WO2022195879A1 - 補助電源ユニット、補助電源ユニットの制御方法及び操舵装置 - Google Patents
補助電源ユニット、補助電源ユニットの制御方法及び操舵装置 Download PDFInfo
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- WO2022195879A1 WO2022195879A1 PCT/JP2021/011496 JP2021011496W WO2022195879A1 WO 2022195879 A1 WO2022195879 A1 WO 2022195879A1 JP 2021011496 W JP2021011496 W JP 2021011496W WO 2022195879 A1 WO2022195879 A1 WO 2022195879A1
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- power supply
- auxiliary power
- auxiliary
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- downstream
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- 238000000034 method Methods 0.000 title claims description 14
- 238000011144 upstream manufacturing Methods 0.000 claims description 83
- 238000010586 diagram Methods 0.000 description 10
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- 230000004048 modification Effects 0.000 description 6
- 238000012986 modification Methods 0.000 description 6
- 238000001514 detection method Methods 0.000 description 4
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- 239000003990 capacitor Substances 0.000 description 3
- 239000003638 chemical reducing agent Substances 0.000 description 3
- 230000007246 mechanism Effects 0.000 description 3
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- HEZMWWAKWCSUCB-PHDIDXHHSA-N (3R,4R)-3,4-dihydroxycyclohexa-1,5-diene-1-carboxylic acid Chemical compound O[C@@H]1C=CC(C(O)=O)=C[C@H]1O HEZMWWAKWCSUCB-PHDIDXHHSA-N 0.000 description 2
- HBBGRARXTFLTSG-UHFFFAOYSA-N Lithium ion Chemical compound [Li+] HBBGRARXTFLTSG-UHFFFAOYSA-N 0.000 description 2
- 238000004364 calculation method Methods 0.000 description 2
- 229910001416 lithium ion Inorganic materials 0.000 description 2
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Classifications
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/34—Parallel operation in networks using both storage and other dc sources, e.g. providing buffering
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
- B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
- B60R16/03—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements for supply of electrical power to vehicle subsystems or for
- B60R16/033—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements for supply of electrical power to vehicle subsystems or for characterised by the use of electrical cells or batteries
-
- 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
-
- 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
-
- 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
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/0013—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries acting upon several batteries simultaneously or sequentially
- H02J7/0024—Parallel/serial switching of connection of batteries to charge or load circuit
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J9/00—Circuit arrangements for emergency or stand-by power supply, e.g. for emergency lighting
- H02J9/04—Circuit arrangements for emergency or stand-by power supply, e.g. for emergency lighting in which the distribution system is disconnected from the normal source and connected to a standby source
- H02J9/06—Circuit arrangements for emergency or stand-by power supply, e.g. for emergency lighting in which the distribution system is disconnected from the normal source and connected to a standby source with automatic change-over, e.g. UPS systems
- H02J9/068—Electronic means for switching from one power supply to another power supply, e.g. to avoid parallel connection
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J2207/00—Indexing scheme relating to details of circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J2207/50—Charging of capacitors, supercapacitors, ultra-capacitors or double layer capacitors
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/34—Parallel operation in networks using both storage and other dc sources, e.g. providing buffering
- H02J7/345—Parallel operation in networks using both storage and other dc sources, e.g. providing buffering using capacitors as storage or buffering devices
Definitions
- the present disclosure relates to an auxiliary power supply unit, a control method for the auxiliary power supply unit, and a steering device.
- the vehicle steering apparatus disclosed in the document includes two steering motors that generate steering force, two control units that control the corresponding steering motors, and two power sources. Normally, each control unit drives the corresponding steering motor based on power from one of the two power supplies. On the other hand, when an abnormality occurs in one of the two power sources, each control unit drives the corresponding steering motor based on the power of the other power source. As a result, even if an abnormality occurs in one of the power sources, the steerable wheels can be continuously steered by the two steering motors.
- the power supply is turned off in order to generate a large steering force. Therefore, it becomes necessary to temporarily supply a large electric power to the steering motor.
- a power source with a large capacity must be adopted, which leads to an increase in the size of the power source, for example.
- An auxiliary power supply unit supplies power from an external power supply to a power supply target having a plurality of power supply systems.
- the auxiliary power supply unit includes an auxiliary power supply device arranged in the middle of a power supply path for supplying power from the external power supply to the power supply target, and a power supply line group constituting a part of the power supply path. and a power supply line group connecting to the power supply object.
- the auxiliary power supply device is configured to switch between an auxiliary power supply provided in the power supply path and a connection state of the auxiliary power supply to the power supply path in order to assist power supply from the external power supply to the power supply target. and a switching circuit.
- the connection state of the auxiliary power supply includes a boost state in which the auxiliary power supply is connected in series with the external power supply between the external power supply and the power supply target.
- the feed line group includes a plurality of individual feed lines connected to the plurality of feed systems. An upstream end of each of the plurality of individual power supply lines is connected to the power supply path downstream of the auxiliary power supply.
- a control method for an auxiliary power supply unit is for supplying power from an external power supply to a power supply target having a plurality of power supply systems.
- the auxiliary power supply unit includes an auxiliary power supply device arranged in the middle of a power supply path for supplying power from the external power supply to the power supply target, and a power supply line group constituting a part of the power supply path. and a group of power lines connecting the device to the power target.
- the auxiliary power supply device is configured to switch between an auxiliary power supply provided in the power supply path and a connection state of the auxiliary power supply to the power supply path in order to assist power supply from the external power supply to the power supply target. and a switching circuit.
- the connection state of the auxiliary power supply includes a boost state in which the auxiliary power supply is connected in series with the external power supply between the external power supply and the power supply target.
- the feed line group includes a plurality of individual feed lines connected to the plurality of feed systems. Each of the plurality of individual power supply lines is connected to the power supply path downstream of the auxiliary power supply.
- the control method includes determining whether or not the external power supply is normal, determining whether or not a condition for supplying a large amount of power to the power supply object is satisfied, and determining whether or not the voltage of the external power supply is normal. and controlling the switching circuit so that the connection state of the auxiliary power supply becomes the boost state when the condition is satisfied.
- a steering device includes a motor unit having a plurality of power supply systems, and an auxiliary power supply unit according to any aspect of the present disclosure that supplies electric power from an external power source to the motor unit.
- FIG. 2 is a block diagram showing an electrical configuration of the steering system of FIG. 1;
- FIG. 3 is a block diagram showing an electrical configuration of the auxiliary power supply unit of FIG. 2;
- FIG. 3 is a flow chart showing a processing procedure for determining the connection state of an auxiliary power supply by an auxiliary power supply controller of the auxiliary power supply unit shown in FIG. 2;
- FIG. 3 is an explanatory diagram showing power supply when the connection state of the auxiliary power supply in the auxiliary power supply unit of FIG. 2 is set to the charging state;
- FIG. 3 is an explanatory diagram showing power supply when the connection state of the auxiliary power supply in the auxiliary power supply unit of FIG.
- FIG. 2 is set to a backup state
- 3 is an explanatory diagram showing power supply when the connection state of the auxiliary power supply in the auxiliary power supply unit of FIG. 2 is set to a boost state
- FIG. FIG. 5 is a block diagram showing the electrical configuration of an auxiliary power supply unit according to a second embodiment
- FIG. 9 is an explanatory diagram showing power supply when the connection state of each of the first auxiliary power supply and the second auxiliary power supply in the auxiliary power supply unit of FIG. 8 is set to the charging state
- FIG. 9 is an explanatory diagram showing power supply when the connection state of a first auxiliary power supply in the auxiliary power supply unit of FIG.
- FIG. 8 is set to a backup state, and the connection state of a second auxiliary power supply is set to a charging state;
- 9 is an explanatory diagram showing power supply in the auxiliary power supply unit of FIG. 8 when the connection state of the first auxiliary power supply is set to the charging state and the connection state of the second auxiliary power supply is set to the backup state;
- FIG. FIG. 9 is an explanatory diagram showing power supply when the connection state of each of the first auxiliary power supply and the second auxiliary power supply in the auxiliary power supply unit of FIG. 8 is in a boost state;
- auxiliary power supply unit 1 of this embodiment supplies electric power to the steering device 2 mounted on the vehicle.
- the steering device 2 is a steer-by-wire steering device.
- the steering device 2 includes a reaction force unit 4 operated by the driver via the steering wheel 3, and a steering unit 6 that steers the steered wheels 5 according to the operation of the reaction force unit 4 by the driver.
- the steering device 2 has a structure in which the power transmission path between the reaction force unit 4 and the steering unit 6 is always mechanically separated.
- the reaction force unit 4 includes a steering shaft 11 to which the steering wheel 3 is connected, and a reaction force actuator 12 that applies an operation reaction force to the steering wheel 3 against steering operation.
- the reaction force actuator 12 includes a reaction force motor unit 13 and a reaction force side reducer 14 .
- the reaction force motor unit 13 includes a reaction force motor 15 and a reaction force control device 16 that controls the reaction force motor 15 .
- the reaction motor 15 is connected to the steering shaft 11 via the reaction side reducer 14 . Thereby, the motor torque of the reaction force motor 15 is applied to the steering wheel 3 through the steering shaft 11 .
- the steering unit 6 has a first pinion shaft 21 and a rack shaft 22 connected to the first pinion shaft 21 .
- the first pinion shaft 21 is arranged to cross the rack shaft 22 at a predetermined crossing angle.
- the first pinion shaft 21 has first pinion teeth 21a
- the rack shaft 22 has first rack teeth 22a.
