control device

Abstract

A control device (20) controls a motor (10) including a first stator coil (14(1)) and a second stator coil (14(2)) insulated from each other. The control device (20) includes a first drive circuit connected to the first stator coil (14(1)), a second drive circuit connected to the second stator coil (14(2)), a first processing circuit, and a second processing circuit. In a case where the second processing circuit performs processing of switching a first use and operation processing to a second use and operation processing, the first processing circuit increases an output of an integrating element in accordance with a number of control systems.

Description

TECHNICAL FIELD

[0001] The present application relates to a control device that controls an electric motor that steers a steered wheel and includes a first stator coil and a second stator coil that are insulated from each other, and that operates a first drive circuit connected to the first stator coil and a second drive circuit connected to the second stator coil. BACKGROUND

[0002] For example, in Japanese Unexamined Patent Application Publication No. 2018-24335 (JP 2018-24335 A), an electric motor including two stator coils that are independent of each other is described as an electric motor that steers a steered wheel. In this publication, a redundant control device including separate microcomputers for the stator coils is described as a control device for the electric motor that operates drive circuits connected to the stator coils. Here, a pair of microcomputers controls d / q-axis currents by calculating the d / q-axis currents of the electric motor based on detection values from different rotation angle sensors. A current command value of the first microcomputer used by the second microcomputer is also described. SUMMARY

[0003] The inventors studied detecting a steering angle of a steered wheel using a rotation angle sensor, and performing feedback control on this detection value so that it becomes a target value in the redundant control device as described above. However, in this case, there is a problem in that controllability of the steering angle decreases due to differences between the detection values from the rotation angle sensors.

[0004] According to a first aspect of the present application, there is provided a control device that controls an electric motor that steers a steered wheel and includes a first stator coil and a second stator coil that are insulated from each other. The control device includes a first drive circuit connected to the first stator coil, a second drive circuit connected to the second stator coil, a first processing circuit, and a second processing circuit. The control device operates the first drive circuit and the second drive circuit. The first processing circuit and the second processing circuit are capable of communicating with each other. The first processing circuit performs a first operation amount calculation process that calculates a first operation amount for feedback control of a first convertible angle that can be converted into a steering angle of the steered wheel based on a detection value from a first angle sensor so that the first convertible angle becomes a target angle, a process that operates the first drive circuit based on the first operation amount, and an output process that outputs the first operation amount to the second processing circuit. The second processing circuit performs a second operation amount calculation process that calculates a second operation amount for feedback control of a second convertible angle that can be converted into the steering angle of the steered wheel based on a detection value from a second angle sensor so that the second convertible angle becomes the target angle, a first use and operation process that operates the second drive circuit based on the first operation amount, and a second use and operation process that operates the second drive circuit based on the second operation amount. The second operation amount calculation process includes a process that calculates the second operation amount based on an output of an integral element that corresponds to a difference between the second convertible angle based on the detection value from the second angle sensor and the target angle. In a case where a switch from the first use and operation process to the second use and operation process is made, the second processing circuit performs a removal process that removes, from the second operation amount for operating the second drive circuit before the switch, an influence of the integral element that corresponds to the difference between the second convertible angle based on the detection value from the second angle sensor and the target angle.

[0005] According to this aspect, since the second processing circuit operates the second drive circuit based on the first operation amount in the first use and operation process, both the first drive circuit and the second drive circuit operate based on an operation amount for feedback control of the first convertible angle based on the detection value from the first angle sensor so that the first convertible angle becomes the target angle. Therefore, even when there is a difference between the detection value from the first angle sensor and the detection value from the second angle sensor, it is possible to suppress a decrease in controllability of the steering angle.

[0006] In the first use and operation process, when the output value of the integration element corresponding to the difference between the second convertible angle based on the detection value from the second angle sensor and the target angle is sequentially updated by the second operation amount calculation process, there is a problem that the absolute value of the output value of the integration element becomes 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. In this case, when the first use and operation process is switched to the second use and operation process, the torque of the motor can suddenly change because the absolute value of the second operation amount is an excessively large value. Therefore, with the above-described configuration, when switched to the second use and operation process, the sudden change in the torque of the motor in the case of switching to the second use and operation process can be suppressed by removing the influence of the integration element before the switching.

[0007] In this aspect, the removal process can be a process of stopping the integration element in the second operation amount calculation process while the first use and operation process is being executed. With this configuration, when the second operation amount is not used to operate the second drive circuit, the absolute value of the value maintained by the integration element can be prevented from becoming an excessively large value by stopping the integration element in the second operation amount calculation process.

[0008] In this aspect, the second operation amount calculation process can include a process of calculating the second operation amount without using the integration element when the first use and operation process is being executed, the second processing circuit can execute a process of switching the first use and operation process to the second use and 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 a prescribed value, and the second operation amount calculation process can include a process of calculating the second operation amount without using the integration element when the second use and operation process is executed based on a result indicating that the absolute value of the difference between the first operation amount and the second operation amount is equal to or greater than the prescribed value.

[0009] With this configuration, since the second operation amount is calculated even when the first use and operation process is executed, the effectiveness of the control can be evaluated based on the comparison result between the first operation amount and the second operation amount. With this configuration, when the effectiveness is determined to be low, the second use and operation process is executed. In this case, the second operation amount is calculated without using the integration element. Therefore, even when there is a difference 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 stable difference between the first convertible angle based on the detection value from the first angle sensor and the target angle using the integration element and the control for reducing the stable difference between the second convertible angle based on the detection value from the second angle sensor and the target angle using the integration element can be avoided.

[0010] In this aspect, when an abnormality occurs in the communication between the first processing circuit and the second processing circuit, the second processing circuit can execute the processing of switching the first use and operation processing to the second use and operation processing, and the second operation amount calculation processing can include processing of calculating the second operation amount without using the integration element when the second use and operation processing is executed based on the result indicating that the abnormality has occurred in the communication.

[0011] With this configuration, when the first operation amount cannot be acquired due to an abnormality in the communication, the second processing circuit executes the second use and operation processing. Therefore, even when the first operation amount cannot be acquired, the second drive circuit can be operated. The second operation amount is calculated without using the integration element. Therefore, even when there is a difference 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 stable difference between the first convertible angle and the target angle based on the detection value from the first angle sensor using the integration element and the control for reducing the stable difference between the second convertible angle and the target angle based on the detection value from the second angle sensor using the integration element can be avoided.

[0012] In this aspect, the first operation amount calculation processing can include processing of calculating the first operation amount based on the output of the integration element, where the output of the integration element corresponds to the difference between the first convertible angle and the target angle based on the detection value from the first angle sensor. When the second processing circuit executes the processing of switching the first use and operation processing to the second use and operation processing, the first processing circuit increases the output of the integration element in accordance with the number of control systems.

[0013] With this configuration, when it is determined that the effectiveness of the control based on the first operation amount is low based on the result of the comparison between the first operation amount and the second operation amount, or when the first operation amount cannot be acquired due to the occurrence of an abnormality in the communication, the second processing circuit executes the second use and operation processing. In this case, the second processing circuit calculates the second operation amount without using the integration element. Therefore, the absolute value of this second operation amount is smaller than the absolute value of the second operation amount calculated using the integration element. Therefore, it can not be possible to secure the total torque of the motor. In this regard, with this configuration, since the output of the integration processing is not reflected in the second operation amount, the output of the integration processing reflected in the first operation amount is increased in accordance with the number of control systems. Therefore, it is possible to secure the total torque of the motor.

