CN116026583A - Power transmission device fault diagnosis method, system, electronic equipment and medium - Google Patents

Abstract

The invention belongs to the technical field of vehicle speed changers, and provides a power transmission device fault diagnosis method, a system, electronic equipment and a medium, which can detect whether a corner position sensor is faulty or not, inhibit changing a power transmission path when the corner position sensor is abnormal, detect whether a joint tooth pair can be normally jointed, stop outputting power or control an actuating mechanism to enable the correct joint tooth pair to be jointed when the joint tooth pair is abnormally jointed, detect whether a stroke position sensor is faulty or not, and are provided with a fault mode of the stroke position sensor, respectively process fault conditions of the stroke position sensor, and adopt control measures in a classified mode, so that the speed changer joint tooth pair can be protected, meanwhile, the vehicle can keep the joint of the power transmission path and the joint tooth pair, the problems that the speed changer is damaged or the vehicle is not hung up for a long time and the power is interrupted are avoided, and the risk of traffic accidents is reduced.

Description

Power transmission device fault diagnosis method, system, electronic equipment and medium

Technical Field

The present disclosure relates to the field of vehicle transmissions, and more particularly, to a power transmission device fault diagnosis method, system, electronic device, and medium.

Background

With the improvement of comfort requirements of people on driving vehicles, the vehicles gradually use an automatic gearbox instead of a manual gearbox so as to reduce the labor intensity of drivers. There are various sensors in automatic gear shifting gearboxes, which are easily damaged under the action of external force, for example, coil type position sensors are easily burned to be short-circuited, plug-in type position sensors are easily loosened or fallen off, and especially hall type position sensors which are currently used more are easily failed due to strong electromagnetic interference.

In the prior art, after a shift failure, a shift-out operation and a shift-in operation are usually performed in the shift process, and whether each sensor fails is not checked, so that it is difficult to detect which part or sensor fails in the prior art. Moreover, in the prior art, after the stroke position sensor is found to be faulty, remedial measures cannot be taken, which may cause the power of the vehicle to be interrupted after a long-time gear is not engaged, or the engagement teeth to be damaged due to abnormal engagement for a long time, so that the conventional gear shift control method may cause the vehicle to stop suddenly, and traffic accidents are easy to occur.

Disclosure of Invention

In view of the foregoing, it is an object of the present application to provide a power transmission device failure diagnosis method, system, electronic apparatus, and medium to secure the power transmission device.

In a first aspect, an embodiment of the present application provides a power transmission device failure diagnosis method, including the steps of: detecting an output signal of the corner position sensor, and judging whether the corner position sensor works normally or not; and if the rotation angle position sensor works abnormally, the gear shifting executing mechanism is controlled to inhibit the power transmission path from being changed.

In some embodiments, the step of detecting the output signal of the rotational angle position sensor and determining whether the rotational angle position sensor is operating properly includes: detecting the number of first pulse signals in the set turns of the corner position sensor and the time intervals among the first pulse signals; and (3) setting that the absolute value of the difference value between the number of the first pulse signals and the preset value of the number of the first pulses in the circle number is larger than a preset threshold value, or judging that the angular position sensor is abnormal if the absolute value of the difference value between the ratio of the angular intervals among a plurality of first pulse signals and the time interval and the angular speed of the shaft where the current angular position sensor is positioned is larger than or equal to the preset value of the angular speed difference value.

In some embodiments, the power transmission device fault diagnosis method further includes the steps of: detecting signals of a corner position sensor of the driving end and the load end, and judging whether the engagement tooth pair is normally engaged; if the engagement teeth pair is not normally engaged, the driving motor is controlled to stop outputting power or the gear shifting executing mechanism is controlled to enable the correct engagement teeth pair to be engaged.

In some embodiments, the step of detecting the signals of the drive end and load end rotational angle position sensors and determining whether the pair of engagement teeth are normally engaged comprises: reading a first rotation angle signal of a driving end rotation angle position sensor, obtaining a first rotation angle of a joint tooth corresponding to the driving end, and calculating to obtain a first rotation speed of the joint tooth corresponding to the driving end; reading a second rotation angle signal of the rotation angle position sensor of the load end, obtaining a second rotation angle of the joint tooth corresponding to the load end, and calculating to obtain a second rotation speed of the joint tooth corresponding to the load end; comparing the first rotation angle with the second rotation angle, and comparing the first rotation speed with the second rotation speed; and determining that the engaged tooth pair is not normally engaged if the absolute value of the difference between the first rotation angle and the second rotation angle is greater than or equal to a rotation angle difference preset value or if the absolute value of the difference between the first rotation speed and the second rotation speed is greater than or equal to a rotation speed difference preset value.

In some embodiments, the power transmission device fault diagnosis method further includes the steps of detecting an output signal of a shift actuator stroke position sensor, and judging whether the stroke position sensor is operating normally; and if the stroke position sensor works abnormally, entering a fault processing mode of the stroke position sensor.

In some embodiments, the step of detecting the output signal of the shift actuator travel position sensor and determining whether the travel position sensor is operating properly includes: reading a current gear stroke position sensor signal S1, acquiring a gear position S0 at the previous moment, and comparing whether S1 is larger than the minimum position of the gear stroke position and smaller than the maximum position of the gear stroke position; s1 is smaller than or equal to the minimum position of the gear stroke position or larger than or equal to the maximum position of the gear stroke position, and entering a stroke position sensor fault mode; s1 is larger than the minimum position of the gear stroke position and smaller than the maximum position of the gear stroke position, and whether the ratio of the absolute value of the difference between S1 and S0 to the time interval is smaller than the preset maximum speed is compared; the ratio of the absolute value of the difference value between S1 and S0 to the time interval is greater than or equal to the preset maximum speed, and entering a stroke position sensor fault mode; and setting S0 as S1 if the ratio of the absolute value of the difference between S1 and S0 to the time interval is smaller than the preset maximum speed, and then re-executing the step of detecting the stroke position sensor signal of the gear shifting executing mechanism to judge whether the stroke position sensor works normally.

