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

Abstract

The present invention belongs to the technical field of vehicle transmissions, and provides a method, system, electronic equipment and medium for diagnosing faults of a power transmission device, which can detect whether a rotation angle position sensor is faulty. When the rotation angle position sensor is abnormal, it is prohibited to change the power transmission path. It can detect whether the engaging tooth pair is normally engaged. When the engaging tooth pair is abnormally engaged, the output power is stopped or the actuator is controlled to engage the correct engaging tooth pair. It can detect whether the stroke position sensor is faulty, and a stroke position sensor fault mode is provided. Faults occurring in the stroke position sensor are processed separately according to different situations, and control measures can be taken according to classification. It can protect the transmission engaging tooth pair, and at the same time enable the vehicle to maintain the power transmission path and the engagement of the engaging tooth pair, thereby avoiding damage to the transmission or the problem that the vehicle cannot be shifted into gear for a long time and the power is interrupted, thereby reducing the risk of traffic accidents.

Description

Technical Field

[0001] The present application relates to the technical field of vehicle transmissions, and in particular to a method, system, electronic device, and medium for diagnosing faults of a power transmission device. Background Art

[0002] As people demand more comfortable driving, vehicles are increasingly adopting automatic transmissions instead of manual transmissions to reduce driver workload. Automatic transmissions contain a variety of sensors that are easily damaged by external forces. For example, coil-type position sensors are prone to burning out and shorting, while connector-type position sensors are prone to loosening or falling off. Hall effect sensors, which are currently widely used, are particularly susceptible to failure due to strong electromagnetic interference.

[0003] Conventional transmission shift control methods typically perform shifting operations after a failed shift, without verifying the presence of faulty sensors. Consequently, conventional transmission shift control methods struggle to identify the faulty component or sensor. Furthermore, conventional methods fail to implement remedial measures after a travel position sensor failure is detected. This can lead to vehicle power interruption after a prolonged period without engaging a gear, or prolonged improper engagement, resulting in damage to the engaging gears. Consequently, conventional shift control methods can cause the vehicle to suddenly stop, potentially leading to traffic accidents. Summary of the Invention

[0004] In view of this, the purpose of the present application is to provide a power transmission device fault diagnosis method, system, electronic equipment and medium to ensure the safety of the power transmission device.

[0005] In a first aspect, an embodiment of the present application provides a method for diagnosing faults in a power transmission device, comprising the steps of: detecting an output signal of a rotational angle position sensor and determining whether the rotational angle position sensor is operating normally; if the rotational angle position sensor is operating abnormally, controlling a shift actuator to prohibit changing a power transmission path.

[0006] In some embodiments, the steps of detecting the output signal of the angular position sensor and determining whether the angular position sensor is operating normally include: detecting the number of first pulse signals within a set number of turns of the angular position sensor and the time interval between multiple first pulse signals; if the absolute value of the difference between the number of first pulse signals within the set number of turns and a preset value of the first pulse number is greater than a preset threshold, or the absolute value of the difference between the ratio of the angular interval to the time interval between multiple first pulse signals and the angular velocity of the axis where the current angular position sensor is located is greater than or equal to a preset value of the angular velocity difference, then the angular position sensor is determined to be abnormal.

[0007] In some embodiments, the power transmission device fault diagnosis method also includes the steps of: detecting the signals of the angular position sensors at the drive end and the load end, and determining whether the engaging tooth pair is engaged normally; if the engaging tooth pair is not engaged normally, controlling the drive motor to stop outputting power or controlling the shift actuator to engage the correct engaging tooth pair.

[0008] In some embodiments, the steps of detecting the signals of the angular position sensors at the driving end and the load end, and determining whether the engaging tooth pair is engaged normally include: reading the first angular position signal of the driving end angular position sensor, obtaining the first angular position of the engaging tooth corresponding to the driving end, and calculating the first rotational speed of the engaging tooth corresponding to the driving end; reading the second angular position signal of the load end angular position sensor, obtaining the second angular position of the engaging tooth corresponding to the load end, and calculating the second rotational speed of the engaging tooth corresponding to the load end; comparing the first angular position and the second angular position, and comparing the first rotational speed and the second rotational speed; if the absolute value of the difference between the first angular position and the second angular position is greater than or equal to the preset angular position difference value, or the absolute value of the difference between the first rotational speed and the second rotational speed is greater than or equal to the preset rotational speed difference value, it is determined that the engaging tooth pair is not engaged normally.

[0009] In some embodiments, the power transmission device fault diagnosis method further includes the steps of detecting the output signal of the shift actuator stroke position sensor and determining whether the stroke position sensor is working normally; if the stroke position sensor is working abnormally, entering the stroke position sensor fault processing mode.

[0010] In some embodiments, the steps of detecting the output signal of the shift actuator stroke position sensor and determining whether the stroke position sensor is operating normally include: reading the current gear stroke position sensor signal S1, obtaining the gear position S0 at the previous moment, and comparing whether S1 is greater than the minimum position of the gear stroke position and less than the maximum position of the gear stroke position; if S1 is less than or equal to the minimum position of the gear stroke position or greater than or equal to the maximum position of the gear stroke position, entering a stroke position sensor fault mode; if S1 is greater than the minimum position of the gear stroke position and less than the maximum position of the gear stroke position, comparing whether the ratio of the absolute value of the difference between S1 and S0 and the time interval is less than a preset maximum speed; if the ratio of the absolute value of the difference between S1 and S0 and the time interval is greater than or equal to the preset maximum speed, entering a stroke position sensor fault mode; if the ratio of the absolute value of the difference between S1 and S0 and the time interval is less than the preset maximum speed, setting S0 to S1, and re-performing the above steps of detecting the shift actuator stroke position sensor signal and determining whether the stroke position sensor is operating normally.

[0011] In some embodiments, the stroke position sensor fault handling mode includes the following steps: when the shift actuator is in the process of separating the current engaging gear sleeve from the engaging gear ring, the separation process is terminated, and the shift actuator motor is controlled to reverse to re-engage the current engaging gear pair; when the target engaging gear pair speed difference or rotation angle difference is actively adjusted, the process of actively adjusting the target engaging gear pair speed difference or rotation angle difference is controlled to be terminated; when the shift actuator is controlled to engage the engaging gear sleeve with the engaging gear ring, the shift actuator is controlled to continue the process of engaging the engaging gear sleeve with the engaging gear ring in a fixed output force mode.

