CN104104306A - Motor control device, and power-assisted steering device provided with same - Google Patents
Motor control device, and power-assisted steering device provided with same Download PDFInfo
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- CN104104306A CN104104306A CN201310461009.8A CN201310461009A CN104104306A CN 104104306 A CN104104306 A CN 104104306A CN 201310461009 A CN201310461009 A CN 201310461009A CN 104104306 A CN104104306 A CN 104104306A
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- China
- Prior art keywords
- motor
- relay
- control device
- switch element
- electric motor
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
- B62D5/0481—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such monitoring the steering system, e.g. failures
- B62D5/0487—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such monitoring the steering system, e.g. failures detecting motor faults
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
- B62D5/0481—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such monitoring the steering system, e.g. failures
- B62D5/0484—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such monitoring the steering system, e.g. failures for reaction to failures, e.g. limp home
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
- H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
- H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
- H02P29/02—Providing protection against overload without automatic interruption of supply
- H02P29/024—Detecting a fault condition, e.g. short circuit, locked rotor, open circuit or loss of load
- H02P29/0241—Detecting a fault condition, e.g. short circuit, locked rotor, open circuit or loss of load the fault being an overvoltage
Abstract
The invention relates to a motor control device, and a power-assisted steering device provided with the same. The motor control device is used for determining the abnormality in a relay to interrupt the power output of an electric motor and improve the detection capability in determining the relay abnormality relay during the rotation of the motor. By means of monitoring means (22, 23) to determine whether a fault has occurred in the relay (21a, 21b), a switching device (20c) from among a plurality of switching devices (20a-20d) is energized so as to apply a dynamic braking, and to determine an abnormality in the relay, the monitoring means is used with the power switching device, or to determine an abnormality in the relay, the monitoring means is used with the power switching device.
Description
Technical field
The driven steering device that the present invention relates to a kind of control device of electric motor and comprise control device of electric motor, relate in particular to a kind of switch element by the regulation in the bridge circuit that forms the drive unit of motor and formed by a plurality of switch elements and drive, thereby to disconnecting the control device of electric motor extremely judging of relay of the power supply between above-mentioned bridge circuit and above-mentioned motor and the driven steering device that comprises control device of electric motor.
Background technology
The actuating force of the motor that the driven steering device utilization of automobile is controlled by control device of electric motor is assisted turning to of driver.The motor using in driven steering device makes the relay that motor is used connect when car engine, can utilize control device of electric motor to control, and starts working afterwards.
Figure 12 is the brief configuration figure of the driven steering device of disclosed automobile in Japanese Patent Laid-Open 2010-148274 communique for example.As shown in figure 12, driven steering device 10 comprises: steering column 12, and this steering column 12 is arranged on the outside of the steering spindle (not shown) being connected with steering wheel 11; Torque sensor 13, the steering force that 13 couples of drivers of this torque sensor impose on steering wheel 11 detects; Motor 14, this motor 14 offers steering spindle by assisted diversion torque; Reduction gearing 15, this reduction gearing 15 obtains the output to the proportional motor 14 of speed reducing ratio of gear; And control device of electric motor 16, this control device of electric motor 16 is controlled motor 14.To control device of electric motor 16 input have the signals of vehicles such as speed 17 of automobile, by the steering force of the detected steering wheel 11 of torque sensor 13 etc.In addition, battery 18 is connected with control device of electric motor 16.
Next, control device of electric motor 16 is described.Figure 13 is the inside brief configuration figure of control device of electric motor 16.In Figure 13, label 19 represents control part, torque sensor signal (output signal of torque sensor 13) and signals of vehicles 17 that this control part 19 changes according to the variation of the steering force along with driver, calculate the suitable auxiliary current that puts on motor 14, and the drive unit 20 of motor 14 is controlled.Drive unit 20 consists of bridge circuit, makes the electric current precomputing flow through motor 14, and wherein, this bridge circuit consists of a plurality of switch elements.At control part 19 or drive unit 20, occur when abnormal, by control part 19, disconnect relay 21a, 21b, thereby stop to motor 14 power supplies.
