WO2013084277A1 - 電源電圧監視機能を有する電子制御装置及びそれを備えた車両ステアリング制御装置 - Google Patents
電源電圧監視機能を有する電子制御装置及びそれを備えた車両ステアリング制御装置 Download PDFInfo
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- WO2013084277A1 WO2013084277A1 PCT/JP2011/078057 JP2011078057W WO2013084277A1 WO 2013084277 A1 WO2013084277 A1 WO 2013084277A1 JP 2011078057 W JP2011078057 W JP 2011078057W WO 2013084277 A1 WO2013084277 A1 WO 2013084277A1
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- power supply
- monitoring
- control unit
- electronic control
- supply voltage
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- 238000012544 monitoring process Methods 0.000 title claims abstract description 261
- 238000012806 monitoring device Methods 0.000 claims description 5
- 238000010586 diagram Methods 0.000 description 13
- 230000002159 abnormal effect Effects 0.000 description 12
- 230000005856 abnormality Effects 0.000 description 9
- 238000001514 detection method Methods 0.000 description 7
- 230000000694 effects Effects 0.000 description 6
- 238000000034 method Methods 0.000 description 6
- 230000007257 malfunction Effects 0.000 description 5
- 230000008859 change Effects 0.000 description 3
- 230000007547 defect Effects 0.000 description 3
- 230000009467 reduction Effects 0.000 description 2
- 230000004044 response Effects 0.000 description 2
- 230000009897 systematic effect Effects 0.000 description 2
- 238000002485 combustion reaction Methods 0.000 description 1
- 230000002950 deficient Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
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Classifications
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02H—EMERGENCY PROTECTIVE CIRCUIT ARRANGEMENTS
- H02H7/00—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions
- H02H7/08—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions for dynamo-electric motors
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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
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- 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
-
- 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
-
- 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
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05F—SYSTEMS FOR REGULATING ELECTRIC OR MAGNETIC VARIABLES
- G05F1/00—Automatic systems in which deviations of an electric quantity from one or more predetermined values are detected at the output of the system and fed back to a device within the system to restore the detected quantity to its predetermined value or values, i.e. retroactive systems
- G05F1/10—Regulating voltage or current
- G05F1/46—Regulating voltage or current wherein the variable actually regulated by the final control device is dc
- G05F1/56—Regulating voltage or current wherein the variable actually regulated by the final control device is dc using semiconductor devices in series with the load as final control devices
- G05F1/565—Regulating voltage or current wherein the variable actually regulated by the final control device is dc using semiconductor devices in series with the load as final control devices sensing a condition of the system or its load in addition to means responsive to deviations in the output of the system, e.g. current, voltage, power factor
- G05F1/569—Regulating voltage or current wherein the variable actually regulated by the final control device is dc using semiconductor devices in series with the load as final control devices sensing a condition of the system or its load in addition to means responsive to deviations in the output of the system, e.g. current, voltage, power factor for protection
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02H—EMERGENCY PROTECTIVE CIRCUIT ARRANGEMENTS
- H02H3/00—Emergency protective circuit arrangements for automatic disconnection directly responsive to an undesired change from normal electric working condition with or without subsequent reconnection ; integrated protection
- H02H3/20—Emergency protective circuit arrangements for automatic disconnection directly responsive to an undesired change from normal electric working condition with or without subsequent reconnection ; integrated protection responsive to excess voltage
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02H—EMERGENCY PROTECTIVE CIRCUIT ARRANGEMENTS
- H02H7/00—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions
- H02H7/08—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions for dynamo-electric motors
- H02H7/09—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions for dynamo-electric motors against over-voltage; against reduction of voltage; against phase interruption
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02H—EMERGENCY PROTECTIVE CIRCUIT ARRANGEMENTS
- H02H7/00—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions
- H02H7/10—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions for converters; for rectifiers
- H02H7/12—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions for converters; for rectifiers for static converters or rectifiers
- H02H7/122—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions for converters; for rectifiers for static converters or rectifiers for inverters, i.e. dc/ac converters
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02H—EMERGENCY PROTECTIVE CIRCUIT ARRANGEMENTS
- H02H9/00—Emergency protective circuit arrangements for limiting excess current or voltage without disconnection
- H02H9/04—Emergency protective circuit arrangements for limiting excess current or voltage without disconnection responsive to excess voltage
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
- H02P29/02—Providing protection against overload without automatic interruption of supply
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
- H02P29/02—Providing protection against overload without automatic interruption of supply
- H02P29/024—Detecting a fault condition, e.g. short circuit, locked rotor, open circuit or loss of load
- H02P29/0241—Detecting a fault condition, e.g. short circuit, locked rotor, open circuit or loss of load the fault being an overvoltage
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- 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
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/10—Path keeping
- B60W30/12—Lane keeping
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D15/00—Steering not otherwise provided for
- B62D15/02—Steering position indicators ; Steering position determination; Steering aids
- B62D15/025—Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation
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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
-
- 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
- B62D5/046—Controlling the motor
- B62D5/0472—Controlling the motor for damping vibrations
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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
- B62D5/0487—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 motor faults
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- 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
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
- G01R31/327—Testing of circuit interrupters, switches or circuit-breakers
- G01R31/3277—Testing of circuit interrupters, switches or circuit-breakers of low voltage devices, e.g. domestic or industrial devices, such as motor protections, relays, rotation switches
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F17/00—Digital computing or data processing equipment or methods, specially adapted for specific functions
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F7/00—Methods or arrangements for processing data by operating upon the order or content of the data handled
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02H—EMERGENCY PROTECTIVE CIRCUIT ARRANGEMENTS
- H02H9/00—Emergency protective circuit arrangements for limiting excess current or voltage without disconnection
Definitions
- the present invention relates to an electronic control device having a power supply voltage monitoring function and a vehicle steering control device including the same.
