CN-121978526-A - Flight simulator motor degradation monitoring and early warning method, system, electronic equipment and storage medium

CN121978526ACN 121978526 ACN121978526 ACN 121978526ACN-121978526-A

Abstract

The invention relates to the technical field of computers and discloses a method, a system, electronic equipment and a storage medium for monitoring and early warning motor degradation of a flight simulator, wherein the method comprises the steps of establishing a health baseline map and storing baseline data of a motor in a health state; the method comprises the steps of extracting characteristic parameters in the running process of a simulator, comparing the characteristic parameters with a health baseline map, calculating a regional degradation index of each stroke regional, collecting vibration signals and acoustic signals, calculating to generate abnormal sound quantization indexes, synchronously collecting the characteristic parameters under the same motion instruction, calculating a transverse difference rate, dynamically determining a self-adaptive threshold, determining load intensity according to a regional degradation index history, calculating and updating degradation integral based on the load intensity and duration, predicting the residual service life, injecting an active excitation detection sequence at a preset trigger time, collecting data to generate a health detection report, executing grading early warning logic by integrating each index, and outputting early warning information. The invention can improve the running reliability of the motion system of the flight simulator.

Inventors

SUN YOUPING
CHEN CONG
LIU LEI
LEI XU

Assignees

珠海翔翼航空技术有限公司

Dates

Publication Date: 20260505
Application Date: 20260407

Claims (10)