[0014] In this aspect, the first processing circuit and the second processing circuit can be able to communicate with an external device for outputting the target angle from outside the control device to the control device. The second operation amount calculation processing can include processing of calculating the second operation amount using the integration element when the external device indicates to use the integration element.

[0015] With this configuration, when the external device instructs to use the integration element, it is possible to reduce the stable difference between the second convertible angle based on the detection value from the second angle sensor and the target angle by calculating the second operation amount based on the integration element. In particular, since the integration element is used in accordance with the instruction from the external device, when the external device detects an abnormality in the first processing circuit, it is possible to cope with the abnormality in the first processing circuit by causing the external device to output the instruction.

[0016] In this aspect, when an abnormality has occurred in the communication between the first processing circuit and the second processing circuit and an abnormality has occurred in the first processing circuit, the first processing circuit can perform notification processing that transmits a notification indicating that an abnormality has occurred to the second processing circuit via the external device. The second operation amount calculation processing can include processing of calculating the second operation amount using the integration element when the external device instructs to use the integration element based on the notification processing.

[0017] With this configuration, when an abnormality occurs in the communication between the first processing circuit and the second processing circuit and an abnormality occurs in the first processing circuit, a notification indicating that an abnormality has occurred is transmitted from the first processing circuit to the external device by the notification processing, and the external device instructs the second processing circuit to use the integration element based on the notification processing. Therefore, when an abnormality occurs in the communication between the first processing circuit and the second processing circuit and an abnormality occurs in the first processing circuit, it is possible to reduce the stable difference between the second convertible angle based on the detection value from the second angle sensor and the target angle.

[0018] In this aspect, the second processing circuit can include processing of switching the first use and operation processing to the second use and operation processing when an abnormality of the operation stop of the first processing circuit to the first drive circuit occurs. The second operation amount calculation processing can include processing of calculating the second operation amount using the integration element when the second use and operation processing is executed based on the occurrence of the abnormality of the operation stop of the first drive circuit.

[0019] When the operation of the first drive circuit is stopped by the first processing circuit, the first operation amount is not reflected in the control of the motor. Therefore, when the second operation amount is calculated without using the integration element, it is difficult to reduce the stable difference between the second convertible angle and the target angle. Therefore, with this configuration, when the operation of the first drive circuit is stopped by the first processing circuit, it is possible to reduce the stable difference between the second convertible angle based on the detection value from the second angle sensor and the target angle by calculating the second operation amount based on the integration element.

[0020] In this aspect, the second operation amount calculation processing can be processing of calculating the second operation amount based on an operation amount for feedforward control of the second convertible angle so that the second convertible angle becomes the target angle, in addition to an operation amount for feedback control of the second convertible angle so that the second convertible angle becomes the target angle.

[0021] With this configuration, since the second operation amount is calculated based on the operation amount for feedforward control, the output of the integral element compensates for an error in control based on the feedforward operation amount. Therefore, even when the second operation amount is calculated without using the integral element, it is possible to reduce the difference between the second convertible angle and the target angle, compared with a case where the feedforward operation amount is not used. BRIEF DESCRIPTION OF DRAWINGS

[0022] Features, advantages, and technical and industrial significance of exemplary embodiments of the application will be described below with reference to the accompanying drawings, wherein like numerals denote like elements, and in which:

[0023] Figure 1 is a diagram illustrating a control device and a motor according to a first embodiment;

[0024] Figure 2 is a diagram illustrating some processing performed by a control device according to the first embodiment;

[0025] Figure 3 Parts (a) and (b) of FIG. 8 are flowcharts illustrating routines of processing performed by the control device according to the first embodiment;

[0026] Figure 4 is a diagram illustrating some processing performed by a control device according to a second embodiment; and

[0027] Figure 5 is a flowchart illustrating routines of processing performed by the control device according to the second embodiment. DETAILED DESCRIPTION

[0028] First Embodiment

[0029] Hereinafter, a control device for a motor according to a first embodiment of the present application will be described with reference to the accompanying drawings. Figure 1The motor 10 shown in the figure is a power source of a steering actuator for turning a steered wheel. In this embodiment, a surface permanent magnet synchronous motor (SPMSM) is employed as the motor 10. The motor 10 includes a rotor 12 and first and second stator coils 14(1) and 14(2) as stator coil pairs. A control device 20 controls the motor 10, and particularly, a torque as a control parameter of the motor 10. The control device 20 includes a first system circuit and a second system circuit that are separate circuits corresponding to the first and second stator coils 14(1) and 14(2).

[0030] Specifically, the control device 20 includes the following elements as the first system circuit. That is, the control device 20 includes a first inverter 22(1) connected to the first stator coil 14(1) and a first microcomputer 30(1) that controls a current flowing in the first stator coil 14(1) by outputting an operation signal MS(1) to the first inverter 22(1). The control device 20 includes the following elements as the second system circuit. That is, the control device 20 includes a second inverter 22(2) connected to the second stator coil 14(2) and a second microcomputer 30(2) that controls a current flowing in the second stator coil 14(2) by outputting an operation signal MS(2) to the second inverter 22(2). The first and second microcomputers 30(1) and 30(2) can communicate with each other via a communication line 42.

[0031] In the following description, when collectively representing the first and second systems, for example, "k" that can have a value of "1" or "2" is used to describe "the k-th inverter 22(k) is connected to the k-th stator coil 14(k)".

[0032] The k-th microcomputer 30(k) acquires a rotation angle θm(k) of the rotor 12 detected by the k-th angle sensor 40(k) and three-phase currents iu(k), iv(k), and iw(k) flowing in the k-th stator coil 14(k). For example, the currents iu(k), iv(k), and iw(k) can be detected as voltage drops of shunt resistors connected to branches of the k-th inverter 22(k).

[0033] A CPU 32(k), a ROM 34(k), a peripheral circuit 36(k), and the like are provided in the k-th microcomputer 30(k) and connected via a local network 38(k) to communicate with each other. Here, the peripheral circuit 36(k) includes a circuit that generates a clock signal for defining an internal operation based on an external clock signal, a power supply circuit, and a reset circuit.

[0034] The control device 20 can communicate with the external main ECU 50 via the communication line 54, and input the target angle θp* output from the main ECU 50 to the first microcomputer 30(1) and the second microcomputer 30(2). The target angle θp* is a target value of a convertible angle that can be converted into a steering angle (tire steering angle) of the steered wheels, and is a target value of a rotation angle of the steering shaft in this embodiment. The terminal voltage of the battery 52 is supplied to the main ECU 50, the kth microcomputer 30(k), and the kth inverter 22(k). Specifically, the voltage of the battery 52 is supplied to the kth microcomputer 30(k) via the relay 24(k). The relay 26(k) is provided between the kth inverter 22(k) and the kth stator coil 14(k).

[0035] Figure 2 The processing performed by the first microcomputer 30(1) and the second microcomputer 30(2) is shown. Figure 2 The processing shown in FIG. 6 is implemented by causing the CPU 32(k) to execute a program stored in the ROM 34(k). In the following description, "k" is used to collectively represent the processing performed by the first microcomputer 30(1) and the second microcomputer 30(2).