Existing driven steering device forms as described above, in order to there is to disconnect when abnormal at control part 19 or drive unit 20 output of motor 14, when control device of electric motor 16 starts, relay 21a, 21b are judged extremely, afterwards, start steering force to assist being judged as in normal situation.
Prior art document
Patent documentation
Patent documentation 1: Japanese Patent Laid-Open 2010-148274 communique
Summary of the invention
Invent technical problem to be solved
As mentioned above, utilizing motor to carry out in auxiliary driven steering device driver's steering force, for the disclosed technology of patent documentation 1, after relay being judged extremely when control device of electric motor starts, under being judged as normal situation, start steering force to carry out in auxiliary technology, have following problem: owing to repeatedly relay being carried out to on/off when the abnormal judgement of relay, therefore the contact of relay will be subject to loss, make its lost of life.
In order to improve the problems referred to above, have following method: utilize voltage in two terminals of motor, be motor terminal voltage, connect the switch element of the regulation in bridge circuit, thereby relay is judged extremely, and without repeatedly carrying out the on/off of relay.Yet, there is following problem in this direction: when steering wheel being turned to during at car engine driver or making steering wheel rotation because of the torsion of tire etc., as shown in figure 12, the rotary speed of steering wheel 11 becomes the motor rotation number of speed reducing ratio multiple by reduction gearing 15, the induced voltage producing under larger motor rotary speed can cause cannot be in the rotary course of motor 14 extremely judging relay 21a, 21b.
The present invention completes in order to address the above problem, its object is, the driven steering device that a kind of control device of electric motor is provided and comprises control device of electric motor, it is for when disconnecting extremely the judging of relay of output of motor, the detection of the abnormal judgement of relay while improving motor rotation.
The technical scheme that technical solution problem adopts
Control device of electric motor of the present invention comprises: control part, and this control part is controlled motor; Drive unit, this drive unit consists of bridge circuit, and above-mentioned motor is driven, and wherein, this bridge circuit consists of a plurality of switch elements; Relay, this relay disconnects the power supply between above-mentioned bridge circuit and above-mentioned motor; And motor terminal voltage monitor unit, this motor terminal voltage monitor unit monitors each terminal voltage of above-mentioned motor,
Above-mentioned control part has the abnormal deciding means that judges that whether above-mentioned relay is abnormal, above-mentioned abnormal deciding means makes the above-mentioned switch element of regulation connect the stipulated time so that above-mentioned motor carries out dynamic brake, after this, drive the above-mentioned switch element of other regulation, and based on by the detected supervision voltage of above-mentioned motor terminal voltage monitor unit extremely judging above-mentioned relay.
Invention effect
According to control device of electric motor of the present invention, can be when disconnecting extremely the judging of relay of output of motor, the detection of the abnormal judgement of relay while improving motor rotation.
Accompanying drawing explanation
Fig. 1 means the figure of the control device of electric motor of embodiments of the present invention 1.
Fig. 2 is the flow chart that the action of the control device of electric motor of embodiments of the present invention 1 is described.
Fig. 3 means the figure of equivalent electric circuit of the motor of embodiments of the present invention 1.
Fig. 4 means the figure of the motor rotary speed of motor and the relation of motor-induced voltage of embodiments of the present invention 1.
Fig. 5 is the figure that the abnormal judgement of the relay of the control device of electric motor of formation embodiments of the present invention 1 is described.
Fig. 6 is the flow chart that the action of the control device of electric motor of embodiments of the present invention 2 is described.
Fig. 7 is the figure that the abnormal judgement of the relay of the control device of electric motor of formation embodiments of the present invention 3 is described.
Fig. 8 means the figure of the motor rotary speed of motor and the relation of motor-induced voltage of embodiments of the present invention 3.
Fig. 9 is the flow chart that the action of the control device of electric motor of embodiments of the present invention 3 is described.
Figure 10 is the flow chart that the action of the control device of electric motor of embodiments of the present invention 4 is described.
Figure 11 is the flow chart that the action of the control device of electric motor of embodiments of the present invention 6 is described.
Figure 12 is the brief configuration figure of existing driven steering device.
Figure 13 is the inside brief configuration figure of the included control device of electric motor of existing driven steering device.
