CN114312141A

CN114312141A - Electric drive axle, fault diagnosis method and device thereof, and vehicle terminal

Info

Publication number: CN114312141A
Application number: CN202111592776.3A
Authority: CN
Inventors: 高锃
Original assignee: Xiaomi Automobile Technology Co Ltd
Current assignee: Xiaomi Automobile Technology Co Ltd
Priority date: 2021-12-23
Filing date: 2021-12-23
Publication date: 2022-04-12

Abstract

The disclosure relates to an electric drive axle, a fault diagnosis method and device thereof and a vehicle terminal. The electric drive axle includes: a motor assembly; the transmission comprises a transmission housing and a transmission assembly arranged in the transmission housing, and the transmission assembly is in transmission connection with the motor assembly; the controller is electrically connected with the motor assembly and is used for outputting a control instruction aiming at the motor assembly; a controller housing, the controller disposed within the controller housing; a vibration sensor directly or indirectly connected to the transmission housing; and/or, the vibration sensor is directly or indirectly connected to the controller housing; and/or the vibration sensor is connected to the motor assembly and used for acquiring a vibration signal when the electric drive axle is in a working state.

Description

Electric drive axle, fault diagnosis method and device thereof, and vehicle terminal

Technical Field

The disclosure relates to the technical field of terminals, in particular to an electric drive axle, a fault diagnosis method and device thereof and a vehicle terminal.

Background

At present, the market of electric vehicles is developed more and more mature, and the yield and the sales volume of the electric vehicles are also promoted day by day. In an electric vehicle, a motor is generally required to drive an electric drive axle, so that a drive wheel is driven to rotate through the electric drive axle, and functions of advancing, steering and the like are realized. However, in the related art, the fault of the electric drive axle is usually discovered by the user when the electric vehicle is maintained or repaired, and the working condition of the electric drive axle cannot be known in real time, which is not beneficial to driving safety.

Disclosure of Invention

The present disclosure provides an electric drive axle, a fault diagnosis method and apparatus thereof, and a vehicle terminal, to solve the disadvantages of the related art.

According to a first aspect of embodiments of the present disclosure, there is provided an electric drive axle including:

a motor assembly;

the transmission comprises a transmission housing and a transmission assembly arranged in the transmission housing, and the transmission assembly is in transmission connection with the motor assembly;

the controller is electrically connected with the motor assembly and is used for outputting a control instruction aiming at the motor assembly;

a controller housing, the controller disposed within the controller housing;

a vibration sensor directly or indirectly connected to the transmission housing; and/or, the vibration sensor is directly or indirectly connected to the controller housing; and/or the vibration sensor is connected to the motor assembly and used for acquiring a vibration signal when the electric drive axle is in a working state.

Optionally, the transmission assembly includes transmission shafts, bearings disposed at two ends of each of the transmission shafts, and bearing seats for fixing the bearings, the bearing seats are fixedly connected to the transmission housing, and the vibration sensor is connected to the bearing seats.

Optionally, the transmission assembly includes a transmission shaft, bearings disposed at two ends of the transmission shaft, and a bearing seat for fixing the bearings, and the vibration sensor is directly connected to the transmission housing at a position close to the bearing seat.

Optionally, the motor assembly includes a motor main body and a rotary transformer connected to the motor main body, the rotary transformer includes a stator fixing seat, and the vibration sensor is connected to the stator fixing seat.

Optionally, the vibration sensor comprises a voltage output piezoelectric sensor.

Optionally, the vibration sensor comprises a single axis vibration sensor or a multi-axis vibration sensor.

According to a second aspect of embodiments of the present disclosure, there is provided a vehicle terminal comprising an electric drive axle as described in any one of the embodiments above.

According to a third aspect of the embodiments of the present disclosure, there is provided a fault diagnosis method including:

acquiring working vibration frequency spectrum information when the electric drive axle is in a working state;

and comparing the working vibration frequency spectrum information with a basic vibration frequency spectrum range prestored in the vehicle terminal, and diagnosing the fault condition of the electric drive axle.

Optionally, the obtaining of the operating vibration spectrum information when the electric drive axle is in the operating state includes:

collecting a voltage signal when the electric drive bridge is in a working state;

acquiring a vibration acceleration signal in a time domain according to the voltage signal acquired in the time domain;

and converting the vibration acceleration signal in the time domain into an acceleration amplitude signal in the frequency domain through Fourier transform to obtain the working vibration frequency spectrum information.

Optionally, the obtaining, according to the voltage signal collected in the time domain, a vibration acceleration signal in the time domain includes:

determining whether the voltage signal exceeds a voltage threshold range;

acquiring the change condition of the voltage signal;

and when the voltage signal does not exceed the voltage threshold range or the duration of the voltage signal exceeding the voltage threshold range is less than a first preset duration and the voltage signal changes within a second preset duration, acquiring a vibration acceleration signal in a time domain.

Optionally, the method further includes:

acquiring vehicle working condition information of the vehicle terminal;

the comparing the working vibration frequency spectrum information with a basic vibration frequency spectrum range prestored in the vehicle terminal comprises:

and determining the basic vibration frequency spectrum range according to the vehicle working condition information and a preset mapping relation, wherein the preset mapping relation comprises a corresponding relation between the basic vibration frequency spectrum range and preset working condition information.

Optionally, the method further includes:

and in a preset age range and/or a preset mileage range, when the vehicle working condition information is different from the preset working condition information, adding a corresponding relation contained in the preset mapping relation according to the working vibration frequency spectrum information and the vehicle working condition information.

Optionally, the method further includes:

and in a preset age range and/or a preset mileage range, when the vehicle working condition information is partially overlapped with the preset working condition information, updating the preset working condition information overlapped with the vehicle working condition information in the preset mapping relation and a basic vibration frequency spectrum range corresponding to the preset working condition information overlapped with the vehicle working condition information according to the working vibration frequency spectrum information and the vehicle working condition information.

Optionally, the fundamental vibration frequency spectrum range includes a plurality of characteristic vibration frequency spectrum ranges, and each characteristic vibration frequency spectrum range corresponds to a characteristic part of the electric drive axle;

comparing the working vibration frequency spectrum information with a basic vibration frequency spectrum range prestored in the vehicle terminal, and determining the fault condition of the electric drive axle, wherein the fault condition comprises the following steps:

determining characteristic part working frequency spectrum information corresponding to a plurality of characteristic parts according to the working vibration frequency spectrum information;

comparing the characteristic part working frequency spectrum information of each characteristic part in the plurality of characteristic parts with the characteristic vibration frequency spectrum range, and determining that any characteristic part is faultless when the working frequency spectrum information of any characteristic part is located in the corresponding characteristic vibration frequency spectrum range; and when the working frequency spectrum information of any characteristic part is positioned outside the corresponding characteristic vibration frequency spectrum range, positioning any characteristic part as a fault characteristic part.

Optionally, the method further includes:

and predicting the fault condition of the characteristic part without the fault according to the characteristic part working frequency spectrum information of the characteristic part without the fault and the corresponding preset vibration analysis model.

Optionally, predicting the fault condition of the fault-free characteristic part according to the characteristic part operating frequency spectrum information of the fault-free characteristic part and the corresponding preset vibration analysis model, including:

analyzing the service life loss speed of the characteristic part without the fault according to the characteristic part working frequency spectrum information of the characteristic part without the fault and a corresponding preset acceleration analysis model;

and when the service life loss speed exceeds a first threshold range, sending an instruction for instructing the vehicle terminal to send prompt information.

Optionally, predicting the fault condition of the fault-free characteristic part according to the characteristic part operating frequency spectrum information of the fault-free characteristic part and the corresponding preset vibration analysis model, and further comprising:

when the service life loss speed is within the first threshold value range, analyzing the damage rate of the characteristic part without the fault according to the characteristic part working frequency spectrum information of the characteristic part without the fault and a corresponding preset damage analysis model;

and when the damage rate exceeds a second threshold range, sending an instruction for indicating the vehicle terminal to send out prompt information.

Optionally, the method further includes:

when any characteristic part is in fault, acquiring a fault vibration frequency spectrum range corresponding to any characteristic part according to at least one group of acquired vibration signals;

and establishing the preset vibration analysis model according to the fault vibration frequency spectrum range.

Optionally, the method further includes:

and correcting the preset vibration analysis model of the characteristic part with the fault according to the working frequency spectrum information of the characteristic part corresponding to the characteristic part with the fault.

Optionally, the method further includes:

and predicting the preset vibration analysis model of the parts with the same characteristics of other vehicle terminals which are at least partially overlapped with the vehicle parameters of the vehicle terminals according to the corrected preset vibration analysis model of the characteristic parts with the faults.

Optionally, the method further includes:

when any characteristic part is in fault, acquiring the vibration signal;

and acquiring the characteristic vibration frequency spectrum range of any characteristic part according to one or more groups of vibration signals.

Optionally, the method further includes:

when the electric drive axle is free from faults, acquiring the vibration signal;

and acquiring the characteristic vibration frequency spectrum ranges respectively corresponding to the plurality of characteristic parts according to one or more groups of vibration signals.

Optionally, the method further includes:

and sending at least one of the working vibration spectrum information and the fault condition to a server terminal or a vehicle terminal or a third party terminal.

Optionally, the fault diagnosis method is applied to a vehicle terminal; or,

the fault diagnosis method is applied to a server terminal; or,

the fault diagnosis method is interactively executed through a vehicle terminal and the server terminal.

