KR20120138454A - Control method of motor driven power steering apparatus - Google Patents

Control method of motor driven power steering apparatus Download PDF

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Publication number
KR20120138454A
KR20120138454A KR1020110057935A KR20110057935A KR20120138454A KR 20120138454 A KR20120138454 A KR 20120138454A KR 1020110057935 A KR1020110057935 A KR 1020110057935A KR 20110057935 A KR20110057935 A KR 20110057935A KR 20120138454 A KR20120138454 A KR 20120138454A
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South Korea
Prior art keywords
hall sensor
angle
absolute angle
hall
abnormality
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KR1020110057935A
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Korean (ko)
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양승훈
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현대모비스 주식회사
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Priority to KR1020110057935A priority Critical patent/KR20120138454A/en
Priority to CN201210146949.3A priority patent/CN102826116B/en
Publication of KR20120138454A publication Critical patent/KR20120138454A/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D5/00—Power-assisted or power-driven steering
    • B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
    • B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
    • B62D5/0481—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such monitoring the steering system, e.g. failures
    • B62D5/049—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such monitoring the steering system, e.g. failures detecting sensor failures
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/02—Ensuring safety in case of control system failures, e.g. by diagnosing, circumventing or fixing failures
    • B60W50/0205—Diagnosing or detecting failures; Failure detection models
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/02—Ensuring safety in case of control system failures, e.g. by diagnosing, circumventing or fixing failures
    • B60W50/029—Adapting to failures or work around with other constraints, e.g. circumvention by avoiding use of failed parts
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D5/00—Power-assisted or power-driven steering
    • B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
    • B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
    • B62D5/0481—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such monitoring the steering system, e.g. failures
    • B62D5/0484—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such monitoring the steering system, e.g. failures for reaction to failures, e.g. limp home
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
    • B62D6/08—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits responsive only to driver input torque
    • B62D6/10—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits responsive only to driver input torque characterised by means for sensing or determining torque
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/02—Ensuring safety in case of control system failures, e.g. by diagnosing, circumventing or fixing failures
    • B60W50/0205—Diagnosing or detecting failures; Failure detection models
    • B60W2050/0215—Sensor drifts or sensor failures

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Human Computer Interaction (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)
  • Measurement Of Length, Angles, Or The Like Using Electric Or Magnetic Means (AREA)
  • Power Steering Mechanism (AREA)

Abstract

PURPOSE: A method for controlling an electric steering device is provided to correct the position of a motor by calculating an absolute angle. CONSTITUTION: A method for controlling an electric steering device comprises following steps. The encoder for measuring the electric angle of a motor and the output values of hall sensors are inputted(S10). Whether or not the hall sensors are abnormal is detected(S20). An absolute angle is measured by the hall sensor if the hall sensor is abnormal(S24). The relative angle to the output of the encoder is corrected to the absolute angle(S28). A malfunction signal is outputted if the hall sensor is abnormal. The malfunction signal is outputted if one or more hall sensors are abnormal(S18). [Reference numerals] (AA) Start; (BB) Finish; (S10) Inputting the output values of an encoder and a plurality of hall sensors; (S12) Calculating the relative angle; (S14) The hall sensor is abnormal?; (S16) Calculating the absolute angle; (S18) Outputting an abnormal signal; (S20) Whether or not the hall sensors are abnormal is detected; (S22) Set time passed?; (S24) Estimating the absolute angle; (S26) Conversion into a manual mode; (S28) Correcting the relative angle by the absolute angle

Description

전동식 동력 조향장치의 제어방법{CONTROL METHOD OF MOTOR DRIVEN POWER STEERING APPARATUS}BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to a control method of an electric power steering apparatus,

본 발명은 전동식 동력 조향장치의 제어방법에 관한 것으로서, 보다 상세하게는 전동식 동력 조향장치를 장착한 차량에서 주행 중 모터의 위치를 검출하기 위한 홀센서에 이상이 발생할 경우 이상이 발생하지 않은 홀센서를 통해 절대각을 추정하여 모터의 위치를 보정하는 전동식 동력 조향장치의 제어방법에 관한 것이다.
The present invention relates to a control method of an electric power steering apparatus, and more particularly, in a vehicle equipped with an electric power steering apparatus, a hall sensor that does not occur when an error occurs in a hall sensor for detecting a position of a motor while driving. It relates to a control method of the electric power steering apparatus for correcting the position of the motor by estimating the absolute angle through.

