KR101486275B1 - Apparatus for controlling electric booster and method for controlling thereof - Google Patents

Abstract

The present invention relates to a motor control apparatus for an electric booster, comprising: a sensing unit for sensing a current motor driving signal outputted from a motor when driving an electric booster by a driving operation of the motor; A control unit receiving a current motor drive signal sensed by the sensing unit and including a preset reference motor drive signal; A determination unit for determining, according to control of the control unit, whether the current motor drive signal detected by the sensing unit is out of the range of the reference motor drive signal; And when the determination unit determines that the current motor drive signal is out of the range of the reference motor drive signal, the current motor drive signal is filtered according to the control of the controller and the current motor drive signal is adjusted to the frequency bandwidth adapted to the reference motor drive signal The present invention also provides a control apparatus for a motor-driven booster including a frequency band controller for providing a motor with a frequency band controller.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an electric booster,

The present invention relates to an electric booster control apparatus and a control method thereof.

Generally, a conventional electric booster is provided to implement regenerative braking to increase the fuel economy of at least one of a hybrid vehicle, a fuel cell vehicle, and an electric vehicle.

For example, a conventional electric booster is provided to form hydraulic pressure in a master cylinder by motor drive operation and brake pedal operation to realize regenerative braking.

However, the conventional electric booster has a problem that chattering occurs due to low frequency transmission efficiency due to the motor torque during the motor driving operation and the brake pedal operation.

Accordingly, in recent years, the frequency transmission efficiency according to the motor torque is improved during the motor driving operation and the brake pedal operation to improve the control efficiency of the electric booster, and to accelerate the initial response when the electric booster malfunctions, The control device of the improved electric booster which can prevent the occurrence of the traffic accident by inducing the driver to perform the careful operation while preventing the driver from pressing the brake pedal unreasonably, .

An object of the present invention is to provide an electric booster control apparatus and control method thereof that can improve the control efficiency of an electric booster while suppressing an increase in production cost for controlling the electric booster.

It is another object of the present invention to provide an electric booster control apparatus and control method thereof capable of speeding up early response and preventing the occurrence of a traffic accident.

It is still another object of the present invention to provide an electric booster control device and a control method thereof that can prevent the occurrence of a traffic accident by preventing a driver from forcibly stopping the brake pedal, Method.

To achieve these and other advantages and in accordance with the purpose of the present invention, as embodied and broadly described herein, there is provided an electric booster comprising: a sensing unit for sensing a current motor driving signal output from a motor of an electric booster; A control unit receiving a current motor drive signal sensed by the sensing unit and including a preset reference motor drive signal; A determination unit for determining, according to control of the control unit, whether the current motor drive signal detected by the sensing unit is out of the range of the reference motor drive signal; And when the determination unit determines that the current motor drive signal is out of the range of the reference motor drive signal, the current motor drive signal is filtered according to the control of the controller and the current motor drive signal is adjusted to the frequency bandwidth adapted to the reference motor drive signal And a frequency band controller for providing the motor with the frequency band.

According to another aspect of the present invention, when the determination unit determines that the current motor drive signal is out of the range of the reference motor drive signal, the first identification unit may identify the current motor drive signal as an abnormal signal.

According to another aspect of the present invention, when the current motor driving signal is filtered by the frequency band adjusting unit and the current motor driving signal is adjusted to the frequency bandwidth adapted to the reference motor driving signal to be provided to the motor, And a second identification unit for identifying that the drive signal is adjusted to a frequency bandwidth adapted to the reference motor drive signal.

According to another aspect of the present invention, the sensing unit further senses a current motor drive signal according to the operation of the current brake pedal output from the motor of the electric booster; The control unit may further receive a current motor drive signal corresponding to an operation of the current brake pedal sensed by the sensing unit, and further include a reference motor drive signal according to an operation of the reference brake pedal that has been set; The determining unit further determines whether the current motor drive signal according to the operation of the current brake pedal sensed by the sensing unit is out of the range of the reference motor drive signal according to the operation of the reference brake pedal according to the control of the controller; When the determination unit determines that the current motor drive signal according to the operation of the current brake pedal is out of the range of the reference motor drive signal according to the operation of the reference brake pedal, the frequency band controller controls the operation of the current brake pedal And further adjusts the current motor driving signal according to the operation of the current brake pedal to a frequency bandwidth adapted to the reference motor driving signal according to the operation of the reference brake pedal to further provide to the motor.

According to another aspect of the present invention, when the determination unit further determines that the current motor drive signal according to the operation of the current brake pedal is out of the range of the reference motor drive signal corresponding to the operation of the reference brake pedal, And a third discrimination unit for discriminating that the current motor driving signal according to the current motor driving signal is an abnormal signal.

According to another aspect of the present invention, in the frequency band controller, the current motor drive signal corresponding to the operation of the current brake pedal is filtered, and the frequency band corresponding to the reference motor drive signal according to the operation of the reference brake pedal is used to operate the current brake pedal The present motor drive signal according to the operation of the current brake pedal is adjusted to the frequency bandwidth adapted to the reference motor drive signal according to the operation of the reference brake pedal according to the control of the controller And a fourth identification unit for identifying the second identification unit.

According to another aspect of the present invention, the sensing unit senses at least one of a current rotation angle corresponding to a current motor drive signal, a current angular velocity, and a pressure of a current master cylinder.

According to another aspect of the present invention, the frequency band controller includes a low pass filter.

According to another aspect of the present invention, there is provided a control method for a motor-driven booster, comprising: sensing a current motor drive signal output from a motor of an electric booster by a motor driving operation; A determination step of determining, by a control unit, whether the current motor drive signal sensed by the sensing unit is out of the range of the reference motor drive signal set in the control unit; And when the determination unit determines that the current motor drive signal is out of the range of the reference motor drive signal, the frequency band adjustment unit filters the current motor drive signal according to the control of the control unit, And a frequency band adjusting step of adjusting the driving signal and providing the adjusted driving signal to the motor.

According to another aspect of the present invention, when the determining unit determines that the current motor drive signal is out of the range of the reference motor drive signal, it is determined that the current motor drive signal is an abnormal signal, The first identification step.

According to another aspect of the present invention, there is provided a method of controlling a motor, comprising: after a frequency band adjusting step, when a current motor driving signal is filtered in a frequency band adjusting unit and a current motor driving signal is adjusted to a frequency bandwidth adapted to a reference motor driving signal, And a second discriminating step of discriminating in the second discriminating section that the current motor driving signal is adjusted to the frequency bandwidth adapted to the reference motor driving signal under the control of the control section.

