JPH06261588A - Abnormality detection device of brushless motor - Google Patents

Abstract

PURPOSE:To provide an abnormality detection device wherein the short circuit or the disconnection of a brushless motor can be detected surely without substan tially turning and driving the brushless motor. CONSTITUTION:According to a change in the output of a rotary sensor which detects the rotation of a motor shaft, a phase changeover signal pattern is changed over by a phase changeover control part 62, a phase changeover signal is output according to the phase changeover pattern, switching elements are driven, and a current is supplied to an exciting coil. Then, in a short-circuit and abnormality judgment part 65, the switching elements are set sequentially to continuity one by one, and the current of the exciting coil is measured whenever they are set to continuity. Then, when the current at a first prescribed value or higher is detected, it is judged that an abnormality has been caused, e.g. due to the short-circuit of a winding.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an apparatus for detecting an abnormality in a brushless motor, and more particularly to an apparatus for detecting an abnormality which can detect a short circuit or a wire break in a brushless motor.

[0002]

2. Description of the Related Art Conventionally, various motors are known as so-called brushless motors having no brush. For example, Japanese Patent Laid-Open No. 2-17889 discloses a motor according to the output value of a Hall element for detecting the position of a rotor. A hall motor that switches the excitation phase of a coil is disclosed. In this publication, the rotation is stopped or notified when the signal pattern from the Hall element is different from a predetermined pattern or when the exciting current does not flow in the coil.

[0003]

However, in the device described in the above publication, a defect of the Hall element or the like can be detected, but a short circuit of the winding of the motor, for example, cannot be detected. Further, since the motor is judged to be defective when the exciting current becomes equal to or less than a predetermined value while the motor is continuously rotating, it is not possible to detect the wire breakage or the like of the winding unless the motor is in the rotating state. . In other words, the wire breakage of the winding cannot be detected even when the motor is stopped, and therefore cannot be detected when the wire breakage is present from the beginning.

SUMMARY OF THE INVENTION Therefore, an object of the present invention is to provide an abnormality detecting device capable of reliably detecting a short circuit or disconnection without substantially rotating a brushless motor.

[0005]

In order to achieve the above object, the present invention provides an exciting coil of at least three phases, a motor shaft that rotates according to the excitation state of the exciting coil, and a rotation of the motor shaft. A rotation sensor for detecting, a switching element provided on the high side and low side of each phase of the exciting coil, and a phase switching signal pattern for switching the phase of the switching element according to the output change of the rotation sensor. In a brushless motor abnormality detection device that includes a phase switching control unit that outputs a signal and drives the switching element according to the phase switching signal to supply a current to the exciting coil, one of the switching elements is sequentially turned on. And a current detecting means for detecting the current of the exciting coil each time the conducting means is conducted, and the current detecting means is equal to or more than a first predetermined value. It is obtained by a first abnormality determining means for determining an abnormality when detecting the current.

Further, according to the present invention, at least three-phase exciting coils, a motor shaft that rotates according to the excitation state of the exciting coils, a rotation sensor that detects the rotation of the motor shaft, and each of the exciting coils are provided. A switching element provided on the high side and the low side of the phase, and phase switching control means for switching the phase switching signal pattern according to the output change of the rotation sensor and outputting the phase switching signal to the switching element. A brushless motor abnormality detection device that drives the switching element according to the phase switching signal to supply a current to the exciting coil, a switching element provided on a high side of any one phase of the exciting coil; Energizing means for conducting and energizing the switching element provided on the low side of one of the other phases of the exciting coil; An energizing current detecting means for detecting an electric current flowing through the switching elements on the high side and the low side for each electric power; and a second judging as abnormal when the detected current of the energizing current detecting means is less than a second predetermined value. The abnormality determining means may be provided.

Further, according to the present invention, at least a three-phase exciting coil, a motor shaft that rotates in accordance with the excitation state of the exciting coil, a rotation sensor that detects the rotation of the motor shaft, and each of the exciting coils. A switching element provided on the high side and the low side of the phase, and phase switching control means for switching the phase switching signal pattern according to the output change of the rotation sensor and outputting the phase switching signal to the switching element. A brushless motor abnormality detection device that drives the switching element according to the phase switching signal to supply a current to the exciting coil, a switching element provided on a high side of any one phase of the exciting coil; The switching element provided on the low side of one of the other phases of the exciting coil is electrically connected to the high side and the low side. An energizing means for energizing a current of a predetermined ratio to the switching element, an energizing current detecting means for detecting a current flowing through the high-side and low-side switching elements each time the energizing means is energized, and the energizing means. It may be provided with a third abnormality determination means for determining an abnormality when the current detection means detects a current of a third predetermined value or more or a current of a fourth predetermined value or less. .

[0008]

In the brushless motor having the above structure, the phase switching control means switches the phase switching signal pattern in accordance with the output change of the rotation sensor for detecting the rotation of the motor shaft. According to this phase switching signal pattern, the phase switching control means outputs a phase switching signal to the switching element, the switching element is driven according to this phase switching signal, and a current is supplied to the exciting coil. Further, in the abnormality detecting device according to the first aspect, any one of the switching elements is sequentially turned on by the conducting means, and the current detecting means measures the current of the exciting coil every time the conducting means is conducted. Thus, when the current detecting means detects a current equal to or larger than the first predetermined value, the first abnormality determining means determines that the current is abnormal, and detects an abnormality due to, for example, a short circuit in the winding.

