Method and device for detecting a defective drive component of a vehicle

Abstract

A device for detecting impairment of a drive component of a vehicle is described, wherein the vehicle comprises at least one electric drive motor. The device is configured to determine vibration data relating to the vibration of a first drive component and, based on this vibration data, to determine a compensation torque to reduce the vibration of the first drive component. The device is further configured to cause the drive motor to deliver a total torque, which includes a driving torque required for the operation of the vehicle and is superimposed with the compensation torque. Furthermore, the device is configured to detect impairment of a second drive component of the vehicle based on the vibration data and / or on the basis of the determined compensation torque.

Description

[0001] The invention relates to a method and a corresponding device for the efficient, reliable and early detection of a defective component of the drive of a vehicle.

[0002] An at least partially electrically powered vehicle has an electric motor configured to drive and / or decelerate the vehicle. The electric motor is part of the vehicle's drive system, e.g., together with a transmission and / or a drive shaft.

[0003] During vehicle operation, vibrations may occur in one or more components of the vehicle's drive system, particularly due to excitations from the road surface the vehicle is traveling on, which may be perceived as unpleasant by the vehicle's user. Furthermore, a component of the vehicle's drive system may be impaired during vehicle operation.

[0004] This document addresses the technical task of efficiently and reliably detecting a deterioration of a component of the drive system of an at least partially electrically powered vehicle.

[0005] The problem is solved by each of the independent claims. Advantageous embodiments are described, among other things, in the dependent claims. It should be noted that additional features of a patent claim dependent on an independent patent claim can form a separate invention, independent of the combination of all features of the independent patent claim, without the features of the independent patent claim or only in combination with a subset of the features of the independent patent claim, which invention can be made the subject of an independent claim, a divisional application, or a subsequent application. This applies equally to technical teachings described in the description, which can form an invention independent of the features of the independent patent claims.

[0006] According to one aspect, a device for detecting a deterioration of a drive component of a (motor) vehicle is described. The device can further be configured to reduce a vibration of a drive component of the (motor) vehicle. The vibration of the drive component can be excited by the operation of the drive, in particular by the operation of the drive engine, of the vehicle. In particular, the vibration of the drive component can be excited by a moving component (for example, by the moving drive component itself).Exemplary (first and / or second) drive components of the vehicle's drive are: an (electric) drive motor; an axle carrier for supporting the drive motor; a wheel carrier for a wheel coupled to the drive motor; a transmission coupled to the drive motor; a wheel axle driven by the drive motor; and / or a bearing for supporting the drive motor, the wheel carrier and / or the wheel axle.

[0007] The vehicle comprises at least one electric drive motor. The drive motor can optionally be mounted directly on the body of the vehicle. Alternatively, the drive motor can be mounted on an axle carrier, wherein the axle carrier is mounted on the body of the vehicle. Alternatively, the drive motor can be mounted on a wheel carrier of a wheel coupled to the drive motor, wherein the wheel carrier is typically mounted on the body of the vehicle. In particular, the wheel carrier can be mounted to the body of the vehicle via the wheel suspension and the axle carrier. The mechanical coupling between the drive motor and the wheel can enable the transmission of torque from the drive motor to the wheel (and / or in the reverse direction). The drive motor can be arranged in the vehicle such that the axis of the drive motor runs along the transverse axis of the vehicle (e.g.between a right and a left wheel of the vehicle). The transverse axis of the vehicle is typically perpendicular to the longitudinal axis of the vehicle and perpendicular to the vertical axis of the vehicle.

[0008] The device is configured to determine vibration data relating to the vibration of a first drive component. The vibration data may indicate the amplitude and / or the frequency of the vibration of the drive component. The vibration data may comprise a temporal sequence of amplitude values ​​of the vibration of the first drive component (e.g., 50 or more, or 100 or more amplitude values, or 500 or more amplitude values) (e.g., at least one amplitude value per 1 ms). The amplitude values ​​may, for example, be acquired at a specific sampling frequency. The sampling frequency may be 4 kHz or more, in particular 8 kHz or more.

