Controllers for electric motors

Abstract

A controller (20) for a motor (10) includes a first processing circuit (301) and a second processing circuit (302) configured to communicate with each other. The first processing circuit (301) is configured to perform a first operation amount calculation process, an operation process, and an output process. The first operation amount calculation process is a process of calculating a first operation amount. The output process is a process of outputting the first operation amount to the second processing circuit (302). The second processing circuit (302) is configured to perform a second operation amount calculation process, a first use operation process, a second use operation process, and an elimination process.

Description

Technical Field

[0001] The present invention relates to a controller configured to control a motor that steers a steering wheel and includes a first stator coil and a second stator coil that are insulated from each other. The controller for the motor is configured to operate a first drive circuit connected to the first stator coil and a second drive circuit connected to the second stator coil. Background Art

[0002] For example, Japanese Unexamined Patent Application Publication No. 2018-24335 describes a motor that steers a steering wheel and includes two stator coils that are independent of each other. The document describes a redundant controller including respective microcomputers for respective stator coils as a motor controller that operates a drive circuit connected to the stator coils. Each of the paired microcomputers controls the dq axis current by calculating the dq axis current of the motor based on the detection value from each rotation angle sensor. The document also describes that the second microcomputer uses the current command value of the first microcomputer. Summary of the invention

[0003] The inventors have studied a redundant controller: the steering angle of each steering wheel is detected by a rotation angle sensor, and the detection value is fed back to a target value. In this case, the controllability of the steering angle may be reduced due to the difference between the detection values ​​from the rotation angle sensor.

[0004] One aspect of the present invention relates to a controller for a motor. The motor is configured to steer a steering wheel, and the motor includes a first stator coil and a second stator coil insulated from each other. The controller is configured to operate a first drive circuit connected to the first stator coil and a second drive circuit connected to the second stator coil. The controller includes a first processing circuit and a second processing circuit configured to communicate with each other. The first processing circuit is configured to perform a first operation amount calculation process, an operation process, and an output process. The first operation amount calculation process is a process of calculating a first operation amount so that a convertible angle based on a detection value from a first angle sensor is fed back to a target angle. The convertible angle is an angle that can be converted to a steering angle of a steering wheel. The operation process is a process of operating the first drive circuit based on the first operation amount. The output process is a process of outputting the first operation amount to the second processing circuit. The second processing circuit is configured to perform a second operation amount calculation process, a first use operation process, a second use operation process, and an elimination process. The second operation amount calculation process is a process of calculating a second operation amount so that a convertible angle based on a detection value from a second angle sensor is fed back to a target angle. The second operation amount calculation process includes the following process: calculating the second operation amount based on the output of the integral element depending on the difference between the convertible angle and the target angle. The first use operation process is a process of operating the second drive circuit based on the first operation amount. The second use operation process is a process of operating the second drive circuit based on the second operation amount. The elimination process is a process of eliminating the influence of the integral element before the switching from the first use operation process to the second use operation process.

[0005] In the configuration described above, the second processing circuit operates the second drive circuit based on the first operation amount in the first use operation process. Therefore, both the first drive circuit and the second drive circuit operate with an operation amount for feeding back a convertible angle based on a detection value from the first angle sensor to a target angle. Therefore, even if a difference occurs between the detection value from the first angle sensor and the detection value from the second angle sensor, a decrease in the controllability of the steering angle can be suppressed.

[0006] If the output value of the integral element depending on the difference between the target angle and the convertible angle based on the detection value from the second angle sensor is continuously updated in the second operation amount calculation process, the absolute value of the output value of the integral element in the first use operation process may be an excessively large value due to the difference between the detection value from the first angle sensor and the detection value from the second angle sensor. When the first use operation process is switched to the second use operation process, the torque of the motor may suddenly change due to the absolute value of the second operation amount being an excessively large value. In the configuration described above, when the first use operation process is switched to the second use operation process, the influence of the integral element before the switching is eliminated. Therefore, the sudden change in the torque of the motor with the switch to the second use operation process can be suppressed.

[0007] In the controller described above, the elimination process may include the following process: when the first use operation process is executed, the integral element in the second operation amount calculation process is stopped. In the configuration described above, when the second operation amount is not used to operate the second drive circuit, the integral element in the second operation amount calculation process is stopped. Therefore, the occurrence of a situation where the absolute value of the value held in the integral element is an excessively large value can be reduced.

[0008] In the controller described above, the second operation amount calculation process may include the following process: when the first use operation process is executed, the second operation amount is calculated independently of the integral element. The second processing circuit may be configured to perform a process of switching the first use operation process to the second use operation process when the absolute value of the difference between the first operation amount and the second operation amount is equal to or greater than the defined value. The second operation amount calculation process may include the following process: when the second use operation process is executed based on the fact that the absolute value of the difference between the first operation amount and the second operation amount is equal to or greater than the defined value, the second operation amount is calculated independently of the integral element.

