JP2022077894A - Control device - Google Patents

Abstract

To provide a control device capable of realizing a setting change in consideration of a change in the frequency of a clock used in a control unit so that the device exerts a desired function.SOLUTION: A steering control device 30 controls the operation of EPS. The steering control device 30 includes a control unit 72 that controls the operation of the EPS by using one of clocks CL1 and CL2 having different frequencies. The control unit 72 is configured to include a function calculation unit 88 and a function calculation unit selection unit 87. The function calculation unit 88 has a plurality of function calculation units that operates to calculate a motor control signal Sm required to control the operation so as to exert the steering control function on the EPS. The function calculation unit selection unit 87 is configured to select one of the function calculation units corresponding to each of the clocks CL1 and CL2 used in the control unit 72 when calculating the motor control signal Sm.SELECTED DRAWING: Figure 2

Description

The present invention relates to a control device.

Patent Document 1 discloses a motor control device including a first microcontroller (hereinafter referred to as "microcomputer") that operates to control a motor and a second microcomputer. In this motor control device, motor control is executed by outputting a part of the information calculated by the first microcomputer to the second microcomputer. Then, even if the clock required for calculating the information to execute the control of the motor is not correctly supplied to the first microcomputer, the information using the backup clock supplied from the second microcomputer is used. It enables calculation and allows continuous control of the motor.

Japanese Unexamined Patent Publication No. 2018-201260

Here, in the first microcomputer, when the backup clock supplied from the second microcomputer is used to enable the calculation of information, the clock frequency is different between the originally used clock and the backup clock. Can be considered. In this case, in the first microcomputer, it is necessary to change the setting in consideration of the change in the frequency of the clock used in the first microcomputer so that the motor exerts a desired function. This is not limited to the motor control device, but is also a problem that occurs in a control device that requires a clock to calculate information in order to control a control target other than the motor and to execute control of the control target.

The control device that solves the above problems is a control device that controls the operation of the device that exerts a desired function, and controls the operation of the device by using one of a plurality of clocks having different frequencies. The control unit includes a plurality of function calculation units that operate so as to calculate information necessary for controlling the operation of the device to exert the desired function by using the clock. And, in order to operate the function calculation unit suitable for the frequency of the clock used in the control unit when calculating the information, the plurality of function calculations are performed based on the frequency of the clock used in the control unit. It is configured to have a function calculation unit selection unit for selecting the function calculation unit to be operated from among the units.

According to the above configuration, even if a plurality of clocks are used as the clocks used in the control unit, a plurality of functional calculation units suitable for the frequency of the clocks used in each case can be operated. The function calculation unit to be operated is selected from the function calculation units of. In this case, the control unit realizes the change of the setting in consideration of the change in the frequency of the clock used in the control unit so that the device exerts the desired function through the function of the function calculation unit selection unit such as selecting the function calculation unit. can.

In the control device, the plurality of clocks include a first clock and a second clock, and the control unit has a plurality of clocks as the clock used by the control unit based on the monitoring result of the clock monitoring unit. Further, the clock setting unit has a clock setting unit for setting any of the above, and the clock setting unit uses the first clock as the main clock when the first clock is not abnormal as a monitoring result of the clock monitoring unit. While it is set to be used by the control unit, as a monitoring result of the clock monitoring unit, it is configured to be set to be used by the control unit as a backup clock when the first clock is abnormal. It is preferable that the clock is used.

According to the above configuration, it is possible to set whether the main clock or the backup clock is used in the control unit depending on whether the main clock is abnormal, so that the clock used in the control unit can be made redundant. realizable. Even if the clock used in the control unit is made redundant in this way, the functional calculation unit suitable for the frequency of the clock used in each case can be operated regardless of whether the main clock is abnormal or not. can. That is, the control unit can make the device exert a desired function in each case regardless of whether the main clock is abnormal or not.

In the control device, the control unit is provided inside the control unit and a main clock generation unit that generates the main clock based on a clock input from an oscillator externally provided to the control unit. It is preferable that the backup clock generation unit further includes a backup clock generation unit that generates the backup clock based on the clock input from the oscillation circuit.

According to the above configuration, for the backup clock, for example, an oscillation circuit provided inside the microcomputer can be diverted in combination with a central processing unit in general. In this case, the scale of change for adding the backup clock configuration to the control device is suppressed.

Here, as described above, when the backup clock is configured to be generated based on the clock input from the oscillation circuit provided internally to the control unit, the oscillation circuit generates heat and functions of the control device. It is feared that it will lead to a decrease in the number of clocks.

Therefore, in the control device, it is preferable that the frequency of the backup clock is set lower than the frequency of the main clock.
According to the above configuration, the frequency of the backup clock can be set lower than the frequency of the main clock, considering that it is positioned to back up the failure of the function of the main clock. In this case, assuming that the backup clock is generated based on the clock input from the oscillation circuit provided inside the control unit, even if the oscillation circuit generates heat, the degree of heat generation becomes relatively small, and the function of the control device. The decrease in the clock is suppressed.

In the control device, the device is a steering device mounted on a vehicle and functions to operate at least one of a steering wheel and a steering wheel provided on the vehicle, and the control unit is an operation of the steering device. It is preferable that it is configured to control the operation of the motor provided in the steering device in order to control.

As described above, in the steering device adopting the above-mentioned control device, it is possible to change the setting in consideration of the change in the frequency of the clock used in the control unit so that the steering device exerts a desired function. This is effective in improving the commercial value of the steering device.

According to the control device of the present invention, it is possible to change the setting in consideration of the change in the frequency of the clock used in the control unit so that the device exerts a desired function.

The schematic block diagram of the electric power steering apparatus of 1st Embodiment. The block diagram which shows the schematic structure of the steering control device of 1st Embodiment. The block diagram which shows the function of the function calculation part of 1st Embodiment. The block diagram which shows the function of the 1-1 peripheral function part about the 1st function calculation part of 1st Embodiment. The block diagram which shows the function of the 2-1 peripheral function part about the 2nd function calculation part of 1st Embodiment. The block diagram which shows the steering control function of the 1-1 peripheral function part about the 1st function calculation part of 1st Embodiment. The block diagram which shows the steering control function of the 2-1 peripheral function part about the 2nd function calculation part of 2nd Embodiment. The block diagram which shows the steering control function of the 1-1 peripheral function part about the 1st function calculation part of 3rd Embodiment. The block diagram which shows the steering control function of the 2-1 peripheral function part about the 2nd function calculation part of 3rd Embodiment. The block diagram which shows the function of the 1-1 peripheral function part about the 1st function calculation part of 3rd Embodiment. A block diagram showing the function of the functional calculation unit of the modified example.

<First Embodiment>
Hereinafter, a first embodiment in which the control device is applied to an electric power steering device (hereinafter referred to as “EPS”) will be described with reference to the drawings.

As shown in FIG. 1, EPS 1 includes a steering mechanism 2 that steers the steering wheel 15 based on the operation of the driver's steering wheel 10, an assist mechanism 3 that assists the driver's steering operation, and an assist mechanism 3. It includes a steering control device 30 as a control device for controlling.