1. The motor degradation monitoring and early warning method for the flight simulator is characterized by comprising the following steps of: Establishing a health baseline map taking a travel position interval and a load gear as indexes, wherein the health baseline map stores reference data of characteristic parameters of multiple dimensions under the health state of an actuator motor; in the running process of the simulator, collecting running data in real time, extracting characteristic parameters, comparing the real-time characteristic parameters with reference data of corresponding index units in the healthy baseline map, and calculating partition degradation indexes of each stroke partition; Collecting vibration signals and acoustic signals in real time, extracting vibration characteristics and acoustic characteristics, and performing fusion calculation to generate abnormal sound quantization indexes; under the same motion instruction, synchronously acquiring key characteristic parameters of a plurality of actuator motors on the same motion platform, calculating a transverse difference rate, dynamically determining a self-adaptive threshold value, simultaneously determining load intensity according to a historical record of the regional degradation index, calculating and updating a degradation integral based on the load intensity and duration, and predicting the residual service life according to the degradation integral; And injecting an active excitation detection sequence at a preset trigger time, collecting and analyzing the full data during the execution of the active excitation detection sequence, generating a health detection report, integrating the partition degradation index, the abnormal sound quantization index, the transverse difference rate, the residual usable life and the health detection report, executing a hierarchical early warning logic and outputting early warning information.
2. The method for monitoring and early warning of motor degradation of a flight simulator according to claim 1, wherein a health baseline map indexed by a travel position interval and a load gear is established, wherein the health baseline map stores reference data of characteristic parameters of multiple dimensions under a health state of a motor of an actuator, and further comprises: When the actuator motor is in an initial healthy state, the actuator is controlled to move in a full stroke range and run in different load gears; Collecting driving current, stroke position, vibration and acoustic signals of an actuator motor, and extracting characteristic parameters of multiple dimensions, wherein the characteristic parameters of multiple dimensions at least comprise a current effective value, vibration intensity, kurtosis value and sound pressure level; taking a travel position interval and a load gear as two-dimensional indexes, taking the mean value and standard deviation of the extracted characteristic parameters of a plurality of dimensions as reference data, and storing the reference data in a three-dimensional matrix structure to form a health baseline map; And rolling and updating the reference data in the health baseline map according to the newly-added health state data by adopting an exponential weighting moving average mode.
3. The method for monitoring and early warning motor degradation of a flight simulator according to claim 2, wherein during the running process of the simulator, the running data are collected in real time, the characteristic parameters are extracted, the real-time characteristic parameters are compared with the reference data of the corresponding index unit in the healthy baseline map, and the regional degradation index of each travel regional is calculated, further comprising: Dividing the full stroke of the actuator cylinder into a plurality of subintervals to be used as independent stroke partitions; in the running process of the simulator, characteristic parameters of multiple dimensions under the current journey partition are collected in real time; Comparing the characteristic parameters of multiple dimensions acquired in real time with reference data in corresponding stroke partitions and load gears in the healthy baseline map, and respectively calculating normalized deviation of each characteristic parameter; and carrying out weighted summation on the normalized deviation of each characteristic parameter to obtain the partition degradation index of the current journey partition.
4. The method for monitoring and early warning motor degradation of a flight simulator according to claim 1, wherein the method comprises the steps of collecting vibration signals and acoustic signals in real time, extracting vibration characteristics and acoustic characteristics, performing fusion calculation, and generating abnormal sound quantization indexes, and further comprises the steps of: Collecting vibration signals of the cylinder body of the actuator cylinder and acoustic signals near the mounting point in real time; extracting vibration intensity and kurtosis values from the vibration signal, and extracting a total sound pressure level from the acoustic signal; Respectively carrying out normalized comparison on the extracted vibration intensity, kurtosis value and total sound pressure level with corresponding vibration intensity reference values, kurtosis reference values and sound pressure level reference values in the healthy baseline map to obtain normalized vibration intensity deviation, normalized kurtosis deviation and normalized sound pressure level deviation; And multiplying the normalized vibration intensity deviation, the normalized kurtosis deviation and the normalized sound pressure level deviation by preset fusion weight coefficients respectively, and then summing to generate an abnormal sound quantization index.
5. The method for monitoring and early warning of motor degradation of a flight simulator according to claim 1, wherein key characteristic parameters of a plurality of actuator motors on the same motion platform are synchronously collected under the same motion command, a lateral difference rate is calculated, an adaptive threshold is dynamically determined, meanwhile, a load intensity is determined according to a historical record of the regional degradation index, a degradation integral is calculated and updated based on the load intensity and the duration, and the residual service life is predicted according to the degradation integral, further comprising: after each motion instruction execution is completed, key characteristic parameters of all actuator cylinder motors on the same motion platform are obtained, and an arithmetic average value of the key characteristic parameters of all actuator cylinder motors is calculated, wherein the key characteristic parameters at least comprise a current effective value and response time; calculating the transverse difference rate of the corresponding actuator motor according to the ratio of the difference value of the key characteristic parameter of the single actuator motor and the arithmetic average value to the arithmetic average value, and determining the self-adaptive threshold value based on the rolling standard differential state of the historical transverse difference rate sequence of the corresponding actuator motor; In an updating period, integrating according to the product of the normalized load intensity and the duration born by the motor, calculating a degradation integral increment by combining with the equivalent fatigue index of the material, and accumulating the degradation integral increment to a degradation integral value at the last moment to obtain an updated degradation integral; And fitting the degradation rate according to the degradation integral values at a plurality of continuous moments, and predicting the residual available life according to the ratio of the difference value of the preset degradation integral threshold value and the current degradation integral value to the degradation rate.
6. The method of claim 1, wherein an active excitation detection sequence is injected at a preset trigger time, full data during execution of the active excitation detection sequence is collected and analyzed, and a health detection report is generated, further comprising: Generating an active excitation detection sequence in a reset process after training is finished or when a manual trigger instruction is received, wherein the active excitation detection sequence comprises full-stroke low-speed scanning, step response testing and constant load output testing, and the speed of the full-stroke low-speed scanning is a preset percentage of a rated speed; injecting the active excitation detection sequence into a motion control system, and controlling an actuator cylinder to execute actions according to the sequence; during sequence execution, synchronously acquiring current, stroke position, vibration and acoustic signals of the actuator cylinder, and calculating response time, overshoot, steady-state tracking error and full-stroke partition degradation index distribution; and comparing the response time, the overshoot, the steady-state tracking error and the full-stroke partition degradation index distribution with an initial baseline to generate a structured health detection report containing an execution time stamp, each segment of test characteristic value, the deviation amount and the comprehensive health index.
7. The method of claim 1, wherein integrating the partition degradation index, abnormal sound quantization index, lateral difference rate, remaining usable life, and health detection report, executing hierarchical early warning logic, and outputting early warning information, further comprises: Receiving and integrating the health detection report of the regional degradation index, abnormal sound quantization index, transverse difference rate, residual usable life and active excitation detection in real time; Comparing the received indexes with preset triggering conditions of a plurality of early warning levels, wherein the triggering conditions at least comprise that the regional degradation index exceeds the standard deviation multiple of a base line, the abnormal sound quantization index exceeds a threshold value, and the residual available life is lower than a preset warning time limit; when any index meets the triggering condition of any early warning level, generating an early warning event corresponding to the corresponding early warning level, wherein the early warning event comprises the early warning level, the equipment identifier and the triggering condition description; pushing the early warning event to a maintenance terminal, writing the early warning event and the related characteristic parameter snapshot into an electronic health file, and calculating and outputting a dynamic maintenance window recommendation according to a residual service life prediction result and training plan information.
8. A flight simulator motor degradation monitoring and early warning system, comprising: The system comprises a health baseline map establishing module, a load gear setting module and a control module, wherein the health baseline map establishing module is configured to establish a health baseline map indexed by a travel position interval and the load gear, and the health baseline map stores reference data of characteristic parameters of multiple dimensions of a motor of an actuator in a health state; The regional degradation index calculation module is configured to collect operation data in real time and extract characteristic parameters in the operation process of the simulator, compare the real-time characteristic parameters with the reference data of the corresponding index unit in the healthy baseline map and calculate the regional degradation index of each travel regional; The abnormal sound quantization index generation module is configured to acquire vibration signals and acoustic signals in real time, extract vibration characteristics and acoustic characteristics, and perform fusion calculation to generate an abnormal sound quantization index; The self-adaptive threshold and predicted remaining usable life calculation module is configured to synchronously acquire key characteristic parameters of a plurality of actuator motors on the same motion platform under the same motion instruction, calculate a transverse difference rate and dynamically determine the self-adaptive threshold, and simultaneously determine load intensity according to a historical record of the regional degradation index, calculate and update degradation integral based on the load intensity and duration, and predict remaining usable life according to the degradation integral; And the early warning information output module is configured to inject an active excitation detection sequence at a preset trigger time, collect and analyze the full data during the execution of the active excitation detection sequence, generate a health detection report, synthesize the partition degradation index, the abnormal sound quantization index, the transverse difference rate, the residual service life and the health detection report, execute the hierarchical early warning logic and output early warning information.
9. An electronic device comprising a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface, the memory are in communication with each other via the communication bus, and wherein the memory has a computer program stored therein, which when executed by the processor, causes the processor to perform the steps of the method according to any of claims 1 to 7.
10. A computer readable storage medium, characterized in that it stores a computer program executable by an electronic device, which, when run on the electronic device, causes the electronic device to perform the steps of the method of any one of claims 1 to 7.