[0009] In the configuration described above, even if the first use operation process is performed, the second operation amount is calculated. Therefore, the appropriateness of the control using the first operation amount can be evaluated based on the comparison between the first operation amount and the second operation amount. In the configuration described above, when the appropriateness is determined to be low, the second use operation process is performed. In this case, the second operation amount is calculated regardless of the integral element. Therefore, even if a difference occurs between the detection value from the first angle sensor and the detection value from the second angle sensor, interference between the control for reducing the steady-state deviation between the target angle and the convertible angle based on the detection value from the first angle sensor by using the integral element and the control for reducing the steady-state deviation between the target angle and the convertible angle based on the detection value from the second angle sensor by using the integral element can be avoided.

[0010] In the controller described above, the second processing circuit may be configured to execute a process of switching the first use operation process to the second use operation process when an abnormality occurs in communication between the first processing circuit and the second processing circuit. The second operation amount calculation process may include a process of calculating the second operation amount independently of the integral element when the second use operation process is executed based on the abnormality in communication.

[0011] In the configuration described above, if the first operation amount cannot be acquired due to a communication anomaly, the second processing circuit performs a second use operation process. Therefore, even if the first operation amount cannot be acquired, the second drive circuit can be operated. In addition, the second operation amount is calculated independently of the integral element. Therefore, even if a difference occurs between the detection value from the first angle sensor and the detection value from the second angle sensor, interference between the control for reducing the steady-state deviation between the target angle and the convertible angle based on the detection value from the first angle sensor by using the integral element and the control for reducing the steady-state deviation between the target angle and the convertible angle based on the detection value from the second angle sensor by using the integral element can be avoided.

[0012] In the controller described above, the first processing circuit and the second processing circuit can be configured to communicate with an external device, which is configured to output the target angle to the controller from outside the controller. The second operation amount calculation process can include the following process: when the external device gives an instruction to use the integral element, the second operation amount is calculated based on the integral element.

[0013] In the configuration described above, when the external device gives an instruction to use the integral element, the second operation amount is calculated based on the integral element. Therefore, the steady-state deviation between the target angle and the convertible angle based on the second angle sensor can be reduced. In particular, the integral element is used in response to an instruction from the external device. Therefore, the abnormality of the first processing circuit can be resolved, so that when the external device detects the abnormality of the first processing circuit, the external device gives an instruction.

[0014] In the controller described above, the first processing circuit may be configured to perform a notification process when an abnormality occurs in the first processing circuit when an abnormality occurs in the communication between the first processing circuit and the second processing circuit. The notification process may be a process of notifying the second processing circuit of the abnormality via an external device. The second operation amount calculation process may include the following process: when the external device gives an instruction to use an integral element based on the notification process, the second operation amount is calculated based on the integral element.

[0015] In the configuration described above, when an abnormality occurs in the first processing circuit in the case where an abnormality occurs in the communication between the first processing circuit and the second processing circuit, the first processing circuit notifies the external device of the abnormality through the notification process, and the external device instructs the second processing circuit to use the integral element based on the notification process. Therefore, when an abnormality occurs in the first processing circuit in the case where an abnormality occurs in the communication between the first processing circuit and the second processing circuit, the steady-state deviation between the target angle and the convertible angle based on the second angle sensor can be reduced.

[0016] In the controller described above, the second processing circuit may be configured to perform a switching process when an abnormality occurs so that the first processing circuit stops operating the first drive circuit. The switching process may be a process of switching the first use operation process to the second use operation process. The second operation amount calculation process may include the following process: when the second use operation process is performed based on the occurrence of an abnormality so that the first processing circuit stops operating the first drive circuit, the second operation amount is calculated by using an integral element.

[0017] If the first processing circuit stops operating the first drive circuit, the first operation amount is not reflected in the control of the motor. When the second operation amount is calculated independently of the integral element, it is difficult to reduce the steady-state deviation between the convertible angle and the target angle. In the configuration described above, if the first processing circuit stops operating the first drive circuit, the second operation amount is calculated based on the integral element. Therefore, the steady-state deviation between the target angle and the convertible angle based on the second angle sensor can be reduced.

[0018] In the controller described above, the second operation amount calculation process may include a process of calculating the second operation amount based on the operation amount for feeding forward the convertible angle to the target angle in addition to the operation amount for feeding back the convertible angle to the target angle.

[0019] In the configuration described above, the second operation amount is calculated based on the operation amount for feedforward control. Therefore, the output of the integral element uses the feedforward operation amount to compensate for the deviation in the control. Therefore, compared with the case where the feedforward operation amount is not used, even if the second operation amount is calculated independently of the integral element, the deviation between the convertible angle and the target angle can be reduced. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Features, advantages, and technical and industrial significance of exemplary embodiments of the present invention will be described below with reference to the accompanying drawings, in which like reference numerals represent like elements, and in which:

[0021] Figure 1 is a diagram showing a controller and a motor according to one embodiment;

[0022] Figure 2is a diagram showing a part of a process to be performed by a controller according to an embodiment; and

[0023] Figure 3 is a flowchart showing the procedure of a process to be executed by the controller. DETAILED DESCRIPTION

[0024] A controller for a motor according to one embodiment is described below with reference to the accompanying drawings. Figure 1 The motor 10 shown in is a power source for a steering operation actuator configured to steer a steering wheel. In the present embodiment, a surface permanent magnet synchronous motor (SPMSM) is exemplified as the motor 10. The motor 10 includes a rotor 12 and a first stator coil 141 and a second stator coil 142 as a pair of stator coils. The controller 20 controls the motor 10 and controls the torque as a control amount of the motor 10. The controller 20 includes a first system circuit and a second system circuit, which are different circuits corresponding to the first stator coil 141 and the second stator coil 142.

