Control apparatus of electrically driven power steering apparatus

0001A control device of an electric power steering device

0002Technical field

0003the present invention relates to the control device of an electric Power steering device -- especially -- Controller Electric power which can perform unusual diagnosis of the A D converter used by Place, and a D A converter It is related with the control device of a steering device.

0004Writing background art

0005Electric The which energizes the steering device of a car or vehicles on the torque of a motor Reduction gears are passed for the driving force of the Worth Thea ring device and a motor, and they are a gear or What. By transmission mechanisms, such as Lut, it is steering Shuff. A or a rack axis is assisted. Intermediary To have [ as ] which gives power and to carry out. this conventional electric power Stary A Tongue device and Assis Thoth Luc (steering auxiliary torque) It was which makes it generate correctly Because -- feedback control of motor current is performed. feedback system the difference of Is, a current control value, and a motor current detection value becomes small -- as -- motor impressed electromotive force is adjusted -- adjustment of motor impressed electromotive force -- general -- P WM (Pulse Density Modulation) It is carrying out by adjustment of the duty ratio of control.

0006Here, it is electric power Stary. The general composition of a Tongue device is shown in The 1 figure. If Explanation is carried out, Steering alder Dollar 1 0 Column axis 1 of 1 0 2 is slowdown gear 1. 0 3 and universal joint 10 4a and 1 0 4 b and pinion rack mechanism 1 0 It passes through 5 and is Tyro of a steering wheel. Do 1 0 It connects with 6. Column axis 1 0 In 2, it is a steering alder. Dollar 1 0 The steering torque of 1 is detected. Torque sensor 1 1 0 is provided, Steering alder Dollar 1 0 It is Assis about the steering power of 1. Motor 1 which carries out A 2 0 is slowdown gear 1. 0 3 is passed and it is column axis 1. 0 It connects with 2. Conte low Luuni which controls a power steering device A 1 3 In 0, it is battery 1. 1 Power supply Li of the built-in from 4 Leh 1 1 Electric power is supplied through 3 and it is Ignition key 1. 1 The Ida -Chillon signal is supplied from 1. Conte low Lunit 1 3 0, torque sensor 1 1 Steering A detected by 0 Luc T and vehicle speed sensor 1 1 being based on vehicle speed V detected by 2 -- Assis A instructions steering auxiliary command value I is calculated -- calculated steering auxiliary command value I -- Based on motor 1 2 The current supplied to 0 is controlled.

0007Control Unit 1 3 0 is the Lord. It carries out and constitutes from C P U (or M P U). General opportunity performed by a program in the inside of the C P U although carried out If ability is shown, it will become as it is shown in The 2 figure. For example, phase compensator 1 3 Ha whom 1 became independent of The phase compensator as 1 Doha is not shown and it performs by C P U. At least To shows the phase compensation function.

0008It is based on Drawing 2 and is conte low Luuni. A 1 3 The function and operation of 0 are explained. When it carries out, it is torque sensor 1. 1 Steering torque T detected and inputted by 0 in order to improve the stability of a steering system -- phase compensator 1 3 phase compensation is carried out by 1 -- phase compensated steering torque T A -- steering auxiliary command value computing unit 1 3 It is inputted into 2. Vehicle speed sensor 1 1 Vehicle speed V detected by 2 is steering auxiliary command value computing unit 1. 3 It is inputted into 2. Steering auxiliary command value computing unit 1 3 2, inputted steering Toru It is based on The TA And vehicle speed V, and is motor 1. 2 By the control desired value of the current supplied to 0 A certain steering auxiliary command value Ir e f is calculated and determined. Steering auxiliary command value I r e f is subtraction machine 1. 3 While being inputted into 0 A, Off for raising speed of response Differentiation compensation machine 1 of a Eidfo 1 Do system 3 it is inputted into 4 -- subtraction machine 3 side of 0 A a difference (I r e f -- i) -- proportionality computing unit 1 3 While being inputted into 5 Feeding Integration computing unit 1 for improving the characteristic of a back system 3 It is inputted into 6. Proportionality Computing unit 1 3 The proportionality output from 5, and differentiation compensation machine 1 3 4 and integration computing unit 1 3 The output of 6 is also adding machine 1. 3 An addition input is carried out at 0B, adding machine 1 3 Addition result in 0 B it is -- current control value E -- motor drive signal carrying out -- motor drive circuit 1 3 It is inputted into 7. Motor 1 2 Motor current value i of 0 is motor current detector circuit 1. 3 Motor current value i which was detected by 8 and detected is subtraction machine 1. 3 It is inputted and fed back to 0 A.

