JP2018038176A - Motor control device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a motor control device capable of exhibiting an intrinsic performance regardless of an input state of an external signal.SOLUTION: The motor control device comprises a first ECU 31 and a second ECU 32 composed of arithmetic processing parts 310 and 320 respectively, the arithmetic processing parts 310 and 320 being provided in combination with drive circuits respectively. Each of the arithmetic processing parts 310 and 320 is configured to operate as a master or a slave. For example, when the first arithmetic processing part 310 is a master, the first arithmetic processing part 310 calculates a torque command value. Each of the arithmetic processing parts 310 and 320 has an output switching part which switches an output mode of the torque command value, and a master and slave determining part which determines whether it works as a master or slave. Each of the arithmetic processing parts 310 and 320 is configured to switch the output mode of the torque command value at each output switching part, on the basis of a determination result of each master and slave determining part.SELECTED DRAWING: Figure 3

Description

  The present invention relates to a motor control device.

As a motor control device that controls the operation of a motor having a plurality of windings, for example, there is one described in Patent Document 1.
In Patent Document 1, in a vehicle steering device, two systems of a first motor having a first motor winding and a second motor having a second motor winding so as to apply power to a steering mechanism. The thing provided with the steering control apparatus which controls operation | movement of this motor is disclosed. In this steering control device, a first system configured by a first ECU provided in combination with the first drive circuit so as to supply a current to the first motor, and a current to the second motor are supplied. And a second system configured by a second ECU provided in combination with the second drive circuit. Each ECU is individually input with the steering angle of the steering wheel as a position signal from the outside, and is individually connected with a rotation angle sensor for detecting the rotation angle of each motor.

  Specifically, the first ECU generates a torque command value using the position signal. The torque command value is distributed to the first ECU and the second ECU by the first ECU. Each ECU controls the operation of each drive circuit provided in combination using the detection result of the rotation angle sensor connected to each ECU based on the torque command value distributed by the first ECU. ing. That is, in each ECU, the first ECU operates as a master, and the second ECU operates as a slave.

JP 2004-182039 A

  As described in Patent Document 1, when each ECU is configured to operate as either a master or a slave, the first ECU, which is a master, has an external signal such as a position signal necessary for control as a master. While a signal is input, an external signal such as a position signal necessary for control as a slave is input to the second ECU that is a slave. For example, when the external signal differs depending on whether it is a master or a slave, the master external signal is correctly input to the first ECU that is the master, and the slave external signal is correctly input to the second ECU that is the slave. Thus, it must be correctly input to each ECU.

  If an external signal is erroneously input to each ECU due to a connector connection error or the like, the original performance of the motor control may not be exhibited. This is not limited to applying power to the steering mechanism in the vehicle, and is the same as long as it controls the operation of the motor.

  The present invention has been made in view of such circumstances, and an object of the present invention is to provide a motor control device capable of exhibiting original performance in motor control regardless of the input state of an external signal.

  A motor control device that solves the above problems includes a plurality of control systems that control the operation of a motor having a plurality of windings, and each control system supplies current to each winding of each system. An arithmetic unit provided in combination with the drive circuit is included, and each arithmetic unit is configured to operate as a master arithmetic unit or a slave arithmetic unit. In this motor control device, the master calculation unit calculates a current command value that is the target of the amount of current to be supplied to the windings, and outputs the current command value to the slave calculation unit. Each of the unit and the slave calculation unit is configured to control the operation of the drive circuit of the control system to which it belongs based on the current command value. In addition, each arithmetic unit has an output switching unit that switches an output mode so as to output a current command value to a slave arithmetic unit when the arithmetic unit is a master arithmetic unit. In addition, at least one of the calculation units is input with a master external signal input when the calculation unit is a master calculation unit or is input with a slave calculation unit when the calculation unit is a slave. Based on whether an external signal is input, each arithmetic unit has a master / slave determination unit that determines whether each arithmetic unit operates as a master arithmetic unit or a slave arithmetic unit. Based on the determination result of the determination unit, the output mode of the current command value in the output switching unit is switched.

  According to the above configuration, in each arithmetic unit, regardless of whether an external signal for master or an external signal for slave is input, the arithmetic unit for the master and the slave according to the type of external signal to be input It is determined which one of the operation units operates. In conjunction with this determination, the output mode by the output switching unit is also switched, so that each calculation unit operates in the master calculation unit or the slave calculation unit in accordance with the input state of the external signal at that time. Therefore, it is possible to eliminate the erroneous input of the external signal as described in the above [Problems to be solved by the invention], and to exhibit the original performance in the motor control regardless of the input state of the external signal. Can do.

In the motor control device, each arithmetic unit preferably has a master / slave determination unit.
According to the above configuration, it is possible to improve the reliability of motor control redundancy.

  Specifically, in the motor control device, the master external signal and the slave external signal are signals used to control the operation of the drive circuit of the control system. In this case, for example, the external signal for master and the external signal for slave are signals having different communication methods or communication cycles.

  According to these configurations, by using the configuration for controlling the operation of the drive circuit of the control system, it is possible to eliminate the erroneous input of the external signal as described in the above [Problems to be solved by the invention]. it can. Thereby, the range which a structural change reaches can be made small and versatility can be improved.

In the motor control device, the master external signal and the slave external signal may be signals that are not used to control the operation of the drive circuit of the control system.
According to this configuration, the master external signal and the slave external signal need only be configured to be distinguishable, and it can be said that the configuration is highly flexible. Therefore, versatility can be further improved.

  According to each configuration described above, even if the master / slave determination unit is included, if an abnormality occurs in the master / slave determination unit, it is determined that all the calculation units operate in the master calculation unit, or all the calculation units May be determined to operate in the arithmetic unit of the slave.

  Therefore, in the motor control device, when an abnormality occurs in the determination contents of the master / slave determination unit, each calculation unit may determine in advance which of the master calculation unit and the slave calculation unit operates. desirable.

  According to the above configuration, even if an abnormality occurs in the master / slave determination unit, all the calculation units do not operate as the master calculation unit, and all the calculation units do not operate as the slave calculation unit. That is, at least a master calculation unit and a slave calculation unit can exist. In this case, even if there is a possibility that the original performance is not achieved in the motor control, it is at least avoided that the operation of the drive circuit of the control system cannot be continued. Therefore, the reliability of the motor control can be improved.

  According to the present invention, the original performance can be exhibited in the motor control regardless of the input state of the external signal.

The figure which shows the outline about one Embodiment of an electric power steering apparatus. The block diagram which shows the electric structure about the electric power steering apparatus. The block diagram which shows the function of each arithmetic processing part about the motor control apparatus of the same electrical power steering apparatus. The figure explaining the content of the determination of the master slave determination part in 1st Embodiment. The block diagram which shows the function of the master slave determination part in 1st Embodiment. The figure explaining the content of the determination of the master slave determination part in 2nd Embodiment. The block diagram which shows the function of the master slave determination part in 2nd Embodiment.

