Motor control device and fault diagnosis method using the same

Abstract

According to an embodiment, a motor control device and a fault diagnosis method using the same are disclosed. The motor control device includes: a first receiving circuit that receives a first input signal via a first signal line; a second receiving circuit that receives a second input signal via a second signal line; a sensing circuit that is connected to the first signal line and the second signal line and outputs different status output values ​​depending on whether the second signal line is disconnected; and a controller that receives the status output value outputted from the sensing circuit and uses the received status output value to determine whether the second signal line is disconnected.

Description

Technical Field

[0001] The present invention relates to a motor control device and a fault diagnosis method using the motor control device. Background Art

[0002] A motor installed in a vehicle may be used as a driving source to rotate a sensor device, such as a light detection and ranging (LiDAR). Proper driving of the motor may be an important factor in ensuring the performance of the sensor device.

[0003] During application of an operating signal for operating the motor, a problem may occur in which noise is generated or an input signal line is disconnected, so that the input signal cannot be normally transmitted.

[0004] Since the motor's operating mode is determined based on the input signal, a motor failure may occur when the input signal is not transmitted normally. Specifically, when the input signal line is disconnected and the input signal is not transmitted normally, although a fault process should be performed, a process is performed under a state where a normal voltage is input.

[0005] Therefore, a method of accurately detecting the disconnection state of the input signal line is needed. Summary of the Invention

[0006] Technical issues

[0007] The present invention aims to provide a motor control device and a fault diagnosis method using the motor control device.

[0008] Technical Solution

[0009] One aspect of the present invention provides a motor control device, comprising: a first receiving circuit, which receives a first input signal through a first signal line; a second receiving circuit, which receives a second input signal through a second signal line; a sensing circuit, which is connected to the first signal line and the second signal line and outputs a status output value that changes according to whether the second signal line is disconnected; and a microcontroller unit (MCU), which receives the status output value output from the sensing circuit and uses the received status output value to determine whether the second signal line is disconnected.

[0010] When the second signal line is disconnected, the sensing circuit may not be connected to the first signal line, and the sensing circuit may output "0" as the state output value. When the second signal line is not disconnected, the sensing circuit may be connected to the first signal line, and the sensing circuit may output "1" as the state output value.

[0011] The sensing circuit may include an n-channel metal oxide semiconductor field effect transistor (MOSFET), a gate of the n-channel MOSFET may be connected to the second signal line, and a source of the n-channel MOSFET may be connected to the first signal line.

[0012] The sensing circuit may include a first sensing circuit and a second sensing circuit, wherein the first sensing circuit is connected to the first signal line and the second signal line and outputs a state output value that changes according to whether the second signal line is disconnected, and the second sensing circuit is connected to the first signal line and the second signal line and outputs a state output value that changes according to whether the first signal line is disconnected.

[0013] The sensing circuit may include a first sensing circuit and a second sensing circuit, the first sensing circuit being connected to the first signal line and the second signal line and outputting a state output value that changes according to whether the second signal line is disconnected, and the second sensing circuit being connected to the first signal line and the second signal line and outputting a comparison output value between the first input signal and the second input signal.

[0014] When the first input signal and the second input signal are both normal signals, the second sensing circuit can output "0" or a value within a predetermined error range as the comparison output value; when the first input signal or the second input signal is an abnormal signal, the second sensing circuit can output a value other than "0" or a value exceeding the predetermined error range as the comparison output value.

[0015] The second sensing circuit may include an inverting amplifier, the first signal line may be connected to an inverting input terminal of the inverting amplifier, the second signal line may be connected to a non-inverting input terminal of the inverting amplifier, and the second sensing circuit may output the comparison output value between the first input signal and the second input signal.

[0016] The sensing circuit may include a first sensing circuit, a second sensing circuit, and a third sensing circuit, wherein the first sensing circuit is connected to the first signal line and the second signal line and outputs a state output value that changes according to whether the second signal line is disconnected, the second sensing circuit is connected to the first signal line and the second signal line and outputs a state output value that changes according to whether the first signal line is disconnected, and the third sensing circuit is connected to the first signal line and the second signal line and outputs a comparison output value between the first input signal and the second input signal.

