JP6340658B2 - Abnormality diagnosis device and shift-by-wire device using the same - Google Patents

Description

  The present invention relates to an abnormality diagnosing device and a shift-by-wire device using the same, and is mounted on, for example, a vehicle, and is mounted on a shift-by-wire device that operates an operation target by driving a manual shaft based on a driver's shift operation or the like. The present invention relates to an abnormality diagnosing device for diagnosing abnormalities in sensors and a shift-by-wire device using the same.

  Conventionally, this type of shift-by-wire device has a spool position sensor for detecting the position of a spool for switching the shift position, and a selector switch (shift switch) is used for a P (parking) position, an R (reverse) position, N ( When one of the neutral) position, D (drive) position, etc. is selected, the motor (electric motor) is set so that the spool is at a position corresponding to the selected position based on a signal from the spool position sensor. Devices for controlling are known.

  By the way, in the conventional shift-by-wire device described above, when an abnormality occurs in the motor angle sensor used for controlling the brushless motor that drives the spool, the driving of the motor is stopped or the shift-by-wire device is moved to the vehicle. Taking into account the mounting of the vehicle, for example, taking measures such as evacuation traveling has been studied.

  Patent Document 1 discloses a shift-by-wire device that can cope with an abnormality of a rotation angle sensor used for controlling an electric motor that operates an operation target.

  In the shift-by-wire device disclosed in Patent Document 1, the rotation of the manual shaft is normally performed when the rotation angle sensor (motor position sensor) that detects the rotation angle of the rotation shaft of the electric motor that rotates the manual shaft can function normally. The motor is controlled based on the rotation angle of the rotation shaft from the rotation angle sensor so that the rotation position of the shaft from the shift position sensor (output shaft angle sensor) that detects the position matches the target rotation position within a predetermined range. Sensorless control that controls the motor while estimating the rotation direction of the rotating shaft of the motor based on the rotation position of the shaft from the shift position sensor in the non-normal time when the rotation angle sensor cannot function normally And the rotational position from the shift position sensor is within a predetermined range with respect to the target rotational position. A device for performing non-normal operation control for stopping the sensorless control when they match.

  Here, in the shift-by-wire device disclosed in Patent Document 1, it is determined whether the rotation direction of the manual shaft is normal rotation or reverse rotation based on the amount of time change of the shaft position detected by the shaft position sensor. By determining the direction, the failure of each Hall IC of the motor angle sensor is determined.

JP 2010-223355 A

  Actually, as with the rotation angle sensor described above, an abnormality may occur in the shift position sensor (output shaft angle sensor) used for determining the failure of the rotation angle sensor. When an abnormality occurs, there may arise a problem that an abnormality or failure of the rotation angle sensor (motor position sensor) cannot be accurately determined. Moreover, as a result of erroneously determining the state of the rotation angle sensor, there may arise a problem that the vehicle on which the shift-by-wire device is mounted cannot be properly controlled. For example, when the shift-by-wire device is applied to an electric parking lock system that locks the vehicle during parking, for example, a vehicle such as an IWM (In-Wheel-Motor) implements the shift-by-wire device independently on the left and right wheels. However, if the state of the sensors of the shift-by-wire device mounted on one or both wheels is erroneously determined, there may be a problem that the lock state changes between the left and right wheels.

  The present invention has been made in view of the above-described problems, and an object of the present invention is, for example, a shift that is mounted on a vehicle and operates an operation target by driving a manual shaft based on a driver's shift operation or the like. An object of the present invention is to provide an abnormality diagnosis device capable of precisely diagnosing abnormality of sensors mounted on a by-wire device and a shift-by-wire device using the abnormality diagnosis device.

  In order to solve the above-described problem, an abnormality diagnosis apparatus according to the present invention includes a motor position sensor that detects a rotation position of a rotor, an output shaft angle sensor that detects a rotation angle of an output shaft connected to the rotor, An abnormality diagnosis apparatus for diagnosing an abnormality in an electric motor having a rotation angle of the output shaft calculated based on a rotation position of the rotor detected by the motor position sensor and the output shaft angle sensor. An abnormality of the motor position sensor or the output shaft angle sensor is diagnosed based on the rotation angle of the output shaft.