In some embodiments, the trip position sensor fault handling mode includes the steps of: when the gear shifting executing mechanism is in the process of separating the current engaged tooth sleeve from the engaged gear ring, terminating the separation process, and controlling the gear shifting executing mechanism motor to reversely rotate to re-engage the current engaged tooth; when the target engagement tooth pair rotation speed difference or the rotation angle difference is actively adjusted, controlling to stop the process of actively adjusting the target engagement tooth pair rotation speed difference or the rotation angle difference; when the shift actuator is controlled to engage the engaging sleeve with the engaging ring gear, the shift actuator is controlled to continue the process of engaging the engaging sleeve with the engaging ring gear in the fixed output force mode.

In some embodiments, the trip position sensor fault handling mode further includes the steps of: detecting a signal value range of a current sensor of a gear shifting executing mechanism motor, and determining whether the current sensor works normally or not; when the shift actuator controls the engagement sleeve to be separated from or engaged with the engagement ring gear, and when both the stroke position sensor and the current sensor are abnormal, the shift actuator is controlled to perform the engagement process of the engagement sleeve with the engagement ring gear in a fixed duty ratio mode.

In some embodiments, the power transmission device fault diagnosis method further includes the steps of detecting a signal of a shift actuator stroke position sensor in a non-active shift state, and comparing a current stroke position value with a threshold value of a current gear standard stroke position; and if the current stroke position value exceeds the threshold value of the standard stroke position of the current gear, controlling the gear shifting executing mechanism to push the gear back to the normal position or actively shift out of the neutral position, and then re-engaging the gear.

In a second aspect, embodiments of the present application provide a power transmission device failure diagnosis system, including: the first detection module is used for detecting the output signal of the corner position sensor; the first judging module is used for judging whether the corner position sensor works normally or not, and controlling the gear shifting executing mechanism to prohibit changing the power transmission path when the corner position sensor works abnormally.

In some embodiments, the power transmission device fault diagnosis system further includes a second judging module in signal connection with the first detecting module, for judging whether the engagement tooth pair is normally engaged, and when the engagement tooth pair is not normally engaged, controlling the driving motor to stop outputting power or controlling the shift actuator to engage the correct engagement tooth pair.

In some embodiments, the power transmission device fault diagnosis system further comprises a second detection module and a third judgment module which are connected by signals, wherein the second detection module is used for detecting the output signal of a stroke position sensor of the gear shifting executing mechanism; the third judging module is used for judging whether the stroke position sensor works normally or not, and sending a signal to the stroke position sensor fault processing module when the stroke position sensor works abnormally.

In some embodiments, the stroke position sensor fault processing module is configured to terminate the separation process when the shift actuator is in the process of separating the currently engaged gear sleeve from the engaged gear ring and the stroke position sensor is abnormal, and control the shift actuator motor to reverse to reengage the currently engaged gear; the control unit is used for controlling and stopping the process of actively adjusting the target engagement tooth to rotate speed difference or rotation angle difference when the target engagement tooth rotates speed difference or rotation angle difference is actively adjusted and the stroke position sensor is abnormal; for controlling the actuator to continue the process of engaging the engaging sleeve with the engaging ring gear in the fixed output force mode when the shift actuator is controlled to engage the engaging sleeve with the engaging ring gear and the stroke position sensor is abnormal;

In some embodiments, the stroke position sensor fault processing module further comprises a third detection module and a fourth judgment module which are connected by signals, wherein the third detection module is used for detecting a signal value range of a current sensor of the gear shifting executing mechanism motor; the fourth judging module is used for judging whether the current sensor works normally or not, and controlling the gear shift executing mechanism to execute the engagement process of the engagement tooth sleeve and the engagement tooth ring in a fixed duty ratio mode when the gear shift executing mechanism controls the engagement tooth sleeve to be separated from or engaged with the engagement tooth ring and when the stroke position sensor and the current sensor are abnormal.

In a third aspect, an embodiment of the present application provides an electronic device, including: a processor, a memory and a bus, the memory storing machine-readable instructions executable by the processor, the processor and the memory in communication via the bus when the electronic device is operating, the machine-readable instructions when executed by the processor performing a power transmission device fault diagnosis method as described in any one of the embodiments above.

In a fourth aspect, there is also provided in an embodiment of the present application a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, performs a power transmission device failure diagnosis method as described in any one of the embodiments above.

Compared with the prior art, the beneficial effects of the technical scheme of the application are as follows:

the power transmission device fault diagnosis method provided by the application can detect whether the corner position sensor is faulty or not, and when the corner position sensor is abnormal, the power transmission path is forbidden to be changed (gear shifting is forbidden); whether the engagement tooth pair can be normally engaged or not can be detected, and when the engagement tooth pair is abnormally engaged, the output power is stopped or the gear shifting executing mechanism is controlled to enable the correct engagement tooth pair to be engaged; whether the stroke position sensor fails or not can be detected, a failure mode of the stroke position sensor is set, and failure sub-conditions of the stroke position sensor are respectively processed; the signal of a stroke position sensor of the gear shifting executing mechanism can be detected, if the current stroke position value exceeds the threshold value of the standard stroke position of the current gear, the gear shifting executing mechanism is controlled to push the gear back to the normal position or actively shift out of the neutral position, and then the gear is shifted again; according to the fault diagnosis method for the power transmission device, whether the corner position sensor and the joint tooth pair are connected or not and whether the stroke position sensor is out of order or not can be diagnosed in time, after the fault is found, control measures can be classified and taken, the joint tooth pair of the transmission can be protected, meanwhile, the vehicle can keep the power transmission path and the joint tooth pair connected, the problem that the transmission is damaged or the vehicle cannot be put into gear for a long time and power is interrupted is avoided, and the risk of traffic accidents is reduced.

