JPH08301097A - Antiskid controller - Google Patents

Abstract

PURPOSE: To restrict a temperature rise of a pump motor by providing a self- diagnosis forbidding means which forbids the self diagnosis of a motor revolving state self diagnosing means for a prescribed period of time when the motor- revolution-abnormal-state is memorized by a memorizing means after the start of an engine. CONSTITUTION: If abnormality in revolution takes place in an electric motor 17, an over-current flows when the electric motor 17 is electrified, and as a result the electric motor 17 enters a heated state. When a driver, who got sight of both this abnormal state and the lighting of a warning lamp, turns off an ignition switch 29 first and then turns the switch on again, since a motor revolving state indicating flag FM, which is set to '1' indicating the abnormal state, is stored in a holding memory 23e, the self diagnosis is forbidden until a time sufficient to diffuse the heat generated by the electrification of the electric motor 17 at the time of the former self diagnosis has elapsed. After the prescribed time elapses, the self diagnosis to the electric motor 17 is carried out again. Therefore, abnormal generation of heat in the electric motor 17 can surely be prevented.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an anti-skid control device for a vehicle, which controls a fluid pressure in a braking cylinder during braking to prevent the wheel from being locked, and more particularly to a self-diagnosis device for a pump electric motor. The present invention relates to an anti-skid control device.

[0002]

2. Description of the Related Art As a conventional anti-skid control device, for example, there is one described in Japanese Patent Laid-Open No. 3-96469. In this conventional example, supply of brake fluid from the master cylinder to the wheel cylinder of each wheel, holding of brake fluid in the wheel cylinder, and discharge of brake fluid from the wheel cylinder to the reservoir are switched by an electromagnetic hydraulic pressure control valve. At the same time, in the anti-skid control device in which the brake fluid in the reservoir is discharged to the master cylinder side by the pump driven by the pump motor, the pump motor is steady in order to individually detect the sticking of the pump and the leakage of the reservoir. A first drive means that is driven for a first predetermined time long enough to reach a speed; and a sticking of the pump based on a gradual decrease in the terminal voltage of the motor immediately after the drive of the motor is stopped by the first drive means. And a first determining means for determining whether or not at least one of leakage of liquid to the reservoir has occurred, and After the judgment by the one judgment means, the motor is driven for a second predetermined time longer than the first predetermined time and sufficient for pumping out the liquid front part when the liquid is stored in the reservoir at its full capacity. A liquid including a second drive means and a second determination means for determining whether or not the pump is stuck in the same manner as the first determination means immediately after the driving of the motor by the second drive means is stopped. An abnormality detection device for a pressure source device is disclosed.

Here, the abnormality determination by the first determining means and the second determining means is performed only once after the ignition switch is turned on, and when the second determining means determines that the pump is in a stuck state, the abnormality determination is performed. I do not do this because skid control does not work properly.

[0004]

However, in the above-described conventional anti-skid control device, the pump motor is driven twice to determine whether the pump is stuck, and when the pump is stuck. The anti-skid control is not performed, and in this case, the warning light is generally turned on.However, when the driver detects an abnormality due to the warning light turning on, the warning light turns on reliably. In order to check whether the ignition switch is on or off, turning the ignition switch off and then turning it on again may be repeated until it is satisfactory.In this case, after the ignition switch is turned on, Since the pump motor is driven twice, and the pump is stuck, a large current flows through the pump motor,
As a result, there is an unsolved problem that the temperature of the pump motor rapidly rises.

Therefore, the present invention has been made by paying attention to the unsolved problem of the above-mentioned conventional example, and it is possible to suppress the temperature rise of the pump motor by repeatedly turning on the ignition switch when the pump motor is stuck. It is an object of the present invention to provide an anti-skid control device that can be used.

[0006]

In order to achieve the above object, an anti-skid control device according to a first aspect of the present invention, as shown in the basic configuration diagram of FIG. 1, has at least an inflow / outflow valve, an accumulator, and a fluid in an accumulator. An anti-skid having a pump for discharging air and an actuator for controlling the fluid pressure of a braking cylinder that has an electric motor for a pump and is disposed on each wheel, and controls the actuator based on the wheel speed during braking. In the control device,
A motor rotation state self-diagnosis means for performing self-diagnosis of the rotation state of the electric motor for a pump, a storage means for storing a diagnosis result of the motor rotation state self-diagnosis means even after the engine is stopped, and a motor in the storage means after the engine is started. And a self-diagnosis prohibiting means for prohibiting the self-diagnosis of the motor rotation state self-diagnosing means for a predetermined time when the abnormal rotation state is stored.