0009Patteri 1 1 the electric power from 4 -- power supply Li Leh 1 1 pass 3 -- motor Drive Dynamic circuit 1 3 the 7th grade is supplied -- Idanishonky 1 1 Idito from 1 a Key signal -- conte mouth-Ru-Tut 1 3 It is inputted into 0.

0010With such an electric power steering device, it is conte low Luuni. A 1 3 0 is the Lord. Although it carries out and comprises a function of C P U, it is considered as other components. Hardware, such as a A D converter, a D A converter, etc. for The data conversion: A element It is. and electric power Stary In order that the Tongue device may operate normally Is C The necessity that a A D converter and the D A converter also operate normally is Ah as well as P U. Ri and electric power Stary In a Tongue device, it is this A D converter and D A conversion. There is also a device which is performing unusual diagnosis of whether a vessel is normal. For example, provisional publication of a patent Common [ 1 ] 0 -- 2 1 1 8 8 In No. 5 gazette (patent documents 1), C They are real almsgiving and a steering control part about unusual diagnosis of the steering control part which provided the double control part possessing P U or a A D converter of a steering control part and an auxiliary control part, and includes a A D Converter D A converter. When it is abnormalities, he changes to an auxiliary control part and is trying to continue control. Electric power steering which performs unusual diagnosis of a statement to patent documents 1 mentioned above Since the control part which comprises C P U etc. is made into the double system, a device is a device. Kos There is a problem to which A becomes high. Which A D converter and which D A conversion Distinction of the fault part of which should break down between the vessel or the steering sensor cannot be performed. There is a problem. Pau of the A D converter which accompanies main C P U and main C P U If A is used for unusual diagnosis, unusual diagnosis serves as a burden of the A D converter which accompanies main C P U and main C P U -- original electric power Steering device There is also a problem which has a bad influence on control. It is made from the above situations and the present invention is the object of the present invention,

0011A unusual diagnosis of D converter, a D A converter, etc. is realizable by a cheap equipment configuration With which -- failure of an A/D converter -- which -- Failure of a DA translation machine or outside failure of a part sensor -- it is -- pinpointing which fault part -- steering Assisting capture Stop of grant, Or continuation can be judged and also it is in providing the control device of an electric power steering device with which unusual diagnosis does not serve as an excessive burden of the main MCU. The indication of an invention

0012the steering auxiliary power by a motor is given to the present invention and the steering system of vehicles -- as -- Electric power Stary carried out it is related with the control device of a Tongue device -- the object of describing the present invention above Is The main MCU possessing A/D converter 1, and subM CU possessing A/D converter 2, A preparation and above subMCU are predetermined values to the above-mentioned D A converter about a DA translation machine. It outputs, The above-mentioned predetermined values are the above-mentioned D A converter and the above. A/D converter 1 is passed. The error of return value 1 and the above-mentioned predetermined value which were transmitted to above-mentioned subMC U is compared with acceptable value 1 in above-mentioned subMC U, Return value 2 and the above-mentioned predetermined value with which the above-mentioned predetermined value was transmitted to above subMCU via the above-mentioned D A converter and the above-mentioned A D converter 2 An error is compared with acceptable value 2 in above subMCU, It attains by diagnosing the abnormalities of above-mentioned A/D converter 1, the above-mentioned A D converter 2, and the above-mentioned D A converter. It is carried out. Brief explanation of the drawings

0013They are Drawing 1 and a lineblock diagram of a common electric power steering device. Drawing 2 and general example of composition of the control device of an electric power steering device It is the shown Plock figure.

0014They are Drawing 3 and a block lineblock diagram showing the example of the present invention. They are Drawing 4 and a functional Plock figure showing the function of the example of the present invention.

0015Floating Drawing 5 indicates the example of an unusual judging of the A D converter of main MCU of operation to be It is a Yert figure.

0016Drawing 6 is subMCU. Floating which shows the example of an unusual judging of an A/D converter of operation It is a Yert figure. The best form for inventing

0017The example of the present invention is described with reference to The 3 figure * The 6 figure. Drawing 3 is a book. It is a block lineblock diagram of the Hardware composition of an example.

