CN114755459B - Rotational speed sensor state monitoring method based on residual error assessment method - Google Patents
Rotational speed sensor state monitoring method based on residual error assessment method Download PDFInfo
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- CN114755459B CN114755459B CN202210350805.3A CN202210350805A CN114755459B CN 114755459 B CN114755459 B CN 114755459B CN 202210350805 A CN202210350805 A CN 202210350805A CN 114755459 B CN114755459 B CN 114755459B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
- G01P21/00—Testing or calibrating of apparatus or devices covered by the preceding groups
- G01P21/02—Testing or calibrating of apparatus or devices covered by the preceding groups of speedometers
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
- G01P5/00—Measuring speed of fluids, e.g. of air stream; Measuring speed of bodies relative to fluids, e.g. of ship, of aircraft
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Abstract
The invention relates to a rotational speed sensor state monitoring method based on a residual error evaluation method, and belongs to the technical field of hydrodynamic mechanical transmission devices. The monitoring method successfully solves the problem of real-time accurate monitoring of the state of the rotating speed sensor of the hydraulic mechanical transmission device through judging the signal residual error of the rotating speed sensor, and is successfully applied to the design of fault diagnosis strategies of a multi-type transmission system.
Description
Technical Field
The invention belongs to the technical field of hydromechanical transmission devices, and particularly relates to a rotational speed sensor state monitoring method based on a residual error evaluation method.
Background
With the rapid development of the equipment industry, an automatic transmission has been widely used as a typical transmission in the field of special vehicles. The rotational speed signal plays a decisive role as an important control variable in the shift process control and in the torque converter lockup release control. The reliability of the rotational speed signal is a prerequisite for the control of the system, and therefore, it is critical to diagnose the sensor states of the pump rotational speed, turbine rotational speed and output shaft rotational speed. However, abnormal states such as sensor installation gaps, loose sensor connectors and electromagnetic interference can cause abnormal signals of the rotating speed sensor, so that research on an effective monitoring method of the rotating speed sensor state has important significance for improving the reliability of the automatic speed changing device.
The related patent and literature at home and abroad are searched to find an abnormal state diagnosis method and device of a rotating speed sensor signal, and a diagnosis method based on a rotating speed amplitude threshold value and a rotating speed change rate threshold value is disclosed, but the patent is analyzed to find that the running state of an automatic speed changing device is not analyzed when the rotating speed sensor is diagnosed, namely, diagnosis is carried out when both shifting and non-shifting are carried out, and the non-linear characteristics of the automatic speed changing device are adopted in the shifting process, so that the abnormal state diagnosis is easy to be missed because the rotating speed amplitude threshold value and the rotating speed change rate threshold value are all limit working condition threshold values so as to avoid state misdiagnosis, and the real-time performance of fault diagnosis is influenced.
Disclosure of Invention
First, the technical problem to be solved
The invention aims to solve the technical problems that: how to solve the real-time accurate monitoring problem of the state of the rotating speed sensor of the hydraulic mechanical transmission device.
(II) technical scheme
In order to solve the technical problems, the invention provides a rotational speed sensor state monitoring method based on a residual error evaluation method, which comprises the following steps:
Preferably, step 10 is specifically:
Preferably, step 20 is specifically:
Preferably, step 30 is specifically:
step 301: judging whether the rotation speed of the sensor is greater than a minimum threshold value, and if so, entering step 302; otherwise, go to step 50;
step 302: judging whether the rotation speed of the sensor is smaller than a maximum threshold value, if so, entering step 40; otherwise, step 50 is entered.
Preferably, step 40 is specifically:
step 401: judging whether the signal residual is smaller than a residual threshold value, and if so, returning to the step 101; otherwise, go to step 503;
the step 50 is specifically as follows:
step 501: accumulating time intensity, accumulating a timing period once when the signal amplitude exceeds the threshold value every time the signal amplitude exceeds the threshold value, and clearing the accumulated time intensity if the signal amplitude does not exceed the threshold value;
step 502: judging whether the accumulated time intensity is greater than a time intensity threshold, if so, entering step 505; otherwise, returning to the step 501, and re-judging;
step 503: accumulating the frequency intensity, adding the frequency intensity once when the signal residual error exceeds the threshold value every time the signal residual error is received, and subtracting the accumulated frequency intensity once when the signal residual error does not exceed the threshold value;
step 504: judging whether the accumulated time intensity is larger than a time intensity threshold, if so, entering step 505; otherwise, returning to step 503, and re-judging;
step 505: confirm the sensor trouble, and send out the sensor trouble signal.
