Motor control system and method for selectively shorting motor windings

Abstract

A motor control system short-circuits the motor windings of a motor by using a bipolar junction transistor (BJT) controlled by a junction gate field effect transistor (JFET), a BJT controlled by a solid-state relay (SSR), and a depletion metal oxide semiconductor field effect transistor (MOSFET) so that the motor generates a braking torque when all or some of the electric control units of the motor are disabled or fail. The motor control system includes: a motor, which includes a plurality of motor phase terminals; a plurality of electric control units, which are electrically connected to the motor and configured to control the motor, wherein the electric control units are configured to output control signals respectively; and a short-circuit circuit connected between the motor and the electric control units. The short-circuit circuit is configured to short-circuit the motor phase terminals in response to not receiving any control signal from the electric control unit. The short-circuit circuit is configured not to short-circuit the motor phase terminals when at least one of the control signals is received from at least one of the electric control units.

Description

Technical Field

[0001] The present disclosure generally relates to systems, devices and methods for controlling electric motors. More specifically, some embodiments of the present disclosure relate to electric motor control and methods for selectively shorting motor windings to enable the motor to generate braking torque. Background Art

[0002] Vehicles require a steering system to control the direction of travel. In the past, mechanical steering systems have been used. Mechanical steering systems usually include a mechanical linkage or mechanical connection between a steering wheel and the road wheels of the vehicle. Therefore, movement of the steering wheel causes a corresponding movement of the road wheels. The movement of such mechanical systems is usually power-assisted by using a hydraulic assist device or an electric motor.

[0003] Mechanical steering systems are being replaced or supplemented by electrically driven steering systems, which are often referred to as "steer-by-wire" systems. Such steer-by-wire systems replace mechanical linkages, such as between a steering wheel and vehicle wheels, with electrically assisted actuators to varying degrees. Steer-by-wire systems seek to eliminate the physical or mechanical connection between a steering wheel and vehicle wheels by using electronically controlled motors to change the direction of the vehicle wheels and provide feedback to the driver.

[0004] It is with respect to these and other general considerations that the following embodiments are described.In addition, although relatively specific problems have been discussed, it should be understood that these embodiments should not be limited to solving the specific problems recognized in the background art. Summary of the invention

[0005] Technical issues

[0006] An object of the present disclosure is to provide a motor control and method for selectively short-circuiting motor windings so that the motor can generate braking torque.

[0007] Technical Solution

[0008] The features and advantages of the present disclosure will be more readily understood and apparent from the following detailed description, which should be read in conjunction with the accompanying drawings, and the claims that follow the detailed description.

[0009] Various embodiments of the present disclosure may provide a motor control system configured to short-circuit the motor windings of a motor so that the motor generates a braking torque when all or some of the electric control units of the motor are disabled or fail. For example, the motor control system may use a bipolar junction transistor (BJT) controlled by a junction gate field effect transistor (JFET), a BJT controlled by a solid-state relay (SSR), and a depletion metal oxide semiconductor field effect transistor (MOSFET) to short-circuit the motor windings of the motor.

[0010] According to some embodiments of the present disclosure, a motor control system may include: a motor including a plurality of motor phase terminals; a plurality of electric control units electrically connected to the motor and configured to control the motor, wherein the electric control units are configured to output control signals respectively; and a short circuit connected between the motor and the electric control units, the short circuit being configured to short the motor phase terminals in response to not receiving any of the control signals from the electric control units. The short circuit is configured not to short the motor phase terminals when at least one of the control signals is received from at least one of the electric control units.

[0011] The short circuit may include: a first switch electrically connected to the electric control unit, wherein the first switch may be configured to be turned on or off in response to at least one of the control signals output from the electric control unit or one or more input signals associated with the control signal; and a second switch, wherein each of the second switches is electrically connected to a corresponding one of the first switches, and the second switch may be configured to be turned on or off in response to the turning on or off of the first switch to selectively short the motor phase terminals. The first switch may be configured to be turned on in response to not receiving any of the control signals of the electric control unit, and the second switch may be configured to be turned on in response to the turning on of the first switch, so that the motor phase terminals may be shorted together via the second switch. The first switch may be configured to be turned off in response to receiving at least one of the control signals of the electric control unit, and the second switch may be configured to be turned off in response to the turning off of the first switch, so that the motor phase terminals may not be shorted via the second switch.

[0012] The short circuit may further include electrical components connected to the second switches, respectively, and configured to conduct the current flowing from the motor through the second switch in only one direction to form a return path for the current flowing out of the motor. The electrical components are connected in parallel to the second switches, respectively.

[0013] According to some embodiments of the present disclosure, the short-circuit circuit may include: a junction gate field effect transistor (JFET) electrically connected to the electric control unit, the JFET being configured to be turned on or off in response to at least one of the control signals of the electric control unit or one or more input signals associated with the control signal; and a bipolar junction transistor (BJT) electrically connected to the JFETs, respectively, the BJT being configured to be turned on or off in response to the turning on or off of the JFETs to selectively short-circuit the motor phase terminals. The JFETs may have: a first terminal connected between one of the motor phase terminals and one of the electric control units; a second terminal configured to receive at least one of the control signals of the electric control unit or an input signal associated with the at least one of the control signals; and a third terminal. The BJT may have: a first terminal connected between one of the motor terminals and one of the electric control units; a second terminal connected to the third terminal of the JFET; and a third terminal. The short circuit may further include a diode connected in parallel with the BJT, the diode having a first terminal and a second terminal, wherein the first terminal of the diode may be connected to the first terminal of the JFET and the BJT connected between the one of the motor phase terminals and the one of the electronic control unit, and the second terminal of the diode may be connected to the third terminal of the BJT. Alternatively, the short circuit may further include a metal oxide semiconductor field effect transistor (MOSFET) connected in parallel with the BJT, the MOSFET having a first terminal, a second terminal and a third terminal, wherein the first terminal of the MOSFET may be connected to the first terminal of the JFET and the BJT connected between the one of the motor phase terminals and the one of the electronic control unit, and the second terminal and the third terminal of the MOSFET may be connected to the third terminal of the BJT.

[0014] According to certain embodiments of the present disclosure, the system may further include a voltage supply circuit connected between the electronic control unit and the first switch of the short-circuiting circuit, the voltage supply circuit being configured to supply voltage to the first switch using the control signal so that the voltage supplied using the control signal can disconnect the first switch without short-circuiting the motor phase terminals together.

[0015] According to some embodiments of the present disclosure, the short-circuit circuit may include: a solid-state relay (SSR) electrically connected to the electric control unit, the SSR being configured to be turned on or off in response to at least one of the control signals output from the electric control unit; and bipolar junction transistors (BJTs) electrically connected to the SSRs, respectively, the BJTs being configured to be turned on or off in response to the turning on or off of the SSRs to selectively short-circuit the motor phase terminals. The SSRs may be configured to be normally closed and open when receiving at least one of the control signals output from the electric control unit. The BJTs may be configured to be turned on when the SSRs are closed so that the motor phase terminals may be short-circuited together, and to be opened when the SSRs are opened by receiving at least one of the control signals output from the electric control unit. At least one of the SSRs may have: a first terminal connected between one of the motor phase terminals and one of the electric control units; a second terminal configured to receive at least one of the control signals output from the electric control unit; and a third terminal connected to one of the BJTs. At least one of the BJTs may have: a first terminal connected between the one of the motor phase terminals and the one of the electric control units; a second terminal connected to the at least one of the SSRs; and a third terminal connected to other BJTs. The short circuit may further include diodes connected in parallel with the BJTs, respectively, each of the diodes having a first terminal and a second terminal, wherein the first terminal of at least one of the diodes may be connected to the first terminals of the at least one of the SSRs and the at least one of the BJTs connected between the one of the motor phase terminals and the one of the electric control units, and the second terminal of the at least one of the diodes may be connected to the third terminal of the at least one of the BJTs. Alternatively, the short-circuit circuit may further include MOSFETs respectively connected in parallel with the BJTs, each of the MOSFETs having a first terminal, a second terminal and a third terminal, wherein the first terminal of at least one of the MOSFETs may be connected to a first terminal of at least one of the SSRs and at least one of the BJTs connected between one of the motor terminals and one of the electronic control units, and the second terminal and the third terminal of the at least one of the MOSFETs may be connected to the third terminal of the at least one of the BJTs.