- the first pinion shaft 21 is connected to the rack shaft 22 by meshing the first pinion teeth 21a with the first rack teeth 22a. That is, the first pinion shaft 21 and the rack shaft 22 constitute a first rack and pinion mechanism. Thereby, the first pinion shaft 21 rotates according to the reciprocating motion of the rack shaft 22 .
- Both ends of the rack shaft 22 are connected to tie rods 24 via ball joints 23, respectively.
- the tip of each tie rod 24 is connected to a knuckle (not shown) to which the steered wheels 5 are assembled.
- the steering unit 6 also includes a steering actuator 31 that imparts a steering force for steering the steered wheels 5 .
- the steering actuator 31 includes a steering motor unit 32 , a steering-side reduction gear 33 , and a second pinion shaft 34 .
- the steering motor unit 32 includes a steering motor 35 and a steering control device 36 that controls the steering motor 35 .
- the steering motor 35 is connected to the second pinion shaft 34 via the steering-side reduction gear 33 .
- the second pinion shaft 34 has second pinion teeth 34a, and the rack shaft 22 has second rack teeth 22b.
- the second pinion shaft 34 is connected to the rack shaft 22 by meshing the second pinion teeth 34a with the second rack teeth 22b. That is, the second pinion shaft 34 and the rack shaft 22 constitute a second rack and pinion mechanism.
- the motor torque of the steering motor 35 is transmitted to the second pinion shaft 34 via the steering-side reduction gear 33 .
- the torque transmitted to the second pinion shaft 34 is converted into reciprocating motion of the rack shaft 22 via the second rack and pinion mechanism.
- the steering actuator 31 applies a steering force to the steering unit 6 .
- a steering force is applied from the steering actuator 31 according to the steering operation by the driver.
- the rack shaft 22 reciprocates and the steered angle of the steered wheels 5 is changed.
- the reaction force actuator 12 applies an operation reaction force against the steering operation of the driver to the steering wheel 3 .
- the reaction force control device 16 and the steering control device 36 are connected so as to be able to communicate with each other. Detection results of various sensors are input to the reaction force control device 16 and the steering control device 36 .
- Various sensors include, for example, a vehicle speed sensor 41, a voltage sensor 42, and a rotation angle sensor 43 of the reaction motor 15, which will be described later.
- Various sensors include, for example, a rotation angle sensor and a torque sensor of the steering motor 35 (not shown).
- the vehicle speed sensor 41 detects the vehicle speed SP, which is the running speed of the vehicle.
- a voltage sensor 42 detects a power supply voltage Vb of an external power supply 45 .
- the external power source 45 is a secondary battery mounted on the vehicle.
- a rotation angle sensor 43 of the reaction motor 15 detects the rotation angle ⁇ s of the rotation shaft of the reaction motor 15 as a relative angle within the range of 360°.
- the rotation angle sensor of the steering motor 35 detects the rotation angle of the rotating shaft of the steering motor 35 as a relative angle.
- the torque sensor detects steering torque applied to the steering shaft 11 .
- the reaction force control device 16 calculates the reaction force control amount, which is the target value of the operation reaction force, based on the detection results of the various sensors.
- the reaction force control device 16 controls power supply to the reaction force motor 15 based on the reaction force control amount.
- the steering control device 36 calculates a steering control amount, which is a target value of the steering force, based on the detection results of the various sensors.
- the steering control device 36 controls power supply to the steering motor 35 based on the steering control amount.
- the power supplied to the reaction force motor 15 and the power supplied to the steering motor 35 are each supplied from the external power supply 45 via the auxiliary power supply unit 1 .
- the reaction motor 15 of the reaction motor unit 13 includes a rotor 51, and a first coil group 52a and a second coil group 52b wound around a stator (not shown).
- the reaction motor 15 is a three-phase surface magnet synchronous motor.
- the first coil group 52a and the second coil group 52b each have U, V, and W three-phase coils.
- the reaction force control device 16 includes a first drive circuit 53a, a second drive circuit 53b, and a reaction force control section 54 that controls the first drive circuit 53a and the second drive circuit 53b.
- the reaction force control unit 54 includes a central processing unit (CPU) and a memory (not shown). Various controls by the reaction force control unit 54 are executed by the CPU executing a program stored in the memory at predetermined calculation cycles.
- the first drive circuit 53a and the second drive circuit 53b are typical PWM inverters with multiple switching elements.
- the first coil group 52a is connected to the first drive circuit 53a via the first connection line 55a.
- the second coil group 52b is connected to a second drive circuit 53b via a second connection line 55b.
- power is independently supplied to the first coil group 52a and the second coil group 52b.
- the reaction force motor unit 13 has a plurality of power supply systems.
- the operation reaction force required to be generated by the reaction force motor 15 is covered by the torque generated by the first coil group 52a and the torque generated by the second coil group 52b.
- a first power supply system that supplies power to the first coil group 52a includes a first drive circuit 53a and a first connection line 55a.
- a second power supply system that supplies power to the second coil group 52b includes a second drive circuit 53b and a second connection line 55b.
- the first connection line 55a and the second connection line 55b of each phase are collectively illustrated as one.
- the reaction force control unit 54 calculates the steering speed ⁇ h of the steering wheel 3 and outputs it to the auxiliary power supply unit 1 in the process of calculating the reaction force control amount. Specifically, the rotation angle ⁇ s of the reaction force motor 15 detected by the rotation angle sensor 43 is input to the reaction force control unit 54 .
- the reaction force control unit 54 counts, for example, the number of rotations of the reaction force motor 15 from the steering center point, and calculates an integrated angle by integrating the rotation angle ⁇ s with the steering center point as the origin.
- the steering midpoint is the steering angle ⁇ h when the steering wheel 3 is at the center of the steerable range.
- the reaction force control unit 54 calculates the steering angle ⁇ h by multiplying the integrated angle by a conversion factor based on the rotation speed ratio of the reaction force side reducer 14 . Then, the steering speed ⁇ h is calculated by differentiating the steering angle ⁇ h.
- the steering motor unit 32 is configured similarly to the reaction force motor unit 13 . That is, the steering motor 35 includes a rotor 61, and a first coil group 62a and a second coil group 62b wound around a stator (not shown).
- the steering control device 36 includes a first drive circuit 63a, a second drive circuit 63b, and a steering control section 64 that controls the first drive circuit 63a and the second drive circuit 63b.
- the first coil group 62a is connected to the first drive circuit 63a through the first connection line 65a
- the second coil group 62b is connected to the second drive circuit 63b through the second connection line 65b. That is, the steering motor unit 32 has a plurality of power supply systems.
- a first power supply system that supplies power to the first coil group 62a includes a first drive circuit 63a and a first connection line 65a.
- a second power supply system that supplies power to the second coil group 62b includes a second drive circuit 63b and a second connection line 65b.
- the first connection line 65a and the second connection line 65b of each phase are collectively illustrated as one.
- the auxiliary power supply unit 1 supplies power from an external power supply 45 to the motor units 13 and 32 .
- the auxiliary power supply unit 1 includes an auxiliary power supply device 71 and a downstream feeder line group 72 .
- the auxiliary power supply device 71 is provided in the middle of the power supply path for supplying power from the external power supply 45 to the motor units 13 and 32 .
- the power supply path includes an upstream power supply line group 73 that connects the external power supply 45 to the auxiliary power supply 71, a downstream power supply line group 72 that connects the auxiliary power supply 71 to the motor units 13 and 32, and an auxiliary power supply 71 to be described later. and an intermediate feeder group 74 within. That is, the downstream feeder line group 72 constitutes a part of the feeder path.
- a configuration including the auxiliary power supply unit 1, the reaction force control device 16, and the steering control device 36 may be referred to as a power supply system.
- the upstream feeder line group 73 includes an upstream control line 81 , an upstream drive line 82 and an upstream ground line 83 .
- the upstream drive line 82 and the upstream control line 81 connect the auxiliary power supply 71 to the high potential terminal of the external power supply 45 respectively.
- a relay switch 84 is provided which is turned on and off according to the start switch of the vehicle.
- the activation switch is an ignition switch.
- the upstream ground line 83 connects the auxiliary power supply 71 to the ground.
- the downstream feeder line group 72 includes a first downstream drive line 91 a, a second downstream drive line 91 b, and a downstream control line 92 .
- the first downstream drive line 91 a connects the auxiliary power supply device 71 to the first power supply system of each of the reaction motor unit 13 and the steering motor unit 32 . That is, the first downstream drive line 91a connects the auxiliary power supply 71 to the first drive circuits 53a and 63a.
- the second downstream drive line 91b connects the auxiliary power supply device 71 to the second feed system of each of the reaction force motor unit 13 and the steering motor unit 32 . That is, the second downstream drive line 91b connects the auxiliary power supply 71 to the second drive circuits 53b and 63b.
- the downstream control line 92 connects the auxiliary power supply device 71 to the reaction force control section 54 and the steering control section 64 .
- the detection results of various sensors are input to the auxiliary power supply device 71 .
- Various sensors include a vehicle speed sensor 41 and a voltage sensor 42 . That is, the vehicle speed SP and the power supply voltage Vb are input to the auxiliary power supply device 71 . Further, the steering speed ⁇ h is input from the reaction force control section 54 to the auxiliary power supply device 71 .
- the auxiliary power supply 71 supplies power to the motor units 13 and 32 based on these state quantities.
- the auxiliary power supply device 71 includes an intermediate feed line group 74 that connects the upstream feed line group 73 and the downstream feed line group 72 to each other.
- the intermediate feeder line group 74 includes an intermediate control line 101 connected to the upstream control line 81, an intermediate drive line 102 connected to the upstream drive line 82, and an intermediate ground line 103 connected to the upstream ground line 83.
