Rotary machine control device

Abstract

A rotary machine control device (10) is capable of driving a multiphase rotary machine (800) and a DC rotary machine (710, 720) in which a first terminal (T1) is connected to a phase current path of a three-phase winding group (801). A control section (30) operates the actions of inverter switching elements (IU1H / L, IV1H / L, IW1H / L) and DC rotary machine switching elements (MU1H / L, MU2H / L) in the "driving circuit of the multiphase rotary machine (800) and the DC rotary machine (710, 720)". The control section (30) has an abnormality detection section (40, 50) that detects an abnormality of the multiphase power converter (601, 602) or the multiphase rotary machine (800), or detects an abnormality of the DC rotary machine switching elements (MU1H / L, MU2H / L) or the DC rotary machine (710, 720). The control section (30) changes the switching actions of the inverter switching elements and the DC rotary machine switching elements according to the abnormality.

Description

[0001] Cross-references to related applications

[0002] This application claims priority to patent application number 2020-079361, filed on April 28, 2020, the entire contents of which are incorporated herein by reference. Technical Field

[0003] This disclosure relates to a control device for a rotating machine. Background Technology

[0004] Conventional rotary machine control devices are known to share circuits that drive both multiphase rotary machines and DC rotary machines. For example, the motor control device disclosed in Patent Document 1 drives a three-phase AC motor and two DC motors via a three-phase inverter drive circuit. Specifically, this motor control device is used as a vehicle steering control device, driving a three-phase motor for electric power steering (EPS), a tilting DC motor, and a telescopic DC motor. By using a power converter that shares the three-phase motor and the DC motors, the power converter can be miniaturized.

[0005] Patent Document 1: Japanese Patent No. 5768999

[0006] In a device that shares a circuit for driving a multiphase rotating machine and a DC rotating machine, there is a problem where, if a fault occurs at any point, none of the rotating machines can be driven. Summary of the Invention

[0007] The purpose of this disclosure is to provide a rotating machine control device that provides an abnormal switching measure in the event of an abnormality in the circuit driving a multiphase rotating machine or a DC rotating machine.

[0008] The rotating machine control device disclosed herein is capable of driving one or more multiphase rotating machines comprising one or more sets of multiphase windings, and one or more DC rotating machines having a first terminal as one end connected to one or more phase current paths of at least one set of multiphase windings. The rotating machine control device includes one or more multiphase power converters, a switch for the DC rotating machine, and a control unit.

[0009] The multiphase power converter is connected to the positive and negative terminals of the power supply via high-potential and low-potential lines, respectively. The multiphase power converter converts the DC power from the power supply into multiphase AC power through the operation of multiple inverter switching elements in a bridge configuration, and applies the voltage to each phase winding of the multiphase winding assembly.

[0010] The switch for a DC rotary machine consists of a high-potential side and a low-potential side connected in series via DC motor terminals. The DC motor terminals are connected to the second terminal of the DC rotary machine, which is the side opposite to the first terminal. The switch for the DC rotary machine allows the voltage at the DC motor terminals to be variable by switching them on and off.

[0011] The control unit operates the inverter switching elements and the DC rotating machine switches in the "drive circuit of the multiphase rotating machine and the DC rotating machine", which consists of a multiphase power converter and a DC rotating machine switch.

[0012] The control unit has an anomaly detection unit that detects anomalies in multiphase power converters or multiphase rotating machines, or anomalies in switches for DC rotating machines or DC rotating machines.

[0013] Based on the anomalies detected by the anomaly detection unit, the control unit changes the switching actions of the inverter switching elements and the DC rotating machine switches.

[0014] The control unit of this disclosure switches measures by changing the operation of a switch based on the anomaly detected by the anomaly detection unit. For example, by continuing to drive the multiphase rotating machine or DC rotating machine on the side where no anomaly was detected, the control unit can ensure at least a portion of the functionality. Attached Figure Description

[0015] The above-mentioned objects, as well as other objects, features, and advantages of this disclosure, become more apparent from the accompanying drawings and the detailed description below. The accompanying drawings are...

[0016] Figure 1 This is a diagram of a column-type EPS system using various implementation methods of an ECU (rotary machine control unit).

[0017] Figure 2 This is a diagram of a rack and pinion EPS system using various implementation methods of an ECU (Electronic Control Unit).

[0018] Figure 3 This is a diagram of an SBW system using an ECU (rotating machine control unit) according to various implementation methods.

[0019] Figure 4A is a schematic diagram illustrating the tilting action.

[0020] Figure 4B is a schematic diagram illustrating the extension and retraction action.

[0021] Figure 5 This is a diagram illustrating the connection configuration of a connector, as shown in Example 1.

[0022] Figure 6 This is a diagram illustrating the connection configuration of a connector, as shown in Example 2.

[0023] Figure 7 This is a schematic diagram of the drive circuit for the first implementation method (dual system).

[0024] Figure 8 This is a schematic diagram showing the configuration of a three-phase double-winding rotating machine.

[0025] Figure 9 yes Figure 7 The diagram in Example 1 shows the configuration of a latch circuit used in the drive circuit.

[0026] Figure 10 yes Figure 7 The diagram in Example 2 shows the configuration of a latch circuit used in the drive circuit.

[0027] Figure 11 This is a schematic diagram of the drive circuit in the second embodiment (single system).

[0028] Figure 12A is a diagram of Example 1 of the terminal voltage detection circuit.

[0029] Figure 12B is a diagram of Example 2 of the terminal voltage detection circuit configuration.

[0030] Figure 13A is a diagram showing an example of the configuration of pull-up resistors in a configuration where two DC motors are connected in phase.

[0031] Figure 13B is a diagram showing an example of the configuration of pull-up resistors in a configuration where two DC motors are connected in phase.

[0032] Figure 14A is a diagram showing an example of the configuration of pull-up resistors in a configuration of two DC motors connected in opposite phases.

[0033] Figure 14B is a diagram showing an example of the configuration of pull-up resistors in a configuration of two DC motors connected in opposite phases.

[0034] Figure 15A is a diagram showing an example of the configuration of pull-up resistors in a DC motor.

[0035] Figure 15B is a diagram showing an example of the configuration of pull-up resistors in a DC motor.

[0036] Figure 16 This diagram represents the anomaly detection system based on ASICs and microcomputers.

[0037] Figure 17 This is a flowchart (1) representing the overall timing sequence.

[0038] Figure 18 This is a flowchart (2) representing the overall timing sequence.

[0039] Figure 19 It is a flowchart showing the detailed timing of anomaly checks.

[0040] Figure 20 This table shows the normal conditions and measures for abnormal situations for each inspection item.

[0041] Figure 21 This is the circuit diagram used in the instructions for abnormal detection of the DCM drive circuit.

[0042] Figure 22This is a flowchart of the short-circuit fault detection process in the DCM drive circuit during startup.

[0043] Figure 23 This is a flowchart of the DCM drive circuit open-circuit fault detection during startup.

[0044] Figure 24A is a flowchart of the short-circuit fault detection process in the DCM drive circuit during normal operation.

[0045] Figure 24B is a flowchart of the short-circuit fault detection process in the DCM drive circuit during normal operation.

[0046] Figure 25 This is a flowchart of abnormal detection in the DCM drive circuit during normal operation.

[0047] Figure 26 This is a flowchart of abnormal detection in the DCM drive circuit during normal operation.

[0048] Figure 27 This is a flowchart of Control Example 1 of this embodiment.

[0049] Figure 28 This is a flowchart of control example 2 of this embodiment.

[0050] Figure 29 This is a flowchart of control example 3 of this embodiment.

[0051] Figure 30 This is a flowchart of control example 4 of this embodiment.

[0052] Figure 31 This is a table explaining the switching of measures corresponding to the anomalies.

[0053] Figure 32 This is a timing diagram showing the current control when a DC motor is powered on and off. Detailed Implementation

[0054] Hereinafter, several embodiments of the rotary machine control device will be described based on the accompanying drawings. The rotary machine control device of each embodiment is applied to a vehicle's electric power steering system (hereinafter referred to as "EPS system") or steer-by-wire system (hereinafter referred to as "SBW system"), and functions as an EPS-ECU or SBW-ECU. In the following embodiments, the EPS-ECU or SBW-ECU will be collectively referred to as "ECU".

[0055] [System Composition]

[0056] First refer to Figure 1 Figure 4B illustrates the system configuration of the ECU, which functions as a "rotating machine control device." Figure 1 , Figure 2An EPS system 901 is shown, in which the steering control mechanism is mechanically connected to the steering mechanism. Wherein, Figure 1 The column is shown, in Figure 2 The rack-and-pinion EPS system 901 is shown. Figure 3 This illustrates an SBW system 902 where the steering control mechanism and steering mechanism are mechanically separated. Figures 1-3 The diagram for Tire 99 only shows one side; the diagram for the tire on the opposite side is omitted.

