EP1891606A1 - Procede de diagnostic d'un systeme mecatronique base sur des modeles - Google Patents

Procede de diagnostic d'un systeme mecatronique base sur des modeles

Info

Publication number
EP1891606A1
EP1891606A1 EP06763148A EP06763148A EP1891606A1 EP 1891606 A1 EP1891606 A1 EP 1891606A1 EP 06763148 A EP06763148 A EP 06763148A EP 06763148 A EP06763148 A EP 06763148A EP 1891606 A1 EP1891606 A1 EP 1891606A1
Authority
EP
European Patent Office
Prior art keywords
detection
mechatronic
error
mechatronic system
diagnostic
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.)
Ceased
Application number
EP06763148A
Other languages
German (de)
English (en)
Inventor
Walter Lehle
Jochen Assfalg
Martin Fritz
Frank Allgoewer
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Robert Bosch GmbH
Original Assignee
Robert Bosch GmbH
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Robert Bosch GmbH filed Critical Robert Bosch GmbH
Publication of EP1891606A1 publication Critical patent/EP1891606A1/fr
Ceased legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B23/00—Testing or monitoring of control systems or parts thereof
    • G05B23/02—Electric testing or monitoring
    • G05B23/0205—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults
    • G05B23/0208—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterized by the configuration of the monitoring system
    • G05B23/0213—Modular or universal configuration of the monitoring system, e.g. monitoring system having modules that may be combined to build monitoring program; monitoring system that can be applied to legacy systems; adaptable monitoring system; using different communication protocols
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
    • G01M15/00—Testing of engines
    • G01M15/04—Testing internal-combustion engines
    • G01M15/05—Testing internal-combustion engines by combined monitoring of two or more different engine parameters
    • 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
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B23/00—Testing or monitoring of control systems or parts thereof
    • G05B23/02—Electric testing or monitoring
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B23/00—Testing or monitoring of control systems or parts thereof
    • G05B23/02—Electric testing or monitoring
    • G05B23/0205—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults
    • G05B23/0218—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterised by the fault detection method dealing with either existing or incipient faults
    • G05B23/0243—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterised by the fault detection method dealing with either existing or incipient faults model based detection method, e.g. first-principles knowledge model
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B23/00—Testing or monitoring of control systems or parts thereof
    • G05B23/02—Electric testing or monitoring
    • G05B23/0205—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults
    • G05B23/0259—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterized by the response to fault detection
    • G05B23/0264—Control of logging system, e.g. decision on which data to store; time-stamping measurements
    • G—PHYSICS
    • G07—CHECKING-DEVICES
    • G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
    • G07C5/00—Registering or indicating the working of vehicles