(First embodiment)
Hereinafter, a first embodiment of the motor control device will be described.
As shown in FIG. 1, for example, the vehicle A deviates from the lane while the vehicle A travels by applying power to the steering mechanism 2 described later to automatically change the traveling direction of the vehicle A. A vehicle steering system 1 that builds a lane departure prevention support system is installed.

  The steering mechanism 2 includes a steering wheel 10 operated by a user and a steering shaft 11 fixed to the steering wheel 10. The steering shaft 11 includes a column shaft 11a connected to the steering wheel 10, an intermediate shaft 11b connected to the lower end portion of the column shaft 11a, and a pinion shaft 11c connected to the lower end portion of the intermediate shaft 11b. doing. A lower end portion of the pinion shaft 11 c is connected to the rack shaft 12 via a rack and pinion mechanism 13. The rotational motion of the steering shaft 11 is converted into a reciprocating linear motion in the axial direction of the rack shaft 12 via the rack and pinion mechanism 13. The reciprocating linear motion is transmitted to the left and right steered wheels 15 via the tie rods 14 respectively connected to both ends of the rack shaft 12, thereby changing the steered angles of the steered wheels 15.

  In the middle of the column shaft 11 a fixed to the steering wheel 10, an actuator 3 having a motor 20 that is a source of power to be applied to the steering mechanism 2 is provided. For example, the motor 20 is a surface magnet synchronous motor (SPMSM) and is a three-phase brushless motor that rotates based on three-phase (U, V, W) driving power. A rotation shaft 21 of the motor 20 is connected to the column shaft 11a via a speed reduction mechanism 22. The actuator 3 transmits the rotational force of the rotating shaft 21 of the motor 20 to the column shaft 11 a via the speed reduction mechanism 22. The torque (rotational force) of the motor 20 applied to the column shaft 11a becomes power (steering force), and the turning angle of the left and right steered wheels 15 is changed.

  As shown in FIG. 2, the motor 20 includes a rotor 23 that rotates about the rotation shaft 21, and a stator 24 that is disposed on the outer periphery of the rotor 23. A permanent magnet is fixed to the surface of the rotor 23. The permanent magnets are alternately arranged with different polarities (N pole, S pole) in the circumferential direction of the rotor 23. Such a permanent magnet forms a magnetic field, that is, a field, when the motor 20 rotates. The stator 24 has a plurality of three-phase (U-phase, V-phase, W-phase) windings 25 arranged in an annular shape. The winding 25 is classified into a first system winding 26 and a second system winding 27. The first system winding 26 and the second system winding 27 are each star-connected. In addition, as for each system | strain winding 26,27, the coil | winding of each each phase is alternately arrange | positioned for every system | strain along the periphery of the stator 24, or each coil | winding of each phase is along the periphery of the stator 24. They may be arranged side by side, or may be stacked on the same tooth in the radial direction of the stator 24.

  Returning to the description of FIG. 1, the actuator 3 is connected to a motor control device 30 that controls the operation (drive) of the motor 20 by controlling the amount of current that is the control amount of the motor 20. The motor control device 30 controls the operation of the motor 20 based on the detection results of various sensors provided in the vehicle A. As various sensors, for example, there are two (individual) torque sensors 50 and 51 and two (individual) rotation angle sensors 52 and 53.

  The torque sensors 50 and 51 are provided on the column shaft 11a, and the rotation angle sensors 52 and 53 are provided on the motor 20. The torque sensors 50 and 51 detect torque values Tm1 and Tm2, which are values indicating the magnitude and direction of the steering torque that is a load applied to the steering shaft 11 by the steering operation of the user. The rotation angle sensors 52 and 53 detect the rotation angles θm1 and θm2 of the rotation shaft 21 of the motor 20, respectively. Note that there is a correlation between the rotation angles θm1 and θm2 and the rotation angle of the column shaft 11a and the steered angle of the steered wheels 15 in conjunction with the user's steering operation. If the rotation angles θm1 and θm2 are processed and multiplied by a conversion coefficient, the rotation angle of the column shaft 11a and the steering angle of the steered wheels 15, that is, the actual angle can be calculated.

  The torque sensors 50 and 51 have the same configuration, and are, for example, Hall ICs (elements) that output digital values corresponding to the steering torque. The torque sensors 50 and 51 both detect the column shaft 11a and output substantially the same digital value when both are normal. As a result, the torque sensors 50 and 51, that is, the information of the steering torque as the detection results thereof are made redundant. Similarly, each of the rotation angle sensors 52 and 53 has the same configuration, and is, for example, a Hall IC (element) that outputs a digital value corresponding to the rotation angle of the rotation shaft 21 of the motor 20. Each of the rotation angle sensors 52 and 53 has the rotation axis 21 as a detection target, and outputs substantially the same digital value when both are normal. As a result, the rotation angle sensors 52 and 53, that is, the information on the rotation angle, which is the detection result thereof, is made redundant.

  The motor control device 30 is connected to a host control device 40 mounted on the vehicle. The host control device 40 instructs the motor control device 30 to perform automatic steering control (lane keeping control) that automatically changes the traveling direction of the vehicle A.

  The host control device 40 is based on the detection result of the vehicle surrounding environment detection unit 54 by GPS such as car navigation provided in the vehicle A, other in-vehicle sensors (camera, distance sensor, yaw rate sensor, laser, etc.) and inter-road communication. Then, two (individual) angle command values θs1 * and θs2 * used for automatic steering control are calculated at predetermined intervals. Then, the host controller 40 individually outputs the calculated angle command values θs1 * and θs2 * to the motor controller 30 at predetermined intervals. In the present embodiment, each angle command value θs1 * is an example of a master external signal, and the angle command value θs2 * is an example of a slave external signal.

  The vehicle surrounding environment detection unit 54 calculates the angle information θv based on these by detecting the vehicle surrounding environment from various sensors. The angle information θv is, for example, the relative direction of the vehicle A with respect to the road. This is a component (state quantity) indicating the traveling direction of the vehicle A, and the steering angle of the steered wheels 15 with respect to the straight traveling direction of the vehicle A. Therefore, the rotation angles θm1 and θm2 that can be converted into the steering angle of the steered wheels 15 are components that indicate the actual traveling direction of the vehicle A. Further, each angle command value θs1 *, θs2 * used for automatic steering control is a target value of a component indicating the traveling direction of the vehicle A. The angle command values θs1 * and θs2 * are in principle the same value, and the information on the angle command value for automatic steering control is made redundant.

  The motor control device 30 is connected to a changeover switch (not shown). The changeover switch is operated by the user and instructs to switch whether or not the motor control device 30 sets an automatic steering mode in which automatic steering control is executed. The motor control device 30 executes the automatic steering control while the setting of the automatic steering mode is instructed, and interrupts the automatic steering control if there is an intervention of the steering operation by the user (hereinafter referred to as “intervention operation”). Execute intervention control to assist steering operation. Further, the motor control device 30 executes assist control for assisting the steering operation without executing the automatic steering control while the setting of the automatic steering mode is not instructed (when the setting is not instructed). In this case, the motor control device 30 invalidates the angle command values θs1 * and θs2 * output from the host control device 40.