In the abnormality detecting device according to the second aspect of the invention, the switching elements provided on the high side and the low side are conducted by the energizing means to be energized, and the switching elements are energized by the energizing current detecting means each time the energizing is performed. The current flowing through is detected. When the detected current of the energizing current detecting means is equal to or less than the second predetermined value, the second current is detected.
The abnormality determining means determines that the abnormality is occurring, and detects an abnormality resulting from, for example, a wire break. Further, in the abnormality detection device according to the third aspect, a current of a predetermined ratio of the maximum current to the switching elements on the high side and the low side is supplied by the energizing means. The current flowing through the switching element is detected by the energizing current detecting means each time the energizing means conducts electricity, and when the detected current of the energizing current detecting means is equal to or larger than the third predetermined value, the third abnormality determining means determines that the current is abnormal. The determination is made and, for example, an abnormality due to a short circuit of the winding is detected. At the same time, even when the detected current of the energizing current detecting means is less than or equal to the fourth predetermined value, the third abnormality determining means determines that there is an abnormality, and detects an abnormality due to the disconnection of the winding or the like.

[0010]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment in which the abnormality detecting device for a brushless motor of the present invention is mounted on a rear wheel steering device of a vehicle will be described below with reference to the drawings. FIG. 1 shows a configuration of a vehicle equipped with a rear wheel steering device, in which front wheels 13 and 14 are steered by a front wheel steering mechanism 10 in accordance with a turning operation of a steering wheel 19. The front wheel steering mechanism 10 is provided with a first front wheel steering angle sensor 17 that detects the amount of movement of the rack, and a second front wheel steering angle sensor 20 is provided on the steering shaft to which the steering wheel 19 is attached. The steering amount of the front wheels is detected by these sensors.
A linear sensor such as a potentiometer is used as the first front wheel steering angle sensor 17, and a steering sensor such as a rotary encoder that emits a pulse when rotating is used as the second front wheel steering angle sensor 20.

A rear wheel steering mechanism 11 is connected to the rear wheels 15 and 16 and steered according to the rotation of a motor 12.
A magnetic pole sensor 18 for detecting the rotation angle of the motor 12 is provided at the end of the motor 12. Further, a rear wheel steering angle sensor 21 is provided on a rack shaft 25 which is a rear wheel steering shaft, and the actual steering angles of the rear wheels 15 and 16 are detected by this. The rear wheel steering angle sensor 21 may be built in the rear wheel steering mechanism 11. Further, the speed of the vehicle is detected. 2
A system first vehicle speed sensor 22, a second vehicle speed sensor 23, and a yaw rate sensor 24 for measuring the yaw rate of the vehicle are provided. The motor 12 is configured to be controlled by a signal from the electronic control unit 9. That is,
The electronic control unit 9 includes a first front wheel steering angle sensor 17, a second front wheel steering angle sensor 20, a magnetic pole sensor 18, and a rear wheel steering angle sensor 2.
1, sensor outputs of the first vehicle speed sensor 22, the second vehicle speed sensor 23, and the yaw rate sensor 24 are supplied, and the rotation amount of the motor 12 is set according to these outputs.
Is supplied with a control signal.

The rear wheel steering angle sensor 21 of this embodiment is built in the rear wheel steering mechanism 11 as shown in FIG. A cover 36 is fixed to a housing 38 of the rear wheel steering mechanism 11, and a magnetic pole sensor 18, a motor housing 40 of the motor 12 and a rear wheel steering angle sensor 21 are integrally provided on the cover 36. As is apparent from FIG. 3, which is a partial cross-sectional view of the rear wheel steering mechanism 11 shown in FIG. 2, the rack shaft 25 is provided at right angles to the traveling direction of the vehicle, and both end portions of the rack shaft 25 are It is connected to the knuckle arm of the rear wheel via a ball joint 53. Both ends of the rack shaft 25 are protected by boots 28. A tube 39 is fitted to the right end of the housing 38 in the figure. When the rack shafts 25 having different lengths are provided, it is possible to deal with them by changing the tube 39 without changing the housing 38. A rack 26 is formed on the rack shaft 25, and the rack 26 meshes with a pinion 27 extending in the front-rear direction of the vehicle. The rack guide cover 32 is fixed to the housing 38 while the rack guide 31 is biased toward the rack 26, whereby the rack 26 is pressed toward the pinion 27. In addition, the pinion 27, as shown in FIG.
It is fixed to 9 by shrink fit (press fit), and the relative rotation is blocked by the pin 37.

As shown in FIG. 4, the rear wheel steering angle sensor 21 has a built-in potentiometer and is provided parallel to the surface of the gear 29. A pin 34 is attached to the shaft 54 via a lever 33.
Is provided, and this pin 34 is fitted into a hole 35 formed in the gear 29. As a result, when the gear 29 rotates, the shaft 54 also rotates, and the rotation angle of the shaft 54 is detected by the rear wheel steering angle sensor 21. On the other hand, the rotation angle of the shaft 54, that is, the rotation amount of the gear 29 is proportional to the lateral movement amount of the rack shaft 25. Thus, the rear wheel steering angle sensor 21 detects the steering angle amount of the rear wheels.

As shown in FIG. 3, a pinion 30 is provided at the tip of a motor shaft 41 of the motor 12, and a gear 29 meshes with the pinion 30 to form a hypoid gear. This hypoid gear transmits the rotation of the motor shaft 41 of the motor 12 as the rotation of the gear 29, but when a rotational force is applied to the gear 29 from the rack shaft 25 (FIG. 4) side, the motor shaft 41 of the motor 12 does not rotate. Thus, the reverse efficiency is set to zero. Also, pinion 3
The 0 and the gear 29 constitute an HRH (high ratio hypoid) gear so as to have a large reduction ratio. The gear ratio is
Since it is determined by the number of poles of the motor 12, the resolution of the steering angle, etc., it varies depending on the vehicle, but in this embodiment it is set to 67: 1.

