Control device

Abstract

The present invention provides a control device (100) comprising an electric motor (11), a battery (21), a capacitor (22), a power selection unit (23), a determination unit (41) for determining whether the battery (21) is functioning properly, and a control unit (42) for selecting a first mode and a second mode as the control mode for the electric motor (11) and driving the electric motor (11) in the selected control mode. The second mode is a mode that reduces the power consumption of the electric motor (11) compared to driving the electric motor (11) in the first mode. When the battery (21) is determined to be functioning properly to be not determined to be functioning properly, the control unit (42) switches the control mode from the first mode to the second mode, and then causes the power selection unit (23) to select the capacitor (22).

Description

Technical Field

[0001] This invention relates to a control device for driving an actuator. Background Technology

[0002] Patent Document 1 describes an example of a device that provides power to a memory from both a main power supply and a standby power supply. In this device, power is supplied to the memory from a power supply selected by a switching circuit.

[0003] Patent Document 1: Japanese Patent Application Publication No. 2003-32399

[0004] As a device that has both a main power supply and a standby power supply, and drives an actuator by power from either the main power supply or the standby power supply, there are devices that use a capacitor as the standby power supply. The power supply of a capacitor is limited. Therefore, it is desirable to suppress a sharp drop in the capacitor voltage when the actuator is driven by power from the capacitor. Summary of the Invention

[0005] One method of a control device for solving the above-mentioned problem includes: an actuator; a battery; a capacitor; a power selection unit that selects either the battery or the capacitor as a power supply source for the actuator; a determination unit that determines whether the battery is normal; and a control unit that selects either a first mode or a second mode as a control mode for the actuator and drives the actuator in the selected control mode, wherein the second mode is a mode that reduces the power consumption of the actuator compared to driving the actuator in the first mode. When the battery is determined to be normal, the control unit causes the power selection unit to select the battery and select the first mode as the control mode. When the state is changed from the state where the battery is determined to be normal to the state where the battery is not determined to be normal, the control unit switches the control mode from the first mode to the second mode, and then causes the power selection unit to select the capacitor.

[0006] Based on the above configuration, if the battery is no longer determined to be normal, the actuator control mode switches to the second mode, and then the capacitor is selected via the power selection unit. The first mode is a control mode that increases the power consumption of the actuator compared to driving the actuator in the second mode. Based on this configuration, it is possible to suppress the supply of power from the capacitor to the actuator when driving the actuator in this first mode. Therefore, it is possible to suppress a sharp drop in the capacitor voltage.

[0007] One method of a control device for solving the above-mentioned problem includes: an actuator; a battery; a capacitor; a power selection unit that selects either the battery or the capacitor as a power supply source for the actuator; a determination unit that determines whether the battery is normal; and a control unit that selects either a first mode or a second mode as a control mode for the actuator and drives the actuator in the selected control mode, wherein the second mode is a mode that reduces the power consumption of the actuator compared to driving the actuator in the first mode; when the battery is not determined to be normal, the control unit causes the power selection unit to select the capacitor and selects the second mode as the control mode; when the state from which the battery was not determined to be normal changes to a state where the battery is determined to be normal changes, the control unit causes the power selection unit to select the battery and then switches the control mode from the second mode back to the first mode.

[0008] Based on the above configuration, if the battery is determined to be normal, the power selection unit selects the battery, and then the actuator's control mode switches to the first mode. This prevents power supply from the capacitor to the actuator when the actuator is driven in the first mode, which increases the actuator's power consumption. Therefore, it suppresses a sharp drop in the capacitor's voltage. Attached Figure Description

[0009] Figure 1 This is a diagram showing the schematic structure of the control device in the implementation method.

[0010] Figure 2 This is a flowchart illustrating the processing routine executed by the decision unit of the control device.

[0011] Figure 3 This is a flowchart illustrating the processing routines executed by the control unit of the control device.

[0012] Figure 4 This is a flowchart illustrating the processing routines executed by the control unit.

