Method for diagnosing faults of a power input circuit and system therefor

Abstract

According to one embodiment of the present application, a current measuring device for a three-phase inverter includes a current detecting element connected to a lower end of one of three lower switches constituting the inverter, a current measuring unit for measuring a current by using the current detecting element and two lower switches not connected to the current detecting element, and a current correction unit for correcting second and third current values measured by means of the two lower switches based on a relationship between a first current value measured by means of the current detecting element and the second and third current values.

Description

TECHNICAL FIELD

[0001] The present application relates to a method for diagnosing a failure of a power input circuit, and more particularly, to a method for diagnosing a failure of a power input circuit using a plurality of voltage sensing points, a system therefor, a motor driving apparatus for driving a motor using ignition power in an emergency, and an emergency motor braking method. BACKGROUND

[0002] Power required for an electronic control unit (ECU) inside a vehicle is provided by using power of a battery installed therein. In general, the electronic control unit (ECU) is an electronic control apparatus that controls various operations of the vehicle, and includes an MCU, a PMIC, a gate driver IC, etc. When the engine is turned on by ignition (IGN), the ECU operates by receiving power from the battery.

[0003] The ECU controls various apparatuses of the vehicle, and controls apparatuses that are critical to safety. Precise control is important for safety, and for this, stable power must be provided to the ECU. In addition, since the voltage amplitude required for the ECU is generally less than that of the battery power, the battery power must be reduced to the voltage amplitude required for the ECU.

[0004] The battery power can be inputted unstable for various reasons, which can cause damage to the ECU. In order to protect the ECU, the battery power needs to be monitored. If the power applied to the ECU fails, it is difficult to determine whether the cause of the failure is the battery power or the internal circuit of the ECU. Therefore, there is a problem in that it is difficult to cope with the failure.

[0005] In addition, when the power from the battery is cut off due to external or internal factors of the ECU, the internal of the ECU such as the PMIC and the gate driver are suddenly turned off, and when the motor is being driven, the motor cannot be braked, so that the motor cannot be stably braked. In addition, there is a problem in that information about the failure condition cannot be transmitted to a higher level controller. SUMMARY

[0006] TECHNICAL SUBJECT

[0007] The technical problem to be solved by the present application is to provide a failure diagnosis method and system for diagnosing a failure of a power input circuit using a plurality of voltage sensing points.

[0008] Another technical problem to be solved by the present application is to provide a motor driving apparatus for driving a motor using ignition power in an emergency and a motor emergency braking method.

[0009] The problems of the present application are not limited to the above-mentioned problems, and other problems not mentioned will be understood by those skilled in the art from the following description.

[0010]

Technical Solution

[0011] To solve these technical problems, according to an example of a first embodiment of the present application, a method for determining a failure of a power input circuit includes the steps of: measuring a first voltage at a rear stage of a power input unit, a second voltage at a rear stage of the power input circuit, and a first current flowing between a terminal at which the first voltage is measured and a terminal at which the second voltage is measured; deriving a voltage drop between the terminal at which the first voltage is measured and the terminal at which the second voltage is measured using the measured first current; and determining whether a failure has occurred and a failure location by using the first voltage, the voltage drop, and the second voltage.

[0012] Further, when it is determined that a failure has occurred, a step of blocking power input of the power input unit can be included.

[0013] Further, the step of determining whether a failure has occurred and a failure location can include the steps of: determining whether the first voltage is normal; when the first voltage is normal, comparing the second voltage with a third voltage obtained by subtracting the voltage drop from the first voltage; and determining whether a failure has occurred and a failure location by using a difference between the third voltage and the second voltage.

[0014] Further, when the first voltage is not normal, or when the difference between the third voltage and the second voltage is equal to or greater than a threshold value, it can be determined that a failure has occurred.

[0015] Further, when the first voltage is not normal, it can be determined that a failure has occurred at a front stage of the terminal at which the first voltage is measured, and when the first voltage is normal and the difference between the third voltage and the second voltage is equal to or greater than a threshold value, it can be determined that a failure has occurred in a circuit between the terminal at which the first voltage is measured and the terminal at which the second voltage is measured.

[0016] Further, in the step of measuring the first current, the first current can be measured at a rear stage of the terminal at which the second voltage is measured.

[0017] Further, in the step of measuring the first current, the first current can be measured at a MOSFET positioned between the terminal at which the first voltage is measured and the terminal at which the second voltage is measured.

[0018] Further, in the step of deriving the voltage drop, the voltage drop can be derived from a look-up table in which a relationship between the first current and the voltage drop according to the first current is stored.

[0019] To solve the above technical problem, in determining a failure of a power input circuit including a power input unit, according to another example of the first embodiment of the present application, the failure of the power input circuit determining system includes: a first voltage measuring unit that measures a first voltage of a stage subsequent to the power input unit; a second voltage measuring unit that measures a second voltage of a stage subsequent to the power input circuit; a first current measuring unit that measures a first current flowing between a terminal at which the first voltage is measured and a terminal at which the second voltage is measured; and a processing unit that derives a voltage drop between the terminal at which the first voltage is measured and the terminal at which the second voltage is measured using the measured first current, and determines whether a failure has occurred and a failure position using the first voltage, the voltage drop, and the second voltage.

[0020] Further, the processing unit can block the power input of the power input unit when it is determined that a failure has occurred.

[0021] Further, the processing unit: determines whether the first voltage is normal; compares the second voltage with a third voltage obtained by subtracting the voltage drop from the first voltage when the first voltage is normal; and can determine whether a failure has occurred and a failure position by using a difference between the third voltage and the second voltage.

[0022] Further, the processing unit can determine that a failure has occurred when the first voltage is not normal or when the difference between the third voltage and the second voltage is equal to or greater than a threshold value.

[0023] Further, the processing unit can determine that a failure has occurred in a stage prior to the terminal at which the first voltage is measured when the first voltage is not normal, and can determine that a failure has occurred in a circuit between the terminal at which the first voltage is measured and the terminal at which the second voltage is measured when the first voltage is normal and the difference between the third voltage and the second voltage is equal to or greater than a threshold value.

[0024] Further, the first current measuring unit can measure the first current at a stage subsequent to the power input circuit.

[0025] Further, the power input circuit can include a reverse connection prevention unit, and the first current measuring unit can measure the first current in the reverse connection prevention unit.

[0026] Further, it can include a storage unit that stores a lookup table storing a relationship between the first current and the voltage drop according to the first current.

[0027] To solve other technical problems, according to an example of a second embodiment of the present application, a motor driving apparatus, characterized by comprising: a power supply unit that receives battery power or ignition power and supplies power to a control unit; and a gate driver that receives battery power or ignition power to operate a switch of a motor driving unit, wherein the control unit receives power from the power supply unit and controls the gate driver, wherein the motor driving unit drives a motor by receiving battery power, and wherein the power supply unit and the gate driver receive ignition power when supply of the battery power is abnormal.

[0028] Further, a battery power supply line and an ignition power supply line can be connected so as to be connected to the power supply unit and the gate driver.

[0029] Further, the control unit can control the gate driver so that the motor driving unit operates in a motor braking mode when supply of the battery power is abnormal.

[0030] Further, the control unit can control the gate driver to form a short circuit in an upper switch or a lower switch forming the motor driving unit when supply of the battery power is abnormal.

[0031] Further, the control unit can pull up the upper switch forming the motor driving unit to a first voltage and turn off the lower switch when supply of the battery power is abnormal.

[0032] Further, the control unit can pull down the lower switch forming the motor driving unit to a ground voltage and turn off the upper switch when supply of the battery power is abnormal.

