JP2015109775A - Motor control device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a motor control device capable of improving redundancy in simple configuration.SOLUTION: An integrated ECU 23 includes: connection lines 81u, 81v and 81w for connecting connection points 82u, 82v and 82w of EPS feeders 62u, 62v and 62w to which power is not supplied from an EPS inverter 52 in the case where phase open relays 64u, 64v and 64w are turned off, and connection points 83u, 83v and 83w of VGR feeders 72u, 72v and 72w to which power is supplied from a VGR inverter 54 even in the case where the phase open relays 64u, 64v and 64w are turned off; and switching relays 84u, 84v and 84w capable of disconnecting the connection points 82u, 82v and 82w and the connection points 83u, 83v and 83w. In the case where any abnormality occurs in the EPS inverter 52, an EPS microcomputer 51 turns off the phase open relays 64u, 64v, 64w, 74u and 74v and turns on the switching relays 84u, 84v and 84w.

Description

  The present invention relates to a motor control device.

  Conventionally, in a steering apparatus for a vehicle, a steering force assisting device (EPS device) that applies an assisting force to a steering mechanism using a motor as a driving source, or rotation based on motor driving is added to rotation of an input shaft based on steering operation. Some of them have a plurality of motor units that use a motor as a drive source, such as a transmission ratio variable device (VGR device) that transmits to an output shaft (for example, Patent Document 1). Such a motor control device that controls the operation of the motor unit includes a drive circuit having a plurality of switching elements and a control circuit that outputs a motor control signal, and each switching element is turned on and off according to the motor control signal. Then, driving power is supplied to the motor.

  Some motor control devices are provided with a switch such as a phase open relay in the middle of a power supply path connecting the motor and the drive circuit. For example, when an abnormality such as a short circuit failure occurs due to welding of the switching element, the supply of drive power from the drive power supply (battery) to the motor is stopped and the phase open relay is turned off to drive the drive circuit Between the motor and the motor. Thereby, for example, even if the motor rotates in conjunction with the steering operation, the regenerative current is suppressed from flowing according to the induced voltage (back electromotive voltage), and the motor does not function as a brake.

JP2013-123949A JP 2013-79027 A

  By the way, when an abnormality occurs in the drive circuit of the steering force assisting device and the steering force assisting device is stopped, the assisting force is not applied to the steering mechanism. At this time, turning off the phase release relay as described above can suppress the motor from acting as a brake and hindering the steering operation, but the burden on the driver is greatly increased, so an abnormality occurs in the drive circuit. However, it is desirable that the assist force can be continuously applied.

  Thus, for example, as described in Patent Document 2, it is conceivable that the motor control device has two drive circuits so that the motor control device has redundancy regarding the drive circuits. Thus, even when an abnormality occurs in one drive circuit, the assist force can be continuously applied by supplying drive power from the other drive circuit to the motor. However, if redundancy is used, an extra drive circuit having an equivalent function is required, so that the number of parts is remarkably increased, resulting in a significant increase in manufacturing cost.

Such a problem is not limited to the motor control device that controls the operation of the steering force assisting device, and may occur in the same way even in a motor control device that controls the operation of another motor unit.
The present invention has been made to solve the above problems, and an object of the present invention is to provide a motor control device capable of increasing redundancy with a simple configuration.

  A motor control device that solves the above-described problem is a device that controls the operation of a plurality of motors. And a control circuit for outputting a second motor control signal for controlling the operation of a second motor which is another one of the plurality of motors, and driving the first motor based on the first motor control signal A first drive circuit for supplying power, a second drive circuit for supplying drive power to the second motor based on the second motor control signal, and a first drive circuit for connecting the first motor and the first drive circuit. A first switch capable of interrupting one power supply path, a second switch capable of interrupting a second power supply path connecting the second motor and the second drive circuit, and the first switch being turned off The first drive A connection point of the first power supply path where power is not supplied from the road, and a connection point of the second power supply path where power is supplied from the second drive circuit even when the second switch is turned off. A switching switch capable of interrupting a connection path for connecting the control circuit, and when the abnormality occurs in the first drive circuit, the control circuit turns off the first switch and the second switch, The gist is to turn on the changeover switch.

  According to the above configuration, when an abnormality occurs in the first drive circuit, the first switch and the second switch are turned off and the changeover switch is turned on. The drive circuit and the second motor and the second drive circuit are disconnected, and the first motor and the second drive circuit are conducted. Thereby, although a 2nd motor will be stopped, a 1st motor can be driven continuously. Therefore, redundancy can be realized without providing an extra drive circuit.

  In the motor control device, the control circuit includes a first control circuit that outputs the first motor control signal, a second control circuit that outputs the second motor control signal, the first control circuit, and the second control circuit. It is preferable to provide a preliminary control circuit that functions as a substitute for either one of the control circuits when an abnormality occurs.

  According to the above configuration, since the first motor control signal is output from the first control circuit and the second motor control signal is output from the second control circuit, for example, the first motor control signal and the second motor control signal are output from one control circuit. The processing performance required for the first control circuit and the second control circuit can be lowered as compared with the case of outputting the motor control signal. Further, since the spare control circuit replaces the first control circuit or the second control circuit, the control circuit has a smaller number of parts than the case where the spare control circuit is provided for each of the first control circuit and the second control circuit. Redundancy can be increased.

