JP7370901B2 - Control device and control method - Google Patents

Description

The present invention relates to a control device and a control method, and particularly to a control device having a redundant system and a control method thereof.

2. Description of the Related Art Conventionally, techniques for detecting abnormalities in control devices having redundant systems have been known. For example, Patent Document 1 discloses an actuator system and the like that can detect abnormalities in a redundant configuration. This actuator system includes an actuator that can be driven in both directions, first and second actuator control sections that output control signals to the actuator, and an abnormality detection section that controls the first and second actuator control sections. The abnormality detection section causes the first actuator control section to output a first control signal for driving the actuator in a first direction, and causes the second actuator control section to output a first control signal for driving the actuator in a direction opposite to the first direction. An abnormality is detected by outputting a second control signal for driving in the second direction.

JP2018-052311A

In this prior art, it is determined in which control section an abnormality has occurred, the control of the one identified as having an abnormality is stopped, and the actuator is driven only by the normal control section. However, when a plurality of systems are provided as a redundant system, the output values of the actuators may differ between the systems due to deterioration over time or individual differences, resulting in poor balance. In such a case, it is inefficient to stop the deteriorated system and drive the actuator only with the remaining system, or to continue driving the actuator in an unbalanced state.

The present invention has been devised in view of the above circumstances, and in a control device that drives and controls actuators having a redundant system, detects an unbalanced state between the actuators of the redundant system and The present invention provides a control device and a control method for correcting imbalance in actuator drive control.

In order to solve the above problems, we have developed a first actuator and a second actuator that share and output the driving force for driving the load, a first control system that controls the first actuator, and a second control system that controls the second actuator. A control device having a control system, wherein the first control system and the second control system each include a control section that outputs a control signal for controlling the actuator, a detection section that detects the output value of the actuator, The control unit is provided with a control device that drives the actuator of the own system in a direction opposite to the driving direction of the actuator of the other system, and corrects the control signal based on the output value detected by the detection unit at that time. Ru.
According to this, the actuator is driven with a correction target current value, the output value of the actuator is detected, and if the output values are different from each other, a parameter value is calculated for correcting the target current value, and the parameter value is used to set the target current value. By correcting the current value and driving the actuator, it is possible to detect an unbalanced state between the systems and to provide a control device that corrects the unbalanced actuator drive control between the systems.

Furthermore, the control unit includes a target current calculation unit that calculates a target current value for driving the actuator based on load information including at least load status information, and a target current calculation unit that generates a correction target current value and outputs the output detected by the detection unit. a second correction section that calculates a parameter value for correcting the target current value based on the value, a first correction section that corrects the target current value based on the parameter value calculated by the second correction section, and a target current for correction. a control current calculation unit that calculates a drive current value for driving the actuator based on the current value or the target current value, and outputs the drive current value as a control signal, and the second correction unit is configured such that the drive directions of the actuators are opposite to each other. The control current calculation section outputs a drive current value based on the correction target current value, and the detection section detects the output value of the actuator and generates the correction target current value. When it is detected that there is a change in the output value before and after the output of the drive current value based on the current value, the second correction section calculates the parameter value, and the target current calculation section calculates the parameter value based on the calculated parameter value. The target current value may be corrected based on the target current value, and the control current calculation section may calculate the drive current value based on the corrected target current value.
According to this, in an electric power steering control device that drives and controls an electric motor having a redundant system, it is possible to detect an unbalanced state between the systems, and also to correct an unbalanced drive control of the electric motor between the systems. A steering control device can be provided.

Furthermore, the control unit includes a communication unit that communicates with other systems, and the control current calculation unit synchronizes with other systems via the communication units and outputs a drive current value based on the correction target current value. It may also be characterized by
According to this, an accurate correction parameter value can be calculated by driving the actuator with the correction target current value and detecting the output value of the actuator at the same timing.

Further, the load is a steering mechanism of the vehicle, the actuator is an electric motor that drives the steering mechanism, and the detection unit detects a rotation angle, rotation torque, rotation angular velocity, rotation angular acceleration, and a steering angle of the steering mechanism. , a sensor that detects at least one of steering torque, and may be characterized in that it is an electric power steering control device.
According to this, the electric motor is driven with a target current value for correction, the output value of the electric motor is detected, and if the output values are different from each other, a parameter value for correcting the target current value is calculated, and the parameter value is To provide an electric power steering control device that detects an unbalanced state between systems by correcting a target current value and driving an electric motor, and also corrects an unbalanced drive control of the electric motor between systems. be able to.

