A method for detecting faults of electric bicycles

Abstract

The present invention discloses a method for detecting faults of electric bicycles, and relates to the technical field of electric bicycle detection, and comprises the following steps: step one, establishing a triangular linkage system among a driving input module, a power output module and a driving module; step two: when the driving input module, the power output module and the driving module are working, three corresponding sets of judgment logic are formed; step three: when a set of modules is judged to be faulty in a single judgment logic, the remaining judgment logics are started, a self-checking process is performed, and the self-checking results are obtained; step four: the self-checking results are analyzed to obtain a fault analysis. The present invention realizes a comprehensive detection of the running state of the electric bicycle through the triangular linkage system of the driving input module, the power output module and the driving module and multiple sets of judgment logics, and the interaction and feedback mechanism between the modules ensures the accuracy of the detection, and through the data comparison between the modules, it can be more accurately determined whether there is a fault.

Description

Technical Field

[0001] The invention relates to the technical field of electric bicycle detection, in particular to an electric bicycle fault detection method. Background Art

[0002] With the popularity of electric bicycles around the world, the safety, reliability and intelligent management of electric bicycles have gradually become the focus of users. At present, electric bicycles are mainly driven by batteries and motors. While providing convenient travel, they also put forward higher requirements for fault detection and maintenance of electric bicycles. Especially during the driving process of electric bicycles, real-time status monitoring of the motor drive system, braking system and control system is very important. The coordination between these systems is directly related to the driving safety and stability of the vehicle.

[0003] After searching, a Chinese patent (publication number CN112379208A) discloses a fault detection method for an electric bicycle, which includes: obtaining fault self-detection information of a target electrical component, wherein the target electrical component is an electrical component in the electric bicycle; and obtaining fault information of the electric bicycle based on the fault self-detection information.

[0004] In the prior art, most electric bicycle fault detection methods are based on the status monitoring of a single module, lacking systematic multi-module joint detection, and lack of interrelationship between the various parts of the electric bicycle. As a result, when an abnormality occurs in a certain module, it is difficult to accurately locate the source of the fault, and it may even cause a misjudgment. Therefore, the present invention proposes an electric bicycle fault detection method. Summary of the invention

[0005] The purpose of the present invention is to provide a method for detecting faults of an electric bicycle to solve the problems mentioned in the above background technology.

[0006] The present invention can be implemented by the following technical solution: a method for detecting faults of an electric bicycle, the method comprising the following steps:

[0007] Step 1: Establish a triangular linkage system between the driving input module, the power output module and the driving module;

[0008] That is, the driving input module outputs driving instructions to the power output module and the driving module, and receives working data of the power output module and output data of the driving module;

[0009] The driving instructions include a one-way instruction that directly acts on the power output module and a two-way instruction that acts on the power output module and the driving module at the same time;

[0010] The power output module outputs power to the driving module based on the driving instruction, and simultaneously outputs working data to the driving module and the driving input module;

[0011] The driving module generates corresponding output data based on the power output by the power output module, and the driving module transmits the output data to the driving input module and the power output module;

[0012] Step 2: When the driving input module, power output module and driving module are working, three sets of judgment logic are formed, including:

[0013] Driving input module judgment logic: By collecting and comparing the working data fed back by the power output module and the output data output by the driving module, it is judged whether the power output module and the driving module are working according to the corresponding driving instructions, which includes the following judgment results:

[0014] A1. The working data fed back by the power output module is normal, the output data output by the driving module is normal, and the electric bicycle has no faults;

[0015] A2. If the working data fed back by the power output module is normal, and the difference between the output data output by the driving module and the preset output model exceeds the preset threshold range, then the part of the electric bicycle corresponding to the driving module is faulty;

[0016] A3. The working data fed back by the power output module does not match the corresponding driving instruction. The output data output by the driving module matches the output data and power actually output by the power output module. Then the part of the electric bicycle corresponding to the power output module fails.