[0012] In some implementation examples, the stroke position sensor fault handling mode also includes the following steps: detecting the current sensor signal value range of the shift actuator motor to determine whether the current sensor is working normally; when the shift actuator controls the engagement sleeve and the engagement ring gear to separate or engage, and both the stroke position sensor and the current sensor are abnormal, controlling the shift actuator to execute the engagement process of the engagement sleeve and the engagement ring gear in a fixed duty cycle mode.

[0013] In some embodiments, the power transmission device fault diagnosis method further includes the steps of detecting the signal of the shift actuator stroke position sensor in a non-active gear switching state, and comparing the current stroke position value with the threshold of the current gear standard stroke position; if the current stroke position value exceeds the threshold of the current gear standard stroke position, the shift actuator is controlled to push the gear back to the normal position or actively disengage the neutral gear, and then re-engage the gear.

[0014] On the second aspect, an embodiment of the present application provides a power transmission device fault diagnosis system, including: a first detection module and a first judgment module connected by signals, the first detection module is used to detect the output signal of the angle position sensor; the first judgment module is used to judge whether the angle position sensor is working normally, and when the angle position sensor is working abnormally, controls the shift actuator to prohibit changing the power transmission path.

[0015] In some embodiments, the power transmission device fault diagnosis system also includes a second judgment module connected to the signal of the first detection module, which is used to determine whether the engaging tooth pair is engaged normally, and when the engaging tooth pair is not engaged normally, controls the drive motor to stop outputting power or controls the shift actuator to engage the correct engaging tooth pair.

[0016] In some embodiments, the power transmission device fault diagnosis system further includes a second detection module and a third judgment module that are signal-connected, wherein the second detection module is used to detect the output signal of the shift actuator stroke position sensor; the third judgment module is used to determine whether the stroke position sensor is working normally, and when the stroke position sensor is working abnormally, sends a signal to the stroke position sensor fault processing module.

[0017] In some embodiments, the stroke position sensor fault processing module is configured to, when the shift actuator is in the process of separating the current engagement sleeve from the engagement ring gear and the stroke position sensor is abnormal, terminate the separation process and control the shift actuator motor to reverse and re-engage the current engagement gear pair; when the target engagement gear speed difference or rotational angle difference is being actively adjusted and the stroke position sensor is abnormal, control the termination of the process of actively adjusting the target engagement gear speed difference or rotational angle difference; and when the shift actuator is controlled to engage the engagement sleeve with the engagement ring gear and the stroke position sensor is abnormal, control the actuator to continue the process of engaging the engagement sleeve with the engagement ring gear in a fixed output force mode;

[0018] In some embodiments, the stroke position sensor fault processing module also includes a signal-connected third detection module and a fourth judgment module, wherein the third detection module is used to detect the signal value range of the shift actuator motor current sensor; the fourth judgment module is used to judge whether the current sensor is working normally, and when the shift actuator controls the engagement sleeve and the engagement ring gear to separate or engage, and when the stroke position sensor and the current sensor are both abnormal, the shift actuator is controlled to execute the engagement process of the engagement sleeve and the engagement ring gear in a fixed duty cycle mode.

[0019] In a third aspect, an embodiment of the present application provides an electronic device comprising: a processor, a memory and a bus, wherein the memory stores machine-readable instructions executable by the processor. When the electronic device is running, the processor and the memory communicate via the bus, and when the machine-readable instructions are executed by the processor, a power transmission device fault diagnosis method as described in any of the above embodiments is executed.

[0020] In a fourth aspect, an embodiment of the present application further provides a computer-readable storage medium on which a computer program is stored. When the computer program is run by a processor, a power transmission device fault diagnosis method as described in any of the above embodiments is executed.

[0021] Compared with the prior art, the technical solution of this application has the following beneficial effects:

[0022] The present application provides a method for diagnosing power transmission device faults, capable of detecting whether a rotation angle position sensor is faulty. If the rotation angle position sensor is abnormal, the power transmission path is prohibited from being changed (gear shifting is prohibited). The method can also detect whether a gear pair is normally engaged. If a gear pair is abnormally engaged, the method stops power output or controls a shift actuator to engage the correct gear pair. The method can also detect whether a travel position sensor is faulty and is provided with a travel position sensor fault mode to handle each fault separately. The method can also detect a signal from a travel position sensor of a shift actuator. If the current travel position value exceeds a threshold value for a standard travel position of the current gear, the method controls the shift actuator to return the gear to a normal position or actively disengage neutral and then re-engage the gear. The method can timely diagnose whether a rotation angle position sensor, gear pair engagement, or travel position sensor fault has occurred, or whether the current gear is abnormally disengaged. Furthermore, upon detecting a fault, the method can categorize and implement control measures to protect the gear pair of the transmission while maintaining the power transmission path and the engagement of the gear pair, thereby avoiding damage to the transmission or problems such as the vehicle being unable to shift into gear for an extended period of time and power interruption, thereby reducing the risk of traffic accidents.

[0023] In order to make the above-mentioned objects, features and advantages of the present application more obvious and easy to understand, preferred embodiments are given below and described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following is a brief introduction to the drawings required for use in the embodiments. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without creative work.