  In the motor control device, each of the first and second motors is a three-phase brushless motor, and each of the first and second drive circuits includes three switching arms each including a series circuit of a pair of switching elements. The first power supply path includes three first power supply lines corresponding to each phase, and the second power supply path includes three second power supply lines corresponding to each phase. The connection path includes three connection lines corresponding to each phase, the three first power supply lines are each provided with the first switch, and the three second power supply lines Two of them are provided with the second switch, and one end of each of the three connection lines is connected to a connection point on the first motor side with respect to the first switch in each of the first power supply lines. The three connection lines Are connected to a connection point on the second drive circuit side of the second power supply line in each of the second power supply lines provided with the second switch, and the other one It is preferable that the other end is connected to the second feeder line in which the second switch is not provided.

According to the above configuration, the number of components can be reduced and the configuration can be simplified as compared with the case where the second switch is provided for each of the three second power supply lines.
In the motor control apparatus, it is preferable that the connection path is provided with a plurality of the changeover switches connected in parallel to each other.

According to the above configuration, it is possible to increase redundancy regarding the changeover switch.
In the motor control device, a priority order to be continuously driven is set for the plurality of motors, and a motor having a higher priority order in any two of the plurality of motors. It is preferable that the first motor and the motor having the lower priority order be the second motor.

According to the above configuration, it is possible to increase the redundancy related to the drive circuit of the motor having a high priority that is continuously driven.
In the motor control device, an EPS motor serving as a drive source of a steering force assist device that applies assist force to the steering mechanism, and rotation based on the motor drive is added to the rotation of the input shaft based on the steering operation and transmitted to the output shaft. It controls the operation of a VGR motor that is a drive source of the transmission ratio variable device, and the EPS motor is the first motor having a higher priority, and the VGR motor is the second motor having a lower priority. It is preferable that

  Comparing the case where the steering force assisting device is stopped and the case where the transmission ratio variable device is stopped, it is desirable to drive the steering force assisting device preferentially and continuously because of the influence on the driver. Therefore, redundancy can be appropriately increased by using the EPS motor as the first motor and the VGR motor as the second motor as in the above configuration.

  According to the present invention, redundancy can be increased with a simple configuration.

The schematic block diagram of the steering device of one Embodiment. The block diagram of integrated ECU of one Embodiment. The flowchart which shows the process sequence of the electric power supply path | route switching control to the EPS motor of one Embodiment. (A) is an operation explanatory view showing a power supply mode to the EPS motor at normal time, (b) is an operation explanatory view showing a power supply mode to the EPS motor at an abnormal time. The block diagram of the switching circuit of another example. The block diagram which shows the switching circuit vicinity of integrated ECU of another example.

Hereinafter, an embodiment of a steering apparatus equipped with a motor control device will be described with reference to the drawings.
As shown in FIG. 1, the steering device 1 includes a steering mechanism 4 that steers the steered wheels 3 based on the operation of the steering wheel 2 by the driver.

  The steering mechanism 4 includes a steering shaft 11 to which the steering wheel 2 is fixed, and a rack shaft 12 that reciprocates in the axial direction in accordance with the rotation of the steering shaft 11. The steering shaft 11 is configured by connecting a column shaft 13, an intermediate shaft 14, and a pinion shaft 15 in order from the steering wheel 2 side. The rack shaft 12 and the pinion shaft 15 are arranged with a predetermined crossing angle, and the rack teeth 12a formed on the rack shaft 12 and the pinion teeth 15a formed on the pinion shaft 15 mesh with each other. A pinion mechanism 16 is configured. Further, tie rods 17 are connected to both ends of the rack shaft 12, and the tip of the tie rod 17 is connected to a knuckle (not shown) to which the steered wheels 3 are assembled. Therefore, in the steering device 1, the rotation of the steering shaft 11 accompanying the steering operation is converted into the axial movement of the rack shaft 12 by the rack and pinion mechanism 16, and this axial movement is transmitted to the knuckle via the tie rod 17. Thus, the turning angle of the steered wheels 3, that is, the traveling direction of the vehicle is changed.

  The steering device 1 also includes a steering force assisting device 21 that applies assist force to the steering mechanism 4 and the ratio of the turning angle of the steered wheels 3 to the steering angle of the steering wheel 2, that is, rotation transmission from the input side to the output side. And a transmission ratio variable device 22 that varies the ratio (steering gear ratio). Further, the steering device 1 includes an integrated ECU 23 as a motor control device that controls the operation of the steering force assisting device 21 and the transmission ratio variable device 22.

  The steering force assisting device 21 includes an EPS motor 31 serving as a drive source, and a speed reduction mechanism 32 such as a worm and wheel connected to the EPS motor 31 and connected to the column shaft 13. The steering force assisting device 21 applies the motor torque to the steering mechanism 4 as an assist force by decelerating the rotation of the EPS motor 31 by the speed reduction mechanism 32 and transmitting it to the column shaft 13. That is, the steering device 1 of the present embodiment is configured as a column-type electric power steering device. Note that a three-phase brushless motor is employed for the EPS motor 31 of the present embodiment.