- a microcontroller a microcomputer, hereinafter referred to as a microcontroller
- a microcontroller a microcontroller, a microcomputer, hereinafter referred to as a microcontroller
- problems such as steering rotation and locking may occur. For this reason, it is necessary to maintain the power supply voltage within an appropriate range, and it is necessary to constantly monitor the power supply voltage supplied to the microcontroller.
- the microcomputer power supply voltage monitoring system 1 is The microcomputer 10 controls the external load 60 and the power supply unit 20 that supplies the power supply voltage thereto.
- the microcomputer 10 is connected to an operation monitoring circuit 30 (consisting of a W / D circuit and a homework answer) that monitors whether the operation is normal.
- the power supply voltage supplied from the power supply unit 20 is applied to the power supply terminal of the microcomputer 10 and simultaneously taken in from the I / O port of the microcomputer 10.
- the power supply voltage input from the port is compared with an appropriate power supply voltage value 11 indicating the “power supply voltage range in which the operation is guaranteed” of the microcomputer 10 to check whether the power supply voltage is the proper power supply voltage. Is done.
- the microcomputer 10 outputs a control signal Sc to control the output driver 40 connected to the external load 60.
- the output of the power supply monitor 12 and the output of the operation monitor circuit 30 are led to a logical operation circuit 50 such as an OR circuit, and the power supply voltage supplied to the microcomputer 10 is not an appropriate power supply voltage, or the operation of the microcomputer 10 is not normal.
- the problem is solved by stopping the control of the external load 60 by resetting the output driver 40 that controls the external load 60 to inhibit the microcomputer.
- a control circuit including a CPU that controls driving and stopping of the motor 12 that drives the document scanning scanner and is reset by a reset signal, and a power supply voltage Vcc are monitored and a set value is set.
- a monitoring circuit 10 for generating a reset signal when the voltage Vcc drops below, the first signal S1 L is generated when the voltage Vcc drops below the first set value VREF1, and the first setting is made.
- the CPU performs the stop control of the electric motor with the highest priority when the power supply voltage drops.
- the burden of signal level change monitoring is reduced, the signal level change recognition delay is short, and stop control in response to a change in the signal level of the first signal S1 (from H to L) is more effectively realized. ing.
- the scanner motor control device disclosed in Patent Document 2 includes two voltage monitors for monitoring a low CPU power supply voltage.
- the motor is driven via the CPU 14.
- the present invention has been made to solve the above-described problems, and by providing a high reliability to the power supply voltage monitoring function, the external load that is the control target of the electronic control device (microcontroller) is improved.
- An object of the present invention is to provide an electronic control device having a power supply voltage monitoring function capable of preventing malfunction and a vehicle steering control device including the electronic control device.
- an electronic control device having a power supply voltage monitoring function includes an electronic control unit that controls an external load and a voltage of an external power source that is supplied to a power supply terminal of the electronic control unit.
- a power supply unit that adjusts and supplies a voltage within a normal operating range of the electronic control unit, a voltage monitoring function that monitors the voltage of the power supply unit, and an external unit that controls the external load based on the result of the voltage monitoring
- a vehicle steering apparatus includes the electronic control device having a power supply voltage monitoring function according to any one of the first to ninth aspects, wherein a control target of the electronic control unit is a motor and the An inverter that supplies electric power for driving a motor, wherein the external load driver controls a power relay that opens and closes a power supply path to the inverter; a gate driver that controls the inverter; and the inverter; It is a motor / relay / driver that controls a motor / relay that opens and closes an energization path between the motors.
- an external load includes a plurality of monitoring control units that monitor the power supply voltage of an electronic control unit (microcontroller), and at least one of the external load control functions controls the external load without going through the electronic control unit.
- an electronic control device having a power supply voltage monitoring function can be realized.
- a vehicle steering device having high reliability and safety can be realized.
- FIG. 1 is a schematic overall configuration diagram of a vehicle steering control system including an electronic control device having a power supply voltage monitoring function according to a first embodiment.
