JPH06270823A - Power steering control device - Google Patents

Abstract

PURPOSE:To improve reliability or the like by computing correspondence and noncorrespondence between the drive direction and steering torque direction of a motor for power assisting steering, and controlling the motor through the judgement of the correspondence and noncorrespondence according to the continuation time thereof. CONSTITUTION:Steering torque applied to the steering system of a vehicle is detected by a torque sensor. vehicle speed is detected by a vehicle speed sensor 4. An output of each sensor 3, 4 is input to a control unit 1. In a main CPU6 of a control unit 1 correspondence and noncorrespondence between the steering torque direction and motor drive direction, as well as the drive force and the drive direction of a motor 5 power assisting steering are computed, thereby controlling a motor drive circuit 17. In a sub CPU 7 the correspondence and noncorrespondence are judged according to the continuation time of signals showing them, whereby control of the circuit 17 by the main CPU 16 is permitted.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a power steering control device, and more particularly to a motor drive type power steering control device for assisting a steering device of an automobile by a rotational force of a motor.

[0002]

2. Description of the Related Art Conventionally, for example, in Japanese Patent Laid-Open Nos. 1-267674 and 1-249762, there has been proposed a motor-driven power steering control device for assisting the steering device of an automobile by the rotational force of a motor. ing.
In this power steering control device, a control arithmetic unit using a microcomputer determines the direction in which the motor is driven and the output torque based on the steering torque applied to the steering system or the signal after phase compensation thereof.

However, when a failure of the output section of the control operation unit, a runaway of control software, a fixed failure of the output state or the like occurs, the failure detection means by a single microcomputer provided in the control operation unit is safe. Was difficult to secure. For this reason, a direction monitoring circuit of another system for calculating the motor drive direction by the steering torque signal or a signal after phase compensation thereof or a second control arithmetic unit is provided, and the direction coincides with the output of the first control arithmetic unit. A device and the like for permitting motor drive have also been proposed.

[0004]

Since the conventional power steering control device is constructed as described above, the above-mentioned method of driving only in the direction in which the drive output according to the calculation result of each control calculation unit is different is a separate system. For example, when the drive output of the sub-control arithmetic unit is slower than the drive output of the main control arithmetic unit, or when the drive output of the main control arithmetic unit is temporarily different, it interferes with the motor output feedback loop of the main control arithmetic unit, such as switching steering. There was a problem that the steering feeling was adversely affected by the loss of the motor output when switching the drive direction.

In addition, the direction monitoring circuit by another system of H / W which does not use a microcomputer in another system is used.
In the method of permitting the motor to be driven in the direction that coincides with the output of the control arithmetic unit, the motor must always drive the direction of the torque sensor in the same direction. There is a problem that the motor cannot be driven even when it is desired to temporarily change the direction of the torque and the driving direction of the motor at the time of turning the steering wheel or releasing the handle to return it by releasing the hand.

Further, if it is attempted to equalize the operation speed and output cycle of each control operation unit in order to solve such a problem, two high-performance microcomputers capable of the same operation are required, and the control operation unit is required. However, it is considerably more expensive than a single system.

The present invention has been made in order to solve the above problems, and has a simple structure and a low cost, and a highly safe power steering system capable of greatly improving the reliability of operation. The purpose is to obtain a control device.

[0008]

A power steering control device according to a first aspect of the present invention includes a torque sensor for detecting a steering torque applied to a steering system of a vehicle, and a vehicle speed sensor for detecting a vehicle speed of the vehicle. A first signal for generating a driving force and a driving direction of a motor based on outputs of the torque sensor and the vehicle speed sensor, and a signal for indicating whether the steering torque direction matches the motor driving direction. Control operation means, drive means for driving the motor by the signal indicating the drive force and drive direction from the first control operation means, and the signal indicating the coincidence or inconsistency from the first control operation means. It is determined whether or not the driving direction of the motor and the direction of the steering torque detected by the torque sensor match or not according to the duration of the Is obtained by a second control arithmetic unit for generating a signal for permitting the driving force of the motor to the drive means from said first control arithmetic unit.

A power steering control device according to a second aspect of the present invention is a torque sensor for detecting a steering torque applied to a steering system of a vehicle, a vehicle speed sensor for detecting a vehicle speed of the vehicle, the torque sensor and the above-mentioned torque sensor. A first signal that generates a driving force and a driving direction of a motor is generated based on an output of a vehicle speed sensor, and a signal that indicates whether the direction of the steering torque and the motor driving direction match or do not match.
Control operation means, drive means for driving the motor by the signal indicating the drive force and drive direction from the first control operation means, and the signal indicating the coincidence or inconsistency from the first control operation means. It is determined whether the driving direction of the motor and the direction of the steering torque detected by the torque sensor are in agreement or inconsistency according to the continuation time of the above, and the first control calculating means to the driving means in accordance with the determination result. Second control calculation means for generating a signal permitting the driving force of the motor, and when the non-coincidence state of the coincidence and non-coincidence signals continues for a predetermined time or more, the prohibition of the drive signal to the motor and the above-mentioned At least one of cutoff of power supply to the motor is performed.