According to still another aspect of the present invention, the sensing step further includes the step of sensing, by the sensing unit, the current motor drive signal according to the operation of the current brake pedal output from the motor of the electric booster; Determining whether the current motor drive signal according to the operation of the current brake pedal sensed by the sensing unit is out of the range of the reference motor drive signal according to the operation of the reference brake pedal set in the control unit, Lt; / RTI > The frequency band adjusting step may include a frequency band adjustment step of, when the determination unit determines that the current motor drive signal according to the operation of the current brake pedal is out of the range of the reference motor drive signal according to the operation of the reference brake pedal, The current motor driving signal corresponding to the operation of the current brake pedal is filtered and the current motor driving signal corresponding to the operation of the current brake pedal is adjusted to the frequency bandwidth adapted to the reference motor driving signal according to the operation of the reference brake pedal, And further performing the step

According to another aspect of the present invention, when the determination unit further determines that the current motor drive signal according to the operation of the current brake pedal is out of the range of the reference motor drive signal according to the operation of the reference brake pedal, And a third discriminating step of discriminating, by the third discriminating unit, that the current motor driving signal corresponding to the current operation of the brake pedal is an abnormal signal.

According to another aspect of the present invention, there is provided a method for controlling a frequency band of a vehicle, comprising: after a frequency band adjusting step, a frequency band adjusting unit filters a current motor driving signal according to an operation of a current brake pedal, The current motor drive signal corresponding to the operation of the current brake pedal is controlled by the control unit so that the current motor drive signal corresponding to the operation of the current brake pedal is output to the reference motor drive signal corresponding to the operation of the reference brake pedal And a fourth discrimination step of discriminating, in the fourth discrimination part, that the frequency band is adjusted to a frequency band adapted to the frequency band.

According to the electric booster control apparatus and control method of the present invention as described above, the following effects can be obtained.

First, there is an effect that the control efficiency of the electric booster can be improved while suppressing an increase in production cost for controlling the electric booster.

Second, there is another effect of preventing the occurrence of a traffic accident in advance because the initial response can be speeded up.

Third, there is another effect of preventing the occurrence of a traffic accident by preventing the driver from pressing the brake pedal forcibly while driving the driver's attention.

1 is a block diagram showing a control device connected to an electric booster according to a first embodiment of the present invention;
Fig. 2 is a block diagram showing an example of the control device shown in Fig. 1. Fig.
3 is a flowchart showing a control method for a controller of an electric booster according to a first embodiment of the present invention.
4 is a block diagram showing an example of a control apparatus according to a second embodiment of the present invention;
5 is a flowchart showing a control method for a controller of an electric booster according to a second embodiment of the present invention.
6 is a block diagram showing an example of a control apparatus according to a third embodiment of the present invention;
7 is a flowchart showing a control method for a control device of an electric booster according to a third embodiment of the present invention.
8 is a block diagram showing a state in which a controller is connected to an electric booster according to a fourth embodiment of the present invention;
9 is a block diagram showing an example of the control device shown in Fig.
10 is a graph showing a correlation between the motor rotation angle and the master cylinder pressure shown in FIG.
FIG. 11 is a block diagram showing the frequency band adjusting unit, the motor, and the master cylinder shown in FIG. 9 as expressed by an equation according to a transfer function of the motor.
FIG. 12 is a graph showing characteristics of simulation information of general motor rotation angle simulation information and master cylinder pressure. FIG.
13 is a graph showing characteristics of simulation information of an existing frequency band according to general motor torque simulation information.
14 is a graph showing the characteristics of simulation information of the master cylinder pressure and the information of simulation of the rotational angle of the motor of the frequency band regulator.
15 is a graph showing characteristics of simulation information of a frequency band adjusting unit according to motor torque simulation information;
16 is a graph showing characteristics of simulation information of the master cylinder pressure according to the motor position simulation information of the frequency band adjusting section.
17 is a flowchart showing a control method for a controller of an electric booster according to a fourth embodiment of the present invention.
18 is a block diagram showing an example of a control apparatus according to a fifth embodiment of the present invention;
FIG. 19 is a flowchart showing a control method for a controller of an electric booster according to a fifth embodiment of the present invention; FIG.
20 is a block diagram showing an example of a control apparatus according to a sixth embodiment of the present invention;
FIG. 21 is a flowchart showing a control method for a control device of an electric booster according to a sixth embodiment of the present invention. FIG.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings.

≪ Embodiment 1 >

FIG. 1 is a block diagram showing a state in which a controller is connected to an electric booster according to a first embodiment of the present invention, and FIG. 2 is a block diagram showing an example of a controller shown in FIG.

1 and 2, the controller 100 of the electric booster 10 according to the first embodiment of the present invention includes a sensing unit 102, a control unit 104, a determination unit 106, (108).

The sensing unit 102 senses the current motor driving signal output from the motor 10a of the electric booster 10.

At this time, the sensing unit 102 can sense at least one of the current rotation angle and the current angular velocity corresponding to the current motor driving signal.

The control unit 104 receives the current motor driving signal sensed by the sensing unit 102 and includes a preset reference motor driving signal.

The determination unit 106 determines whether the current motor drive signal sensed by the sensing unit 102 is out of the range of the reference motor drive signal under the control of the control unit 104. [

When the determination unit 106 determines that the current motor drive signal is out of the range of the reference motor drive signal, the frequency band adjustment unit 108 filters the current motor drive signal according to the control of the control unit 104, Adjusts the current motor drive signal to a frequency bandwidth adapted to the signal and provides it to the motor 10a.

Here, the frequency band adjusting unit 108 may include a low pass filter.

At this time, the control unit 104, the determination unit 106, and the frequency band adjustment unit 108 may be implemented by a general computer applied to the vehicle, A control unit (not shown), or a microcontroller (MCU) (not shown) for controlling a frequency band while controlling a whole operation by having a processor, a memory, and an input / output device in a single chip The present invention is not limited to this, and may be any control means, judgment means, and frequency band adjustment means capable of controlling the frequency band while controlling and determining the overall operation of the vehicle.

Here, the controller 104, the determiner 106, and the frequency band controller 108 may be integrally provided as an ECU (Electric Control Unit) (not shown) or an MCU (Micro Control Unit, not shown) An ECU (Electric Control Unit) (not shown), or an MCU (Micro Control Unit, not shown).

A control method of the electric booster 10 for controlling the electric booster 10 using the control device 100 of the electric booster 10 according to the first embodiment of the present invention will now be described with reference to FIG.

3 is a flowchart illustrating a control method for a control device for an electric booster according to a first embodiment of the present invention.

Referring to FIG. 3, a control method 300 for a control device (100 of FIGS. 1 and 2) of an electric booster (10 of FIGS. 1 and 2) according to a first embodiment of the present invention includes a sensing step S302 A determination step S304, and a frequency band adjustment step S306.

First, the sensing step S302 performs a step of sensing the current motor driving signal outputted from the motor (10a in Fig. 2) of the electric booster (10 in Fig. 1 and Fig. 2) .