The steering mechanism 2 includes a steering wheel 10, a steering wheel 10, and a fixed steering shaft 11. The steering shaft 11 rotates integrally with the steering wheel 10. The steering shaft 11 has 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. There is. The lower end of the pinion shaft 11c is connected to the rack shaft 12 via the rack and pinion mechanism 13. The rack shaft 12 is supported by the rack housing 16. Left and right steering wheels 15 are connected to both ends of the rack shaft 12 via tie rods 14. Therefore, the rotational motion of the steering wheel 10, that is, the steering shaft 11, is converted into an axial reciprocating linear motion of the rack shaft 12 via the rack and pinion mechanism 13. The reciprocating linear motion of the rack shaft 12 is transmitted to the left and right steering wheels 15 via the tie rods 14 connected to both ends of the rack shaft 12, respectively, so that the steering angle of the steering wheels 15 changes and the vehicle The direction of travel is changed.

Around the rack shaft 12, a motor 20 that is a source of an assist force applied to the steering mechanism 2 is provided as an element constituting the assist mechanism 3. For example, the motor 20 is a three-phase brushless motor that rotates based on three-phase drive power of U, V, and W phases. The motor 20 is attached to the rack housing 16 from the outside. Further, inside the rack housing 16, as elements constituting the assist mechanism 3, the ball screw mechanism 21 integrally attached around the rack shaft 12 and the rotational force of the rotating shaft 20a of the motor 20 are applied to the ball screw mechanism. A belt-type speed reduction mechanism 22 that transmits to 21 is provided. The rotational force of the rotary shaft 20a of the motor 20 is converted into a force that causes the rack shaft 12 to reciprocate linearly in the axial direction via the belt type reduction mechanism 22 and the ball screw mechanism 21. The axial force applied to the rack shaft 12 becomes an assist force and changes the steering angle of the steering wheel 15.

Various sensors provided in the vehicle are connected to the steering control device 30. The steering control device 30 controls the motor 20 based on the detection signals of various sensors. As various sensors, for example, a torque sensor 40, a rotation angle sensor 41, and a vehicle speed sensor 42 are provided. The torque sensor 40 is provided on the pinion shaft 11c. The torque sensor 40 detects the steering torque Th applied to the steering shaft 11 as the driver operates the steering. The torque sensor 40 detects the steering torque Th based on the twist of the torsion bar provided in the middle of the pinion shaft 11c. The rotation angle sensor 41 is provided in the motor 20. The rotation angle sensor 41 detects the rotation angle θ of the rotation shaft 20a of the motor 20 at a relative angle within a range of 360 degrees. The vehicle speed sensor 42 detects a vehicle speed value V set as information indicating the traveling speed of the vehicle.

An automatic driving control device 60 is connected to the steering control device 30 via an in-vehicle network 50 such as CAN. The automatic driving control device 60 is provided in the vehicle separately from the steering control device 30. The automatic driving control device 60 controls the operation of the steering mechanism 2, that is, EPS 1 in order to exert various driving support for further improving the comfort of the vehicle or an automatic driving function that substitutes for driving. The automatic driving control device 60 seeks an optimum control method based on the state of the vehicle at that time. The automatic operation control device 60 commands individual control to various in-vehicle control devices including the steering control device 30 according to the required control method. The automatic driving control device 60 classifies the automatic driving function into a plurality of stages having different heights of comfort of the vehicle, and commands control according to the stages.

In the present embodiment, the automatic driving function is, for example, a low stage in which the comfort of assisting driving is low while the steering operation by the driver is required, and the comfort of substituting driving in a specific place is medium. The comfort of substituting driving regardless of the stage and location is classified into three stages of high level. The low-level automatic driving function is, for example, a function of preventing a vehicle from lane deviation. The intermediate-stage automatic driving function is, for example, a function that substitutes for driving only on a highway. The high-level automatic driving function is a function that substitutes for driving regardless of the road, such as a highway.

Then, the automatic operation control device 60 generates an automatic operation control amount θx defined by an angle as a control amount for realizing the automatic operation function according to the stage. The automatic operation control amount θx also has information on which stage the automatic operation function is to be realized. Although not shown, the automatic driving control device 60 is connected to various detection devices including, for example, a vehicle speed sensor 42 and a camera for lane recognition, for grasping the state of the vehicle. In the automatic driving control device 60, the automatic driving control amount θx is calculated as a value having an angle dimension for the automatic driving function according to the stage to be realized, based on the state of the vehicle detected through the detection device. The automatic operation control amount θx thus obtained is output to the steering control device 30.

Next, the electrical configuration of the steering control device 30 will be described.
As shown in FIG. 2, the steering control device 30 includes an external oscillator 71, a control unit 72, a current sensor 73, and a drive circuit 74.

As the external oscillator 71, for example, a crystal element or the like is adopted. The external oscillator 71 is provided separately from the control unit 72 as a part of the configuration of the steering control device 30. The external oscillator 71 is a clock source that generates a clock CLa having a fundamental frequency.

The control unit 72 is a so-called microprocessor provided with a central processing unit (hereinafter referred to as “CPU”) and a memory (not shown). In the control unit 72, various processes are executed by the CPU executing the program stored in the memory at predetermined calculation cycles. A clock CLa, a steering torque Th, a rotation angle θ, a vehicle speed value V, an actual current value I, and an automatic operation control amount θx are input to the control unit 72. The actual current value I is detected by the current sensor 73 provided in the feeder line of each phase between the drive circuit 74 and the motor 20. In FIG. 2, for convenience of explanation, the feeder line of each phase and the current sensor of each phase are shown together. The control unit 72 calculates the motor control signal Sm based on the clock CLa, the steering torque Th, the rotation angle θ, the vehicle speed value V, the actual current value I, and the automatic operation control amount θx. When calculating the motor control signal Sm, the control unit 72 also uses the results of various calculation processes described later that are internally executed.

A well-known PWM inverter having a plurality of switching elements is adopted in the drive circuit 74. The drive circuit 74 outputs three-phase drive power to the motor 20 by turning on and off each switching element according to the motor control signal Sm and switching the energization pattern of each phase of the motor 20 to the motor coil. The motor control signal Sm is a gate on / off signal that defines the on / off state of each switching element.

Next, the configuration of the control unit 72 will be described in detail.
The control unit 72 includes a main clock generation unit 81, an internal oscillation circuit 82, a backup clock generation unit 83, a clock monitoring unit 84, a clock setting unit 85, a frequency divider 86, and a function calculation unit selection unit 87. , And a function calculation unit 88.

The clock CLa is input to the main clock generation unit 81. The main clock generation unit 81 generates the main clock CL1 having a frequency obtained by multiplying the frequency of the clock CLa by multiplying the clock CLa of the fundamental frequency by a predetermined multiple. The main clock generation unit 81 is a so-called phase-locked loop having a function of multiplying the clock CLa by a predetermined multiple. The main clock CL1 thus obtained is output to the clock monitoring unit 84 and the clock setting unit 85. In the present embodiment, the main clock CL1 corresponds to the first clock.

The internal oscillator circuit 82 is provided separately from the external oscillator 71 as a part of the configuration of the control unit 72. The internal oscillation circuit 82 is a clock source that generates a clock CLb having a fundamental frequency. The frequency of the clock CLb generated by the internal oscillation circuit 82 is set lower than the frequency of the clock CLa generated by the external oscillator 71. As the internal oscillation circuit 82, for example, an RC oscillation circuit composed of a resistor and a capacitor is adopted.