Embodiment
Below, with reference to accompanying drawing, the preferred implementation of control device of electric motor of the present invention and driven steering device is described.
Execution mode 1
Fig. 1 means the figure of the control device of electric motor of embodiments of the present invention 1.In addition, for convenience of description, in Fig. 1, also illustrate the motor of being controlled by control device of electric motor and the battery being connected with control device of electric motor.Comprise that the driven steering device of the engine control system in present embodiment 1 is except control device of electric motor, identical with the structure of driven steering device illustrated in fig. 12.In addition, Fig. 1 is the figure that is equivalent to Figure 13, and the part identical or suitable with Figure 13 marked to same label.
In Fig. 1, control device of electric motor 16 comprises control part 19, torque sensor signal (output signal of torque sensor 13) and signals of vehicles 17 that this control part 19 changes according to the variation of the steering force along with driver, calculate and put on motor 14(and be designated hereinafter simply as motor) suitable auxiliary current, and the drive unit 20 of motor 14 is controlled.Drive unit 20 consists of bridge circuit, makes the electric current precomputing flow through motor 14, and this bridge circuit consists of a plurality of switch element 20a～20d.At control part 19 or drive unit 20, occur when abnormal, by control part 19, disconnect relay 21a, 21b, thereby stop to motor 14 power supplies.
Switch element 20a～20d generates the PWM(Pulse Width Modulation being calculated by control part 19: the pulse width modulation) switch element of signal, by widely used MOSFET(Metal oxide semiconductor Field Effect Transistor: mos field effect transistor) form, contain parasitic diode in MOSFET.In addition, drive unit 20 is connected with battery 18, by 20 pairs of motor 14 of this drive unit, is driven, and the steering force of 14 pairs of steering wheels of this motor is assisted.
In control device of electric motor 16, be provided with: motor positive terminal monitoring voltage unit 22, the terminal voltage of positive terminal M+ mono-side of these 22 pairs of motor 14 in motor positive terminal monitoring voltage unit monitors; And motor negative terminal monitoring voltage unit 23, the terminal voltage of negative terminal M-mono-side of these 23 pairs of motor 14 in motor negative terminal monitoring voltage unit monitors.As shown in Figure 1, motor positive terminal monitoring voltage unit 22 for example consists of the resistance 22a～22c that carries out Y shape connection.In addition, by Vcc power supply 24 is connected with one end of resistance 22a, thereby apply voltage (for example 5v).In addition, as shown in Figure 1, motor negative terminal monitoring voltage unit 23 for example consists of the resistance 23a～23c that carries out Y shape connection.In addition, by Vcc power supply 24 is connected with one end of resistance 23a, thereby apply voltage (for example 5v).In addition, in Fig. 1, in H bridge circuit, take and describe as example with the motor of brush, yet be not limited to the motor with brush, for the multiphase motor with brush not, also can similarly by possessing relay 21a, 21b, the bridge circuit being formed by switch element 20a～20d, motor positive terminal monitoring voltage unit 22 and motor negative terminal monitoring voltage unit 23, use.
Control device of electric motor 16 in execution mode 1 forms as described above, next its action is described.
First, utilizing the flow chart of Fig. 2 is that abnormal open failure determination methods describes to relay 21a, 21b.In step S101, to relay 21a, 21b, connect indication.This connection indication is exported by control part 19.Next, in step S102, by the positive terminal M+ of the 23 pairs of motor 14 in motor positive terminal monitoring voltage unit 22 and motor negative terminal monitoring voltage unit, the terminal voltage of negative terminal M-, monitored.
About motor 14, as shown in Figure 3, when stablizing, the coiler part of motor 14 can ignore, therefore can form equivalent electric circuit by induced voltage 14a and the armature resistance 14b of motor 14.Here, as shown in Figure 4, the induced voltage 14a of motor 14 becomes large along with the increase of motor rotary speed.In addition, induced voltage 14a can calculate according to voltage between Terminal of motor, and due to induced voltage and rotary speed proportional, therefore can obtain according to the voltage between terminals of motor 14 rotary speed of motor 14.