- the auxiliary power supply 71 includes an auxiliary power supply 111, an auxiliary power control unit 112, a regulator 113, a switching circuit 114, a step-down circuit 115, a step-up circuit 116, an internal selection circuit 117, and an external selection circuit. 118. These various circuits are connected to corresponding lines.
- the side of the intermediate feeder line group 74 connected to the upstream feeder line group 73 is the upstream side, and the opposite side is the downstream side.
- the intermediate control line 101 has an internal intermediate control line 121 connected to the regulator 113 and an external intermediate control line 122 branched from the middle of the internal intermediate control line 121 .
- the external intermediate control line 122 is connected to the downstream control line 92 .
- the regulator 113 adjusts the power supply voltage Vb supplied from the external power supply 45 to a preset control voltage.
- An auxiliary power control unit 112 is connected to the regulator 113 .
- the auxiliary power control unit 112 operates based on the voltage supplied from the regulator 113.
- the auxiliary power control unit 112 includes a central processing unit (CPU) and memory (not shown).
- Various controls by the auxiliary power control unit 112 are executed by the CPU executing a program stored in the memory at predetermined calculation cycles.
- the vehicle speed SP, the power supply voltage Vb, and the steering speed ⁇ h are input to the auxiliary power control unit 112 .
- the auxiliary power control unit 112 controls various circuits including the switching circuit 114 provided in the auxiliary power supply 71 based on these state quantities. That is, the auxiliary power control unit 112 corresponds to a switching control circuit.
- lines indicating signals output from the auxiliary power control unit 112 are not shown. A specific control method will be described later.
- the auxiliary power supply 111 and switching circuit 114 are arranged between the intermediate drive line 102 and the intermediate ground line 103 .
- the auxiliary power supply 111 assists power supply from the external power supply 45 to the motor units 13 and 32 .
- Auxiliary power supply 111 is a capacitor having the same function as a secondary battery.
- the auxiliary power supply 111 is a lithium ion capacitor.
- the switching circuit 114 is configured to switch the connection state of the auxiliary power supply 111 to the power supply path, that is, the intermediate drive line 102 and the intermediate ground line 103 .
- the connection state of auxiliary power supply 111 includes a charge state, a backup state, and a boost state.
- the charging state is a state in which the auxiliary power supply 111 is connected in parallel with the motor units 13 and 32 with respect to the external power supply 45 .
- the backup state is a state in which the auxiliary power supply 111 is disconnected from the external power supply 45 and the auxiliary power supply 111 is connected to the motor units 13 and 32 .
- the boost state is a state in which the auxiliary power supply 111 is connected in series with the external power supply 45 between the external power supply 45 and the motor units 13 and 32 .
- the switching circuit 114 includes a boost line 131, a charging line 132, an output line 133, and first to fifth switches 134-138.
- One end of the boost line 131 is connected to the intermediate drive line 102 and the other end of the boost line 131 is connected to the intermediate ground line 103 .
- One end of the charging line 132 is connected to the intermediate drive line 102 at a connection point located downstream of the connection point of the boost line 131, and the other end of the charging line 132 is connected to the high potential terminal of the auxiliary power supply 111.
- One end of the output line 133 is connected to the intermediate drive line 102 at a connection point located downstream of the connection point of the charging line 132, and the other end of the output line 133 is connected to the high potential terminal of the auxiliary power supply 111.
- a low potential terminal of the auxiliary power supply 111 is connected to the intermediate ground line 103 at a connection point located downstream of the connection point of the boost line 131 .
- the first switch 134 is provided on the intermediate ground line 103 so as to be positioned upstream from the connection point of the boost line 131 .
- the second switch 135 is provided in the middle of the boost line 131 .
- a third switch 136 is provided in the middle of the charging line 132 .
- a fourth switch 137 is provided in the middle of the output line 133 .
- the fifth switch 138 is provided on the intermediate drive line 102 so as to be positioned between the connection point of the charging line 132 and the connection point of the output line 133 .
- the connection state of the auxiliary power supply 111 becomes the charging state.
- the auxiliary power supply 111 is in the backup state.
- the connection state of the auxiliary power supply 111 is in the boost state.
- the step-down circuit 115 is provided on the charging line 132 so as to be positioned between the third switch 136 and the auxiliary power supply 111 .
- the step-down circuit 115 is a DCDC converter.
- the step-down circuit 115 is configured so that the ratio of the output voltage to the input voltage can be changed within a predetermined range by adjusting the ratio of turning on and off the internal switches.
- the step-down circuit 115 steps down the power supply voltage Vb input from the external power supply 45 to a preset output voltage for charging and outputs the voltage.
- the booster circuit 116 is provided on the intermediate drive line 102 so as to be located downstream of the connection point of the output line 133 .
- booster circuit 116 is a DCDC converter.
- the booster circuit 116 is configured to be able to change the ratio of the output voltage to the input voltage within a predetermined range by adjusting the ratio of turning on and off the internal switches. That is, the maximum value of the output voltage that the booster circuit 116 can output is determined by the magnitude of the input voltage.
- the booster circuit 116 boosts the input voltage according to the connection state of the auxiliary power supply 111 .
- the auxiliary power supply control unit 112 boosts the input voltage to a preset normal output voltage and outputs it.
- the auxiliary power supply control unit 112 boosts the input voltage to a preset output voltage for boosting and outputs it.
- the output voltage for boosting is set in advance to a magnitude that cannot be boosted by the booster circuit 116 unless it is higher than the normal output voltage and higher than the power supply voltage Vb when the input voltage is normal. .
- the intermediate drive line 102 has an internal backup line 141 and an external backup line 142 connected downstream of the booster circuit 116 .
- the internal backup line 141 is connected to the regulator 113 via the internal intermediate control line 121 .
- the external backup line 142 is connected to the external intermediate control line 122 .
- the internal selection circuit 117 is provided across the internal backup line 141 and the internal intermediate control line 121 .
- the internal selection circuit 117 has a diode 143 and a backup switch 144 .
- the diode 143 is provided on the internal intermediate control line 121 so as to be located downstream of the connection point of the external intermediate control line 122 and upstream of the connection point of the internal backup line 141 .
- Diode 143 allows power flow from the upstream side to the downstream side and restricts power flow from the downstream side to the upstream side.
- Backup switch 144 is provided in the middle of internal backup line 141 .
- the backup switch 144 is controlled by the auxiliary power control section 112 according to the connection state of the auxiliary power supply 111 . Specifically, when the connection state of the auxiliary power supply 111 is in the charge state or the boost state, the backup switch 144 is turned off. When the connection state of the auxiliary power supply 111 is in the backup state, the backup switch 144 is turned on.
- the external selection circuit 118 is provided across the external backup line 142 and the external intermediate control line 122 .
- the external selection circuit 118 has selection switches 145 and 146 .
- the selection switch 145 is provided on the external intermediate control line 122 so as to be positioned upstream from the connection point of the external backup line 142 .
- the selection switch 146 is provided in the middle of the external backup line 142 .
- Selection switches 145 and 146 are controlled by auxiliary power control section 112 according to the connection state of auxiliary power supply 111 . Specifically, when the connection state of the auxiliary power supply 111 is the charge state or the boost state, the selection switch 145 is turned on and the selection switch 146 is turned off. When the connection state of the auxiliary power supply 111 is in the backup state, the selection switch 145 is turned off and the selection switch 146 is turned on. That is, the selection switches 145 and 146 are turned on and off complementarily to each other.
- the intermediate drive line 102 branches into two on the downstream side of the connection point of the external backup line 142 , that is, on the downstream side of the booster circuit 116 .
- the intermediate drive line 102 has a first intermediate drive line 151 and a second intermediate drive line 152 .
- the first intermediate drive line 151 and the second intermediate drive line 152 are not provided with circuit elements for actively changing the voltage. Therefore, the potential of the downstream end of the first intermediate drive line 151 and the potential of the downstream end of the second intermediate drive line 152 are substantially equal to each other.
- the first intermediate drive line 151 is connected to the first downstream drive line 91a
- the second intermediate drive line 152 is connected to the second downstream drive line 91b.
- the intermediate drive line 102 has only wiring for transmitting electric power from the booster circuit 116 to the upstream end of each of the first downstream drive line 91a and the second downstream drive line 91b.
- the first downstream drive line 91a branches into two lines toward the downstream side.
- the first downstream drive line 91 a has two branched first downstream drive lines 161 and 162 .
- the first branched downstream drive lines 161 and 162 are combined into one on the upstream side.
- the first branched downstream drive lines 161 and 162 correspond to individual feeder lines.
- a downstream end of the first branched downstream drive line 161 is connected to the first drive circuit 53 a of the reaction motor unit 13 .
- a downstream end of the branched first downstream drive line 162 is connected to the first drive circuit 63 a of the steering motor unit 32 .
- the upstream end of the first downstream drive line 91a is connected to the first intermediate drive line 151 as described above.
- the upstream end of each of the first branched downstream drive lines 161 and 162 is connected to the power supply path downstream of the auxiliary power supply 111 .
- the switching circuit 114 when the switching circuit 114 is in the boost state or the backup state, the upstream end of each of the first branched downstream drive lines 161 and 162 is located downstream of the auxiliary power supply 111 .
- the upstream end of each of branched first downstream drive lines 161 and 162 is located downstream of the connection point of charging line 132 on intermediate drive line 102 . Therefore, the first intermediate drive line 151 and the first downstream drive line 91a are connected to the first drive circuits 53a and 63a from the downstream side of the booster circuit 116 in the intermediate drive line 102 without passing through other circuit elements. Power is supplied only through the
- the second downstream drive line 91b branches into two lines toward the downstream side.