[0016] According to certain embodiments of the present disclosure, the short-circuiting circuit may include a plurality of first switches, wherein the first switches are connected between the motor phase terminals, and the first switches are configured to be turned on in response to not receiving any of the control signals output from the electronic control unit to short-circuit the motor phase terminals together, and to be turned off in response to receiving at least one of the control signals output from the electronic control unit.

[0017] According to some embodiments of the present disclosure, the system may further include a plurality of power supply sources connected between the electronic control unit and the first switch, and the power supply sources are connected to one or more power supplies or to a corresponding one of the electronic control units to receive power. Each of the power supply sources may be configured to supply a voltage capable of disconnecting the first switch to the first switch using the received power in response to a corresponding one of the control signals output from the electronic control unit.

[0018] According to some embodiments of the present disclosure, the system may further include: a plurality of second switches configured to receive a corresponding one of the control signals from a corresponding one of the electronic control units, and power from one or more power supplies or the corresponding one of the electronic control units, and output the power in response to the corresponding one of the control signals; and a plurality of isolated power supplies, each of which is configured to supply a voltage capable of disconnecting the first switch to the first switch using the power received from the corresponding one of the second switches. The corresponding one of the isolated power supplies may be connected between the corresponding one of the first switches and the corresponding one of the second switches.

[0019] This Summary is provided to introduce some concepts in a simplified form that are further described in the Detailed Description below. This Summary is not intended to identify key features or essential features of the claimed subject matter, nor is it intended to be used to limit the scope of the claimed subject matter.

[0020] Beneficial Effects

[0021] A motor control system according to various embodiments of the present disclosure may provide a motor control and method for selectively short-circuiting motor windings so that the motor generates braking torque. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Various embodiments according to the present disclosure will be described with reference to the accompanying drawings, in which:

[0023] Figure 1 is a schematic diagram of a vehicle including a steer-by-wire system according to one embodiment of the present disclosure;

[0024] Figure 2 is a schematic diagram of a motor control system according to one embodiment of the present disclosure; and

[0025] Figures 3 to 8 is a conceptual circuit diagram of a circuit for selectively shorting motor phase terminals according to an embodiment of the present disclosure.

[0026] Corresponding reference numerals and symbols in the different figures generally refer to corresponding parts unless otherwise indicated.The figures are drawn to clearly illustrate the relevant aspects of the embodiments and are not necessarily drawn to scale. DETAILED DESCRIPTION

[0027] In the following detailed description, reference is made to the accompanying drawings, which form a part of this disclosure and in which are shown by way of illustration specific embodiments in which the invention may be practiced. These embodiments are described in sufficient detail to enable those skilled in the art to practice the invention, and it is understood that other embodiments may be utilized and that structural, logical, and electrical changes may be made without departing from the spirit and scope of the invention. Therefore, the following detailed description should not be taken in a limiting sense, and the scope of the invention is limited only by the appended claims and their equivalents. Like reference numerals in the figures refer to like parts, as should be apparent from the context of use.

[0028] Now please refer to Figure 1 , shows a steer-by-wire system 10 used in a vehicle 1. The steer-by-wire system 10 allows a driver or operator of the vehicle 1 to control the direction of the vehicle 1 or the direction of the road wheels 30 of the vehicle 1 by manipulating a steering wheel 20. The steering wheel 20 is operatively coupled to a steering shaft (or steering column) 22. The steering wheel 20 may be connected to the steering shaft 22 directly or indirectly. For example, the steering wheel 20 may be connected to the steering shaft 22 by means of gears, shafts, belts, and / or any connection means. The steering shaft 22 may be mounted within a housing 24 such that the steering shaft 22 may rotate within the housing 24.

[0029] The vehicle wheel 30 may be connected to a knuckle, which in turn is connected to a tie rod. The tie rod is connected to a steering assembly 32. The steering assembly 32 may include a steering actuator motor 34 (e.g., an electric motor) and a steering rod 36. The steering rod 36 may be operatively coupled to the steering actuator motor 34 such that the steering actuator motor 34 is adapted to move the steering rod 36. Movement of the steering rod 36 controls the direction of the vehicle wheel 30 via the knuckle and the tie rod.

[0030] One or more sensors 40 may be configured to detect the position, angular displacement or travel 25 of the steering shaft 22 or steering wheel 20, and the torque of the angular displacement. The sensor 40 provides an electrical signal indicative of the angular displacement and the torque 25 to the controller 50. The controller 50 sends and / or receives signals to / from the steering actuator motor 34 to actuate the steering actuator motor 34 in response to the angular displacement 25 of the steering wheel 20.

[0031] In use, the steering wheel 20 is angularly displaced 25 so that the steering shaft 22 may also be angularly displaced. The sensor 40 detects the angular displacement and torque 25 of the steering shaft 22, and the sensor 40 sends a signal to the controller 50 indicating the relative amount of the angular displacement of the steering shaft 22. The controller 50 sends a signal to the steering actuator motor 34 indicating the relative amount of the angular displacement 30. In response, the steering actuator motor 34 moves the steering rod 36 laterally so that the road wheels 30 are turned. Therefore, the controller 50 controls the movement distance of the steering rod 36 based on the amount of the angular displacement 25 of the steering shaft 22. The movement of the steering rod 36 manipulates the tie rod and the steering knuckle to reposition the road wheels 30 of the vehicle 1. Therefore, when the steering wheel 20 is turned, the road wheels 30 are turned.

[0032] In a steer-by-wire system, the steering wheel 20 may be mechanically isolated from the road wheels 30. For example, the steer-by-wire system does not have a mechanical link connecting the steering wheel 25 to the vehicle wheels 30. Therefore, the steer-by-wire system needs to provide the driver or operator with the same "road feel" that the driver receives with a direct mechanical link. In addition, it is desirable to have a device that provides a mechanical backup "road feel" in the event of various electronic failures in the steer-by-wire system. In addition, a device is needed that provides a positive on-center feel and accurate torque changes when the handwheel is rotated.

[0033] Thus, the vehicle 1 may include a feedback actuator (FBA) or a steering feel actuator (SFA) 28. The feedback actuator or steering feel actuator 28 may include an electric motor (e.g. Figure 2A motor 210 of the steering wheel 20 is connected to the steering shaft or steering column 22. For example, a gear or belt assembly can connect the output of the feedback actuator 28 to the steering shaft 22. Alternatively, the feedback actuator 28 can be directly coupled to the steering shaft 22. The feedback actuator 28 can be actuated to provide resistance to the rotation of the steering wheel 20. The controller 50 is operatively connected to the sensor 40 and the feedback actuator 28. The controller 50 receives a signal indicating the applied torque and angular rotation of the steering wheel 20 from the sensor 40. In response to the signal from the sensor 40, the controller 50 generates and transmits a signal corresponding to the torque and angular rotation of the steering wheel 20 sensed by the sensor 40, and the feedback actuator 28 generates a resistance torque to the rotation of the steering wheel 20 in response to the signal of the controller 50 to provide a road feel to the driver. However, when the feedback from the feedback actuator 28 is eliminated due to a system failure such as a failure of the inverter and its control, the driver will have an uncomfortable feeling of being disconnected from the road wheels, less in control, and will tend to oversteer the vehicle, especially in demanding situations such as tight or sudden turns.

[0034] Therefore, according to some embodiments of the present disclosure, the motor control system is configured to short-circuit the motor windings of the motor included in, for example but not limited to, the feedback actuator or the steering feel actuator, with or without utilizing the battery power available in the vehicle, so as to enable the motor to provide braking torque to the steering wheel when all or some of the electronic control units of the feedback actuator or the steering feel actuator are disabled or fail. This can prevent the driver from oversteering.

[0035] Figure 2 is a schematic diagram of a motor control system according to one embodiment of the present disclosure.

[0036] Power supplies 200-1 to 200-N (N is a positive integer greater than 1) are configured to supply power to a corresponding one of the electronic control units (ECUs) 1 to N. Power supplies 200-1 to 200-N supply power to a corresponding one of the ECUs 1 to N. For example, the power supplies 200-1 to 200-N may be batteries 205-1 to 205-N. The power supplies 200-1 to 200-N may be electrically connected to the ECUs 1 to N via power lines PW-1 to PW-N and ground lines GND-1 to GND-N, respectively. Alternatively, the power lines PW-1 to PW-N and the ground lines GND-1 to GND-N of the power supplies 200-1 to 200-N may be directly connected to the short circuit 220 and the ECUs 1 to N.