[0010]

According to the first aspect of the present invention, the first control calculation means generates the signals representing the driving force and the driving direction of the motor based on the outputs of the torque sensor and the vehicle speed sensor, and the steering torque direction and the motor driving. A signal that indicates whether or not the direction matches is generated. In the second control calculation means, the drive direction of the motor and the direction of the steering torque detected by the torque sensor are matched or mismatched according to the duration of the signal indicating the match or mismatch from the first control calculation means. And a signal for permitting the driving force of the motor from the first control calculation means to the driving means for driving the motor is generated according to the determination result. As a result, the operational reliability can be greatly improved with a simple structure and at low cost.

According to another aspect of the present invention, the first control calculation means generates a signal representing the driving force and the driving direction of the motor on the basis of the outputs of the torque sensor and the vehicle speed sensor, and the steering torque direction and the motor driving. A signal that indicates whether or not the direction matches is generated. In the second control calculation means, the drive direction of the motor and the direction of the steering torque detected by the torque sensor are matched or mismatched according to the duration of the signal indicating the match or mismatch from the first control calculation means. And a signal for permitting the driving force of the motor from the first control calculation means to the driving means for driving the motor is generated according to the determination result. Then, when the non-coincidence state of the signals representing the coincidence and the non-coincidence continues for a predetermined time or more, at least one of prohibiting the drive signal to the motor and cutting off the power supply to the motor is performed. As a result, the operational reliability can be greatly improved with a simple structure and at low cost.

[0012]

【Example】

Example 1. An embodiment of the present invention will be described below with reference to the drawings. FIG. 1 is a block diagram showing an embodiment of the present invention.
In the figure, 1 is a control unit, 2 is an on-vehicle battery, 3 is a torque sensor that detects a steering torque applied to a steering system of a vehicle (not shown), 4 is a vehicle speed sensor that detects a vehicle speed (vehicle speed), and 5 is a vehicle speed sensor. The motor is driven and controlled by the control unit 1, and the torque sensor 3, the vehicle speed sensor 4, and the motor 5 are connected to the control unit 1, respectively.

Reference numeral 6 denotes a main CPU as a first control calculation means corresponding to the main control calculation unit of the control unit 1, and 7 denotes a second control calculation corresponding to a sub-control calculation unit having a processing capacity lower than that of the main CPU 6. The sub CPU, 8 as means is connected to the battery 2 via a fuse or the like (not shown), and the constant voltage circuit for supplying a constant voltage to the main CPU 6 and the sub CPU 7 by using the battery 2 as a power source, 9 and 10 are The interface circuit supplies input signals from the torque sensor 3 and the vehicle speed sensor 4 to the main CPU 6 and the sub CPU 7 via the first data bus 11, respectively.

Reference numeral 12 is a main CPU 6 and a sub CPU 7.
A second data bus connecting between the main CPU 6 and the sub CPU 7 via the second data bus 12, drive direction signals d3 and d4 indicating the right drive direction and the left drive direction of the motor 5, respectively, and the torque sensor 3. Of the steering torque from the motor 5 and the driving direction of the motor 5, a signal i indicating the coincidence and non-coincidence, and turning on / off of a motor power supply circuit 16 described later.
A power supply signal a2 indicating off is supplied.

Reference numerals 13, 14 and 15 are AND circuits each having one input terminal connected to the main CPU 6 and the other input terminal connected to the sub CPU 7. The AND circuit 12 supplies motor power from the main CPU 6. A power supply signal a1 representing ON / OFF of the circuit 16 and a power supply signal a2 representing ON / OFF of the motor power supply circuit 16 obtained from the power supply signal a1 through the sub CPU 7.
Is supplied. Further, the AND circuit 14 has a main CPU
6 for driving the motor 5 from the right side, for example, P representing the drive current
A WM (pulse width modulation) signal b1 and a drive direction signal d5 indicating the right drive direction of the motor 5 from the sub CPU 7 are supplied. Further, the AND circuit 15 is supplied with the PWM signal b2 from the main CPU 6 for driving the motor 5 to the left, for example, representing a drive current, and the sub CPU 7 with the drive direction signal d6 representing the left driving direction of the motor 5.

