CN109975700B - Steering engine abnormal state detection method and device, terminal device and medium - Google Patents
Steering engine abnormal state detection method and device, terminal device and medium Download PDFInfo
- Publication number
- CN109975700B CN109975700B CN201711451162.7A CN201711451162A CN109975700B CN 109975700 B CN109975700 B CN 109975700B CN 201711451162 A CN201711451162 A CN 201711451162A CN 109975700 B CN109975700 B CN 109975700B
- Authority
- CN
- China
- Prior art keywords
- steering engine
- electrical parameter
- output
- parameter
- abnormal state
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 230000002159 abnormal effect Effects 0.000 title claims abstract description 88
- 238000001514 detection method Methods 0.000 title claims abstract description 58
- 238000000034 method Methods 0.000 claims abstract description 38
- 238000004590 computer program Methods 0.000 claims description 19
- 238000011897 real-time detection Methods 0.000 claims description 10
- 238000003860 storage Methods 0.000 claims description 8
- 238000004519 manufacturing process Methods 0.000 claims description 5
- 238000012360 testing method Methods 0.000 claims description 2
- 230000006870 function Effects 0.000 description 8
- 238000010586 diagram Methods 0.000 description 4
- 230000008878 coupling Effects 0.000 description 3
- 238000010168 coupling process Methods 0.000 description 3
- 238000005859 coupling reaction Methods 0.000 description 3
- 238000012545 processing Methods 0.000 description 3
- 238000004422 calculation algorithm Methods 0.000 description 2
- 238000004891 communication Methods 0.000 description 2
- 239000004020 conductor Substances 0.000 description 2
- 238000005520 cutting process Methods 0.000 description 2
- 230000006698 induction Effects 0.000 description 2
- 230000005236 sound signal Effects 0.000 description 2
- 230000001960 triggered effect Effects 0.000 description 2
- 238000004364 calculation method Methods 0.000 description 1
- 230000002950 deficient Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000009826 distribution Methods 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 238000012827 research and development Methods 0.000 description 1
- 238000012163 sequencing technique Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
- G01R31/34—Testing dynamo-electric machines
- G01R31/343—Testing dynamo-electric machines in operation
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
- Combined Controls Of Internal Combustion Engines (AREA)
Abstract
The invention is suitable for the technical field of drivers, and provides a method, a device, terminal equipment and a medium for detecting the abnormal state of a steering engine, wherein the method comprises the following steps: detecting a first electrical parameter output by a first steering engine in real time, wherein the first steering engine is a steering engine to be detected; comparing the first electrical parameter with a second electrical parameter, wherein the second electrical parameter is an electrical parameter reference value; if the first electrical parameter does not exceed the second electrical parameter, determining that the first steering engine is in a normal state; and if the first electrical parameter exceeds the second electrical parameter, determining that the first steering engine is in an abnormal state. The steering engine can automatically detect whether the output electric parameter exceeds the pre-stored electric parameter reference value or not under the scene that the power analyzer does not detect the output efficiency in real time, so that whether the steering engine is abnormal or not is effectively and accurately determined, the detection cost of the abnormal state of the steering engine is reduced, and the detection efficiency is improved.
Description
Technical Field
The invention belongs to the technical field of drivers, and particularly relates to a steering engine abnormal state detection method, a steering engine abnormal state detection device, terminal equipment and a medium.
Background
The output efficiency of the small steering engine is an important index for measuring the yield of the steering engine. Before the steering engine is developed and assembled, a user will typically set a target output efficiency for the steering engine. If the steering wheel equipment is accomplished the back, its output efficiency can not reach target output efficiency, then in practical application, this steering wheel often can have higher energy consumption, can reduce its life from this. Therefore, the steering engine is generally subjected to output efficiency detection in the industry, so that the steering engine is put into a production application environment under the condition that the output efficiency meets the target output efficiency, otherwise, the steering engine is considered to be in an abnormal state, and the putting is suspended.
According to the traditional steering engine abnormal state detection method, the input power and the output power of a steering engine are directly measured through a power analyzer, the output efficiency of the steering engine is calculated according to the measured input power and output power, and whether the steering engine is abnormal or not and whether the steering engine is good or not are identified according to the matching condition of the output efficiency and the target output efficiency. However, such a detection method must be implemented based on a power analyzer, and the power analyzer is extremely expensive, so that the method for detecting the abnormal state of the steering engine by the power analyzer is usually only applied to the research and development stage of the steering engine, and the steering engine is often neglected to detect in the mass production process of the steering engine due to insufficient conditions or cost reasons. Therefore, the prior art can not effectively and accurately detect whether the steering engine is abnormal or not while meeting the cost requirement.
Disclosure of Invention
In view of this, embodiments of the present invention provide a method, an apparatus, a terminal device and a medium for detecting an abnormal state of a steering engine, so as to solve the problem in the prior art that whether the steering engine is abnormal or not cannot be effectively and accurately detected.
The first aspect of the embodiment of the invention provides a method for detecting an abnormal state of a steering engine, which comprises the following steps:
detecting a first electrical parameter output by a first steering engine in real time, wherein the first steering engine is a steering engine to be detected;
comparing the first electrical parameter with a second electrical parameter, wherein the second electrical parameter is an electrical parameter reference value;
if the first electrical parameter does not exceed the second electrical parameter, determining that the first steering engine is in a normal state;
and if the first electrical parameter exceeds the second electrical parameter, determining that the first steering engine is in an abnormal state.