[0033] Further, the control unit can control a pulse width modulation signal output from the gate driver when supply of the battery power is abnormal.

[0034] Further, the control unit can transmit an alarm to a high-level controller or a vehicle system when supply of the battery power is abnormal.

[0035] Further, the motor driving unit can be formed of three upper switches and three lower switches, and the upper switches and the lower switches can be turned on complementarily to each other.

[0036] Further, a battery power detection unit for detecting the battery power can be included.

[0037] Further, the power supply unit and the gate driver can receive the ignition power for a predetermined time when supply of the battery power is abnormal.

[0038] Further, a diode connecting an ignition power source, the power supply unit, and the gate driver can be included.

[0039] Further, the motor driving apparatus can drive a motor that operates a gear of a vehicle.

[0040] To solve the above other technical problems, according to another example of the second embodiment of the present application, a motor emergency braking method includes the steps of: detecting whether supply of battery power is abnormal; operating by supply using ignition power when the supply of battery power is abnormal; controlling, by a control unit, a gate driver so that a plurality of switches forming a motor drive unit operate in a motor braking mode; operating, by the gate driver, the switches of the motor drive unit in the motor braking mode; and braking the motor when a short circuit is formed in an upper switch or a lower switch of the motor drive unit.

[0041] Further, in the step of controlling the gate driver, a pulse width modulation signal output from the gate driver can be controlled.

[0042] Further, the step of operating the switches of the motor drive unit in the motor braking mode can pull up the upper switch forming the motor drive unit to a first voltage and turn off the lower switch when the supply of battery power is abnormal, or can pull down the lower switch to a ground voltage and turn off the upper switch.

[0043] Further, a step of transmitting information that the supply of battery power is abnormal to a higher controller or a vehicle system can be included.

[0044]

Advantages

[0045] According to the embodiments of the present application, the coverage of fault diagnosis is increased by adding a voltage sensing point. In addition, in order to increase the function of fault diagnosis, compared with increasing the pin number of the connector, the material cost can be reduced, and the circuit implementation is simple.

[0046] Further, in the case where the supply of battery power is blocked, a fault can be determined and stable emergency braking can be provided. Further, corresponding information can be transmitted to a higher controller or a vehicle system.

[0047] The effects according to the present application are not limited by the above examples, and more different effects are included in the present specification. BRIEF DESCRIPTION OF DRAWINGS

[0048] Figure 1 is a block diagram of a system for diagnosing a fault of a power input circuit according to an example of the first embodiment of the present application.

[0049] Figure 2 is a block diagram of a system for diagnosing a fault of a power input circuit according to another example of the first embodiment of the present application.

[0050] Figure 3 A specific implementation example of the power input circuit is shown.

[0051] Figure 4is a diagram of a voltage sensing point in a power input circuit of a system for diagnosing a failure of a power input circuit according to an example of a first embodiment of the present application.

[0052] Figure 5 and Figure 6 shows a comparative example of a motor drive apparatus according to an example of a second embodiment of the present application.

[0053] Figure 7 is a flowchart of a method for diagnosing a failure of a power input circuit according to an example of a first embodiment of the present application.

[0054] Figures 8 to 10 is a flowchart of a method for diagnosing a failure of a power input circuit according to another example of a first embodiment of the present application.

[0055] Figure 11 is a block diagram of a motor drive apparatus according to an example of a second embodiment of the present application.

[0056] Figure 12 is a block diagram of a motor drive apparatus according to another example of a second embodiment of the present application.

[0057] Figure 13 shows an implementation example of a motor drive apparatus according to an example of a second embodiment of the present application.

[0058] Figure 14 is a view showing a comparative example of a motor drive apparatus according to a second embodiment of the present application.

[0059] Figures 15 to 18 is a diagram for explaining an operation of a motor drive apparatus according to a second embodiment of the present application.

[0060] Figure 19 is a flowchart of a motor emergency braking method according to an example of a second embodiment of the present application.

[0061] Figure 20 is a flowchart of a motor emergency braking method according to another example of a second embodiment of the present application. DETAILED DESCRIPTION

[0062] Hereinafter, preferred embodiments of the present application will be described in detail with reference to the accompanying drawings.

[0063] However, the technical idea of the present application is not limited to some embodiments to be described, but can be implemented in various forms, and one or a plurality of constituent elements can be selectively combined or replaced between embodiments within the scope of the technical idea of the present application.

[0064] Also, unless explicitly defined and described, the terms used in the embodiments of the present application, including technical and scientific terms, can be interpreted as having a meaning that is commonly understood by a person skilled in the art, and the commonly used terms are interpreted to have a meaning that is consistent with their meaning in the context of relevant technology.

[0065] Also, the terms used in the present specification are used to describe the embodiments, and are not intended to limit the present application.

[0066] In the present specification, the singular form can include the plural form, unless explicitly defined and described otherwise in the phrase, and when described as "at least one of (or more than one of) A, B, and C," this can include one or more of all combinations of A, B, and C that can be combined.

[0067] Also, terms such as first, second, A, B, (a), and (b) can be used to describe components of the embodiments of the present application. These terms are only intended to distinguish a component from another component, and the nature, order, or sequence of the components is not limited by these terms.

[0068] Also, when a component is described as being "connected," "coupled," or "interconnected" to another component, this can include not only cases where the component is directly connected, coupled, or interconnected to the other component, but also cases where one or more other components are "connected," "coupled," or "interconnected" between the two components.

[0069] Also, when described as being formed or disposed "on top of (above)" or "under" each component, "on top of (above)" or "under" means not only a case where the two components directly contact each other, but also a case where one or more other components are formed or disposed between the two components. Also, when expressed as "on top of (above)" or "under," not only the meaning based on the upward direction of one component can be included, but also the meaning based on the downward direction of one component can be included.

[0070] Figure 1 is a block diagram of a system for diagnosing a fault of a power input circuit according to an example of a first embodiment of the present application.

[0071] The power input circuit 110, which is the subject of the fault diagnosis system 100, serves to receive power from the power source 210 and deliver the power to the inverter 220 or other components. Since the voltage of the power input from the power source 210 can be different from the voltage used in the internal device, it serves to deliver the voltage to the internal device by converting the voltage to a size that the internal device can use. Also, when the power source 210 is unstable, it can be filtered to be a stable power source, or the power is prevented from being output from the inside to the outside. Also, direct current and alternating current can also be converted. That is, the power input circuit 110 serves to receive power from the power source 210 and enable it to be stably used in the internal device.

[0072] To this end, the power input circuit 110 can include a power input unit 111, a reverse connection prevention unit 112, and a filter unit 113. The power input circuit 110 can be a power input circuit of an electronic control unit (ECU) including an inverter, which receives power from a vehicle battery and drives a motor. This is an example, and of course, in addition to the vehicle power input circuit, various power input circuits that receive power can also be possible. Hereinafter, an example in which the power input circuit 110 is a power input circuit of an ECU for a vehicle will be described.

[0073] The power input unit 111 is directly connected to the power source 210 to receive power. Here, the power source 210 can be a vehicle battery, and the power input unit 111 can be a connector connected to the power source 210. The reverse connection prevention unit 112 serves to prevent power from being output in a reverse direction toward the power source 210 in the ECU, and the filter unit 113 can serve as a filter configured to deliver stable power to the inverter 220 or the like.

[0074] As explained earlier, the power input through the power source 210 must be delivered to the inverter 220 or the like stably, but if the input power is abnormal, the inverter 220 or the like can malfunction, and thus the power must be monitored. To monitor the power, a fault can be detected by measuring the voltage of the power input circuit. At this time, if the exact location where the fault occurs is known, it is possible to accurately diagnose and respond to the fault.

