智能化阀口独立电液控制系统安全性能评估

doi:10.3901/JME.2024.04.101

机械工程学报 ›› 2024, Vol. 60 ›› Issue (4): 101-112.doi: 10.3901/JME.2024.04.101

• 特邀专栏：智能液压元件及系统基础技术 • 上一篇下一篇

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智能化阀口独立电液控制系统安全性能评估

丁孺琦¹, 熊文杰¹, 程敏², 徐兵³

1. 华东交通大学载运工具与装备教育部重点实验室南昌 330013;
2. 重庆大学高端装备机械传动全国重点实验室重庆 400044;
3. 浙江大学流体动力基础件与机电系统全国重点实验室杭州 310027

收稿日期:2023-06-10 修回日期:2023-11-08 出版日期:2024-02-20 发布日期:2024-05-25
通讯作者: 程敏,男,1987年出生,教授,博士研究生导师。主要研究方向为电液控制系统、液压机器人。E-mail:chengmin@cqu.edu.cn
作者简介:丁孺琦,男,1987年出生,教授。主要研究方向为机电液智能控制。E-mail:dingruqi@ecjtu.edu.cn
基金资助:
国家重点研发计划(2020YFB2009703); 国家自然科学基金(U21A20124); 江西省自然科学基金(20212ACB214004); 浙江省重点研发计划(2022C01039)资助项目

Safety Performance Evaluation of the Intelligent Independent-metering Electro-hydraulic Control System

DING Ruqi¹, XIONG Wenjie¹, CHENG Min², XU Bing³

1. Key Laboratory of Conveyance and Equipment of Ministry of Education, East China Jiaotong University, Nanchang 330013;
2. State Key Laboratory of Mechanical Transmissions, Chongqing University, Chongqing 400044;
3. State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou 310027

Received:2023-06-10 Revised:2023-11-08 Online:2024-02-20 Published:2024-05-25

摘要/Abstract

摘要： 阀口独立电液控制系统通过电子化反馈与复杂进出口独立控制策略提高系统智能化水平,但高安全风险也制约了其大规模市场化应用。为此,提出一种面向ISO 13849机器安全标准的阀口独立控制系统安全性能评估方法。针对阀口独立控制系统特有的多自由度控制、多变量反馈、多模式切换特点,结合故障树分析法和布尔代数运算建立系统四象限工况安全性模型,构建该模型至ISO13849中预定义安全结构类别的映射,推导系统安全性能等级PL值及其每小时发生引起危险的停机故障概率(PFH_d)的量化方法。考虑常规控制、故障诊断与主动容错控制器三类控制方法,分析系统安全结构由类型1单通道至类型3双通道的变换。评估结果表明,系统PL仅为b级,难以满足移动机器d级要求;引入故障诊断后,PL仅提高至c级;增加故障主动容错后,不增加额外硬件冗余情况下PL可增加至d级甚至最高e级。研究工作为智能化电液系统控制、诊断、容错设计构建遵循机器功能安全的评估与指导。

关键词: 阀口独立控制, 安全性能, ISO 13849, 故障树分析, 故障诊断与容错

Abstract: The independent metering control system(IMCS) increases the system's intelligence level with electronic feedback and sophisticated control strategies. However, the higher safety risk prohibits the system from wide commercial application. Towards the machinery safety standard ISO 13849, the evaluation method of the safety performance for the IMCS is presented. To address the features including multi-control DOFS, multi-variable feedback, and multi-mode switching, a safety model covering the four operating quadrants is built by the fault-tree analysis and Boolean algebra. Then, the mapping from the fault-tree model to the predefined safety structure in ISO 13849 is established, such that the calculations of the system safety level PL and its PFH_d are derived. Considering the normal controller, fault detection, and fault-tolerant control, the transformation of the safety structure from Cat.1 with the single channel to Cat.3 with dual channels is captured. The evaluation demonstrates that the PL of the IMCS only reaches the b level, which can not meet the requirements of the d level for the earth-moving machinery. By introducing fault detection,PL only increases to the c level. PL value of d or even the highest e level can be obtained by the fault-tolerant control. Complying with machine functional safety, the investigation contributes an evaluation and guidance for the control and fault diagnosis/tolerance design in the intelligent electro-hydraulic system.

Key words: independent metering control, safety performance, ISO 13849, fault-tree analysis, fault diagnosis and tolerance

中图分类号:

TH137.

丁孺琦, 熊文杰, 程敏, 徐兵. 智能化阀口独立电液控制系统安全性能评估[J]. 机械工程学报, 2024, 60(4): 101-112.

DING Ruqi, XIONG Wenjie, CHENG Min, XU Bing. Safety Performance Evaluation of the Intelligent Independent-metering Electro-hydraulic Control System[J]. Journal of Mechanical Engineering, 2024, 60(4): 101-112.

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智能化阀口独立电液控制系统安全性能评估

Safety Performance Evaluation of the Intelligent Independent-metering Electro-hydraulic Control System

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