A second aspect of the embodiments of the present invention provides a device for detecting an abnormal state of a steering engine, including:
the detection unit is used for detecting a first electrical parameter output by a first steering engine in real time, wherein the first steering engine is a steering engine to be detected;
the comparison unit is used for comparing the first electrical parameter with a second electrical parameter, and the second electrical parameter is an electrical parameter reference value;
the first determining unit is used for determining that the first steering engine is in a normal state if the first electrical parameter does not exceed the second electrical parameter;
and the second determining unit is used for determining that the first steering engine is in an abnormal state if the first electrical parameter exceeds the second electrical parameter.
A third aspect of the embodiments of the present invention provides a terminal device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, where the processor implements the steps of the method for detecting an abnormal state of a steering engine according to the first aspect when executing the computer program.
A fourth aspect of the embodiments of the present invention provides a computer-readable storage medium, where a computer program is stored, where the computer program, when executed by a processor, implements the steps of the method for detecting an abnormal state of a steering engine according to the first aspect.
In the embodiment of the invention, in the detection process of the abnormal state of the steering engine, as long as the electric parameters output by the steering engine per se in real time are obtained, whether the electric parameters output at the current moment exceed the electric parameter reference value can be judged; and if the output electrical parameter exceeds the electrical parameter reference value, determining that the steering engine is in an abnormal state. Because the electric parameters output by the steering engine can be current values or voltage values, and the electric parameters can be conveniently and simply measured by the cheap current sensor, the abnormal condition of the steering engine can be effectively and accurately determined under the scene that no power analyzer is used for detecting the output efficiency in real time, and therefore, the detection cost of the abnormal condition of the steering engine is reduced. Meanwhile, the steering engine can automatically detect the matching condition of the output electric parameters and the electric parameter reference value, so that the automatic identification of the abnormal state is realized, and the detection efficiency is improved compared with the method for detecting the abnormal state of the steering engine by externally connecting a power analyzer through a wire by a user in the prior art.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.
FIG. 1 is a flow chart of an implementation of a method for detecting an abnormal state of a steering engine according to an embodiment of the present invention;
fig. 2 is a flow chart of an implementation of a method for detecting an abnormal state of a steering engine according to another embodiment of the present invention;
fig. 3 is a flowchart of a method S201 for detecting an abnormal state of a steering engine according to another embodiment of the present invention;
fig. 4 is a flowchart illustrating an implementation of a method for detecting an abnormal state of a steering engine according to another embodiment of the present invention;
fig. 5 is a block diagram of a detection device for an abnormal state of a steering engine according to an embodiment of the present invention;
fig. 6 is a schematic diagram of a terminal device according to an embodiment of the present invention.
Detailed Description
In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular system structures, techniques, etc. in order to provide a thorough understanding of the embodiments of the invention. It will be apparent, however, to one skilled in the art that the present invention may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present invention with unnecessary detail.
In order to explain the technical means of the present invention, the following description will be given by way of specific examples.
Referring to fig. 1, fig. 1 is a flowchart illustrating an implementation of a method for detecting an abnormal state of a steering engine according to an embodiment of the present invention. The implementation flow shown in fig. 1 includes steps S101 to S104, and the implementation principle of each step is specifically as follows:
s101: and detecting a first electrical parameter output by the first steering engine in real time, wherein the first steering engine is a steering engine to be detected.
The steering engine is a position and angle servo driver and is suitable for a control system with an angle needing to be changed continuously and capable of keeping the angle fixed continuously. For example, the present invention can be used for direction control of a remote control model such as an arm and a leg of a human robot, and can also be used for lift control of a window in a large-sized device such as an automobile.
In the embodiment of the invention, a current sensor is preset on the output end of the steering engine. The current sensor can sense the information of the current to be measured and convert the sensed information into an electric signal meeting certain standard requirements or information in other required forms to be output according to a certain rule, so that the current value output by the steering engine is obtained. The current sensor preset at the output end of the steering engine includes, but is not limited to, a shunt, an electromagnetic current transformer, an electronic current transformer and the like.
In particular, based on the measured current value and the output resistance through which the current value passes, the voltage value output by the steering engine can be calculated.
In the embodiment of the invention, in order to detect whether the current steering engine has abnormal quality, the electric parameters output by the steering engine need to be detected at different moments respectively. The electric parameters output by the steering engine represent the current value or the voltage value output by the steering engine, and are obtained by the preset current sensor in real time.
Preferably, in order to improve the detection accuracy of the current value and the voltage value, the resistance accuracy of the current sensor preset at the output end of the steering engine is smaller than or equal to a preset threshold, and the threshold may be 0.1% or 0.5%, for example.
S102: and comparing the first electrical parameter with a second electrical parameter, wherein the second electrical parameter is an electrical parameter reference value.
In the embodiment of the invention, a second electrical parameter prestored in the steering engine is obtained, and the second electrical parameter is related to the accessory parameter of the steering engine and the target output efficiency.
The target output efficiency is the minimum output efficiency which the steering engine preset by a user should have in a production application environment. The accessory parameters of the steering engine comprise the operation mode, the load weight and the model of the steering engine. The operation modes of the steering engine comprise a speed mode, a torque mode and a position mode.