[0075] For accurate diagnosis of the fault, according to an example of a first embodiment of the present application, a system 100 for diagnosing a fault of a power input circuit includes a first voltage measurement unit 120, a second voltage measurement unit 130, a first current measurement unit 140, and a processing unit 150, and can include a storage unit 160.

[0076] The first voltage measurement unit 120 measures a first voltage of a rear stage of the power input unit 111.

[0077] More specifically, the power input unit 111 is located at the front end of the power input circuit to which the power is input from the power source 210. The first voltage measurement unit 120 measures the first voltage at the rear stage of the power input unit 111 to determine whether a failure occurs in the circuit from the power source 210 to the power input unit 111.

[0078] The first voltage measurement unit 120 can measure the first voltage using a voltage dividing circuit connected in parallel to the rear stage of the power input unit 111. Here, the voltage dividing circuit can be formed to have a resistance ratio that divides the voltage into a circuit including a plurality of resistors. The first voltage can be measured by reducing the voltage to a voltage measurable in the processing unit 150 according to the resistance ratio of the voltage dividing circuit.

[0079] The second voltage measurement unit 130 measures the second voltage at the rear stage of the power input circuit 110.

[0080] More specifically, in order to protect the ECU including the inverter 220 from a failure of input power, the second voltage measurement unit 130 measures the second voltage at the rear stage of the power input circuit 110. As described above, diagnosing a failure by measuring a voltage is to protect devices inside the ECU, and in order to monitor the voltage input at a location of the internal devices, the second voltage measurement unit 130 measures the second voltage at the rear stage of the power input circuit 110.

[0081] Here, the rear stage of the power input circuit 110 can be a DC link stage. The DC link stage is a location at which DC power is applied to both ends, and is used to connect between the DC power battery 210 and the DC-AC inverter 220. That is, the second voltage measurement unit 130 can measure the second voltage at the DC link stage.

[0082] Like the first voltage measurement unit 120, the second voltage measurement unit 130 can also measure the second voltage using a voltage dividing circuit connected in parallel to the rear stage of the power input circuit 110. The resistance ratio of the voltage dividing circuit that measures the second voltage can be the same as or different from the resistance ratio of the voltage dividing circuit that measures the first voltage. The resistance ratio of each voltage dividing circuit is used to reduce the voltage to a voltage range measurable by the processing unit 150, and can be determined according to the voltage amplitude at each location where the voltage is measured.

[0083] The first current measurement unit 140 measures the first current flowing between the terminal at which the first voltage is measured and the terminal at which the second voltage is measured.

[0084] More specifically, when there is an element between the terminal measuring the first voltage and the terminal measuring the second voltage, a voltage drop can occur, causing a difference between the first voltage and the second voltage; when the voltage drop varies according to the magnitude of the current flowing through the device, the relationship between the first voltage and the second voltage can vary. Therefore, in order to calculate the relationship between the first voltage and the second voltage from the first current, the first current measuring unit 140 measures the first current flowing between the terminals measuring the first voltage and the second voltage, respectively.

[0085] The first current measuring unit 140 can measure the first current at the rear stage of the power input circuit. The voltages at the terminal measuring the first voltage and the terminal measuring the second voltage can be different from each other, but the current flowing through the terminal measuring the first voltage and the terminal measuring the second voltage is the same, and because this is the same as the current flowing from the rear stage of the power input circuit, which is the terminal measuring the second voltage, the first current measuring unit 140 can measure the first current at the rear stage of the power input circuit.

[0086] Alternatively, the first current measuring unit 140 can measure the first current included in the reverse connection prevention unit 112 included in the power input circuit 110, as shown in FIG. 1. Figure 2 The reverse connection prevention unit 112 can be one of the elements positioned between the terminal measuring the first voltage and the terminal measuring the second voltage. As described above, since the current flowing between the terminals measuring the first voltage and the second voltage is the same, the first current measuring unit 140 can measure the first current by using the current flowing through the reverse connection prevention unit 112.

[0087] The reverse connection prevention unit can include a MOSFET. The MOSFET is a semiconductor device including a gate, a source, and a drain. When a voltage is applied to the gate, a channel is formed between the source and the drain, and current flows. When the MOSFET is replaced with an equivalent circuit, a resistance represented as Rdson occurs, and a voltage drop occurs due to Rdson. At this time, the voltage drop generated by Rdson can be used to measure the current flowing through the MOSFET.

[0088] The processing unit 150 derives a voltage drop between the terminal measuring the first voltage and the terminal measuring the second voltage using the measured first current, and determines whether a failure occurs and a failure location using the first voltage, the voltage drop, and the second voltage.

[0089] More specifically, the processing unit 150 is inputted with: the first voltage from the first voltage measurement unit 120; the second voltage from the second voltage measurement unit 130; and the first current from the first current measurement unit 140. The processing unit 150 derives the voltage drop between the terminal where the first voltage is measured and the terminal where the second voltage is measured using the first current. The processing unit 150 can be a micro control unit (MCU), and can be implemented as a processing unit separate from the MCU.

[0090] The processing unit 150 can have set a measurable range of voltage. This can be set according to the specification of the processing unit 150 for the safety of the processing unit 150. The first voltage and the second voltage can be inputted by reducing the first voltage and the second voltage to the voltage range that the processing unit 150 can measure. Even when the actual voltage is reduced, the processing unit 150 can calculate the actual first voltage and the second voltage by using the resistance ratio at each position where the voltage is reduced. For example, 2V can be inputted to the processing unit 150 through a voltage dividing circuit in which the actual voltage of the second voltage is 5V and the voltage dividing circuit has a resistance ratio of 5:2. At this time, the processing unit 150 can determine that the actual second voltage is 5V instead of 2V using the resistance ratio 5:2 stored previously.

[0091] The voltage drop between the terminal where the first voltage is measured and the terminal where the second voltage is measured can be derived using: the impedance present between the terminal where the first voltage is measured and the terminal where the second voltage is measured; the first current flowing between the terminal where the first voltage is measured and the terminal where the second voltage is measured; and the following equation.

[0092] [Equation 1]

[0093] V Drop = R total *I

[0094] The voltage drop according to the first current, i.e., the relationship between the first current and the voltage drop in the power input circuit 110, can be stored in the storage unit 160. In the power input circuit 110, since R totalThe voltage drop according to the first current can be calculated in advance, or the exact value can be known in advance through experiments, since the circuit does not change. Accordingly, the storage unit 160 can store the relationship between the first current and the voltage drop according to the first current as a lookup table. When the processing unit 150 receives the first current from the first current measuring unit 140, the processing unit 150 reads the corresponding lookup table from the storage unit 160, which stores the relationship between the first current and the voltage drop according to the first current, and thus can quickly obtain the voltage drop. In the case of a power failure, since a quick response is important, the amount of calculation can be reduced by using the lookup table, and thus it is possible to make a quick response to a failure by doing so.

[0095] The processing unit 150 determines whether a failure has occurred and a failure location using the first voltage, the voltage drop, and the second voltage. In the case of normal operation, the relationship between the first voltage and the second voltage is as follows.