Get back to Fig. 2, in step S103, shown in (1), in the situation that the absolute value of voltage is less than setting Vth1 between Terminal of motor, be judged as motor 14 and stopped, and advance to the processing of step S105, in the situation that being greater than setting Vth1, be judged as motor 14 and rotating, and advance to step S104.In addition, control part 19 has abnormal deciding means, and each judgement is undertaken by this abnormal deciding means.
| (M+ terminal voltage supervision value)-(M-terminal voltage supervision value) | <Vth1 (1)
In step S104, if switch element 20a, the 20b of battery 18 1 sides of drive unit 20 connect, switch element 20c, the 20d of ground connection one side disconnects, and the positive terminal M+ of motor 14 is connected with negative terminal M-short circuit, can make motor 14 dynamic brakes.Utilize the brake torque corresponding with the rotary speed of motor 14 now, motor 14 is stopped.
In step S105, when the rotary speed of being judged motor 14 by the above-mentioned abnormal deciding means of control part 19 stops, as shown in Figure 5, if cut-off switch element 20a, 20b, 20d, turn on-switch element 20c, relay 21a connects when normal, so the terminal voltage supervision value of the positive terminal M+ of motor 14 is represented by following formula (2).
22b·22c·Vcc/{22b·22c+22a·(22b+22c)} (2)
On the other hand, due to relay 21a during in open failure relay 21a disconnect, so the supervision magnitude of voltage of the positive terminal M+ of motor 14 is represented by formula (3).Here, set resistance value 22a～22c, so that formula (2) < formula (3).
22b·Vcc/(22a+22b) (3)
In step S105, set with after driving switch element 20c, in step S106, the terminal voltage supervision value that meets the threshold value Vth2 of formula (2) < Vth2 < formula (3) and the positive terminal M+ of motor 14 is compared.Thus, carry out the fault judgement to relay 21b.
In step S106, the in the situation that of (M+ terminal voltage supervision value) < Vth2, be judged as relay 21a normal, advance to step S107, the relay 21b of anticathode terminal M+ mono-side carries out fault judgement.On the other hand, in step S106, the in the situation that of beyond (M+ terminal voltage supervision value) < Vth2, be judged as relay 21a in open failure, advance to step S120, assist and stop processing.
In step S107, switch element 20a, 20b, 20c are disconnected, and when switch element 20d is connected, motor terminal voltage supervision value when relay 21b is normal and step S105 become following formula (4) in the same manner, on the other hand, motor terminal voltage during relay 21b fault becomes shown in following formula (5).
23b·23c·Vcc/{23b·23c+23a·(23b+23c)} (4)
23b·Vcc/(23a+23b) (5)
Here, by setting resistance value, so that 23a=22a, 23b=22b, 23c=22c, thereby can in step S108, to relay 21b, carry out fault judgement in the same manner with step S106.
In step S108, the in the situation that of (M-terminal voltage supervision value) < Vth2, be judged as relay 21b normal, advance to step S109, assist and start to process.On the other hand, the in the situation that of beyond (M-terminal voltage supervision value) < Vth2, be judged as relay 21b fault has occurred, advance to step S120, assist and stop processing.
As described above, control device of electric motor in execution mode 1 is utilizing before motor terminal voltage carries out open failure judgement to relay 21a, 21b, make to form battery 18 1 sides of the bridge circuit of drive unit 20, from motor 14, observe the switch element 20a, the 20b that are positioned at upstream one side and connect, make ground connection one side, from motor 14, observe switch element 20c, the 20d disconnection that is positioned at downstream one side, thereby carry out dynamic brake, motor 14 is stopped.Thus, can improve the detection of the open failure judgement of relay 21a, 21b in the situation that while starting, motor 14 has started to rotate.
Execution mode 2
Next, the control device of electric motor of embodiments of the present invention 2 is described.In execution mode 1, switch element 20a, the 20b of battery 18 1 sides of the bridge circuit of drive unit 20 connected, switch element 20c, the 20d of ground connection one side are disconnected, thereby carry out dynamic brake, motor 14 is stopped.Yet, even if switch element 20a, the 20b of battery 18 1 sides of above-mentioned bridge circuit are disconnected, switch element 20c, the 20d of ground connection one side are connected, will short circuit between the terminal of motor 14, can obtain the effect identical with execution mode 1.