[0013] Figure 5 (a) to (d) are timing diagrams when moving from the first mode to the second mode.

[0014] Figure 6 (a) to (d) are timing diagrams of the transition from the second mode to the first mode. Detailed Implementation

[0015] The following is based on Figures 1-6 One embodiment of the control device will be described.

[0016] Figure 1The control device 100 shown is an on-board control device for adjusting the braking force of a vehicle. The control device 100 includes a braking device 10 and a control unit 40 for controlling the braking device 10. The braking device 10 includes an electric motor 11, which is an example of an actuator, and a pump 12 that supplies brake fluid according to the drive of the electric motor 11.

[0017] In addition, the control unit 100 includes a battery 21, a capacitor 22, and a power selection unit 23. The battery 21 serves not only as a power source for the electric motor 11 of the braking device 10, but also as a power source for the actuators of other vehicle-mounted devices. Furthermore, the battery 21 can be charged, for example, by generating electricity from the vehicle's alternator.

[0018] The capacitor 22 can be charged, for example, by a power source from the battery 21. In this embodiment, the capacity of the capacitor 22 is less than the capacity of the battery 21.

[0019] The power selection unit 23 operates by selecting either the battery 21 or the capacitor 22 as the power supply source for the electric motor 11, and supplying power to the electric motor 11 from the selected power supply source. For example, the power selection unit 23 has at least one switching element.

[0020] According to the control device 100 of this embodiment, the electric motor 11 is driven by power supplied from a power supply source selected by the power selection unit 23 from the battery 21 and the capacitor 22.

[0021] The control unit 40 receives detection signals from various sensors. Examples of such sensors include a first voltage sensor 31, a second voltage sensor 32, and a third voltage sensor 33. The first voltage sensor 31 detects the voltage of the battery 21, i.e., the battery voltage Vbt, and outputs a signal corresponding to the detection result as a detection signal. The second voltage sensor 32 detects the voltage of the capacitor 22, i.e., the capacitor voltage Vc, and outputs a signal corresponding to the detection result as a detection signal. The third voltage sensor 33 detects the voltage output from the power selection unit 23, i.e., the output voltage Vout, and outputs a signal corresponding to the detection result as a detection signal.

[0022] The control unit 40 may be configured as any one of the following (a) to (c).

[0023] (a) The control unit 40 includes one or more processors that perform various processes according to a computer program. The processor includes a CPU and memories such as RAM and ROM. The memories store program code or instructions configured to enable the CPU to perform processes. Memory, or computer-readable medium, includes all usable media accessible to a general-purpose or special-purpose computer.

[0024] (b) The control unit 40 has one or more dedicated hardware circuits for performing various processes. Examples of dedicated hardware circuits include application-specific integrated circuits (ASICs) or field-programmable gate arrays (FPGAs).

[0025] (c) The control unit 40 has a processor that performs a portion of various processes according to a computer program, and dedicated hardware circuitry that performs the remaining processes in the various processes.

[0026] The control unit 40 has a determination unit 41 and a control unit 42 as functional units. The determination unit 41 determines whether the battery 21 is normal. The control unit 42 performs the drive processing of the power selection unit 23 and the drive processing of the electric motor 11.

[0027] In this embodiment, a first mode and a second mode are prepared as control modes for driving the electric motor 11. The first mode is the normal control mode. The second mode is a control mode that reduces the power consumption of the electric motor 11 compared to driving the electric motor 11 in the first mode. The control unit 42 selects the first mode or the second mode based on the determination result of the determination unit 41. Furthermore, during the driving process of the electric motor 11, the control unit 42 drives the electric motor 11 in the selected control mode.

[0028] Next, refer to Figure 2 The processing routine executed by the decision unit 41 is described below. This processing routine is executed repeatedly at predetermined control cycles.