[0057] like Figure 1 , Figure 2 As shown, the EPS system 901 includes a steering wheel 91, a steering shaft 92, an intermediate shaft 95, and a rack 97. The steering shaft 92 is enclosed within the steering column 93, connecting the steering wheel 91 at one end and the intermediate shaft 95 at the other end.

[0058] A steering rack 97 is provided at the end of the intermediate shaft 95 opposite to the steering wheel 91, which converts rotation into reciprocating motion and transmits it via a rack and pinion mechanism. When the steering rack 97 reciprocates, the tire 99 is steered via the steering tie rod 98 and the steering knuckle arm 985. In addition, universal joints 961 and 962 are provided in the middle of the intermediate shaft 95. This absorbs the displacement caused by the tilting and telescoping movements of the steering column 93.

[0059] exist Figure 1 In the column-type EPS system 901 shown, a three-phase motor 800, which functions as a steering assist motor, is installed within the steering column 93, and the output torque of the three-phase motor 800 is transmitted to the steering shaft 92. A torque sensor 94 is located midway along the steering shaft 92 and detects the driver's steering torque Ts based on the torsional displacement of the torsion bar.

[0060] exist Figure 2 In the rack-and-pinion EPS system 901 shown, a three-phase motor 800, which functions as a steering assist motor, is mounted on the steering rack 97. The output torque of the three-phase motor 800 assists the reciprocating motion of the steering rack 97. A torque sensor 94 detects the driver's steering torque Ts transmitted to the steering rack 97.

[0061] In the EPS system 901, the ECU 10 controls the drive of the three-phase motor 800 based on the steering torque Ts detected by the torque sensor 94 and the vehicle speed V detected by the vehicle speed sensor 14, thereby outputting the desired steering assist torque. In this way, the EPS system 901 uses a rotary machine for outputting steering assist torque as a "multi-phase rotary machine." Furthermore, various signals are communicated to the ECU 10 using CAN, serial communication, or other methods, or each signal is transmitted as an analog voltage signal.

[0062] The EPS system 901 is equipped with one or more DC motors acting as "DC rotary machines". In the detailed configuration description below, examples with two DC motors (tilt actuator 710 and telescopic actuator 720) and an example with one DC motor (steering wheel locking actuator 730) will be shown. However, for convenience, the system configuration will be described as having three DC motors (710, 720, and 730) in one description. For example, it can also be described using... Figure 7 , Figure 11 The composite drive circuit of the three-phase motor 800 shown in the figure drives any one to all three of the three DC motors 710, 720, and 730. Furthermore, the remaining DC motors not driven by the composite drive circuit can also be driven by a separate drive circuit independent of the three-phase motor 800.

[0063] The tilt actuator 710 and the telescopic actuator 720 are disposed on the steering column 93. The tilt actuator 710 and the telescopic actuator 720 are collectively referred to as steering wheel position system actuators that enable the steering wheel position to be variable.

[0064] If the driver inputs an "up / down" instruction to the ECU 10 by operating the tilt switch 12, the ECU 10 instructs the tilt actuator 710 to tilt. As shown in Figure 4A, the tilt actuator 710 adjusts the tilt angle, causing the steering wheel 91 to move up and down. Furthermore, when the vehicle switch 11 is turned on and the vehicle starts, it moves to a pre-stored driving position; when the vehicle switch 11 is turned off and the vehicle stops, it moves to the side where the driver's space widens.

[0065] Furthermore, if the driver inputs an "extend / retract" instruction to the ECU 10 by operating the telescopic switch 13, the ECU 10 instructs the telescopic actuator 720 to perform an extension / retraction action. As shown in Figure 4B, the telescopic actuator 720 adjusts the extension / retraction length, causing the steering wheel 91 to move forward and backward. Moreover, when the vehicle switch 11 is turned on and the vehicle starts, it moves to a pre-stored driving position; when the vehicle switch 11 is turned off and the vehicle stops, it moves to the side where the driver's space widens.

[0066] The steering wheel lock actuator 730 mechanically restricts the rotation of the steering shaft 92 by driving the locking device 20, locking the steering wheel 91 so that it will not rotate when the vehicle is parked. The ECU 10 instructs the steering wheel lock actuator 730 to release or relock the steering wheel based on the on / off signal of the vehicle switch 11. Furthermore, the vehicle switch 11 is equivalent to the ignition switch or push-button switch for engine vehicles, hybrid vehicles, and electric vehicles.

[0067] Then as Figure 3As shown, in the SBW system 902 where the steering control mechanism and the steering mechanism are mechanically separated, there is no intermediate shaft 95 as in the EPS system 901. The driver's steering torque Ts is electrically transmitted to the steering motor 890 via the ECU 10. The rotation of the steering motor 890 is converted into the reciprocating motion of the steering rack 97, which steers the tires 99 via the steering tie rod 98 and the steering knuckle arm 985. Furthermore, although in Figure 3 The diagram is omitted, but the steering motor ECU that drives the steering motor 890 for the driver's steering wheel input is present.

[0068] Furthermore, in the SBW system 902, the driver cannot directly perceive the reaction force to the steering operation. Therefore, the ECU 10 controls the drive of the three-phase motor 800 to rotate the steering wheel 91 to provide a reaction force to the steering operation, giving the driver an appropriate steering feel. Thus, in the SBW system 902, a rotating machine for outputting reaction torque or steering torque is used as a "multi-phase rotating machine". In the following reference numerals for "three-phase motor", the "890" in "800, 890" is omitted, and only "800" is referred to.

[0069] exist Figure 3 In the SBW system 902, with Figure 1 The column-type EPS system 901 uses three DC motors 710, 720, and 730 as "DC rotary machines". The following description of the abnormality detection of the three-phase motor 800 and the DC motors 710, 720, and 730 by the ECU 10 does not differ from the EPS system 901 and the SBW system 902.

[0070] Next, refer to Figure 5 , Figure 6 The connection configuration of the device will be described below. In this embodiment, the three-phase motor 800 is configured as a "mechatronic" brushless motor with the ECU 10 integrally integrated on one axial side. On the other hand, the DC motors 710, 720, and 730 are each connected to the ECU 10 via connectors. In other words, the connection between the three-phase motor 800 and the ECU 10 is a fixed premise, while each DC motor 710, 720, and 730 is configured to be connected to the ECU 10 as an option to meet specific needs. For example, the circuit board on the ECU 10 side can be shared, with the connector specifications and related electronic components provided as options.

[0071] exist Figure 5This diagram illustrates an example of the connector configuration in a system with two DC motors, a tilt actuator 710 and a telescopic actuator 720. In this configuration, a power supply connector 591, a signal connector 592, and a torque sensor connector 593 are provided separately. The power supply connector 591 is connected to the power supply line (PIG) ​​and the ground wire from the DC power source. The signal connector 592 connects the control power supply line (IG), the CAN communication line, and the wiring for each of the DC motors 710 and 720. The torque sensor connector 593 centrally connects the power supply line, signal line, and ground wire of the torque sensor 94.

[0072] The tilt actuator 710 and telescopic actuator 720 are connected to motor wires (M+, M-), position sensor power lines, position sensor signal lines, and ground wires. By determining whether a predetermined position has been reached based on torque or current and time, or by the opening and closing of the tilt switch 12 and telescopic switch 13 with the flow of a constant current or the application of voltage, a position sensor can be omitted, thus eliminating the need for a position sensor power line and position sensor signal line. Signals can be received from the tilt switch 12 and telescopic switch 13 via CAN communication or serial communication, and analog voltage signals can also be received. Furthermore, these signals can be connected via the signal connector 592.

[0073] Furthermore, although the motor lines (M+, M-) of each DC motor 710 and 720 are power supply lines, their current is smaller compared to the three-phase motor 800, so they can be connected within the signal connector 592. If the current of the DC motors 710 and 720 is larger, other connectors can be used, or a connector shared with the power supply line (PIG) ​​and ground connector 591 from the DC power supply can be used. Alternatively, connectors can be provided separately for each DC motor 710 and 720.

[0074] exist Figure 6 This illustrates an example of a connector connection configuration in a system where the steering wheel locking actuator 730 is configured as a DC motor. (Relative to...) Figure 5 In the configuration of the signal connector 592, the wires of the tilt actuator 710 and telescopic actuator 720 are replaced by the signal lines for the authentication signal, the stop command signal, and the motor wires (M+, M-) of the steering wheel locking actuator 730. Other notes are as follows. Figure 5 The related annotations are the same.

[0075] [Composition of Motor Drive Circuit]

[0076] Next, refer to Figures 7-11The configuration of the drive circuit for the three-phase motor 800 and one or more DC motors will be explained. This section shows the circuit configuration for driving the three-phase motor 800 and two DC motors 710 and 720. Additionally, an example of a latching circuit configuration for self-holding after the ASIC and microcomputer of the ECU 10 are started, even when the start signal is disconnected, is shown.