According to a third aspect of the embodiments of the present disclosure, there is provided a fault diagnosis apparatus including:

the first acquisition module is used for acquiring working vibration frequency spectrum information when the electric drive axle is in a working state;

and the diagnosis module compares the working vibration frequency spectrum information with a basic vibration frequency spectrum range prestored in the vehicle terminal to diagnose the fault condition of the electric drive axle.

Optionally, the first obtaining module includes:

the acquisition unit is used for acquiring a voltage signal when the electric drive bridge is in a working state;

the first acquisition unit is used for acquiring a vibration acceleration signal in a time domain according to the voltage signal acquired in the time domain;

and the second acquisition unit is used for converting the vibration acceleration signal in the time domain into an acceleration amplitude signal in the frequency domain through Fourier transform so as to obtain the working vibration frequency spectrum information.

Optionally, the first obtaining unit includes:

a determination subunit that determines whether the voltage signal exceeds a voltage threshold range;

the first acquisition subunit acquires the change condition of the voltage signal;

and the second acquisition subunit acquires the vibration acceleration signal in the time domain when the voltage signal does not exceed the voltage threshold range or the duration of the voltage signal exceeding the voltage threshold range is less than the first preset duration and the voltage signal changes within the second preset duration.

Optionally, the method further includes:

the second acquisition module is used for acquiring the vehicle working condition information of the vehicle terminal;

the diagnostic module includes:

the first determining unit is used for determining the basic vibration frequency spectrum range according to the vehicle working condition information and a preset mapping relation, wherein the preset mapping relation comprises a corresponding relation between the basic vibration frequency spectrum range and preset working condition information.

Optionally, the method further includes:

the first updating module is used for updating the corresponding relation contained in the preset mapping relation according to the working vibration frequency spectrum information and the vehicle working condition information when the vehicle working condition information is different from the preset working condition information in a preset age range and/or a preset mileage range.

Optionally, the method further includes:

and the second updating module is used for updating the preset working condition information overlapped with the vehicle working condition information in the preset mapping relation and the basic vibration frequency spectrum range corresponding to the preset working condition information overlapped with the vehicle working condition information according to the working vibration frequency spectrum information and the vehicle working condition information when the vehicle working condition information is partially overlapped with the preset working condition information in the preset age range and/or the preset mileage range.

the diagnostic module includes:

the second determining unit is used for determining the working frequency spectrum information of the characteristic parts corresponding to the plurality of characteristic parts according to the working vibration frequency spectrum information;

the diagnostic unit is used for comparing the characteristic part working frequency spectrum information of each characteristic part in the plurality of characteristic parts with the characteristic vibration frequency spectrum range, and determining that any characteristic part has no fault when the working frequency spectrum information of any characteristic part is located in the corresponding characteristic vibration frequency spectrum range; and when the working frequency spectrum information of any characteristic part is positioned outside the corresponding characteristic vibration frequency spectrum range, positioning any characteristic part as a fault characteristic part.

Optionally, the method further includes:

the first prediction module predicts the fault condition of the characteristic part without fault according to the working frequency spectrum information of the characteristic part without fault and the corresponding preset vibration analysis model.

Optionally, the first prediction module includes:

the first analysis unit is used for analyzing the service life loss speed of the characteristic part without the fault according to the working frequency spectrum information of the characteristic part without the fault and a corresponding preset acceleration analysis model;

and the first sending unit is used for sending an instruction for instructing the vehicle terminal to send prompt information when the service life loss speed exceeds a first threshold range.

Optionally, the first prediction module further includes:

the second analysis unit is used for analyzing the damage rate of the characteristic part without the fault according to the working frequency spectrum information of the characteristic part without the fault and a corresponding preset damage analysis model when the service life loss speed is within the first threshold range;

and the second sending unit is used for sending an instruction for instructing the vehicle terminal to send prompt information when the damage rate exceeds a second threshold range.

Optionally, the method further includes:

the third acquisition module is used for acquiring a fault vibration frequency spectrum range corresponding to any characteristic part according to at least one group of acquired vibration signals when any characteristic part is in fault;

and the establishing module is used for establishing the preset vibration analysis model according to the fault vibration frequency spectrum range.

Optionally, the method further includes:

and the correcting module is used for correcting the preset vibration analysis model of the characteristic part with the fault according to the working frequency spectrum information of the characteristic part corresponding to the characteristic part with the fault.

Optionally, the method further includes:

and the second prediction module predicts the preset vibration analysis model of the same characteristic part of other vehicle terminals which is at least partially overlapped with the vehicle parameter of the vehicle terminal according to the corrected preset vibration analysis model of the characteristic part with the fault.

Optionally, the method further includes:

the first acquisition module is used for acquiring the vibration signal when any characteristic part fails;

and the fourth acquisition module acquires the characteristic vibration frequency spectrum range of any characteristic part according to one or more groups of vibration signals.

Optionally, the method further includes:

the second acquisition module is used for acquiring the vibration signal when the electric drive axle has no fault;

and the fifth acquisition module is used for acquiring the characteristic vibration frequency spectrum ranges corresponding to the characteristic parts respectively according to one or more groups of the vibration signals.

Optionally, the method further includes:

and the sending module is used for sending at least one of the working vibration spectrum information and the fault condition to a server terminal or a vehicle terminal or a third party terminal.

Optionally, the fault diagnosis device is applied to a vehicle terminal; or,

the fault diagnosis device is applied to a server terminal; or,

the fault diagnosis device is partially arranged on the vehicle terminal and partially arranged on the server terminal.

According to a fourth aspect of embodiments of the present disclosure, there is provided a computer-readable storage medium having stored thereon computer instructions which, when executed by a processor, implement the steps of the method according to any one of the embodiments described above.

According to a fifth aspect of an embodiment of the present disclosure, there is provided a vehicle terminal including:

a processor;

a memory for storing processor-executable instructions;

wherein the processor is configured to acquire operating vibration spectrum information when the electric drive axle is in an operating state; and comparing the working vibration frequency spectrum information with a basic vibration frequency spectrum range prestored in the vehicle terminal, and diagnosing the fault condition of the electric drive axle.

The technical scheme provided by the embodiment of the disclosure can have the following beneficial effects:

known by the above-mentioned embodiment, configuration vibration sensor on the electric drive axle in this disclosure to gather the vibration signal that the electric drive axle is in operating condition through this vibration sensor, acquire the vibration condition of vehicle driving in-process electric drive axle, be favorable to disposing the vehicle terminal of this electric drive axle through this vibration signal and judge the trouble condition of electric drive axle in the driving process, be favorable to practicing thrift the length of time of maintenance connection section location trouble, promote maintenance efficiency, still be favorable to promoting driving safety simultaneously.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and together with the description, serve to explain the principles of the disclosure.

FIG. 1 is a schematic diagram illustrating an electric drive axle in accordance with an exemplary embodiment.

FIG. 2 is a schematic diagram of a connection of a vibration sensor according to an exemplary embodiment.

Fig. 3 is a schematic top view of a rotary transformer shown in accordance with an exemplary embodiment.

FIG. 4 is a flow chart illustrating a method of fault diagnosis in accordance with an exemplary embodiment.

FIG. 5 is a flow chart illustrating another method of fault diagnosis in accordance with an exemplary embodiment.

FIG. 6 is a flow chart illustrating yet another method of fault diagnosis in accordance with an exemplary embodiment.

Fig. 7 is one of block diagrams illustrating a fault diagnosis apparatus according to an exemplary embodiment.

Fig. 8 is a second block diagram illustrating a fault diagnosis apparatus according to an exemplary embodiment.

Fig. 9 is a third block diagram illustrating a fault diagnosis apparatus according to an exemplary embodiment.

Fig. 10 is a fourth block diagram illustrating a fault diagnosis apparatus according to an exemplary embodiment.

Fig. 11 is a fifth block diagram illustrating a fault diagnosis apparatus according to an exemplary embodiment.

Fig. 12 is a sixth block diagram of a failure diagnosis apparatus according to an exemplary embodiment.

Fig. 13 is a seventh block diagram illustrating a fault diagnosis apparatus according to an exemplary embodiment.

Fig. 14 is an eighth of block diagram illustrating a fault diagnosis apparatus according to an exemplary embodiment.

Fig. 15 is a ninth block diagram illustrating a fault diagnosis apparatus according to an exemplary embodiment.

Fig. 16 is a tenth block diagram illustrating a fault diagnosis apparatus according to an exemplary embodiment.

Fig. 17 is an eleventh block diagram illustrating a fault diagnosis apparatus according to an exemplary embodiment.

Fig. 18 is a twelfth block diagram illustrating a fault diagnosis apparatus according to an exemplary embodiment.

Fig. 19 is a thirteen-block diagram showing a failure diagnosis apparatus according to an exemplary embodiment.

Fig. 20 is a fourteenth block diagram illustrating a fault diagnosis apparatus according to an exemplary embodiment.

Fig. 21 is a fifteen block diagram illustrating a fault diagnosis apparatus according to an exemplary embodiment.

Fig. 22 is a sixteen block diagram illustrating a fault diagnosis apparatus according to an exemplary embodiment.

Fig. 23 is one of block diagrams illustrating a fault diagnosis apparatus according to an exemplary embodiment.

