• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    The invention relates to an electric power steering control device which comprises a motor (4) and a processing unit (20B), characterized in that the processing unit (20B) comprises: a target current calculation section ( 21) which calculates a target current supplied to said motor as a function of a steering torque signal; an application voltage calculating section which calculates an application voltage on said motor as a function of the steering torque signal; and an application voltage limiting section (23) which limits said application voltage to a predetermined or lower limit value corresponding to said target current.
    公开号:FR3025167A1
    申请号:FR1558130
    申请日:2015-09-02
    公开日:2016-03-04
    发明作者:Takayuki Kifuku；Masaki Matsushita；Hiroyuki Kozuki
    申请人:Mitsubishi Electric Corp；
    IPC主号:
    专利说明:

    [0001] BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an electric power steering control device that delivers an assistance force from an engine to a vehicle steering system. a function of the steering torque applied by a driver of the vehicle to a steering wheel, and more particularly relates to a new technique for limiting a voltage applied to the motor in an appropriate manner as soon as an anomaly appears in a control system of the motor current. Description of the Related Art To date, there is known an electric power steering control device which, in order to provide an optimum steering assistance force from an engine, is provided with different types of sections. detection circuit (a torque detector, a motor current detection circuit, etc.), a target current calculation section, a maximum current calculation section, and a current control section. and wherein the target current calculating section calculates different types of target currents for the engine based on a steering torque signal, a vehicle speed signal, a motor voltage signal, etc. (See, for example, a first patent document: Examined Publication of Japanese Patent Application No. 11 147479). In addition, in order for the motor to produce an appropriate steering assistance force even if a fault occurs in the motor voltage signal or the like, the maximum current calculation section serves to limit the individual target currents so that the sum total of these individual target currents constitutes an upper limit value of the predetermined target currents as a function of the steering torque signal, etc. Thus, in cases where the torque sensor or a voltage sensing circuit at the motor terminals is out of order, the target current of the motor is limited so as to maintain a proper power assisting force from the motor. Further, so that the motor current detected by the motor current detection circuit coincides with the target motor current, the current control section determines a voltage to be applied to the motor while performing feedback control thereof. In the aforementioned known electric power steering control device, the notion of limiting the polarity of the application voltage is absent and therefore a limitation of the application voltage is not provided. Then the following problem arises. Indeed, in the event of failure of the motor current detection circuit, calculation error of the control values or quantities for feedback control of the motor current, etc., the current supplied to the motor is interrupted. On the other hand, an improper voltage may continue to be applied to the motor for a period of time until power to the motor is effectively interrupted or stopped. SUMMARY OF THE INVENTION Accordingly, the present invention aims at solving the difficulty mentioned above, and aims at obtaining an electrical power steering control device which is able to maintain appropriate engine power by limiting a voltage. to be applied to a motor even in the event of a failure of a motor current detection circuit and a calculation error of the feedback control of the motor current. In order to achieve the above object, according to the invention, there is provided an electric power steering control device comprising: a torque sensor which detects a steering torque applied by a driver to a steering; an engine that delivers a power of assistance to the management; an input processing section which receives a torque control torque signal from the torque sensor; an output processing section that drives the motor; and a processing unit that provides an instruction to the output processing section based on the steering torque signal. The processing unit comprises: a calculation section of the application voltage which calculates a voltage to be applied to the motor according to the steering torque signal; and an application voltage limiting section which limits the application voltage to a predetermined or lower limit value corresponding to the direction of the steering torque signal. According to the present invention, it is possible to maintain an appropriate motor power by limiting a voltage to be applied to a motor even in the event of failure of a motor current detection circuit and error calculation of values or quantities. control for feedback control of the motor current. Other features and advantages of the invention will become more apparent upon reading the following detailed description of the preferred embodiments of the present invention with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a block diagram showing an electric power steering control device according to a first embodiment of the present invention. FIG. 2 is a block diagram of a circuit 25 showing the detailed hardware configuration of a controller of FIG. 1. FIG. 3 is a functional block diagram showing a software processing unit in a microcontroller of FIG. figure 2.