2) to determine whether the current motor drive signal sensed by the sensing unit 102 (see FIG. 2) is out of the range of the reference motor drive signal set in the controller 104 in FIG. 2) (106) of FIG.

2), the frequency band adjustment step S306 is performed in accordance with the control of the controller (104 in FIG. 2) when it is determined in the determination unit 106 of FIG. 2 that the current motor drive signal is out of the range of the reference motor drive signal. 2) of the current motor drive signal and adjusts the current motor drive signal to a frequency bandwidth adapted to the reference motor drive signal to provide it to the motor (10a in Fig. 2).

The control device 100 of the electric booster 10 according to the first embodiment of the present invention and the control method 300 thereof include the sensing unit 102, the control unit 104, the determination unit 106, And performs the sensing step S302, the determining step S304, and the frequency band adjusting step S306 including the adjusting part 108. [

The control device 100 and the control method 300 of the electric booster 10 according to the first embodiment of the present invention are configured to filter the current motor drive signal in the frequency band controller 108 and to output the reference motor drive signal And adjusts the current motor drive signal to the motor 10a in the tailored frequency bandwidth.

The controller 100 of the electric booster 10 according to the first embodiment of the present invention and the control method 300 thereof can control the electric booster 10 while suppressing an increase in manufacturing cost for controlling the electric booster 10 10 can be improved.

≪ Embodiment 2 >

4 is a block diagram showing an example of a control apparatus according to the second embodiment of the present invention.

Referring to FIG. 4, the control device 400 of the electric booster 10 according to the second embodiment of the present invention is similar to the control device 400 of the electric booster according to the first embodiment (FIG. 1 and FIG. 2) And a control unit 104, a determination unit 106, and a frequency band adjustment unit 108 in the same manner as in FIG.

The function of each component corresponding to the control device 400 of the electric booster 10 according to the second embodiment of the present invention and the organic connection between them are the same as those of the electric booster 10 according to the first embodiment 1 and 2 of FIG. 1) and the organic connection relation between them, each of which is described in detail below Hereinafter, it will be omitted.

Here, the control device 400 of the electric booster 10 according to the second embodiment of the present invention further includes a first identification part 410. [

That is, when the determination unit 106 determines that the current motor drive signal is out of the range of the reference motor drive signal, the first identification unit 410 identifies that the current motor drive signal is an abnormal signal.

Although not shown, the first identification unit 410 may include a speaker (not shown) and a light emitting member (not shown) provided to identify the information or state of the vehicle, (Not shown) including at least one of an HMI (Human Machine Interface) module (not shown) and a HUD (Head-Up Display) module (not shown) HUD (Human-Machine Interface) message display operation of an HMI (Human Machine Interface) module (not shown) and a HUD (Head-UP Display) message of a HUD It is possible to identify the current motor drive signal as an abnormal signal through at least one operation of the display operation.

A control method of the electric booster 10 for controlling the electric booster 10 using the control device 400 of the electric booster 10 according to the second embodiment of the present invention will be described with reference to FIG.

5 is a flowchart illustrating a control method for a controller of an electric booster according to a second embodiment of the present invention.

5, the control method 500 of the electric booster (10 of FIG. 4) of the electric booster (400 of FIG. 4) according to the second embodiment of the present invention is the same as that of the electric booster of the first embodiment S302, S304 and S306 in the same manner as the control method (300 in FIG. 3) of the control device (100 in FIG. 1 and FIG. 2) ).

The function for each step corresponding to the control method 500 for the control device (400 in FIG. 4) of the electric booster (10 in FIG. 4) according to the second embodiment of the present invention and the function 1 and 2) of the electric booster according to the first embodiment (the reference numeral 300 in FIG. 3) to the control device (100 in FIG. 1 and FIG. 2) And the organic connections between them are the same, and therefore, the respective further descriptions thereof will be omitted below.

Here, the control method 500 for the control device (400 in FIG. 4) of the electric booster (10 in FIG. 4) according to the second embodiment of the present invention is performed after the determination step (S304) S505).

For example, the control method 500 of the control device (400 in FIG. 4) of the electric booster (10 in FIG. 4) according to the second embodiment of the present invention includes a step after S304 and a frequency band adjustment step S306 ), It is possible to further perform the first identification step S505.

4) of the electric booster 10 according to the second embodiment of the present invention (not shown in the figure), the control method 500 may include a frequency band adjustment step (not shown) So that the first identification step (not shown) can be further performed.

That is, if it is determined in step S505 that the current motor drive signal is out of the range of the reference motor drive signal, the first identification step S505 determines that the current motor drive signal is an abnormal signal, (410 in Fig. 4).

The control device 400 of the electric booster 10 according to the second embodiment of the present invention and the control method 500 thereof include the sensing unit 102, the control unit 104, the determination unit 106, The control unit 108 and the first identifying unit 410 to perform the sensing step S302, the determining step S304, the first identifying step S505, and the frequency band adjusting step S306.

The control device 400 and the control method 500 of the electric booster 10 according to the second embodiment of the present invention are configured to filter the current motor drive signal in the frequency band controller 108 and to output the reference motor drive signal And adjusts the current motor drive signal to the motor 10a in the tailored frequency bandwidth.

The controller 400 of the electric booster 10 according to the second embodiment of the present invention and its control method 500 can control the electric booster 10 while suppressing an increase in manufacturing cost for controlling the electric booster 10 10 can be improved.

The control device 400 and the control method 500 of the electric booster 10 according to the second embodiment of the present invention are such that the current motor drive signal is out of the range of the reference motor drive signal The first identification unit 410 identifies that the current motor drive signal is an abnormal signal.

Therefore, the control device 400 of the electric booster 10 according to the second embodiment of the present invention and the control method 500 thereof can recognize that the driving situation of the current motor 10a is abnormal Therefore, it is possible to speed up the initial response and to prevent the occurrence of a traffic accident in advance.

≪ Third Embodiment >

6 is a block diagram showing an example of a control apparatus according to the third embodiment of the present invention.

6, the control device 600 of the electric booster 10 according to the third embodiment of the present invention is similar to the control device 600 of the electric booster according to the first embodiment (Fig. 1 and Fig. 2) And a control unit 104, a determination unit 106, and a frequency band adjustment unit 108 in the same manner as in FIG.

The function of each component corresponding to the control device 600 of the electric booster 10 according to the third embodiment of the present invention and the organic connection relation between them are the same as those of the electric booster 10 according to the first embodiment 1 and 2 of FIG. 1) and the organic connection relation between them, each of which is described in detail below Hereinafter, it will be omitted.

Here, the control device 600 of the electric booster 10 according to the third embodiment of the present invention further includes a second identification part 612. [

That is, when the second identification unit 612 filters the current motor driving signal in the frequency band adjusting unit 108 and adjusts the current motor driving signal to the motor 10a in the frequency bandwidth adapted to the reference motor driving signal, The control unit 104 identifies that the current motor drive signal is adjusted to the frequency bandwidth adapted to the reference motor drive signal.