[0025] Specifically, the controller 20 includes the following components as a first system circuit. That is, the controller 20 includes a first inverter 221 and a first microcomputer 301. The first inverter 221 is connected to the first stator coil 141. The first microcomputer 301 controls the current flowing through the first stator coil 141 by outputting an operation signal MS1 to the first inverter 221. The controller 20 includes the following components as a second system circuit. That is, the controller 20 includes a second inverter 222 and a second microcomputer 302. The second inverter 222 is connected to the second stator coil 142. The second microcomputer 302 controls the current flowing through the second stator coil 142 by outputting an operation signal MS2 to the second inverter 222. The first microcomputer 301 and the second microcomputer 302 can communicate via a communication line 42.

[0026] When generally describing the first and second systems, the letter "k" which may take the value of "1" or "2" is used hereinafter to describe, for example, "the kth inverter 22k is connected to the kth stator coil 14k".

[0027] The kth microcomputer 30k acquires the rotation angle θm(k) of the rotor 12 detected by the kth angle sensor 40k, and the three-phase currents iu(k), iv(k), and iw(k) flowing through the kth stator coil 14k. For example, the currents iu(k), iv(k), and iw(k) may be detected as voltage drops of shunt resistors connected to the legs of the kth inverter 22k.

[0028] The kth microcomputer 30k includes a central processing unit (CPU) 32k, a read only memory (ROM) 34k and a peripheral circuit 36k which can communicate via a local area network 38k. The peripheral circuit 36k includes a power supply circuit, a reset circuit and a circuit configured to generate a clock signal for defining internal operations based on an external clock signal.

[0029] The controller 20 can communicate with an external higher-level electronic control unit (ECU) 50 via a communication line 54. The target angle θp* output from the higher-level ECU 50 is input to the first microcomputer 301 and the second microcomputer 302. The target angle θp* is a target value of a convertible angle that can be converted into a steering angle (tire steering angle) of each steering wheel. In the present embodiment, the target angle θp* is a target value of the rotation angle of the steering shaft. The terminal voltage of the battery 52 is applied to each of the higher-level ECU 50, the kth microcomputer 30k and the kth inverter 22k. Specifically, the voltage of the battery 52 is applied to the kth microcomputer 30k via a relay 24k. A relay 26k is provided between the kth inverter 22k and the kth stator coil 14k.

[0030] Figure 2 Processes to be executed by the first microcomputer 301 and the second microcomputer 302 are shown. Figure 2 Each of the processes shown is realized such that a program stored in the ROM 34k is executed by the CPU 32k. When generally describing the processes to be executed by the first microcomputer 301 and the second microcomputer 302, the letter "k" is used.

[0031] The integration process M10k is a process of integrating the rotation angle θm(k). The conversion process M12k is a process of multiplying the output of the integration process M10k by a predetermined coefficient K to convert the output into the rotation angle θp(k) of the steering shaft. The rotation angle θp(k) is "0" at the neutral position, and its sign changes depending on whether the steering is a right turn or a left turn.

[0032] The feedback operation amount calculation process M20k is a process for calculating the feedback operation amount MFBk for feeding back the rotation angle θp(k) to the target angle θp*. In this embodiment, the feedback operation amount MFBk is basically the sum of the output value of the proportional element, the output value of the integral element, and the output value of the derivative element. Specifically, the deviation calculation process M22k is a process for calculating the difference between the rotation angle θp(k) and the target angle θp*. The proportional element M24k is a process for multiplying the difference by the proportional coefficient Kp. The integral gain multiplication process M26k is a process for multiplying the difference by the integral gain Ki. The integral process M28k is a process for updating and outputting the integral value of the output of the integral gain multiplication process M26k. The integral gain multiplication process M26k and the integral process M28k constitute an integral element. The derivative gain multiplication process M30k is a process for multiplying the difference by the derivative gain Kd. The differential processing M32k is a processing for calculating the differential of the output of the differential gain multiplication processing M30k. The differential gain multiplication processing M30k and the differential processing M32k constitute a differential element. The addition processing M34k is a processing for calculating the sum of the output values ​​of the proportional element M24k, the integral processing M28k, and the differential processing M32k and outputting the sum as the feedback operation amount MFBk.

[0033] The feedforward operation amount calculation process M40k is a process of calculating the feedforward operation amount MFFk used for control to achieve the target angle θp*. Specifically, the feedforward operation amount calculation process M40k is a process of increasing the absolute value of the feedforward operation amount MFFk when the absolute value of the target angle θp* is large compared to the case where the absolute value of the target angle θp* is small. For example, the process can be implemented so that the CPU 32k performs mapping calculation on the feedforward operation amount MFFk in a state where the ROM 34k pre-stores mapping data having the target angle θp* as an input variable and the feedforward operation amount MFFk as an output variable. The mapping data is data showing a combination of discrete values ​​of the input variables and values ​​of the output variables corresponding to the values ​​of the input variables. For example, the mapping calculation may be a process in which, when the value of the input variable matches any value of the input variable in the mapping data, the calculation result is the value of the corresponding output variable in the mapping data, and when it does not match, the calculation result is a value obtained by interpolating a plurality of values ​​of the output variable included in the mapping data.