As shown in FIG. 5, the motor shaft 41 of the motor 12 is rotatably supported in the motor housing 40. A four-pole magnet 42 is fixed around the motor shaft 41. Further, the motor housing 40 includes a magnet 42.
A core 43 is fixed so as to face the core 43, and a motor winding 44 is wound around the core 43. As is apparent from FIG. 6 showing the AA cross section of FIG. 5, twelve protrusions 43a extending in the central direction are formed in the core 43, and the motor winding 44 is wound around the protrusion 43a. It The motor windings 44 are connected by windings 44a and 44d and 44b and 44b as shown in FIG. 7 in which the motor winding 44 is viewed from the magnetic pole sensor 18 side.
One ends of e, 44c and 44f are connected to terminals U, V and W, respectively. Windings 44a, 44b, 44c, winding 4
The other ends of 4d, 44e, and 44f are electrically connected. The motor winding 44 is connected to a wire harness 46 via a terminal 45 for each system.

One end of the motor housing 40 is an open end, and the magnetic pole sensor 18 is attached thereto. The substrate 49 of the magnetic pole sensor 18 is fixed to the open end of the motor housing 40 by the holder 47 (shown in FIG. 9), and the cover 48 is provided at the open end. On the other hand, the motor 12
A rotor 52 is fixed to the end of the motor shaft 41 of the above, and a magnet 51 is provided on the rotor 52. The magnet 51 is formed in a disc shape with four poles, as shown in FIG. As shown in FIG. 9, three Hall ICs 50 are arranged on the substrate 49, each being shifted by 60 degrees. The outputs of these three Hall ICs 50 are output to the magnetic pole sensor signals HA, HB, HC in the electronic control unit 9 described later.
Used as.

That is, when the motor shaft 41 rotates, as shown in FIG.
Hall IC as shown in "Rotating state of magnet 51"
The magnet 51 rotates relatively to (HA, HB, HC in the drawing), and the three magnetic pole sensor signals HA, HB, HC that are the three outputs of the magnetic pole sensor 18 are at the high level (H) as shown in the drawing.
And low level (L). FIG. 10 shows a motor 12
Shows the state of rotating clockwise (CW). When the motor 12 rotates counterclockwise (CCW), the magnetic pole sensor signals HA, HB, HC of the magnetic pole sensor 18 are switched in the direction from the right to the left in the figure. When the winding current of the motor winding 44 is switched in synchronization with the switching of the magnetic pole sensor signals HA, HB and HC, the motor 12 rotates. The direction of the winding current when the motor 12 shown in FIG. 10 rotates will be described later.

FIG. 11 shows the configuration of the electronic control unit 9. The electronic control unit 9 is connected to a vehicle-mounted battery 59. That is, the battery 59 is connected to the motor driver 5 via the fuse and the power supply terminal PIGA, and is also connected to the motor driver 5 and the constant voltage regulator 55 via the fuse, the ignition switch IGSW, and the power supply terminal IGA. The constant voltage regulator 55 outputs a constant voltage Vcc1.

The electronic control unit 9 has a microprocessor 1 which is a control means, and the microprocessor 1 is operated by a constant voltage Vcc1. The above-described first front wheel steering angle sensor 17, second front wheel steering angle sensor 20, and first vehicle speed sensor 2
2, the outputs of the second vehicle speed sensor 23, the yaw rate sensor 24, the magnetic pole sensor 18, and the rear wheel steering angle sensor 21 are input to the microprocessor 1 via the interface 57. Here, the output of the first front wheel steering angle sensor 17 is set to θf.
1, the output of the second front wheel steering angle sensor 20 is θf2, the output of the first vehicle speed sensor 22 is V1, the output of the second vehicle speed sensor 23 is V2, the output of the yaw rate sensor 24 is γ, the magnetic pole sensor 1
The three output signals of 8 are HA, HB, HC, and the output of the rear wheel steering angle sensor 21 is θr. Although the motor connected to the electronic control unit 9 is represented by 12 in the above-mentioned mechanism, the motor is represented by M in the circuit diagrams after FIG. The terminals U, V, W of each phase of the motor M are the electronic control unit 9
Is connected to the motor driver 5. Electric power is supplied to the motor driver 5 from power supply terminals PIGA and IGA. Then, the motor driver 5 is provided with a phase switching signal group L1 which is a signal output from the microprocessor 1.
(L1 is the phase switching signal LA11, LB11, LC11, L
A signal group consisting of A21, LB21, and LC21) and a pulse width modulation signal PWM1 are input.

The motor driver 5 is constructed as shown in FIG. 12, and is controlled by the phase switching signal group L1 and the pulse width modulation signal PWM1 described above. The phase switching signals LA11, LB11, LC11 for controlling the high side are input to the gate drive circuit G11 via the abnormal current limiting circuit 88. Normally, these input signals are directly output from the output side via the abnormal current limiting circuit 88. The gate drive circuit G11 is a circuit for on / off driving the transistors TA11, TB11, TC11 of the power MOSFET. The gate drive circuit G11 also performs boosting, supplies the boosted voltage to the gates of the transistors TA11, TB11, TC11, and outputs the boosted voltage as a boosted voltage value RV1. Transistors TA11, TB
11 and TC11, high voltage obtained from the power supply terminal PIGA via the pattern fuse PH, the choke coil TC, and the resistor Rs is the three-phase terminals U of the motor M, respectively.
It is connected so as to be supplied to V and W. The transistors TA11, TB11, TC11, TA21, TB
A Zener diode is inserted between the gate and the source of the TC21 and TC21, and is used for protection of the power MOSFET. That is, the power supply voltage is 20V for some reason
When the voltage exceeds the threshold voltage, the gate-source voltage of the power MOSFET exceeds 20 V and the power MOSFET is destroyed, so a Zener diode is provided to prevent this.

On the other hand, the phase switching signals LA21, LB21, LC21 for controlling the low side are connected to the gate drive circuit G21 via the pulse width modulation signal synthesis circuit 89 and the abnormal current limiting circuit 88. The pulse width modulation signal synthesis circuit 89 includes phase switching signals LA21, LB21, LC.
21 is a circuit for combining 21 with the pulse width modulation signal PWM1. The gate drive circuit G21 is a circuit for driving the transistors TA21, TB21, TC21 of the MOSFET on and off, and these transistors TA21, T21.
B21 and TC21 are three-phase terminals U, V, and
It is arranged so that W and the ground of the battery 59 are connected. Transistors TA11, TB11, TC1
Protective diodes D3 to D8 are connected to 1, TA21, TB21, and TC21, respectively. The voltage supplied to the transistors TA11, TB11, TC11 is
At the same time, it is output as the voltage PIGM1.

