Abnormality determination system, abnormality determination apparatus, and abnormality determination method

Patent metadata

Field	Value
Publication number	US-12026040-B2
Application number	US-202217897218-A
Country	US
Kind code	B2
Filing date	Aug 29, 2022
Priority date	Oct 1, 2021
Publication date	Jul 2, 2024
Grant date	Jul 2, 2024

Abstract

An abnormality determination system includes first data acquisition circuitry configured to acquire time-series data relating to an operation of a device, sample data creation circuitry configured to create sample data based on abnormality time-series data which the first data acquisition circuitry acquires while an abnormality occurs in the operation of the device, and first abnormality determination circuitry configured to determine the abnormality in the operation of the device based on the time-series data and the sample data.

First claim

What is claimed is:

1. An abnormality determination system comprising:
first data acquisition circuitry configured to acquire time-series data relating to an operation of a device;
sample data creation circuitry configured to create sample data based on abnormality time-series data which the first data acquisition circuitry acquires while an abnormality occurs in the operation of the device; and
first abnormality determination circuitry configured to determine the abnormality in the operation of the device based on the time-series data and the sample data,
wherein the time-series data relates to a brake releasing operation of a brake which is configured to brake a motor.

2. The abnormality determination system according to claim 1 , wherein the first abnormality determination circuitry comprises:
Mahalanobis distance calculation circuitry configured to calculate a Mahalanobis distance based on the sample data and the time-series data; and
determination circuitry configured to determine the abnormality in the operation of the device by comparing the Mahalanobis distance with a threshold value.

3. The abnormality determination system according to claim 1 , further comprising:
operation command output circuitry configured to output an operation command to operate the motor,
wherein the first data acquisition circuitry is configured to acquire the time-series data before the operation command output circuitry outputs the operation command, and
wherein the first abnormality determination circuitry is configured to determine abnormality before the operation command output circuitry outputs the operation command.

4. The abnormality determination system according to claim 3 , further comprising:
second data acquisition circuitry configured to acquire state quantity data relating to an operation of the motor after the operation command output circuitry outputs the operation command; and
second abnormality determination circuitry configured to determine abnormality in the releasing operation of the brake based on the state quantity data after the operation command output circuitry outputs the operation command.

5. The abnormality determination system according to claim 4 , further comprising:
release command output circuitry configured to output a release command to release the brake; and
moment of inertia estimation circuitry configured to estimate a moment of inertia of the motor to obtain an estimated value of the moment of inertia,
wherein the second data acquisition circuitry is configured to acquire, as the state quantity data, the estimated value of the moment of inertia at a timing at which the operation command output circuitry firstly outputs the operation command after the release command output circuitry outputs the release command, and
wherein the second abnormality determination circuitry is configured to determine abnormality in the releasing operation of the brake based on the estimated value of the moment of inertia.

6. The abnormality determination system according to claim 4 , further comprising:
release command output circuitry configured to output a release command to release the brake; and
disturbance torque estimation circuitry configured to estimate disturbance torque of the motor to obtain an estimated value of the disturbance torque,
wherein the second data acquisition circuitry is configured to acquire, as the state quantity data, the estimated value of the disturbance torque at a timing at which the operation command output circuitry firstly outputs the operation command after the release command output circuitry outputs the release command, and
wherein, based on the estimated value of the disturbance torque, the second abnormality determination circuitry determines abnormality in the releasing operation of the brake based on the estimated value of the disturbance torque.

7. The abnormality determination system according to claim 1 , further comprising:
an acceleration sensor configured to detect vibration caused by the releasing operation of the brake, wherein the first data acquisition circuitry is configured to acquire the time-series data based on the vibration detected by the acceleration sensor.

8. An abnormality determination system comprising:
operation command output circuitry configured to output an operation command to operate a motor;
first data acquisition circuitry configured to acquire, before the operation command output circuitry outputs the operation command, time-series data relating to a releasing operation of a brake which is configured to brake the motor;
first abnormality determination circuitry configured to determine, before the operation command output circuitry outputs the operation command, an abnormality in the releasing operation based on the time-series data;
second data acquisition circuitry configured to acquire, after the operation command output circuitry outputs the operation command, state quantity data relating to an operation of the motor; and
second abnormality determination circuitry configured to determine, after the operation command output circuitry outputs the operation command, the abnormality in the releasing operation based on the state quantity data.

9. An abnormality determination system comprising:
operation command output circuitry configured to output an operation command to operate a motor;
data acquisition circuitry configured to acquire, after the operation command output circuitry outputs the operation command, state quantity data relating to an operation of the motor; and
abnormality determination circuitry configured to determine based on the state quantity data, after the operation command output circuitry outputs the operation command, an abnormality in a releasing operation of a brake which is configured to brake the motor.

10. An abnormality determination apparatus comprising:
first data acquisition circuitry configured to acquire time-series data relating to a state in a releasing operation of a brake for a motor; and
first abnormality determination circuitry configured to determine an abnormality in the releasing operation of the brake based on the time-series data and sample data created based on abnormality time-series data which the first data acquisition circuitry acquires while the abnormality occurs in the releasing operation of the brake.

11. An abnormality determination apparatus comprising:
first data acquisition circuitry configured to acquire, before an operation command for operating a motor is output, time-series data relating to a releasing operation of a brake which is configured to brake the motor;
first abnormality determination circuitry configured to determine, before the operation command is output, an abnormality in the releasing operation based on the time-series data;
second data acquisition circuitry configured to acquire, after the operation command is output, state quantity data relating to an operation of the motor; and
second abnormality determination circuitry configured to determine, after the operation command is output, the abnormality in the releasing operation based on the state quantity data.

12. An abnormality determination method comprising:
acquiring time-series data relating to a state in a releasing operation of a brake for a motor; and
determining an abnormality in the releasing operation of the brake based on the acquired time-series data and sample data created based on abnormality time-series data which is acquired while the abnormality occurs in the releasing operation of the brake.

13. An abnormality determination method comprising:
acquiring, before an operation command for operatin

Assignees

• Yaskawa Electric Corp

Inventors

• Okubo Tadashi
• KIRA Toshinobu
• Hisamatsu Junya
• Koga Minoru

Classifications

• G06F11/0739

  in a data processing system embedded in automotive or aircraft systems · CPC title

• G07C5/0808

  Diagnosing performance data (testing of vehicles G01M17/00; testing of electrical installation on vehicles G01R31/005) · CPC title

• B60T2270/406

  Test-mode; Self-diagnosis · CPC title

• B60T17/22

  Devices for monitoring or checking brake systems; Signal devices · CPC title

• G05B23/024

  Quantitative history assessment, e.g. mathematical relationships between available data; Functions therefor; Principal component analysis [PCA]; Partial least square [PLS]; Statistical classifiers, e.g. Bayesian networks, linear regression or correlation analysis; Neural networks · CPC title