[0017] Power output module judgment logic: When the driving module works based on the driving command and outputs driving data, the power output module identifies and judges the driving command and driving data issued by the driving input module, including the following judgment results:

[0018] B1. When the power output module fails to recognize the bidirectional instruction, or the bidirectional instruction received by the power output module does not match the driving data transmitted by the driving module based on the bidirectional instruction, that is, the power output module fails to recognize the braking operation in the bidirectional instruction, or the braking operation data does not match the braking operation in the bidirectional instruction received by the driving module, then the part of the electric bicycle matched by the driving input module fails;

[0019] B2. When the power output module receives the unidirectional command and the bidirectional command from the driving input module at the same time and receives the driving data generated by the driving module based on the corresponding bidirectional command, the power output module compares the behavior logic of the unidirectional command and the bidirectional command and calculates the value of the unidirectional command by the formula Make a judgment, when F>1, it is determined that there is a fault in the driving input module;

[0020] in, To measure the fluctuation range of one-way instructions With preset fluctuation threshold If the ratio Greater than , then this item is greater than 1, indicating that the one-way command has abnormal fluctuations during braking;

[0021] To measure the signal average of one-way instructions With preset range threshold If the ratio Exceed , then this item is greater than 1, indicating that the signal of the one-way instruction during the two-way instruction is continuously at a high level, which is an operation behavior that does not meet expectations;

[0022] Formula F is obtained by taking and If F>1, it is judged that the driving input module is faulty. and If any item exceeds the preset range, a judgment can be made;

[0023] B3, the power output module receives the driving instruction of the driving input module, and receives the output data of the driving module and the corresponding driving instruction. When the driving instruction received by the power output module matches the driving instruction sent by the driving module, but the difference between the output data and the preset output data exceeds a preset threshold range, it is determined that the part of the electric bicycle corresponding to the driving module is faulty;

[0024] Driving module judgment logic: By comparing the driving instructions and working data sent by the power output module with the driving instructions sent by the driving input module, it is judged whether the power output module and the driving input module are working normally, including the following judgment results:

[0025] C1. If the power and working data output by the power output module match the driving instruction sent by the driving input module, the driving input module and the power output module are normal and the electric bicycle has no faults;

[0026] C2, the driving module receives the driving instruction sent by the driving input module, and receives the working data of the power output module and the corresponding driving instruction. When the driving instruction received by the driving module is the same as the driving instruction sent by the power output module, but the difference between the working data and the preset value exceeds a preset threshold range, it is determined that the part of the electric bicycle corresponding to the power output module is faulty;

[0027] C3, the driving module receives the working data of the power output module and the corresponding driving instruction, and receives the driving instruction issued by the driving input module, and judges the consistency of the working data of the power output module and the corresponding driving instruction. After judging that the consistency is the same, the driving instruction issued by the driving input module is compared with the driving instruction received by the driving module. When the two do not match, it is judged that the part of the electric bicycle corresponding to the driving input module is faulty;

[0028] Step 3: When a group of modules is judged to be faulty in a single judgment logic, the remaining judgment logics are started to perform a self-checking process and obtain the self-checking results;

[0029] Step 4: Analyze the self-test results to obtain fault analysis.

[0030] A further technical improvement of the present invention is that: in B2, if Exceeding the volatility threshold or Exceeding range threshold , then the corresponding F ratio exceeds 1, and it is determined that the driving input module is faulty;

[0031] in, is the fluctuation threshold, which represents the maximum fluctuation range allowed for a one-way instruction;

[0032] is the range threshold, indicating the maximum allowed average value of one-way instructions;

[0033] ,in , indicating that the one-way instruction is in the time window The fluctuation range within

[0034] For the time window Internal, one-way instruction The maximum value is the peak value of one-way instructions in this time period;

[0035] For the time window Internal, one-way instruction The minimum value is the lowest value of the one-way instruction within the time period;