[0029] In this processing routine, step S11 determines whether a break has occurred in the power supply path from battery 21 to power selection unit 23. When power selection unit 23 selects battery 21, the output voltage Vout is approximately the same as the battery voltage Vbt when no break has occurred. On the other hand, when a break has occurred, the output voltage Vout deviates from the battery voltage Vbt. Therefore, for example, when power selection unit 23 selects battery 21, a break is considered not to have occurred if the difference between the output voltage Vout and the battery voltage Vbt is less than a difference determination value. On the other hand, a break is considered to have occurred if the difference is greater than or equal to the difference determination value. Furthermore, when power selection unit 23 selects capacitor 22, it is impossible to determine whether a break has occurred in the aforementioned power supply path, so it is considered not to have occurred.

[0030] If a disconnection is detected (S11: Yes), the process proceeds to the next step, S12. In step S12, both the abnormality flag FLG1 and the disconnection flag FLG2 are set to "on". The abnormality flag FLG1 is set to "off" when the battery 21 is functioning normally, and "on" when the battery 21 is malfunctioning. The disconnection flag FLG2 is set to "on" when a disconnection is detected in the power supply path from the battery 21 to the power selection unit 23, and "off" when no disconnection is detected. A disconnection is an example of a malfunctioning battery 21. Therefore, when the disconnection flag FLG2 is set to "on", the abnormality flag FLG1 is also set to "on". Afterward, the process is temporarily terminated.

[0031] On the other hand, if in step S11 it is not determined that a power supply path from battery 21 to power selection unit 23 has been interrupted (No), the process moves to the next step S13. In step S13, it is determined whether the battery voltage Vbt has abnormally decreased. In this embodiment, if the battery voltage Vbt is less than the abnormality determination voltage VbtTh1, it is considered that the battery voltage Vbt has abnormally decreased. On the other hand, if the battery voltage Vbt is greater than or equal to the abnormality determination voltage VbtTh1, it is not considered that the battery voltage Vbt has abnormally decreased. In this case, a voltage sufficiently lower than the rated voltage of battery 21 is set as the abnormality determination voltage VbtTh1.

[0032] If the battery voltage Vbt is determined to be abnormally low (S13: Yes), the process proceeds to the next step, S14. In step S14, the abnormality flag FLG1 is set to "on" and the disconnection flag FLG2 is set to "off". That is, even if there is no disconnection in the power supply path from battery 21 to power selection unit 23 when the battery voltage Vbt is abnormally low, it can be determined that battery 21 is abnormal. Therefore, the abnormality flag FLG1 can be set to "on" even if the disconnection flag FLG2 is not set to "on". Thereafter, this processing routine is temporarily terminated.

[0033] On the other hand, if in step S13 it is not determined that the battery voltage Vbt has abnormally decreased (No), the process moves to the next step S15. In step S15, it is determined whether the abnormal flag FLG1 is set to on. If the abnormal flag FLG1 is set to off (S15: No), it can be determined that the battery 21 is normal, so the flags FLG1 and FLG2 are not changed, and this processing routine is temporarily terminated. In this case, the state in which all FLG1 and FLG2 are set to off is maintained. On the other hand, if the abnormal flag FLG1 is set to on (S15: Yes), the process moves to the next step S16.

[0034] In step S16, it is determined whether the battery voltage Vbt has returned to normal. In this embodiment, if the battery voltage Vbt is higher than the normal recovery voltage VbtTh2, it is considered that the battery voltage Vbt has returned to normal. On the other hand, if the battery voltage Vbt is lower than the normal recovery voltage VbtTh2, it is considered that the battery voltage Vbt has not returned to normal. In this case, a voltage higher than the abnormality determination voltage VbtTh1 is set as the normal recovery voltage VbtTh2.

[0035] If the battery voltage Vbt is not determined to have returned to normal (S16: No), the process proceeds to step S14. That is, the state where the battery 21 is not determined to be normal is maintained. On the other hand, if the battery voltage Vbt is determined to have returned to normal (S16: Yes), the process proceeds to the next step S17.

[0036] In step S17, both the exception flag FLG1 and the disconnection flag FLG2 are set to off. Then, this processing routine is temporarily terminated.