Definitions

  • the invention relates to a method for model-based diagnosis of a mechatronic system, a diagnostic system, a computer program and a computer program product.
  • Error diagnoses for the treatment of complex mechatronic systems require model-based diagnostic procedures.
  • a model-based diagnostic function or a model-based diagnostic algorithm on-board ie within the system, or off-board (off-line), that is calculated outside the system, one differentiates between two basic diagnostic concepts, namely on the one hand the on-board fault diagnosis and on the other hand the off-board fault diagnosis.
  • An unambiguous fault diagnosis which is a complete informational content about a time behavior of a faulty System is based on the principle can only ensure a classic on-board fault diagnosis. However, this is not feasible for complex mechatronic systems due to strict real-time requirements with simultaneously low available computing power of current ECUs.
  • the off-board fault diagnosis represents a compromise, which allows a computational conversion of even complex diagnostic algorithms but, in principle, works only with an incomplete information content of the time behavior of the faulty system.
  • An off-board diagnostic grade therefore i.a. less than on-board fault diagnostics.
  • Sporadic faults such as intermittent rainwater interruptions in electrical plug contacts, freezing of mechanical movement elements, overheating due to unforeseen system stress, etc., can not be reliably diagnosed, and the off-board fault diagnosis is only clear in certain faults.
  • the document DE 103 33 171 A1 describes a model-based diagnostic method for monitoring a subsystem of a machine. This will be a quantitative model of
  • Subsystem used and carried out an event-discrete evaluation of the behavior of output signals using qualitative values.
  • an error detection is carried out by a control unit within the mechatronic system and an error identification by a computing unit outside the mechatronic system.
  • the diagnostic system according to the invention for the model-based diagnosis of a mechatronic system has a control unit arranged within the mechatronic system and a computing unit arranged outside the mechatronic system.
  • the control unit is designed for error detection of errors that occur in the mechatronic system, and the arithmetic unit for fault identification of detected errors.
  • a novel diagnostic concept a so-called comprehensive on-off board concept, which combines the advantages of an on-board diagnosis and those of an off-board diagnosis.
  • This concept enables a diagnosis that is based on a complete information content of the on-board diagnosis, and with which a fault diagnosis of complex mechatronic systems can be computationally realized.
  • a diagnostic task is split into a low-computational subtask of error detection and a compute-intensive subtask of error identification.
  • error detection it is determined with the control unit within the mechatronic system whether there is an error at a certain point in time t F.
  • a detected error can be clearly identified by means of a powerful external computing unit, for example a diagnostic tester, by means of a diagnostic function.
  • One aspect of the invention is that a specific sequence of temporarily held data for input and output variables as well as time intervals in ring storage can be permanently recorded.
  • a detection-controlled data transfer between the temporary and the permanent memory allows an intelligent selection of informative data. In this way, the diagnosis is sufficient information with limited amount of data to be stored.
  • the fault detection to be carried out on-board can thus take place under real operating conditions, taking account of sporadic errors which, for example, can not be reproduced in a workshop.
  • a time evolution of an error can be observed, whereby additional information about this error can be determined.
  • the computer program with program code means according to the invention is intended to carry out all the steps of the method according to the invention when the computer program is executed on a computer or a corresponding arithmetic unit, in particular in the diagnostic system according to the invention.
  • the computer program product according to the invention with program code means which are stored on a computer-readable data carrier is provided for carrying out all the steps of the method according to the invention when the computer program is executed on a computer or a corresponding computer unit, in particular in the diagnostic system according to the invention.
  • FIG. 1 shows a diagram for the distribution of diagnostic tasks.
  • FIG. 2 shows a diagram for an error detection.
  • FIG. 3 shows a diagram of a detection-controlled storage of input and output signals.
  • FIG. 4 shows a diagram of a time sequence of a storage process in the event of an error entry.
  • FIG. 1 illustrates how a task 1 of a fault diagnosis 3 is split into an on-board fault detection 5 and an off-board fault identification 7.
  • Data or signals of errors which occur within a mechatronic system and are detected in error detection 5 are stored by means of detection-controlled signal storage 9, which takes place via a ring memory.
  • FIG. 2 shows how errors f lr f ⁇ , fi, which can occur during operation of a mechatronic system 11, are detected during error detection.
  • a diagnostic problem is reduced to a comparison of the real faulty system 11 with a detection model 13 of the faultless system.
  • a comparison between a behavior of the system 11 and the detection model 13 can be made on the basis of measured actual values y for output variables and model-generated values y f for output variables, values for input variables are denoted by u.
  • the residuals can probably model-based and signal-based generated.
  • An error f LR f 2, f i a maximum allowable Detekti- onsschwellwert r ⁇ x is in each case detected when an amount of residual r exceeds.
  • FIG. 3 shows the detection-controlled storage of the values u for the input signals at system inputs of the system 11 and the actual values y for output signals at system outputs and a corresponding time vector t.
  • the values u, y of the signals contain complete information about a temporal behavior of the faulty system 11. These values u, y can therefore be stored on-board, within the system 11 and subsequently evaluated off-board, outside the system.
  • the error detection takes place by a comparison of actual values y for with the example model-generated setpoint values y f for the output variables.
  • the setpoint does not necessarily have to be generated by a model.
  • the temporary signal memory is always active because it is executed as a ring buffer. Once it becomes a mistake within the system comes and this is detected, the data u, y of the period ti are immediately transferred to the non-volatile memory. The data u, y of the period t ⁇ are transferred to the non-volatile memory, preferably at the first possible time, t L **.
  • the detection message thus serves to activate the transfer process of the data u, y of the period t 3 of the always active temporary signal memory (ring memory) to the non-volatile memory.
  • Figure 4 shows only those relevant time period t 3, t F of an error occurrence surrounds a INCIDENTAL, PUNITIVE time. With a suitable choice of this time interval t 3 , this contains the complete information about a temporal development of a corresponding error f. With a suitable synthesis of the error detection function, a delay time between an actual error entry t F and a
  • the memory unit of the control unit within the mechatronic system to a part of the temporary signal memory 15, for example.
  • a buffer or buffer, which operates on the principle of ring storage, and formed to a further part of the permanent memory 17 is.
  • a selection is made of information-containing values u, y or data of signals which occur within the time interval t 3 .
  • An overwriting operation of the ring storage is made offset in time with respect to t F in the past at a current time t * L. This ensures that an information content contained in u, y over a preceding first time interval ti between t * L and t F of an error f detected at time t D is not lost by overwriting.
  • values for the signals u, y are recorded for a further second time interval t 2 following t D , up to a time t ** L.
  • the temporarily stored values or data of the signals u, y of the information-containing time segment t 3 which comprises the two first fixed sections ti and t 2 between the times t * L and t ** L , are caused by the temporary memory 15 are overwritten in the permanent memory 17 and permanently held there.
  • the data recorded in the permanent memory 17 as part of the error detection for each detected Errors f lr f 2 , fi can now be read via a diagnostic interface, so that now the fault identification can be done outside the system.
  • the corresponding time profiles u and y as well as the recorded time vector t, in conjunction with a model for faulty system behavior, provide all the necessary conditions which are necessary for a complete mastering of the diagnostic task.
  • the present diagnostic concept is suitable for fault diagnosis of complex mechatronic systems that are operated in large numbers. Such systems work for cost-economic reasons usually with relatively low-power controllers. Since a model-based fault diagnosis currently does not form any classical ECU functionality, only a small part of the available computing power and storage capacity is generally available for a fault diagnosis.
  • diagnostic concept includes fault diagnosis of passenger cars / commercial vehicles and internal combustion engines (eg air system applications, fuel injection systems, etc.), mechatronic chassis systems (eg ABS, ESP, EHB, etc.), mechatronic industrial and Automation systems as well as of packaging technology or thermotechnical systems.
  • air system applications e.g air system applications, fuel injection systems, etc.
  • mechatronic chassis systems e.g ABS, ESP, EHB, etc.
  • mechatronic industrial and Automation systems as well as of packaging technology or thermotechnical systems.