Next, the electrical configuration of the vehicle steering system 1 will be described together with the function of the motor control device 30.
As shown in FIG. 2, the motor control device 30 includes a first electronic control device 31 (hereinafter referred to as “first ECU”) that constitutes a control system that supplies current (drive power) to the first system winding 26 of the motor 20. And a second electronic control unit 32 (hereinafter referred to as “second ECU”) constituting a control system for supplying current (drive power) to the second system winding 27 of the motor 20. . Each of the electronic control devices 31 and 32 is an ECU (Electronic Control Unit) that constitutes an independent control system.

  A torque sensor 50 and a rotation angle sensor 52 are connected to the first ECU 31. The first ECU 31 receives the torque value Tm1 from the torque sensor 50 and the rotation angle θm1 from the rotation angle sensor 53 via the interface com11 (communication line). In addition, the angle command value θs1 * is input to the first ECU 31 from the host controller 40 via the interface com12 (communication line). Similarly, a torque sensor 51 and a rotation angle sensor 53 are connected to the second ECU 32. The second ECU 32 receives the torque value Tm2 from the torque sensor 51 and the rotation angle θm2 from the rotation angle sensor 53 via the interface com21 (communication line). Further, the angle command value θs2 * is input from the host controller 40 to the second ECU 32 via the interface com22 (communication line). Each ECU 31, 32 is connected to an individual DC power source for supplying current to each system winding 26, 27.

  Each of the ECUs 31 and 32 inputs / outputs information to / from each other via an interface com 13 (communication line) provided in the first ECU 31 and an interface com 23 (communication line) provided in the second ECU 32 in the motor control device 30. Connected as possible. A plurality of information including at least a torque command value and a rotation angle, which will be described later, are transmitted from the first ECU 31 to the second ECU 32 in one direction at a time via, for example, serial communication or the like via the interfaces com13 and com23. Are transmitted from the second ECU 32 in one direction to the first ECU 31 at a time.

  The first ECU 31 includes a first calculation processing unit 310, a first drive circuit 311, a first current sensor 312, and a first angle calculation unit 313. The second ECU 32 includes a second calculation processing unit 320, a second drive circuit 321, a second current sensor 322, and a second angle calculation unit 323.

  Each of the drive circuits 311 and 321 is a three-phase (U-phase, V-phase, W-phase) inverter circuit having a plurality of switching elements such as MOSFETs. Each drive circuit 311, 321 has three sets of arms (single-phase half-bridges) each consisting of two FETs (Field effect transistors) connected in series, between the + terminal and the − terminal of the DC power supply. Connected in parallel.

The current sensors 312 and 322 detect the current values I1 and I2 of the phases generated in the power feeding path between the drive circuits 311 and 321 and the system windings 26 and 27, respectively.
The angle calculation units 313 and 323 calculate the rotation angles θm1 and θm2 indicating the rotation angle of the rotation shaft 21 of the motor 20 based on the digital values V1 and V2 output from the rotation angle sensors 52 and 53, respectively.

  The first arithmetic processing unit 310 performs periodic processing for each predetermined control period, thereby the torque sensor 50, the rotation angle sensor 52 (first angle calculating unit 313), and the first current together with the host control device 40. Each value of the sensor 312 is captured. Then, the first arithmetic processing unit 310 generates the first PWM signal P1 through periodic processing, and performs PWM control using the first drive circuit 311 (first system winding 26) as a control target. Similarly to this, the second arithmetic processing unit 320 executes periodic processing for each predetermined control period, thereby the torque sensor 51, the rotation angle sensor 53 (second angle calculating unit 323), together with the host control device 40, And each value of the 2nd current sensor 322 is taken in. Then, the second arithmetic processing unit 320 generates the second PWM signal P2 through periodic processing, and performs PWM control using the second drive circuit 321 (second system winding 27) as a control target.

  In addition, each of the arithmetic processing units 310 and 320 takes in necessary information. Each of the arithmetic processing units 310 and 320 takes in a command value, a sensor detection result, information related to an abnormality in the other arithmetic processing unit, and the like through the other arithmetic processing unit.

Next, functions of the first arithmetic processing unit 310 and the second arithmetic processing unit 320 will be described in detail.
As illustrated in FIG. 3, each of the arithmetic processing units 310 and 320 is, for example, a micro process unit (MPU) including one or a plurality of CPUs (Central Processing Units), and the “calculation” described in “Claims”. Part "is an example.

  The calculation processing units 310 and 320 include position feedback calculation units (hereinafter referred to as “position F / B units”) 410 and 420, angle conversion units 411 and 421, assist torque calculation units 412 and 422, and current feedback calculation units (hereinafter referred to as “position feedback calculation units”). , “Current F / B section”) 413, 423, and PWM output sections 414, 424, respectively. The arithmetic processing units 310 and 320 have abnormality detection units 415 and 425 and output switching units 416 and 426, respectively.

  The position F / B units 410 and 420 are the differences between the angle command values θs1 * and θs2 * obtained from the host controller 40 and the actual angles θs1 and θs2 obtained through the angle conversion units 411 and 421, respectively. Based on the angular deviation, automatic steering torque components Ts1 * and Ts2 * are calculated. The automatic steering torque components Ts1 * and Ts2 * are target values of the current amount corresponding to the automatic steering torque (power) to be generated by the motor 20 through the respective system windings 26 and 27. That is, the automatic steering torque components Ts1 * and Ts2 * are current command values.

  The angle conversion units 411 and 421 integrate the rotation angles θm1 and θm2 obtained from the angle calculation units 313 and 323, respectively, thereby obtaining an absolute angle that is a numerical angle in an angle region wider than 0 to 360 °. Convert to Then, each angle conversion unit 411, 421 calculates each actual angle θs1, θs2 by multiplying each rotation angle θm1, θm2 converted to an absolute angle by a coefficient. This coefficient is determined according to the rotation speed ratio between the speed reduction mechanism 22 and the rotation shaft 21 of the motor 20.

  If the position F / B units 410 and 420 can determine that there is an intervention operation during the setting of the automatic steering mode, the position F / B units 410 and 420 output zero values regardless of the values of the respective automatic steering torque components Ts1 * and Ts2 *. . As in this case, the position F / B units 410 and 420 invalidate the angle command values θs1 * and θs2 * output by the host controller 40 during the non-setting of the automatic steering mode. Output.

  The assist torque calculation units 412 and 422 calculate assist torque components Ta1 * and Ta2 * based on the torque values Tm1 and Tm2 obtained from the torque sensors 50 and 51, respectively. The assist torque components Ta1 * and Ta2 * are target values of the current amount corresponding to the assist torque (power) to be generated by the motor 20 through the respective system windings 26 and 27. That is, each assist torque component Ta1 *, Ta2 * is a current command value.