[0009] The vibration data can be used to specify the phase position of the vibration of the first drive component. The phase position can be specified relative to a reference, e.g., relative to the position of the rotor of the electric drive motor.

[0010] The oscillation of the (first) drive component can have a fundamental order and one or more higher orders. The fundamental order can correspond to the rotational speed of the rotor of the electric drive motor.

[0011] The vibration data can be recorded using one or more sensors (of the vehicle's drive system). An example sensor is an acceleration sensor, which is arranged, for example, on the drive motor, on the axle carrier for supporting the drive motor, on the vehicle body, and / or on the wheel carrier for the wheel coupled to the drive motor. The acceleration sensor can, in particular, be arranged (directly) on the first drive component and / or (directly) on the drive motor.

[0012] The device is further configured to determine a compensation torque for reducing the vibration of the first drive component based on the vibration data. In particular, one or more parameters of the compensation torque can be determined based on the vibration data. The one or more parameters of the compensation torque can include the amplitude and / or the frequency (or the period) of the compensation torque. The compensation torque can include a temporal sequence of amplitude values ​​(e.g., 50 or more, or 100 or more, or 500 or more amplitude values) of the compensation torque (e.g., at least one amplitude value per 1 ms). The amplitude values ​​can be specified, for example, with a specific sampling frequency. The sampling frequency can be 4 kHz or more, in particular 8 kHz or more.

[0013] Furthermore, the device is configured to cause the drive motor to produce a total torque, wherein the total torque comprises the driving torque to be produced for driving the vehicle, which is superimposed with the compensation torque. The total torque produced by the drive motor can in particular correspond to the sum or superposition of the driving torque and the compensation torque. In this case, the compensation torque can cause a relatively high-frequency oscillation of the driving torque. In particular, the compensation torque can have a temporal average value of zero and can be designed to oscillate around the zero value at a specific frequency. Typically, the compensation torque comprises a plurality of different frequencies or a plurality of frequency components for a corresponding plurality of different frequencies.The compensation torque may, in particular, have one or more (higher) orders (e.g., at least the first order) (relative to the basic order generated by the electric drive motor). The one or more orders may be synchronized with respect to the rotational movement of the rotor of the electric drive motor.

[0014] The driving torque can be specified by the driver via a control element, in particular via an accelerator pedal, and / or by a driving function for automated longitudinal guidance of the vehicle. Furthermore, the driving torque can include a drive torque for propelling the vehicle and / or a recuperation torque for decelerating the vehicle.

[0015] A device is thus described which is designed to superimpose a compensation torque on the driving torque of the one or more electric drive motors of the vehicle, which is generated for driving operation (for acceleration or deceleration), during the driving operation of the vehicle in order to reduce (e.g., to dampen and / or cancel out) a detected vibration of a first drive component. In particular, one or more (higher) orders of the vibration of the first drive component can be reduced. The device thus makes it possible to use the one or more electric drive motors of the vehicle as active vibration dampers and / or to actively suppress one or more higher engine orders (without impairing the task of the one or more drive motors directed at driving the vehicle).This allows for a particularly efficient and reliable reduction of vibrations in a vehicle.

[0016] The device can be configured to repeatedly determine current vibration data (in particular a current amplitude value) at a sequence of consecutive points in time (e.g., every 1 ms or more frequently, in particular corresponding to the aforementioned sampling rate). The compensation torque can then be repeatedly adjusted to the current vibration data. This can achieve a permanent reduction in vehicle vibrations.

[0017] The device can be configured to determine one or more actual values ​​(e.g., an actual level) of the vibration of the first drive component based on the vibration data and to compare them with one or more corresponding target values ​​(e.g., a target level) in order to determine a control error. The device can further be configured to determine parameter values ​​for the one or more parameters of the compensation torque based on the control error using a (P, I, and / or D) controller. This can be repeated at a sequence of consecutive times (e.g., every 1 ms or more frequently, for example, with the aforementioned sampling rate).