In the embodiment of the invention, a user obtains accessory parameters and target output efficiency of the steering engine, and calculates the magnitude of the output current value or the output voltage value of the steering engine when the output efficiency of the steering engine reaches the target output efficiency according to the accessory parameters and the target output efficiency.
Specifically, when the output efficiency of the steering engine reaches the target output efficiency, the current value I output by the steering engine is calculated by the following formula:
in the above equation, P is the output power of the steering engine, B is the magnetic induction, F is the torque generated when the gear of the drive motor operates, L is the length of the current conductor cutting the magnetic field when the drive motor operates, and V is the operating speed of the steering engine. The output power P of the steering engine can be obtained by calculation according to the limit input power and the target output efficiency of the steering engine; the rated input power, the magnetic induction intensity B, the length L of an electrified conductor of a cutting magnetic field when a driving motor operates and the operation speed V of the steering engine can be directly read from accessory parameters of the steering engine; the torque F generated when the gear of the driving motor runs can be determined according to the load parameters of the steering engine at the current moment, such as the load weight.
After the specific values of the parameters P, B, F, L, V and the like are determined, the specific values are substituted into the formula (1) to calculate the current value output by the steering engine when the output efficiency of the steering engine reaches the target output efficiency, and the voltage value output by the steering engine when the output efficiency of the steering engine reaches the target output efficiency is calculated based on the output current value.
In the embodiment of the invention, the voltage value or the current value output by the steering engine, which is calculated in advance by a user, is stored to be used as the reference value of the electrical parameter in the steering engine.
In order to distinguish the electric parameters output by the steering engine obtained through real-time detection and the electric parameters output by the steering engine when the output efficiency of the steering engine reaches the target output efficiency, in the embodiment of the invention, the electric parameters output by the steering engine obtained through real-time detection are called as first electric parameters, and the electric parameters output by the steering engine when the output efficiency of the steering engine reaches the target output efficiency are called as second electric parameters.
When the abnormal state detection event is triggered, reading a pre-stored second electrical parameter. If the read second electrical parameter is the voltage reference value, comparing the first voltage value detected at the current moment with the second voltage value; and if the read second electrical parameter is the current reference value, comparing the first current value detected at the current moment with the second current value.
Exemplarily, the comparing the first electrical parameter with the second electrical parameter specifically includes:
it is determined whether the first electrical parameter exceeds the second electrical parameter. If the first electrical parameter and the second electrical parameter do not exceed the second electrical parameter, executing step S103; otherwise, step S104 is executed.
S103: and if the first electrical parameter does not exceed the second electrical parameter, determining that the first steering engine is in a normal state.
S104: and if the first electrical parameter exceeds the second electrical parameter, determining that the first steering engine is in an abnormal state.
When the first electrical parameter exceeds the second electrical parameter, the real-time output efficiency calculated according to the currently detected first electrical parameter and the formula (1) is different from the target output efficiency, so that the output requirement which the steering engine should meet in a normal state cannot be met. Therefore, the steering engine is determined to be in an abnormal state at the moment, and the steering engine belongs to a good product. Otherwise, the steering engine is determined to be in an abnormal state at the moment, and the steering engine belongs to a defective product.
As an embodiment of the present invention, after S105, the method further includes:
and the indicator lamp on the first steering engine is controlled to send out an alarm signal.
In the embodiment of the invention, when the steering engine is detected to be in an abnormal state, an alarm instruction is triggered, so that an indicator lamp arranged on the steering engine is controlled to send out an alarm signal based on the alarm instruction. The alarm signal includes but is not limited to a light signal, a light flashing signal, an audio signal, and the like.
When the manager receives the alarm signal, the manager can know that the current steering engine is in an abnormal state, so that the abnormal reason of the steering engine is further checked and debugged, and the manager returns to execute the steps from S101 to S104 after debugging is completed.
In the embodiment of the invention, when the steering engine is determined to be in the abnormal state, the steering engine is controlled to send out the alarm signal, so that the steering engine can inform a manager of the abnormal state detected in real time, the manager can obtain the detection result, and the obstacle removing efficiency of the abnormal steering engine is improved.
Preferably, when the steering engine is detected to be in a normal state, another indicator lamp arranged on the steering engine is controlled to send out a prompt signal with a preset color. The prompt signal includes but is not limited to a light-on signal, a light flashing signal, an audio signal and the like, and the prompt signal is different from the prompt signal sent by the indicator light when the steering engine is in an abnormal state.
As an implementation example of the invention, when the steering engine is in an abnormal state, the indicator lamp A should send out a red light signal, and the indicator lamp B should not send out a prompt signal. However, if only the indicator lamp a is arranged on the steering engine and the indicator lamp a fails and cannot send a red light signal, the user may consider that the steering engine is in a normal state because the indicator lamp a does not send the red light signal, and thus a situation of a detection result output error occurs. By arranging the indicator lamp A and the indicator lamp B on the steering engine at the same time, the steering engine abnormal state detection method provided by the embodiment of the invention ensures that a user can accurately determine a detection result based on the signal state of any indicator lamp on the steering engine as long as the self-detection of the steering engine is completed, and can indirectly know that the steering engine is in an abnormal state rather than a normal state and can find that the indicator lamp A has a fault as long as the user sees that the indicator lamp B does not send a prompt signal even if the indicator lamp A has a fault and cannot send a red light signal.