  In each of the current F / B units 413 and 423, a torque command value T1 * that is an addition value of the automatic steering torque component Ts1 * and the assist torque component Ta1 * calculated in the first ECU 31, and an automatic operation calculated in the second ECU 32 are provided. Any torque command value of the torque command value T2 *, which is an addition value of the steering torque component Ts2 * and the assist torque component Ta2 *, is input. Note that a torque command value that is an addition value of the automatic steering torque component and the assist torque component is a current command value.

  Each current F / B unit 413, 423 is based on the torque command value of each torque command value T1 *, T2 *, the rotation angle, and each phase current value, and the duty command value D1 for PWM control. * And D2 * are calculated. Note that the rotation angle in this case is the rotation angle obtained in each ECU 31, 32 to which each calculation unit that calculated the input torque command value belongs, while each phase current value is the current F / B unit 413, respectively. Each phase current value obtained in each ECU 31, 32 to which 423 belongs.

Each PWM output unit 414, 424 calculates each PWM signal P1, P2 based on each duty command value D1 *, D2 * calculated in each ECU 31, 32 to which it belongs.
Each abnormality detection unit 415, 425 self-diagnose whether there is an abnormality in which control related to the operation such as power supply to each system winding 26, 27 to which current is to be supplied in each ECU 31, 32 belongs. Has a self-diagnosis function. Each of the abnormality detection units 415 and 425 determines whether or not an abnormality has occurred in each of the angle command values θs1 * and θs2 *, each of the rotation angles θm1 and θm2, or each of the torque values Tm1 and Tm2 obtained in each of the ECUs 31 and 32 to which it belongs. Diagnose.

  The abnormality detection unit 415 of the first arithmetic processing unit 310 determines whether or not the torque value Tm1, the angle command value θs1 *, and the rotation angle θm1 are input every predetermined period, It is determined whether or not it is appropriate based on comparison with a value, calculation of a mean square sum, and the like. The same applies to the abnormality detection unit 425 of the second arithmetic processing unit 320.

  When the torque value Tm1 is not input every predetermined period, there is a possibility that the interface com11 is disconnected. When the torque value Tm1 is not appropriate, there is a possibility that the torque sensor 50 is abnormal. Further, when the angle command value θs1 * is not input every predetermined cycle, there is a possibility that the interface com12 is disconnected. If the angle command value θs1 * is not valid, there is a possibility that the calculation of the host control device 40 is abnormal. Further, when the rotation angle θm1 is not input every predetermined period, there is a possibility that the rotation angle sensor 52 or the first angle calculation unit 313 is disconnected. Further, when the rotation angle θm1 is not appropriate, there is a possibility that the rotation angle sensor 52 has a sensor abnormality and the first angle calculation unit 313 has a calculation abnormality. The same applies to the abnormality of the torque value Tm2, the angle command value θs2 *, and the rotation angle θm2.

  When each abnormality detection unit 415, 425 makes a self-diagnosis that abnormality has occurred in each ECU 31, 32 to which it belongs, as a result, abnormality flags FLG1, FLG2 are output. Each abnormality flag FLG1, FLG2 is output to the output switching unit of the ECU to which it belongs, and is also output to the output switching unit of the other (other party) ECU via each interface com13, com23. Thereby, each arithmetic processing unit 310, 320 (each output switching unit 416, 426) detects that an abnormality has occurred in the ECU to which it belongs and also detects that an abnormality has occurred in the other (partner) ECU. To detect.

  Respective torque command values T1 *, T2 *, rotation angles θm1, θm2, and abnormality flags FLG1, FLG2 obtained by calculation or the like in the respective ECUs 31, 32 are input to the output switching units 416, 426.

  Then, each output switching unit 416, 426 outputs the torque command value T1 * and the rotation angle θm1 obtained by the first arithmetic processing unit 310 to each current F / B unit 413, 423 of each ECU 31, 32 to which it belongs. Or whether to output the torque command value T2 * and the rotation angle θm2 obtained by the second arithmetic processing unit 320 is switched. For example, when the output switching unit 416 of the first arithmetic processing unit 310 outputs the torque command value T1 * and the rotation angle θm1 to the current F / B unit 413, the output switching unit 426 of the second arithmetic processing unit 320 is also used. Outputs a torque command value T1 * and a rotation angle θm1 to the current F / B unit 423. The same applies to the case where the torque command value T2 * and the rotation angle θm2 are output.

  In the present embodiment, when the ECUs 31 and 32 are not detected to be abnormal through the abnormality detection units 415 and 425 and the ECUs 31 and 32 are normal, the angle command value θs1 * is input between the ECUs 31 and 32. The ECU is operated as a master, and the ECU to which the angle command value θs2 * is input is operated as a slave.

  As shown in FIG. 3, in this embodiment, since the angle command value θs1 * is input to the first ECU 31 and the angle command value θs2 * is input to the second ECU 32, the first ECU 31, that is, the first arithmetic processing unit 310 is the master. The second ECU 32, that is, the second arithmetic processing unit 320 operates as a slave. In this case, the torque command value T1 * calculated by the master first arithmetic processing unit 310 is used for the calculation of the PWM signals P1 and P2 of the arithmetic processing units 310 and 320, and the master first arithmetic processing is performed. The rotation angle θm1 detected by the rotation angle sensor 52 connected to the first ECU 31 to which the unit 310 belongs is used.

  In the present embodiment, the angle command value θs2 * is transmitted, for example, in a CAN (Contoller Area Network, registered trademark) communication system, and the angle command value θs1 * is transmitted at a time with respect to the CAN communication system. A large amount of information can be transmitted at a high speed, for example, a CANFD (CAN with Flexible Date Rate) communication method. That is, when the angle command value θs1 * is used, much information can be obtained in a short period compared to the case where the angle command value θs2 * is used, and the automatic steering torque command value in which much information is reflected. (Torque command value) can be calculated. Thereby, in this embodiment, when ECU which receives angle command value (theta) s1 * operate | moves by a master, optimal control as control of the motor 20 is realizable.

  As a result, the arithmetic processing units 310 and 320 operate synchronously so as to calculate the PWM signals P1 and P2 having the same phase, and the respective driving circuits 311 and 321 (each system winding 26 and 27) are operated. Is basically configured to supply the same amount of current at the same timing. That is, the same torque command value and rotation angle are used for the calculation of the PWM signals P1 and P2 of the arithmetic processing units 310 and 320, and are adjusted by the drive circuits 311 and 321 (the system windings 26 and 27). Thus, a torque command value calculated so as to obtain a necessary current amount is used. The torque command value of the present embodiment is calculated as a target value of the current amount corresponding to half (50%) of the total torque generated by the motor 20.

  Specifically, as indicated by a thick line in FIG. 3, the output switching unit 416 of the master first arithmetic processing unit 310 performs the automatic steering torque component Ts1 * calculated by the position F / B unit 410 and the assist torque calculation. Torque command value T1 * that is an addition value with assist torque component Ta1 * calculated by unit 412 is output to current F / B unit 413. At the same time, the first arithmetic processing unit 310 of the master outputs the torque command value T1 * and the rotation angle θm1 to the output switching unit 426 of the second arithmetic processing unit 320 of the slave via the interfaces com13 and com23.

