KR101272460B1 - A method and apparatus to detect motor fault in the electronic parking brake - Google Patents

Abstract

The present invention measures the voltage (battery voltage) applied to both ends of the motor of the electronic parking brake, estimates the amount of current flowing through the motor using the voltage drop of the motor, and uses the estimated amount of current to transient immediately after the start of motor driving. ), The electronic parking brake is detected by determining whether the current is over-shooting, but whether the current is over-shooting is determined by whether the estimated current is less than a predetermined reference value. The electronic parking brake failure detection method and apparatus can effectively detect the failure of the electronic parking brake even when the current sensor is in a fault condition.

Description

Motor failure detection device and detection method of electronic parking brake {A METHOD AND APPARATUS TO DETECT MOTOR FAULT IN THE ELECTRONIC PARKING BRAKE}

The present invention relates to a failure detection apparatus and method for an electronic parking brake system, and more particularly, to a device and method for detecting a failure of a parking brake by estimating the amount of current without using a current sensor.

       In general, an electronic parking brake (EPB) is a system that electronically controls the operation of the parking brake and generates parking braking force by controlling the power of the electric motor. The electric motor is for pushing or pulling the parking cable. The EPB system consists of an actuator with an electric motor, an electronic control unit and a braking force sensor.

 Since it is the electric motor that generates the parking braking force in the EPB system, it is very important to determine the failure of the electric motor, and research on this has been actively conducted in recent years.

Conventionally, the failure of the electric motor was determined using the amount of current measured by the current sensor. That is, it was determined that the motor of the electronic parking brake was broken when the amount of current measured by the current sensor was maintained for a predetermined time or less under a predetermined reference value.

However, in case of failure determination by the conventional method, if the characteristic offset of the current sensor exceeds the predetermined reference value, an error may occur in the detection result, and the error rate of A / D conversion is reduced by using a low-cost MCU (Micro Controller Unit). If a predetermined value is exceeded, it is difficult to obtain validity of the detection result. In addition, if a fault occurs in the current sensor, fault detection is impossible and the reliability of the degraded mode cannot be acknowledged.

Accordingly, the present invention was devised to solve the above-mentioned problems of the prior art, and a method and detection apparatus capable of detecting an electronic parking brake failure even when the current sensor is in a fault situation by estimating the amount of current without using the current sensor. The purpose is to provide.

In the fault detection method of the electronic parking brake system according to an aspect of the present invention, the amount of current flowing through the motor for driving the parking brake during the operation of the electronic parking brake is estimated, and whether the current is overshooted is determined using the estimated current amount. If the current is not overshooted, it is characterized in that the motor is determined to be a failure.

The amount of current is estimated using the voltage drop of the motor measured by the voltage sensor.

Whether the current is overshooted is determined by comparing the estimated current amount with a predetermined reference value and determining whether the estimated current amount is less than a predetermined reference value.

If it is determined that the motor is faulty, warning the driver.

According to an aspect of the present invention, an apparatus for detecting a failure of an electronic parking brake includes a voltage sensor for detecting a voltage of a motor of an electronic parking brake, a current calculator for estimating a current amount of the motor, and whether the current flowing through the motor is overshooting. The current comparator for determining the failure, and the failure determination unit for determining whether or not the failure of the motor using the result of the current comparison unit.

The current calculator estimates the amount of current flowing in the motor based on the voltage drop of the motor measured by the voltage sensor.

The current comparison unit compares the estimated current amount with a predetermined constant value and determines that the current is not overshooted when the estimated current amount is less than the predetermined constant value.

The failure determination unit determines that the motor is a failure when the result of the current comparison unit indicates that the current is not overshooting.

The present invention further includes a display unit indicating a result of the failure determination unit.

As described above, according to the failure detecting apparatus and the detection method of the electronic parking brake system of the present invention, it is possible to prevent the misdetection that may occur when using the current sensor, even when the current sensor is in a fault situation, the failure of the electronic parking brake system. Can be detected.

As a result, the reliability of the electronic parking brake system failure detection method can be improved, and if the electronic parking brake system is determined to be faulty based on the estimated current amount, the display unit warns the driver of the failure of the electronic parking brake system. This has the advantage of preventing accidents in advance.

