69 results about "Differential transmission" patented technology

The invention provides a control method based on differential rotation speed torque distribution, which relates to the technical field of intelligent control and comprises the following steps: performing difference calculation on an initial input quantity and a preset rotation speed instruction to generate a rotation speed deviation signal and a deviation change rate, and establishing a dynamic membership function library through a fuzzy controller; mapping the rotating speed deviation and the change rate thereof into a fuzzy language variable, performing reasoning operation according to a preset fuzzy control rule base, and outputting a frequency regulation quantity and a torque compensation coefficient of the frequency converter; and reading the generated torque compensation coefficient and shaft system torque values actually measured by the two torquemeters, calculating a dynamic difference value between the current total load torque and the target torque, establishing a torque distribution weight model according to the transmission characteristics of the differential mechanism, and generating differential torque correction instructions of the two motors in combination with the real-time rotating speed values. The control performance of differential drive is improved.

The invention relates to the technical field of sensor clamping devices for calibration equipment, in particular to a clamping device for calibration of an eddy current displacement sensor, which comprises a frame, a rectangular cavity is arranged in the frame, two clamping plates are symmetrically arranged on the upper side and the lower side of the rectangular cavity, and a manual driving assembly provides power to drive a differential transmission assembly. The differential transmission assembly transmits power to the lead screw driving assembly through the lead screw transmission assembly, and the two clamping plates are driven by the lead screw driving assembly to move oppositely in the rectangular cavity. When one of the two clamping plates is blocked in movement due to displacement to the position in contact with the eddy current displacement sensor, and the other clamping plate is not in contact with the eddy current displacement sensor, the power provided by the manual driving assembly can continuously drive the other clamping plate to move to the position in contact with the eddy current displacement sensor. The invention provides a clamping device capable of clamping eddy current displacement sensors of different manufacturers, different specifications and different surface conditions.

The application provides a double-motor driving and rigidity actively adjustable series elastic actuator and a control method thereof, which utilizes elastic elements to convert kinetic energy and potential energy, reduces system energy consumption, improves system energy utilization efficiency, improves dynamic performance of the actuator by introducing the elastic elements, strengthens the anti-impact capability of the system, and improves the safety of human-machine interaction; rigidity is controlled by changing the effective lever arm length between the end of the actuator and the elastic element, the deformation of the elastic element under the load of the actuator is measured, the transmission ratio of the system is calculated, the output torque is obtained, and the output force control of the actuator is further realized. The application utilizes double-motor driving and double-differential transmission mechanism to realize active adjustment of the output rigidity of the actuator system, and has a more extensive use scene and application range.

The invention discloses a cooling and lubricating system and method for a coaxial electric drive planetary gear reducer, the cooling and lubricating system comprises a system shell and a shafting transmission mechanism arranged in the system shell, and the shafting transmission mechanism comprises a planetary gear transmission mechanism and a differential mechanism transmission mechanism; a lubricating oil inlet mechanism is fixed to the system shell, and a shell oil channel is formed in the system shell. An oil spraying pipe is fixed in the system shell, and the shell oil channel comprises a cooling oil channel which is communicated with an oil outlet of the lubricating oil inlet mechanism and can guide lubricating oil into the oil spraying pipe. Oil spraying holes facing the planetary gear transmission mechanism and the differential mechanism transmission mechanism are formed in the oil spraying pipe. The independent oil spraying pipe is designed, a plurality of oil spraying holes which have different oil spraying angles and aim at a sun gear, a planetary gear set and a differential mechanism are designed in the oil spraying pipe, and oil is actively conveyed to friction pair meshing positions of the sun gear, the planetary gear set, the differential mechanism and the like for lubricating and cooling.

A vehicle drive device includes: a rotating electrical machine; a differential transmission device; a power transmission device; a power module; a wiring portion; and a case. The case forms, above a plane including the axis of a rotation shaft of the rotating electrical machine and the axis of an output shaft, a first, second, and third housing portion.The first portion overlaps the rotating electrical machine as viewed in an axial direction of the rotating electrical machine, and overlaps the power transmission device as viewed in an up-down direction. The second portion overlaps the rotating electrical machine as viewed in a direction perpendicular to both the axial direction of the rotating electrical machine and the up-down direction, and overlaps the output shaft as viewed in the up-down direction. The third portion is adjacent to the first and second portions, and overlaps the output shaft as viewed in the up-down direction.