According to a second aspect of the present invention, in the anti-skid control device according to the first aspect of the invention, the abnormality indicator lamp is turned on while the self-diagnosis prohibiting means prohibits the self-diagnosis of the motor rotation state self-diagnosing means. It is characterized by comprising lamp control means for controlling and turning off the abnormality display lamp when the diagnosis result of the motor rotation state self-diagnosis means is in a normal state.

[0008]

According to the first aspect of the present invention, when the motor rotation state self-diagnosis means detects an abnormality in the motor rotation state, the diagnosis result is stored in the storage means, so that after the engine is stopped by this storage means. That is, the diagnosis result is held even after the ignition switch is turned off, and when the ignition switch is turned on next time and the motor abnormality diagnosis result is not stored in the storage means, the motor rotation state self-diagnosis means is used as it is to drive the electric motor for the pump. Performs motor self-diagnosis.

However, when the ignition switch is turned on and the motor abnormality diagnosis result is stored in the memory main end, the self-diagnosis prohibiting means performs self-diagnosis of the pump electric motor by the motor rotation state self-diagnosing means. By prohibiting for a predetermined time, the heat generated by the pump electric motor is dissipated during this period. In the invention according to claim 2, the abnormality of the electric motor for pump is notified by controlling the abnormality display lamp while the self-diagnosis prohibiting means prohibits the self-diagnosis of the motor rotation state self-diagnosis means. The self-diagnosis means turns off the abnormality display lamp when it is determined to be in a normal state.

[0010]

Embodiments of the present invention will be described below with reference to the drawings. FIG. 2 is a schematic configuration diagram showing an embodiment of the present invention. In the figure, 1FL and 1FR are left and right front wheels, 1RL and 1RR
Are left and right rear wheels, and are configured so that the rotational driving force of the engine 2 is transmitted to the rear wheels 1RL, 1RR via the transmission 3, the propeller shaft 4, and the final reduction gear 5.

Wheel cylinders 6FL to 6RR as braking cylinders are attached to the wheels 1FL to 1RR, respectively. Further, to each front wheel 1FL, 1FR, a wheel speed sensor 7FL, 7FL is provided as a wheel speed detecting means for outputting a wheel speed signal having a frequency corresponding to the rotational speed of these wheels.
Each FR is attached, and the propeller shaft 4 is also provided with a wheel speed sensor 7R as a wheel speed detecting means for outputting a wheel speed signal having a frequency corresponding to the rotational speeds of the rear wheels 1RL, 1RR.

The front wheel side wheel cylinder 6F
A master cylinder 9 that generates two systems of master cylinder pressure in response to depression of the brake pedal 8 is provided in L and 6FR.
One of the master cylinder pressures is supplied individually from the front wheel side actuators 10FL and 10FR, and the other master cylinder pressure from the master cylinder 9 is common to the rear wheel side wheel cylinders 6RL and 6RR. It is supplied via the rear wheel actuator 10R.

As shown in FIG. 3, each of the actuators 10FL to 10R has an electromagnetic inflow valve 12 interposed between the hydraulic pipe 11 connected to the master cylinder 9 and the wheel cylinders 6FL to 6RR, and the electromagnetic inflow valve 12 as well. Electromagnetic outflow valve 13, pump electric motor 1 connected in parallel to
A series circuit including a hydraulic pump 14 and a check valve 15 which are rotationally driven by 7 and an accumulator 16 for accumulating pressure connected to a hydraulic pipe between the outflow valve 13 and the hydraulic pump 14 are provided.

Solenoids FLI to RI are arranged in each electromagnetic inflow valve 12 as shown in FIG. 4, and solenoids FLO to RO are also arranged in each electromagnetic outflow valve 13 as shown in FIG. Both the valve 12 and the electromagnetic outflow valve 13 have a movable iron core (plunger), and the movable iron core is moved by the electromagnetic force generated in the solenoid to open and close the passage of the hydraulic fluid.

