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首页> 外文会议>2010 IEEE/ASME International Conference on Advanced Intelligent Mechatronics >Modeling, simulation fault detection in excavators with time-varying loading
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Modeling, simulation fault detection in excavators with time-varying loading

机译：时变载荷的挖掘机的建模，仿真和故障检测

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Excavators experience large variable forces due to the interaction between the ground and the machine. The time-varying nature of these interaction forces causes stresses in machine components and may result in damage. Such faults can lead to a complete system failure, which delays the excavating process and incurs maintenance costs and opportunity costs of lost production; however, this situation can be avoided if faulty components are identified and isolated in their early stages. The focus of this study is on the machine-ground interaction period within a digging cycle, when the bucket is engaged with the material, cutting and pushing it forward. A laboratory-scale test rig has been developed and commissioned to emulate the time-varying behavior of the excavator while cutting and pushing soil. The rig is equipped with sensors that acquire data from different machine parts to monitor the process as well as machine condition. The whole system is modeled as a rigid-body, lumped-parameter, dynamical system. This model is used to represent the nominal plant so that the response of the physical system can be compared to the response from the model. Sensor signals are processed and features are extracted that relate to fault signatures for scenarios in which faults are artificially induced in the machine. Results are presented for fault signatures that were successfully identified for certain types of fault in the rig components. The eventual goal of the work is to develop a set of fault signatures that can be used to identify and isolate the fault in machine parts during time-varying operation.
机译：由于地面与机器之间的相互作用，挖掘机承受较大的可变力。这些相互作用力随时间的变化会在机器部件中产生应力，并可能导致损坏。此类故障可能导致整个系统出现故障，从而延迟了开挖过程，并导致维护成本和生产损失的机会成本;但是，如果在早期阶段识别并隔离了故障组件，则可以避免这种情况。这项研究的重点是挖掘周期内的机器与地面的交互作用时间，即铲斗与物料接合，切割并推动物料。已开发并调试了实验室规模的试验台，以模拟挖掘机在推土作业时的时变行为。该钻机配备有传感器，可从不同的机器部件获取数据，以监视过程以及机器状况。整个系统建模为刚体，集总参数动态系统。该模型用于表示名义工厂，因此可以将物理系统的响应与模型的响应进行比较。处理传感器信号并提取与故障特征相关的特征，以解决在机器中人为诱发故障的情况。给出了故障特征的结果，这些特征已成功识别出钻机组件中某些类型的故障。这项工作的最终目标是开发一组故障特征码，这些特征码可用于在时变操作过程中识别和隔离机器零件中的故障。

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