[0018] A control loop can thus be used to adapt the compensation torque to the vibration detected by the first drive component. This allows for a particularly robust and reliable reduction of vehicle vibrations.

[0019] The device can thus be configured to permanently reduce the extent of the vibrations of the first drive component (e.g. the drive engine of the vehicle) during driving of the vehicle.

[0020] During vehicle operation, a second drive component (the drive) of the vehicle may be impaired. The second drive component may be the first drive component. Alternatively, the second drive component may be a different drive component of the vehicle than the first drive component. The second drive component may, for example, comprise, in particular be, a bearing for supporting a shaft of the vehicle's drive.

[0021] The impairment of the second drive component may result in vibrations and / or oscillations (of the first drive component) that differ from vibrations and / or oscillations generated during operation of the vehicle when there is no impairment of the second drive component.

[0022] The device is configured to detect an impairment of the second drive component of the vehicle based on the vibration data and / or on the basis of the determined compensation torque and / or on the basis of the control error. In this case, the installation of an additional sensor for detecting vibrations and / or oscillations, in particular an additional acceleration sensor, can be dispensed with. In particular, the sensor data (i.e. the vibration data) of the sensor already used for vibration reduction, in particular the acceleration sensor, can be used to detect an impairment of a second drive component. Furthermore, the sensor data, in particular the vibration data, can be analyzed when the vibration reduction is actively operating in order to detect an impairment of a second drive component.This enables particularly efficient and reliable early detection of any impairment of a vehicle's drive component.

[0023] The device can be configured to determine an evaluation signal based on the vibration data and / or the determined compensation torque and / or the control error, which evaluation signal has a temporal sequence of signal values. The vibration data can comprise a vibration signal having a temporal sequence of amplitude values ​​representing the vibration of the first drive component. The compensation torque and / or the control error can each have a temporal sequence of amplitude values. The temporal sequence of signal values ​​of the evaluation signal can be determined based on the temporal sequence of the amplitude values ​​of the vibration data, the compensation torque, and / or the control error.

[0024] The impairment of the second drive component can be detected based on a frequency analysis of the evaluation signal and / or based on a comparison with a reference signal. For example, one or more harmonic frequency components of the evaluation signal can be analyzed to detect the impairment of the second drive component.

[0025] The reference signal can comprise an expected evaluation signal that should be present if there is no impairment of the second drive component. Alternatively, the reference signal can comprise an expected evaluation signal that should be present if there is an impairment of the second drive component.

[0026] For example, if it is detected that the evaluation signal is relatively similar to the reference signal, it can be determined whether there is or is not an impairment of the second drive component. The similarity comparison can be performed in the frequency domain (e.g., by comparing one or more corresponding harmonic frequency components). This allows for a particularly reliable detection of an impairment of the second drive component.

[0027] The device can be configured to determine an evaluation signal at a sequence of evaluation times during the vehicle's lifetime. The evaluation times can, for example, follow one another at a time interval of (at least) one day or more.

[0028] If there is no impairment of the second drive component, it can be expected that the evaluation signals remain essentially unchanged at the different evaluation times.

[0029] On the other hand, if a change in the evaluation signal is detected at or from at least one evaluation point in the sequence of evaluation points, the impairment of the second drive component can be reliably detected based on this. A gradual change in the evaluation signal may occur, which cumulatively reaches or exceeds a certain deviation threshold at or from at least one evaluation point in the sequence of evaluation points.

[0030] The device can be configured to initiate one or more countermeasures in response to the detected impairment of the second drive component. Examples of countermeasures include: • the limitation of the driving torque to be provided for the driving operation of the vehicle to a limited value which is smaller than the maximum possible value of the driving torque; and / or • the issuing of an indication relating to the detected impairment and / or to the limitation of the driving torque via a user interface of the vehicle.

[0031] This ensures particularly reliable operation of the vehicle.