    [0002] Fig. 4 is an explanatory view showing the calculation characteristic of a target current used for the processing of a calculation section of the target current of Fig. 3. Fig. 5 is an explanatory view showing the limiting characteristic an application voltage used for the processing of an application voltage limiting section of FIG. 3. FIG. 6 is a flowchart illustrating the processing operation of a limiting section 10 of FIG. application voltage of the electric power steering control device according to the first embodiment of the present invention. Fig. 7 is a functional block diagram showing a software processing unit in a microcontroller of an electric power steering control device according to a fourth embodiment of the present invention. Fig. 8 is a functional block diagram showing a software processing unit in a microcontroller of an electric power steering control device according to a fifth embodiment of the present invention. FIG. 9 is an explanatory view showing the limiting characteristic of an application voltage according to a limiting section of the application voltage of FIG. 8. DESCRIPTION OF THE PREFERRED EMBODIMENTS We will detail, hereinafter, preferred embodiments of the present invention with reference to the accompanying drawings.
    [0003] Embodiment 1 (Power limitation of a brush motor proportional-full current regulator) 5 Claims 1, 2, 7 Referring first to FIG. 1, which schematically shows a device electric power steering control system according to a first embodiment of the present invention.
    [0004] In this FIG. 1, a steering wheel 1, which constitutes a vehicle direction, is mounted on one end of a steering shaft 2 so as, for example, to be maneuvered by a driver of the vehicle. A torque sensor 3 is mounted on the steering shaft 2 to detect a steering force applied to the steering wheel 1 by the driver. A steering torque signal Ts emitted by the torque sensor 3 is transmitted to a regulator 8 (which will be described in more detail later) which comprises a microcomputer. On the other hand, a motor 4 is mounted on the steering shaft 2 by means of a speed reducer 5. The motor 4 is in the form of a DC motor, for example of the it is driven under the control of the regulator 8, whereby an assist force (assist torque) is generated in the steering shaft 2 of the steering to assist the steering force of the steering wheel. driver. The speed reducer 5 serves to reduce the assist torque produced by the motor 4 in a suitable manner and to transmit it to the steering shaft 2. A vehicle speed sensor 6 detects the speed of the vehicle (vehicle speed), and transmits it to the regulator 8 as a vehicle speed signal Vs. An on-board battery 7 constitutes a drive power supply for the regulator 8. The regulator 8 calculates a current target Im * based on the steering torque signal Ts of the torque detector 3 and the vehicle speed signal Vs of the vehicle speed sensor 6, and then calculates a degree of operation Vm * corresponding to the target current Im *, by means of whereby an application voltage Vm corresponding to the operating degree Vm * is applied to the motor 4 to drive it. In addition, the motor 4 is provided with a current detection circuit and a voltage detection circuit (described later), which serve to feedback back their detection signals to the regulator 8 respectively in the form of a motor current Imsns and a motor voltage Vmsns. FIG. 2 is a block diagram of a circuit which shows the detailed hardware configuration of the controller 8, and in which parts or components similar to those described above (FIG. 1) are identified by the same symbols, without a detailed description thereof is provided. In FIG. 2, the regulator 8 comprises a microcontroller 9 which is a main component, a drive circuit of the motor 10, a pair of gate control circuits 11a, 11b, a motor current detection circuit 30a. 12, a motor voltage detection circuit 13, an input circuit of the torque sensor 14, and an input circuit of the vehicle speed sensor 15.
    [0005] The microcontroller 9 comprises an MPU microprocessor which is a main component, a ROM memory section in which is stored a control program for operating the MPU microprocessor, a RAM memory section 10 used for the processing of the MPU microprocessor calculations. a pulse width modulator PWM for outputting a pulse width modulation signal to the gate control circuit 11a, an analog to digital A / D converter 15 which transforms the analog signals from the detection circuits 12, 13 and the input circuit of the torque sensor 14 as a digital signal and receives them, and an I / O input-output section which outputs a driving pulse to the gate control circuit 11b and receives a signal at the pulses of the vehicle speed sensor input circuit 15. The motor drive circuit 10 comprises four MOS power transistors P1 to P4 which are connected to form a bridge circuit, diodes being connected antiparallel to MOS power transistors P1 to P4, respectively. The gate control circuit 11a drives the MOS power transistors P1, P2 on the positive side of the driving circuit of the motor 10 in pulse width modulation, and the gate control circuit 11b drives in pulse modulation. in width, the 3025167 9 MOS power transistors P3, P4 on the neutral side of the drive circuit of the motor 10, to turn them on and off. The motor current detection circuit 12 detects the armature current of the motor 4 as the motor current Imsns, and transmits it to the microcontroller 9. The motor voltage detection circuit 13 detects the voltage across the motor terminals 4. as the motor voltage Vmsns, and transmits it to the microcontroller 9. The input circuit 10 of the torque sensor 14 constitutes an input processing section for receiving the steering torque signal Ts of the torque sensor 3, and transmits this torque control signal Ts to the microcontroller 9.