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Testing And Monitoring For Control Systems (AREA)
  • Test And Diagnosis Of Digital Computers (AREA)
  • Debugging And Monitoring (AREA)

Abstract

L'invention concerne un procédé de diagnostic d'un système mécatronique, ce diagnostic étant basé sur des modèles. Selon l'invention, une détection d'erreur (5) est réalisée par un appareil de commande à l'intérieur du système mécatronique et une identification d'erreur (7) est effectuée par une unité de calcul à l'extérieur du système mécatronique.
EP06763148A 2005-06-03 2006-05-15 Procede de diagnostic d'un systeme mecatronique base sur des modeles Ceased EP1891606A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102005025520A DE102005025520A1 (de) 2005-06-03 2005-06-03 Verfahren zur modellbasierten Diagnose eines mechatronischen Systems
PCT/EP2006/062298 WO2006128788A1 (fr) 2005-06-03 2006-05-15 Procede de diagnostic d'un systeme mecatronique base sur des modeles

Publications (1)

Publication Number Publication Date
EP1891606A1 true EP1891606A1 (fr) 2008-02-27

Family

ID=36655029

Family Applications (1)

Application Number Title Priority Date Filing Date
EP06763148A Ceased EP1891606A1 (fr) 2005-06-03 2006-05-15 Procede de diagnostic d'un systeme mecatronique base sur des modeles

Country Status (8)

Country Link
US (1) US8229620B2 (fr)
EP (1) EP1891606A1 (fr)
JP (1) JP2008546083A (fr)
KR (1) KR101131344B1 (fr)
CN (1) CN101189500B (fr)
DE (1) DE102005025520A1 (fr)
RU (1) RU2394276C2 (fr)
WO (1) WO2006128788A1 (fr)

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DE102012209443B4 (de) * 2012-06-05 2022-10-20 Robert Bosch Gmbh Verfahren zum Durchführen einer Diagnose einer mit einem Steuergerät in einem Kraftfahrzeug verbundenen Funktionseinheit und Vorrichtung eingerichtet zur Durchführung des Verfahrens
CN104228824B (zh) * 2013-06-19 2018-10-26 上海汽车集团股份有限公司 一种电驱动变速箱输出轴传感器合理性判别方法及其系统
DE102014200357B3 (de) * 2014-01-10 2015-05-13 Robert Bosch Gmbh Verfahren und Recheneinheit zur Steuerung und Diagnose eines Fahrzeugs
CN104535893B (zh) * 2014-12-23 2017-08-01 国家电网公司 一种基于细粒度模型的电网故障处理装置及其处理方法
DE102016210984A1 (de) * 2016-06-20 2017-12-21 Robert Bosch Gmbh Verfahren zum Betreiben eines Steuergeräts
EP3582051A1 (fr) 2018-06-12 2019-12-18 Siemens Aktiengesellschaft Analyse complète des perturbations de dispositifs de commande et d'installations techniques industrielles
AT524471B1 (de) * 2020-11-18 2022-09-15 Uptime Holding Gmbh Verfahren zur Bestimmung eines Schädigungsausmaßes
CN113405764B (zh) * 2021-08-19 2021-12-21 潍柴动力股份有限公司 一种用于检测气道一致性的检测设备及检测方法
DE102022127057A1 (de) 2022-10-17 2024-04-18 Ifm Electronic Gmbh Verfahren zum Betreiben eines Schwingungssensors

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Also Published As

Publication number Publication date
US20090187303A1 (en) 2009-07-23
JP2008546083A (ja) 2008-12-18
KR20080019208A (ko) 2008-03-03
DE102005025520A1 (de) 2006-12-07
CN101189500A (zh) 2008-05-28
RU2007147915A (ru) 2009-07-20
WO2006128788A1 (fr) 2006-12-07
KR101131344B1 (ko) 2012-04-04
CN101189500B (zh) 2010-05-19
US8229620B2 (en) 2012-07-24
RU2394276C2 (ru) 2010-07-10

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