Fig. 24 is a second block diagram illustrating a fault diagnosis apparatus according to an exemplary embodiment.

Detailed Description

Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the exemplary embodiments below are not intended to represent all implementations consistent with the present disclosure. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present disclosure, as detailed in the appended claims.

The terminology used in the present disclosure is for the purpose of describing particular embodiments only and is not intended to be limiting of the disclosure. As used in this disclosure and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should also be understood that the term "and/or" as used herein refers to and encompasses any and all possible combinations of one or more of the associated listed items.

It is to be understood that although the terms first, second, third, etc. may be used herein to describe various information, such information should not be limited to these terms. These terms are only used to distinguish one type of information from another. For example, first information may also be referred to as second information, and similarly, second information may also be referred to as first information, without departing from the scope of the present disclosure. The word "if" as used herein may be interpreted as "at … …" or "when … …" or "in response to a determination", depending on the context.

Fig. 1 is a schematic diagram illustrating a structure of an electric transaxle 100 according to an exemplary embodiment, and fig. 2 is a connection schematic diagram of a vibration sensor 5 according to an exemplary embodiment. As shown in fig. 1 and 2, the electric transaxle may include a motor assembly 1, a transmission 2, a controller 3, a controller housing 4 and a vibration sensor 5, the transmission 2 may be in transmission connection with an output shaft of the motor assembly 1, specifically, the transmission 2 may include a transmission housing 21 and a transmission assembly 22, the transmission assembly 22 is disposed in the transmission housing 21, and the motor assembly 1 may be in transmission connection with the transmission assembly 22, so as to reduce or increase a rotation speed output to the motor assembly 1 through the transmission assembly 22. The transmission assembly 22 may include a transmission shaft 221, a gear 222, a bearing 223, and a bearing seat 224, which are not limited by the present disclosure. The controller 3 may be disposed in the controller housing 4 to protect the controller 3 through the controller housing 4, the controller 3 may include a printed circuit board assembly, and the controller 3 may be electrically connected to the motor assembly 1 to output a control command for the motor assembly 1 through the controller 3, such as a steering direction, a rotation speed, and a switch of the motor assembly 1, through which the control command may be controlled.

In some optional embodiments, the vibration sensor 5 may be directly or indirectly connected to the transmission housing 21, in another optional embodiment, the vibration sensor 5 may be directly or indirectly connected to the controller housing 4, in still other optional embodiments, the vibration sensor 5 may be connected to the motor assembly 1, a vibration signal of the electric drive axle 100 in an operating state may be collected through the vibration sensor 5, a vibration condition of the electric drive axle 100 during driving of the vehicle is obtained, and a vehicle terminal configuring the electric drive axle 100 is facilitated to determine a fault condition of the electric drive axle 100 during driving through the vibration signal. Of course, only one of the vibration sensor 5 fixedly connected to the transmission housing 21 or the controller housing 4 or the motor assembly 1 is taken as an example for illustration, and in other embodiments, the electric transaxle 100 may also include a plurality of vibration sensors 5, and the plurality of vibration sensors 5 may be connected to a plurality of the transmission housing 21, the controller housing 4 and the motor assembly 1, which is not limited by the present disclosure. The direct connection of the vibration sensor 5 to the transmission housing 21 or the controller housing 4 means that the vibration sensor 5 is directly contacted with the transmission housing 21 or the controller housing 4 to realize connection, and the indirect connection of the vibration sensor 5 to the transmission housing 21 or the controller housing 4 means that the vibration sensor 5 and the transmission housing 21 or the controller housing 4 need to realize indirect fixed connection through other structures. It should be further noted that the embodiment of the electric drive bridge 100 provided in the present disclosure is only illustrated as an exemplary embodiment, and the electric drive bridge 100 may also adopt other structural forms, which is not limited by the present disclosure.

The transmission assembly 22 of the transmission 2 includes two ends of each transmission shaft 221, which can be respectively connected with a bearing 223, each bearing seat 224 can be connected with each bearing 223 to fix the bearing 223 through the bearing seat 224, and the bearing seat 224 can be connected and fixed with the transmission housing 21. In some embodiments, the vibration sensor 5 may be connected to any one of the bearing housings 224, so that the vibration sensor 5 is indirectly and fixedly connected to the transmission housing 21 through the bearing housing 224. It will be appreciated that the drive assembly 22 of the same transmission 2 may include one or more rotating shafts 221, and therefore the number of corresponding bearings 223 and bearing seats 224 is plural, and the vibration sensor 5 may be fixedly connected to any one of the bearing seats 224. For example, the vibration sensor 5 may be interference-disposed in a groove formed in the bearing housing 224. The vibration sensor 5 is fixedly connected with the bearing seat 224, so that the vibration sensor 5 can be arranged as close to the transmission shaft 221 as possible, and more effective vibration signals can be acquired. In other embodiments, the vibration sensor 5 may be directly connected to the inner side of the transmission housing 21 near the bearing seat 224, so that the vibration sensor 5 may be disposed near the transmission shaft 221 to obtain a vibration signal more consistent with the actual vibration condition. Of course, it should be noted that the vibration sensor 5 may be connected to the transmission housing 21 at any position of the transmission housing 21, which is not limited by the present disclosure.

The motor assembly 1 may include a motor main body (not shown) and a resolver 11 as shown in fig. 3, the resolver 11 may be electrically connected to the motor main body, and position information and rotation information of the motor main body may be collected through the resolver 11 and fed back to a central control of a vehicle terminal. The resolver 11 may include a resolver rotor 111, a resolver stator 112, a stator fixing base 113, and a plurality of signal pins 114, where the resolver stator 112 may be connected to the stator fixing base 113 to constrain the position of the resolver stator 112 by the stator fixing base 113, the plurality of signal pins 114 may be disposed on the stator fixing base 113, and the vibration sensor 5 may also be connected to the stator fixing base 113. The plurality of signal pins 114 may include at least one rotation signal output pin and at least one vibration signal output pin, the rotation signal output pin may be configured to output a signal collected by the rotary transformer 11, and the vibration signal output pin may be configured to output a vibration signal collected by the vibration sensor 5.

In the above embodiments, the vibration sensor 5 may include a voltage output type piezoelectric sensor, and the voltage output type piezoelectric sensor may output the vibration signal of the electric drive bridge 100 in the form of a voltage signal, so as to facilitate subsequent processing of the vibration signal. The vibration sensor 5 may include a single-axis vibration sensor or a multi-axis vibration sensor, and the vibration sensor 5 may be selected according to the natural frequency of the electric drive axle 100, for example, when the natural frequency of the electric drive axle 100 is about 2000Hz, the vibration sensor 5 with a frequency response of 2Hz-7000Hz may be selected, and the sensitivity and the service temperature range of the vibration sensor 5 and the supply voltage may all meet the corresponding requirements by selecting the vibration sensor 5 of the corresponding model.

The present disclosure may also provide a vehicle terminal, which may include the electric drive axle 100 described in any one of the above embodiments, and may include a central control terminal, which may be electrically connected to the vibration sensor 5 of the electric drive axle 100 to acquire and process the vibration signal acquired by the vibration sensor 5.

There may be a plurality of processing manners with respect to the collected vibration signal, and in some embodiments, as shown in fig. 4, a fault diagnosis method is provided, which may perform processing based on the collected vibration signal, diagnose a fault condition of the electric drive axle, and subsequently facilitate maintenance by a vehicle user or a maintenance station according to the diagnosed fault condition. Optionally, the main body of the fault diagnosis method may be a vehicle terminal, and the vehicle terminal may include a pure electric vehicle or a hybrid vehicle; optionally, an execution main body of the fault diagnosis method may also be a server, the server may include a cloud server, the cloud server may communicate with the vehicle terminal, the vehicle terminal may send a corresponding signal to the cloud server, and the cloud server may process the signal according to the received signal. As shown in fig. 4, the fault diagnosis method may include

steps

401 and 402, in which:

in step 401, operating vibration spectrum information is acquired when electric transaxle 100 is in an operating state.

In some optional embodiments, the vibration sensor 5 disposed on the electric drive axle 100 may collect a vibration signal, optionally, the vibration sensor 5 may include a voltage output type vibration sensor, so that the collected vibration signal is output in the form of a voltage signal, the central control end of the vehicle terminal may collect a voltage signal when the electric drive axle 100 is in the working state, then obtain a vibration acceleration signal in the time domain according to the voltage signal collected in the time domain, further convert the vibration acceleration signal in the time domain into an acceleration amplitude signal in the frequency domain through fourier transform, so as to obtain working vibration spectrum information when the electric drive axle 100 is in the working state, the working vibration spectrum information is real-time working vibration spectrum information, the central control end of the vehicle terminal may periodically collect the voltage signal when the electric drive axle 100 is in the working state, and obtaining corresponding working vibration frequency spectrum information.

Optionally, acquiring the vibration acceleration signal in the time domain according to the voltage signal acquired in the time domain may further include: judging whether the voltage signal exceeds a voltage threshold range or not, acquiring the change condition of the voltage signal, and when the voltage signal does not exceed the voltage threshold range or the duration of the voltage signal exceeding the voltage threshold range is less than a first preset duration and the voltage signal changes within a second preset duration, considering that the vibration sensor is in a normal working state, and the reliability of the output voltage signal is high, so that the vibration acceleration signal in a time domain is acquired according to the voltage signal acquired in the time domain. When the duration that the voltage signal exceeds the voltage threshold range exceeds a first preset duration, or when the voltage signal does not change within a second preset duration or the variation is extremely small, the vibration sensor 5 can be mistakenly reported.