- the second downstream drive line 91b has two branched second downstream drive lines 163 and 164.
- the second branched downstream drive lines 163 and 164 are combined into one on the upstream side.
- the branched second downstream drive lines 163 and 164 each correspond to individual feeder lines.
- a downstream end of the branched second downstream drive line 163 is connected to the second drive circuit 53 b of the reaction motor unit 13 .
- a downstream end of the branched second downstream drive line 164 is connected to the second drive circuit 63 b of the steering motor unit 32 .
- the upstream end of the second downstream drive line 91b is connected to the second intermediate drive line 152 as described above.
- the upstream end of each of the branched second downstream drive lines 163 and 164 is connected to the power supply path downstream of the connection point of the auxiliary power supply 111 .
- the switching circuit 114 when the switching circuit 114 is in the boost state or the backup state, the upstream end of each of the second branched downstream drive lines 163 and 164 is located downstream of the auxiliary power supply 111 .
- the upstream end of each of branched second downstream drive lines 163 and 164 is located downstream of the connection point of charging line 132 on intermediate drive line 102 . Therefore, the second driving circuits 53b and 63b are connected to the second intermediate driving line 152 and the second downstream driving line 91b from the downstream side of the booster circuit 116 in the intermediate driving line 102 without passing through other circuit elements. Power is supplied only through the
- the downstream control line 92 branches into two lines toward the downstream side. Thereby, the downstream control line 92 has a reaction force control line 165 and a steering control line 166 . In other words, the reaction force control line 165 and the steering control line 166 are combined into one on the upstream side.
- a downstream end of the reaction force control line 165 is connected to the reaction force control section 54 .
- a downstream end of the steering control line 166 is connected to the steering control section 64 .
- An upstream end of the downstream control line 92 is connected to the external intermediate control line 122 .
- the auxiliary power supply control unit 112 changes the connection state of the auxiliary power supply 111 when the external power supply 45 is normal and the first condition or the second condition for supplying a large amount of power to the motor units 13 and 32 is satisfied. is in the boost state.
- the auxiliary power supply control unit 112 determines that the external power supply 45 is normal when the power supply voltage Vb of the external power supply 45 is equal to or higher than the normal voltage threshold Vth.
- the normal voltage threshold Vth is the power supply voltage Vb at which the external power supply 45 can be regarded as normal, and is set in advance.
- the large power is power that is greater than the maximum power that can be supplied by the external power supply 45 alone in a normal state.
- the first condition includes that the vehicle speed SP is equal to or less than the travel determination threshold SPth, and that the steering speed ⁇ h of the steering wheel 3 is equal to or greater than the steering execution determination threshold ⁇ th1.
- the travel determination threshold SPth is a threshold that indicates that the vehicle is stopped or traveling at an extremely low speed, and is set in advance.
- the steering execution determination threshold ⁇ th1 is an angular velocity indicating that the steering wheel 3 is rotating due to steering operation by the driver, and is set in advance.
- the second condition includes that the steering speed ⁇ h of the steering wheel 3 is greater than or equal to the high-speed steering determination threshold ⁇ th2.
- the high-speed steering determination threshold ⁇ th2 is an angular velocity indicating that the steering wheel 3 is rotating at high speed, such as emergency steering for avoiding an obstacle while the vehicle is running.
- the high-speed steering determination threshold ⁇ th2 is preset to a value larger than the steering execution determination threshold ⁇ th1.
- the auxiliary power supply control unit 112 controls the switching circuit 114 so that the connection state of the auxiliary power supply 111 becomes the charging state. .
- the auxiliary power control unit 112 controls the switching circuit 114 so that the auxiliary power supply 111 is connected to the backup state.
- step S1 when the auxiliary power supply control unit 112 acquires various state quantities (step S1), it determines whether the power supply voltage Vb is equal to or higher than the normal voltage threshold Vth (step S2). If the power supply voltage Vb is less than the normal voltage threshold Vth (step S2: NO), the connection state of the auxiliary power supply 111 is set to the backup state (step S3).
- step S4 determines whether or not the steering speed ⁇ h is equal to or higher than the steering execution determination threshold ⁇ th1 (step S4). If the steering speed ⁇ h is greater than or equal to the steering execution determination threshold ⁇ th1 (step S4: YES), it is determined whether or not the vehicle speed SP is less than or equal to the travel determination threshold SPth (step S5).
- step S5 If the vehicle speed SP is less than or equal to the travel determination threshold value SPth (step S5: YES), the external power supply 45 is normal and the first condition is satisfied, so the connection state of the auxiliary power supply 111 is set to the boost state (step S5: YES). S6).
- step S7 determines whether the steering speed ⁇ h is equal to or greater than the high-speed steering determination threshold ⁇ th2 (step S7). If the steering speed ⁇ h is equal to or higher than the high-speed steering determination threshold ⁇ th2 (step S7: YES), the external power source 45 is normal and the second condition is satisfied.
- the connection state of is assumed to be the boost state.
- step S8 if the steering speed ⁇ h is less than the steering execution determination threshold ⁇ th1 (step S4: NO), or if the steering speed ⁇ h is less than the high-speed steering determination threshold ⁇ th2 (step S7 : NO), and the connection state of the auxiliary power supply 111 is set to the charging state (step S8).
- the power supply voltage Vb of the external power supply 45 is input to the booster circuit 116 via the intermediate drive line 102 .
- the normal output voltage output from the booster circuit 116 is output to the first downstream drive line 91a via the first intermediate drive line 151, and is output to the second downstream drive line 91a via the second intermediate drive line 152. Output on line 91b.
- the normal output voltage output to the first downstream drive line 91a is supplied to the first drive circuit 53a of the reaction force control device 16 via the first branch downstream drive line 161, and is supplied to the first branch downstream drive line 161.
- the normal output voltage output to the second downstream drive line 91b is supplied to the second drive circuit 53b of the reaction force control device 16 via the branch second downstream drive line 163, and the branch second downstream drive line It is supplied to the second drive circuit 63b of the steering control device 36 via the line 164.
- the auxiliary power supply 111 is supplied with an output voltage for charging from the step-down circuit 115 via the charging line 132 . Therefore, the auxiliary power supply 111 is maintained in a charged state.
- the backup switch 144 is off, so power is supplied to the auxiliary power supply control unit 112 via the upstream control line 81 and the internal intermediate control line 121 . Since the selection switch 145 is on and the selection switch 146 is off, the power supply voltage Vb supplied from the upstream control line 81 is output to the downstream control line 92 via the external intermediate control line 122 .
- the power supply voltage Vb output to the downstream control line 92 is supplied to the reaction force control section 54 via the reaction force control line 165, and is supplied to the steering control section 64 via the steering control line 166. .
- the connection state of the auxiliary power supply 111 becomes a backup state.
- power is not supplied from the external power supply 45 to the auxiliary power supply 71 .
- the voltage of the auxiliary power supply 111 is input to the booster circuit 116 via the output line 133 instead of the power supply voltage Vb of the external power supply 45 .
- a booster circuit 116 boosts the voltage of the auxiliary power supply 111 and outputs a normal output voltage.
- the output voltage output from the booster circuit 116 in this way is supplied to the first drive circuits 53a, 63a and the second drive circuits 53b, 63b, as in the case of the charged state.
- the backup switch 144 In such a backup state, the backup switch 144 is on, so power is supplied to the auxiliary power control unit 112 via the intermediate drive line 102 and the internal backup line 141 . Since the selection switch 145 is off and the selection switch 146 is on, the voltage output from the intermediate drive line 102 is output to the downstream control line 92 via the external backup line 142 and the external intermediate control line 122. be done. The power supply voltage Vb output to the downstream control line 92 is supplied to the reaction force control section 54 and the steering control section 64 in the same manner as in the charged state.
- the connection state of the auxiliary power supply 111 when the connection state of the auxiliary power supply 111 is in the boost state, the power supply voltage Vb of the external power supply 45 is not input to the booster circuit 116, and the intermediate drive line 102 and the boost line 131 are not supplied. and the intermediate ground line 103 to the low potential terminal of the auxiliary power supply 111 . That is, the external power supply 45 is connected in series with the auxiliary power supply 111 . A total voltage obtained by adding the voltage of the auxiliary power supply 111 to the power supply voltage Vb of the external power supply 45 is input to the booster circuit 116 . The booster circuit 116 boosts this total voltage and outputs a boost output voltage that is higher than the normal output voltage.
- the output voltage output from the booster circuit 116 in this way is supplied to the first drive circuits 53a, 63a and the second drive circuits 53b, 63b, as in the case of the charged state. Thereby, large electric power can be supplied to the motor units 13 and 32 .
- backup switch 144 In this boost state, backup switch 144 is off, as in the charge state.
- the selection switch 145 is on and the selection switch 146 is off, as in the charging state. Therefore, electric power is supplied to the auxiliary power control unit 112, the reaction force control unit 54, and the steering control unit 64 in the same manner as in the charging state.
- the first drive circuits 53a, 63a and the second drive circuits 53b, 63b have approximately Equal voltages are supplied. That is, since substantially the same electric power is supplied to the first coil group 52a and the second coil group 52b of the reaction motor 15, the reaction motor 15 is stably driven. Similarly, substantially equal voltages are supplied to the first coil group 62a and the second coil group 62b of the steering motor 35, so that the steering motor 35 is stably driven.
- the auxiliary power supply unit 1 has an auxiliary power supply unit 71 arranged in the middle of a power supply path for supplying electric power from the external power supply 45 to the motor units 13 and 32, and the auxiliary power supply unit 71 is connected to the motor units 13 and 32. and a downstream feed line group 72 .