  The shift-by-wire device according to the present invention includes the abnormality diagnosis device, a motor position sensor that detects a rotation position of the rotor, and an output shaft angle sensor that detects a rotation angle of an output shaft connected to the rotor. And an electric motor that switches the gear position by rotationally driving the output shaft based on a shift operation.

  According to the abnormality diagnosis device and the shift-by-wire device using the abnormality diagnosis device, the rotation angle of the output shaft calculated based on the rotation position of the rotor detected by the motor position sensor and the rotation angle of the output shaft detected by the output shaft angle sensor By diagnosing abnormalities in the motor position sensor or output shaft angle sensor based on the above, even if an abnormality occurs in the motor position sensor or output shaft angle sensor, the abnormalities in the sensors are precisely diagnosed Can do. In addition, by diagnosing abnormalities of the sensors mounted on the shift-by-wire device in this way, by controlling the drive of the motor using output signals (information) obtained from the sensors diagnosed as normal, For example, it is possible to appropriately control a vehicle on which a shift-by-wire device using the abnormality diagnosis device is mounted.

  Problems, configurations, and effects other than those described above will be clarified by the following description of embodiments.

The system block diagram which shows the main structures of embodiment of the shift-by-wire apparatus using the abnormality diagnosis apparatus based on this invention. The figure which shows an example of the output pattern to each phase of the motor position sensor shown in FIG. 1, and an output order. The figure which shows an example of the output characteristic of each output-shaft angle sensor shown in FIG. The flowchart explaining the abnormality diagnosis flow by the abnormality diagnosis apparatus shown in FIG.

  Embodiments of an abnormality diagnosis apparatus and a shift-by-wire apparatus using the same according to the present invention will be described below with reference to the drawings. In the following description, a case where the shift-by-wire device is applied to an electric parking lock system for locking the vehicle at the time of parking will be described. However, the shift-by-wire device can be applied to, for example, an automatic transmission system. Of course.

  FIG. 1 shows a main configuration of an embodiment of a shift-by-wire apparatus using an abnormality diagnosis apparatus according to the present invention.

  The shift-by-wire device 20 mainly determines the driving state of the electric shifter 10 that is a device that outputs a parking lock request or a parking lock release request, the actuator 5 having the electric motor 6, and the electric motor 6 in the actuator 5. And an electronic control unit (ECU) 1 to be controlled.

  The actuator 5 includes an electric motor 6 that is driven by energization from the driver circuit 4 of the ECU 1, a motor position sensor 7 that detects the rotational position (angle) of the rotor that constitutes the electric motor 6, and an output shaft that is coupled to the rotor. It is composed of two output shaft angle sensors 8 and 9 for detecting the rotation angle of (for example, a manual shaft) (not shown). Here, the rotor of the electric motor 6 is transmitted to the output shaft via a speed reducer (not shown), and the rotation output (torque) is amplified. Position information detected by the motor position sensor 7 and angle information detected by the output shaft angle sensors 8 and 9 are transmitted to the microcomputer 2 of the ECU 1.

  The motor position sensor 7 is, for example, a hall element installed in each of the U phase, the V phase, and the W phase (see FIG. 2). In addition, as the output shaft angle sensors 8 and 9, for example, inductive sensors (inductive sensors) having linear characteristics can be cited, and the output shaft angle sensors 8 and 9 are opposite to the rotation angle of the output shaft. Characteristic (cross characteristic) (see FIG. 3).

  The ECU 1 includes a current detection circuit 3 that detects a motor drive current, an output signal from the electric control shifter 10, a detection value from the current detection circuit 3, angle information from the output shaft angle sensors 8 and 9, and a motor position sensor 7. The microcomputer 2 that generates a drive signal (for example, a signal for switching the energization mode) of the electric motor 6 from the position information of the motor, and a driver circuit that energizes the electric motor 6 in the actuator 5 based on the drive signal from the microcomputer 2 4. The electric motor 6 is rotationally driven by sequentially energizing coils provided in each phase based on the drive signal transmitted from the driver circuit 4.