The utility model provides a same-direction parallel three-shaft differential transmission mechanism which comprises an input shaft and differential transmission output shafts, the differential transmission output shafts comprise a first output shaft, a second output shaft and a third output shaft, the second output shaft and the input shaft are coaxially arranged, and the third output shaft and the input shaft are coaxially arranged. The first output shaft and the third output shaft are horizontally installed on the two sides of the second output shaft, the transition shaft is installed below the second output shaft, the transition shaft is connected with the input shaft through the first gear transmission system, and the transition shaft is connected with the first output shaft and the third output shaft through the second gear transmission system. The input shaft drives the transition shaft to rotate through the first gear transmission system, and the transition shaft drives the first output shaft and the third output shaft to rotate through the second gear transmission system, so that the rotation directions of the first output shaft, the second output shaft and the third output shaft are the same; and the total transmission ratio of the two gear transmission systems is controlled, so that differential speeds exist among the first output shaft, the third output shaft and the second output shaft.

A test monitor extracts waveforms from a differential transmission line of an automobile network without disrupting the differential transmission line, and stores the data decoded from the extracted waveforms. The test monitor includes a first input configured to receive a voltage waveform from a voltage probe electrically coupled to the differential transmission line that electrically connects a first ECU device and a second device, a second input configured to receive a current waveform from a current probe electrically coupled to the differential transmission line, and one or more processors configured to receive the voltage waveform and the current waveform and determine a voltage of the first ECU device and a voltage of the second device based on the voltage waveform and the current waveform. The test monitor may be embodied in an FPGA. The test monitor enables monitoring of message transfers across a network in a non-intrusive and non-invasive manner, without the necessity of using a repeater or switch.

The utility model discloses a photovoltaic robot walking chassis, including power element, provides first rotation drive force, and the rotation output shaft of first rotation drive force points to ground direction, power element is connected with drive steering element, and first rotation drive force changes as the second rotation drive force of rotation output shaft parallel ground direction through drive steering element, drive steering element is connected with differential transmission assembly, and differential transmission assembly changes as the third rotation drive force of rotation output shaft vertical to first rotation drive force and second rotation drive force with second rotation drive force, and third rotation drive force drives the rotation of output shaft rotation connected in differential transmission assembly, the utility model drives the power through multiple commutation, makes power element compact arrangement of angle adjustment, reduces the device volume, and has the walking wheel of differential rotation, when encountering irregular protruding object, does not appear single wheel suspension and leads to drive power loss, and improves the obstacle crossing ability and whole structural reliability.

The invention relates to the technical field of vehicle-mounted controller flashing, in particular to a vehicle-mounted controller non-inductive silent flashing method, system and device based on a double-partition architecture and a medium, and the method comprises the steps: pre-downloading a to-be-upgraded firmware package, a digital signature and a signature verification public key to the local in a vehicle networking state; automatically triggering a process based on a vehicle state or a cycle time; after triggering, performing primary asymmetric signature verification on the firmware package; after passing, writing the differential data block into a backup partition of the controller by adopting a block differential transmission and verification mechanism; after writing is completed, secondary asymmetric signature verification is carried out on the complete firmware image in the backup partition; and after the starting configuration is updated, the controller is automatically switched to the backup partition for operation when the controller is powered on next time. According to the method, a user does not perceive the upgrading process, and the safety and the efficiency are improved through double signature verification and differential writing.

The present application relates to gasoline generator technical field, specifically, a kind of gasoline combustion optimization's generator set, including unit assembly, gasoline engine and gasoline generator being arranged in its interior, the end of gasoline generator rotor away from gasoline engine is fixed with extension shaft, gear set is arranged in the other end of extension shaft, the bottom of gear set is connected with driving shaft by speed increasing transmission, the outside of driving shaft is fixed with separation part, the top of the middle part of the taper surface of separation part is provided with feed pipe, the bottom of separation part is engaged with transmission wheel, the outside of the bottom end of transmission wheel is differentially connected with discharge part;Separation part, it is rotated by using the power of the rotation of gasoline generator rotor to drive gasoline and lubricating oil to form oil mixture and rotate, the different density of the two is used to separate them after the flowability of oil mixture and rotation is increased by centrifugal force, while cooperating with discharge part, the lubricating oil separated at the edge of separation part is quickly removed from separation part by differential guide.