1 is a block diagram of an electronic parking brake system according to an embodiment of the present invention.
2 is a control block diagram of an electronic parking brake system according to an embodiment of the present invention.
3 is a circuit block diagram related to failure detection of a conventional electronic parking brake system.
4 is a graph showing current overshooting immediately after the start of driving of a normally operating motor.
5 is an equivalent circuit of a DC motor according to an embodiment of the present invention.
6 is a graph comparing the current estimated by the present invention and the current sensed by the current sensor.
7 is a flowchart illustrating a failure detection process of the electronic parking brake system according to an exemplary embodiment of the present invention.

      1 is a block diagram of an electronic parking brake system according to an embodiment of the present invention.

     Referring to FIG. 1, the electronic parking brake system includes a motor 1 for driving or releasing an electronic parking brake, a multi-stage gear 2 connected to the motor 1, and a multi-stage gear 2. The gear wheel 3 linked to the gear wheel, the hollow screw nut 4 integrally fixed to the inner circumferential surface of the gear wheel 3, and the inner circumferential surface of the screw nut 4, which are gear-coupled to each other. Spindle 5 moving in the axial direction according to the rotation, parking cable 6 connected to the outlet direction of the spindle 5 (operation direction of the parking cable) around the gear wheel 3, and parking cable 6 It is fixed to the outer circumferential surface of the connected spindle (5) and includes a stopper member (7) which prevents the spindle (5) from being excessively pulled and rotated when being pulled out during brake operation.

     In addition, a force that pulls or relaxes the parking cable 6 between the gear wheel 3 and the stopper member 7 by the rotation of the gear wheel 3 and the screw nut 4 by the driving of the motor 1. Further adjusting first and second springs 8, 9 are provided.

     2 is a control block diagram of an electronic parking brake system according to an embodiment of the present invention.

     As shown in FIG. 2, the electronic parking brake system includes a switch 12, a voltage sensor 14, a current sensor 16, a braking force sensor 18, a control unit 20, and a display unit 40. do.

     The switch 12 is operated by a driver to operate or release the electronic parking brake, and when an operation command of the electronic parking brake is input to the switch, a motor for pushing or pulling the parking cable of the electronic parking brake is driven.

     The voltage sensor 14 measures the voltage across the battery for driving the electronic parking brake.

     The current sensor 16 measures a value of the current flowing in the motor 1 which drives to operate or release the electronic parking brake.

     The braking force sensor 18 measures the braking force acting on the parking cable 6 by the spindle 5. Here, the braking force is a force in which the parking cable 6 is pulled or relaxed by the rotation of the gear wheel 3 and the screw nut 4 by the driving of the motor 1 between the gear wheel 3 and the stopper member 7. Means.

     The controller 20 is a microcomputer that controls the overall operation of the electronic parking brake system. The controller 20 transmits an operation signal for operating the electronic parking brake to the motor 1 by operating the switch 12 to control the electronic parking brake. In addition, a release signal for releasing the electronic parking brake is transmitted to the motor 1 to control the electronic parking brake to be released.

     In addition, the controller 20 determines whether the motor is broken by using the amount of current flowing in the motor.

     FIG. 3 is a circuit block diagram of an electronic parking brake system. When a motor is driven using Relay1 and Relay2, a current flowing through the motor 1 is detected through the current sensor 50 to detect a failure or control the motor. See also.

     As shown in FIG. 4, when a motor driving command is input to the switch 12 of the electronic parking brake system, the driving of the motor is started and the over-shooting of the current in the transient region immediately after the driving of the first motor is started. This happens. In the related art, when the amount of current sensed through the current sensor 50 immediately after the start of the motor is maintained for a predetermined time or less than a predetermined reference value, the current is determined to be overshooting.

     In the present invention, the equivalent circuit of the DC motor shown in FIG.

    In more detail, the control unit 20 estimates the amount of current flowing through the motor through the current estimation equation, and if the amount of current estimated at the initial stage of motor driving lasts for a predetermined time or less below a predetermined reference value, It is determined that there is a current overshoot in the transient area, in which case the motor is considered to be faulty.

      As described above, in order to determine whether the current is over-shooted in the transient region immediately after the start of the motor driving, a reference value, which is a reference for over-shooting, must be predetermined. This reference value is determined through an experiment. The reference value is determined by using the measured current value of the motor while the motor is locked. As an example of the test result, a value such as 0.3A may be obtained.