The clock CLb is input to the backup clock generation unit 83. The backup clock generation unit 83 generates a backup clock CL2 having a frequency obtained by multiplying the clock CLb by multiplying the fundamental frequency clock CLb by a predetermined multiple. That is, the frequency of the backup clock CL2 is set lower than the frequency of the main clock CL1. The backup clock generation unit 83 is a so-called phase-locked loop having the same function as the main clock generation unit 81. The backup clock CL2 thus obtained is output to the clock setting unit 85. In the present embodiment, the backup clock CL2 corresponds to the second clock.

The clock monitoring unit 84 monitors the state of the main clock CL1. Whether or not the clock monitoring unit 84 is a clock abnormality in which the main clock CL1 is not supplied correctly due to a failure of the external oscillator 71 or insufficient power required for the external oscillator 71 to operate. Monitor the clock status of. The clock monitoring unit 84 detects that the clock is abnormal when the main clock CL1 is interrupted or the frequency of the main clock CL1 becomes an abnormal value.

Then, when the clock abnormality is detected, the clock monitoring unit 84 generates an error flag F_err as information indicating that the clock abnormality has been detected. The error flag F_err thus obtained is output to the clock setting unit 85 and the function calculation unit selection unit 87. On the other hand, if the clock monitoring unit 84 does not detect a clock abnormality, the clock monitoring unit 84 does not generate the error flag F_err. That is, in the present embodiment, when the clock monitoring unit 84 does not generate the error flag F_err, it indicates that no clock abnormality has been detected.

The main clock CL1, the backup clock CL2, and the error flag F_err are input to the clock setting unit 85. The main clock CL1 is input to the first input N1 of the clock setting unit 85, and the backup clock CL2 is input to the second input N2 of the clock setting unit 85. When the error flag F_err is not input, the clock setting unit 85 executes various arithmetic processes such as inputting detection signals from various sensors to the main clock CL1 input to the first input N1. Set to use as a clock that specifies the calculation timing. In this case, the clock setting unit 85 sets the output state for outputting the main clock CL1 to the function calculation unit 88 via the frequency divider 86. On the other hand, when the error flag F_err is input, the clock setting unit 85 executes various arithmetic processes such as inputting detection signals from various sensors to the backup clock CL2 input to the second input N2. It is set to be used as a clock that specifies the calculation timing to be performed. In this case, the clock setting unit 85 sets the output state for outputting the backup clock CL2 to the function calculation unit 88 via the frequency divider 86. When the clock monitoring unit 84 does not detect a clock abnormality, for example, the clock monitoring unit 84 may generate a normal flag and output it to the clock setting unit 85 as information indicating that the clock abnormality has not been detected. In this case, the clock setting unit 85 may set the output state of outputting the main clock CL1 input to the first input N1 to the function calculation unit 88 while the normal flag is input.

As for the clock selected as an appropriate value in this way, the main clock CL1 generated based on the external oscillator 71 is output to the function calculation unit 88 while no clock abnormality is detected. Further, the clock selected as an appropriate value is not the main clock CL1 generated based on the external oscillator 71 but the backup clock CL2 generated based on the internal oscillation circuit 82 while the clock abnormality is detected. It is output to the unit 88.

That is, the control unit 72 inputs detection signals from various sensors using the main clock CL1 based on the external oscillator 71 while the clock abnormality is not detected, that is, the main clock CL1 can be correctly supplied. Executes normal control that defines the calculation timing to execute the calculation process. On the other hand, the control unit 72 inputs detection signals from various sensors using the backup clock CL2 based on the internal oscillation circuit 82 while the clock abnormality is detected, that is, the main clock CL1 cannot be supplied correctly. Executes the backup control that specifies the calculation timing to execute the calculation process of.

The frequency divider 86 outputs a clock obtained by dividing the clock obtained through the clock setting unit 85 by a predetermined division ratio to the function calculation unit 88. In the present embodiment, for example, the frequency divider 86 may be deleted and the clock obtained through the clock setting unit 85 may be output to the function calculation unit 88 as it is.

The error flag F_err is input to the function calculation unit selection unit 87. The function calculation unit selection unit 87 generates the normal control flag F_f1 as information indicating that the control unit 72 executes the normal control using the main clock CL1 when the error flag F_err is not input. On the other hand, when the error flag F_err is input, the function calculation unit selection unit 87 generates the backup control flag F_f2 as information indicating that the control unit 72 executes the backup control using the backup clock CL2. The control flags F_f1 and F_f2 thus obtained are output to the function calculation unit 88. That is, in the present embodiment, when the function calculation unit selection unit 87 generates the normal control flag F_f1, the function calculation unit 88 so as to execute the normal control using the main clock CL1 among the normal control and the backup control. Indicates that the function of is selected. Further, when the backup control flag F_f2 is generated, the function calculation unit selection unit 87 selects the function of the function calculation unit 88 so as to execute the backup control using the backup clock CL2 among the normal control and the backup control. Show that.

The function calculation unit 88 includes clocks CL1 and CL2 obtained through the clock setting unit 85, control flags F_f1, F_f2 obtained through the function calculation unit selection unit 87, steering torque Th, vehicle speed value V, and angle of rotation. θ, the actual current value I, and the automatic operation control amount θx are input.

Here, the function of the function calculation unit 88 will be described in detail.
As shown in FIG. 3, the function calculation unit 88 has a first function calculation unit 89 and a second function calculation unit 90.

The first function calculation unit 89 includes, for example, the 1-1 peripheral function unit 891, the 1-2 peripheral function unit 892, the 1-3 peripheral function unit 893, ... The 1-N peripheral function unit 89n. , Has a plurality of functions such as n in FIG. The peripheral function units 891 to 89n are programs constructed to realize various functions. That is, the first function calculation unit 89 is constructed so as to execute the programs of the peripheral function units 891 to 89n as a program. This also applies to the second function calculation unit 90, and as functions corresponding to the peripheral function units 891 to 89n, for example, the 2-1 peripheral function unit 901, the 2-2 peripheral function unit 902, and the second. -3 Peripheral function unit 903, ... It has a plurality of functions such as n in FIG. 3, including the second 2-N peripheral function unit 90n.

The first function calculation unit 89 is functionally designed to operate in order to execute normal control. That is, in the first function calculation unit 89, the peripheral function units 891 to 89n operate at the frequency of the main clock CL1 to control the operation of the EPS1 so as to exert a desired function. The function is designed so that the operation to calculate is possible.

The second function calculation unit 90 is functionally designed to operate to execute backup control. That is, in the second function calculation unit 90, the peripheral function units 901 to 90n operate at the frequency of the backup clock CL2, so that the information necessary for controlling the operation of the EPS1 to exert a desired function is required. The function is designed so that the operation to calculate is possible.

Then, the first function calculation unit 89 performs more processing per unit time than the operation of the second function calculation unit 90 while using the main clock CL1 having a higher frequency than the backup clock CL2. The function is designed so that the normal control can be executed as a higher-performance control through the functions of the peripheral function units 891 to 89n.