Furthermore, the parameter value may be calculated when the rotational torque, rotational angular velocity, or rotational angular acceleration is greater than or equal to a predetermined threshold value.
According to this, by calculating parameters based on various physical quantities, it is possible to accurately correct imbalance in drive control of the electric motor.

Furthermore, when a change in the output value of the actuator is detected, both of the second correction sections calculate the parameter value, or only one of the second correction sections calculates the parameter value. good.
According to this, by correcting both or one of the systems, flexible correction can be performed.

Furthermore, when it is detected that there is a change in the output value of the actuator, the second correction section calculates the magnitude of the parameter value based on a predetermined value or the amount of change in the output value detected by the detection section. It may also be a feature.
According to this, correction can be easily performed by calculating parameter values based on predetermined correction amounts, and imbalances in electric motor drive control can be achieved by calculating parameter values based on the amount of change in output value. can be corrected accurately.

Further, the parameter value may be a coefficient related to the torque constant of the electric motor or a coefficient related to the characteristics of the steering torque and target current.
According to this, the electric motor can be directly corrected.

In order to solve the above problems, we have developed a first actuator and a second actuator that share and output the driving force for driving the load, a first control system that controls the first actuator, and a second control system that controls the second actuator. A control method for a control device having a control system, the first control system and the second control system each driving the actuator of its own system in a direction opposite to the driving direction of the actuator of the other system, and then A control method is provided that detects an output value of an actuator, corrects a control signal for controlling the actuator based on the output value, and outputs the corrected control signal.
According to this, the actuator is driven with a correction target current value, the output value of the actuator is detected, and if the output values are different from each other, a parameter value is calculated for correcting the target current value, and the parameter value is used to set the target current value. By correcting the current value and driving the actuator, it is possible to detect an unbalanced state between systems, and to provide a control method that corrects an unbalanced actuator drive control between systems.

In order to solve the above problems, there is provided a control device that includes a first actuator and a second actuator that share and output driving force for driving a load, and a control system that drives the first actuator and the second actuator. The control system includes a control section that outputs each control signal for controlling the first actuator and the second actuator, and a detection section that detects the output values of the first actuator and the second actuator. provides a control device that drives a second actuator in a direction opposite to the driving direction of the first actuator and corrects each control signal based on an output value detected by a detection section at that time.
According to this, even in a control device where the control unit is shared, it is possible to detect an unbalanced state between actuators in a redundant system, and control to correct imbalance in actuator drive control between actuators in a redundant system. equipment can be provided.

Furthermore, the control unit includes a target current calculation unit that calculates each target current value for driving the first actuator and the second actuator based on load information including at least load state information, and a target current calculation unit that generates a target current value for correction. , a second correction section that calculates each parameter value for correcting each target current value based on the output value detected by the detection section; and a second correction section that corrects each target current value based on each parameter value calculated by the second correction section. a first correction unit that calculates each drive current value for driving the first actuator and the second actuator based on the correction target current value or each target current value, and outputs each drive current value as each control signal. a current calculation section, the second correction section generates a target current value for correction so that the driving directions of the first actuator and the second actuator are opposite to each other, and the control current calculation section generates a target current value for correction such that the driving directions of the first actuator and the second actuator are opposite to each other. Each drive current value is output based on the target current value, and the detection unit detects the output values of the first actuator and the second actuator, and outputs the output before and after outputting each drive current value based on the target current value for correction. When it is detected that there is a change in the value, the second correction section calculates each parameter value, and the target current calculation section corrects each target current value based on the calculated each parameter value, and adjusts the control current. The calculation unit may be characterized in that it calculates each drive current value based on each corrected target current value.
According to this, even in a control device where the control unit is shared, it is possible to detect an unbalanced state between redundant actuators and to correct an unbalanced electric motor drive control between redundant actuators. An electric power steering control device can be provided.

As described above, according to the present invention, in a control device that controls the drive of actuators having a redundant system, it is possible to detect an unbalanced state between the actuators of the redundant system, and to control the drive of the actuator between the actuators of the redundant system. It is possible to provide a control device and a control method for correcting the imbalance.

