JP5343367B2 - Control device for electric power steering device - Google Patents

Description

  The present invention relates to a control device for an electric power steering device in which an assist torque (steering assist force) by a motor is applied to a steering system of a vehicle, and in particular, an electric motor that continues assisting in response to an abnormality occurring in a motor sensor system. The present invention relates to a control device for a power steering device.

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

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

  The control unit 30 is mainly composed of a CPU (including an MPU and MCU), and general functions executed by a program inside the CPU are shown in FIG. 11 for a vector control system. In the vector control, the q-axis for controlling the torque, which is the coordinate axis of the rotor magnet, and the d-axis for controlling the strength of the magnetic field are set independently, and the current of each axis having a relationship of 90 degrees is controlled. Therefore, the motor 20 is generally a three-phase brushless DC motor.

  The control unit 30 includes a current command value calculation unit 31. The current command value calculation unit 31 inputs the steering torque Th from the torque sensor 10 and the vehicle speed Vh from the vehicle speed sensor 12, and rotates to the brushless DC motor 20. The rotation angle θ and the angular velocity ω converted by the motor rotation angle detection circuit 39 are input to the output of the resolver 21 attached as an angle sensor, and the dq axis current command values Idref and Iqref are referred to the assist map 32. Is calculated.

  The calculated current command values Iqref and Idref are input to the subtraction units 301 and 302, and the subtraction units 301 and 302 detect the actual motor currents Iu, Iv, and Iw of the motor 20 and perform feedback control. Specifically, the current detectors 381 and 382 detect the two-phase motor currents Iu and Iw, and in the case of the three-phase, there is a relationship of Iu + Iv + Iw = 0. Therefore, the subtractor 303 calculates the motor current Iv as Iv = Calculated as − (Iu + Iw). The three-phase motor currents Iu, Iv, and Iw calculated in this way are input to the three-phase / two-phase conversion unit 33 for vector control, and the dq-axis motor is based on the rotation angle θ of the motor 20. Converted to currents iq and id.

  The motor currents iq and id are fed back to the subtraction units 301 and 302, respectively, and the subtraction unit 301 calculates a deviation ΔIq between the current command value Iqref and the motor current iq. The subtraction unit 302 calculates the difference between the current command value Idref and the motor current id. Deviation ΔId is calculated. These deviations ΔIq and ΔId are input to a PI (proportional integration) control unit 35, and voltage command values Vdref and Vqref subjected to PI control are output. Since it is necessary to supply a three-phase current to the actual motor 20, the voltage command values Vdref and Vqref are converted into the three-phase voltage command values Varef, Vbref, The voltage command values are converted to Vcref, and the voltage command values Varef, Vbref, and Vcref are input to the PWM control unit 36. The PWM control unit 36 generates a PWM control signal based on the voltage command values Varef, Vbref, Vcref, and the inverter circuit 37 supplies currents Iu, Iv, Iw to the motor 20 based on the PWM control signal, and deviations ΔIq and ΔId. The motor 20 is driven and controlled so that the values are 0 respectively. The power supply voltage V from the battery 14 is input to the inverter 37 and also input to the control unit 30.

  The motor rotation angle detection circuit 39 supplies a carrier wave signal sin ωt having a predetermined frequency to the resolver 21 in order to detect the rotation angle θ of the motor 20, and the resolver 21 amplitude-modulates the carrier wave signal sin ωt with a sine wave sin θ. Sine wave signal sin ωt · sin θ and cosine wave signal sin ωt · cos θ having a waveform obtained by amplitude-modulating the carrier signal sin ωt with a cosine wave cos θ, and generating the sine wave signal sin ωt · sin θ and cosine wave signal sin ωt · cos θ. The motor rotation angle detection circuit 39 calculates the sine wave sin θ and the cosine wave cos θ in synchronization with the positive peak time of the carrier wave signal sin ωt, and detects the rotation angle θ of the motor 20 based on the sine wave sin θ and the cosine wave cos θ. .