- the auxiliary power supply device 71 includes an auxiliary power supply 111 that assists power supply from the external power supply 45 to the motor units 13 and 32, and a switching circuit 114 configured to switch the connection state of the auxiliary power supply 111 to the power supply path.
- the connection state of the auxiliary power supply 111 switchable by the switching circuit 114 includes the boost state.
- the downstream feeder line group 72 includes first branched downstream drive lines 161 and 162 and second branched downstream drive lines 163 and 164 .
- the upstream ends of the first branched downstream drive lines 161 and 162 and the second branched downstream drive lines 163 and 164 are connected to the power feed path downstream of the auxiliary power supply 111 .
- the output voltage for boost based on the voltage obtained by adding the voltage of the auxiliary power supply 111 to the power supply voltage Vb of the external power supply 45 is output from the auxiliary power supply 71. .
- each of the first power supply system and the second power supply system of the reaction motor unit 13 and each of the first power supply system and the second power supply system of the steering motor unit 32 are supplied with a large voltage based on the boost output voltage. Power is supplied.
- the power of the auxiliary power supply 111 By using the power of the auxiliary power supply 111 in this way, a large amount of power can be temporarily supplied to the motor units 13 and 32, so that a large power demand can be met without adopting the large-capacity external power supply 45.
- the intermediate drive line 102 has only wiring for sending electric power from the booster circuit 116 to the upstream end of each of the first downstream drive line 91a and the second downstream drive line 91b. Therefore, a large amount of electric power can be supplied to each power supply system of the motor units 13 and 32 based on the boost output voltages that are substantially equal to each other. As a result, it is possible to suppress variations in the power supplied to each power supply system, and to stably operate the motor units 13 and 32 .
- connection state of the auxiliary power supply 111 switchable by the switching circuit 114 includes the charging state
- the auxiliary power supply 111 can be charged by the external power supply 45 .
- the connection state of the auxiliary power supply 111 is repeatedly set to the boost state, and a large amount of electric power can be supplied to the motor units 13 and 32 .
- connection state of the auxiliary power supply 111 switchable by the switching circuit 114 includes a backup state. Therefore, even if an abnormality occurs in the external power supply 45, the motor units 13 and 32 can be continuously driven by supplying power from the auxiliary power supply 111.
- the auxiliary power supply control unit 112 sets the connection state of the auxiliary power supply 111 to the boost state when the external power supply 45 is normal and the first condition is satisfied. Therefore, when a large amount of electric power is required due to, for example, stationary steering, a large amount of electric power can be supplied to the motor units 13 and 32 .
- the auxiliary power supply control unit 112 sets the connection state of the auxiliary power supply 111 to the boost state when the external power supply 45 is normal and the second condition is satisfied. Therefore, when a large amount of electric power is required due to, for example, emergency steering, a large amount of electric power can be supplied to the motor units 13 and 32 .
- a vehicle in which the auxiliary power supply unit 1 and the steering device 2 are mounted is equipped with two power sources, a first power source 201a and a second power source 201b, which are external power sources. Therefore, the power supply paths include a first power supply path that supplies power from the first power supply 201a to the motor units 13 and 32, and a second power supply path that supplies power from the second power supply 201b to the motor units 13 and 32.
- the auxiliary power supply device 202 of the auxiliary power supply unit 1 is provided in the middle of the first power supply path and the second power supply path so as to straddle both the first power supply path and the second power supply path.
- the first power supply path includes a first upstream power supply line group 211a that connects the first power supply 201a to the auxiliary power supply 202, and a first downstream power supply line group 212a that connects the auxiliary power supply 202 to the motor units 13 and 32. , and a first intermediate feed line group 74a in the auxiliary power supply 202, which will be described later. That is, the first downstream feeder line group 212a forms part of the first feeder path.
- the second power supply path includes a second upstream power supply line group 211b that connects the second power supply 201b to the auxiliary power supply 202, and a second downstream power supply line group 212b that connects the auxiliary power supply 202 to the motor units 13 and 32. , and a second intermediate feed line group 74b in the auxiliary power supply 202, which will be described later. That is, the second downstream feeder line group 212b forms part of the second feeder path.
- the first upstream feed line group 211a includes a first upstream control line 221a, a first upstream drive line 222a, and a first upstream ground line 223a.
- the first upstream drive line 222a and the first upstream control line 221a connect the auxiliary power supply 202 to the high potential terminal of the first power supply 201a.
- a first relay switch 224a is provided in the middle of the first upstream control line 221a, and is turned on and off according to the start switch of the vehicle.
- the first upstream ground line 223a connects the auxiliary power supply 202 to the ground.
- the second upstream feed line group 211b includes a second upstream control line 221b, a second upstream drive line 222b, and a second upstream ground line 223b.
- the second upstream drive line 222b and the second upstream control line 221b connect the auxiliary power supply 202 to the high potential terminal of the second power supply 201b.
- a second relay switch 224b is provided in the middle of the second upstream control line 221b to be turned on and off according to the start switch of the vehicle.
- the second upstream ground line 223b connects the auxiliary power supply 202 to the ground.
- the first downstream feeder line group 212a includes the first downstream drive line 91a and the first downstream control line 232a of the first embodiment.
- the first downstream drive line 91 a connects the auxiliary power supply device 202 to the first power supply system of each of the reaction force motor unit 13 and the steering motor unit 32 .
- the first downstream control line 232 a connects the auxiliary power supply device 202 and the reaction force control section 54 .
- the branched first downstream drive lines 161 and 162 of the first downstream drive line 91a respectively correspond to first individual feeder lines.
- the second downstream feed line group 212b includes the second downstream drive line 91b and the second downstream control line 232b of the first embodiment.
- the second downstream drive line 91 b connects the auxiliary power supply device 202 to the second power supply system of each of the reaction force motor unit 13 and the steering motor unit 32 .
- the second downstream control line 232 b connects the auxiliary power supply device 202 and the steering control section 64 .
- the branched second downstream drive lines 163 and 164 of the second downstream drive line 91b respectively correspond to second individual feeder lines.
- the auxiliary power supply device 202 of the present embodiment is configured basically in the same manner as the auxiliary power supply device 71 of the first embodiment except for the configuration for supplying power to the auxiliary power control unit 203 and the auxiliary power control unit 203.
- a first auxiliary power system and a second auxiliary power system are provided.
- the first auxiliary power supply system supplies the electric power of the first power supply 201 a to the first power supply systems and the reaction force control section 54 of each of the reaction force motor unit 13 and the steering motor unit 32 .
- the second auxiliary power supply system supplies the electric power of the second power supply 201 b to the second power supply system of each of the reaction force motor unit 13 and the steering motor unit 32 and the steering control section 64 .
- the first auxiliary power system is arranged between the first upstream feed line group 211a and the first downstream feed line group 212a, and the second auxiliary power system is arranged between the second upstream feed line group 211b and the second downstream feed line group. It is arranged between the electric wire group 212b.
- first auxiliary power supply system “first” is added to the beginning of the member name of each component of the auxiliary power supply device 71 of the first embodiment, and “a ” is added to omit redundant description.
- second auxiliary power supply system “second” is added to the beginning of the member name of each component of the auxiliary power supply device 71 of the first embodiment, and “b” is added to the reference numeral indicating each component. Duplicate description is omitted by adding
- the auxiliary power supply device 202 includes a first intermediate feeder group 74a that connects the first upstream feeder group 211a and the first downstream feeder group 212a, a second upstream feeder group 211b, and a second upstream feeder group 211b. and a second intermediate feed line group 74b that connects the downstream feed line group 212b to each other.
- the first intermediate feeder line group 74a includes a first intermediate control line 101a connected to the first upstream control line 221a, a first intermediate drive line 102a connected to the first upstream drive line 222a, and a first upstream drive line 102a. and a first intermediate ground line 103a connected to the side ground line 223a.
- the second intermediate feeder line group 74b includes a second intermediate control line 101b connected to the second upstream control line 221b, a second intermediate drive line 102b connected to the second upstream drive line 222b, and a second upstream drive line 102b. and a second intermediate ground line 103b connected to the side ground line 223b.
- the first intermediate drive line 102a has the first external backup line 142a, but does not have the first internal backup line. Therefore, the auxiliary power supply 202 does not have the first internal selection circuit. Furthermore, the first intermediate drive line 102a does not branch downstream from the connection point of the first external backup line 142a. Similarly, the second intermediate drive line 102b has a second external backup line 142b but does not have a second internal backup line. Therefore, the auxiliary power supply device 202 does not have the second internal selection circuit. Furthermore, the second intermediate drive line 102b does not branch downstream from the connection point of the second external backup line 142b.
- the auxiliary power supply 202 includes a first auxiliary power supply 111a, a second auxiliary power supply 111b, a first regulator 113a, a second regulator 113b, a first switching circuit 114a, a first 2 switching circuit 114b, first step-down circuit 115a, second step-down circuit 115b, first step-up circuit 116a, second step-up circuit 116b, first external selection circuit 118a, and second external selection circuit 118b and
- the first auxiliary power supply 111a, the first regulator 113a, the first switching circuit 114a, the first step-down circuit 115a, the first step-up circuit 116a, and the first external selection circuit 118a are connected to corresponding lines of the first intermediate power supply line group 74a.
- the second auxiliary power supply 111b, the second regulator 113b, the second switching circuit 114b, the second step-down circuit 115b, the second step-up circuit 116b, and the second external selection circuit 118b are connected to corresponding lines of the second intermediate power supply line group 74b. On the other hand, they are connected in the same manner as in the first embodiment.