In order to make the above objects, features and advantages of the present application more comprehensible, preferred embodiments accompanied with figures are described in detail below.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the embodiments will be briefly described below, it being understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered limiting the scope, and that other related drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a schematic illustration of a two speed power transmission device of the present application;

FIG. 2 is a partial schematic view of a power transmission assembly of a two speed power transmission device of the present application;

FIG. 3 is a flow chart of a power transmission device fault diagnosis method of the present application;

FIG. 4 is a schematic flow chart of a method for diagnosing faults of a power transmission device according to the present application, wherein the method is used for judging whether a corner position sensor works normally or not;

FIG. 5 is a schematic flow chart of judging whether the combination joint is normal or not according to the fault diagnosis method of the power transmission device;

FIG. 6 is a schematic flow chart of a power transmission device fault diagnosis method of the present application for judging whether a stroke position sensor is operating normally;

FIG. 7 is a flow chart of a power transmission device fault diagnosis method of the present application for detecting and determining whether a gear is abnormally disengaged and fault handling;

FIG. 8 is a schematic diagram of a power transmission device fault diagnostic system of the present application;

FIG. 9 is a schematic diagram of an automotive electronics device of the present application;

wherein: 1-drive end, 2-engaged ring gear, 3-engaged ring gear, 4-splined hub, 5-shift motor, 6-travel position sensor, 7-engaged ring gear angular position sensor, 8-engaged ring gear angular position sensor, 9-load end, 10-first gear, 11-second gear, 12-drive shaft, 13-controller, 14-shift motor current sensor, 15-drive motor current sensor, θ1-first rotational angle, θ2-second rotational angle, ω1-first rotational speed, ω2-second rotational speed, epsilon-rotational angle difference preset value, epsilon omega-rotational speed difference preset value, A-first signal, B-second signal, countA-first signal counter, time interval of delta t-twice received first signal, omega-rotational angle position sensor rotational speed, epsilon omega 1-first rotational speed difference value, S1-front travel position sensor signal, S0-last time gear position, smin-travel position minimum position, epsilon-maximum position preset value, epsilon x-maximum travel position, communication standard position, communication interface 803-maximum position, current position, communication standard position, 80-maximum position, communication interface 803-maximum position, communication standard position, 80-maximum position, communication interface-80-maximum position, current position, communication position signal communication position, and communication position.

Detailed Description

For the purposes of making the objects, technical solutions and advantages of the embodiments of the present application more clear, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is apparent that the described embodiments are only some embodiments of the present application, but not all embodiments. The components of the embodiments of the present application, which are generally described and illustrated in the figures herein, may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present application, as provided in the accompanying drawings, is not intended to limit the scope of the application, as claimed, but is merely representative of selected embodiments of the application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present application without making any inventive effort, are intended to be within the scope of the present application.

In the present application, it has been found that in the existing gear shift control method of the transmission, after a gear shift fails, the gear shift taking and shifting operation is usually performed, without checking whether each sensor has a fault, so that it is difficult to detect which part or sensor has a fault. Moreover, in the prior art, after the stroke position sensor is found to be faulty, remedial measures cannot be taken, which may cause the power of the vehicle to be interrupted after a long-time gear is not engaged, or the engagement teeth to be damaged due to abnormal engagement for a long time, so that the conventional gear shift control method may cause the vehicle to stop suddenly, and traffic accidents are easy to occur.

In order to solve the above-mentioned problems, the present application provides a power transmission device failure diagnosis method, including the steps of: detecting an output signal of the corner position sensor, and judging whether the corner position sensor works normally or not; and if the rotation angle position sensor works abnormally, the gear shifting executing mechanism is controlled to inhibit the power transmission path from being changed.

In some embodiments, the power transmission device fault diagnosis method further includes the steps of: detecting signals of a corner position sensor of the driving end and the load end, and judging whether the engagement tooth pair is normally engaged; if the engagement teeth pair is not normally engaged, the driving motor is controlled to stop outputting power or the gear shifting executing mechanism is controlled to enable the correct engagement teeth pair to be engaged.

In some embodiments, the power transmission device fault diagnosis method further includes the steps of detecting an output signal of a shift actuator stroke position sensor, and judging whether the stroke position sensor is operating normally; and if the stroke position sensor works abnormally, entering a fault processing mode of the stroke position sensor.

In some embodiments, the trip position sensor fault handling mode includes the steps of: when the gear shifting executing mechanism is in the process of separating the current engaged tooth sleeve from the engaged gear ring, terminating the separation process, and controlling the gear shifting executing mechanism motor to reversely rotate to re-engage the current engaged tooth; when the target engagement tooth pair rotation speed difference or the rotation angle difference is actively adjusted, controlling to stop the process of actively adjusting the target engagement tooth pair rotation speed difference or the rotation angle difference; when the shift actuator is controlled to engage the engaging sleeve with the engaging ring gear, the shift actuator is controlled to continue the process of engaging the engaging sleeve with the engaging ring gear in the fixed output force mode.

In some embodiments, the trip position sensor fault handling mode further includes the steps of: detecting a signal value range of a current sensor of a gear shifting executing mechanism motor, and determining whether the current sensor works normally or not; when the shift actuator controls the engagement sleeve to be separated from or engaged with the engagement ring gear, and when both the stroke position sensor and the current sensor are abnormal, the shift actuator is controlled to perform the engagement process of the engagement sleeve with the engagement ring gear in a fixed duty ratio mode.

In some embodiments, the power transmission device fault diagnosis method further includes the steps of detecting a signal of a shift actuator stroke position sensor in a non-active shift state, and comparing a current stroke position value with a threshold value of a current gear standard stroke position; and if the current stroke position value exceeds the threshold value of the standard stroke position of the current gear, controlling the gear shifting executing mechanism to push the gear back to the normal position or actively shift out of the neutral position, and then re-engaging the gear.

The power transmission device fault diagnosis method can detect whether the corner position sensor is faulty or not, can detect whether the joint tooth pair can be normally jointed or not (can be used for prohibiting gear shifting) when the corner position sensor is abnormal, can stop outputting power or control an actuating mechanism to enable the correct joint tooth pair to be jointed when the joint tooth pair is abnormal, can detect whether the stroke position sensor is faulty or not, is provided with a fault mode of the stroke position sensor, can respectively process fault conditions of the stroke position sensor and can detect whether the gear is abnormal or not to be disconnected, and can correspondingly process.

Example 1

As shown in fig. 1, the present application exemplifies a two-speed power transmission device including a shift motor 5, a stroke position sensor 6, a power transmission assembly including a coupling sleeve 3, a spline hub 4, a coupling ring gear 2, and a range gear, as in the two-speed transmission shown in fig. 3, including a first range gear 10 and a second range gear 11, a coupling ring gear rotational angle position sensor 8, a coupling sleeve rotational angle position sensor 7, a shift motor current sensor 14, and a drive motor current sensor 15.