In other alternative embodiments, the base vibration spectrum range may be a base vibration spectrum range that is pre-stored in the vehicle terminal and is not updated; in other embodiments, the vibration of electric transaxle 100 may be different when the vehicle terminal is in different operating conditions, and thus the corresponding fundamental vibration spectrum range may be changed accordingly. Therefore, in order to diagnose the fault of the electric drive axle closer to the working condition of the vehicle terminal, the fault diagnosis method may further include: the method comprises the steps of obtaining vehicle working condition information of a vehicle terminal, and determining a basic vibration frequency spectrum range according to the vehicle working condition information and a preset mapping relation, wherein the preset mapping relation comprises a corresponding relation between the basic vibration frequency spectrum range and preset working information. In other words, the vehicle terminal may select the corresponding basic vibration spectrum range according to the vehicle condition information, and then diagnose the fault condition of the electric drive axle 100

Alternatively, the preset mapping relationship may be a mapping relationship that is inferred and burned at the central control end through a limited number of tests before the vehicle terminal is brought out of the field. In some optional embodiments, the preset mapping relationship may be a mapping relationship that is already determined after being burned, and is not updated after the vehicle terminal leaves a factory; in other optional embodiments, in order to cover more complicated work after the vehicle terminal leaves the factory, the preset mapping relationship may be updated according to actual conditions after the vehicle terminal leaves the factory. For example, according to the service life of the parts of the electric drive axle 100, under the condition that at least one of the preset age range and the preset mileage range is met, it can be considered that the electric drive axle 100 does not have a fault, so when the vehicle working condition information is different from the preset working condition information, it can be defaulted that the electric drive axle 100 has no fault, and according to the corresponding relationship between the obtained working vibration frequency spectrum information and the vehicle working condition information, the preset mapping relationship is updated to newly add the corresponding relationship included in the preset mapping relationship; for example, when the vehicle operating condition information partially overlaps with the preset operating condition information, the preset operating condition information overlapping with the vehicle operating condition information in the preset mapping relationship and the basic vibration spectrum range corresponding to the preset operating condition information overlapping with the vehicle operating condition information may be updated according to the working vibration spectrum information and the vehicle operating condition information under the condition that at least one of the preset age range and the preset mileage range is satisfied.

The preset age range may refer to a certain age range from the date of sale of the vehicle terminal, such as one year or two years, and may be specifically estimated according to the life of the electric drive axle 100; the preset mileage range may be a certain mileage range from the date of the vehicle terminal leaving the factory, and may be calibrated to 10000 kilometers or 20000 kilometers, for example, and may be specifically estimated according to the service life of the electric drive axle 100. The preset working condition information may be a working condition range, for example, the preset working condition information may include a vehicle speed range, an oil temperature range, a load range, and the like, the difference between the vehicle working condition information and the preset working condition information indicates that the vehicle working condition information does not fall within the range of any preset working condition information, and when the preset working condition information is any fixed value, the difference between the vehicle working condition information and the preset working condition information indicates that a parameter value of the vehicle working condition information is different from a parameter value of the preset working condition information; the fact that the vehicle working condition information is partially overlapped with the preset working condition information means that a parameter range corresponding to the vehicle working condition information is partially overlapped with a parameter range corresponding to the preset working condition information, at the moment, a parameter range corresponding to the updated preset working information can be determined according to the parameter range corresponding to the vehicle working condition information and the parameter range corresponding to the preset working condition information, and an updated basic vibration frequency spectrum range can be determined according to the basic vibration frequency spectrum range and the working vibration frequency spectrum information.

In step 402, the operating vibration spectrum information is compared with a basic vibration spectrum range pre-stored in a vehicle terminal, and a fault condition of the electric drive axle 100 is diagnosed.

In some alternative embodiments, the fundamental vibration spectrum range may include a plurality of characteristic vibration spectrum ranges, each of which may correspond to a characteristic part of electric transaxle 100. For example, the basic vibration spectrum range may include a bearing characteristic vibration spectrum range, a spline characteristic vibration spectrum range, a transmission shaft characteristic vibration spectrum range, a bearing seat characteristic vibration spectrum range, and the like, which is not limited by the present disclosure.

Based on the method, the working frequency spectrum information of the characteristic parts corresponding to the plurality of characteristic parts can be determined according to the working vibration frequency spectrum information, the working frequency spectrum information of the characteristic part of each characteristic part in the plurality of characteristic parts is compared with the corresponding characteristic vibration frequency spectrum range, and when any one of the working frequency spectrum information of the characteristic part is located in the corresponding characteristic vibration frequency spectrum range, no fault exists in any one of the characteristic parts; when the working frequency spectrum information of any characteristic part is located outside the corresponding characteristic vibration frequency spectrum range, the characteristic part is positioned as a fault characteristic part, so that the fault part of the current electric drive axle 100 can be diagnosed, and the maintenance efficiency in the maintenance stage can be improved.

In some optional embodiments, in the case of no fault of electric drive axle 100, the fault condition of the fault-free characteristic part may also be predicted according to the operating spectrum information of the fault-free characteristic part and the corresponding preset vibration analysis model. Optionally, the service life loss speed of the characteristic part can be analyzed according to the working frequency spectrum information of the characteristic part of the fault-free characteristic part and the corresponding preset acceleration analysis model; when the service life loss speed exceeds a first threshold range, sending an instruction for indicating a vehicle terminal to send prompt information so as to inform a user that the service life loss of the current characteristic part is too high, and the working condition needs to be adjusted or the characteristic part needs to be maintained as soon as possible; further, when the service life loss speed is within the first threshold range, analyzing the damage rate of the characteristic part according to the working frequency spectrum information of the characteristic part of the fault-free characteristic part and the corresponding preset damage analysis model; and when the damage rate exceeds the second threshold range, sending an instruction for indicating the vehicle terminal to send prompt information so as to prompt a user that the loss condition of the characteristic part is serious and the characteristic part needs to be repaired and replaced as soon as possible.

Optionally, in a stage that the vehicle terminal is not delivered from a factory, the vibration signal may be collected when any characteristic part is in fault, and then the characteristic vibration frequency spectrum range of any characteristic part may be obtained according to one or more groups of vibration signals. For example, if the acquired vibration frequency at the time of the fault is 100Hz or more, the vibration frequency at 100Hz can be determined as the characteristic vibration spectrum range of any characteristic part. Optionally, the vibration signal may be collected when the electric drive axle is not faulty; and acquiring characteristic vibration frequency spectrum ranges respectively corresponding to the plurality of characteristic parts according to one or more groups of vibration signals.

Optionally, when any characteristic part fails, a vibration spectrum range corresponding to the any characteristic part is obtained according to at least one group of collected vibration signals, and then a preset vibration analysis model can be established according to the failure vibration spectrum range. For example, an acceleration analysis model and a damage analysis model can be obtained by fitting the fault vibration spectrum range.

Optionally, when a fault of any characteristic part of the electric drive axle 100 is diagnosed, the preset vibration analysis model corresponding to the characteristic part with the fault can be corrected according to the working frequency spectrum information of the characteristic part corresponding to the characteristic part with the fault; for example, the acceleration analysis model and the damage analysis model corresponding to the characteristic part may be corrected.

Optionally, the preset vibration analysis model of the same characteristic part of the other vehicle terminal, which is at least partially overlapped with the vehicle parameter of the vehicle terminal, may be predicted according to the preset vibration analysis model after the characteristic part of the fault is corrected. For example, the preset vibration analysis model of the characteristic part on the electric drive axle of the same series of vehicle types can be predicted according to the corrected preset vibration analysis model, and then the predicted preset vibration analysis model can be synchronized to the vehicle terminal of the same series of vehicle types by means of the server.

Optionally, at least one of the operating vibration spectrum information and the fault condition of the electric drive axle may be sent to the server side or the vehicle terminal or the third party terminal, where when the execution subject of the method shown in fig. 4 is the vehicle terminal, at least one of the operating vibration spectrum information and the fault condition of the electric drive axle may be sent to the server side or the third party terminal; when the main body server is executed, at least one of the operating vibration spectrum information and the fault condition of the electric drive axle can be sent to the vehicle terminal or the third party terminal.

According to the embodiment, the fault condition of the electric drive axle can be judged by acquiring the real-time vibration signal of the electric drive axle in the driving process of the vehicle terminal in the disclosure, so that the working condition monitoring of a user on the electric drive axle is facilitated, meanwhile, the time for removing faults in the maintenance stage can be greatly saved, and the maintenance efficiency is improved.

The executing main body of step 401 and step 402 in the above embodiments may be a vehicle terminal or a server side, and the following describes the technical solution of the present disclosure in detail with the executing main body as the vehicle terminal. As shown in fig. 5, the fault diagnosis method may include the steps of:

in step 501, a voltage signal acquired by a vibration sensor when an electric drive axle is in a working state is acquired.

In alternative embodiments, a vibration sensor may be attached to the housing or to the fastening of the electric drive axle, by means of which vibration signals are detected during operation of the electric drive axle. For example, the vibration sensor may include a voltage output type vibration sensor, and the vibration signal acquired by the voltage output type vibration sensor may be output in the form of a voltage signal, and the vibration condition of the electric drive bridge is represented by the amplitude change of the voltage signal.

