving part and the movement data of the hydraulic moving part. The detection module 33 is configured to obtain a fault detection result of the hydraulic device according to the performance data.

In some embodiments, the acquiring module 31 may specifically be configured to:

Acquiring a sampling sequence of equal time intervals of liquid pressure, liquid flow or displacement of the hydraulic moving part under a preset sampling time interval;

acquiring a liquid pressure equal-displacement interval sampling sequence, an acceleration equal-displacement interval sampling sequence and a speed equal-displacement interval sampling sequence applied to the hydraulic moving part according to the liquid pressure equal-time interval sampling sequence, the liquid flow equal-time interval sampling sequence or the displacement equal-time interval sampling sequence of the hydraulic moving part;

And acquiring the liquid pressure applied to the hydraulic moving part at the preset position and the movement data of the hydraulic moving part according to the liquid pressure displacement interval sampling sequence applied to the hydraulic moving part, the acceleration equal displacement interval sampling sequence and the speed equal displacement interval sampling sequence of the hydraulic moving part.

In some embodiments, the acquiring module 31 may specifically be configured to:

determining the time corresponding to the movement of the hydraulic moving part to each position according to the preset displacement sampling interval and the preset sampling time interval;

In some embodiments, if the hydraulic moving component includes at least one of a piston, a spool, and a rotor, and the speed equal time interval sampling sequence of the hydraulic moving component includes at least one of a moving speed of the piston or the spool, or an angular speed of the rotor, then the first formula is preset to be:

the equal time interval sampling sequence of the acceleration of the hydraulic moving part comprises at least one of equal time interval sampling sequence of the moving acceleration of the piston or the valve core or equal time interval sampling sequence of the angular acceleration of the rotor, and a preset second formula is as follows:

In some embodiments, if the equal time interval sampling sequence for the displacement of the hydraulically moving component includes a equal time interval sampling sequence for the displacement of the piston or spool or an equal time interval sampling sequence for the angular displacement of the rotor, the acquisition module 31 may be specifically configured to:

In some embodiments, the preset third formula is:

In some embodiments, the computing module 32 is specifically configured to:

In some embodiments, if the hydraulic cylinder includes a first chamber and a second chamber, the calculation module 32 may be specifically configured to calculate:

F(mΔx)＝A×[P₁(mΔx)-P₂(mΔx)]-K(mΔx-C)-Ma(mΔx)

In the above formula, Δx represents a preset displacement sampling interval, F (mΔx) represents resistance applied to the piston or the valve element when the piston or the valve element is displaced by mΔx, P ₁ (mΔx) represents liquid pressure in the first chamber when the piston or the valve element is displaced by mΔx, P ₂ (mΔx) represents liquid pressure in the second chamber when the piston or the valve element is displaced by mΔx, K represents an elastic coefficient of a spring of the hydraulic cylinder, C represents a constant, M represents a mass of a load connected with the valve element or the piston, a (mΔx) represents moving acceleration of the piston or the valve element when the piston or the valve element is displaced by mΔx, and M represents the number of displacement sampling points;

In some embodiments, the detection module 33 is specifically configured to:

extracting characteristic values of an displacement interval sampling sequence of liquid pressure applied to the hydraulic moving part and an equal-angle displacement interval sampling sequence of resistance force exerted by a piston or a valve core or a rotor torque;

And inputting the characteristic values into a neural network model obtained by training in advance to obtain a fault detection result of the hydraulic equipment, wherein the fault detection result is used for indicating whether the hydraulic equipment has a fault currently or not and predicting the running state of the hydraulic equipment.

The device provided by the embodiment of the application can be used for executing the method in the embodiment, and the implementation principle and the technical effect are similar, and are not repeated here.

It should be noted that, it should be understood that the division of the modules of the above apparatus is merely a division of a logic function, and may be fully or partially integrated into a physical entity or may be physically separated. And these modules may all be implemented in software in the form of calls by the processing element; or can be realized in hardware; the method can also be realized in a form of calling software by a processing element, and the method can be realized in a form of hardware by a part of modules. For example, the prediction module may be a processing element that is set up separately, or may be implemented in a chip of the above apparatus, or may be stored in a memory of the above apparatus in the form of program code, and the function of the above prediction module is called and executed by a processing element of the above apparatus. The implementation of the other modules is similar. In addition, all or part of the modules can be integrated together or can be independently implemented. The processing element here may be an integrated circuit with signal processing capabilities. In implementation, each step of the above method or each module above may be implemented by an integrated logic circuit of hardware in a processor element or an instruction in a software form.