At this time, although not shown, the second identification unit 612 may include a speaker (not shown) and a light emitting member (not shown) that are provided for the driver to identify the information or state of the vehicle, (Not shown) including at least one of an HMI (Human Machine Interface) module (not shown) and a HUD (Head-Up Display) module (not shown) HUD (Human-Machine Interface) message display operation of an HMI (Human Machine Interface) module (not shown) and a HUD (Head-UP Display) message of a HUD At least one of the display operations may identify that the current motor drive signal is adjusted to a frequency bandwidth tailored to the reference motor drive signal.

A control method of the electric booster 10 for controlling the electric booster 10 using the control device 600 of the electric booster 10 according to the third embodiment of the present invention will be described with reference to FIG.

FIG. 7 is a flowchart illustrating a control method for a control device of an electric booster according to a third embodiment of the present invention.

7, the control method 700 of the electric booster (10 of FIG. 6) of the electric booster (600 of FIG. 6) according to the third embodiment of the present invention is similar to that of the electric booster of the first embodiment S302, S304 and S306 in the same manner as the control method (300 in FIG. 3) of the control device (100 in FIG. 1 and FIG. 2) ).

The function for each step corresponding to the control method 700 for the control device (600 in FIG. 6) of the electric booster (10 in FIG. 6) according to the third embodiment of the present invention and the function 1 and 2) of the electric booster according to the first embodiment (the reference numeral 300 in FIG. 3) to the control device (100 in FIG. 1 and FIG. 2) And the organic connections between them are the same, and therefore, the respective further descriptions thereof will be omitted below.

Here, the control method 700 for the control device (600 of FIG. 6) of the electric booster (10 of FIG. 6) according to the third embodiment of the present invention includes, after the frequency band adjustment step S306, Step S707 is further performed.

That is, the second identification step S707 is to filter the current motor drive signal in the frequency band controller (108 in FIG. 6) and to adjust the current motor drive signal to the frequency bandwidth adapted to the reference motor drive signal, (Step 612 in FIG. 6) that the current motor drive signal is adjusted to the frequency bandwidth adapted to the reference motor drive signal under the control of the controller (104 in FIG. 6) .

The controller 600 of the electric booster 10 according to the third embodiment of the present invention and the control method 700 thereof include the sensing unit 102, the control unit 104, the determination unit 106, The control unit 108 and the second identification unit 612 to perform the sensing step S302, the determining step S304, the frequency band adjusting step S306, and the second identifying step S707.

The control device 600 and the control method 700 of the electric booster 10 according to the third embodiment of the present invention are configured to filter the current motor drive signal in the frequency band controller 108, And adjusts the current motor drive signal to the motor 10a in the tailored frequency bandwidth.

The control device 600 of the electric booster 10 according to the third embodiment of the present invention and its control method 700 can control the electric booster 10 while suppressing an increase in production cost for controlling the electric booster 10 10 can be improved.

The control device 600 of the electric booster 10 according to the third embodiment of the present invention and the control method 700 thereof control the frequency band controller 108 to filter the current motor drive signal, The second identification unit 612 identifies that the current motor drive signal is adjusted to a frequency bandwidth adapted to the reference motor drive signal when the current motor drive signal is adjusted to the motor 10a with the tailored frequency bandwidth.

Therefore, the control device 600 of the electric booster 10 according to the third embodiment of the present invention and the control method 700 thereof are provided to inform the driver that the driving state of the current motor 10a is a frequency bandwidth adapted to the reference motor driving signal It is possible to prevent the driver from stepping on the brake pedal 20 unreasonably and to induce the driver to perform a careful operation, thereby preventing the occurrence of a traffic accident in advance.

<Fourth Embodiment>

FIG. 8 is a block diagram showing a state where a controller is connected to an electric booster according to a fourth embodiment of the present invention, and FIG. 9 is a block diagram showing an example of the controller shown in FIG.

FIG. 10 is a graph showing the correlation between the motor rotation angle and the master cylinder pressure shown in FIG. 9, FIG. 11 is a graph showing the relationship between the frequency band adjustment unit, the motor, and the master cylinder shown in FIG. FIG.

FIG. 12 is a graph showing characteristics of general motor rotation angle simulation information and master cylinder pressure simulation information, and FIG. 13 is a graph showing characteristics of simulation information of an existing frequency band according to general motor torque simulation information.

FIG. 14 is a graph showing the characteristics of simulation information of the motor rotational angle of the frequency band adjusting unit and the master cylinder pressure, and FIG. 15 is a graph showing the characteristics of the simulation information of the frequency band adjusting unit according to the motor torque simulation information.

16 is a graph showing characteristics of simulation information of the master cylinder pressure according to the motor position simulation information of the frequency band adjusting unit.

8 and 9, the control device 800 of the electric booster 10 according to the fourth embodiment of the present invention includes a sensing unit 802, a control unit 804, a determination unit 806, 808 &lt; / RTI &gt;

The sensing unit 802 senses the current motor driving signal according to the operation of the current brake pedal 20 output from the motor 10a of the electric booster 10.

At this time, the sensing unit 802 may sense at least one of the current rotation angle corresponding to the current motor driving signal, the current angular velocity, and the pressure of the master cylinder 30.

Here, the hydraulic pressure supply device 40 can provide the hydraulic pressure in accordance with the pressure change of the master cylinder 30, and the electronic stability control (ESC) 50 can control the hydraulic pressure supplied from the hydraulic pressure supply device 40 The braking force of at least one of the left wheel 60 and the right wheel 70 can be adjusted to stably control the posture of the vehicle.

The control unit 804 receives the current motor drive signal according to the operation of the current brake pedal 20 sensed by the sensing unit 802 and includes a reference motor drive signal according to the operation of the preset reference brake pedal.

The determination unit 806 determines whether the current motor drive signal according to the operation of the current brake pedal 20 sensed by the sensing unit 802 is out of the range of the reference motor drive signal corresponding to the operation of the reference brake pedal It is judged according to the control.

When the determination unit 806 determines that the current motor drive signal according to the operation of the current brake pedal 20 is out of the range of the reference motor drive signal according to the operation of the reference brake pedal, The current motor drive signal according to the operation of the current brake pedal 20 is filtered according to the control of the current brake pedal 804 and the current motor drive signal corresponding to the operation of the current brake pedal 20 is set to the frequency bandwidth adapted to the reference motor drive signal according to the operation of the reference brake pedal And adjusts the current motor drive signal to provide it to the motor 10a.

Here, the frequency band adjusting unit 808 may include a low pass filter.