Reference numeral 16 is a motor power supply circuit composed of, for example, a relay, etc., and supplies power from the battery 2 to the motor 5 via an H-type bridge circuit described later based on the output from the AND circuit 12. . Reference numeral 17 denotes a motor drive circuit, which outputs the outputs of the AND circuits 14 and 15 and the main C
A drive signal is generated based on drive direction signals d1 and d2 from PU6. The output terminal of the motor power supply circuit 16 is connected to the drains of the FETs 18 and 19 which form, for example, an H-type bridge circuit.
And 19 are connected to the drains of FETs 20 and 21 that form the same H-bridge circuit, and the sources of these FETs 20 and 21 are grounded. And the output terminal of the motor drive circuit 17 is connected to each gate of these four FETs 18, 19, 20 and 21,
The connection point between the source of 18 and the drain of the FET 20 is connected to one terminal of the motor 5, and the connection point between the source of the FET 19 and the drain of the FET 21 is connected to the other terminal of the motor 5. The motor drive circuit 17 and the FETs 18 to 2
Reference numeral 1 constitutes a driving means.

Next, the operation will be described. Constant voltage circuit 8
Uses the battery 2 as a power source and supplies a constant voltage to the main CPU 6
And the sub CPU 7 respectively. Further, the interface circuit 9 processes an input signal from the torque sensor 3 to convert it into a signal indicating steering torque, and the converted signal is transmitted via the first data bus 11 to the main CPU 6 and the sub-CP.
Supply to U7 respectively. The interface circuit 10 processes an input signal from the vehicle speed sensor 4 to convert it into a signal indicating the vehicle speed, and supplies the converted signal to the main CPU 6 and the sub CPU 7 via the first data bus 12.

The main CPU 6 processes an input signal from each interface circuit 9 and 10 according to a program as shown in FIG. 3 which will be stored in advance in an internal ROM or the like, and supplies a power to the motor 5 as a motor power supply circuit. 1
6 is supplied to the AND circuit 12 and the power supply signal a2 is supplied to the AND circuit 12 as the first power supply signal a2.
The data is supplied to the sub CPU 7 via the data bus 12. Further, the main CPU 6 has interface circuits 9 and 1
The drive direction and the drive current of the motor 5 are determined based on the input signal from 0, and the drive direction signals d1 and d2 representing the right drive direction and the left drive direction are supplied to the motor drive circuit 17 and the right drive is performed. And a PWM signal b1 and a PWM signal b2 representing a driving current for left driving are supplied to the AND circuits 14 and 15, respectively. Further, the main CPU 6 causes the driving direction signals d3 and d4, the right and left directions of the steering torque of the torque sensor 3 and the directions of the driving direction signals d3 and d4 of the motor 5 to coincide with each other,
A direction match / mismatch signal i indicating a mismatch is supplied to the sub CPU 7 via the first data bus 12.

The sub CPU 7 receives the contents of the drive direction signals d3 and d4 and the power supply signal a2, which are transmitted from the second data bus 12 and determined by the main CPU 6,
The AND circuit 1 is replaced with driving direction signals d5 and d6 respectively representing the right driving direction and the left driving direction of the motor 5, and a power supply signal a3 for supplying power to the motor 5.
Output to 4, 15 and 13. That is, the drive direction signals d1 and d2 and the power supply signal a1 are substantially the sub-C.
It is supplied to the motor drive circuit 17 and the motor power supply circuit 16 via the PU 7. In addition, the sub CPU 7
Since the one with less ability than the main CPU 6 is used,
Normally, the drive direction signal of the motor 5 from the main CPU 6 is output as it is, but the input signal from each interface circuit 9 and 10 is always processed to determine the direction of the steering torque, which is input via the second data bus 12. Main CPU
The drive direction signals d3 and d4 determined in 6 and the direction matching / mismatching signal i are compared with each other to determine an abnormality.

Then, when the abnormal state continues for a predetermined time, for example, 0.1 seconds or more, the abnormality is determined to be the main CPU 6
The power supply signal a3 and the drive direction signals d5 and d6 are output so that the outputs of the AND circuits 13, 14 and 15 are stopped irrespective of the output signals a1, b1 and b2.
Further, when the direction matching / mismatching signal i continues for a predetermined time, for example, 0.2 seconds or more, the abnormality is determined. That is, the AND circuit 12 calculates the logical product of the input power supply signals a1 and a3, and supplies the logical product to the motor power supply circuit 16. Further, the AND circuit 14 takes the logical product of the PWM signal b1 and the drive direction signal d5 and supplies the result to the motor drive circuit 17. Further, the AND circuit 15 outputs the PWM signal b2
And the drive direction signal d6 are ANDed and the result is supplied to the motor drive circuit 17.

The motor drive circuit 17 has four FETs 16, 17 based on the outputs from the AND circuits 14 and 15 and the drive direction signals d1 and d2 from the main CPU 6.
A drive signal is supplied to each of the gates 18 and 19 and, based on the output of a motor current detection circuit (not shown), the main CPU 6
Current feedback control is performed to control the motor torque.