- the first downstream drive line 91a of the first downstream feed line group 212a is connected to the first intermediate drive line 102a.
- the first intermediate drive line 102a is arranged such that the upstream end of each of the branched first downstream drive lines 161 and 162 is located downstream of the first auxiliary power supply 111a, that is, of the first booster circuit 116a. It is connected to the.
- the upstream end of the first downstream control line 232a is connected to the first external intermediate control line 122a of the first intermediate control line 101a.
- the second downstream drive line 91b of the second downstream feed line group 212b is connected to the second intermediate drive line 102b.
- the upstream end of each of the branched second downstream drive lines 163 and 164 is connected to the second intermediate drive line 102b so as to be located downstream of the second auxiliary power supply 111b, that is, of the second booster circuit 116b. It is connected to the.
- the upstream end of the second downstream control line 232b is connected to the second external intermediate control line 122b of the second intermediate control line 101b.
- Each of the first regulator 113a and the second regulator 113b is connected to the auxiliary power control unit 203.
- the auxiliary power control unit 203 operates based on power supplied from at least one of the first regulator 113a and the second regulator 113b.
- the vehicle speed SP, the steering speed ⁇ h, the power supply voltage Vba of the first power supply 201a, and the power supply voltage Vbb of the second power supply 201b are input to the auxiliary power supply control unit 203 .
- the power supply voltage Vba is detected by the first voltage sensor 271a
- the power supply voltage Vba is detected by the second voltage sensor 271b.
- the auxiliary power supply control unit 203 controls various switching circuits including the first switching circuit 114a, the second switching circuit 114b, the first booster circuit 116a, and the first booster circuit 116a provided in the auxiliary power supply device 202. control the circuit. That is, the auxiliary power control unit 203 corresponds to a switching control circuit and a boost control circuit. For convenience of explanation, lines indicating signals output from the auxiliary power control unit 203 are not shown.
- the control of the connection state of the first auxiliary power supply 111a by the auxiliary power supply control unit 203 is the same as the auxiliary power supply of the first embodiment except that the power supply voltage Vba of the first power supply 201a is used instead of the power supply voltage Vb of the external power supply 45. It is the same as the control by the control unit 112 . Further, the control of the connection state of the second auxiliary power supply 111b by the auxiliary power supply control unit 203 is the same as that of the first embodiment except that the power supply voltage Vbb of the second power supply 201b is used instead of the power supply voltage Vb of the external power supply 45. It is the same as the control by the auxiliary power control unit 112 .
- the auxiliary power control unit 203 controls the first booster circuit so that the normal output voltage output from the first booster circuit 116a and the normal output voltage output from the second booster circuit 116b are equal to each other. 116a and the second booster circuit 116b. Further, the auxiliary power supply control unit 203 controls the first booster circuit so that the output voltage for boost output from the first booster circuit 116a and the output voltage for boost output from the second booster circuit 116b are equal to each other. 116a and the second booster circuit 116b.
- the power supply voltage Vba of the first power supply 201a is applied to the first booster circuit via the first intermediate drive line 102a. 116a, and the power supply voltage Vbb of the second power supply 201b is input to the second booster circuit 116b via the second intermediate drive line 102b.
- the normal output voltage output from the first booster circuit 116a is output to the first downstream drive line 91a via the first intermediate drive line 102a, and the normal output voltage output from the second booster circuit 116b. is output to the second downstream drive line 91b via the second intermediate drive line 102b.
- the output voltage output to the first downstream drive line 91a is supplied to the first drive circuits 53a and 63a in the same manner as in the first embodiment.
- the output voltage output to the second downstream drive line 91b is supplied to the second drive circuits 53b and 63b as in the first embodiment.
- the first auxiliary power supply 111a receives the charge output from the first step-down circuit 115a via the first charging line 132a.
- An output voltage for charging is supplied to the second auxiliary power supply 111b via a second charging line 132b, and an output voltage for charging output from the second step-down circuit 115b is supplied. Since the selection switch 145a of the first external selection circuit 118a is on and the selection switch 146a is off, the power supply voltage Vba supplied from the first upstream control line 221a is supplied via the first external intermediate control line 122a. It is output to the first downstream control line 232 a and supplied to the reaction force control section 54 .
- the power supply voltage Vbb supplied from the second upstream control line 221b is applied to the second external intermediate control line 122b. through the second downstream control line 232b and supplied to the steering control unit 64.
- the connection state of the first auxiliary power supply 111a becomes the backup state
- the connection state of the second auxiliary power supply 111b becomes the backup state.
- the state becomes the charging state.
- power is not supplied from the first power supply 201a to the auxiliary power supply device 202, while the power supply voltage Vbb of the second power supply 201b is input to the second booster circuit 116b via the second intermediate drive line 102b.
- power supply to the second drive circuits 53b and 63b and the steering control section 64 is the same as in the charging state.
- the power supply voltage Vba of the first auxiliary power supply 111a is input to the first booster circuit 116a through the first output line 133a.
- the normal output voltage output from the first booster circuit 116a is output to the first downstream drive line 91a via the first intermediate drive line 102a.
- the output voltage output to the first downstream drive line 91a is supplied to the first drive circuits 53a and 63a in the same manner as in the charging state.
- the selection switch 145a of the first external selection circuit 118a is turned off and the selection switch 146a is turned on. Therefore, the voltage output from the first intermediate drive line 102a is output to the first downstream control line 232a via the first external backup line 142a and the first external intermediate control line 122a, and the reaction force control unit 54 supplied to
- the connection state of the first auxiliary power supply 111a becomes the charging state, and the second auxiliary power supply 111b is connected.
- the state becomes the backup state.
- the power supply voltage Vba of the first power supply 201a is input to the first booster circuit 116a through the first intermediate drive line 102a, power is not supplied to the auxiliary power supply device 202 from the second power supply 201b.
- power supply to the first drive circuits 53a and 63a and the reaction force control section 54 is the same as in the charging state.
- the voltage of the second auxiliary power supply 111b is input to the second booster circuit 116b through the second output line 133b.
- the normal output voltage output from the second booster circuit 116b is output to the second downstream drive line 91b via the second intermediate drive line 102b.
- the output voltage output to the second downstream drive line 91b is supplied to the second drive circuits 53b and 63b in the same manner as in the charged state.
- the selection switch 145b of the second external selection circuit 118b is turned off and the selection switch 146b is turned on. Therefore, the voltage output from the second intermediate drive line 102b is output to the second downstream control line 232b via the second external backup line 142b and the second external intermediate control line 122b, and the steering control unit 64 supplied to
- the power supply voltage Vba of the first power supply 201a is input to the low potential terminal of the first auxiliary power supply 111a via the first intermediate drive line 102a, the first boost line 131a and the first intermediate ground line 103a.
- the power supply voltage Vbb of the second power supply 201b is input to the low potential terminal of the second auxiliary power supply 111b via the second intermediate drive line 102b, the second boost line 131b and the second intermediate ground line 103b.
- the first power supply 201a is connected in series with the first auxiliary power supply 111a
- the second power supply 201b is connected in series with the second auxiliary power supply 111b.
- a total voltage obtained by adding the voltage of the first auxiliary power supply 111a to the power supply voltage Vba of the first power supply 201a is input to the first booster circuit 116a. Therefore, a boost output voltage higher than the normal output voltage is output from the first booster circuit 116a.
- a total voltage obtained by adding the voltage of the second auxiliary power supply 111b to the power supply voltage Vbb of the second power supply 201b is input to the second booster circuit 116b. Therefore, a boost output voltage higher than the normal output voltage is output from the second booster circuit 116b.
- the output voltage output from the first booster circuit 116a and the output voltage output from the second booster circuit 116b are supplied to the first drive circuits 53a, 63a and the second drive circuits 53b, 63b in the same manner as in the charging state. Therefore, large electric power can be supplied to the motor units 13 and 32 .
- the auxiliary power source control unit 203, the reaction force control unit 54, and the steering control unit 64 are in the charging state and in the charging state. Power is supplied as well.
- the present embodiment has the following actions and effects.
- the first downstream feeder line group 212a includes first branched downstream drive lines 161 and 162 and second branched downstream drive lines 163 and 164 .
- the upstream end of each of branched first downstream drive lines 161 and 162 is connected to first intermediate drive line 102a downstream of first booster circuit 116a.
- the upstream end of each of the branched second downstream drive lines 163, 164 is connected to the second intermediate drive line 102b on the downstream side of the second booster circuit 116b.
- the auxiliary power supply control unit 203 controls the first boost circuit 116a and It controls the second booster circuit 116b. Therefore, a large amount of electric power can be supplied to each power supply system of the motor units 13 and 32 based on the boost output voltages that are substantially equal to each other. As a result, it is possible to suppress variations in the power supplied to each power supply system, and to stably operate the motor units 13 and 32 .
- the auxiliary power supply device 202 includes a first auxiliary power supply control unit for controlling the first auxiliary power supply system and a second auxiliary power supply system instead of the single auxiliary power supply control unit 203. and a second auxiliary power control unit for controlling.
- the first booster circuit 116a and the second booster circuit 116b are configured so that the output voltage output from the first booster circuit 116a and the output voltage output from the second booster circuit 116b are equal to each other. need not be controlled.
- the auxiliary power supply device 202 does not have to include the first booster circuit 116a and the second booster circuit 116b.
- the auxiliary power supply device 71 does not have to include the booster circuit 116 .