In step 502, it is determined whether the voltage signal exceeds a voltage threshold range.

In some alternative embodiments, step 503 may be performed when the amplitude of the voltage signal exceeds the voltage threshold range, and step 504 may be performed when the amplitude of the voltage signal is within the voltage threshold range.

In step 503, it is determined whether the duration of the voltage signal exceeding the voltage threshold range exceeds a first preset duration.

In some alternative embodiments, it may be determined whether the duration of the voltage signal exceeding the voltage threshold range exceeds a first preset duration, thereby determining whether the vibration sensor is malfunctioning. For example, when the duration of the voltage signal exceeding the voltage threshold range exceeds the first preset duration, it may be determined that the vibration sensor is faulty, and step 505 is performed, and when the duration of the voltage signal exceeding the voltage threshold range does not exceed the first preset duration, step 504 is performed. Wherein the voltage threshold range can be selected according to the specification of the voltage output type vibration sensor.

In step 504, it is determined whether the voltage signal has changed within a second predetermined time period.

In some optional embodiments, since the road condition information of the vehicle terminal may change at any time during the driving process of the vehicle terminal, the amplitude of the collected voltage signal should also change in real time. Therefore, it may be determined whether the voltage signal changes within the second preset time period, and when the amplitude of the collected voltage signal changes within the second preset time period, the step may be shifted to step 506, and when the amplitude of the collected voltage signal does not change within the second preset time period, the step may be shifted to step 505, and the vibration sensor is considered to be faulty.

In step 505, a vibration sensor failure is reported.

In step 506, a vibration acceleration signal in the time domain is obtained according to the voltage signal in the time domain.

In step 507, an acceleration amplitude signal in a frequency domain is obtained according to the vibration acceleration signal in the time domain through fourier transform, so as to obtain working vibration frequency spectrum information.

In some optional embodiments, the change condition of the vibration acceleration signal within the preset time duration may be obtained according to the change condition of the voltage signal within the preset time duration, and then the vibration acceleration signal within the city domain is converted into an acceleration amplitude signal within the frequency domain through fourier transform, so as to obtain the working vibration frequency spectrum information.

In step 508, characteristic part operating frequency spectrum information of the plurality of characteristic parts is obtained according to the operating vibration frequency spectrum information.

In step 509, vehicle condition information of the vehicle terminal is collected.

In step 510, a basic vibration spectrum range is obtained according to the vehicle working condition information, wherein the basic vibration spectrum range comprises characteristic vibration spectrum ranges of a plurality of characteristic parts.

In some optional embodiments, the vehicle operating condition information may include at least one of vehicle speed information, oil temperature information, load information, and identification information for identifying the unique vehicle terminal. The vehicle terminal can prestore a preset mapping relation containing the corresponding relation between the basic vibration frequency spectrum range and the preset working condition information, and the basic vibration frequency spectrum range can be determined subsequently according to the vehicle working condition information and the preset mapping relation. This basic vibration frequency spectrum range can include the characteristic vibration frequency spectrum range of a plurality of characteristic parts, for example, the vehicle terminal can prestore the characteristic vibration frequency spectrum range of a plurality of characteristic parts and predetermine the preset mapping relation between the operating mode information, follow-up according to vehicle operating mode information and each predetermine the mapping relation, determines the characteristic vibration frequency spectrum range of a plurality of characteristic parts.

In some optional embodiments, the preset mapping relationship may be a mapping relationship that has already been determined after the vehicle terminal is burned, and is not updated subsequently after the vehicle terminal leaves a factory; in other optional embodiments, in order to cover more complicated working conditions after the vehicle terminal leaves the factory, the preset mapping relationship may be updated according to actual working conditions after the vehicle terminal leaves the factory. For example, according to the service life of the parts of the electric drive axle 100, under the condition that at least one of the preset age range and the preset mileage range is met, it can be considered that the electric drive axle 100 does not have a fault, so when the vehicle working condition information is different from the preset working condition information, it can be defaulted that the electric drive axle 100 has no fault, and according to the corresponding relationship between the obtained working vibration frequency spectrum information and the vehicle working condition information, the preset mapping relationship is updated to newly add the corresponding relationship included in the preset mapping relationship; for example, when the vehicle operating condition information partially overlaps with the preset operating condition information, the preset operating condition information overlapping with the vehicle operating condition information in the preset mapping relationship and the basic vibration spectrum range corresponding to the preset operating condition information overlapping with the vehicle operating condition information may be updated according to the working vibration spectrum information and the vehicle operating condition information under the condition that at least one of the preset age range and the preset mileage range is satisfied.

In step 511, the characteristic vibration spectrum range of the characteristic part and the characteristic part operating spectrum information are compared.

In step 512, the faulty characteristic part is located according to the comparison result of the characteristic vibration spectrum range of the characteristic part and the working spectrum information of the characteristic part.

In some optional embodiments, the characteristic vibration spectrum ranges of a plurality of characteristic parts can be obtained according to the working vibration spectrum information, the characteristic vibration spectrum ranges of the characteristic parts and the working spectrum information of the characteristic parts are subsequently compared, when the working spectrum information of the characteristic parts of any one characteristic part exceeds the characteristic vibration spectrum range of the characteristic part, the characteristic part can be considered, and the characteristic part can be positioned as a fault characteristic part; when the working frequency spectrum information of the characteristic part of any characteristic part is located in the characteristic vibration frequency spectrum range of any characteristic part, the characteristic part can be considered to be free of faults. And if the working frequency spectrum information of the characteristic parts of the plurality of characteristic parts does not exceed the characteristic vibration frequency spectrum range of the corresponding characteristic parts, determining that the plurality of characteristic parts of the electric drive axle have no faults and the electric drive axle has no faults.

In step 513, the feature part of the fault is reported to prompt the user.

In step 514, the acceleration analysis model and the damage analysis model of the feature part with the fault are corrected according to the feature part operating frequency spectrum information of the feature part with the fault.

In some optional embodiments, the one or more characteristic parts with faults can be located according to the comparison result of the characteristic vibration spectrum range of the characteristic part and the working spectrum information of the characteristic part. Optionally, the operating spectrum information of the feature part of the fault may be defined as the operating spectrum information of the feature part of the fault state of the feature part, so that the acceleration analysis model and the damage analysis model of the fault feature part may be corrected according to the operating spectrum information of the feature part of the fault feature part. When a plurality of characteristic parts are located, the acceleration analysis model and the damage analysis model of each of the characteristic parts in the fault can be corrected.

In step 515, acceleration analysis models and damage analysis models of other vehicle terminals are predicted.

In step 516, the predicted acceleration analysis model and damage analysis model are transmitted to another vehicle terminal through the server.

In some optional embodiments, the acceleration analysis model and the damage analysis model of other vehicle terminals may also be predicted according to the corrected acceleration analysis model and damage analysis model of the current vehicle terminal. The other vehicle terminal may be a vehicle terminal partially coinciding with the vehicle parameter of the current vehicle terminal, or the other vehicle terminal may be a vehicle terminal using the same electric drive axle as the current vehicle terminal, or the other vehicle terminal may be a vehicle model in the same series as the current vehicle terminal, as an example. The predicting of the acceleration analysis model and the damage analysis model of the other vehicle terminal may include directly using the acceleration analysis model and the damage analysis model of the current vehicle terminal as the acceleration analysis model and the damage analysis model of the other vehicle terminal, or may be performed by weighting the acceleration analysis model and the damage analysis model of the vehicle terminal and then using the weighted acceleration analysis model and the weighted damage analysis model as the acceleration analysis model and the damage analysis model of the other vehicle terminal, which is not limited in this disclosure. Based on the method, the preset vibration analysis models of other vehicle terminals can be corrected through the failed vehicle terminal, and the effectiveness and the reliability of the analysis of the preset vibration analysis models of other vehicle terminals are improved.

In step 517, according to the comparison result between the characteristic vibration spectrum range of the characteristic part and the operating spectrum information of the characteristic part, the characteristic part without fault in the electric drive axle is determined.

In some optional embodiments, when the characteristic part operating spectrum information of any characteristic part is located in the characteristic vibration spectrum range corresponding to the characteristic part, it may be determined that no fault exists in any characteristic part. The plurality of feature parts in the same electric drive axle may include one or more faulty feature parts and may also include one or more non-faulty feature parts.

In step 518, the life loss speed of the feature part is analyzed according to the feature part operating frequency spectrum information and the acceleration analysis model of the feature part without faults.

In step 519, it is determined whether the life loss rate of the non-failed feature exceeds a first threshold range.

In some optional embodiments, when it is determined that the life loss speed of the feature part without the fault exceeds the first threshold range, the step 522 may be proceeded to prompt an alarm message to alert the user of the use condition of the feature part; if it is determined that the life loss rate of the non-defective feature component does not exceed the first threshold range, the process may proceed to step 520 to determine the damage rate of the feature component.

In step 520, the damage rate of the feature part is analyzed according to the feature part operating frequency spectrum information and the damage analysis model of the fault-free feature part.

In step 521, it is determined whether the damage rate of the non-defective feature part exceeds a second threshold range.

In some optional embodiments, when it is determined that the damage rate of the feature part without the fault exceeds the second threshold range, the step 522 may be proceeded to prompt an alarm message to alert the user of the use condition of the feature part; when it is determined that the damage rate of the non-faulty feature component does not exceed the second threshold range, the process may proceed to step 501 and step 509 to process the voltage signal acquired in the next cycle.