[0025] Figure 1 This is a schematic diagram of the principle of a two-speed power transmission device of the present application;

[0026] Figure 2 It is a partial schematic diagram of a power transmission assembly of a two-speed power transmission device of the present application;

[0027] Figure 3 This is a flow chart of a method for diagnosing a power transmission device fault in the present application;

[0028] Figure 4 This is a schematic flow chart of a method for diagnosing a power transmission device fault in the present application for determining whether a rotation angle position sensor is operating normally;

[0029] Figure 5This is a schematic diagram of a flow chart of a method for diagnosing a power transmission device fault according to the present invention for determining whether the connection is normal or not;

[0030] Figure 6 This is a flow chart of a method for diagnosing a fault of a power transmission device of the present application for determining whether a stroke position sensor is operating normally;

[0031] Figure 7 This is a flowchart of a method for diagnosing a power transmission device fault, detecting and determining whether a gear is abnormally disengaged, and troubleshooting the fault;

[0032] Figure 8 This is a schematic diagram of the principle of a power transmission device fault diagnosis system of the present application;

[0033] Figure 9 This is a schematic diagram of the principle of an automotive electronic device of the present application;

[0034] Wherein: 1- driving end, 2- engaging ring gear, 3- engaging sleeve, 4- spline hub, 5- shift motor, 6- stroke position sensor, 7- engaging sleeve rotation angle position sensor, 8- engaging ring gear rotation angle position sensor, 9- load end, 10- first gear, 11- second gear, 12- transmission shaft, 13- controller, 14- shift motor current sensor, 15- driving motor current sensor, θ1- first rotation angle, θ2- second rotation angle, ω1- first speed, ω2- second speed, εθ- rotation angle difference preset value, εω- speed difference preset value, A- first signal, B- second signal, Co untA-first signal counter, δt-time interval between two receipts of the first signal, ω-rotational speed of the angular position sensor, εω1-first speed difference, S1-front travel position sensor signal, S0-gear position at the previous moment, smin-minimum position of the gear travel position, smax-maximum position of the gear travel position, vmax-preset maximum speed, x-gear travel position signal, x0-current gear standard position value, εx-allowable error of the current gear standard position, 800-electronic device, 801-processor, 802-communication bus, 803-communication interface, 804-memory. DETAILED DESCRIPTION

[0035] In order to make the purpose, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. The components of the embodiments of the present application generally described and shown in the drawings here can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the application for protection, but merely represents the selected embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without making creative work are within the scope of protection of this application.

[0036] The present applicant has discovered that, in conventional transmission shift control methods, after a shift failure, the shift process typically involves engaging and disengaging a gear without verifying the presence of any sensor failure. Consequently, conventional transmission shift control methods struggle to detect the specific component or sensor failure. Furthermore, even after a travel position sensor failure is detected, no remedial measures are taken. This can result in vehicle power interruption after a prolonged period without engaging a gear, or prolonged improper engagement, leading to damage to the engaging gears. Consequently, conventional shift control methods can cause the vehicle to suddenly stop, potentially leading to traffic accidents.

[0037] In order to solve the above problems, the present application provides a power transmission device fault diagnosis method, including the steps of: detecting the output signal of the angle position sensor and determining whether the angle position sensor is working normally; if the angle position sensor is working abnormally, controlling the shift actuator to prohibit changing the power transmission path.

[0038] In some embodiments, the power transmission device fault diagnosis method also includes the steps of: detecting the signals of the angular position sensors at the drive end and the load end, and determining whether the engaging tooth pair is engaged normally; if the engaging tooth pair is not engaged normally, controlling the drive motor to stop outputting power or controlling the shift actuator to engage the correct engaging tooth pair.

[0039] 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 determining whether the stroke position sensor is operating normally; if the stroke position sensor is operating abnormally, entering a stroke position sensor fault processing mode.

[0040] In some embodiments, the stroke position sensor fault handling mode includes the following steps: when the shift actuator is in the process of separating the current engaging gear sleeve from the engaging gear ring, the separation process is terminated, and the shift actuator motor is controlled to reverse to re-engage the current engaging gear pair; when the target engaging gear pair speed difference or rotation angle difference is actively adjusted, the process of actively adjusting the target engaging gear pair speed difference or rotation angle difference is controlled to be terminated; when the shift actuator is controlled to engage the engaging gear sleeve with the engaging gear ring, the shift actuator is controlled to continue the process of engaging the engaging gear sleeve with the engaging gear ring in a fixed output force mode.

[0041] In some implementation examples, the stroke position sensor fault handling mode also includes the following steps: detecting the current sensor signal value range of the shift actuator motor to determine whether the current sensor is working normally; when the shift actuator controls the engagement sleeve and the engagement ring gear to separate or engage, and both the stroke position sensor and the current sensor are abnormal, controlling the shift actuator to execute the engagement process of the engagement sleeve and the engagement ring gear in a fixed duty cycle mode.

[0042] In some embodiments, the power transmission device fault diagnosis method further includes the steps of detecting the signal of the shift actuator stroke position sensor in a non-active gear switching state, and comparing the current stroke position value with the threshold of the current gear standard stroke position; if the current stroke position value exceeds the threshold of the current gear standard stroke position, the shift actuator is controlled to push the gear back to the normal position or actively disengage the neutral gear, and then re-engage the gear.

[0043] The above-mentioned power transmission device fault diagnosis method of the present application can detect whether the angle position sensor is faulty. When the angle position sensor is abnormal, it is prohibited to change the power transmission path (gear shifting is prohibited). It can detect whether the engaging tooth pair can engage normally. When the engaging tooth pair is abnormally engaged, the output power is stopped or the actuator is controlled to engage the correct engaging tooth pair. It can detect whether the stroke position sensor is faulty and is provided with a stroke position sensor fault mode. The faults of the stroke position sensor are handled separately according to different situations. It can also detect whether the gear is abnormally disengaged and perform corresponding processing. A power transmission device fault diagnosis method of the present application can timely diagnose whether the angle position sensor, the engaging tooth pair or the stroke position sensor has failed and whether the gear is abnormally disengaged. After a fault is found, control measures can be taken in a classified manner, and the transmission engaging tooth pair can be protected. At the same time, the vehicle maintains the power transmission path and the engagement of the engaging tooth pair, avoiding damage to the transmission or the problem that the vehicle cannot shift gears for a long time and the power is interrupted, thereby reducing the risk of traffic accidents.

[0044] Example 1

[0045] like Figure 1As shown in the figure, the present application exemplifies a two-speed power transmission device, including a shift motor 5, a stroke position sensor 6, a power transmission assembly, a coupling ring gear angular position sensor 8, a coupling sleeve angular position sensor 7, a shift motor current sensor 14, and a drive motor current sensor 15. The power transmission assembly includes a coupling sleeve 3, a spline hub 4, a coupling ring gear 2, and a gear position gear, as shown in FIG. Figure 3 The two-speed transmission comprises a first-speed gear 10 and a second-speed gear 11 .