- the auxiliary power supply device 202 includes the first internal backup line and the first internal selection circuit that connect the first intermediate drive line 102a and the first internal intermediate control line 121a to each other; A second internal backup line and a second internal selection circuit for connecting the second internal drive line 102b and the second internal intermediate control line 121b may be provided.
- the motor units 13 and 32 can be continuously driven even when an abnormality occurs in both the first power supply 201a and the second power supply 201b.
- power supply to the reaction force control unit 54 and the steering control unit 64 may be made redundant.
- the first downstream control line 232a is branched into two lines toward the downstream side, and the auxiliary power supply device 202 is controlled by the reaction force control section 54 and the steering control section 64 through the first downstream control line 232a. connect to.
- the second downstream control line 232b is branched into two lines toward the downstream side, and the auxiliary power supply device 202 is connected to the reaction force control section 54 and the steering control section 64 through the second downstream control line 232b.
- the auxiliary power supply device 71 may not include the step-down circuit 115 .
- the auxiliary power supply device 202 does not have to include the step-down circuits 115a and 115b.
- the fifth switch 138 may be provided on the intermediate drive line 102 so as to be positioned between the connection point of the boost line 131 and the connection point of the charge line 132 .
- This modification can be similarly applied to the first switching circuit 114a and the second switching circuit 114b of the second embodiment.
- the branched first downstream drive line 161 of the first downstream drive line 91a is connected to the first drive circuit 53a of the reaction motor unit 13, and the branched first downstream drive line 162 is reversed. It may be connected to the second drive circuit 53 b of the force motor unit 13 .
- the branched second downstream drive line 163 of the second downstream drive line 91 b is connected to the first drive circuit 63 a of the steering motor unit 32
- the branched second downstream drive line 164 is connected to the steering motor unit 32 . 2 drive circuit 63b.
- the intermediate drive line 102 branches into two on the downstream side of the connection point of the auxiliary power supply 111, but this is not a limitation, and the branch may not be made.
- the first downstream drive line 91a constituting the downstream feed line group 72 for example, one branched into four lines toward the downstream side can be employed.
- the intermediate drive line 102 may branch into three or more lines downstream of the connection point of the auxiliary power supply 111 . In this case, for example, a line that is not branched toward the downstream side can be used as the first downstream drive line 91a.
- the first intermediate drive line 102a may be branched into two or more lines downstream of the first booster circuit 116a, and the second intermediate drive line 102b may be branched to the second booster circuit 116b. It may be branched into two or more on the downstream side.
- the switching circuit 114 may be configured so that the connection state of the auxiliary power supply 111 can be switched only between the boost state and the charging state, and cannot be switched to the backup state. Further, the switching circuit 114 may be configured so that the connection state of the auxiliary power supply 111 can be switched only between the boost state and the backup state, and cannot be switched to the charging state. In this case, the auxiliary power source 111 may be a primary battery. Further, the switching circuit 114 may be configured so that the connection state of the auxiliary power supply 111 can be switched only between the boost state and other states other than the charging state and the backup state, and cannot be switched between the charging state and the backup state.
- the other state is a state in which the external power supply 45 is connected to the power supply target and the auxiliary power supply 111 is disconnected from the intermediate drive line 102 .
- the auxiliary power source 111 may be a primary battery. This modification can be similarly applied to the first switching circuit 114a and the second switching circuit 114b.
- both the determination of whether the first condition is satisfied and the determination of whether the second condition is satisfied are performed.
- the auxiliary power control units 112 and 203 may perform this.
- the auxiliary power control units 112 and 203 may adopt conditions other than the first condition and the second condition as conditions for supplying a large amount of power to the power supply target.
- the auxiliary power supply 111 may be, for example, an electric double layer capacitor (EDLC) or a lithium ion battery (LIB). This modification can be similarly applied to the first auxiliary power supply 111a and the second auxiliary power supply 111b of the second embodiment.
- EDLC electric double layer capacitor
- LIB lithium ion battery
- the auxiliary power control units 112 and 203 control various circuits in the auxiliary power supply units 71 and 202.
- the auxiliary power supply units 71 and 202 control the auxiliary power supply control units 112 and 203.
- the configuration may be such that the various circuits are controlled by an external control device (for example, the reaction force control section 54).
- the reaction force control unit 54 controls both the first drive circuit 53a and the second drive circuit 53b, but the present invention is not limited to this.
- the reaction force control device 16 may include a first reaction force control section that controls the first drive circuit 53a and a second reaction force control section that controls the second drive circuit 53b.
- the first reaction force control unit calculates a command value such as a current and transmits the command value to the second reaction force control unit, and the second reaction force control unit operates according to the received command value.
- the controller may be configured as a master-slave system in which the first reaction force control section is the master control section and the second reaction force control section is the slave control section. This modification can also be applied to the steering control device 36 in the same manner.
- the reaction force control unit 54 includes (1) one or more processors that operate according to a computer program (software), and (2) an application-specific integration that executes at least a portion of various types of processing. It may be configured by processing circuitry including one or more dedicated hardware circuits, such as circuitry (ASIC), or (3) combinations thereof. This modification can be similarly applied to the steering control section 64 and the auxiliary power supply control sections 112 and 203 as well.
- a processor includes a CPU and memory, such as RAM and ROM, which stores program code or instructions configured to cause the CPU to perform processes.
- Memory, or non-transitory computer-readable media includes any available media that can be accessed by a general purpose or special purpose computer.