[0077] Regarding the configuration of the three-phase motor 800, the unit comprising the three-phase winding group and the inverter corresponding to that winding group is called a "system". Figure 7 As a first embodiment, a drive circuit consisting of a dual system is shown. Figure 11 The following diagram illustrates a drive circuit configured as a single system, as a second embodiment. The first and second embodiments are collectively referred to as "this embodiment." In the reference numerals or symbols of the dual-system configuration, "1" is appended to the configuration of the first system, and "2" is appended to the configuration of the second system. In the single-system configuration, the reference numerals or symbols of the first system in the dual-system configuration are used. The reference numeral for the ECU is consistently "10." The elements shown in each figure other than the three-phase motor 800 and the DC motors 710 and 720 are designated as ECU 10.

[0078] (First Implementation)

[0079] exist Figure 7 , Figure 8 The overall configuration of the ECU 10 in a first embodiment that drives a dual-system three-phase motor 800 is shown. The ECU 10 includes two inverters 601 and 602 as "multiphase power converters," four DC motor switches MU1H, MU1L, MU2H, and MU2L as "DC rotary machine switches," and a control unit 30. The two inverters 601 and 602 function as the drive circuit for the three-phase motor 800.

[0080] Furthermore, in inverters 601 and 602, a set of switching elements connected in series on the high-potential side and the low-potential side are designated as pins. In this embodiment, the drive circuit for DC motors 710 and 720 is constructed using the pin of one phase of any inverter and the DC motor switches on the high-potential side and the low-potential side. In other words, the pin of one phase of any inverter is shared as the drive circuit for DC motors 710 and 720. The specific configuration will be described later.

[0081] First, the motors 800, 710, and 720, which are driven, will be described. The three-phase motor 800 has two sets of three-phase windings 801 and 802. The windings 811, 812, and 813 connecting phases U1, V1, and W1 at the neutral point N1 constitute the first three-phase winding group (hereinafter referred to as the "first three-phase winding group") 801 of the first three-phase winding group 801. Voltage is applied to the U1, V1, and W1 phase windings 811, 812, and 813 of the first three-phase winding group 801 from the inverter 601 of the first system (hereinafter referred to as the "first inverter").

[0082] The windings 821, 822, and 823 of phases U2, V2, and W2 connected at neutral point N2 constitute the three-phase winding group (hereinafter referred to as the "second three-phase winding group") 802 of the second system. The windings 821, 822, and 823 of phases U2, V2, and W2 of the second three-phase winding group 802 are supplied with voltage from the inverter (hereinafter referred to as the "second inverter") 602 of the second system.

[0083] like Figure 8 As shown, the three-phase motor 800 is a double-winding rotating machine with two sets of three-phase windings 801 and 802 arranged coaxially. The two sets of three-phase windings 801 and 802 have the same electrical characteristics, for example, they are configured to be offset from each other by an electrical angle of 30 degrees [deg] in a shared stator. In this case, the back electromotive force generated in each phase of the first system and the second system is represented by equations (1.1) to (1.3), (1.4a) to (1.6a), for example, based on the voltage amplitude A, the rotational speed ω, and the phase.

[0084] Eu1=-Aωsinθ···(1.1)

[0085] Ev1=-Aωsin(θ-120)···(1.2)

[0086] Ew1=-Aωsin(θ+120)···(1.3)

[0087] Eu2=-Aωsin(θ+30)···(1.4a)

[0088] Ev2=-Aωsin(θ-90)···(1.5a)

[0089] Ew2=-Aωsin(θ+150)···(1.6a)

[0090] Furthermore, when the phase relationship of the two systems is reversed, for example, the phase (θ+30) of phase U2 is (θ-30). In this case, the back electromotive force generated in each phase of the second system is expressed by equations (1.4b)~(1.6b) instead of equations (1.4a)~(1.6a). The phase difference equivalent to 30 [deg] is generally expressed as (30±60×k) [deg] (k is an integer). Alternatively, the second system can also be configured to be in phase with the first system.

[0091] Eu2=-Aωsin(θ-30)···(1.4b)

[0092] Ev2=-Aωsin(θ+90)···(1.5b)

[0093] Ew2=-Aωsin(θ-150)···(1.6b)

[0094] By connecting the winding of one phase in any system (in) Figure 7 In the example, the DC motor 710 is composed of the U1 phase winding 811 and the winding 714 between the motor terminals M1 and the DC motor switches MU1H and MU1L. When the DC motor 710 is energized, a back electromotive force E1 is generated, which is proportional to the rotational speed ω1. If the proportionality constant is set as EA1, the back electromotive force E1 is expressed by the formula "E1 = -EA1ω1". In addition, the DC current energizing the DC motor 710 is denoted as I1.

[0095] By connecting the winding of one phase in any system (in) Figure 7 In the example, the DC motor 720 is composed of the U1 phase winding 811 and the winding 724 between the motor terminal M2 and the DC motor switches MU2H and MU2L. When the DC motor 720 is energized, a back electromotive force E2 is generated, which is proportional to the rotational speed ω2. If the proportionality constant is set as EA2, the back electromotive force E2 is expressed by the formula "E2 = -EA2ω2". In addition, the DC current energizing the DC motor 720 is denoted as I2.

[0096] The drive circuit of ECU10 will be described next. The voltage at each terminal will be checked during the fault check described later. The first inverter 601 is connected to the positive terminal of the power supply Bt via the high-potential line Lp and to the negative terminal of the power supply Bt via the low-potential line Lg. The power supply Bt is, for example, a battery with a reference voltage of 12 [V]. The DC voltage input from the power supply Bt to the first inverter 601 is referred to as "input voltage Vr1". A capacitor C1 is provided on the power supply Bt side of the first inverter 601 between the high-potential line Lp and the low-potential line Lg.

[0097] The first inverter 601 converts the DC power from the power supply Bt into three-phase AC power through the operation of multiple inverter switching elements IU1H, IU1L, IV1H, IV1L, IW1H, and IW1L on the high-potential and low-potential sides that are bridged. Furthermore, the inverter 601 applies voltage to each phase winding 811, 812, and 813 of the first three-phase winding group 801.

[0098] In detail, inverter switching elements IU1H, IV1H, and IW1H are the upper arm elements disposed on the high-potential side of phases U1, V1, and W1, respectively, and inverter switching elements IU1L, IV1L, and IW1L are the lower arm elements disposed on the low-potential side of phases U1, V1, and W1, respectively. Hereinafter, the reference numerals for the upper and lower arm elements in the same phase will be referred to as "IU1H / L, IV1H / L, IW1H / L". The switches used in this embodiment, starting with inverter switching elements IU1H / L, IV1H / L, and IW1H / L, are, for example, MOSFETs. However, the switches may also be field-effect transistors (FETs) or IGBTs, in addition to MOSFETs.

[0099] A current sensor SAU1, SAV1, and SAW1 for detecting the phase currents Iu1, Iv1, and Iw1 flowing through each phase is provided between the lower arm elements IU1L, IV1L, and IW1L of each phase of the first inverter 601 and the low-potential line Lg1. The current sensors SAU1, SAV1, and SAW1 are, for example, composed of shunt resistors. The phase currents energizing the first three-phase winding group 801 relative to the phase currents Iu1, Iv1, and Iw1 flowing through the first inverter 601 are denoted as Iu1#, Iv1#, and Iw1#. The relationship between these two phase currents will be described later. Furthermore, the voltages of each phase winding after operation are denoted as "winding voltages Vu1#, Vv1#, and Vw1#".

[0100] In the current path between the power supply Bt and the capacitor C1, a power relay P1r is connected in series on the power supply Bt side, and a reverse connection protection relay P1R is connected in series on the capacitor C1 side. Both the power relay P1r and the reverse connection protection relay P1R are composed of semiconductor switching elements such as MOSFETs or mechanical relays, and when disconnected, they can cut off the power supply from the power supply Bt to the inverter 601. The power relay P1r cuts off the current flowing in the direction when the electrodes of the power supply Bt are connected in the normal direction. The reverse connection protection relay P1R cuts off the current flowing in the direction when the electrodes of the power supply Bt are connected in the opposite direction to the normal direction.

[0101] Relay P1r and reverse connection protection relay P1R constitute the "input circuit" that supplies power from power supply Bt to the "drive circuits of three-phase motor 800 and DC motors 710 and 720". Furthermore, the voltage along the current path between power supply relay P1r and reverse connection protection relay P1R is denoted as "inter-relay voltage Vint1".

[0102] For the second system, the reference numerals and symbols of the first system are replaced with "2" to indicate the switching elements, current sensors, power relays, and reverse connection protection relays of the inverter (hereinafter referred to as "second inverter") 602, as well as the symbols for current and voltage. Furthermore, the descriptions of the elements of the first system are referenced to those of the second system. Additionally, although... Figure 7 The drive circuit shown connects two inverters 601 and 602 to a common power supply Bt, but in other embodiments, each inverter 601 and 602 can be connected to a different power supply.