[0096] [Equation 2]

[0097] First voltage - voltage drop = second voltage

[0098] When the power input circuit 110 is normally operated, the first voltage corresponding to the voltage of the power source 210 can be normal, and the second voltage can be a voltage obtained by subtracting the voltage drop from the first voltage. That is, when the first voltage is within a predetermined range, it can be determined that the first voltage is normal. The normal range of the first voltage can vary according to the voltage of the battery power. The normal range of the first voltage can be set according to the normal range voltage of the battery power, or the normal range can be set by applying a certain margin range. In the case where there is a voltage drop between the battery power and the power input unit 111, the normal range can be set considering the corresponding voltage drop. In addition, when the difference between the third voltage, which is obtained by subtracting the voltage drop from the first voltage, and the second voltage is less than a threshold value, it can be determined to be normal. The threshold value of the difference between the third voltage and the second voltage can vary according to the device to be protected. The threshold value can vary according to the probability of a failure, according to the specifications of the corresponding device. Or, it can also be user preset. It can be set by applying a constant margin rate.

[0099] The processing unit 150: determines whether the first voltage is normal; and when the first voltage is normal, compares the second voltage with a third voltage that is obtained by subtracting the voltage drop from the first voltage; and can determine whether a failure has occurred and a failure location by using a difference between the third voltage and the second voltage. The processing unit 150 can directly determine whether the first voltage is normal without comparison with the second voltage. When the power supply 210 is a battery, the battery voltage can be 12 to 15 V during normal operation, and when the first voltage is outside the normal range of the battery voltage, it can be determined that the first voltage is not normal. Even if the first voltage is normal, the second voltage can not be normal. To determine this, the processing unit 150 compares the third voltage obtained by subtracting the voltage drop from the first voltage with the second voltage, and can determine whether a failure has occurred by using a difference between the third voltage and the second voltage.

[0100] When the first voltage is not normal, or when a difference between the third voltage and the second voltage is equal to or greater than a threshold value, the processing unit 150 can determine that a failure has occurred. When the first voltage is not normal, it is determined that a failure has occurred, and even if the first voltage is normal, when a difference between the third voltage and the second voltage is equal to or greater than a threshold value, since the difference between the third voltage and the second voltage becomes greater than the threshold value due to a problem other than a normal voltage drop, the processing unit 150 can determine that a failure has occurred.

[0101] When the first voltage is not normal, the processing unit 150 determines that a failure has occurred in a stage preceding a terminal that measures the first voltage, and when the first voltage is normal and a difference between the third voltage and the second voltage is equal to or greater than a threshold value, it can be determined that a failure has occurred in a circuit between a terminal that measures the first voltage and a terminal that measures the second voltage. To determine not only whether a failure has occurred, but also a location where a failure has occurred, the processing unit 150 can make different determinations depending on the situation.

[0102] First, when the first voltage is not normal, it can be determined that a failure has occurred in a stage preceding a terminal that measures the first voltage. When the first voltage is not normal, since a power input from the power supply 210 or a circuit in a stage preceding the power input unit 111 has failed, in the case where the first voltage is not normal, it can be determined that a failure has occurred in a stage preceding a terminal that measures the first voltage.

[0103] When the first voltage is normal and a difference between the third voltage and the second voltage is equal to or greater than a threshold value, it can be determined that a failure has occurred in a circuit between a terminal that measures the first voltage and a terminal that measures the second voltage. The first voltage being normal means that power input from the power supply 210 is normal, and when a failure occurs in the second voltage even if the first voltage is normal, it can be determined that a failure has occurred in a circuit (i.e., a power input circuit) between a terminal that measures the first voltage and a terminal that measures the second voltage.

[0104] Further, in the state in which the first voltage is abnormal, when the difference between the third voltage and the second voltage is equal to or greater than the threshold value, the processing unit 150 can also determine that both the preceding stage of the terminal at which the first voltage is measured and the circuit between the terminal at which the first voltage is measured and the terminal at which the second voltage is measured have failed, greater than or equal to the threshold value.

[0105] When the first voltage is normal and the difference between the third voltage and the second voltage is less than the threshold value, the processing unit 150 can determine that both the power supply 210 and the power input circuit 110 are normal.

[0106] When it is determined that a failure has occurred, the processing unit 150 can block the power input of the power input unit 111. When it is determined that a failure has occurred by the determination by the processing unit 150, the internal devices of the ECU can be protected by cutting off the power input from the power supply 210 to the power input unit 111. The processing unit 150 can block the power input and deliver information about this to the superior controller through an alarm or the like.

[0107] Since it is possible to know the location of the failure and whether a failure has occurred, it is possible to respond to the failure quickly and accurately, eliminate the cause of the failure, and thus enable normal operation again.

[0108] The power input circuit for diagnosing a failure in the failure diagnosis system 100 can be implemented as shown in FIGS. 1 to 3. Figure 3 and Figure 4 Specifically, it can include a power input unit 310, a noise filter unit 320, a reverse connection prevention unit 330, a clamping unit 340, an EMI filter unit 350, and a smoothing unit 360. The power input unit 310 can be a connector that receives power, and can form a plurality of pins for battery power input, for example, KL30 and KL31. The first voltage measurement unit 120 that measures the first voltage can measure the first voltage at the rear stage of the power input unit 310. The noise filter unit 320 removes noise included in the input power, and can be formed of a plurality of capacitors. The reverse connection prevention unit 330 is used to prevent the power of the internal devices from being input in reverse to the power input unit 310, and can be formed of a diode, as shown in FIG. 3. Figure 4As shown, it can include a MOSFET, and can also include a resistor and a diode. As explained above, the first current included in the MOSFET in the reverse connection prevention unit 112 can be measured. The clamping unit 340 is for clamping at a predetermined level of power, and can be formed of a diode. The EMI filter unit 350 is formed of an electromagnetic interference (EMI) filter, a filter for preventing electromagnetic interference, and can be formed of an inductor and a capacitor. The inductor included in the EMI filter unit 350 includes a parasitic resistance RL, so that a voltage drop can occur between a terminal at which the first voltage is measured and a terminal at which the second voltage is measured. The smoothing unit 360 is for uniformly smoothing the power output according to the preceding filter or the like, and can be formed of a capacitor.

[0109] As Figure 4 shown, the implemented power input circuit senses the battery voltage at two locations 120 and 130 to determine whether a failure occurs and a failure location. As can be seen, the device for sensing the battery voltage located between the two locations 120 and 130 is the inductor of the EMI filter unit 350 and the MOSFET included in the reverse connection prevention unit 330.

[0110] Therefore, the voltage drop occurring between the two locations 120 and 130 for sensing the battery voltage can be calculated as follows.

[0111]

Equation 3

[0112] V Drop = R DSon *I+R L *I

[0113] The voltage drop of the first current calculated as described above can be stored in a lookup table. By using the voltage sensed at the two locations 120 and 130 for sensing the battery voltage and the voltage drop, it can be determined whether a failure exists, and it can be known where the failure occurs.

[0114] Figure 5 and Figure 6 is a comparative example of the failure diagnosis system 100 according to the first embodiment of the present application, and unlike the voltage sensed at the two locations 120 and 130 in the example of the failure diagnosis system 100 according to the first embodiment of the present application, the voltage can be sensed only at the DC link level location. In this case, if a component between the connector and the DC link capacitor fails, it cannot be diagnosed, and thus there is a problem in terms of functional safety. Therefore, the battery voltage monitoring can only be used to calculate efficiency or perform an action when a low voltage occurs. In the case of a failure, in order to determine whether it is a problem of power supply or a problem of an internal circuit, as Figure 6As shown, the pins KL30 and KL31 at the end of the connector can be used by arranging two pins respectively, and in this case, there is a problem of an increase in the size of the connector and an increase in cost.

[0115] Unlike Figure 5 and Figure 6 According to an example of the first embodiment of the present application, a system for diagnosing a failure of a power input circuit increases the coverage of failure diagnosis by adding a voltage sensing point, reduces the material cost, and can achieve a simple circuit implementation to increase the number of pins of a connector, thereby improving the failure diagnosis function.