[0037] Next, refer to Figure 3 The processing routine executed by the control unit 42 to determine the timing of switching the control mode and changing the power supply source of the electric motor 11 when the first mode is selected will be described. This processing routine is executed repeatedly during the period when the first mode is selected.

[0038] In this processing routine, in step S21, it is determined whether the exception flag FLG1 is set to "on". If the exception flag FLG1 is set to "on" (S21: Yes), the process moves to the next step S22. In step S22, it is determined whether the disconnection flag FLG2 is set to "on". If the disconnection flag FLG2 is set to "on" (S22: Yes), the process moves to the next step S23.

[0039] In step S23, the second mode is selected as the control mode. That is, the control mode is switched from the first mode to the second mode. Next, in the following step S24, the power supply source for the electric motor 11 selected by the power selection unit 23 is changed from the battery 21 to the capacitor 22. In this embodiment, the control mode is switched from the first mode to the second mode when the state is changed from a state where the battery 21 is determined to be normal to a state where the battery 21 is not determined to be normal. Moreover, after the control mode is switched, the power supply source for the electric motor 11 selected by the power selection unit 23 is changed to the capacitor 22. Thereafter, this processing routine is temporarily terminated.

[0040] On the other hand, if the disconnection flag FLG2 is set to off in step S22 (No), the process moves to the next step S25. In step S25, it is determined whether the drive of the electric motor 11 has stopped. If the drive of the electric motor 11 has not stopped (S25: No), this processing routine is temporarily terminated. On the other hand, if the drive of the electric motor 11 has stopped (S25: Yes), the process moves to the aforementioned step S23. That is, even if no disconnection of the battery 21 occurs, and the battery 21 is no longer determined to be normal, the state of selecting the first mode as the control mode and the state of selecting the battery 21 as the power supply source for the electric motor 11 are maintained while the electric motor 11 is being driven. In this case, after the drive of the electric motor 11 stops, the control mode is switched (S23), and the power supply source for the electric motor 11 is changed (S24).

[0041] On the other hand, if the exception flag FLG1 is set to off in step S21 (no), the processing routine is temporarily terminated. That is, if the battery 21 is determined to be normal, the state of selecting the first mode as the control mode and selecting the battery 21 as the power supply source for the electric motor 11 is maintained.

[0042] Next, refer to Figure 4 The processing routine executed by the control unit 42 to determine the timing of switching the control mode and changing the power supply source of the electric motor 11 when the second mode is selected will be described. This processing routine is repeatedly executed during the selection of the second mode.

[0043] In this processing routine, in step S31, it is determined whether the abnormal flag FLG1 is set to off. If the abnormal flag FLG1 is set to off (S31: Yes), the process moves to the next step S32. In step S32, it is determined whether the capacitor voltage Vc is less than the switching determination capacitor voltage VcTh1. If the capacitor voltage Vc is less than the switching determination capacitor voltage VcTh1, it is considered that the capacitor voltage Vc has dropped significantly. On the other hand, if the capacitor voltage Vc is greater than or equal to the switching determination capacitor voltage VcTh1, it is considered that there is still charge accumulated in the capacitor 22. For example, by setting a value close to "0" as the switching determination capacitor voltage VcTh1, it is possible to determine whether the capacitor voltage Vc is approximately "0". Moreover, if the capacitor voltage Vc is less than the switching determination capacitor voltage VcTh1 (S32: Yes), the process moves to the next step S33.

[0044] In step S33, the power supply source for the electric motor 11 selected by the power selection unit 23 is changed from the capacitor 22 to the battery 21. Next, in the next step S34, the first mode is selected as the control mode. In this embodiment, when the state from which the battery 21 is never determined to be normal to the state where the battery 21 is determined to be normal, the power supply source for the electric motor 11 selected by the power selection unit 23 is changed to the battery 21. After the change in the power supply source for the electric motor 11, the control mode switches from the second mode to the first mode. Thereafter, this processing routine is temporarily terminated.