[0017] The first input signal may be a voltage signal for starting the MCU, and the second input signal may be a voltage signal for controlling the speed of a driving motor.

[0018] Another aspect of the present invention provides a fault diagnosis method for a motor control device, comprising: outputting a state output value from a circuit connected to a first signal line and a second signal line to which a first input signal and a second input signal are applied, the state output value changing according to whether the second signal line is disconnected; outputting a comparison output value between the first input signal and the second input signal from a circuit connected to the first signal line and the second signal line; and determining whether the second signal line is disconnected using the output state output value, and determining whether the first input signal and the second input signal are abnormal using the output comparison output value.

[0019] In the determination process, when the state output value is "0", it can be determined that the second signal line is in a disconnected state.

[0020] In the determination process, when the state output value is “1”, it may be determined that the second signal line is in a normal state, and the comparison output value may be checked to be “0” or within a predetermined error range.

[0021] During the determination process, when the comparison output value is not “0” or exceeds the predetermined error range, it can be determined that the first input signal or the second input signal is an abnormal signal.

[0022] Beneficial effects

[0023] According to an embodiment, since the sensing circuit is provided between and connected to two input lines, wherein two input signals are transmitted between an electronic control unit (ECU) and a motor control device through the two input lines, and the values ​​transmitted through the input lines are checked, it is possible to accurately detect whether the input lines are disconnected.

[0024] According to the embodiment, since the sensing circuit is provided between and connected to two input lines through which two input signals are transmitted and checks a comparison output value between the two input signals, it is possible to detect whether the input signals are abnormal.

[0025] According to an embodiment, the present invention may be used as a safety mechanism for determining the error of two signals. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 is a diagram illustrating a system for fault diagnosis according to an embodiment of the present invention.

[0027] Figure 2is a diagram showing a motor control device according to an embodiment of the present invention.

[0028] Figure 3 is a diagram for describing a practically implemented circuit of a conventional circuit portion.

[0029] Figure 4a and Figure 4b is used to describe Figure 3 FIG2 is a diagram showing the working principle of a conventional circuit portion.

[0030] Figure 5 is a view showing the configuration of a circuit portion according to one embodiment of the present invention.

[0031] Figures 6a to 6c Is used to describe the implementation Figure 5 A view of the circuit of the circuit portion is shown in FIG.

[0032] Figure 7 is a diagram illustrating a fault diagnosis method according to an embodiment of the present invention. DETAILED DESCRIPTION

[0033] Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings.

[0034] However, the technical spirit of the present invention is not limited to the several embodiments to be described and may be implemented in various forms, and at least one or more components of the embodiments may be selectively combined, replaced, and used within the scope of the technical spirit.

[0035] In addition, unless the context clearly and explicitly defines otherwise, all terms (including technical and scientific terms) used herein may be interpreted as having the meanings commonly understood by those skilled in the art, and the meanings of commonly used terms (such as those defined in general dictionaries) will be interpreted in consideration of the contextual meanings of the relevant technology.

[0036] In addition, the terms used in the embodiments of the present invention are to be considered in a descriptive sense only and not to limit the present invention.

[0037] In this specification, unless the context clearly indicates otherwise, the singular form includes its plural form, and when describing "at least one (or one or more) of A, B and C", it may include at least one combination of all possible combinations of A, B and C.

[0038] Furthermore, in the description of components of the present invention, terms such as “first,” “second,” “A,” “B,” “(a),” and “(b)” may be used.

[0039] The terms are used only to distinguish one element from another, and the nature, order, etc. of the elements are not limited by the terms.

[0040] In addition, it will be understood that when an element is referred to as being “connected” or “coupled” to another element, such description may include the case where the element is directly connected or coupled to another element and the case where the element is connected or coupled to another element with an element disposed therebetween.

[0041] Furthermore, when any element is described as being formed or disposed “on” or “under” another element, such description includes both the case where the two elements are formed or disposed in direct contact with each other and the case where one or more other elements are interposed between the two elements. Furthermore, when an element is described as being formed “on or under” another element, such description includes the case where the element is formed on the upper side or the lower side relative to the other element.