[0103] exist Figure 7 In this configuration example, two DC motors 710 and 720 are connected to the U1 phase winding 811 of the first three-phase winding group 801. A DC motor switch, corresponding to the DC motor 710, is formed by a high-potential side switch MU1H and a low-potential side switch MU1L connected in series via the DC motor terminal M1. A DC motor switch, corresponding to the DC motor 720, is formed by a high-potential side switch MU2H and a low-potential side switch MU2L connected in series via the DC motor terminal M2.

[0104] Similar to the inverter switching elements, the switches on the high-potential side and the low-potential side are combined, and the DC motor switches are designated as "MU1H / L" and "MU2H / L" in the attached diagram. The DC motor switches MU1H / L and MU2H / L are connected in parallel with the first inverter 601 between the high-potential line Lp and the low-potential line Lg, relative to the power supply Bt shared with the first inverter 601.

[0105] At the branch point Ju of the U1 phase current path of the first three-phase winding group 801, a first terminal T1, serving as one end of the DC motors 710 and 720, is connected. The ends of the DC motors 710 and 720 opposite to the first terminal T1, i.e., the second terminal T2, are respectively connected to the DC motor terminals M1 and M2 of the DC motor switches MU1H / L and MU2H / L. The voltages at the DC motor terminals M1 and M2 are denoted as "DC motor terminal voltages Vm1 and Vm2". The DC motor switch MU1H / L is connected to the U1 phase winding 811 via the DC motor 710, and the DC motor switch MU2H / L is connected to the U1 phase winding 811 via the DC motor 720. In the attached reference numerals "MU1H / L" and "MU2H / L" for the DC motor switches, "U" refers to the U1 phase, "1" refers to the first DC motor 710, and "2" refers to the second DC motor 720.

[0106] In DC motors 710 and 720, the direction of currents I1 and I2 flowing from the first terminal T1 to the second terminal T2 is defined as positive, and the direction of currents I1 and I2 flowing from the second terminal T2 to the first terminal T1 is defined as negative. A voltage Vx1 is applied between the first terminal T1 and the second terminal T2 of DC motor 710, and a voltage Vx2 is applied between the first terminal T1 and the second terminal T2 of DC motor 720. The symbols for Vx1 and Vx2 are shown side-by-side according to the spatial arrangement of the figures. DC motors 710 and 720 rotate forward when energized in the positive direction and reverse when energized in the negative direction.

[0107] exist Figure 7 In the example, at the branch point Ju of the U1 phase current path, a portion of the phase current Iu1 is divided into DC motor currents I1 and I2. Therefore, equations (2.1) to (2.4) represent the relationship between the inverter phase currents Iu1, Iv1, and Iw1 flowing to the inverter 601 side at the branch point Ju and the motor phase currents Iu1#, Iv1#, and Iw1# energizing the three-phase motor 800 side at the branch point Ju. Furthermore, for currents I1 and I2, the calculated value can be detected using the grounding resistance Rg (described later), or the current can be detected by staggering the switching timing of the DC motor.

[0108] Iu1#=-Iv1-Iw1···(2.1)

[0109] Iv1#=Iv1···(2.2)

[0110] Iw1#=Iw1···(2.3)

[0111] I1+I2=Iu1-Iu1#···(2.4)

[0112] The DC motor switches MU1H / L and MU2H / L, through switching based on duty cycle control, respectively, make the voltage Vm1 at the DC motor terminal M1 and the voltage Vm2 at the DC motor terminal M2 variable. Here, since the absolute values ​​of the currents I1 and I2 energizing the DC motors 710 and 720 are smaller than the phase currents flowing through the three-phase motor 800, the DC motor switches MU1H / L and MU2H / L can also be switches with current capacities smaller than those of the inverter switching elements IU1H / L, IV1H / L, IW1H / L, IU2H / L, IV2H / L, and IW2H / L.

[0113] And in Figure 7 In the drive circuit, multiple pull-up resistors Rp1 to Rp4 are provided for terminal voltage detection during abnormality checks. Pull-up resistor Rp1 is connected between the U1 phase winding 811 of the first system and the high-potential line Lp. Pull-up resistor Rp2 is connected between the U2 phase winding 821 of the second system and the high-potential line Lp. Pull-up resistors Rp3 and Rp4 are respectively connected between the DC motor terminals M1 and M2 and the high-potential line Lp. In short, pull-up resistors Rp are connected between any one or more windings of the three-phase motor 800 and the high-potential line Lp, or between one or more DC motor terminals and the high-potential line Lp. In addition, a grounding resistor Rg is provided on the low-potential line Lg for detecting the DC current Idc1.

[0114] The control unit 30 consists of a microcomputer 40 for performing control calculations, an application-specific integrated circuit (ASIC) 50, etc. (see reference) Figure 16 The control unit 30 includes a CPU, ROM, RAM, I / O, and buses connecting these components (not shown), and performs control based on software processing or hardware processing. Software processing is based on executing a program pre-stored in a memory device such as ROM (i.e., a non-temporary tangible recording medium that can be read) via the CPU. Hardware processing is based on dedicated electronic circuits.

[0115] The control unit 30 controls the neutral point voltages Vn1 and Vn2, and the motor terminal voltages Vm1 and Vm2 by operating the inverter switching elements IU1H / L, IV1H / L, IW1H / L, IU2H / L, IV2H / L, and IW2H / L of the dual-system inverter, as well as the two sets of DC motor switches MU1H / L and MU2H / L. This comprehensively drives the three-phase motor 800 and the two DC motors 710 and 720. Here, the drive control of the three-phase motor 800 is implemented through vector control and feedback control based on the current command value, while the drive control of the DC motors 710 and 720 is implemented through feedback control based on the current command value. Detailed explanations related to drive control are omitted in this specification.

[0116] Furthermore, although the signal line arrows are omitted, the control unit 30 operates the power relays P1r and P2r and the reverse connection protection relays P1R and P2R during startup. And, in situations such as... Figure 21 The three-phase motor relays MmU1, MmV1, and MmW1, and the DC motor relays MU1r and MU1R are configured as shown, and these relays are operated. In addition, the control unit 30, as described later, checks for abnormalities in the drive circuit, motor, wiring, etc., during startup and normal operation.

[0117] Next, refer to Figure 9 , Figure 10 , showing Figure 7 An example of a drive circuit using a latch circuit. (Refer to...) Figure 17 , Figure 18 In the timing sequence described later, the latch circuit is used to maintain its position even after the start signal is disconnected, following the startup of the ECU10's ASIC and microcomputer. An example of a start signal is the IG (ignition switch) voltage signal in an engine vehicle. Figure 16 As shown, the "latched voltage" generated by the latching circuit is input to various circuits within the ASIC50, which is part of the fault detection unit, and as a result, the microcomputer 40 starts up.

[0118] exist Figure 9 In the latching circuit 410 of Example 1 shown, the latched voltage is first generated by applying an IG voltage through a diode. Next, if at least one of the dual-system power relays P1r and P2r is turned on, the inter-relay voltage Vint1 or Vint2 is applied through the diode to continue generating the latched voltage. Thereafter, even if the input of the IG voltage stops, the latched voltage is maintained as long as the power relays P1r and P2r are not turned off.

[0119] Figure 10 The latch circuit 420 shown in Example 2 includes a driver 421 made of semiconductor and two switches Lta and Ltb. When the two switches Lta and Ltb are MOSFETs, their drain terminals are connected to the positive terminal of the power supply Bt, and their source terminals are connected to the output terminal of the latched voltage. The gate of one switch Lta is connected to an input terminal for a start signal or IG voltage via the driver 421. The gate of the other switch Ltb is connected to an input terminal for a latch signal.

[0120] First, a start signal or IG voltage is input to driver 421. If an on signal is output from driver 421 to the gate of switch Lta, switch Lta is turned on, and the latched voltage is generated by the voltage of power supply Bt. Next, if a latch signal is input to the gate of switch Ltb, switch Ltb is turned on, and the latched voltage continues to be generated. Thereafter, even if the input of the start signal or IG voltage stops, the latched voltage is maintained as long as the latch signal is not disconnected. Furthermore, the latch circuit 420 can also be configured... Figure 16 Within the ASIC50.

[0121] (Second Implementation)

[0122] exist Figure 11 The overall configuration of the ECU 10 in the second embodiment, which uses a single-system three-phase motor 800 as the driven object, is shown. (Compared to...) Figure 7 The dual-system configuration shown depicts a three-phase motor 800 that does not have a second winding group 802. Correspondingly, the ECU 10 lacks the inverter 602 of the second system, the power relay P2r constituting the input circuit of the second system, and the reverse connection protection relay P2R; it is composed only of elements from the first system. Figure 11 In the middle, quoting Figure 7 The first system of figures and symbols.