[0037] The motor 210 may be, for example but not limited to, a multi-phase motor including a plurality of motor windings 215-1 to 215-M (M is a positive integer greater than 1). The motor 210 may have a plurality of motor phase terminals MP-1 to MP-M, which are connected to a corresponding one of the motor windings 215-1 to 215-M. For example, the motor 210 may be a multi-phase AC permanent magnet motor. In the present embodiment, the motor 210 may be a three-phase permanent magnet motor having a U-phase winding 215-1, a V-phase winding 215-2, and a W-phase winding 215-3, but it should be understood that the embodiments of the present disclosure should not be limited thereto. It will be appreciated by those of ordinary skill in the art that the present disclosure may be implemented with a two-phase motor or a motor having more than three phases.

[0038] ECU 1 to N includes multi-phase (M-phase) inverter INV 1-1 to NM. Inverter INV 1-1 to NM is connected to motor phase terminals MP-1 to MP-M connected to corresponding one of motor windings 215-1 to 215-M. Inverter INV 1-1 to NM receives power from power supply 200-1 to 200-N and converts the direct current (DC) voltage provided from power supply 200-1 to 200-N into alternating current (AC). The output generated by inverter INV 1-1 to NM is applied to motor windings 215-1 to 215-M via motor phase terminals MP-1 to MP-M to drive multi-phase (M-phase) motor 210. ECU 1 to N also generates control signals CTL-1 to CTL-N. For example, the control signals CTL-1 to CTL-N may have substantially the same voltage as the battery voltage of the batteries 205-1 to 205-N of the power supplies 200-1 to 200-N, but it should be understood that the embodiments of the present disclosure should not be limited thereto. Alternatively, the voltage of the control signals CTL-1 to CTL-N may be different from the battery voltage of the batteries 205-1 to 205-N of the power supplies 200-1 to 200-N. The ECUs 1 to N may convert the battery voltages of the batteries 205-1 to 205-N into different voltages, which are supplied to the short circuit 220.

[0039] Alternatively, the ECUs 1 to N supply power to the short circuit via the terminals VSUP 1 to VSUP N. Alternatively, the terminals VSUP 1 to VSUP N of the short circuit 220 may be directly connected to the power sources 200 - 1 to 200 -N.

[0040] ECUs 1-N may have, for example but not limited to, one or more of circuits, microprocessors, or computers that monitor and physically change operating conditions of motor control system 15. ECUs 1-N may also be configured to accept inputs and outputs from a variety of input and output devices for receiving or sending values.

[0041] The short circuit 220 is connected between the ECUs 1 to N and the motor phase terminals MP-1 to MP-M of the motor 210. The short circuit 220 is configured to selectively short the motor phase terminals MP-1 to MP-M in response to one or more of the control signals CTL-1 to CTL-N received from the ECUs 1 to N. For example, when the short circuit 220 does not receive a control signal from all the ECUs 1 to N, such as when all the ECUs 1 to N are disabled or fail (e.g., all the inverters of the ECUs 1 to N are disabled or fail), the short circuit 220 is configured to short the motor phase terminals MP-1 to MP-M so that the motor 210 can generate a braking torque. However, when the shorting circuit 220 receives at least one of the control signals CTL-1 to CTL-N from at least one of the ECUs 1 to N, for example, when any one of the ECUs 1 to N is enabled, the shorting circuit 220 is configured to eliminate the shorting of the motor phase terminals MP-1 to MP-M or not short-circuit the motor phase terminals MP-1 to MP-M.

[0042] Figure 3 is a conceptual circuit diagram of the short circuit 220 according to one embodiment of the present disclosure.

[0043] The short circuit 220 may include a plurality of first switches SA1-1 to SA1-M. The first switches SA1-1 to SA1-M are connected to the motor phase terminals MP-1 to MP-N, respectively. The first switches SA1-1 to SA1-M are also electrically connected to the ECUs 1 to N and are configured to receive an input signal IN related to the control signals CTL-1 to CTL-N. The input signal IN may be, for example but not limited to, the control signals CTL-1 to CTL-N themselves, any signal generated using at least one of the control signals CTL-1 to CTL-N (e.g., a signal generated by a charge pump, a negative voltage source, or an isolated power supply using at least one of the control signals CTL-1 to CTL-N), or any signal directly or indirectly related to at least one of the control signals CTL-1 to CTL-N.

[0044] In a first exemplary embodiment, Figure 3 and Figure 4 As shown in , the voltage supply circuit 310 can be connected between the electric control units ECU 1 to N and the first switches SA1-1 to SA1-M of the short circuit 220. The voltage supply circuit 310 can be configured to receive control signals CTL-1 to CTL-N and supply voltage to the first switches SA1-1 to SA1-M using the control signals CTL-1 to CTL-N so that the voltage supplied by the voltage supply circuit 310 can disconnect the first switches SA1-1 to SA1-M. Therefore, the voltage supply circuit 310 can output the input signal IN using the control signals CTL-1 to CTL-N. Although in Figure 3 and Figure 4 In the exemplary embodiment of FIG. 2 , the voltage supply circuit 310 is included in the short circuit 220 , but the voltage supply circuit 310 may be a circuit separate from the short circuit 220 .

[0045] In a second exemplary embodiment, as Figure 5 and Figure 6 As shown in , the input signal IN may be the control signals CTL-1 to CTL-N themselves. The voltages of the control signals CTL-1 to CTL-N may be within a range that may turn off the first switches SB1-1 to SB1-M.

[0046] The diodes 2-1 to 2-N are respectively connected to the terminals C-1 to CN, which are configured to receive control signals CTL-1 to CTL-N from the ECUs 1 to N. The diodes 2-1 to 2-N may perform an OR function on the control signals CTL-1 to CTL-N so that at least one of the control signals CTL-1 to CTL-N received via the terminals C-1 to CN may be provided to the voltage supply circuit 310 or the first switches SA1-1 to SA1-M.

[0047] The resistors R-1 to RN are respectively connected to terminals G-1 to GN, which are connected to grounds of the electric control units ECU 1 to N. The resistors R-1 to RN may be configured to provide isolation between the grounds of the electric control units ECU 1 to N.

[0048] The first switches SA1-1 to SA1-M can be turned on (i.e., closed) or turned off (i.e., open) in response to one or more input signals associated with the control signals CTL-1 to CTL-N so that the motor phase terminals MP-1 to MP-N are selectively shorted. For example, the first switches SA1-1 to SA1-M are normally turned on to conduct current and are turned off when a voltage greater than or less than a threshold is received. When no input signal associated with the control signals CTL-1 to CTL-N is received, the first switches SA1-1 to SA1-M are turned on. However, when any of the control signals CTL-1 to CTL-N is received from one of the ECUs 1 to N, the first switches SA1-1 to SA1-M are turned off.

[0049] The short-circuiting circuit 220 may further include a plurality of second switches SA2-1 to SA2-M. Each of the second switches SA2-1 to SA2-M may be electrically connected to a corresponding one of the first switches SA1-1 to SA1-M. The second switches SA2-1 to SA2-M may be configured to be turned on or off in response to the turning on or off of the first switches SA1-1 to SA1-M. For example, when the first switches SA1-1 to SA1-M are turned on, the second switches SA2-1 to SA2-M may short-circuit the motor phase terminals MP-1 to MP-M. However, when the first switches SA1-1 to SA1-M are turned off, the second switches SA2-1 to SA2-M may not short-circuit the motor phase terminals MP-1 to MP-M, or may eliminate the short-circuiting of the motor phase terminals MP-1 to MP-M. The number of the first switches SA1-1 to SA1-M and the second switches SA2-1 to SA2-M may correspond to the number of phases of the motor 210. For example, in Figure 3 In the embodiment, since the motor 210 is a three-phase motor, the short circuit 220 has three (3) first switches SA1-1, SA1-2, SA1-3 and three (3) second switches SA2-1, SA2-2, SA2-3. However, the short circuit 220 may have a different number of first switches SA1-1 to SA1-M and / or second switches SA2-1 to SA2-M than the number of phases of the motor 210.