When the solenoids of the electromagnetic inflow valve 12 and the electromagnetic outflow valve 13 are energized by a controller 21 to be described later, and the exciting current to each solenoid is de-energized, the electromagnetic inflow valve 12 is open and the electromagnetic outflow valve 13 is closed. The electromagnetic inflow valve 12 is kept closed and the electromagnetic outflow valve 13 is kept open when the exciting currents to the respective solenoids are turned on.

Further, the pump electric motor 17 is indirectly controlled by the control signal MR output from the controller 21, and when the control signal MR is at a low level, a drive current is supplied to rotationally drive the hydraulic pump 14. Further, each wheel speed sensor 7FL to 7R has a rotor having serrations having, for example, 20 teeth on the outer peripheral surface that rotates together with each wheel 1FL to 1RR, and a magnet that faces the rotor is built in and is generated by the generated magnetic flux. It is composed of a coil for detecting an induced electromotive force. When the rotor rotates, an electromotive force having a frequency corresponding to the number of rotations of the serration is induced from the coil, which causes the wheel speed sensors 7FL to 7R to output AC voltage signals.

The controller 21 is, as shown in FIG.
A waveform shaping circuit 22 that amplifies the AC voltage signal of the wheel speed sensors 7FL to 7R and shapes the waveform to convert it into a rectangular wave, a rectangular wave signal output from the waveform shaping circuit 22, and an induced voltage detection circuit 27 described later. Induced voltage detection value V _G
Is inputted respectively, and the microcomputer 23 which performs self-diagnosis processing of the electric motor 17 and anti-skid control processing for controlling each actuator in the pressure increasing mode, the holding mode and the pressure reducing mode according to the slip state of the wheel based on these are inputted. A motor relay drive circuit 24 to which the motor drive signal S _M output from the microcomputer 23 is supplied; an actuator relay drive circuit 25 to which an actuator relay drive signal S _A output from the microcomputer 23 is supplied; Similarly, the solenoid drive signal _SFLI output from the microcomputer 23
It is provided with a solenoid drive circuit 26 to which S _RO is supplied, and an induced voltage detection circuit 27 to which a motor detection voltage V _MR which is a terminal voltage of the electric motor 17 is input and which supplies an induced voltage detection value V _G to the microcomputer 23. ing.

Here, the microcomputer 23 has an input interface circuit to which at least the rectangular wave signal output from the waveform shaping circuit 22 and the induced voltage detection value V _G output from the induced voltage detection circuit 27 described later are input. 23a, an arithmetic processing unit 23b for performing a self-diagnosis process and an anti-skid control process for the electric motor 17, and a storage unit for storing a program necessary for the processing of the arithmetic processing unit 23b and sequentially storing processing results and the like. 23c
And a control signal according to the processing result of the arithmetic processing unit 23b, the motor relay drive circuit 24, the actuator drive circuit 2
5. It has an output interface circuit 23d for outputting to the solenoid drive circuit 26. In addition, in the storage device 23c,
Even if the ignition switch 29 is turned off, a holding memory 23e configured by a semiconductor memory that is supplied with backup power and holds stored contents or an electrically rewritable nonvolatile memory (E ² PROM) that does not require backup power Is stored therein, and a motor rotation state flag F _M indicating whether the rotation state of the electric motor 17 described later is normal or abnormal is stored therein.

The motor relay drive circuit 24 is composed of, for example, a switching circuit, supplies its output control signal MR to the motor relay 28, and controls ON / OFF of the motor relay 28. The motor relay 28 has a drive coil 28a and a relay contact 28b. One end of the drive coil 28a is connected to the output end of the motor relay drive circuit 24, and the other end thereof is a fuse F2 and an ignition switch 29.
To the battery 30, the relay contact 28b has one end connected to the battery 30 via the fuse F1, and the other end connected to the current supply terminal 17 of the pump electric motor 17.
connected to a.