For example, the 1-1 peripheral function unit 891 realizes a function of executing various arithmetic processes for calculating information necessary for operating EPS1. The second peripheral function unit 892 realizes a function of executing communication processing for communicating various information with the vehicle-mounted network 50. The first-third peripheral function unit 893 realizes, for example, a function of executing a timer process for managing a timer counter which is a basis for calculating a motor control signal Sm and timing for turning on / off each switching element.

Then, one of the control flags F_f1 and F_f2 is input to the function calculation unit 88, and one of the clocks CL1 and CL2 is input.
Specifically, the normal control flag F_f1 of the control flags F_f1 and F_f2 is input to the first function calculation unit 89. The first function calculation unit 89 operates so as to execute various processes when the normal control flag F_f1 is input. In this case, the clock setting unit 85 sets the output state for outputting the main clock CL1. That is, the main clock CL1 of the clocks CL1 and CL2 obtained through the clock setting unit 85 is input to the first function calculation unit 89, and while operating based on the main clock CL1, for example, the steering torque Th. , The vehicle speed value V, the rotation angle θ, the actual current value I, and various information including the automatic operation control amount θx are input. The main clock CL1 is used to realize various functions by being input to each peripheral function unit 891 to 89n. The steering torque Th, the vehicle speed value V, the angle of rotation θ, the actual current value I, and the automatic driving control amount θx are input to, for example, the 1-1 peripheral function unit 891 to provide a steering control function. Used for realization. If the normal control flag F_f1 is not input, the first function calculation unit 89 does not execute various processes, that is, stops.

On the other hand, the backup control flag F_f2 of the control flags F_f1 and F_f2 is input to the second function calculation unit 90. The second function calculation unit 90 operates so as to execute various processes when the backup control flag F_f2 is input. In this case, the clock setting unit 85 sets the output state for outputting the backup clock CL2. That is, the backup clock CL2 of the clocks CL1 and CL2 obtained through the clock setting unit 85 is input to the second function calculation unit 90, and while operating based on the backup clock CL2, for example, the steering torque Th. , The vehicle speed value V, the rotation angle θ, the actual current value I, and various information including the automatic operation control amount θx are input. The backup clock CL2 is used to realize various functions by being input to each peripheral function unit 901 to 90n. The steering torque Th, the vehicle speed value V, the rotation angle θ, the actual current value I, and the automatic driving control amount θx are input to, for example, the 2-1 peripheral function unit 901 to provide a steering control function. Used for realization. If the backup control flag F_f2 is not input, the second function calculation unit 90 does not execute various processes, that is, stops.

As described above, the function calculation unit 88 passes the motor control signal Sm through the control of either the normal control or the backup control, that is, the function of either the first function calculation unit 89 or the second function calculation unit 90. Is calculated, and information is output to the in-vehicle network 50. The motor control signal Sm thus obtained is output to the drive circuit 74.

Next, the functions of the 1-1 peripheral function unit 891 and the 2-1 peripheral function unit 901 will be described in detail.
As shown in FIGS. 4 and 5, each peripheral functional unit 891,901 is based on the steering torque Th, the vehicle speed value V, the rotation angle θ, the actual current value I, and the automatic operation control amount θx. A steering control function that calculates the motor control signal Sm is realized.

For example, as shown in FIG. 6, the 1-1 peripheral function unit 891 includes a basic control amount calculation unit 101, a target angle calculation unit 102, a function restriction unit 103, an angle calculation unit 104, and an angle feedback control unit. (Hereinafter referred to as an "angle F / B control unit") 105 and an energization control unit 106.

The steering torque Th and the vehicle speed value V are input to the basic control amount calculation unit 101. The basic control amount calculation unit 101 calculates the basic control amount Ta1 * based on the steering torque Th and the vehicle speed value V. The basic control amount calculation unit 101 calculates the basic control amount Ta1 * using a three-dimensional map that defines the relationship between the steering torque Th and the basic control amount Ta1 * according to the vehicle speed value V. The basic control amount calculation unit 101 considers the assist gradient represented by the slope of the tangent line, which is the rate of change of the basic control amount Ta1 * with respect to the change in the steering torque Th, and the larger the absolute value of the steering torque Th, the more the vehicle speed. The smaller the value V, the larger the absolute value of the basic control amount Ta1 * is calculated. The basic control amount Ta1 * thus obtained is output to the target angle calculation unit 102 and the adder 107.

The basic control amount Ta1 * and the steering torque Th are input to the target angle calculation unit 102. When the value obtained by adding the basic control amount Ta1 * and the steering torque Th is used as the basic drive torque, the target angle calculation unit 102 corresponds to the ideal steering angle of the steering wheel 15 based on the basic drive torque. It has an ideal model that determines the pinion angle θp, which is a state variable. The ideal model is a model in which the pinion angle θp corresponding to the ideal steering angle according to the basic drive torque is modeled in advance by experiments or the like. The target angle calculation unit 102 obtains the basic drive torque by adding the basic control amount Ta1 * and the steering torque Th, and from the obtained basic drive torque, the steering angle, that is, the target of the pinion angle θp is based on the ideal model. Calculate the target pinion angle θp *'as a value. The vehicle speed value V is further input to the target angle calculation unit 102. Then, the target angle calculation unit 102 adds the vehicle speed value V when calculating the target pinion angle θp *'. The target pinion angle θp * ′ thus obtained is output to the function limiting unit 103.

The target pinion angle θp *'and the automatic operation control amount θx are input to the function limiting unit 103. The function limiting unit 103 calculates a value obtained by adding the target pinion angle θp *'and the automatic operation control amount θx as the final target pinion angle θp *. The target pinion angle θp * finally obtained in this way is output to the angle F / B control unit 105.

The rotation angle θ is input to the angle calculation unit 104. The angle calculation unit 104 exceeds 360 ° by counting the number of rotations of the motor 20 from the rack neutral position, which is the position of the rack shaft 12 when the vehicle is traveling straight, for example, based on the rotation angle θ. Convert to integrated angle including range. The angle calculation unit 104 uses the integrated angle obtained by conversion as a conversion coefficient based on the rotation speed ratio of the belt type reduction mechanism 22, the lead of the ball screw mechanism 21, and the rotation speed ratio of the rack and pinion mechanism 13. By multiplying, the pinion angle θp, which is the actual rotation angle of the pinion axis 11c, is calculated. The pinion angle θp is positive when the angle is on the right side of the rack neutral position, and negative when the angle is on the left side. The motor 20 and the pinion shaft 11c are interlocked with each other via the belt type deceleration mechanism 22, the ball screw mechanism 21, and the rack and pinion mechanism 13. Therefore, there is a correlation between the rotation angle θ of the motor 20 and the pinion angle θp. Using this correlation, the pinion angle θp can be obtained from the rotation angle θ of the motor 20. The pinion angle θp thus obtained is output to the angle F / B control unit 105.