    [0006] In a similar manner, the vehicle speed sensor input circuit 15 transmits the vehicle speed signal Vs delivered by the vehicle speed sensor 6 to the microcontroller 9. The motor drive circuit 10 and the circuits gate controller 11a, 11b together constitute an output processing section for driving the motor 4. The microprocessor MPU of the microcontroller 9 constitutes a processing unit intended to provide, during its operation as software, a Instruction to the output processing section as a function of the steering torque signal Ts. FIG. 3 is a functional block diagram showing a processing unit 20 in the form of microcontroller software 9. In FIG. 3, the processing unit 20 is provided with a target current calculation section 21, a feedback section of the motor current 22 having a subtractor 22a, and an application voltage limiting section 23. The calculation section of the target current 21 and the calculation section by Feedback from the motor current 22 together constitute a section for calculating the application voltage which calculates, as the operating degree Vm *, the application voltage Vm exerted on the motor 4 according to the steering torque signal Ts.
    [0007] The calculation section of the target current 21 produces the target current Im * based on the vehicle speed signal Vs emitted by the vehicle speed sensor 6 and on the steering torque signal Ts emitted by the torque sensor 3 according to a predetermined characteristic (see, for example, FIG. 4). The subtractor 22a calculates a current difference zIm (= Im * - Imsns) between the target current Im * and the motor current Imsns of the motor current detection circuit 12.
    [0008] The feedback computation section of the motor current 22 produces the operating degree Vm * for matching the motor current Imsns with the target current Im * (that is, the standard deviation zIm = 0) on the basis of the current deviation zIm by means of a feedback control algorithm, for example a proportional-integral control or the like. The limiting section of the application voltage 23 produces an application voltage Vm which is limited according to the predetermined characteristic 30 (see, for example, FIG. 5) on the basis of the operating degree Vm * and the torque signal. turning 3025167 11 Ts. The application voltage Vm produced by the limiting section of the application voltage 23 is modulated in pulse width by the PWM modulator of the microcontroller 9 to drive the power MOSFETs P1, P2 of the drive circuit 10 by the intermediate of the gate control circuit 11a. In addition, the application voltage Vm acts as a voltage for turning on and off the power MOSFETs P3, P4 of the drive circuit 10 through the gate drive circuit 11b. Fig. 4 is an explanatory view showing the calculation characteristic of the target current Im * used for the processing of the calculation section of the target current 21. In Fig. 4, the abscissa represents the target current Im *, left and right, and the ordinate axis represents the left and right steering torque signal Ts. When the vehicle speed signal Vs shows a low speed, the target current Im * is set on the basis of the steering torque signal Ts according to a characteristic which follows an alternating line between long and short dotted lines, whereas when the Vs vehicle speed signal 25 shows a high speed, the target current Im * is set based on the steering torque signal Ts according to a characteristic which follows a solid line. Fig. 5 is an explanatory view showing the limiting characteristic of the application voltage Vm used for processing the application voltage limiting section 23.
    [0009] In FIG. 5, the abscissa axis represents the left and right steering torque signal Ts, and the ordinate axis represents the left and right Vm application voltage. In addition, a right limit value 5 VRL and a left limit value VLL are defined as predetermined limit values in the right and left directions of the steering torque signal Ts. In order for the voltage in an abnormal region Z2 or Z3 to become a value in a normal region Z1, the application voltage Vm is limited to a value less than or equal to the right limit value VRL or the left limit value VLL (in each case, the voltage value being considered as an absolute value) in the right or left direction of the steering torque signal Ts. We will now discuss in more detail the voltage suppressing treatment of the application voltage limiting section 23 of FIG. 3, with reference to FIGS. 4 and 5.