As shown in fig. 1-2, a stroke position sensor 6 is provided on the shift actuator motor 5, and the stroke position of the shift actuator motor 5 can be measured in real time. The power transmission assembly comprises an engaged ring gear 2, an engaged sleeve 3 and a splined hub 4 between a first gear 10 and a second gear 11. The joint tooth sleeve 3 is provided with a joint tooth sleeve corner position sensor 7, the joint tooth ring 2 is provided with a joint tooth ring corner position sensor 8, the joint tooth sleeve corner position sensor 7 and the joint tooth ring corner position sensor 8 can be encoders, such as an optical code disc sensor, a magnetic encoder, a rotary transformer, a Hall sensor or a giant magneto resistance sensor, and the joint tooth ring 2 and the joint tooth sleeve 3 can be measured in real time for corner or rotation speed. The drive end 1, for example a drive motor, is connected to the input shaft end, and the load end 9, for example the end connected to the wheel, is connected to the output shaft end. The controller 13 of the power transmission device is in signal connection with the gear shift motor current sensor 14, the driving motor current sensor 15, the engaged gear ring rotation angle position sensor 8, the engaged gear sleeve rotation angle position sensor 7 and the stroke position sensor 6.

As shown in fig. 1-2, the engaging ring gear 2 and the engaging sleeve 3 constitute an engaging tooth pair, and the same engaging sleeve 3 may constitute a different engaging tooth pair with a different engaging ring gear 2. The engaging sleeve 3 is axially movable along the transmission shaft 12 on the spline hub 4 of the transmission shaft 12 under the drive of the shift motor 5, and power can be transmitted through the engaging teeth pair when the engaging sleeve 3 is engaged with the engaging ring gear 2, and power transmitted along the engaging teeth pair can be disconnected when the engaging sleeve 3 is disengaged from the engaging ring gear 2. The set of engagement teeth and the ring gear that are required to be engaged are referred to as a target set of engagement teeth and a target ring gear, respectively, and may also be referred to as a target pair of engagement teeth.

The power transmission device realizes the change of power transmission path strength by engaging and disengaging different engaging tooth pairs, measures the corner difference between the engaging tooth pairs by corner position sensors respectively positioned at the driving end and the load end, measures the position of a gear shifting executing mechanism by a travel position sensor, and actively coordinates and controls the disengaging or engaging of the engaging tooth pairs by controlling a driving motor and a gear shifting executing mechanism motor based on the corner difference between the engaging tooth pairs and the position information of the gear shifting executing mechanism.

In embodiment 1 of the present application, there is provided a power transmission device failure diagnosis method including the steps of, as shown in fig. 3,

Step S01: detecting an output signal of the corner position sensor, judging whether the corner position sensor works normally or not, and controlling the gear shifting executing mechanism to prohibit changing the power transmission path if the corner position sensor works abnormally;

step S02: detecting signals of the corner position sensors of the driving end and the load end and judging whether the engaging tooth pair is normally engaged or not if the corner position sensors work normally; if the engagement teeth pair is not normally engaged, controlling the driving motor to stop outputting power or controlling the gear shifting executing mechanism to enable the correct engagement teeth pair to be engaged;

step S03: the engagement tooth pair is normally engaged, a stroke position sensor signal of the gear shifting executing mechanism is detected, whether the stroke position sensor works normally or not is judged, and if the stroke position sensor works abnormally, a fault mode of the stroke position sensor is entered;

step S04: if the stroke position sensor works normally, detecting a signal of the stroke position sensor of the gear shifting executing mechanism in a non-active gear shifting state, comparing a current stroke position value with a threshold value of a current gear standard stroke position, and judging whether the gear is disconnected abnormally; if the current stroke position value exceeds the threshold value of the current gear standard stroke position, determining that the gear is abnormally disengaged, controlling a gear shifting executing mechanism to push the gear back to a normal position or actively shift the gear, and re-engaging the gear; and if the current stroke position value is within the threshold value of the current gear standard stroke position, repeating the fault diagnosis step.

In step S01, by detecting two signals output by the rotation angle position sensor (the signal output by the rotation angle position sensor includes a first signal a and a second signal B, the first signal a is N pulses output by the rotation angle position sensor for each rotation, the second signal B is one pulse output by the rotation angle position sensor for each rotation), the signal a has N pulses for each rotation, and the signal B has 1 pulse for each rotation.

For example, whether the rotation angle position sensor is operating normally may be determined by the number of signals per turn and the ratio of the angular interval between the plurality of first signals a to the time interval, and when the rotation angle position sensor is abnormal, the change of the power transmission path may be prohibited. As shown in fig. 4, the specific steps are as follows:

step S0101: the counter CountA of the first signal A is cleared;

step S0102: detecting whether a first signal A is received; if the first signal A is received, the step S0103 is carried out; if the first signal A is not received, the step S0106 is carried out;

step S0103: the counter CountA is incremented by 1, recording the time interval δt (m is a natural number) at which m+1 first signals a are received;

step S0104: obtaining rotating speed omega information of a rotating shaft corresponding to the rotating angle sensor;

step S0105: comparing whether the absolute value of the difference between the sensor rotation speed omega and the calculated sensor rotation speed 2pi (m+1)/(N delta t) is smaller than a first rotation speed difference epsilon omega 1; if not, enter step S0108; if yes, go to step S0106;

Step S0106: judging whether a second signal B is received; if yes, go to step S0107; if not, enter step S0102;

step S0107: judging whether the absolute value of the difference value between CountA and N is larger than a preset threshold value, if so, entering a step S0101, and if not, entering a step S0108;

step S0108: and entering a fault mode, and prohibiting the change of the power transmission path.

The method for obtaining the information of the rotation speed ω of the rotation shaft corresponding to the rotation angle sensor in step S0104 may be to obtain the rotation speed of the rotation shaft corresponding to the rotation angle sensor through speed ratio conversion by using a redundant sensor, for example, for the rotation angle sensor at the driving end, the rotation angle sensor at the load end and the ABS sensor at the wheel end are redundant sensors thereof.

As shown in the above steps, whether the rotational angle position sensor is abnormal or not is determined by detecting the number of first pulse signals per one revolution of the rotational angle position sensor and the ratio of the angular intervals between the plurality of first pulse signals to the time interval. If the difference between the number of the first pulse signals and the preset value of the number of the first pulses is greater than a preset threshold (for example, the preset threshold selection method may be 1%,10%,50%,75% and so on of the total pulse signals in one mechanical period, for example, if the total pulse signals in one mechanical period is 4000, the threshold may be set to 40, 400,2000,3000 and so on), or the absolute value of the difference between the ratio of the angular interval between the plurality of first pulse signals and the time interval and the angular velocity of the shaft where the current angular position sensor is located is greater than or equal to the preset value of the angular velocity difference, the angular position sensor is judged to be abnormal.