  The transmission ratio variable device 22 includes a VGR motor 33 serving as a driving source and a differential mechanism 34 such as a wave gear mechanism or a planetary gear mechanism, and is provided in the middle of the intermediate shaft 14. Specifically, the intermediate shaft 14 includes an input shaft 35 to which rotation associated with a steering operation is input by being connected to the column shaft 13, and an output shaft 36 to be connected to the pinion shaft 15. The differential mechanism 34 is connected to the input shaft 35 and the output shaft 36 and is also connected to the VGR motor 33. Then, the transmission ratio variable device 22 uses the differential mechanism 34 to add the rotation based on the drive of the VGR motor 33 to the rotation of the input shaft 35 accompanying the steering operation and transmit it to the output shaft 36, and the rack and pinion mechanism 16. The transmission ratio between the steering wheel 2 and the steered wheel 3 is changed by increasing (or decelerating) the rotation input to. Note that a three-phase brushless motor is adopted as the VGR motor 33 of the present embodiment.

  Further, the transmission ratio variable device 22 is provided with a lock mechanism 37 that can mechanically fix the transmission ratio. The lock mechanism 37 mechanically fixes the transmission ratio by entering a lock state that restricts relative rotation between the rotation shaft (not shown) of the VGR motor 33 and the input shaft 35. The lock mechanism 37 includes a lever (not shown) that rotates when the solenoid 38 is energized, and a lock holder (not shown) that has a groove portion that engages and disengages the claw portion according to the rotation of the lever. When the driving power is supplied to the solenoid 38, it is unlocked, and when the power supply to the solenoid 38 is stopped, the solenoid 38 is locked.

  The integrated ECU 23 includes a vehicle speed sensor 41 for detecting the vehicle speed SPD of the vehicle, a torque sensor 42 for detecting the steering torque T applied to the steering shaft 11, and a steering sensor (steering angle sensor) for detecting the steering angle θs of the steering wheel 2. 43) is connected. Then, the integrated ECU 23 controls the operation of the steering force assisting device 21 through the supply of drive power to the EPS motor 31 and the supply of drive power to the VGR motor 33 based on the state quantity detected by each sensor. The operation of the transmission ratio variable device 22 is controlled.

Next, the configuration of the integrated ECU will be described in detail.
As shown in FIG. 2, the integrated ECU 23 drives the EPS motor 31 in three phases (U phase, V phase, W phase) based on the EPS motor control signal S_me and the EPS microcomputer 51 that outputs the EPS motor control signal S_me. And an EPS inverter 52 for supplying electric power. The integrated ECU 23 includes a VGR microcomputer 53 that outputs a VGR motor control signal S_mv and a lock control signal S_lk, a VGR inverter 54 that supplies three-phase drive power to the VGR motor 33 based on the VGR motor control signal S_mv, a lock And a solenoid drive circuit 55 for supplying drive power to the solenoid 38 based on the control signal S_lk.

First, the configuration on the side that supplies power to the steering force assisting device will be described.
The EPS inverter 52 includes FETs (field effect transistors) 61a to 61f as a plurality of switching elements. The EPS inverter 52 according to the present embodiment is a well-known three-phase circuit in which FETs 61a and 61d, FETs 61b and 61e, and FETs 61c and 61f are connected in parallel with each other as a basic unit (switching arm). It is configured as an inverter. The connection points of the FETs 61a and 61d, the FETs 61b and 61e, and the FETs 61c and 61f are connected to the motor coils 63u, 63v, and 63w of the EPS motor 31 via the EPS power supply lines 62u, 62v, and 62w, respectively. . The EPS motor control signal S_me is a gate on / off signal that defines the on / off state of the FETs 61a to 61f. Then, in response to the EPS motor control signal S_me, the FETs 61 a to 61 f are turned on and off, and the energization pattern to the motor coils 63 u, 63 v, 63 w of each phase is switched, so that three-phase drive power is output to the EPS motor 31. The

  Between the EPS inverter 52 and the EPS motor 31, there is provided an EPS relay circuit 65 having phase open relays 64u, 64v, 64w provided in the middle of the EPS power supply lines 62u, 62v, 62w. Note that, as the phase open relays 64u, 64v, and 64w of this embodiment, mechanical relays that are opened and closed by energizing a coil (not shown) are employed. The phase open relays 64u, 64v, 64w of the EPS relay circuit 65 are connected to the EPS microcomputer 51 and are turned on / off by an EPS relay control signal S_le output from the EPS microcomputer 51. The integrated ECU 23 can supply power from the EPS inverter 52 to the EPS motor 31 when the phase release relays 64u, 64v, 64w are turned on and the EPS power supply lines 62u, 62v, 62w are turned on. On the other hand, when the phase open relays 64u, 64v, 64w are turned off and the EPS power supply lines 62u, 62v, 62w are cut off (opened), power supply from the EPS inverter 52 to the EPS motor 31 becomes impossible.

  The EPS microcomputer 51 receives a vehicle speed SPD detected by the vehicle speed sensor 41 and a steering torque T detected by the torque sensor 42. The EPS microcomputer 51 receives a rotation angle θme of the EPS motor 31 from a rotation angle sensor 66 provided in the EPS motor 31. Furthermore, the EPS microcomputer 51 receives the phase current values Iue, Ive, and Iwe of the EPS motor 31 from the phase current sensors 67u, 67v, and 67w provided in the ground wirings of the FETs 61a to 61f. The EPS microcomputer 51 calculates a target torque to be generated by the EPS motor 31 based on the state quantity detected by each sensor, and an EPS motor control signal for controlling the EPS motor 31 so that the target torque is generated. Output S_me.