[0050] For the purpose of illustration, Figure 3 In this exemplary embodiment shown, motor 210 is shown as a three-phase motor having phases U, V, W, and two (2) ECUs (ECU 1 and ECU 2) are connected to short circuit 220. However, the present disclosure is not limited thereto.

[0051] exist Figure 3 In the exemplary embodiment shown, the first switches SA1-1, SA1-2, SA1-3 may be junction gate field effect transistors (JFETs). For example, the first switches SA1-1, SA1-2, SA1-3 may be N-channel JFETs. BJTs SA2-1, SA2-2, SA2-3 are connected to JFETs SA1-1, SA1-2, SA1-3, respectively. However, those skilled in the art will recognize that other transistor types, including P-channel JFETs, may be used in place of N-channel JFETs, and substitutions may be made to replace N-channel JFETs with P-channel JFETs by modifying connections and adding or removing other electrical components. In addition, any switch, such as a transistor, that is turned on when the voltage between the first terminal of the switch and the second terminal of the switch is lower than a threshold value (or higher than a threshold value) and is turned off when the voltage between the first terminal of the switch and the second terminal of the switch is higher than a threshold value (or lower than a threshold value) may be used in place of the JFET.

[0052] The short circuit 220 is connected to the terminals C-1 and C-2 respectively. Figure 2 ECU 1 and ECU 2 receive control signals CTL-1 and CTL-2. The control signals CTL-1 and CTL-2 received from ECU 1 and ECU 2 are provided to first terminals (e.g., gates) of JFETs SA1-1, SA1-2, and SA1-3. Second terminals (e.g., sources) of JFETs SA1-1, SA1-2, and SA1-3 are connected to each other. A third terminal (e.g., drain) of JFET SA1-1 is connected to a U-phase motor terminal MP-1 connected to motor winding 215-1, a third terminal (e.g., drain) of JFET SA1-2 is connected to a V-phase motor terminal MP-2 connected to motor winding 215-2, and a third terminal (e.g., drain) of JFET SA1-3 is connected to a W-phase motor terminal MP-3 connected to motor winding 215-3.

[0053] The short circuit 220 further includes a second switch SA2-1, SA2-2, SA2-3. The second switches SA2-1, SA2-2, SA2-3 may be bipolar junction transistors (BJTs). The BJTs SA2-1, SA2-2, SA2-3 are connected to the JFETs SA1-1, SA1-2, SA1-3, respectively. The second switches BJTs SA2-1, SA2-2, SA2-3 may be, for example, but not limited to, NPN transistors. However, those skilled in the art will recognize that other transistor types including PNP transistors may be used in place of the NPN BJTs shown in this exemplary example, and that this replacement may be made to replace the NPN BJTs with PNT BJTs by modifying the connections and adding or removing other electrical components. In addition, the BJTs may be replaced with any switches such as transistors that may be turned on in response to an input current or that may control a current and may be turned off when no input current is received. The second switches BJTs SA2-1, SA2-2, SA2-3 may be configured to be turned on in response to current from the motor 210 via the JFETs SA1-1, SA1-2, SA1-3 when the JFETs SA1-1, SA1-2, SA1-3 are turned on. The current provided to the second switches BJTs SA2-1, SA2-2, SA2-3 may be generated from the motor 210 by the driver rotating the steering wheel 20, which in turn causes the rotor included in the motor 210 to rotate. However, the second switches BJTs SA2-1, SA2-2, SA2-3 may be configured to be turned off when the JFETs SA1-1, SA1-2, SA1-3 are turned off.

[0054] The first terminals (e.g., bases) of the BJTs SA2-1, SA2-2, SA2-3 are connected to the second terminals (e.g., sources) of the JFETs SA1-1, SA1-2, SA1-3 to receive current from the JFETs SA1-1, SA1-2, SA1-3. The second terminals (e.g., emitters) of the BJTs SA2-1, SA2-2, SA2-3 are connected to each other so that the motor phase terminals MP-1 to MP-3 can be shorted when the BJTs SA2-1, SA2-2, SA2-3 are turned on. The third terminal (e.g., collector) of BJT SA2-1 is connected to the U-phase motor terminal MP-1 connected to the motor winding 215-1, the third terminal (e.g., collector) of BJT SA2-2 is connected to the V-phase motor terminal MP-2 connected to the motor winding 215-2, and the third terminal (e.g., collector) of BJT SA2-3 is connected to the W-phase motor terminal MP-3 connected to the motor winding 215-3.

[0055] The diodes D1-1, D1-2, D1-3 may be connected to the second switches SA2-1, SA2-2, SA2-3, respectively. For example, each of the diodes D1-1, D1-2, D1-3 is connected in parallel with a corresponding one of the BJTs SA2-1, SA2-2, SA2-3. The diodes D1-1, D1-2, D1-3 may be configured to conduct current flowing from the motor 250 through the BJTs SA2-1, SA2-2, SA2-3 in only one direction to form a return path for the current flowing from the motor 250. Each of the diodes D1-1, D1-2, D1-3 has a first terminal (e.g., a cathode) and a second terminal (e.g., an anode). The first terminals (e.g., cathodes) of the diodes D1-1, D1-2, and D1-3 may be connected to the first terminals of the JFETs SA1-1, SA1-2, and SA1-3 and the BJTs SA2-1, SA2-2, and SA2-3 connected between one of the motor phase terminals MP-1 to MP-3 and one of the electronic control units ECU 1 and ECU 2. The second terminals (e.g., anodes) of the diodes D1-1, D1-2, and D1-3 are connected to the third terminals (e.g., collectors) of the BJTs SA2-1, SA2-2, and SA2-3. Although Figure 3 Diodes D1-1, D1-2, D1-3 are used, but any electrical component that can conduct current in only one direction and limit the flow of current in the other direction can replace diodes D1-1, D1-2, D1-3. Figure 4 As shown in FIG. 5 , metal oxide semiconductor field effect transistors (MOSFETs) MA1 , MA2 , MA3 (eg, N-channel MOSFETs) may be used instead of diodes D1 - 1 , D1 - 2 , D1 - 3 .

[0056] In operation, when all ECUs 1 and 2 are disabled or fail (e.g., all inverters of ECUs 1 and 2 are disabled or fail), the voltage of control signals CTL-1 and CTL-2 input from ECUs 1 and 2 via terminals C-1 and C-2 is 0 V. Then, the voltage supply circuit 310 does not provide an input signal IN or provides an input signal IN of 0 V to the gates of JFETs SA1-1, SA1-2, SA1-3, and the gates of JFETs SA1-1, SA1-2, SA1-3 are at 0 V. Because the gate-source voltage of JFETs SA1-1, SA1-2, SA1-3 is 0 V, and JFETs SA1-1, SA1-2, SA1-3 are normally-on devices, JFETs SA1-1, SA1-2, SA1-3 are turned on (i.e., closed). This causes the current flowing out of the motor 210 to flow through the JFETs SA1-1, SA1-2, SA1-3. Furthermore, the current flowing to the base of BJT SA2-1, SA2-2, SA2-3 through JFET SA1-1, SA1-2, SA1-3 turns on BJT SA2-1, SA2-2, SA2-3, and then the current from motor 210 flows through BJT SA2-1, SA2-2, SA2-3 and passes through the return path formed for the current flowing out of motor 250. Figure 3 The diodes D1-1, D1-2, D1-3 (or Figure 4 The MOSFETs MA1, MA2, MA3) of the motor 210 are returned to the motor phase terminals MP-1, MP-2, MP-3 so that the motor phase terminals MP-1, MP-2, MP-3 can be shorted together. This results in braking of the motor 210. The motor 210 can act as a brake and / or damper to counteract any action applied to the motor 210.

[0057] However, if any one of the ECUs 1 and 2 is enabled, the control signals CTL1 and CTL2 received from the ECUs 1 and 2 via CT-1 and CT-2 are input to the voltage supply circuit 310, and the voltage supply circuit 310 provides the gates of the JFETs SA1-1, SA1-2, and SA1-3 with an input signal IN at a voltage that can disconnect (i.e., open) the JFETs. Then, because the gate-source voltage of the JFETs SA1-1, SA1-2, and SA1-3 is at a voltage that can disconnect the JFETs, the JFETs SA1-1, SA1-2, and SA1-3 are disconnected. This causes no current to flow to the bases of the BJTs SA2-1, SA2-2, and SA2-3, and prohibits the BJTs SA2-1, SA2-2, and SA2-3 from being turned on. In turn, the motor phase terminals MP-1, MP-2, and MP-3 are not shorted together, or the shorted state of the motor 210 is eliminated.