In other embodiments, the number of first pulse signals of the rotation angle position sensor set for each rotation (more than 2 rotations) and the ratio of the angular interval between the plurality of first pulse signals to the time interval may be detected to determine whether the rotation angle position sensor is abnormal. If the absolute value of the difference value between the number of the first pulse signals and the preset value of the number of the first pulses in the set number of turns is larger than a preset threshold value, or the absolute value of the difference value between the ratio of the angular intervals between the plurality of first pulse signals and the time interval and the angular speed of the shaft where the current angular position sensor is located is larger than or equal to the preset value of the angular speed difference value, judging that the angular position sensor is abnormal. Correspondingly, in the step S0106, judging whether the number of times of receiving the second signal B is equal to the set number of turns; if yes, go to step S0107; if not, go to step S0102.

In step S02, by checking the drive end and load end rotation angle position sensor signals with each other, it is detected whether the pair of engagement teeth is properly engaged, and when the power transmission device transmits power and the pair of engagement teeth is not properly engaged, the output of power is stopped or the shift actuator is controlled to engage the proper pair of engagement teeth. As shown in fig. 5, the inspection flow is as follows:

Step S0201: reading a first rotation angle signal of a driving end rotation angle position sensor to obtain a first rotation angle theta 1 of the joint tooth corresponding to the driving end;

step S0202: calculating to obtain a first rotating speed omega 1 of the engagement tooth corresponding to the driving end;

step S0203: reading a second rotation angle signal of the load end rotation angle position sensor to obtain a second rotation angle theta 2 of the joint tooth corresponding to the load end;

step S0204: calculating to obtain a second rotating speed omega 2 of the engagement tooth corresponding to the load end;

step S0205: comparing the first rotation angle theta 1 with the second rotation angle theta 2, and judging whether the absolute value of the difference value of the first rotation angle theta 1 and the second rotation angle theta 2 is smaller than a rotation angle difference value preset value epsilon theta or not; the absolute value of the difference between the first rotation angle theta 1 and the second rotation angle theta 2 is larger than or equal to the preset rotation angle difference value epsilon theta, and the step S0207 is entered; step S0206 is performed if the absolute value of the difference between the first rotation angle θ1 and the second rotation angle θ2 is smaller than the rotation angle difference preset value epsilon theta;

step S0206: comparing the first rotating speed omega 1 with the second rotating speed omega 2, and judging whether the absolute value of the difference value of the first rotating speed omega 1 and the second rotating speed omega 2 is smaller than a rotating speed difference value preset value epsilon omega or not; the absolute value of the difference between the first rotating speed omega 1 and the second rotating speed omega 2 is larger than or equal to the preset rotating speed difference value epsilon omega, and the step S0207 is carried out; the absolute value of the difference between the first rotating speed omega 1 and the second rotating speed omega 2 is smaller than the preset rotating speed difference value epsilon omega, and the step S0201 is carried out;

Step S0207: the engagement tooth pair is not normally engaged, enters a fault mode, stops outputting power or controls the actuating mechanism to enable the correct engagement tooth pair to be engaged.

In step S03, whether the stroke position sensor is operating normally is determined by detecting the signal range and the signal quantity change rate of the stroke position sensor of the actuator. As shown in fig. 6, the steps are included as follows:

step S0301: reading a current stroke position sensor signal S1;

step S0302: acquiring a gear position S0 at the previous moment;

step S0303: comparing whether S1 is larger than the minimum position smin of the gear stroke position and smaller than the maximum position smax of the gear stroke position; s1 is smaller than or equal to the minimum position of the gear stroke position or larger than or equal to the maximum position of the gear stroke position, and then step S0306 is carried out;

s1 is larger than the minimum position of the gear stroke position and smaller than the maximum position of the gear stroke position, and then step S0304 is carried out;

step S0304: comparing whether the ratio of the absolute value of the difference between S1 and S0 to the time interval is smaller than a preset maximum speed vmax or not; if the ratio of the absolute value of the difference between S1 and S0 to the time interval is greater than or equal to the preset maximum speed, entering a step S0306; if the ratio of the absolute value of the difference between S1 and S0 to the time interval is smaller than the preset maximum speed, step S0305 is entered:

Step S0305: s0 is set to S1 and step S0301 is re-entered.

Step S0306: and entering a stroke position sensor fault mode and processing.

In this embodiment 1, the fault mode of the stroke position sensor includes the following fault processing steps:

1. when the gear shifting executing mechanism is in the process of separating the current engaged tooth sleeve from the engaged gear ring and the stroke position sensor is abnormal, the separation process is terminated, and the motor of the gear shifting executing mechanism reversely rotates to re-engage the current engaged tooth;

2. when the target engagement tooth pair rotation speed difference or the rotation angle difference is actively adjusted and the stroke position sensor is abnormal, stopping the process of actively adjusting the target engagement tooth pair rotation speed difference or the rotation angle difference;

3. when the shift actuator is controlled to engage the engaging sleeve with the engaging ring gear and the stroke position sensor is abnormal, the shift actuator is controlled to continue the process of engaging the engaging sleeve with the engaging ring gear in the fixed output force mode.

4. Detecting a signal value range of a current sensor of a gear shifting executing mechanism motor, and determining whether the current sensor works normally or not; when the shift actuator controls the engagement sleeve to be separated from or engaged with the engagement ring gear, and when both the stroke position sensor and the current sensor are abnormal, the shift actuator is controlled to perform the engagement process of the engagement sleeve with the engagement ring gear in a fixed duty ratio mode.

In the step S04, in the non-gear active switching (changing) state, by detecting the gear stroke position sensor signal, comparing with the current gear standard stroke position, if it is found that the gear is abnormally disengaged, entering a fault model: the optional processing method comprises the following steps of 1, controlling a gear shifting motor to push a gear back to a normal position; 2. actively picking up neutral position and re-calling the gear-shifting process.

