Research On Remote Real-Time Fault Diagnosis Device For Hexapod Robot Hydraulic System Based On STM32

To meet the requirements of material transportation in mountainous areas,research on heavy-duty legged robots is becoming increasingly widespread.Hexapod robots have become the focus of research in heavy-duty legged robots due to their unique advantages.However,the harsh working environment of hexapod robots makes their hydraulic systems prone to failures,and if faults are not detected in time,they may cause economic losses or even casualties.Therefore,real-time fault detection of hexapod robots is very important.This paper develops a remote real-time fault diagnosis device for a hexapod hydraulic system based on STM32.The system can remotely obtain the operating status information of the hydraulic system,including pressure,flow,and displacement information,and can diagnose hydraulic system faults in real-time based on this information.Moreover,the system can store the information.The main research contents of this paper are as follows:(1)A hydraulic system Amesim simulation model was established for a hexapod robot,various working conditions were simulated,and the simulation results were analyzed.(2)A fault diagnosis method for hydraulic systems based on LSTM neural networks is proposed.The fault data is obtained using the established simulation model,and then a neural network model is constructed.The data is preprocessed,and the neural network is trained and tested.Results from various neural networks are compared,validating the advantages of the proposed LSTM neural network.(3)A remote real-time fault diagnosis system based on STM32 was designed.Firstly,the overall scheme was designed,and then the hardware and software parts were designed separately.The hardware design mainly includes the overall hardware structure design,core component selection,and circuit design.In the software part,the software development environment was introduced,and the program framework was built.Subsequently,program designs were conducted for the hydraulic system acquisition terminal and data processing terminal.(4)Functional testing and verification were carried out on the designed fault diagnosis device.After experimental verification,the remote real-time fault diagnosis device designed in this paper can achieve the expected function and has practical application value.