[0036] The integration processing M10(k) is processing that integrates the rotation angle θm(k). The conversion processing M12(k) is processing that converts the output of the integration processing M10(k) into the rotation angle θp(k) of the steering shaft by multiplying the output by a predetermined coefficient K. The rotation angle θp(k) is zero at the neutral position, and the sign of this rotation angle θp(k) differs depending on whether it is right turn or left turn.

[0037] The feedback operation amount calculation process M20(k) is a process of calculating a feedback operation amount MFB(k) that is an amount of operation for feedback-controlling the rotation angle θp(k) so that the rotation angle θp(k) becomes the target angle θp*. In this embodiment, the sum of the output value of the proportional element, the output value of the integral element, and the output value of the differential element is basically used as the feedback operation amount MFB(k). Specifically, the difference calculation process M22(k) is a process of calculating a difference between the rotation angle θp(k) and the target angle θp*, and the proportional element M24(k) is a process of multiplying the difference by a proportional coefficient Kp. The integral gain multiplication process M26(k) is a process of multiplying the difference by an integral gain Ki, the integral process M28(k) is a process of updating and outputting an integral value of the output of the integral gain multiplication process M26(k), and the integral element is constituted by the integral gain multiplication process M26(k) and the integral process M28(k). The differential gain multiplication process M30(k) is a process of multiplying the difference by a differential gain Kd, the differential process M32(k) is a process of differentiating the output of the differential gain multiplication process M30(k), and the differential element is constituted by the differential gain multiplication process M30(k) and the differential process M32(k). The addition process M34(k) is a process of calculating the sum of the output value of the proportional element M24(k), the output value of the integral process M28(k), and the output value of the differential process M32(k) and outputting the sum as the feedback operation amount MFB(k).

[0038] The feedforward operation amount calculation process M40(k) is a process of calculating a feedforward operation amount MFF(k) that is an amount of operation for controlling the rotation angle θp(k) so that the rotation angle θp(k) becomes the target angle θp*. Specifically, the feedforward operation amount calculation process M40(k) is a process of setting the absolute value of the feedforward operation amount MFF(k) to a larger value when the absolute value of the target angle θp* is large than when the target angle θp* is small. For example, this can be achieved by causing the CPU 32(k) to map-calculate the feedforward operation amount MFF(k) in a state where mapping data in which the target angle θp* is taken as an input variable and the feedforward operation amount MFF(k) is taken as an output variable is pre-stored in the ROM 34(k). Here, the mapping data is group data including a discrete value of the input variable and a value of the output variable corresponding to the value of the input variable. The mapping calculation can be a process of outputting the value of the output variable of the corresponding mapping data as a calculation result when the value of the input variable matches one of the values of the input variable of the mapping data, and outputting a value obtained by interpolating a plurality of values of the output variable included in the mapping data as a calculation result when the value of the input variable does not match any of the values of the input variable of the mapping data.

[0039] The addition process M42(k) calculates the k-th operation MV(k) by adding the feedback operation MFB(k) and the feedforward operation MFF(k). The k-th operation MV(k) is the q-axis current command value.

[0040] The first operation signal generation process M44(1) is a process that calculates and outputs the operation signal MS(1) of the first inverter 22(1) so that the q-axis current flowing in the first stator coil 14(1) becomes “1 / 2” of the first operation quantity MV(1).

[0041] Selective processing M50 is a process that selectively outputs one of the two operands, the first operand MV(1) and the second operand MV(2), to the second operand signal generation processing M44(2).

[0042] The second operation signal generation process M44(2) calculates and outputs the operation signal MS(2) of the second inverter 22(2) so that the q-axis current flowing in the second stator coil 14(2) is, in principle, changed to “1 / 2” of the output of the selection process M50.

[0043] In this implementation, based on Figure 2 The process shown is performed by executing Figure 3 The processing shown is used to modify appropriately. Figure 2 The processing shown. Figure 3 Part (a) illustrates, for example, the processing achieved by causing CPU 32 (1) to repeatedly execute a program stored in ROM 34 (1) at predetermined intervals. Figure 3 Part (b) illustrates, for example, a process implemented by causing the CPU 32 (2) to repeatedly execute a program stored in ROM 34 (2) at predetermined intervals. This will be described below in some cases. Figure 3 The processing shown.

[0044] Scenario 1. Normal communication

[0045] exist Figure 3 In the series of processes shown in part (a), CPU 32 (1) first determines whether the communication between the first microcomputer 30 (1) and the second microcomputer 30 (2) is normal (S10). For example, the first microcomputer 30 (1) and the second microcomputer 30 (2) can periodically exchange predetermined data with each other via communication line 42, and a communication anomaly can be determined when they cannot exchange data.

[0046] When communication is confirmed to be normal (S10: Yes), the CPU 32(1) determines whether it is impossible to control the current flowing in the first stator coil 14(1) by enabling the first microcomputer 30(1) to operate the first inverter 22(1) (S12). The CPU 32(1) determines that control is impossible when an anomaly occurs in the first angle sensor 40(1), or when the temperature of the first stator coil 14(1) or the first inverter 22(1) is equal to or higher than a specified temperature. For an anomaly in the first angle sensor 40(1), for example, it can be determined that an anomaly occurred when the output signal of the first angle sensor 40(1) was fixed to the ground potential or the terminal potential of the battery 52. ​​Whether the temperature of the first stator coil 14(1) or the first inverter 22(1) is equal to or higher than a specified temperature can be determined based on the history of currents iu(1), iv(1), and iw(1), etc.

[0047] When it is determined that control of the current flowing in the first stator coil 14(1) is possible (S12: No), the CPU 32(1) outputs the first operation quantity MV(1) to the second microcomputer 30(2) via the communication line 42 (S14). When the processing in S14 is completed, the CPU 32(1) temporarily stops. Figure 3 The series of processes shown in part (a).

[0048] On the other hand, such as Figure 3 As shown in section (b), CPU 32 (2) determines whether the control of the current flowing in the first stator coil 14 (1) by the first microcomputer 30 (1) has stopped (S30). When the first microcomputer 30 (1) is operating (S30: No), CPU 32 (2) determines whether there is an instruction from the main ECU 50 to perform integration (S32). If there is no instruction (S32: No), CPU 32 (2) stops the integration process M28 (2) (S34). Specifically, CPU 32 (2) fixes the value held in the integration process M28 (2) to “0” as the initial value. Therefore, the feedback operation quantity MFB (2) is the sum of the output value of the proportional element M24 (2) and the output value of the derivative process M32 (2), and the second operation quantity MV (2) is the sum of the feedback operation quantity MFB (2) and the feedforward operation quantity MFF (2).

[0049] Then, CPU 32(2) determines whether the communication between the first microcomputer 30(1) and the second microcomputer 30(2) is normal (S36). If the communication is determined to be normal (S36: Yes), CPU 32(2) acquires the... Figure 3the first operation amount MV(l) output in S14 in part (a) (S38). The CPU 32(2) determines whether the absolute value of the difference between the first operation amount MV(l) and the second operation amount MV(2) is smaller than a prescribed value Mth (S40). This processing is processing for determining whether the control of the rotational angle θp(k) is normally performed so that the rotational angle θp(k) becomes the target angle θp*. The difference between the second operation amount MV(2) and the first operation amount MV(l) should be the difference between the feedback operation amounts MFB(l) and MFB(2) and the difference is considered to be very small.

