DE102018204669A1 - Method for monitoring a controller - Google Patents

Method for monitoring a controller

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Publication number
DE102018204669A1
DE102018204669A1 DE102018204669.7A DE102018204669A DE102018204669A1 DE 102018204669 A1 DE102018204669 A1 DE 102018204669A1 DE 102018204669 A DE102018204669 A DE 102018204669A DE 102018204669 A1 DE102018204669 A1 DE 102018204669A1
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Germany
Prior art keywords
drive motor
electric drive
equations
p1
p7
Prior art date
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Pending
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DE102018204669.7A
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German (de)
Inventor
Aleksandar Stanojkovski
Bogdan Budianu
Daniel Kosshof
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Continental Teves AG and Co oHG
Original Assignee
Continental Teves AG and Co oHG
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Continental Teves AG and Co oHG filed Critical Continental Teves AG and Co oHG
Priority to DE102018204669.7A priority Critical patent/DE102018204669A1/en
Publication of DE102018204669A1 publication Critical patent/DE102018204669A1/en
Application status is Pending legal-status Critical

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    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05BCONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B23/00Testing or monitoring of control systems or parts thereof
    • G05B23/02Electric testing or monitoring
    • G05B23/0205Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults
    • G05B23/0218Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterised by the fault detection method dealing with either existing or incipient faults
    • G05B23/0224Process history based detection method, e.g. whereby history implies the availability of large amounts of data
    • G05B23/024Quantitative history assessment, e.g. mathematical relationships between available data; Functions therefor; Principal component analysis [PCA]; Partial least square [PLS]; Statistical classifiers, e.g. Bayesian networks, linear regression or correlation analysis; Neural networks
    • HELECTRICITY
    • H02GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02PCONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P29/00Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
    • H02P29/02Providing protection against overload without automatic interruption of supply
    • H02P29/024Detecting a fault condition, e.g. short circuit, locked rotor, open circuit or loss of load
    • H02P29/028Detecting a fault condition, e.g. short circuit, locked rotor, open circuit or loss of load the motor continuing operation despite the fault condition, e.g. eliminating, compensating for or remedying the fault

Abstract

The invention relates to a method for monitoring a control of an electric drive motor, in particular of an electric motor-driven hydraulic piston of an electronic brake system, comprising the steps of: detecting a plurality of parameters (P1-P7) of an electric circuit comprising the electric drive motor, monitoring a plurality of equations (G), wherein the terms (T1-T6) of the equations (G) comprise the detected parameters (P1-P7), and identifying an erroneously detected parameter (P1-P7) by evaluating the monitored equations (G).