  In the control device for the electric power steering apparatus as described above, a resolver that is a motor position detection means, a motor rotation angle detection circuit, and an A / D conversion circuit (hereinafter, resolver) for A / D converting the output of the motor rotation angle detection circuit. If the motor rotation angle detection circuit and A / D conversion circuit are simply referred to as “position detection means”), the rotation angle and angular velocity of the motor cannot be detected correctly. The rotation angle of the motor is estimated based on the voltage, and the drive control of the motor is continuously performed. However, it was suitable for use as a fail-safe redundant system, but smooth control was extremely difficult due to the influence of load fluctuations of the motor.

  In addition, if an abnormality occurs in the position detection means, suddenly switching from steering to manual steering will cause a great sense of incongruity in steering, so the content of the abnormality may be analyzed and the motor may output reverse torque. The assist was controlled by switching between continuing or stopping according to the conditions such as the absence or the like. That is, there was a problem that the assist was stopped depending on conditions.

  As an apparatus for solving such a problem, for example, there is a sensor system in motor control disclosed in Japanese Patent Laid-Open No. 2003-164187 (Patent Document 1). In the sensor system of Patent Document 1, it is possible to construct a redundant sensor system without providing a new sensor, and to ensure fail-safety against unexpected failure of the sensor. That is, in a motor drive control system including a drive control circuit that controls the drive of a motor according to an operation command, the main angle detection means having a resolver that detects the rotation angle of the motor, and the rotation angle of the motor is estimated based on the back electromotive force of the motor A sub-angle detecting means for detecting the rotation angle of the motor in the normal state, and detecting the rotation angle of the motor by the sub-angle detecting means when the main angle detecting means fails.

Further, in the electric power steering apparatus disclosed in Japanese Patent Application Laid-Open No. 2005-168242 (Patent Document 2), even when the angle detection means for detecting the rotation angle of the motor of the electric power steering apparatus fails, the motor at the time of failure Regardless of the position of the rotation angle, the control of the electric power steering device is continued. That is, in order to detect the rotation angle θ of the motor necessary for the control for applying the steering assist force by the motor to the steering system of the vehicle, the carrier wave signal sinωt having a predetermined frequency is supplied, and the carrier wave signal sinωt is amplitude-modulated by sinθ. In a control device for an electric power steering apparatus including an angle detection device that generates a cosine wave signal sinωt · cosθ having an amplitude-modulated waveform by sinusoidal signals sinωt · sinθ and cosθ having waveforms, the sinusoidal signals sinωt · sinθ and Extracting sin θ and cos θ from the cosine wave signal sin ωt · cos θ, respectively, and providing angle processing means for outputting a rotation angle signal created from the extracted cos θ and sin θ, and the motor is controlled based on the rotation angle signal Yes.
JP 2003-164187 A JP 2005-168242 A

  However, the apparatus of Patent Document 1 includes a main angle detection unit and a sub angle detection unit, and when a failure occurs in the main angle detection unit, the sub angle detection unit estimates the rotation angle of the motor. That is, since the sub-angle detection means estimates the rotation angle of the motor based on the back electromotive voltage, there remains a problem that the estimation error becomes large when the rotation speed of the motor is low. In particular, the electric power steering system has to deal with the situation where stop, start, forward rotation, and reverse rotation are repeated, and requires a large torque at a low motor rotation speed. Even in such a case, it is required to estimate a rotation angle with high reliability.

  Further, the apparatus of Patent Document 2 performs fail-safe by including angle processing means for outputting a rotation angle signal created from a signal created from a cos angle signal and a signal created from a sin angle signal. However, since a means for detecting an abnormality such as an amplifier circuit is not provided, further improvement is desired.

  Furthermore, in recent years, with the increase in size of vehicles equipped with electric power steering devices, the required output of electric power steering devices has been increased, and the increase in motor torque and the increase in current have been accelerated. In a vehicle equipped with such a high-output electric power steering device, when the assist is stopped during traveling, the reaction appears greatly with the magnitude of the assist, so the burden on the driver also increases. In other words, it is required to continue assisting as much as possible even when an abnormality occurs in the position detection means.

  The present invention has been made for the above-described circumstances, and an object of the present invention is to provide an electric power that accurately estimates the motor position and continues the assist even when an abnormality occurs in the motor position detecting means. An object of the present invention is to provide a control device for a steering device.