[0123] Two DC motors 710 and 720 can be connected at the same branch point Ju of phase U1, as shown by solid lines. Alternatively, as shown by dashed lines, the second DC motor 720 can be connected at a branch point Jv of phase V1, which is different from that of the first DC motor 710. In this way, the drive circuit for the DC motors 710 and 720 is constructed by one or two pins of the inverter 601 and the four DC motor switches MU1H / L and MU2H / L. In particular, the descriptions related to the driving and fault detection of the DC motors 710 and 720 are the same in the first and second embodiments, so the following description uses a drive circuit that constitutes a simple single system.

[0124] [Example of terminal voltage detection circuit configuration and pull-up resistor configuration]

[0125] Referring to Figures 12A and 12B, an example of the configuration of the terminal voltage detection circuit will be described. Figures 12A and 12B show an example of the detection circuit for the terminal voltage Vm1 of the first DC motor, but other terminal voltages can be detected in the same way. In Configuration Example 1 shown in Figure 12A, the terminal voltage Vm1 is divided by the upper resistor Ru and the lower resistor Rd. The monitoring voltage VDCM1 at the voltage divider point is converted by an analog-to-digital converter and transmitted to the microcomputer 40 (see Figure 42A). Figure 16 ) detection.

[0126] In Configuration Example 2 shown in Figure 12B, the monitoring voltage VDCM1 at the voltage divider point is input to two comparators CpH and CpL. Additionally, the reference voltages Vref_H and Vref_L, generated by the voltage Vc being divided by three resistors R1, R2, and R3, are input to comparators CpH and CpL, respectively. Comparators CpH and CpL compare the monitoring voltage VDCM1 with the reference voltages Vref_H and Vref_L. A flag indicating the result is sent from the terminal voltage monitoring circuit 56 of the ASIC 50 to the microcomputer 40 (see reference). Figure 16 ).

[0127] Next, referring to Figures 13A to 15B, examples of pull-up resistor configurations will be described. Figures 13A and 13B show the configuration of the winding connections of two DC motors 710 and 720 with the three-phase motor 800 in the same phase (e.g., phase U1). Figures 14A and 14B show the configuration of the winding connections of two DC motors 710 and 720 with the three-phase motor 800 in different phases (e.g., phase U1 and phase V1). Figures 15A and 15B show the configuration of the winding connection of one DC motor 710 with one phase (e.g., phase U1) of the three-phase motor 800.

[0128] Figures 13A, 14A, and 15A show an example configuration where a pull-up resistor Rp1 is connected between the winding of one phase (e.g., phase U1) of the three-phase motor 800 and the high-potential line Lp. In this case, the fault detection unit detects the voltage Vm1 at the first DC motor terminal M1 on the side opposite to the pull-up resistor Rp1 relative to the first DC motor 710. In addition, in the configurations of Figures 13A and 14A, the voltage Vm2 at the second DC motor terminal is detected.

[0129] Figures 13B, 14B, and 15B show an example configuration where a pull-up resistor Rp3 is connected between the DC motor terminal M1 and the high-potential line Lp. In this case, the fault detection unit detects the terminal voltage Vu1# of the winding of one phase (e.g., phase U1) of the three-phase motor 800 on the side opposite to the pull-up resistor Rp1 relative to the first DC motor 710. In addition, in the configurations of Figures 13B and 14B, the terminal voltage Vm2 of the second DC motor is detected.

[0130] [Components of Anomaly Detection]

[0131] Next, refer to Figure 16 The structure of the anomaly detection unit will be explained. In this embodiment, the microcomputer 40 and ASIC 50 function as the "anomaly detection unit". In the figures and the following description, "BLM (brushless motor)" refers to the three-phase motor 800, and "DCM (DC motor)" refers to the DC motors 710 and 720. Furthermore, "BLM relay" and "DCM relay" refer to... Figure 21The three-phase motor relays MmU1, MmV1, and MmW1, and the DC motor relays MU1r and MU1R are shown. BLM and DCM relays are optional devices provided to meet specific requirements, and are therefore indicated in parentheses.

[0132] The circuits within the ASIC 50 will be described sequentially. The ASIC 50 includes a microprocessor power supply 45, a microprocessor monitoring circuit 51, a communication circuit 53, and a pre-driver 54, all electrically connected to the microprocessor 40. The microprocessor monitoring circuit 51 checks for anomalies in the microprocessor 40 using a watchdog timer ("WD" in the diagram) and job responses. The communication circuit 53 receives cutoff requests, latching requests, etc., from the microprocessor 40. The microprocessor 40 receives microprocessor monitoring results, pre-charge check results, pre-driver check results, overcurrent monitoring results, terminal voltages, and job responses from the communication circuit 53. Furthermore, when detecting terminal voltages using AD conversion, the microprocessor 40 may not need to receive terminal voltages.

[0133] Pre-drivers 54 are respectively installed in the power relay, reverse connection protection relay, BLM drive circuit, DCM drive circuit, (BLM relay), and (DCM relay). Each pre-driver 54 communicates with the microcomputer 40 via enable signals (ENB in ​​the diagram) and outputs signals to its respective port. Additionally, each pre-driver 54 outputs drive signals to each switching element (SW element in the diagram). A pre-driver check 542 checks for any abnormalities in the pre-driver 54.

[0134] The pre-charge circuit 52 pre-charges capacitor C1 during startup, causing the input voltage Vr1 after the relay to rise. The pre-charge check 542 checks for any abnormalities in the pre-charge circuit 52.

[0135] Overcurrent monitoring circuit 55 monitors overcurrent. Terminal voltage monitoring circuit 56 monitors the voltage at each terminal via the circuit shown in Figure 12B. Figure 9 , Figure 10 The latched voltage generated by the latching circuits 410 and 420 is input to various circuits of the ASIC 50. Additionally, the ASIC 50... Figure 9 The latch circuit 420 shown in Example 2 outputs a latch signal.

[0136] [Time Sequence]

[0137] Next, refer to Figures 17-20 This section provides an example illustrating the overall timing sequence, as well as a detailed timing sequence related to anomaly detection. Figure 17 , Figure 18The overall timing sequence is divided into three or four periods. As shown on the left, in the three-stage sequence, it is divided into a "startup period," a "normal operation period," and a "stop period." As shown on the right, in the four-stage sequence, the period up to S06 in the "startup period" of the three-stage sequence is the "initial check period," and after S07T or S07R when PWW driving begins, it is divided into the "normal operation (startup) period." Furthermore, in the four-stage sequence, the "normal operation period" of the three-stage sequence is replaced with the "normal operation (auxiliary) period," and the "normal operation (startup) period" and the "normal operation (auxiliary) period" are merged into a single "normal operation period."

[0138] The timing sequence is divided into two parts: one for the DC motor acting as a tilt and telescopic actuator, and the other for the DC motor acting as a steering wheel locking actuator. Additionally, [the following is a list of steps / sections]. Figure 9 , Figure 10 The latch circuits 410 and 420 shown in Examples 1 and 2 are referred to as "Latch Circuit I" and "Latch Circuit II" respectively. Hereinafter, the symbol "S" indicates a step. The reference numerals for each element are omitted as appropriate in the timing description.

[0139] First refer to Figure 17 , Figure 18 If the IG signal, wake-up signal, and other startup signals are connected, the overall timing begins. The microcomputer startup timing is executed in S011, and the microcomputer / ASIC startup timing is executed in S012. In S013, the latch signal of latch circuit II is activated, initiating the self-holding state. In S02, it is confirmed whether the power relay can be activated, as an input circuit check (1). In S03, the ASIC's cut-off function is checked. In S04, the remaining checks related to the input circuit are performed, as an input circuit check (2). Figure 19 As shown, the power relay is turned on midway through S04, initiating the self-holding state of latching circuit I. A BLM circuit check is performed in S05, and a DCM circuit check is performed in S06.

[0140] In the case where the DC motor is the tilt and telescopic actuator, in S07T, the control unit starts the PWM drive for EPS and tilt. The EPS waits for the assist to start and starts the assist if there is a steering torque input. Then, if there is an input switch operation, the control unit starts the tilt. In S08T, the tilt and telescopic actuator moves the steering wheel to the memory position (i.e., the driving position). If there is an input switch operation, the control unit stops operating on the memory position and moves the steering wheel according to the switch operation.

[0141] In the case where the DC motor is the steering wheel lock actuator, in S07R, the steering wheel lock is released after authentication. In S08R, the control unit starts PWM drive and waits for EPS assistance to start, and starts EPS assistance based on the input of steering torque.

[0142] In S10, it is determined whether there is a start input from CAN, or whether the torque input is above a specified value. If "yes," the system moves to normal operation. Alternatively, it can move to normal operation without waiting for a start input from CAN, and if the assist starts, it moves to normal operation. During normal operation, in S19, the control unit starts EPS assist based on the steering torque input. Additionally, the control unit starts tilting based on the input switch operation.