일반적으로 차량에 적용되는, 전자 제어 장치(ECU: Electronic Control Unit)를 이용하여 차량의 속도에 따라 차량 핸들의 조작력을 줄여주어 가볍고 신속한 조향 조작이 가능하도록 한 조향 시스템은, 기존의 유압 펌프의 유압을 이용한 유압식 동력 조향장치(Hydraulic Power Steering Apparatus)에 유압을 조정하는 전자제어밸브가 추가되어 어시스트량을 조절하는 전자제어 파워 조향 시스템과 순수한 모터의 구동에 의해 어시스트량을 조절하는 전동식 동력 조향장치(Motor Driven Power Steering Apparatus: MDPS)로 구분된다.
The steering system, which is applied to a vehicle and uses an electronic control unit (ECU) to reduce the operating force of the vehicle steering wheel according to the speed of the vehicle to enable light and quick steering operation, is a hydraulic system of a conventional hydraulic pump. An electronically controlled electric power steering system is added to the hydraulic power steering device using a hydraulic power steering system to control the amount of assist, and an electric power steering device to control the assist amount by driving a pure motor. Motor Driven Power Steering Apparatus (MDPS).

위에서 설명한 기술은 본 발명이 속하는 기술분야의 배경기술을 의미하며, 종래기술을 의미하는 것은 아니다.
The technology described above refers to the background of the technical field to which the present invention belongs, and does not mean the prior art.

전동식 동력 조향장치의 경우 모터의 구동에 의해 어시스트량을 조절하기 때문에 모터의 위치는 상대적인 위치를 검출하는 엔코더와 절대적인 위치를 검출하기 위해 6곳의 절대각을 검출하기 위한 3개의 홀센서를 구비하여, 모터의 회전에 대해 엔코더를 통해 검출된 상대각과 3개의 홀센서를 통해 검출된 6곳의 절대각을 매 360도 간격으로 비교하면서 보정된다. In the case of the electric power steering system, since the assist amount is adjusted by driving the motor, the motor position is provided with an encoder for detecting a relative position and three Hall sensors for detecting six absolute angles for detecting an absolute position. The relative angles detected by the encoder and the six absolute angles detected by the three Hall sensors are corrected by every 360 degree intervals.

그러나, 주행 중 모터의 위치 검출을 위한 홀센서에 이상이 발생할 경우 전동식 동력 조향장치는 수동모드로 전환되기 때문에 운전자는 갑작스럽게 조향감이 무거워져 당황하게 되어 사용자의 불만을 초래하는 문제점이 있다. However, when an error occurs in the hall sensor for detecting the position of the motor while driving, the electric power steering apparatus is switched to the manual mode, so the driver suddenly becomes heavy and feels embarrassed and causes a user's dissatisfaction.

본 발명은 상기와 같은 문제점을 개선하기 위해 창작된 것으로서, 전동식 동력 조향장치를 장착한 차량에서 주행 중 모터의 위치를 검출하기 위한 홀센서에 이상이 발생할 경우 이상이 발생하지 않은 홀센서를 통해 절대각을 추정하여 모터의 위치를 보정하는 전동식 동력 조향장치의 제어방법을 제공하는데 그 목적이 있다.
The present invention has been made to improve the above problems, and if the abnormality occurs in the hall sensor for detecting the position of the motor while driving in a vehicle equipped with an electric power steering device, the absolute sensor does not occur through the hall sensor. It is an object of the present invention to provide a control method of an electric power steering apparatus that estimates an angle and corrects a position of a motor.

본 발명의 일 측면에 따른 전동식 동력 조향장치의 제어방법은 모터의 전기각을 측정하는 엔코더와 다수의 홀센서의 출력값을 입력받는 단계; 다수의 홀센서에 대해 이상여부를 검출하는 단계; 홀센서의 이상이 검출될 경우 홀센서에 의한 절대각을 추정하는 단계; 및 엔코더의 출력값에 의한 상대각을 홀센서의 출력값에 의한 절대각으로 보정하는 단계를 포함하는 것을 특징으로 한다. Control method of the electric power steering apparatus according to an aspect of the present invention comprises the steps of receiving the output values of the encoder and a plurality of Hall sensors for measuring the electric angle of the motor; Detecting an abnormality of a plurality of hall sensors; Estimating an absolute angle by the hall sensor when an abnormality of the hall sensor is detected; And correcting the relative angle by the output value of the encoder to the absolute angle by the output value of the hall sensor.