Description

  • The invention relates to a method for monitoring a control of an electric drive motor, in particular an electromotive operated hydraulic piston of an electronic braking system, comprising the steps of: detecting a plurality of parameters of an electrical circuit comprising the electric drive motor and monitoring a plurality of equations, wherein the terms of the equations, the detected parameters include.
  • Furthermore, the invention relates to a monitoring device for controlling an electric drive motor, in particular an electric motor driven hydraulic piston of an electronic brake system, with a plurality of detection devices, which are each adapted to detect at least one parameter of the electrical drive motor comprehensive electrical circuit, and a computing unit, which is arranged to monitor a plurality of equations, the terms of the equations comprising the detected parameters.
  • In addition, the invention relates to an electronic brake system for a vehicle, with a braking request detection device which is adapted to detect a braking request of a driver, at least one wheel brake, an actuating unit which is adapted to at least one wheel brake using an electric drive motor in To actuate dependence of the detected braking request, and a monitoring device for a control of the electric drive motor.
  • In particular, in the field of generating hydraulic pressure by means of an electric motor-operated hydraulic piston, the knowledge of the current engine speed of the electric motor used is of particular importance in order to adjust the hydraulic pressure as quickly and precisely as possible. The detection of the engine speed is carried out in many applications by an evaluation of the motor current. In this way, a demand-optimized electrical control of a hydraulic piston can be implemented.
  • When detecting the motor speed as a function of the motor current signal, however, there is the risk that an erroneous hydraulic pressure is built up in the case of an error detection of the current signal. In particular, if a corresponding control in an electronic brake system is used, this can lead to a faulty control of the wheel brake units, resulting in a significant accident risk. Furthermore, a fault in the motor current detection can lead to failure of the brake system, so that the use of a corresponding vehicle is no longer possible.
  • In addition to a determination of the motor speed based on the current signal, additional parameters of an electric circuit comprising the electric drive motor are taken into account within the scope of the control of an electric drive motor.
  • As soon as one or more parameters are detected incorrectly, the higher-level system may be severely impaired. In the prior art, no methods are known with which the erroneous detection of a parameter of an electrical drive motor comprehensive electrical circuit can be identified during operation of an electric drive motor, so that a suitable alternative control strategy can be adjusted to the control of the electric drive motor anyway to be able to continue.
  • The problem underlying the invention is thus to increase the availability of systems which have a control for an electric drive motor, with incorrect parameter detection. In particular, it is an object of the invention to increase the reliability of electronic brake systems.
  • The object is achieved by a method of the aforementioned type, wherein a plurality of equations are monitored and the terms of the equations comprise the detected parameters. According to the invention, an incorrectly detected parameter is identified by evaluating the monitored equations.
  • The invention makes use of the knowledge that parameters of an electrical circuit can be determined by different physical, in particular electrical, relationships. In addition, during the control of an electric drive motor, different parameters of an electrical circuit are known which can be related to each other. By evaluating the monitored equations, it is thus possible to check whether one or more terms of the equations are not plausible, so that it can be deduced that at least one parameter within the non-plausible terms is determined incorrectly.
  • In a preferred embodiment of the method according to the invention, the evaluation of the monitored equations comprises determining a difference between the terms of one or more monitored equations and / or determining an exceeding of one Difference threshold in the terms of one or more monitored equations. Depending on the detected parameter and / or the detection method, there may be insignificant inaccuracies in the detection of one or more parameters. This leads to the fact that the opposing terms of an equation may differ slightly, without questioning the plausibility of a term. Only when a difference threshold is exceeded, however, must it be assumed in some applications that at least one of the opposing terms of an equation yields an implausible result. The difference threshold can be determined, for example, in absolute values or as a percentage. For example, the correct detection of the parameters of an equation can be assumed if the results of the opposing terms have a difference of less than 1%.
  • Similarly, the evaluating of the monitored equations may include determining the identity between the terms of one or more monitored equations, and / or determining an undershoot of a difference threshold in the terms of one or more monitored equations.
  • In another preferred embodiment of the method according to the invention, the evaluation of the monitored equations comprises identifying a parameter which occurs in at least one term of all the equations whose terms have a difference. Alternatively or additionally, evaluating the monitored equations includes identifying a parameter that occurs in at least one term of all equations whose terms exceed a difference threshold. If the opposing terms of several equations have a difference and / or if the opposing terms of multiple equations exceed a difference threshold, the erroneously detected parameter may be identified by identifying a parameter occurring in all of these equations. Due to the erroneous detection of the parameter, this leads to implausible results in all the terms that comprise the erroneously detected parameters.
  • Furthermore, a method according to the invention is preferred in which the detected parameters determine the supply voltage of the electric drive motor, the supply voltage of the circuit of the electric drive motor, the actual speed of the electric drive motor, the speed of the electric drive motor determined on the basis of a current waveform, which was determined on the basis of a voltage measurement Speed of the electric drive motor, the current consumption of the electric drive motor, the duty cycle of a pulse width modulated control signal, one or more predetermined by an overcurrent protection current limits and / or the inductance of the electric drive motor.