[0032] The device can be configured to determine the compensation torque, in particular the amplitude and / or the frequency of the compensation torque, such that, due to the inertia of the torque transmission system between the drive motor and the wheel coupled to the drive motor, the compensation torque does not lead to a variation in the driving speed of the vehicle (perceptible to the user of the vehicle). The amplitude, the phase position, and / or the frequency of the compensation torque can thus depend on the inertia of the torque transmission system. The frequency can be determined such that a certain minimum frequency (e.g., 10 Hz, 100 Hz, or 1 kHz) is not undercut. Alternatively or additionally, the amplitude can be determined such that a certain maximum amplitude is not exceeded.The possible maximum amplitude can depend on the determined frequency of the compensation torque (and typically increases with increasing frequency). If necessary, different maximum amplitudes can be specified for different frequency components of the compensation torque.

[0033] Alternatively or additionally, the device can be configured to determine the compensation torque, in particular the amplitude and / or frequency of the compensation torque, such that the compensation torque causes a torsional and / or pitching vibration of the drive motor about the wheel axis of the wheel coupled to the drive motor. This torsional and / or pitching vibration of the drive motor can be transmitted via the drive motor support to the first drive component in order to dampen and / or cancel the vibration of the first drive component.

[0034] The compensation torque can thus be designed to cause a vibration of the drive motor that does not affect the longitudinal movement of the vehicle and / or that can be used to dampen and / or cancel the vibration of the first drive component. This can achieve a particularly comfortable vibration reduction.

[0035] According to a further aspect, a (road) motor vehicle (in particular a passenger car or a truck or a bus or a motorcycle) is described which comprises the device described in this document.

[0036] According to a further aspect, a method for detecting an impairment of a drive component (of the drive) of a (motor) vehicle is described, wherein the vehicle comprises at least one electric drive machine for driving (one or more wheels) of the vehicle.

[0037] The method comprises determining vibration data relating to the vibration of a first drive component and determining, based on the vibration data, a compensation torque for reducing the vibration of the drive component. Furthermore, the method comprises causing the drive motor to produce a total torque that includes the driving torque required for driving the vehicle, which is superimposed with the compensation torque. Furthermore, the method comprises detecting an impairment of a second drive component of the vehicle based on the vibration data and / or the determined compensation torque.

[0038] According to a further aspect, a software (SW) program is described. The SW program can be configured to be executed on a processor (e.g., on a control unit of a vehicle, in particular on a control unit of a drive component, such as the drive engine of a vehicle) and thereby to execute the method described in this document.

[0039] According to a further aspect, a storage medium is described. The storage medium can comprise a software program configured to be executed on a processor and thereby to carry out the method described in this document.

[0040] It should be noted that the methods, devices, and systems described in this document can be used both alone and in combination with other methods, devices, and systems described in this document. Furthermore, any aspects of the methods, devices, and systems described in this document can be combined in a variety of ways. In particular, the features of the claims can be combined in a variety of ways. Furthermore, features listed in parentheses are to be understood as optional features.

[0041] The invention will be described in more detail below using exemplary embodiments. Fig. 1 an exemplary vehicle with an electric drive motor; Fig. 2 an exemplary bearing of the electric drive motor of a vehicle; Fig. 3a exemplary vibrations of an electric drive machine around the motor axis; Fig. 3b an exemplary superposition of the drive torque with a compensation torque; Fig. 3c shows an example control loop for setting the compensation torque; and Fig. 4 a flowchart of an exemplary method for detecting an impairment of a drive component of a (motor) vehicle.

[0042] As stated at the beginning, this document deals with the efficient, early, and reliable detection of a deterioration of a drive component of an at least partially electrically powered vehicle. In this context, Fig. 1 shows an exemplary vehicle 100 with an electric drive machine 102 configured to drive one or more wheels 104 of the vehicle 100. The user, in particular the driver, of the vehicle 100 can request a specific drive torque via a control element 103, e.g., via an accelerator pedal. The control signal generated by the control element 103 can be evaluated by a (control) device 101 of the vehicle 100, and the device 101 can cause the electric machine 102 to generate the requested drive torque. The electric machine 102 can be operated to drive the vehicle 100, to recuperate electrical energy during vehicle deceleration, and / or to limit the wheel slip of one or more wheels 104 of the vehicle 100.