본 발명은 홀센서의 이상여부를 검출하여 이상이 검출될 경우 이상신호를 출력하는 단계를 더 포함하는 것을 특징으로 한다. The present invention may further include detecting an abnormality of the hall sensor and outputting an abnormal signal when an abnormality is detected.

본 발명은 홀센서의 이상여부를 검출하여 홀센서가 하나 이상에서 이상이 검출될 경우 이상신호를 출력함과 더불어 수동모드로 전환하는 단계를 더 포함하는 것을 특징으로 한다. The present invention is characterized in that it further comprises the step of switching to the manual mode with the output of the abnormal signal when the hall sensor detects the abnormality of the hall sensor and the abnormality is detected in one or more.

본 발명에서 홀센서에 의한 절대각을 추정하는 단계는 이상이 검출되지 않은 홀센서에서 출력값이 모두 발생되는 시점을 절대각으로 추정하는 것을 특징으로 한다. In the present invention, the step of estimating the absolute angle by the Hall sensor is characterized by estimating the time when all the output values are generated in the Hall sensor for which no abnormality is detected as the absolute angle.

본 발명은 홀센서에 의한 절대각을 추정하는 단계는 설정시간이 경과할 경우 절대각의 추정 없이 수동모드로 전환하는 단계를 더 포함하는 것을 특징으로 한다.
The present invention is characterized in that the step of estimating the absolute angle by the Hall sensor further comprises the step of switching to the manual mode without estimating the absolute angle when the set time elapses.

본 발명은 전동식 동력 조향장치를 장착한 차량에서 주행 중 모터의 위치를 검출하기 위한 홀센서에 이상이 발생할 경우 이상이 발생하지 않은 홀센서를 통해 절대각을 추정하여 모터의 전기각 위치를 보정하면서 페일세이프 운전을 수행함으로써 갑작스런 수동모드 전환에 따른 조향감의 변화를 최소화하여 조향 안정성을 향상시킬 뿐만 아니라 운전자에게 수동모드로의 전환을 대비할 수 있도록 한다.
The present invention is to correct the electric angle position of the motor by estimating the absolute angle through the Hall sensor that does not occur when the Hall sensor for detecting the position of the motor while driving in a vehicle equipped with an electric power steering device By performing failsafe operation, the steering stability can be minimized by minimizing the change in steering feeling caused by the sudden manual mode change, and the driver can be prepared to switch to the manual mode.

도 1은 본 발명의 일 실시예에 따른 전동식 동력 조향장치의 제어방법을 설명하기 위한 흐름도이다.
도 2는 본 발명의 일 실시예에 따른 전동식 동력 조향장치에서 모터의 절대각을 측정하기 위한 홀센서를 나타낸 도면이다.
도 3은 본 발명의 일 실시예에 따른 홀센서의 출력값과 모터의 절대각의 관계를 나타낸 그래프이다.
도 4는 본 발명의 일 실시예에 따른 전동식 동력 조향장치에서 모터의 회전에 따라 엔코더와 홀센서에 의해 측정한 전기각을 나타낸 그래프이다. 1 is a flowchart illustrating a control method of an electric power steering apparatus according to an embodiment of the present invention.
2 is a view showing a Hall sensor for measuring the absolute angle of the motor in the electric power steering apparatus according to an embodiment of the present invention.
3 is a graph showing the relationship between the output value of the Hall sensor and the absolute angle of the motor according to an embodiment of the present invention.
Figure 4 is a graph showing the electrical angle measured by the encoder and the Hall sensor in accordance with the rotation of the motor in the electric power steering apparatus according to an embodiment of the present invention.

이하, 첨부된 도면을 참조하여 본 발명에 따른 전동식 동력 조향장치의 제어방법의 일 실시예를 설명한다. 이 과정에서 도면에 도시된 선들의 두께나 구성요소의 크기 등은 설명의 명료성과 편의상 과장되게 도시되어 있을 수 있다. 또한, 후술되는 용어들은 본 발명에서의 기능을 고려하여 정의된 용어들로서 이는 사용자, 운용자의 의도 또는 관례에 따라 달라질 수 있다. 그러므로, 이러한 용어들에 대한 정의는 본 명세서 전반에 걸친 내용을 토대로 내려져야 할 것이다.Hereinafter, with reference to the accompanying drawings will be described an embodiment of a control method of the electric power steering apparatus according to the present invention. In this process, the thicknesses of the lines and the sizes of the components shown in the drawings may be exaggerated for clarity and convenience of explanation. In addition, the terms described below are defined in consideration of the functions of the present invention, which may vary depending on the intention or custom of the user, the operator. Therefore, definitions of these terms should be made based on the contents throughout this specification.