The target pinion angle θp * and the pinion angle θp are input to the angle F / B control unit 105. The angle F / B control unit 105 performs PID control as feedback control of the pinion angle so that the pinion angle θp follows the target pinion angle θp *. That is, the angle F / B control unit 105 obtains the deviation between the target pinion angle θp * and the pinion angle θp, and calculates the angle control amount Ta2 * so as to eliminate the deviation. The angle control amount Ta2 * thus obtained is added to the basic control amount Ta1 * and output to the energization control unit 106 as the torque control amount T * obtained through the adder 107. The angle F / B control unit 105 has a vibration suppression function as a steering control function that suppresses minute vibration by reflecting the angle control amount Ta2 * in the torque control amount T *.

The torque control amount T *, the actual current value I, and the rotation angle θ are input to the energization control unit 106. The torque control amount T * is a value indicating the torque of the motor 20 to be applied to the steering wheel 10. The energization control unit 106 calculates a current target value, which is a target value of the current to be supplied to the motor 20, based on the torque control amount T * and the rotation angle θ. The energization control unit 106 calculates the deviation between the current target value and the actual current value I, and calculates the motor control signal Sm for controlling the power supply to the motor 20 so as to eliminate the deviation. The motor control signal Sm thus obtained is output to the drive circuit 74. As a result, the motor 20 generates torque according to the torque control amount T *.

In the present embodiment, the 2-1 peripheral function unit 901, like the 1-1 peripheral function unit 891, realizes a function of executing various arithmetic processes for calculating information necessary for operating the EPS1. Therefore, it has a configuration corresponding to the 1-1 peripheral function unit 891. That is, the 2-1 peripheral function unit 901 includes a basic control amount calculation unit 101, a target angle calculation unit 102, a function limitation unit 103, an angle calculation unit 104, an angle F / B control unit 105, and energization control. It has a configuration corresponding to the unit 106. That is, as shown in parentheses in FIG. 6, the second peripheral function unit 901 includes a basic control amount calculation unit 201, a target angle calculation unit 202, a function restriction unit 203, an angle calculation unit 204, and an angle. It has an F / B control unit 205, an energization control unit 206, and an adder 207.

However, between the 1-1 peripheral function unit 891 that functions to execute normal control and the 2-1 peripheral function unit 901 that functions to execute backup control, the function restriction unit 103 and the function restriction unit 103 It is configured to have a different function from the 203.

Specifically, as shown in FIG. 4, when the automatic operation control amount θx is input to the function limiting unit 103 of the 1-1 peripheral function unit 891, which stage is the automatic operation function that can be specified? Regardless of, it functions to reflect the input automatic operation control amount θx in the target pinion angle θp *. As a result, the 1-1 peripheral function unit 891 functions so that the automatic operation function at any stage can be realized without restriction according to the instruction of the automatic operation control device 60 through the function of the function restriction unit 103. That is, the function calculation unit 88 operates so as to be able to realize the automatic driving function at any stage while executing the normal control as the steering control function.

On the other hand, as shown in FIG. 5, in the function limiting unit 203 of the 2-1 peripheral function unit 901, when the automatic operation control amount θx is input, which stage is the automatic operation function that can be specified? It functions to determine whether or not the input automatic operation control amount θx is reflected in the target pinion angle θp *. In this case, the function limiting unit 203 functions to reflect the input automatic operation control amount θx in the target pinion angle θp * if the identifiable automatic operation function is at a low stage. On the other hand, if the identifiable automatic operation function is in the middle stage and the high stage, the function limiting unit 203 sets the input automatic operation control amount θx, for example, invalidates the automatic operation control amount θx, and sets a target pinion. It functions so that it is not reflected in the angle θp *. As a result, the 2-1 peripheral function unit 901 functions so as to be able to be realized by limiting only the low-level automatic operation function according to the instruction of the automatic operation control device 60 through the function of the function limiting unit 203. That is, the function calculation unit 88 operates so as to limit and realize only the low-level automatic driving function while executing the backup control as the steering control function. The function of whether or not the automatic operation control amount θx is reflected in the target pinion angle θp * is the second function calculation unit 90 or the vicinity of the second 2-1 if the identifiable automatic operation function is in the middle stage and the high stage. The functional unit 901 may invalidate the input itself of the automatic driving control amount θx via the vehicle-mounted network 50 in the first place.

Hereinafter, the operation of the first embodiment will be described.
According to the present embodiment, even when the main clock CL1 and the backup clock CL2 are provided as the clocks used by the control unit 72, each function calculation unit 89, which is suitable for the frequency of the clock used in each case, One of the function calculation units 89 and 90 is selected as the function of the function calculation unit 88 so that any of the 90 can be operated.

That is, in the function calculation unit 88, when the function calculation unit selection unit 87 executes normal control using the main clock CL1, the function calculation unit 89 operates the first function calculation unit 89 functionally designed according to the frequency of the main clock CL1. The normal control flag F_f1 is generated so as to be selected. In this case, while the first function calculation unit 89 uses the main clock CL1 having a higher frequency than the backup clock CL2, more processing can be performed per unit time than the second function calculation unit 90. .. As described above, when the main clock CL1 having a higher frequency than the backup clock CL2 is used, the control unit 72 can realize, for example, an automatic operation function in the middle stage and the high stage as a steering control function, and the EPS1 can be used. The settings can be changed to enhance the comfort of the vehicle.

Further, in the function calculation unit 88, when the function calculation unit selection unit 87 executes the backup control using the backup clock CL2, the function calculation unit 88 operates the second function calculation unit 90 whose function is designed suitable for the frequency of the backup clock CL2. The backup control flag F_f2 is generated so as to be selected. In this case, while the second function calculation unit 90 uses the backup clock CL2 having a lower frequency than the main clock CL1, less processing can be performed per unit time than the first function calculation unit 89. .. As described above, even when the backup clock CL2 having a lower frequency than the main clock CL1 is used, the control unit 72 can realize, for example, a low-stage automatic operation function as a steering control function, and the EPS1 can be used. The settings can be changed to ensure the minimum comfort of the vehicle.

Hereinafter, the effect of the first embodiment will be described.
(1-1) In the control unit 72, one of the function calculation units 89 and 90 is selected to change the setting in consideration of the change in the frequency of the clock used in the control unit 72 so that the EPS 1 exerts a desired function. It can be realized through the function of the function calculation unit selection unit 87.

(1-2) The clock used in the control unit 72 can be set by setting which of the main clock CL1 and the backup clock CL2 is used in the control unit 72 depending on whether the main clock CL1 is abnormal or not. Redundancy can be realized. Even if the clock used in the control unit 72 is made redundant in this way, each function calculation unit 89, which is suitable for the frequency of the clock used in each case, regardless of whether the main clock CL1 is abnormal or not. Any of 90 can be operated. That is, the control unit 72 allows the EPS1 to exert a desired function in each case regardless of whether or not the main clock CL1 is abnormal.

(1-3) As for the backup clock CL2, for example, an internal oscillation circuit 82 provided inside the microcomputer can be diverted in combination with a CPU in general. In this case, the scale of change for adding the configuration of the backup clock CL2 to the steering control device 30 is suppressed.

(1-4) Here, when the backup clock CL2 is configured to be generated based on the clock CLb input from the internal oscillation circuit 82 provided internally to the control unit 72, the internal oscillation circuit 82 is used. There is a concern that heat will be generated, leading to deterioration of the function of the steering control device 30.