[0034] The addition process M42k is a process of calculating a k-th operation amount MVk by adding the feedback operation amount MFBk and the feedforward operation amount MFFk. The k-th operation amount MVk is a q-axis current command value.

[0035] The first operation signal generation process M441 is a process of calculating and outputting the operation signal MS1 of the first inverter 221 so that the q-axis current flowing through the first stator coil 141 becomes “½” of the first operation amount MV1 .

[0036] The selection process M50 is a process of selectively outputting one of two operation amounts, namely, the first operation amount MV1 and the second operation amount MV2, to the second operation signal generation process M442.

[0037] The second operation signal generation process M442 is a process of calculating and outputting the operation signal MS2 of the second inverter 222 so that the q-axis current flowing through the second stator coil 142 is in principle “1 / 2” of the output of the selection process M50.

[0038] In this embodiment, Figure 2 The processing is the basic processing, but when appropriate, by executing Figure 3 The processing shown is changed. Figure 3 The left side portion of shows processing to be implemented so that, for example, the program stored in the ROM 341 is repeatedly executed by the CPU 321 within a predetermined period of time. Figure 3 The right side of 342 shows the processing to be implemented so that, for example, the program stored in ROM 342 is repeatedly executed by CPU 322 within a predetermined period of time. Figure 3 processing.

[0039] exist Figure 3 In a series of processes shown in the left part of , the CPU 321 first determines whether the communication between the first microcomputer 301 and the second microcomputer 302 is normal (S10). For example, predetermined data can be periodically exchanged between the first microcomputer 301 and the second microcomputer 302 via the communication line 42, and when data cannot be exchanged, it can be determined that an abnormality has occurred.

[0040] When the CPU 321 determines that the communication is normal (S10: Yes), the CPU 321 determines whether the first microcomputer 301 cannot control the current flowing through the first stator coil 141 by operating the first inverter 221 (S12). For example, when an abnormality occurs in the first angle sensor 401 or when the temperature of the first stator coil 141 or the first inverter 221 is equal to or higher than a predefined temperature, the CPU 321 determines that control cannot be performed. For example, when the output signal from the first angle sensor 401 is fixed to the ground potential or the terminal potential of the battery 52, it can be determined that an abnormality occurs in the first angle sensor 401. For example, it can be determined based on the history of the currents iu(1), iv(1), and iw(1) whether the temperature of the first stator coil 141 or the first inverter 221 is equal to or higher than the predefined temperature.

[0041] When the CPU 321 determines that the current flowing through the first stator coil 141 can be controlled (S12: No), the CPU 321 outputs the first operation amount MV1 to the second microcomputer 302 via the communication line 42 (S14). When the CPU 321 completes the processing of S14, the CPU 321 temporarily terminates the operation. Figure 3 A series of processing is shown in the left part.

[0042] As in Figure 3 As shown in the right part of , the CPU 322 determines whether the first microcomputer 301 stops controlling the current flowing through the first stator coil 141 (S30). When the first microcomputer 301 is operating (S30: No), the CPU 322 determines whether an integral processing execution instruction is given from the higher-level ECU 50 (S32). When the instruction is not given (S32: No), the CPU 322 stops the integral processing M282 (S34). Specifically, the value maintained in the integral processing M282 is fixed to the initial value "0". Therefore, the feedback operation amount MFB2 is the sum of the output value of the proportional element M242 and the output value of the differential processing M322, and the second operation amount MV2 is the sum of the feedback operation amount MFB2 and the feedforward operation amount MFF2.

[0043] The CPU 322 determines whether the communication between the first microcomputer 301 and the second microcomputer 302 is normal (S36). When the CPU 322 determines that the communication is normal (S36: Yes), the CPU 322 obtains the communication information through Figure 3 The first operation amount MV1 output by the processing S14 in the left part of the CPU 322 is (S38). The CPU 322 determines whether the absolute value of the difference between the first operation amount MV1 and the second operation amount MV2 is less than the defined value Mth (S40). This process is a process for determining whether the control of the rotation angle θp(k) toward the target angle θp* is properly performed. That is, it is expected that the difference between the first operation amount MV1 and the second operation amount MV2 is the difference between the feedback operation amounts MFB1 and MFB2, and the difference can be infinitely small.

[0044] That is, the first reason why a difference occurs between the feedback operation amounts MFB1 and MFB2 is that the output value of the integral processing M282 is "0". The output value of the integral processing M281 compensates for the deviation in the control using the feedforward operation amount MFF1, so the absolute value is not very large. The second reason why a difference occurs between the feedback operation amounts MFB1 and MFB2 is the difference between the proportional elements M241 and M242 and the difference between the differential processing M321 and M322 caused by the difference between the rotation angle θm(1) detected by the first angle sensor 401 and the rotation angle θm(2) detected by the second angle sensor 402. Since the absolute value of the difference between the rotation angles θm(1) and θm(2) is infinitely small, the absolute value of the difference between the proportional elements M241 and M242 and the absolute value of the difference between the differential processing M321 and M322 are also small.