The control unit 804, the determination unit 806, and the frequency band adjustment unit 808 are connected to a main computer, which is not shown, for controlling the overall operation of the vehicle, A control unit (not shown), or a microcontroller (MCU) (not shown) for controlling a frequency band while controlling a whole operation by having a processor, a memory, and an input / output device in a single chip The present invention is not limited to this, and may be any control means, judgment means, and frequency band adjustment means capable of controlling the frequency band while controlling and determining the overall operation of the vehicle.

Here, the control unit 804, the determination unit 806, and the frequency band adjustment unit 808 may be integrally provided as an ECU (Electric Control Unit) (not shown) or an MCU (Micro Control Unit, not shown) An ECU (Electric Control Unit) (not shown), or an MCU (Micro Control Unit, not shown).

For example, the pressure generated in the master cylinder 30 as shown in Fig. 10 may be a function of the motor rotation angle?.

Actually, it is assumed that the pressure generated in the master cylinder 30 is in the form of a hysteresis curve, but has a function form of the motor rotation angle [theta].

At this time, as shown in FIG. 11, the transfer function of the motor is expressed by Equation (1).

&Quot; (1) &quot;

와

는 각각 모터 회전각과 모터 토크의 라플라스 변환이고, J는 모터와 모터의 회전운동을 직선운동으로 변환하여 마스터 실린더에 전달할 때의 관성모멘트의 총합, B는 모터 회전자와 모터의 회전운동을 직선운동으로 변환하여 마스터 실린더에 전달할 때의 운동과 관계된 점성마찰계수로서 모두 미지(unknown)의 값이다.
here

Wow

J is a total sum of inertia moment when the rotational motion of the motor and the motor is converted into a linear motion and transmitted to the master cylinder, and B is a linear motion of the motor rotor and the motor, And is a value of unknown, which is a coefficient of viscous friction related to the motion when it is transferred to the master cylinder.

At this time, the equation of motion of the electric booster 10 is obtained from Equation (1), as shown in Equation (2).

&Quot; (2) &quot;

는 모터 토크이고,

는 마스터 실린더 내에 생성된 압력으로 인해 발생한 토크와 모터의 회전운동을 직선운동으로 변환하여 마스터 실린더에 전달할 때에 손실되는 모든 토크를 더한 것이다.here,

Is a motor torque,

Is the torque generated by the pressure generated in the master cylinder, plus all the torque lost when converting the rotational motion of the motor into linear motion and delivering it to the master cylinder.

This equation of motion can be expressed by a state equation as shown in Equation (3) below.

&Quot; (3) &quot;

과

는 각각 모터의 회전각과 각속도이다.
here

and

Are the rotation angle and angular velocity of the motor, respectively.

At this time, the frequency band adjusting unit 808 can be set by the correlation of Equation (4) to Equation (19).

That is, a new variable to be used in the frequency band adjusting unit 808 is defined as Equation (4).

&Quot; (4) &quot;

는 운전자가 브레이크 페달을 밟는 양에 따라 계산되는 모터 회전각 요구량이고,

와

는 각각 양의 상수이다.here,

Is a motor rotation angle demand amount calculated according to the amount by which the driver depresses the brake pedal,

Wow

Are positive constants, respectively.

At this time, since the motor rotation angle includes less noise than other sensors, the quality of the data does not deteriorate even if the differential calculation processing is performed twice.

를 다음 <수학식 5>와 같이 제한한다.In addition,

Is limited as shown in Equation (5).

&Quot; (5) &quot;

는 양의 상수이다.here,

Is a positive constant.

Then, using Equation (3) and Equation (4), the following Equation (6) can be derived, and if Equation (6) is differentiated with respect to time, Equation (7) can be obtained.

&Quot; (6) &quot;

&Quot; (7) &quot;

In this case, when a positive constant c ₁ is applied using Equation (3), the following Equation (8) can be obtained and Equation (8) can be substituted into Equation (7) 9>

&Quot; (8) &quot;

&Quot; (9) &quot;

를 제외한 나머지 항들은 미지(unknown)의 값이으므로 다음 <수학식 10>으로 표현하고, 앞서 정의한 제어관심영역

에서 알려진 값

에 대하여

를 만족한다고 가정하자. 그러면, <수학식 9>는 다음 <수학식 11>과 같이 쓸 수 있다.At this time, in Equation (9)

Is expressed by the following Equation (10), and the above-described control interest region

Known value in

about

. Then, Equation (9) can be written as Equation (11).

&Quot; (10) &quot;

Equation (11)

Here, in order to design the stable frequency band adjusting unit 808, a Lyapunov function such as Equation (12) is introduced.

&Quot; (12) &quot;

At this time, if the function of Equation (12) is differentiated with respect to time, the following Equation (13) is obtained from the correlation between Equation (11) and Equation (12).

&Quot; (13) &quot;

를 다음 <수학식 14>와 같이 At this time,

As shown in the following Equation (14)

&Quot; (14) &quot;

로 두면, 다음 <수학식 15>와 같이

, The following Equation (15)

&Quot; (15) &quot;

가 되고, <수학식 12>와 <수학식 15>의 상관 관계를 이용한 다음 <수학식 16>에서

, And the correlation between Equation (12) and Equation (15) is used. Then, in Equation (16)

&Quot; (16) &quot;

양변을 적분하면, 다음 <수학식 17>이 되고, <수학식 12>로부터 다음 <수학식 18>를 얻을 수 있다.

If both sides are integrated, the following Equation (17) is obtained, and the following Equation (18) can be obtained from Equation (12).

&Quot; (17) &quot;

&Quot; (18) &quot;

는 유한한 시간 이내에

을 만족하는 곡면 위에 도달한다.therefore,

Within a finite hour

On the curved surface.

가 제어관심영역

안에 존재한다면,

의 궤적은 유한한 시간 안에

를 만족하는 곡면 위에 도착하게 되고 그 시간 이후로 그 곡면을 벗어날 수 없게 된다.That is,

Control area of interest

If present,

The trajectory of

And it is impossible to escape the curved surface after that time.

Therefore, if the dominant frequency band adjusting unit 808 is designed to be Equation (19) in Equation (14)

&Quot; (19) &quot;

은 점진적으로

로 수렴하게 된다.

Progressively

.

와 1차 저역 통과 필터(low pass filter) 형태의

가 결합된 형태임을 알 수 있다. At this time, in Equation (16), the switch form of the frequency band adjusting unit 808

And a first-order low-pass filter

Are combined with each other.

In order to verify the robustness, the frequency band adjusting unit 808 sets the driver pedal input to generate a master cylinder 30 pressure of about 180 bar at the maximum in a sinusoidal waveform having a frequency of 2 Hz.

As a result, as shown in FIG. 12, it can be confirmed that the signal tracking performance and robustness following the driver's will are excellent in the general motor rotation angle simulation information and the master cylinder pressure simulation information. However, as shown in FIG. 13, In the simulation information of the existing frequency band according to the simulation information, very severe chattering occurred.