The utility model discloses a double-flow transmission mechanism with randomly adjustable turning radius, which comprises two groups of differential transmission components which are symmetrically arranged, and each differential transmission component consists of a shell structure and a gear mechanism. In addition, the device further comprises a driving motor A, a driving motor B and a split-flow transmission mechanism, the driving motor A is in power connection with the shell mechanism, the driving motor B is connected with the split-flow transmission mechanism, and the split-flow transmission mechanism is connected with the two gear mechanisms. The shunting transmission mechanism is composed of a spline shaft, a spline sleeve, a locking head, a locking groove, a supporting spring and an electric telescopic cylinder. The spline shaft is connected with the driving motor B. The locking head is in sliding fit with the spline sleeve, the supporting spring stabilizes the position of the locking head, and the electric telescopic cylinder is used for adjusting the position of the spline sleeve. By means of the mechanism, the crawler can accurately adjust the turning radius according to actual requirements, the problems that in the prior art, the turning radius cannot be adjusted, and steering is inaccurate are solved, and maneuverability, flexibility and stability under complex working conditions are remarkably improved.

The utility model belongs to the technical field of differential mechanisms, and particularly relates to a novel anti-slip automobile differential mechanism transmission structure which comprises an automobile differential mechanism body composed of a differential mechanism outer shell, an input shaft, a driving bevel gear, an output shaft, a side face bevel gear, a sun bevel gear, a fixing frame and a planet bevel gear and further comprises an anti-slip mechanism. The hydraulic cylinder is fixed to the inner wall of the differential mechanism outer shell. The driving disc is fixed at the end part of a piston rod of the hydraulic cylinder; a driven disc and a friction plate are respectively fixed at two ends of the push rod; a first guide rod; the first telescopic spring is arranged on the first guide rod in a sleeving mode and located between the driving disc and the driven disc; the base friction force is provided through the first telescopic spring, the distance between the driving disc and the driven disc can be adjusted after the hydraulic cylinder is started, the friction force can be adjusted, adjustment can be achieved according to different scenes, the application range is wide, and the anti-skid effect is good.

Electric drive for a mobile vehicle with an electric motor (1) which drives two outputs (10, 11) via a spur gear transmission (3, 4, 6, 7) and a differential transmission (9), characterized in that a housing encloses the differential transmission (9), the spur gear transmission (3, 4, 6, 7) and the motor (1), wherein the housing consists of three main housing parts (12, 13, 14), wherein a middle housing part (12) has a cylindrical extension (15) in which the electric motor (1) is arranged, which is closed at one end with a cover-shaped housing part (13) and has at the other end an extension (16) arranged parallel to the cylindrical extension (15) in which the differential transmission (9) and the spur gear transmission (3, 4, 6, 7) are arranged, and this extension (16) is closed with a further cover-shaped housing part (14), characterized in thatthat a motor shaft (2) and a first spur gear (3) are integrally connected.

The utility model provides a kind of compound planetary gear box belongs to gear box technical field.The compound planetary gear box, including gear box, planet carrier, sun gear shaft and wheel system;Gear box front side is equipped with T type box front cover, rear end is equipped with box rear cover;Front cover tail end installs front cover inner gear ring, rear cover front side installs rear cover inner gear ring, the inner diameter of two inner gear rings is different and is positioned axially by ball cooperation through V type groove;Planet carrier is formed by bolt connection by front frame body and rear cover plate, and interval column forms overhead space;Sun gear of center gear shaft is engaged with compound planetary gear, and compound planetary gear is integrated by small diameter first gear and large diameter second gear through connecting pin, is engaged with front, rear cover inner gear ring respectively, and forms differential transmission;Box front and rear cover are equipped with sector heat dissipation window and promote heat dissipation efficiency.The utility model has the advantages of simplifying assembly process, enhancing operation stability, realizing efficient differential output.

A differential transmission for a vehicle has a first planetary gearset and a second planetary gearset, where the first ring gear is in torque-proof connection with the second sun gear. The transmission further includes a first output shaft in torque-proof connection with the first planet carrier at a first side of the first planet gear in an axial direction, a second output shaft in torque-proof connection with the second ring gear, and a stationary component, with the second planet carrier being supported on the stationary component. The transmission additionally includes a support for rotatably supporting the first planet carrier on the stationary component, the support for the first planet carrier being at a second side of the first planet gear in the axial direction, the second side being opposite the first side relative to the first planet gear.