[0050] That is, the first reason for the difference between the feedback operation amount MFB(l) and the feedback operation amount MFB(2) is that the output value of the integral processing M28(2) is zero. Since the output value of the integral processing M28(l) is a value for compensating for an error in the control based on the feedforward operation amount MFF(l), the absolute value of this output value is not very large. The second reason for the difference between the feedback operation amount MFB(l) and the feedback operation amount MFB(2) is the difference between the proportional element M24(l) and the proportional element M24(2) and the difference between the differential processing M32(l) and the differential processing M32(2) due to the difference between the rotational angle θm(l) detected by the first angle sensor 40(l) and the rotational angle θm(2) detected by the second angle sensor 40(2). However, since the absolute value of the difference between the rotational angle θm(l) and the rotational angle θm(2) is very small, the absolute value of the difference between the proportional element M24(l) and the proportional element M24(2) and the absolute value of the difference between the differential processing M32(l) and the differential processing M32(2) are small.

[0051] When it is determined that the absolute value of the difference is smaller than the prescribed value Mth (S40: Yes), it is considered that the control is normally performed and thus the CPU 32(2) adopts the first operation amount MV(l) in the selection processing M50 (S42). Thus, the operation signal MS(2) for operating the second inverter 22(2) so that the q-axis current flowing in the second stator coil 14(2) is "1 / 2" of the first operation amount MV(l) is generated and output by the second operation signal generation processing M44(2). When the processing of S42 is completed, the CPU 32(2) temporarily ends Figure 3 the series of processing shown in part (b) of FIG. 27.

[0052] Case 2 Communication between microcomputers is normal and the control by the first microcomputer 30(l) is abnormal

[0053] In this case, as Figure 3As shown in part (a), since the determination result of S12 is positive, CPU 32 (1) sends a notification via communication line 42 to the second microcomputer 30 (2) indicating that control via the first microcomputer 30 (1) is impossible (S16). Then, CPU 32 (1) uses peripheral circuit 36 ​​(1) etc. to switch relays 24 (1) and 26 (1) to the off state (S18). When the processing of S18 is completed, CPU 32 (1) temporarily stops. Figure 3 The series of processes shown in part (a).

[0054] In this case, such as Figure 3 As shown in part (b), the CPU 32 (2) determines that the control of the current flowing in the first stator coil 14 (1) by the first microcomputer 30 (1) has stopped (S30: Yes), and performs MV (2) calculation processing based on the integral element (I item) by operation integration processing M28 (2) (S44). Then, the CPU 32 (2) adopts the second operation quantity MV (2) in selection processing M50 (S46). In this case, the operation signal MS (2) for operating the second inverter 22 (2) such that the q-axis current flowing in the second stator coil 14 (2) is the second operation quantity MV (2) is generated and output by the second operation signal generation processing M44 (2). That is, since the power supply to the first stator coil 14 (1) is not performed, when controlling the rotation angle θp (2) to make the rotation angle θp (2) become the target angle θp*, it is necessary to set the q-axis current flowing in the second stator coil 14 (2) to the second operation quantity MV (2). When S46 completes processing, CPU 32(2) temporarily terminates. Figure 3 The series of processes shown in section (b). Case 3: Communication between microcomputers is normal but control is abnormal.

[0055] Here, let's assume that it was executed. Figure 3 The process of S14 shown in part (a). In this case, Figure 3 The determination result of S40 shown in part (b) is negative, and CPU 32 (2) causes the routine to proceed to processing S46. Therefore, the second operation signal generation process M44 (2) generates and outputs an operation signal MS (2) for operating the second inverter 22 (2) such that the q-axis current flowing in the second stator coil 14 (2) is “1 / 2” of the second operation amount MV (2). Case 4. Communication between microcomputers is abnormal and control by the first microcomputer 30 (1) is possible.

[0056] In this case, such as Figure 3As shown in part (a) of FIG. 6, the CPU 32(1) determines that the communication between the microcomputers is abnormal (S10: No), and determines whether or not the control of the current flowing in the first stator coil 14(1) by causing the first microcomputer 30(1) to operate the first inverter 22(1) is impossible (S20) similarly to the process of S12. Upon determining that the control is possible (S20: No), the CPU 32(1) temporarily ends the routine. Figure 3 The series of processes shown in part (a) of FIG. 6.

[0057] In this case, Figure 3 The determination result of S36 shown in part (b) of FIG. 6 is negative, and the CPU 32(2) causes the routine to proceed to the process of S46. Therefore, the operation signal MS(2) for operating the second inverter 22(2) so that the q-axis current flowing in the second stator coil 14(2) is "1 / 2" of the second operation amount MV(2) is generated and output by the second operation signal generation process M44(2).

[0058] Case 5. The communication between the microcomputers is abnormal and the control by the first microcomputer 30(1) is impossible

[0059] In this case, Figure 1 The determination result of S20 shown in part (a) of FIG. 6 is positive, and therefore the CPU 32(1) transmits a notification indicating the determination result to the main ECU 50 via the communication line 54 (S22). Then, the CPU 32(1) causes the routine to proceed to S18.

[0060] In this case, since the first microcomputer 30(1) is abnormal and stops controlling the rotation angle θp(1) by operating the current flowing in the first stator coil 14(1) so that the rotation angle θp(1) becomes the target angle θp*, the main ECU 50 instructs the second microcomputer 30(2) to operate the integrating element via the communication line 54.

[0061] Therefore, Figure 4 The determination result of S32 shown in part (b) of FIG. 6 is positive and the CPU 32(2) causes the routine to proceed to the process of S46 via the process of S44. Therefore, the operation signal MS(2) for operating the second inverter 22(2) so that the q-axis current flowing in the second stator coil 14(2) is the second operation amount MV(2) is generated and output by the second operation signal generation process M44(2).

[0062] The operation and advantages in this embodiment will be described below. The CPU 32(1) calculates the first operation amount MV(1) for controlling the rotation angle θp(1) so that the rotation angle θp(1) becomes the target angle θp* and operates the first inverter 22(1) so that the q-axis current flowing in the first stator coil 14(1) is "1 / 2" of the first operation amount MV(1). On the other hand, the CPU 32(2) operates the second inverter 22(2) so that the q-axis current flowing in the second stator coil 14(2) is "1 / 2" of the first operation amount MV(1). Thus, compared to a case where the q-axis current flowing in the second stator coil 14(2) is set to the second operation amount MV(2) when the integral process M28(2) is operated, it is possible to suppress the occurrence of disturbance in the control of the steering angle of the steering wheel. That is, there can be a difference between the rotation angle θm(1) detected by the first angle sensor 40(1) and the rotation angle θm(2) detected by the second angle sensor 40(2). When such a difference occurs, the output value of the integral process M28(1) is a value for eliminating a stable difference between the rotation angle θp(1) and the target angle θp* and the output value of the integral process M28(2) is a value for eliminating a stable difference between the rotation angle θp(2) and the target angle θp*. Thus, disturbance in the control occurs.