      In more detail with respect to the equation for estimating the amount of current, in the equivalent circuit of the DC motor, the motor 1 connected to the supply power supply 91 has an induction voltage generated by the resistance 92, the inductance 93, and the motor rotation. 94). If this is expressed as an equivalent circuit relation, the following equation is established.

E _b = L * di / dt + R * i + E _c ----------------------------------------- ①

     In addition, the torque relational expression in consideration of the torque generated by the rotation of the motor is as follows.

E _c = K _e * φ _e * ω _r = K _e * N ---------------------------------- ------------- ②

T _e = K _e * φ _e * i = K _t * i ------------------------------------- ------------- ③ φ _e = φ _pm + φ _osc * sin (N _T * ω _r * t) ------------------------------------ ----- ④

    ① Substituting the above torque relation into the equation,

E _b = L * di / dt + R * T / K _t + K _e * N --------------------------------------- ⑤

    .

    Here, considering the steady state with no change over time

E _b = R * T / K _t + K _e * N --------------------------------------------- ----- ⑥

    Considering a zero load state with zero torque,

E _b = K _e * N ------------------------------------------- ------------------ ⑦

    If the equations (1) to (5) are summed up and the current flowing through the motor is induced, it is as follows.

i _DC = (E _b -ω _r * K _e * φ _pm ) / R -------------------------------- -------- ⑧

i _AC = -ω _r * K _e * φ _osc / (R ² + L ² * N _T ² * ω _r ² ) * (R * sin (N _T * ω _r * t) -L * N _T * ω _r * cos (N _{T *} ω _r * t)] -⑨

     Equation (8) represents the DC component of the current, and equation (9) represents the AC component of the current.

     In order to easily estimate the amount of current, it is necessary to simply reduce the equations ⑧ and ⑨ regarding current. By linearizing the model of the motor and adjusting the motor's rotational speed from low speed to high speed and measuring current, the resistance can be obtained using V = I * R (voltage = current * resistance). Using the obtained parameters, the inductance value is determined, and as an example of the experimental result, the equation for calculating the current is simplified as follows.

     i (t) = (motor_voltage_drop / 0.08) * exp (-0.35 / 0.08 * t) --------------- ⑩

E _b : Supply voltage (motor voltage) E _c Induction voltage

     L: Inductance R: Resistance

T: Torque value K _t : Torque constant

K _e : Induction voltage constant φ _e : Total excitation flux

φ _pm : Average excitation flux φ _osc : vibration component of excitation flux

ω _r : motor rotation speed N _T : Slot number of rotor

      i: Current flowing in the motor t: Time

     According to Equation VII, the amount of current flowing through the motor can be estimated only by the voltage drop of the motor measured by the voltage sensor.

     The result of comparing the current amount curve 300 estimated by Equation VII and the current amount curve 200 sensed by the current sensor is shown in FIG. 6. The current flowing in the motor immediately after the motor driving of the electronic parking brake is measured by the current sensor and simultaneously estimated by the equation 바 and the current amount curve 200 sensed by the current sensor and the current amount curve 300 estimated by the equation ⑩. Showed almost the same form.

     Meanwhile, the estimated current amount of the present invention may be different from the actual current amount under the influence of external factors such as temperature. Since the validity of the system can be acknowledged only if the error rate is within the allowable range, it is not determined whether the failure is made when the estimated current amount is smaller than a certain reference value that can confirm the validity of the system. Here, the reference value can be found by the designer to the most suitable value by experiment.

     The display unit 30 notifies the driver of the failure of the electronic parking brake system, and in the present invention, when the controller 20 determines that the electronic parking brake system has failed, the display unit 30 uses the buzzer to operate the electronic parking brake system. This may include audible notification of system failure or visual notification using LEDs.

      Hereinafter, an electronic parking brake failure detection apparatus according to the present invention will be described.

      Electronic parking brake failure detection device according to an aspect of the present invention is provided in the voltage sensor 14, the control unit 20 for measuring the voltage applied to the motor (voltage across the battery) of the motor of the electronic parking brake and the amount of current flowing through the motor. A current determination unit 21 for estimating, a current comparison unit 22 for determining whether the current is overshooting, a failure determination unit 23 for determining whether the motor has failed using current over-shooting, and It includes a display unit 30 for displaying whether or not the motor failure.