  Then, the first arithmetic processing unit 310 of the master uses the torque command value T1 * calculated by itself and the rotation angle θm1 detected through the rotation angle sensor 52 connected to the first ECU 31 to which it belongs, to the first drive circuit. PWM control is performed using 311 (first system winding 26) as a control target. The slave second calculation processing unit 320 is connected to the torque command value T1 * calculated by the master first calculation processing unit 310 and the first ECU 31 to which the master first calculation processing unit 310 belongs. Using the rotation angle θm1 detected through the angle sensor 52, PWM control is performed using the second drive circuit 321 (second system winding 27) as a control target.

  That is, in FIG. 3, in order to output the first PWM signal P1 in the first calculation processing unit 310 so as to add dots in the block, the position F / B unit 410 and the angle conversion unit 411 (first angle calculation unit 313). (Rotation angle sensor 52)), assist torque calculation unit 412, current F / B unit 413, PWM output unit 414, and output switching unit 416 perform various processes. In addition, in the second arithmetic processing unit 320, the current F / B unit 423, the PWM output unit 424, and the output switching unit 426 perform various processes in order to output the second PWM signal P2.

Further, in FIG. 3, in the first arithmetic processing unit 310, the abnormality detection unit 415 performs self-diagnosis that an abnormality has occurred in the first ECU 31 so as to add dots in the block.
When the abnormality detection unit 415 detects that an abnormality has occurred in the master ECU, the ECU to which the angle command value θs2 * is input serves as the master, and the ECU to which the angle command value θs1 * is input. The master-slave relationship is switched between the ECUs 31 and 32 so as to be slaves.

  In this case, the torque command value T2 * calculated by the master second calculation processing unit 320 is used for the calculation of the PWM signals P1 and P2 of the calculation processing units 310 and 320, and the master second calculation processing is performed. The rotation angle θm2 detected by the rotation angle sensor 53 connected to the second ECU 32 to which the unit 320 belongs is used.

  Specifically, the abnormality detection unit 415 outputs the abnormality flag FLG1 to the output switching unit 416 of the first arithmetic processing unit 310. At the same time, the abnormality detection unit 415 outputs the abnormality flag FLG1 to the output switching unit 426 of the second arithmetic processing unit 320 via the interfaces com13 and com23.

  As a result, the output switching unit 426 of the master second arithmetic processing unit 320 calculates the automatic steering torque component Ts2 * calculated by the position F / B unit 420 and the assist torque component Ta2 * calculated by the assist torque calculation unit 422. Torque command value T2 *, which is an addition value, is output to current F / B unit 423. At the same time, the master second arithmetic processing unit 320 outputs the torque command value T2 * and the rotation angle θm2 to the output switching unit 416 of the slave first arithmetic processing unit 310 via the interfaces com13 and com23.

  Then, the second arithmetic processing unit 320 of the master uses the torque command value T2 * calculated by itself and the rotation angle θm2 detected through the rotation angle sensor 53 connected to the second ECU 32 to which it belongs, to the second drive circuit. PWM control is performed using 321 (second system winding 27) as a control target. The slave first arithmetic processing unit 310 is connected to the torque command value T2 * calculated by the master second arithmetic processing unit 320 and the second ECU 32 to which the master second arithmetic processing unit 320 belongs. Using the rotation angle θm2 detected through the angle sensor 53, the first drive circuit 311 (first system winding 26) is subjected to PWM control as a control target.

  As described above, the present embodiment includes the ECUs 31 and 32, the torque sensors 50 and 51 and the rotation angle sensors 52 and 53 that are individually connected to the ECUs 31 and 32, and the angle command values θs1 *, By individually inputting θs2 *, control redundancy relating to the operation of the motor 20 (each system winding 26, 27) is made redundant.

  So far, the example in which the angle command value θs1 * is input to the first ECU 31 and the angle command value θs2 * is input to the second ECU 32 has been described, but the communication line of the angle command value θs1 * is connected to the interface com22 instead of the interface com12. The angle command value θs1 * may be input to the second ECU 32 (second arithmetic processing unit 320). In this case, the communication line of the angle command value θs2 * is connected to the interface com12 instead of the interface com22, and the angle command value θs2 * is input to the first ECU 31 (first arithmetic processing unit 310). This is because the CAN communication method and the CANFD communication method usually have the same protocol method, and the same interface can be used between these communication methods. Even in this case, it is necessary to realize optimal control as control of the motor 20 by operating the ECU to which the angle command value θs1 * is input as a master.

  On the other hand, in the present embodiment, the angle command value θs1 * is input regardless of whether each angle command value θs1 * is input to each of the ECUs 31 and 32 (the arithmetic processing units 310 and 320). The ECU can be operated as a master and the ECU to which the angle command value θs2 * is input as a slave.

Hereinafter, a function for determining which of the master and slave will operate will be described.
As shown in FIG. 3, the arithmetic processing units 310 and 320 have master / slave determination units 417 and 427, respectively. Each master-slave determination unit 417, 427 is based on each angle command value θs1 *, θs2 * input to each ECU 31, 32 to which each ECU 31, 32, that is, each arithmetic processing unit 310, 320 belongs, is a master slave. It is determined which one of them is operated. Each of the master slave determination units 417 and 427 determines which of the master slaves is operated after the ignition is turned on in the vehicle A, that is, at the start-up process of the motor control device 30 which is a preparation stage for driving the motor 20.

  As shown in FIG. 4, each angle command value θs1 *, θs2 * has a difference in communication system, which is CANFD or CAN. The difference in the communication method can be determined from the difference in the communication cycle. For example, when the CANFD communication method is the communication cycle Xms, the CAN communication method is slower than the communication cycle Xms (a large value). The communication cycle is Yms. Each master-slave determination unit 417, 427 determines the communication method from the difference in communication cycle, and determines which of the angle command values θs1 *, θs2 * is the input signal. When the master / slave determination units 417 and 427 determine from the communication cycle that a CANFD communication system signal is input, the arithmetic processing units 310 and 320 of the ECUs 31 and 32 to which the master / slave belongs operate as masters. Judge that. Further, when each master-slave determination unit 417, 427 determines that a CAN communication method signal is input from the communication cycle, the arithmetic processing units 310, 320 of the respective ECUs 31, 32 operate as slaves. Judge that.

  In the example of FIG. 3, as indicated by the solid line in FIG. 5, the master command determination of the first arithmetic processing unit 310 is performed via the interface com12 (CANI / F in FIG. 5) with the angle command value θs1 * in the CANFD communication method. Input to the unit 417. In this case, the master / slave determination unit 417 determines that a CANFD communication method signal is input, and determines that the first arithmetic processing unit 310 operates as a master. Then, the master / slave determination unit 417 outputs a master flag FLGM that instructs to operate as a master to the output switching unit 416. Thereby, the output switching unit 416 switches the output mode so as to output the torque command value T1 * and the rotation angle θm1 obtained from the calculation or the like in the first ECU 31 to the current F / B unit 413.