[0143] In S20, if the start signal is disconnected, the IG is disconnected, or a stop signal is received, the process moves to the stop period. During the stop period, in S30, the vehicle speed and engine speed are checked to determine if the following conditions are met: (a) the vehicle speed is 0 km / h, (b) both engine speed and vehicle speed are interrupted, (c) the vehicle speed is 0 km / h and the engine speed is 0 rpm, etc. If the determination in S30 is "yes", the process moves to S31T or S31R.

[0144] When the DC motor is used as a tilt and telescopic actuator, the control unit stops EPS assistance in S31T. At this time, the current command used by the control unit to energize the steering assist actuator 800 is 0. The PWM drive can also be stopped on other common feet, entering operational standby mode. That is, it enters a state waiting for a start signal, or for the IG to be turned on, or for the ECU or motor to cool down. In S32T, the tilt and telescopic actuator moves the steering wheel away from the driver.

[0145] When the DC motor is the steering wheel lock actuator, the control unit stops EPS assistance in S31R. At this time, the current command used by the control unit to energize the steering assist actuator 800 is 0. Other common pins can also stop PWM drive, entering operational standby mode. That is, it enters a state waiting for a start signal, or for the IG to be turned on, or for the ECU or motor to cool down. The steering wheel lock actuator is activated in S32R. Activation can also be performed after the key is removed from the vehicle or the door is unlocked or opened in S32R.

[0146] Subsequently, in S331, the control unit waits for the circuit temperature to decrease as needed, and then disconnects the power relay. In S332, the latch signal of latch circuit II is disconnected, releasing the self-holding state. This stops the operation of the ECU. The overall timing is then complete. Furthermore, as shown in control examples 1-4 described later, the "switching of measures corresponding to the abnormality" in this embodiment is not limited to this timing and can be implemented based on an appropriately arranged timing sequence.

[0147] Next, refer to Figure 19 , Figure 20This document details the timing sequence from the input circuit inspection (1) of S02 to the DCM circuit inspection of S06, as well as the normal conditions and abnormal handling measures for each inspection item. In the case of a dual-system BLM circuit, the inspection items included in each system are processed in the same way. For example, in... Figure 7 In the drive circuit, the DCM circuit is only set in the first system, so no processing related to the DCM circuit is performed in the second system. S034 and S054 are only implemented when the BLM relay is set.

[0148] exist Figure 20 The "pre-driver check" for normal conditions is omitted and replaced with "PDC". Additionally, "threshold" refers to the appropriately set values ​​for each parameter. Abnormal measures are implemented when normal conditions are repeatedly not met. In measure A, the power relay, BLM drive circuit, and DCM drive circuit are all disconnected. In measure B, the DCM drive circuit is disconnected. Furthermore, in the case of measure A, the check ends here. In the case of measure B, the next check is performed; if all checks end without being subject to measure A, the circuit is activated under measure B. Basically, measure B is implemented only for DCM-related abnormalities, and measure A is implemented for other abnormalities. The description of measure A is omitted in the following explanation; only the case of measure B is described.

[0149] The input circuit check of S02 (1) includes S021 and S022. In S021, a grounding check is performed. For the voltage Vpig of the power path from the power source to the power relay, i.e., the PIG line, it is considered normal when "Vpig < threshold". In S022, an open circuit check of the pre-charge circuit is performed. It is considered normal when "pre-charge result = normal".

[0150] The cut-off function check in S03 includes S031 to S037. In S031, a short-circuit check is performed on the power relay and reverse connection protection relay. For Vint, including the inter-relay voltages Vint1 and Vint2 of each system, it is considered normal if "Vint > threshold". In S032, the power relay cut-off function is checked. It is considered normal if "cut-off requirement is on, port output is on, and Vint < threshold". In S033, the BLM drive circuit cut-off function is checked. It is considered normal if "cut-off requirement is on, port output is on, and PDC = Lo". In S034, the BLM relay is checked. It is considered normal if "cut-off requirement is on, port output is on, and PDC = Lo".

[0151] In S035, perform a DCM drive circuit cut-off function check. If the cut-off requirement is met, the port output is connected, and PDC = Lo, it is considered normal. If abnormal, implement measure B. In S036, perform a DCM relay cut-off function check. If the cut-off requirement is met, the port output is connected, and PDC = Lo, it is considered normal. If abnormal, implement measure B. In S037, perform an overcurrent monitoring function check. If the overcurrent monitoring result = Hi, it is considered normal.

[0152] The input circuit check (2) of S04 includes S041 and S042. After the reverse connection protection relay is turned on, an open circuit check of the reverse connection protection relay is performed in S041. It is considered normal when "the port output is on and Vint > threshold". After S041, the reverse connection protection relay is turned off and the power relay is turned on. Therefore, the self-holding state of latching circuit I is started. In S042, a disconnection check of the PIG line and an open circuit check of the power relay are performed. It is considered normal when "the port output is on and Vint > threshold".

[0153] The BLM circuit check in S05 includes S051 to S054. In S051, a pre-driver on-time check is performed; it is considered normal when "port output is on and PDC = Hi". In S052, a current sensor Hi / Lo anomaly check is performed; it is considered normal when "|current detection value| < threshold".

[0154] In S053, the enable signal shutdown function of the BLM driver circuit is checked. It is considered normal when "ENB (enable signal) is off, port output is on, and PDC = Lo". In S054, a short circuit check of the BLM relay is performed. It is considered normal when "terminal voltage is within the specified range".

[0155] In addition, ASIC overcurrent monitoring (i.e., ASIC-based overcurrent monitoring) begins from the end of S04 to the beginning of S05. Furthermore, microprocessor-based overcurrent monitoring (i.e., microprocessor-based overcurrent monitoring) begins midway through S05.

[0156] The DCM circuit check in S06 includes S061 and S062. In S061, an anomaly check of the DCM drive circuit is performed; if the terminal voltage is within the specified range, it is considered normal. For short-circuit anomalies, implement measure A; for open-circuit anomalies, implement measure B. (Refer to...) Figure 22 , Figure 23 The following section provides a specific example of DCM drive circuit anomaly detection. In S062, the enable signal of the DCM drive circuit is checked for shutdown. It is considered normal when "port output is on and PDC = Hi". In case of an anomaly, measure B is implemented.

[0157] [Specific examples of DCM drive circuit anomaly detection]

[0158] Next, refer to Figure 21 The circuit diagram and Figures 22-26 The flowchart illustrates specific examples of DCM drive circuit anomaly checks during startup and normal operation. Anomaly checks during startup and... Figure 19 , Figure 20 Regarding S061, the input circuit, cutoff function, and BLM circuit have been confirmed to be functioning correctly. Figure 21 The diagram shows a simple circuit configuration in which a DC motor 710 is connected to one phase (U1 phase) of a single-system inverter 601. A pull-up resistor Rp is connected between the U1 phase winding 811 and the high-potential line Lp to detect the DC motor terminal voltage Vm1.

[0159] A motor relay MmU1 is provided in the U1 phase current path on the inverter 601 side, compared to the pull-up resistor Rp. Additionally, motor relays MmV1 and MmW1 are provided in the V1 and W1 phase current paths. Each phase's motor relays MmU1, MmV1, and MmW1 can interrupt the current flowing from the three-phase winding group 801 to the inverter 601. By disconnecting the three-phase motor relays MmU1, MmV1, and MmW1 during the following abnormality detection, false detections caused by abnormalities on the BLM side can be prevented.

[0160] Furthermore, DC motor relays MU1r and MU1R, capable of interrupting bidirectional current, are connected between the branch point Ju of the U1 phase current path and the first terminal T1 of the DC motor 710. Although the explanation is omitted, by disconnecting the DC motor relays MU1r and MU1R during abnormal detection of the BLM circuit, false detections caused by abnormalities on the DCM side can be prevented.

[0161] A terminal voltage detection circuit as shown in Configuration Example 1 (Figure 12A) is connected to the DC motor terminal M1 between the high-potential side DC motor switch MU1H and the low-potential side DC motor switch MU1L. Alternatively, Configuration Example 2 (Figure 12B) can be used instead of this circuit. In the terminal voltage detection circuit, the monitor voltage VDCM1, obtained by multiplying the voltage Vm1 at the DC motor terminal M1 by {Rd / (Ru+Rd)}, is converted to an analog-to-digital converter and detected. In Configuration Example 2 (Figure 12B), a flag can also be received via a communication or I / O port.

[0162] In the following explanation of DCM drive circuit malfunction checks, the high-potential side DC motor switch MU1H will be abbreviated as "Upper Switch MU1H," and the low-potential side DC motor switch MU1L will be abbreviated as "Lower Switch MU1L." Figure 22 , Figure 23 The diagram illustrates the detection and handling of short-circuit and open-circuit faults in the DCM drive circuit during the initial startup check.