When the high-level motor drive signal S _M is input to the motor relay drive circuit 24, the low-level output control signal MR is supplied to the motor relay 28, whereby the drive coil 28a is supplied with the battery. An exciting current is supplied from 30, the relay contact 28b is closed, and the electric motor 17 is driven by the supply of the power supply current. The actuator relay drive circuit 25 is composed of, for example, a switching circuit, supplies its output control signal AR to the actuator relay 31, and controls ON / OFF of the actuator relay 31. The actuator relay 31 has a drive coil 31a and a relay contact 31b, and one end of this drive coil 31a has an actuator relay drive circuit 2
5 is connected to the output end, and the other end is connected to the connection point of the drive coil 28a of the motor relay 28 and the fuse F2,
The normally open contact ta of the relay contact 31b is connected to the battery 30 via the fuse F3, and the normally closed contact tb is grounded.
The movable contact tc corresponds to each solenoid F provided in the inflow valve 12 and the outflow valve 13 of each actuator 10FL to 10R.
LI to RO.

The actuator relay drive circuit 2
When the high-level actuator relay drive signal S _A is input to 5, the low-level control signal AR is supplied to the actuator relay 31, whereby the drive coil 3
An exciting current is supplied to 1a, the relay contact 31b is actuated to establish continuity between the normally open contact ta and the movable contact tc, and the current supply to the solenoids FLI to RO is ready.

The solenoid drive circuit 26 has, for example, a switching circuit interposed between the solenoids _{FLI to RO} and the ground and controlled to be turned on / off by the solenoid drive signals S _{FLI to} S _RO . Energization / de-energization control is performed. And the solenoid drive circuit 2
When the low level solenoid drive signals S _{FLI to} S _RO are input to 6, the solenoids _{FLI to RO} are controlled to the non-energized state, while the high level solenoid drive signals S _{FLI to RO} are controlled.
_FLI to S when _{the RO} is input, the fuse from the battery 30 F3, the actuator relay 31, solenoid F
An energization path reaching LI to RO and the ground is formed to control the solenoids FLI to RO in the energized state. Therefore,
When the solenoids FLI to RO are energized, the inflow valves 12 of the corresponding actuators 10FL to 10R are closed and the outflow valves 13 are opened.

The induced voltage detection circuit 27 includes a reverse voltage blocking diode D1, a bias resistor R1, and a smoothing resistor R.
2, a discharging resistor R3, a smoothing capacitor C1, and an inverting amplifier circuit U including, for example, a Schmitt trigger circuit.
1 and. A motor detection voltage V _MR is supplied to the cathode terminal of the diode D1, and a resistor R1 is provided between the constant voltage power source E that makes the voltage of the battery 30 a constant voltage of 5 V and the ground.
To R3 are arranged in series, and the connection point T1 between the bias resistor R1 and the smoothing resistor R2 of the series resistors R1 to R3 is connected to the anode terminal of the diode D1 and the smoothing resistor R2.
And the connection point T2 of the discharging resistor R3 is connected to the inverting amplifier circuit U1
Is connected to the other end of the smoothing capacitor C1 whose one end is grounded, the induced voltage detection value V _G is output from the inverting amplifier circuit U1, and this is supplied to the input interface circuit 23a. .

Here, the inverting amplifier circuit U1 has a threshold level
Is variable depending on the output level of the inverting amplifier circuit U1
It has chattering characteristics and suppresses chattering, and has a threshold level.
The input voltage is inverted with respect to the
-Level induced voltage detection value V _GIs output. Also the resistance
The resistance value of R1 to R3 is the input motor detection voltage V _MR
However, when the voltage is near a predetermined voltage, for example, zero voltage,
The voltage value at the connection point T2 between the resistor R2 and the discharging resistor R3 is reversed.
Set to be lower than the threshold level of the inversion amplifier circuit U1.
Motor detection voltage V_MRIs higher than near zero voltage
When, the voltage value at the connection point T2 is equal to that of the inverting amplifier circuit U1.
It is set to be higher than the threshold level.

Therefore, from the induced voltage detection circuit 27,
When the motor detection voltage V _MR is near zero voltage, it is inverted by the inverting amplifier circuit U1 and the high level induced voltage detection value V
_G is output, whereas, when the detected motor voltage V _MR is a voltage higher than the vicinity of zero voltage is induced voltage detection value V _G of the low level is outputted. Further, the bias resistor R1 has a large resistance value that does not rotate the electric motor 17 even if the current of the constant voltage power source E is supplied to the electric motor 17 via the resistor R1 and the diode D1.