Next, the functional configurations and operations of the main CPU 6 and the sub CPU 7 of the power steering control device shown in FIG. 1 will be further described with reference to FIGS. FIG. 2 is a functional block diagram of the main CPU 6.
In the figure, 61 is a torque input section for inputting a steering torque, and 62 is a phase lead and delay compensation for computing the output of the torque input section 61, for example, the safety and damping characteristics of the torque control loop of the electric power steering. , A phase compensation calculation unit for performing phase compensation by performing the filter calculation of 63, a steering torque direction calculation unit for obtaining a steering torque direction based on the output of the torque input unit 61, a vehicle speed input unit for inputting the vehicle speed of the vehicle, Reference numeral 65 is a motor output calculation unit for obtaining the driving direction, driving current, etc. of the motor 5 from the steering torque, vehicle speed, etc., and 66 is a signal for supplying or stopping the power supply for driving the motor 5 based on the output of the motor output calculation unit 65. , A motor output unit that outputs a current for driving the motor 5, and 67, based on the output of the motor output calculation unit 65, drives the motor 5 to the sub CPU 7. A motor output data transmitting section for outputting a signal or the like representing the direction.

The sub CPU 7 also includes a torque input section (not shown) for inputting a steering torque of a steering system of the vehicle, a vehicle speed input section for inputting a vehicle speed of the vehicle, and a steering torque direction calculation section, and the steering torque is calculated. , A motor output direction calculation unit for obtaining the direction of steering torque from the vehicle speed, etc., a motor output data receiving unit for receiving motor output data output by the main CPU 6, and a direction of steering torque calculated by the sub CPU 7 and the main CPU 6 And a motor output direction comparison unit that compares the motor output data transmitted from the device, and outputs a signal to supply or stop the power supply for driving the motor 5 when the comparison result is in a match or mismatch state within a predetermined time. Comparison of motor power supply output section, motor output section that performs motor output based on motor output data output from main CPU 6, and motor output direction An abnormal time determination unit that determines the time when the comparison result of No. is matched, a direction match, a match / mismatch continuity determination unit that determines the continuation of the mismatch signal i, and an abnormal time determination unit that determines an abnormal continuation of the signal. A motor power supply output stopping unit that cuts off the supply of motor power when an abnormality is determined and a motor output prohibiting unit that prohibits motor output.

Next, the operation will be described with reference to FIGS. First, the main CPU 6 inputs a torque sensor signal as steering torque from the torque sensor 3 and a vehicle speed from the vehicle speed sensor 4 (steps S1 and S2), and outputs power to the motor 5 (step S3). In the steering torque calculation unit 63 to which the torque sensor signal is input, as shown in FIGS. 5A and 5B, the right direction signal D1 is set to a high level “1” when the steering torque T2 is equal to or greater than the right predetermined steering torque T2, and vice versa. As shown, the leftward signal E1 is set to a high level "1" at a predetermined left steering torque T1 or more, and the result is supplied to the motor output data transmitter 67. Further, in the phase compensation calculation unit 62 to which the torque sensor signal is input, for example, the phase calculation for calculating the safety and damping characteristics of the torque control loop of the electric power steering, the filter calculation for the phase compensation and the delay compensation is performed, and the phase compensation is performed. The latter signal is supplied to the motor output calculation unit 65.

The motor output calculation unit 65 is based on the torque sensor signal after phase compensation, the vehicle speed from the vehicle speed input unit 64, and other steering wheel operation signals, for example, information indicated by the steering wheel angle of the steering wheel (not shown) and the steering wheel angular velocity signal. As shown in FIG. 6, the PWM signal b1, b2 representing the output current target value P of the motor 5, that is, the drive current, and the drive direction signals d1, d3, d2, d4 of the motor 5 are calculated to obtain the PWM signal b.
1, b2 and driving direction signals d1 and d2 are output to the motor output unit 66.
Then, the drive direction signals d3 and d4 are supplied to the motor output data transmitter 67 (step S4).

Here, for example, when the motor 5 is driven to the right, the driving direction signals d1 and d3 are set to high level "1", and conversely, when the motor 5 is driven to the left, the driving direction signals d2 and d4 are set to high, respectively. Set to level "1". In the motor output data calculation unit 67, the driving direction signal d
3 and d4 and the directions of the steering torque direction signals D1 and E1 are calculated, and a direction coincidence and disagreement signal i representing the disagreement is calculated, and the driving direction signals d3 and d4 and the power supply signal a2 are calculated.
At the same time, it is supplied to the sub CPU 7 via the second data bus 12 (step S5). Here, it is assumed that the direction matching / mismatching signal i is, for example, i = “0” when they match and i = “1” when they do not match. Further, the motor output unit 66 sends the power supply signal a1 to the AND circuit 13, the PWM signal b1,
b to the AND circuits 14 and 15 and the driving direction signal d
1 and d2 are supplied to the motor drive circuit 17 (step S6).