  The EPS microcomputer 51 receives an IG signal S_ig, which indicates the on / off state of the ignition switch (IG) of the vehicle. When the IG signal S_ig indicating that the EPS microcomputer 51 is in the ON state is input, the EPS microcomputer 51 outputs an EPS relay control signal S_le that turns on the phase open relays 64u, 64v, and 64w to the EPS relay circuit 65. On the other hand, when the IG signal S_ig indicating that the IG is in the off state is input, the EPS relay control signal S_le for turning on the phase open relays 64u, 64v, and 64w is output to the EPS relay circuit 65.

  Further, the EPS microcomputer 51 detects a short-circuit failure and an open failure of the EPS inverter 52. The EPS microcomputer 51 of the present embodiment compares the phase current values Iue, Ive, Iwe detected by the phase current sensors 67u, 67v, 67w with a short current I_sh preset in a memory (not shown), When at least one of the phase current values Iue, Ive, and Iwe is larger than the short current I_sh, it is determined that a short fault has occurred. The EPS microcomputer 51 outputs the EPS motor control signal S_me that turns on the predetermined FETs 61a to 61f and outputs the phase current values Iue, Ive, Iwe detected by the corresponding phase current sensors 67u, 67v, 67w. Is less than or equal to a threshold current I_op indicating that the value is substantially zero, it is determined that an open failure has occurred. As an example, the EPS microcomputer 51 determines that an open failure has occurred when the phase current value Ive is equal to or less than the threshold current I_op in a state where the EPS motor control signal S_me that turns on the FET 61a and the FET 61e is output.

  Here, the EPS microcomputer 51 of the present embodiment includes a main CPU 68 and a sub CPU 69 as a preliminary control circuit. The main CPU 68 and the sub CPU 69 communicate with each other via a signal line (not shown), and the sub CPU 69 detects an abnormality of the main CPU 68 every predetermined cycle. When no abnormality has occurred in the main CPU 68 (when normal), the main CPU 68 is used for various calculations necessary for outputting various signals such as the EPS motor control signal S_me and for detecting abnormality of the EPS inverter 52. Performs various necessary calculations. On the other hand, when an abnormality occurs in the main CPU 68, the sub CPU 69 replaces the main CPU 68 with various operations necessary for outputting various signals such as the EPS motor control signal S_me and various operations necessary for detecting an abnormality in the EPS inverter 52. Etc.

  Note that the abnormality detection of the main CPU 68 by the sub CPU 69 of this embodiment is performed based on the response of the main CPU 68 to the confirmation signal transmitted by the sub CPU 69. The main CPU 68 of this embodiment transmits a specific response signal to the sub CPU 69 when receiving a confirmation signal transmitted from the sub CPU 69 every predetermined cycle. Then, even if the sub CPU 69 does not receive the response signal even if the confirmation signal is transmitted, or if the content indicated by the received response signal is not the content corresponding to the confirmation signal, an abnormality has occurred in the main CPU 68. Judge. If the sub CPU 69 determines that an abnormality has occurred in the main CPU 68, the sub CPU 69 stops power supply to the main CPU 68.

Next, the configuration on the side that supplies power to the transmission ratio variable device will be described.
The VGR inverter 54 includes FETs 71a to 71f as a plurality of switching elements. Similarly to the EPS inverter 52, the VGR inverter 54 is configured as a well-known three-phase inverter. The connection points of the FETs 71a and 71d, the FETs 71b and 71e, and the FETs 71c and 71f are connected to the motor coils 73u, 73v, and 73w of the respective phases of the VGR motor 33 through the VGR feed lines 72u, 72v, and 72w. .

  Between the VGR inverter 54 and the VGR motor 33, a VGR relay circuit 75 having phase open relays 74u and 74v provided in the middle of the VGR feed lines 72u and 72v is provided. Note that mechanical relays are employed as the phase open relays 74u and 74v of the present embodiment. The phase open relays 74u and 74v of the VGR relay circuit 75 are connected to the VGR microcomputer 53 and are turned on / off by a VGR relay control signal S_lv output from the VGR microcomputer 53. The integrated ECU 23 can supply power from the VGR inverter 54 to the VGR motor 33 by turning on the phase release relays 74u and 74v and turning on the VGR power supply lines 72u and 72v. On the other hand, when the phase open relays 74u and 74v are turned off and the VGR feed lines 72u and 72v are cut off, power supply from the VGR inverter 54 to the VGR motor 33 becomes impossible.

  The VGR microcomputer 53 receives the vehicle speed SPD detected by the vehicle speed sensor 41 and the steering angle θs detected by the steering sensor 43, respectively. Further, the rotation angle θmv of the VGR motor 33 is input to the VGR microcomputer 53 from a rotation angle sensor 76 provided in the VGR motor 33. Further, the VGR microcomputer 53 receives the phase current values Iuv, Ivv, Iwv of the VGR motor 33 from the phase current sensors 77u, 77v, 77w provided on the ground wirings of the FETs 71a-71f. Then, the VGR microcomputer 53 calculates a target angle of the VGR motor 33 based on the state quantity detected by each sensor, and outputs a VGR motor control signal S_mv for controlling the VGR motor 33 so as to be the target angle. To do.