Preferably, step 60 is specifically:
step 601: carrying out thermal cycle accumulation, wherein every time the vehicle starts, the sensor faults do not occur, the normal times are accumulated once, and if the faults occur, the accumulated normal times are cleared;
step 602: judging whether the accumulated normal times are larger than a fault self-healing threshold value, if so, entering step 603; otherwise, returning to the step 601, continuing to accumulate the thermal cycle, and accumulating the normal times of the sensor;
step 603: the sensor fault self-heals, the sensor is normal, and a sensor normal signal is sent out.
Preferably, the signal residual r is calculated as follows:
wherein: n (t): actual rotational speed;
wherein: epsilon is the angular acceleration deviation.
Preferably, ε is determined by engine characteristics.
Preferably epsilon is 3% -5%.
Preferably, the fault self-healing threshold is set to 40.
(III) beneficial effects
The monitoring method successfully solves the real-time accurate monitoring problem of the state of the rotating speed sensor of the hydraulic mechanical transmission device by judging the signal residual error of the rotating speed sensor, and can diagnose the states of the rotating speed signals of the pump wheel rotating speed, the turbine rotating speed, the output shaft rotating speed and the like of the hydraulic mechanical transmission device, thereby realizing the timely and accurate diagnosis of the faults of the rotating speed sensor of the hydraulic mechanical transmission device and improving the accurate diagnosis capability of the faults of the vehicle. The method has been successfully applied to the design of a multi-type transmission system fault diagnosis strategy.
Drawings
FIG. 1 is a main flow chart of the method of the present invention;
FIG. 2 is a flow chart of a diagnostic of a condition of a particular rotational speed sensor according to the method of the present invention.
Detailed Description
For the purposes of clarity, content, and advantages of the present invention, a detailed description of the embodiments of the present invention will be described in detail below with reference to the drawings and examples.
The invention relates to a rotational speed sensor state monitoring method based on a residual error evaluation method, which can be applied to the design of a vehicle fault diagnosis system (health management system) of any vehicle equipped with a hydraulic mechanical transmission device (such as a comprehensive transmission device, an AT transmission and the like).
Referring to fig. 1 and 2, the invention provides a rotational speed sensor state monitoring method based on a residual error evaluation method, which comprises the following steps:
(step 10) automatic transmission working condition identification: the method comprises the steps of collecting a target gear and an actual gear of the automatic transmission, and judging whether the automatic transmission is in a gear working condition or not: step 101, judging whether the actual gear is consistent with the target gear, if so, enabling the automatic transmission to enter 20 under the gear working condition; otherwise, the automatic transmission is in a gear shifting working condition, and the step 101 is returned;
(step 20) rotational speed signal acquisition: step 201, collecting three sensor signals of the pump impeller rotating speed, the turbine rotating speed and the output shaft rotating speed of the automatic speed changing device, and filtering the frequency signals collected by the rotating speed sensors;
(step 30) signal amplitude judgment: respectively carrying out amplitude judgment on the three rotating speed sensors to judge whether the amplitude of the rotating speed signal exceeds a set threshold range or not:
(step 301): judging whether the rotation speed of the sensor is greater than a minimum threshold value, and if so, entering step 302; otherwise, go to step 501;
(step 302): judging whether the rotation speed of the sensor is smaller than a maximum threshold value, if so, entering step 401; otherwise, go to step 501;
(step 40) signal residual error judgment: carrying out signal residual calculation on the three rotating speed sensors, comparing the signal residual calculation with a residual threshold value, and judging whether abnormal fluctuation conditions exist in the rotating speed signals or not:
(step 401): judging whether the signal residual is smaller than a residual threshold value, and if so, returning to the step 101; otherwise, go to step 503;
the calculation formula of the signal residual r is as follows:
wherein: n (t): actual rotational speed;
wherein: epsilon: angular acceleration deviation; depending on the engine characteristics, typically 3% -5%;
(step 50) failure strength accumulation: accumulating the intensity of the abnormal signal state, and confirming the fault if the intensity exceeds a set intensity threshold value:
(step 501): accumulating time intensity, accumulating a timing period once when the signal amplitude exceeds the threshold value every time the signal amplitude exceeds the threshold value, and clearing the accumulated time intensity if the signal amplitude does not exceed the threshold value;
(step 502): judging whether the accumulated time intensity is greater than a time intensity threshold, if so, entering step 505; otherwise, returning to the step 501, and re-judging;
(step 503): accumulating the frequency intensity, adding the frequency intensity once when the signal residual error exceeds the threshold value every time the signal residual error is received, and subtracting the accumulated frequency intensity once when the signal residual error does not exceed the threshold value;
(step 504): judging whether the accumulated time intensity is larger than a time intensity threshold, if so, entering step 505; otherwise, returning to step 503, and re-judging;
(step 505): confirming a sensor fault and sending out a sensor fault signal;
(step 60) fault self-healing diagnosis: and (3) performing thermal cycle monitoring on the rotating speed sensor for confirming the faults, and performing self-healing of the faults when the accumulated normal times exceed a self-healing threshold value of the faults:
(step 601): carrying out thermal cycle accumulation, wherein every time the vehicle starts, the sensor faults do not occur, the normal times are accumulated once, and if the faults occur, the accumulated normal times are cleared;
(step 602): determining whether the accumulated normal times is greater than the self-healing fault threshold (the threshold is generally set to 40), if so, proceeding to step 603; otherwise, returning to the step 601, continuing to accumulate the thermal cycle, and accumulating the normal times of the sensor;
(step 603): the sensor fault self-heals, the sensor is normal, and a sensor normal signal is sent out.