    [0010] In FIG. 3, the degree of operation Vm * calculated by the feedback computation section of the motor current 22 is influenced by external disturbances such as the back EMF of the motor 4, the voltage variations of the motor. the battery 7, etc., so that the relationship between the degree of operation Vm * and the target current Im * is not a simple proportionality relation. On the other hand, when the target current Im * is high, the operating degree Vm * tends to become high as well, and the relation between the steering torque signal Ts and the target current Im * is a relation of monotone increase, as shown in FIG. 4. Thus, when the steering torque signal Ts is generally high, as we see in the normal region Z1 of FIG. 5, the operating degree Vm * also tends to be Student. On the other hand, in FIG. 5, the application voltage Vm in each of the abnormal regions Z2, Z3 is a value which generates an anti-assistance current due to a calculation error, a circuit failure etc. or a value related to the influence of electromagnetic noise, etc., it is therefore considered as a voltage value which can cause unnecessary operation of the steering control system. Therefore, by limiting the degree of operation Vm * corresponding to the application voltage Vm to a value in the normal region Z1 of FIG. 5, the limiting section of the application voltage 23 can suppress a voltage 20d. Vm application inappropriate without unnecessarily limiting the application voltage when the degree of operation Vm * is normal. We will now study the processing operation of the aforementioned application voltage limiting section 23 with reference to a flow diagram of FIG. 6 in conjunction with FIG. 5. Here, it should be noted that a program illustrated in FIG. Figure 6 is stored in the ROM memory section 30 integrated in the microcontroller 9 of Figure 2, and 3025167 14 is called and executed by the MPU microprocessor periodically. In Fig. 6, step S21 corresponds to the processing operation of the calculating section of the target current 21, and step S22 corresponds to the processing operation of the motor current feedback calculating section 22. , and steps 5231 to S237 correspond to the processing operation of the application voltage limiting section 23.
    [0011] First, the calculating section of the target current 21 calculates the target current Im * (step S21). Then, the feedback section of the motor current 22 calculates the motor current Imsns retroactively based on the current deviation zIm (= Im * - Imsns) calculated by the subtractor 22a, and also calculates the degree of Vm * operation (step S22). Then, the application voltage limiting section 23 drives the motor 4 in pulse width modulation by means of the application voltage Vm which is properly limited by the processing of the following steps 5231 to 5237. At this stage, it is considered that the right limit value VRL and the left limit value VLL for distinguishing or identifying the normal region Z1 are stored as a data table in the section of RAM memory located within the 9, as shown in FIG. 5. In the first place, the limiting section of the application voltage 23 acquires, by means of a table calculation, the right limit value VRL and the value 3025167 left limit VLL. based on the steering torque signal Ts and referring to the data table of Fig. 5 (step S231). Then, the operating degree Vm * calculated in step S22 is compared with the right limit value VRL, so as to determine whether the operating degree Vm * is greater than the right limit value VRL (step S232). When it is found that the operating degree 10 Vm *> VRL at step 5232 (i.e. YES), the application voltage Vm is set equal to the right limit value VRL ( that is, Vm = VRL) such that the application voltage Vm is less than or equal to the right limit value VRL 15 (step S233). Thus, the application voltage Vm is limited to a value less than or equal to the right limit value VRL. On the other hand, when it turns out that Vm * VRL at step 5232 (i.e., NO), the application voltage Vm is kept equal to the operating degree Vm * (that is, Vm = Vm *) (step S234). Then, similarly to the aforementioned processing (steps 5232 to 5234) based on the right limit value VRL, the limiting section of the application voltage 23 performs the limiting processing (steps 5235, 5236) for the left limit value VLL. First, it is a question of determining whether the application voltage Vm defined in step 5233 or 5234 is lower than the left limit value VLL (in the case where the left side has a negative polarity) (step 3025167 16 S235 ), and when it turns out that Vm <VLL (i.e. YES), the application voltage Vm is defined as being equal to the left limit value VLL (that is, Vm = VLL) of such that the application voltage Vm is greater than or equal to the left limit value VLL (step S236). Thus, the application voltage Vm is limited to a value greater than or equal to the left limit value VLL. Here, it is considered that in step 5235 the value of the left application voltage Vm in Fig. 5 is not treated as an absolute value but as a negative polarity value. On the other hand, when it turns out that Vm VLL in step 5235 (i.e. NO), the control flow advances to the next process without performing the limiting process (step 5236) since It is already clear that the application voltage Vm is a value located inside the normal region Z1. In other words, when the operating degree Vm * 20 is in the range between the respective limit values VLL and VRL (in the normal region Z1), the application voltage Vm defined in step 5234 is maintained, and the voltage Vm application becomes equal to the degree of operation Vm *. The application voltage Vm is limited within the range of the normal region Z1 of Fig. 5 according to the processing of steps 5231 to 5237 above. Finally, the limiting section of the application voltage 23 produces the application voltage Vm limited inside the normal region Z1 by means of the pulse width modulator PWM of the microcontroller 9 of the microcontroller 9. for controlling the gate 11a and the drive circuit 10 (see FIG. 2), thereby driving the motor 4 in pulse width modulation (step S237).