The present invention includes a resolver that detects a rotational position of a motor that assists a steering system of a vehicle, and an electric power steering that drives and controls the motor based on a steering torque, a sine wave signal sinθ and a cosine wave signal cosθ from the resolver. With respect to the control device of the apparatus, the above object of the present invention is to detect abnormality of the resolver according to (1−α) <(sin θ ² + cos θ ² ) <(1 + α) with respect to the set threshold value ± α. And the relationship between the direction of transition of the sine wave signal sinθ from the resolver at the time of detection of the abnormality and the sign of the cosine wave signal cosθ, or the direction of transition of the cosine wave signal cosθ at the zero cross point and the sine wave signal sinθ. Rotation angle output means for estimating the motor direction and outputting motor rotation position information from the relationship with the sign of This is achieved by performing the assist based on the above and continuing the assist based on the motor rotation position information when the abnormality is detected .

  According to the control device for the electric power steering apparatus of the present invention, it is possible to efficiently detect an abnormality of the position detection means for detecting the motor rotation position, and to detect a new sensor even when an abnormality occurs in the position detection means. Without adding, it is possible to estimate the rotational direction of the motor based on the output position information, and to accurately estimate the rotational position of the motor by reflecting the estimated rotational direction. For this reason, even when an abnormality occurs in the position detection means, the assist can be continued and the burden on the driver can be suppressed.

  The control device for the electric power steering apparatus according to the present invention efficiently detects an abnormality of the position detecting means for detecting the rotational position of the motor, and based on the output position information even when the abnormality is detected. Thus, the actual rotation direction of the motor is estimated, and the estimated rotation direction is reflected to accurately estimate the motor rotation position, thereby continuing the assist.

  First, as an assumption of the present invention, an example of an electric power steering control device that continues assist by estimating a motor rotation position when an abnormality occurs in a position detection unit attached to a motor (for example, Japanese Patent Application Laid-Open No. 2007-118823). No.) will be described with reference to FIG.

  The steering torque Th from the torque sensor is input to the steering-holding vibration detection unit 46 and also input to the smoothing processing unit 42 via the input preprocessing unit 41. The hold-time vibration detection means 46 performs sensitive control on the advance angle estimation gain Km of the advance angle gain means 45 in order to remove noise, and if no vibration is generated in the input steering torque Th, the advance angle gain means 45 advances. The angle estimation gain Km is set to a relatively large value, and when the vibration is generated, the advance angle estimation gain Km is set to a relatively small value.

Steering torque Th is input smoothing unit 42 performs an averaging in I read the steering torque Th to a predetermined number of sampling to past, and inputs the calculated average torque Ts _M to the dead zone operation unit 43. The dead zone calculating means 43 compares a predetermined value for detecting a dead zone set in advance with the average torque Ts _M calculated by the smoothing processing means 42, and if it is within the dead zone, the average torque Ts _M is limited to "0". If it is outside the dead zone, the average torque Ts _M is inputted to the limiting means 44.

The limiting means 44 calculates a change amount ΔT between the input current average torque Ts _M (n) and the previously sampled average torque Ts _M (n−1), and further sets the change amount ΔT as a preset setting. The change amount ΔT _U is compared, and the set change amount ΔT _U is limited so as not to exceed the set change amount ΔT _U , and the limited average torque Ts _M lim (n) is input to the advance gain unit 45.

The advance angle gain means 45 determines whether the vehicle is in a low vehicle speed state or a high vehicle speed state based on the vehicle speed Vh using a threshold value. If the vehicle speed Vh is a low vehicle speed state including a stop state, the following equation (1) To calculate the rotation angle change amount Δθ _M of the motor.

Δθ _M = Ts _M lim (n) · Km / 2 ¹² (1)

If the vehicle speed Vh is in a high vehicle speed state, the following equation (2) is calculated in consideration of the steering followability, and the rotation angle change amount Δθ _M of the motor is calculated.

Δθ _M = (Ts _M lim (n) · K / 2 ¹⁰ + Ts _PH + Ts ′) · Km / 2 ¹² (2)

Here, K is a constant, Km is an advance angle estimation gain, Ts _PH is a value obtained by phase compensation of the steering torque Th, and Ts ′ is a center response improvement that differentiates the steering torque Th to improve the response near the neutral point of the steering. Value.