- 2 is a functional block diagram showing a configuration of a steering control device including an electronic control device having a power supply voltage monitoring function according to Embodiment 1.
- FIG. It is a functional block diagram which shows the structure of the steering control apparatus containing the electronic control apparatus which has a power supply voltage monitoring function which concerns on Embodiment 2.
- FIG. FIG. 10 is a circuit configuration diagram of a voltage monitoring function in a monitoring control unit of an electronic control device having a power supply voltage monitoring function according to a third embodiment.
- FIG. 10 is a circuit configuration diagram of a voltage monitoring function in a monitoring control unit of an electronic control device having a power supply voltage monitoring function according to a fifth embodiment.
- FIG. 1 is a schematic overall configuration diagram of a vehicle steering control system including an electronic control device having a power supply voltage monitoring function according to the first embodiment
- FIG. 2 is an electronic diagram having a power supply voltage monitoring function according to the first embodiment. It is a functional block diagram which shows the structure of the steering control apparatus containing a control apparatus.
- a vehicle steering control system to which an electronic control device 100 having a power supply voltage monitoring function according to the present invention is applied includes a steering wheel 1 for steering a wheel, and a steering for transmitting a rotation state of the steering wheel 1.
- a shaft 2 a torque sensor 3 that is attached to the steering shaft 2 and detects a steering torque applied to the steering wheel 1, a reduction gear 4 connected to one end of the steering shaft 2, and a steering assist torque connected to the reduction gear 4
- a steering control device 10 that drives the motor 5
- a vehicle speed sensor 6 that detects the vehicle speed and transmits it to the steering control device 10
- a battery 7 that supplies power to the steering control device 10
- a battery Power is supplied from 7 to ignite the internal combustion engine And Gunisshon (IG) 8, is constituted by.
- IG Gunisshon
- the steering control device 10 determines a steering assist torque based on the torque detection value detected by the torque sensor 3 and the vehicle speed detection value of the vehicle speed sensor 6, and assists the steering of the steering wheel 1 by driving the motor 5. ing.
- the steering control device 10 is a microcontroller that is an electronic control unit that controls the motor 5 that is an external load. 102, a power supply terminal 101 that adjusts the power from the battery 7 that is external power to an appropriate voltage and supplies it to the power supply terminal of the microcontroller 102, an inverter 104 that supplies power to drive the motor 5, and a micro A gate driver 103 that controls the inverter 104 based on a command from the controller 102, a motor relay 105 that opens and closes an energization path between the inverter 104 and the motor 5, a motor relay driver 106 that controls the motor relay 105, Monitoring control unit A 10 that monitors the power supply voltage of the power supply unit 101 And a, and a monitoring control unit B 108b, in being configured.
- the electronic control device 100 having the power supply voltage monitoring function includes a power supply unit 101, a microcontroller 102, a monitoring control unit A 108a, and a monitoring control unit B 108b. Refers to the part.
- the power supply unit 101 adjusts the power of the battery 7 to an appropriate voltage within the normal operating range of the microcontroller, and supplies a constant voltage (for example, 5 V) necessary for operating the microcontroller 102 to the microcontroller 102. To the power supply terminal.
- a constant voltage for example, 5 V
- the microcontroller 102 performs a predetermined calculation process based on the torque detection value detected by the torque sensor 3 and the vehicle speed detection value of the vehicle speed sensor 6 to determine a target current value (Ti1) for driving the motor 5. Then, feedback control is performed so that the target current value (Ti1) matches the detected current value (Mi) detected by the current detection circuit 107, and a motor drive signal is supplied to the gate driver 103. Further, the microcontroller 102 outputs a motor / relay closing instruction signal (conduction) or a motor / relay opening instruction signal (cutoff) to the motor / relay driver 106.
- the gate driver 103 outputs a signal for driving the inverter 104 to the inverter 104 based on the motor drive signal input from the microcontroller 102.
- the inverter 104 outputs a voltage for driving the motor 5 via the motor relay 105 based on the signal input from the gate driver 103.
- the motor / relay driver 106 is connected to the motor / relay 105. • Outputs a relay close instruction signal (conduction), and outputs a motor / relay open instruction signal (cut off) in other cases.
- the current detection circuit 107 detects the current flowing through the motor 5 and sends the detected current value (Mi) to the microcontroller 102.
- the first monitoring control unit A 108a monitors the power supply voltage supplied to the microcontroller 102, and determines whether or not the voltage is within the normal operating range that guarantees the operation of the microcontroller 102. When it is determined that the voltage is outside the predetermined normal operating range, it is determined that the power supply voltage is abnormal, and a motor / relay opening instruction signal (shutoff) is sent to the motor / relay driver 106. Is output. When it is determined that the motor is normal, a motor / relay closing instruction signal (conduction) is output to the motor / relay driver 106.