14, in the motor rotational angle simulation information and the master cylinder pressure simulation information of the frequency band adjusting unit 808 of the present invention, the signal follow-up is more important than the general motor rotational angle simulation information and simulation information of the master cylinder pressure The performance and the robustness are slightly lowered. However, as shown in FIG. 15, in the simulation information of the frequency band adjusting unit 808 according to the motor torque simulation information, chattering is performed more than the simulation information of the existing frequency band according to the motor torque simulation information I can confirm that it has decreased significantly.

As shown in FIG. 16, in the simulation information of the master cylinder pressure according to the motor position simulation information of the frequency band adjusting unit 808 of the present invention, it is possible to confirm almost equivalent efficiency characteristics with respect to the reference value through hardware experiments, Respectively.

A control method of the electric booster 10 for controlling the electric booster 10 using the control device 800 of the electric booster 10 according to the fourth embodiment of the present invention will be described with reference to FIG.

17 is a flowchart showing a control method for a controller of the electric booster according to the fourth embodiment of the present invention.

Referring to Fig. 17, the control method 1700 for the control device (800 in Fig. 8 and Fig. 9) of the electric booster according to the fourth embodiment of the present invention (10 in Figs. 8 and 9) A determination step S1704, and a frequency band adjustment step S1706.

First, in the sensing step S1702, the current motor driving signal according to the operation of the current brake pedal (20 in Fig. 9) outputted from the motor (10a in Fig. 9) of the electric booster (10 in Fig. 8 and Fig. 9) (802 of FIG. 9).

9), the current motor drive signal corresponding to the operation of the current brake pedal (20 in Fig. 9) sensed by the sensing unit 802 (Fig. 9) is output to the reference brake pedal (806 in Fig. 9) in accordance with the control of the control unit (804 in Fig. 9).

9), the current motor drive signal according to the operation of the current brake pedal (20 in Fig. 9) is outputted to the determination unit (806 in Fig. 9) of the reference motor drive signal according to the operation of the reference brake pedal 9), the current motor drive signal according to the operation of the current brake pedal (20 in Fig. 9) is filtered in the frequency band controller 808 (Fig. 9) according to the control of the controller 804 9) by adjusting the current motor drive signal according to the operation of the current brake pedal (20 in Fig. 9) to a frequency bandwidth adapted to the reference motor drive signal according to the operation of the reference brake pedal .

The control device 800 of the electric booster 10 according to the fourth embodiment of the present invention and its control method 1700 include a sensing unit 802, a control unit 804, a determination unit 806, And performs a sensing step S1702, a determining step S1704, and a frequency band adjusting step S1706 including the adjusting unit 808. [

The control device 800 of the electric booster 10 according to the fourth embodiment of the present invention and its control method 1700 can control the frequency band of the current motor 80 according to the operation of the current brake pedal 20 in the frequency band controller 808, The motor drive signal is filtered and the current motor drive signal according to the operation of the current brake pedal 20 is adjusted to the motor 10a in the frequency bandwidth adapted to the reference motor drive signal according to the operation of the reference brake pedal, It is possible to improve the control efficiency of the electric booster 10 while suppressing an increase in production cost for control of the electric booster 10.

<Fifth Embodiment>

18 is a block diagram showing an example of a control apparatus according to the fifth embodiment of the present invention.

18, the control device 1800 of the electric booster 10 according to the fifth embodiment of the present invention is similar to the control device 1800 of the electric booster (Figs. 8 and 9) according to the fourth embodiment And a control unit 804, a determination unit 806, and a frequency band adjustment unit 808 in the same manner as in FIG.

The function of each component corresponding to the control device (00) of the electric booster 10 according to the fifth embodiment of the present invention and the organic connection relation therebetween are the same as those of the electric booster 10 according to the fourth embodiment, 8 and Fig. 9), and an organic connection relation between them, respectively, and therefore, a description of each of them Will be omitted below.

Here, the control device 1800 of the electric booster 10 according to the fifth embodiment of the present invention further includes a third identification part 1810. [

That is, when the determination unit 806 determines that the current motor drive signal according to the operation of the current brake pedal 20 is out of the range of the reference motor drive signal according to the operation of the reference brake pedal , And identifies that the current motor driving signal according to the operation of the current brake pedal 20 is an abnormal signal.

At this time, although not shown, the third identification unit 1810 may include a speaker (not shown) and a light emitting member (not shown), which are provided for the driver to identify the information or state of the vehicle, (Not shown) including at least one of an HMI (Human Machine Interface) module (not shown) and a HUD (Head-Up Display) module (not shown) HUD (Human-Machine Interface) message display operation of an HMI (Human Machine Interface) module (not shown) and a HUD (Head-UP Display) message of a HUD The present motor drive signal corresponding to the operation of the current brake pedal 20 can be identified as an abnormal signal through at least one of the display operations.

A control method of the electric booster 10 for controlling the electric booster 10 using the control device 1800 of the electric booster 10 according to the fifth embodiment of the present invention will be described with reference to FIG.

FIG. 19 is a flowchart showing a control method for a controller of an electric booster according to a fifth embodiment of the present invention.

19, the control method 1900 of the control device (1800 of FIG. 18) of the electric booster (10 of FIG. 18) according to the fifth embodiment of the present invention is similar to that of the electric booster The detection step S1702, the judging step S1704 and the frequency band adjusting step S1706 are performed in the same manner as the control method (1700 of Fig. 17) for the control device (800 of Figs. 8 and 9) ).

The function for each step corresponding to the control method 1900 of the control device (1800 in Fig. 18) of the electric booster (10 in Fig. 18) according to the fifth embodiment of the present invention and the function 8 and 9) of the electric booster according to the fourth embodiment (10 of FIG. 8 and FIG. 9) And the organic connections between them are the same, and therefore, the respective further descriptions thereof will be omitted below.

Here, the control method 1900 of the control device (1800 in Fig. 18) of the electric booster (10 in Fig. 18) according to the fifth embodiment of the present invention is performed after the judgment step (S1704) S1905).

For example, the control method 1900 of the control device (1800 of FIG. 18) of the electric booster (10 of FIG. 18) according to the fifth embodiment of the present invention includes a step after the determination step (S1704) ), It is possible to further perform the third identification step (S1905).

18) of the electric booster according to the fifth embodiment of the present invention (1800 in FIG. 18) is controlled by a frequency band adjustment step (not shown) So that a third identification step (not shown) can be further performed.

That is, in the third identification step (S1905), the current motor drive signal according to the operation of the current brake pedal (20 in Fig. 18) is set to the range of the reference motor drive signal according to the operation of the reference brake pedal (Step 1810 of FIG. 18) that the current motor drive signal corresponding to the current operation of the brake pedal (20 of FIG. 18) is an abnormal signal.