The induced voltage detection value V _G output from the induced voltage detection circuit 27 is supplied to the interface circuit 23a, and the rotation state abnormality of the electric motor 17 is detected based on the induced voltage detection value V _G. . Usually, the electric motor 17 continues to rotate by inertia even after the supply of the drive current is stopped, and at this time, an induced voltage corresponding to the rotation speed is generated, and the rotation speed is changed when the motor drive state is changed to the stop state. Is decreased, the motor detection voltage V _MR of the electric motor 17 is gradually decreased. On the other hand, for example, the electric motor 17
When the rotor and the stator are in contact with each other and are in a state of being almost fixed, the rotation is quickly terminated when the supply of the drive current is stopped, so that the motor detection voltage V _MR is rapidly reduced. Therefore, by performing abnormality detection based on the induced voltage detection value V _G generated by the motor detection voltage V _MR, it is possible to determine whether or not the electric motor 17 is in a state close to sticking or in a motor lock state.

Further, the warning signal S _D is supplied from the output interface 23d to the warning display circuit 32, and the low-level warning signal S _D is normally output.
When an abnormality such as a motor lock state is detected in 7,
The high-level warning signal S _D is output, and the warning display circuit 3
2, the warning light provided on the instrument panel is turned on or a warning sound is emitted to notify the driver that an abnormality has occurred.

Next, the operation of the above embodiment will be described with reference to the flowchart of FIG. 5 showing an example of the processing procedure of the arithmetic processing unit 23b of the microcomputer 23. This process is executed when the ignition switch 29 is turned on. First, in step S1, the holding memory 2
By determining whether or not the motor rotation state flag F _M held in 3e is reset to “0” indicating a normal state, the electric motor 1 at the time of the previous self-diagnosis processing is determined.
It is determined whether or not the stuck state of No. 7 is detected.

At this time, when the motor rotation state flag F _M is reset to "0", the process proceeds to step S2 and the motor drive signal S _M for rotationally driving the electric motor 17 is _output for a predetermined time t ₁ (for example, several seconds). ) During which the on-state is returned to the off-state, and then the process proceeds to step S3 to consider the case where the operation delay of the relay contact 28b or the like occurs, for example, after a lapse of a predetermined waiting time of 20 msec, the induced voltage detection circuit 27 After the induced voltage detection value V _G is read, the process proceeds to step S4.

In step S4, it is determined whether the electric motor 17 is in a normal state. This determination is made by determining whether the induced voltage detection value V _G is at a low level, and when it is at a low level, it is determined that the electric motor 17 is in a normal rotation state, and the process proceeds to step S5. After the motor rotation state flag F _M reset to “0” is stored in the holding memory 23e, the process proceeds to step S6, and the antiskid control permission flag F _AS is set to “1” to permit the antiskid control. To end the processing.

On the other hand, when the result of determination in step S4 is that the induced voltage detection value V _G is at high level, the electric motor 1
When it is determined that there is an abnormal state due to sticking at 7, the process proceeds to step S7. In this step S7, the high-level warning signal S _D is output to the warning display circuit 32 to turn on the warning lamp, and then the process proceeds to step S8 to set the motor rotation state flag F _M to "1" indicating an abnormality. The set value is set and stored in the holding memory 23e, and then the process proceeds to step S9 to reset the anti-skid control permission flag F _AS to "0" so that the anti-skid control is not permitted, and then the process ends.

On the other hand, the determination result of step S1 is
The motor rotation status flag that was reset to "0" in the memory 23e.
Rag F_MIs stored, the
The process proceeds to step S10, and the high-level warning signal S_DWarning
Output to the display circuit 32, turn on the warning light, then
Move to step S11, and count the software timer.
Increment the value t by "1", then step
After shifting to S12, the electric motor having the preset count value t is set.
A predetermined time t sufficient to dissipate the heat generated by the heater 17. _S(example
30 seconds) to determine whether a predetermined time t_SReached
If not, the process returns to step S11 and the predetermined time
t_SIs reached, the process proceeds to step S13.

In step S13, the motor drive signal S _M is turned on for a predetermined time t ₁ and then turned off to rotate the electric motor 17 in the same manner as in step S2, and then the process proceeds to step S14. , The induced voltage detection value V _G is read in the same way as in step S3, then the process proceeds to step S15, and it is determined whether or not the electric motor is normal based on the induced voltage detection value V _G as in step S4. If it is abnormal, step S
16, the motor rotation state flag F _M is set to "1" and stored again in the holding memory 23e, then the process proceeds to step S17, and the anti-skid control permission flag F _AS is reset to "0". Then, the process ends.