For example, the second threshold range may be identified as a percentage, for example, when the damage rate of the non-faulty feature part exceeds 80%, the process proceeds to step 522, and when the damage rate is lower than 80%, the process may proceed to

steps

501 and 509, and the voltage signal acquired in the next period is processed. Of course, the second threshold range bounded by 80% is merely an exemplary illustration, and may be specifically adjusted according to policy requirements, which is not limited by the present disclosure.

In step 522, alert information is presented.

In the embodiment shown in fig. 5, the execution subject of steps 501 to 522 is taken as a vehicle terminal for example to describe, in fact, the execution subject of steps 501 to 522 may also be a server side, or in some embodiments, the steps 501 to 522 may also be executed through interaction between the vehicle terminal and the server side, specifically, the embodiment shown in fig. 6 may be specifically referred to, in the embodiment shown in fig. 6, interaction between the vehicle terminal and the server side is shown, the execution subject of each step is specified, and in the embodiment shown in fig. 6, the basic vibration spectrum range may be updated through the server side as an example, in other embodiments, the basic vibration spectrum range may also be a fixed spectrum range, which is not limited by the present disclosure.

In step 601, the vehicle terminal collects a voltage signal of the electric drive axle and vehicle condition information of the vehicle terminal.

In step 602, the vehicle terminal acquires operating vibration spectrum information of the electric drive axle according to the collected voltage signal, wherein the operating vibration spectrum information includes characteristic part operating spectrum information of a plurality of characteristic parts.

In this embodiment, step 601 and step 602 may refer to step 501 to step 508 in the embodiment shown in fig. 5, and are not described here again.

In step 603, the vehicle terminal sends the working vibration spectrum information and the vehicle condition information to the server.

In step 604, the server updates a preset mapping relationship according to the received working vibration spectrum information and the vehicle condition information, where the preset mapping relationship includes a corresponding relationship between the preset condition information and the basic vibration spectrum range.

In this embodiment, step 604 may refer to an embodiment in which the preset mapping relationship is updated in step 510.

In step 605, the server sends the updated preset mapping relationship to the vehicle terminal.

It should be noted that after receiving the working vibration spectrum information and the vehicle condition information, the server may determine whether the basic vibration spectrum range needs to be updated according to the matching degree between the vehicle condition information and the preset condition information, the mileage of the vehicle terminal, and the service life of the vehicle terminal. Thus, in alternative embodiments,

steps

604 and 605 are not operations that must be performed during the troubleshooting process. In the embodiment shown in fig. 6, the server side is taken as an example to update the preset mapping relationship, and actually, in other embodiments, the vehicle terminal may also update the preset mapping relationship, which is not limited by the present disclosure.

In step 606, the vehicle terminal obtains a basic vibration spectrum range according to the updated preset mapping relationship, where the basic vibration spectrum range may include characteristic vibration spectrum ranges of a plurality of characteristic parts.

In step 607, the vehicle terminal compares the characteristic part operating spectrum information of the plurality of characteristic parts with the characteristic vibration spectrum range.

In step 608, the vehicle terminal diagnoses a fault condition of the electric drive axle.

In this embodiment, steps 607 and 608 may refer to

steps

511 and 512 in the embodiment shown in fig. 5. The electric drive axle fault condition diagnosed by the vehicle terminal can comprise the characteristic parts with faults and the characteristic parts without faults in a plurality of characteristic parts in the current electric drive axle.

In step 609, the vehicle terminal sends a fault condition of the electric drive axle to the server side.

In this embodiment, the vehicle terminal may transmit to the server side a faulty feature part and a non-faulty feature part among the plurality of feature parts in the electric transaxle.

In step 610, the server predicts the failure condition of the non-failure feature part according to the feature part operating frequency spectrum information of the non-failure feature part and a preset vibration analysis model.

In this embodiment, step 610 may refer to steps 517 to step 532 in the embodiment shown in fig. 5, and details are not repeated here.

In step 611, the server side sends the predicted failure condition of the feature part without the failure to the third party terminal.

In this embodiment, the server side may send the predicted failure condition of the characteristic part to the third party terminal and/or the vehicle terminal to play a role of prompting the user. The third-party terminal may include a maintenance station terminal, a mobile phone terminal, and the like, which is not limited in this disclosure.

In step 612, the server corrects the preset vibration analysis model of the feature part with the fault according to the feature part operating frequency spectrum information of the feature part with the fault.

In step 613, the server predicts the preset vibration analysis model of another vehicle according to the corrected preset vibration analysis model of the vehicle terminal.

In step 614, the server sends the predicted preset vibration analysis model to other vehicle terminals.

In this embodiment, steps 612-614 may refer to steps 514-516 in the embodiment shown in FIG. 5.

Corresponding to the embodiment of the fault diagnosis method, the disclosure also provides an embodiment of a fault diagnosis device.

Fig. 7 is a block diagram of a fault diagnosis apparatus according to an exemplary embodiment. Referring to fig. 7, the apparatus includes a first acquisition module 71 and a diagnostic module 72. Wherein:

the first obtaining module 71 is configured to obtain working vibration frequency spectrum information of the electric drive axle in a working state;

and the diagnosis module 72 compares the working vibration frequency spectrum information with a basic vibration frequency spectrum range prestored in the vehicle terminal to diagnose the fault condition of the electric drive axle.

As shown in fig. 8, fig. 8 is a second block diagram of a fault diagnosis apparatus according to an exemplary embodiment, which is based on the foregoing embodiment shown in fig. 7, and the first obtaining module 71 includes a collecting unit 711, a first obtaining unit 712, and a second obtaining unit 713, where:

the acquisition unit 711 is used for acquiring a voltage signal when the electric drive bridge is in a working state;

the first obtaining unit 712 is configured to obtain a vibration acceleration signal in a time domain according to the voltage signal collected in the time domain;

the second obtaining unit 713 converts the vibration acceleration signal in the time domain into an acceleration amplitude signal in the frequency domain through fourier transform, so as to obtain the working vibration frequency spectrum information.

As shown in fig. 9, fig. 9 is a third block diagram of a failure diagnosis apparatus according to an exemplary embodiment, which is based on the foregoing embodiment shown in fig. 8, and the first obtaining unit 712 includes a determining subunit 7121, a first obtaining subunit 7122 and a second obtaining subunit 7123, wherein:

a determination subunit 7121 that determines whether the voltage signal exceeds a voltage threshold range;

a first acquiring subunit 7122 configured to acquire a variation of the voltage signal;

the second obtaining subunit 7123 is configured to obtain a vibration acceleration signal in a time domain when the voltage signal does not exceed the voltage threshold range or a duration of the voltage signal exceeding the voltage threshold range is less than a first preset duration and the voltage signal changes within a second preset duration.

As shown in fig. 10, fig. 10 is a fourth block diagram of a fault diagnosis device according to an exemplary embodiment, which is based on the foregoing embodiment shown in fig. 7, and further includes:

the second obtaining module 73 is used for obtaining the vehicle working condition information of the vehicle terminal;

the diagnostic module 72 includes:

the first determining unit 721 determines the basic vibration frequency spectrum range according to the vehicle operating condition information and a preset mapping relationship, where the preset mapping relationship includes a corresponding relationship between the basic vibration frequency spectrum range and preset operating condition information.

As shown in fig. 11, fig. 11 is a fifth block diagram of a fault diagnosis device according to an exemplary embodiment, which is based on the foregoing embodiment shown in fig. 10, and further includes:

the first updating module 74 adds a corresponding relation contained in the preset mapping relation according to the working vibration frequency spectrum information and the vehicle working condition information when the vehicle working condition information is different from the preset working condition information in a preset age range and/or a preset mileage range.

As shown in fig. 12, fig. 12 is a sixth block diagram of a fault diagnosis device according to an exemplary embodiment, which is based on the foregoing embodiment shown in fig. 10, and further includes:

the second updating module 75 updates, within a preset age range and/or a preset mileage range, the preset working condition information overlapped with the vehicle working condition information in the preset mapping relationship and the basic vibration spectrum range corresponding to the preset working condition information overlapped with the vehicle working condition information according to the working vibration spectrum information and the vehicle working condition information when the vehicle working condition information is partially overlapped with the preset working condition information.

It should be noted that the structure of the second update module 75 in the device embodiment shown in fig. 12 may also be included in the device embodiment shown in fig. 11, and the disclosure is not limited thereto.

As shown in fig. 13, fig. 13 is a seventh block diagram of a failure diagnosis apparatus according to an exemplary embodiment based on the foregoing embodiment shown in fig. 7, wherein the fundamental vibration spectrum range includes a plurality of characteristic vibration spectrum ranges, and each of the characteristic vibration spectrum ranges corresponds to a characteristic part of the electric drive axle; the diagnostic module 72 comprises a second determination unit 722 and a diagnostic unit 723, wherein:

the second determining unit 722 is used for determining the working frequency spectrum information of the characteristic parts corresponding to the plurality of characteristic parts according to the working vibration frequency spectrum information;

the diagnosis unit 723 is used for comparing the characteristic part working frequency spectrum information of each characteristic part in the plurality of characteristic parts with a characteristic vibration frequency spectrum range, and determining that any characteristic part has no fault when any characteristic part working frequency spectrum information is located in the corresponding characteristic vibration frequency spectrum range; and when the working frequency spectrum information of any characteristic part is positioned outside the corresponding characteristic vibration frequency spectrum range, positioning any characteristic part as a fault characteristic part.