Below, utilize the flow chart shown in Fig. 6 to describe.In the flow chart of Fig. 6, do not carry out the setting of the switch element in the S104 in the flow chart of Fig. 2, replace as shown in S201, switch element 20a, 20b are disconnected, switch element 20c, 20d are connected.In addition,, because the structure of the structure of the control device of electric motor of execution mode 2 Fig. 1 illustrated with execution mode 1 is identical, therefore description thereof is omitted.
As described above, control device of electric motor in execution mode 2 is utilizing before motor terminal voltage carries out open failure judgement to relay 21a, 21b, switch element 20c, the 20d of ground connection one side that makes to form the bridge circuit of drive unit 20 connects, switch element 20a, the 20b of battery 18 1 sides are disconnected, thereby carry out dynamic brake, motor 14 is stopped.Thus, can improve the detection of the open failure judgement of relay 21a, 21b in the situation that while starting, motor 14 has started to rotate.
Execution mode 3
Next, the control device of electric motor of embodiments of the present invention 3 is described.In execution mode 1, by switch element 20a, 20b are connected, switch element 20c, 20d are disconnected, carry out dynamic brake, motor is stopped, the one group of switch element 20c of ground connection one side that forms the bridge circuit of drive unit 20 if make connects, and other switch element 20a, 20b, 20d are disconnected, and forms circuit as shown in Figure 7.In this case, Fig. 8 shows the dynamic brake ability being produced by the parasitic diode of switch element 20d, if compare with the situation of Fig. 4, the stopping power of motor 14 declines to some extent, but dynamic brake is constant, can obtain the effect identical with execution mode 1.
Below, utilize the flow chart shown in Fig. 9 to describe.In addition,, because the structure of the control device of electric motor of execution mode 3 is identical with the structure of Fig. 1 illustrated in execution mode 1, therefore description thereof is omitted.In addition, step S101～S102 of Fig. 9 is identical with execution mode 1, thereby description thereof is omitted.
In step S301, the motor terminal voltage monitoring in step S102 is compared, in the situation that the terminal voltage supervision value of the positive terminal M+ of motor 14 is larger, by making the switch element 20c of bridge circuit connect in step S105, thereby the terminal ground connection that the induced voltage that makes motor 14 is larger, thereby carry out dynamic brake.It is in following step S106 that the larger terminal ground connection of motor terminal voltage is carried out to dynamic brake, the judgement of the terminal voltage supervision value < Vth2 of positive terminal M+ by motor 14 improves detection, and it be the reasons are as follows shown in explanation.
Supervision value when the motor-induced voltage being produced by the rotation of motor 14 makes the supervision value of motor positive terminal monitoring voltage unit 22 stop with motor is compared, and becomes large or diminish in the direction of rotation of motor 14.Be subject to the motor terminal voltage of impact of motor-induced voltage in the situation that M+ terminal voltage becomes larger, M-terminal voltage diminishes, and in addition, in the situation that M+ terminal voltage becomes less, M-terminal voltage becomes larger.In the situation that motor 14 does not stop completely, cannot determine whether that though open failure has occurred relay 21a but because the impact of the caused induced voltage of rotation of motor 14 causes becoming below threshold value Vth2, because it becomes below threshold value Vth2 in normal condition.Therefore, the larger terminal ground connection of voltage is judged and can improve detection property.
Next, in step S106, if (M+ terminal voltage supervision value) < Vth2 is judged as relay 21a normal, advance to step S107.On the other hand, the in the situation that of beyond (M+ terminal voltage supervision value) < Vth2, be judged as relay 21b open failure occurs, advance to step S120, the processing that stops assisting.
In step S107, for relay 21b is carried out to fault judgement, only make switch element 20d connect, make other switch element 20a, 20b, 20c disconnect, and advance to step S108.
In step S108, the in the situation that of (M-terminal voltage supervision value) < Vth2, be judged as relay 21b normal, advance to step S109, the processing that starts to assist.On the other hand, the in the situation that of beyond (M-terminal voltage supervision value) < Vth2, be judged as relay 21b open failure occurs, advance to step S120, the processing that stops assisting.