Description

Flight simulator motor degradation monitoring and early warning method, system, electronic equipment and storage medium Technical Field The invention relates to the technical field of computers, in particular to a method, a system, electronic equipment and a storage medium for monitoring and early warning of motor degradation of a flight simulator. Background The motion system of the flight simulator usually adopts a six-degree-of-freedom Stewart platform configuration, is cooperatively driven by six sets of independent electric or hydraulic actuators, and is a core mechanical subsystem for realizing flight motion perception simulation. The driving motor of each actuator cylinder needs to accurately respond to real-time motion instructions within the full stroke range, and has extremely high requirements on dynamic performance. The civil aviation regulation has clear compliance requirements on performance indexes of the motion system of the simulator, and any perceived abnormal motion response can cause the decrease of training effectiveness and even the interruption of training, thereby affecting the training compliance of pilots. Currently, state monitoring of a driving motor of a motion system of a simulator mainly depends on hardware protection alarms such as overcurrent, overvoltage, overtemperature and the like built in a driving controller, periodic manual inspection and preventive replacement, or subjective sensory abnormality reflected by training staff. All the means belong to passive response maintenance strategies, and lack continuous quantitative monitoring capability for the motor performance degradation process. The prior art has the following defects: The alarm threshold of the protection mechanism of the driving controller is usually set to be more than 150% to 200% of rated parameters, so that the abnormality of the damage level of hardware can be detected only, the performance degradation process of the motor in the range of the rated parameters can not be perceived, and a complete technical monitoring blind area is formed; the motor performance degradation often has strong stroke position correlation, and the whole-course mean value monitoring method dilutes degradation signals in mean value calculation, so that localized degradation characteristics only appearing in a specific stroke section cannot be identified; The method has the advantages that the identification of the shaking and abnormal sound of the actuator cylinder is completely dependent on subjective feeling, and the fault confirmation period is long and the treatment efficiency is low due to the lack of objective quantification means; The six sets of actuator cylinder motors have inherent individual differences due to factors such as manufacturing tolerance, installation state, historical operation time length and the like, and the unified absolute reference threshold has poor applicability to different individuals; Passive monitoring based on operational data relies on the natural occurrence of a particular training program to trigger detection conditions, if degradation is only manifested under a particular load-trip combination and the relevant training program is not scheduled for a long period of time, the degradation state may be unexcited for a long period of time causing missed detection; Even if the existing monitoring system can find abnormality, only the binary judgment of whether the current abnormality exists can be output, the residual service life cannot be quantitatively estimated, and the predictive maintenance decision based on risks cannot be supported. Therefore, the application provides a motor degradation monitoring and early warning method of a flight simulator so as to solve the technical problems. Disclosure of Invention The invention aims to provide a method, a system, electronic equipment and a storage medium for monitoring and early warning motor degradation of a flight simulator, which are used for solving the technical problems that in the prior art, continuous quantitative monitoring cannot be realized, position correlation degradation cannot be identified, abnormal sound jitter lacks objective quantitative basis, a static fixed threshold value leads to false alarm and omission, individual difference leads to standard failure, and passive monitoring has omission risk and lacks life prediction and maintenance planning collaborative capability. In order to solve the technical problems, the invention provides a motor degradation monitoring and early warning method of a flight simulator, which comprises the following steps: Establishing a health baseline map taking a travel position interval and a load gear as indexes, wherein the health baseline map stores reference data of characteristic parameters of multiple dimensions under the health state of an actuator motor; in the running process of the simulator, collecting running data in real time, extracting characteristic parameters, comparing the re