The rotation angle change amount Δθ _M of the motor calculated based on the above expression (1) or (2) in the advance angle gain means 45 is the estimated rotation angle θ _MP (n−1) calculated at the previous sampling. Are added by the adding means 60, and the calculated rotation angle estimated value θ _MP (n) of the motor is input to the contact C2 of the switching means 49. The rotation angle θ from the resolver 21 and the motor rotation angle detection circuit 39 is input to the contact C <b> 1 of the switching unit 49.

The switching signal CS of the switching means 49 is based on the sine wave signal sin θ and cosine wave signal cos θ detected by the position detector of the resolver 21, the motor rotation angle detection circuit 39, and the A / D conversion circuit (see FIG. Normality / abnormality is detected and input. When the abnormality detection map determines that the contact is normal, the switching signal CS switches the contact of the switching means 49 to “C1”. When the abnormality is determined to be abnormal, the switching signal CS switches the contact of the switching means 49 to “C2”. Be That is, if the combination of the sine wave signal sin θ and the cosine wave signal cos θ from the position detection means is normal, it is output as an electrical angle as it is through the contact C1 of the switching means 49, and if it is abnormal, the contact of the switching means 49 The estimated motor rotation angle θ _MP (n) estimated by the advance angle gain means 45 is output as an electrical angle via C2.

  Next, in the case where an abnormality occurs in the position detection unit as the premise of the present invention as described above, the abnormality of the position detection unit is efficiently detected, and the rotational direction is estimated to estimate the motor rotation position. The principle will be described below.

2 and 3 are characteristic diagrams showing examples of the sine wave signal sin θ and the cosine wave signal cos θ detected by the resolver 21 which is one component of the position detecting means, and FIG. 2A shows the motor rotation angle. The sine wave signal sin θ and cosine wave signal cos θ detected by the detection circuit 39 are read at predetermined time intervals, and the vertical axis represents sin and the horizontal axis represents cos, with the origin G (0, 0) as the center. Shows three concentric circles. A concentric circle D having a radius “(sin θ) ² + (cos θ) ² = 1” indicated by a solid line is an ideal sine wave signal sin θ and cosine wave signal cos θ in a normal state, and a radius ( A concentric circle D1 of 1 + α) and a concentric circle D2 of radius (1-α) indicate threshold values for detecting an abnormality in the detected sine wave signal sin θ and cosine wave signal cos θ, respectively. For example, when an abnormality occurs in any of the resolver 21, the motor rotation angle detection circuit 39, and the A / D conversion circuit constituting the position detection means, the detected sine wave signal sin θ and cosine wave signal cos θ change, The characteristic is as shown by the solid line in FIG. That is, when a short circuit occurs in the coil portion of the resolver 21 or when an abnormality occurs in the amplifier circuit, an abnormality occurs in the position detection means, as shown by the solid line in FIG. The plot characteristic of the cosine wave signal cos θ is deformed from a circular shape and, for example, becomes an elliptical orbit, so that a part of the orbit becomes larger than the concentric circle D1 having the radius (1 + α) or the concentric circle D2 having the radius (1−α) The threshold value ± α is set in advance so as to determine that such a case is abnormal. The relational expression between the threshold ± α and the detected sine wave signal sin θ and cosine wave signal cos θ is expressed as follows: sine wave square (sin θ) ² is E ² _sin and cosine wave square (cos θ) ² is _Assuming E ² _cos , the following equation (3) is obtained.

(1-α) <(E ² _sin + E ² _cos ) <(1 + α) (3)

By using the relational expression (3) above, normality / abnormality of detected position information can be determined efficiently. Further, by mapping the above equation (3), it is not necessary to calculate each time, so that the normal / abnormal position information can be determined more efficiently.

  FIG. 3A shows a waveform example of the sine wave signal sin θ and the cosine wave signal cos θ corresponding to FIG. 2A, and the output levels of the detected sine wave signal sin θ and cosine wave signal cos θ are shown. The cosine wave signal cos θ has the same amplitude and the phase is always 90 ° behind the sine wave signal sin θ, and both the sine wave signal sin θ and the cosine wave signal cos θ are normal. FIG. 3B shows a waveform example of the sine wave signal sin θ and the cosine wave signal cos θ corresponding to FIG. 2B. The amplitude and phase of the detected sine wave signal sin θ and cosine wave signal cos θ. This shows a state where irregularities have occurred and an abnormality has occurred.