    [0012] In addition, the processing unit 20 determines whether a predetermined period or cycle has elapsed (step S24), and when it turns out that a period has not elapsed (i.e. say NO), a return to step 24 is made, where a wait for a predetermined time is observed so that steps S21 through 5237 can be performed at the predetermined time, while when it is found at step S24 that the period in question has elapsed (i.e. YES), a return is made to step S21 where the aforementioned processing (steps S21 to 5237) is repeated at the predetermined period. As explained above, the electric power steering control device according to the first embodiment of the present invention comprises the torque sensor 3 which detects the steering torque applied by the driver to the steering (the steering wheel 1 and the 2), the motor 4 which delivers a steering assistance force, the input processing section (the input circuit of the torque detector 14) which receives the steering torque signal Ts of the torque sensor 3, the output processing section (the motor drive circuit 10 and the gate control circuitry 11a, 11b) which drives the motor 4, and the processing unit 20 which provides an instruction to the output processing section as a function of the steering torque signal Ts.
    [0013] The processing unit 20 comprises the application voltage calculation section (the target current calculation section 21 and the motor current feedback feedback section 22) which calculates the applied voltage Vm exerted on the motor 4 according to the steering torque signal Ts, and the limiting section of the application voltage 23 which limits the application voltage Vm to the predetermined limit values VRL, VLL or lower in the direction of the torque signal turning point Ts. Thus, the operating degree Vm * (corresponding to the application voltage Vm) calculated by the feedback calculating section of the motor current 22 is limited within the predetermined range (the normal region Z1) on the basis of the direction and the amplitude of the steering torque signal Ts, limiting the amplitude of the application voltage by limiting the voltage polarity according to the steering torque signal Ts. Thus, even if the operating degree Vm * takes an inappropriate value due to a miscalculation of the microcontroller 9, etc., the application voltage Vm is always limited to the vicinity of a normal value (a value of within the normal region Z1), so that any detrimental influence on the behavior of the steering control system can be eliminated. In addition, the limit value comprises a first limit value (the right limit value VRL when the steering torque signal Ts is the right direction) which is in the same direction as the steering torque signal Ts, and a second limit value (the left limit value VLL when the steering torque signal Ts represents the left direction) which is in a direction opposite to that of the steering torque signal Ts, as shown by the voltage limitation characteristic of the Figure 5, wherein when the voltage value is considered an absolute value, the first limit value is defined as being greater than or equal to the second limit value.
    [0014] In other words, a limit value in a direction opposite to the steering torque signal Ts is less than or equal in absolute value to a limit value in the same direction as the steering torque signal Ts. Thus, it is possible to allow the driving of the motor 4 in the same direction as the steering torque signal Ts while preventing the motor 4 from being driven in the opposite direction to the steering torque signal Ts. This allows, therefore, to further eliminate a detrimental influence on the behavior of the steering control system while maintaining a certain degree of the power steering function. Further, the calculation section of the application voltage (the target current calculation section 21 and the feedback motor calculation section 22) and the application voltage limiting section 23, which constitute together the processing unit 20, are formed in the same microcontroller 9, so that the hardware configuration thereof can be simplified.