FIG. 1 is a block configuration diagram of a control device according to a first embodiment of the present invention. 1 is a flowchart showing a control method of a control device according to a first embodiment of the present invention. (A) shows the overall control flow, and (B) shows the control flow of torque correction processing. FIG. 3 is a block configuration diagram of a control device according to a second embodiment of the present invention.

Embodiments of the present invention will be described below with reference to the drawings.

<First example>
With reference to FIG. 1, a control device 1 in this embodiment will be described. The control device 1 is an electric power steering control device for controlling a first electric motor MT1/second electric motor MT2 (actuator) used in an electric power steering (not shown) mounted on a vehicle. The first electric motor MT1 and the second electric motor MT2 are each three-phase electric motors, each having two windings (a first winding group and a second winding group) on one rotor, making them redundant into two systems. It is an electric motor with The first electric motor MT1/second electric motor MT2 is not limited to this, but is an electric motor that is redundant into two systems by using two electric motors each having one winding on one rotor. Good too. The first electric motor MT1 and the second electric motor MT2 share and output the driving force for driving the steering mechanism (load) of the vehicle. In addition to the steering mechanism of the vehicle of this embodiment, the load includes, for example, a solenoid valve in an electronically controlled brake (control device) in a redundant system associated with the electronicization of automobiles. Further, the actuator is not limited to an electric motor, but is an actuating device that can be driven in both directions.

The control device 1 has a redundant system corresponding to two redundant electric motor systems in order to continue control even if an abnormality occurs in one of the systems. The control device 1 includes a first control system 110 corresponding to the first system 100 for the first electric motor MT1, and a second control system 210 corresponding to the second system 200 for the second electric motor MT2. The first control system 110 and the second control system 210 are supplied with power from a battery (not shown), and output a steering torque value applied to the steering wheel from a torque sensor (not shown) to an ECU (Electric Control Unit). (not shown) and the rotation angle of the rotor of the first electric motor MT1/second electric motor MT2, and in order to generate the auxiliary force for power steering, the first electric motor MT1 and the second electric motor MT2 are respectively activated. drive The driving force of the first electric motor MT1 and the second electric motor MT2 assists the steering force of the driver of the vehicle.

The first control system 110 includes a microcomputer 120 (control unit) that acquires signals from these sensors and controls the rotation of the first electric motor MT1, and a microcomputer 120 (control unit) that controls the rotation of the first electric motor MT1 based on the control signal output by the microcomputer 120. A driver IC 140 that generates a drive signal for driving the MT1, a current detection unit 150 that detects a current generated in an inverter circuit in the driver IC 140 to output a driving force that rotationally drives the first electric motor MT1, The first electric motor MT1 includes an MR sensor 130 that detects the rotation angle of the rotor obtained from a magnet provided on the rotation shaft of the first electric motor MT1.

Similarly, the second control system 210 includes a microcomputer 220 that controls the rotation of the second electric motor MT2, and a drive signal for driving the second electric motor MT2 based on the control signal output from the microcomputer 220. a driver IC 240 that generates a current, a current detection unit 250 that detects a current generated in an inverter circuit in the driver IC 240 to output a driving force that rotationally drives the second electric motor MT2, and a rotation shaft of the second electric motor MT2. The MR sensor 230 detects the rotation angle of the rotor obtained from the magnet provided in the rotor. In addition, below, each component of the 1st control system 110 is demonstrated, and the description of the 2nd control system 210 provided with the component of the same function is abbreviate|omitted.

The driver IC 140 includes a pre-driver that calculates a PWM (Pulse Width Modulation) signal based on a control signal, and an inverter circuit that drives the first electric motor MT1 based on the PWM signal. The current detection unit 150 is a shunt resistor that detects the current flowing through each phase of the inverter circuit, and is provided to feed back the detected current value in order to accurately drive the first electric motor MT1. The MR sensor 130 is a magnetic resistance sensor that detects the output value (rotation angle of the rotor) of the first electric motor MT1. It feeds back to the microcomputer 120 for driving.