[0043] During operation of the vehicle 100, vibrations and / or effects may occur that are perceptible to the driver and / or a passenger of the vehicle 100. The vibrations may be caused by the operation of the drive, in particular by the operation of the (electric) drive motor, of the vehicle. The vibrations may have a fundamental order (i.e., a fundamental frequency), wherein the fundamental order may correspond to the rotational speed of the rotor of the drive motor. Furthermore, the vibrations may have one or more higher orders (e.g., a first order or a second order).

[0044] Fig. 2 shows the body 200 of a vehicle 100 in a plan view. The electric machine 102 can be mechanically connected to the body 200 via a (rear) axle carrier 210. The electric machine 102 can be connected to the axle carrier 210 via one or more first bearings 211 (e.g., in all three spatial directions). Furthermore, the axle carrier 210 can be connected to the body 200 via one or more second bearings 212 (e.g., in all three spatial directions). The one or more wheels 104 of the vehicle 100 are each attached to the axle carrier 210 via a wheel suspension 205. Furthermore, the one or more wheels 104 are mechanically coupled to the electric (drive) machine 102 via a wheel axle 204, so that a drive torque can be transmitted to the one or more wheels 104 via the wheel axle 204 and / or so that a recuperation torque can be transmitted to the electric machine 102 via the wheel axle 204.

[0045] The axle carrier 210, the one or more bearings 211, 212, the wheel axle 204, the wheel suspension 205, the electric machine 103 and / or the one or more driven wheels 104 can each be drive components of the drive of the vehicle 100.

[0046] The vehicle 100 may include one or more (vibration) sensors 202 configured to acquire vibration data relating to a vibration of a drive component. An exemplary vibration sensor 202 is an acceleration sensor. A vibration sensor 202 may, for example, be arranged (respectively) on the axle carrier 210 and / or on a wheel suspension 205 and / or on the electric (drive) machine 102. The vibration data may comprise a temporal sequence of sample values ​​(i.e., amplitude values) of the vibration. The sample values ​​may be acquired at a specific sampling frequency, wherein the sampling frequency is, for example, 1 kHz or more.

[0047] The (control) device 101 can be configured to operate the electric machine 102 as a function of the vibration data. In particular, a compensation torque to be provided by the electric machine 102 can be determined, which is designed to reduce and / or at least partially compensate for the vibration of a drive component indicated and / or represented by the vibration data. The compensation torque can have a specific amplitude, a specific phase position, and / or a specific frequency with which the compensation torque oscillates around a zero point. The frequency of the compensation torque can depend on the frequency of the vibration (in particular on the frequency of one or more (higher) orders of vibration) of the drive component. Typically, the frequency of the compensation torque is greater than 1 kHz, approximately between 1 kHz and 4 kHz.

[0048] The phase position of the compensation torque can be such that the one or more (higher) orders of the oscillation of the drive component are at least partially or completely compensated by the compensation torque.

[0049] Fig. 3a shows the electric machine 102 in a side view along the wheel or motor axis 204 (e.g., along the transverse axis of the vehicle 100). A time-varying compensation torque can excite a rotational and / or pitching vibration 304 of the electric machine 102 about the axis 204, which can be transmitted from the electric machine 102 to the drive in order to reduce the vibration of a drive component. The time-varying compensation torque (due to inertia and / or due to the support of forces) can also cause other forms of vibration of the electric machine 102 and / or of one or more other drive components.