The invention relates to a drive unit (1) for a motor vehicle, comprising a traction motor (2), a torque converter (3), a variable transmission (4) and a differential transmission (5), the traction motor (2) being drivingly coupled to the differential transmission (5) in a given sequence via the torque converter (3) and the variable transmission (4). According to the invention, the traction motor (2) is drivingly coupled to the torque converter (3) via a spur gear transmission (20) or without a transmission.

A new energy automobile electric drive assembly lubrication cooling structure, including the casing, be equipped with drive motor in the casing, reduction mechanism, differential, be equipped with driving input gear on the motor shaft of drive motor, driving input gear is connected with differential transmission through reduction mechanism, the motor shaft is hollow shaft, the output shaft one end inserts the motor shaft and is connected with differential, the other end extends the casing, the clearance fit between two shafts, the clearance is lubricating oil channel, the motor shaft is equipped with annular oil storage tank, lubricating oil channel and annular oil storage tank are communicated, the oil inlet hole on the casing is communicated with lubricating oil channel through annular oil guide groove, the position corresponding stator winding of motor shaft is provided with a group of oil injection hole respectively, oil injection hole is communicated with annular oil storage tank, the output shaft is equipped with axial blind hole oil channel, and its orifice corresponds to differential, the output shaft is equipped with multiple radial oil channels, radial oil channel is located at the position where the diameter of output shaft is maximum, one end is communicated with annular oil guide groove, and the other end is communicated with axial blind hole oil channel.

The invention relates to the field of two-way steering wheels, and discloses a symmetrical non-absolute value encoder two-way steering wheel based on a differential principle, which comprises a wheel set structure, a driving mechanism, a driving mechanism and a driving mechanism, and is characterized in that the wheel set structure consists of a central wheel body, a fixed gear shaft, a movable gear shaft, an upper differential transmission gear, a lower differential transmission gear, a gear shaft fixing bracket and a V-shaped bearing; the fixed gear shaft and the movable gear shaft are arranged on the two sides of the center gear body in parallel through a gear shaft fixing support and meshed with the upper differential transmission gear and the lower differential transmission gear respectively. And the V-shaped boss of the outer ring of the differential transmission gear is matched with the outer ring of the V-shaped bearing for limiting. A photoelectric sensor and a mechanical bump are combined to replace a traditional high-cost absolute value encoder, the hardware cost is remarkably reduced, non-contact detection of the photoelectric sensor effectively avoids dust and vibration interference, a redundancy calibration mechanism is combined, the accuracy and long-term stability of angle measurement are ensured, the high calibration precision is maintained, and meanwhile the precision of angle measurement is improved. And the environmental adaptability and the maintenance convenience of the system are improved.

This utility model discloses a mechanically variable locking rate friction plate type limited-slip differential transmission assembly, mainly relating to the field of remote control car differential technology; it includes a friction plate type differential body and a drive shaft. The friction plate type differential body includes a main housing, in which a positioning shaft is provided. A partition is fixedly provided in the middle of the positioning shaft, and differential components are provided on both sides of the partition. The differential component includes a positioning washer, a centrifugal mass block, a return spring, a first gear, and friction plates, which are sequentially sleeved on the positioning shaft. Connecting shafts are provided on both the left and right sides of the differential component. One end of the connecting shaft is provided with a second gear that meshes with the first gear, and the other end is connected to the drive shaft through a first universal joint. This utility model converts the centrifugal force generated by rotation into pressure on the friction plates, resulting in a change in the locking rate, which can meet the drifting requirements of remote control cars.

The utility model provides a mowing device which comprises a machine shell, a cutting assembly, an air supplementing assembly, a differential transmission assembly and a height adjusting mechanism. A cutting motor of the cutting assembly is located at the machine cavity. A cutting driving shaft of the cutting motor is in driving connection with a cutting blade. The cutting driving shaft is sleeved with the air supplementing assembly; the differential transmission assembly is arranged at the machine cavity, the differential transmission assembly is used for driving the air supplementing assembly, the differential transmission assembly comprises a first transmission part and a differential driving part, the first transmission part is in linkage with the air supplementing assembly, and the differential driving part is in linkage with the first transmission part; the rotating speed of the air supplementing assembly is larger than that of the cutting blade. The height adjusting mechanism is in driving connection with the cutting assembly. The grass cutting device solves the problems that in the prior art, the passing efficiency in a machine cavity of a grass cutting device is low, and the grass cutting efficiency is poor, the grass cutting efficiency and the grass clippings conduction effect under the complex working condition are effectively improved, and it is ensured that all the components work cooperatively so as to achieve the optimal operation performance.