The microcomputer 120 includes a target current setting unit 126 that sets a target current value for driving the first electric motor MT1 based on the steering torque value added to the steering of the steering mechanism and the vehicle speed obtained from the ECU, and the MR sensor 130. a second correction unit 123 that calculates a parameter value for correction based on the motor rotation angle signal of the first electric motor MT1 detected by the motor, or generates a target current value for correction; A control current calculation unit 124 that calculates a drive current value for driving the first electric motor MT1 and outputs the drive current value as a control signal, and a communication unit 125 that communicates with the second control system 210 that is another system. , is provided. The target current setting unit 126 is based on the parameter values calculated by the target current calculation unit 121 that calculates a target current value for driving the first electric motor MT1 based on the steering torque value and vehicle speed, and the second correction unit 123. The first correction unit 122 corrects the target current value.

The target current setting unit 126 takes in the steering torque value and vehicle speed, and calculates a current for causing the first electric motor MT1 to generate the necessary torque based on the state information. Among them, the target current calculation unit 121 has a predetermined table (TI map, torque-current map) in which steering torque values and target current values are associated with each other for each vehicle speed, and the acquired state information A steering torque value to be generated by the first electric motor MT1 is calculated from the above, and a target current value corresponding to the steering torque value is determined. The control current calculation section 124 calculates a PWM duty value for driving the first electric motor MT1 based on the target current value calculated by the target current calculation section 121, and outputs it as a control signal. Note that the target current setting unit 126 calculates a target current value based on load information including state information such as a steering torque value and vehicle speed. The load information also includes the type of actuator and its specifications.

The second correction section 123 generates a correction target current value and inputs it to the control current calculation section 124. Therefore, the control current calculation unit 124 calculates the PWM duty value based on the target current value calculated by the target current calculation unit 121 or the correction target current value generated by the second correction unit 123. The correction target current value generated by the second correction unit 123 of the first control system 110 is a correction target current value generated by the second electric motor MT2 of the second control system 210, which is another system, in the opposite direction to the drive direction of the second electric motor MT2 of the second control system 210, which is another system. This is the current value that drives the first electric motor MT1 of a certain first control system 110. For example, if the correction target current value of the first control system 110 causes the first electric motor MT1 (first winding set) to rotate forward (or clockwise), the correction target current value of the second control system 210 The value causes the second electric motor MT2 (second winding set) to rotate in reverse (or counterclockwise). Preferably, the absolute value of the correction target current value of the first control system 110 is the same as the absolute value of the correction target current value of the second control system 210.

In each of the first control system 110/second control system 210, the second correction unit 123/second correction unit 223 simultaneously calculates the correction target current value of the same magnitude to the respective control current calculation unit 124/control current calculation When outputted to section 224, first electric motor MT1 and second electric motor MT2 are driven in opposite directions. However, since the first electric motor MT1 and the second electric motor MT2 share the rotor, in an ideal state, their output values cancel each other out, so the rotor does not move. On the other hand, if the balance between the two systems is poor and the magnitudes of the two output values are different, the rotor may rotate. When the second correction unit 123/second correction unit 223 outputs the target current value for correction, the MR sensor 130/MR sensor 230 detects the rotation (output value) of the rotor, thereby balancing the output values of both systems. It becomes possible to diagnose whether it is good or bad.

Note that it is preferable that the control current calculation unit 124 synchronizes with the second control system 210, which is another system, via the communication unit 125/communication unit 225, and outputs the drive current value based on the target current value for correction. . According to this, accurate correction parameter values can be calculated by driving the first electric motor MT1/second electric motor MT2 with the correction target current value at the same time and detecting the output value. .

Further, the second correction unit 123 receives a feedback of the motor rotation angle signal (output value) of the first electric motor MT1 detected by the MR sensor 130 when outputting the target current value for correction, and receives the feedback motor rotation angle Based on the signal, a parameter value for correcting the target current value calculated by the target current calculation unit 121 is calculated. This parameter value is calculated by the target current calculation unit 121 in order to correct the imbalance when it is determined that the balance between both systems is poor, such as when the rotor rotates when the correction target current value is output. The target current value is adjusted and corrected. For example, the parameter value is a coefficient by which the target current value calculated by the target current calculation unit 121 is multiplied.