[0116] Figure 7 is a flowchart of a method for diagnosing a failure of a power input circuit according to an example of the first embodiment of the present application, and Figures 8 to 10 is a flowchart of a method for diagnosing a failure of a power input circuit according to another example of the first embodiment of the present application. Figures 7 to 10 The detailed description of each step of Figures 1 to 6 the detailed description of the failure diagnosis of Figures 7 to 10 will be omitted.

[0117] To diagnose a failure of a power input circuit, first, in step S11, a first voltage at a rear stage of a power input unit, a second voltage at a rear stage of the power input circuit, and a first current flowing between a terminal at which the first voltage is measured and a terminal at which the second voltage is measured are measured. At this time, the first current can be measured at a rear stage of the terminal at which the second voltage is measured. Alternatively, the first current can be measured in a MOSFET located between the terminal at which the first voltage is measured and the terminal at which the second voltage is measured. Here, the MOSFET can be a MOSFET included in a reverse connection prevention unit.

[0118] In the case where the first current is measured, in step S12, a voltage drop between the terminal at which the first voltage is measured and the terminal at which the second voltage is measured is derived using the measured first current. In deriving the voltage drop, the voltage drop can be derived from a look-up table in which a relationship between the first current and the voltage drop according to the first current is stored.

[0119] Thereafter, in step S13, whether a failure occurs and a failure location are determined using the first voltage, the voltage drop, and the second voltage.

[0120] The process of determining whether a failure has occurred and the failure location can be performed by steps S31 to S33. In step S31, it is determined whether the first voltage is normal; in step S32, when the first voltage is normal, the third voltage, which is obtained by subtracting the voltage drop from the first voltage, is compared with the second voltage; and in step S33, whether a failure has occurred and the failure location can be determined using the difference between the third voltage and the second voltage.

[0121] At this time, when the first voltage is not normal, or when the difference between the third voltage and the second voltage is equal to or greater than the threshold value, it can be determined that a failure has occurred in the power input circuit; as for the failure occurrence location, when the first voltage is not normal, it is determined that a failure has occurred in the front stage of the terminal at which the first voltage is measured; and when the first voltage is normal and the difference between the third voltage and the second voltage is equal to or greater than the threshold value, it can be determined that a failure has occurred in the circuit between the terminal at which the first voltage is measured and the terminal at which the second voltage is measured.

[0122] As for the occurrence of a failure and the location of a failure, as shown in Figure 10 first, it is determined whether the first voltage is normal (S41). As a result of the determination in step S41, when the first voltage is not normal, it can be determined that a failure has occurred in the front stage of the terminal at which the first voltage is measured (S42). As a result of the determination in step S41, if the first voltage is normal, it can be determined whether the difference between the third voltage, which is obtained by subtracting the voltage drop from the first voltage, and the second voltage is equal to or greater than a threshold value (S43). As a result of the determination in step S43, when the difference between the third voltage and the second voltage is less than the threshold value, no failure has occurred and it can be determined that the power input circuit is normal (S45). As a result of the determination in step S43, when the difference between the third voltage and the second voltage is equal to or greater than the threshold value, it can be determined that a failure has occurred in the circuit between the terminal at which the first voltage is measured and the terminal at which the second voltage is measured (S44).

[0123] In step S21, when it is determined that a failure has occurred, the power input of the power input unit can be blocked. In order to protect the device and the circuit, the power input of the power input unit can be blocked, and this can be transmitted to the upper controller by means of an alarm or the like.

[0124] As described above, the failure diagnosis method and system according to the first embodiment of the present application have been described with reference to Figures 1 to 10 . Hereinafter, the failure diagnosis method and system according to the second embodiment of the present application will be described with reference to Figures 11 to 20A motor driving apparatus and a motor emergency braking method according to a second embodiment of the present application are described. Detailed descriptions of the motor driving apparatus and the motor emergency braking method according to the second embodiment of the present application are based on the fault diagnosis method and its system according to the first embodiment of the present application and the names, terms, and functions and detailed descriptions of each embodiment, and can be the same as or different from each other.

[0125] Hereinafter, the configuration of a motor driving apparatus and a motor emergency braking method according to the second embodiment of the present application will be described with reference to the accompanying drawings.

[0126] Figure 11 is a block diagram of a motor driving apparatus according to an example of the second embodiment of the present application.

[0127] According to an example of the second embodiment of the present application, the motor driving apparatus 1100 includes a power supply unit 1110, a gate driver 1120, a control unit 1130, and a motor driving unit 1140, and can include a battery power sensing unit 1150 and a diode 1160.

[0128] The power supply unit 1110 receives battery power 1210 or ignition power 1220 to supply power to the control unit 1130.

[0129] More specifically, the power supply unit 1110 supplies power to the control unit 1130. At this time, the power supply unit 1110 receives power from the battery power source 1210 or the ignition power source 1220, converts the power to be suitable for the control unit 1130, and can supply the power that has been converted to the control unit 1130. During normal operation, it receives battery power 1210 and supplies power to the control unit 1130, and when it is difficult to normally receive battery power 1210 and supply it to the control unit 1130, it can receive power from the ignition power source 1220 and supply it to the control unit 1130. The battery power is power input from a battery. The ignition is a kind of ignition apparatus, and the ignition power is power for starting a vehicle and supplying power for rotating an alternator. In addition, the ignition power enables other components to cause the operation of vehicle components. The ignition power source is turned on when the key is in the key slot or before the vehicle is about to be ignited. In the case of a vehicle, the battery power is input through lines KL30 and KL31, and the ignition power is input through KL15.

[0130] The power supply unit 1110 can be a power management IC (PMIC). The PMIC is a device that performs conversion, distribution, and control of power required inside a device to achieve optimal power supply performance. Through the PMIC, power can be effectively managed by actively responding to various load fluctuations.

[0131] The gate driver 1120 receives the battery power 1210 or the ignition power 1220 to operate the switches inside the motor drive unit 1140.

[0132] More specifically, the motor drive unit 1140 includes switches, and drives the motor 1230 by the switch operation. The gate driver generates and transmits a signal for turning on / off the switches including the motor drive unit 1140 to the motor drive unit 1140, and receives a control signal from the control unit 1130 regarding which of the switches including the motor drive unit 1140 should be turned on and should be turned off, thereby operating the switches of the motor drive unit 1140 by turning on or off the switches accordingly.

[0133] The gate driver can be a gate driver IC. The gate driver IC is a device that controls the on / off of a switch consisting of an IGBT or a MOSFET as a switching element by applying a voltage to the gate of the switch or blocking the voltage of the gate of the switch, and can receive a logic level voltage and provide a greater power output than that.

[0134] The control unit 1130 receives power from the power supply unit 1110 and controls the gate driver 1120.

[0135] More specifically, the control unit 1130 operates by receiving power from the power supply unit 1110 and controls the gate driver 1120, and transmits an on / off signal for each switch of the motor drive unit 1140 in driving the motor 1230, so as to control the operation of the switches of the motor drive unit 1140. In addition to the gate driver 1120, the control unit 1130 can also control various components inside the motor drive device 1100, and detect various information generated by the motor drive device 1100 and control so that a corresponding operation will be performed, or it can generate an alarm for a superior controller or a vehicle system.

[0136] The control unit 1130 can be a micro controller unit (MCU). The MCU is a device in which a microprocessor and input / output are integrated into one chip to perform a specified function, and is used to control various functions required inside the motor drive device 1100.

[0137] The motor drive unit 1140 receives the battery power 1210 to drive the motor 1230.