The present disclosure relates to a differential transmission (10) comprising an input (11), a first and a second output (12, 13), a stationary element (16), a first planetary gearset (14) as well as a second planetary gearset (15). A first element (17) of the first planetary gearset (14) is mechanically coupled to the input (11) and a second element (18) of the first planetary gear set (14) as well as a third element (22) of the second planetary gearset (15) are mechanically coupled to an output (12, 13). The third element (19) of the first planetary gearset (14) is mechanically coupled to the first element (20) of the second planetary gearset (15). The second element (21) of the second planetary gearset (15) is mechanically coupled to the stationary element (16). One of the second and third elements (18; 19) of the first planetary gearsets (14) is a planet carrier and one of the second and third elements (21; 22) of the second planetary gearsets (15) is a planet carrier. One of the planet carriers (18; 19; 21; 22) comprises at least three planet gears (23; 24), said planet gears (23; 24) exhibiting a varying circumferential distance (α1, α2) with respect to each other.

The invention provides a vehicle firmware upgrading method, device and equipment and a computer readable medium, and the vehicle firmware upgrading method comprises the steps: obtaining multi-dimensional operation data and user behavior data of a vehicle, carrying out the preprocessing of the data, and carrying out the analysis through employing a multi-mode deep learning model, and obtaining a prediction result; based on the prediction result and the vehicle hardware configuration information, a differentiated firmware upgrading strategy is generated, and the firmware upgrading strategy at least comprises a to-be-upgraded module, an upgrading priority and an expected performance index; according to the firmware upgrading strategy, a firmware upgrading package is obtained in a differential transmission mode; the influence of the firmware upgrade package on the expected performance index is verified in the virtual environment, and if it is monitored that the expected performance index is abnormal, upgrade is terminated and rollback is carried out; and after the virtual environment verification is passed, selecting a vehicle idle time period or a charging time period to trigger and execute firmware upgrading, and after upgrading is completed, optimizing the multi-modal deep learning model through closed-loop feedback.

The present invention relates to a drive train of an electrically or partially electrically powered motor vehicle with a torque vectoring unit (40) for actively generating a differential torque between a left output shaft for driving a left vehicle wheel and a right output shaft for driving a right vehicle wheel.The torque vectoring unit (40) comprises an actuator (50) and a superimposed transmission (60) coupled to the actuator (50) and a differential transmission (30), wherein the actuator (50) comprises an electric machine as a torque source for generating the differential torque between the left output shaft and the right output shaft, high-voltage power electronics for operating the electric machine and a control unit for controlling the high-voltage power electronics, wherein the actuator (50) comprises an actuator housing (53) wherein the electric machine, the high-voltage power electronics and the control unit are housed in the actuator housing (53).

The invention belongs to the technical field of mechanical engineering, and provides a large rotating mechanism which is provided with a sectional type bearing body, supporting pieces distributed up and down, a modular rotating body and a main and standby dual-driving device, during working, a motor shaft of the driving device drives a driving wheel with differential transmission ratios, driven wheels on the supporting pieces are driven through belt / gear / chain transmission pieces, and the driving wheel is driven to rotate; the rotating body is further driven to stably rotate around the bearing body; and the standby driving device realizes seamless switching when a fault occurs, so that double insurance is ensured. The problems that in the prior art, large components are difficult to manufacture and install, a single-drive system is insufficient in reliability, transmission mode adaptability is poor, and rotation stability under the heavy load working condition is insufficient are solved, and the practicability, reliability and dynamic balance of the mechanism are remarkably improved. The mechanism is used in a ship propulsion system, can improve the thrust efficiency, and has the advantages of low processing cost, convenience in maintenance, high operation precision, long service life and the like.

A test monitor extracts waveforms from a differential transmission line of an automobile network without disrupting the differential transmission line, and stores the data decoded from the extracted waveforms. The test monitor includes a first input configured to receive a voltage waveform from a voltage probe electrically coupled to the differential transmission line that electrically connects a first ECU device and a second device, a second input configured to receive a current waveform from a current probe electrically coupled to the differential transmission line, and one or more processors configured to receive the voltage waveform and the current waveform and determine a voltage of the first ECU device and a voltage of the second device based on the voltage waveform and the current waveform. The test monitor may be embodied in an FPGA. The test monitor enables monitoring of message transfers across a network in a non-intrusive and non-invasive manner, without the necessity of using a repeater or switch.