This voltage PIGM1 and the gate drive circuit G
When the difference from the boosted voltage value RV1 of 11 decreases to about 2V,
MOSFET transistors TA11, TB11, TC
On resistance of 11, TA21, TB21, TC21 may increase, and abnormal heat generation may occur. Therefore, the voltage PIG
When the difference between M1 and the boosted voltage value RV1 is less than or equal to a predetermined value, all the transistors TA11, TB11, TC11,
It is preferable to turn off TA21, TB21, TC21. Incidentally, the transistors TA21, TB21, TC2
Since a large current flows through the source of No. 1, it is desirable that the ground of the weak electric circuit section of the microprocessor or the like be a wiring of a system different from these grounds.

A current detection circuit 86 is connected to both ends of the resistor Rs, and the value of the current flowing through the resistor Rs is detected.
The current detection circuit 86 has a current value of 18 A flowing through the resistor Rs.
In the above case, it is determined that the current is an overcurrent, the overcurrent signal is output as the output signal MOC1, the overcurrent signal is supplied to the pulse width modulation signal synthesis circuit 89, and the limitation is applied on the low side. Further, the current detection circuit 86 determines that the current value flowing through the resistor Rs is an abnormal current when the current value is 25 A or more, and the output signal MS1
Outputs an abnormal current signal. When an abnormal current occurs, an abnormal current signal is given to the abnormal current limiting circuit 88,
Place restrictions on the high and low sides. In this case, all transistors TA11, TB11, TC1
1, TA21, TB21, TC21 may be turned off for a certain period of time after the abnormal current is detected. This fixed time may be set within the safe operation area of the FET with respect to the expected maximum current. The current value detected by the current detection circuit 86 is given to the peak hold circuit 101, and the peak hold circuit 101 outputs the peak value of the current value as the peak signal MI1. The peak hold circuit 101 is reset at the timing when the reset signal DR1 switches.

Next, the rotating operation of the motor M will be described with reference to FIG. Magnetic pole sensor signals HA, HB, HC
The motor M rotates by setting the pattern of the phase switching signal as shown in Table 1 according to the state of. The clockwise rotation (CW) is set to right cut, and the counterclockwise rotation (CCW) is set to left cut. First, the order of clockwise rotation 1 in Table 1
The magnetic pole sensor signal is (HA, HB, HC) =
In the case of (H, L, H), the phase switching signal is (LA11,
LB11, LC11, LA21, LB21, LC21)
= (H, L, L, L, H, L) is output. This state corresponds to the state of the range A in FIG. 10, and the magnetic pole sensor signals HA and HC are at the high level (H), as is clear from the relative rotational positional relationship of the magnet 51 with respect to the three Hall ICs. There is. The direction of the winding current changes from the U phase to the V phase, and the magnet 51 rotates clockwise in the drawing as the motor M rotates. When the magnet 51 rotates about 30 degrees, the magnetic pole sensor signal HA switches from high level to low level.
In response to this, the phase switching signal becomes (LA11, LB11, LC
11, LA21, LB21, LC21) = (L, L,
H, L, H, L), the motor M further rotates 30 degrees, and the magnetic pole sensor signal HB becomes high level. In this way, the motor M continuously rotates from the state on the left side in FIG. 10 to the state on the right side. Therefore,
In order to give the clockwise rotation (CW) or the counterclockwise rotation (CCW) to the motor M, the pattern of the phase switching signal may be switched according to the order of the upper stage or the lower stage of Table 1.

[Table 1]

As shown in FIG. 13, the microprocessor 1 includes a target steering angle calculation unit 60, a motor servo control unit 61,
It has a phase switching control unit 62, a magnetic pole sensor abnormality determination unit 63, an open control unit 64, a short circuit / disconnection abnormality determination unit 65, and a switch SW1. The target steering angle calculation unit 60 calculates the target steering angle value AG from the yaw rate value γ, the vehicle speed V and the steering angle θs.
Find LA. Although not shown in FIG. 13, the vehicle speed V is calculated based on the output values V1 and V2 of the first and second vehicle speed sensors 22 and 23. At this time, the average of the two vehicle speed values may be the vehicle speed V, or the maximum value of the two vehicle speed values may be the vehicle speed V. By detecting the vehicle speed in two systems in this way, it is possible to detect an abnormality in the vehicle speed sensor.
Although not shown in FIG. 13, the front wheel steering angle θs is set to the first
And output values θf1, θ of the second front wheel steering angle sensors 17, 20
It is calculated based on f2. In this case, a potentiometer is usually used as the first front wheel steering angle sensor 17, but the potentiometer is not very accurate. Meanwhile, the second
When a rotary encoder is used as the front wheel steering angle sensor 20, the amount of steering angle can be detected accurately, but the amount of initial steering angle cannot be detected. Therefore, the absolute value of the output of the second front wheel steering angle sensor 20 is determined by the first front wheel steering angle sensor 17, and after the absolute value is determined, the second front wheel steering angle sensor 20 is detected.
Is the steering angle θs.

FIG. 14 is a control block diagram of the motor servo control unit 61. The differentiating unit 90 differentiates the target rudder angle value AGLA to obtain the differential value SAGLA, and the differential gain setting unit 91 sets the target rudder angle. Differential value SAGLA
The differential gain YTDIFGAIN is obtained based on the absolute value of. The absolute value of the differential value SAGLA is 4 (deg / se
c) In the following cases, the differential gain is 0 and the differential value SAGL
The differential gain is set to 4 when the absolute value of A is 12 (deg / sec) or more, and the differential gain is 0 to 4 when the absolute value of the differential value SAGLA is 4 to 12 (deg / sec). It becomes a value.