Next, the sub CPU 7 inputs a torque sensor signal as steering torque from the torque sensor 3 and a vehicle speed from the vehicle speed sensor 4 (steps S11 and S12). Since the motor output direction calculation unit of the sub CPU 7 has a lower calculation capability than the main CPU 6, the motor output calculation unit 6 of FIG.
The complicated motor output calculation as in 5 is not performed.
Then, a steering torque direction calculation unit (not shown) corresponding to the steering torque direction calculation unit 63 of FIG. 2 outputs a right direction signal D2 and a left direction signal E2 indicating the direction of the steering torque based on FIG.
Is calculated (step S13). The motor output data receiving unit sends the drive direction signals d3 and d4 as the main motor drive signal, the direction coincidence / disagreement signal i, etc. from the main CPU 6 at every main calculation cycle (for example, 1 ms) via the first data bus 11. To receive. Upon receiving these signals, the motor output data receiving section immediately permits the motor drive in the directions designated by the drive direction signals d3 and d4 by the drive direction signals d5 and d6 (step S14).

The coincidence / non-coincidence signal continuation judging unit judges whether or not the direction coincidence / non-coincidence signal i has continued for a predetermined time, for example, 0.2 seconds. (Step S15). In the case of disagreement, the abnormal time determination unit further determines whether or not a predetermined time, for example, 0.1 seconds has elapsed, that is, whether i = "1" does not exceed the maximum value of the temporary disagreement time allowed when the system is normal. Is determined (step S20), and if not exceeded, it is regarded as normal.

If it is determined in step S15 that they match, or if it is determined in step S20 that they do not match but are normal, the motor output direction comparison unit determines that the sub CPU 7
The direction signals D2 and E2 representing the direction of the steering torque calculated by is compared with the driving direction signals d3 and d4 of the motor 5 received from the main CPU 6 (step S16). If they do not match, the abnormal time determination unit further determines whether or not a predetermined time (for example, 0.1 seconds) has elapsed (step S19). If within the predetermined time, it is regarded as normal and The result is supplied to the motor power supply output section.

That is, in the motor output direction comparing section, when the direction matching / mismatching signal i = "0", the matching of the steering torque direction signals D2 and E2 and the driving direction signals d3 and d4 is judged to be normal (step From S16 to step S1
7), if the direction matching / mismatching signal i = “1”, it is judged that the mismatching of the steering torque direction signals D2 and E2 and the driving direction signals d3 and d4 is normal (from step S16 through step S19). When proceeding to step S17). Then, the motor power supply output section supplies the power supply signal a3 to the AND circuit 13 (step S17),
The motor output section supplies drive direction signals d5 and d6 to AND circuits 14 and 15, respectively (step S1).
8).

If a predetermined time has elapsed in steps S20 and S19 and it is determined that there is an abnormality, the motor power supply output stopping unit prohibits the power supply to the motor 5, that is, the power supply signal a3 is supplied to the AND circuit 13. To the motor 5 (step S21), and the motor output inhibiting unit inhibits the output to the motor 5, that is, the drive direction signal d5.
And supplying d6 to the AND circuits 14 and 15 respectively are stopped (step S22).

As described above, in this embodiment, the main C
When the direction mismatch between the steering torque from the PU and the motor drive direction continues for a predetermined time, and the abnormal state has passed for a predetermined time, or the direction mismatch does not continue for a predetermined time, or the above abnormal state continues for a predetermined time. If the direction does not elapse and the direction of the drive direction signal received by the sub CPU 7 from the main CPU 6 and the direction of the direction signal of the steering torque calculated by the sub CPU 7 on the basis of the steering torque from the torque sensor 3 do not match. When the time has passed, the drive signal to the motor 5 is prohibited and the power supply to the motor 5 is cut off. Therefore, the operation reliability can be greatly improved with a simple configuration and at low cost. it can. Further, the performance of the sub CPU 7 can be made lower than that of the main CPU 6, and thus the cost of the sub CPU 6 can be reduced, while the main CPU 6 can be driven to the motor 5 within a safe time in the event of a serious failure such as a runaway or fixed output terminal mode. It is possible to prevent the energization of the device, minimize the influence of the failure, and ensure the safety of the system.

Example 2. In the above embodiment, the main C
Although the case of four lines from the PU to the sub CPU has been described, a bus line including more lines may be used to transmit information such as initial diagnosis and return control operation mode in more detail as data. May be.

Example 3. Also, in the above embodiment,
In the case where the signal indicating the discrepancy indicates that the discrepancy state continues for a predetermined time or longer, the case where the drive signal to the motor is prohibited and the power supply to the motor is cut off at the same time is explained. Good.

[0035]

As described above, according to the first aspect of the present invention, the torque sensor for detecting the steering torque applied to the steering system of the vehicle, the vehicle speed sensor for detecting the vehicle speed of the vehicle, and the torque A first control calculation for generating a signal indicating a driving force and a driving direction of a motor on the basis of outputs of a sensor and the vehicle speed sensor, and for generating a signal indicating whether or not the steering torque direction and the motor driving direction are coincident with each other. Means, driving means for driving the motor by means of the signals representing the driving force and driving direction from the first control computing means, and the duration of the signals representing the coincidence and disagreement from the first control computing means. It is determined whether the driving direction of the motor and the direction of the steering torque detected by the torque sensor match or not according to
With the second control calculation means for generating a signal for permitting the driving force of the motor from the control calculation means to the driving means, the operation reliability is greatly improved with a simple configuration and at low cost. be able to.