The utility model relates to the technical field of robots, in particular to a shoulder structure and a robot. Wherein the shoulder structure comprises a supporting body, a differential driving assembly, a differential transmission assembly, a rope driving assembly and a shoulder joint, and the differential driving assembly and the rope driving assembly are installed on the supporting body; the shoulder joint comprises a rotating seat and an adapter seat, the rotating seat is fixedly arranged at the power output end of the differential transmission assembly, the power input end of the differential transmission assembly is in transmission connection with the power output end of the differential driving assembly, and the adapter seat is pivoted to the rotating seat and is in transmission connection with the power output end of the rope driving assembly. The differential driving assembly and the rope driving assembly are arranged far away from the shoulder joint, on one hand, the mass of the shoulder joint can be reduced, and therefore the inertia of the shoulder joint is reduced, the mechanical arm is more stable in the movement process, and the movement precision and stability of the mechanical arm are improved; the mechanical arm has small inertia in the moving process and can quickly respond to a control instruction.

The present invention relates to a method and a control device (10) for controlling a display device (8) through a network (NT2) of the low-voltage differential transmission type, called LVDS, in a vehicle (2), said control device (10) being connected to a serial system network (NT1), called CAN network, of the vehicle (2). The method comprises, in response to a first activation command received from the CAN network (NT1), triggering an initialization phase comprising: a1) initialization of the control device (10); a2) initialization of the display device (8); and a3) deactivation of the LVDS network (NT2). Upon detection that steps a1), a2) and a3) are completed, the LVDS network (NT2) is activated, causing the operation of the control device (10) and the display device (8) in a so-called normal mode. A control of the display device (8) can then be carried out by exchanging functional messages (MSG2) according to the normal mode.Figure for abstract: Figure 1.

A drive device for a car includes a first output shaft via which a first vehicle wheel of the car is drivable, a second output shaft arranged coaxially to the first output shaft via which a second vehicle wheel of the car is drivable, a differential transmission via which the output shafts are drivable, and three axial flux machines arranged coaxially to one another and coaxially to the output shafts. The three axial flux machines are a first axial flux machine via which the first output shaft is drivable by bypassing the differential transmission, a second axial flux machine via which the second output shaft is drivable by bypassing the differential transmission, and a third axial flux machine between the first axial flux machine and the second axial flux machine in the axial direction of the axial flux machines via which the output shafts are drivable via the differential transmission.

The invention relates to an open type differential mechanism, and belongs to the technical field of differential transmission devices. The differential mechanism comprises a differential mechanism shell with a hollow cavity, a half axle gear arranged in the differential mechanism shell, planetary gears arranged in the differential mechanism shell and located on the two opposite sides of the half axle gear, and planetary shafts used for installing the planetary gears in a sleeving mode. The heat sink modules are arranged in the differential mechanism shell, the oil way switching mechanism is arranged at the bottom of the differential mechanism shell, and the low-temperature starting oil bag communicates with the switching mechanism. And the heat sink module comprises a heat-conducting fin tube and a phase change filler which is filled in the heat-conducting fin tube in a sealing manner and is used for exchanging heat with oil. The differential mechanism has the effects that sintering of the differential mechanism under the condition that the differential rate is too high and starting difficulty at the low temperature are relieved.

The application relates to a PWM collision signal processing device, a method and a vehicle. The device comprises a level conversion circuit, a differential signal conversion circuit and a microcontroller, wherein the level conversion circuit is used for receiving a PWM collision signal and converting the PWM collision signal into a single-ended PWM signal in the form of a logic level; the differential signal conversion circuit is connected with the level conversion circuit and is used for converting the single-ended PWM signal into a differential signal for transmission; and the microcontroller is connected with the differential signal conversion circuit and is used for performing collision detection or identifying a short-circuit fault based on the differential signal. The application suppresses electromagnetic interference through single-ended-to-differential transmission, and distinguishes a collision state from a wire harness short-circuit fault based on differential signal characteristics by the microcontroller, so that the technical problems that a PWM collision signal is prone to interference and a wire harness short circuit is prone to triggering a false judgment of an MCU are solved.