[0045] On the other hand, in step S32, if the capacitor voltage Vc is higher than or equal to the switching determination capacitor voltage VcTh1 (No), the process moves to the next step S35. In step S35, it is determined whether the drive of the electric motor 11 has stopped. If the drive of the electric motor 11 has not stopped (S35: No), this processing routine is temporarily terminated. On the other hand, if the drive of the electric motor 11 has stopped (S35: Yes), the process moves to the aforementioned step S33. That is, if the capacitor voltage Vc is higher than or equal to the switching determination capacitor voltage VcTh1, even if the battery 21 is determined to be normal, the state of selecting the second mode as the control mode and selecting the capacitor 22 as the power supply source for the electric motor 11 is maintained during the drive of the electric motor 11. Then, after the drive of the electric motor 11 stops, the change of the power supply source of the electric motor 11 (S33) and the switching of the control mode (S34) are performed sequentially.

[0046] On the other hand, if the fault flag FLG1 is set to "on" (no) in step S31, this processing routine is temporarily terminated. That is, if the battery 21 is not determined to be normal, the state of selecting the second mode as the control mode and selecting the capacitor 22 as the power supply source for the electric motor 11 is maintained.

[0047] The function and effects of this implementation method are explained.

[0048] First, refer to Figure 5 The following explains the situation where the battery 21 changes from a state determined to be normal to a state not determined to be normal.

[0049] like Figure 5 As shown in (a), (b), (c), and (d), if the electric motor 11 is driven in the first mode starting from time t11, then the battery 21 is selected as the power supply source for the electric motor 11, so the battery voltage Vbt begins to decrease. Figure 5In the example shown, at time t12, the battery voltage Vbt is less than the fault detection voltage VbtTh1, and the fault flag FLG1 is set to "on". That is, the system moves from a state where the battery 21 is determined to be normal to a state where the battery 21 is not determined to be normal.

[0050] However, the electric motor 11 is driven at time t13. Therefore, even if the battery 21 is no longer determined to be normal, the electric motor 11 continues to be driven in the first mode, and the battery 21 continues to be selected as the power supply source for the electric motor 11.

[0051] If the drive of electric motor 11 stops at time t13, then at time t14, the control mode of electric motor 11 switches from the first mode to the second mode. At time t15, after the second mode has been selected as the control mode, the power supply source for electric motor 11, selected by power selection unit 23, changes from battery 21 to capacitor 22. Then, if the drive of electric motor 11 is indicated at time t16, electric motor 11 is driven in the second mode by power supplied from capacitor 22.

[0052] Here, the first mode is the mode in which the electric motor 11 consumes more power compared to the case where the electric motor 11 is driven in the second mode. Therefore, when the electric motor 11 is driven in the first mode by selecting the capacitor 22 through the power selection unit 23, the capacitor voltage Vc drops sharply because the electric motor 11 consumes more power.

[0053] In contrast, in this embodiment, after selecting the second mode that reduces the power consumption of the electric motor 11, the capacitor 22 is selected as the power supply source for the electric motor 11. Therefore, when the electric motor 11 is driven in the first mode, where its power consumption is higher, the supply of power from the capacitor 22 to the electric motor 11 can be suppressed. Thus, a sharp drop in the capacitor voltage Vc can be prevented.

[0054] Furthermore, sometimes a disconnection occurs in battery 21, preventing the battery from being considered functioning properly. In the event of a disconnection in battery 21, power cannot be supplied to the electric motor 11. Therefore, when a disconnection is detected in battery 21, the control mode is switched from the first mode to the second mode, even while the electric motor 11 is in operation. Additionally, the power supply source for the electric motor 11 changes from battery 21 to capacitor 22. Thus, even if power cannot be supplied to the electric motor 11 due to a disconnection, the electric motor 11 can continue to operate. Furthermore, the electric motor 11 is operated in the second mode at this time. Therefore, compared to continuing to operate the electric motor 11 in the first mode, the time during which the electric motor 11 can operate is extended.