  Similarly, as indicated by a solid line in FIG. 5, the angle command value θs2 * is transmitted to the master / slave determination unit 427 of the second arithmetic processing unit 320 via the interface com22 (CANI / F in FIG. 5) in the CAN communication method. Entered. In this case, the master-slave determination unit 427 determines that a CAN communication method signal is input, and determines that the second arithmetic processing unit 320 operates as a slave. Then, the master-slave determination unit 427 outputs a slave flag FLGS that instructs to operate as a slave to the output switching unit 426. As a result, the output switching unit 426 switches the output mode so as to output the torque command value T1 * and the rotation angle θm1 obtained by calculation or the like in the first ECU 31 to the current F / B unit 423.

  On the other hand, as shown by a broken line in FIG. 5, when the angle command value θs2 * is input to the first arithmetic processing unit 310 via the interface com12 in the CAN communication method, the master / slave determination unit 417 uses the CAN communication method. It is determined that the first signal is input, and it is determined that the first arithmetic processing unit 310 operates as a slave. Then, the master / slave determination unit 417 outputs a slave flag FLGS that instructs to operate as a slave to the output switching unit 416. Thereby, the output switching unit 416 switches the output mode so as to output the torque command value T2 * and the rotation angle θm2 obtained from the calculation or the like in the second ECU 32 to the current F / B unit 413.

  Similarly, as indicated by a broken line in FIG. 5, when the angle command value θs1 * is input to the second arithmetic processing unit 320 via the interface com22 in the CANFD communication method, the master / slave determination unit 427 performs the CANFD communication. It is determined that a system signal is input, and it is determined that the second arithmetic processing unit 320 operates as a master. Then, the master / slave determination unit 427 outputs a master flag FLGM instructing to operate as a master to the output switching unit 426. Thereby, the output switching unit 426 switches the output mode so as to output the torque command value T2 * and the rotation angle θm2 obtained from the calculation or the like in the second ECU 32 to the current F / B unit 423.

  Each master-slave determination unit 417, 427 outputs a master flag to the master slave determination unit of the other (other party) ECU via each interface com13, com23. Thereby, each master slave determination part 417,427 detects whether abnormality has arisen in the determination content in each master slave determination part 417,427. Each master-slave determination unit 417, 427 detects that an abnormality has occurred in the determination contents when both output the same master flag or when both output the slave flag. Note that both the master slave determination units 417 and 427 both output the same master flag or slave flag because of the abnormality of the host controller 40 itself, both the angle command to the master slave determination units 417 and 427 are given. The value θs1 * may be input, or the angle command value θs2 * may be input together.

  In these cases, each of the master slave determination units 417 and 427 determines in advance which of the master slave the ECU to which the ECU belongs belongs regardless of the input angle command value. For example, the master / slave determination unit 417 of the first arithmetic processing unit 310 determines that the first arithmetic processing unit 310 operates as a master when there is an abnormality in the determination contents in each of the master slave determination units 417 and 427. . Further, the master-slave determination unit 427 of the second arithmetic processing unit 320 determines that the second arithmetic processing unit 320 operates as a slave when there is an abnormality in the determination contents in each master-slave determination unit 417, 427. .

According to the present embodiment described above, the following operations and effects are achieved.
(1) Which of the angle command values θs1 * and θs2 * is input in each of the arithmetic processing units 310 and 320, which of the master slaves operates according to the input angle command value Is determined. Along with this determination, the output modes by the output switching units 416 and 426 are also switched, so that each of the arithmetic processing units 310 and 320 can determine which of the angle command values at that time is being input, Works with either master or slave. Therefore, it is possible to eliminate the erroneous input of the angle command values θs1 * and θs2 * as described in the above [Problems to be solved by the invention], and the input state of the angle command values θs1 * and θs2 *. Regardless of whether or not the original performance can be exhibited in the control of the motor 20.

  (2) In this embodiment, it is possible to eliminate the erroneous input of the angle command values θs1 * and θs2 * as described in the above [Problems to be solved by the invention], so that the countermeasure itself is unnecessary. It becomes. Accordingly, it is necessary to change the configuration between the ECUs 31 and 32, that is, the arithmetic processing units 310 and 320, for example, by changing the connector shapes of the interfaces com12 and com22 for the angle command values θs1 * and θs2 *. And the versatility can be improved.

  (3) In this embodiment, since each arithmetic processing part 310,320 has the master slave determination part 417,427, respectively, the reliability of the redundancy of control of the motor 20 can be improved.

  (4) The angle command values θs1 * and θs2 * used to determine which one of the master and slave operates are signals used for controlling the operation of the drive circuits 311 and 321 of the ECUs 31 and 32, respectively. Yes. The angle command values θs1 * and θs2 * are signals having different communication methods or communication cycles.

  According to these configurations, the angle command values θs1 * as described in the above [Problems to be Solved by the Invention] using the configuration for controlling the operations of the drive circuits 311 and 321 of the ECUs 31 and 32. , Θs2 * can be eliminated. Thereby, the range which a structural change reaches can be made small and versatility can be improved.

  (5) According to the present embodiment, even if each of the master / slave determination units 417 and 427 is provided, if any abnormality occurs in the determination content itself, each of the arithmetic processing units 310 and 320 operates as a master. There is a possibility that both the arithmetic processing units 310 and 320 operate as slaves.

  Therefore, in this embodiment, when an abnormality occurs in the determination contents of the master slave determination units 417 and 427, the master slave determination units 417 and 427 determine which of the master slaves the ECUs 31 and 32 to which the master slave determination unit operates. It is predetermined.

  Therefore, even if an abnormality occurs in the determination contents of the master / slave determination units 417 and 427, each of the arithmetic processing units 310 and 320 operates as a master, or each of the arithmetic processing units 310 and 320 operates as a slave. The possibility to do is lost. That is, at least a master arithmetic processing unit and a slave arithmetic processing unit can exist. In this case, even if there is a possibility that the original performance is not achieved in the control of the motor 20, it is at least avoided that the operation of the drive circuits 311 and 321 of the ECUs 31 and 32 cannot be continued. Therefore, the reliability of the control of the motor 20 can be improved.

(Second Embodiment)
Next, a second embodiment of the motor control device will be described. In addition, the same structure as embodiment already demonstrated attaches | subjects the same code | symbol, and the duplicate description is abbreviate | omitted.