[0036] Indicates time In the interval Inside;

[0037] T is when a bidirectional instruction is executed, and the data during the period runs through the window;

[0038] ,in is the integral, which means the total amount of one-way instructions is integrated within the window T, which is divided by T to represent the signal average value of the one-way instructions within the time window;

[0039] A further technical improvement of the present invention is that the self-checking process comprises the following steps:

[0040] S1. Mark the module judged as faulty in step 3 as the problem module, the module that performs the judgment as the judgment module, and the remaining modules as the retest modules;

[0041] S2. After the judgment module determines that the problem module is found, the retest module is started to detect whether the judgment module is working properly and retest the problem module at the same time;

[0042] S3, start the problem module and test the remaining two groups of modules;

[0043] S4. Based on the detection result of the problem module, determine the problem module.

[0044] A further technical improvement of the present invention is that the analysis results in step 4 include:

[0045] Z1. If the retest module detects that the judgment module is normal and the problem module detects that the other two groups of modules are normal, the monitoring priority of the problem module will be reduced until the occasional, noise interference or misjudgment caused by signal fluctuation is eliminated;

[0046] Z2, the retest module and the problem module detection and judgment module are abnormal, and the problem module detection and retest module is normal;

[0047] Convert the judgment module to a new problem module and re-execute the self-checking process;

[0048] Z3. If the retest module detects that the judgment module is normal and the problem module detects that the other two groups of modules are abnormal, the monitoring priority of the problem module will be increased and an alarm will be issued.

[0049] Compared with the prior art, the present invention has the following beneficial effects:

[0050] The present invention realizes comprehensive detection of the running state of the electric bicycle through a triangular linkage system of a driving input module, a power output module and a driving module and multiple sets of judgment logics, and the interaction and feedback mechanism between the modules ensures the accuracy of the detection. By comparing the data between the modules, it can be more accurately determined whether there is a fault, reducing the probability of misjudgment.

[0051] And by setting up a self-check process, the system can automatically check the working status of other modules when a module failure is detected, avoiding the failure of a single module affecting the judgment of the entire system. At the same time, through multiple verifications of the judgment module, retest module and problem module, it can eliminate erroneous detections caused by occasional misjudgments, signal interference or data fluctuations, thereby improving the system's fault tolerance. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] In order to facilitate understanding by those skilled in the art, the present invention is further described below with reference to the accompanying drawings.

[0053] Figure 1 It is a flow chart of the present invention. DETAILED DESCRIPTION

[0054] In order to further explain the technical means and effects adopted by the present invention to achieve the predetermined invention purpose, the specific implementation methods, structures, features and effects of the present invention are described in detail below in conjunction with the accompanying drawings and preferred embodiments.

[0055] See also Figure 1 As shown, the present invention provides an electric bicycle fault detection method, which comprises the following steps:

[0056] The detection method includes the following steps:

[0057] Step 1: Establish a triangular linkage system between the driving input module, the power output module and the driving module;

[0058] That is, the driving input module outputs driving instructions to the power output module and the driving module, and receives working data of the power output module and output data of the driving module;

[0059] The driving instructions include a one-way instruction that directly acts on the power output module and a two-way instruction that acts on the power output module and the driving module at the same time;

[0060] In this embodiment, the one-way instruction of the driving input module includes an acceleration operation acting on the power output module, and the two-way instruction is a braking operation acting on the power output module and the driving module, wherein the priority of the braking operation is greater than the priority of the acceleration operation;

[0061] The driving input module is the operating part of the electric bicycle, including the handlebar unit and the brake unit;

[0062] After the user turns the handle unit, it sends an acceleration operation instruction to the power output module;

[0063] The brake unit is connected to the travel module through a structure. After the user operates the brake unit, the travel module is directly braked through the relevant structure.