    [0015] Embodiment 2 Although in the first embodiment mentioned above, we have illustrated the case where the motor 4 is a brush-type DC motor, it can be replaced by a three-phase motor of the type shown in FIG. without brush. In this case, the calculating section of the application voltage of the processing unit 20 calculates, as the application voltage Vm, a division voltage 10 of the magnetic flux for controlling the magnetic flux of the motor 4 and a voltage of splitting the torque to control the output torque of the motor 4, and the limiting section of the application voltage 23 is configured to limit the torque division voltage to a limit or lower value. In general, a brushless type three-phase motor is controlled by transforming a three-phase AC voltage into a dc voltage (dividing voltage of the magnetic flux) and a voltage of axis q (torque splitting voltage). but according to this second embodiment of the present invention, a functional effect similar to the above effect can be obtained by limiting the q-axis voltage to a limit value or lower by means of the limiting section of the present invention. Application Voltage 23. Embodiment 3 In the first and second embodiments mentioned above, the control programs of the application voltage calculation section 30 (the target current calculation section 21 and the calculation section by way of feedback from the motor current 22) and the application voltage limiting section 23, which together constitute the processing unit 20 (see FIG. 3), are stored in the ROM memory section (see FIG. FIG. 2) of a single microcontroller 9, but an additional microcontroller (not shown) similar to the microcontroller 9 can be provided in the regulator 8 (see FIG. 1), so that the aforementioned sections or control programs can be stored and executed individually and separately in both microcontrollers. Thus, according to this third embodiment of the present invention, the feedback motor calculating sections 22 and the application voltage limiting sections 23 will function as a redundant system by means of a plurality of microcontrollers. . The probability that the motor current feedback calculating sections 22 and the application voltage limiting sections 23 will fail at the same time is thereby reduced, resulting in extremely high supervisory function. reliable and even stricter.
    [0016] Embodiment 4 In the above-mentioned first to third embodiments, it is sufficient to limit the application voltage Vm within a predetermined range (the normal region Z1) by means of the limiting section. the application voltage 23 of the treatment unit 20, but as shown in FIG. 7, an interruption section of the motor 24 can be provided in a processing unit 20A, so that the current supplied can be interrupted. to the motor 4 to 5 when the application voltage (the operating degree Vm *) calculated by the calculating section of the application voltage (the feedback calculating section of the motor current 22) or the application voltage Vm limited by the limiting section 10 of the application voltage 23 (i.e. limited by the respective limit values VRL and VLL) would have an abnormal value. Fig. 7 is a functional block diagram showing a processing unit 20A of an electric power steering control device according to a fourth embodiment of the present invention, in which parts or sections similar to those described above (see Fig. 3) are identified by the same symbols or by identical symbols having the suffix "A", without a detailed explanation thereof. In FIG. 7, the processing unit 20A is in the form of a software configuration (control program) located in the microcontroller 9 (see FIG. 2), as indicated above. This processing unit 20A is provided with the motor interrupt section 24 which is associated with at least one of the feedback section of the motor current 22 and the application voltage limiting section 23.
    [0017] The motor interruption section 24 acts as a blocking section in the event of a malfunction for the motor 4, and operates as follows. For example, in the case where the degree of operation Vm * 5 calculated by the feedback calculating section of the motor current 22 significantly differs from the normal region Z1 so that a voltage difference between the degree of operation Vm * and at least one of the limit values (VRL, VLL) has a value greater than or equal to a maximum allowable value, it is considered that the processing unit 20A is in a state of occurrence of an anomaly , and the current supplied to the motor 4 is interrupted. The state of interruption of the motor 4 generated by the interruption section of the motor 24 is maintained until the microcontroller 9 is reactivated. As described above, according to this fourth embodiment of the present invention, in the case where the processing unit 20A has failed and the degree of operation Vm * has an abnormal value, the presence of the section d interruption of the motor 24 serves to prevent an inappropriate voltage is applied to the motor 4, which allows for a failsafe processing.
    [0018] In addition, when the operating degree Vm * deviates continuously from the normal region Z1 (that is, when it is greater than the limit value VRL or VLL) for a predetermined period or longer, the section d The interruption of the motor 24 can interrupt the current supplied to the motor 4. In other words, when the state, in which the application voltage on the motor 4 calculated by the calculation section of the application voltage is greater than at a limit value of the limiting section of the application voltage 23, continues during this predetermined time or longer, the interruption section of the motor 24 interrupts the current supplied to the motor 4, thus ensuring a safe treatment integrated as shown below. In addition, the motor interruption section 24 reads the motor voltage Vmsns detected by the motor voltage detection circuit 13 as the application voltage Vm limited by the application voltage limiting section 23 (FIG. or reads the application voltage Vm directly from the application voltage limiting section 23), and interrupts the current supplied to the motor 4 to similarly perform failsafe processing when the voltage deviation between the application voltage Vm and a limit value (VRL or VLL) has the predetermined value or a higher value. In this case, it is possible to prevent the application of an inappropriate voltage on the motor 4 even if the limiting section of the application voltage 23 is out of order.
    [0019] In addition, the interruption section of the motor 24 can be formed in the same microcontroller 9 (the processing unit 20A) where the application voltage limiting section 23 is provided, or can be formed in a microcontroller also provided and in which the limiting section of the application voltage 23 does not appear.
    [0020] Embodiment 5 In the first to fourth embodiments mentioned above, the steering torque signal Ts is transmitted to the limiting section of the application voltage 23 (see FIG. 3 and FIG. 7), so that the final application voltage Vm on the motor 4 is obtained by limiting the application voltage Vm (the operating degree Vm *) by means of the voltage limiting characteristic (see FIG. 5) based on the signal of turning torque Ts, but as shown in FIG. 8, the target current Im * can be transmitted to a limiting section of the application voltage 23B, so that the final application voltage Vm can be obtained on the motor 4 by limiting the degree of operation Vm * by means of a voltage limiting characteristic (see Figure 9) based on the target current Im *. Fig. 8 is a functional block diagram which shows a processing unit 20B of an electric power steering control device according to a fifth embodiment of the present invention, in which parts or sections similar to those described above. above (see FIG. 3) are identified by the same symbols or by identical symbols having the suffix "B", without a detailed explanation thereof. In FIG. 8, the processing unit 20B is in the form of a software configuration (control program) located in the microcontroller 9 (see FIG. 2), as indicated above.
    [0021] In addition, Fig. 9 is an explanatory view showing the voltage limiting characteristic used in the limiting section of the application voltage 23B of the processing unit 20B, in which the parts or sections similar to those described above (see Figure 5) are identified by the same symbols, without a detailed description thereof. In Fig. 9, the voltage limiting characteristic illustrated thereon is similar to that of Fig. 5, except that the x-axis represents the "left and right" target current Im *. In this case, the limiting section of the application voltage 23B serves to limit the final application voltage Vm on the motor 4 to predetermined limit values (VRL, VLL) or lower, depending on the target current Im *. Further, similarly to the above indications, a first limit value in a direction identical to that of the target current Im * is defined as being greater than or equal to a second limit value which is in a direction opposite to that of the Im * target current. As described above, according to the fifth embodiment of the present invention, the limiting section of the application voltage 23B limits the application voltage Vm within the normal region Z1 based on the Thus, it is possible to maintain an appropriate motor power even in the event of a failure of the motor current detection circuit 12 or error calculation of the values or the quantities of the motor. control for feedback control of motor current Imsns. Here, it will be noted that when the motor 4 is a three-phase motor, the calculating section of the target current 5 calculates, as the target current Im *, the dividing voltage of the magnetic flux for controlling the magnetic flux of the motor 4 and the a torque division voltage for controlling the output torque of the motor 4, and that the calculating section of the application voltage (the feedback calculating section of the motor current 22) calculates, as the application voltage Vm (the operating degree Vm *), the division voltage of the aforementioned magnetic flux and the aforementioned torque division voltage. In addition, the limiting section of the application voltage 23B limits the torque division voltage to a limit or lower value corresponding to the torque division current. Therefore, the axis voltage q can be limited to this limit value or to a lower value, as indicated above. Although we have described the invention in light of preferred embodiments, those skilled in the art will understand that it is possible to practice the invention with certain modifications while remaining within the scope of the appended claims.
    权利要求:
    Claims (11)
    [0001]
    REVENDICATIONS1. An electric power steering control device comprising: a torque sensor (3) which detects a steering torque (Ts) applied by a driver to a steering; a motor (4) acting on said direction; an input processing section which receives a steering torque signal (Ts) from said torque sensor; an output processing section which drives said motor; and a processing unit (20A) which provides an instruction to said output processing section in accordance with said steering torque signal; characterized in that said processing unit (20A) comprises: a target current calculating section (21) which calculates a target current supplied to said motor as a function of said steering torque signal; and an application voltage calculating section which calculates an application voltage to said motor; and an application voltage limiting section (23) which limits said application voltage to a predetermined or lower value corresponding to said target current as soon as an abnormality occurs in a motor current control system.
    [0002]
    2. The electric power steering control device according to claim 1, wherein said limit value comprises a first limit value in a direction identical to that of said target current and a second limit value in a direction opposite to that of said target current. ; and said first limit value is greater than or equal to said second limit value.
    [0003]
    An electric power steering control apparatus according to claim 2, wherein said motor (4) comprises a three-phase motor; said target current calculating section calculates, as said target current, a magnetic flux division voltage for controlling a magnetic flux of said motor and a torque splitting voltage for controlling an output torque of said motor; and said application voltage calculating section calculates, as said application voltage, a division voltage of the magnetic flux for controlling a magnetic flux of said motor and a torque dividing voltage for controlling an output torque of said motor; and said application voltage limiting section limits said torque division voltage to said limit or lower value corresponding to said torque division current.
    [0004]
    An electric power steering control apparatus according to claim 1, wherein said application voltage calculating section 30 and said application voltage limiting section 3025167 are formed in the same microcontroller (9).
    [0005]
    An electric power steering control apparatus according to claim 1, wherein said application voltage calculating section and said application voltage limiting section are respectively formed in different microcontrollers. 10
    [0006]
    An electric power steering control apparatus according to claim 1, wherein said processing unit (20A) comprises an engine interruption section (24); and said motor interrupt section (24) interrupts a current supplied to said motor when the application voltage calculated by said application voltage calculation section or the application voltage limited by said voltage limiting section of application has an abnormal value.
    [0007]
    An electric power steering control apparatus according to claim 6, wherein said motor interruption section (24) interrupts a current supplied to said motor when a voltage difference between the application voltage calculated by said calculating section application voltage and said limit value has a maximum permissible value or higher. 3025167 31
    [0008]
    An electric power steering control apparatus according to claim 6, wherein said motor interruption section (24) interrupts a current supplied to said motor when the application voltage calculated by said application voltage calculation section. is greater than said limit value for a predetermined duration or more.
    [0009]
    An electric power steering control apparatus according to claim 6, wherein said motor interruption section (24) interrupts a current supplied to said motor when a voltage difference between said limit value and the limited application voltage by said limit value 15 has a predetermined value or greater.
    [0010]
    The electric power steering control apparatus according to claim 6, wherein said application voltage limiting section (23) and said motor interrupt section (24) are formed in the same microcontroller.
    [0011]
    The electric power steering control apparatus according to claim 6, wherein said application voltage limiting section (23) and said motor interrupting section (24) are respectively formed in different microcontrollers.
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    同族专利:
    公开号 | 公开日
    KR20070089569A|2007-08-31|
    FR2897822B1|2016-09-30|
    DE102006040483B4|2020-06-04|
    US7624838B2|2009-12-01|
    US20070199764A1|2007-08-30|
    FR3025167B1|2019-07-05|
    KR100798222B1|2008-01-24|
    DE102006040483A1|2007-09-06|
    JP2007236075A|2007-09-13|
    FR2897822A1|2007-08-31|
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    法律状态:
    2015-09-08| PLFP| Fee payment|Year of fee payment: 10 |
    2016-08-25| PLFP| Fee payment|Year of fee payment: 11 |
    2017-10-31| PLFP| Fee payment|Year of fee payment: 12 |
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    2019-10-31| PLFP| Fee payment|Year of fee payment: 14 |
    2020-09-14| PLFP| Fee payment|Year of fee payment: 15 |
    2021-09-13| PLFP| Fee payment|Year of fee payment: 16 |
    优先权:
    申请号 | 申请日 | 专利标题
    JP2006053001A|JP2007236075A|2006-02-28|2006-02-28|Electric power steering control device|
    JP2006053001|2006-02-28|
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