0018In Drawing 3, it is main MCU (Micro Controller Unit) 1. 0 and subMC U 2 It is connected so that communication is possible, and 0 is main MC U 1. 0 is main MC U 1. A D converter 1 which accompanies 0 1 is provided. A/D converter 1 1 is 8 port AD 1. 1 -- 1 and AD 1 1 -- 2, --- AD 1 1 -- It has 8 and is for example, port AD 1 in unusual diagnosis. 1 -- 8 is used, seven port AD 1 1 -- 1*AD 1 1_7 is not used for unusual diagnosis -- port AD 1 1 -- 1 *AD 1 1 - 7 is used for control of an original electric power steering device. To. Main MC U 1 In addition to this, 0 is C P U 1. 2 and O 111 1 OM 1 connected to 2 3 and R AM 1 4 etc. is provided.

0019SubMCU 2 0 is subMCU 2. A D converter .2 which accompanies 0 It is an ingredient about 1. Provision is carried out. A D converter 2 1 is 8 Pau. A A D 2 1 -- 1 and A D 2 1 - 2 and . -- AD 2 1 -- it has 8 -- unusual diagnosis -- port A D 2 [ for example, ] 11 -- 8 is used -- seven port AD 2 1 -- :! * AD 2 1 -- 7 -- Use is not carried out. SubMC U 2 In addition to this, 0 is C P U 2. 2 and C P U 2 ROM 2 connected to 2 3 and RAM 2 4 etc. is provided.

0020D A converter 3 0 is main MC U 1. 0 and subMC U 2 0 is independent. It carries out and is provided by external. D A converter 3 0 does not necessarily have external. It is good and is 'secondary MCU 2. 0 or main MCU 1 It may be built in 0. Main MCU 1 0 and subMCU 2 Communication with 0, and A/D converter 1 1 and 2 If possible, it is main MCU 1 at error 0 because of the surveillance of one. 0 to subMCU 2 It is De to 0. Serial communication etc. are used in order to transmit a Digital value.

0021Drawing 4 is expressing this example from a functional side, makes Drawing 3 correspond, and is a Show * To block lineblock diagram.

0022As shown in Drawing 4, it is subMC U 2. 0, Main MC U 1 Zero A/D converters 1 1 And D A converter 3 Abnormality determining part 5 to supervise 0 1, SubMCU 2 Zero A D converters 2 Abnormality determining part 5 to supervise 1 and D A converter 30 Predetermined value set part 5 which sets up the predetermined value used as 2 and the standard value for using for a judgment It has a function of 0. first -- predetermined value set part 5 the predetermined value set up by 0 -- a digital value -- D A converter 3 it is outputted to 0 -- it was transmitted with the digital value a predetermined value -- D A converter 3 It is changed into an announcer mouth A value in 0. The announcer mouth A A value and A/D converter 1 Port AD of 1 1 1 - 8 and A D converter 2 A [ Po of 1 - ] AD 2 1 -- It is transmitted to 8.

0023A/D converter 1 the predetermined value of the announcer mouth A value transmitted to 1 -- re-A digital value it is changed -- serial communication -- main MCU 1 0 to subMCU 2 It is transmitted to 0 as return value 1. And abnormality determining part 5 In 1, it is main MCU 1. Return value 1 and predetermined value set part 5 which were transmitted from 0 Error with the predetermined value from 0 delta chi 1 is calculated, The error Acceptable value with which delta chi 1 is equivalent to acceptable value 1 If below delta chikappa becomes, it will be A/D converter 1. 1 And D A converter 3 It is diagnosed that 0 is normal. The error When delta chi 1 is larger than acceptable value delta XK, it is A/D converter 1. 1 or D A converter 3 It is diagnosed as the abnormalities containing 0.

0024On the other hand, it is A/D converter 2. The predetermined value of the analog value transmitted to 1 is Dizzy again. It is changed into the Tal value and is abnormality determining part 5. It is transmitted to 2 as return value 2. It That. The and abnormality determining part 5 In 2, it is predetermined value set part 5. Place transmitted directly from 0 Constant value DA translation machine 3 0 And A/D converter 2 Error with return value 2 returned via 1 delta X 2 is calculated, That error If delta X 2 becomes below in Allowable value M XK equivalent to acceptable value 2, it will be A D converter 2. 1 And D A converter 3 It is diagnosed that 0 is normal. The error delta X 2 is an acceptable value. When larger than delta XK, it is A D converter 2. 1 or D A converter 3 It is diagnosed as the abnormalities containing 0.

