CN107340763A - Electric boosting steering system and its control method based on outer watchdog - Google Patents
Electric boosting steering system and its control method based on outer watchdog Download PDFInfo
- Publication number
- CN107340763A CN107340763A CN201710010873.4A CN201710010873A CN107340763A CN 107340763 A CN107340763 A CN 107340763A CN 201710010873 A CN201710010873 A CN 201710010873A CN 107340763 A CN107340763 A CN 107340763A
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- Prior art keywords
- reset
- watchdog
- mcu module
- mcu
- dog
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Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B23/00—Testing or monitoring of control systems or parts thereof
- G05B23/02—Electric testing or monitoring
- G05B23/0205—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults
- G05B23/0259—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterized by the response to fault detection
- G05B23/0275—Fault isolation and identification, e.g. classify fault; estimate cause or root of failure
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/25—Pc structure of the system
- G05B2219/25158—Watchdog
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Debugging And Monitoring (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
The invention discloses a kind of electric boosting steering system and its control method based on outer watchdog, outer watchdog reset output pin RESET is connected with the ESR1 pin of MCU module, an external reset source as MCU module uses；MCU module closing relay during normal Power assisted control, while enabled house dog；MCU module carries out periodicity dog feeding operation while controlled motor power-assisted exports；When feeding reset cycle of the dog cycle more than house dog, judge whether current reset is that MCU causes extremely according to the diagnostic state for resetting Source Type and outer watchdog：Then disconnecting relay in this way makes electric boosting steering system enter safe condition.Use of the present invention can tell diagnosis of the MCU realizations of different reset sources to outside watchdog function and MCU itself, and power-assisted is cut off in time in house dog failure or MCU exceptions, by software Accurate Diagnosis and current failure is recorded, makes up the deficiency of watch dog monitoring system.
Description
Technical field
The invention belongs to automotive electronic technology, is related to a kind of electric boosting steering system and its control method, more particularly to
A kind of electric boosting steering system and its control method based on outer watchdog.
Background technology
Electric boosting steering system provides extra power steering for driver, the travel direction of vehicle is controlled, in vehicle
Particularly important effect is played in driving safety.
The core of electric boosting steering system is an ECU operated by microprocessor (MCU) controlled motor
(ECU), the normal operation of the microprocessor is the key for ensureing that whole electric boosting steering system is safe and reliable.Due to automatically controlled list
Member is a safety component, it is necessary to assure in microprocessor misoperation, system enters safe condition.
MCU running status can be monitored by the way of outer watchdog (WDT) monitoring.Triggered when MCU operation exceptions
MCU resets, and reruns it and recovers normal condition.
But the object of this monitor mode monitoring is MCU, and the state before ECU resets can not be judged after MCU resets, it is outside
The failure of house dog in itself can not then diagnose.
The content of the invention
The technical problems to be solved by the invention are to provide a kind of more rational electric boosting steering system and its control
Method, the diagnosis to outside watchdog function is realized using the MCU that can tell different reset sources, makes up watch dog monitoring system
Deficiency.
The present invention is to provide a kind of electricity based on outer watchdog to solve the technical scheme that above-mentioned technical problem uses
Dynamic servo steering system, containing motor and MCU module, the MCU module output pwm signal controlled motor rotates, wherein, it is described
MCU module carries out start-stop control, the feeder ear of the motor and the output loop phase of relay by relay to the motor
Even, the first IO output ends of the MCU module are connected with the input circuit of relay, the 2nd IO output ends and outer watchdog core
The Enable Pin of piece is connected, and the 3rd IO output ends are connected with the dog output end of feeding of outer watchdog chip, the reset of the MCU module
End is connected with the reset terminal of outer watchdog chip.
The above-mentioned electric boosting steering system based on outer watchdog, wherein, the relay is normally opened relay, institute
The first IO output ends for stating MCU module are connected by pull down resistor with the input circuit of relay, the first IO of the MCU module
The default conditions of output end are low level so that when MCU resets and is introduced into normal Power assisted control, relay is off-state.