In step S301, at (M+ terminal voltage supervision value) > (M-terminal voltage supervision value) in addition in the situation that, by making the switch element 20d of bridge circuit connect in step S302, thereby the terminal ground connection that the induced voltage that makes motor 14 is larger, carries out dynamic brake.
Next, in step S303, the in the situation that of (M-terminal voltage supervision value) < Vth2, be judged as relay 21b normal, advance to step S304.On the other hand, the in the situation that of beyond (M-terminal voltage supervision value) < Vth2, be judged as relay 21b open failure occurs, advance to step S120, the processing that stops assisting.
Next, in step S304, for relay 21a is carried out to fault judgement, switch element 20c is connected, make other switch element 20a, 20b, 20d disconnect, and advance to following step S305.
In step S305, the in the situation that of (M+ terminal voltage supervision value) < Vth2, be judged as relay 21a normal, advance to step S109, the processing that starts to assist.On the other hand, the in the situation that of beyond (M+ terminal voltage supervision value) < Vth2, be judged as relay 21b open failure occurs, advance to step S120, the processing that stops assisting.
As described above, control device of electric motor in execution mode 3 is connected by making to form the switch element (certain in 20c, 20d) of the bridge circuit of drive unit 20, other switch element (certain in 20a, 20b and 20c, 20d) is disconnected, so that the larger Terminal of motor ground connection of motor terminal voltage, carry out thus dynamic brake, motor 14 is stopped.Thus, can improve the detection of the open failure judgement of relay 21a, 21b in the situation that while starting, motor 14 has started to rotate.
Execution mode 4
Next, the control device of electric motor of embodiments of the present invention 4 is described.The structure of the control device of electric motor of execution mode 4 is identical with the structure of Fig. 1 illustrated in execution mode 1, and therefore description thereof is omitted.In execution mode 1, switch element 20a, 20b are connected, switch element 20c, 20d are disconnected, thereby carry out dynamic brake, motor 14 is stopped.Yet, after making dynamic brake continue the stipulated time, voltage between Terminal of motor is compared, in the situation that being judged as motor 14 and not stopping, also can again drive desirable switch element, to carry out dynamic brake, can judge between the Terminal of motor that motor 14 stopped after voltage becoming, relay 21a, 21b are carried out to fault judgement.
Below, utilize the flow chart shown in Figure 10 to describe.The parts different from the flow chart shown in Fig. 2 are, after making dynamic brake continue the stipulated time, are back to step S103 in step S104, reuse voltage between Terminal of motor, judge whether motor 14 stops.Other parts are identical with the flow chart of Fig. 2 illustrated in execution mode 1, and therefore description thereof is omitted.
As described above, control device of electric motor in execution mode 4 is until become and can utilize voltage between Terminal of motor to judge the state that motor 14 has stopped, the switch element 20a, the 20b that make to form the bridge circuit of drive unit 20 connect, switch element 20c, 20d disconnect, thereby carry out dynamic brake, motor 14 is stopped.Thus, can improve the detection of the open failure judgement of relay 21a, 21b in the situation that while starting, motor 14 has started to rotate.
Execution mode 5
Next, the control device of electric motor of embodiments of the present invention 5 is described.The structure of the control device of electric motor of execution mode 5 is identical with the structure of Fig. 1 illustrated in execution mode 1, and therefore description thereof is omitted.In execution mode 4, in step S103, after the rotation status of motor 14 is judged, judging in the rotating situation of motor 14, in step S104, carry out dynamic brake, but also can, in step S104, when again carrying out dynamic brake, carry out a more front longer dynamic brake of time.In addition, flow chart is identical with Figure 10, therefore omits.
As described above, control device of electric motor in execution mode 5 is until become and can utilize voltage between Terminal of motor to judge the state that motor 14 has stopped, the switch element 20a, the 20b that make to form the bridge circuit of drive unit 20 connect, switch element 20c, 20d disconnect, and extend the dynamic brake time while reaffirming voltage between Terminal of motor.Thus, can reduce the judgement of voltage and the cycle-index of dynamic brake between Terminal of motor, therefore consequently, can within the shorter time, to 21a, 21b, carry out fault judgement.