- the second monitoring control unit B 108b monitors the power supply voltage supplied to the microcontroller 102 to determine whether the voltage is within the normal operating range that guarantees the operation of the microcontroller 102. . When it is determined that the voltage is outside the predetermined normal operating range, it is determined that the power supply voltage is abnormal, and a motor / relay opening instruction signal (shutoff) is sent to the motor / relay driver 106. Is output. When it is determined that the motor is normal, a motor / relay closing instruction signal (conduction) is output to the motor / relay driver 106.
- the microcontroller 102 includes two independent monitoring control units (the first monitoring control unit A 108a and the second monitoring control unit B 108b). Even when the monitoring control unit fails, the power supply voltage supplied to the microcontroller 102 is monitored by the other monitoring control unit, and the driving of the motor can be reliably stopped when the power supply voltage is abnormal. Thus, it is possible to reliably prevent steering from being abnormally assisted by the abnormal operation of the microcontroller 102 caused by the abnormality of the power supply voltage. That is, higher reliability and safety can be ensured than the conventional monitoring control method.
- the provision of two monitoring control units reduces the probability of a failure that occurs due to the loss of the power supply voltage monitoring function of the vehicle steering device, as compared with the case of one monitoring control unit. And higher reliability than the conventional power supply voltage monitoring device can be secured.
- the monitoring control unit is provided outside the microcontroller 102, the driving of the motor 5, which is an external load, can be stopped without going through the microcontroller 102. Therefore, the monitoring controller is supplied to the microcontroller 102. Even when the voltage outside the normal operating range and the microcontroller 102 does not operate normally, the driving of the motor 5 can be reliably stopped.
- the electronic control device having the power supply voltage monitoring function includes a plurality of monitoring control units that monitor the power supply voltage of the microcontroller, and the external load control function is provided outside the microcontroller.
- FIG. 3 is a functional block diagram showing a configuration of a steering control device including an electronic control device having a power supply voltage monitoring function according to the second embodiment.
- the output of A 108 a is connected to the gate driver 103 that controls the inverter 104. Therefore, here, the gate driver 103, the motor relay driver 106, and the monitoring control unit A 108a will be described, and the other components and operations are the same as those in the first embodiment, and the description thereof will be omitted.
- the gate driver 103 is a signal for driving the inverter 104 based on the motor drive signal output from the microcontroller 102 when the drive permission signal from the first monitoring controller A 108a is input. Is output, and a signal for stopping the inverter 104 is output to the inverter 104 when the drive stop signal is input from the first monitoring control unit A 108a. Therefore, the voltage for driving the motor 5 output from the inverter 104 is output or stopped based on the signal input from the gate driver 103.
- the motor / relay driver 106 When the motor / relay driver 106 receives a motor / relay close instruction signal (conduction) from both the second monitoring controller B 108b and the microcontroller 102, the motor / relay driver 106 sends a motor / relay to the motor / relay 105.
- a close instruction signal (conduction) is output. In other cases, a motor / relay open instruction signal (cutoff) is output.
- the first monitoring control unit A 108a monitors the power supply voltage supplied to the microcontroller 102, and determines whether or not the voltage is within the normal operating range that guarantees the operation of the microcontroller 102. If it is determined that the voltage is outside the predetermined normal operating range, it is determined that the power supply voltage is abnormal, and an inverter 104 drive stop signal is output to the gate driver 103. Further, when it is determined to be normal, an inverter drive signal is output to the gate driver 103.
- the first monitoring control unit A 108a is configured to output a drive stop signal to the gate driver 103 to stop the inverter 104 when an abnormality in the power supply voltage is detected.
- the second monitoring control unit B 108b outputs a motor / relay opening instruction signal (shut off) to the motor / relay driver 106 so that the energization path between the inverter 104 and the motor 5 is shut off.
- each monitoring control unit acts on a different part to stop driving the motor 5
- the driving stop means from one monitoring control unit fails (for example, When the motor / relay 105 is welded and a failure that cannot cut off the energization path occurs)
- the drive stop means from the other monitoring control unit (the inverter is driven by the gate drive 103)
- the means for stopping) 04 it is possible to stop the driving of the motor 5. Therefore, it is possible to ensure higher reliability and safety than the method using the monitoring control unit of the first embodiment.
- a plurality of monitoring control units that monitor the power supply voltage of the microcontroller are provided, and each monitoring control unit acts on different external load drivers.
- each monitoring control unit acts on different external load drivers.
- FIG. 4 is a circuit configuration diagram of the voltage monitoring function in the monitoring control unit of the electronic control device having the power supply voltage monitoring function according to the third embodiment.
- the voltage monitoring functions of the first monitoring control unit A 108a and the second monitoring control unit B 108b in the first and second embodiments are configured by different circuit networks.
- the specific operation of the voltage monitoring function of the first monitoring control unit A 108a and the second monitoring control unit B 108b will be described, and the other components and operations will be described in the first or second embodiment. Since it is the same as that of FIG.