[0042] In an embodiment, a new method is proposed, wherein a sensing circuit is arranged between and connected to two input lines, two input signals are transmitted between an electronic control unit (ECU) and a motor control device through the two input lines, and the sensing circuit is used to check whether the input lines are disconnected or whether the input signals are abnormal.

[0043] Figure 1 is a diagram illustrating a system for fault diagnosis according to an embodiment of the present invention.

[0044] Reference Figure 1 A system for fault diagnosis according to an embodiment of the present invention may include an ECU 100 and a motor control device 200 .

[0045] The ECU 100 may provide an input signal to control the drive motor. The ECU 100 may provide a first input signal and a second input signal to a motor control device to control the drive motor. In this case, the first input signal may be a signal for starting the motor control device, and the second input signal may be a signal for controlling the speed of the drive motor.

[0046] The motor control device 200 may receive an input signal from the ECU 100 and control the drive motor, for example, the speed of the drive motor, based on the input signal.

[0047] The motor control device 200 may receive a first input signal through a first input line and a second input signal through a second input line. When the motor control device 200 determines that the first input line or the second input line is disconnected or the first input signal or the second input signal is an abnormal signal, the motor control device 200 may provide an error signal to the ECU 100.

[0048] Figure 2 is a diagram showing a motor control device according to an embodiment of the present invention.

[0049] Reference Figure 2 The motor control device 200 according to one embodiment of the present invention may include a circuit portion 210 , a micro control unit (MCU) 220 , and a driving motor 230 .

[0050] The circuit portion 210 may receive a first input signal Sin1 and a second input signal Sin2 from the ECU through different signal lines.

[0051] Figure 3 is a diagram for describing a practical implementation circuit of a conventional circuit portion, and Figure 4a and Figure 4b is used to describe Figure 3 FIG2 is a diagram showing the working principle of a conventional circuit portion.

[0052] Reference Figure 3 The circuit portion 210 according to the embodiment may include a first receiving circuit 211 and a second receiving circuit 212. When an input signal having a specific voltage is input to the first receiving circuit 211 and the second receiving circuit 212, the input signal having the specific voltage may be transmitted to the MCU through the terminal SATRT_STOP and the terminal SPEED_MODE.

[0053] The first receiving circuit 211 may include a first resistor R1, a second resistor R2, and a third resistor R3. The first resistor, connected in series to the first signal line, may be used to remove noise from the first input signal. The first receiving circuit 211 may include a second resistor and a third resistor, each connected in parallel between the first resistor and the output terminal and connected to the first resistor and the output terminal. The second resistor is a pull-up resistor, the power terminal is connected to one end of the second resistor, and the third resistor, together with the second resistor, is used to divide the voltage supplied via the power terminal.

[0054] The second receiving circuit 212 may include a fourth resistor R4, a fifth resistor R5, and a sixth resistor R6. The fourth resistor connected in series to the second signal line may be used to remove noise from the second input signal. The second receiving circuit 212 may also include a fifth resistor and a sixth resistor connected in parallel between the fourth resistor and the output terminal and connected to the fourth resistor and the output terminal. The fifth resistor is a pull-up resistor, the power terminal is connected to one end of the fifth resistor, and the sixth resistor, together with the fifth resistor, is used to divide the voltage supplied from the power terminal.

[0055] Reference Figure 4aIn normal operation, the first receiving circuit can transmit a first input signal of 3.3V through the first signal line, and the second receiving circuit 212 can transmit a second input signal of 3.3V through the second signal line.

[0056] Reference Figure 4a , when the signal line is disconnected, the first receiving circuit can divide the 3.3V voltage applied from the power terminal and transmit a 2.72V voltage, and the second receiving circuit can divide the 3.3V voltage applied from the power terminal and transmit a 2.72V voltage.

[0057] When a voltage of 2.72 V is transmitted to the MCU through the first receiving circuit or the second receiving circuit, the MCU can recognize that the corresponding signal line is in a disconnected state and transmit error information to the ECU for fault management.