[0046] like Figure 1-2 As shown in FIG, the shift motor 5 is provided with a stroke position sensor 6, which can measure the stroke position of the shift motor 5 in real time. The power transmission assembly includes a coupling ring gear 2, a coupling sleeve 3, and a spline hub 4, located between the first gear 10 and the second gear 11. The coupling sleeve 3 is provided with a coupling sleeve rotational angle position sensor 7, and the coupling ring gear 2 is provided with a coupling ring rotational angle position sensor 8. The coupling sleeve rotational angle position sensor 7 and the coupling ring gear rotational angle position sensor 8 can be encoders, such as optical encoders, magnetic encoders, resolvers, Hall sensors, or giant magnetoresistive sensors, and can measure the rotation angle or speed of the coupling ring gear 2 and coupling sleeve 3 in real time. The drive end 1, such as the drive motor, is connected to the input shaft end, and the load end 9, such as the end connected to the wheel, is connected to the output shaft end. The controller 13 of the power transmission device is connected to the shift motor current sensor 14, the drive motor current sensor 15, the coupling ring gear rotational angle position sensor 8, the coupling sleeve rotational angle position sensor 7, and the stroke position sensor 6.

[0047] like Figure 1-2 As shown in , the engaging gear ring 2 and the engaging gear sleeve 3 constitute an engaging gear pair. The same engaging gear sleeve 3 can form different engaging gear pairs with different engaging gear rings 2. Driven by the shift motor 5, the engaging gear sleeve 3 can move axially along the transmission shaft 12 on the spline hub 4 of the transmission shaft 12. When the engaging gear sleeve 3 is engaged with the engaging gear ring 2, power can be transmitted through the engaging gear pair. When the engaging gear sleeve 3 is separated from the engaging gear ring 2, the power transmitted along the engaging gear pair can be disconnected. The engaging gear sleeve and the engaging gear ring that need to be engaged are respectively referred to as the target engaging gear sleeve and the target engaging gear ring, which can also be referred to as the target engaging gear pair.

[0048] The power transmission device changes the power transmission path by engaging and disengaging different engaging tooth pairs. The angular position sensors located at the drive end and the load end respectively measure the angular difference between the engaging tooth pairs, and the shift actuator position is measured by the stroke position sensor. Based on the angular difference between the engaging tooth pairs and the shift actuator position information, the driving motor and the shift actuator motor are controlled to actively coordinate and control the engagement or disengagement of the engaging tooth pairs.

[0049] In embodiment 1 of the present application, a method for diagnosing a fault of a power transmission device is provided, comprising the following steps: Figure 3 As shown in

[0050] Step S01: detecting the output signal of the rotation angle position sensor and determining whether the rotation angle position sensor is working properly. If the rotation angle position sensor is working abnormally, controlling the shift actuator to prohibit changing the power transmission path;

[0051] Step S02: If the angular position sensor is functioning normally, the signals of the angular position sensors at the drive end and the load end are detected to determine whether the engaging teeth are properly engaged. If the engaging teeth are not properly engaged, the drive motor is controlled to stop outputting power or the shift actuator is controlled to engage the correct engaging teeth.

[0052] Step S03: If the engaging teeth are engaged normally, the shift actuator stroke position sensor signal is detected to determine whether the stroke position sensor is working properly. If the stroke position sensor is working abnormally, the system enters a stroke position sensor fault mode.

[0053] Step S04: If the travel position sensor works normally, then in the non-active gear switching state, the signal of the travel position sensor of the gear shift actuator is detected, and the current travel position value is compared with the threshold value of the current gear standard travel position to determine whether the gear is abnormally disengaged; if the current travel position value exceeds the threshold value of the current gear standard travel position, it is determined that the gear is abnormally disengaged, and the gear shift actuator is controlled to push the gear back to the normal position or actively disengage the neutral gear and re-engage the gear; if the current travel position value is within the threshold value of the current gear standard travel position, the fault diagnosis step is repeated.

[0054] In step S01, by detecting two signals output by the angular position sensor (the signals output by the angular position sensor include a first signal A and a second signal B, the first signal A is N pulses output by the angular position sensor per rotation, and the second signal B is one pulse output by the angular position sensor per rotation), the A signal has N pulses per rotation, and the B signal has 1 pulse per rotation.

[0055] For example, the number of signals per revolution and the ratio of the angle interval to the time interval between the plurality of first signals A can be used to determine whether the angular position sensor is operating normally. When the angular position sensor is abnormal, the power transmission path is prohibited from being changed. Figure 4 As shown in , the specific steps are as follows:

[0056] Step S0101: the first signal A counter CountA is reset;

[0057] Step S0102: Detect whether the first signal A is received; if the first signal A is received, proceed to step S0103; if the first signal A is not received, proceed to step S0106;

[0058] Step S0103: the counter CountA is incremented by 1, and the time interval δt (m is a natural number) between receiving m+1 first signals A is recorded;

[0059] Step S0104: obtaining the rotation speed ω information of the rotating shaft corresponding to the rotation angle sensor;

[0060] Step S0105: Compare the absolute value of the difference between the sensor speed ω and the calculated sensor speed 2π(m+1) / (N*δt) to see if it is less than the first speed difference εω1; if not, proceed to step S0108; if yes, proceed to step S0106;

[0061] Step S0106: Determine whether the second signal B is received; if yes, proceed to step S0107; if not, proceed to step S0102;

[0062] Step S0107: Determine whether the absolute value of the difference between CountA and N is greater than a preset threshold. If yes, proceed to step S0101; if no, proceed to step S0108.

[0063] Step S0108: Entering the fault mode, prohibiting the change of the power transmission path.

[0064] In step S0104, the method for obtaining the rotational speed ω information of the rotating shaft corresponding to the rotation angle sensor may be to obtain the rotational speed of the rotating shaft corresponding to the rotation angle sensor through a redundant sensor through speed ratio conversion. For example, for the driving end rotation angle sensor, the load end rotation angle sensor and the wheel end ABS sensor are its redundant sensors.