In the embodiment of the invention, the determined electrical parameter reference value, such as a current reference value or a voltage reference value, can be prestored in the steering engine according to the accessory parameter and the target output efficiency of the steering engine to be detected, so that in the detection process of the abnormal state of the steering engine, as long as the electrical parameter output by the steering engine per se in real time is obtained, whether the electrical parameter output at the current moment exceeds the electrical parameter reference value can be judged; and if the output electrical parameter exceeds the electrical parameter reference value, determining that the steering engine is in an abnormal state. Because the electric parameters output by the steering engine can be current values or voltage values, and the electric parameters can be conveniently and simply measured by the cheap current sensor, the abnormal condition of the steering engine can be effectively and accurately determined under the scene that no power analyzer is used for detecting the output efficiency in real time, and therefore, the detection cost of the abnormal condition of the steering engine is reduced. Meanwhile, the steering engine can automatically detect the matching condition of the output electric parameters and the electric parameter reference value, so that the automatic identification of the abnormal state is realized, and the detection efficiency is improved compared with the method for detecting the abnormal state of the steering engine by externally connecting a power analyzer through a wire by a user in the prior art.
On the basis of the above embodiment, as another embodiment of the present invention, a manner of obtaining the second electrical parameter is further defined. Referring to fig. 2, fig. 2 shows an implementation flow of a method for detecting an abnormal state of a steering engine according to another embodiment of the present invention, which is detailed as follows:
s201: acquiring a second electrical parameter output by a second steering engine, and storing the second electrical parameter; and the weight of the load connected with the second steering engine is equal to that of the load connected with the first steering engine.
Before detecting the abnormal state of the steering engine to be detected, a user selects another steering engine with the same parameters as the accessories of the steering engine to be detected. In order to distinguish the steering engine required to be detected at the current moment and the other steering engine with the same preselected accessory parameters, the steering engine required to be detected at the current moment is called a first steering engine, and the other steering engine with the same preselected accessory parameters is called a second steering engine.
In the embodiment of the invention, the running modes of the first steering engine and the second steering engine are speed modes. Under the speed mode, the steering engine will operate at a preset constant speed.
And the user measures the output efficiency of the second steering engine through the power analyzer and judges whether the output efficiency is matched with the target output efficiency. And if not, the user re-selects another second steering engine with the same accessory parameters as the steering engine to be detected, and then measures the output efficiency of the second steering engine through the power analyzer again. And when the output efficiency of the second steering engine is matched with the target output efficiency, acquiring the electric parameter output by the second steering engine at the current moment, and determining the output electric parameter as the second electric parameter needing to be stored in the first steering engine.
S202: and comparing the first electrical parameter with a second electrical parameter, wherein the second electrical parameter is an electrical parameter reference value.
S203: and if the first electrical parameter does not exceed the second electrical parameter, determining that the first steering engine is in a normal state.
S204: and if the first electrical parameter exceeds the second electrical parameter, determining that the first steering engine is in an abnormal state.
S205: and if the first electrical parameter is not matched with the second electrical parameter, determining that the first steering engine is in an abnormal state.
The implementation principle of the steps not mentioned in the embodiments of the present invention is the same as that of the steps in the above embodiments, and therefore, the details are not repeated.
Because the factory limit parameters of the steering engine accessories are usually theoretical reference values, and the same parameters can not be obtained in a hundred percent in a real application environment, in the embodiment of the invention, the electric parameters output by the second steering engine, which are the same as the parameters of the accessories of the steering engine to be detected and meet the target output efficiency, are measured and serve as the electric parameter reference values required to be stored in the first steering engine, so that whether the first steering engine meets the efficiency output requirement or not can be judged based on the reference output electric parameters obtained by real detection in the abnormal state detection process, therefore, by comparing the first electric parameters of the first steering engine with the second electric parameters obtained in the embodiment of the invention, compared with the second electric parameters obtained based on the formula (1), a more practical and accurate comparison result can be obtained, therefore, the detection accuracy of the steering engine in an abnormal state is improved.
As an embodiment of the present invention, fig. 3 shows a specific implementation flow of the steering engine abnormal state detection method S201 provided in the embodiment of the present invention, which is detailed as follows:
s2011: and controlling the running speeds of the first steering engine and the second steering engine to be the same.
After the second electrical parameters of the second steering engine are stored in the first steering engine, the operating mode of the first steering engine is set to be a speed mode according to the received operating mode adjusting instruction, so that the first steering engine can be consistent with the operating mode of the second steering engine in the abnormal state detection process, and the operating speeds of the first steering engine and the second steering engine are the same.
In the first steering engine, a pressure value detected on the output shaft is obtained through a preset pressure sensor, and a load value corresponding to the pressure value is calculated based on a preset algorithm so as to detect the weight of a load attached to the output shaft by the first steering engine.
When a user obtains the output efficiency of the second steering engine through the power analyzer, the weight of the load attached to the output shaft of the second steering engine is recorded. The load weight may be an unloaded value or an additional load value performed by the user on the output shaft thereof. And storing the load weight and the second electrical parameter into the first steering engine.
In the embodiment of the invention, the first steering engine is used for reading the pre-stored load weight.
S2012: and when the detected load weight connected with the first steering engine is the same as the load weight connected with the second steering engine, starting real-time detection on the first electrical parameter of the first steering engine.