- the steering device 2 has a linkless structure in which the reaction force unit 4 and the steering unit 6 are always mechanically separated, but this is not the only option.
- the steering device 2 is not limited to a steer-by-wire type steering device, and may be an electric power steering device that applies torque of an assist motor unit to the steering shaft 11 or the rack shaft 22 .
- the assist motor unit to which power is supplied has a plurality of power supply systems.
- the power supply target is not limited to the motor unit in which the motor and the control device are integrated, but may be a motor provided separately from the control device.
- the motor is not limited to the motor that is the driving source of the steering device 2, and may be a motor that is used as a driving source for driving an electric vehicle, for example.
- an air bag device, a brake device, or any device mounted on a vehicle other than the vehicle may be the target of power supply.
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Abstract
Description
以下、補助電源ユニット、補助電源ユニットの制御方法及び操舵装置の第1実施形態を図面に従って説明する。本実施形態の補助電源ユニット1は、車両に搭載される操舵装置2に電力を供給する。
図1に示すように、操舵装置2はステアバイワイヤ式の操舵装置である。操舵装置2は、ステアリングホイール3を介して運転者により操作される反力ユニット4と、運転者による反力ユニット4の操作に応じて転舵輪5を転舵させる転舵ユニット6とを備えている。操舵装置2は、反力ユニット4と、転舵ユニット6との間の動力伝達路が機械的に常時分離した構造を有している。
図2に示すように、反力モータユニット13の反力モータ15は、ロータ51と、図示しないステータに巻回された第1コイル群52a及び第2コイル群52bとを備えている。一例として、反力モータ15は、三相の表面磁石同期モータである。第1コイル群52a及び第2コイル群52bは、U、V、Wの三相のコイルをそれぞれ有している。反力制御装置16は、第1駆動回路53aと、第2駆動回路53bと、第1駆動回路53a及び第2駆動回路53bを制御する反力制御部54とを備えている。反力制御部54は、図示しない中央処理装置(CPU)やメモリを備えている。反力制御部54による各種制御は、所定の演算周期ごとにメモリに記憶されたプログラムをCPUが実行することによって実行される。一例として、第1駆動回路53a及び第2駆動回路53bは、複数のスイッチング素子を有する典型的なPWMインバータである。
転舵モータユニット32は、反力モータユニット13と同様に構成されている。すなわち、転舵モータ35は、ロータ61と、図示しないステータに巻回された第1コイル群62a及び第2コイル群62bとを備えている。転舵制御装置36は、第1駆動回路63aと、第2駆動回路63bと、第1駆動回路63a及び第2駆動回路63bを制御する転舵制御部64とを備えている。そして、第1コイル群62aは第1接続線65aを介して第1駆動回路63aに接続され、第2コイル群62bは第2接続線65bを介して第2駆動回路63bに接続されている。つまり、転舵モータユニット32は、複数の給電系統を有している。
補助電源ユニット1は、外部電源45の電力をモータユニット13,32に供給する。補助電源ユニット1は、補助電源装置71と、下流側給電線群72とを備えている。
図3に示すように、補助電源装置71は、上流側給電線群73と下流側給電線群72とを互いに接続する中間給電線群74を備えている。中間給電線群74は、上流側制御線81に接続される中間制御線101と、上流側駆動線82に接続される中間駆動線102と、上流側グランド線83に接続される中間グランド線103とを含む。また、補助電源装置71は、補助電源111と、補助電源制御部112と、レギュレータ113と、切替回路114と、降圧回路115と、昇圧回路116と、内部用選択回路117と、外部用選択回路118とを備えている。これらの各種回路は、対応する線に接続されている。なお、以下の説明において、中間給電線群74の線における上流側給電線群73に接続される側を上流側とし、反対側を下流側とする。
第1下流側駆動線91aは、下流側に向かって2本に分岐している。これにより、第1下流側駆動線91aは、2本の分岐第1下流側駆動線161,162を有している。換言すると、分岐第1下流側駆動線161,162は、上流側において1本にまとめられている。分岐第1下流側駆動線161,162は、それぞれ個別給電線に相当する。分岐第1下流側駆動線161の下流側端部は、反力モータユニット13の第1駆動回路53aに接続されている。分岐第1下流側駆動線162の下流側端部は、転舵モータユニット32の第1駆動回路63aに接続されている。第1下流側駆動線91aの上流側端部は、上記のように第1中間駆動線151に接続されている。つまり、分岐第1下流側駆動線161,162の各々の上流側端部は、補助電源111よりも下流側において給電経路に接続されている。詳しくは、切替回路114がブースト状態又はバックアップ状態である場合、分岐第1下流側駆動線161,162の各々の上流側端部は、補助電源111よりも下流側に位置する。切替回路114が充電状態である場合、分岐第1下流側駆動線161,162の各々の上流側端部は、中間駆動線102における充電線132の接続点よりも下流側に位置する。したがって、第1駆動回路53a,63aには、中間駆動線102における昇圧回路116よりも下流側から、他の回路素子を経由することなく、第1中間駆動線151及び第1下流側駆動線91aのみを介して電力が供給される。
補助電源制御部112は、外部電源45が正常であり、かつモータユニット13,32に大きな電力を供給する条件である第1条件又は第2条件が成立する場合には、補助電源111の接続状態がブースト状態となるように切替回路114を制御する。一例として、補助電源制御部112は、外部電源45の電源電圧Vbが正常電圧閾値Vth以上である場合に、外部電源45が正常であると判定する。正常電圧閾値Vthは、外部電源45が正常であるとみなすことができる電源電圧Vbであり、予め設定されている。大きな電力とは、正常な状態の外部電源45単体によって供給可能な最大の電力よりも大きな電力である。
次に、モータユニット13,32への給電態様を、補助電源111の接続状態ごとに説明する。
次に、補助電源ユニット、補助電源ユニットの制御方法及び操舵装置の第2実施形態を図面に従って説明する。なお、説明の便宜上、同一の構成については上記第1実施形態と同一の符号を付してその説明を省略する。
次に、モータユニット13,32への給電態様を、第1補助電源111a及び第2補助電源111bの接続状態ごとに説明する。
Claims (11)
- 外部電源の電力を、複数の給電系統を有する給電対象に供給する補助電源ユニットであって、
前記外部電源から前記給電対象へ電力を供給する給電経路の途中に配置される補助電源装置と、
前記給電経路の一部を構成する給電線群であって、前記補助電源装置を前記給電対象に接続する給電線群と、を備え、
前記補助電源装置は、
前記外部電源から前記給電対象への電力供給を補助するべく、前記給電経路に設けられた補助電源と、
前記給電経路に対する前記補助電源の接続状態を切り替えるように構成された切替回路と、を備え、
前記補助電源の接続状態は、前記外部電源と前記給電対象との間で前記補助電源を前記外部電源と直列に接続するブースト状態を含み、
前記給電線群は、前記複数の給電系統に接続される複数の個別給電線を含み、
前記複数の個別給電線の各々の上流側端部は、前記補助電源よりも下流側において前記給電経路に接続される、補助電源ユニット。 - 請求項1に記載の補助電源ユニットにおいて、
前記補助電源の接続状態は、前記外部電源に対して前記補助電源を前記給電対象と並列に接続する充電状態をさらに含む、補助電源ユニット。 - 請求項1又は2に記載の補助電源ユニットにおいて、
前記補助電源の接続状態は、前記外部電源から前記補助電源を切り離すとともに前記補助電源を前記給電対象に接続するバックアップ状態をさらに含む、補助電源ユニット。 - 請求項1~3のいずれか一項に記載の補助電源ユニットにおいて、
前記補助電源装置は、前記切替回路を制御するように構成された切替制御回路をさらに備え、
前記切替制御回路は、前記外部電源が正常であり、かつ前記給電対象に大きな電力を供給する条件が成立する場合に、前記補助電源の接続状態が前記ブースト状態となるように前記切替回路を制御する、補助電源ユニット。 - 請求項4に記載の補助電源ユニットにおいて、
前記給電対象は、車両に搭載される操舵装置の駆動源であるモータユニットであり、
前記条件は、
車速が走行判定閾値以下であることと、
ステアリングホイールの操舵速度が操舵実行判定閾値以上であることと、を含む第1条件である、補助電源ユニット。 - 請求項4又は5に記載の補助電源ユニットにおいて、
前記給電対象は、車両に搭載される操舵装置の駆動源であるモータユニットであり、
前記条件は、ステアリングホイールの操舵速度が高速操舵判定閾値以上であることを含む第2条件である、補助電源ユニット。 - 請求項1~6のいずれか一項に記載の補助電源ユニットにおいて、
前記補助電源装置は、前記補助電源よりも下流側に位置するように前記給電経路に設けられた昇圧回路をさらに備え、
前記複数の個別給電線の各々の上流側端部は、前記昇圧回路よりも下流側において前記給電経路に接続され、
前記給電経路は、前記昇圧回路から前記上流側端部までの間に、電力を送るための配線のみを有する、補助電源ユニット。 - 請求項1~6のいずれか一項に記載の補助電源ユニットにおいて、
前記外部電源は、第1電源と第2電源とを含み、
前記給電経路は、前記第1電源から前記給電対象へ電力を供給する第1給電経路と、前記第2電源から前記給電対象へ電力を供給する第2給電経路と、を含み、
前記給電線群は、
前記第1給電経路の一部を構成する第1給電線群であって、前記補助電源装置を前記給電対象に接続する第1給電線群と、
前記第2給電経路の一部を構成する第2給電線群であって、前記補助電源装置を前記給電対象に接続する第2給電線群と、を含み、
前記補助電源は、
前記第1電源から前記給電対象への電力供給を補助するべく、前記第1給電経路に設けられた第1補助電源と、
前記第2電源から前記給電対象への電力供給を補助するべく、前記第2給電経路に設けられた第2補助電源と、を含み、
前記切替回路は、
前記第1給電経路に対する前記第1補助電源の接続状態を切り替えるように構成された第1切替回路と、
前記第2給電経路に対する前記第2補助電源の接続状態を切り替えるように構成された第2切替回路と、を含み
前記第1給電線群は、複数の第1個別給電線を含み、
前記第2給電線群は、複数の第2個別給電線を含み、
前記複数の第1個別給電線の各々の上流側端部は、前記第1補助電源よりも下流側において前記第1給電経路に接続され、
前記複数の第2個別給電線の各々の上流側端部は、前記第2補助電源よりも下流側において前記第2給電経路に接続される、補助電源ユニット。 - 請求項8に記載の補助電源ユニットにおいて、
前記補助電源装置は、
前記第1補助電源よりも下流側に位置するように前記第1給電経路に設けられた第1昇圧回路と、
前記第2補助電源よりも下流側に位置するように前記第2給電経路に設けられた第2昇圧回路と、
前記第1昇圧回路から出力される出力電圧と前記第2昇圧回路から出力される出力電圧とが互いに等しくなるように、前記第1昇圧回路及び前記第2昇圧回路を制御するように構成された昇圧制御回路と、をさらに備え、
前記複数の第1個別給電線の各々の上流側端部は、前記第1昇圧回路よりも下流側において前記第1給電経路に接続され、
前記複数の第2個別給電線の各々の上流側端部は、前記第2昇圧回路よりも下流側において前記第2給電経路に接続される、補助電源ユニット。 - 外部電源の電力を、複数の給電系統を有する給電対象に供給する補助電源ユニットの制御方法であって、
前記補助電源ユニットは、
前記外部電源から前記給電対象へ電力を供給する給電経路の途中に配置される補助電源装置と、
前記給電経路の一部を構成する給電線群であって、前記補助電源装置を前記給電対象に接続する給電線群と、を備え、
前記補助電源装置は、
前記外部電源から前記給電対象への電力供給を補助するべく、前記給電経路に設けられた補助電源と、
前記給電経路に対する前記補助電源の接続状態を切り替えるように構成された切替回路と、を備え、
前記補助電源の接続状態は、前記外部電源と前記給電対象との間で前記補助電源を前記外部電源と直列に接続するブースト状態を含み、
前記給電線群は、前記複数の給電系統に接続される複数の個別給電線を含み、
前記複数の個別給電線の各々の上流側端部は、前記補助電源よりも下流側において前記給電経路に接続されるものであって、
前記制御方法は、
前記外部電源が正常であるか否かを判定することと、
前記給電対象に大きな電力を供給する条件が成立するか否かを判定することと、
前記外部電源の電圧が正常であり、かつ前記条件が成立した場合に、前記補助電源の接続状態が前記ブースト状態となるように前記切替回路を制御することと、を含む、補助電源ユニットの制御方法。 - 複数の給電系統を有するモータユニットと、
外部電源の電力を前記モータユニットに供給する請求項1~9のいずれか一項に記載の補助電源ユニットと、を備える、操舵装置。
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PCT/JP2021/011496 WO2022195879A1 (ja) | 2021-03-19 | 2021-03-19 | 補助電源ユニット、補助電源ユニットの制御方法及び操舵装置 |
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Citations (3)
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JP2004276833A (ja) | 2003-03-18 | 2004-10-07 | Toyoda Mach Works Ltd | 車両用操舵装置 |
JP2004345413A (ja) * | 2003-05-20 | 2004-12-09 | Koyo Seiko Co Ltd | 車両用操舵装置 |
JP2020108286A (ja) * | 2018-12-27 | 2020-07-09 | 株式会社ジェイテクト | 補助電源装置及び電動パワーステアリング装置 |
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JP2004276833A (ja) | 2003-03-18 | 2004-10-07 | Toyoda Mach Works Ltd | 車両用操舵装置 |
JP2004345413A (ja) * | 2003-05-20 | 2004-12-09 | Koyo Seiko Co Ltd | 車両用操舵装置 |
JP2020108286A (ja) * | 2018-12-27 | 2020-07-09 | 株式会社ジェイテクト | 補助電源装置及び電動パワーステアリング装置 |
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