基于子空间辨识的阀控液压缸泄漏诊断方法
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摘要
为提高阀控液压缸泄漏检测的准确性和效率,提出一种基于子空间辨识的液压缸泄漏诊断方法。选取液压缸活塞杆外力负载作为输入信号,两腔压力、活塞杆位移与速度作为状态变量,建立系统状态空间模型;应用子空间辨识运算得到系统矩阵相关元素的估计值,并由此判断泄漏故障的存在、类型与严重程度。基于MATLAB-Simulink仿真模型对该诊断方法进行了数值仿真验证,结果表明该方法有效且具有较高的准确性。
We propose a fault diagnosis method based on subspace identification for leakage fault detection of valvecontrolled hydraulic cylinders. Firstly,a state-space model for the system is established,in which an external force load of piston of hydraulic cylinder is selected as the input signal,and the pressure of the two chambers,displacement and velocity of piston rod are chosen as the state variables. Then,the estimation value of specific elements of the system matrix can be obtained in terms of subspace identification theory. On this basis,the existence,type and severity of the leakage fault are determined. Finally,a numerical simulation is conducted by MATLAB-Simulink to verify the proposed method. The results demonstrate that the proposed method is effective and has high accuracy.
We propose a fault diagnosis method based on subspace identification for leakage fault detection of valvecontrolled hydraulic cylinders. Firstly,a state-space model for the system is established,in which an external force load of piston of hydraulic cylinder is selected as the input signal,and the pressure of the two chambers,displacement and velocity of piston rod are chosen as the state variables. Then,the estimation value of specific elements of the system matrix can be obtained in terms of subspace identification theory. On this basis,the existence,type and severity of the leakage fault are determined. Finally,a numerical simulation is conducted by MATLAB-Simulink to verify the proposed method. The results demonstrate that the proposed method is effective and has high accuracy.
引文
[1]吉珊珊,段金辉,屠义强.基于卷积神经网络的液压缸内泄漏检测[J].机床与液压,2017,45(13):182-185.JI Shanshan,DUAN Jinhui,TU Yiqiang.Convolution Neural Network Based Internal Leakage Fault Diagnosis for Hydraulic Cylinders[J].Machine Tool&Hydraulics,2017,45(13):182-185.
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[4]周小军,姜乐华,高经纬.基于AMESim的液压缸内泄漏仿真分析[J].机床与液压,2012,(23):147-150.ZHOU Xiaojun,JIANG Lehua,GAO Jingwei.Simulation Analysis for Inner Leakage of Hydraulic Cylinder Based on AMESim[J].Machine Tool&Hydraulics,2012,(23):147-150.
[5]AN L,SEPEHRI N.Hydraulic Actuator Circuit Fault Detection Using Extended Kalman Filter[C]//Proceedings of the American Control Conference,Denver,Colorado,2003,(5):4261-4266.
[6]邹俊,傅新,黄硕,等.基于主成分分析的液压泥泡系统泄漏检测[J].浙江大学学报(工学版),2009,43(2):197-201.ZOU Jun,FU Xin,HUANG Shuo,et al.Application of Principal Component Analysis to Monitoring of Oil Leakage in a Hydraulic Clay Gun System[J].Journal of Zhejiang University(Engineering Science),2009,43(2):197-201.
[7]周小军.基于AMESim液压系统泄漏仿真与故障诊断研究[D].北京:国防科学技术大学,2012.ZHOU Xiaojun.Simulation and Diagnosis Research of Leaky Malfunction for Hydraulic System Based on AMESim[D].Beijing:Graduate School of National University of Defense Technology,2012.
[8]GOHARRIZI A Y,SEPEHRI N.Internal Leakage Detection in Hydraulic Actuators Using Empirical Mode Decomposition and Hilbert Spectrum[J].IEEE Transactions on Instrumentation&Measurement,2012,61(2):368-378.
[9]李琳,陶建峰,黄亦翔,等.基于BP神经网络的液压缸内泄漏诊断[J].液压与气动,2017,(7):11-15.LI Lin,TAO Jianfeng,HUANG Yixiang,et al.Internal Leakage Detection of Hydraulic Cylinder Based on BP Neural Network[J].Chinese Hydraulics&Pneumatics,2017,(7):11-15.