The above-mentioned electric boosting steering system based on outer watchdog, wherein, the outer watchdog chip passes through outer
The electric capacity configuration watchdog reset cycle of portion's difference capacitance.
The present invention also provides a kind of above-mentioned electric power steering system based on outer watchdog to solve above-mentioned technical problem
The control method of system, comprises the following steps：A) by outer watchdog chip reset output pin RESET and the ESR1 pin of MCU module
It is connected, an external reset source as MCU module uses；B) during normal Power assisted control, the MCU module closing relay,
House dog is controlled to enable simultaneously；The MCU module carries out periodicity dog feeding operation while controlled motor power-assisted exports；c)
When feeding reset cycle of the dog cycle more than house dog, according to the diagnostic state for resetting Source Type and outer watchdog, judge to work as
Whether preceding reset is that MCU causes extremely：If be diagnosed as MCU exception, disconnect relay, make electric boosting steering system and
When enter safe condition, prevent the generation of abnormal power-assisted.
The control method of the above-mentioned electric boosting steering system based on outer watchdog, wherein, the MCU module is upper
Electricity initialization when, by ESR1 pin be configured to reset input, when MCU module resets, current reset Source Type by MCU module certainly
Dynamic be stored in is resetted in source register, and the MCU module judges newest reset Source Type by reading the register.
The control method of the above-mentioned electric boosting steering system based on outer watchdog, wherein, the MCU module exists
In the ECU power-up diagnostics stages, outside watchdog chip is diagnosed as follows：1) outer watchdog diagnostic state is preserved in RAM
Machine EWDT_DiagState, and forbid initializing it when resetting；If 2) current reset source is electrification reset, house dog is removed
Reflector and fault type, setting EWDT_DiagState are DIAG_EWDT_NO_RESET, enable house dog, while MCU
Module feeds dog, 3 watchdog reset cycles of follow-on test within the watchdog reset cycle；3) if watchdog reset is produced, together
When judge that EWDT_DiagState states still for DIAG_EWDT_NO_RESET, are then diagnosed as house dog failure, and fault type
For exceptional reset；If 4) do not generate watchdog reset, it is DIAG_EWDT_ then to set EWDT_DiagState
RESET, and MCU module stops feeding dog, and wait 2 watchdog reset cycles；If 5) at this moment do not produce house dog yet to answer
Position, then house dog failure is diagnosed as, and fault type is that watchdog reset is invalid；If 6) at this moment normally generate house dog to answer
Position, while judge that EWDT_DiagState states still for DIAG_EWDT_RESET, are then diagnosed as house dog fault-free, removing is seen
Door dog Reflector；7) house dog diagnosis finishes, and setting EWDT_DiagState is DIAG_EWDT_FINISH, forbids guarding the gate
Dog, continue to diagnose the other functions of ECU.
Present invention contrast prior art has following beneficial effect：Electronic based on outer watchdog provided by the invention helps
Power steering and its control method, realized using the MCU that can tell different reset sources to outside watchdog function and MCU certainly
The diagnosis of body, and power-assisted is cut off in time in house dog failure or MCU exceptions, by software Accurate Diagnosis and record current event
Barrier, make up the deficiency of watch dog monitoring system.
Brief description of the drawings
Fig. 1 is the watch dog monitoring system schematic of electric power steering of the present invention；
Fig. 2 is each signal relation schematic diagram of watchdog reset of the present invention；
Fig. 3 is the state transition diagram of house dog of the present invention diagnosis；
Fig. 4 is that house dog of the present invention diagnoses implementation schematic diagram；
Fig. 5 is house dog diagnostic flow chart of the present invention.
Embodiment
The invention will be further described with reference to the accompanying drawings and examples.