[0065] As shown in the above steps, the angular position sensor is determined to be abnormal by detecting the number of first pulse signals per rotation of the angular position sensor and the ratio of the angular interval to the time interval between multiple first pulse signals. If the difference between the number of first pulse signals and a preset value for the number of first pulses is greater than a preset threshold (for example, the preset threshold can be selected from 1%, 10%, 50%, 75%, etc., of the total number of pulse signals in a mechanical cycle. For example, if the total number of pulse signals in a mechanical cycle is 4000, the threshold can be set to 40, 400, 2000, 3000, etc.), or if the absolute value of the difference between the ratio of the angular interval to the time interval between multiple first pulse signals and the angular velocity of the axis where the current angular position sensor is located is greater than or equal to the preset angular velocity difference value, then the angular position sensor is determined to be abnormal.

[0066] In some other embodiments, the number of first pulse signals per set number of revolutions (more than 2 revolutions) of the angular position sensor and the ratio of the angular interval to the time interval between multiple first pulse signals can be detected to determine whether the angular position sensor is abnormal. If the absolute value of the difference between the number of first pulse signals within the set number of revolutions and the preset value of the first pulse number is greater than a preset threshold, or the absolute value of the difference between the ratio of the angular interval to the time interval between multiple first pulse signals and the angular velocity of the axis where the current angular position sensor is located is greater than or equal to the preset value of the angular velocity difference, then the angular position sensor is determined to be abnormal. Accordingly, in step S0106, it is determined whether the number of times the second signal B is received is equal to the set number of revolutions; if so, the process proceeds to step S0107; if not, the process proceeds to step S0102.

[0067] In step S02, the signals of the driving end and the load end angular position sensors are mutually verified to detect whether the engaging teeth are properly engaged. When the power transmission device transmits power and the engaging teeth are not properly engaged, the power output is stopped or the shift actuator is controlled to engage the correct engaging teeth. Figure 5 As shown in , the inspection process is as follows:

[0068] Step S0201: reading a first rotation angle signal of a driving end rotation angle position sensor to obtain a first rotation angle θ1 of a coupling tooth corresponding to the driving end;

[0069] Step S0202: Calculate and obtain a first rotational speed ω1 of the engaging tooth corresponding to the driving end;

[0070] Step S0203: reading a second rotation angle signal of the load-end rotation angle position sensor to obtain a second rotation angle θ2 of the engaging tooth corresponding to the load end;

[0071] Step S0204: Calculate and obtain the second rotational speed ω2 of the engaging tooth corresponding to the load end;

[0072] Step S0205: Compare the first rotation angle θ1 and the second rotation angle θ2 to determine whether the absolute value of the difference between the first rotation angle θ1 and the second rotation angle θ2 is less than a preset rotation angle difference value εθ; if the absolute value of the difference between the first rotation angle θ1 and the second rotation angle θ2 is greater than or equal to the preset rotation angle difference value εθ, proceed to step S0207; if the absolute value of the difference between the first rotation angle θ1 and the second rotation angle θ2 is less than the preset rotation angle difference value εθ, proceed to step S0206;

[0073] Step S0206: Compare the first speed ω1 and the second speed ω2, and determine whether the absolute value of the difference between the first speed ω1 and the second speed ω2 is less than the preset speed difference value εω; if the absolute value of the difference between the first speed ω1 and the second speed ω2 is greater than or equal to the preset speed difference value εω, proceed to step S0207; if the absolute value of the difference between the first speed ω1 and the second speed ω2 is less than the preset speed difference value εω, proceed to step S0201;

[0074] Step S0207: The engaging tooth pair is not engaged normally, and the system enters a fault mode, stops outputting power, or controls the actuator to engage the correct engaging tooth pair.

[0075] In step S03, the actuator stroke position sensor signal range and signal change rate are detected to determine whether the stroke position sensor is operating normally. Figure 6 As shown in , the following steps are included:

[0076] Step S0301: Read the current stroke position sensor signal S1;

[0077] Step S0302: Obtain the gear position S0 at the previous moment;

[0078] Step S0303: Compare whether S1 is greater than the minimum position smin of the gear travel position and less than the maximum position smax of the gear travel position; if S1 is less than or equal to the minimum position of the gear travel position or greater than or equal to the maximum position of the gear travel position, then proceed to step S0306;

[0079] If S1 is greater than the minimum position of the gear travel position and less than the maximum position of the gear travel position, then the process goes to step S0304;

[0080] Step S0304: Compare the ratio of the absolute value of the difference between S1 and S0 to the time interval to see if it is less than the preset maximum speed vmax; 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, then proceed to step S0306; if the ratio of the absolute value of the difference between S1 and S0 to the time interval is less than the preset maximum speed, then proceed to step S0305:

[0081] Step S0305: Set S0 to S1 and then re-enter step S0301.

[0082] Step S0306: Enter the stroke position sensor fault mode and perform processing.

[0083] In this embodiment 1, the stroke position sensor failure mode includes the following fault handling steps:

[0084] 1. When the shift actuator is in the process of separating the current engagement gear sleeve and the engagement gear ring, and the stroke position sensor is abnormal, the separation process is terminated, and the shift actuator motor is reversed to re-engage the current engagement gear pair;

[0085] 2. When actively adjusting the target gear pair speed difference or rotation angle difference, and the stroke position sensor is abnormal, terminating the process of actively adjusting the target gear pair speed difference or rotation angle difference;

[0086] 3. When the shift actuator is controlled to engage the engagement sleeve with the engagement ring gear, and the stroke position sensor is abnormal, the shift actuator is controlled to continue the process of engaging the engagement sleeve with the engagement ring gear in a fixed output force mode.

[0087] 4. Detect the current sensor signal value range of the shift actuator motor to determine whether the current sensor is working normally; when the shift actuator controls the engagement sleeve and the engagement ring gear to separate or engage, and both the stroke position sensor and the current sensor are abnormal, control the shift actuator to execute the engagement process of the engagement sleeve and the engagement ring gear in a fixed duty cycle mode.