[0063] When the control of the q-axis current flowing in the first stator coil 14(1) by the first microcomputer 30(1) is not possible, the first microcomputer 30(1) stops the control of the current flowing in the first stator coil 14(1). In this case, the CPU 32(2) controls the q-axis current flowing in the second stator coil 14(2) using the second operation amount MV(2). Here, before switching the control using the first operation amount MV(1) to the control using the second operation amount MV(2), the integral process M28(2) is stopped. Thus, compared to a case where the integral process M28(2) is not stopped, it is possible to reduce the absolute value of the difference between the first operation amount MV(1) and the second operation amount MV(2) at the time of switching and to suppress the change in the torque of the motor 10 due to the switching. That is, the output value of the integral process M28(1) is a value for eliminating a stable difference between the rotation angle θp(1) and the target angle θp*. Thus, when there is a difference between the rotation angle θp(1) and the rotation angle θp(2), even if the stable difference between the rotation angle θp(1) and the target angle θp* is eliminated, there is a stable difference between the rotation angle θp(2) and the target angle θp*. When the second inverter 22(2) is operated using the first operation amount MV(1), the output value of the integral process M28(2) is not reflected in the operation of the second inverter 22(2) and thus the absolute value of the output value of the integral process M28(2) gradually increases and becomes an excessively large value.

[0064] When an abnormality of control that cannot be identified its cause occurs in the first microcomputer 30(1), because the absolute value of the difference between the first operation amount MV(1) and the second operation amount MV(2) is equal to or greater than the prescribed value Mth, the CPU 32(2) detects the abnormality. In this case, the CPU 32(2) operates the second inverter 22(2) using the second operation amount MV(2). Therefore, compared to a case where the second inverter 22(2) is operated using the first operation amount MV(1) even when an abnormality occurs in the first operation amount MV(1), it is possible to reduce the contribution of the first operation amount MV(1) to the control of the target angle θp*. In this case, since the CPU 32(2) calculates the second operation amount MV(2) in a state where the integral processing M28(2) is stopped, it is possible to avoid the disturbance of control due to the output values of the integral processing M28(1) and the integral processing M28(2) that are values for canceling the different steady differences.

[0065] When an abnormality occurs in the communication between the first microcomputer 30(1) and the second microcomputer 30(2), the CPU 32(2) operates the second inverter 22(2) using the second operation amount MV(2). Therefore, since the q-axis current flowing in the first stator coil 14(1) is controlled to be "1 / 2" of the first operation amount MV(1), and the q-axis current flowing in the second stator coil 14(2) is controlled to be "1 / 2" of the second operation amount MV(2), the torque of the motor 10 can be set to a value suitable for the control of the target angle θp*. In this case, since the CPU 32(2) calculates the second operation amount MV(2) in a state where the integral processing M28(2) is stopped, it is possible to avoid the disturbance of control due to the output values of the integral processing M28(1) and the integral processing M28(2) that are values for canceling the different steady differences.

[0066] When an abnormality of communication occurs and the control of the current in the first stator coil 14(1) by the first microcomputer 30(1) is not possible, the CPU 32(1) notifies the master ECU 50 thereof. Therefore, when the master ECU 50 instructs the CPU 32(2) to perform the integral processing, the CPU 32(2) calculates the second operation amount MV(2) using the output value of the integral processing M28(2). Then, the CPU 32(2) can cause the rotation angle θp to track the target angle θp* by controlling the q-axis current flowing in the second stator coil 14(2) to the second operation amount MV(2).

[0067] Second Embodiment

[0068] A control device for an electric motor according to a second embodiment will be described below. This embodiment basically adopts the same configuration as that of the above-described first embodiment. Therefore, the same elements as in the first embodiment will be denoted by the same reference numerals, and detailed description thereof will not be repeated. Figure 4

[0069] As described above, in the case 3 in which communication between the microcomputers is normal but a control abnormality occurs, and the case 4 in which communication between the microcomputers is abnormal but control by the first microcomputer 30(1) is possible, the CPU 32(2) adopts the second operation amount MV(2) in the selection process M50. In either of the case 3 and the case 4, the second operation signal generation process M44(2) generates an operation signal MS(2) for operating the second inverter 22(2) so that the q-axis current flowing in the second stator coil 14(2) is "1 / 2" of the second operation amount MV(2).

[0070] In this way, in the case 3 and the case 4, the CPU 32(2) generates the operation signal MS(2) using the second operation amount MV(2) generated thereby instead of the first operation amount MV(1) generated by the CPU 32(1). That is, in the case 3 and the case 4, the operation state of the CPU 32(2) shifts to a so-called independent drive state in which the power supply to the second stator coil 14(2) is independently controlled using the second operation amount MV(2) generated by the CPU 32(2).

[0071] In the independent drive state in the case 3 and the case 4, there is the following problem. That is, in the case 3 and the case 4, the CPU 32(2) keeps the integral process M28(2) stopped. Therefore, the feedback operation amount MFB(2) calculated in the feedback operation amount calculation process M20(2) is the sum of the output value of the proportional element M24(2) and the output value of the differential process M32(2). On the other hand, the feedback operation amount MFB(1) calculated in the feedback operation amount calculation process M20(1) is the sum of the output value of the proportional element M24(1), the output value of the integral process M28(1), and the output value of the differential process M32(1). Therefore, the absolute value of the feedback operation amount MFB(2) has a value smaller than the absolute value of the feedback operation amount MFB(1) by the output value of the integral process M28(2). In addition, the absolute value of the second operation amount MV(2) has a value smaller than the absolute value of the first operation amount MV(1) by the output value of the integral process M28(2).

[0072] ​For example, in Case 1, the first operation signal generation process M44(1) generates an operation signal MS(1) such that the q-axis current flowing in the first stator coil 14(1) is “1 / 2” of the first operation amount MV(1). In Case 1, the CPU 32(2) adopts the first operation amount MV(1) in the selection process M50 and generates an operation signal MS(2) through the second operation signal generation process M44(2) such that the q-axis current flowing in the second stator coil 14(2) is “1 / 2” of the first operation amount MV(1). That is, 50% of the output value of the integration process M28(1) is reflected in each of the operation signals MS(1) and MS(2). In other words, 100% of the output value of the integration process M28(1) is reflected in the operation signals MS(1) and MS(2) as a whole.

[0073] On the other hand, in cases 3 and 4, the first operation signal generation process M44(1) generates an operation signal MS(1) such that the q-axis current flowing in the first stator coil 14(1) is "1 / 2" of the first operation quantity MV(1). In cases 3 and 4, the CPU 32(2) adopts the second operation quantity MV(2) in the selection process M50 and generates an operation signal MS(2) through the second operation signal generation process M44(2) such that the q-axis current flowing in the second stator coil 14(2) is "1 / 2" of the second operation quantity MV(2). Here, the output value of the integration process M28(2) is not reflected in the second operation quantity MV(2). Therefore, 50% of the output value of the integration process M28(1) is reflected in the operation signal MS(1), and the output value of the integration process M28(2) is not reflected in the operation signal MS(2). That is, only 50% of the output value of the integration process M28(1) is reflected in the operation signal MS(1) and the operation signal MS(2) as a whole. Therefore, in cases 3 and 4, since the output value of the integral processing M28(2) is not reflected in the operation signal MS(2), there is a problem that the total torque generated by the motor 10 will decrease. In addition, there is a problem that the steering performance of the steering wheel via the steering actuator will decrease due to the decrease in torque generated by the motor 10.

[0074] Therefore, in this embodiment, the first microcomputer 30(1) performs the following processing to ensure the total torque generated by the motor 10 in either case 3 or case 4.

[0075] like Figure 5 As shown, the first microcomputer 30(1) executes a determination process M60, a selection process M62, and a multiplication process M64. The determination process M60 is the process of determining whether the operating state of the CPU 32(2) has changed to an independent drive state.