Note that the correction may be performed as follows. If there is an imbalance between the outputs of the first electric motor MT1 and the second electric motor MT2, a torque Tx will be generated in the common rotor, causing it to rotate. If the second differential value (angular velocity) of the rotation angle θ of the rotor at that time is α and the moment of inertia is J, then the following relationship holds true.
Tx=α*J...Formula 1
It is now assumed that the first electric motor MT1 generates a larger torque than the second electric motor MT2. Assuming that IC is the target current value for correction, K is the torque constant of the first electric motor MT1, and T0 is the torque that balances the generated torque of the second electric motor MT2, the following relationship holds true.
IC*K=T0+TX...Formula 2
IC*K=T0+α*J...Equation 3 (Substitute Equation 1 into Equation 2)

Next, a procedure for correcting the output of the first electric motor MT1 to become smaller will be explained. In order to balance the outputs of the first electric motor MT1 and the second electric motor MT2, the output of the first electric motor MT1 is corrected to be smaller when the correction target current is applied. For correction, if the generated torque is reduced by Tx by multiplying the correction target current value of the first electric motor MT1 by a coefficient (1-y), the following relationship holds true.
IC*(1-y)*K=T0...Formula 4
IC*(1-y)*K=IC*K-α*J...Equation 5 (Substitute Equation 3 into Equation 4)
y=α*J/(IC*K)...Formula 6

In other words, in order to correct the first electric motor MT1, it is sufficient to perform correction by multiplying the target current value by a coefficient (1-α*J/(IC*K). According to this, the predetermined correction amount is Correction can be easily performed by calculating parameter values based on the amount of change in the output value, and correction of imbalance in drive control of the first electric motor MT1/second electric motor MT2 can be performed by calculating the parameter values based on the amount of change in the output value. can be performed accurately.

Further, the parameter value is a gain by which the current value defined in the TI map possessed by the target current calculation unit 121 is multiplied. In the latter case, the second correction section 123 may feed back directly to the target current calculation section 121 instead of the first correction section 122, and the target current value calculated by the target current calculation section 121 is directly fed back to the control current calculation section 124. It may be output to Note that the parameter value during normal operation is 1 by default.

In addition to the MR sensor 130 that detects the rotational angle of the rotor, the detection unit that detects the output value of the first electric motor MT1 may include a sensor that detects rotational torque, rotational angular velocity, and rotational angular acceleration. Note that the second correction unit 123 may calculate the parameter value when the rotational torque, rotational angular velocity, or rotational angular acceleration is greater than or equal to a predetermined threshold value. Further, the detection unit may include a sensor that detects the steering angle and steering torque of the steering mechanism as substitute variables such as the rotational torque of the electric motor. In this case, the first correction unit 122 calculates the parameter value when the steering angle and steering torque are greater than or equal to a predetermined threshold. According to this, by calculating parameter values based on various physical quantities, it is possible to accurately correct the imbalance in the drive control of the first electric motor MT1/second electric motor MT2.

Further, when the second correction unit 123/second correction unit 223 detects that there is a change in the output value of the first electric motor MT1/second electric motor MT2, the second correction unit 123/second correction unit 223 The correction unit 222 may calculate the parameter value, or only one of the second correction unit 123/second correction unit 223 may calculate the parameter value. That is, if the rotors of the first electric motor MT1/second electric motor MT2 rotate when the target current value for correction is output, the target current value calculated by the target current calculation unit 121/target current calculation unit 221 is It may be corrected or only one side may be corrected. If only one system is used for correction, for example, which system is used for correction may be determined in advance, or it may be determined which system is used for correction depending on the direction in which the rotor rotates. According to this, by correcting both or one of the systems, flexible correction can be performed.

Further, when the second correction unit 123/second correction unit 223 detects that there is a change in the output value of the first electric motor MT1/second electric motor MT2, the second correction unit 123/second correction unit 223 sets a predetermined value or a change in the output value of the MR sensor 130/MR The magnitude of the parameter value may be calculated based on the amount of change in the rotation angle (output value) detected by the sensor 230. For example, the second correction unit 123 stores a predetermined small value as a parameter value, and outputs this value to the first correction unit 122 when the change in the rotation angle (output value) is equal to or greater than a predetermined value. Alternatively, the first correction unit 122 may store a predetermined small value and add or subtract it from the coefficient. In addition, when the correction is based on the amount of change in the rotation angle and both systems are used, for example, the rotor is adjusted to rotate in the opposite direction to the rotation angle by 1/2 of the rotated rotation angle. It may also be a parameter value.