According to the second aspect of the invention, the torque sensor for detecting the steering torque applied to the steering system of the vehicle, the vehicle speed sensor for detecting the vehicle speed of the vehicle, the torque sensor and the vehicle speed sensor. A signal representing the driving force and the driving direction of the motor based on the output of the above, and the direction of the steering torque and the matching of the motor driving direction,
First control calculation means for generating a signal indicating a disagreement, driving means for driving the motor by a signal indicating the driving force and the driving direction from the first control calculation means, and the first control calculation means. From the signal indicating the coincidence or non-coincidence, the drive direction of the motor and the direction of the steering torque detected by the torque sensor are discriminated from each other. And a second control calculation means for generating a signal for permitting the driving force of the motor from the control calculation means to the drive means, and the motor is operated when the non-coincidence state of the signals indicating the coincidence and non-coincidence continues for a predetermined time or more. Since at least one of prohibiting the drive signal to the motor and shutting off the power supply to the motor is performed, the configuration is simple, and the operation reliability is greatly improved at low cost. There is an effect that can be able to ensure the safety of the beam.

[Brief description of drawings]

FIG. 1 is a conceptual diagram showing an embodiment of a power steering control device according to the present invention.

FIG. 2 is a block diagram showing a configuration of a main part of an embodiment of a power steering control device according to the present invention.

FIG. 3 is a flowchart for explaining the operation of an embodiment of the power steering control device according to the present invention.

FIG. 4 is a flow chart for explaining the operation of an embodiment of the power steering control device according to the present invention.

FIG. 5 is a diagram for explaining the operation of an embodiment of the power steering control device according to the present invention.

FIG. 6 is a diagram for explaining the operation of an embodiment of the power steering control device according to the present invention.

[Explanation of symbols]

 3 torque sensor 4 vehicle speed sensor 5 motor 6 main CPU 7 sub CPU 13-15 AND circuit 16 motor power supply circuit 17 motor drive circuit 18-21 FET

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[Procedure amendment]

[Submission date] July 12, 1993

[Procedure Amendment 1]

[Document name to be amended] Statement

[Name of item to be amended] Claims

[Correction method] Change

[Correction content]

[Claims]

[Procedure Amendment 2]

[Document name to be amended] Statement

[Correction target item name] 0008

[Correction method] Change

[Correction content]

[0008]

A power steering control device according to a first aspect of the present invention includes a torque sensor for detecting a steering torque applied to a steering system of a vehicle, and a vehicle speed sensor for detecting a vehicle speed of the vehicle. A first signal for generating a driving force and a driving direction of a motor based on outputs of the torque sensor and the vehicle speed sensor, and a signal for indicating whether the steering torque direction matches the motor driving direction. Control operation means, drive means for driving the motor by the signal indicating the drive force and drive direction from the first control operation means, and the signal indicating the coincidence or inconsistency from the first control operation means. And the above
Based on the direction of the detected steering torque Kusensa, coincides with the direction of the detected steering torque in the drive direction and the torque sensor of the motor, determines mismatch, the mismatch duration, the in accordance with the determination result Second control calculation means for generating a signal for permitting or prohibiting the driving force of the motor from the first control calculation means to the drive means is provided.

[Procedure 3]

[Document name to be amended] Statement

[Correction target item name] 0009

[Correction method] Change

[Correction content]

A power steering control device according to a second aspect of the present invention is a torque sensor for detecting a steering torque applied to a steering system of a vehicle, a vehicle speed sensor for detecting a vehicle speed of the vehicle, the torque sensor and the above-mentioned torque sensor. A first signal that generates a driving force and a driving direction of a motor is generated based on an output of a vehicle speed sensor, and a signal that indicates whether the direction of the steering torque and the motor driving direction match or do not match.
Control operation means, drive means for driving the motor by the signal indicating the drive force and drive direction from the first control operation means, and the signal indicating the coincidence or inconsistency from the first control operation means. Detected by the above torque sensor
Based on the direction of the steering torque, the matching, mismatch , and mismatch duration of the driving direction of the motor and the direction of the steering torque detected by the torque sensor is determined, and the first of the above is determined according to the determination result. A second signal for generating a signal for permitting or prohibiting the driving force of the motor from the control calculation means to the driving means
And a control calculation means for controlling the drive signal to the motor and shutting off the power supply to the motor when the inconsistency of the signals indicating the inconsistency and the inconsistency continues for a predetermined time or more. It was done.