Fig. 1 is the watch dog monitoring system schematic of electric power steering of the present invention.
Fig. 1 is referred to, the relay that the present invention uses is normally opened relay, and its on off state is controlled by MCU, 1. signal is
Its control signal, high level are effective.When MCU exports high level, relay closure, bus current can input motor and be carried for EPS
For power-assisted.When MCU exports low level or output tri-state, relay disconnects, and cuts off bus current, and EPS switchs to mechanically aided shape
State.When ECU diagnosis are out of order, to ensure EPS security, MCU block system relays, EPS is set to enter safe condition.
The default conditions of signal 1. are low level, are dragged down on hardware by a pull down resistor, so ensure that and are resetted in MCU
During with being introduced into normal Power assisted control, relay is off-state, prevents at this moment EPS is uncontrolled from abnormal power-assisted occur.
The reset cycle of house dog is typically configured by hardware charge-discharge circuit, such as can be configured to 30ms.2. signal is to see
Door dog enable signal, it is high effectively, it is defaulted as low, forbids house dog to export reset signal.For it is high when, then it is defeated when house dog is overflowed
Go out reset signal.3. signal is feeding-dog signal, generally low pulse signal, if the interval of adjacent pulse is beyond watchdog reset week
Phase, then house dog spilling, produces reset signal.So when house dog enables, MCU must assure that the output week of feeding-dog signal
Phase is less than the reset cycle of house dog.Reset output signal when signal overflows for house dog 4., low level will cause MCU to enter
Reset state, rising edge rerun MCU.
The relation of each signal is as shown in Figure 2 during watchdog reset.
In the ECU power-up diagnostics stages, MCU can diagnose to the reset function of outer watchdog, Diagnostic Strategy such as Fig. 5 institutes
Show：
1. allocation space defines outer watchdog diagnostic state machine EWDT_DiagState in RAM, and when forbidding resetting
It is initialized；
2. current reset source is electrification reset, house dog Reflector EWDT_FaultFlag=FALSE and event are removed
Hinder type EWDT_ResetErrorCode=EWDT_OK, setting EWDT_DiagState is DIAG_EWDT_NO_RESET, is made
Energy house dog, while MCU feeds dog within the watchdog reset cycle, in continuous 3 cycles, should not produce house dog under normal circumstances and answer
Position；
3. if at this moment abnormal generate watchdog reset, MCU will detect that watchdog reset source.Judge simultaneously
EWDT_DiagState states, if being still DIAG_EWDT_NO_RESET, MCU does not overflow house dog before table resets, then examines
Break as house dog failure EWDT_FaultFlag=TRUE, and fault type is exceptional reset EWDT_ResetErrorCode=
EWDT_ERR_RESET, exit house dog diagnosis；
4. if at this moment do not generate watchdog reset, setting EWDT_DiagState is DIAG_EWDT_RESET, and
MCU stops feeding dog, and waits 2 watchdog reset cycles, should trigger watchdog reset under normal circumstances；
5. if at this moment do not generate watchdog reset yet, house dog failure EWDT_FaultFlag=TRUE is diagnosed as,
And fault type is the invalid EWDT_ResetErrorCode=EWDT_RESET_INVALID of watchdog reset, exits house dog
Diagnosis；
6. if at this moment normally generate watchdog reset, MCU will detect that watchdog reset source.Judge simultaneously
EWDT_DiagState states, if being still DIAG_EWDT_RESET, MCU overflows house dog before table resets, then is diagnosed as guarding the gate
Dog fault-free EWDT_ResetErrorCode=EWDT_OK, clear house dog Reflector EWDT_FaultFlag=FALSE, is moved back
Go out house dog diagnosis；
7. house dog diagnosis finishes, setting EWDT_DiagState is DIAG_EWDT_FINISH, forbids house dog, is continued
Diagnose the other functions of ECU.