[0050] Fig. 3b shows the (total) torque 312 generated by the electric machine 102 as a function of time 311. The electric machine 102 can be configured to generate a specific driving torque 313 for the driving operation of the vehicle 100. In a drive phase of the vehicle 100, the driving torque 313 can correspond to a (positive) drive torque (requested by the driver or by a driving function for automated longitudinal guidance of the vehicle 100). In a recuperation phase, the driving torque 313 can correspond to a (negative) recuperation torque in order to decelerate the vehicle 100.

[0051] The driving torque 313 can be superimposed with a compensation torque 314, wherein the compensation torque 314 oscillates around the driving torque 313 at a specific amplitude 316 and / or with a specific period 315 (or frequency). The superimposed compensation torque 314 can cause a rotational and / or pitching oscillation 304 of the electric machine 102 in order to reduce a detected oscillation of a drive component.

[0052] Fig. 3c shows an exemplary control loop 320 for adjusting one or more parameters 315, 316 (in particular the amplitude 316 and / or the period or frequency 315) of the compensation torque 314. The device 101 can be configured to specify target values ​​321 for one or more properties (such as the amplitude and / or the vibration energy) of a detected vibration of a drive component. Based on the vibration data, actual values ​​327 for the one or more properties of the vibration of the drive component can be determined. By comparing the actual values ​​327 with the target values ​​321 of the one or more vibration properties, a control error 322 can be determined.

[0053] When determining the target values ​​321 and / or the actual values ​​327, a (pre-determined) transfer function for the distance between the measuring point (at which the vibration data is recorded) and the compensation point (at which the vibrations of the drive component are to be reduced and / or compensated) can be taken into account. For example, the vibration data (recorded at the measuring point) can be transformed into corresponding actual values ​​327 for the one or more properties of the vibration of the drive component (at the compensation point) using the transfer function. Alternatively, the target values ​​(specified for the compensation point) for the one or more properties of the vibration of the drive component can be transformed into corresponding target values ​​321 for the one or more properties of the vibration of the drive component (at the measuring point) using the transfer function.

[0054] Based on the control error 322, one or more manipulated variables 324 can be determined using a controller 323 (e.g., a P(roportional), I(ntegral) and / or D(ifferential) controller). The one or more manipulated variables 324 can include or be parameter values ​​for the one or more parameters 315, 316 (e.g., the amplitude, the phase position and / or the frequency) of the compensation torque 314. The electric machine 102 can then be operated as a function of the one or more manipulated variables 324. In particular, the electric machine 102 can be caused to produce a compensation torque 314 that has the determined parameter values ​​for the one or more parameters 315, 316.

[0055] The compensation torque 314 caused by the electric machine 102 influences the drive vibration system and thus causes the actual values ​​327 for the one or more properties of the vibration of the drive component.

[0056] The Fig. The control shown in Figure 3c can be carried out repeatedly, in particular periodically, with a specific controller frequency (which corresponds, for example, to the sampling frequency) in order to achieve a permanent reduction of oscillations.

[0057] The frequency of the compensation torque generated by the electric machine 102 is preferably higher than a certain minimum frequency (e.g., 10 Hz, 100 Hz, or 1 kHz), whereby the minimum frequency depends on the inertia of the system between the drive axle 204, wheel 104, and the road surface. The minimum frequency can typically be lowered as the system inertia increases.

[0058] Fig.4 shows a flowchart of a (possibly computer-implemented) method 400 comprising steps 401, 402, 403 for reducing a vibration of a drive component of a vehicle 100. The drive component can execute a vibration that is perceptible to a user of the vehicle 100. The drive component can be excited to vibrate by the operation of the (electric) drive motor 102 of the vehicle 100.

[0059] The method 400 includes determining 401 vibration data relating to the vibration of a first drive component (using one or more sensors 202). The vibration data may indicate the amplitude and / or the frequency and / or the level of the vibration of the first drive component. The first drive component may include or be the electric machine 102. Alternatively or additionally, the first drive component may be another drive component of the vehicle 100.

[0060] The method 400 further includes determining 402, based on the vibration data, a compensation torque 314 for reducing the vibration of the first drive component. The compensation torque 314, in particular one or more parameters 315, 316 of the compensation torque 314, can be determined and / or adjusted using a controller 323. The controller can be designed to reduce the amplitude and / or level of the vibration of the first drive component indicated by the vibration data.