도 1은 본 발명의 일 실시예에 따른 전동식 동력 조향장치의 제어방법을 설명하기 위한 흐름도이고, 도 2는 본 발명의 일 실시예에 따른 전동식 동력 조향장치에서 모터의 절대각을 측정하기 위한 홀센서를 나타낸 도면이고, 도 3은 본 발명의 일 실시예에 따른 홀센서의 출력값과 모터의 절대각의 관계를 나타낸 그래프이고, 도 4는 본 발명의 일 실시예에 따른 전동식 동력 조향장치에서 모터의 회전에 따라 엔코더와 홀센서에 의해 측정한 전기각을 나타낸 그래프이다. 1 is a flowchart illustrating a control method of an electric power steering apparatus according to an embodiment of the present invention, Figure 2 is a hole for measuring the absolute angle of the motor in the electric power steering apparatus according to an embodiment of the present invention Figure 3 is a view showing the sensor, Figure 3 is a graph showing the relationship between the output value of the Hall sensor and the absolute angle of the motor according to an embodiment of the present invention, Figure 4 is a motor in an electric power steering apparatus according to an embodiment of the present invention This graph shows the electric angle measured by the encoder and the Hall sensor according to the rotation of.

도 1에 도시된 바와 같이 본 발명의 일 실시예에 따른 전동식 동력 조향장치의 제어방법은 모터(미도시)의 전기각을 측정하는 엔코더(미도시)와 제 1내지 제 3홀센서(30a~30c)의 출력값을 입력받는다(S10). As shown in FIG. 1, a control method of an electric power steering apparatus according to an embodiment of the present invention includes an encoder (not shown) and a first to third hall sensor 30a ˜ which measure an electric angle of a motor (not shown). The output value of 30c) is received (S10).

제 1내지 제 3홀센서(30a~30c)는 도 2에 도시된 바와 같이 모터(미도시)의 회전축(10) 주위에 일정각으로 배치되어 회전축(10)과 같이 회전하는 센서마그네틱(20)의 자력을 감지하여 모터의 전기각에 대한 절대각을 측정한다. As shown in FIG. 2, the first to third Hall sensors 30a to 30c are disposed at a predetermined angle around the rotation shaft 10 of the motor (not shown) and rotate together with the rotation shaft 10. The absolute angle of the electric angle of the motor is measured by detecting the magnetic force of the motor.

즉, 도 3에 도시된 바와 같이 (가)는 제 1내지 제 3홀센서(30a~30c)에서의 센서마그네틱(20)의 자력세기 변화를 나타낸 그래프이고, (나)는 제 1내지 제 3홀센서(30a~30c)에서의 출력값을 나타낸 그래프이다. That is, as shown in FIG. 3, (a) is a graph showing a change in magnetic strength of the sensor magnetic 20 in the first to third Hall sensors 30a to 30c, and (b) is the first to third. It is a graph which shows the output value from Hall sensors 30a-30c.

이때 제 1내지 제 3홀센서(30a~30c)의 출력값은 센서마그네틱(20)의 신호가 0을 초과할 경우에는 1의 신호를 출력하고, 0 이하일 경우에는 0의 신호를 출력한다. At this time, the output value of the first to third Hall sensors 30a to 30c outputs a signal of 1 when the signal of the sensor magnetic 20 exceeds 0, and outputs a signal of 0 when it is 0 or less.

따라서, 엔코더와 제 1내지 제 3홀센서(30a~30c)의 출력값을 입력받아 엔코더의 출력값으로 모터의 상대각을 산출한다(S12). Therefore, the relative angle of the motor is calculated from the output values of the encoder by receiving the output values of the encoder and the first to third Hall sensors 30a to 30c (S12).

그리고, 제 1내지 제 3홀센서(30a~30c)의 출력값을 통해 홀센서의 이상여부를 검출한다(S14). Then, whether the Hall sensor is abnormal is detected through the output values of the first to third Hall sensors 30a to 30c (S14).