It is out of order if not diagnosing, system enters normal Power assisted control, MCU closing relays, while controls house dog to make
Can, and periodicity dog feeding operation is carried out to watchdog chip.
It can judge whether current reset is that MCU causes extremely according to Source Type and EWDT_DiagState states is resetted：
It is when reset source is that outer watchdog resets and EWDT_DiagState is DIAG_EWDT_FINISH, then diagnosable for MCU exceptions.
At this moment, signal disconnects relay, EPS is timely entered safe condition, prevent the production of abnormal power-assisted 1. automatically into default conditions
It is raw.
The state transfer of house dog diagnosis is as shown in Figure 3.
The system compensate for the deficiency of outside watch dog monitoring in EPS, reach the effect of double MCU monitoring, and save
Cost.
One specific implementation circuit structure is as shown in Figure 4.
Wherein CD is house dog charging capacitor, and its capacity determines the watchdog reset cycle：
TWO=2.976*106*CD s
In this programme, CD=10nF, therefore watchdog reset cycle TWOAbout 30ms.
In addition, the WDT ESR1 pin for resetting output pin RESET inputs MCU, an external reset source as MCU uses.
In power-up initializing, ESR1 is configured to reset input.When MCU resets, then can be sentenced by related register
Disconnected nearest reset source.
The process chart of house dog diagnosis is as shown in Figure 5.
Although the present invention is disclosed as above with preferred embodiment, so it is not limited to the present invention, any this area skill
Art personnel, without departing from the spirit and scope of the present invention, when a little modification and perfect, therefore the protection model of the present invention can be made
Enclose to work as and be defined by what claims were defined.
Claims (6)
1. a kind of electric boosting steering system based on outer watchdog, containing motor and MCU module, the MCU module output
Pwm signal controlled motor rotates, it is characterised in that the MCU module carries out start-stop control, institute by relay to the motor
State the feeder ear of motor with the output loop of relay to be connected, the first IO output ends of the MCU module and the input of relay
Loop is connected, and the 2nd IO output ends are connected with the Enable Pin of outer watchdog chip, the 3rd IO output ends and outer watchdog core
The dog output end of feeding of piece is connected, and the reset terminal of the MCU module is connected with the reset terminal of outer watchdog chip.
2. the electric boosting steering system based on outer watchdog as claimed in claim 1, it is characterised in that the relay
For normally opened relay, the first IO output ends of the MCU module are connected by pull down resistor with the input circuit of relay, described
The default conditions of first IO output ends of MCU module are low level so that when MCU resets and is introduced into normal Power assisted control, after
Electrical equipment is off-state.
3. the electric boosting steering system based on outer watchdog as claimed in claim 1, it is characterised in that the outside is seen
Door dog chip configures the watchdog reset cycle by the electric capacity of outside different capacitances.
4. a kind of control method of the electric boosting steering system based on outer watchdog, it is characterised in that will using such as right
The electric boosting steering system based on outer watchdog described in 1 is sought, the control method comprises the following steps：
A) outer watchdog chip reset output pin RESET is connected with the ESR1 pin of MCU module, one as MCU module
External reset source uses；
B) during normal Power assisted control, the MCU module closing relay, while control house dog to enable；The MCU module is being controlled
While motor power-assisted output processed, periodicity dog feeding operation is carried out；
C) when feeding the dog cycle and exceeding the reset cycle of house dog, according to the diagnostic state for resetting Source Type and outer watchdog,
Judge whether current reset is that MCU causes extremely：If being diagnosed as MCU exceptions, relay is disconnected, makes electric power steering
System timely enters safe condition, prevents the generation of abnormal power-assisted.
5. the control method of the electric boosting steering system based on outer watchdog as claimed in claim 4, it is characterised in that
ESR1 pin are configured to reset input, when MCU module resets, current reset source by the MCU module in power-up initializing
Type is automatically saved in by MCU module to be resetted in source register, and the MCU module judges newest answer by reading the register
Potential source.