Execution mode 6
Next, the control device of electric motor of embodiments of the present invention 6 is described.The structure of the control device of electric motor of execution mode 6 is identical with the structure of Fig. 1 illustrated in execution mode 1, and therefore description thereof is omitted.In execution mode 1, utilize the motor terminal voltage after the dynamic brake of motor 14 to judge the open failure of relay 21a, 21b, but also can judge the connection fault of relay 21a, 21b.
Below, utilize the flow chart shown in Figure 11 to describe.Be with the difference of the flow chart shown in Fig. 2, after motor 14 being stopped by step S103 or step S104, utilize step S601 that relay 21a, 21b are disconnected.Next, in order in step S105, the fault of relay 21a being judged, and to drive desirable switch element, and according to motor terminal voltage, the connection fault of relay 21a to be judged in step S602.
Relay 21a is when occurring to connect fault, motor terminal voltage as the formula (2), and motor terminal voltage when normal as the formula (3), therefore the in the situation that of (M+ terminal voltage supervision value) >=Vth2, be judged as relay 21a normal, advance to step S107, in the situation that not meeting judgement formula, be judged as relay 21a and occur to connect fault, advance to step S120.
On the other hand, for the fault of relay 21b is judged, in the situation that (M+ terminal voltage supervision value) >=Vth2 in step S603,21b is normal for judgement relay, advance to step S109, in the situation that not meeting judgement formula, judgement relay 21a occurs to connect fault, advances to step S120.Identical with execution mode 1 in addition, description thereof is omitted.
As described above, according to the control device of electric motor in execution mode 6, not only in the situation that there is open failure in relay 21a, 21b, and in the situation that relay 21a, 21b occur to connect fault, also can as shown in Embodiment 1, improve the detection of the connection fault of relay 21a, 21b in the situation that while starting, motor 14 has started to rotate.
Above, embodiments of the present invention 1 to execution mode 6 is illustrated, yet the present invention can carry out suitable distortion, omission to each execution mode in its invention scope.
Label declaration
10 driven steering devices, 11 steering wheels, 12 steering columns, 13 torque sensors, 14 motor, 14a induced voltage, 14b armature resistance, 15 reduction gearing, 16 control device of electric motor, 17 signals of vehicles, 18 batteries, 19 control parts, 20 drive units, 20a, 20b, 20c, 20d switch element, 21a, 21b relay, 22 motor positive terminal monitoring voltage unit, 22a～22c, 23a～23c resistance, 23 motor negative terminal monitoring voltage unit, 24Vcc power supply.
Claims (6)
1. a control device of electric motor, is characterized in that, comprising:
Control part (19), this control part (19) is controlled motor (14);
Drive unit (20), this drive unit (20) consists of bridge circuit, and described motor (14) is driven, and this bridge circuit consists of a plurality of switch elements (20a～20d);
Relay (21a, 21b), this relay (21a, 21b) disconnects the power supply between described bridge circuit and described motor (14); And
Motor terminal voltage monitor unit (22,23), this motor terminal voltage monitor unit (22,23) monitors each terminal voltage of described motor (14),
Described control part (19) has the abnormal deciding means extremely judging to described relay (21a, 21b),
Described abnormal deciding means makes the described switch element (20a～20d) of regulation connect the stipulated time so that described motor (14) carries out dynamic brake, after this, drive the described switch element (20a～20d) of other regulation, and based on by detected supervision voltage extremely the judging described relay (21a, 21b) of described motor terminal voltage monitor unit (22,23).
2. control device of electric motor as claimed in claim 1, is characterized in that,
By only making the described switch element (20a～20d) of observing the regulation be positioned at upstream side from described motor (14) connect, or the described switch element (20a～20d) that only makes to be positioned at the regulation in downstream connects, thereby carries out described dynamic brake.
3. control device of electric motor as claimed in claim 1 or 2, is characterized in that,
In the situation that the difference of described supervision voltage is greater than the 1st setting, extremely judging described relay (21a, 21b) after carrying out described dynamic brake, in the situation that the difference of described supervision voltage is less than described the 1st setting, save described dynamic brake, to extremely judging of described relay (21a, 21b).