[0064] The power output module outputs power to the driving module based on the driving instruction, and simultaneously outputs working data to the driving module and the driving input module;

[0065] The power output module includes a drive motor unit, which outputs power after receiving instructions, and its working data includes current, voltage, power, temperature, speed and torque;

[0066] The driving module generates corresponding output data based on the power output by the power output module, and the driving module transmits the output data to the driving input module and the power output module;

[0067] The driving module includes the power part of the electric bicycle, and its output data during operation includes vehicle speed, wheel speed, acceleration, tilt angle and braking information;

[0068] The braking information includes braking force and braking times;

[0069] Step 2: When the driving input module, power output module and driving module are working, three sets of judgment logic are formed, including:

[0070] Driving input module judgment logic: By collecting and comparing the working data fed back by the power output module and the output data output by the driving module, it is judged whether the power output module and the driving module are working according to the corresponding driving instructions, which includes the following judgment results:

[0071] A1. The working data fed back by the power output module is normal, the output data output by the driving module is normal, and the electric bicycle has no faults;

[0072] A2. If the working data fed back by the power output module is normal, and the difference between the output data output by the driving module and the preset output model exceeds the preset threshold range, then the part of the electric bicycle corresponding to the driving module is faulty;

[0073] By formula Get the judgment value , and thus make judgments;

[0074] is the judgment value, which is used to judge whether the calculated value is normal;

[0075] in, It is the working data fed back by the power output module, indicating the real-time monitoring value of the power working data of the electric bicycle;

[0076] The output data output by the driving module represents the real-time output data of the electric bicycle during driving;

[0077] In this embodiment, and The data is collected through sensors at corresponding parts of the electric bicycle;

[0078] x is the set error threshold, which is determined through experiments and analysis during the debugging phase and is used to define the normal situation. and The allowable error range;

[0079] when ≤1, the working data fed back by the power output module and the driving module are consistent, and the electric bicycle is judged to be fault-free;

[0080] when If it is greater than 1, the difference between the feedback data of the driving module and the preset output model of the power output module exceeds the threshold, and it is determined that the driving module is faulty;

[0081] The output model is established by collecting the output data of electric bicycles in the corresponding area through a machine learning algorithm;

[0082] A3. The working data fed back by the power output module does not match the corresponding driving instruction. The output data output by the driving module matches the output data and power actually output by the power output module. Then the part of the electric bicycle corresponding to the power output module fails.

[0083] Power output module judgment logic: When the driving module works based on the driving command and outputs driving data, the power output module identifies and judges the driving command and driving data issued by the driving input module, including the following judgment results:

[0084] B1. When the power output module fails to recognize the bidirectional instruction, or the bidirectional instruction received by the power output module does not match the driving data transmitted by the driving module based on the bidirectional instruction, that is, the power output module fails to recognize the braking operation in the bidirectional instruction, or the braking operation data does not match the braking operation in the bidirectional instruction received by the driving module, then the part of the electric bicycle matched by the driving input module fails;

[0085] B2. When the power output module receives the unidirectional command and the bidirectional command from the driving input module at the same time and receives the driving data generated by the driving module based on the corresponding bidirectional command, the power output module compares the behavior logic of the unidirectional command and the bidirectional command and calculates the value of the unidirectional command by the formula Make judgments;

[0086] in, To measure the fluctuation range of one-way instructions With preset fluctuation threshold If the ratio Greater than , then this item is greater than 1, indicating that the one-way command has abnormal fluctuations during braking;

[0087] To measure the signal average of one-way instructions With preset range threshold If the ratio Exceed , then this item is greater than 1, indicating that the signal of the one-way instruction during the two-way instruction is continuously at a high level, which is an operation behavior that does not meet expectations;

[0088] Formula F is obtained by taking and If F>1, it is judged that the driving input module is faulty. and If any item exceeds the preset range, a judgment can be made;