On the other hand, when the result of determination in step S15 is that the electric motor 17 is in a normal state, the process proceeds to step S18, the warning signal S _D is turned off and the warning display circuit 3
Turns off the warning lamp in 2 shifts from the step S19, resets the motor rotation state flag F _M to "0" and stores it in the holding memory 23e, then the step S2
After shifting to 0, the anti-skid control permission flag F _AS is set to “1” as in step S6 described above, and then the process is terminated.

In the self-diagnosis process of FIG. 5, the processes of steps S1 and S10 to S12 correspond to the self-diagnosis prohibition means, and the processes of steps S2 to S4 and step S13 to.
The process of S15 corresponds to the motor rotation state self-diagnosis means. Next, an example of the anti-skid control processing executed when the anti-skid control permission flag F _AS is set to "1" will be described with reference to the flowchart of FIG.

In this anti-skid control processing, first, a wheel speed pulse is read from the wheel speed sensor 7i (i = FL, FR, R) (step S21), and a predetermined number of wheel speed pulses per unit time is determined. A wheel speed calculation value V _Wi representing the wheel speed is calculated by multiplying by a constant (step S2
2) Based on the difference value between the wheel speed calculation value of the control target wheel and another wheel speed calculation value, it is determined whether or not the wheel speed sensor 7i is abnormal (step S23). If there is an abnormality, a predetermined identification code indicating the abnormality is stored in a predetermined storage area (step S28), and fail-safe processing for shifting to a normal braking state is executed (step S2).
9). If there is no abnormality, the wheel speed calculation value V _{Wi of} each wheel is calculated.
The highest wheel speed calculation value is selected from among _{these and} is set as the pseudo vehicle speed V _WREF (step S24). And
The pseudo vehicle speed V _WREF is differentiated to calculate the wheel acceleration / deceleration α _Wi (step S25), and the slip ratio S _i is calculated based on the pseudo vehicle speed V _WREF and the calculated wheel speed V _Wi (step S25).
26).

Then, it is previously stored in a predetermined storage area.
The control mode is set based on the control map shown in Fig. 7.
Control the hydraulic fluid that acts on the braking cylinder.
(Step S27). Control map slips on the vertical axis
Rate S_i, Wheel acceleration / deceleration α on the horizontal axis _WiIs arranged and calculated
Slip rate S_iAnd wheel acceleration / deceleration α_WiDepending on the
Mode (slow pressure increasing mode that opens and closes the inflow valve 12i at a predetermined cycle)
Mode), holding mode, and decompression mode.
Select a mode and wheel cylinders 6FL to 6 for braking
Control the brake fluid pressure of R to prevent the wheel from locking.
To prevent.

Therefore, it is assumed that the vehicle is now stopped with the ignition switch 29 turned off, and in this state, the holding memory 23e is reset to "0" indicating that the electric motor 17 is normal at the time of the previous processing. It is assumed that the generated motor rotation state flag F _M is held. When the ignition switch 29 is turned on in this stopped state, the microcomputer 23 is powered on and the self-diagnosis process of FIG. 5 is started.

At this time, since the motor rotation state flag F _M stored in the holding memory 23e is set to "0", it is judged that the electric motor 17 is in a normal state, and the motor drive signal S _M It is turned on for a predetermined time and then returned to the off state. As a result, the electric motor 17 is energized for a predetermined time, is rotationally driven, and then is deenergized.

Waiting time t ₂ from the output of this stop signal
After the passage of, the induced voltage detection value V _G is read, it is determined whether the induced voltage detection value V _G is at a low level, and the rotation state is checked. At this time, if there is no abnormality in the rotation state, the motor detection voltage V _MR is as shown by the solid line in FIG.
Although it gradually decreases after being switched from the energized state to the non-energized state, the motor detection voltage V
_As shown by the broken line in FIG. 8, _MR sharply drops after the current is turned off. Therefore, if the rotation state is normal, the induced voltage detection value V _G remains at a low level for a while even after the non-energized state, and conversely, if it is abnormal, after the non-energized state. Induced voltage detection value V _G
Becomes high level.