  For example, when the shift-by-wire device 20 is mounted on a vehicle such as an automobile, a shift switching request (output signal) is transmitted from the electronic control shifter 10 to the microcomputer 2 based on a driver's shift operation or the like, and based on the output signal. Then, a drive signal having a predetermined output pattern and output order is transmitted from the microcomputer 2 to the driver circuit 4, and the electric motor 6 rotates the output shaft (for example, a manual shaft) based on the drive signal to change the gear position. It is supposed to switch.

  In addition, the microcomputer 2 of the ECU 1 receives the angle information from the output shaft angle sensors 8 and 9 and the motor position sensor 7 based on the shift switching request from the electric control shifter 10 (that is, the drive request for the electric motor 6). An abnormality diagnosis device 2a for diagnosing abnormality or failure of each sensor from position information or the like is incorporated.

  Hereinafter, the abnormality diagnosis flow by the abnormality diagnosis apparatus 2a shown in FIG. 1 will be specifically described with reference to FIG. As will be described later, in the present embodiment, the electric motor 6 is basically controlled based on angle information from the output shaft angle sensors 8 and 9 that detect the rotation angle of the output shaft (for example, a manual shaft). It has become so.

  First, when the abnormality diagnosis device 2a of the microcomputer 2 receives the shift switching request from the electric control shifter 10, in order to determine the abnormality of the two output shaft angle sensors 8, 9, the output shaft angle sensors 8, 9 The output values (angle information) D8 and D9 are read (S1), and the output values D8 and D9 of the output shaft angle sensors 8 and 9 are compared (S2).

  When the difference between the output values D8 and D9 of the output shaft angle sensors 8 and 9 is smaller than a predetermined value (determination threshold), that is, when the output values D8 and D9 of the output shaft angle sensors 8 and 9 are substantially coincident. The abnormality diagnosis device 2a determines that the output shaft sensors 8 and 9 are normal, and the microcomputer 2 uses the output values D8 and D9 of the output shaft angle sensors 8 and 9 based on the determination result. The angle control (normal control) of the output shaft is performed (S3). For example, one of the output shaft angle sensors 8 and 9 is set as a master during control and the other as a slave during control. On the other hand, when the difference between the output values D8 and D9 of the output shaft angle sensors 8 and 9 is greater than or equal to a predetermined value (determination threshold), that is, the output values D8 and D9 of the output shaft angle sensors 8 and 9 are deviated. In this case, the abnormality diagnosis device 2a determines that one or both of the output shaft angle sensors 8, 9 are abnormal, and proceeds to S4.

  Next, the abnormality diagnosis device 2a determines the abnormality of the motor position sensor 7 by confirming the output pattern and the output order of each phase of the motor position sensor 7 (S4). Specifically, a combination of sensor output values of the Hall elements of each phase corresponding to the rotational position of the rotor of the electric motor 6 is stored in advance in a storage medium in the ECU 1 (for example, a storage unit in the microcomputer 2 or a non-volatile memory provided separately). The abnormality diagnosis device 2a stores the combination of sensor output values detected by the Hall elements of each phase when the electric motor 6 is driven and the rotor rotates in advance in the ECU 1. When the combination of sensor output values stored in the medium does not match (is different), it is determined that the motor position sensor 7 is abnormal.

  When the abnormality diagnosis device 2a determines that the motor position sensor 7 is abnormal, the output values of both the output shaft angle sensors 8, 9 and the motor position sensor 7 are abnormal (reliability is low), and the output Since it cannot be determined which of the shaft angle sensors 8 and 9 is abnormal or normal, the microcomputer 2 stops the drive control of the electric motor 6 (S5). On the other hand, when the abnormality diagnosis device 2a determines that the motor position sensor 7 is normal, in order to determine whether one or both of the output shaft angle sensors 8 and 9 are abnormal, S6 Proceed to

  The abnormality diagnosis device 2a calculates the rotation angle D7 of the output shaft based on the output value (rotor position of the rotor) of the motor position sensor 7 determined to be normal (S6). Specifically, the abnormality diagnosis device 2a detects the rotational position (angle) and rotational speed (rotational speed) of the rotor from the output value of the motor position sensor 7 (see FIG. 2), and the rotational position and rotational speed The output shaft rotation angle D7 is calculated by multiplying by the reduction gear ratio.