[0088] In step S04, in the non-active gear switching (change) state, by detecting the gear stroke position sensor signal and comparing it with the current gear standard stroke position, if the gear is found to be abnormally disengaged, the fault model is entered: optional processing methods, 1. Control the shift motor to push the gear back to the normal position; 2. Actively disengage the neutral gear and re-call the gear engagement process.

[0089] like Figure 7 As shown in , the steps for detecting whether the transmission gear is abnormally disengaged during driving include:

[0090] Step S0401: Determine whether the system (transmission) is in the gear shifting (changing) state; if it is in the gear shifting process, end; if it is not in the gear shifting state, proceed to step S0402;

[0091] Step S0402: collecting the gear travel position signal x;

[0092] Step S0403: Obtain the current gear standard position value x0 and the allowable error εx of the current gear standard position, and then the threshold value of the current gear standard travel position is (x0-εx, x0+εx);

[0093] Step S0404: Determine whether the current travel position value x0 is within the threshold value (x0-εx, x0+εx) of the current gear standard travel position; if |x-x0|<εx, proceed to step S0401; if |x-x0|≥εx, proceed to step S0405;

[0094] Step S0405: Enter the fault handling mode to handle the fault. Optional handling methods include: 1. Control the shift motor to push the gear back to the normal position; 2. Actively disengage the neutral gear and re-call the gear engagement process.

[0095] This step S04 detects and determines whether a gear is abnormally disengaged, and takes appropriate troubleshooting measures: In the inactive gear shift state, the shift actuator's travel position sensor signal is detected and the current travel position value is compared with the threshold value for the current gear's standard travel position. If the current travel position value exceeds the threshold value for the current gear's standard travel position, the shift actuator is controlled to return the gear to its normal position or actively disengage neutral before re-engaging. This step prevents loss of power due to abnormal gear disengagement or gear clashing due to improper gear engagement, improving driving smoothness and reducing the risk of traffic accidents.

[0096] In other embodiments of the present application, the power transmission device fault diagnosis method can be a repeated detection of any one of steps S01 to S04, for example, only a cyclic detection of whether the angle position sensor in step S01 is working normally; for example, only a cyclic detection of whether the engaging tooth pair in step S02 is engaged normally; for example, only a cyclic detection of whether the stroke position sensor in step S03 is working normally; for example, only a cyclic detection of whether the current stroke position value in step S04 exceeds the threshold value of the standard stroke position of the current gear.

[0097] In some other implementation examples of the present application, a power transmission device fault diagnosis method can be a repeated detection of any two or more steps in steps S01 to S04, such as a cyclic detection of whether the angle position sensor in step S01 is working normally and whether the engaging tooth pair in step S02 is engaged normally; such as a cyclic detection of whether the stroke position sensor in step S03 is working normally and whether the current stroke position value in step S04 exceeds the threshold value of the standard stroke position of the current gear; such as a cyclic detection of steps S01 and S03; such as a cyclic detection of steps S01 and S04; such as a cyclic detection of steps S02 and S03; such as a cyclic detection of steps S02 and S04; such as a cyclic detection of steps S01, S02, and S03; such as a cyclic detection of steps S01, S03, and S04; such as a cyclic detection of steps S02, S03, and S04.

[0098] A power transmission device fault diagnosis method in this embodiment 1 can detect whether the engaging tooth pair can engage normally. When the engaging tooth pair engages abnormally, the power output is stopped to protect the transmission engaging tooth pair. It can detect whether the angle position sensor is faulty. When the angle position sensor is abnormal, it is prohibited to change the power transmission path (gear shifting is prohibited). It can detect whether the stroke position sensor is faulty and is provided with a stroke position sensor fault mode. The faults of the stroke position sensor are handled separately according to different situations. It can timely diagnose whether the engaging tooth pair, the angle position sensor or the stroke position sensor has failed. After a fault is found, control measures can be taken according to classification to protect the transmission engaging tooth pair, while allowing the vehicle to maintain the power transmission path and the engagement of the engaging tooth pair, thereby avoiding damage to the transmission or the problem that the vehicle cannot shift into gear for a long time and the power is interrupted, thereby reducing the risk of traffic accidents.

[0099] In some other embodiments of the present application, a corresponding power transmission device fault diagnosis system is also provided, such as Figure 8 As shown in, it includes a first detection module and a first judgment module connected by signals, the first detection module is used to detect the output signal of the angle position sensor; the first judgment module is used to judge whether the angle position sensor is working normally, and when the angle position sensor is working abnormally, control the shift actuator to prohibit changing the power transmission path; includes a second judgment module connected by signals with the first detection module, used to judge whether the engaging tooth pair is engaged normally, and when the engaging tooth pair is not engaged normally, control the drive motor to stop outputting power or control the shift actuator to engage the correct engaging tooth pair; includes a second detection module and a third judgment module connected by signals, the second detection module is used to detect the output signal of the shift actuator stroke position sensor; the third judgment module is used to judge whether the stroke position sensor is working normally, and when the stroke position sensor is working abnormally, send a signal to the stroke position sensor fault processing module.

[0100] The stroke position sensor fault processing module is used to terminate the separation process and control the shift mechanism motor to reverse and re-engage the current engaging gear pair when the shift actuator is in the process of separating the current engaging gear sleeve and the engaging gear ring and the stroke position sensor is abnormal; it is used to control the termination of the process of actively adjusting the target engaging gear speed difference or rotation angle difference when the target engaging gear speed difference or rotation angle difference is actively adjusted and the stroke position sensor is abnormal; it is used to control the actuator to continue the process of engaging the engaging gear sleeve and the engaging gear ring in a fixed output force mode when the shift actuator is controlled to engage the engaging gear sleeve and the engaging gear ring and the stroke position sensor is abnormal.

[0101] The stroke position sensor fault processing module also includes a third detection module and a fourth judgment module that are signal-connected. The third detection module is used to detect the signal value range of the current sensor of the shift actuator motor; the fourth judgment module is used to judge whether the current sensor is working normally, and when the shift actuator controls the engagement sleeve and the engagement ring gear to separate or engage, and when both the stroke position sensor and the current sensor are abnormal, the shift actuator is controlled to execute the engagement process of the engagement sleeve and the engagement ring gear in a fixed duty cycle mode.