그래서, 제 1내지 제 3홀센서(30a~30c)에 이상이 검출되지 않을 경우에는 도 3에 도시된 바와 같이 제 1내지 제 3홀센서(30a~30c)의 출력값이 변화하는 시점을 절대각으로 산출하여 엔코더에서 측정된 모터의 전기각에 대한 상대각을 보정하게 된다(S16)(S28). Therefore, when no abnormality is detected in the first to third hall sensors 30a to 30c, as shown in FIG. 3, an absolute angle is a time point at which an output value of the first to third hall sensors 30a to 30c changes. The relative angle with respect to the electric angle of the motor measured by the encoder is calculated by calculating (S16) (S28).

이와 같은 과정은 도 4에 도시된 바와 같이 360도 간격으로 엔코더를 통해 검출된 상대각(E)과 제 1내지 제 3홀센서(30a~30c)를 통해 검출된 6곳의 절대각(H)을 비교하면서 보정하게 된다. As shown in FIG. 4, the relative angle E detected through the encoder at 360-degree intervals and the six absolute angles H detected through the first to third Hall sensors 30a to 30c as shown in FIG. 4. Compensation is made by comparing.

그러나, 홀센서에 대해 이상여부를 검출하여 홀센서에 이상이 검출될 경우에는 이상신호를 출력하여 사용자로 하여금 전동식 동력 조향장치에 이상이 발생했음을 인지하도록 한다(S18). However, if an error is detected in the hall sensor by detecting whether the hall sensor is abnormal, an error signal is output to allow the user to recognize that an error has occurred in the electric power steering apparatus (S18).

또한, 이상이 발생된 홀센서가 복수개인 경우에는 절대각을 추정할 수 없어 수동모드로 전환하여 전동식 동력 조향장치의 작동을 정지시킨다(S20)(S26). In addition, when there are a plurality of Hall sensors in which an abnormality occurs, the absolute angle cannot be estimated, and the operation of the electric power steering device is stopped by switching to the manual mode (S20) (S26).

그러나, 하나의 홀센서에서만 이상이 검출된 경우에는 정상적인 홀센서를 통해 절대각을 추정한다(S24). However, when an abnormality is detected only in one Hall sensor, the absolute angle is estimated through the normal Hall sensor (S24).

예를들어, 제 1홀센서(30a)에 이상이 발생된 경우에는 제 2홀센서(30b)와 제 3홀센서(30c)에서 출력값이 모두 발생되는 시점을 절대각 240ㅀ로 추정한다. For example, when an abnormality occurs in the first hall sensor 30a, a time point at which an output value is generated in both the second hall sensor 30b and the third hall sensor 30c is estimated to be an absolute angle of 240 °.

또한, 제 2홀센서(30b)에 이상이 발생된 경우에는 제 1홀센서(30a)와 제 3홀센서(30c)에서 출력값이 모두 발생되는 시점을 절대각 120ㅀ로 추정한다. In addition, when an abnormality occurs in the second hall sensor 30b, an absolute angle of 120 ° may be estimated at a time when all of the output values are generated by the first hall sensor 30a and the third hall sensor 30c.

그리고, 제 3홀센서(30c)에 이상이 발생된 경우에는 제 1홀센서(30a)와 제 2홀센서(30b)에서 출력값이 모두 발생되는 시점을 절대각 0ㅀ로 추정한다. When an abnormality occurs in the third hall sensor 30c, an absolute angle of 0 ° is estimated at a time point at which all of the output values are generated in the first hall sensor 30a and the second hall sensor 30b.

이렇게 정상적인 2개의 홀센서를 통해 절대각을 추정하여 엔코더의 출력값에 의한 상대각을 절대각으로 보정한다(S28). By estimating the absolute angle through the two normal Hall sensors, the relative angle by the output value of the encoder is corrected to the absolute angle (S28).

이러한 페일세이프 운전은 안전을 위해 설정된 시간동안만 수행한 후 수동모드로 전환되도록 한다. 즉, 설정시간이 경과되면 절대각을 추정하지 않고 수동모드로 전환하여 전동식 동력 조향장치의 작동을 정지시킨다(S22)(S26). This fail-safe operation is performed only for a set time for safety and then switched to manual mode. That is, when the set time elapses, the operation of the electric power steering device is stopped by switching to the manual mode without estimating the absolute angle (S22) (S26).