[0138] More specifically, the motor driving unit 1140 receives battery power and supplies it to the motor 1230 to drive the motor 1230. The motor driving unit 1140 can be composed of a plurality of switches, and supply power capable of driving the motor 1230 by operating the switches according to the signals of the gate driver 1120. Here, the motor 1230 can be a motor that operates the gears of a vehicle. That is, the motor driving apparatus 1100 can be an electronic control unit (ECU) that drives a motor that operates the gears of a vehicle. Also, it can be an apparatus for driving various motors 1230.

[0139] The motor driving unit 1140 can be formed of three upper switches and three lower switches. One upper switch and one lower switch can be connected to each other to form a pair, thereby forming one half-bridge circuit. That is, the motor driving unit 1140 can be formed of three half-bridge circuits. At this time, the upper and lower switches can be complementarily turned on. The upper and lower switches forming the half-bridge are complementarily turned on to each other, and power can be supplied to the motor 1230. In each switch of the motor driving unit 1140, the upper and lower switches can be complementarily turned on according to the signals of the gate driver 1120. At this time, the control unit 1130 can control the duty ratio of the signals output from the gate driver 1120 to each switch, thereby controlling the operation of the switch. The three half-bridge circuits can supply three-phase power having different phases to the motor 1230. The motor driving unit 1140 can convert direct current into three-phase alternating current and supply it to the motor 1230 through the operation of six switches, and since the direct current is converted into alternating current, the motor driving unit 1140 can be referred to as an inverter.

[0140] When the supply of the battery power 1210 is abnormal, the power supply unit 1110 and the gate driver 1120 receive the ignition power 1220. The battery power supply 1210 can be a battery power (KL30) input terminal that receives power from a battery, and the ignition power supply 1220 can be an ignition power (KL15) input terminal that receives power from an igniter. The power supply unit 1110 and the gate driver 1120 receive power from the battery power supply 1210 in normal cases, but when the supply of the battery power 1210 is abnormal, since it is difficult to receive normal power from the battery power supply 1210, operation is performed by receiving power from the ignition power supply 1220 rather than the battery power supply 1210. That is, in an emergency in which it is difficult to supply the battery power 1210, the ignition power 1220 is input and emergency operation is performed.

[0141] To this end, the battery power supply line and the ignition power supply line can be connected to be connected to the power supply unit 1110 and the gate driver 1120. The power supply unit 1110 and the gate driver 1120 are connected not only to the battery power supply line in which the battery power 1210 is supplied but also to the ignition power supply line in which the ignition power 1220 is supplied, and in order to receive the battery power 1210 during normal operation and the ignition power 1220 in an emergency, the supply lines of the battery power 1210 and the ignition power 1220 are connected to each other to be connected to the power supply unit 1110 and the gate driver 1120.

[0142] A diode that connects the ignition power 1220 and the power supply unit 1110 and the gate driver 1120 can be included. The diode 1160 can be formed in the ignition power supply line when the battery power supply line and the ignition power supply line are connected. During normal operation, since the current flowing in the battery power supply line is large, the current from the ignition power supply line can flow to the ignition power supply line because the ignition power supply line and the battery power supply line are connected, and in this case, the ignition power 1220 can affect other components supplied. Therefore, the diode 1160 is used to prevent reverse connection so that the current flowing in the battery power supply line does not flow to the ignition power supply line. Further, during normal operation, only the battery power 1210 is supplied to the power supply unit 1110 and the gate driver 1120, and by forming the diode 1160, the diode can block the input from the ignition power supply line when the current flowing in the battery power supply line is large, so that only the battery power 1210 can be supplied to the power supply unit 1110 and the gate driver 1120. In an emergency in which the battery power 1210 is not available, since no current flows in the battery power supply line or the current flowing is smaller than the current flowing in the ignition power supply line, at this time, the current can be supplied from the ignition power supply line. By using the diode 1160, the battery power 1210 and the ignition power 1220 can be stably provided to the power supply unit 1110 and the gate driver 1120 without any other configuration.

[0143] At this time, the diode can use a plurality of diodes. By connecting and using a plurality of diodes in series instead of using one diode, stability in preventing reverse connection can be improved, and stable operation becomes possible.

[0144] When the supply of the battery power 1210 is abnormal, the control unit 1130 can control the gate driver 1120 to operate the motor driving unit 1140 in a motor braking mode. When the supply of the battery power is abnormal, that is, in an emergency, the supply of the battery power to the motor driving unit 1140 can also be abnormal, and in this case, it means a situation in which it is difficult to normally operate the motor 1230. When it is difficult to drive the motor 1230 using the battery power 1210 in a situation in which it is difficult to supply the battery power 1210 and waiting for the motor 1230 itself to stop, since the motor 1230 can not be stably stopped, a safety problem can occur. Therefore, the control unit 1130 can control the gate driver 1120 so that the motor 1230 can be safely and stably stopped, thereby enabling the motor driving unit 1140 to operate in the motor braking mode. Since the motor driving unit 1140 operates in the motor braking mode, even in an emergency, the motor 1230 does not operate uncontrollably, and can be stably stopped by the motor braking mode.

[0145] When the supply of the battery power 1210 is abnormal and the motor 1230 needs to be stably stopped, the control unit 1130 can control the gate driver 1120 so that a short circuit is formed in the upper switch or the lower switch forming the motor driving unit 1140. When the short circuit is formed in the upper switch or the short circuit is formed in the lower switch, the motor driving unit 1140 can stop the operation of the motor 1230 by operating in the motor braking mode.

[0146] The short circuit in the upper switch can be formed by turning on all the upper switches of the motor driving unit 1140 and turning off all the lower switches, and the short circuit in the lower switch can be formed by turning on all the lower switches of the motor driving unit 1140 and turning off all the upper switches. Therefore, the control unit 1130 can control the gate driver 1120 so as to turn on only the upper switch or the lower switch forming the motor driving unit 1140, so that the motor driving unit 1140 can operate in the motor braking mode.

[0147] When the supply of the battery power 1210 is abnormal, the control unit 1130 can pull up the upper switch forming the motor driving unit 1140 to the first voltage and turn off the lower switch, or pull down the lower switch forming the motor driving unit 1140 to the ground voltage and turn off the upper switch. In the connection lines that relay a signal from the control unit 1130 to the gate driver 1120, each connection line for the upper switch can be connected to the first voltage output line supplied from the power supply unit 1110, and each connection line to the lower switch can be connected to the ground (GND). Here, the first voltage is a voltage different from the ground voltage, and for example, can be 3.3 V. Pulling up refers to forcibly raising a value to a predetermined value, and pulling down refers to forcibly lowering a value to a predetermined value. In an emergency, the control unit 1130 can stop the motor 1230 by pulling up all the upper switches to the first voltage and turning off all the lower switches to form a short circuit in the upper switches. Alternatively, in an emergency, all the lower switches are pulled down to the ground, and the upper switches are all turned off to form a short circuit in the lower switches, thereby stopping the motor 1230.

[0148] When the supply of the battery power 1210 is abnormal, the control unit 1130 can control the pulse width modulation signal output from the gate driver 1120. The gate driver 1120 operates the switches of the motor driving unit 1140 through a pulse width modulation (PWM) signal, and during normal operation, a signal is transmitted by modulating the pulse width of each switch of the motor driving unit 1140 so that the motor driving unit 1140 can supply three-phase power to the motor 1230. However, in order to stop the motor 1230 in an emergency, each switch of the motor driving unit 1140 must be operated differently from normal operation, and for this, the control unit 1130 can control the pulse width modulation signal output from the gate driver 1120. For example, as described above, in order for the motor driving unit 1140 to operate in the motor braking mode, the pulse width modulation signal of the gate driver 1120 can be controlled to turn on the upper switch and the lower switch at the same time.