Therefore, in the present embodiment, the frequency of the backup clock CL2 is set lower than the frequency of the main clock CL1. In the present embodiment, the frequency of the backup clock CL2 can be set lower than the frequency of the main clock CL1 in consideration of the position of backing up the failure of the function of the main clock CL1. In this case, assuming that the backup clock CL2 is generated based on the clock CLb input from the internal oscillation circuit 82 provided internally to the control unit 72, even if the internal oscillation circuit 82 generates heat, the degree is relatively small. The size is reduced, and deterioration of the function of the steering control device 30 is suppressed.

(1-5) In EPS1 adopting the above-mentioned steering control device 30, it is possible to change the setting in consideration of the change in the frequency of the clock used in the control unit 72 so that EPS1 exerts a desired function. This is effective in improving the commercial value of EPS1.

<Second Embodiment>
Hereinafter, a second embodiment of the control device will be described. In addition, the same configuration and the like as those of the above-described embodiment are designated by the same reference numerals, and the duplicated description thereof will be omitted.

In the present embodiment, regarding the 2-1 peripheral function unit 901, the functions of the target angle calculation unit 202, the angle calculation unit 204, and the angle F / B control unit 205, that is, the pinion angle θp is set to the target pinion angle θp *. It differs from the first embodiment in that the function necessary for feedback control is deleted. Further, in the present embodiment, the function limiting unit 203 is deleted in order to delete the automatic operation function of the 2-1 peripheral function unit 901, which is different from the first embodiment.

Specifically, as shown in FIG. 7, the 2-1 peripheral function unit 901 has a basic control amount calculation unit 301 and an energization control unit 302.
The basic control amount calculation unit 301 has the same function as the basic control amount calculation units 101 and 201 shown in FIG. 6, and calculates the torque control amount T * as the basic control amount Ta1 *. The torque control amount T * thus obtained is output to the energization control unit 302.

The energization control unit 302 has the same function as the energization control unit 206 shown in FIG. The motor control signal Sm obtained through the energization control unit 302 is output to the drive circuit 74.
That is, the 2-1 peripheral function calculation unit 901 is a torque control amount that does not reflect the angle control amount Ta2 * obtained by the feedback control of the 1-1 peripheral function calculation unit 891 through the angle F / B control unit 105. T * will be calculated. In this case, the 2-1 peripheral function calculation unit 901 executes feedforward control while the 1-1 peripheral function calculation unit 891 executes feedback control when calculating the torque control amount T *. Will be done.

According to the present embodiment, the first function calculation unit 89 can be executed per unit time as compared with the second function calculation unit 90 while using the main clock CL1 having a higher frequency than the backup clock CL2. There is a lot of processing. In this way, when the main clock CL1 having a higher frequency than the backup clock CL2 is used, the control unit 72 reflects, for example, the angle control amount Ta2 * in the torque control amount T * as a steering control function. A vibration suppression function that suppresses minute vibrations can be realized, and the setting can be changed so that EPS1 can exert a function that further enhances the comfort of the vehicle.

Further, while the second function calculation unit 90 uses the backup clock CL2 having a lower frequency than the main clock CL1, the number of processes that can be executed per unit time is less than that of the first function calculation unit 89. As described above, even when the backup clock CL2 having a lower frequency than the main clock CL1 is used, the control unit 72 cannot realize the vibration suppression function as, for example, the steering control function, but the assist force. The setting can be changed so that the function of imparting the frequency can be realized and the EPS1 can exert the function of ensuring the comfort of the vehicle at the minimum.

According to the present embodiment, the action and effect according to the first embodiment are exhibited.
<Third Embodiment>
Hereinafter, a third embodiment of the control device will be described. In addition, the same configuration and the like as those of the above-described embodiment are designated by the same reference numerals, and the duplicated description thereof will be omitted.

In the present embodiment, as shown in FIGS. 8 and 9, the 1-1 peripheral function unit 891 is configured to add a function of calculating various compensation amounts for compensating the basic control amount Ta1 *. On the other hand, the 2-1 peripheral function unit 901 is configured not to add a function of calculating various compensation amounts for compensating the basic control amount Ta1 *. In the present embodiment, the various compensation amounts include, for example, a return compensation amount, a hysteresis compensation amount, a damping compensation amount, and an inertia compensation amount. The return compensation amount is for compensating for the return operation of the steering wheel 10 for returning the steering shaft 11 to the steering neutral position corresponding to the rack neutral position. The hysteresis compensation amount is for compensating for optimizing the hysteresis characteristics due to friction during operation of the steering wheel 10. The damping compensation amount is for compensating so as to reduce the slight vibration generated in the steering wheel 10. The inertial compensation amount is for compensating the steering wheel 10 so as to suppress the feeling of being caught at the start of steering and the feeling of flow at the end of steering. The various compensation amounts are compensation amounts for compensating the operation of the steering wheel 10 realized based on the basic control amount Ta1 * so as to exhibit desired characteristics.

Specifically, as shown in FIG. 10, the 1-1 peripheral function unit 891 has a compensation amount calculation unit 111.
The compensation state variable D is input to the compensation amount calculation unit 111. In the present embodiment, the compensation state variable D is, for example, a steering torque Th, a vehicle speed value V, and a rotation angle θ. The compensation amount calculation unit 111 calculates various compensation amounts Td * based on the compensation state variable D. For example, the compensation amount calculation unit 111 is based on the steering torque Th, the vehicle speed value V, the rotation angle θ, and the rotation speed ω obtained by differentiating the rotation angle θ in the compensation state variable D. , Calculate the return compensation amount. Further, the compensation amount calculation unit 111 calculates the hysteresis compensation amount based on the vehicle speed value V and the rotation angle θ in the compensation state variable D. Further, the compensation amount calculation unit 111 calculates the damping compensation amount based on the vehicle speed value V and the rotation speed ω in the compensation state variable D. Further, the compensation amount calculation unit 111 calculates the inertia compensation amount based on the vehicle speed value V in the compensation state variable D and the rotation acceleration α obtained by differentiating the rotation speed ω. Then, the compensation amount calculation unit 111 calculates various compensation amounts Td * by adding the return compensation amount, the hysteresis compensation amount, the damping compensation amount, and the inertia compensation amount. The various compensation quantities Td * thus obtained are added to the basic control quantity Ta1 *'obtained through the basic control quantity calculation unit 101, and are added to the target angle calculation unit as the final basic control quantity Ta1 * obtained through the adder 112. It is output to 102 and the adder 107.

That is, the 1-1 peripheral function calculation unit 891 calculates the torque control amount T * that reflects various compensation amounts Td * through the compensation amount calculation unit 111. On the other hand, in the 2-1 peripheral function calculation unit 901, the 1-1 peripheral function calculation unit 891 calculates a torque control amount T * that reflects various compensation amounts Td * through the compensation amount calculation unit 111. On the other hand, the torque control amount T * that does not reflect the various compensation amounts Td * is calculated.

According to the present embodiment, the first function calculation unit 89 can be executed per unit time as compared with the second function calculation unit 90 while using the main clock CL1 having a higher frequency than the backup clock CL2. There is a lot of processing. As described above, when the main clock CL1 having a higher frequency than the backup clock CL2 is used, the control unit 72 compensates for the operation of the steering wheel 10 so as to exhibit desired characteristics, for example, as a steering control function. The function can be realized, and the setting can be changed so that EPS1 can exert the function that enhances the comfort of the vehicle.