  • In particular, a method is preferred in which one or more of the following equations are monitored: U _ S * DC = k * ω + R _ G * I _ M * L * ( dI / dt ) ;
    Figure DE102018204669A1_0001
    U _ M = k * ω + R _ G * I _ M * L * ( dI / dt ) ;
    Figure DE102018204669A1_0002
    I _ M = f ( OCP ) ;
    Figure DE102018204669A1_0003
    Max ( U _ M ) = k * ω ;
    Figure DE102018204669A1_0004
    U _ M = U _ S * DC ; and
    Figure DE102018204669A1_0005
    ω i = ω u .
    Figure DE102018204669A1_0006
    in which AROUND the supply voltage of the electric drive motor, U_s the supply voltage of the circuit of the electric drive motor, ω the actual speed of the electric drive motor, ωi the speed of the electric drive motor determined on the basis of a current waveform, ωu the speed of the electric drive motor determined on the basis of a voltage measurement, IN THE the current consumption of the electric drive motor, DC the duty cycle of a pulse width modulated control signal, R_G the total electrical resistance, which is composed of a motor resistor and a driver resistor, OCP an overcurrent protection, no motor constant and L denotes the inductance of the electric drive motor.
  • In an alternative embodiment of the method according to the invention, the control of the electric drive motor is adjusted in such a way that the dependence of the control on the faulty detected parameter is resolved. After having identified which parameter is erroneously detected, it is thus possible, by adjusting the control, to avoid a malfunction or a malfunction of the system in which the control of the electric drive motor is integrated. By disabling the dependence of the control on the erroneously detected parameter, the operation of the system in which the control of the electric drive motor is integrated, be continued, so that the availability of the system is increased even with incorrect parameter determination.
  • In addition, a method according to the invention is advantageous in which adjusting the control of the electric drive motor comprises setting an alternative control strategy as a function of the erroneously detected parameter and / or setting an alternative parameter determination as a function of the incorrectly detected parameter. In particular, the alternative control strategy does not depend on the erroneously detected parameter. Preferably, the alternative parameter determination allows the provision of the parameter in question by an alternative measurement and / or calculation method.
  • In a further development of the method according to the invention, the setting of an alternative control strategy and / or the setting of an alternative parameter determination according to a fallback routine, which is preferably dependent on the erroneously detected parameter and / or stored on a memory of the controller. The alternative control strategies and / or the alternative parameter determinations thus represent fallback levels which ensure error-free control even though one or more parameters of the electrical circuit are detected incorrectly.
  • For example, the original control strategy of a hydraulic system provides volume control via the electric drive motor. The volume control of the original control strategy can be dependent on the determined on the basis of a current waveform speed of the electric drive motor. If the detection of the speed of the electric drive motor based on the current waveform is erroneous, an alternative control strategy may use a value for the speed of the electric drive motor, which is determined based on a voltage measurement. Thus, the closed-loop control no longer depends on the erroneously detected parameter and can be continued without functional impairment. In an original control strategy, an electrical control can be carried out via a current regulator. If there is a faulty detection of the motor current necessary for the current regulator, an alternative control strategy can provide a pulse width modulation which is independent of the motor current. In a first alternative control strategy, the pulse width modulation may be hardware-based, with the pulse width modulation being software-based in a second alternative control strategy.
  • The object underlying the invention is further achieved by a monitoring device of the type mentioned above, wherein the monitoring device according to the invention is adapted to carry out the method for monitoring a control of an electric drive motor according to one of the embodiments described above. With regard to the advantages and modifications of the monitoring device according to the invention, reference is made to the advantages and modifications of the method according to the invention.
  • The object underlying the invention is further achieved by an electronic brake system of the type mentioned, wherein the monitoring device of the electronic brake system according to the invention is designed according to one of the embodiments described above. With regard to the advantages and modifications of the electronic brake system according to the invention, reference is made to the advantages and modifications of the monitoring device according to the invention.
  • In a preferred embodiment of the electronic brake system, the actuation unit comprises a hydraulic piston operated by the electronic drive motor.
  • Hereinafter, preferred embodiments of the invention will be described and described with reference to the accompanying drawings. Showing:
    • 1 a relationship between terms that comprise parameters of an electrical circuit;
    • 2 Dependencies of equations of parameters of an electrical circuit;
    • 3 a relationship between terms that comprise parameters of an electrical circuit; and
    • 4 Dependencies of equations of parameters of an electrical circuit.
  • The 1 shows a total of six terms T1 - T6 , where the terms T1 - T6 one or more parameters each P1 - P7 include. The parameters P1 - P7 are measurable and / or calculable sizes of an electrical circuit, wherein the electrical circuit comprises an electric drive motor.
  • The term T1 depends on the parameter P1 , The term T2 depends on the parameters P2 and P3 , The term T3 depends on the parameters P1 . P4 and P5 and the term T4 , The term T5 depends on the parameter P6 , The term T6 depends on the parameters P2 and P7 ,
  • The individual terms T1 - T6 have a physical relationship and can be used in several equations G.
  • The 2 shows corresponding equations G. The term T1 returns the same result as the terms T2 and T3 so also the terms T2 and T3 provide consistent results. Furthermore, the term provides T4 the same result as the terms T5 and T6 so also the terms T5 and T6 provide consistent results.
  • In the method according to the invention for monitoring the control, the equations G are monitored and by evaluating the monitored equations G become erroneously detected parameters P1 - P7 identified.
  • For this purpose, it is determined whether between the opposing terms T1 - T6 the monitored equations G is a difference. When a difference is detected, a parameter becomes P1 - P7 identified, which in at least one term T1 - T6 of all equations G whose terms T1 - T6 have a difference. Becomes such a parameter P1 - P7 identified, it can be assumed that the identified parameter is not detected correctly and thus affects the functionality of the controller.
  • So that the control can be continued without a corresponding functional impairment, the control is adjusted such that the dependence of the control on the incorrectly detected parameter P1 - P7 is resolved. The adaptation of the control of the electric drive motor can be, for example, the setting of an alternative control strategy as a function of the incorrectly detected parameter P1 - P7 or the setting of an alternative parameter determination depending on the erroneously detected parameter P1 - P7 include.
  • The 3 shows the physical relationships of parameters that can be considered in a control of an electric drive motor of an electric motor-driven hydraulic piston of an electronic brake system.
  • The electronic brake system in this case comprises, for example, a braking request detection device, which is set up to detect a braking request of a driver, a plurality of wheel brake units, an actuating unit which is set up to actuate the wheel brake units using an electric drive motor as a function of the detected braking request, and a monitoring device for a control of the electric drive motor. The actuation unit may comprise a hydraulic piston operated by the electric drive motor.
  • The monitoring device in this case comprises a plurality of detection devices which are each configured to detect at least one parameter of the electrical circuit comprising the electric drive motor, and a computing unit which is set up to monitor a plurality of equations, the terms of the equations comprising the detected parameters.
  • As part of the operation of the electronic brake system, the following parameters are detected: The supply voltage AROUND of the electric drive motor, the supply voltage U_s the circuit of the electric drive motor, the actual speed ω of the electric drive motor, the speed ωi of the electric drive motor determined on the basis of a current waveform, the speed determined on the basis of a voltage measurement ωu of the electric drive motor, the current consumption IN THE of the electric drive motor, the duty cycle DC a pulse width modulated control signal, by an overcurrent protection OCP given current limits and the inductance L of the electric drive motor.
  • Also in conjunction with the 4 The result is that the parameters can be used in the following equations: U _ S * DC = k * ω + R _ G * I _ M * L * ( dI / dt ) ;
    Figure DE102018204669A1_0007
    U _ M = k * ω + R _ G * I _ M * L * ( dI / dt ) ;
    Figure DE102018204669A1_0008
    I _ M = f ( OCP ) ;
    Figure DE102018204669A1_0009
    Max ( U _ M ) = k * ω ;
    Figure DE102018204669A1_0010
    U _ M = U _ S * DC ; and
    Figure DE102018204669A1_0011
    ω i = ω u ,
    Figure DE102018204669A1_0012
  • If, for example, an error occurs in the supply voltage AROUND of the electric drive motor, the opposing terms of the following equations have a difference: U _ M = k * ω + R _ G * I _ M * L * ( dI / dt ) ;
    Figure DE102018204669A1_0013
    Max ( U _ M ) = k * ω ; and
    Figure DE102018204669A1_0014
    U _ M = U _ S * DC ,
    Figure DE102018204669A1_0015
  • By determining a difference between the opposing terms in these equations, during which the opposing terms of the other equations have no difference, it can be deduced that the supply voltage AROUND the electric drive motor is detected incorrectly. As a result, the control of the electric drive motor can be adjusted such that a dependence of the control of the supply voltage AROUND of the electric drive motor is dissolved.
  • If, for example, an error occurs in the supply voltage U_s the circuit of the electric drive motor, the opposing terms of the following equations have a difference: U _ S * DC = k * ω + R _ G * I _ M * L * ( dI / dt ) ;
    Figure DE102018204669A1_0016
    and U _ M = U _ S * DC ,
    Figure DE102018204669A1_0017
  • By determining a difference between the opposing terms in these equations, during which the opposing terms of the other equations have no difference, it can be deduced that the supply voltage U_s the circuit of the electric drive motor is detected incorrectly. As a result, the control of the electric drive motor can be adjusted such that a dependence of the control of the supply voltage U_s the circuit of the electric drive motor is dissolved.
  • Analogously, an erroneous detection of the actual speed ω of the electric drive motor, the speed ωi of the electric drive motor determined on the basis of a current waveform, the speed determined on the basis of a voltage measurement ωu of the electric drive motor, the current consumption IN THE of the electric drive motor, the duty cycle DC a pulse width modulated control signal and the inductance L the electric drive motor so that a suitable adaptation of the control or parameter detection can be initiated. The setting of an alternative control strategy or setting an alternative parameter determination is carried out according to a fallback routine, which depends on the incorrectly detected parameters and stored on a memory of the controller.
  • LIST OF REFERENCE NUMBERS
  • DC
    Duty cycle of a pulse width modulated control signal
    G
    equations
    IN THE
    Current consumption of the electric drive motor
    k
    motor constant
    L
    Inductance of the electric drive motor
    OCP
    Overcurrent protection
    P1-P7
    parameter
    R_G
    total electrical resistance
    T1-T6
    Terme
    AROUND
    Supply voltage of the electric drive motor
    U_s
    Supply voltage of the circuit of the electric drive motor
    ω
    actual speed of the electric drive motor
    ω1
    determined speed of the electric drive motor based on a current waveform
    ωu
    Based on a voltage measurement determined speed of the electric drive motor