[0055] Next, refer to Figure 6 The function and effect of changing the battery 21 from a state that was never determined to be normal to a state that is determined to be normal are explained. Furthermore, in Figure 6 In the example shown, it is assumed that while the capacitor 22 is selected as the power supply source for the electric motor 11, the battery 21 is charged by the vehicle's generator or the like.

[0056] like Figure 6 As shown in (a), (b), (c), and (d), at time t21 when the battery voltage Vbt rises due to charging, the electric motor 11 begins to drive. In this case, since the battery 21 is not determined to be normal, the electric motor 11 is driven in the second mode by power supply from the capacitor 22. As a result, the capacitor voltage Vc gradually decreases. At time t22 during the driving of the electric motor 11 in the second mode, the battery voltage Vbt becomes higher than the normal recovery voltage VbtTh2, and the battery voltage Vbt is determined to have returned to normal. That is, the state from which the battery 21 was not determined to be normal transitions to the state where the battery 21 is determined to be normal.

[0057] However, the electric motor 11 is driven at time t23. Therefore, even if the battery 21 is determined to be normal, the capacitor 22 is still selected as the power supply source for the electric motor 11, and the electric motor 11 continues to be driven in the second mode.

[0058] If the electric motor 11 stops driving at time t23, then at time t24, the power supply source for the electric motor 11 changes from capacitor 22 to battery 21. At time t25, after selecting battery 21 as the power supply source, the control mode of the electric motor 11 switches from the second mode to the first mode. Then, when the electric motor 11 is subsequently instructed to drive, it is driven in the first mode by power from battery 21.

[0059] In this embodiment, after selecting the battery 21 as the power supply source for the electric motor 11, a first mode with higher power consumption is selected. This suppresses the supply of power to the electric motor 11 from the capacitor 22 when the electric motor 11 is driven in the first mode. Therefore, a sharp drop in the capacitor voltage Vc can be prevented.

[0060] Furthermore, there is a possibility that when the electric motor 11 is driven in the second mode, the capacitor voltage Vc becomes less than the switching determination capacitor voltage VcTh1. In this case, there is a concern that the capacitor voltage Vc becomes very low, and the power supply from the capacitor 22 to the electric motor 11 cannot be adequately ensured during the driving of the electric motor 11 in the second mode.

[0061] Therefore, in this embodiment, when the capacitor voltage Vc becomes less than the switching determination capacitor voltage VcTh1 when the electric motor 11 is driven in the second mode, the power supply source for the electric motor 11 changes from the capacitor 22 to the battery 21 even during the driving of the electric motor 11. This suppresses the situation where the power supply to the electric motor 11 cannot be guaranteed during its operation, thereby preventing the interruption of the electric motor 11's operation.

[0062] The above embodiments can be modified as follows. The above embodiments and the following modifications can be combined with each other within the scope of technical inconsistency.

[0063] • Alternatively, if the battery voltage Vbt is lower than the capacitor voltage Vc when the battery 21 is deemed to be normal, the battery 21 may not be deemed to be normal. Alternatively, if the value obtained by subtracting the battery voltage Vbt from the capacitor voltage Vc is higher than the predetermined value, the battery 21 may not be deemed to be normal.

[0064] • The criteria for determining whether the battery voltage Vbt has returned to normal can also be modified as follows. For example, the battery voltage Vbt can be considered to have returned to normal when it is higher than the capacitor voltage Vc. Alternatively, the battery voltage Vbt can be considered to have returned to normal when the value obtained by subtracting the capacitor voltage Vc from the battery voltage Vbt is above the recovery criterion value.

[0065] In the above embodiment, when the battery 21 changes from a state where it was never determined to be normal to a state where it is determined to be normal, if the capacitor voltage Vc becomes less than the switching determination capacitor voltage VcTh1, the power supply source of the electric motor 11 is changed to the battery 21 even while the electric motor 11 is being driven, and then the control mode is switched to the first mode. However, this is not a limitation. For example, the power supply source of the electric motor 11 may be changed to the battery 21 while the electric motor 11 is being driven, while maintaining the state where the second mode is selected as the control mode. In this case, it is preferable to switch the control mode to the first mode after the electric motor 11 stops being driven.