  As shown in FIGS. 6 and 7, in the present embodiment, the host control device 40 is a master slave with respect to the ECUs 31 and 32 of the motor control device 30 in addition to the angle command values θs1 * and θs2 *. Two (individual) flag instruction signals FM and FS for instructing whether to operate are output. The host control device 40 outputs the flag instruction signals FM and FS in accordance with the start-up process of the motor control device 30 after the ignition is turned on in the vehicle A. The flag instruction signal FM is a signal that is output to cause the ECUs 31 and 32 to recognize that it operates as a master. The flag instruction signal FM is output in association with the angle command value θs1 *. The flag instruction signal FS is a signal that is output to cause the ECUs 31 and 32 to recognize that it operates as a slave. The flag instruction signal FS is output in association with the angle command value θs2 *. In the present embodiment, the flag instruction signal FM is an example of an external signal for master, and the flag instruction signal FS is an example of an external signal for slave.

  In the present embodiment, the flag instruction signals FM and FS are signals used only for determining which one of the master and slave operates, and control the motor 20, that is, the PWM signals P 1 and 2 in the ECUs 31 and 32. This signal is not used to calculate P2.

  For example, as shown in FIG. 7, the angle command value θs1 * is input to the first ECU 31 from the host controller 40 via the interface com12, and the flag from the host controller 40 via the interface com14 (communication line). An instruction signal FM is input. The flag instruction signal FM is input to the master / slave determination unit 417 of the first arithmetic processing unit 310.

  Similarly, as shown in FIG. 7, the angle command value θs2 * is input to the second ECU 32 from the host controller 40 via the interface com22, and from the host controller 40 via the interface com24 (communication line). A flag instruction signal FS is input. The flag instruction signal FS is input to the master / slave determination unit 427 of the second arithmetic processing unit 320.

  In the example of FIG. 7, the flag instruction signal FM is input to the first ECU 31 to which the angle command value θs1 * is input, and the flag instruction signal FS is input to the second ECU 32 to which the angle command value θs2 * is input. That is, the first arithmetic processing unit 310 operates as a master, and the second ECU 32, that is, the second arithmetic processing unit 320 operates as a slave.

  As shown in FIG. 6, the flag instruction signals FM and FS have the same communication method (communication cycle), and are transmitted together, for example, in the CANFD communication method (communication cycle Xms). On the other hand, each flag instruction signal FM, FS is composed of different digital values (information), and each master slave determination unit 417, 427 can recognize the difference from the digital value. Each master-slave determination unit 417, 427 determines a digital value, and determines which of the flag instruction signals FM, FS is an input signal. When the master slave determination units 417 and 427 determine that a digital value indicating the flag instruction signal FM is input, the arithmetic processing units 310 and 320 of the ECUs 31 and 32 to which the master slave determination units 417 and 427 operate as masters. Determine. In addition, when each master-slave determination unit 417, 427 determines that a digital value indicating the flag instruction signal FS is input, each arithmetic processing unit 310, 320 of each ECU 31, 32 belongs to operate as a slave. Determine.

  As indicated by a solid line in FIG. 7, when the flag instruction signal FM is input to the master slave determination unit 417 via the interface com14 (CANI / F in FIG. 7), the master slave determination unit 417 performs the first calculation process. It is determined that the unit 310 operates as a master. Then, the master / slave determination unit 417 outputs a master flag FLGM that instructs to operate as a master to the output switching unit 416.

  Similarly, as indicated by a solid line in FIG. 7, when the flag instruction signal FS is input to the master / slave determination unit 427 via the interface com 24 (CANI / F in FIG. 7), the master / slave determination unit 427 2 It is determined that the arithmetic processing unit 320 operates as a slave. Then, the master / slave determination unit 427 outputs a slave flag FLGS indicating that it is determined to operate as a slave to the output switching unit 426.

  On the other hand, as indicated by a broken line in FIG. 7, when the flag instruction signal FS is input to the first arithmetic processing unit 310 via the interface com14, the master / slave determination unit 417 operates the first arithmetic processing unit 310 as a slave. Determine what to do. Then, the master / slave determination unit 417 outputs a slave flag FLGS that instructs to operate as a slave to the output switching unit 416.

  Similarly, as indicated by a broken line in FIG. 7, when the flag instruction signal FM is input to the second arithmetic processing unit 320 via the interface com 24, the master slave determination unit 427 uses the second arithmetic processing unit 320 as the master. Determine that it works. Then, the master / slave determination unit 427 outputs a master flag FLGM instructing to operate as a master to the output switching unit 426.

According to this embodiment described above, the following actions and effects can be obtained in addition to the actions and effects (1) to (3) and (5) of the first embodiment.
(6) The flag instruction signals FM and FS used for determining which one of the master and slave operates is a signal that is not used to control the operation of the drive circuits 311 and 321 of the ECUs 31 and 32. . In this case, the flag instruction signals FM and FS only need to be configured so as to be able to determine which signal, and it can be said that the degree of freedom of configuration is high. Therefore, versatility can be further improved.

In addition, each said embodiment can also be implemented with the following forms.
-In 1st Embodiment, each angle command value (theta) s1 *, (theta) s2 * should just be comprised so that each master-slave determination part 417,427 can recognize a difference. In other words, even if the communication method (communication cycle) is the same, it is only necessary that the signal is composed of different digital values (information). For example, the angle command value θs1 * is more compared to the angle command value θs2 *. You may be comprised so that it may calculate based on a parameter.

  In the first embodiment, instead of the angle command values θs1 * and θs2 *, a signal used for determining which of the master and slaves is operated, from the motor control device 30 and another control device (ECU). An input signal, for example, a vehicle speed signal input via the motor control device 30 of the vehicle A and another ECU may be used. As described above, in the case where the vehicle speed signal is used, in the first embodiment, the motor of the steering device that performs only the assist control that assists the steering operation without performing the automatic steering control may be set as the control target.

  -In 1st Embodiment, you may change the combination of the communication system of each angle command value (theta) s1 *, (theta) s2 * if it is the combination of the communication system which can use the same thing about an interface.

  In the motor control device 30 of the first embodiment, the angle command values θs1 * and θs2 * input from the host control device 40 may be at least redundant, the detection results of the torque sensors 50 and 51, and The detection results of the rotation angle sensors 52 and 53 need not be made redundant.

  -In 2nd Embodiment, each flag instruction | indication signal FM and FS should just be comprised so that each master slave determination part 417 and 427 can recognize a difference. That is, even if the digital values are the same, it is sufficient if the signals are configured in different communication systems (communication cycles). For example, the flag instruction signal FM is a CANFD communication system, and the flag instruction signal FS is a CAN communication system. It may be configured to be transmitted.

In the second embodiment, the communication method of the flag instruction signals FM and FS may be changed to use CAN or Flex Ray (registered trademark).
-2nd Embodiment is good also considering the motor of the steering device which performs only the assist control which assists steering operation as a control object, without performing automatic steering control.

  In the motor control device 30 of the second embodiment, the angle command values θs1 * and θs2 * input from the host control device 40, the detection results of the torque sensors 50 and 51, and at least the rotation angle sensors 52 and 53 Any one may be made redundant.