      The current calculator 21 estimates the amount of current flowing through the motor after inputting the motor driving signal using the current estimation equation determined by the above equations 1 to 9 and the experimental results. When using the current estimation equation, only the voltage drop of the motor can be used to estimate the amount of current at a desired time, and the voltage of the motor is measured by the voltage sensor, so that the amount of current flowing through the motor can be easily estimated.

      The current comparator 22 compares the current amount estimated by the current calculator 21 with a predetermined reference value to determine whether over-shooting of the current has occurred in the transient region immediately after the initial driving of the motor. Judge. The predetermined reference value is determined by measuring the current flowing in the lock state of the motor through experiments. If the estimated current amount is smaller than the predetermined reference value for more than a predetermined time, the current comparator 22 determines that current over-shooting has occurred. The failure determining unit 23 finally determines whether the motor has failed using the result of the current comparing unit 22. If the current comparator 22 determines that the current over-shooting has occurred in the transient region immediately after the motor drive starts, the failure determiner 23 finally determines that the motor of the electronic parking brake is faulty. The result of the determination is transmitted to the display unit 30.

      The display unit 30 receives the determination result from the failure determination unit 23 and informs the driver whether the motor has failed in a visual or audio manner.

      Hereinafter, a failure detection process of the electronic parking brake system according to an embodiment of the present invention will be described.

     In FIG. 7, when the vehicle is started, the controller 20 checks whether the operation signal of the electronic parking brake is input from the switch 12.

     When the operation signal of the electronic parking brake is input from the switch 12 (YES in step 300), the controller 20 receives information about the voltage (voltage of the motor) across the battery from the voltage sensor 14 ( 310).

     The current calculator 21 of the controller 20 estimates the amount of current flowing through the motor using the voltage drop of the motor measured by the voltage sensor 14 (320).

     Next, the current comparison unit 22 of the controller 20 compares the estimated current amount with a predetermined reference value (330).

     If the estimated current amount is smaller than the predetermined reference value and the error rate of the system is within the allowable range (YES in step 330), it is determined whether the state lasts for a predetermined time or longer (340).

     If the state continues for a predetermined time or more (YES in step 340), the failure determination unit 23 determines that the motor of the electronic parking brake is broken (350) and the electronic parking brake to the driver through the display unit 30. Guide the failure of (360).

1.Motor 12 ... Switch 14 ... Voltage sensor 20 ... Control part
30.Display

Claims (11)

And a motor having a resistance, an inductance, and an induction voltage connected in series with each other, and estimating an amount of current flowing through the motor during the operation of the electronic parking brake, wherein the induction voltage generated by the motor rotation causes the motor to decrease according to the voltage drop of the motor. When estimating the amount of current flowing in the to determine whether the current over-shooting (over-shooting), the current is overshooting if the estimated current amount is less than the predetermined reference value by comparing the estimated current amount with a predetermined reference value Judged to be;
And detecting the failure of the motor when the current is over-shooting.
delete delete The method of claim 1,
Whether the current is over-shooting (over-shooting),
And detecting in the transient area immediately after the first driving of the motor is started. The method of claim 1,
If the motor is determined to be a failure further comprising the step of warning the driver of the electronic parking brake failure detection method. In the failure detection device of the electronic parking brake to determine whether the motor of the electronic parking brake,
A voltage sensor connected to the motor in series with a resistance, an inductance, and an induction voltage to sense a voltage applied according to a voltage drop of the motor by the induction voltage generated by the motor rotation;
A current calculator configured to estimate an amount of current flowing through the motor during the operation of the electronic parking brake according to the voltage drop of the motor sensed by the voltage sensor;
A current comparing unit comparing the estimated current amount with a predetermined reference value and determining that the current is over-shooting when the estimated current amount is less than the predetermined reference value; And
And a failure determination unit that determines that the motor is a failure when the current is overshooted by the current comparison unit.
delete delete The method according to claim 6,
The current comparison unit
And an over-shooting device in a transient area immediately after the first driving of the motor is started.
delete The method according to claim 6,
And a display unit for indicating a result of the failure determination unit.

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