The control device 1800 and the control method 1900 of the electric booster 10 according to the fifth embodiment of the present invention may include a sensing unit 802, a control unit 804, a determination unit 806, The control unit 808 and the third identifying unit 1810 to perform the sensing step S1702, the determining step S1704, the third identifying step S1905, and the frequency band adjusting step S1706.

The control device 1800 and the control method 1900 of the electric booster 10 according to the fifth embodiment of the present invention are configured to control the frequency band of the current motor The motor drive signal is filtered and the current motor drive signal according to the operation of the current brake pedal 20 is adjusted to the motor 10a in the frequency bandwidth adapted to the reference motor drive signal according to the operation of the reference brake pedal, It is possible to improve the control efficiency of the electric booster 10 while suppressing an increase in production cost for control of the electric booster 10.

The control unit 1800 and the control method 1900 of the electric booster 10 according to the fifth embodiment of the present invention are configured such that the determination unit 806 determines whether the current motor drive signal It is determined that the current motor drive signal corresponding to the current operation of the brake pedal 20 is an abnormal signal and that the current motor drive signal corresponding to the operation of the current brake pedal 20 is an abnormal signal .

The control device 1800 of the electric booster 10 according to the fifth embodiment of the present invention and the control method 1900 thereof can be applied to a case where the driver is currently driving the current motor 10a according to the operation of the brake pedal 20 It is possible to recognize that the vehicle is in an abnormal situation, so that it is possible to speed up the initial response and to prevent the occurrence of a traffic accident in advance.

<Sixth Embodiment>

20 is a block diagram showing an example of a control apparatus according to the sixth embodiment of the present invention.

20, the control device 2000 of the electric booster 10 according to the sixth embodiment of the present invention is similar to the control device 2000 of the electric booster according to the fourth embodiment (Fig. 8 and Fig. 9) And a control unit 804, a determination unit 806, and a frequency band adjustment unit 808 in the same manner as in FIG.

The function of each component corresponding to the control device (00) of the electric booster 10 according to the sixth embodiment of the present invention and the organic connection relation therebetween are the same as those of the electric booster according to the fourth embodiment 8 and Fig. 9), and an organic connection relation between them, respectively, and therefore, a description of each of them Will be omitted below.

Here, the control device 2000 of the electric booster 10 according to the sixth embodiment of the present invention further includes a fourth identification unit 2012. [

That is, the fourth identification unit 2012 filters the current motor drive signal according to the operation of the current brake pedal 20 in the frequency band adjusting unit 808, and adjusts the frequency bandwidth corresponding to the reference motor drive signal according to the operation of the reference brake pedal The current motor drive signal according to the operation of the current brake pedal 20 is controlled by the control unit 804 so that the current motor drive signal corresponding to the current operation of the brake pedal 20 It is adjusted to the frequency bandwidth adapted to the reference motor drive signal according to the operation of the reference brake pedal.

At this time, although not shown, the fourth identification unit 2012 may include a speaker (not shown) and a light emitting member (not shown), which are provided for the driver to identify the information or state of the vehicle, (Not shown) including at least one of an HMI (Human Machine Interface) module (not shown) and a HUD (Head-Up Display) module (not shown) HUD (Human-Machine Interface) message display operation of an HMI (Human Machine Interface) module (not shown) and a HUD (Head-UP Display) message of a HUD It is possible to identify that the current motor drive signal according to the operation of the current brake pedal (20 in the figure) is adjusted to the frequency bandwidth adapted to the reference motor drive signal according to the operation of the reference brake pedal through at least one of the display operations.

A control method of the electric booster 10 for controlling the electric booster 10 using the controller 2000 of the electric booster 10 according to the sixth embodiment of the present invention will be described with reference to FIG.

FIG. 21 is a flowchart showing a control method for a controller of the electric booster according to the sixth embodiment of the present invention.

21, the control method 2100 of the control device (2000 of FIG. 20) of the electric booster (10 of FIG. 20) according to the sixth embodiment of the present invention is the same as the control method 2100 of the electric booster The detection step S1702, the judging step S1704 and the frequency band adjusting step S1706 are performed in the same manner as the control method (1700 of Fig. 17) for the control device (800 of Figs. 8 and 9) ).

The function for each step corresponding to the control method 2100 for the control device (2000 in FIG. 20) of the electric booster (10 in FIG. 20) according to the sixth embodiment of the present invention and the function 8 and 9) of the electric booster according to the fourth embodiment (10 of FIG. 8 and FIG. 9) And the organic connections between them are the same, and therefore, the respective further descriptions thereof will be omitted below.

Here, the control method 2100 for the control device (2000 in Fig. 20) of the electric booster (10 in Fig. 20) according to the sixth embodiment of the present invention includes, after the frequency band adjustment step (S1706) Step S2107 is further performed.

That is, in the fourth identification step S2107, the current motor drive signal according to the operation of the current brake pedal (20 in FIG. 20) is filtered in the frequency band controller (808 in FIG. 20) 20) in accordance with the operation of the current brake pedal (20 in Fig. 20) with a frequency bandwidth adapted to the drive signal and supplies the current motor drive signal to the motor (10a in Fig. 20) (2012 in Fig. 20) that the current motor drive signal according to the operation of the current brake pedal (20 in Fig. 20) is adjusted to the frequency bandwidth adapted to the reference motor drive signal according to the operation of the reference brake pedal .

The controller 2000 of the electric booster 10 according to the sixth embodiment of the present invention and the control method 2100 thereof include the sensing unit 802, the control unit 804, the determination unit 806, The control unit 808 and the fourth identification unit 2012 to perform the sensing step S1702, the determining step S1704, the frequency band adjusting step S1706 and the fourth identifying step S2107.

The controller 2000 of the electric booster 10 according to the sixth embodiment of the present invention and the control method 2100 thereof can control the frequency band of the current motor 80 according to the operation of the current brake pedal 20 in the frequency band controller 808, The motor drive signal is filtered and the current motor drive signal according to the operation of the current brake pedal 20 is adjusted to the motor 10a in the frequency bandwidth adapted to the reference motor drive signal according to the operation of the reference brake pedal, It is possible to improve the control efficiency of the electric booster 10 while suppressing an increase in production cost for control of the electric booster 10.

The controller 2000 of the electric booster 10 according to the sixth embodiment of the present invention and the control method 2100 thereof are configured to control the frequency band of the current motor 80 according to the operation of the current brake pedal 20 in the frequency band controller 808, When the current motor drive signal corresponding to the operation of the current brake pedal 20 is adjusted to a frequency bandwidth adapted to the reference motor drive signal according to the operation of the reference brake pedal and supplied to the motor 10a, The fourth discriminator 2012 identifies that the current motor drive signal according to the operation of the current brake pedal 20 is adjusted to the frequency bandwidth adapted to the reference motor drive signal according to the operation of the reference brake pedal.