[0102] In some other embodiments, the power transmission device can also be a single-gear or multi-gear power transmission device. It should be understood that a power transmission device fault diagnosis method or a power transmission device fault diagnosis system in this embodiment can also be applied to single-gear or multi-gear power transmission devices or vehicles to achieve similar functions and achieve similar technical effects.

[0103] Example 2

[0104] Figure 9 800 is described in detail. The electronic device 800 includes at least one processor 801 , at least one communication interface 803 , a memory 804 , and at least one communication bus 802 .

[0105] The communication bus 802 is used to implement connection and communication between these components. For example, when the processor 801 is running, the processor 801 communicates with the memory 804 via the communication bus 802 .

[0106] The processor 801 may be a central processing unit (CPU), a digital signal processor (DSP), or other processing unit with data processing and / or program execution capabilities, such as a field programmable gate array (FPGA). For example, the central processing unit (CPU) may be an X86 or ARM architecture. The processor may be a general-purpose processor or a dedicated processor, and may control other modules or components of a power transmission device (e.g., a transmission) to implement a power transmission device fault diagnosis method according to any of the above-described embodiments.

[0107] The electronic device 800 can interact with the outside world through a communication interface 803 (such as wifi, 3G / 4G / 5G, Bluetooth, Zigbee, RFID, CAN bus, USB, VGA, GPIB, RS232 / 485, Modbus interface, etc.), such as information transmission between the electronic device 800 and the shift actuator, the engagement ring angle position sensor and the engagement sleeve angle position sensor.

[0108] Memory 804 may include read-only memory and random access memory. Memory 804 stores machine-readable instructions executable by processor 801 and provides instructions and data to processor 801. Volatile memory may include, for example, random access memory (RAM) and / or cache memory. Non-volatile memory may include, for example, read-only memory (ROM), a hard disk, erasable programmable read-only memory (EPROM), a compact disk read-only memory (CD-ROM), a USB memory, flash memory, non-volatile random access memory (NVRAM), etc. Memory 804 may store one or more application modules, and the processor may execute one or more application modules to implement a power transmission device fault diagnosis method described in any of the above embodiments. Memory 804 may also store various applications and data, as well as data used and / or generated by the applications.

[0109] Example 3:

[0110] The present application also provides a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, a method for diagnosing a fault of a power transmission device as described in any one of the above embodiments is executed.

[0111] Specifically, the storage medium can be a general storage medium, such as a mobile disk, a hard disk, etc. When the computer program on the storage medium is run, it can execute a power transmission device fault diagnosis method described in any of the above embodiments.

[0112] In the embodiments provided in this application, it should be understood that the disclosed devices and methods can be implemented in other ways. The device embodiments described above are merely schematic. For example, the division of units is only a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some communication interface, the indirect coupling or communication connection of the device or unit can be electrical, mechanical or other forms.

[0113] The units described as separate components may or may not be physically separate, and the components described as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of these units may be selected to achieve the purpose of the solution of this embodiment according to actual needs.

[0114] In addition, each functional unit in the embodiments provided in the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0115] If the function is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for enabling a computer device (which can be a personal computer, server, or network device, etc.) to execute all or part of the steps of the various embodiments of the present application. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0116] It should be noted that similar numbers and letters represent similar items in the following figures. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures. In addition, the terms "first", "second", "third", etc. are only used to distinguish the description and are not to be understood as indicating or implying relative importance.

[0117] Finally, it should be noted that the above embodiments are only specific implementation methods of the present application, which are used to illustrate the technical solutions of the present application, rather than to limit them. The scope of protection of the present application is not limited thereto. Although the present application has been described in detail with reference to the above embodiments, those skilled in the art should understand that any person skilled in the art can modify or easily conceive of changes to the technical solutions described in the above embodiments within the technical scope disclosed in the present application, or replace some of the technical features therein with equivalents. However, these modifications, changes, or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application. They should all be included in the scope of protection of the present application. Therefore, the scope of protection of the present application should be based on the scope of protection of the claims.

Claims

1. A method for diagnosing a power transmission device fault, characterized in that: Including steps: Detect the output signal of the rotation angle position sensor and determine whether the rotation angle position sensor is working normally; if the rotation angle position sensor is working abnormally, the shift actuator is controlled to prohibit changing the power transmission path; The steps of detecting the output signal of the rotation angle position sensor and determining whether the rotation angle position sensor is working normally include: Detecting the number of first pulse signals of the rotation angle position sensor within a set number of revolutions and the time intervals between the multiple first pulse signals; If the absolute value of the difference between the number of first pulse signals within a set number of revolutions and a preset value of the number of first pulse signals is greater than a preset threshold, or the absolute value of the difference between the ratio of the angular interval to the time interval between multiple first pulse signals and the angular velocity of the shaft where the current angular position sensor is located is greater than or equal to a preset value of the angular velocity difference, then the angular position sensor is determined to be abnormal; Detect the signals of the angular position sensors at the drive end and the load end, and determine whether the engaging teeth are engaged normally; if the engaging teeth are not engaged normally, control the drive motor to stop outputting power or control the shift actuator to engage the correct engaging teeth; Detect the output signal of the shift actuator stroke position sensor and determine whether the stroke position sensor is working properly; if the stroke position sensor is working abnormally, enter the stroke position sensor fault processing mode; The stroke position sensor fault processing mode includes the following steps: When the shift actuator is in the process of separating the current engagement gear sleeve from the engagement gear ring, the separation process is terminated, and the shift actuator motor is controlled to reverse to re-engage the current engagement gear pair; When actively adjusting the target engagement tooth pair speed difference or rotational angle difference, controlling to terminate the process of actively adjusting the target engagement tooth pair speed difference or rotational angle difference; When the shift actuator is controlled to engage the engagement sleeve with the engagement ring gear, the shift actuator is controlled to continue the process of engaging the engagement sleeve with the engagement ring gear in a fixed output force mode; In the non-active gear shifting state, the signal of the gear shift actuator stroke position sensor is detected, and the current stroke position value is compared with the threshold value of the standard stroke position of the current gear; If the current travel position value exceeds the threshold of the current gear standard travel position, the shift actuator is controlled to push the gear back to the normal position or actively shift to neutral and then re-engage the gear.