Claims (10)

  1. Method for monitoring a control of an electric drive motor, in particular an electric motor driven hydraulic piston of an electronic brake system, comprising the steps of: - detecting a plurality of parameters (P1-P7) of an electrical circuit comprising the electric drive motor; and - monitoring a plurality of equations (G), wherein the terms (T1-T6) of the equations (G) include the detected parameters (P1-P7); characterized by the step of: - identifying an erroneously detected parameter (P1-P7) by evaluating the monitored equations (G).
  2. Method according to Claim 1 , characterized in that the evaluation of the monitored equations (G) comprises at least one of the following steps: - determining a difference between the terms (T1-T6) of one or more monitored equations (G); - Detecting an exceedance of a difference threshold at the terms (T1-T6) of one or more monitored equations (G).
  3. Method according to Claim 2 , characterized in that the evaluation of the monitored equations (G) comprises at least one of the following steps: - identifying a parameter (P1-P7) which occurs in at least one term (T1-T6) of all equations (G) whose terms ( T1-T6) have a difference; Identifying a parameter (P1-P7) occurring in at least one term (T1-T6) of all equations (G) whose terms (T1-T6) exceed a difference threshold.
  4. Method according to one of the preceding claims, characterized in that the detected parameters (P1-P7) comprise at least one of the following parameters (P1-P7): - the supply voltage (U_M) of the electric drive motor; - The supply voltage (U_S) of the circuit of the electric drive motor; the actual speed (ω) of the electric drive motor; - The determined based on a current waveform speed (ωi) of the electric drive motor; - The determined on the basis of a voltage measurement speed (ωu) of the electric drive motor; - The current consumption (I_M) of the electric drive motor; - The duty cycle (DC) of a pulse width modulated control signal; one or more current limiting values predetermined by an overcurrent protection; - The inductance (L) of the electric drive motor.
  5. Method according to one of the preceding claims, characterized by the step: - adjusting the control of the electric drive motor such that a dependence of the control of the erroneously detected parameter (P1-P7) is resolved.
  6. Method according to one of the preceding claims, characterized in that adjusting the control of the electric drive motor comprises at least one of the following steps: - setting an alternative control strategy as a function of the erroneously detected parameter (P1-P7); - Setting an alternative parameter determination depending on the incorrectly detected parameter (P1-P7).
  7. Method according to Claim 6 , characterized in that the setting of an alternative control strategy and / or the setting of an alternative parameter determination takes place according to a fallback routine, which preferably depends on the incorrectly detected parameter (P1-P7) and / or is stored on a memory of the controller.
  8. Monitoring device for controlling an electric drive motor, in particular an electric motor driven hydraulic piston of an electronic brake system, comprising - a plurality of detection devices which are each adapted to detect at least one parameter (P1-P7) of an electrical drive motor comprehensive electrical circuit; and - a computing unit configured to monitor a plurality of equations (G), the terms (T1-T6) of the equations (G) comprising the detected parameters (P1-P7); characterized in that the monitoring device is adapted to carry out the method for monitoring a control of an electric drive motor according to one of the preceding claims.
  9. An electronic braking system for a vehicle, comprising: a braking request detecting device configured to detect a braking request of a driver; - at least one wheel brake unit; - An operating unit which is adapted to operate the at least one wheel brake unit using an electric drive motor in response to the detected braking request; and - a monitoring device for controlling the electric drive motor; characterized in that the monitoring device according to Claim 8 is trained.
  10. Electronic brake system after Claim 9 , characterized in that the actuating unit comprises a driven by the electric drive motor hydraulic piston.
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Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE69732569T2 (en) * 1996-06-24 2006-01-26 Arcelik A.S., Tuzla System for detecting faults of electric motors

Patent Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE69732569T2 (en) * 1996-06-24 2006-01-26 Arcelik A.S., Tuzla System for detecting faults of electric motors

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