As shown in fig. 7, the step of detecting whether the transmission gear is abnormally disengaged during running includes:

step S0401: judging whether the system (transmission) is in a gear active switching (changing) state; ending if the gear shifting process is in progress; if the gear is not in the active shift state, the step S0402 is carried out;

step S0402: acquiring a gear stroke position signal x;

step S0403: acquiring a current gear standard position value x0 and an allowable error epsilon x of the current gear standard position, wherein the threshold value of the current gear standard stroke position is (x 0-epsilon x, x0+epsilon x);

step S0404: judging whether the current stroke position value x0 is between thresholds (x 0-epsilon x, x0+epsilon x) of the standard stroke position of the current gear or not; if |x-x0| < εx, then go to step S0401; if the I x-x 0I is not less than epsilon x, entering step S0405;

Step S0405: entering a fault processing mode, and processing faults, wherein an optional processing method comprises the following steps: 1. controlling the gear shifting motor to push the gear back to the normal position; 2. actively picking up neutral position and re-calling the gear-shifting process.

Step S04 can detect and determine whether the gear is disengaged abnormally, and adopts a corresponding fault handling method: detecting a signal of a stroke position sensor of a gear shifting executing mechanism in a non-active gear shifting state, and comparing a current stroke position value with a threshold value of a current gear standard stroke position; and if the current stroke position value exceeds the threshold value of the standard stroke position of the current gear, controlling the gear shifting executing mechanism to push the gear back to the normal position or actively shift out of the neutral position, and then re-engaging the gear. The step can avoid the power loss caused by abnormal gear disengagement or gear meshing abnormality, so that the gear shifting of the gearbox is toothed, the driving smoothness is improved, and the risk of traffic accidents is reduced.

In other embodiments of the present application, the method for diagnosing a failure of the power transmission device may be repeated detection of any one of steps S01 to S04, for example, only the cycle detection of whether the rotation angle position sensor in step S01 is operating normally; for example, only the cycle detection of whether the engaging tooth pair is normally engaged in step S02; for example, only the loop detection of whether the stroke position sensor is operating normally in step S03; for example, only the loop detection of whether the current stroke position value exceeds the threshold value of the current gear standard stroke position in step S04.

In other embodiments of the present application, the method for diagnosing a failure of the power transmission device may be repeated detection of any combination of two or more steps from step S01 to step S04, such as cycle detection of whether the rotational angle position sensor in step S01 is operating normally and whether the engaging tooth pair is engaged normally in step S02; for example, whether the stroke position sensor is operating normally in step S03 and whether the current stroke position value exceeds the threshold value of the current gear standard stroke position in step S04; for example, loop detection of steps S01 and S03; for example, loop detection of steps S01 and S04; for example, loop detection of steps S02 and S03; for example, loop detection of steps S02 and S04; for example, loop detection in steps S01, S02, S03; for example, loop detection in steps S01, S03, S04; for example, loop detection in steps S02, S03, S04.

In the power transmission device failure diagnosis method according to embodiment 1, it is possible to detect whether the engagement tooth pair is normally engaged, and when the engagement tooth pair is abnormally engaged, output power is stopped, the transmission engagement tooth pair is protected, it is possible to detect whether the corner position sensor is failed, and when the corner position sensor is abnormal, it is possible to prohibit a change of the power transmission path (prohibit shifting), it is possible to detect whether the stroke position sensor is failed, and a stroke position sensor failure mode is provided, it is possible to separately process failure cases occurring in the stroke position sensor, it is possible to timely diagnose whether the engagement tooth pair is engaged, whether the corner position sensor or the stroke position sensor is failed, and after the failure is found, it is possible to classify and take control measures, it is possible to protect the transmission engagement tooth pair, and simultaneously to make the vehicle maintain the engagement of the power transmission path and the engagement tooth pair, avoid the problems of damaging the transmission or causing a long-time shift-up of the vehicle and power interruption, and reduce the risk of traffic accident.

In other embodiments of the present application, a power transmission device fault diagnosis system is provided correspondingly, as shown in fig. 8, including a first detection module and a first judgment module that are connected by signals, where the first detection module is used to detect an output signal of a corner position sensor; the first judging module is used for judging whether the corner position sensor works normally or not, and controlling the gear shifting executing mechanism to prohibit changing the power transmission path when the corner position sensor works abnormally; the second judging module is in signal connection with the first detecting module and is used for judging whether the engaging tooth pair is normally engaged or not, and controlling the driving motor to stop outputting power or controlling the gear shifting executing mechanism to enable the correct engaging tooth pair to be engaged when the engaging tooth pair is not normally engaged; the device comprises a second detection module and a third judgment module which are connected by signals, wherein the second detection module is used for detecting the output signal of a stroke position sensor of a gear shifting executing mechanism; the third judging module is used for judging whether the stroke position sensor works normally or not, and sending a signal to the stroke position sensor fault processing module when the stroke position sensor works abnormally.

The stroke position sensor fault processing module is used for stopping the separation process when the gear shifting executing mechanism is in the process of separating the current engaged tooth sleeve from the engaged gear ring and the stroke position sensor is abnormal, and controlling the motor of the gear shifting executing mechanism to reversely rotate to re-engage the current engaged tooth; the control unit is used for controlling and stopping the process of actively adjusting the target engagement tooth to rotate speed difference or rotation angle difference when the target engagement tooth rotates speed difference or rotation angle difference is actively adjusted and the stroke position sensor is abnormal; for controlling the actuator to continue the process of engaging the engaging sleeve with the engaging ring gear in the fixed output force mode when the shift actuator is controlled to engage the engaging sleeve with the engaging ring gear and the stroke position sensor is abnormal.

The stroke position sensor fault processing module further comprises a third detection module and a fourth judgment module which are connected through signals, wherein the third detection module is used for detecting the signal value range of a current sensor of a gear shifting executing mechanism motor; the fourth judging module is used for judging whether the current sensor works normally or not, and controlling the gear shift executing mechanism to execute the engagement process of the engagement tooth sleeve and the engagement tooth ring in a fixed duty ratio mode when the gear shift executing mechanism controls the engagement tooth sleeve to be separated from or engaged with the engagement tooth ring and when the stroke position sensor and the current sensor are abnormal.