0025it sets here -- this example -- acceptable value 1 and acceptable value 2 -- acceptable value delta XK Although carried out, it is good also considering a different value as an acceptable value.

0026It is D A converter 3 as the digital value of a predetermined value, and an example. Zero resolution If it is (0, 0) in power S 2 b i t and is 0 V, and (1, 0), it is 1.6. If it is 6 V and (0 1), it is 3.3. If it is 3 \ (1, 1), it can be defined as 5 V.

0027Processing of unusual judging using the predetermined value and return values 1 and 2 which were explained above (diagnosis) is explained in detail with reference to the flow chart of The 5 figure and The 6 figure.

0028First, main MC U 1 Zero A D converters 1 1 and D A converter 3 To 0 unusual judgings It attaches and explains with reference to The 5 figure.

0029It is subMC U 2 first. 0 to D A converter 3 A predetermined value is transmitted to 0 with a digital value. to carry out (Step S1 1). D A converter 3 0 changes a predetermined value into an analog value. which output by carrying out (step S 1 2). The outputted analog value is main MC U 1. Zero A D converters 1 Pau of 1 A AD 1 1 - It is inputted into 8 (step S 1 3), A/D converter 1 it is again changed into a digital value by 1 -- the digital value -- serial communication -- subMC U 2 (Step S 1 4) transmitted to 0 as return value 1. abnormality determining part 5 1, and return value 1 and predetermined value set part 5 which were received Error with the predetermined value which 0 shows deltaX 1 is computed -- the error -- acceptable value delta XK (step S 1 5) which judges whether it is large or it is the following. The error concerned approves. When it is below value M XK, it is A/D converter 1. 1 And D A converter 3 0 is positive. It judges with a usual state.

0030-- A way and error delta X 1 is an acceptable value. When larger than delta XK, it is A/D converter 1. 1 and DA translation machine 3 SubM C U 2 mentioned below in order to judge any of 0 are unusual Zero A D converters 2 The comparison result obtained by the unusual judging of 1 is used. That is, error of return value 2 and a predetermined value It is the error concerned if delta X 2 is below acceptable value delta XK. delta X 2 is an acceptable value. D A converter 3 of the precondition as for which below delta X becomes 0 is positive. The fact which is a usual state exists. Therefore, abnormality determining part 5 2, error delta X 2 is Pard. which judges whether it is below Capacity value delta XK (step S 1 6). Error delta chi 2 is an acceptable value. If it is below deltaXK, it is D A converter 3. Since it is normal, 0 is an error. Cause by which delta X 1 becomes larger than an acceptable value A/D converter 1 1 is unusual. It becomes clear.

0031A/D converter 1 It is steering Assis the case where 1 is unusual. The necessity of stopping A It is. That is, A/D converter 1 1 is electric power Stary. It is To control about a Tongue device. Since it is an element very important for a To sake, it is steering Assis in the case of abnormalities. It is stop about A. There is Need to to stop. Suitable protection processings, such as intercepting the power supply to the motor of Electric Power from a battery power supply - a steering device as a method of stopping It carries out.

0032On the other hand, it is an error. delta X 2 is an acceptable value. It is [ whether it is below delta XK, and ] abnormality determining part 5. 2 judges and they are (step S 1 6) and an error. delta X 2 is an error. That it is the same as that of delta X 1, and permission When larger than value M XK, it is D A converter 3. A possibility that 0 is unusual is high Les. However, A/D converter 2 Other malfunction detection relevant to 1 ( When with an unusual torque sensor) which judges whether it exists or not (step S 1 8). Other abnormalities exist. which will perform the unusually corresponding processing if it carries out (step S 1 9). however -- if other abnormalities cannot be found -- D A converter 3 it judges with 0 being unusual -- Assis Restriction of A (step S 2 0) to perform.

0033A thing important here and step S 1 In 7 A/D converter 1 1 is unusual. It is Assis when judged. Although A had to be stopped, DA translation machine 3 the abnormalities of 0 -- control of an electric power steering device -- an intermediary -- fatal failure not but -- for example, -- A/D converter 1 Abnormalities of a grade which cannot carry out the unusual judging of 1 it is -- since -- Assis although the output of A is restricted -- Assis Continuation of A is possible. That judgment with which A D converter or an unusual D A converter can be performed conventionally. In all the cases, it will be Assis if there are To and abnormalities. Assis according to an abnormal part since an abnormal part can be judged in the present invention although A had to be stopped Control of a A stop and restriction can be carried out.

0034Next, subMC U 2 Zero A D converters 2 1 and D A converter 3 To 0 unusual judgings It attaches and explains with reference to the flow chart of The 6 figure.

0035It is subMCU 2 first. 0 to D A converter 3 A predetermined value is transmitted to 0 with a digital value. It carries out and they are (Step S 21) and D A converter 3. 0 changes a predetermined value into an analog value. which carries out Output (step S 2 2). The outputted analog value is subMCU 1. Zero A D converters 2 Port AD 2 of 1 1 -- It is inputted into 8 (step S 2 3). A/D converter 2 it is again changed into a digital value by 1 -- abnormality determining part 52, subMCU 2 Return value 2 and predetermined value set part 5 which were returned to 0 Predetermined [ from 0 ] Error with a value deltaX 2 are computed -- the error -- acceptable value or [ that it is larger than delta XK ] -- Some -- (step S 2 4) which judges whether it is the following. The error concerned delta chi 2 approves. When it is below value delta XK, it is A D converter 2. 1 And D A converter 3 0 is positive. It judges with a usual state.

0036On the other hand, it is an error. delta chi 2 is an acceptable value. When larger than delta chikappa, it is A D converter 2. 1 and D A converter 3 In order to judge any of 0 are unusual, it is abnormality determining part 5. The decision result of return value 1 judged by 1 and a predetermined value is used. Return value 1 and predetermined Error with a value delta X 1 is an acceptable value. It is the error concerned if it is below delta XK. delta X 1 approves. D A converter 3 of the precondition as for which below value delta X becomes As for 0, the normal fact is To be present. To. Therefore, abnormality determining part 5 1 is an error. delta X 1 is an acceptable value. which judges whether it is below delta XK (step S 2 5). error delta X 1 -- acceptable value Below delta XK If it is DA translation machine 3 since 0 is normal -- error In size, delta X 2 comes from an acceptable value. To -- cause A/D converter 2 It becomes clear that 1 is unusual.

0037A/D converter 2 It will be Assis if 1 turns out to be unusual. It is System, without stopping A. which carries out Limit (step S 2 6). this reason -- A D converter 2 1 -- to the last -- a A D converter -- and -- since it is what is used for the unusual judging of a DA translation machine, etc. -- electric Power 1 Stary since it is not a function absolutely required for control of a Tongue device -- Fashi although a strike is restricted -- Assis A continuation is possible.

0038SubMC U 2 0 is used for unusual diagnosis of an A/D converter and a D A converter. Not only To When carrying out unusual diagnosis of a torque sensor, a vehicle speed sensor, etc., it is main MCU 1. The value and subMCU 2 which were measured by 0 The value measured by 0 is compared and it is S. It cannot be overemphasized that it can use for diagnosing the abnormalities of Sensa etc. Since distinction is possible in being a thing with which unusual A D converter, and whether a DA translation machine is unusual according to the present invention as mentioned above, an abnormal part is pinpointed. It can be chosen or or whether it continues [ which stops The and assistance ].

0039burden about unusual diagnosis of main MC U since unusual diagnosis is carried out for unusual diagnosis of an A/D converter and a D A converter using subM CU according to the present invention it is few -- it is influence to control of an electric power steering device also in a run of a car Unusual diagnosis can be performed without doing. There is an advantage which can be performed at the case where an ignition key is turned ON, etc. and the time of Engine starting with little influence to control of an electric power steering device.

0040according to the present invention, subMCU Second-hand MCU possesses A/D converter 2 -- business it is -- A/D converter 1 and A/D converter 2 And Perform unusual diagnosis of a DA translation machine. An equipment configuration is cheap. the abnormalities of A/D converter 1, the abnormalities of A/D converter 2, or a D A converter is unusual -- pinpointing of that abnormal part can be performed -- further -- abnormal part it can specify -- the stop of grant of steering auxiliary power, or judgment of continuation It can carry out. Industrial applicability

0041According to the present invention, main MCU and the main MCU possess. Unusual Examination of an A/D converter There are few burdens about Disconnect, main MC U and main MC U possess A/D converter control of an electric power steering device can be concentrated on -- that much effective control it is cheaply realizable -- high performance electric power Stary of a car or vehicles It is applicable to Tongue.