[0045] When the CPU 322 determines that the absolute value is less than the defined value Mth (S40: Yes), the control can be appropriately performed. Therefore, the first operation amount MV1 is selected in the selection process M50 (S42). Therefore, the operation signal MS2 for operating the second inverter 222 is generated and output, so that the q-axis current flowing through the second stator coil 142 is "1 / 2" of the first operation amount MV1 through the second operation signal generation process M442. When the CPU 322 completes the process of S42, the CPU 322 temporarily terminates Figure 3 A series of processing is shown in the right part.

[0046] When Figure 3 As shown in the left part of FIG. 321, when the CPU 321 determines that the result of the processing of S12 is "yes", the CPU 321 notifies the second microcomputer 302 via the communication line 42 that the first microcomputer 301 cannot perform control (S16). The CPU 321 switches the relays 241 and 261 to the disconnected state through the peripheral circuit 361, etc. (S18). When the CPU 321 completes the processing of S18, the CPU 321 temporarily terminates Figure 3 A series of processing is shown in the left part.

[0047] In this case, if Figure 3As shown in the right part of , the CPU 322 determines that the first microcomputer 301 stops controlling the current flowing through the first stator coil 141 (S30: Yes), and executes the processing of calculating the second operation quantity MV2 based on the integral element (I-item) through the operation integral processing M282 (S44). The CPU 322 selects the second operation quantity MV2 in the selection processing M50 (S46). In this case, an operation signal MS2 for operating the second inverter 222 is generated and output, so that through the second operation signal generation processing M442, the q-axis current flowing through the second stator coil 142 is the second operation quantity MV2. Since the first stator coil 141 is not energized, the q-axis current flowing through the second stator coil 142 must be set to the second operation quantity MV2 to control the rotation angle θp(2) toward the target angle θp*. When the CPU 322 completes the processing of S46, the CPU 322 temporarily terminates Figure 3 A series of processing is shown in the right part.

[0048] In this case, assuming execution Figure 3 In this case, Figure 3 In the process of S40 shown in the right part of , the CPU 322 determines that the result is "No", and proceeds to the process of S46. Therefore, the operation signal MS2 for operating the second inverter 222 is generated and output, so that the q-axis current flowing through the second stator coil 142 is "1 / 2" of the second operation amount MV2 through the second operation signal generation process M442.

[0049] When Figure 3 As shown in the left part of FIG. 3 , when the CPU 321 determines that an abnormality has occurred in the communication between the microcomputers (S10: No), similar to the processing of S12, the CPU 321 determines whether the first microcomputer 301 cannot control the current flowing through the first stator coil 141 by operating the first inverter 221 (S20). When the CPU 321 determines that control is possible (S20: No), the CPU 321 temporarily terminates Figure 3 A series of processing is shown in the left part.

[0050] In this case, Figure 3 In the process of S36 shown in the right part of , the CPU 322 determines that the result is "No", and proceeds to the process of S46. Therefore, the operation signal MS2 for operating the second inverter 222 is generated and output, so that the q-axis current flowing through the second stator coil 142 is "1 / 2" of the second operation amount MV2 through the second operation signal generation process M442.

[0051] when Figure 3When the CPU 321 determines that the result is "Yes" in the process of S20 shown in the left part of FIG. 5 , the CPU 321 notifies the higher-level ECU 50 of the result of "Yes" via the communication line 54 (S22). The CPU 321 proceeds to step S18.

[0052] In this case, the first microcomputer 301 is abnormal, and stops the control of the current flowing through the first stator coil 141 to adjust the rotation angle θP(1) toward the target angle θP. * Therefore, the higher-level ECU 50 instructs the second microcomputer 302 via the communication line 54 to operate the integral element.

[0053] exist Figure 3 In the process of S32 shown in the right part of , the CPU 322 determines that the result is "yes", and proceeds to the process of S46 via the process of S44. Therefore, the operation signal MS2 for operating the second inverter 222 is generated and output, so that the q-axis current flowing through the second stator coil 142 is the second operation amount MV2 through the second operation signal generation process M442.

[0054] Describe the actions and effects of this embodiment. CPU 321 calculates the first operating amount MV1 for controlling the rotation angle θp(1) toward the target angle θp*, and operates the first inverter 221 so that the q-axis current flowing through the first stator coil 141 is "1 / 2" of the first operating amount MV1. CPU322 operates the second inverter 222 so that the q-axis current flowing through the second stator coil 142 is "1 / 2" of the first operating amount MV1. Therefore, compared with the case where the q-axis current flowing through the second stator coil 142 is the second operating amount MV2 when operating the integral processing M282, interference with the control of the steering angle of each steering wheel can be suppressed. A difference may occur between the rotation angle θm(1) detected by the first angle sensor 401 and the rotation angle θm(2) detected by the second angle sensor 402. If a difference occurs, the output value of the integration processing M281 executed by the CPU 321 is a value for eliminating the steady-state deviation between the rotation angle θp(1) and the target angle θp*, and the output value of the integration processing M282 executed by the CPU 322 is a value for eliminating the steady-state deviation between the rotation angle θp(2) and the target angle θp*. Therefore, control may be disturbed.