  Further, the IG signal S_ig is input to the VGR microcomputer 53. When the IG signal S_ig indicating that the VGR microcomputer 53 is in the on state is input, the VGR microcomputer 53 outputs a VGR relay control signal S_lv that turns on the phase release relays 74u and 74v to the VGR relay circuit 75, and also includes the solenoid 38. A lock control signal S_lk is supplied to the solenoid drive circuit 55. The lock control signal S_lk is supplied to the solenoid drive circuit 55 (the lock mechanism 37 is unlocked). On the other hand, when the IG signal S_ig indicating that the IG is in the off state is input, the VGR relay control signal S_lv for turning on the phase open relays 74u and 74v is output to the VGR relay circuit 75 and to the solenoid 38. The lock control signal S_lk for stopping the power supply (the lock mechanism 37 is locked) is output to the solenoid drive circuit 55.

  Further, the VGR microcomputer 53 detects a short failure and an open failure of the VGR inverter 54. Note that the VGR microcomputer 53 detects a short failure and an open failure of the VGR inverter 54 in the same manner as the EPS microcomputer 51.

  Here, the VGR microcomputer 53 includes a main CPU 78, but does not include a sub CPU that replaces the main CPU 78. The VGR microcomputer 53 is connected to the EPS microcomputer 51, and the main CPU 78 of the VGR microcomputer 53 is connected to the sub CPU 69 of the EPS microcomputer 51. Then, the sub CPU 69 detects an abnormality of the main CPU 78 at every predetermined period. The abnormality detection of the main CPU 78 by the sub CPU 69 is performed by the same method as the abnormality detection of the main CPU 68 of the EPS microcomputer 51. If there is no abnormality in the main CPU 78, the main CPU 78 performs various calculations necessary for outputting various signals such as the VGR motor control signal S_mv, various calculations necessary for detecting an abnormality in the VGR inverter 54, etc. I do. On the other hand, when an abnormality occurs in the main CPU 78, the sub CPU 69 replaces the main CPU 78 with various operations necessary for outputting various signals such as the VGR motor control signal S_mv and various operations necessary for detecting an abnormality of the VGR inverter 54. Etc.

  The sub CPU 69 detects an abnormality in the main CPU 68 of the EPS microcomputer 51 even in a state where various calculations are performed in place of the main CPU 78 of the VGR microcomputer 53. Then, if an abnormality occurs in the main CPU 68 of the EPS microcomputer 51, the sub CPU 69 stops the VGR motor 33 and locks the lock mechanism 37, and then performs various calculations in place of the main CPU 68 of the EPS microcomputer 51. Do.

(Redundant configuration)
By the way, when an abnormality occurs in the EPS inverter 52, it becomes impossible to supply drive power from the EPS inverter 52 to the EPS motor 31. When an abnormality occurs in the VGR inverter 54, the VGR inverter 54 sends the VGR motor 33. It becomes impossible to supply driving power to. Here, when the case where the steering force assisting device 21 is stopped and the case where the transmission ratio variable device 22 is stopped are compared, the steering force assisting device 21 is driven preferentially and continuously due to the influence on the driver. Is desirable. In other words, from the viewpoint of functional importance, the steering force assisting device 21 has higher priority than the transmission ratio variable device 22 for redundancy (continuous driving). In consideration of this point, the integrated ECU 23 of the present embodiment is configured to be able to supply drive power from the VGR inverter 54 to the EPS motor 31 even if an abnormality occurs in the EPS inverter 52. That is, in the present embodiment, the EPS motor 31 is the first motor, the EPS inverter 52 is the first drive circuit, the EPS power supply lines 62u, 62v, and 62w are the first power supply line and the first power supply path, and the phase open relays 64u, 64v, 64w corresponds to the first switch, the main CPU 68 of the EPS microcomputer 51 corresponds to the first control circuit, and the EPS motor control signal S_me corresponds to the first motor control signal. Also, the VGR motor 33 is the second motor, the VGR inverter 54 is the second drive circuit, the VGR feed lines 72u, 72v, 72w are the second feed lines and the second feed path, the phase release relays 74u, 74v are the second switches, VGR The main CPU 78 of the microcomputer 53 corresponds to the second control circuit, and the VGR motor control signal S_mv corresponds to the second motor control signal.

  Specifically, the integrated ECU 23 includes connection lines 81u, 81v, and 81w as connection paths that connect the EPS power supply lines 62u, 62v, and 62w and the VGR power supply lines 72u, 72v, and 72w.

  One ends of the connection lines 81u, 81v, 81w are respectively connected to connection points 82u, 82v, 82w on the EPS motor 31 side of the phase release relays 64u, 64v, 64w in the EPS power supply lines 62u, 62v, 62w. Here, at the connection points 82u, 82v, 82w, when the phase open relays 64u, 64v, 64w are turned off, the voltage according to the on / off of the FETs 61a to 61f is not generated. It will not be supplied. In other words, one end of each of the connection lines 81u, 81v, 81w is connected to each of the connection points 82u, 82v, 82w where power is not supplied from the EPS inverter 52 when the phase open relays 64u, 64v, 64w are turned off. Yes.

  On the other hand, the other ends of the connection lines 81u and 81v are connected to connection points 83u and 83v on the VGR inverter 54 side of the phase open relays 74u and 74v in the VGR power supply lines 72u and 72v, respectively. The other end of the connection line 81w is connected to a connection point 83w of the VGR power supply line 72w. Here, even when the phase open relays 74u and 74v are turned off, voltages corresponding to the on / off of the FETs 71a to 71f are generated at the connection points 83u, 83v, and 83w, that is, power is supplied from the VGR inverter 54. The That is, the other ends of the connection lines 81u, 81v, 81w are respectively connected to connection points 83u, 83v, 83w to which power is supplied from the VGR inverter 54 even when the phase open relays 74u, 74v are turned off. Yes.