  Here, when an abnormality as shown in FIGS. 2B and 3B occurs in the position detection means, the direction and sign of the change are detected from the detected sine wave signal sin θ and cosine wave signal cos θ. By determining, the rotation direction of the motor can be estimated. Below, the example which estimates the rotation direction of a motor is demonstrated with reference to FIG.4 and FIG.5.

  FIG. 4 is a characteristic diagram for explaining a method of estimating the rotation direction (CW, CCW) in a state where an abnormality as shown in FIG. 2B has occurred. When an abnormality is detected, as shown in FIG. 4, the positive and negative transitions at the zero cross point where the sine wave signal sin θ or the cosine wave signal cos θ passes zero are read. That is, it is read whether the transition is positive → negative or negative → positive at the zero cross point. Then, based on the format diagram showing the correspondence relationship of the signs at the time of the positive and negative transitions shown in FIG. The direction of rotation (CW, CCW) is estimated from the relationship of the sign of the wave signal sin θ. That is, at the rotation P1 in FIG. 4, the sine wave signal sin θ is changed from positive to negative, and the sign of the cosine wave signal cos θ is “−”, so that “sin” in the format shown in FIG. From “positive → negative”, it can be estimated that the rotation direction of the motor is “CW”. Further, in the rotation P2 in FIG. 4, the cosine wave signal cos θ is changed from negative to positive, and the sign of the sine wave sin θ is “+”. Therefore, the “cos negative” in the format shown in FIG. → From “Positive”, it can be estimated that the rotation direction of the motor is “CCW”.

  As described above, even when an abnormality occurs in the position detection means, the motor rotation direction can be estimated accurately and efficiently from the transition information of the position detection means that is actually output. That is, even if an abnormality is detected in the position detection means, the direction of rotation can be reliably estimated from the transition information of the actual position detection means regardless of the rotational speed of the motor.

  Next, based on the above principle, an embodiment of the present invention will be described with reference to the drawings.

  FIG. 6 is a block diagram showing a configuration example of the present invention corresponding to FIG. 1, and the same members are denoted by the same reference numerals and description thereof is omitted. In the present invention, the rotation angle output means 50 that outputs the rotation angle by estimating the rotation direction explained in FIG. 4 and FIG. 5 and the abnormality detection means 51 explained in FIG. 2 and FIG. It is added.

A sine wave signal sin θ and a cosine wave signal cos θ are input from the resolver 21 to the rotation angle output means 50 and the abnormality detection means 51 through the motor rotation angle detection circuit 39, and the rotation angle output means 50 receives the input sine wave signal sin θ and Based on the cosine wave signal cos θ, the positive and negative transitions at the zero cross point as shown in FIG. 4 are read, the rotational direction of the motor is estimated based on the format at the transition shown in FIG. 5, and the estimation element K indicating the rotational direction _{Find K.} Then, the advance direction of rotation is reflected by multiplying the estimated elements K _K to the rotation angle variation [Delta] [theta] _M inputted from the gain unit 45, the rotation angle variation Δθ _M · _K K a summing means considering the direction of rotation 70. The rotation angle change amount Δθ _M · K _K input to the adding means 70 is added to the rotation angle estimated value θ _MP (n−1) calculated at the previous sampling time by the adding means 70, and the calculated rotation angle is calculated. The estimated value θ _MP (n) is input to the contact C2 of the switching means 49.

In addition, the threshold value ± α described in FIG. 2A is set in advance and input to the abnormality detection means 51, and mapping based on the above equation (3) is performed. Based on the combination of the sine wave signal sin θ and the cosine wave signal cos θ, the abnormality determination of the above equation (3) is performed. If the determination of the abnormality detecting means 51 is normal, a switching signal CS for switching the contact of the switching means 49 to “C1” is output, and if abnormal, a switching signal CS for switching the contact of the switching means 49 to “C2” is output. Then, the contacts C1 and C2 of the switching means 49 are switched. That is, if the combination of the sine wave signal sin θ and the cosine wave signal cos θ from the resolver 21 is normal, it is output as an electrical angle as it is through the contact C1 of the switching means 49, and if it is abnormal, the contact C2 of the switching means 49 is output. The rotation angle estimation value θ _MP (n) taking into account the rotation direction of the motor from the adding means 70 is output as an electrical angle.