[0055] If the first microcomputer 301 cannot control the q-axis current in the first stator coil 141, the first microcomputer 301 stops controlling the current flowing through the first stator coil 141. In this case, the CPU 322 performs control so that the q-axis current flowing through the second stator coil 142 is the second operation amount MV2. Before switching the control using the first operation amount MV1 to the control using the second operation amount MV2, the integration process M282 is stopped. Compared with the case where the integration process M282 is not stopped, the absolute value of the difference between the first operation amount MV1 and the second operation amount MV2 at the time of switching can be reduced, and the change in the torque of the motor 10 accompanying the switching can also be suppressed. That is, the output value of the integration process M281 is a value for eliminating the steady-state deviation between the rotation angle θp(1) and the target angle θp*. If a difference occurs between the rotation angles θp(1) and θp(2), even if the steady-state deviation between the rotation angle θp(1) and the target angle θp* is eliminated, a steady-state deviation occurs between the rotation angle θp(2) and the target angle θp*. If the first operation amount MV1 is used to operate the second inverter 222, the output value of the integration process M282 is not reflected in the operation of the second inverter 222. Therefore, the absolute value of the output value of the integration process M282 gradually increases to an excessively large value.

[0056] If an abnormality occurs in the control, but the first microcomputer 301 cannot identify the cause of the abnormality, the CPU 322 detects the abnormality based on the fact that the absolute value of the difference between the first operation amount MV1 and the second operation amount MV2 is equal to or greater than the defined value Mth. In this case, the CPU 322 uses the second operation amount MV2 to operate the second inverter 222. Therefore, compared with the case where the first operation amount MV1 is used to operate the second inverter 222 even if an abnormality occurs in the first operation amount MV1, the contribution of the first operation amount MV1 to the control toward the target angle θp* can be reduced. In this case, the CPU 322 calculates the second operation amount MV2 while stopping the integral processing M282. Therefore, interference with the control caused by the situation where the output values ​​of the integral processing M281 and M282 are values ​​for eliminating different steady-state deviations can be avoided.

[0057] If an abnormality occurs in the communication between the first microcomputer 301 and the second microcomputer 302, the CPU 322 uses the second operation amount MV2 to operate the second inverter 222. Control is performed so that the q-axis current in the first stator coil 141 is "1 / 2" of the first operation amount MV1, and the q-axis current in the second stator coil 142 is "1 / 2" of the second operation amount MV2. Therefore, the torque of the motor 10 can be set to a value suitable for control toward the target angle θp*. In this case, the CPU 322 calculates the second operation amount MV2 while stopping the integral processing M282. Therefore, interference with the control caused by the situation where the output values ​​of the integral processing M281 and M282 are values ​​for eliminating different steady-state deviations can be avoided.

[0058] If the first microcomputer 301 cannot control the current in the first stator coil 141 in the case of abnormal communication, the CPU 321 notifies the higher-level ECU 50 that the control cannot be performed. When the higher-level ECU 50 gives the CPU 322 an integral processing execution instruction, the CPU 322 calculates the second operation amount MV2 using the output value of the integral processing M282. The CPU 322 can make the rotation angle θp follow the target angle θp* by performing control so that the q-axis current in the second stator coil 142 is the second operation amount MV2.

[0059] The correspondence between the subject matter described in the embodiment and the subject matter described in the “Summary of the Invention” is as follows. Assuming that the variable k is “1” or “2”, the kth drive circuit corresponds to the kth inverter 22k, the kth processing circuit corresponds to the kth microcomputer 30k, and the kth operation amount calculation process corresponds to the feedback operation amount calculation process M20k, the feedforward operation amount calculation process M40k, and the addition process M42k. The output process corresponds to the process of S14. When the process of S42 is executed, the first use operation process corresponds to the second operation signal generation process M442. When the process of S46 is executed, the second use operation process corresponds to the second operation signal generation process M442. The elimination process corresponds to the process of S34. The integral element corresponds to the integral gain multiplication process M262 and the integral process M282, corresponds to the process when the result is determined to be “No” in the process of S40, and corresponds to the process when the result is determined to be “No” in the process of S36. The external device corresponds to the higher-level ECU 50, and corresponds to the process when the result is determined to be “Yes” in the process of S32. The notification process corresponds to the process of S22 , and corresponds to the process when the determination result is “Yes” in the process of S30 .

[0060] At least one of the subjects described in the embodiment may be modified as follows. For example, regarding the instruction from the higher-level ECU, the CPU 321 may output the first operation amount MV1 and the rotation angle θp(1) to the higher-level ECU 50, the CPU 322 may output the second operation amount MV2 and the rotation angle θp(2) to the higher-level ECU 50, and the higher-level ECU 50 may determine which of the first microcomputer 301 and the second microcomputer 302 is normal. When it is determined that the second microcomputer 302 is normal, the higher-level ECU 50 may notify the second microcomputer 302 that the second microcomputer 302 is normal, and the CPU 322 may proceed to the process of S44.