And if the load weight obtained by real-time detection at the current moment is different from the pre-stored load weight of the second steering engine, sending prompt information to prompt a user to increase or decrease the load weight connected to the output shaft of the first steering engine, so as to realize the adjustment of the load weight of the first steering engine.
And if the load weight obtained by real-time detection at the current moment is the same as the pre-stored load weight of the second steering engine, starting a detection function of the first electrical parameter of the first steering engine. Preferably, the first electrical parameter obtained by real-time detection is displayed in a display screen connected with the steering engine.
In the embodiment of the invention, the real-time detection of the first electrical parameter of the first steering engine is started when the detected load weight connected with the first steering engine is the same as the load weight connected with the second steering engine, so that a user does not need to manually trigger the output electrical parameter detection function of the steering engine, the automation of the steering engine abnormal state detection is realized, and the operation complexity is reduced; by enabling the first steering engine and the second steering engine to operate in the speed mode and controlling the operating speed and the load weight of the first steering engine and the second steering engine to be the same, the second electric parameter based on the second steering engine is guaranteed to judge whether the first steering engine is in an abnormal state, influences caused by other factors can be reduced, unified control of variables is achieved, and accuracy of test results is improved.
As another embodiment of the present invention, fig. 4 shows an implementation flow of the steering engine abnormal state detection method provided by the embodiment of the present invention, which is detailed as follows:
s401: and detecting a first electrical parameter output by the first steering engine in real time, wherein the first steering engine is a steering engine to be detected.
S402: and acquiring the first electrical parameter for multiple times within preset time to obtain the first electrical parameter with the maximum amplitude within the preset time.
S403: the first electrical parameter with the largest amplitude is compared with the second electrical parameter.
S404: and if the first electrical parameter with the maximum amplitude value does not exceed the second electrical parameter, determining that the first steering engine is in a normal state.
S405: and if the first electrical parameter with the maximum amplitude value exceeds the second electrical parameter, determining that the first steering engine is in an abnormal state.
In the embodiment of the invention, the first electrical parameters of the first steering engine are continuously detected, so that a plurality of first electrical parameters can be obtained within a preset period of time. And sequencing the obtained first electrical parameters according to the numerical values of the output electrical parameters so as to screen out the first electrical parameter with the largest numerical value. And if the first electrical parameter with the maximum amplitude value does not exceed the pre-stored second electrical parameter, determining that the first steering engine is in a normal state. And if the first electrical parameter with the maximum amplitude exceeds a pre-stored second electrical parameter, determining that the first steering engine is in an abnormal state.
Preferably, in the process of acquiring the second electrical parameter of the second steering engine, the second electrical parameter of the second steering engine is continuously detected within a preset period of time. And generating a second electrical parameter curve according to the second electrical parameters corresponding to the acquisition moments. Meanwhile, a first electrical parameter curve is generated according to the first electrical parameters corresponding to each acquisition moment. And drawing the first electrical parameter curve and the second electrical parameter curve on a grid coordinate system, and detecting whether the first electrical parameter curve is intersected with the second electrical parameter curve.
If the first electrical parameter curve is intersected with the second electrical parameter curve, the first steering engine is judged to be in an abnormal state; and if the first electrical parameter curve is not intersected with the second electrical parameter curve and the first electrical parameter curve is positioned below the second electrical parameter curve, judging that the first steering engine is in a normal state.
In the embodiment of the invention, whether the first electrical parameter of the first steering engine exceeds the second electrical parameter is judged based on the maximum value of each first electrical parameter in the preset time length, so that the detection result of the normal state of the first steering engine can be obtained only when the first steering engine is stable in the normal state; as long as the first steering engine has the condition that the first electrical parameter exceeds the second electrical parameter at any moment in the preset time, the detection result of the abnormal state of the first steering engine can be output, and therefore the stability and the accuracy of the detection result of the abnormal state of the steering engine are improved.
It should be understood that, the sequence numbers of the steps in the foregoing embodiments do not imply an execution sequence, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation to the implementation process of the embodiments of the present invention.
Fig. 5 is a block diagram of a detection device for detecting an abnormal state of a steering engine according to an embodiment of the present invention, which corresponds to the detection method for detecting an abnormal state of a steering engine according to the above embodiment.
Referring to fig. 5, the apparatus includes:
and the detection unit 51 is used for detecting a first electrical parameter output by a first steering engine in real time, wherein the first steering engine is a steering engine to be detected.
The comparing unit 52 is configured to compare the first electrical parameter with a second electrical parameter, where the second electrical parameter is an electrical parameter reference value.
And the first determining unit 53 is configured to determine that the first steering engine is in a normal state if the first electrical parameter does not exceed the second electrical parameter.
And a second determining unit 54, configured to determine that the first steering engine is in an abnormal state if the first electrical parameter exceeds the second electrical parameter.
Optionally, the detection device for the abnormal state of the steering engine further includes:
and the first acquisition unit 55 is used for acquiring a second electrical parameter output by the second steering engine and storing the second electrical parameter.
And the weight of the load connected with the second steering engine is equal to that of the load connected with the first steering engine.
Optionally, the detection device for the abnormal state of the steering engine further includes:
a second obtaining unit 56, configured to obtain the second electrical parameter pre-stored in the first rudder unit.
Optionally, the detection unit 51 includes:
and the control subunit is used for controlling the first steering engine and the second steering engine to have the same running speed.