  In this way, even if an abnormality occurs in the position detection means, the motor rotation angle that reflects the estimation of the motor rotation direction from the actual position detection means output can be output. Even when a mismatch between the direction of Th and the rotation direction of the motor (for example, steering wheel return or fine steering) occurs, natural assist can be continued.

  In the above description, the example in which the abnormality is determined based on the combination of the sine wave signal sin θ and the cosine wave signal cos θ input from the resolver 21 via the motor rotation angle detection unit 39 has been described. The abnormality determination may be performed based on the combination of the sine wave signal sin θ and the cosine wave signal cos θ from the A / D conversion circuit of the angle detection circuit 39.

  Next, another principle of the present invention using a Hall element of a semiconductor sensor, a Hall IC or the like (hereinafter simply referred to as “Hall sensor”) as the position detection means will be described below.

The position detection means using the hall sensor is configured such that a detection signal from the hall sensor provided in the motor is input to an amplifier circuit or the like, and position information is detected based on the amplified detection signal. That is, since the signal level of the detection signal handled as position information is determined in advance, the signal level of the detection signal is compared using the upper and lower limit threshold values to determine whether the position detection means is normal or abnormal. Judge by. For example, when the signal level of the detection signal is normal in the range of 1 to 4 [V], it is determined that the abnormality is present when the value is less than the lower threshold 1 [V] or exceeds the upper threshold 4 [V]. When the thresholds for the signal levels of the detection signals Eu, Ev, Ew from the hall sensors Hu, Hv, Hw are the lower limit threshold value Sl and the upper limit threshold value Sh, the relational expression is as shown in the following formula (4). .

Sl <(Eu, Ev, Ew) <Sh (4)

By using the relational expression (4) above, normality / abnormality of the detected position information can be determined efficiently.

  Here, when an abnormality occurs in the Hall sensor based on the above equation (4), a rising / falling detection signal detected by a normal Hall sensor and High / Low (hereinafter simply “H” / “L”). The rotation direction of the motor can be estimated by comparing with the detection signal of ()). Hereinafter, an example in which the rotation direction of the motor is estimated when a Hall sensor is used as the position detection means will be described with reference to FIGS.

  FIG. 7 shows detection signals Eu, Ev, Ew from Hall sensors Hu, Hv, Hw provided at intervals of 120 ° to detect the pole positions of the U phase, V phase, and W phase of a three-phase brushless motor as an example. It is the signal waveform diagram which showed the state which has detected the state of rising / falling of H, and the state of H / L normally. Then, an abnormality such as a disconnection occurs in any one of the detection signals Eu, Ev, and Ew from the hall sensors Hu, Hv, and Hw shown in FIG. 7, and the abnormality is determined based on the above equation (4). In this case, the rising / falling of the detection signal from the remaining normal hall sensors to be detected and the H / L state are read, and the correspondence between the rising / falling of the detection signal and H / L shown in FIG. 8 is shown. The direction of rotation is estimated based on the format diagram. That is, for example, when an abnormality occurs in the detection signal Eu from the hall sensor Hu, the rise of the detection signal Ev from the normal hall sensor Hv is detected at P4 in FIG. 7, and the detection signal from the normal hall sensor Hw at that time is detected. Ew is in the “H” state, and it can be estimated from the format diagram shown in FIG. 8 that the rotation direction of the motor is “CW”. If an abnormality occurs in the detection signal Ev from the normal hall sensor Hv, the fall of the detection signal Eu from the hall sensor Hu is detected at P5 in FIG. 7, and the detection signal from the normal hall sensor Hw at that time is detected. It can be detected that Ew is in the “H” state and the rotation direction of the motor is “CW” from the format diagram shown in FIG.

  In this way, even if anomaly is detected in the position information from the Hall sensor, the rotation direction can be detected from the actual Hall sensor regardless of the motor rotation speed, so estimation of the motor rotation position information is possible. Accuracy can be improved.

  Another configuration example of the present invention based on the above principle will be described with reference to FIG. 9 corresponding to FIG.