[Procedure amendment 4]

[Document name to be amended] Statement

[Correction target item name] 0010

[Correction method] Change

[Correction content]

[0010]

According to the first aspect of the present invention, the first control calculation means generates the signals representing the driving force and the driving direction of the motor based on the outputs of the torque sensor and the vehicle speed sensor, and the steering torque direction and the motor driving. A signal that indicates whether or not the direction matches is generated. Further, the second control calculation means outputs a signal indicating the match or mismatch from the first control calculation means.
And the direction of the steering torque detected by the torque sensor
On the basis of the driving direction of the motor and the direction of the steering torque detected by the torque sensor, a match means, a mismatch , and a mismatch duration time are determined, and a drive means for driving the motor from the first control calculation means according to the determination result. Do not allow the driving force of the motor to
Generates a prohibited signal. As a result, the operational reliability can be greatly improved with a simple structure and at low cost.

[Procedure Amendment 5]

[Document name to be amended] Statement

[Correction target item name] 0011

[Correction method] Change

[Correction content]

According to another aspect of the present invention, the first control calculation means generates a signal representing the driving force and the driving direction of the motor on the basis of the outputs of the torque sensor and the vehicle speed sensor, and the steering torque direction and the motor driving. A signal that indicates whether or not the direction matches is generated. Further, the second control calculation means outputs the signal indicating the coincidence or non-coincidence from the first control calculation means and the steering torque detected by the torque sensor.
Based on the direction, coincides with the direction of the detected steering torque in the drive direction and the torque sensor of the motor, mismatch, when disagreement continued
Then, a signal for permitting or prohibiting the driving force of the motor from the first control calculation means to the driving means for driving the motor is generated according to the determination result. Then, when the non-coincidence state of the signals representing the coincidence and the non-coincidence continues for a predetermined time or more, at least one of prohibiting the drive signal to the motor and cutting off the power supply to the motor is performed. As a result, the operational reliability can be greatly improved with a simple structure and at low cost.

[Procedure correction 6]

[Document name to be amended] Statement

[Correction target item name] 0020

[Correction method] Change

[Correction content]

Then, when the abnormal state continues for a predetermined time, for example, 0.1 seconds or more, the abnormality is determined to be the main CPU 6
The power supply signal a3 and the drive direction signals d5 and d6 are output so that the outputs of the AND circuits 13, 14 and 15 are stopped irrespective of the output signals a1, b1 and b2.
Further, when the direction matching / mismatching signal i does not match, the abnormality is also determined when the signal continues for a predetermined time, for example, 0.2 seconds or more. That is, the AND circuit 12 receives the input power supply signal a
The logical product of 1 and a3 is obtained, and the result is supplied to the motor power supply circuit 16. Further, the AND circuit 14 takes the logical product of the PWM signal b1 and the drive direction signal d5 and supplies the result to the motor drive circuit 17. Further, the AND circuit 15 is P
The logical product of the WM signal b2 and the drive direction signal d6 is calculated, and the result is supplied to the motor drive circuit 17.

[Procedure Amendment 7]

[Document name to be amended] Statement

[Name of item to be corrected] 0023

[Correction method] Change

[Correction content]

The sub CPU 7 also includes a torque input section (not shown) for inputting a steering torque of a steering system of the vehicle, a vehicle speed input section for inputting a vehicle speed of the vehicle, and a steering torque direction calculation section, and the steering torque is calculated. , A motor output direction calculation unit for obtaining the direction of steering torque from the vehicle speed, etc., a motor output data receiving unit for receiving motor output data output by the main CPU 6, and a direction of steering torque calculated by the sub CPU 7 and the main CPU 6 And a motor output direction comparison unit that compares the motor output data transmitted from the device, and outputs a signal to supply or stop the power supply for driving the motor 5 when the comparison result is in a match or mismatch state within a predetermined time. Comparison of motor power supply output section, motor output section that performs motor output based on motor output data output from main CPU 6, and motor output direction Comparison result and the abnormal time determining unit for determining the time when the mismatch, the mismatch continuation determining section you determine the continuation of the rectangular direction mismatch signal i, and the abnormal time determining unit for determining an abnormality of the signal continuation of A motor power supply output stopping unit that cuts off the supply of motor power when an abnormality is determined and a motor output prohibiting unit that prohibits motor output.

[Procedure Amendment 8]

[Document name to be amended] Statement

[Correction target item name] 0028

[Correction method] Change

[Correction content]

The mismatch signal continuation determining section determines whether the direction match, mismatch signal i is not matched (step S15). In case of conflict, to determine whether a predetermined time has elapsed e.g. 0.1 seconds abnormal time determination unit, i.e., i
It is determined whether or not "1" does not exceed the maximum value of the temporary disagreement time allowed when the system is normal (step S2
0), if it does not exceed, it is considered normal.