[0089] In B2, if Exceeding the volatility threshold or Exceeding range threshold , then the corresponding ratio exceeds 1, indicating that when the bidirectional instruction, that is, the braking operation is executed, the fluctuation amplitude of the unidirectional instruction, that is, the operation amplitude of the acceleration operation exceeds the set threshold, or when the unidirectional instruction is continuously output within the time window of the braking operation execution, it is determined that the driving input module is faulty;

[0090] in, is the fluctuation threshold, which represents the maximum fluctuation range allowed for the acceleration operation;

[0091] is the range threshold, indicating the maximum permissible average value for acceleration operation;

[0092] ,in , indicating that the acceleration operation is in the time window The fluctuation range within

[0093] For the time window Internal, accelerated operation The maximum value is the peak value of the acceleration operation during this time period;

[0094] For the time window Internal, accelerated operation The minimum value is the lowest value of the acceleration operation during this time period;

[0095] Indicates time In the interval Inside;

[0096] T is when a bidirectional instruction is executed, and the data during the period runs through the window;

[0097] ,in is the integral, which means the total amount of the acceleration signal is integrated within the window T, and is divided by T to represent the signal average value of the acceleration signal within the time window;

[0098] In this embodiment, the braking window time T=1.5s, is 2, is 3;

[0099] And within the time window T=1.5s, the fluctuation amplitude of the acceleration operation is detected =3, average value of accelerated operation =2.5;

[0100] but , because the value of F is 1.5 and greater than 1, the driving input module is judged to be faulty;

[0101] B3, the power output module receives the driving instruction of the driving input module, and receives the output data of the driving module and the corresponding driving instruction. When the driving instruction received by the power output module matches the driving instruction sent by the driving module, but the difference between the output data and the preset output data exceeds a preset threshold range, it is determined that the part of the electric bicycle corresponding to the driving module is faulty;

[0102] Driving module judgment logic: By comparing the driving instructions and working data sent by the power output module with the driving instructions sent by the driving input module, it is judged whether the power output module and the driving input module are working normally, including the following judgment results:

[0103] C1. If the power and working data output by the power output module match the driving instruction sent by the driving input module, the driving input module and the power output module are normal and the electric bicycle has no faults;

[0104] C2, the driving module receives the driving instruction sent by the driving input module, and receives the working data of the power output module and the corresponding driving instruction. When the driving instruction received by the driving module is the same as the driving instruction sent by the power output module, but the difference between the working data and the preset value exceeds a preset threshold range, it is determined that the part of the electric bicycle corresponding to the power output module is faulty;

[0105] C3, the driving module receives the working data of the power output module and the corresponding driving instruction, and receives the driving instruction issued by the driving input module, and judges the consistency of the working data of the power output module and the corresponding driving instruction, that is, whether the power output module works normally based on the driving instruction it receives;

[0106] After judging that the consistency is the same, that is, the power output module works normally based on the driving instruction it receives, the driving instruction issued by the driving input module is compared with the driving instruction received by the driving module. When the two do not match, it is judged that the part of the electric bicycle corresponding to the driving input module is faulty;

[0107] Step 3: When a group of modules is judged to be faulty in a single judgment logic, the remaining judgment logics are started to perform a self-checking process and obtain the self-checking results;

[0108] The self-inspection process includes the following steps:

[0109] S1. Mark the module judged as faulty in step 3 as a problem module. In this embodiment, the driving input module is marked as the problem module, the power output module is the judgment module, and the driving module is marked as the retest module;

[0110] S2. After the judgment module determines that the problem module is found, the retest module is started to detect whether the judgment module is working properly and retest the problem module at the same time;

[0111] The retest formula is: ;

[0112] Among them, R is the error ratio of the retest module, To provide data feedback for the retest module, Feedback data for judging module;

[0113] is the error threshold of the retest module;

[0114] If R≤1, the module is considered normal;

[0115] R>1, the judgment module may be faulty, and the interaction between the retest module and the judgment module should be further checked;

[0116] S3, start the problem module and test the remaining two groups of modules;