Fig. 4 is a schematic structural diagram of a processing device according to an embodiment of the present application, and as shown in fig. 4, the processing device includes a memory 41 and at least one processor 42.

The memory 41 stores computer-executable instructions and the processing device further comprises a bus 43, wherein the memory 41 is connected to the processor 42 via the bus 43.

In a specific implementation, at least one processor 42 executes computer-executable instructions stored in memory 41, causing at least one processor 42 to perform a method as described above.

The memory 41 may be used for storing preset short-policy wind control rules, long-policy wind control rules, etc., and the memory 41 may be cloud storage or local storage.

The processing device may be a computer device or a server, for example.

By way of example, the bus may be an industry standard architecture (Industry Standard Architecture, ISA) bus, an external device interconnect (PERIPHERAL COMPONENT INTERCONNECT, PCI) bus, or an extended industry standard architecture (Extended Industry Standard Architecture, EISA) bus, among others. The buses may be divided into address buses, data buses, control buses, etc. For ease of illustration, the buses in the drawings of the present application are not limited to only one bus or to one type of bus.

The specific implementation process of the processor can be referred to the above method embodiment, and its implementation principle and technical effects are similar, and this embodiment will not be described herein again.

Optionally, the present application further provides a readable storage medium, in which computer-executable instructions are stored, which when executed by a processor, implement the steps of the method as described above.

Optionally, an embodiment of the present application further provides a computer program product comprising a computer program/instructions which, when executed by a processor, implement the steps of the above method.

Fig. 5 is a schematic structural diagram of a fault detection system of a hydraulic device according to an embodiment of the present application, where the structure of the fault detection system of the hydraulic device will be described with reference to the above-described method embodiment, and as shown in fig. 5, the fault detection system includes: at least one pressure sensor 501, at least one flow or flow rate detection sensor 502 or at least one motion sensor 503 (which may be a displacement sensor, a speed sensor, an acceleration sensor) of a hydraulic element, a data acquisition unit 504, a control unit 505, a status detection unit 506, a status prediction unit 507, an access unit 508.

The data acquisition unit 504 is connected to at least one pressure sensor 501 and at least one flow rate or flow velocity detection sensor 502 or a hydraulic element motion sensor 503, and to the state detection unit 506, the control unit 505 is connected to the data acquisition unit 504, and the state detection unit 506 is further connected to the control network 509 and to the state prediction unit 507 via a wireless interface.

The control network may be a data acquisition and monitoring control system (SCADA, supervisory Control And Data Acquisition), among others.

Specifically, the failure detection system of one hydraulic apparatus may monitor the operation states of a plurality of hydraulic apparatuses at the same time, and thus, one state detection unit 506 needs to be provided for each apparatus.

In one embodiment, the pressure sensor may be installed in an intake air chamber of the hydraulic cylinder to detect the hydraulic pressure in the liquid chamber on the driving side of the piston or the valve element, and the liquid flow rate detection sensor or the liquid flow velocity detection sensor is installed on an intake pipe of the liquid chamber to detect the liquid flow rate or the liquid flow velocity flowing into the air chamber; the data acquisition unit is arranged on the hydraulic cylinder and is connected with the state detection unit through the Ethernet, and is mainly used for synchronously acquiring a pressure value detected by the pressure sensor and a liquid flow or liquid flow detected by the flow or liquid flow rate detection sensor according to a preset sampling time interval, wherein the sampling frequency can be 10Kbps, the quantization precision adopts 16-bit quantization to obtain a liquid pressure sampling sequence and a liquid flow or liquid flow rate sampling sequence, the acquired parameters are stored in a database or other storage units, and the acquired parameters are processed; the state detection unit is used for completing fault detection of the hydraulic valve according to the processing result obtained by the data acquisition unit, and the fault detection result is sent to the display terminal through the control network; the control unit is used for sending control instructions to the electromagnetic valve of the hydraulic valve and generating control signals of the valve, and the data acquisition unit acquires the control instructions and the control signals sent by the control unit in real time.