Therefore, when the induced voltage detection value V _G read after the elapse of the waiting time t ₂ is at a low level, it is determined that the rotation state is normal, and the motor rotation state flag F is determined.
_{The M} is reset to "0" and stored in the holding memory 23e, the anti-skid control permission flag F _AS is set to "1", and the process ends. Therefore, the anti-skid control process of FIG. 6 is subsequently executed.

On the other hand, when the induced voltage detection value V _G is at the high level, it is determined that the electric motor 17 is in the stuck state, the warning lamp is turned on by the warning display circuit 32, and the motor rotation state flag F _{M is set} to "". This is set to 1 "and stored in the holding memory 23e, and the anti-skid control permission flag F _AS is reset to" 0 "to prohibit the execution of the anti-skid control processing of FIG.

At this time, the driver turns on the warning light by the warning display circuit 32 before starting the traveling of the vehicle. Therefore, in order to confirm whether the lighting of the warning light is reliable or not. For this purpose, the ignition switch 29 is once turned off, and then the ignition switch 29 is turned on again. As described above, when the ignition switch 29 is turned on after the abnormality due to the sticking of the electric pump motor 17 is detected, the holding memory 23e is turned on.
Motor rotation state flag F _M indicating an abnormal state due to sticking
Is set to "1", the process proceeds from step S2 to step S10 when the self-diagnosis process of FIG. 5 is executed, and the warning display circuit 32 turns on the warning lamp.

Next, a predetermined time required to dissipate the heat generated by the energization of the pump drive motor 17 during the previous self-diagnosis process is measured by the software timer, and when this time is up, the pump drive motor 1 is restarted.
7 is turned on for a predetermined time and then a non-energized state is passed, and after a lapse of a predetermined time, the induced voltage detection value V _G of the induced voltage detection circuit 27 is read, and it is determined whether or not it is in the fixed state by whether it is at a low level or not. , The warning display circuit 3 which is in a lighting state by judging that it is in a normal state when it is at a low level
2 warning light is turned off, then the motor rotation status flag F
_M is reset to "0" and stored in the holding memory 23e, and the antiskid permission flag F _AS is set to "1".

For this reason, when the vehicle is in the braking state, as shown in FIG.
The anti-skid control process is executed to prevent the locked state of the wheels and to exhibit a good anti-skid control effect while maintaining the wheel slip ratio at the target slip ratio. However, when the induced voltage detection value V _G is at the high level, it is determined that the rotation state is abnormal, the anti-skid permission flag F _AS is reset to “0”,
The anti-skid control is prohibited, and the normal braking state in which the braking force is exerted according to the depression amount of the brake pedal is maintained.

As described above, in the above embodiment, the low-level motor drive signal S _M is output to output the electric motor 17
After continuing the energized state for a predetermined time, the induced voltage detection value V _G of the electric motor 17 which is rotating by inertial force is detected as a non-energized state, and after the elapse of a predetermined standby time, the induced voltage detection value V _{G is} detected. The microcomputer 23 determines whether the voltage level is low or high. Thereby, the induced voltage detection value V
_{When G} is at a high level, it can be determined that the induced voltage has decreased sharply, and the electric motor 17 can perform self-diagnosis that the electric motor 17 is in a state close to sticking or in a motor lock state.

When the electric motor 17 is abnormally rotated, an overcurrent flows when the electric motor 17 is energized, which causes the electric motor 17 to generate heat. When the driver visually confirms that the warning light is turned on in this abnormal state, when the ignition switch 29 is once turned off and then turned on again, the motor rotation state set to "1" indicating the abnormal state in the holding memory 23e. Since the flag F _M is stored, the self-diagnosis is prohibited until the time sufficient to dissipate the heat generated by the energization of the electric motor 17 at the time of the previous self-diagnosis is elapsed, and after a predetermined elapsed time has elapsed. Since the self-diagnosis process for the electric motor 17 is executed again, abnormal heat generation of the electric motor 17 can be reliably prevented.

In the above-described embodiment, after the supply current to the electric motor 17 is stopped, the induced voltage of the electric motor 17 is detected to determine whether or not the rotating state is due to inertia. Is not limited to
A member that rotates in accordance with the rotor may be provided, and the rotation of this member may be detected by, for example, a combination of a light emitting element and a light receiving element, and it may be determined whether the rotational state is due to inertia. Further, a generator may be provided in the electric motor 17 and the frequency of the generator may be detected to determine whether or not the rotating state is due to inertia.