[0149] When the supply of the battery power 1210 is abnormal, the control unit 1130 can relay an alarm to a superior controller or a vehicle system. In an emergency, the control unit 1130 can relay an alarm to a superior controller or a vehicle system at the same time as performing an operation to stop the motor 1230 or at the same time or after the emergency occurs. Information indicating that the motor 1230 is stopped can be relayed together. By relaying information that the supply of the battery power 1210 is abnormal to a superior controller or a vehicle system, an operation of the superior controller can be performed accordingly, and thereafter, it can be helpful to determine the cause of the failure.

[0150] The battery power detection unit 1150 can detect the battery power 1210. The battery power detection unit 1150 can detect the battery power and forward battery power detection information to the control unit 1130 so that the control unit 1130 can monitor the battery power 1210. The battery power detection unit 1150 can be configured in various ways using a voltage dividing circuit, a transistor, etc.

[0151] When the supply of the battery power is abnormal, the power supply unit 1110 and the gate driver 1120 perform an operation by receiving power from the ignition power source 1220, but an operation to stop the motor 1230 should be performed. In order to respond quickly in an emergency, the control unit 1130 can quickly determine that the supply of the battery power 1210 is abnormal according to a signal forwarded from the battery power detection unit 1150, so that the motor 1230 can be quickly and stably stopped. Also, since it can be clearly seen that the battery power 1210 is abnormal, a cause of the failure can be monitored and identified by providing this information to a superior controller or a vehicle system.

[0152] When the supply of the battery power 1210 is abnormal, the ignition power 1220 can be input to the power supply unit 1110 and the gate driver 1120 for a predetermined time. The power supply unit 1110 and the gate driver 1120 can operate by receiving the ignition power 1220 in an emergency, but since the ignition power 1220 is supplied as emergency power and the ignition power 1220 is also provided to other devices, it can be difficult to continuously use the ignition power 1220. Therefore, only the ignition power 1220 is supplied until the motor 1230 is stably stopped, and when a predetermined time elapses, the supply of the ignition power 1220 can be cut off. The time in which the ignition power 1220 is supplied can be a time required to brake the motor 1230, or can be preset by a user. Alternatively, the ignition power 1220 can be input until the motor 1230 is stopped or the speed of the motor 1230 becomes less than or equal to a predetermined speed.

[0153] The motor driving apparatus according to the second embodiment of the present application can be as Figure 13As illustrated, battery power can be input to KL30 (1210), and ground can be connected to KL31 (1240). Ignition power can be input as KL15 (1220). The battery power 1210 is input through a reverse protection circuit to branch from the B+ stage and to be supplied to the motor driving unit 1140 including the B6 bridge, the power supply unit 1110 as a PMIC, and the gate driver 1120. The battery power (i.e., when power is not supplied to KL30), the ignition power (i.e., power is supplied from the line KL15), the line B+ (KL30), and the line KL15 are connected, thereby supplying power to the power supply unit 1110 and the gate driver 1120. During normal operation, the battery power 1210 input from the B+ stage is input to the power supply unit 1110 and the gate driver 1120, and when the supply of the battery power 1210 is abnormal, the ignition power 1220 is input. During normal operation, a diode 1160 is formed, thereby not supplying the ignition power and a reverse voltage and current do not flow. The power supply unit 1110 provides power by converting the voltage to 3.3V suitable for the control unit 1130, which is an MCU. The control unit 1130 controls the gate driver 1120 so that the gate driver 1120 relays a signal that operates a switch of the motor driving unit 1140. At this time, the control unit 1130 can pull up the upper switch to 3.3V and pull down the lower switch to ground. Each signal line can be connected to a 3.3V output line output from the power supply unit 1110, or can be connected to ground. The gate driver 1120 can operate the motor driving unit 1140 by applying power supplied according to a control signal of the control unit 1130 to each switch of the corresponding motor driving unit 1140, and thus the motor driving unit 1140 drives the motor 1230 by applying three-phase power to the motor 1230. The battery power detection unit 1150, which is a battery power measuring circuit of KL30, detects the battery power at the B+ stage and transmits it to the control unit 1130. In order to detect the battery power and stably stop the motor 1230 in an emergency, the control unit 1130 controls the gate driver 1120 so that the switch of the motor driving unit 1140 operates in a motor braking mode. In this way, even if the supply of the battery power stops, the motor driving device does not stop operating, the control unit 1130 can recognize a failure situation and stably brake the motor 1230 by floating a PWM terrain in the gate driver 1120, thereby continuously operating the high-side or low-side braking mode for more than 50 ms.

[0154] With Figure 13 Unlike in Figure 14In the middle, the PMIC 2011 and the gate driver IC 2012 receive power only through the lines KL30 (2021) and KL31 (2024) as a battery power source. The B6 bridge 2014 is connected to the line KL30 to drive the motor 2023. The ignition line KL15 (2022) is used only as a signal for enabling the PMIC 2011, and when the KL15 (2022) signal is turned on, the PMIC 2011 supplies power to the components inside the ECU to turn on the MCU 2013, and other components operate according to the control of the MCU 2013. When the supply of KL30 (B+) is interrupted by external or internal factors, the PMIC 2011 and the gate driver IC 2012 can not operate and suddenly shut down, and in the case where the motor 2023 is being driven, the motor 2023 cannot be controlled, so that the motor 2023 cannot be stably braked. In addition, information on the failure situation cannot be forwarded to the upper controller.

[0155] As described above, in order to make the motor drive unit 1140 operate in the motor braking mode, a short circuit must be formed in the upper switch or the lower switch of the motor drive unit 1140, and the control unit 1130 can control the gate driver 1120 so that the motor drive unit 1140 operates as in the middle. Figure 15 or Figure 16 as in the middle. Figure 15 An example in which a short circuit is formed in the upper switch of the motor drive unit 1140 is shown, in which the upper switch 1141 is all turned on, and the lower switch 1142 is all turned off, so that the current path to the motor 1230 is formed through the upper switch to form a short circuit, whereby the motor 1230 can be braked. Figure 16 An example in which a short circuit is formed in the lower switch of the motor drive unit 1140 is shown, in which the upper switch 1141 is all turned off, and the lower switch 1142 is all turned on, so that the current path to the motor 1230 is formed through the lower switch to form a short circuit, whereby the motor 1230 can be braked.

[0156] Figure 17 is a waveform in the case where the supply of battery power is blocked, and is a waveform in which ignition power is used for power supply after the B+ power is turned off. After the battery power is blocked, it can be seen that the ignition current increases, and power supply is performed.

[0157] Figure 18 A low-side braking operation to form a short circuit in the lower switch is shown, in which when the battery power is blocked (fuse braking), and after about 6 ms, the upper MOSFET switches H1, H2, and H3 are turned off, and the lower MOSFET switches L1, L2, and L3 are turned on to form a short circuit in the lower switch, so it can be seen that a braking operation is performed.

[0158] When the supply of power from the battery power supply KL30 is stopped, the control unit (MCU) recognizes a failure situation upon monitoring the battery power supply voltage through the battery power sensor and operates in the motor braking mode, and uppulls or downpulls the PWM signal by floating the PWM signal output to the gate driver, and can forward the situation to the vehicle system or the upper controller by forming a short circuit in the motor drive unit (B6 bridge).