In other embodiments, the power transmission device may be a first-gear or multi-gear power transmission device, and it should be understood that a power transmission device failure diagnosis method or a power transmission device failure diagnosis system in this embodiment can be applied to a first-gear or multi-gear power transmission device or a vehicle to achieve similar functions and achieve similar technical effects.

Example 2

Fig. 9 illustrates a structure of an electronic device 800 for an automobile according to an embodiment of the present invention, where the electronic device 800 includes: at least one processor 801, at least one communication interface 803, a memory 804, at least one communication bus 802.

A communication bus 802 is used to enable connected communication between these components, for example, when the processor 801 is running, the processor 801 and the memory 804 communicate via the communication bus 802.

The processor 801 may be a Central Processing Unit (CPU), digital Signal Processor (DSP) or other form of processing unit having data processing and/or program execution capabilities, such as a Field Programmable Gate Array (FPGA) or the like; for example, the Central Processing Unit (CPU) may be an X86 or ARM architecture, or the like. The processor may be a general-purpose processor or a special-purpose processor, and may control other modules or components of a power transmission device (e.g., a transmission) to implement a power transmission device failure diagnosis method of any of the above embodiments.

The electronic device 800 may interact with the outside world through a communication interface 803 (e.g., wifi, 3G/4G/5G, bluetooth, zigbee, RFID, CAN bus, USB, VGA, GPIB, RS/485, modbus interface, etc.), such as information transfer between the electronic device 800 and a shift actuator, an engaged ring gear rotational angle position sensor, and an engaged sleeve rotational angle position sensor.

The memory 804 may include read only memory and random access memory, with the memory 804 storing machine readable instructions executable by the processor 801 and providing instructions and data to the processor 801. Volatile memory can include, for example, random Access Memory (RAM) and/or cache memory (cache) and the like. The nonvolatile memory may include, for example, read Only Memory (ROM), hard disk, erasable Programmable Read Only Memory (EPROM), portable compact disc read only memory (CD-ROM), USB memory, flash memory (flash), nonvolatile random access memory (NVRAM), and the like. One or more application modules may be stored on the memory 804 and executed by the processor to implement a power transmission device fault diagnosis method as described in any of the embodiments above. Various applications and various data, as well as various data used and/or generated by the applications, etc., may also be stored in memory 804.

Example 3:

the present application also provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, performs a power transmission device failure diagnosis method as described in any one of the above embodiments.

Specifically, the storage medium can be a general-purpose storage medium such as a removable disk, a hard disk, or the like, on which a computer program is executed, capable of executing a power transmission device failure diagnosis method described in any of the above embodiments.

In the embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other manners. The above-described apparatus embodiments are merely illustrative, for example, the division of units is merely a logical function division, and there may be other manners of division in actual implementation, and for example, multiple units or components may be combined or integrated into another system, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be through some communication interface, device or unit indirect coupling or communication connection, which may be in electrical, mechanical or other form.

The units described as separate units may or may not be physically separate, and the units described as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

In addition, each functional unit in the embodiments provided in the present application may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit.

The functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a computer-readable storage medium. Based on such understanding, the technical solution of the present application may be embodied essentially or in a part contributing to the prior art or in a part of the technical solution, in the form of a software product stored in a storage medium, including several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods of the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk, or an optical disk, or other various media capable of storing program codes.

It should be noted that: like reference numerals and letters in the following figures denote like items, and thus once an item is defined in one figure, no further definition or explanation of it is required in the following figures, and furthermore, the terms "first," "second," "third," etc. are used merely to distinguish one description from another and are not to be construed as indicating or implying relative importance.

Finally, it should be noted that: the foregoing examples are merely illustrative of specific embodiments of the present application, and are not intended to limit the scope of the present application, although the present application is described in detail with reference to the foregoing examples, it will be understood by those skilled in the art that: any person skilled in the art may modify or easily conceive of the technical solution described in the foregoing embodiments, or make equivalent substitutions for some of the technical features within the technical scope of the disclosure of the present application; such modifications, changes or substitutions do not depart from the spirit and scope of the corresponding technical solutions. Are intended to be encompassed within the scope of this application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims (16)

1. A power transmission device failure diagnosis method, characterized by comprising the steps of:

detecting an output signal of the corner position sensor, and judging whether the corner position sensor works normally or not; and if the rotation angle position sensor works abnormally, the gear shifting executing mechanism is controlled to inhibit the power transmission path from being changed.

2. The power transmission device failure diagnosis method according to claim 1, wherein the step of detecting an output signal of the rotational angle position sensor and judging whether the rotational angle position sensor is operating normally includes:

detecting the number of first pulse signals of the corner position sensor in a set number of turns and time intervals among a plurality of first pulse signals;

and judging that the angular position sensor is abnormal if the absolute value of the difference value between the number of the first pulse signals and the preset value of the number of the first pulses in the set number of turns is larger than a preset threshold value, or if the absolute value of the difference value between the ratio of the angular interval between a plurality of first pulse signals and the time interval and the angular speed of the shaft where the current angular position sensor is positioned is larger than or equal to the preset value of the angular speed difference value.

3. The power transmission device failure diagnosis method according to claim 1, further comprising the step of,

Detecting signals of a corner position sensor of the driving end and the load end, and judging whether the engagement tooth pair is normally engaged; if the engagement teeth pair is not normally engaged, the driving motor is controlled to stop outputting power or the gear shifting executing mechanism is controlled to enable the correct engagement teeth pair to be engaged.

4. A power transmission apparatus failure diagnosis method according to claim 3, wherein the step of detecting the signals of the drive-end and load-end rotational angle position sensors, and judging whether the pair of engagement teeth are normally engaged, comprises:

reading a first rotation angle signal of a driving end rotation angle position sensor, obtaining a first rotation angle of a joint tooth corresponding to the driving end, and calculating to obtain a first rotation speed of the joint tooth corresponding to the driving end;

reading a second rotation angle signal of the rotation angle position sensor of the load end, obtaining a second rotation angle of the joint tooth corresponding to the load end, and calculating to obtain a second rotation speed of the joint tooth corresponding to the load end;

comparing the first rotation angle with the second rotation angle, and comparing the first rotation speed with the second rotation speed;

and determining that the engaged tooth pair is not normally engaged if the absolute value of the difference between the first rotating angle and the second rotating angle is larger than or equal to a preset value of the difference between the rotating angles or the absolute value of the difference between the first rotating speed and the second rotating speed is larger than or equal to a preset value of the difference between the rotating speeds.