  Each connection line 81u, 81v, 81w has a switching circuit having switching relays 84u, 84v, 84w as changeover switches capable of interrupting energization between the connection points 82u, 82v, 82w and the connection points 83u, 83v, 83w. (Contactor) 85 is provided. Note that mechanical relays are employed as the switching relays 84u, 84v, and 84w of the present embodiment. The switching relays 84u, 84v, 84w of the switching circuit 85 are connected to the EPS microcomputer 51 and are turned on / off by a switching signal S_sw output from the EPS microcomputer 51. When IG is on (normal time), the switching relays 84u, 84v, and 84w are turned off.

  As shown in FIG. 3, the EPS microcomputer 51 outputs an EPS relay control signal S_le for turning off the phase open relays 64u, 64v, 64w when an abnormality occurs in the EPS inverter 52 (step 101: YES). At the same time, a VGR relay control signal S_lv for turning off the phase open relays 74u and 74v is output from the VGR microcomputer 53 (step: 102). Further, the lock mechanism 37 is locked by outputting the lock control signal S_lk for stopping energization to the solenoid 38 from the VGR microcomputer 53 (step 103). Then, the EPS microcomputer 51 outputs a switching signal S_sw for turning on the switching relays 84u, 84v, 84w (step 104), and outputs an EPS motor control signal S_me to the VGR inverter 54 via the VGR microcomputer 53. On the other hand, the EPS microcomputer 51 does not execute the processing of steps 102 to 105 and sends the EPS motor control signal S_me to the EPS inverter 52 when no abnormality has occurred in the EPS inverter 52 (step 101: NO). Output (step 105).

Next, power supply (action) to the EPS motor by the integrated ECU of this embodiment will be described.
As shown in FIG. 4A, when no abnormality has occurred in the integrated ECU 23, the phase open relays 64u, 64v, 64w, 74u, 74v are turned on, and the switching relays 84u, 84v, 84w are turned off. Is done. Therefore, the EPS motor 31 and the EPS inverter 52 and the VGR motor 33 and the VGR inverter 54 are electrically connected, and the EPS motor 31 and the VGR inverter 54 are disconnected. Thereby, the driving power is supplied from the EPS inverter 52 to the EPS motor 31 and the driving power is supplied from the VGR inverter 54 to the VGR motor 33, so that the EPS motor 31 (steering force assisting device 21) and the VGR motor 33 are supplied. (Transmission ratio variable device 22) can be driven.

  On the other hand, as shown in FIG. 4B, when an abnormality occurs in the EPS inverter 52, the phase open relays 64u, 64v, 64w, 74u, and 74v are turned off, and the switching relays 84u, 84v, and 84w are turned on. State. Therefore, the EPS motor 31 and the EPS inverter 52 and the VGR motor 33 and the VGR inverter 54 are disconnected from each other, and the EPS motor 31 and the VGR inverter 54 are electrically connected. Thereby, the drive power is supplied from the VGR inverter 54 to the EPS motor 31, so that the VGR motor 33 is stopped, but the EPS motor 31 can be continuously driven. Even if a short circuit failure has occurred in the EPS inverter 52, all the EPS power supply lines 62u, 62v, and 62w are cut off by turning off the phase opening relays 64u, 64v, and 64w. Is prevented from flowing into the EPS inverter 52 side.

Next, the effect of this embodiment will be described.
(1) When the EPS microcomputer 51 determines that an abnormality has occurred in the EPS inverter 52, the EPS microcomputer 51 stops the VGR motor 33 and supplies driving power from the VGR inverter 54 to the EPS motor 31. That is, the VGR inverter 54 is used as a backup for the EPS inverter 52. Therefore, the redundancy of the EPS inverter 52 can be realized without providing an extra inverter (drive circuit).

  (2) The integrated ECU 23 includes an EPS microcomputer 51 having a main CPU 68 that outputs an EPS motor control signal S_me, and a VGR microcomputer 53 having a main CPU 78 that outputs a VGR motor control signal S_mv. Therefore, for example, the processing performance required for each of the main CPUs 68 and 78 can be lowered as compared with the case where the EPS motor control signal S_me and the VGR motor control signal S_mv are output by one CPU. Further, the EPS microcomputer 51 is provided with a sub CPU 69 that functions as a substitute for one of the main CPUs 68 and 78 when an abnormality occurs. As described above, since one sub CPU 69 replaces one of the main CPUs 68 and 78, compared with the case where a sub CPU is provided for each of the main CPUs 68 and 78, the redundancy related to the main CPU is increased with a smaller number of parts. be able to.

  (3) Since the phase open relays 74u and 74v are provided only for the VGR feed lines 72u and 72v, the number of parts is reduced compared to the case where the phase open relays are provided for the VGR feed lines 72u, 72v and 72w, respectively. Simplification can be achieved.