Furthermore, the state detection units of different hydraulic equipment form a ring local area network through an Ethernet, a wireless transmission gateway is arranged in the fault detection unit, data communication with a remote upper computer system state prediction unit is realized by adopting a WiFi+3G/4G/5G network joint transmission mode, and the state prediction unit is mainly used for monitoring the operation state of the hydraulic cylinder and predicting the operation state of the hydraulic cylinder according to the operation data; the access unit is used for the related technicians to access the prediction results obtained by the state prediction unit.

It should be noted that, in this embodiment, the data acquisition unit, the state detection unit, and the state prediction unit may be servers, which are all implemented by hardware and software.

For a detailed description of the function of each module unit in this embodiment, reference is made to the description of the embodiment of the method, and detailed description thereof will not be given here.

In the present application, "at least one" means one or more, and "a plurality" means two or more. "and/or", describes an association relationship of an association object, and indicates that there may be three relationships, for example, a and/or B, and may indicate: a alone, a and B together, and B alone, wherein a, B may be singular or plural. The character "/" generally indicates that the front and rear associated objects are an "or" relationship; in the formula, the character "/" indicates that the front and rear associated objects are a "division" relationship. "at least one of" or the like means any combination of these items, including any combination of single item(s) or plural items(s). For example, at least one (one) of a, b, or c may represent: a, b, c, a-b, a-c, b-c, or a-b-c, wherein a, b, c may be single or plural.

It will be appreciated that the various numerical numbers referred to in the embodiments of the present application are merely for ease of description and are not intended to limit the scope of the embodiments of the present application. In the embodiment of the present application, the sequence number of each process does not mean the sequence of the execution sequence, and the execution sequence of each process should be determined by the function and the internal logic, and should not limit the implementation process of the embodiment of the present application in any way.

Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present application, and not for limiting the same; although the application has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the application.

Claims

1. A fault detection method, characterized by being applied to a hydraulic apparatus including a hydraulic pump or a hydraulic motor, a hydraulic cylinder, a hydraulic valve and a hydraulic moving part, the method comprising the steps of:

Acquiring a time-interval sampling sequence of the liquid pressure, the liquid flow rate and the like applied to the hydraulic moving part at preset sampling time intervals or a time-interval sampling sequence of the displacement and the like of the hydraulic moving part;

Acquiring a liquid pressure equal-displacement interval sampling sequence, an acceleration equal-displacement interval sampling sequence and a speed equal-displacement interval sampling sequence applied to the hydraulic moving component according to the liquid pressure equal-time interval sampling sequence, the liquid flow equal-time interval sampling sequence or the displacement equal-time interval sampling sequence of the hydraulic moving component;

Acquiring the hydraulic pressure applied to the hydraulic moving part at a preset position and the movement data of the hydraulic moving part according to a hydraulic pressure displacement interval sampling sequence applied to the hydraulic moving part, an acceleration equal displacement interval sampling sequence and a speed equal displacement interval sampling sequence of the hydraulic moving part;

2. The method of claim 1, wherein the obtaining a sequence of fluid pressure displacement interval samples, a sequence of acceleration equal displacement intervals samples, and a sequence of velocity displacement interval samples applied to the hydraulically moving component from the sequence of fluid pressure equal time interval samples, the sequence of fluid flow equal time interval samples, or the sequence of displacement equal time interval samples of the hydraulically moving component comprises:

According to the speed equal time interval sampling sequence and a preset second formula, calculating to obtain an acceleration equal time interval sampling sequence of the hydraulic moving part;

Determining the time corresponding to the movement of the hydraulic moving part to each position according to a preset displacement sampling interval and a preset sampling time interval;

And determining the liquid pressure equal displacement interval sampling sequence, the acceleration equal displacement interval sampling sequence and the velocity equal displacement interval sampling sequence of the hydraulic moving component according to the liquid pressure equal time interval sampling sequence, the velocity equal time interval sampling sequence, the acceleration equal time interval sampling sequence of the hydraulic moving component and the corresponding time when the hydraulic moving component moves to each position.