Detection signals Eu, Ev, Ew from a hall sensor (Hu, Hv, Hw) 21A provided in the motor 20 are inputted to the rotation angle output means 60 and the abnormality detection means 61, and the rotation angle output means 60 is inputted. Based on the detection signals Eu, Ev, Ew, the H / L at the rising / falling as shown in FIG. 7 is read, and the motor based on the format of the correspondence between the rising / falling and H / L shown in FIG. estimating a direction of rotation of 20, obtaining the estimated elements K _K indicating the direction of rotation. The advance in the rotation angle variation [Delta] [theta] _M inputted from the gain unit 45 that multiplies the estimated elements K _K, to reflect the direction of rotation, adds the rotation angle variation Δθ _M · _K K considering the direction of rotation Input to means 70.

Further, the lower limit threshold value Sl and the upper limit threshold value Sh of the above equation (4) are set in advance in the abnormality detection means 61, and the abnormality detection means 61 is based on the detection signals Eu, Ev, Ew from the hall sensor 21A. The abnormality determination of (4) is performed. If the determination of the abnormality detecting means 61 is normal, a switching signal CS for switching the contact of the switching means 49 to “C1” is output, and if abnormal, a switching signal CS for switching the contact of the switching means 49 to “C2” is output. Then, the contacts C1 and C2 of the switching means 49 are switched. In other words, if the detection signals Eu, Ev, Ew from the hall sensor 21A are normal, they are output as electrical angles via the contact C1 of the switching means 49, and if abnormal, they are output via the contact C2 of the switching means 49. The rotation angle estimated value θ _MP (n) in consideration of the rotation direction of the motor 20 from the adding means 70 is output as an electrical angle.

  As described above, even when an abnormality occurs in the position detection means, the motor rotation angle that is obtained by estimating the actual rotation direction of the motor 20 can be output, so the direction of the steering torque Th and the motor can be output. Even when there is a discrepancy between the 20 rotational directions (for example, steering wheel return, fine steering, etc.), natural assist can be continued.

It is a block diagram which shows an example of the electric power steering control apparatus which estimates the motor rotational position used as the premise of this invention. It is a characteristic view which shows the example of the sine wave signal and cosine wave signal which are detected from a position detection means. It is a wave form diagram which shows the example of the sine wave signal and cosine wave signal which are detected from a position detection means. It is a characteristic view for demonstrating the principle which estimates a rotation direction. It is a format figure which shows the correspondence of the code | symbol at the time of a positive / negative transition. It is a block diagram which shows the structural example which concerns on this invention. It is a signal waveform diagram for demonstrating another principle which estimates a rotation direction. It is a format figure which shows the correspondence of the rising / falling of a detection signal, and a H / L state. It is a block diagram which shows another structural example which concerns on this invention. It is a figure which shows the structural example of the conventional electric power steering apparatus. It is a block diagram which shows the structural example of the conventional control unit.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Handle 2 Column shaft 10 Torque sensor 12 Vehicle speed sensor 20 Motor 21 Resolver 21A Hall sensor 39 Motor rotation angle detection circuit 43 Dead zone calculation means 44 Limiting means 45 Advance angle gain means 46 Steering vibration detection means 49 Switching means 50, 60 rotation Angle output means 51, 61 Abnormality detection means

Claims (1)

A control device for an electric power steering apparatus, comprising a resolver that detects a rotational position of a motor that assists a steering system of a vehicle, and that drives and controls the motor based on a steering torque, a sine wave signal sinθ and a cosine wave signal cosθ from the resolver In
An abnormality detecting means for detecting an abnormality of the resolver according to (1-α) <(sinθ ² + cos θ ² ) <(1 + α) with respect to the set threshold value ± α;
Relationship between the direction of transition at the zero cross point of the sine wave signal sin θ from the resolver and the sign of the cosine wave signal cos θ at the time of detecting the abnormality, or the direction of transition at the zero cross point of the cosine wave signal cos θ and the sign of the sine wave signal sin θ The rotation angle output means for estimating the motor direction and outputting the motor rotation position information,
An electric power steering apparatus, wherein the assist is performed based on an output from the resolver in a normal state, and the assist is continued based on the motor rotational position information when the abnormality is detected. Control device.

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