- the functions of the first monitoring controller A 108a and the second monitoring controller B 108b are the same, but the specific voltage monitoring functions are different as shown in FIG. *
- the voltage monitoring function of the first monitoring control unit A 108a is, for example, as shown in FIG. 4A, based on the battery voltage ( ⁇ mark), the lower threshold voltage X [V ] And the upper threshold voltage Y [V], and the voltage is monitored by comparing these with the power supply voltage 5 V (circle mark) supplied to the microcontroller 102. That is, the absolute value monitoring method is employed here.
- the voltage monitoring functions of the monitoring control unit A 108a and the monitoring control unit B 108b are configured by different circuit networks (that is, they are designed by different circuit operations). For example, if the power supply voltage falls outside the normal operating range of the microcontroller 102 due to some circuit malfunction, even if the voltage monitoring function of one monitoring control unit does not function as intended, the other monitoring The power supply voltage can be continuously monitored by the voltage monitoring function of the control unit. That is, by setting the voltage monitoring function to different circuit designs, it is possible to prevent the voltage monitoring functions of the monitoring control unit A 108a and the monitoring control unit B 108b from occurring simultaneously due to a systematic failure.
- a circuit including a plurality of monitoring control units that monitor the power supply voltage of the microcontroller, and the voltage monitoring function of each monitoring control unit is different. Due to the network configuration, when the power supply voltage falls outside the normal operating range of the microcontroller, the voltage monitoring function of one supervisory control unit may not function as intended due to some circuit malfunction. Even if it occurs, it is possible to continue monitoring the power supply voltage by the voltage monitoring function of the other monitoring control unit, and to ensure high reliability and safety for the voltage monitoring function of the monitoring control unit. A remarkable effect can be expected.
- FIG. 5 is a functional block diagram showing a configuration of a steering control device including an electronic control device having a power supply voltage monitoring function according to the fourth embodiment.
- the addition of the microcontroller B 109 and the functions of the first monitoring control unit A 108a in FIG. 3 are the same as the monitoring control unit A1 110a and the monitoring control unit A2 111a, and the second monitoring control unit B 108b.
- the function is replaced by the monitoring control unit B1 110b and the monitoring control unit B2 111b.
- the microcontroller B 109 the monitoring control unit A1 110a, the monitoring control unit A2 111a, the monitoring control unit B1 110b, and the monitoring control unit B2 111b will be described, and other components and operations will be described in the second embodiment. Since it is the same as that of FIG.
- the microcontroller B 109 monitors the operation of the microcontroller 102 which is the main electronic control unit.
- a vehicle steering control device has various fail-safe functions to prevent accidents due to failure, and outputs a control signal for controlling a motor to realize the fail-safe function.
- a microcontroller different from the microcontroller may be provided (for example, WO2007 / 138676).
- an electronic control device having a power supply voltage monitoring function is applied to a vehicle steering control device provided with a microcontroller B 109 will be described.
- the monitoring control unit A1 110a is built in the power supply unit 101, monitors a voltage lower than the normal operating range of the power supply voltage supplied to the microcontroller 102 by the voltage monitoring function, and is less than a predetermined lower threshold voltage. If it is a voltage, it is determined that the power supply voltage is abnormal, and a reset signal is output to the microcontroller 102. If it is determined that the power supply voltage is abnormal, the microcontroller 102 is reset and the output of the microcontroller 102 is set to high impedance, so that the gate driver 103 is actuated to stop driving the inverter 104.
- the monitoring control unit A2 111a monitors a voltage higher than the normal operating range of the power supply voltage supplied to the microcontroller 102 by the voltage monitoring function, and is a voltage higher than a predetermined upper threshold voltage. In this case, it is determined that the power supply voltage is abnormal, and a drive stop signal is output to the gate driver 103. If it is determined to be normal, a drive permission signal is output to the gate driver 103.
- the monitoring control unit B1 110b is built in the microcontroller B 109, monitors a voltage lower than the normal operating range of the power supply voltage supplied to the microcontroller 102 by the voltage monitoring function, and is less than a predetermined lower threshold voltage. If it is a voltage, it is determined that the power supply voltage is abnormal, and a motor / relay opening instruction signal (shutoff) is output to the motor / relay driver 106.
- the monitoring controller B2 111b monitors a voltage higher than the normal operating range of the power supply voltage supplied to the microcontroller 102 by the voltage monitoring function, and if the voltage is higher than a predetermined upper threshold voltage, the power supply voltage Is output to the motor / relay driver 106 as a motor / relay open instruction signal (shutoff).