[0076] In the determination processing M60, it is determined that the operation state of the CPU 32(2) corresponds to Case 3 before the transition to the independent drive state when the following three conditions (Al), (A2), and (A3) are satisfied.

[0077] (A1) The communication between the microcomputers is normal.

[0078] (A2) The first microcomputer 30(1) can control the current flowing to the first stator coil 14(1) via the first inverter 22(1).

[0079] (A3) The absolute value of the difference between the first operation amount MV(1) and the second operation amount MV(2) is not less than a prescribed value Mth. That is, the control of the rotational angle θp(k) so that the rotational angle θp(k) becomes the target angle θp* is not normally performed.

[0080] In the determination processing M60, it is determined that the operation state of the CPU 32(2) corresponds to Case 4 before the transition to the independent drive state when the following two conditions (A4) and (A5) are satisfied.

[0081] (A4) The communication between the microcomputers is abnormal.

[0082] (A5) The first microcomputer 30(1) can control the current flowing to the first stator coil 14(1) via the first inverter 22(1).

[0083] The selection processing M62 is processing of selecting one of the fixed value "1" and the fixed value "2" stored in the ROM 34(1) in accordance with the determination result of the determination processing M60. The fixed value "2" is a value identical to the number of control systems of the control device 20. In the selection processing M62, the fixed value "1" is selected when the operation state of the CPU 32(2) does not transition to the independent drive state. In the selection processing M62, the fixed value "2" is selected when the operation state of the CPU 32(2) transitions to the independent drive state.

[0084] The multiplication processing M64 is processing of multiplying the output value of the integration processing M28(k) by the fixed value "1" or the fixed value "2" selected in the selection processing M62. In this embodiment, the routine shown in FIG. 10 can be appropriately modified by executing the routine shown in FIG. 11. Figure 4 Figure 5 ​

[0085] In the determination processing M60, it is determined that the operation state of the CPU 32(2) corresponds to Case 4 before the transition to the independent drive state when the following two conditions (A4) and (A5) are satisfied. ​ ​​​When the communication between the first microcomputer 30(1) and the second microcomputer 30(2) is normal (S10: YES) and the first microcomputer 30(1) can control the power supply to the first stator coil 14(1) (S12: NO) in the series of processes shown in FIG. 8, the CPU 32(1) acquires the second operation amount MV(2) generated by the CPU 32(2) (S50).

[0086] Then, the CPU 32(1) determines whether the absolute value of the difference between the first operation amount MV(1) and the second operation amount MV(2) is smaller than the prescribed value Mth (S52). When the absolute value of the difference between the first operation amount MV(1) and the second operation amount MV(2) is smaller than the prescribed value Mth (S52: YES), the CPU 32(1) determines in the determination process M60 that the operation state of the CPU 32(2) has not shifted to the independent drive state (S54). Thereafter, the CPU 32(1) selects the fixed value "1" in the selection process M62 (S56) and returns the routine to step S14.

[0087] When the absolute value of the difference between the first operation amount MV(1) and the second operation amount MV(2) is not smaller than the prescribed value Mth (S52: NO), the CPU 32(1) determines in the determination process M60 that the operation state of the CPU 32(2) has shifted to the independent drive state (S58). Thereafter, the CPU 32(1) selects the fixed value "2" in the selection process M62 (S60) and ends the routine.

[0088] When the communication between the first microcomputer 30(1) and the second microcomputer 30(2) is abnormal (S10: NO) and the first microcomputer 30(1) can control the power supply to the first stator coil 14(1) (S20: NO), the CPU 32(1) determines in the determination process M60 that the operation state of the CPU 32(2) has shifted to the independent drive state (S62). Thereafter, the CPU 32(1) selects the fixed value "2" in the selection process M62 (S64) and ends the routine.

[0089] The operation and advantages of this embodiment will be described below. In the case 3 and the case 4 in which the operation state of the CPU 32(2) has shifted to the independent drive state, the first operation signal generation process M44(1) generates the operation signal MS(1) so that the q-axis current flowing in the first stator coil 14(1) is "1 / 2" of the first operation amount MV(1). In the case 3 and the case 4, the CPU 32(2) adopts the second operation amount MV(2) in the selection process M50, and generates the operation signal MS(2) so that the q-axis current flowing in the second stator coil 14(2) is "1 / 2" of the second operation amount MV(2) by the second operation signal generation process M44(2).

[0090] In the case 3 and the case 4, the CPU 32(2) causes the integral processing M28(2) to remain stopped. Therefore, the output value of the integral processing M28(2) is not reflected in the second operation amount MV(2). However, in the case 3 and the case 4, the CPU 32(1) sets the output value of the integral processing M28(1) to twice by multiplying the output value of the integral processing M28(1) by a fixed value "2". Therefore, the first operation signal generation processing M44(1) generates the operation signal MS(1) so that the q-axis current flowing in the first stator coil 14(1) is "1 / 2" of the first operation amount MV(1). Here, a value corresponding to the output value of the integral processing M28(1) is reflected in the generated operation signal MS(1), that is, 100% of the output value of the integral processing M28(1) before being doubled.

[0091] Since the output value of the integral processing M28(2) is not reflected in the operation signal MS(2) in this way, the output value of the integral processing M28(1) reflected in the operation signal MS(1) is increased by the number of control systems of the control device 20. Therefore, 100% of the output value of the integral processing M28(1) is reflected in the operation signal MS(1) and the operation signal MS(2) as a whole. Therefore, in the case 3 and the case 4, even though the output value of the integral processing M28(2) is not reflected in the operation signal MS(2), it is possible to secure the total torque generated by the motor 10. Since the torque generated by the motor 10 is secured, it is possible to suppress the reduction in the steering performance of the steering wheel by the steering actuator.

[0092] In this embodiment, in the case 3 and the case 4 in which the operation state of the CPU 32(2) is changed to the independent drive state, the CPU 32(1) increases the output value of the integral processing M28(1) according to the number of control systems of the control device 20, but it is possible to increase the output value of the integral processing M28(1) regardless of the control system of the control device 20. Here, it is preferable that the fixed value selected in the selection processing M62 is greater than "1" and equal to or less than "2" as the number of control systems. In this configuration, in the case 3 and the case 4 in which the operation state of the CPU 32(2) is changed to the independent drive state, it is possible to increase the torque generated by the motor 10 compared to the case where the CPU 32(1) uses the output value of the integral processing M28(1) without any change.

[0093] Correspondence relationship

[0094] The correspondence between the elements in the embodiments and the elements of the application described in the "SUMMARY" is as follows. In the following description, the correspondence is described for each configuration of the quantities described in the "SUMMARY".[1, 2, 9] When the variable k is "1" or "2", the kth drive circuit corresponds to the kth inverter 22(k), the kth processing circuit corresponds to the kth microcomputer 30(k), the kth operation quantity calculation processing corresponds to the feedback operation quantity calculation processing M20(k), the feedforward operation quantity calculation processing M40(k), and the addition processing M42(k). The output processing corresponds to the processing of S14. The first use and operation processing corresponds to the second operation signal generation processing M44(2) at the time of the processing of S42. The second use and operation processing corresponds to the second operation signal generation processing M44(2) at the time of the processing of S46. The removal processing corresponds to the processing of S34. The integration element corresponds to the integral gain multiplication processing M26(2) and the integral processing M28(2).[3] This configuration corresponds to the processing at the time of the negative determination result of S40.[4] This configuration corresponds to the processing at the time of the negative determination result of S36.[5] This configuration corresponds to the processing at the time of the negative determination result of S52 and at the time of the negative determination result of S20.[6] The external device corresponds to the main ECU 50. This configuration corresponds to the processing at the time of the negative determination result of S32.[7] The notification processing corresponds to the processing of S22.[8] This configuration corresponds to the processing at the time of the positive determination result of S30.