[0117] S4, judging the problem module based on the detection result of the problem module;

[0118] Step 4: Analyze the self-test results to obtain fault analysis;

[0119] The analysis results in step 4 include:

[0120] Z1. If the retest module detects that the judgment module is normal and the problem module detects that the other two groups of modules are normal, the monitoring priority of the problem module will be reduced until the occasional, noise interference or misjudgment caused by signal fluctuation is eliminated;

[0121] Z2, the retest module and the problem module detection and judgment module are abnormal, and the problem module detection and retest module is normal;

[0122] Convert the judgment module to a new problem module and re-execute the self-checking process;

[0123] Z3. If the retest module detects that the judgment module is normal and the problem module detects that the other two groups of modules are abnormal, the monitoring priority of the problem module is increased and an alarm is issued;

[0124] Dynamic adjustment of monitoring priority through ;

[0125] is the current priority, is the initial priority, is the adjustment factor, is the frequency of failure, is the total number of tests;

[0126] when When the set threshold is exceeded, the monitoring frequency is increased to enhance the system's early warning capability.

[0127] The above description is only a preferred embodiment of the present invention and does not limit the present invention in any form. Although the present invention has been disclosed as a preferred embodiment as above, it is not used to limit the present invention. Any technical personnel in this field can make some changes or modify the technical contents disclosed above into equivalent embodiments without departing from the scope of the technical solution of the present invention. However, any simple modification, equivalent change and modification made to the above embodiments according to the technical essence of the present invention without departing from the content of the technical solution of the present invention still fall within the scope of the technical solution of the present invention.

Claims

1. A method for detecting faults of an electric bicycle, characterized in that: The detection method comprises the following steps: Step 1: Establish a triangular linkage system between the driving input module, the power output module and the driving module; The delta linkage system includes: The driving input module outputs driving instructions to the power output module and the driving module, and receives working data of the power output module and output data of the driving module; The power output module outputs power to the driving module based on the driving instruction, and simultaneously outputs working data to the driving module and the driving input module; The driving instructions include a one-way instruction that directly acts on the power output module and a two-way instruction that acts on the power output module and the driving module at the same time; The driving module generates corresponding output data based on the power output by the power output module, and the driving module transmits the output data to the driving input module and the power output module; Step 2: When the driving input module, the power output module and the driving module are working, three corresponding judgment logics are formed; The three sets of judgment logic include: Driving input module judgment logic: by collecting and comparing the working data fed back by the power output module and the output data output by the driving module, it is judged whether the power output module and the driving module are working according to the corresponding driving instructions; Power output module judgment logic: When the driving module works based on the driving instruction and outputs the driving data, the power output module identifies and judges the driving instruction and driving data issued by the driving input module; Driving module judgment logic: by comparing the driving instructions and working data sent by the power output module with the driving instructions sent by the driving input module, it is judged whether the power output module and the driving input module are working normally; Step 3: When a group of modules is judged to be faulty in a single judgment logic, the remaining judgment logics are started to perform a self-checking process and obtain the self-checking results; Step 4: Analyze the self-test results to obtain fault analysis.

2. The electric bicycle fault detection method according to claim 1, characterized in that: The driving input module judgment logic includes the following judgment results: A1. The working data fed back by the power output module is normal, the output data output by the driving module is normal, and the electric bicycle has no faults; A2. If the working data fed back by the power output module is normal, and the difference between the output data output by the driving module and the preset output model exceeds the preset threshold range, then the part of the electric bicycle corresponding to the driving module is faulty; A3. If the working data fed back by the power output module does not match the corresponding driving instruction, and the output data output by the driving module matches the output data and power actually output by the power output module, then the part of the electric bicycle corresponding to the power output module fails.