[0058] Therefore, when all inverters INV1-1 to INVNM of ECU 1 to N are disabled or fail, the short circuit 220 is configured to short the motor phase terminals MP-1 to MP-M connected to the motor windings 215-1 to 215-M so that the motor 210 can generate a braking torque. In the case where the motor 210 is included in the feedback actuator or the steering feel actuator 28, when all or some of the electronic control units of the feedback actuator or the steering feel actuator 28 are disabled or fail, the feedback actuator or the steering feel actuator 28 can generate a braking torque on the steering wheel 20 and prevent the driver from being provided with an uncomfortable feeling of separation from the road wheels or the driver from oversteering the vehicle.

[0059] Figure 5 is a conceptual circuit diagram of a short circuit 220 according to another embodiment of the present disclosure.

[0060] The short circuit 220 may include a plurality of first switches SB1-1 to SB1-M. The first switches SB1-1 to SB1-M are connected to the motor phase terminals MP-1 to MP-N, respectively. The first switches SB1-1 to SB1-M are also electrically connected to the ECUs 1 to N and are configured to receive control signals CTL-1 to CTL-N. Alternatively, as described above with reference to Figure 3 and Figure 4 As described above, the first switches SB1 - 1 to SB1 -M may receive an input signal IN generated by other electrical components such as the voltage supply circuit 310 using control signals CTL- 1 to CTL-N.

[0061] The diodes 2-1 to 2-N are respectively connected to terminals C-1 to CN configured to receive control signals CTL-1 to CTL-N from the ECUs 1 to N. The diodes 2-1 to 2-N may perform an OR function on the control signals CTL-1 to CTL-N so that at least one of the control signals CTL-1 to CTL-N received via the terminals C-1 to CN may be provided to the first switches SB1-1 to SB1-M.

[0062] The resistors R-1 to RN are respectively connected to terminals G-1 to GN, which are connected to grounds of the electric control units ECU 1 to N. The resistors R-1 to RN may be configured to provide isolation between the grounds of the electric control units ECU 1 to N.

[0063] The first switches SB1-1 to SB1-M can be turned on (i.e., closed) or turned off (i.e., open) in response to at least one of the control signals CTL-1 to CTL-N so that the motor phase terminals MP-1 to MP-N are selectively short-circuited. For example, the first switches SB1-1 to SB1-M are normally closed (ON) to conduct current and are turned off when a voltage greater than a threshold value (or less than a threshold value) is received. The first switches SB1-1 to SB1-M are turned on when no control signals CTL-1 to CTL-N are received. However, when any of the control signals CTL-1 to CTL-N from one of the ECUs 1 to N is received, the first switches SB1-1 to SB1-M are turned off.

[0064] The short-circuiting circuit 220 may further include a plurality of second switches SB2-1 to SB2-M. Each of the second switches SB2-1 to SB2-M may be electrically connected to a corresponding one of the first switches SB1-1 to SB1-M. The second switches SB2-1 to SB2-M may be configured to be turned on or off in response to the turning on or off of the first switches SB1-1 to SB1-M. For example, when the first switches SB1-1 to SB1-M are turned on, the second switches SB2-1 to SB2-M short-circuit the motor phase terminals MP-1 to MP-M together. However, when the first switches SB1-1 to SB1-M are turned off, the second switches SB2-1 to SB2-M may not short-circuit the motor phase terminals MP-1 to MP-M, or may eliminate the short-circuiting of the motor phase terminals MP-1 to MP-M. The number of the first switches SB1-1 to SB1-M and the second switches SB2-1 to SB2-M may correspond to the number of phases of the motor 210. For example, in Figure 5 In the embodiment, since the motor 210 is a three-phase motor, the short circuit 220 has three (3) first switches SB1-1, SB1-2, SB1-3 and three (3) second switches SB2-1, SB2-2, SB2-3. However, the short circuit 220 may have a different number of first switches SB1-1 to SB1-M and / or second switches SB2-1 to SB2-M than the number of phases of the motor 210.

[0065] For the purpose of illustration, Figure 5 In this exemplary embodiment shown, the motor 210 is shown as a three-phase motor having phases U, V, W, and two (2) ECUs (ECU 1 and ECU 2) are connected to the short circuit 220. However, the present disclosure is not limited thereto.

[0066] exist Figure 5In the exemplary embodiment shown, the first switches SB1-1, SB1-2, SB1-3 can be solid-state relays (SSRs). An SSR is an electronic switching device that turns on or off when a small external voltage is applied to its control terminals. For example, an SSR includes: a sensor that responds to an appropriate input (control signal); a solid-state electronic switching device that switches power to a load circuit; and a coupling mechanism that enables a control signal to activate the switch without mechanical parts. Since it has a very high, almost infinite resistance when not conducting (open circuit) and a very low resistance when conducting (closed), the SSR can provide complete electrical isolation between its input and output contacts, making its output function like a conventional electrical switch. SSRs SB1-1, SB1-2, SB1-3 can be configured to be normally closed. For example, when SSRs SB1-1, SB1-2, SB1-3 do not receive any control signals CTL-1 and CTL-2, SSRs SB1-1, SB1-2, SB1-3 are closed. However, when at least one of the control signals CTL-1 and CTL-2 is received, the SSRs SB1-1, SB1-2, SB1-3 are opened. However, any switch such as a transistor that can be turned on when the voltage between the first terminal of the switch and the second terminal of the switch is lower than the threshold value (or higher than the threshold value) and can be turned off when the voltage between the first terminal of the switch and the second terminal of the switch is higher than the threshold value (or lower than the threshold value) (or vice versa) can be used instead of the SSR.

[0067] The short circuit 220 is connected to the terminals C-1 and C-2 respectively. Figure 2 ECU 1 and ECU 2 receive control signals CTL-1 and CTL-2. The control signals CTL-1 and CTL-2 received from ECU 1 and ECU 2 are provided to first input terminals of SSR SB1-1, SB1-2, SB1-3. Second input terminals of SSR SB1-1, SB1-2, SB1-3 may be connected to terminals G-1 and G-2 connected to the ground of the electric control units ECU 1 and 2 or any other components. A first output terminal of SSR SB1-1 is connected to U-phase motor terminal MP-1 connected to motor winding 215-1, a first output terminal of SSR SB1-2 is connected to V-phase motor terminal MP-2 connected to motor winding 215-2, and a first output terminal of SSR SB1-3 is connected to W-phase motor terminal MP-3 connected to motor winding 215-3. Second output terminals of SSR SB1-1, SB1-2, SB1-3 are connected to second switches SB2-1, SB2-2, SB2-3, respectively.

[0068] The short circuit 220 further includes second switches SB2-1, SB2-2, SB2-3. The second switches SB2-1, SB2-2, SB2-3 may be bipolar junction transistors (BJTs). The BJTs SB2-1, SB2-2, SB2-3 are connected to the SSRs SB1-1, SB1-2, SB1-3, respectively. The second switches BJTs SB2-1, SB2-2, SB2-3 may be, for example, but not limited to, NPN transistors. However, those skilled in the art will recognize that other transistor types including PNP transistors may be used in place of the NPN BJTs shown in this exemplary example, and that substitutions may be made to replace the NPN BJTs with PNP BJTs by modifying connections and adding or removing other electrical components. In addition, the BJTs may be replaced with any switch such as a transistor that may be turned on or may control current in response to an input current and may be turned off when no input current is received. The second switches BJTs SB2-1, SB2-2, SB2-3 may be configured to be turned on in response to current from the motor 210 via the SSRs SB1-1, SB1-2, SB1-3 when the SSRs SB1-1, SB1-2, SB1-3 are turned on (i.e., closed). The current provided to the second switches BJTs SB2-1, SB2-2, SB2-3 may be generated from the motor 210 by the driver rotating the steering wheel 20, which in turn causes the rotor included in the motor 210 to rotate. However, the second switches BJTs SB2-1, SB2-2, SB2-3 may be configured to be turned off when the SSRs SB1-1, SB1-2, SB1-3 are turned off (i.e., open circuit).