The control device 2000 of the electric booster 10 according to the sixth embodiment of the present invention and the control method 2100 thereof are arranged so that the driving state of the current motor 10a according to the operation of the current brake pedal 20 It is possible to recognize that the reference frequency is adjusted to the frequency bandwidth adapted to the reference motor drive signal in accordance with the operation of the reference brake pedal, so that the driver can drive the brake pedal 20 with caution while preventing the driver from stepping on the brake pedal 20 unnecessarily The occurrence of a traffic accident can be prevented in advance.

It will be understood by those skilled in the art that the present invention may be embodied in other specific forms without departing from the spirit or essential characteristics thereof. Therefore, it should be understood that the above-described embodiments are to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than the foregoing description, It is intended that all changes and modifications derived from the equivalent concept be included within the scope of the present invention.

Claims (14)

A sensing unit for sensing a current motor driving signal output from the motor of the electric booster;
A controller receiving a current motor drive signal sensed by the sensing unit and including a preset reference motor drive signal;
A determination unit for determining according to control of the control unit whether the current motor drive signal sensed by the sensing unit is out of the range of the reference motor drive signal;
Wherein when the current motor drive signal is determined to be out of the range of the reference motor drive signal, the control unit filters the current motor drive signal according to the control of the controller, A frequency band adjusting unit for adjusting a motor driving signal to provide the motor driving signal to the motor; And
And a first identification unit for identifying the current motor drive signal as an abnormal signal when the determination unit determines that the current motor drive signal is out of the range of the reference motor drive signal.
delete The method according to claim 1,
Wherein the current motor driving signal is filtered by the frequency band adjusting unit and the current motor driving signal is adjusted to a frequency bandwidth adapted to the reference motor driving signal to provide the current motor driving signal to the motor, Further comprising: a second discrimination unit for discriminating that the frequency of the reference motor is adjusted to a frequency bandwidth adapted to the reference motor drive signal.
The method according to claim 1,
The sensing unit includes:
Further detecting a current motor drive signal corresponding to an operation of a current brake pedal outputted from a motor of the electric booster;
Wherein,
Further comprising: a reference motor drive signal that is further supplied with a current motor drive signal according to an operation of the current brake pedal sensed by the sensing unit, and that corresponds to an operation of a reference brake pedal that has been set;
Wherein,
Further determining whether the current motor drive signal according to the operation of the current brake pedal sensed by the sensing unit is out of the range of the reference motor drive signal according to the operation of the reference brake pedal according to the control of the controller;
The frequency-
When the determination unit determines that the current motor drive signal according to the operation of the current brake pedal is out of the range of the reference motor drive signal according to the operation of the reference brake pedal, Wherein the current motor driving signal according to the operation of the current brake pedal is adjusted to a frequency bandwidth adapted to the reference motor driving signal according to the operation of the reference brake pedal and further provided to the motor controller.
5. The method of claim 4,
When the determination unit determines that the current motor drive signal according to the operation of the current brake pedal is out of the range of the reference motor drive signal according to the operation of the reference brake pedal, Further comprising a third identification unit for identifying that the signal is an abnormal signal.
5. The method of claim 4,
Wherein the frequency band controller filters the current motor drive signal according to the operation of the current brake pedal and outputs the current motor drive signal according to the operation of the current brake pedal to a frequency bandwidth adapted to the reference motor drive signal according to the operation of the reference brake pedal. The control unit determines that the current motor drive signal corresponding to the operation of the current brake pedal is adjusted to the frequency bandwidth adapted to the reference motor drive signal according to the operation of the reference brake pedal And a fourth discrimination unit which discriminates whether or not the electric booster is operating.
The method according to claim 1 or 4,
The sensing unit includes:
Wherein the controller senses at least one of a current rotation angle corresponding to the current motor drive signal, a current angular velocity, and a pressure of the current master cylinder.
The method according to claim 1 or 4,
Wherein the frequency band controller includes a low pass filter.
Detecting a current motor drive signal output from the motor of the electric booster by a sensing unit;
A determining step of determining, by the controller, whether the current motor driving signal detected by the sensing unit is out of the range of the reference motor driving signal set in the controller;
A first discriminating step of discriminating, by the first discriminating unit, that the current motor driving signal is an abnormal signal if the judging unit judges that the current motor driving signal is out of the range of the reference motor driving signal; And
Wherein when the determination unit determines that the current motor drive signal is out of the range of the reference motor drive signal, the frequency band controller may filter the current motor drive signal according to the control of the controller, And adjusting the current motor driving signal in a frequency bandwidth and providing the current motor driving signal to the motor.
delete 10. The method of claim 9,
After the frequency band adjustment step,
Wherein the current motor driving signal is filtered by the frequency band adjusting unit and the current motor driving signal is adjusted to a frequency bandwidth adapted to the reference motor driving signal to provide the current motor driving signal to the motor, Further comprising a second identifying step of identifying in the second identification section that the frequency band is adjusted to a frequency bandwidth adapted to the reference motor drive signal.
10. The method of claim 9,
In the sensing step,
Further comprising the step of sensing, by the sensing unit, a current motor drive signal corresponding to an operation of the current brake pedal output from the motor of the electric booster;
Wherein,
Determining whether the current motor drive signal according to the operation of the current brake pedal sensed by the sensing unit is out of the range of the reference motor drive signal according to the operation of the reference brake pedal set in the control unit, Lt; / RTI &gt;
Wherein the frequency band adjustment step comprises:
When the determination unit determines that the current motor drive signal according to the operation of the current brake pedal is out of the range of the reference motor drive signal according to the operation of the reference brake pedal, Wherein the current motor driving signal according to the operation of the current brake pedal is filtered and the current motor driving signal corresponding to the operation of the current brake pedal is adjusted to a frequency bandwidth adapted to the reference motor driving signal according to the operation of the reference brake pedal, Wherein the step of controlling the electric booster further comprises the steps of:
13. The method of claim 12,
After the determining step,
When the determination unit determines that the current motor drive signal according to the operation of the current brake pedal is out of the range of the reference motor drive signal according to the operation of the reference brake pedal, And a third identifying step of identifying in the third identification unit that the signal is an abnormal signal.
13. The method of claim 12,
After the frequency band adjustment step,
Wherein the frequency band controller filters the current motor drive signal according to the operation of the current brake pedal and outputs the current motor drive signal according to the operation of the current brake pedal to a frequency bandwidth adapted to the reference motor drive signal according to the operation of the reference brake pedal. The current motor drive signal according to the operation of the current brake pedal is adjusted to a frequency bandwidth adapted to the reference motor drive signal according to the operation of the reference brake pedal according to the control of the controller, 4 identification step of identifying the first booster in the first booster.

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