And the detection subunit is used for starting real-time detection of a first electrical parameter of the first steering engine when detecting that the load weight connected with the first steering engine is the same as the load weight connected with the second steering engine.
Optionally, the comparing unit 52 is specifically configured to:
and acquiring the first electrical parameter for multiple times within preset time to obtain the first electrical parameter with the maximum amplitude within the preset time, and comparing the first electrical parameter with the maximum amplitude with the second electrical parameter.
Optionally, the first electrical parameter comprises a current value or a voltage value.
Optionally, the detection device for the abnormal state of the steering engine further includes:
and the alarm unit 57 is used for controlling an indicator lamp arranged on the first steering engine to send out an alarm signal.
In the embodiment of the invention, in the detection process of the abnormal state of the steering engine, as long as the electric parameters output by the steering engine per se in real time are obtained, whether the electric parameters output at the current moment exceed the electric parameter reference value can be judged; and if the output electrical parameter exceeds the electrical parameter reference value, determining that the steering engine is in an abnormal state. Because the electric parameters output by the steering engine can be current values or voltage values, and the electric parameters can be conveniently and simply measured by the cheap current sensor, the abnormal condition of the steering engine can be effectively and accurately determined under the scene that no power analyzer is used for detecting the output efficiency in real time, and therefore, the detection cost of the abnormal condition of the steering engine is reduced. Meanwhile, the steering engine can automatically detect the matching condition of the output electric parameters and the electric parameter reference value, so that the automatic identification of the abnormal state is realized, and the detection efficiency is improved compared with the method for detecting the abnormal state of the steering engine by externally connecting a power analyzer through a wire by a user in the prior art.
Fig. 6 is a schematic diagram of a terminal device according to an embodiment of the present invention. As shown in fig. 6, the terminal device 6 of this embodiment includes: a processor 60, a memory 61 and a computer program 62 stored in said memory 61 and executable on said processor 60, such as a steering engine abnormal state detection program. The processor 60 executes the computer program 62 to implement the steps in the above-mentioned method for detecting an abnormal state of each steering engine, such as steps 101 to 105 shown in fig. 1. Alternatively, the processor 60, when executing the computer program 62, implements the functions of the modules/units in the above-mentioned device embodiments, such as the functions of the units 51 to 57 shown in fig. 5.
Illustratively, the computer program 62 may be partitioned into one or more modules/units that are stored in the memory 61 and executed by the processor 60 to implement the present invention. The one or more modules/units may be a series of computer program instruction segments capable of performing specific functions, which are used to describe the execution of the computer program 62 in the terminal device 6.
The terminal device 6 may be a desktop computer, a notebook, a palm computer, a cloud server, or other computing devices. The terminal device may include, but is not limited to, a processor 60, a memory 61. Those skilled in the art will appreciate that fig. 6 is merely an example of a terminal device 6 and does not constitute a limitation of terminal device 6 and may include more or less components than those shown, or some components in combination, or different components, for example, the terminal device may also include input output devices, network access devices, buses, etc.
The Processor 60 may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic, discrete hardware components, etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The memory 61 may be an internal storage unit of the terminal device 6, such as a hard disk or a memory of the terminal device 6. The memory 61 may also be an external storage device of the terminal device 6, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), and the like, which are provided on the terminal device 6. Further, the memory 61 may also include both an internal storage unit and an external storage device of the terminal device 6. The memory 61 is used for storing the computer program and other programs and data required by the terminal device. The memory 61 may also be used to temporarily store data that has been output or is to be output.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-mentioned division of the functional units and modules is illustrated, and in practical applications, the above-mentioned function distribution may be performed by different functional units and modules according to needs, that is, the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-mentioned functions. Each functional unit and module in the embodiments may be integrated in one processing unit, or each unit may exist alone physically, or two or more units are integrated in one unit, and the integrated unit may be implemented in a form of hardware, or in a form of software functional unit. In addition, specific names of the functional units and modules are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present application. The specific working processes of the units and modules in the system may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to the related descriptions of other embodiments for parts that are not described or illustrated in a certain embodiment.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
In the embodiments provided in the present invention, it should be understood that the disclosed apparatus/terminal device and method may be implemented in other ways. For example, the above-described embodiments of the apparatus/terminal device are merely illustrative, and for example, the division of the modules or units is only one logical division, and there may be other divisions when actually implemented, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated modules/units, if implemented in the form of software functional units and sold or used as separate products, may be stored in a computer readable storage medium. Based on such understanding, all or part of the flow of the method according to the embodiments of the present invention may also be implemented by a computer program, which may be stored in a computer-readable storage medium, and when the computer program is executed by a processor, the steps of the method embodiments may be implemented. . Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, usb disk, removable hard disk, magnetic disk, optical disk, computer Memory, Read-Only Memory (ROM), Random Access Memory (RAM), electrical carrier wave signals, telecommunications signals, software distribution medium, and the like. It should be noted that the computer readable medium may contain content that is subject to appropriate increase or decrease as required by legislation and patent practice in jurisdictions, for example, in some jurisdictions, computer readable media does not include electrical carrier signals and telecommunications signals as is required by legislation and patent practice.
The above-mentioned embodiments are only used for illustrating the technical solutions of the present invention, and not for limiting the same; although the present invention 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 solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present invention, and are intended to be included within the scope of the present invention.