On the other hand, the rotation angle θm of the motor M is calculated based on the output of the magnetic pole sensor 18. Although not shown in FIG. 14, the rotation angle θm of the motor M is obtained based on the output values HA, HB, HC of the magnetic pole sensor 18 and the output value θr of the rear wheel steering angle sensor 21. Normally, a potentiometer is used as the rear wheel steering angle sensor 21, but the potentiometer has a rough accuracy, and the magnetic pole sensor 18 can accurately detect the steering angle amount, but cannot detect the initial steering angle amount. Therefore, the absolute value of the magnetic pole sensor 18 is calculated by the rear wheel steering angle sensor 21, and after the absolute value is calculated, the rotation angle θm of the motor M is calculated from the output change of the magnetic pole sensor 18. The rotation angle θm is the actual steering angle value R via the buffer 100.
The AGL is supplied to the subtraction unit 92.

In the subtracting section 92, the target steering angle value AGLA
The actual steering angle value RAGL is subtracted from this to obtain the steering angle deviation ΔAGL. This steering angle deviation ΔAGL is processed via the deviation steering angle dead zone imparting section 93. Deviation steering angle dead zone applying unit 9
3, the absolute value of the steering angle deviation ΔAGL is a predetermined value E2PMAX.
In the following cases, the steering angle deviation value ETH2 is set to 0, and when the value of the steering angle deviation ΔAGL is small, the control is stopped. Obtained steering angle deviation value ETH2
Is sent to the proportional section 96 and the differentiating section 94. The proportional portion 96 integrates the steering angle deviation value ETH2 by a predetermined proportional gain,
Obtain the proportional term PAGELA. Further, the differentiating unit 94 differentiates the steering angle deviation value ETH2 to obtain the steering angle deviation differential value SETH2. The steering angle deviation differential value SETH2 and the above-described differential gain YTDIFGAIN are integrated by the integrating section 95, and the differential term DAGLA is obtained. Then, the proportional term PAGLA and the differential term DAGLA are added by the adder 97, and the steering angle value H
The PID is obtained.

The steering angle value HPID is limited by the deviation steering angle limiter 98. The deviation steering angle limiter 98 is
The control amount ANG is set in proportion to the steering angle value HPID, and the control amount ANG is 1.5 deg or more or -1.5d.
It is set so as not to be less than or equal to eg. The control amount ANG is converted into a pulse width modulation signal by the pulse width modulation conversion unit 99 and supplied to the motor driver 5. The motor driver 5 rotates the motor M according to the pulse width modulation signal, and the motor M is servo-controlled by this.
Further, the steering angle deviation is PD-controlled. Among these, the differential gain of the differential term is changed according to the differential value of the target steering angle value. The differential gain becomes 0 when the differential value of the target steering angle value is small, and the control in this case is performed only by the proportional term.
An integral term may be added to the PD control. Further, since the rotation angle θm of the motor M changes depending on the fluctuation of the power supply voltage, the battery voltage may be measured and the control amount ANG may be corrected according to the battery voltage.

As shown in FIG. 15, the interrupt terminal and the normal input terminal of the microprocessor 1 are the magnetic pole sensor signal HA,
It is used for inputting HB and HC. Magnetic pole sensor signal H
A and HB are input to the exclusive OR circuit EXOR1, and the magnetic pole sensor signal HC and the exclusive OR circuit E are input.
The output signal of XOR1 is an exclusive OR circuit EXO
It is connected to input to R2. Thus, if any one of the magnetic pole sensor signals HA, HB, HC changes, the output of the exclusive OR circuit EXOR2 changes.

As described above, the magnetic pole sensor signals HA, HB,
When there is a change in any one of the HCs, the magnetic pole sensor abnormality determination unit 63 shown in FIG. 13 executes the magnetic pole sensor signal edge interrupt routine shown in FIG. here,
Each time there is an interrupt, the state of the magnetic pole sensor signal is determined and stored as the current value, and the current value stored so far is updated as the previous value. That is, in step 201, the magnetic pole sensor signal stored so far is updated as the previous value. Next, at step 202, the states of the input terminals of the magnetic pole sensor signals HA, HB, and HC are read and stored as current values. Next, at step 203, the previous predicted value is read from the map shown in Table 2. As will be described later, the magnetic pole sensor 18 is configured so that any one of the magnetic pole sensor signals HA, HB, and HC sequentially changes. Therefore, the polarity of any one of HA, HB, and HC should change from the previous value and the current value.

[Table 2]

All of the possible states for the current value are stored in the previous predicted value of the map in Table 2. Specifically, when the current value is (HA, HB, HC) = (L, L, H), the previous prediction value is (H, L, H) or (L,
H, H). In step 204 of FIG. 16, the previous predicted value and the actual previous value are compared. Magnetic pole sensor 18
If is working properly, the previous predicted value and the previous value should match. Therefore, if the previous predicted value and the previous value match, the magnetic pole sensor abnormality flag Fa is determined in step 205.
If bn is cleared (0) and the previous predicted value and the previous value do not match, the magnetic pole sensor abnormality flag Fabn is set (1) in step 207, and this magnetic pole sensor signal edge interrupt routine ends, and thereafter In the processing, it is determined that the magnetic pole sensor 18 has an abnormality.

The phase switching control unit 62 of FIG. 13 performs the processing as shown in FIG. First, in step 210, it is determined whether or not a short circuit abnormality flag Fsab and a disconnection abnormality flag Fcab, which will be described later, are 0, and if either is set (if 1), the following processing is not performed. That is, when the short circuit / disconnection abnormality determination unit 65 detects a short circuit or disconnection, the phase switching control signal LA11
Through LC21 are all set to low level (L).
Then, in step 211, it is judged whether or not there is an edge interruption of the magnetic pole sensor signal. If there is an interrupt, in steps 212 to 214, if the clockwise rotation is to be performed, the value CW is set in the direction flag DI.
Is set, and if the counterclockwise rotation is to be performed, the value CCW is set to the direction flag DI. The rotation direction can be determined by whether the steering angle value HPID is positive or negative.
If D> 0, the direction flag DI = CCW is set, and HPI
If D <0, the direction flag DI = CW is set.