In addition, the said embodiment can also be implemented in the following aspects which changed this suitably.
In the above embodiment, the switching circuit 85 includes the switching relays 84u, 84v, and 84w provided on the connection lines 81u, 81v, and 81w, respectively. However, the present invention is not limited to this. For example, as shown in FIG. 5, a plurality of (two in FIG. 5) switching relays 84 u, 84 v, 84 w are connected in parallel to each of the connection lines 81 u, 81 v, 81 w. It is good also as a structure. By comprising in this way, the redundancy regarding a change relay (change switch) can be improved.

In the above embodiment, the VGR relay circuit 75 may have three phase open relays provided in each of the VGR power supply lines 72u, 72v, 72w.
In the above embodiment, mechanical relays are used for the phase open relays 64u, 64v, 64w, 74u, 74v, and the switching relays 84u, 84v, 84w. The switch may be used.

  In the above embodiment, the abnormality detection of the main CPU 68 by the sub CPU 69 is performed based on the response of the main CPUs 68 and 78 to the confirmation signal transmitted by the sub CPU 69. The method can be changed as appropriate. Similarly, the method of abnormality detection (short failure and open failure) of the EPS inverter 52 and the VGR inverter 54 can be changed as appropriate. Only one of the short fault and the open fault may be detected.

  In the above-described embodiment, the sub CPU 69 is provided only in the EPS microcomputer 51. However, the present invention is not limited to this, and the sub CPU 69 may be provided only in the VGR microcomputer 53. A sub CPU may be provided in each of the EPS microcomputer 51 and the VGR microcomputer 53. Further, the EPS microcomputer 51 and the VGR microcomputer 53 may be configured not to include a sub CPU.

  In the above embodiment, the integrated ECU 23 is provided with the EPS microcomputer 51 and the VGR microcomputer 53. However, the present invention is not limited to this. For example, one integrated microcomputer that outputs the EPS motor control signal S_me and the VGR motor control signal S_mv is provided. May be. In this case, the integrated microcomputer may have a configuration including only a main CPU or a configuration including a main CPU and a sub CPU.

  In the above embodiment, the EPS microcomputer 51 outputs the EPS motor control signal S_me to the VGR inverter 54 via the VGR microcomputer 53 when an abnormality occurs in the EPS inverter 52. The signal S_me may be directly output to the VGR inverter 54. Further, the EPS microcomputer 51 may output the VGR relay control signal S_lv or the like, and the VGR microcomputer 53 may output the switching signal S_sw or the like.

  In the above embodiment, a brushless motor is used as the EPS motor 31. However, the present invention is not limited thereto, and for example, a DC motor with a brush may be used. In this case, for example, as illustrated in FIG. 6, the EPS inverter 52 is configured as a single-phase inverter (H bridge) including FETs 91 a to 91 d. The EPS relay circuit 65 includes phase open relays 93a and 93b provided on the EPS power supply lines 92a and 92b, respectively.

  Here, in this case, a breathing motor may be used as the VGR motor 33. At this time, one end of the connection lines 94a and 94b connecting the EPS power supply lines 92a and 92b and the VGR power supply lines 72u and 72v is supplied with electric power from the EPS inverter 52 when the phase open relays 93a and 93b are turned off. The connection points 95a and 95b that are no longer connected are respectively connected. On the other hand, the other ends of the connection lines 94a and 94b are connected to connection points 83u and 83v to which power is supplied from the VGR inverter 54 even when the phase open relays 74u and 74v are turned off. The switching circuit 85 includes switching relays 96a and 96b that are provided on the connection lines 94a and 94b and that can cut off the energization between the connection points 95a and 95b and the connection points 83u and 83v. In this configuration, when supplying the EPS motor 31 from the VGR inverter 54, only two switching arms (FETs 71a, 71b, 71d, 71e) of the three-phase inverter are operated to supply driving power to the EPS motor 31. Will do. Needless to say, when a brushed DC motor is used as the EPS motor 31, a brushed DC motor may be used as the VGR motor 33.

  In the above embodiment, in addition to the steering force assisting device 21 and the transmission ratio variable device 22, the integrated ECU 23 operates the tilt / telescopic adjustment device that adjusts the height position and the front / rear position of the steering wheel 2 using, for example, a motor as a drive source. You may make it control. In this configuration, for example, the EPS motor 31, the VGR motor 33, and the adjustment motor that is the drive source of the tilt / telescopic adjustment device can be set so that the priority order is lowered. In this case, in the relationship between the EPS motor 31 and the adjustment motor, the adjustment for supplying drive power to the EPS inverter 52 and the adjustment motor so that the EPS motor 31 is the first motor and the adjustment motor is the second motor. The connection lines and switching circuits similar to the connection lines 81u, 81v, 81w and the switching circuit 85 are provided between the driving circuit and the driving circuit. Similarly, in the relationship between the VGR motor 33 and the adjustment motor, there is a connection line between the VGR inverter 54 and the adjustment drive circuit so that the VGR motor 33 becomes the first motor and the adjustment motor becomes the second motor. Connection lines and switching circuits similar to 81u, 81v, 81w and the switching circuit 85 are provided. In this configuration, the VGR relay circuit 75 has three phase open relays provided in each of the VGR feed lines 72u, 72v, 72w.

  In this configuration, when an abnormality occurs in the EPS inverter 52, it is preferable to stop the adjustment motor having a lower priority first and supply drive power to the EPS motor 31 from the adjustment drive circuit. However, the VGR motor 33 may be stopped first, and drive power may be supplied from the VGR inverter 54 to the EPS motor 31. When an abnormality occurs in the VGR inverter 54, the adjustment motor is stopped and the drive power is supplied to the VGR motor 33 from the adjustment drive circuit. If an abnormality occurs in both the EPS inverter 52 and the VGR inverter 54, the VGR motor 33 and the adjustment motor are stopped, and the drive power is supplied to the EPS motor 31 from the adjustment drive circuit.