[0058] As described above, conventionally, when a voltage of 2.72V is detected as the voltage of the input signal instead of a voltage of 3.3V as the reference voltage, the signal line can be considered to be disconnected. However, when a voltage of 2.72V of the actual input signal is input, the MCU considers that the signal line is disconnected even if the signal line is not disconnected.

[0059] With only the configuration of the conventional circuit portion, it is impossible to determine whether a signal with a voltage of 2.72 V is input when the signal line is actually disconnected, or whether the actual input voltage is 2.72 V. That is, there is no structure capable of notifying the difference after checking the difference in level between the two signals.

[0060] Figure 5 is a view showing the configuration of a circuit portion according to one embodiment of the present invention, and Figures 6a to 6c Is used to describe the implementation Figure 5 A view of the circuit of the circuit portion is shown in FIG.

[0061] Reference Figure 5 The circuit portion 210 according to an embodiment of the present invention may include a first receiving circuit 211 , a second receiving circuit 212 , and a sensing circuit 213 .

[0062] The first receiving circuit 211 may include a first resistor R1 , a second resistor R2 , and a third resistor R3 , and the second receiving circuit 212 may include a fourth resistor R4 , a fifth resistor R5 , and a sixth resistor R6 .

[0063] The sensing circuit 213 may be provided between and connected to the first and second signal lines and may detect whether the first and second signal lines are disconnected or whether the first and second input signals are abnormal.

[0064] Reference Figure 6aAccording to an embodiment, the sensing circuit 213 may include a first sensing circuit 213a and a second sensing circuit 213b. The first sensing circuit 213a may detect whether the second signal line is disconnected, and the second sensing circuit 213b may detect whether the first signal line is disconnected.

[0065] For example, the first sensing circuit 213 a and the second sensing circuit 213 b are implemented using n-channel metal oxide semiconductor field effect transistors (MOSFETs), but are not necessarily limited thereto.

[0066] The gate of the n-channel MOSFET of the first sensing circuit 213a is connected to the second signal line, and the source of the n-channel MOSFET is connected to the first signal line. The gate is used to turn the n-channel MOSFET on and off. Therefore, when the second input signal transmitted along the second signal line is input to the gate, the first input signal transmitted along the first signal line is transmitted from the source to the drain, and thus a value of "1" is output through the terminal OPEN. However, when the second signal line is disconnected and the second input signal is not input to the gate, the first input signal transmitted along the first signal line is not transmitted from the source to the drain, and thus a value of "0" can be output through the terminal OPEN.

[0067] Therefore, when the value “0” is output from the first sensing circuit 213 a , the MCU may regard that the second signal line is disconnected.

[0068] The gate of the n-channel MOSFET of the second sensing circuit 213b is connected to the first signal line, and the source of the n-channel MOSFET is connected to the second signal line. The gate is used to turn the n-channel MOSFET on and off. Therefore, when the first input signal transmitted along the first signal line is input to the gate, the second input signal transmitted along the second signal line is transmitted from the source to the drain, thereby outputting a value of "1" through the terminal OPEN. However, when the first signal line is disconnected and the first input signal is not input to the gate, the second input signal transmitted along the second signal line is not transmitted from the source to the drain, and a value of "0" can be output through the terminal OPEN.

[0069] Therefore, when the value “0” is output from the second sensing circuit 213 b , the MCU may regard that the first signal line is disconnected.

[0070] Reference Figure 6b According to the embodiment, the sensing circuit 213 may include a first sensing circuit 213a, a second sensing circuit 213b and a third sensing circuit 213c. The first sensing circuit 213a can detect whether the second signal line is disconnected, the second sensing circuit 213b can detect whether the first signal line is disconnected, and the third sensing circuit 213c can detect whether the first input signal and the second input signal are abnormal.

[0071] Since the configuration and function of the first sensing circuit 213a and the second sensing circuit 213b are similar to Figure 6b The configuration and function of the first sensing circuit 213a and the second sensing circuit 213b are the same and will not be described.

[0072] The third sensing circuit 213c can be implemented using an operational (OP) amplifier that functions as a comparator and a subtractor. For example, the third sensing circuit 213c can be implemented using an inverting amplifier, but is not limited thereto.