Next, at step 215, the phase switching signal pattern is set based on the map of Table 3 below. The phase switching signal is a 6-bit signal, and each bit takes a high level "H" or a low level "L" and is defined as shown in Table 4 below. In step 215, the next phase switching signal pattern is set based on the state of the phase switching signal pattern and the direction flag DI that have been output so far. For example,
The current value is (LA11, LB11, LC11, LA21,
LB21, LC21) = (H, L, L, L, H, L) and if DI = CW (clockwise rotation), the next value is (H, L, L, L, L, H). ) Is set. The set phase switching signal pattern is calculated as a phase switching signal group L1 in the microprocessor 1. If the control cycle is fast, this phase switching control routine may be performed within the magnetic pole sensor signal edge interrupt routine. When the steering angle value HPID becomes zero when the direction flag is set, the phase switching is set to the stop mode and (L
A11, LB11, LC11, LA21, LB21, L
C21) = (L, L, L, L, L, L).

[Table 3]

[Table 4]

In the open controller 64 of FIG. 13,
Processing is performed as shown in FIG. First, step 220
In the above, if it is determined that the magnetic pole sensor abnormality flag Fabn is 1 and it is 0, the following processing is not performed. That is, when the magnetic pole sensor 18 is normal, the open control routine is not executed. The switch SW1 is switched according to the determination result of the magnetic pole sensor abnormality determination unit 63 in FIG. 13, the phase switching control unit 62 functions to execute the above-described phase switching control routine when normal, and switches to the open control unit 64 side when abnormal. The open control routine is executed. In this open control routine, the open control execution flag Fop and the timer T are used. When the predetermined time is set in the timer T, the timer T is gradually decremented after that, and becomes 0 after the predetermined time. The open control execution flag Fop is set to 0 in the initial state.

At step 221, the state of the open control executing flag Fop is judged, and if the open control executing flag Fop is 0, then at step 222, the timer T is set to a predetermined time (for example, 1 second). To be done. Then, until the timer T becomes 0 or less, step 224
At, the motor brake pattern is set to the phase switching signal pattern. The motor brake pattern is (LA1
1, LB11, LC11, LA21, LB21, LC2
1) = (L, L, L, H, H, H), (LA12, LB
12, LC12, LA22, LB22, LC22) =
(L, L, L, H, H, H). When the predetermined time has elapsed, in step 225, the open control execution flag Fop is set (1). Since the timer T is 0 or less in this state, the next phase switching signal pattern is set from the map shown in Table 5 in step 227.
Next, at step 228, the timer T is set again. In step 226, step 227 is executed only when the timer T is 0 or less, so step 227 is executed every predetermined time set in timer T.

In step 227, the next value is set according to the current phase switching signal pattern and the result of comparison between the rear wheel steering angle value θr output from the rear wheel steering angle sensor 21 and the predetermined value A1. A1 is set to a value close to zero (for example, 0.5 degrees). For example, the current phase switching signal pattern is (LA1
1, LB11, LC11, LA21, LB21, LC2
1) = (H, L, L, L, H, L) and when the rear wheel steering angle value θr is −1 degree, the next phase switching signal pattern is (H, L, L, L, L, H). The map in Table 5 is set to rotate right when the rear wheel steering angle value is negative and rotate left when the rear wheel steering angle value is positive. In any case, the absolute value of the rear wheel steering angle acts so as to approach zero. When the absolute value of the rear wheel steering angle becomes less than the predetermined value A1, the phase switching signal pattern becomes (L, L, L, L, L,
L) and the motor 12 is stopped. Therefore, in the open control routine, the phase switching signal pattern is controlled so that the rear wheel steering angle becomes zero and the neutral return is performed.

[Table 5]

In the short-circuit / disconnection abnormality determination unit 65 of FIG. 13, first, as the short-circuit abnormality determination, the transistors TA11, TB11, TC11, TA2 which are switching elements are used.
1, TB21, TC21 are sequentially turned on (ON) one by one according to Table 6, and the current I (n) can be supplied to the motor M.

[Table 6] The current I (n) that can be supplied in this case is not less than the predetermined value α, and the conduction order of the transistors does not necessarily have to be as shown in Table 6. The short circuit abnormality determination processing in the short circuit / disconnection abnormality determination unit 65 will be described below with reference to FIG.

In FIG. 19, first, at step 301, the transistor TA11 is turned on, and the current I (n) can be supplied. If the winding U is normal, no current flows. Therefore, the detection current Is falls below the predetermined value α, but if there is a short circuit, the detection current Is exceeds the predetermined value α. Therefore, if it is determined in step 302 that the detected current Is falls below the predetermined value α, the process proceeds to step 303, in which the transistor TA11 is cut off and the transistor TB11 is made conductive. On the other hand, when the detection current Is of the predetermined value α or more is detected, step 314 is executed.
And the short circuit abnormality flag Fsab is set (1).
Hereinafter, when the above process is sequentially executed for each transistor and it is determined that the detected current Is of the transistor TC21 is lower than the predetermined value α, the short circuit abnormality flag Fsab is cleared (0) or cleared in step 313. The state is maintained. The short circuit abnormality flag may be set each time each transistor is turned on and is determined to be abnormal.

Next, in the case of the disconnection abnormality judgment, the high side transistor and the low side transistor are sequentially turned on according to Table 7, and the current I (n) is supplied to the motor M. The current I (n) is set to a value in a normally used range (for example, a value with a duty ratio of 100%).