  Further, the operation of four or more motor units may be controlled by the integrated ECU 23. Also in this case, by setting priorities for a plurality of motors, when an abnormality occurs in a drive circuit that supplies drive power to a higher-order motor, a lower-order motor is compared with the higher-order motor. The driving power can be supplied from the driving circuit. In addition, as a motor unit which controls operation | movement by integrated ECU23, the steering lock apparatus etc. which control rotation of the steering wheel 2 after IG OFF are mentioned, for example.

  -In above-mentioned embodiment, although integrated ECU23 as a motor control apparatus controlled the action | operation of two motor units, the steering force auxiliary | assistance apparatus 21 and the transmission ratio variable apparatus 22, it is not restricted to this, A plurality of other motor units The operation may be controlled.

  DESCRIPTION OF SYMBOLS 1 ... Steering device, 4 ... Steering mechanism, 21 ... Steering force auxiliary device, 22 ... Transmission ratio variable device, 23 ... Integrated ECU (motor control device), 31 ... EPS motor (first motor), 33 ... VGR motor (first) 2 motor), 35 ... input shaft, 36 ... output shaft, 51 ... EPS microcomputer, 52 ... EPS inverter (first drive circuit), 53 ... VGR microcomputer, 54 ... VGR inverter (second drive circuit), 61a to 61f, 71a to 71f, 91a to 91d ... FET, 62u, 62v, 62w, 92a, 92b ... EPS feed line (first feed line and first feed path), 64u, 64v, 64w, 93a, 93b ... phase open relay (first 1 switch), 68 ... main CPU (first control circuit), 69 ... sub CPU (preliminary control circuit), 72u, 72v, 72w ... VGR feed line (second feed line and second feed line) Path), 74u, 74v, phase open relay (second switch), 78, main CPU (second control circuit), 81u, 81v, 81w, 94a, 94b, connection line (connection path), 82u, 82v, 82w, 83u, 83v, 83w, 94a, 94b, 95a, 95b ... connection point, 84u, 84v, 84w, 96a, 96b ... change relay (switch), S_me ... EPS motor control signal (first motor control signal), S_mv ... VGR motor control signal (second motor control signal).

Claims (6)

In a motor control device that controls the operation of a plurality of motors,
A first motor control signal for controlling the operation of a first motor that is an arbitrary one of the plurality of motors, and an operation of a second motor that is another one of the plurality of motors. A control circuit for outputting a second motor control signal to
A first drive circuit for supplying drive power to the first motor based on the first motor control signal;
A second drive circuit for supplying drive power to the second motor based on the second motor control signal;
A first switch capable of interrupting a first power supply path connecting the first motor and the first drive circuit;
A second switch capable of interrupting a second power supply path connecting the second motor and the second drive circuit;
When the first switch is turned off, power is not supplied from the first drive circuit, and the second drive is performed even when the second power switch is turned off. A changeover switch that can cut off a connection path that connects a connection point of the second power supply path to which power is supplied from a circuit;
The control circuit turns off the first switch and the second switch and turns on the changeover switch when an abnormality occurs in the first drive circuit. apparatus. The motor control device according to claim 1,
The control circuit includes:
A first control circuit for outputting the first motor control signal;
A second control circuit for outputting the second motor control signal;
A motor control device, comprising: a preliminary control circuit that functions as a substitute for either one of the first control circuit and the second control circuit when an abnormality occurs. In the motor control device according to claim 1 or 2,
Each of the first and second motors is a three-phase brushless motor,
Each of the first and second drive circuits is a three-phase inverter in which three switching arms each composed of a series circuit of a pair of switching elements are connected in parallel;
The first feeding path includes three first feeding lines corresponding to each phase,
The second power supply path includes three second power supply lines corresponding to each phase,
The connection path includes three connection lines corresponding to each phase,
Each of the three first feeders is provided with the first switch,
Two of the three second feeders are each provided with the second switch,
One end of each of the three connection lines is connected to a connection point on the first motor side than the first switch in each of the first power supply lines,
Two other ends of the three connection lines are respectively connected to connection points on the second drive circuit side of the second switch in the second power supply lines provided with the second switches. And the other end of the other one is connected to the second power supply line not provided with the second switch. In the motor control device according to any one of claims 1 to 3,
The motor control apparatus according to claim 1, wherein the connection path includes a plurality of the changeover switches connected in parallel to each other. In the motor control device according to any one of claims 1 to 4,
The plurality of motors are set with a priority for driving continuously,
In any two relationships among the plurality of motors, a motor having a higher priority is the first motor, and a motor having a lower priority is the second motor. A motor control device. The motor control device according to claim 5,
Driving an EPS motor as a drive source of a steering force assisting device that applies assist force to the steering mechanism, and driving of a transmission ratio variable device that adds rotation based on the motor drive to the rotation of the input shaft based on the steering operation and transmits the rotation to the output shaft It controls the operation of the VGR motor that is the source,
The motor control apparatus according to claim 1, wherein the EPS motor is the first motor having a higher priority, and the VGR motor is the second motor having a lower priority.