- monitoring control unit A1 110a and monitoring control unit B1 110b having an independent power supply voltage lower threshold voltage monitoring function with respect to the microcontroller 102 and the upper side are provided. Since there are two monitoring control units (monitoring control unit A2 111a and monitoring control unit B2 111b) having a voltage monitoring function of the threshold voltage, a problem has occurred in the voltage monitoring function of any one of the monitoring control units Even in this case, the power supply voltage supplied to the microcontroller 102 is monitored by the voltage monitoring function of the other monitoring control unit, and the drive of the motor can be reliably stopped when the abnormality occurs in the power supply voltage.
- a plurality of monitoring control units for monitoring the power supply voltage of the microcontroller are provided, and the power supply voltage monitoring function is less than the lower threshold voltage of the independent power supply voltage.
- the power supply voltage is out of the normal operating range by providing two supervisory control units with voltage monitoring function of whether or not there and two supervisory control units with voltage monitoring function of whether or not the voltage is higher than the upper threshold voltage. If there is a malfunction in either the upper threshold voltage monitoring function or the lower threshold voltage monitoring function, there are multiple voltage monitoring functions, so the power supply voltage is abnormal. On the other hand, it is possible to expect the remarkable effect that the external load can be surely stopped promptly and high reliability and safety can be ensured.
- each monitoring control unit A simpler configuration can be obtained, and the occurrence probability of a failure in which the monitoring function is lost can be reduced. That is, higher reliability can be ensured.
- the voltage monitoring function of the monitoring control unit A1 110a that monitors whether the voltage is lower than the lower threshold voltage and the voltage monitoring function of the monitoring control unit A2 111a that monitors whether the voltage is equal to or higher than the upper threshold voltage are abnormal in power supply voltage. At the time of detection, it is configured to act on the gate driver 103 to stop the drive of the inverter 104, and to monitor whether or not it is lower than the lower threshold voltage and whether it is equal to or higher than the upper threshold voltage.
- the monitoring control unit B2 111b to be monitored acts on the motor relay driver 106 so that the motor relay 105 interrupts the energization path between the inverter 104 and the motor 5, one motor 5 Even when the drive stop means of the motor fails (for example, the motor / relay 105 is welded and the energization path cannot be interrupted). There is also a case of occurrence), the other motor drive stop means (means for stopping the driving of the inverter 104), it is possible to stop the driving of the motor 5.
- the monitoring control unit A1 110a that monitors whether the voltage is lower than the lower threshold voltage in the power supply unit 101, compared to the case where the monitoring control unit A1 110a is provided outside the power supply unit 101, Cost can be reduced.
- the voltage monitoring function of the monitoring control unit A1 110a that monitors whether the voltage is lower than the lower threshold voltage inputs a reset signal to the reset terminal of the microcontroller 102 when the abnormality of the power supply voltage is detected to drive the motor 5.
- the cost can be reduced as compared with the case where the driving of the motor 5 is stopped without using the microcontroller 102.
- the monitoring control unit A1 110a and the monitoring control unit B1 110b that monitor whether the voltage is lower than the lower threshold voltage are diverted to the voltage monitoring function of the lower threshold voltage built in the power supply unit 101 and the microcontroller B 109.
- the monitoring control unit A1 110a and the monitoring control unit B1 110b have different circuit networks (that is, different circuit designs), for example, when one monitoring control unit does not function as intended due to a design defect. Even so, the monitoring of the power supply voltage can be continued by the other monitoring control unit. That is, by using different circuit designs, it is possible to prevent the monitoring control unit A1 110a and the monitoring control unit B1 110b from simultaneously becoming defective due to a systematic failure.
- the monitoring control unit A2 111a and the monitoring control unit B2 111b that monitor whether or not the voltage is equal to or higher than the upper threshold voltage stops the driving of the motor 5 that is an external load without going through the microcontroller 102. Even when the power supply voltage supplied to the power supply voltage becomes equal to or higher than the upper threshold voltage and the microcontroller 102 is in trouble due to a high voltage outside the normal operating range of the power supply voltage, the driving of the motor 5 can be stopped reliably. .
- FIG. FIG. 6 is a circuit configuration diagram of the voltage monitoring function in the monitoring control unit of the electronic control device having the power supply voltage monitoring function according to the third embodiment.
- the voltage monitoring functions of the monitoring control unit A2 111a and the monitoring control unit B2 111b in the fourth embodiment are configured by the same circuit network and different circuit components.
- a specific operation of the voltage monitoring function of the monitoring control unit A2 111a and the monitoring control unit B2 111b will be described, and the other components and operations are the same as those in the fourth embodiment, and the description thereof will be omitted.
- the monitoring control unit A2 111a and the monitoring control unit B2 111b have the same functions but different internal configurations.
- each circuit network has a simple circuit design as shown in FIG. 6, and each circuit is configured using different parts (for example, parts from different manufacturers).
- the voltage monitoring function of the upper threshold voltage Y [V] is realized by a circuit design different from the circuit network of the third embodiment shown in FIG.