[0066] • Alternatively, even if the capacitor voltage Vc is higher than the switching determination capacitor voltage VcTh1 when the battery 21 is transitioned from a state where it was never determined to be normal to a state where it is determined to be normal, the power supply source for the electric motor 11 can be changed from the capacitor 22 to the battery 21 during the operation of the electric motor 11. Furthermore, during the operation of the electric motor 11, after the power supply source for the electric motor 11 is changed to the battery 21, the control mode can be switched from the second mode to the first mode. Conversely, the state where the second mode is selected as the control mode can continue until the operation of the electric motor 11 stops. In this case, it is preferable to switch the control mode from the second mode to the first mode after the operation of the electric motor 11 stops.

[0067] • Alternatively, when transitioning from a state where the battery 21 is determined to be normal to a state where it is not determined to be normal, the control mode can be switched to the second mode while the electric motor 11 is running, even if the battery 21 has not experienced a disconnection. Furthermore, the power supply source for the electric motor 11 can be changed to the capacitor 22 while the electric motor 11 is running. Conversely, the state of selecting the battery 21 as the power supply source for the electric motor 11 can continue until the electric motor 11 stops running. In this case, it is preferable to change the power supply source for the electric motor 11 from the battery 21 to the capacitor 22 after the electric motor 11 stops running.

[0068] • Alternatively, if the battery 21 is no longer considered to be functioning properly due to a disconnection, the power supply source for the electric motor 11 can be changed to the capacitor 22 before switching the control mode. In this case, it is preferable to switch the control mode to the second mode immediately after changing the power supply source to the capacitor 22.

[0069] • A capacitor with the same capacity as the battery 21 can be used as capacitor 22, or a capacitor with a larger capacity than the battery 21 can be used as capacitor 22.

[0070] The actuator, driven by power supplied from either the battery 21 or the capacitor 22, can be any vehicle-mounted actuator other than the electric motor 11 of the braking system 10. For example, the actuator could be the solenoid valve of the braking system 10, or it could be the actuator of the vehicle's steering control device. Alternatively, the actuator could be the drive motor for the electric window.

[0071] • The control device may not be a vehicle-mounted device.

[0072] Next, the technical concepts that can be grasped based on the above-described embodiments and variations will be described.

[0073] A control unit applied to the above-described control device includes the above-described determination unit and the above-described control unit.

Claims

1. A control device comprising: Actuator; Storage battery; Capacitor; The power selection unit selects one of the aforementioned battery and the aforementioned capacitor as the power supply source for the aforementioned actuator. The determination unit determines whether the aforementioned battery is functioning properly; and The control unit selects one of a first mode and a second mode as the control mode for the actuator, and drives the actuator in the selected control mode. The second mode is a mode that reduces the power consumption of the actuator compared to driving the actuator in the first mode. When the battery is determined to be normal, the control unit instructs the power selection unit to select the battery and selects the first mode as the control mode. When the state changes from when the battery is determined to be normal to when it is not determined to be normal, the control unit switches the control mode from the first mode to the second mode, and then instructs the power selection unit to select the capacitor. The aforementioned control device includes an electric motor in the aforementioned actuator. When the battery condition changes from being determined to be normal to being determined not to be normal, while the electric motor is being driven, the electric motor continues to be driven in the first mode and the battery continues to be selected as the power supply source for the electric motor, even if the battery condition is no longer determined to be normal. When the aforementioned electric motor stops driving, at a subsequent timing, the control mode of the aforementioned electric motor switches from the first mode to the second mode. After the second mode is selected as the control mode, the power supply source for the electric motor selected by the power selection unit is changed from the battery to the capacitor.

2. The control device according to claim 1, wherein, A determination is made as to whether a break occurs in the power supply path from the aforementioned battery to the aforementioned power selection unit. In the event of a wire breakage, even while the drive motor is in operation, the control mode is switched from the first mode to the second mode, and the power supply source for the electric motor is changed from the battery to the capacitor.

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