Claims (12)
1. A steering engine abnormal state detection method is characterized by comprising the following steps:
detecting a first electrical parameter output by a first steering engine in real time, wherein the first steering engine is a steering engine to be detected;
obtain the second electrical parameter of second steering wheel output, and will the second electrical parameter is saved, includes: measuring the output efficiency of the second steering engine through a power analyzer, acquiring an electric parameter output by the second steering engine at the current moment when the output efficiency of the second steering engine is detected to be matched with a target output efficiency, and determining the output electric parameter as a second electric parameter; the weight of a load connected with the second steering engine is equal to that of a load connected with the first steering engine;
comparing the first electrical parameter with a second electrical parameter, wherein the second electrical parameter is an electrical parameter reference value; the second electrical parameter is related to accessory parameters of the steering engine and target output efficiency, and the target output efficiency is the minimum output efficiency which the steering engine preset by a user should have in a production application environment;
if the first electrical parameter exceeds the second electrical parameter, determining that the first steering engine is in an abnormal state, and controlling an indicator lamp arranged on the first steering engine to send out an alarm signal;
and if the first electrical parameter does not exceed the second electrical parameter, determining that the first steering engine is in a normal state, and controlling another indicator lamp arranged on the steering engine to send out a prompt signal with a preset color.
2. The method for testing as defined in claim 1, wherein said obtaining of said second electrical parameter comprises:
obtaining the second electrical parameter pre-stored within the first rudder machine.
3. The method of claim 1, wherein detecting the first electrical parameter output by the first steering engine in real time comprises:
controlling the running speeds of the first steering engine and the second steering engine to be the same;
and when the detected load weight connected with the first steering engine is the same as the load weight connected with the second steering engine, starting real-time detection on the first electrical parameter of the first steering engine.
4. The detection method according to any one of claims 1 to 3, wherein said comparing said first electrical parameter with a second electrical parameter comprises:
and acquiring the first electrical parameter for multiple times within preset time to obtain the first electrical parameter with the maximum amplitude within the preset time, and comparing the first electrical parameter with the maximum amplitude with the second electrical parameter.
5. The detection method according to any one of claims 1 to 3, wherein the first electrical parameter comprises a current value or a voltage value.
6. The utility model provides a detection device of steering wheel abnormal state which characterized in that includes:
the detection unit is used for detecting a first electrical parameter output by a first steering engine in real time, wherein the first steering engine is a steering engine to be detected;
the first acquisition unit is used for acquiring a second electrical parameter output by the second steering engine and storing the second electrical parameter, and comprises: measuring the output efficiency of the second steering engine through a power analyzer, acquiring an electric parameter output by the second steering engine at the current moment when the output efficiency of the second steering engine is detected to be matched with a target output efficiency, and determining the output electric parameter as a second electric parameter; the weight of a load connected with the second steering engine is equal to that of a load connected with the first steering engine;
the comparison unit is used for comparing the first electrical parameter with a second electrical parameter, and the second electrical parameter is an electrical parameter reference value; the second electrical parameter is related to accessory parameters of the steering engine and target output efficiency, and the target output efficiency is the minimum output efficiency which the steering engine preset by a user should have in a production application environment;
the second determining unit is used for determining that the first steering engine is in an abnormal state and controlling an indicator lamp arranged on the first steering engine to send out an alarm signal if the first electrical parameter exceeds the second electrical parameter;
and the first determining unit is used for determining that the first steering engine is in a normal state if the first electrical parameter does not exceed the second electrical parameter, and controlling another indicator lamp arranged on the steering engine to send out a prompt signal with a preset color.
7. The detection device of claim 6, further comprising:
a second obtaining unit, configured to obtain the second electrical parameter pre-stored in the first rudder unit.
8. The detection apparatus as claimed in claim 6, wherein the detection unit comprises:
the control subunit is used for controlling the first steering engine and the second steering engine to have the same running speed;
and the detection subunit is used for starting real-time detection of a first electrical parameter of the first steering engine when detecting that the load weight connected with the first steering engine is the same as the load weight connected with the second steering engine.
9. The detection apparatus according to any one of claims 6 to 8, wherein the comparison unit is specifically configured to:
and acquiring the first electrical parameter for multiple times within preset time to obtain the first electrical parameter with the maximum amplitude within the preset time, and comparing the first electrical parameter with the maximum amplitude with the second electrical parameter.
10. The detection apparatus according to any one of claims 6 to 8, wherein the first electrical parameter comprises a current value or a voltage value.
11. A terminal device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the processor implements the steps of the method according to any of claims 1 to 5 when executing the computer program.
12. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the steps of the method according to any one of claims 1 to 5.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711451162.7A CN109975700B (en) | 2017-12-27 | 2017-12-27 | Steering engine abnormal state detection method and device, terminal device and medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711451162.7A CN109975700B (en) | 2017-12-27 | 2017-12-27 | Steering engine abnormal state detection method and device, terminal device and medium |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109975700A CN109975700A (en) | 2019-07-05 |
| CN109975700B true CN109975700B (en) | 2021-10-29 |
Family
ID=67072044
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711451162.7A Active CN109975700B (en) | 2017-12-27 | 2017-12-27 | Steering engine abnormal state detection method and device, terminal device and medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109975700B (en) |
Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112536817B (en) * | 2019-09-23 | 2022-08-02 | 深圳市优必选科技股份有限公司 | Steering engine fault processing method and device and terminal equipment |
| CN110780597B (en) * | 2019-10-23 | 2023-03-21 | 四川航天烽火伺服控制技术有限公司 | Control method, device, equipment and medium for preventing steering engine from oscillating |
| CN112334388A (en) * | 2019-11-19 | 2021-02-05 | 深圳市大疆创新科技有限公司 | Steering engine self-checking method, steering engine self-checking device, controller, steering engine, movable platform and computer readable storage medium |
| CN111901190B (en) * | 2020-07-08 | 2021-09-24 | 中国人民解放军32181部队 | Fault detection method and system for transceiver module of communication extension |
| CN113960983B (en) * | 2021-10-26 | 2024-07-23 | 上海新纪元机器人有限公司 | Servo driving device data storage method and system and servo driving device |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102954894A (en) * | 2012-09-04 | 2013-03-06 | 江苏吉信远望船舶设备有限公司 | Steering engine testing device for intelligent ships |
| CN104515543A (en) * | 2013-09-26 | 2015-04-15 | 徐州飞梦电子科技有限公司 | Multi-parameter steering engine tester |
| CN105043774A (en) * | 2015-07-14 | 2015-11-11 | 中国运载火箭技术研究院 | Method for calculating power consumption of steering engine by interpolation |
| CN105676124A (en) * | 2015-12-30 | 2016-06-15 | 青岛海尔智能家电科技有限公司 | Locked rotation detection method and apparatus for micro servo motor |
| CN105865778A (en) * | 2016-05-11 | 2016-08-17 | 深圳市优必选科技有限公司 | Steering engine gear performance detection method |
| CN106249038A (en) * | 2016-07-19 | 2016-12-21 | 北京机械设备研究所 | A kind of General portable far-end high-power rudder electromechanics pressure, current measurement and calibrating installation |
| CN206568163U (en) * | 2017-01-13 | 2017-10-20 | 深圳市祈飞科技有限公司 | A kind of detectable abnormal steering engine control device |
-
2017
- 2017-12-27 CN CN201711451162.7A patent/CN109975700B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102954894A (en) * | 2012-09-04 | 2013-03-06 | 江苏吉信远望船舶设备有限公司 | Steering engine testing device for intelligent ships |
| CN104515543A (en) * | 2013-09-26 | 2015-04-15 | 徐州飞梦电子科技有限公司 | Multi-parameter steering engine tester |
| CN105043774A (en) * | 2015-07-14 | 2015-11-11 | 中国运载火箭技术研究院 | Method for calculating power consumption of steering engine by interpolation |
| CN105676124A (en) * | 2015-12-30 | 2016-06-15 | 青岛海尔智能家电科技有限公司 | Locked rotation detection method and apparatus for micro servo motor |
| CN105865778A (en) * | 2016-05-11 | 2016-08-17 | 深圳市优必选科技有限公司 | Steering engine gear performance detection method |
| CN106249038A (en) * | 2016-07-19 | 2016-12-21 | 北京机械设备研究所 | A kind of General portable far-end high-power rudder electromechanics pressure, current measurement and calibrating installation |
| CN206568163U (en) * | 2017-01-13 | 2017-10-20 | 深圳市祈飞科技有限公司 | A kind of detectable abnormal steering engine control device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109975700A (en) | 2019-07-05 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109975700B (en) | Steering engine abnormal state detection method and device, terminal device and medium | |
| CN103331506B (en) | Detection method for handheld terminal for detecting automatic welding equipment | |
| CN107576435B (en) | The online fault locator of tightening technique and its method of Kernel-based methods data analysis | |
| JP2012098157A (en) | Resistance measuring device | |
| US20100201342A1 (en) | Verfahren zum Betreiben eines Feldgerates | |
| CN108695569B (en) | Current sensor calibration device | |
| CN201732001U (en) | Portable electronic throttle pedal performance testing device | |
| CN112540224A (en) | Meter reading machine and detection method of ammeter data | |
| CN116436833A (en) | Fault diagnosis method, device and equipment in switch port test | |
| CN114035555B (en) | PLC controller fault detection system | |
| US9160574B2 (en) | Signal adjusting device comprising termination resistor unit in which a signal line is subjected to termination | |
| CN204479687U (en) | A kind of intelligent type automatic electrical test system | |
| CN117590135A (en) | Test method, test device, test terminal device and storage medium | |
| CN108362322B (en) | Sensor testing method and device and readable storage medium | |
| CN114523918A (en) | Vehicle speed signal detection method and device, mobile terminal and storage medium | |
| CN106872085B (en) | Automatic testing arrangement of unmanned aerial vehicle horn kinetic energy efficiency | |
| CN102564566B (en) | Vibration test system of locomotive cooling tower | |
| CN104977048A (en) | FCT automatic testing method for air conditioner | |
| CN113761303A (en) | State monitoring method and device of frequency converter and computer readable storage medium | |
| CN110967615B (en) | Circuit board fault diagnosis device and method | |
| CN202693758U (en) | Automatic test system for direction switch of electronic door and window of automobile | |
| CN205691751U (en) | A kind of simulated automotive starts intelligent test instrument apparatus | |
| CN203849380U (en) | Automobile generator performance testing teaching experiment instrument | |
| TWI846259B (en) | Detecting system and diagnostic method using the same | |
| CN110987448A (en) | Engine air inlet state monitoring method, device and equipment |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |