JP2007022101A - Control device of electric power steering device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a control device for an electric power steering device capable of lessening the ROM capacity of a sub-MCU and suppressing the cost by performing a serial communication in which the main MCU is arranged to contain a plurality of parameters including those for the sub-MCU. <P>SOLUTION: The control device of the electric power steering device embodied in a 2-CPU constitution consisting of the main MCU and sub-MCU is structured so that the main MCU contains the parameters including those for the sub-MCU, and in conformity to a select command order, a specific parameter is selected among the parameters, and data transfer is made from the main MCU to the sub-MCU to serve for an operational audit. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention relates to a control device for an electric power steering apparatus having a two CPU (central processing unit) configuration composed of a main MCU (Micro Controller Unit) having a plurality of parameters and a sub MCU, and particularly reducing the memory capacity of the sub MCU by a communication function. The present invention relates to a control device for an electric power steering device that is reduced in cost.

  An electric power steering device that assists an automobile or a vehicle steering device with an auxiliary load by the rotational force of a motor is a steering shaft or rack that transmits the driving force of the motor by a transmission mechanism such as a gear or a belt via a reduction gear. An auxiliary load is applied to the shaft. Such a conventional electric power steering apparatus performs feedback control of motor current in order to accurately generate assist torque (steering assist force). In the feedback control, the motor applied voltage is adjusted so that the difference between the current command value and the motor current detection value becomes small. Generally, the adjustment of the motor applied voltage is a duty of PWM (pulse width modulation) control. This is done by adjusting the tee ratio.

  Here, the general configuration of the electric power steering apparatus will be described with reference to FIG. 12. The column shaft 2 of the steering handle 1 is connected to the steering wheel via the reduction gear 3, the universal joints 4 a and 4 b, and the pinion rack mechanism 5. It is connected to the tie rod 6. The column shaft 2 is provided with a torque sensor 10 that detects the steering torque of the steering handle 1, and a motor 20 that assists the steering force of the steering handle 1 is connected to the column shaft 2 via the reduction gear 3. ing. The control unit 30 that controls the power steering apparatus is supplied with electric power from the battery 14 and also receives an ignition key signal from the ignition key 11. The control unit 30 calculates the steering assist command value I of the assist command based on the steering torque T detected by the torque sensor 10 and the vehicle speed V detected by the vehicle speed sensor 12, and the calculated steering assist command value I Based on this, the current supplied to the motor 20 is controlled.

  In such an electric power steering apparatus, there is one that is controlled by two main and sub CPUs or MCUs for the purpose of improving controllability and safety.

  FIG. 13 shows an example thereof. The torque signal Tr from the torque sensor 201, the vehicle speed signal Vs from the vehicle speed sensor 202, and the engine rotation signal ER are input to the main MCU 210 and the sub MCU 211, respectively, and the motor calculated by the main MCU 210 is shown. The drive signal Ir is input to the motor drive circuit 214, and the motor drive circuit 214 drives the motor 200 based on the motor drive signal Ir. Further, the sub MCU 211 determines the motor drive direction of the current command value calculated by itself, inputs the motor drive direction signal Ds output from the main MCU 210 to the motor drive circuit 214, and compares both directions, thereby comparing the main MCU 210. It is determined whether or not the above calculation has been performed normally.

  The main MCU 210 includes a sub WDT (watchdog timer) 210S and a main MCU self-monitoring WDT 210M for mutual monitoring, and the sub MCU 211 also monitors the main WDT 211M and the sub MCU self-monitoring WDT 211S. Built in. The relay 213 for turning ON / OFF the input of the battery 203 is ON / OFF controlled by the relay ON / OFF signal RS1 output from the main MCU 210 and the relay ON / OFF signal RS2 output from the sub MCU 211, and the current of the motor 200 is The detected current Id is detected by the motor current detection circuit 212, and is input to the main MCU 210 and the sub MCU 211 together with the motor terminal voltage Vm. The motor drive inhibition signal Mp output from the sub MCU 211 is input to the motor drive circuit 214. .

The main MCU 210 and the sub MCU 211 all generate a motor drive signal (current command value) Ir based on the torque signal Tr, the vehicle speed signal Vs, the engine rotation signal ER, the current detection value Id, and the motor terminal voltage Vm. Only the motor drive signal (current command value) Ir from is input to the motor drive circuit 214, and the current command value Ir calculated by the sub MCU 211 is used for monitoring.
JP 2001-18819 A JP2002-59854 JP 2002-225745 A JP 2004-129421 A

  In the control device of the electric power steering device as described above, it is necessary to hold and use a plurality of parameters such as control and fail-safe. For this purpose, the main MCU and the sub MCU store the same ROM (Read Only Memory) data. Therefore, there is a problem that the cost increases accordingly. It is also uneconomical to have the main MCU and the sub MCU have the same information.

  Furthermore, depending on the driver's preference or application to the electric power steering with the function of switching the characteristics for each vehicle, it is necessary to select the most appropriate one by switching several kinds of control parameters. It is uneconomical to perform rewriting, replacement, etc., and it is convenient and economical to use a single ROM having a large number of control parameters for switching. Further, by providing a single ROM with a plurality of vehicle type control parameters, there is an advantage that the same controller can be used for a plurality of vehicle types.

  The present invention has been made under the circumstances described above, and an object of the present invention is to reduce the ROM capacity of the sub MCU by serial communication with a plurality of parameters including the sub MCU included in the main MCU. In addition, an object is to provide a control device for an electric power steering device that is reduced in cost.

  The present invention relates to a control device for an electric power steering apparatus having a two-CPU configuration composed of a main MCU and a sub MCU. The object of the present invention is to provide a selection command having a plurality of parameters including the sub MCU in the main MCU. This is achieved by selecting a specific parameter from among the parameters according to an instruction, transferring data from the main MCU to the sub MCU, and performing an operation audit.

  The present invention also relates to a control device for an electric power steering apparatus having a two-CPU configuration including a main MCU incorporating a first ROM and a first RAM, and a sub MCU incorporating a second ROM and a second RAM. The above object of the present invention is to store main and sub parameters in the first ROM, and transfer the main and sub parameters to the first RAM when a selection command command is input. Thereafter, the sub parameters (including main parameters common to the main and sub) are transferred to the second RAM and the operation is audited.

  The object of the present invention is to perform the data transfer by serial communication, or connect or incorporate an EEPROM (Electrically Erasable and Programmable ROM) in the main MCU or sub MCU, and read out the parameter number from the EEPROM. If the data transfer is unsuccessful, or if the data transfer fails, by using parameters for abnormal transfer stored in the first ROM and the second ROM in advance, or the main MCU By implementing the function of transferring the sub-parameters within the main MCU from the main MCU to the sub-MCU, it is possible to perform software rewriting or RAM data change only on the main MCU when performing parameter tuning. This is achieved more effectively.

  Furthermore, the present invention relates to a control device for an electric power steering apparatus having a 2-CPU configuration comprising a main MCU incorporating a first ROM and a first RAM and a sub MCU incorporating a second ROM and a second RAM. The above object of the present invention is to execute the motor control mainly by the main MCU, store the main and sub parameters in the second ROM, and select the main parameter when a selection command command is input. Is achieved by transferring data to the first RAM, and when the data transfer fails, the parameters for abnormal transfer stored in the first ROM and the second ROM in advance are used. This is achieved more effectively.

The present invention further relates to a control device for an electric power steering apparatus having a two-CPU configuration comprising a main MCU incorporating a first ROM and a first RAM and a sub MCU incorporating a second ROM and a second RAM. The object of the present invention is that an EEPROM is connected to or built in the sub MCU, main and sub parameters specified in the EEPROM are stored, and the main and sub parameters are stored in the first condition under a predetermined condition. After transferring to the RAM, the sub parameters (including main and sub common main parameters) are transferred to the second RAM and monitored for operation.
Furthermore, the present invention provides a control device for an electric power steering apparatus having a 2-CPU configuration comprising a main MCU incorporating a first ROM and a first RAM and a sub MCU incorporating a second ROM and a second RAM. An object of the present invention is that an EEPROM is connected to or built in the main MCU, the main and sub parameters specified in the EEPROM are stored, and the main and sub parameters are stored in the first MCU under a predetermined condition. After the data is transferred to the second RAM, the main parameter is transferred to the first RAM and the operation is monitored, and the predetermined condition is that an ignition key is turned on, or the data transfer is performed. In case of failure, the parameters for abnormal transfer stored in the first ROM and the second ROM in advance are used. This is achieved more effectively.

  According to the control device for the electric power steering apparatus including the main MCU and the sub MCU according to the present invention, even if the control unit has a plurality of parameters such as control and fail-safe, it is between the main MCU and the sub MCU. By transferring the data, the sub MCU's ROM is replaced with the main MCU's ROM, and the cost can be reduced without degrading the function.

  In the present invention, since only the main MCU has a large number of control parameters and is transmitted to the sub MCU when necessary, one ROM can be adapted to various types of vehicles. It is possible to configure a system that matches the steering performance.

  Moreover, even if it has a plurality of parameters such as control and fail-safe and is instructed to switch parameters from outside via CAN (Controller Area Network) etc., data transfer between the main MCU and the sub MCU By performing the above, the ROM capacity of the main MCU and the sub MCU can be realized inexpensively and easily without significantly increasing the ROM capacity.

  Furthermore, in the past, a part of the fail-safe function was masked when tuning the control parameters. However, by transferring data between the main MCU and the sub-MCU, the fail-safe function is not masked and is inexpensive and safe. Tuning is possible. Similarly, conventionally, after tuning the control parameters, the control parameters tuned to the flash ROMs of the main MCU and sub MCU are rewritten. However, by transferring data between the main MCU and sub MCU, either It is only necessary to rewrite the MCU, and the tuning result can be reflected inexpensively and easily.

  The control device for the electric power steering apparatus having a 2-CPU configuration composed of a main MCU (Micro Controller Unit) and a sub MCU has a plurality of parameters such as control and fail-safe, and the main MCU and the sub MCU have the same ROM / RAM capacity. Will have. As the ROM / RAM capacity increases, the cost increases. In the present invention, the ROM / RAM is mounted on the main MCU, and data transfer is performed between the main MCU and the sub MCU. I am trying. The main MCU and the sub MCU may have a CPU configuration.

  Depending on the driver's preference or application to an electric power steering with a function to switch the characteristics for each vehicle, it is necessary to switch between several types of control parameters to select the optimal one, but each time the ROM is rewritten or replaced Since it is uneconomical and impractical to perform the above, it is convenient and economical to use a single ROM with a large number of control parameters and to switch between them. By having a plurality of control parameters in one ROM, there is also an advantage that the same controller can be used for a plurality of vehicle types. In the present invention, only the main MCU has the control parameters and the ROM capacity is transmitted to the sub MCU. Savings. When the current system is deployed as it is, it is necessary to store several to several tens of control parameters in both the main MCU and the sub MCU, resulting in a considerable cost reduction.

  Embodiments of the present invention will be described below with reference to the drawings.

  FIG. 1 shows an embodiment of the present invention, in which a main MCU 100 and a sub MCU 150 are provided so that serial communication is possible. The main MCU 100 is connected to the CAN bus line 101 via the CAN driver 102 and connected to the sub MCU 150 via the serial interfaces 104 and 152. The sub MCU 150 is connected to an EEPROM (Electrically Erasable and Programmable ROM) 151 that stores tuning parameter numbers. Note that the EEPROM 151 may be built in the sub MCU 150.

  The main MCU 100 includes a flash ROM 110 and a RAM 120. The flash ROM 110 controls and other programs, a main MCU tuning parameter (for abnormal transfer), a main MCU tuning parameter (n variations), a main MCU tuning parameter (fixed) Parameters) and sub MCU tuning parameters (n variations), and the RAM 120 has a general-purpose RAM area. In the example of FIG. 1, the main MCU tuning parameters (1 variation) and the sub MCU tuning parameters (1 variation) are stored. ) Is shown.

  The sub MCU 150 also includes a ROM 160 and a RAM 170. The ROM 160 stores control / other programs, sub MCU tuning parameters (for abnormal transfer) and sub MCU fixed parameters, and the RAM 170 is a general-purpose RAM area and sub MCU tuning. Stores parameters.

  In such a configuration, first, the development of tuning parameters at the time of startup will be described.

  First, the parameter number is read from the EEPROM 151 and developed in the RAM 120 in the main MCU 100. Then, corresponding parameters are selected from the flash ROM 110 in accordance with the expanded parameter numbers, and the selected parameters are expanded on the RAM 120. In the example of FIG. 1, a main MCU tuning parameter (one variation) and a sub MCU tuning parameter (one variation) are selected and expanded. Thereafter, the sub MCU parameters are transferred from the RAM 120 of the main MCU 100 to the RAM 170 of the sub MCU 150 via the serial interfaces 104 and 152, and the sub MCU parameters are expanded on the RAM 170. When the parameter number notified from the main MCU 100 is different from the value read directly from the EEPROM 151, the parameter number notified from the main MCU 100 is stored in the EEPROM 151. In response to the main MCU 100 that the development of the sub MCU parameters to the sub MCU 150 is completed, the state shifts to a state where assist is possible.

  The parameters are transferred from the main MCU 100 to the sub MCU 150 when the ignition key is turned on or when the parameter number is changed. The parameter selection is changed when the parameter number is rewritten via communication (CAN). The parameter is transferred to the sub MCU 150 after the elapse of a predetermined time within the input torque fluctuation voltage range.

  If the data transfer from the main MCU 100 to the sub MCU 150 fails, the main MCU parameters (transfer abnormal parameters) stored in the flash ROM 110 are stored in the RAM 120 and the sub MCU parameters stored in the ROM 160. (Transfer abnormality parameters) are transferred to the RAM 170 for use. The presence or absence of data transfer failure is detected by sum check, transfer size check, or transfer time monitoring. Note that the data to be transferred is used not for control but for monitoring, and even if data transfer fails, the transfer failure is detected, so no problem occurs.

  FIG. 2 shows an embodiment in which the EEPROM 151 in FIG. 1 is connected to the main MCU 100 to form the EEPROM 303.

  In addition, as shown in FIG. 3, the tuning ROM and the flash are first erased in response to a program (data) download request from the tuning PC 140 via the CAN bus 101 and the CAN driver 102. Further, the program (data) is once expanded in a rewriting buffer on the RAM 120 and written to the flash ROM 110 every N (integer: minimum write byte unit specified by the CPU manufacturer, for example) k bytes.

  Note that a method of rewriting with a diagnostic tester instead of the tuning PC having the above configuration is also possible.

  FIG. 4 is a diagram illustrating the tuning operation of the tuning parameters by the tuning PC 140. First, a tuning start request is issued from the tuning PC 140 via the CAN bus 101 and the CAN driver 102. By this tuning start request, the main MCU 100 stops the assist, and the sub MCU 150 stops the sub current calculation abnormality monitoring. Next, the tuning MCU 140 tunes the main MCU parameter or the sub MCU parameter in the RAM 120. After tuning is completed, in response to a tuning end request from the tuning PC 140, the main MCU 100 sends the sub MCU parameters (including main and sub common main MCU parameters) in the RAM 120 to the sub MCU 150 via the serial interfaces 104 and 152. The data is transferred and expanded in the RAM 170. Then, the sub MCU 150 responds to the main MCU 100 that the data has been expanded in the RAM 170, the main MCU 100 resumes assist with gradual change (for example, 500 ms), and the sub MCU 150 resumes current calculation abnormality monitoring.

  Here, serial communication between the main MCU 100 and the sub MCU 150 will be described with reference to FIG. First, a communication start signal is transmitted from the main MCU 100 to the sub MCU 150 (step S1). If OK, that is, if the sub MCU 150 is ready to start communication, the main MCU 100 communicates that fact to the main MCU 100 (step S2). D1, the size of the data D1, and the sum of the data D1 are transmitted to the sub MCU 150 (step S3). The sub MCU 150 detects a data transfer error by performing a size check and a sum check of the data D1, and if it is OK, transmits the fact to the main MCU 100 (step S4). Based on this, the main MCU 100 sizes the data D2 and data D2. And the sum of the data D2 is transmitted to the sub MCU 150 (step S5), and the sub MCU 150 adds the data D1 and D2 to obtain (D1 + D2), and detects a data transfer error by the size check and sum check of the data D2. In the case of OK, the fact is transmitted to the main MCU 100 (step S6). The main MCU 100 transmits data (D1 + D2) to the sub MCU 150 (step S7), and the sub MCU 150 compares the data (D1 + D2) transmitted from the main MCU 100 with the data (D1 + D2) held by itself (step S8). ) If the comparison result is OK, the fact is transmitted to the main MCU 100, and communication is terminated (step S9).

  When a data transfer error is detected, the main MCU parameters (transfer abnormality parameter) stored in the flash ROM 110 in advance are stored in the RAM 120, and the sub MCU parameters (transfer abnormality parameter) stored in the ROM 160 are stored. Parameters) are transferred to the RAM 170 for monitoring. Therefore, in this case, the assist operation is performed with standard characteristics.

  Next, switching of assist characteristics will be described with reference to FIG.

  After the ignition key is turned on, the tuning parameter number is guided to the main MCU 100 according to the first vehicle information message received within 10 seconds, for example, and stored in the RAM 120 if it has been updated. Monitoring of the torque neutral state is started with the update of the tuning parameter number as a trigger, and when the torque neutral state has elapsed for a predetermined time, the state shifts to the assist standby state. Then, according to the tuning parameter number, the corresponding parameter is selected from the flash ROM 110, and the selected parameter is developed in the RAM 120. After initializing the control parameters, the main MCU 100 side resumes assist with gradual change (for example, 500 ms).

  Thereafter, the sub MCU parameters (including main and sub common main MCU parameters) are transferred from the RAM 120 to the sub MCU 150 via the serial interfaces 104 and 152, and are expanded in the RAM 170. During this data expansion, the sub current calculation abnormality monitoring is stopped. When the tuning parameter number notified from the main MCU 100 is different from the value read from the EEPROM 151, the parameter number notified from the main MCU 100 is stored in the EEPROM 151. Responding to the main MCU 100 that the data has been expanded in the RAM 170 in the sub MCU 150, the current calculation abnormality monitoring on the sub MCU 150 side is resumed. Until the data development on the sub MCU 150 side is completed, the main MCU 100 side does not perform the next characteristic switching.

  When the assist characteristic is switched, it is determined whether the switchable state is possible based on the vehicle speed and the assist torque, and during the traveling, switchback or switchback can be considered. If parameter transfer from the main MCU 100 to the sub MCU 150 fails, the main MCU parameters (transfer abnormal parameters) stored in the flash ROM 110 in advance are stored in the RAM 120 and the sub MCU stored in the ROM 160. Each parameter (transfer abnormal parameter) is developed in the RAM 170.

  FIG. 7 shows another embodiment of the present invention. In order to reduce the calculation load of the main MCU 300, the main MCU 300 performs only the calculation of the control system and the like, and the CAN communication is performed by the sub MCU 310. The main MCU 300 includes a ROM 301 that stores fixed parameters and a RAM 302 that stores main parameters, and controls the motor 304, and is connected to a sub MCU 310 capable of serial communication. The main MCU 300 is connected to an EEPROM 303, and the sub MCU 310 is provided with a ROM 311 storing parameters # 1 to #n and a RAM 312 storing sub parameters. The sub MCU 310 is connected to the CAN bus 313.

  In such a configuration, when a parameter selection command is input by the vehicle side or a tester, parameters are selected from the ROM 311, transferred to the RAM 302 in the main MCU 300, and developed. Thereby, the assist by the main MCU 300 is executed. When data transfer from the sub MCU 310 to the main MCU 300 fails, the parameters for abnormal transfer stored in advance in the ROM 301 and the ROM 311 are used.

  FIG. 8 shows an embodiment in which the EEPROM 151 in FIG. 7 is connected to the sub MCU 310.

  FIG. 9 shows another embodiment of the present invention, which is an example in which an EEPROM 151 storing a plurality of specified tuning parameters is connected to the main MCU 100. The main MCU 100 includes an EEPROM 151 that stores parameters # 1 to #n and a RAM 120 that stores main parameters. The main MCU 100 controls the motor 304 and is connected to a sub MCU 150 capable of serial communication. Yes. The main MCU 100 is connected to the CAN bus 101. The sub MCU 150 includes a ROM 160 that stores fixed parameters and a RAM 170 that stores sub parameters.

  In such a configuration, when the ignition key is turned on or a parameter selection command is input by the vehicle side or a tester, a parameter is selected from the EEPROM 151, transferred to the RAM 170 in the sub MCU 150, and developed. Then, assist by the main MCU 100 is executed. When data transfer from the main MCU 100 to the sub MCU 150 fails, the parameters for abnormal transfer stored in advance in the ROM 110 and ROM 160 are used.

  FIG. 10 shows an embodiment in which the EEPROM 151 in FIG. 9 is connected to the sub MCU 310.

  The present invention can be applied to the conventional two-CPU electric power steering apparatus described with reference to FIG. 13, but is also applicable to the two-CPU electric power steering apparatus shown in FIG.

  The control device in FIG. 11 has the following configuration. That is, the torque signal Tr from the torque sensor 201 and the vehicle speed signal Vs from the vehicle speed sensor 202 are input to the main MCU 210 and the sub MCU 211, and the motor drive signal Ir calculated by the main MCU 210 is input to the motor drive circuit 214 to drive the motor. The motor drive circuit 214 drives the motor 200 based on the signal Ir. The main MCU 210 includes a sub WDT 210S and a main MCU self-monitoring WDT 210M for mutual monitoring. The sub MCU 211 also includes a main WDT 211M and a sub MCU self-monitoring WDT 211S for mutual monitoring. The relay 213 for turning ON / OFF the input of the battery 203 is ON / OFF controlled by the relay ON / OFF signal RS1 output from the main MCU 210 and the relay ON / OFF signal RS2 output from the sub MCU 211, and the current of the motor 200 is The detected current Id is detected by the motor current detection circuit 212, and is input to the main MCU 210 and the sub MCU 211 together with the motor terminal voltage Vm. The motor drive inhibition signal Mp output from the sub MCU 211 is input to the motor drive circuit 214. .

  The main MCU 210 and the sub MCU 211 all generate a motor drive signal (current command value) Ir based on the torque signal Tr, the vehicle speed signal Vs, the current detection value Id, and the motor terminal voltage Vm. The motor drive signal from the main MCU 210 (Current command value) Only Ir is input to the motor drive circuit 214 and used for monitoring the current command value Irha calculated by the sub MCU 211.

  ADVANTAGE OF THE INVENTION According to this invention, the control apparatus of a low-cost safe and high-performance electric power steering apparatus can be implement | achieved, and the optimal function for a driver can be provided easily and rapidly.

It is a block block diagram which shows one Example of this invention. FIG. 2 is a block configuration diagram showing an embodiment when the EEPROM shown in FIG. 1 is connected to a main MCU. It is a figure which shows the operation example of tuning parameter flash rewriting. It is a figure which shows the tuning operation example of a tuning parameter. It is a time chart which shows the mode of the serial communication between main MCU and sub MCU. It is a figure which shows the operation example of an assist characteristic. It is a block block diagram which shows the other Example of this invention. It is a block block diagram which shows the Example at the time of connecting EEPROM in FIG. 7 to sub MCU. It is a block block diagram which shows the example which connected EEPROM which stored several specified tuning parameters to main MCU. It is a block block diagram which shows the example which connected EEPROM which stored several specified tuning parameter to sub MCU. It is a block block diagram which shows the example of the electric power steering apparatus of 2CPU structure which can apply this invention. 1 is a structural diagram showing an outline of a general electric power steering apparatus. It is a block block diagram which shows an example of the control unit of 2CPU structure.

Explanation of symbols

1 Steering handle 2 Column shaft 3 Reduction gear 10, 201 Torque sensor 11 Ignition key 12, 202 Vehicle speed sensor 14, 203 Battery 20, 200 Motor 30 Control unit 100, 210, 300 Main MCU
101, 313 CAN bus 110, 311 Flash ROM
120, 170, 302, 312 RAM
140 PC for tuning
150, 211, 310 Sub MCU
151, 303 EEPROM
160, 301 ROM

Claims (12)

In the control device for an electric power steering apparatus having a two-CPU configuration comprising a main MCU and a sub MCU, the main MCU has a plurality of parameters including the sub MCU, and a specific parameter is selected from the parameters by a selection command command. A control device for an electric power steering device, wherein the control is performed by selecting data and transferring data from the main MCU to the sub MCU. In the control device for an electric power steering apparatus having a two-CPU configuration including a main MCU incorporating a first ROM and a first RAM, and a sub MCU incorporating a second ROM and a second RAM, the first ROM The main and sub parameters are stored in the memory, and when the selection command instruction is input, the main and sub parameters are transferred to the first RAM, and then the sub parameters (main and sub common) are transferred. A control device for an electric power steering apparatus, wherein the operation parameter is audited by transferring data to the second RAM. The control device for an electric power steering apparatus according to claim 2, wherein the data transfer is performed by serial communication. 4. The control device for an electric power steering apparatus according to claim 3, wherein an EEPROM is connected to or built in the main MCU or the sub MCU, and a parameter number is read from the EEPROM and expanded in the first RAM. . The electric motor according to any one of claims 2 to 4, wherein when the data transfer fails, a parameter for abnormal transfer stored in the first ROM and the second ROM in advance is used. Control device for power steering device. By realizing the function of transferring the sub parameters in the main MCU from the main MCU to the sub MCU, software rewriting or RAM data change can be performed only on the main MCU when performing parameter tuning. The control device for an electric power steering apparatus according to claim 2 configured as described above. In a control unit for an electric power steering apparatus having a two-CPU configuration including a main MCU incorporating a first ROM and a first RAM and a sub MCU incorporating a second ROM and a second RAM, the main MCU is a main MCU. The motor control is executed, the main and sub parameters are stored in the second ROM, and when the selection command command is input, the main parameters are transferred to the first RAM to operate. A control device for an electric power steering device. The control of the electric power steering apparatus according to claim 7, wherein when the data transfer fails, parameters for abnormal transfer stored in the first ROM and the second ROM in advance are used. apparatus. In a control unit for an electric power steering apparatus having a two-CPU configuration including a main MCU having a first ROM and a first RAM and a sub MCU having a second ROM and a second RAM, an EEPROM is provided in the main MCU. Are stored or stored, and main and sub parameters specified in the EEPROM are stored, and the main and sub parameters are transferred to the first RAM under a predetermined condition, and then the sub parameters ( A control device for an electric power steering apparatus, wherein data is transferred to the second RAM and operation is monitored. In a control unit for an electric power steering apparatus having a two-CPU configuration including a main MCU having a first ROM and a first RAM and a sub MCU having a second ROM and a second RAM, an EEPROM is provided in the main MCU. Is connected or built in, stores the main and sub parameters specified in the EEPROM, transfers the main and sub parameters to the second RAM under a predetermined condition, and then sets the main parameters. A control device for an electric power steering apparatus, wherein the operation is monitored by transferring data to the first RAM. The control device for an electric power steering apparatus according to claim 9, wherein the predetermined condition is that an ignition key is turned on. The control of the electric power steering device according to claim 11, wherein when the data transfer fails, parameters for abnormal transfer stored in advance in the first ROM and the second ROM are used. apparatus.

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