[Table 7] Note that the energization order in Table 7 is an example, and any order may be used regardless of the energization pattern of the phase switching signal described above. FIG. 20 shows an example of disconnection abnormality determination processing.
First, at step 401, the transistor TA11, which is a switching element on the high side, and the transistor TB21, which is a switching element on the low side, are turned on (ON), and a current I (n) is supplied to the windings U and V. The detected current Ic at this time becomes a value equal to or larger than the predetermined value β if it is normal as shown in FIG. 22, but the detected current Ic falls below the predetermined value β when the wire is broken, for example. Therefore, if it is determined in step 402 that the detected current Ic is greater than or equal to the predetermined value β, the process proceeds to step 403, where the high-side transistor TA11 and the low-side transistor T11 are connected.
It is switched so that C21 becomes conductive. On the other hand, when the detected current Ic below the predetermined value β is detected, the routine proceeds to step 414, where the disconnection abnormality flag Fcab is set (1). Hereinafter, when the above-described processing is sequentially executed for each phase and the detection current Ic when the transistors TC11 and TB21 are conductive is determined to be the predetermined value β or more, the disconnection abnormality flag Fcab is cleared (0) in step 413, Alternatively, the cleared state is maintained. The disconnection abnormality flag may be set every time it is determined to be abnormal in the above determination.

Short circuit abnormality determination can also be performed by performing the same processing as the above disconnection abnormality determination. That is, by setting the energizing current I (n) to a value at which the motor M cannot rotate (a value of a predetermined ratio with respect to the maximum current, for example, a duty ratio of 50%), a current Is of a predetermined value λ or more is obtained. It is possible to determine that the short circuit abnormality has occurred when is detected. That is, according to the above Table 7, the high side transistor and the low side transistor are rendered conductive, and the current I (n) having a duty ratio of 50% is supplied to the motor M. FIG. 21 shows this short-circuit abnormality determination processing. First, at step 501, the high-side transistor TA
11 and the transistor TB21 on the low side are made conductive (ON), and the current I (n) is supplied to the windings U and V.
If the detected current Is at this time is normal, it falls below a predetermined value λ as shown in FIG. 23, but if there is a short circuit, the detected current Is becomes a predetermined value λ or more. In this case, in this embodiment, the current I (n) has a duty ratio of 5 with respect to the maximum current.
Since only 0% of the current is supplied, the motor M does not rotate.

If it is determined in step 502 that the detected current Is falls below the predetermined value λ, step 5
03, the transistor TA11 and the transistor T
C21 is turned on. On the other hand, when the detected current Is equal to or larger than the predetermined value λ is detected, the process proceeds to step 514 and the short circuit abnormality flag Fsab is set (1). Less than,
The above process is sequentially executed for each phase, and the transistor TC
11, when it is determined that the detected current Is when the TB21 is conductive is less than the predetermined value λ, the short circuit abnormality flag Fsab is cleared (0) in step 513, or the cleared state is maintained. Alternatively, as shown in FIG. 23, the detected current Is may be compared with a predetermined value δ, and when the detected current Is is equal to or smaller than the predetermined value δ, it is determined that the wire is broken and the wire breakage abnormality flag may be set.

As described above, the present embodiment has the short-circuit / disconnection abnormality determination unit 65, and when the disconnection abnormality is determined in FIG. 20, the motor M rotates slightly (30 °), but not continuous rotation. Further, when the short-circuit abnormality is determined in FIGS. 19 and 21, the desired abnormality determination can be performed without rotating the motor M. The above-mentioned short circuit and disconnection abnormality determinations can be appropriately combined and performed. For example, if the processes of FIGS. 20 and 21 are combined, the same procedure can be performed by changing the value of the energizing current I (n). it can. Moreover,
For example, not only when the winding of the motor 12 (M) is short-circuited or disconnected, but also when a short-circuit or disconnection occurs in the circuit that drives the motor 12 (M), these abnormalities can be reliably detected. Therefore, the subsequent stopping process of the motor 12 (M) can be reliably performed. In this embodiment, the magnetic pole sensor 18 is used as the rotation sensor of the brushless motor, but an encoder such as a light pulse sensor using a light emitting diode may be used.

[0044]

As described above, in the invention according to the first aspect, any one of the switching elements is sequentially turned on, and the current of the exciting coil is measured for each turn-on, and the first predetermined value is measured. Since it is configured to be determined to be abnormal when the above current is detected, it is possible to reliably detect a short circuit or the like in the winding without rotating the brushless motor.

In the invention described in claim 2,
The switching elements provided on the high side and the low side are conducted and energized, and the current flowing through the switching element is detected each time the energization is performed, and when the detected current is equal to or less than the second predetermined value, it is determined to be abnormal. Since the determination is made, it is possible to reliably detect the disconnection of the winding wire even when the brushless motor is stopped.

Further, in the invention described in claim 3,
When a current having a predetermined ratio of the maximum current to the high-side and low-side switching elements is energized, and the current flowing through the switching element is detected each time the current is energized, and the detected current is equal to or greater than a third predetermined value. Alternatively, since it is configured to be determined to be abnormal when a current equal to or less than the fourth predetermined value is detected, it is possible to reliably detect a short circuit or the like in the winding without rotating the brushless motor.

[Brief description of drawings]

FIG. 1 is an overall configuration diagram of an embodiment of the present invention.

FIG. 2 is a front view of a rear wheel steering mechanism used in an embodiment of the present invention.

3 is a partial cross-sectional view of the rear wheel steering mechanism of FIG.

4 is a cross-sectional view of the rear wheel steering mechanism of FIG.

FIG. 5 is a sectional view of a motor used in an embodiment of the present invention.

FIG. 6 is a sectional view of a motor used in an embodiment of the present invention.

FIG. 7 is an explanatory view of windings of the motor shown in FIGS.

FIG. 8 is a front view of a magnet used in an embodiment of the present invention.

FIG. 9 is a front view of the substrate of the magnetic pole sensor used in the embodiment of the present invention.