4. control device of electric motor as claimed in claim 1 or 2, is characterized in that,
After having carried out described dynamic brake, described switch element (20a～20d) is connected, so that the larger Terminal of motor ground connection of described supervision voltage, and based on now by detected voltage extremely the judging described relay (21a, 21b) of described motor terminal voltage monitor unit (22,23).
5. control device of electric motor as claimed in claim 1 or 2, is characterized in that,
In the difference of described supervision voltage, at the 2nd setting above in the situation that, further extending the stipulated time carries out described dynamic brake.
6. a driven steering device, is characterized in that, comprising:
Steering spindle, to described steering spindle, give motor (14) and the control device of electric motor as claimed in claim 1 or 2 (16) of assisted diversion torque.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2013-075644 | 2013-04-01 | ||
| JP2013075644A JP5595551B1 (en) | 2013-04-01 | 2013-04-01 | Motor control device and electric power steering device provided with motor control device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104104306A true CN104104306A (en) | 2014-10-15 |
| CN104104306B CN104104306B (en) | 2016-09-14 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310461009.8A Active CN104104306B (en) | 2013-04-01 | 2013-09-30 | Control device of electric motor and include the driven steering device of control device of electric motor |
Country Status (3)
| Country | Link |
|---|---|
| JP (1) | JP5595551B1 (en) |
| CN (1) | CN104104306B (en) |
| FR (1) | FR3004030B1 (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110603451A (en) * | 2017-05-11 | 2019-12-20 | 三菱电机株式会社 | Electronic control device |
| CN111033287A (en) * | 2017-09-25 | 2020-04-17 | 日本电产株式会社 | Fault diagnosis method, motor control method, power conversion device, motor module, and electric power steering device |
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| WO2007108358A1 (en) * | 2006-03-17 | 2007-09-27 | Nsk Ltd. | Electric power steering device |
| JP2009056835A (en) * | 2007-08-30 | 2009-03-19 | Toyota Motor Corp | Steering device |
| CN102026861A (en) * | 2008-07-16 | 2011-04-20 | 三菱电机株式会社 | Electric power steering apparatus and control device integrated type electric motor |
| JP2013017304A (en) * | 2011-07-04 | 2013-01-24 | Jtekt Corp | Motor controller and vehicle steering device |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2010148274A (en) * | 2008-12-19 | 2010-07-01 | Nsk Ltd | Motor control apparatus and electric power steering arrangement |
-
2013
- 2013-04-01 JP JP2013075644A patent/JP5595551B1/en active Active
- 2013-07-29 FR FR1357451A patent/FR3004030B1/en not_active Expired - Fee Related
- 2013-09-30 CN CN201310461009.8A patent/CN104104306B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2007108358A1 (en) * | 2006-03-17 | 2007-09-27 | Nsk Ltd. | Electric power steering device |
| JP2009056835A (en) * | 2007-08-30 | 2009-03-19 | Toyota Motor Corp | Steering device |
| CN102026861A (en) * | 2008-07-16 | 2011-04-20 | 三菱电机株式会社 | Electric power steering apparatus and control device integrated type electric motor |
| JP2013017304A (en) * | 2011-07-04 | 2013-01-24 | Jtekt Corp | Motor controller and vehicle steering device |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110603451A (en) * | 2017-05-11 | 2019-12-20 | 三菱电机株式会社 | Electronic control device |
| CN110603451B (en) * | 2017-05-11 | 2022-02-22 | 三菱电机株式会社 | Electronic control device |
| CN111033287A (en) * | 2017-09-25 | 2020-04-17 | 日本电产株式会社 | Fault diagnosis method, motor control method, power conversion device, motor module, and electric power steering device |
| CN111033287B (en) * | 2017-09-25 | 2022-06-03 | 日本电产株式会社 | Fault diagnosis method, motor control method, power conversion device, motor module, and electric power steering device |
Also Published As
| Publication number | Publication date |
|---|---|
| JP5595551B1 (en) | 2014-09-24 |
| CN104104306B (en) | 2016-09-14 |
| JP2014204446A (en) | 2014-10-27 |
| FR3004030A1 (en) | 2014-10-03 |
| FR3004030B1 (en) | 2019-05-31 |
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