Further, while the second function calculation unit 90 uses the backup clock CL2 having a lower frequency than the main clock CL1, the number of processes that can be executed per unit time is less than that of the first function calculation unit 89. As described above, even when the backup clock CL2 having a lower frequency than the main clock CL1 is used, the control unit 72 can provide an assist force, for example, as a steering control function, although the compensation function cannot be realized. The function to be given can be realized, and the setting can be changed so that EPS1 can exert the function of ensuring the comfort of the vehicle at the minimum.

According to the present embodiment, the action and effect according to the first embodiment are exhibited.
Each of the above embodiments may be modified as follows. In addition, each of the above embodiments and the following other embodiments can be combined with each other to the extent that there is no technical contradiction.

As shown in FIG. 11, in the function calculation unit 88, instead of the method of each of the above-described embodiments in which the function calculation units 89 and 90 to be operated are changed, the control unit 72, that is, the function of the microcomputer, for example, the timer processing function. A method of changing various settings such as absolute time, which is an index of unit time managed by, may be adopted. For example, the function calculation unit 88 may be configured to have the same function as the first function calculation unit 89 of each of the above embodiments. Further, as the above-mentioned configuration, the function calculation unit 88 has a first setting showing the configuration when operating at the frequency of the main clock CL1 and a second setting showing the configuration when operating at the frequency of the backup clock CL2. The setting may be configured to be selected based on the control flags F_f1 and F_f2. In this case, the function calculation unit 88 operates as a function calculation unit suitable for the frequency of the main clock CL1 by operating under the first setting as the configuration. Further, the function calculation unit 88 operates as a function calculation unit suitable for the frequency of the backup clock CL2 by operating under the second setting as a configuration. In this modification, regardless of which of the clocks CL1 and CL2 is used for the function calculation unit 88, for example, a function of executing the same steering control function can be realized. This is not limited to the steering control function, but the same applies to other functions such as a function of executing communication processing for communicating various information with the in-vehicle network 50 of each peripheral function unit 892,902. be. In addition, in this modification, the function calculation unit 88 may be configured to have a configuration corresponding to each function calculation unit 89, 90 as in each of the above embodiments. In this case, in the function calculation unit 88, the first function calculation unit 89 operates under the first setting as the configuration, and the second function calculation unit 90 operates under the second setting as the configuration. It suffices if it is configured in.

In each of the above embodiments, the steering control device 30 may additionally be provided with a clock source different from the external oscillator 71 and the internal oscillation circuit 82. In this case, the fundamental frequency of the clock source to be added may be the same as either the external oscillator 71 or the internal oscillator circuit 82, or may be different from either the external oscillator 71 or the internal oscillator circuit 82. For example, when the fundamental frequencies of the external oscillator 71 and the clock source to be added are the same, the clocks generated by these clock sources are configured to be input to the main clock generator 81 and selected according to the clock state. It may be configured so that the state can be switched. Further, when the basic frequencies of the external oscillator 71, the internal oscillation circuit 82, and the clock source to be added are all different, the control unit 72 corresponds to the clock generation units 81 and 83, and the clock source to be added is generated. A configuration corresponding to each clock generation unit 81, 83 to which a clock is input may be added.

In each of the above embodiments, the function calculation unit 88 may be configured to have three or more function calculation units including the first function calculation unit 89 and the second function calculation unit 90. In this case, the number of clocks used may be three or more depending on the number of functional calculation units, or the number of clocks used may be smaller than the number of functional calculation units. If the number of clocks used is smaller than the number of functional calculation units, the functional calculation units are redundantly provided according to one clock.

In each of the above embodiments, the backup clock CL2 may be generated based on a clock generated by an external oscillator different from the external oscillator 71, instead of the clock CLb generated by the internal oscillation circuit 82. .. In this case, it is not necessary to consider the heat generation of the internal oscillation circuit 82 as in each of the above embodiments, and the frequency of the backup clock CL2 can be set closer to or higher than the frequency of the main clock CL1. Further, the functional calculation units 89 and 90 may be configured to be functionally designed according to the frequencies of the clocks CL1 and CL2, or may be configured to switch the positions of the selected functional calculation units. .. Further, when the frequency of the backup clock CL2 is set higher than the frequency of the main clock CL1, the second function calculation unit 90 is realized by the EPS 1 by the control executed by the first function calculation unit 89. It can be configured to perform controls that further enhance the comfort of the function.

In each of the above embodiments, as the internal oscillation circuit 82, for example, an RLC oscillation circuit composed of a resistor, a coil, and a capacitor may be adopted, or an LC oscillation circuit composed of a coil and a capacitor may be adopted. It is also good.

-In each of the above embodiments, the clock monitoring unit 84 can monitor whether or not the clock is abnormal not only for the state of the main clock CL1 but also for the state of the backup clock CL2. In this case, the clock monitoring unit 84 can be configured to generate the error flag F_err, for example, on condition that when the clock abnormality of the main clock CL1 is detected, the clock abnormality of the backup clock CL2 is not detected. When the clock monitoring unit 84 detects a clock abnormality for the main clock CL1, the operation of the control unit 72, that is, the steering control device 30, is stopped on condition that the clock abnormality for the backup clock CL2 is detected. As information to indicate, it can also be configured to generate a fail flag. After such a fail flag is generated, the function calculation unit 88 may be configured to execute a predetermined fail process in order to stop the operation of the steering control device 30, for example.

In each of the above embodiments, the condition when the clock setting unit 85 sets which of the clocks CL1 and CL2 is used in the control unit 72 is, for example, the functional calculation unit 88, which is the amount of processing that can be executed per unit time. It can be changed as appropriate, such as on the condition that it meets the required performance. As such a condition, in the case of the first embodiment, the stage of the automatic driving function can be a condition. That is, the clock setting unit 85 sets the output state for outputting the backup clock CL2 when the automatic operation function is in the low stage, and outputs the main clock CL1 when the automatic operation function is in the middle stage and the high stage. You just have to set the state. In this case, the control unit 72 generates an automatic operation flag and outputs it to the clock setting unit 85 as information indicating the stage of the automatic operation function by inputting the automatic operation control amount θx instead of the clock monitoring unit 84. Just add the configuration. This also applies to the second and third embodiments, and the condition is that the vibration suppression function is necessary in the second embodiment, and the compensation function is necessary in the third embodiment. Can be a condition.

-In each of the above embodiments, the functional calculation units 89 and 90 can operate by executing various processes, although a suitable clock cannot be used when the corresponding control flags F_f1 and F_f2 are not input. .. In this case, each function calculation unit 89, 90 in which the control flags F_f1 and F_f2 are not input may add a configuration for preventing the motor control signal Sm from being output to the drive circuit 74.

-In the first embodiment, the 2-1 peripheral function unit 901 can be configured to realize the automatic driving function when the identifiable automatic driving function is in the middle stage. This can be achieved by increasing the fundamental frequency generated by the internal oscillation circuit 82 to a frequency that does not hinder the realization of the automatic operation function in the middle stage.