6. the control method of the electric boosting steering system based on outer watchdog as claimed in claim 4, it is characterised in that
The MCU module was diagnosed in the ECU power-up diagnostics stages as follows to outside watchdog chip：
1) outer watchdog diagnostic state machine EWDT_DiagState is preserved in RAM, and forbids initializing it when resetting；
If 2) current reset source is electrification reset, house dog Reflector and fault type are removed, EWDT_ is set
DiagState is DIAG_EWDT_NO_RESET, enables house dog, while MCU module feeds dog within the watchdog reset cycle, even
3 watchdog reset cycles of continuous test；
If 3) produce watchdog reset, while EWDT_DiagState states are judged still for DIAG_EWDT_NO_RESET, then
House dog failure is diagnosed as, and fault type is exceptional reset；
If 4) do not generate watchdog reset, it is DIAG_EWDT_RESET then to set EWDT_DiagState, and
MCU module stops feeding dog, and waits 2 watchdog reset cycles；
If 5) at this moment do not produce watchdog reset yet, be diagnosed as house dog failure, and fault type be watchdog reset without
Effect；
If 6) at this moment normally generate watchdog reset, while judge EWDT_DiagState states still for DIAG_EWDT_
RESET, then house dog fault-free is diagnosed as, removes house dog Reflector；
7) house dog diagnosis finishes, and setting EWDT_DiagState is DIAG_EWDT_FINISH, forbids house dog, continues to diagnose
The other functions of ECU.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610362077 | 2016-05-26 | ||
| CN2016103620772 | 2016-05-26 |
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| CN107340763A true CN107340763A (en) | 2017-11-10 |
| CN107340763B CN107340763B (en) | 2023-08-08 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720015072.2U Active CN206388063U (en) | 2016-05-26 | 2017-01-06 | Electric boosting steering system based on outer watchdog |
| CN201710010873.4A Active CN107340763B (en) | 2016-05-26 | 2017-01-06 | Electric power steering system based on external watchdog and control method thereof |
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| CN201720015072.2U Active CN206388063U (en) | 2016-05-26 | 2017-01-06 | Electric boosting steering system based on outer watchdog |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109298658A (en) * | 2018-07-26 | 2019-02-01 | 联创汽车电子有限公司 | Double-core EPS controls program flow and its monitoring system and monitoring method |
| CN110794817A (en) * | 2019-12-03 | 2020-02-14 | 中国兵器装备集团自动化研究所 | Fault safety type current output channel diagnosis system and method thereof |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110501990B (en) * | 2018-09-30 | 2024-03-12 | 国核自仪系统工程有限公司 | Control circuit of digital instrument control system |
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| US6373217B1 (en) * | 1999-07-02 | 2002-04-16 | Nsk Ltd. | Control apparatus of electric power steering system |
| CN201021986Y (en) * | 2007-03-08 | 2008-02-13 | 杭州华三通信技术有限公司 | Door guard reset circuit |
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| CN109298658A (en) * | 2018-07-26 | 2019-02-01 | 联创汽车电子有限公司 | Double-core EPS controls program flow and its monitoring system and monitoring method |
| CN110794817A (en) * | 2019-12-03 | 2020-02-14 | 中国兵器装备集团自动化研究所 | Fault safety type current output channel diagnosis system and method thereof |
Also Published As
| Publication number | Publication date |
|---|---|
| CN206388063U (en) | 2017-08-08 |
| CN107340763B (en) | 2023-08-08 |
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Address after: Room 702, Building 16, 1000 Jinhai Road, Pudong New Area, Shanghai Applicant after: NASN AUTOMOTIVE ELECTRONICS Co.,Ltd. Address before: Room J365, 4 Blocks, Zone B, 925 Yecheng Road, Jiading District, Shanghai, 2003 Applicant before: NASN AUTOMOTIVE ELECTRONICS Co.,Ltd. |
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