It should be noted that, in a non-limiting case, the structures of the second determining unit 722 and the diagnosing unit 723 in the apparatus embodiment shown in fig. 13 may be included in any one of the apparatus embodiments, and the present disclosure is not limited thereto.

As shown in fig. 14, fig. 14 is an eighth of the block diagram of a fault diagnosis apparatus according to an exemplary embodiment, which is based on the foregoing embodiment shown in fig. 13, and further includes:

the first prediction module 76 predicts the fault condition of the characteristic part without fault according to the working frequency spectrum information of the characteristic part without fault and the corresponding preset vibration analysis model.

It should be noted that, in a non-limiting case, the structure of the first prediction module 76 in the apparatus embodiment shown in fig. 14 may also be included in any one of the apparatus embodiments, and the disclosure is not limited thereto.

As shown in fig. 15, fig. 15 is a ninth of the block diagram of a fault diagnosis device according to an exemplary embodiment, which is based on the foregoing embodiment shown in fig. 14, and the first prediction module 76 includes a first analysis unit 761 and a first transmission unit 762, wherein:

the first analysis unit 761 is configured to analyze a lifetime loss rate of a non-faulty feature part according to the feature part operating frequency spectrum information of the non-faulty feature part and a corresponding preset acceleration analysis model;

a first transmitting unit 762 that transmits an instruction instructing the vehicle terminal to issue a prompt message when the life loss speed exceeds a first threshold range.

It should be noted that, in a non-limiting case, the structures of the first analysis unit 761 and the first sending unit 762 in the apparatus embodiment shown in fig. 15 may be included in any one of the apparatus embodiments, and the disclosure is not limited thereto.

As shown in fig. 16, fig. 16 is a tenth of a block diagram of a fault diagnosis device according to an exemplary embodiment, which is based on the foregoing embodiment shown in fig. 15, and the first prediction module 76 further includes a second analysis unit 763 and a second transmission unit 764, wherein:

a second analysis unit 763, configured to analyze a damage rate of the characteristic part without the fault according to the characteristic part operating frequency spectrum information of the characteristic part without the fault and a corresponding preset damage analysis model when the life loss speed is within the first threshold range;

a second transmission unit 764, when the damage rate exceeds a second threshold range, transmits an instruction instructing the vehicle terminal to issue a prompt message.

It should be noted that, in a non-limiting case, the structures of the second analyzing unit 763 and the second sending unit 764 in the apparatus embodiment shown in fig. 16 may also be included in any one of the apparatus embodiments, and the disclosure is not limited thereto.

As shown in fig. 17, fig. 17 is an eleventh block diagram of a fault diagnosis device according to an exemplary embodiment, which is based on the foregoing embodiment shown in fig. 14, and further includes a third obtaining module 77 and a establishing module 78, wherein:

a third obtaining module 77, configured to, when any one of the feature parts fails, obtain a failure vibration frequency spectrum range corresponding to the any one of the feature parts according to at least one group of collected vibration signals;

the establishing module 78 establishes the preset vibration analysis model according to the fault vibration frequency spectrum range.

As shown in fig. 18, fig. 18 is a twelfth block diagram of a fault diagnosis device according to an exemplary embodiment, which is based on the foregoing embodiment shown in fig. 14, and further includes:

and the correcting module 79 corrects the preset vibration analysis model of the characteristic part with the fault according to the working frequency spectrum information of the characteristic part corresponding to the characteristic part with the fault.

It should be noted that, in a non-limiting case, the structure of the modification module 79 in the apparatus embodiment shown in fig. 18 may be included in any one of the apparatus embodiments, and the disclosure is not limited thereto.

As shown in fig. 19, fig. 19 is thirteen of a block diagram of a failure diagnosis apparatus according to an exemplary embodiment, which is based on the foregoing embodiment shown in fig. 18, and further includes:

the second prediction module 710 predicts a preset vibration analysis model of a feature part identical to another vehicle terminal, which is at least partially overlapped with the vehicle parameter of the vehicle terminal, according to the corrected preset vibration analysis model of the feature part with the fault.

As shown in fig. 20, fig. 20 is a fourteenth block diagram of a fault diagnosis apparatus according to an exemplary embodiment, which is based on the foregoing embodiment shown in fig. 13, and further includes a first acquisition module 720 and a fourth acquisition module 730, where:

a first collecting module 720, which collects the vibration signal when any characteristic part is in fault;

the fourth obtaining module 730 obtains a characteristic vibration frequency spectrum range of any characteristic part according to one or more groups of the vibration signals.

It should be noted that, in a non-limiting case, the structures of the first acquisition module 720 and the fourth acquisition module 730 in the apparatus embodiment shown in fig. 18 may also be included in any one of the apparatus embodiments, and the disclosure is not limited thereto.

As shown in fig. 21, fig. 21 is a fifteenth block diagram of a fault diagnosis apparatus according to an exemplary embodiment, which is based on the foregoing embodiment shown in fig. 13, and further includes a second acquisition module 740 and a fifth acquisition module 750, where:

a second collecting module 740, configured to collect the vibration signal when the electric drive axle is not in fault;

the fifth obtaining module 750 obtains the characteristic vibration frequency spectrum ranges corresponding to the plurality of characteristic parts according to one or more groups of the vibration signals.

It should be noted that, in a non-limiting case, the structures of the second acquisition module 740 and the fifth acquisition module 750 in the apparatus embodiment shown in fig. 18 may also be included in any one of the apparatus embodiments, and the disclosure is not limited thereto.

As shown in fig. 22, fig. 21 is a sixteenth block diagram of a fault diagnosis apparatus according to an exemplary embodiment, which is based on the foregoing embodiment shown in fig. 7, and further includes:

the sending module 760 sends at least one of the operating vibration spectrum information and the fault condition to a server side or a vehicle terminal or a third party terminal.

It should be noted that, in a non-limiting case, the structure of the sending module 760 in the apparatus embodiment shown in fig. 22 may be included in any one of the apparatus embodiments, and the disclosure is not limited thereto.

Optionally, the fault diagnosis device is applied to a vehicle terminal; or,

the fault diagnosis device is applied to a server terminal; or,

With regard to the apparatus in the above-described embodiment, the specific manner in which each module performs the operation has been described in detail in the embodiment related to the method, and will not be elaborated here.

For the device embodiments, since they substantially correspond to the method embodiments, reference may be made to the partial description of the method embodiments for relevant points. The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules can be selected according to actual needs to achieve the purpose of the disclosed solution. One of ordinary skill in the art can understand and implement it without inventive effort.

Correspondingly, the present disclosure also provides a fault diagnosis apparatus, including: a processor; a memory for storing processor-executable instructions; wherein the processor is configured to: acquiring working vibration frequency spectrum information when the electric drive axle is in a working state; and comparing the working vibration frequency spectrum information with a basic vibration frequency spectrum range prestored in the vehicle terminal, and diagnosing the fault condition of the electric drive axle.

Accordingly, the present disclosure also provides a terminal comprising a memory, and one or more programs, wherein the one or more programs are stored in the memory and configured for execution by the one or more processors to include instructions for: acquiring working vibration frequency spectrum information when the electric drive axle is in a working state; and comparing the working vibration frequency spectrum information with a basic vibration frequency spectrum range prestored in the vehicle terminal, and diagnosing the fault condition of the electric drive axle.

Fig. 23 is one of the block diagrams for a fault diagnosis apparatus 2300 shown according to an exemplary embodiment. For example, the apparatus 2300 may be a mobile phone, a computer, a digital broadcast terminal, a messaging device, a game console, a tablet device, a medical device, an exercise device, a personal digital assistant, and the like.

Referring to fig. 23, device 2300 may include one or more of the following components: processing components 2302, memory 2304, power components 2306, multimedia components 2308, audio components 2310, input/output (I/O) interfaces 2312, sensor components 2314, and communication components 2316.

The processing component 2302 generally controls the overall operation of the device 2300, such as operations associated with display, telephone calls, data communications, camera operations, and recording operations. The processing components 2302 may include one or more processors 2320 to execute instructions to perform all or a portion of the steps of the methods described above. Further, the processing component 2302 can include one or more modules that facilitate interaction between the processing component 2302 and other components. For example, the processing component 2302 can include a multimedia module to facilitate interaction between the multimedia component 2308 and the processing component 2302.

The memory 2304 is configured to store various types of data to support operations at the device 2300. Examples of such data include instructions for any application or method operating on device 2300, contact data, phonebook data, messages, pictures, videos, and so forth. The memory 2304 may be implemented by any type or combination of volatile or non-volatile memory devices such as Static Random Access Memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic or optical disks.

The power supply component 2306 provides power to the various components of the device 2300. The power components 2306 may include a power management system, one or more power supplies, and other components associated with generating, managing, and distributing power for the device 2300.