이와 같이 본 발명에 의한 전동식 동력 조향장치에 따르면, 주행 중 모터의 위치를 검출하기 위한 홀센서에 이상이 발생하더라도 정상인 홀센서를 통해 절대각을 추정하여 모터의 전기각 위치를 보정하면서 페일세이프 운전을 수행함으로써 갑작스런 수동모드 전환에 따른 조향감의 변화를 최소화하여 조향 안정성을 향상시킬 수 있도록 한다.
As described above, according to the electric power steering apparatus according to the present invention, even if an error occurs in the hall sensor for detecting the position of the motor while driving, fail-safe operation is performed by estimating the absolute angle through a normal hall sensor and correcting the electric angle position of the motor. By minimizing the change in steering feeling caused by sudden manual mode change, the steering stability can be improved.

본 발명은 도면에 도시된 실시예를 참고로 하여 설명되었으나, 이는 예시적인 것에 불과하며, 당해 기술이 속하는 분야에서 통상의 지식을 가진 자라면 이로부터 다양한 변형 및 균등한 타 실시예가 가능하다는 점을 이해할 것이다. 따라서 본 발명의 기술적 보호범위는 아래의 특허청구범위에 의해서 정하여져야 할 것이다.
While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it will be understood by those of ordinary skill in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims. I will understand. Accordingly, the technical scope of the present invention should be defined by the following claims.

10 : 회전축
20 : 센서마그네틱
30a,30b,30c : 제 1내지 제 3홀센서10: axis of rotation
20: sensor magnetic
30a, 30b, 30c: first to third hall sensor

Claims (5)

모터의 전기각을 측정하는 엔코더와 다수의 홀센서의 출력값을 입력받는 단계;
상기 다수의 홀센서에 대해 이상여부를 검출하는 단계;
상기 홀센서의 이상이 검출될 경우 상기 홀센서에 의한 절대각을 추정하는 단계; 및
상기 엔코더의 출력값에 의한 상대각을 상기 홀센서의 출력값에 의한 절대각으로 보정하는 단계를 포함하는 것을 특징으로 하는 전동식 동력 조향장치의 제어방법.
Receiving outputs of an encoder measuring an electric angle of a motor and a plurality of hall sensors;
Detecting an abnormality of the plurality of hall sensors;
Estimating an absolute angle by the hall sensor when an abnormality of the hall sensor is detected; And
And adjusting the relative angle by the output value of the encoder to the absolute angle by the output value of the hall sensor.
제 1항에 있어서, 상기 홀센서의 이상여부를 검출하여 이상이 검출될 경우 이상신호를 출력하는 단계를 더 포함하는 것을 특징으로 하는 전동식 동력 조향장치의 제어방법.
The method of claim 1, further comprising detecting an abnormality of the hall sensor and outputting an abnormal signal when an abnormality is detected.
제 1항에 있어서, 상기 홀센서의 이상여부를 검출하여 상기 홀센서가 하나 이상에서 이상이 검출될 경우 이상신호를 출력함과 더불어 수동모드로 전환하는 단계를 더 포함하는 것을 특징으로 하는 전동식 동력 조향장치의 제어방법.
The method of claim 1, further comprising: detecting an abnormality of the hall sensor and outputting an abnormal signal when the hall sensor detects an abnormality in at least one of the hall sensors, and switching to a manual mode. Control method of steering system.
제 1항에 있어서, 상기 홀센서에 의한 절대각을 추정하는 단계는 이상이 검출되지 않은 상기 홀센서에서 출력값이 모두 발생되는 시점을 절대각으로 추정하는 것을 특징으로 하는 전동식 동력 조향장치의 제어방법.
The method of claim 1, wherein the estimating the absolute angle by the Hall sensor comprises estimating an absolute point of time at which all output values are generated in the Hall sensor in which no abnormality is detected. .
제 1항에 있어서, 상기 홀센서에 의한 절대각을 추정하는 단계는 설정시간이 경과할 경우 상기 절대각의 추정없이 수동모드로 전환하는 단계를 더 포함하는 것을 특징으로 하는 전동식 동력 조향장치의 제어방법. The control of the electric power steering apparatus according to claim 1, wherein the estimating an absolute angle by the hall sensor further comprises switching to a manual mode without estimating the absolute angle when a set time elapses. Way.
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