- the monitoring control unit A2 111a and the monitoring control unit B2 111b that monitor high voltage are the same circuit network, but the components used for each circuit are different (for example, parts from different manufacturers). It is possible to avoid a situation in which the voltage monitoring functions of the monitoring control unit A2 111a and the monitoring control unit B2 111b are lost at the same time due to a design defect of the part itself or a lot defect.
- a plurality of monitoring control units for monitoring the power supply voltage of the microcontroller are provided, and a circuit for the voltage monitoring function of the plurality of monitoring control units is provided.
- the drive of the inverter 104 is stopped via the gate driver 103 when the voltage monitoring function of the monitoring controller A 108a detects an abnormality in the power supply voltage.
- a method may be used in which a power supply relay is arranged in the power supply path from the battery 7 to the inverter 104, and this power supply relay driver is opened from one of the monitoring control units by the power supply relay driver to stop the drive of the inverter 104. .
- the monitoring control unit B1 110b built in the microcontroller B 109 monitors the power supply voltage supplied to the microcontroller 102, and is a voltage lower than a predetermined lower threshold voltage. Is configured to output a motor / relay opening instruction signal (shutoff) to the motor / relay driver 106, but if the power supply voltage is determined to be abnormal, The controller B 109 may be reset, and the output of the microcontroller B 109 may be set to high impedance so as to act on the motor relay driver 106 and stop driving the motor 5.
- the monitoring control unit A2 111a and the monitoring control unit B2 111b that monitor whether the power supply voltage supplied to the microcontroller 102 is equal to or higher than the upper threshold voltage are independent circuits.
- the gate driver 103 may be configured by an IC, and the monitoring control unit A2 111a may be built in the IC.
- the monitoring control unit A2 111a and the monitoring control unit B2 111b that monitor whether or not the power supply voltage supplied to the microcontroller 102 is equal to or higher than the upper threshold voltage are set to the same circuit network. It may be a network.
- the electronic control device having the power supply voltage monitoring function of the present invention is applied to a vehicle steering control device that controls a vehicle motor as an external load.
- the present invention may be applied to electronic devices for other uses that perform control, and the same effects as those in the above embodiment can be obtained.
- an external load driver that controls the external load may be integrated with the external load.
- the external load control function outputs an instruction signal to the external load.
- the present invention can be freely combined with each other, or can be appropriately modified or omitted.
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Abstract
Description
図1は、実施の形態1に係る電源電圧監視機能を有する電子制御装置を含む車両ステアリング制御システムの概略全体構成図であり、図2は、実施の形態1に係る電源電圧監視機能を有する電子制御装置を含むステアリング制御装置の構成を示す機能ブロック図である。
図3は、実施の形態2に係る電源電圧監視機能を有する電子制御装置を含むステアリング制御装置の構成を示す機能ブロック図である。
図4は、実施の形態3に係る電源電圧監視機能を有する電子制御装置の監視制御部における電圧監視機能の回路構成図である。
図5は、実施の形態4に係る電源電圧監視機能を有する電子制御装置を含むステアリング制御装置の構成を示す機能ブロック図である。
図6は、実施の形態3に係る電源電圧監視機能を有する電子制御装置の監視制御部における電圧監視機能の回路構成図である。
7 バッテリ
10 ステアリング制御装置