[0159] Figure 19 is a flowchart of a motor emergency braking method according to an example of a second embodiment of the present invention, Figure 20 is a flowchart of a motor emergency braking method according to another example of the second embodiment of the present invention. Figure 19 and Figure 20 The detailed description of each step corresponds to the detailed description of the motor drive apparatus of Figures 11 to 18 will be omitted.

[0160] In step S111, it is detected whether there is an abnormality in the supply of battery power, and when an abnormality occurs in the supply of battery power, in step S112, the ignition power is supplied and the operation is performed. In step S113, the control unit controls the gate driver so that the plurality of switches forming the motor drive unit operate in the motor braking mode, and in step S114, the gate driver operates the switches of the motor drive unit in the motor braking mode. At this time, the pulse width modulation signal output from the gate driver can be controlled. In this way, in step S115, a short circuit is formed in the upper switch or the lower switch of the motor drive unit to brake the motor.

[0161] When an abnormality occurs in the supply of battery power, the switches of the motor drive unit can be operated in the motor braking mode by uppulling the upper switch forming the motor drive unit to the first voltage and turning off the lower switch, or downpulling the lower switch to the ground voltage and turning off the upper switch.

[0162] When the motor is stopped, in step S121, information about an abnormality in the supply of battery power can be forwarded to the upper controller or the vehicle system.

[0163] The modified embodiment according to the present embodiment can include some configurations of the first embodiment and some configurations of the second embodiment together. In other words, the modified embodiment can include the first embodiment, but some configurations of the first embodiment can be omitted, and some configurations of the corresponding second embodiment can be included. Alternatively, the modified embodiment can include the second embodiment, but some configurations of the second embodiment are omitted, and some configurations of the corresponding first embodiment are included.

[0164] The features, structures, effects, etc. described in the above-described embodiments are included in at least one embodiment, and are not necessarily limited to only one embodiment. Furthermore, the features, structures, effects, etc. shown in each embodiment can be combined or modified by those of ordinary skill in the art to which the embodiments belong with respect to other embodiments. Accordingly, what is related to such combinations and modifications should be interpreted as being included in the scope of the embodiments.

[0165] Meanwhile, the embodiments of the present application can be implemented as computer readable codes on a computer readable recording medium. The computer readable recording medium includes all types of record devices in which data readable by a computer system are stored.

[0166] Examples of the computer readable recording medium are ROM, RAM, CD-ROM, magnetic tapes, floppy disks, and optical data storage devices, and they are distributed in a distributed manner among computer systems connected via a network, in which computer readable codes can be stored and executed. Also, the functional programs, codes and code segments for implementing the present application can be easily deduced by programmers skilled in the art to which the present application pertains.

[0167] As described above, specific matters such as specific components, etc. and limited embodiments and drawings have been described in the present application, but these are provided only to help more generally understand the present application, and the present application is not limited to the above-described embodiments, and various modifications and variations can be made by those of ordinary skill in the art to which the present application pertains based on these descriptions.

[0168] Accordingly, the spirit of the present application should not be limited to the described embodiments, and not only the claims to be described later, but all those equivalent to the claims or equivalent modifications to the claims will be regarded as belonging to the scope of the spirit of the present application.

Claims

1. A method for diagnosing faults in a power input circuit, comprising the following steps: Apply power to the power input unit; Measure the first voltage at the output terminal of the power input unit; Measure the second voltage at the output terminal of the power input circuit; The first current flowing between the terminal measuring the first voltage and the terminal measuring the second voltage is measured; The voltage drop between the terminal measuring the first voltage and the terminal measuring the second voltage is derived using the measured first current; Determine if the first voltage is normal; When the first voltage is normal, the second voltage is compared with the third voltage, which is obtained by subtracting the voltage drop from the first voltage; as well as The difference between the third voltage and the second voltage is used to determine whether a fault has occurred and the location of the fault.

2. The method for diagnosing faults in a power input circuit according to claim 1, comprising the following steps: When a fault is detected, the power input to the power input unit is blocked.

3. The method for diagnosing faults in a power input circuit according to claim 1, in, The power input circuit includes a reverse connection prevention unit, and The first current is measured in the reverse connection prevention unit.

4. The method for diagnosing faults in a power input circuit according to claim 1, in, A fault is determined to have occurred when the first voltage is abnormal, or when the difference between the third voltage and the second voltage is equal to or greater than a threshold.

5. The method for diagnosing faults in a power input circuit according to claim 1, in, When the first voltage is abnormal, it is determined that the preamplifier at the terminal measuring the first voltage has failed.

6. The method for diagnosing faults in a power input circuit according to claim 5, in, When the first voltage is normal and the difference between the third voltage and the second voltage is equal to or greater than a threshold, it is determined that the circuit between the terminal measuring the first voltage and the terminal measuring the second voltage has failed.

7. The method for diagnosing faults in a power input circuit according to claim 3, in, The reverse connection prevention unit is configured with a MOSFET.

8. The method for diagnosing faults in a power input circuit according to claim 1, in, The step of measuring the first current is to measure the first current at a MOSFET, which is positioned between the terminal for measuring the first voltage and the terminal for measuring the second voltage.

9. The method for diagnosing faults in a power input circuit according to claim 1, in, In the step of deriving the voltage drop, the voltage drop is derived from a lookup table that stores the relationship between the first current and the voltage drop based on the first current.

10. A system for diagnosing faults in a power input circuit, the system comprising: The first voltage measuring unit measures the first voltage at the output terminal of the power input unit. The second voltage measuring unit measures the second voltage at the output terminal of the power input circuit. The first current measuring unit is configured to measure the first current flowing between the terminal for measuring the first voltage and the terminal for measuring the second voltage; as well as The processing unit is configured to use the measured first current to derive the voltage drop between the terminal measuring the first voltage and the terminal measuring the second voltage, and to use the first voltage, the voltage drop, and the second voltage to determine whether a fault has occurred and the location of the fault. The processing unit: determines whether the first voltage is normal; when the first voltage is normal, compares the second voltage with a third voltage, the third voltage being obtained by subtracting the voltage drop from the first voltage; and determines whether a fault has occurred and the location of the fault by using the difference between the third voltage and the second voltage.

11. The system for diagnosing faults in a power input circuit according to claim 10, in, When a fault is detected, the processing unit blocks the power input to the power input unit.

12. The system for diagnosing faults in a power input circuit according to claim 10, in, The power input circuit includes a reverse connection prevention unit, and The reverse connection prevention unit is configured with a MOSFET.

13. The system for diagnosing faults in a power input circuit according to claim 10, in, The processing unit determines that a fault has occurred when the first voltage is abnormal, or when the difference between the third voltage and the second voltage is equal to or greater than a threshold.

14. The system for diagnosing faults in a power input circuit according to claim 10, in, When the first voltage is abnormal, the processing unit determines that the pre-amplifier of the terminal measuring the first voltage has failed.

15. The system for diagnosing faults in a power input circuit according to claim 10, in, When the first voltage is normal and the difference between the third voltage and the second voltage is equal to or greater than a threshold, the processing unit determines that the circuit between the terminal measuring the first voltage and the terminal measuring the second voltage has failed.

16. The system for diagnosing faults in a power input circuit according to claim 10, in, The first current measuring unit measures the first current at the output terminal of the power input circuit.

17. The system for diagnosing faults in a power input circuit according to claim 10, comprising: The MOSFET is positioned between the terminal measuring the first voltage and the terminal measuring the second voltage. The first current measuring unit measures the first current in the MOSFET.

18. The system for diagnosing faults in a power input circuit according to claim 10, comprising: The storage unit is configured to store a lookup table that stores the relationship between the first current and the voltage drop based on the first current.

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