As described above, the microcomputer 120/microcomputer 220 drives the first electric motor MT1/second electric motor of its own system in the opposite direction to the driving direction of the second electric motor MT2/first electric motor MT1 of the other party's system. The MT2 is driven, and the control signal output to the driver IC 140 is corrected based on the rotor rotation angle (output value) detected by the MR sensor 130/MR sensor 230 at that time. According to this, the first electric motor MT1/second electric motor MT2 (actuator) is driven with a target current value for correction, the output value thereof is detected, and two windings are connected to one rotor as in this embodiment. (a first winding set and a second winding set), if the output value is not zero or exceeds a predetermined value, a parameter value for correcting the target current value is calculated, and the By correcting the target current value using the parameter value and driving the first electric motor MT1/second electric motor MT2, it is possible to detect an unbalanced state between the systems, and also to drive the first electric motor MT1/second electric motor MT2 between the systems. It is possible to provide a control device 1 that corrects imbalance in drive control of electric motor MT2.

The control flow of the control device 1 will be explained with reference to FIG. 2. The control device 1 performs torque correction processing in S200 when the ignition switch is turned on. The torque correction process will be explained in S202 to S208. In S202, the second correction unit 123/second correction unit 223 generates correction target current values such that the driving directions of the first electric motor MT1 and the second electric motor MT2 are opposite to each other. The second correction unit 123/second correction unit 223 inputs to the control current calculation unit 124/control current calculation unit 224 in S204. When the correction target current value is input, the control current calculation unit 124/control current calculation unit 224 outputs a control signal corresponding to the correction target current value to the driver IC 140/driver IC 240, and outputs a control signal corresponding to the correction target current value to the first electric motor MT1/second electric motor MT2. to drive.

The MR sensor 130/MR sensor 230 reads the rotation angle of the rotor of the first electric motor MT1/second electric motor MT2 in S206. The rotation angle of the rotor read by the MR sensor 130/MR sensor 230 is fed back to the second correction unit 123/second correction unit 223. In S208, the second correction unit 123/second correction unit 223 calculates the target current calculation unit 121 if there is a change in the fed-back motor rotation angle signal (output value) before and after outputting the drive current value. Calculate parameter values for correcting the target current value.

After completing the torque correction process, in S100, the control device 1 acquires the steering torque value added to the steering of the steering mechanism and the vehicle speed obtained from the ECU. In S102, the target current calculation unit 121/target current calculation unit 221 calculates a target current value based on the steering torque value and vehicle speed obtained using the TI map. In S104, the first correction unit 122/first correction unit 222 corrects the target current value calculated by the target current calculation unit 121/target current calculation unit 221 using the parameter value calculated in S208. The control current calculation unit 124/control current calculation unit 224 calculates the control signal calculated using the corrected target current value in S106, and outputs it to the driver IC 140/driver IC 240. The driver IC 140/driver IC 240 drives the first electric motor MT1/second electric motor MT2 based on the corrected control signal until the ignition switch is turned off (S108). In this way, in an electric power steering control device that drives and controls electric motors that have a redundant system, it is possible to detect an unbalanced state between systems and to correct an unbalanced drive control of the electric motor between systems. .

What has been described above is the control method of the control device 1. That is, in this control method, in each of the first control system 110 and the second control system 210, the first control system of the own system is driven in the opposite direction to the drive direction of the second electric motor MT2/first electric motor MT1 of the other system. For driving the electric motor MT1/second electric motor MT2, detecting the output value of the first electric motor MT1/second electric motor MT2 at that time, and controlling the first electric motor MT1/second electric motor MT2. This is a control method in which a control signal is corrected based on its output value and output. According to this, the electric motor is driven with a target current value for correction, the output value of the electric motor is detected, and if the output values are different from each other, a parameter value for correcting the target current value is calculated, and the parameter value is By correcting the target current value and driving the electric motor, it is possible to detect an unbalanced state between systems and to provide a control method that corrects an unbalanced actuator drive control between systems.