  Here, the reduction gear ratio of the reduction gear used to calculate the rotation angle D7 of the output shaft is stored in advance in a storage medium in the ECU 1 (for example, a storage unit in the microcomputer 2 or an EEPROM provided as a separate nonvolatile memory). ing. The abnormality diagnosis device 2a receives the rotation angle D7 of the output shaft calculated in this way, that is, the rotation of the output shaft calculated when the electric motor 6 is driven upon receiving the shift switching request from the electric control shifter 10. The angle D7 may be stored in a storage medium in the ECU 1, and the latest output shaft rotation angle D7 stored in the storage medium in the ECU 1 may be recognized as the current output shaft rotation angle. Thus, for example, even if the output shaft angle sensors 8 and 9 are abnormal or malfunctioned, the rotation angle (absolute angle) of the output shaft can be recognized. Contact can be reliably avoided.

  Then, the abnormality diagnosis device 2a compares the output values D8 and D9 of the two output shaft angle sensors 8 and 9 with the rotation angle D7 of the output shaft calculated based on the output value of the motor position sensor 7 (S7).

  The difference between the output value D8 of the output shaft angle sensor 8 and the output angle D7 of the output shaft calculated based on the output value of the motor position sensor 7 is not less than a predetermined value, and the output value D9 of the output shaft angle sensor 9 and the motor position When the difference in the rotation angle D7 of the output shaft calculated based on the output value of the sensor 7 is greater than or equal to a predetermined value, the abnormality diagnosis device 2a determines that both of the output shaft angle sensors 8 and 9 are abnormal. Then, the microcomputer 2 stops the drive control of the electric motor 6 (S5). On the other hand, the difference between the output value D8 of the output shaft angle sensor 8 and the output shaft rotation angle D7 calculated based on the output value of the motor position sensor 7 is smaller than a predetermined value, or the output of the output shaft angle sensor 9 When the difference between the output shaft rotation angle D7 calculated based on the value D9 and the output value of the motor position sensor 7 is smaller than a predetermined value, the abnormality diagnosis device 2a Based on the determination result, the microcomputer 2 determines one of the output values D8 and D9 of the output shaft angle sensors 8 and 9 based on the determination result. Based on this, angle feedback control of the output shaft is performed (S8).

  Thus, according to the present embodiment, the rotation angle D7 of the output shaft is calculated based on the output value of the motor position sensor 7 (rotor position of the rotor), and the output values D8, D9 of the output shaft angle sensors 8, 9 are calculated. Is compared with the rotation angle D7 of the output shaft calculated based on the output value of the motor position sensor 7, so that the abnormality of the sensors mounted on the shift-by-wire device 20, particularly the output used for angle control of the electric motor 6 is obtained. Abnormalities of the shaft angle sensors 8 and 9 can be precisely diagnosed.

  In particular, a plurality of output shaft angle sensors 8 and 9 are provided, and the output shaft rotation angle D7 calculated based on the output values D8 and D9 of the plurality of output shaft angle sensors 8 and 9 and the output value of the motor position sensor 7 is obtained. By comparing, it is possible to precisely specify a normal output shaft angle sensor or an output shaft angle sensor in which an abnormality or failure has occurred. Further, since a plurality of output shaft angle sensors 8 and 9 are provided, the rotation angle of the output shaft can be reliably detected even when, for example, one of the output shaft angle sensors is abnormal or malfunctioned. There is also an advantage that it can be done.

  In addition, in the initial driving stage of the electric motor 6 after the shift switching request from the electric control shifter 10, the abnormality diagnosis by the abnormality diagnosis device 2a is performed (initial diagnosis), so that the sensors mounted on the shift-by-wire device 20 Even if an abnormality occurs, the electric motor 6 can be appropriately controlled. For example, when an abnormality occurs in both the output shaft angle sensors 8 and 9 and the motor position sensor 7, the drive of the electric motor 6 can be stopped in the suction region provided in the manual plate, and the shift position is switched. Can be avoided.