The multimedia component 2308 includes a screen that provides an output interface between the device 2300 and a user. In some embodiments, the screen may include a Liquid Crystal Display (LCD) and a Touch Panel (TP). If the screen includes a touch panel, the screen may be implemented as a touch screen to receive an input signal from a user. The touch panel includes one or more touch sensors to sense touch, slide, and gestures on the touch panel. The touch sensor may not only sense the boundary of a touch or slide action, but also detect the duration and pressure associated with the touch or slide operation. In some embodiments, the multimedia component 2308 includes a front camera and/or a rear camera. The front camera and/or the rear camera may receive external multimedia data when the device 2300 is in an operating mode, such as a photographing mode or a video mode. Each front camera and rear camera may be a fixed optical lens system or have a focal length and optical zoom capability.

The audio component 2310 is configured to output and/or input audio signals. For example, audio component 2310 includes a Microphone (MIC) configured to receive external audio signals when device 2300 is in an operational mode, such as a call mode, a record mode, and a voice recognition mode. The received audio signals may further be stored in the memory 2304 or transmitted via the communication component 2316. In some embodiments, the audio assembly 2310 further includes a speaker for outputting audio signals.

The I/O interface 2312 provides an interface between the processing element 2302 and peripheral interface modules, which may be keyboards, click wheels, buttons, etc. These buttons may include, but are not limited to: a home button, a volume button, a start button, and a lock button.

The sensor assembly 2314 includes one or more sensors for providing status assessment of various aspects to the device 2300. For example, the sensor assembly 2314 can detect the open/closed state of the device 2300, the relative positioning of components, such as a display and keypad of the device 2300, the sensor assembly 2314 can also detect a change in position of the device 2300 or a component of the device 2300, the presence or absence of user contact with the device 2300, the orientation or acceleration/deceleration of the device 2300, and a change in temperature of the device 2300. The sensor assembly 2314 may include a proximity sensor configured to detect the presence of a nearby object without any physical contact. The sensor assembly 2314 may also include a light sensor, such as a CMOS or CCD image sensor, for use in imaging applications. In some embodiments, the sensor assembly 2314 may also include an acceleration sensor, a gyroscope sensor, a magnetic sensor, a pressure sensor, or a temperature sensor.

The communication component 2316 is configured to facilitate communication between the apparatus 2300 and other devices in a wired or wireless manner. The device 2300 may access a wireless network based on a communication standard, such as WiFi, 2G or 3G, 4G LTE, 5G NR, or a combination thereof. In an exemplary embodiment, the communication component 2316 receives broadcast signals or broadcast related information from an external broadcast management system via a broadcast channel. In an exemplary embodiment, the communication component 2316 further includes a Near Field Communication (NFC) module to facilitate short-range communications. For example, the NFC module may be implemented based on Radio Frequency Identification (RFID) technology, infrared data association (IrDA) technology, Ultra Wideband (UWB) technology, Bluetooth (BT) technology, and other technologies.

In an exemplary embodiment, the apparatus 2300 may be implemented by one or more Application Specific Integrated Circuits (ASICs), Digital Signal Processors (DSPs), Digital Signal Processing Devices (DSPDs), Programmable Logic Devices (PLDs), Field Programmable Gate Arrays (FPGAs), controllers, micro-controllers, microprocessors or other electronic components for performing the above-described methods.

In an exemplary embodiment, a non-transitory computer readable storage medium is also provided, such as the memory 2304, including instructions that are executable by the processor 2320 of the device 2300 to perform the above-described method. For example, the non-transitory computer readable storage medium may be a ROM, a Random Access Memory (RAM), a CD-ROM, a magnetic tape, a floppy disk, an optical data storage device, and the like.

Fig. 24 is a second block diagram illustrating a device 2400 for fault diagnosis according to an exemplary embodiment. For example, the apparatus 2400 may be provided as a server. Referring to fig. 24, device 2400 includes a processing component 2422 that further includes one or more processors, and memory resources, represented by memory 2432, for storing instructions, e.g., applications, that are executable by processing component 2422. The application stored in memory 2432 may include one or more modules that each correspond to a set of instructions. Further, the processing component 2422 is configured to execute instructions to perform the above-described method.

Device 2400 may also include a power component 2426 configured to perform power management for device 2400, a wired or wireless network interface 2450 configured to connect device 2400 to a network, and an input-output (I/O) interface 2458. The device 2400 may operate based on an operating system stored in the memory 2432, such as Windows Server, Mac OS XTM, UnixTM, LinuxTM, FreeBSDTM, or the like.

Other embodiments of the disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the disclosure disclosed herein. This disclosure is intended to cover any variations, uses, or adaptations of the disclosure following, in general, the principles of the disclosure and including such departures from the present disclosure as come within known or customary practice within the art to which the disclosure pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the disclosure being indicated by the following claims.

It will be understood that the present disclosure is not limited to the precise arrangements described above and shown in the drawings and that various modifications and changes may be made without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.

Claims

1. An electric drive axle, comprising:

a motor assembly;

a controller housing, the controller disposed within the controller housing;

2. The electric drive axle of claim 1, wherein the transmission assembly comprises transmission shafts, bearings disposed at both ends of each of the transmission shafts, and bearing seats for fixing the bearings, the bearing seats being fixedly connected with the transmission housing, the vibration sensor being connected to the bearing seats.

3. The electric drive axle of claim 1, wherein the drive assembly comprises a drive shaft, bearings disposed at both ends of the drive shaft, and bearing seats for fixing the bearings, and the vibration sensor is directly connected to the transmission housing at a position close to the bearing seats.

4. The electric drive axle of claim 1, wherein the motor assembly includes a motor body and a resolver coupled to the motor body, the resolver including a stator mount, the vibration sensor being coupled to the stator mount.

5. The electric drive axle of claim 1 wherein the vibration sensor comprises a voltage-output piezoelectric sensor.

6. The electric drive axle of claim 1 wherein the vibration sensor comprises a single axis vibration sensor or a multi-axis vibration sensor.

7. A vehicle terminal, characterized in that it comprises an electric drive axle according to any one of claims 1-6.

8. A fault diagnosis method, comprising:

9. The fault diagnosis method according to claim 8, wherein the acquiring of the operating vibration spectrum information when the electric drive axle is in the operating state includes:

10. The fault diagnosis method according to claim 9, wherein the obtaining of the vibration acceleration signal in the time domain from the voltage signal collected in the time domain comprises:

determining whether the voltage signal exceeds a voltage threshold range;

acquiring the change condition of the voltage signal;

11. The fault diagnosis method according to claim 8, further comprising:

acquiring vehicle working condition information of the vehicle terminal;

12. The fault diagnosis method according to claim 11, further comprising:

13. The fault diagnosis method according to claim 11, further comprising:

14. The fault diagnosis method according to claim 8, wherein the fundamental vibration spectrum range includes a plurality of characteristic vibration spectrum ranges, each corresponding to a characteristic part of the electric drive axle;

15. The fault diagnosis method according to claim 14, further comprising:

16. The fault diagnosis method according to claim 15, wherein predicting the fault condition of the non-faulty feature part according to the feature part operating frequency spectrum information of the non-faulty feature part and the corresponding preset vibration analysis model comprises:

17. The fault diagnosis method according to claim 16, wherein the fault condition of the non-faulty feature part is predicted according to the feature part operating frequency spectrum information of the non-faulty feature part and the corresponding preset vibration analysis model, and further comprising:

18. The fault diagnosis method according to claim 15, further comprising:

19. The fault diagnosis method according to claim 15, further comprising:

20. The fault diagnosis method according to claim 19, further comprising:

21. The fault diagnosis method according to claim 14, further comprising:

when any characteristic part is in fault, acquiring the vibration signal;

22. The fault diagnosis method according to claim 14, further comprising:

23. The fault diagnosis method according to claim 8, further comprising:

24. The fault diagnosis method according to any one of claims 8 to 23, characterized in that the fault diagnosis method is applied to a vehicle terminal; or,

the fault diagnosis method is applied to a server terminal; or,

25. A failure diagnosis device characterized by comprising:

26. The fault diagnosis device according to claim 25, characterized in that the first acquisition module comprises:

27. The fault diagnosis device according to claim 26, wherein the first acquisition unit includes:

28. The fault diagnosis device according to claim 25, further comprising:

the diagnostic module includes:

29. The fault diagnosis device according to claim 28, further comprising:

30. The fault diagnosis device according to claim 28, further comprising:

31. The fault diagnosis device according to claim 25, characterized in that the fundamental vibration spectrum range includes a plurality of characteristic vibration spectrum ranges, each corresponding to a characteristic part of the electric drive axle;

the diagnostic module includes:

32. The fault diagnosis device according to claim 31, further comprising:

33. The fault diagnosis device according to claim 32, wherein the first prediction module comprises:

34. The fault diagnostic apparatus of claim 33, wherein the first prediction module further comprises:

35. The fault diagnosis device according to claim 32, further comprising:

36. The fault diagnosis device according to claim 32, further comprising:

37. The fault diagnosis device according to claim 36, further comprising:

38. The fault diagnosis device according to claim 31, further comprising:

39. The fault diagnosis device according to claim 31, further comprising:

40. The fault diagnosis device according to claim 25, further comprising:

41. The failure diagnosing device according to any one of claims 25 to 40, wherein the failure diagnosing device is applied to a vehicle terminal; or,

the fault diagnosis device is applied to a server terminal; or,

42. A computer-readable storage medium having stored thereon computer instructions, which, when executed by a processor, carry out the steps of the method according to any one of claims 8-24.

43. A vehicle terminal, comprising:

a processor;

a memory for storing processor-executable instructions;