[0069] The first terminals (e.g., bases) of the BJTs SB2-1, SB2-2, SB2-3 are connected to the second output terminals of the SSRs SB1-1, SB1-2, SB1-3 to receive current from the SSRs SB1-1, SB1-2, SB1-3. The second terminals (e.g., emitters) of the BJTs SB2-1, SB2-2, SB2-3 are connected to each other so that when the BJTs SB2-1, SB2-2, SB2-3 are turned on, the motor phase terminals MP-1 to MP-3 can be short-circuited. The third terminal (e.g., collector) of BJT SB2-1 is connected to the U-phase motor terminal MP-1 connected to the motor winding 215-1, the third terminal (e.g., collector) of BJT SB2-2 is connected to the V-phase motor terminal MP-2 connected to the motor winding 215-2, and the third terminal (e.g., collector) of BJT SB2-3 is connected to the W-phase motor terminal MP-3 connected to the motor winding 215-3.

[0070] The diodes D1-1, D1-2, D1-3 may be connected to the second switches SB2-1, SB2-2, SB2-3, respectively. For example, each of the diodes D1-1, D1-2, D1-3 is connected in parallel with a corresponding one of the BJTs SB2-1, SB2-2, SB2-3. The diodes D1-1, D1-2, D1-3 may be configured to conduct current flowing from the motor 210 through the SSRs SB1-1, SB1-2, SB1-3 in only one direction to form a return path for the current flowing from the motor 210. Each of the diodes D1-1, D1-2, D1-3 has a first terminal (e.g., a cathode) and a second terminal (e.g., an anode). The first terminals (e.g., cathodes) of the diodes D1-1, D1-2, D1-3 may be connected to the first output terminals of the SSRs SB1-1, SB1-2, SB1-3 connected between the motor phase terminals MP-1, MP-2, MP-3 and the electronic control unit outputs ECU OUT 1-1, ECU OUT 1-2, ECU OUT1-3 and ECU OUT 2-1, ECU OUT 2-2, ECU OUT 2-3 and the third terminals (e.g., collectors) of the BJTs SB2-1, SB2-2, SB2-3. The second terminals (e.g., anodes) of the diodes D1-1, D1-2, D1-3 are connected to the second terminals (e.g., emitters) of the BJTs SB2-1, SB2-2, SB2-3. Although Figure 5 Diodes D1-1, D1-2, D1-3 are used, but any electrical component that can conduct current in only one direction and limit the flow of current in the other direction can replace diodes D1-1, D1-2, D1-3. Figure 6 As shown in , metal oxide semiconductor field effect transistors (MOSFETs) MB1, MB2, MB3 (eg, N-channel MOSFETs) may be used instead of diodes D1-1, D1-2, D1-3.

[0071] In operation, when all ECUs 1 and 2 are disabled or fail (e.g., all inverters of ECUs 1 and 2 are disabled or fail), the voltage of control signals CTL-1 and CTL-2 input from ECUs 1 and 2 via terminals C-1 and C-2 is 0V. Then, the input terminals of SSRs SB1-1, SB1-2, SB1-3 are at 0V. Since SSRs SB1-1, SB1-2, SB1-3 are normally closed devices, and the input voltage of SSRs SB1-1, SB1-2, SB1-3 is 0V, SSRs SB1-1, SB1-2, SB1-3 are turned on (i.e., closed). This causes the current flowing from the motor 210 to flow through the output terminals of SSRs SB1-1, SB1-2, SB1-3. Then, the current flowing to the base of BJT SB2-1, SB2-2, SB2-3 through SSRSB1-1, SB1-2, SB1-3 turns on BJT SB2-1, SB2-2, SB2-3, and then the current from the motor 210 flows to the emitter through the collector of BJT SB2-1, SB2-2, SB2-3 and passes through the return path of the current flowing out of the motor 210. Figure 5 The diodes D1-1, D1-2, D1-3 (or Figure 6 The MOSFETs MB1, MB2, MB3) of the motor 210 are returned to the motor phase terminals MP-1, MP-2, MP-3 so that the motor phase terminals MP-1, MP-2, MP-3 can be shorted together. This results in braking of the motor 210. The motor 210 can act as a brake and / or damper to counteract any action applied to the motor 210.

[0072] However, if any one of the ECUs 1 and 2 is enabled, the control signals CTL1 and CTL2 received from the ECUs 1 and 2 via CT-1 and CT-2 are input to the first input terminals of the SSRs SB1-1, SB1-2, SB1-3, and the voltage of the input control signals CTL1 and / or CTL2 may disconnect (i.e., open) the SSRs SB1-1, SB1-2, SB1-3. Then, in response to the voltage of the input control signals CTL1 and / or CTL2, the SSRs SB1-1, SB1-2, SB1-3 are disconnected. This does not allow current to flow to the bases of the BJTs SB2-1, SB2-2, SB2-3, and inhibits the BJTs SB2-1, SB2-2, SB2-3 from being turned on. In turn, the motor phase terminals MP-1, MP-2, MP-3 are not shorted together, or the shorted state of the motor 210 is eliminated.

[0073] Therefore, when all inverters INV1-1 to INVNM of ECU 1 to N are disabled or fail, the short circuit 220 is configured to short the motor phase terminals MP-1 to MP-M connected to the motor windings 215-1 to 215-M so that the motor 210 can generate a braking torque. In the case where the motor 210 is included in the feedback actuator or the steering feel actuator 28, the feedback actuator or the steering feel actuator 28 can generate a braking torque to the steering wheel 20 and prevent the driver from being provided with an uncomfortable feeling of separation from the road wheels or the driver from oversteering the vehicle when all or some of the electronic control units of the feedback actuator or the steering feel actuator 28 are disabled or fail.

[0074] Figure 7 is a conceptual circuit diagram of a short circuit 220 according to another embodiment of the present disclosure.

[0075] The short circuit 220 may include a plurality of first switches SC1-1 to SC1-M. The first switches SC1-1 to SC1-M are respectively connected to the motor phase terminals MP-1 to MP-N. For example, the switches SC1-1 to SC1-M are electrically connected between the motor phase terminals MP-1 to MP-M. The first switches SC1-1 to SC1-M are also electrically connected to the ECUs 1 to N via power supplies 710-1 to 710-N. The first switches SC1-1 to SC1-M are configured to receive an input signal IN related to at least one of the control signals CTL-1 to CTL-N. Figure 7 In the illustrated embodiment, the input signal IN is generated by at least one of the power supply sources 710-1 to 710-N using the control signals CTL-1 to CTL-N, but is not limited thereto. Alternatively, the input signal IN may be, for example but not limited to, the control signals CTL-1 to CTL-N themselves, any signal generated using the control signals CTL-1 to CTL-N (e.g., a signal generated by a charge pump, a negative voltage source, or an isolated power supply using at least one of the control signals CTL-1 to CTL-N), or any signal directly or indirectly related to at least one of the control signals CTL-1 to CTL-N.

[0076] The power supply sources 710-1 to 710-N may be connected between the electric control units ECU 1 to N and the first switches SC1-1 to SC1-M. For example, each of the power supply sources 710-1 to 710-N is connected between a corresponding one of the electric control units ECU 1 to N and the first switches SC1-1 to SC1-M. The power supply sources 710-1 to 710-N receive power via terminals VSUP 1 to VSUP N. Figure 2As shown in FIG. 1 , the terminals VSUP1 to VSUPN of the short circuit 220 may be connected to a corresponding one of the electric control units ECU 1 to N to receive power. Alternatively, the terminals VSUP1 to VSUPN of the short circuit 220 may be directly connected to Figure 2 The power supplies 200-1 to 200-N are connected to the power supply 710-1 to 710-N. Each of the power supply sources 710-1 to 710-N is configured to supply a voltage to the first switches SC1-1 to SC1-M using the received power in response to a corresponding one of the control signals CTL-1 to CTL-N output from the electric control units ECU 1 to N. The voltage supplied by the power supply sources 710-1 to 710-N can disconnect the first switches SC1-1 to SC1-M. For example, when at least one of the power supply sources 710-1 to 710-N receives one or more control signals CTL-1 to CTL-N from the corresponding electric control units ECU 1 to N, the power supply sources 710-1 to 710-N receiving the control signals CTL-1 to CTL-N supply a voltage to the first switches SC1-1 to SC1-M using the power received from the terminals VSUP 1 to VSUP N. However, when none of the power supply sources 710 - 1 to 710 -N receives any control signals CTL- 1 to CTL-N from the corresponding electric control units ECU 1 to N, the power supply sources 710 - 1 to 710 -N do not supply voltage to the first switches SC1 - 1 to SC1 -M.