[0073] In the reverse amplifier of the third sensing circuit 213c, the first signal line can be connected to the reverse (-) input terminal, the second signal line can be connected to the same direction (+) input terminal, and the difference between the first input signal transmitted along the first signal line and the second input signal transmitted along the second signal line can be output through the terminal COMP.

[0074] In this case, when the difference between the first input signal and the second input signal is "0" or within the error range, it can be considered that the first input signal and the second input signal are both normal signals. For example, based on a 3.3V input signal, the error range can be set to 3.3V±5%.

[0075] However, when the difference between the first input signal and the second input signal is not “0” or exceeds the error range, the first input signal or the second input signal may be considered as an abnormal signal.

[0076] In this case, the abnormal signal may include a voltage signal lower than a signal of the reference voltage level of 3.3V or a higher electrical signal.

[0077] Reference Figure 6c According to an embodiment, the sensing circuit 213 may include a first sensing circuit 213a and a third sensing circuit 213c. The first sensing circuit 213a may detect whether the second signal line is disconnected, and the third sensing circuit 213c may detect whether the first input signal and the second input signal are abnormal.

[0078] Since the configuration and function of the first sensing circuit 213a and the third sensing circuit 213c are similar to Figure 6b The configuration and function of the first sensing circuit 213a and the third sensing circuit 213c are the same and will not be described.

[0079] When the MCU 220 receives the first input signal and the second input signal from the circuit part 210 , the MCU 220 may drive the driving motor based on the first input signal and the second input signal.

[0080] The MCU 220 may receive a status output value from the circuit section 210, determine whether the first input line or the second input line is disconnected based on the received status output value, and feed back error information S according to the determination result when the first input line or the second input line is in a disconnected state. error .

[0081] The MCU 220 may receive the comparison output value from the circuit unit 210, determine whether the first input signal or the second input signal is abnormal based on the received comparison output value, and feed back error information S when determining that the first input signal or the second input signal is an abnormal signal. error .

[0082] As described in the above embodiment, through the configuration of the sensing circuit, it is possible to accurately distinguish and determine whether the input signal has changed or is abnormal due to the disconnection state of the signal line, and using the redundant two signals, the states and abnormalities of the two signals can be detected.

[0083] Figure 7 is a diagram illustrating a fault diagnosis method according to an embodiment of the present invention.

[0084] Reference Figure 7 , in the motor control device according to the embodiment, when the MCU receives a status output value and a comparison output value from a circuit portion connected to a first signal line and a second signal line (S710), the MCU may check whether the status output value is “0” or within an error range (S711).

[0085] Then, when the status output value is “0” or within the error range, the MCU may determine that the corresponding signal line is in a disconnected state ( S712 ).

[0086] For example, as in Figure 6b In the embodiment, when a state value is received and the state output value received from the sensing circuit is "0" or within an error range, the MCU determines that the second signal line is in a disconnected state.

[0087] Then, when the status output value is not “0” or exceeds the error range, the MCU may determine that the corresponding signal line is in a normal state ( S713 ) and check whether the difference value is “0” ( S720 ).

[0088] Then, when the comparison output value is “0”, the MCU may determine that the input signal is a normal signal ( S721 ). In this case, the input signal may include both the first input signal and the second input signal.

[0089] However, when the comparison output value is not “0”, the MCU may determine that the first input signal or the second input signal is an abnormal signal ( S723 ).

[0090] The terms such as "unit" used in the present embodiment refer to software components or hardware components such as field programmable gate arrays (FPGAs) or application specific integrated circuits (ASICs), and the object of the term "unit" performs a specific role. However, the term "unit" is not limited to software or hardware. A "unit" can be configured to be located on an addressable storage medium or to be configured to reproduce one or more processors. Therefore, in one example, the term "unit" includes components such as software components, object-oriented software components, class components, task components, processes, functions, properties, steps, subroutines, program code segments, drivers, firmware, microcodes, circuits, data, databases, data structures, tables, arrays, and variables. The functions provided by these components and "units" can be combined into a small amount of components and "units", or can be further divided into other components and "units". In addition, components and "units" can also be implemented to reproduce one or more central processing units (CPUs) in a device or a secure multimedia card.