[Procedure Amendment 9]

[Document name to be amended] Statement

[Name of item to be corrected] 0029

[Correction method] Change

[Correction content]

If it is determined in step S15 that they match, or if it is determined in step S20 that they do not match but are normal, the motor output direction comparison unit determines that the sub CPU 7
The direction signals D2 and E2 representing the direction of the steering torque calculated by the above are compared with the match / mismatch signal i and the drive direction signals d3 and d4 of the motor 5 received from the main CPU 6 (step S16). If, supplies the result to the motor power supply output section, in the case of disagreement, the predetermined time abnormal time determination unit (for example, 0.1 seconds) to determine whether the elapsed (step S19), if it is within a predetermined time,
The result is regarded as normal and the result is supplied to the motor power supply output unit.

[Procedure Amendment 10]

[Document name to be amended] Statement

[Correction target item name] 0035

[Correction method] Change

[Correction content]

[0035]

As described above, according to the first aspect of the present invention, the torque sensor for detecting the steering torque applied to the steering system of the vehicle, the vehicle speed sensor for detecting the vehicle speed of the vehicle, and the torque A first control calculation for generating a signal indicating a driving force and a driving direction of a motor on the basis of outputs of a sensor and the vehicle speed sensor, and for generating a signal indicating whether or not the steering torque direction and the motor driving direction are coincident with each other. Means, driving means for driving the motor by the signal representing the driving force and the driving direction from the first control computing means, the signal representing the coincidence and disagreement from the first control computing means , The steering torque detected by the torque sensor
Based on the direction of the torque, it is determined whether the drive direction of the motor and the direction of the steering torque detected by the torque sensor are coincident , unmatched, or inconsistent. Since it is provided with the second control calculation means for generating a signal for permitting or prohibiting the driving force of the motor from the first control calculation means to the drive means, the operation is simple and the operation reliability is low. It can be greatly improved.

[Procedure Amendment 11]

[Document name to be amended] Statement

[Correction target item name] 0036

[Correction method] Change

[Correction content]

According to the second aspect of the invention, the torque sensor for detecting the steering torque applied to the steering system of the vehicle, the vehicle speed sensor for detecting the vehicle speed of the vehicle, the torque sensor and the vehicle speed sensor. A signal representing the driving force and the driving direction of the motor based on the output of the above, and the direction of the steering torque and the matching of the motor driving direction,
First control calculation means for generating a signal indicating a disagreement, driving means for driving the motor by a signal indicating the driving force and the driving direction from the first control calculation means, and the first control calculation means. From the above, the signal indicating the above-mentioned match or mismatch, and the direction of the steering torque detected by the above-mentioned torque sensor
Based on the match between the direction of steering torque detected by the driving direction and the torque sensor of the motor, mismatch, inconsistency splicing
Determine connection time, it permits the driving force of the motor to the drive means from said first control arithmetic unit in accordance with the determination result
A second control calculation means for generating a signal for inhibiting the chair is provided, and when the disagreement state of the signals indicating the coincidence and the disagreement continues for a predetermined time or longer, the drive signal to the motor is inhibited and the power is supplied to the motor. Since at least one of the shutoffs is performed, there is an effect that the operational reliability is greatly improved with a simple configuration and at low cost, and the safety of the system can be secured.

[Procedure Amendment 12]

[Document name to be corrected] Drawing

[Name of item to be corrected] Figure 4

[Correction method] Change

[Correction content]

[Figure 4]

Claims (2)

[Claims] 1. A torque sensor for detecting a steering torque applied to a steering system of a vehicle, a vehicle speed sensor for detecting a vehicle speed of the vehicle, and a driving force of a motor based on outputs of the torque sensor and the vehicle speed sensor. First control calculation means for generating a signal indicating a drive direction and for generating a signal indicating whether the steering torque direction matches the motor drive direction, and the driving force from the first control calculation means. And the drive means for driving the motor by a signal indicating the drive direction, and the drive direction of the motor and the torque sensor are detected according to the duration of the signal indicating the match or mismatch from the first control calculation means. It is determined whether the steering torque matches the direction of the steering torque, and the driving force of the motor from the first control calculation means to the driving means is permitted according to the determination result. Power steering control apparatus characterized by comprising a second control arithmetic unit for generating a signal. 2. A torque sensor for detecting a steering torque applied to a steering system of a vehicle, a vehicle speed sensor for detecting a vehicle speed of the vehicle, and a driving force of a motor based on outputs of the torque sensor and the vehicle speed sensor. First control calculation means for generating a signal indicating a drive direction and for generating a signal indicating whether the steering torque direction matches the motor drive direction, and the driving force from the first control calculation means. And the drive means for driving the motor by a signal indicating the drive direction, and the drive direction of the motor and the torque sensor are detected according to the duration of the signal indicating the match or mismatch from the first control calculation means. It is determined whether the steering torque matches the direction of the steering torque, and the driving force of the motor from the first control calculation means to the driving means is permitted according to the determination result. A second control calculation unit for generating a signal, and when the non-coincidence state of the signals indicating the coincidence and the non-coincidence continues for a predetermined time or more, the drive signal to the motor is prohibited and the power supply to the motor is cut off. A power steering control device characterized in that at least one of them is performed.