3. The method of claim 2, wherein the hydraulically moving component comprises at least one of a piston, a spool, a rotor, and the sequence of equal time interval samples of the velocity of the hydraulically moving component comprises at least one of a sequence of equal time interval samples of the velocity of movement of the piston or spool, or a sequence of equal time interval samples of the angular velocity of the rotor, the predetermined first formula being:

the acceleration equal time interval sampling sequence of the hydraulic motion component comprises at least one of a movement acceleration equal time interval sampling sequence of a piston or a valve core or an angular acceleration equal time interval sampling sequence of a rotor, and the preset second formula is as follows:

4. A method according to claim 3, wherein the sequence of equally spaced samples of the displacement of the hydraulically moving component comprises a sequence of equally spaced samples of the displacement of a piston or a spool or a sequence of equally spaced samples of the angular displacement of a rotor, the acquiring of the sequence of equally spaced samples of the displacement applied to the hydraulically moving component at a preset sampling time interval comprising:

and calculating to obtain the equal time interval sampling sequence of the displacement of the piston or the valve core or the equal time interval sampling sequence of the angular displacement of the rotor according to the equal time interval sampling sequence of the liquid flow and a preset third formula.

5. The method of claim 4, wherein the predetermined third formula is:

In the above formula, Δt represents a preset sampling time interval, X (nΔt) represents a displacement of the piston or the valve element at nΔt, θ (nΔt) represents an angular displacement of the rotor at nΔt, Q (iΔt) represents a flow rate of fluid flowing into/out of the hydraulic cylinder or a flow rate of fluid flowing into the motor at iΔt, a represents an effective area of the piston or the valve element, η represents a volumetric efficiency of the motor, and Q represents a displacement of the motor.

6. A method according to claim 3, wherein said calculating performance data of the hydraulic apparatus based on the hydraulic pressure applied to the hydraulically moving part and the movement data of the hydraulically moving part comprises:

Calculating an equal angular displacement interval sampling sequence of resistance exerted by the piston or the valve core according to the equal angular displacement interval sampling sequence of the hydraulic pressure exerted on the hydraulic motion component and the equal angular displacement interval sampling sequence of the moving acceleration of the piston or the valve core or the angular acceleration of the rotor;

7. The method of claim 6, wherein said calculating an equiangular displacement interval sampling sequence of resistance or rotor torque applied to said piston or spool from a sequence of fluid pressure displacement interval sampling applied to said hydraulically moving component and a sequence of angular acceleration displacement interval sampling of said piston or spool, comprises:

for the hydraulic cylinder or the hydraulic valve there are:

F(mΔx)＝A×[P₁(mΔx)-P₂(mΔx)]-K(mΔx-C)-Ma(mΔx)

In the above formula, Δx represents a preset displacement sampling interval, F (mΔx) represents resistance applied to the piston or the valve element when the piston or the valve element is displaced by mΔx, P ₁ (mΔx) represents liquid pressure in a first chamber of the hydraulic valve or the hydraulic cylinder when the piston or the valve element is displaced by mΔx, P ₂ (mΔx) represents liquid pressure in a second chamber of the hydraulic valve or the hydraulic cylinder when the piston or the valve element is displaced by mΔx, K represents an elastic coefficient of a spring of the hydraulic cylinder, C represents a constant, M represents a mass of a load connected with the valve element or the piston, a (mΔx) represents a moving acceleration of the piston or the valve element when the piston or the valve element is displaced by mΔx, and M represents the number of displacement sampling points;

for hydraulic pumps or hydraulic motors:

8. The method of claim 6, wherein the obtaining a fault detection result of the hydraulic device based on the performance data comprises:

Extracting characteristic values of a liquid pressure displacement interval sampling sequence applied to the hydraulic moving part and an equal displacement interval sampling sequence of resistance force exerted by a piston or a valve core or an equal angular displacement interval sampling sequence of rotor torque;

And inputting the characteristic value into a neural network model obtained by training in advance to obtain a fault detection result of the hydraulic equipment, wherein the fault detection result is used for indicating whether the hydraulic equipment has a fault currently and predicting the running state of the hydraulic equipment.

9. A fault detection apparatus, characterized by comprising:

the acquisition module is used for acquiring a sampling sequence of equal time intervals of liquid pressure, liquid flow and the like applied to the hydraulic moving part at preset sampling time intervals or a sampling sequence of equal time intervals of displacement of the hydraulic moving part;