[0091] While the present invention has been described above with reference to exemplary embodiments, it will be understood by those skilled in the art that various modifications and variations may be made without departing from the spirit and scope of the invention as defined by the appended claims.

[0092] [reference numerals]

[0093] 100: ECU

[0094] 200: Motor control device

[0095] 210: Circuit Department

[0096] 220: MCU

[0097] 230: Drive motor

Claims

1. A motor control device, comprising: a first receiving circuit, receiving a first input signal through a first signal line; a second receiving circuit, receiving a second input signal through a second signal line; a sensing circuit connected to the first signal line and the second signal line and outputting a state output value that changes depending on whether the second signal line is disconnected; as well as a microcontroller unit, i.e., an MCU, receiving the state output value output from the sensing circuit and determining whether the second signal line is disconnected using the received state output value, The sensing circuit includes an n-channel metal oxide semiconductor field effect transistor, that is, an n-channel MOSFET. The gate of the n-channel MOSFET is connected to the second signal line, and The source of the n-channel MOSFET is connected to the first signal line, Wherein, the sensing circuit includes: a first sensing circuit connected to the first signal line and the second signal line and outputting a state output value that changes depending on whether the second signal line is disconnected; a second sensing circuit connected to the first signal line and the second signal line and outputting a state output value that changes depending on whether the first signal line is disconnected; and a third sensing circuit connected to the first signal line and the second signal line and outputting a comparison output value between the first input signal and the second input signal, Wherein, when the first input signal and the second input signal are both normal signals, the third sensing circuit outputs "0" or a value within a predetermined error range as the comparison output value, and When the first input signal or the second input signal is an abnormal signal, the third sensing circuit outputs a value other than “0” or a value outside the predetermined error range as the comparison output value.

2. The motor control device according to claim 1, wherein: When the second signal line is disconnected, the sensing circuit is not connected to the first signal line, and the sensing circuit outputs "0" as the state output value. When the second signal line is not disconnected, the sensing circuit is connected to the first signal line, and the sensing circuit outputs "1" as the state output value.

3. The motor control device according to claim 1, wherein: The second sensing circuit includes an inverting amplifier, The first signal line is connected to the inverting input terminal of the inverting amplifier, The second signal line is connected to the non-inverting input terminal of the inverting amplifier, and The second sensing circuit outputs the comparison output value between the first input signal and the second input signal.

4. The motor control device according to claim 1, wherein: The first input signal is a voltage signal for starting the MCU, and The second input signal is a voltage signal for controlling the speed of the driving motor.

5. A fault diagnosis method for a motor control device, comprising: receiving a state output value from a sensing circuit connected to a first signal line and a second signal line to which first and second input signals are applied, the state output value changing depending on whether the second signal line is disconnected; receiving a comparison output value between the first input signal and the second input signal from the sensing circuit connected to the first signal line and the second signal line; as well as determining whether the second signal line is disconnected using the received state output value, and determining whether the first input signal or the second input signal is abnormal using the received comparison output value, The sensing circuit includes an n-channel metal oxide semiconductor field effect transistor, that is, an n-channel MOSFET. The gate of the n-channel MOSFET is connected to the second signal line, and The source of the n-channel MOSFET is connected to the first signal line, Wherein, the sensing circuit includes: a first sensing circuit connected to the first signal line and the second signal line and outputting a state output value that changes depending on whether the second signal line is disconnected; a second sensing circuit connected to the first signal line and the second signal line and outputting a state output value that changes depending on whether the first signal line is disconnected; and a third sensing circuit connected to the first signal line and the second signal line and outputting a comparison output value between the first input signal and the second input signal, Wherein, when the first input signal and the second input signal are both normal signals, the third sensing circuit outputs "0" or a value within a predetermined error range as the comparison output value, and When the first input signal or the second input signal is an abnormal signal, the third sensing circuit outputs a value other than “0” or a value outside the predetermined error range as the comparison output value.

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