[0061] Furthermore, method 400 includes causing 403 the drive motor 102 to produce a total torque that includes the driving torque 313 to be produced for driving the vehicle 100, which is superimposed with the compensation torque 314. The total torque can, in particular, be the superposition and / or the sum of the driving torque 313 and the compensation torque 314.

[0062] In this way, vibrations of the first drive component can be dampened and / or eliminated in an efficient and reliable manner.

[0063] During operation of the vehicle 100, a (second) drive component of the drive system of the vehicle 100 may be impaired. The second drive component may be the first drive component (used for vibration reduction) or may be another drive component of the vehicle 100.

[0064] The impairment of the second drive component can lead to vibrations of the drive of the vehicle 100, in particular of the first drive component of the vehicle 100, which differ from the vibrations that would be present without the impairment of the second drive component. As a result, such an impairment can be detected particularly efficiently based on the recorded vibration data and / or on the basis of the determined compensation torque 314 and / or on the basis of the control error 322. In particular, a deviation of the vibration data and / or the compensation torque 314 and / or the control error 322 from a respective reference can be detected, and based on the detected deviation, an impairment of the second drive component can be concluded.

[0065] The method 400 may thus further comprise detecting 404 an impairment of a second drive component based on the vibration data and / or on the basis of the compensation torque 314 and / or on the basis of the control error 322.

[0066] The noise suppression system of the electric machine 102 can thus be used to effect mobile and permanent early damage detection in a vehicle 100. In particular, the sensor system 202 of the noise suppression system can be used for early damage detection. Deviations and changes from known patterns can be detected, for example, based on frequency spectra and on the frequencies and orders assigned to components. Based on knowledge of normal system behavior, conclusions can be drawn about component damage, and an early response can be made to detected component damage. Furthermore, the change in the frequency spectrum over the operating time of the vehicle 100 can be used as a parameter for the mechanical condition of a drive component, in particular of the electric machine 102.

[0067] For example, there may be bearing damage. For a rolling bearing, the rollover frequency orders are typically known. Furthermore, the magnitude of the expected amplitudes of the individual frequency orders is typically known. Based on a deviation in the measured amplitude of one or more bearing orders, incipient bearing damage can be detected at an early stage, and one or more countermeasures can be initiated. Examples of countermeasures include reducing the load on the bearing (to slow the progression of damage); and / or issuing a notification for correcting the detected impairment (via a user interface 105 of the vehicle 100).

[0068] As a countermeasure, the detected impairment can be reported to a maintenance service, simplifying troubleshooting and reducing maintenance costs. Furthermore, total failures of one or more drive components can be avoided, thereby increasing the availability of a vehicle 100.

[0069] The present invention is not limited to the embodiments shown. In particular, it should be noted that the description and figures are intended only to illustrate the principle of the proposed methods, devices, and systems by way of example.