  In addition, this invention is not limited to above-described embodiment, Various deformation | transformation forms are included. For example, the above-described embodiment has been described in detail for easy understanding of the present invention, and is not necessarily limited to one having all the configurations described. Further, a part of the configuration of an embodiment can be replaced with the configuration of another embodiment, and the configuration of another embodiment can be added to the configuration of an embodiment. Further, it is possible to add, delete, and replace other configurations for a part of the configuration of the embodiment.

  Further, the control lines and information lines indicate what is considered necessary for the explanation, and not all the control lines and information lines on the product are necessarily shown. Actually, it may be considered that almost all the components are connected to each other.

1 Electronic control unit (ECU)
2 Microcomputer 2a Abnormality diagnosis device 3 Current detection circuit 4 Driver circuit 5 Actuator 6 Electric motor 7 Motor position sensor (Hall element)
8, 9 Output shaft angle sensor 10 Electric shifter

Claims (7)

An abnormality diagnosing device for diagnosing an abnormality of an electric motor having a motor position sensor for detecting a rotational position of a rotor and a plurality of output shaft angle sensors for detecting a rotation angle of an output shaft connected to the rotor,
When the motor is driven,
Diagnosing an abnormality in the plurality of output shaft angle sensors based on a difference in output values of the plurality of output shaft angle sensors;
When diagnosing that the plurality of output shaft angle sensors are normal, the angle control of the output shaft is performed using the output values of the plurality of output shaft angle sensors,
When diagnosing that at least one of the plurality of output shaft angle sensors is abnormal, diagnose the abnormality of the motor position sensor;
When diagnosing that the motor position sensor is abnormal, it is determined that the output values of the plurality of output shaft angle sensors and the motor position sensor are abnormal, and the drive control of the electric motor is stopped.
When the motor position sensor is diagnosed as normal, the rotation angle of the output shaft calculated based on the rotation position of the rotor detected by the motor position sensor and the plurality of output shaft angle sensors are detected. Based on the rotation angles of the plurality of output shafts, an output shaft angle sensor diagnosed as abnormal and normal among the plurality of output shaft angle sensors is identified, and all of the plurality of output shaft angle sensors are abnormal. If it is determined that there is, the drive control of the electric motor is stopped, and if any of the plurality of output shaft angle sensors is determined to be normal, it is diagnosed as normal among the plurality of output shaft angle sensors. An abnormality diagnosis device characterized in that the output shaft angle control is performed using the output value of the output shaft angle sensor. The output shaft is connected to the rotor via a speed reducer,
The abnormality diagnosis device calculates the rotation angle of the output shaft by multiplying the rotation position of the rotor obtained from the motor position sensor, the rotation speed of the rotor, and the reduction ratio of the speed reducer, The abnormality diagnosis device according to claim 1.   2. The abnormality diagnosis device stores a rotation angle of the output shaft calculated based on a rotation position of the rotor detected by the motor position sensor when the electric motor is driven. The abnormality diagnosis device described in 1. The motor position sensor is composed of a plurality of Hall elements corresponding to each phase of the rotational position of the rotor,
When the abnormality diagnosis device is different from a combination of output values of a plurality of Hall elements corresponding to each preset phase, a combination of output values detected by the plurality of Hall elements when the rotor rotates. The abnormality diagnosis apparatus according to claim 1, wherein the motor position sensor is diagnosed as abnormal.   The abnormality diagnosis device according to claim 1, a motor position sensor that detects a rotation position of the rotor, and a plurality of output shaft angle sensors that detect a rotation angle of an output shaft connected to the rotor, and a shift operation And a motor for switching the gear position by rotating the output shaft based on the shift-by-wire device. The shift-by-wire system is characterized in that it comprises a storage medium for storing the speed reduction ratio of the inclusions has been reduction gear between said rotor output shaft, shift-by-wire system according to claim 5. The shift-by-wire system is characterized in that it comprises a storage medium for storing the rotation angle of the output shaft is calculated based on the rotational position of the rotor detected by the motor position sensor, according to claim 5 Shift-by-wire device.

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