100 電源電圧監視機能を有する電子制御装置
101 電源供給部
102 マイクロコントローラ(電子制御部、主電子制御部)
103 ゲート・ドライバ
104 インバータ
105 モータ・リレー
106 モータ・リレー・ドライバ
108a 監視制御部A
108b 監視制御部B
109 マイクロコントローラB(従電子制御部)
110a 監視制御部A1
110b 監視制御部B1
111a 監視制御部A2
111b 監視制御部B2
Claims (10)
- 外部負荷を制御する電子制御部と、
前記電子制御部の電源供給端子に供給される外部電力源の電圧を前記電子制御部の正常動作範囲の電圧に調整して供給する電源供給部と、
前記電源供給部の電圧を監視する電圧監視機能と共に、前記電圧監視の結果に基づき、前記外部負荷を制御する外部負荷制御機能を有する複数の監視制御部と、を備え、
前記複数の監視制御部のいずれかの電圧監視機能が、前記電圧が前記電子制御部の正常動作範囲外であることを検出した場合には、前記外部負荷制御機能により前記外部負荷を制御する外部負荷ドライバを停止させると共に、前記外部負荷制御機能のうち少なくとも1つは前記電子制御部を介さずに前記外部負荷を制御する外部負荷ドライバを停止させることを特徴とする電源電圧監視機能を有する電子制御装置。 - 前記電子制御部を介する前記外部負荷制御機能のうち少なくとも1つは、前記電子制御部のリセット端子にリセット信号を入力し、前記外部負荷ドライバを停止させるものであることを特徴とする請求項1に記載の電源電圧監視機能を有する電子制御装置。
- 前記電圧監視機能により前記電圧が前記正常動作範囲の上側閾値電圧以上であると判定された場合には、前記外部負荷制御機能は、前記電子制御部を介さずに前記外部負荷ドライバを停止させることを特徴とする請求項1に記載の電源電圧監視機能を有する電子制御装置。
- 前記複数の監視制御部において、前記外部負荷制御機能は、互いに異なる前記外部負荷ドライバに作用することを特徴とする請求項1から請求項3のいずれか1項に記載の電源電圧監視機能を有する電子制御装置。
- 前記複数の監視制御部は、互いに異なる回路構成であることを特徴とする請求項1から請求項4のいずれか1項に記載の電源電圧監視機能を有する電子制御装置。
- 前記複数の監視制御部は、互いに異なる回路部品で構成されていることを特徴とする請求項1から請求項4のいずれか1項に記載の電源電圧監視機能を有する電子制御装置。
- 前記複数の監視制御部の一つは、前記電源供給部に設けられていることを特徴とする請求項1から請求項5のいずれか1項に記載の電源電圧監視装置を有する電子制御装置。
- 前記複数の監視制御部の一つは、前記外部負荷ドライバに設けられていることを特徴とする請求項1から請求項5のいずれか1項に記載の電源電圧監視装置を有する電子制御装置。
- 前記電子制御部は、主電子制御部と従電子制御部とを備えており、前記複数の監視制御部の1つは、前記従電子制御部に設けられていることを特徴とする請求項1から請求項5のいずれか1項に記載の電源電圧監視装置を有する電子制御装置。
- 請求項1から請求項9のいずれか1項に記載の電源電圧監視装置を有する電子制御装置を備え、前記電子制御部の制御対象がモータ及び前記モータを駆動させる電力を供給するインバータであり、前記外部負荷ドライバが、前記インバータへの電力供給経路を開閉する電源リレーを制御する電源リレー・ドライバ、前記インバータを制御するゲート・ドライバ及び前記インバータと前記モータ間の通電経路を開閉するモータ・リレーを制御するモータ・リレー・ドライバであることを特徴とする車両ステアリング制御装置。
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JP2013547971A JP5752266B2 (ja) | 2011-12-05 | 2011-12-05 | 電源電圧監視機能を有する電子制御装置及びそれを備えた車両ステアリング制御装置 |
PCT/JP2011/078057 WO2013084277A1 (ja) | 2011-12-05 | 2011-12-05 | 電源電圧監視機能を有する電子制御装置及びそれを備えた車両ステアリング制御装置 |
EP11877153.4A EP2790318B1 (en) | 2011-12-05 | 2011-12-05 | Electronic control device having power supply voltage monitoring function and vehicle steering control device equipped with same |
KR1020167023527A KR101773314B1 (ko) | 2011-12-05 | 2011-12-05 | 전원 전압 감시 기능을 갖는 전자 제어 장치 및 그것을 구비한 차량 스티어링 제어 장치 |
US14/344,101 US9981684B2 (en) | 2011-12-05 | 2011-12-05 | Vehicle power steering control apparatus |
KR1020167023530A KR101773315B1 (ko) | 2011-12-05 | 2011-12-05 | 전원 전압 감시 기능을 갖는 전자 제어 장치 및 그것을 구비한 차량 스티어링 제어 장치 |
KR1020147009781A KR20140069145A (ko) | 2011-12-05 | 2011-12-05 | 전원 전압 감시 기능을 갖는 전자 제어 장치 및 그것을 구비한 차량 스티어링 제어 장치 |
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EP (1) | EP2790318B1 (ja) |
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JP2019147427A (ja) * | 2018-02-26 | 2019-09-05 | 株式会社ジェイテクト | 操舵制御装置 |
JP7010058B2 (ja) | 2018-02-26 | 2022-01-26 | 株式会社ジェイテクト | 操舵制御装置 |
JP2021530187A (ja) * | 2018-06-28 | 2021-11-04 | ヴァレオ エキプマン エレクトリク モトゥール | スイッチ、スイッチングアーム、及び電気設備を制御するためのシステム |
JP7291733B2 (ja) | 2018-06-28 | 2023-06-15 | ヴァレオ エキプマン エレクトリク モトゥール | スイッチ、スイッチングアーム、及び電気設備を制御するためのシステム |
Also Published As
Publication number | Publication date |
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EP2790318A1 (en) | 2014-10-15 |
KR101773314B1 (ko) | 2017-08-31 |
JP5752266B2 (ja) | 2015-07-22 |
US20140350791A1 (en) | 2014-11-27 |
KR20160105924A (ko) | 2016-09-07 |
KR101773315B1 (ko) | 2017-08-31 |
EP2790318A4 (en) | 2015-07-22 |
EP2790318B1 (en) | 2017-03-15 |
KR20140069145A (ko) | 2014-06-09 |
JPWO2013084277A1 (ja) | 2015-04-27 |
US9981684B2 (en) | 2018-05-29 |
KR20160104746A (ko) | 2016-09-05 |
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