[10]TOHRU K.Subspace Methods for System Identification[M].London:Springer London,2005,34(12):1507-1519.
[11]陈姣.基于子空间辨识方法的动态系统的故障检测与诊断[D].武汉:华中科技大学,2015.CHEN Jiao.A Thesis Submitted in Partial Fulfillment of the Requirements for the Degree for the Master of Engineering[D].Wuhan:Huazhong University of Science and Technology,2015.
[12]QIN S J.An Overview of Subspace Identification[J].Computers&Chemical Engineering,2006,(30):1502-1513.
[13]杨华.基于子空间方法的系统辨识及预测控制设计[D].上海:上海交通大学,2007.YANG Hua.Subspace Methods for System Identification and Predictive Control Design[D].Shanghai:Shanghai Jiaotong University,2007.
[2]贾祥云,赵彤.工程机械液压系统泄漏故障分析及对策[J].液压气动与密封,2010,(5):10-12.JIA Xiangyun,ZHAO Tong.Fault Analysis on Leakage of Construction Machinery Hydraulic System and Countermeasures[J].Hydraulics Pneumatics&Seals,2010,(5):10-12.
[3]CHEN P,CHUA P S K,LIM G H.A Study of Hydraulic Seal Integrity[J].Mechanical Systems and Signal Processing,2007,21(2):1115-1126.
[4]周小军,姜乐华,高经纬.基于AMESim的液压缸内泄漏仿真分析[J].机床与液压,2012,(23):147-150.ZHOU Xiaojun,JIANG Lehua,GAO Jingwei.Simulation Analysis for Inner Leakage of Hydraulic Cylinder Based on AMESim[J].Machine Tool&Hydraulics,2012,(23):147-150.
[5]AN L,SEPEHRI N.Hydraulic Actuator Circuit Fault Detection Using Extended Kalman Filter[C]//Proceedings of the American Control Conference,Denver,Colorado,2003,(5):4261-4266.
[6]邹俊,傅新,黄硕,等.基于主成分分析的液压泥泡系统泄漏检测[J].浙江大学学报(工学版),2009,43(2):197-201.ZOU Jun,FU Xin,HUANG Shuo,et al.Application of Principal Component Analysis to Monitoring of Oil Leakage in a Hydraulic Clay Gun System[J].Journal of Zhejiang University(Engineering Science),2009,43(2):197-201.
[7]周小军.基于AMESim液压系统泄漏仿真与故障诊断研究[D].北京:国防科学技术大学,2012.ZHOU Xiaojun.Simulation and Diagnosis Research of Leaky Malfunction for Hydraulic System Based on AMESim[D].Beijing:Graduate School of National University of Defense Technology,2012.
[8]GOHARRIZI A Y,SEPEHRI N.Internal Leakage Detection in Hydraulic Actuators Using Empirical Mode Decomposition and Hilbert Spectrum[J].IEEE Transactions on Instrumentation&Measurement,2012,61(2):368-378.
[9]李琳,陶建峰,黄亦翔,等.基于BP神经网络的液压缸内泄漏诊断[J].液压与气动,2017,(7):11-15.LI Lin,TAO Jianfeng,HUANG Yixiang,et al.Internal Leakage Detection of Hydraulic Cylinder Based on BP Neural Network[J].Chinese Hydraulics&Pneumatics,2017,(7):11-15.
[10]TOHRU K.Subspace Methods for System Identification[M].London:Springer London,2005,34(12):1507-1519.
[11]陈姣.基于子空间辨识方法的动态系统的故障检测与诊断[D].武汉:华中科技大学,2015.CHEN Jiao.A Thesis Submitted in Partial Fulfillment of the Requirements for the Degree for the Master of Engineering[D].Wuhan:Huazhong University of Science and Technology,2015.
[12]QIN S J.An Overview of Subspace Identification[J].Computers&Chemical Engineering,2006,(30):1502-1513.
[13]杨华.基于子空间方法的系统辨识及预测控制设计[D].上海:上海交通大学,2007.YANG Hua.Subspace Methods for System Identification and Predictive Control Design[D].Shanghai:Shanghai Jiaotong University,2007.