<Second example>
With reference to FIG. 3, the control device 1A in this embodiment will be explained. In order to avoid redundant description, the same reference numerals are given to the same components as those in the above embodiment, and the explanation thereof is omitted, and points different from the above embodiment will be mainly described. The control device 1A is an electric power steering control device for controlling a first electric motor MT1/second electric motor MT2 used in an electric power steering (not shown) mounted on a vehicle. The control device 1 described above includes a driver IC for driving the redundant first electric motor MT1 and second electric motor MT2, a microcomputer for outputting a control signal to the driver IC, and a first electric motor. The MR sensors that detect the rotation angles of the rotors of MT1 and second electric motor MT2 were also made redundant. On the other hand, in the control device 1A, the driver IC is made redundant corresponding to the first electric motor MT1 and the second electric motor MT2, but the microcomputer and the MR sensor are not made redundant but are shared.

The control device 1A includes a first electric motor MT1, a second electric motor MT2, and a control system 110A that drives the first electric motor MT1 and the second electric motor MT2. The control system 110A includes a microcomputer 120A that acquires signals such as steering torque and controls the rotation of the first electric motor MT1 and the second electric motor MT2, and a microcomputer 120A that controls the rotation of the first electric motor MT1 based on the control signal output from the microcomputer 120A. a driver IC 140 that generates a drive signal for driving the second electric motor MT2, a driver IC 240 that generates a drive signal for driving the second electric motor MT2 based on a control signal output by the microcomputer 120A, and an inverter circuit in the driver IC 140. a current detection unit 150 that detects a current to output a driving force that rotationally drives the first electric motor MT1, which is generated in the inverter circuit in the driver IC 240; and an MR sensor 130 that detects the rotation angle of the rotor obtained from the magnets provided on the rotation shafts of the first electric motor MT1 and the second electric motor MT2. .

The microcomputer 120A performs target current setting to set each target current value for driving the first electric motor MT1 and the second electric motor MT2 based on the steering torque value added to the steering of the steering mechanism and the vehicle speed obtained from the ECU. 126A, and a second correction section that calculates each parameter value for correction or generates a target current value for correction based on the motor rotation angle signals of the first electric motor MT1 and the second electric motor MT2 detected by the MR sensor 130. 123A and a correction target current value or each target current value to calculate each drive current value for driving the first electric motor MT1 and the second electric motor MT2, and output each drive current value as each control signal. A current calculation unit 124A is provided. The target current setting section 126A includes a target current calculation section 121A that calculates each target current value for driving the first electric motor MT1 and the second electric motor MT2 based on the steering torque value and the vehicle speed, and a second correction section 123A. The first correction unit 122A corrects each target current value based on each calculated parameter value.

The target current setting unit 126A takes in the steering torque value and vehicle speed, and calculates a current for causing the first electric motor MT1 and the second electric motor MT2 to generate the necessary torque based on the state information. The control current calculation unit 124A calculates PWM duty values for driving the first electric motor MT1 and the second electric motor MT2 based on each target current value calculated by the target current calculation unit 121A, and outputs them as each control signal. Output. The control signals output to the driver IC 140 and the driver IC 240 are basically the same control signal because they cause each motor to output the same torque, but they may be two different control signals. For example, when an abnormality occurs in one motor, the output of the abnormal motor is reduced or zero, and the output of the normal motor is increased. The second correction section 123A generates a correction target current value and inputs it to the control current calculation section 124A. The correction target current value generated by the second correction unit 123A is a current value that drives the first electric motor MT1 in the opposite direction to the driving direction of the second electric motor MT2.

When the second correction section 123A simultaneously outputs correction target current values of the same magnitude to the control current calculation section 124A, the first electric motor MT1 and the second electric motor MT2 are driven in opposite directions. However, since the first electric motor MT1 and the second electric motor MT2 share the rotor, in an ideal state, their output values cancel each other out, so the rotor does not move. On the other hand, if the magnitudes of both output values are different, the rotor may rotate. When the second correction unit 123A outputs the correction target current value, the MR sensor 130 detects the rotation of the rotor (output value), thereby making it possible to diagnose whether the balance between the two output values is good or bad. In this way, even in a control device where the control unit is shared, it is possible to detect an unbalanced state between redundant actuators and to correct an unbalanced electric motor drive control between redundant actuators. I can do it.