Further, in the above-mentioned embodiment, only the case of the three-sensor three-channel anti-skid control device in which the wheel speed on the rear wheel side is detected by the common wheel speed sensor has been described in detail, but the invention is not limited to this. Alternatively, the number of sensors and the number of control channels (hydraulic circuits to be controlled) can be set arbitrarily. For example, it is also applicable to a so-called four-sensor four-channel anti-skid control device in which wheel speed sensors are individually provided for the left and right wheels on the rear wheel side, and corresponding actuators are provided for the left and right wheel cylinders accordingly. .

Further, in the above embodiment, the case where the microcomputer is applied as the controller 21 has been described, but instead of the microcomputer,
You may comprise by combining electronic circuits, such as a comparison circuit, a logic circuit, and an arithmetic circuit.

[0051]

As described above, in the invention according to claim 1, the motor rotation state self-diagnosis means diagnoses whether or not the rotation state of the pump electric motor is normal, and the diagnosis result is displayed. If the diagnosis result stored in the storage means that can be retained even when the engine is stopped is abnormal when the engine is started, the self-diagnosis prohibiting means keeps the motor rotating until the predetermined time elapses. Since the self-diagnosis of the self-diagnosis means is prohibited, the heat generated by the electric motor for pump due to the overcurrent during the self-diagnosis can be effectively dissipated even if the engine is frequently started. As a result, it is possible to reliably prevent overheating of the electric pump motor.

According to the second aspect of the present invention, the self-diagnosis prohibiting means controls the lighting of the abnormality display lamp while the self-diagnosis of the motor rotation state self-diagnosing means is prohibited, thereby controlling the electric motor for a pump. The abnormality display lamp can be turned off when the self-diagnosis means determines that it is in a normal state, so that the driver can visually check whether the electric motor for pump is abnormal or not. The effect of being able to do is obtained.

[Brief description of drawings]

FIG. 1 is a basic configuration diagram showing a schematic configuration of the present invention.

FIG. 2 is a schematic configuration diagram showing an embodiment of an anti-skid control device according to the present invention.

FIG. 3 is a configuration diagram showing an example of an actuator.

FIG. 4 is a block diagram showing an example of a controller.

FIG. 5 is a flowchart showing an example of self-diagnosis processing in the controller.

FIG. 6 is a flowchart showing an anti-skid control process in the controller.

FIG. 7 is an explanatory diagram showing a control map of anti-skid control.

FIG. 8 is a time chart showing signal waveforms of various parts during self-diagnosis processing according to the present embodiment.

[Explanation of symbols]

 1FL, 1FR Front wheel 1RL, 1RR Rear wheel 6FL-6RR Wheel cylinder 7FL-7RR Wheel speed sensor 10FL, 10FR Front wheel side actuator 10R Rear wheel side actuator 12 Inflow valve 13 Outflow valve 14 Hydraulic pump 16 Accumulator 17 Pump electric motor 21 Controller 24 Motor relay drive circuit 25 Actuator relay drive circuit 26 Solenoid drive circuit 27 Induced voltage detection circuit 28 Motor relay 31 Actuator relay

Claims (2)

[Claims] 1. At least an inflow / outflow valve, an accumulator,
A pump that discharges the fluid in the accumulator, and an actuator that controls the fluid pressure of a braking cylinder that has an electric motor for a pump and is disposed on each wheel are provided, and the actuator is controlled based on the wheel speed during braking. In the anti-skid controller, the motor rotation state self-diagnosis means for performing self-diagnosis of the rotation state of the pump electric motor, and the storage means for storing the diagnosis result of the motor rotation state self-diagnosis means even after the engine is stopped. An actuator control device comprising: self-diagnosis prohibiting means for prohibiting a self-diagnosis of the motor rotation state self-diagnosis means for a predetermined time when the motor rotation abnormal state is stored in the storage means after the engine is started. 2. The self-diagnosis prohibiting means controls the lighting of an abnormality display lamp while prohibiting the self-diagnosis of the motor rotation state self-diagnosis means, and the diagnosis result of the motor rotation state self-diagnosis means is in a normal state. The lamp control means for turning off the abnormality display lamp is provided in the device.
Antiskid control device as described.