The foregoing is merely a preferred embodiment of the present invention, and it should be noted that modifications and variations could be made by those skilled in the art without departing from the technical principles of the present invention, and such modifications and variations should also be regarded as being within the scope of the invention.
Claims (8)
1. The method for monitoring the state of the rotating speed sensor based on the residual error assessment method is characterized by comprising the following steps of:
step 10, identifying working conditions of an automatic transmission: acquiring a target gear and an actual gear of the automatic transmission, and judging whether the automatic transmission is in a gear working condition or not;
step 20, collecting a rotating speed signal when the automatic transmission is in a gear working condition;
step 30, signal amplitude judgment: judging the amplitude of the three rotating speed sensors, and judging whether the amplitude of the rotating speed signal exceeds a set threshold range; the method comprises the following steps:
step 301: judging whether the rotation speed of the sensor is greater than a minimum threshold value, and if so, entering step 302; otherwise, go to step 50;
step 302: judging whether the rotation speed of the sensor is smaller than a maximum threshold value, if so, entering step 40; otherwise, go to step 50;
step 40, judging signal residual errors: carrying out signal residual calculation on the three rotating speed sensors, comparing the signal residual calculation with a residual threshold value, and judging whether abnormal fluctuation exists in the rotating speed signals or not;
the calculation formula of the signal residual r is as follows:
wherein: n (t): actual rotational speed;
wherein: epsilon is the angular acceleration deviation;
step 50, failure strength accumulation: performing time intensity accumulation on signal amplitude anomalies and performing frequency intensity accumulation on signal residual anomalies; when one of the two accumulated intensities exceeds a threshold range, confirming that the rotation speed sensor fails;
step 60, fault self-healing diagnosis: and (3) performing thermal cycle monitoring on the rotating speed sensor for confirming the faults, and performing self-healing of the faults when the accumulated normal times exceed a self-healing threshold value of the faults.
2. The method according to claim 1, wherein step 10 is specifically:
step 101, judging whether the actual gear is consistent with the target gear, if so, the automatic transmission is in a gear working condition, and entering step 20; otherwise, the automatic transmission is in a gear shifting working condition, and the step 101 is returned.
3. The method according to claim 2, wherein step 20 is specifically:
step 201, three sensor signals of the pump impeller rotating speed, the turbine rotating speed and the output shaft rotating speed of the automatic speed changing device are collected, and filtering processing is carried out on the frequency signals collected by the rotating speed sensors.
4. The method according to claim 1, wherein step 40 is specifically:
step 401: judging whether the signal residual is smaller than a residual threshold value, and if so, returning to the step 101; otherwise, go to step 503;
the step 50 is specifically as follows:
step 501: accumulating time intensity, accumulating a timing period once when the signal amplitude exceeds the threshold value every time the signal amplitude exceeds the threshold value, and clearing the accumulated time intensity if the signal amplitude does not exceed the threshold value;
step 502: judging whether the accumulated time intensity is greater than a time intensity threshold, if so, entering step 505; otherwise, returning to the step 501, and re-judging;
step 503: accumulating the frequency intensity, adding the frequency intensity once when the signal residual error exceeds the threshold value every time the signal residual error is received, and subtracting the accumulated frequency intensity once when the signal residual error does not exceed the threshold value;
step 504: judging whether the accumulated time intensity is larger than a time intensity threshold, if so, entering step 505; otherwise, returning to step 503, and re-judging;
step 505: confirm the sensor trouble, and send out the sensor trouble signal.
5. The method of claim 4, wherein step 60 is specifically:
step 601: carrying out thermal cycle accumulation, wherein every time the vehicle starts, the sensor faults do not occur, the normal times are accumulated once, and if the faults occur, the accumulated normal times are cleared;
step 602: judging whether the accumulated normal times are larger than a fault self-healing threshold value, if so, entering step 603; otherwise, returning to the step 601, continuing to accumulate the thermal cycle, and accumulating the normal times of the sensor;
step 603: the sensor fault self-heals, the sensor is normal, and a sensor normal signal is sent out.
6. The method of claim 1 wherein epsilon is determined by engine characteristics.
7. The method of claim 6, wherein epsilon is 3% to 5%.
8. The method of claim 5, wherein the fault self-healing threshold is set to 40.
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