[0077] The first switches SC1-1 to SC1-M can be turned on (i.e., closed) or turned off (i.e., open) in response to the input signal IN associated with the control signals CTL-1 to CTL-N, so that the motor phase terminals MP-1 to MP-N are selectively shorted. For example, the first switches SC1-1 to SC1-M are normally on and are turned off when an input signal with a voltage greater than a threshold (or less than a threshold) is received. When the input signal IN is not received from the power supply sources 710-1 to 710-N or an input signal of 0V is received from the power supply sources 710-1 to 710-N, the first switches SC1-1 to SC1-M can be turned on (i.e., closed), and the motor phase terminals MP-1 to MP-M electrically connected by the first switches SC1-1 to SC1-M can be shorted together. However, when the first switches SC1-1 to SC1-M receive the input signal IN from any one of the power sources 710-1 to 710-N, the first switches SC1-1 to SC1-M are turned off, and the first switches SC1-1 to SC1-M may not short the motor phase terminals MP-1 to MP-M or may eliminate the shorting of the motor phase terminals MP-1 to MP-M. The number of the first switches SC1-1 to SC1-M may correspond to the number of phases of the motor 210. For example, in Figure 7In the embodiment, because the motor 210 is a three-phase motor, the short circuit 220 has three (3) first switches SC1-1, SC1-2, SC1-3. However, the number of the first switches SC1-1 to SC1-M of the short circuit 220 may be different from the number of phases of the motor 210. The number of power supply sources 710-1 to 710-N may correspond to the number of electronic control units ECU 1 to N or the number of power supplies 200-1 to 200-N. However, the short circuit 220 may have a different number of power supply sources 710-1 to 710-N than the number of electronic control units ECU 1 to N or the number of power supplies 200-1 to 200-N.

[0078] For the purpose of illustration, Figure 7 In the exemplary embodiment shown, the motor 210 is shown as a three-phase motor having phases U, V, W, and two (2) ECUs (ECU 1 and ECU 2) are connected to the short circuit 220 and provide two (2) power supply sources 710-1 and 710-2. However, the present disclosure is not limited thereto.

[0079] exist Figure 7 In the exemplary embodiment shown, the first switches SC1-1, SC1-2, SC1-3 are normally closed switches (eg, depletion-mode metal oxide semiconductor field effect transistors (MOSFETs)). Figure 7 In the embodiment of the present invention, for illustration purposes only, the first switches SC1-1, SC1-2, SC1-3 are shown as N-type MOSFETs. However, those skilled in the art will recognize that other transistor types, including P-type MOSFETs, may be used in place of the N-type MOSFETs shown in this exemplary example, and substitutions may be made to replace the N-type MOSFETs with P-type MOSFETs and change or add appropriate connections and / or electrical components. In addition, any switch such as a transistor that is disconnected when the voltage between the first terminal of the switch and the second terminal of the switch is below a threshold (or above a threshold) and is disconnected when the voltage between the first terminal of the switch and the second terminal of the switch is above a threshold (or below a threshold) may be used in place of the MOSFET.

[0080] An input signal IN related to the control signals CTL-1 and CTL-2 is provided to first terminals (e.g., gates) of the MOSFETs SC1-1, SC1-2, SC1-3. Second terminals (e.g., sources) of the MOSFETs SC1-1, SC1-2, SC1-3 are connected to each other and / or ground terminals of the power supply sources 710-1 and 710-2. A third terminal (e.g., drain) of the MOSFET SC1-1 is connected to the U-phase motor terminal MP-1 connected to the motor winding 215-1, a third terminal (e.g., drain) of the MOSFET SC1-2 is connected to the V-phase motor terminal MP-2 connected to the motor winding 215-2, and a third terminal (e.g., drain) of the MOSFET SC1-3 is connected to the W-phase motor terminal MP-3 connected to the motor winding 215-3.

[0081] The first resistors R1-1, R1-2, R1-3 may be coupled between the output terminals of the power sources 710-1 and 710-2 outputting the input signal IN and the first terminals (e.g., gates) of the MOSFETs SC1-1, SC1-2, SC1-3. The first resistors R1-1, R1-2, R1-3 may be configured to provide gate resistance to limit gate surge current.

[0082] The second resistors R2-1, R2-2, R2-3 (e.g., pull-down resistors) may be coupled between a first terminal (e.g., gate) and a second terminal (e.g., source) of the MOSFETs SC1-1, SC1-2, SC1-3. The second resistors R2-1, R2-2, R2-3 may be configured to pull down to turn on the MOSFETs SC1-1, SC1-2, SC1-3 when no voltage is supplied to the first terminal (e.g., gate) of the MOSFETs SC1-1, SC1-2, SC1-3.

[0083] In operation, when all ECUs 1 and 2 are disabled or fail (e.g., all inverters of ECUs 1 and 2 are disabled or fail), the voltage of control signals CTL 1 and CTL 2 input from ECUs 1 and 2 via terminals C-1 and C-2 is at 0V. Then, power supplies 710-1 and 710-2 do not provide input signals IN to the gates of MOSFETs SC1-1, SC1-2, SC1-3, or provide input signals IN of 0V to the gates of MOSFETs SC1-1, SC1-2, SC1-3. Because the gate-source voltage of MOSFETs SC1-1, SC1-2, SC1-3 is 0V, and MOSFETs SC1-1, SC1-2, SC1-3 are normally-on devices, MOSFETs SC1-1, SC1-2, SC1-3 are turned on (i.e., closed) and short-circuit motor phase terminals MP-1, MP-2, MP-3. This results in braking of motor 210. The motor 210 may act as a brake and / or damper to oppose any motion applied to the motor 210 .

[0084] However, if any one of the ECUs 1 and 2 is enabled, the power supply sources 710-1 and 710-2 receive at least one of the control signals CTL1 and CTL2 input from the ECUs 1 and 2 via CT-1 and CT-2. The power supply sources 710-1 and 710-2 receiving the control signals CTL1 and CTL2 generate input signals IN at a voltage (e.g., but not limited to -5V) capable of turning off the MOSFETs SC1-1, SC1-2, and SC1-3. This makes the gate-source voltage of the MOSFETs SC1-1, SC1-2, and SC1-3 lower than the threshold voltage of the MOSFETs SC1-1, SC1-2, and SC1-3. Subsequently, the MOSFETs SC1-1, SC1-2, and SC1-3 are turned off, and the motor phase terminals MP-1, MP-2, and MP-3 are not shorted or the shorted state of the motor 210 is eliminated.

[0085] Therefore, when all inverters INV1-1 to INVNM of ECU 1 to N are disabled or fail, the short circuit 220 is configured to short the motor phase terminals MP-1 to MP-M connected to the motor windings 215-1 to 215-M so that the motor 210 can generate a braking torque. In the case where the motor 210 is included in the feedback actuator or the steering feel actuator 28, the feedback actuator or the steering feel actuator 28 can generate a braking torque to the steering wheel 20 and prevent the driver from being provided with an uncomfortable feeling of separation from the road wheels or the driver from oversteering the vehicle when all or some of the electronic control units of the feedback actuator or the steering feel actuator 28 are disabled or fail.

[0086] exist Figure 8In another exemplary embodiment shown, the second switches 810-1 and 810-2 and the isolated power sources 820-1 and 820-2 may replace Figure 7 The power supply sources 710-1 and 710-2 are connected to each other. Each of the second switches 810-1 and 810-2 may be configured to receive a corresponding one of the control signals CTL1 and CTL2 input from the ECUs 1 and 2 via CT-1 and CT-2 and power from a corresponding one of the terminals VSUP 1 and VSUP 2. Each of the second switches 810-1 and 810-2 may be configured to output power to a corresponding one of the isolated power supply sources 820-1 and 820-2 in response to a corresponding one of the control signals CTL 1 and CTL 2. Each of the isolated power supply sources 820-1 and 820-2 may be configured to supply a voltage capable of turning off the MOSFETs SC1-1, SC1-2, SC1-3 using the power received from the corresponding one of the second switches 810-1 and 810-2.