[0095] Other Embodiments

[0096] At least one of the elements in the above-described embodiments can be modified as follows.

[0097] "Instruction from the main ECU"

[0098] For example, the CPU 32(1) can output the first operation quantity MV(1) and the rotation angle θp(1) to the main ECU 50, the CPU 32(2) can output the second operation quantity MV(2) and the rotation angle θp(2) to the main ECU 50, and the main ECU 50 can determine which of the first microcomputer 30(1) and the second microcomputer 30(2) is normal. In this case, when it is determined that the second microcomputer 30(2) is normal, the main ECU 50 can notify the second microcomputer 30(2) and the CPU 32(2) can perform the processing of S44.

[0099] "Removal processing"

[0100] The removal processing is not limited to stopping the integration processing M28(2) when operating the second inverter 22(2) based on the first operation amount MV(1). For example, the removal processing can be processing of setting the value held in the integration processing M28(2) to "0" and setting the second operation amount MV(2) to a value calculated such that the value held in the integration processing M28(2) at the time point at which the operation amount for operating the second inverter 22(2) is switched from the first operation amount MV(1) to the second operation amount MV(2) is "0".

[0101] "Kth operation amount calculation processing"

[0102] (a) Feedback operation amount MFB(k)

[0103] For example, when the integral gain Ki is invariable, the integration element can be processing of multiplying the output value of the integration processing M28(k) by the integral gain Ki through the integral gain multiplication processing M26(k).

[0104] The feedback operation amount MFB is not limited to the sum of the output value of the proportional element M24(k), the output value of the integration element, and the output value of the differentiation element. For example, the feedback operation amount MFB can be the sum of the two output values of the proportional element and the integration element, the sum of the two output values of the integration element and the differentiation element, or the output value of the integration element.

[0105] (b) Feedforward operation amount MFF(k)

[0106] The feedforward operation amount MFF(k) based on the convertable angle (for example, the target angle θp*) is not limited to calculating the feedforward operation amount MFF(k) only from the convertable angle. For example, the feedforward operation amount MFF(k) can be set to be variable according to the vehicle speed. For example, a value obtained by multiplying a second differential value of the convertable angle by a proportional coefficient can be added thereto.

[0107] (c) Others

[0108] It is not necessary to calculate the kth operation amount MV(k) based on the feedforward operation amount MFF(k).

[0109] "Convertable angle"

[0110] In the above-described embodiment, the convertable angle is the angle of the steering shaft, but is not limited thereto, and the convertable angle can be a steering angle that is the steering angle of the tire.

[0111] "Processing circuit"

[0112] In the above-described embodiments, the ROM is exemplified as a program storage device that configures the processing circuitry, and the type of the ROM is not described, but the ROM can be, for example, a non-rewritable memory or an electrically rewritable nonvolatile memory. The program storage device is not limited to the ROM.

[0113] The processing circuitry is not limited to the software processing circuitry including the program storage device storing the program and the CPU executing the program, but can be, for example, a dedicated hardware circuit that performs a predetermined process such as an ASIC.

[0114] The processing circuitry is not limited to the configuration including only one of the software processing circuitry and the dedicated hardware circuit, but can have a configuration that performs some processes using the software processing circuitry and performs other processes using the dedicated hardware circuit.

[0115] "Control device"

[0116] In the above-described embodiments, the device including two systems of the first system and the second system is described, but the present application is not limited thereto. For example, a third system can be provided, that is, three or more stator coils, three or more drive circuits, and three or more processing circuitry can be provided. In this case, one is preferably used as a master and the others are used as slaves.

[0117] "Motor"

[0118] The motor is not limited to the SPMSM, but can be an interior permanent magnet synchronous motor (IPMSM). In the IPMSM, it is preferable to use the kth operation amount MV(k) as a torque command value in the kth operation signal generation process M44(k), 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 the synchronous motor, but can be an induction machine. The motor is not limited to the brushless motor, but can be a brushed motor.

[0119] "Stator coil, motor, and drive circuit"

[0120] In the above-described embodiments, the three-phase inverter is exemplified as the drive circuit, but the present application is not limited thereto. For example, when a DC motor is used as the "motor" as described above in the "motor", an H-bridge circuit can be used as the drive circuit.

[0121] "Drive circuit"

[0122] When a DC motor is used as the "motor" as described above in the "motor", an H-bridge circuit can be used as the drive circuit.

[0123] "Others"

[0124] It is not necessary to include the relay 26(1) and the relay 26(2) or to turn off the relay 26(1) in the process at S18. In the process at S18, the relay 26(1) can be turned off, and the relay 24(1) can not be turned off.

Claims

1. A control device (20) that controls an electric motor (10) that steers a steered wheel and includes a first stator coil (14(1)) and a second stator coil (14(2)) insulated from each other, the control device (20) characterized by comprising: a first drive circuit connected to the first stator coil (14(1)); a second drive circuit connected to the second stator coil (14(2)); a first processing circuit; and a second processing circuit, wherein the control device (20) operates the first drive circuit and the second drive circuit, wherein the first processing circuit and the second processing circuit are capable of communicating with each other, wherein the first processing circuit executes a first operation amount calculation process that calculates a first operation amount for feedback control of a first convertible angle that can be converted into a steering angle of the steered wheel based on a detection value from a first angle sensor (40(1)) so that the first convertible angle becomes a target angle, a process that operates the first drive circuit based on the first operation amount, and an output process that outputs the first operation amount to the second processing circuit, wherein the second processing circuit executes a second operation amount calculation process that calculates a second operation amount for feedback control of a second convertible angle that can be converted into a steering angle of the steered wheel based on a detection value from a second angle sensor (40(2)) so that the second convertible angle becomes the target angle, a first use and operation process that operates the second drive circuit based on the first operation amount, and a second use and operation process that operates the second drive circuit based on the second operation amount, wherein the second operation amount calculation process includes a process that calculates the second operation amount based on an output of an integral element, wherein the output of the integral element corresponds to a difference between the second convertible angle based on the detection value from the second angle sensor (40(2)) and the target angle, wherein, in a case where switching from the first use and operation process to the second use and operation process is performed, the second processing circuit executes a removal process that removes, from the second operation amount for operating the second drive circuit, an influence of the integral element that corresponds to a difference between the second convertible angle based on the detection value from the second angle sensor (40(2)) and the target angle, before the switching, wherein the second operation amount calculation process includes a process that calculates the second operation amount without using the integral element while the first use and operation process is being executed, wherein the second processing circuit executes a process that switches the first use and operation process to the second use and operation process when an absolute value of a difference between the first operation amount and the second operation amount is equal to or greater than a prescribed value, ​ The second operation amount calculation processing includes processing of calculating the second operation amount without using the integration element when the second use and operation processing is executed based on a result of the absolute value indicating a difference between the first operation amount and the second operation amount being equal to or greater than the prescribed value, The first operation amount calculation processing includes processing of calculating the first operation amount based on an output of the integration element, the output of the integration element corresponding to a difference between a first convertible angle based on a detection value from the first angle sensor (40(1)) and the target angle, and The first processing circuit increases the output of the integration element in accordance with a number of control systems when the second processing circuit executes processing of switching the first use and operation processing to the second use and operation processing.