2. A power transmission device fault diagnosis method according to claim 1, characterized in that: The steps of detecting signals from the driving end and the load end angular position sensors and determining whether the engaging teeth are engaged normally include: Reading a first rotation angle signal of a driving end rotation angle position sensor to obtain a first rotation angle of a meshing tooth corresponding to the driving end, and calculating a first rotation speed of the meshing tooth corresponding to the driving end; Reading a second rotation angle signal of a load-end rotation angle position sensor to obtain a second rotation angle of the engaging tooth corresponding to the load end, and calculating a second rotation speed of the engaging tooth corresponding to the load end; comparing the first rotation angle and the second rotation angle, and comparing the first rotation speed and the second rotation speed; If the absolute value of the difference between the first rotation angle and the second rotation angle is greater than or equal to a preset rotation angle difference value, or the absolute value of the difference between the first speed and the second speed is greater than or equal to a preset speed difference value, it is determined that the engaging tooth pair is not engaged normally.

3. A power transmission device fault diagnosis method according to claim 1, characterized in that: The steps of detecting the output signal of the shift actuator stroke position sensor and determining whether the stroke position sensor is working normally include: Read the current gear travel position sensor signal S1, obtain the previous gear position S0, and compare whether S1 is greater than the minimum gear travel position and less than the maximum gear travel position; if S1 is less than or equal to the minimum gear travel position or greater than or equal to the maximum gear travel position, enter the travel position sensor fault mode; If S1 is greater than the minimum position of the gear travel position and less than the maximum position of the gear travel position, then compare whether the ratio of the absolute value of the difference between S1 and S0 and the time interval is less than the preset maximum speed; 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, the travel position sensor fault mode is entered; If the ratio of the absolute value of the difference between S1 and S0 to the time interval is less than the preset maximum speed, S0 is set to S1, and the above steps of detecting the shift actuator stroke position sensor signal and determining whether the stroke position sensor is working normally are executed again.

4. A power transmission device fault diagnosis method according to claim 1, characterized in that: The stroke position sensor fault processing mode further includes the following steps: Detect the current sensor signal value range of the shift actuator motor to determine whether the current sensor is working normally; when the shift actuator controls the engagement sleeve and the engagement ring gear to separate or engage, and both the stroke position sensor and the current sensor are abnormal, control the shift actuator to execute the engagement process of the engagement sleeve and the engagement ring gear in a fixed duty cycle mode.

5. A power transmission device fault diagnosis system, characterized in that: include: The first detection module and the first judgment module are signal-connected, The first detection module is used to detect the output signal of the rotation angle position sensor; detect the number of first pulse signals of the rotation angle position sensor within a set number of revolutions and the time interval between multiple first pulse signals; The first judgment module is used to judge whether the rotation angle position sensor is working normally, and when the rotation angle position sensor is working abnormally, control the shift actuator to prohibit changing the power transmission path; If the absolute value of the difference between the number of first pulse signals within a set number of revolutions and a preset value of the number of first pulse signals is greater than a preset threshold, or the absolute value of the difference between the ratio of the angular interval to the time interval between multiple first pulse signals and the angular velocity of the shaft where the current angular position sensor is located is greater than or equal to a preset value of the angular velocity difference, then the angular position sensor is determined to be abnormal; The invention also includes a second judgment module connected to the first detection module by signal, configured to judge whether the engaging tooth pair is normally engaged, and when the engaging tooth pair is not normally engaged, control the drive motor to stop outputting power or control the shift actuator to engage the correct engaging tooth pair; It also includes a second detection module and a third judgment module connected by signals, The second detection module is used to detect the output signal of the shift actuator stroke position sensor; The third judgment module is used to judge whether the travel position sensor is working normally, and when the travel position sensor is working abnormally, send a signal to the travel position sensor fault processing module; The stroke position sensor fault processing module, When the shift actuator is in the process of separating the current engagement gear sleeve from the engagement gear ring, and the stroke position sensor is abnormal, the separation process is terminated and the shift actuator motor is controlled to reverse to re-engage the current engagement gear pair; When actively adjusting the target gear pair speed difference or rotation angle difference, and the stroke position sensor is abnormal, controlling the termination of the process of actively adjusting the target gear pair speed difference or rotation angle difference; for controlling the shift actuator to engage the engagement sleeve with the engagement ring gear, and when the stroke position sensor is abnormal, controlling the shift actuator to continue the process of engaging the engagement sleeve with the engagement ring gear in a fixed output force mode; In the non-active gear shifting state, the signal of the gear shift actuator stroke position sensor is detected, and the current stroke position value is compared with the threshold value of the standard stroke position of the current gear; If the current travel position value exceeds the threshold of the current gear standard travel position, the shift actuator is controlled to push the gear back to the normal position or actively shift to neutral and then re-engage the gear.

6. A power transmission device fault diagnosis system according to claim 5, characterized in that: The stroke position sensor fault processing module further includes a third detection module and a fourth judgment module connected by signals. The third detection module is used to detect the signal value range of the current sensor of the gear shift actuator motor; The fourth judgment module is used to determine whether the current sensor is working normally, and when the shift actuator controls the engagement sleeve and the engagement ring gear to separate or engage, and when the stroke position sensor and the current sensor are both abnormal, control the shift actuator to execute the engagement process of the engagement sleeve and the engagement ring gear in a fixed duty cycle mode.

7. An electronic device, characterized in that: include: A processor, a memory and a bus, wherein the memory stores machine-readable instructions executable by the processor. When the electronic device is running, the processor and the memory communicate via the bus. When the machine-readable instructions are executed by the processor, a power transmission device fault diagnosis method as described in any one of claims 1 to 4 is executed.

8. A computer-readable storage medium, characterized in that The computer-readable storage medium stores a computer program, which, when executed by a processor, executes a power transmission device fault diagnosis method according to any one of claims 1 to 4.

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