[0061] The elimination process is not limited to a process of stopping the integration process M282 when the second inverter 222 is operated based on the first operation amount MV1. For example, the elimination process may be a process in which, when the operation amount for operating the second inverter 222 is switched from the first operation amount MV1 to the second operation amount MV2, the value held in the integration process M282 is set to "0", and the second operation amount MV2 at the time of switching is set to a value calculated by setting the value held in the integration process M282 to "0".

[0062] For example, if the integral gain Ki is not set to be variable with respect to the feedback operation amount MFBk, the integral element may be a process of multiplying the output value of the integral process M28k by the integral gain Ki in the integral gain multiplication process M26k.

[0063] The feedback operation amount MFBk is not limited to the sum of the output values ​​of the proportional element M24k, the integral element and the differential element. For example, the feedback operation amount MFBk may be the sum of the two output values ​​of the proportional element and the integral element, the sum of the two output values ​​of the integral element and the differential element, or the output value of the integral element.

[0064] The feedforward operation amount MFFk does not essentially need to be calculated based only on the convertible angle (e.g., the target angle θp*). For example, the feedforward operation amount MFFk may be set to be variable depending on the vehicle speed. For example, a value obtained by multiplying the second-order time derivative of the convertible angle by a proportional coefficient may be added.

[0065] It is not essential to calculate the k-th operation amount MVk based on the feedforward operation amount MFFk.

[0066] In the above-described embodiment, the convertible angle is the angle of the steering axis, but is not limited to the angle of the steering axis. For example, the convertible angle may be a steering angle as a tire steering angle.

[0067] In the above-described embodiments, ROM is exemplified as a program memory constituting a processing circuit, but the type of ROM is not described above. For example, ROM may be a non-rewritable memory or an electrically rewritable nonvolatile memory. The program memory is not limited to ROM.

[0068] The processing circuit is not limited to a software processing circuit including a program memory storing a program and a CPU executing the program. For example, the processing circuit may be a dedicated hardware circuit such as an application specific integrated circuit (ASIC) that performs predetermined processing.

[0069] The processing circuit is not limited to one of a software processing circuit and a dedicated hardware circuit. A subset of the processing described above may be performed by a software processing circuit, and the remaining processing may be performed by a dedicated hardware circuit.

[0070] In the above-described embodiment, the controller is exemplified by a device including two systems as a first system and a second system, but is not limited to the device. For example, the controller may also include a third system. Therefore, the controller may include three or more stator coils, three or more drive circuits, and three or more processing circuits. In this case, it is desirable to set one system as a master system and the remaining systems as slave systems.

[0071] The motor is not limited to SPMSM and may be an interior permanent magnet synchronous motor (IPMSM). In the case of IPMSM, it is expected that in the k-th operation signal generation process M44k, the k-th operation amount MVk is a torque command value, and the torque command value is converted into a d-axis current command value and a q-axis current command value. The motor is not limited to a synchronous motor, but may be an induction motor. The motor is not limited to a brushless motor, but may be a brushed DC motor.

[0072] In the above-described embodiment, the drive circuit is exemplified by a three-phase inverter, but is not limited to the three-phase inverter. For example, if a DC motor is used as a motor, an H-bridge circuit can be used as the drive circuit.

[0073] If a DC motor is used as the motor, an H-bridge circuit can be used as the driving circuit.

[0074] It is not essential to provide the relays 261 and 262 or to turn off the relay 261 in the process of S18. In the process of S18, even if the relay 261 is turned off, the relay 241 does not necessarily need to be turned off.

Claims

1. A controller (20) for a motor (10), The motor (10) is configured to steer a steering wheel, and includes a first stator coil (141) and a second stator coil (142) insulated from each other. The controller (20) is configured to operate a first drive circuit (221) connected to the first stator coil (141) and a second drive circuit (222) connected to the second stator coil (142), The controller (20) is characterized by comprising a first processing circuit (301) and a second processing circuit (302) configured to communicate with each other, The first processing circuit (301) is configured to perform first operation amount calculation processing, operation processing and output processing, The first operation amount calculation process is a process of calculating the first operation amount so that a convertible angle based on a detection value from a first angle sensor is fed back to a target angle, wherein the convertible angle is an angle that can be converted into a steering angle of the steering wheel. The operation process is a process of operating the first drive circuit based on the first operation amount, The output process is a process of outputting the first operation amount to the second processing circuit (302), The second processing circuit (302) is configured to execute a second operation amount calculation process, a first use operation process, a second use operation process, and an elimination process, The second operation amount calculation process is a process of calculating the second operation amount so that a convertible angle based on a detection value from a second angle sensor is fed back to the target angle, and the second operation amount calculation process includes the following processes: calculating the second operation amount based on an output of an integral element depending on a difference between the convertible angle and the target angle, The first operation process is a process of operating the second drive circuit (222) based on the first operation amount. The second operation process is a process of operating the second drive circuit (222) based on the second operation amount. The elimination process is a process of eliminating the influence of the integral element before the switching from the first use operation process to the second use operation process from the second operation amount, The second processing circuit (302) is configured to: when an abnormality occurs in the communication between the first processing circuit (301) and the second processing circuit (302), execute a process of switching the first use operation process to the second use operation process, and The second operation amount calculation process includes the following process: when the second use operation process is executed based on the occurrence of abnormality in the communication, the second operation amount is calculated regardless of the integral element, The first processing circuit (301) and the second processing circuit (302) are configured to communicate with an external device, and the external device is configured to output the target angle to the controller (20) from outside the controller (20), and The second operation amount calculation process includes a process of calculating the second operation amount based on the integral element when an instruction to use the integral element is given by the external device.