  In each embodiment, it is sufficient that at least one of the arithmetic processing units 310 and 320 has a master / slave determination unit. For example, only the master / slave determination unit 417 of the first arithmetic processing unit 310 is left, and the second The master / slave determination unit 427 of the arithmetic processing unit 320 can also be reduced. In this case, the master / slave determination unit 417 may determine which of the master and slaves is operated based on the angle command value and the flag instruction signal input to the first ECU 31 (first arithmetic processing unit 310). In addition, the master / slave determination unit 417 obtains information of an external signal (an angle command value or a flag instruction signal) input to the second ECU 32 (second arithmetic processing unit 320), and determines which of the master and slave is to operate. You may do it. Then, the master / slave determination unit 417 may instruct the output switching units 416 and 426 of the ECUs 31 and 32 as to which of the master and slaves to operate.

  -In each embodiment, the timing which determines which of the master slave determination units 417 and 427 operates as a master slave may be configured to come periodically after the ignition in the vehicle A is turned on. The product may be shipped.

  In each embodiment, when there is an abnormality in the determination contents in each of the master slave determination units 417 and 427, it may be configured to be switched to a control state in which the control of the operation of the motor 20 is stopped. In this case, it may be configured to be switched to a control state that functions only for assist control. Further, information indicating that the determination contents in each master / slave determination unit 417 and 427 are abnormal is configured to be input to the host controller 40, and the angle command values θs 1 * and θs 2 * are received from the host controller 40. You may comprise so that it may not output.

  In each embodiment, it is only necessary that the motor 20 can generate some torque through the first drive circuit 311 (first system winding 26) when the first ECU 31 is abnormal. In this case, compared with the case where the current supply from the first drive circuit 311 to the first system winding 26 is cut off, it is possible to suppress a decrease in the overall output of the motor 20.

  In each embodiment, the motor control device 30 may be configured with a plurality of control systems (ECUs), and may be configured with three systems or four or more control systems. In this case, the number of arithmetic processing units (drive circuits, etc.) is increased in accordance with the number of control systems, and a torque value, an angle command value, and a rotation angle are individually input to each control system. What is necessary is just to be comprised so that either control system may become a master and control operation | movement of the motor 20. FIG.

  In each embodiment, in the control of the motor 20, the steering angle that is the rotation angle of the column shaft 11a is used as the actual angle, the pinion angle that is the rotation angle of the pinion shaft 11c, or the movement position of the rack shaft 12 is used. May be. In these cases, the torque values Tm1 and Tm2 can also be calculated by processing the steering angle or the like. Thereby, each torque sensor 50 and 51 can be abbreviate | omitted, and a number of parts and cost can be reduced.

  In each embodiment, the vehicle steering system 1 may be configured to switch from automatic steering control to assist control when an intervention operation is performed while the setting of the automatic steering mode is instructed.

  In each embodiment, the host controller 40 may output an angle deviation to the motor controller 30 instead of the angle command values θs1 * and θs2 *. In this case, the host controller 40 may calculate the angle deviation based on the rotation angles θm1 and θm2 obtained from the rotation angle sensors 52 and 53, the steering angle, and the like.

  -In each embodiment, calculation of each assist torque component Ta1 *, Ta2 * should just use at least each torque value Tm1, Tm2, and you may make it use the vehicle speed of the vehicle A. FIG. In addition, each of the assist torque components Ta1 * and Ta2 * may be calculated using the torque values Tm1 and Tm2, the vehicle speed, and other factors. The calculation of each of the automatic steering torque components Ts1 * and Ts2 * may use at least the angle command values θs1 * and θs2 * calculated based on the vehicle surrounding environment (angle information θv). You may make it use (theta) s1 * and (theta) s2 *, a vehicle speed, and other elements.

  -In each embodiment, the vehicle steering system 1 may construct | assemble a skid prevention apparatus (vehicle stability control) as another function which assists driving | running | working of a vehicle, for example. The prevention support system and the skid prevention device may be constructed together.

  In each embodiment, the vehicle steering system 1 is embodied as a type that applies power to the column shaft 11a, but may be applied to a type that applies power to the rack shaft 12. In this case, the torque sensors 50 and 51 may be provided on the pinion shaft 11c, for example.

  In each embodiment, the motor 20 of the vehicle steering system 1 is a control target, but is not limited thereto. For example, a motor of a steer-by-wire type steering device, a rear wheel steering device, or a motor of a four wheel steering device (4WS) may be controlled. Moreover, each embodiment is good also considering the motor mounted in addition to a vehicle as a control object.

  Each modification may be applied in combination with each other. For example, the embodiment of the steer-by-wire steering device and the configuration of the other modification may be applied in combination with each other.

  DESCRIPTION OF SYMBOLS 3 ... Actuator, 20 ... Motor, 23 ... Rotor, 24 ... Stator, 25 ... Winding, 26 ... First system winding, 27 ... Second system winding, 30 ... Motor controller, 31 ... ECU, 32 ... ECU , 310 ... 1st arithmetic processing part, 311 ... 1st drive circuit, 320 ... 2nd arithmetic processing part, 321 ... 2nd drive circuit, 416, 426 ... Output switching part, 417, 427 ... Master-slave determination part, T1 * , T2 * ... torque command value, θs1 *, θs2 * ... angle command value, FM ... flag instruction signal, FS ... flag instruction signal.

Claims (6)

A plurality of control systems for controlling the operation of a motor having a plurality of windings are provided, and each control system has an arithmetic unit provided in combination with a drive circuit so as to supply a current to each winding of each system. In the motor control device that is configured so that each of the calculation units is configured to operate as a master calculation unit or a slave calculation unit,
The master calculation unit calculates a current command value that is a target of the amount of current to be supplied to the winding, and outputs the current command value to the slave calculation unit,
The master calculation unit and the slave calculation unit are configured to control the operation of the drive circuit of the control system to which the master calculation unit belongs based on the current command value, respectively.
Each of the arithmetic units has an output switching unit that switches an output mode of the current command value so as to output the current command value to the slave arithmetic unit when the arithmetic unit is the master.
At least one calculation unit among the calculation units receives a master external signal that is input when the calculation unit is the master or a slave input that is input when the calculation unit is the slave. A master-slave determination unit that determines which of the calculation unit of the master and the calculation unit of the slave operates based on whether an external signal is input,
Each said calculating part is comprised so that the output mode of the said current command value in the said output switching part may be switched based on the determination result of the said master slave determination part.   The motor control device according to claim 1, wherein each arithmetic unit includes the master slave determination unit.   3. The motor control device according to claim 1, wherein the external signal for master and the external signal for slave are signals used to control the operation of the drive circuit of the control system.   The motor control device according to claim 3, wherein the external signal for master and the external signal for slave are signals having different communication methods or communication cycles.   3. The motor control device according to claim 1, wherein the external signal for master and the external signal for slave are signals that are not used to control the operation of the drive circuit of the control system.   In the case where an abnormality occurs in the determination contents of the master / slave determination unit, it is predetermined that each of the calculation units operates in the master calculation unit or the slave calculation unit. 5. The motor control device according to claim 1.

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