-In the first embodiment, the function limiting unit 103 may be deleted in the first peripheral function unit 891. Further, in the 2-1 peripheral function unit 901, for example, if the automatic operation function is to be deleted, the function restriction unit 203 can be deleted.

In the first embodiment, the automatic operation control device 60 generates an automatic operation control amount θx as a value having a dimension in an angle, but the present invention is not limited to this, and for example, an automatic operation control amount having a dimension of torque can be generated. May be generated. In this case, the automatic operation control amount having the torque dimension is converted into the value having the angle dimension, and then subtracted from the target pinion angle θp *'by the function limiting units 103 and 203, and finally obtained. The target pinion angle θp * may be output to the F / B control units 105 and 205 at each angle. This also applies to embodiments other than the first embodiment.

In the first embodiment, the function of calculating the automatic operation control amount θx may be set as a function of the steering control device 30, that is, the control unit 72, or the function calculation units 89 and 90. ..

-In the second embodiment, the automatic operation function may be deleted in the 1-1 peripheral function unit 891.
-In the second embodiment, the 2-1 peripheral function unit 901 may be configured to have an automatic driving function. In this case, for example, in the second peripheral function unit 901, a configuration may be added in which the control amount obtained by converting the automatic operation control amount θx into the dimension of torque is added to the basic control amount Ta1 *. However, since the backup clock CL2 is still used in the 2-1 peripheral function unit 901, the automatic operation function is limited to the realization of only the low-level automatic operation function as in the first embodiment. Is preferable.

-In the second embodiment, the difference in the functions of the peripheral function units 891 and 901 can be appropriately changed, for example, by making the parameters used for calculating the motor control signal Sm slightly different. As such a difference in function, it is possible to prevent the vehicle speed value V from being used as a parameter in the basic control amount calculation unit 201 of the 2-1 peripheral function unit 901.

-In the second embodiment, the peripheral function units 891 and 901 may have a configuration in which the 2-1 peripheral function unit 901 executes feedback control so that they have a configuration corresponding to each other. .. In this case, the 2-1 peripheral function unit 901 is provided with a function restriction unit that functions to restrict the execution of feedback control instead of restricting the automatic operation function in the first embodiment. do it.

-In the third embodiment, the automatic operation function may be deleted in each peripheral function unit 891,901, or the automatic operation in the 2-1 peripheral function unit 901 of the peripheral function units 891,901. You may remove the feature.

-In the third embodiment, the peripheral function units 891 and 901 may be configured such that the 2-1 peripheral function unit 901 has a compensation function so that they have a configuration corresponding to each other. In this case, the 2-1 peripheral function unit 901 may be provided with a function limiting unit that functions to limit the compensation function, instead of limiting the automatic driving function in the first embodiment. As a limitation of such a compensation function, compensation of all or part of various compensation amounts can be limited.

-In the third embodiment, the compensation amount calculation unit 111 may be configured to have a function of calculating at least one of a return compensation amount, a hysteresis compensation amount, a damping compensation amount, and an inertia compensation amount. Further, in the compensation amount calculation unit 111, for example, the torque compensation amount for compensating the steering torque Th in consideration of the torque differential value obtained by differentiating the steering torque Th, etc., are various examples illustrated in the third embodiment. It may be configured to have a function of calculating a compensation amount different from the compensation amount.

In each of the above embodiments, the basic control amount calculation units 101, 201, and 301 may use at least a state variable related to the operation of the steering wheel 10 when calculating the basic control amount Ta1 *, and the vehicle speed value V may be used. May not be used, or other elements may be used in combination. As the state variable related to the operation of the steering wheel 10, instead of the steering torque Th exemplified in each of the above embodiments, other elements such as the steering angle which is the rotation angle of the steering wheel 10 may be used.

In each of the above embodiments, the motor 20 includes a motor 20 arranged coaxially with the rack shaft 12, a motor 20 connected to the steering shaft 11 via a speed reducer, and a rack shaft 12 via a rack and pinion mechanism. You may adopt the one connected to.

In each of the above embodiments, the steering control device 30 steers the steering wheel 15 by operating the steering portion connected to the steering wheel 10 and the rack shaft 12 according to the steering input to the steering portion. A steer-by-wire type steering device in which the power transmission to and from the steering section is separated may be controlled.

The control unit 72 is 1) one or more processors that operate according to a computer program (software), and 2) one or more integrated circuits (ASICs) for specific applications that execute at least a part of various processes. It may be configured by a processing circuit including a dedicated hardware circuit or 3) a combination thereof. The processor includes a CPU and a memory such as a RAM and a ROM, and the memory stores a program code or a command configured to cause the CPU to execute a process. Memory, a non-temporary computer-readable medium, includes any available medium accessible by a general purpose or dedicated computer. This also applies to the automatic operation control device 60.

Each of the above embodiments is not limited to being realized as a function of the steering control device 30, and is, for example, a control device for an airbag device, a control device for a brake device, and a motor that is a drive source for traveling in an unmanned transport vehicle or an electric vehicle. It may be a control device of. As an example of the above implementation, a control device of a device whose mounting destination is other than the vehicle may be used.

1 ... EPS
10 ... Steering wheel 20 ... Motor 30 ... Steering control device 72 ... Control unit 81 ... Main clock generation unit 83 ... Backup clock generation unit 82 ... Internal oscillation circuit 84 ... Clock monitoring unit 85 ... Clock setting unit 87 ... Function calculation unit selection unit 88 ... Function calculation unit 89 ... First function calculation unit 90 ... Second function calculation unit

Claims (5)

A control device that controls the operation of a device that exerts a desired function.
A control unit for controlling the operation of the device by using one of a plurality of clocks having different frequencies is provided.
The control unit
A plurality of functional calculation units that operate to calculate information necessary for controlling the operation of the device so as to exert the desired function by using the clock, and a plurality of functional calculation units.
In order to operate the function calculation unit suitable for the frequency of the clock used in the control unit when calculating the information, the function calculation unit of the plurality of functions calculation units is based on the frequency of the clock used in the control unit. A control device configured to include a function calculation unit selection unit that selects the function calculation unit to be operated from among them. The plurality of clocks include a first clock and a second clock.
The control unit includes a clock monitoring unit that monitors the state of the clock and a clock monitoring unit.
Further, it has a clock setting unit for setting any one of a plurality of clocks as the clock used by the control unit based on the monitoring result of the clock monitoring unit.
The clock setting unit is set as a monitoring result of the clock monitoring unit so that the control unit uses the first clock as the main clock when the first clock is not abnormal, while the monitoring result of the clock monitoring unit. The control device according to claim 1, wherein the control unit is configured to use the second clock as a backup clock when the first clock is abnormal. The control unit
A main clock generator that generates the main clock based on a clock input from an oscillator externally provided to the control unit.
The control device according to claim 2, further comprising a backup clock generation unit that generates the backup clock based on a clock input from an oscillation circuit provided inside the control unit. The control device according to claim 3, wherein the frequency of the backup clock is set lower than the frequency of the main clock. The device is a steering device mounted on a vehicle and functioning to operate at least one of a steering wheel and a steering wheel provided in the vehicle.
The control device according to any one of claims 1 to 4, wherein the control unit is configured to control the operation of a motor provided in the steering device in order to control the operation of the steering device.

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