Claims

[1] Device (101) for detecting an impairment of a drive component of a vehicle (100); wherein the vehicle (100) comprises at least one electric drive machine (102); wherein the device (101) is configured - to determine vibration data relating to a vibration of a first drive component of the vehicle (100); - to determine a compensation torque (314) for reducing the vibration of the first drive component on the basis of the vibration data; - to cause the drive engine (102) to produce a total torque which comprises a driving torque (313) to be produced for driving the vehicle (100), which is superimposed with the compensation torque (314); and - to detect an impairment of a second drive component of the vehicle (100) on the basis of the vibration data and / or on the basis of the determined compensation torque (314). [2] Device (101) according to claim 1, wherein the device (101) is arranged - to determine an evaluation signal on the basis of the vibration data and / or on the basis of the determined compensation torque (314), which has a temporal sequence of signal values; and - the impairment of the second drive component - based on a frequency analysis of the evaluation signal; and / or - to be recognized on the basis of a comparison with a reference signal; wherein the reference signal comprises in particular - an expected evaluation signal if there is no impairment of the second drive component; or - an evaluation signal to be expected if there is an impairment of the second drive component. [3] Device (101) according to claim 2, wherein the device (101) is arranged - to determine the evaluation signal at a sequence of evaluation times during the lifetime of the vehicle (100); - to detect a change in the evaluation signal at at least one evaluation point in the sequence of evaluation points; and - to detect the impairment of the second drive component based on the detected change in the evaluation signal. [4] Device (101) according to one of the preceding claims, wherein - the device (101) is configured to effect one or more countermeasures in response to the detected impairment of the second drive component; and - which include one or more countermeasures, - a limitation of the driving torque (313) to be provided for the driving operation of the vehicle (100) to a limited value which is smaller than a maximum possible value of the driving torque (313); and / or - an output of an indication relating to the detected impairment and / or relating to the limitation of the driving torque (313) via a user interface (105) of the vehicle (100). [5] Device (101) according to one of the preceding claims, wherein the vehicle (100) comprises as first and / or second drive component, - the drive machine (102); - an axle carrier (210) for supporting the drive machine (102); - a wheel carrier (205) for a wheel (104) coupled to the drive engine (102); - a transmission coupled to the drive engine (102); - a wheel axle (204) driven by the drive engine (102); and / or - a bearing (211, 212) for supporting the drive motor (102), the wheel carrier (205) and / or the wheel axle (204). [6] Device (101) according to one of the preceding claims, wherein - the first drive component is the drive machine (102); and / or - the second drive component is a different drive component of the vehicle (100) than the first drive component. [7] Device (101) according to one of the preceding claims, wherein - the device (101) is configured to acquire the vibration data using one or more sensors (202); and - the one or more sensors (202) comprise an acceleration sensor, which is arranged in particular on the first drive component. [8] Device (101) according to one of the preceding claims, wherein - the driving torque (313) is specified by a driver via a control element (103), in particular via an accelerator pedal, and / or by a driving function for the automated longitudinal guidance of the vehicle (100); and / or - the driving operation torque (313) comprises a drive torque for driving the vehicle (100) and / or a recuperation torque for decelerating the vehicle (100). [9] Device (101) according to one of the preceding claims, wherein the device (101) is configured to determine the compensation moment (314), in particular an amplitude (316) and / or a frequency of the compensation moment (314), such that - due to an inertia of a torque transmission system between the drive engine (102) and a wheel (104) coupled to the drive engine (102), the compensation torque (314) does not lead to a variation in a driving speed of the vehicle (100); and / or - the compensation torque (314) causes a torsional vibration (304) of the drive machine (102) about a wheel axis (204) of the wheel (104) coupled to the drive machine (102), which is transmitted in particular to the first drive component. [10] Device (101) according to one of the preceding claims, wherein the device (101) is arranged - to determine one or more actual values ​​(327) of the vibration of the first drive component on the basis of the vibration data and to compare them with one or more corresponding setpoint values ​​(321) in order to determine a control error (322); and - to determine parameter values ​​(324) for one or more parameters (315, 316) of the compensation torque (314) on the basis of the control error (322) using a controller (323). [11] Device (101) according to claim 10, wherein the device (101) is configured to detect the impairment of the second drive component on the basis of the control error (322). [12] Method (400) for detecting an impairment of a drive component of a vehicle (100); wherein the vehicle (100) comprises at least one electric drive machine (102); wherein the method (400) comprises, - determining (401) vibration data relating to the vibration of a first drive component; - determining (402), on the basis of the vibration data, a compensation torque (314) for reducing the vibration of the first drive component; - causing (403) the drive engine (102) to produce a total torque which comprises a driving torque (313) to be produced for driving the vehicle (100), which is superimposed with the compensation torque (314); and - Detecting an impairment of a second drive component of the vehicle (100) on the basis of the vibration data and / or on the basis of the determined compensation torque (314).

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