3. The electric bicycle fault detection method according to claim 2, characterized in that: The power output module judgment logic includes the following judgment results: B1. When the power output module fails to recognize the bidirectional instruction, or the bidirectional instruction received by the power output module does not match the driving data transmitted by the driving module based on the bidirectional instruction, the part of the electric bicycle matched by the driving input module fails; B2. When the power output module receives the unidirectional command and the bidirectional command from the driving input module at the same time and receives the driving data generated by the driving module based on the corresponding bidirectional command, the power output module compares the behavior logic of the unidirectional command and the bidirectional command and calculates the value of the unidirectional command by the formula Make judgments; To measure the fluctuation range of one-way instructions With preset fluctuation threshold If the ratio Greater than , then this item is greater than 1; To measure the signal average of one-way instructions With preset range threshold If the ratio Exceed , then this item is greater than 1; F by taking and If F>1, it is determined that the driving input module is faulty; B3. The power output module receives the driving instructions from the driving input module, and receives the output data of the driving module and its corresponding driving instructions. When the driving instructions received by the power output module match the driving instructions sent by the driving module, but the difference between the output data and the preset output data exceeds a preset threshold range, it is determined that the part of the electric bicycle corresponding to the driving module is faulty.

4. The electric bicycle fault detection method according to claim 2, characterized in that: The driving module judgment logic includes the following judgment results: C1. If the power and working data output by the power output module match the driving instruction sent by the driving input module, the driving input module and the power output module are normal and the electric bicycle has no faults; C2, the driving module receives the driving instruction sent by the driving input module, and receives the working data of the power output module and the corresponding driving instruction. When the driving instruction received by the driving module is the same as the driving instruction sent by the power output module, but the difference between the working data and the preset value exceeds a preset threshold range, it is determined that the part of the electric bicycle corresponding to the power output module is faulty; C3. The driving module receives the working data of the power output module and its corresponding driving instructions, and receives the driving instructions issued by the driving input module, and judges the consistency of the working data of the power output module and its corresponding driving instructions. After judging that the consistency is the same, the driving instructions issued by the driving input module are compared with the driving instructions received by the driving module. When the two do not match, it is judged that the part of the electric bicycle corresponding to the driving input module is faulty.

5. The electric bicycle fault detection method according to claim 1, characterized in that: The self-inspection process includes the following steps: S1. Mark the module judged as faulty in step 3 as the problem module, the module that performs the judgment as the judgment module, and the remaining modules as the retest modules; S2. After the judgment module determines that the problem module is found, the retest module is started to detect whether the judgment module is working properly and retest the problem module at the same time; S3, start the problem module and test the remaining two groups of modules; S4. Based on the detection result of the problem module, determine the problem module.

6. The electric bicycle fault detection method according to claim 1, characterized in that: The analysis results in step 4 include: Z1. If the retest module detects that the judgment module is normal and the problem module detects that the other two groups of modules are normal, then the monitoring priority of the problem module is lowered; Z2, the retest module and the problem module detection and judgment module are abnormal, and the problem module detection and retest module is normal; Convert the judgment module to a new problem module and re-execute the self-checking process; Z3. If the retest module detects that the judgment module is normal and the problem module detects that the other two groups of modules are abnormal, the monitoring priority of the problem module will be increased and an alarm will be issued.

7. The electric bicycle fault detection method according to claim 3, characterized in that: In B2, if Exceeding the volatility threshold or Exceeding range threshold , then the corresponding F ratio exceeds 1, and it is determined that the driving input module is faulty; in, is the fluctuation threshold, which represents the maximum fluctuation range allowed for a one-way instruction; is the range threshold, indicating the maximum allowed average value of one-way instructions; ,in , indicating that the one-way instruction is in the time window The fluctuation range within For the time window Internal, one-way instruction The maximum value of For the time window Internal, one-way instruction The minimum value of Indicates time In the interval Inside; T is when a bidirectional instruction is executed, and the data during the period runs through the window; ,in is the integration, which means the total amount of one-way instructions is integrated within the window T. It is divided by T to represent the signal average value of the one-way instructions within the time window.

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