[0163] exist Figure 22 In the process, anomaly detection is performed with the upper switch MU1H and the lower switch MU1L open. Assuming the resistance of the DC motor winding 714 is sufficiently small compared to the pull-up resistor Rp, the upper resistance Ru, and the lower resistance Rd, then Equation (3.1) represents the normal monitor voltage VDCM1. Equation (3.2) represents the monitor voltage VDCM1 when the pull-up resistor Rp or the upper switch MU1H is short-circuited. Equation (3.3) represents the monitor voltage VDCM1 when the upper resistance Ru is short-circuited. Equation (3.4) represents the monitor voltage VDCM1 when the lower switch MU1L or the lower resistance Rd is short-circuited.

[0164] Let the values ​​on the right-hand side of equations (3.1), (3.2), and (3.3) be α, β, and γ, respectively. Here, the order of α, β, and γ is 0 < α < γ < β < Vr when Ru < Rp. On the other hand, when Rp ≤ Ru, the order of α < β ≤ γ < Vr.

[0165] VDCM1=Vr×(Rd)÷(Rp+Ru+Rd)=α···(3.1)

[0166] VDCM1=Vr×(Rd)÷(Ru+Rd)=β···(3.2)

[0167] VDCM1=Vr×(Rd)÷(Rp+Rd)=γ···(3.3)

[0168] VDCM1=0···(3.4)

[0169] Additionally, the monitor voltage VDCM1 when the pull-up resistor Rp, the upper resistor Ru, the DC motor winding 714, or the connector is open is expressed by the same equation (3.4) as above. The monitor voltage VDCM1 when the lower resistor Rd is open is expressed by equation (3.5).

[0170] VDCM1=Vr···(3.5)

[0171] Furthermore, for example, if Rp≤Ru, i.e. β≤γ, then the high potential threshold VthH and the low potential threshold VthL are set to the ranges of equations (4.1) and (4.2). For example, when using the terminal voltage detection circuit of Figure 12B, the reference voltage Vref_H of comparator CpH is equivalent to the high potential threshold VthH, and the reference voltage Vref_L of comparator CpL is equivalent to the low potential threshold VthL.

[0172] α<VthH<β···(4.1)

[0173] 0 < VthL < α···(4.2)

[0174] The term "temporarily normal" below means that no abnormality has been detected in the detection phase up to this point. In S52, it is determined whether the monitor voltage VDCM1 is lower than the high-potential threshold VthH. If S52 is yes, it is determined to be temporarily normal in S53. If S52 is no, in S54, it is determined that there is a short-circuit abnormality in the pull-up resistor Rp, the upper switch MU1H, or the upper resistor Ru, or an open-circuit abnormality in the lower resistor Rd. Figure 22 S54 describes these anomalies as "DCM upper side short circuit system anomaly". In this case, measure A is implemented.

[0175] In S56, it is determined whether the monitor voltage VDCM1 is higher than the low potential threshold VthL. If S56 is yes, it is temporarily normal in S57. If S56 is no, in S58, it is determined that there is a short circuit abnormality in the lower switch MU1L or the lower resistor Rd, or an open circuit abnormality in the pull-up resistor Rp or the upper resistor Ru or the DC motor winding 714 or the connector, etc. Figure 22 S58 describes these anomalies as "DCM underside short circuit system anomaly". In this case, measure A is implemented.

[0176] Even in Figure 22 S57 was determined to be temporarily normal, and the open circuit abnormalities of the upper switch MU1H and the lower switch MU1L were also unclear. Therefore, the next step is to... Figure 23 In the abnormality detection process, open-circuit abnormalities of the upper switch MU1H and the lower switch MU1L are detected. In S61, the upper switch MU1H is turned on and the lower switch MU1L is turned off. In this state, the monitor voltage VDCM1 under normal conditions is represented by the above-mentioned equation (3.2). The monitor voltage VDCM1 when the upper switch MU1H is open is represented by the above-mentioned equation (3.1). In S62, it is determined whether the monitor voltage VDCM1 is higher than the high potential threshold VthH. If S62 is yes, it is determined to be temporarily normal in S63. If S62 is no, it is determined to be an open-circuit abnormality of the upper switch MU1H in S64, and measure B is implemented.

[0177] In S65, the lower switch MU1L is turned on, and the upper switch MU1H is turned off. In this state, the monitor voltage VDCM1 under normal conditions is represented by equation (3.4) above. The monitor voltage VDCM1 when the lower switch MU1L is open is represented by equation (3.1) above. In S66, it is determined whether the monitor voltage VDCM1 is lower than the low potential threshold VthL. If S66 is yes, in S67, the short-circuit and open-circuit abnormalities are determined to be normal. If S66 is no, in S68, the open-circuit abnormality of the lower switch MU1L is determined, and measure B is implemented. Furthermore, the high potential threshold VthH in S52 and S62, and the low potential threshold VthL in S56 and S66 are not limited to the same value; they can also be different values ​​that further consider the influence of hardware deviations.

[0178] As above Figure 21 The DCM drive circuit has a pull-up resistor Rp connected between the U1 phase winding 811 and the high-potential line Lp. This pull-up resistor Rp is equivalent to Rp1 in Figures 13-15. Furthermore, the fault detection unit detects the DC motor terminal voltage Vm1 and checks for faults based on the monitor voltage VDCM1 associated with the DC motor terminal voltage Vm1. In contrast, in the DCM drive circuit where the pull-up resistor Rp3 in Figures 13-15 is connected between the DC motor terminal M1 and the high-potential line Lp, the voltage of any one phase winding can also be detected, such as the terminal voltage Vu1# of the U1 phase winding 811. In other words, in a configuration where the three-phase winding group 801 connects to a DC motor 710, there may be four possible locations for the pull-up resistor Rp.

[0179] In Figure 24A~ Figure 26 This illustrates the anomaly detection process of the DCM drive circuit during normal operation. Here, anomalies to resistors Rp, Ru, Rd, or connectors are omitted; only short-circuit or open-circuit anomalies of the DC motor winding 714, the upper switch MU1H, or the lower switch MU1L are assumed. An example of the anomaly detection unit checking for anomalies based on values ​​other than terminal voltages is also shown. The routine for anomaly detection during normal operation terminates if an anomaly determination is made; if a normal determination is made, it returns and repeats the process.

[0180] Figures 24A and 24B illustrate two examples of short-circuit anomaly detection based on current values. In S72A of Figure 24A, it is determined whether the absolute value |Idc1| of the DC current flowing in the low-potential line Lg is greater than the overcurrent threshold. If S72A is yes, in S73, a short-circuit anomaly in the DCM system of the lower switch MU1L, etc., is determined. If S72A is no, in S74, it is determined to be normal.

[0181] In S71B of Figure 24B, the motor U1 phase current Iu1# is calculated based on the V1 phase current Iv1 and the W1 phase current Iw1 using equation (5.1). Additionally, the DC motor current I1 is calculated by subtracting the motor U1 phase current Iu1 from the inverter U1 phase current Iu1 using equation (5.2).

[0182] Iu1#=-Iv1-Iw1···(5.1)

[0183] I1=Iu1-Iu1#···(5.2)

[0184] In S72B, it is determined whether the absolute value of the DC motor current |I1| is greater than the overcurrent threshold. S73, which proceeds when S72B is yes, and S74, which proceeds when S72B is no, are the same as in Figure 24A.

[0185] exist Figure 25 , Figure 26 Two examples of abnormal detection are shown when the upper switch MU1H or the lower switch MU1L is turned on. Figure 25 In S82A, it is determined whether the upper switch MU1H is turned on, the terminal voltage Vu1# of phase U1 or the command voltage of phase U1 is lower than the voltage threshold corresponding to the input voltage Vr1, and the absolute value of the DC motor current |I1| is smaller than the non-conducting threshold. If S82A is correct, in S83, it is determined that there is a short circuit abnormality in the lower switch MU1L, an open circuit abnormality in the upper switch MU1H, or a disconnection abnormality in the DC motor winding 714. In other words, it is judged as abnormal based on the fact that although the voltage between the terminals of the DC motor is large, no current flows. If S82A is incorrect, in S84, it is determined to be temporarily normal.

[0186] In S86A, it is determined whether the lower switch MU1L is turned on, the terminal voltage Vu1# of phase U1 or the command voltage of phase U1 is higher than the voltage threshold corresponding to the input voltage Vr1, and the absolute value of the DC motor current |I1| is smaller than the non-conducting threshold. If S86A is correct, in S87, it is determined that there is a short circuit abnormality in the upper switch MU1H, an open circuit abnormality in the lower switch MU1L, or a disconnection abnormality in the DC motor winding 714. In other words, it is judged as abnormal based on the fact that although the voltage between the terminals of the DC motor is large, no current flows. If S86A is incorrect, it is judged as normal in S88.