[0087] In some embodiments of the present disclosure, a motor for a feedback actuator or a steering feel actuator is described, but the present disclosure is not limited thereto. However, those skilled in the art will recognize that the motor control system according to the present disclosure can be applied to or used with any motor requiring braking and / or damping torque.

[0088] Although the exemplary embodiments have been described in detail, it should be understood that various changes, substitutions and alterations can be made herein without departing from the spirit and scope of the application as defined by the appended claims.

[0089] In the present disclosure, relational terms such as first and second may be used only to distinguish one entity or action from another entity or action, without necessarily requiring or implying any actual such relationship or order between these entities or actions. In addition, depending on the context, words such as "connect" or "couple" used to describe the relationship between different elements do not imply that a direct physical connection must be made between these elements. For example, two elements may be connected to each other physically, electronically, logically, or in any other way with the aid of one or more additional elements. The term "connect" or "couple" may refer to a direct or indirect connection, unless otherwise specified.

[0090] In addition, the scope of the present application is not intended to be limited to the specific embodiments of the processes, machines, manufactures, and material compositions, means, methods, and steps described in the specification. As those of ordinary skill in the art will readily appreciate from the disclosure, according to the present embodiment and alternative embodiments, processes, machines, manufactures, material compositions, means, methods, or steps that are currently available or to be developed later and perform substantially the same functions or achieve substantially the same results as the corresponding embodiments described herein may be applied. Therefore, the appended claims are intended to include such processes, machines, manufactures, material compositions, means, methods, or steps within their scope.

Claims

1. A motor control system, the system comprising: a motor, the motor comprising a plurality of motor phase terminals; a plurality of electric control units electrically connected to the motor and configured to control the motor, wherein the electric control units are configured to output control signals respectively; and a short circuit connected between the motor and the electric control unit, the short circuit being configured to short the motor phase terminals in response to not receiving any of the control signals from any of the plurality of electric control units, Wherein, the short circuit comprises: a first switch electrically connected to the electronic control unit, wherein the first switch is configured to be turned on or off in response to at least one of the control signals output from the electronic control unit or one or more input signals associated with the control signals; and Second switches, wherein each of the second switches is electrically connected to a corresponding one of the first switches, and the second switch is configured to be turned on or off in response to the first switch being turned on or off to selectively short the motor phase terminals.

2. The system according to claim 1, wherein: The shorting circuit is configured to not short-circuit the motor phase terminals upon receiving at least one of the control signals from at least one of the electronic control units.

3. The system according to claim 1, wherein: The first switch is configured to be turned on in response to not receiving any of the control signals from the electronic control unit, and the second switch is configured to be turned on in response to the turning on of the first switch, thereby shorting the motor phase terminals together through the second switch.

4. The system according to claim 1, wherein: The first switch is configured to open in response to receiving at least one of the control signals of the electronic control unit, and the second switch is configured to open in response to opening of the first switch so as not to short-circuit the motor phase terminal through the second switch.

5. The system according to claim 1, wherein: The short circuit further includes electrical components connected to the second switches, respectively, and configured to conduct the current flowing from the motor through the second switches in only one direction to form a return path for the current flowing out of the motor.

6. The system according to claim 1, wherein: The short circuit further includes an electrical component configured to conduct current flowing from the motor through the second switch in only one direction to form a return path for the current flowing from the motor, Wherein, the electrical components are connected in parallel with the second switches respectively.

7. The system according to claim 1, in, The first switch is a junction gate field effect transistor JFET, and Wherein, the second switch is a bipolar junction transistor (BJT).

8. The system according to claim 1, in, The first switch comprises a JFET having: a first terminal configured to receive at least one of the control signals of the electronic control unit or an input signal associated with the at least one of the control signals; Second terminal; and a third terminal connected between one of the motor phase terminals and one of the electronic control units; as well as Wherein, the second switch includes a BJT, and the BJT has: a first terminal, which is connected to the third terminal of the JFET; a second terminal; and a third terminal, which is connected between the one of the motor phase terminals and the one of the electronic control units.

9. The system according to claim 8, wherein: The short circuit further includes a diode connected in parallel with the BJT, the diode having a first terminal and a second terminal, wherein the first terminal of the diode is connected to the JFET and a third terminal of the BJT connected between the one of the motor phase terminals and the one of the electronic control units, and the second terminal of the diode is connected to the second terminal of the BJT.

10. The system according to claim 8, wherein: The short circuit further includes a metal oxide semiconductor field effect transistor MOSFET connected in parallel with the BJT, the MOSFET having a first terminal, a second terminal and a third terminal, wherein the first terminal of the MOSFET is connected to the JFET and the third terminal of the BJT connected between the one of the motor phase terminals and the one of the electronic control units, and the second terminal and the third terminal of the MOSFET are connected to the second terminal of the BJT.

11. The system of claim 1 , further comprising a voltage supply circuit connected between the electronic control unit and a first switch of the short circuit, the voltage supply circuit being configured to supply a voltage to the first switch using the control signal so that the voltage supplied using the control signal opens the first switch without shorting the motor phase terminals together.

12. The system according to claim 1, in, The first switch is a solid state relay SSR, and Wherein, the second switch is a bipolar junction transistor (BJT).

13. The system according to claim 12, wherein: The SSR is configured to be normally closed and to be open when receiving the at least one control signal among the control signals output from the electronic control unit, and The BJT is configured to be turned on to short the motor phase terminals together when the SSR is closed, and to be turned off when the SSR is opened by receiving the at least one control signal among the control signals output from the electronic control unit.

14. The system according to claim 13, in, wherein at least one of the SSRs has: a first terminal connected between one of the motor phase terminals and one of the electronic control units; a second terminal configured to receive at least one of the control signals output from the electronic control unit; and a third terminal connected to one of the BJTs, and At least one of the BJTs has: a first terminal connected between the one of the motor phase terminals and the one of the electronic control units; a second terminal connected to the at least one of the SSRs; and a third terminal connected to other BJTs.

15. The system of claim 14, wherein: The short circuit further includes diodes, which are respectively connected in parallel with the BJTs, each of the diodes having a first terminal and a second terminal, wherein the first terminal of at least one of the diodes is connected to the first terminal of the at least one SSR of the SSRs and the at least one BJT of the BJTs connected between the one of the motor phase terminals and the one of the electronic control units, and the second terminal of the at least one of the diodes is connected to the third terminal of the at least one BJT of the BJTs.

16. The system of claim 14, wherein: The short circuit further includes MOSFETs, which are respectively connected in parallel with the BJTs, each of the MOSFETs having a first terminal, a second terminal and a third terminal, wherein the first terminal of at least one of the MOSFETs is connected to the at least one SSR of the SSRs and the first terminal of the at least one BJT of the BJTs connected to the one of the motor phase terminals and the one of the electronic control units, and the second terminal and the third terminal of the at least one MOSFET of the MOSFET are connected to the third terminal of the at least one BJT of the BJTs.

17. The system of claim 1, wherein: The short-circuit circuit includes a plurality of first switches, wherein the first switches are connected between the motor phase terminals, and the first switches are configured to be turned on to short-circuit the motor phase terminals together in response to not receiving any of the control signals output from the electronic control unit, and to be turned off in response to receiving at least one of the control signals output from the electronic control unit.

18. The system according to claim 17, further comprising a plurality of power supply sources connected between the electric control unit and the first switch, and the power supply sources are connected to one or more power sources or to a corresponding one of the electric control units to receive power, in, Each of the power supply sources is configured to supply a voltage capable of turning off the first switch to the first switch using the received power in response to a corresponding one of the control signals output from the electric control unit.

19. The system of claim 17, further comprising: a plurality of second switches configured to receive a corresponding one of the control signals from a corresponding one of the electronic control units and power from one or more power sources or the corresponding one of the electronic control units, and output the power in response to the corresponding one of the control signals; as well as a plurality of isolated power sources, each of the isolated power sources being configured to supply a voltage capable of disconnecting the first switch to the first switch using the power received from a corresponding one of the second switches, Wherein, a corresponding one of the isolated power sources is connected between a corresponding one of the first switches and a corresponding one of the second switches.

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