It should be noted that the present invention is not limited to the illustrated embodiments, and can be implemented with configurations within a range that does not depart from the content described in each section of the claims. That is, although the present invention has been particularly illustrated and described primarily with respect to particular embodiments, there may be other modifications to the embodiments described above without departing from the spirit and scope of the invention. Various modifications can be made by those skilled in the art in other detailed configurations.

1 Electric power steering control device (control device)
100 First system 110 First control system 120 Microcomputer (control unit)
121 Target current calculation section 122 First correction section 123 Second correction section 124 Control current calculation section 125 Communication section 130 MR sensor (detection section)
140 Driver IC
150 Current detection section 200 Second system 210 Second control system 220 Microcomputer (control section)
221 Target current calculation section 222 First correction section 223 Second correction section 224 Control current calculation section 225 Communication section 230 MR sensor (detection section)
240 Driver IC
250 Current detection unit MT1 First electric motor (first actuator)
MT2 Second electric motor (second actuator)

Claims (3)

A control device including a first electric motor and a second electric motor that share and output driving force for driving a load, and a control system that drives the first electric motor and the second electric motor ,
The control system includes:
a control unit that outputs each control signal for controlling the first electric motor and the second electric motor;
a detection unit that detects output values of the first electric motor and the second electric motor ;
Equipped with
The control unit includes:
driving the second electric motor in a direction opposite to the driving direction of the first electric motor;
a target current calculation unit that calculates each target current value for driving the first electric motor and the second electric motor based on load information including at least state information of the load;
A coefficient related to the torque constant of each electric motor for generating a correction target current value and inputting it to a control current calculation section, or for correcting each target current value based on an output value detected by the detection section. a second correction unit that calculates each parameter value;
a first correction unit that corrects each of the target current values based on each of the parameter values calculated by the second correction unit;
Control that calculates each drive current value for driving the first electric motor and the second electric motor based on the correction target current value or each of the target current values, and outputs each of the drive current values as each of the control signals. A current calculation section,
Equipped with
The second correction unit generates the correction target current value so that the driving directions of the first electric motor and the second electric motor are opposite to each other,
The control current calculation unit outputs each drive current value based on the correction target current value,
The detection unit detects output values of the first electric motor and the second electric motor,
If it is detected that there is a change in the output value before and after the output of each drive current value based on the correction target current value, the second correction unit calculates each parameter value,
The target current calculation unit corrects each target current value based on the calculated each parameter value,
The control current calculation unit calculates each drive current value based on the corrected each target current value.
Control device.
A control device including a first electric motor and a second electric motor that share and output driving force for driving a steering mechanism of a vehicle, and a control system that drives the first electric motor and the second electric motor. There it is,
The control system includes:
a control unit that outputs each control signal for controlling the first electric motor and the second electric motor;
a detection unit that detects a steering torque of the steering of the steering mechanism;
Equipped with
The control unit includes:
driving the second electric motor in a direction opposite to the driving direction of the first electric motor;
a target current calculation unit that calculates each target current value for driving the first electric motor and the second electric motor based on information including at least state information of a steering mechanism of the vehicle;
a second correction section that generates a correction target current value and inputs it to the control current calculation section;
a first correction unit that calculates each parameter value that is a coefficient related to the characteristics of the steering torque and each target current for correcting each of the target current values;
Control that calculates each drive current value for driving the first electric motor and the second electric motor based on the correction target current value or each of the target current values, and outputs each of the drive current values as each of the control signals. A current calculation section,
Equipped with
The second correction unit generates the correction target current value so that the driving directions of the first electric motor and the second electric motor are opposite to each other,
The control current calculation unit outputs each drive current value based on the correction target current value,
The detection unit detects a steering torque of a steering of the steering mechanism,
If the steering torque is equal to or greater than a predetermined threshold value before and after outputting each drive current value based on the correction target current value, the first correction unit calculates each parameter value,
The target current calculation unit corrects each target current value based on the calculated each parameter value,
The control current calculation unit calculates each of the drive current values based on each of the corrected target current values.
Control device. The control system that drives the first electric motor and the second electric motor includes a first control system that controls the first electric motor and a second control system that controls the second electric motor. 3. The control device according to claim 1 or 2.