5. The method according to any one of claims 1 to 4, characterized by further comprising the steps of detecting an output signal of a shift actuator stroke position sensor and judging whether the stroke position sensor is operating normally; and if the stroke position sensor works abnormally, entering a fault processing mode of the stroke position sensor.

6. The power transmission device failure diagnosis method according to claim 5, wherein the step of detecting an output signal of a shift actuator stroke position sensor and judging whether the stroke position sensor is operating normally includes:

reading a current gear stroke position sensor signal S1, acquiring a gear position S0 at the previous moment, and comparing whether S1 is larger than the minimum position of the gear stroke position and smaller than the maximum position of the gear stroke position; s1 is smaller than or equal to the minimum position of the gear stroke position or larger than or equal to the maximum position of the gear stroke position, and entering a stroke position sensor fault mode;

s1 is larger than the minimum position of the gear stroke position and smaller than the maximum position of the gear stroke position, and whether the ratio of the absolute value of the difference between S1 and S0 to the time interval is smaller than the preset maximum speed is compared;

The ratio of the absolute value of the difference between S1 and S0 to the time interval is greater than or equal to the preset maximum speed, and entering a fault mode of the stroke position sensor;

and setting S0 as S1 if the ratio of the absolute value of the difference between S1 and S0 to the time interval is smaller than the preset maximum speed, and then re-executing the step of detecting the stroke position sensor signal of the gear shifting executing mechanism to judge whether the stroke position sensor works normally.

7. The power transmission device failure diagnosis method according to claim 5 or claim 5, characterized in that the stroke position sensor failure processing mode includes the steps of:

when the gear shifting executing mechanism is in the process of separating the current engaged tooth sleeve from the engaged gear ring, terminating the separation process, and controlling the gear shifting executing mechanism motor to reversely rotate to re-engage the current engaged tooth;

when the target engagement tooth pair rotation speed difference or the rotation angle difference is actively adjusted, controlling to stop the process of actively adjusting the target engagement tooth pair rotation speed difference or the rotation angle difference;

when the shift actuator is controlled to engage the engaging sleeve with the engaging ring gear, the shift actuator is controlled to continue the process of engaging the engaging sleeve with the engaging ring gear in the fixed output force mode.

8. The power transmission device failure diagnosis method according to claim 7, characterized in that the stroke position sensor failure processing mode further includes the steps of:

detecting a signal value range of a current sensor of a gear shifting executing mechanism motor, and determining whether the current sensor works normally or not; when the shift actuator controls the engagement sleeve to be separated from or engaged with the engagement ring gear, and when both the stroke position sensor and the current sensor are abnormal, the shift actuator is controlled to perform the engagement process of the engagement sleeve with the engagement ring gear in a fixed duty ratio mode.

9. The power transmission device failure diagnosis method according to claim 5, further comprising the step of,

detecting a signal of a stroke position sensor of a gear shifting executing mechanism in a non-active gear shifting state, and comparing a current stroke position value with a threshold value of a current gear standard stroke position;

and if the current stroke position value exceeds the threshold value of the standard stroke position of the current gear, controlling the gear shifting executing mechanism to push the gear back to the normal position or actively shift out of the neutral position, and then re-engaging the gear.

10. A power transmission device failure diagnosis system, characterized by comprising: a first detection module and a first judgment module which are connected by signals,

The first detection module is used for detecting an output signal of the corner position sensor;

the first judging module is used for judging whether the corner position sensor works normally or not, and controlling the gear shifting executing mechanism to prohibit changing the power transmission path when the corner position sensor works abnormally.

11. The power transmission device failure diagnosis system according to claim 10, further comprising a second judging module in signal connection with the first detecting module for judging whether the pair of engagement teeth is normally engaged, and controlling the drive motor to stop outputting power or controlling the shift actuator to engage the correct pair of engagement teeth when the pair of engagement teeth is not normally engaged.

12. The power transmission device failure diagnosis system according to claim 10 or 11, further comprising a second detection module and a third judgment module that are signal-connected,

the second detection module is used for detecting an output signal of the stroke position sensor of the gear shifting executing mechanism;

the third judging module is used for judging whether the stroke position sensor works normally or not, and sending a signal to the stroke position sensor fault processing module when the stroke position sensor works abnormally.

13. The power transmission device fault diagnosis system according to claim 12, wherein the stroke position sensor fault handling module,

the gear shifting executing mechanism is used for stopping the separation process when the current engagement tooth sleeve is separated from the engagement tooth ring and the stroke position sensor is abnormal, and controlling the motor of the gear shifting executing mechanism to reversely rotate to re-engage the current engagement tooth;

the control unit is used for controlling and stopping the process of actively adjusting the target engagement tooth to rotate speed difference or rotation angle difference when the target engagement tooth rotates speed difference or rotation angle difference is actively adjusted and the stroke position sensor is abnormal;

for controlling the actuator to continue the process of engaging the engaging sleeve with the engaging ring gear in the fixed output force mode when the shift actuator is controlled to engage the engaging sleeve with the engaging ring gear and the stroke position sensor is abnormal.

14. The power transmission device fault diagnosis system according to claim 13, wherein the stroke position sensor fault handling module further comprises a third detection module and a fourth judgment module in signal connection,

the third detection module is used for detecting the signal value range of the current sensor of the gear shifting executing mechanism;

The fourth judging module is used for judging whether the current sensor works normally or not, and controlling the gear shift executing mechanism to execute the engagement process of the engagement tooth sleeve and the engagement tooth ring in a fixed duty ratio mode when the gear shift executing mechanism controls the engagement tooth sleeve to be separated from or engaged with the engagement tooth ring and when the stroke position sensor and the current sensor are abnormal.

15. An electronic device, comprising: a processor, a memory and a bus, said memory storing machine readable instructions executable by said processor, said processor and said memory communicating over the bus when the electronic device is operating, said machine readable instructions when executed by said processor performing a power transmission device fault diagnosis method according to any one of claims 1-9.

16. A computer-readable storage medium, characterized in that the computer-readable storage medium has stored thereon a computer program which, when executed by a processor, performs a power transmission device failure diagnosis method according to any one of claims 1 to 9.

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