2. The control device (20) according to claim 1, characterized in that The removal processing is processing of stopping the integration element in the second operation amount calculation processing while the first use and operation processing is being executed.

3. The control device (20) according to claim 1 or 2, characterized in that: The first processing circuit and the second processing circuit are capable of communicating with an external device for outputting the target angle from outside the control device (20) to the control device; and The second operation amount calculation processing includes processing of calculating the second operation amount using the integration element when the external device indicates using the integration element.

4. The control device (20) according to claim 3, characterized in that: The first processing circuit executes notification processing of sending a notification indicating that an abnormality has occurred to the second processing circuit via the external device when an abnormality has occurred in communication between the first processing circuit and the second processing circuit and an abnormality has occurred in the first processing circuit; and The second operation amount calculation processing includes processing of calculating the second operation amount using the integration element when the external device indicates using the integration element based on the notification processing.

5. The control device (20) according to claim 1 or 2, characterized in that: The second processing circuit includes processing of switching the first use and operation processing to the second use and operation processing when an abnormality of the first processing circuit stopping operation of the first drive circuit occurs; and The second operation amount calculation processing includes processing of calculating the second operation amount using the integration element when the second use and operation processing is executed based on the abnormality of the first drive circuit stopping operation.

6. The control device (20) according to claim 1 or 2, characterized in that The second operation amount calculation processing is processing of calculating the second operation amount based on an operation amount for feedforward control of the second convertible angle so that the second convertible angle becomes the target angle in addition to an operation amount for feedback control of the second convertible angle so that the second convertible angle becomes the target angle.

7. A control device (20) that controls an electric motor (10) that steers a steered wheel and includes a first stator coil (14(1)) and a second stator coil (14(2)) insulated from each other, the control device (20) characterized by comprising: a first drive circuit connected to the first stator coil (14(1)); a second drive circuit connected to the second stator coil (14(2)); a first processing circuit; and a second processing circuit, wherein the control device (20) operates the first drive circuit and the second drive circuit, wherein the first processing circuit and the second processing circuit are capable of communicating with each other, wherein the first processing circuit executes a first operation amount calculation process that calculates a first operation amount for feedback control of a first convertible angle that can be converted into a steering angle of the steered wheel based on a detection value from a first angle sensor (40(1)) so that the first convertible angle becomes a target angle, a process that operates the first drive circuit based on the first operation amount, and an output process that outputs the first operation amount to the second processing circuit, wherein the second processing circuit executes a second operation amount calculation process that calculates a second operation amount for feedback control of a second convertible angle that can be converted into a steering angle of the steered wheel based on a detection value from a second angle sensor (40(2)) so that the second convertible angle becomes the target angle, a first use and operation process that operates the second drive circuit based on the first operation amount, and a second use and operation process that operates the second drive circuit based on the second operation amount, wherein the second operation amount calculation process includes a process that calculates the second operation amount based on an output of an integral element, wherein the output of the integral element corresponds to a difference between the second convertible angle based on the detection value from the second angle sensor (40(2)) and the target angle, wherein, in a case where a switch from the first use and operation process to the second use and operation process is made, the second processing circuit executes a removal process that removes, from the second operation amount for operating the second drive circuit before the switch, an influence of the integral element that corresponds to a difference between the second convertible angle based on the detection value from the second angle sensor (40(2)) and the target angle, wherein the second processing circuit executes a process that switches the first use and operation process to the second use and operation process when an abnormality occurs in communication between the first processing circuit and the second processing circuit, wherein the second operation amount calculation process includes a process that calculates the second operation amount without using the integral element when the second use and operation process is executed based on a result indicating that an abnormality has occurred in the communication, ​ wherein the first operation amount calculation processing includes processing of calculating the first operation amount based on an output of the integrating element, the output of the integrating element corresponding to a difference between the first convertible angle based on the detection value from the first angle sensor (40(1)) and the target angle, and wherein, when the second processing circuit executes processing of switching the first use and operation processing to the second use and operation processing, the first processing circuit increases the output of the integrating element in accordance with the number of control systems.

8. The control device (20) according to claim 7, characterized in that The removal processing is processing of stopping the integrating element in the second operation amount calculation processing while the first use and operation processing is being executed.

9. The control device (20) according to claim 7 or 8, characterized in that: the first processing circuit and the second processing circuit are capable of communicating with an external device for outputting the target angle from outside the control device (20) to the control device from the external device; and the second operation amount calculation processing includes processing of calculating the second operation amount using the integrating element when the external device indicates use of the integrating element.

10. The control device (20) according to claim 9, characterized in that: when an abnormality has occurred in the communication between the first processing circuit and the second processing circuit and an abnormality has occurred in the first processing circuit, the first processing circuit executes notification processing of sending a notification indicating that an abnormality has occurred to the second processing circuit via the external device; and the second operation amount calculation processing includes processing of calculating the second operation amount using the integrating element when the external device indicates use of the integrating element based on the notification processing.

11. The control device (20) according to claim 7 or 8, characterized in that: the second processing circuit includes processing of switching the first use and operation processing to the second use and operation processing when an abnormality occurs in which the operation of the first drive circuit by the first processing circuit is stopped; and the second operation amount calculation processing includes processing of calculating the second operation amount using the integrating element when the second use and operation processing is executed based on the abnormality in which the operation of the first drive circuit is stopped.

12. The control device (20) according to claim 7 or 8, characterized in that The second operation amount calculation processing is processing of calculating the second operation amount based on an operation amount for feedforward control of the second convertible angle so that the second convertible angle becomes the target angle in addition to an operation amount for feedback control of the second convertible angle so that the second convertible angle becomes the target angle. the first processing circuit and the second processing circuit are capable of communicating with an external device for outputting the target angle from outside the control device (20) to the control device from the external device; and the second operation amount calculation processing includes processing of calculating the second operation amount using the integrating element when the external device indicates use of the integrating element.

10. The control device (20) according to claim 9, characterized in that: when an abnormality has occurred in the communication between the first processing circuit and the second processing circuit and an abnormality has occurred in the first processing circuit, the first processing circuit executes notification processing of sending a notification indicating that an abnormality has occurred to the second processing circuit via the external device; and the second operation amount calculation processing includes processing of calculating the second operation amount using the integrating element when the external device indicates use of the integrating element based on the notification processing.

11. The control device (20) according to claim 7 or 8, characterized in that: the second processing circuit includes processing of switching the first use and operation processing to the second use and operation processing when an abnormality occurs in which the operation of the first drive circuit by the first processing circuit is stopped; and the second operation amount calculation processing includes processing of calculating the second operation amount using the integrating element when the second use and operation processing is executed based on the abnormality in which the operation of the first drive circuit is stopped. The second operation amount calculation processing is processing of calculating the second operation amount based on an operation amount for feedforward control of the second convertible angle so that the second convertible angle becomes the target angle in addition to an operation amount for feedback control of the second convertible angle so that the second convertible angle becomes the target angle.

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