2. The controller (20) for the motor (10) according to claim 1, characterized in that: The first processing circuit (301) is configured to: in the case where an abnormality occurs in the communication between the first processing circuit (301) and the second processing circuit (302), when an abnormality occurs in the first processing circuit (301), perform notification processing, The notification process is a process of notifying the second processing circuit (302) of the occurrence of the abnormality via the external device, and The second operation amount calculation process includes a process of calculating the second operation amount based on the integral element when the external device gives an instruction to use the integral element based on the notification process.

3. The controller (20) for the motor (10) according to claim 1, characterized in that: The second processing circuit (302) is configured to: when an abnormality occurs so that the first processing circuit (301) stops operating the first driving circuit (221), perform a switching process, wherein the switching process is a process of switching the first use operation process to the second use operation process; and The second operation amount calculation process includes a process of calculating the second operation amount by using the integral element when the second use operation process is executed based on the occurrence of an abnormality causing the first processing circuit (301) to stop operating the first drive circuit (221).

4. A controller (20) for a motor (10), The motor (10) is configured to steer a steering wheel, and includes a first stator coil (141) and a second stator coil (142) insulated from each other. The controller (20) is configured to operate a first drive circuit (221) connected to the first stator coil (141) and a second drive circuit (222) connected to the second stator coil (142), The controller (20) is characterized by comprising a first processing circuit (301) and a second processing circuit (302) configured to communicate with each other, The first processing circuit (301) is configured to perform first operation amount calculation processing, operation processing and output processing, The first operation amount calculation process is a process of calculating the first operation amount so that a convertible angle based on a detection value from a first angle sensor is fed back to a target angle, wherein the convertible angle is an angle that can be converted into a steering angle of the steering wheel. The operation process is a process of operating the first drive circuit based on the first operation amount, The output process is a process of outputting the first operation amount to the second processing circuit (302), The second processing circuit (302) is configured to execute a second operation amount calculation process, a first use operation process, a second use operation process, and an elimination process, The second operation amount calculation process is a process of calculating the second operation amount so that a convertible angle based on a detection value from a second angle sensor is fed back to the target angle, and the second operation amount calculation process includes the following processes: calculating the second operation amount based on an output of an integral element depending on a difference between the convertible angle and the target angle, The first operation process is a process of operating the second drive circuit (222) based on the first operation amount. The second operation process is a process of operating the second drive circuit (222) based on the second operation amount. The elimination process is a process of eliminating the influence of the integral element before the switching from the first use operation process to the second use operation process from the second operation amount, The second processing circuit (302) is configured to: when an abnormality occurs so that the first processing circuit (301) stops operating the first driving circuit (221), perform a switching process, wherein the switching process is a process of switching the first use operation process to the second use operation process; and The second operation amount calculation process includes a process of calculating the second operation amount by using the integral element when the second use operation process is executed based on the occurrence of an abnormality causing the first processing circuit (301) to stop operating the first drive circuit (221).

5. The controller (20) for the motor (10) according to claim 1 or 4, characterized in that: The elimination process includes a process of stopping the integral element in the second operation amount calculation process when the first use operation process is executed.

6. The controller (20) for the motor (10) according to claim 1 or 4, characterized in that: The second operation amount calculation process includes the following process: when the first use operation process is executed, the second operation amount is calculated independently of the integral element, The second processing circuit (302) is configured to: when the absolute value of the difference between the first operation amount and the second operation amount is equal to or greater than a defined value, execute a process of switching the first use operation process to the second use operation process, and The second operation amount calculation process includes a process of calculating the second operation amount independently of the integral element when the second use operation process is executed based on the fact that the absolute value of the difference between the first operation amount and the second operation amount is equal to or greater than the defined value.

7. The controller (20) for the motor (10) according to claim 4, characterized in that: The second processing circuit (302) is configured to: when an abnormality occurs in the communication between the first processing circuit (301) and the second processing circuit (302), execute a process of switching the first use operation process to the second use operation process, and The second operation amount calculation process includes a process of calculating the second operation amount independently of the integral element when the second use operation process is executed based on the occurrence of abnormality in the communication.

8. The controller (20) for the motor (10) according to claim 6, characterized in that: The second operation amount calculation process includes a process of calculating the second operation amount based on the operation amount for feeding forward the convertible angle to the target angle in addition to the operation amount for feeding back the convertible angle to the target angle.

9. The controller (20) for the motor (10) according to claim 1 or 7, characterized in that: The second operation amount calculation process includes a process of calculating the second operation amount based on the operation amount for feeding forward the convertible angle to the target angle in addition to the operation amount for feeding back the convertible angle to the target angle.

Images