FIG. 10 is an operation explanatory view of the brushless motor according to the embodiment of the present invention.

FIG. 11 is a circuit configuration diagram of an electronic control device used in an embodiment of the present invention.

12 is a circuit configuration diagram of a driver of the electronic control device of FIG.

13 is a functional block diagram of a microprocessor of the electronic control device of FIG.

14 is a functional block diagram of a motor servo control unit of the microprocessor of FIG.

15 is a circuit configuration diagram of a magnetic pole sensor input circuit of the electronic control device of FIG.

16 is a flowchart of a magnetic pole sensor abnormality determination unit in FIG.

FIG. 17 is a flowchart of the phase switching control unit in FIG.

FIG. 18 is a flowchart of the open control unit in FIG.

FIG. 19 is a flowchart of short circuit abnormality determination in the short circuit / disconnection abnormality determination unit of FIG.

20 is a flowchart of a disconnection abnormality determination in the short circuit / disconnection abnormality determination unit of FIG.

21 is a flowchart of another example of short-circuit abnormality determination in the short-circuit / disconnection abnormality determination unit of FIG.

22 is a graph for explaining the disconnection abnormality determination in the short circuit / disconnection abnormality determination unit of FIG.

FIG. 23 is a diagram of the short-circuit / open-circuit abnormality determination unit of FIG.
It is a graph explaining the short circuit abnormality determination of No. 1.

[Explanation of symbols]

1 Microprocessor 5 Motor Driver 9 Electronic Control Device 12 Motor (Brushless Motor) 17,20 First and Second Front Wheel Steering Angle Sensor 18 Magnetic Pole Sensor (Rotation Sensor) 21 Rear Wheel Steering Angle Sensor 22,23 First and Second Vehicle Speed Sensor 55 Constant voltage regulator 57 Interface 59 Battery 60 Target rudder angle calculation unit 61 Motor servo control unit 62 Phase switching control unit 63 Magnetic pole sensor abnormality determination unit 64 Open control unit 65 Short circuit / disconnection abnormality determination unit (abnormality determination means) 86 Current detection Circuit 88 Abnormal current limiting circuit 89 Pulse width modulation signal synthesis circuit 90, 94
Differentiation part 91 Differential gain setting part 92 Subtraction part 93 Deviation steering angle dead zone imparting part 95 Accumulation part 96 Proportional part 97 Addition part 98 Deviation steering angle limiter 99 Pulse width modulation conversion part 100 Buffer 101 Peak hold circuit AGLA Target steering angle value HA, HB,
HC magnetic pole sensor signal L1 phase switching signal group LA11, LB11, LC11, LA21, LB21,
LC21 Phase switching signal M Motor (brushless motor) PWM1 Pulse width modulation signal U, V, W
Terminal V Vehicle speed γ Yaw rate value θs Steering angle

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Kazutaka Tamura, Toyota city, Toyota city, Aichi prefecture, Toyota Motor Co., Ltd. (72) Inventor, Taichi Matsumoto, 1 Toyota city, Toyota city, Aichi prefecture, Toyota car company (72) Inventor Hidemori Tsuka 1 Toyota Town, Toyota City, Aichi Prefecture Toyota Motor Co., Ltd.

Claims (3)

[Claims] 1. An exciting coil of at least three phases, a motor shaft that rotates in accordance with the excitation state of the exciting coil, a rotation sensor that detects the rotation of the motor shaft, and a high level of each phase of the exciting coil. The phase switching control means for switching the phase switching signal pattern in accordance with the output change of the rotation sensor and outputting the phase switching signal to the switching element. In an abnormality detection device for a brushless motor that drives the switching element according to a signal to supply a current to the exciting coil, a conducting means for sequentially conducting one of the switching elements, and the exciting coil for each conducting of the conducting means. Current detecting means for detecting the current of the first abnormality determining means, and a first abnormality determining procedure for determining an abnormality when the current detecting means detects a current of a first predetermined value or more. An abnormality detecting device for a brushless motor, which is provided with a step. 2. An exciting coil of at least three phases, a motor shaft that rotates in accordance with the excitation state of the exciting coil, a rotation sensor that detects the rotation of the motor shaft, and a high-level coil for each phase of the exciting coil. The phase switching control means for switching the phase switching signal pattern in accordance with the output change of the rotation sensor and outputting the phase switching signal to the switching element. In an abnormality detection device for a brushless motor that drives the switching element according to a signal to supply a current to the exciting coil, a switching element provided on the high side of any one phase of the exciting coil, and the exciting coil Energizing means for conducting and energizing the switching element provided on the low side of any one of the other phases, and the high-voltage means for each energization of the energizing means. Energizing current detecting means for detecting a current flowing through the side-side and low-side switching elements, and a second abnormality determining means for determining an abnormality when the detected current of the energizing current detecting means is equal to or less than a second predetermined value. An abnormality detecting device for a brushless motor, comprising: 3. An exciting coil of at least three phases, a motor shaft that rotates in accordance with the excitation state of the exciting coil, a rotation sensor that detects the rotation of the motor shaft, and a high-level coil for each phase of the exciting coil. The phase switching control means for switching the phase switching signal pattern in accordance with the output change of the rotation sensor and outputting the phase switching signal to the switching element. In an abnormality detection device for a brushless motor that drives the switching element according to a signal to supply a current to the exciting coil, a switching element provided on the high side of any one phase of the exciting coil, and the exciting coil The switching element provided on the low side of any one of the other phases is conducted, and the switching elements on the high side and the low side are conducted. Energizing means for energizing a current of a predetermined ratio to the child, energizing current detecting means for detecting the current flowing through the high-side and low-side switching elements each time the energizing means is energized, and the energizing current A brushless motor, comprising: a third abnormality determining means for determining an abnormality when the detecting means detects a current of a third predetermined value or more or a current of a fourth predetermined value or less. Abnormality detection device.