[0187] exist Figure 26 middle, Figure 25 The S82A and S86A are replaced with S82B and S86B, respectively. Figure 26In S82B, it is determined whether the upper switch MU1H is turned on, and the monitor voltage VDCM1 is lower than the high voltage threshold. In S86B, it is determined whether the lower switch MU1L is turned on, and the monitor voltage VDCM1 is higher than the low voltage threshold. However, in Figure 26 The current system cannot detect open circuits in the DC motor winding 714. Furthermore, the lower and upper threshold values ​​are set based on the deviation range of voltage drop caused by the on-resistance of the upper and lower switches MU1H / L. Moreover, it is not limited to the same voltage threshold values ​​for S82A, S82B, S86A, and S86B; different values ​​can be used to further consider hardware deviations.

[0188] [Control Example of This Embodiment]

[0189] Reference Figures 27-30 This section describes a control example of "this embodiment of the control method for changing switching measures based on an anomaly." It also includes examples based on... Figure 17 , Figure 18 The control example shown is based on a timing sequence other than the one shown. The microcomputer 40 and ASIC 50, acting as an "abnormality detection unit," check for abnormalities in the inverters 601, 602, or the three-phase motor 800, or abnormalities in the DC motor switches MU1H / L, MU2H / L, or the DC motors 710, 720. The control unit 30 changes the switching operations of the inverter switching elements IU1H / L, IV1H / L, IW1H / L, and the DC motor switches MU1H / L, MU2H / L, according to the detected abnormalities. In the description of the control example, based on... Figure 17 , Figure 18 The four-stage definition of normal operation period is as follows: "before normal operation" is defined as before the start of a switching action such as PWM drive or auxiliary start that causes current to flow, and "during normal operation" is defined as after the start of a switching action such as PWM drive or auxiliary start that causes current to flow.

[0190] exist Figure 27 In Control Example 1 shown, the fault detection unit checks for faults in the microcomputer and input circuits during the normal operation of the ECU 10, and also checks for faults in the BLM circuit and DCM circuit. In other words, if a fault is found during circuit checks after the start of normal operation, the operation stops. The step that makes a positive determination in the event of a fault during circuit checks is marked with "D" after the step number. Normal operation begins at the start of Control Example 1.

[0191] In S04D, the microcomputer and input circuits (power relays, reverse connection protection relays, etc.) are checked to determine if there are any abnormalities. The microcomputer and input circuits are checked based on their internal circuitry and relay voltages. In S05D, the BLM circuit is checked to determine if there are any abnormalities. The BLM circuit is checked based on terminal voltages and detected current. In S06D1, the DCM circuit is checked for abnormalities using check 1. In S06D2, the DCM circuit is checked for abnormalities using check 2. DCM circuit check 1 checks for short-circuit abnormalities that may affect the entire drive circuit. DCM circuit check 2 checks for open-circuit abnormalities that, while the DCM circuit itself may be faulty, do not affect other circuits.

[0192] If any one of S04D, S05D, or S06D1 is true, the control unit 30 in S48 stops operating. Furthermore, refer to... Figure 31 , Figure 32 The method for stopping will be described later. If S06D2 is true, i.e., in the event of an open circuit or other abnormality in the DCM circuit, the control unit 30 will switch to driving only the BLM circuit in S46. If S06D2 is false, i.e., if no abnormality is detected in any check, the system will return to the state before S04D and continue normal operation. Abnormality checks will be performed periodically during normal operation.

[0193] exist Figure 28 In the control example 2 shown, before the normal operation of the ECU10, the fault detection unit checks for faults in the microcomputer and input circuits, and also checks for faults in the BLM circuit and DCM circuit. In other words, after confirming normal operation during the circuit check after startup, it proceeds to normal operation. The step that makes a positive judgment under normal conditions during the circuit check is marked "C" after the step number.

[0194] In S04C, the microcomputer and input circuit are used to check and determine if it is normal. In S05C, the BLM circuit is used to check and determine if it is normal. In S06C1, the DCM circuit is used to check and determine if it is normal. In S06C2, the DCM circuit is used to check and determine if it is normal. The meaning of DCM circuit checks 1 and 2 is based on Control Example 1.

[0195] If any one of S04C, S05C, or S06C1 is false, the control unit 30 stops operating in S48. If S06C2 is true, meaning the entire check is deemed normal, the control unit 30 performs normal operation in S45, i.e., drives both the BLM and DCM circuits. If S06C2 is false, meaning there is an open circuit or other abnormality in the DCM circuit, the control unit 30 switches to driving only the BLM circuit in S46. Therefore, at least the EPS auxiliary function can be ensured.

[0196] In Control Example 2, after the ECU 10 is started, in the initial stage of the fault detection, the fault detection unit checks for faults in the microcomputer 40 that performs control calculations in the control unit 30, as well as faults in the input circuit that supplies power from the power supply Bt to the drive circuits of the BLM and DCM. By checking the circuits shared by the drives of each motor in the initial stage, fault detection can be performed efficiently.

[0197] exist Figure 29 In Control Example 3 shown, the motor on the priority drive side of either the BLM (i.e., three-phase motor 800) or the DCM (i.e., DC motors 710, 720) is preset to be driven first. After checking for abnormalities in the microcomputer and input circuits, the control unit 30 checks the drive circuits of the BLM and DCM. If there is an abnormality in the drive circuit, only the motor on the priority drive side is activated. S48, which proceeds in the case of S04C and when S04C is not present, is the same as in Control Example 2.

[0198] If S04C is true, in S06C3, other circuit checks are performed, namely a comprehensive check of the BLM circuit and the DCM circuit to determine if they are normal. If S06C3 is true, in S45, the control unit 30 performs normal operation, that is, drives both the BLM and the DCM. If S06C3 is false, that is, if there is an abnormality in the drive circuit, in S47, the control unit 30 only operates the motor on the priority drive side. Subsequently, if an abnormality is detected in the BLM during operation, the control unit 30 stops the BLM.

[0199] In control example 3, instead of Figure 20 In the case of an anomaly, measure A is implemented to ensure that the drive circuit of the motor on the priority drive side is not disconnected. In control example 3, even if no anomaly can be detected in the comprehensive check S06C3 of the BLM circuit and the DCM circuit, the motor on the priority drive side can be driven for as long as possible. For example, by making the BLM the priority drive side, the EPS auxiliary function can be realized as much as possible. Furthermore, in a variation of control example 3, the BLM can be started without performing some or all of the checks related to the BLM, and the BLM and DCM can be driven independently to perform anomaly checks.

[0200] exist Figure 30In Control Example 4, the fault detection unit checks for faults in the microcomputer and input circuits before the normal operation of the ECU 10, and checks for faults in the BLM circuit and DCM circuit during the normal operation of the ECU 10. Furthermore, Control Example 4 focuses on tilting. S48, which proceeds in the case of S04C and when S04C is not present, is the same as in Control Examples 2 and 3. When S04C is present, the control unit 30 only performs the tilting operation in S41, and determines whether the tilting operation is normal in S42. Specifically, the control unit 30 moves the tilting device to the memory location, or slightly adjusts it to a degree unknown to the user and confirms the operation.

[0201] If the tilt is normal and S42 is true, the system proceeds to the normal operation in S45. After starting EPS-based assistance, the control unit 30 checks for abnormalities in the BLM circuit during the abnormality check in the normal operation of Control Example 1. If the tilt is abnormal and S42 is false, the control unit 30 does not perform the tilt operation in S43 and S46, but instead only operates the BLM circuit.

[0202] In a variation of control example 4, it is also possible to start "driving both sides" without performing "tilting operation only". If an abnormality is detected in the tilting operation based on input switch operation or in the tilting operation used for moving to the memory location, the operation is switched to "operating the BLM circuit only". Alternatively, if an abnormality is detected other than in the tilting operation based on input switch operation or in the tilting operation used for moving to the memory location, the operation may be stopped.

[0203] As a key component in each control example, the fault detection unit detects the voltage of any one or more windings of the three-phase motor 800, or the voltage of any one or more DC motor terminals, and checks for faults based on the detected voltage. Thus, various faults can be detected with a simple configuration.

[0204] In addition, the anomaly detection unit can also detect the voltages Vu1#, Vv1#, and Vw1# of each phase winding of the three-phase motor 800. Alternatively, the anomaly detection unit can further detect the voltages Vm1 and Vm2 of the DC motor terminals M1 and M2 corresponding to each DC motor 710 and 720. Thus, anomalies, including open circuits in the three-phase winding group and open circuits in the DC motor windings, can be detected without omission.

[0205] [Switching of measures corresponding to anomalies]

[0206] Reference Figure 31The switching of measures corresponding to the anomalies is explained. In the control examples described above, when an anomaly is determined to be in the microcomputer, input circuit check, BLM circuit, or DCM circuit check, for example, when an anomaly occurs during normal operation in control example 1, some or all of the operations are stopped. The anomaly checks other than DCM circuit check anomalies are the same as those for general three-phase inverter anomaly checks.

[0207] The method for stopping common abnormalities in microcomputer, input circuit, BLM circuit, and DCM circuit checks is as follows: In the case of a short-circuit abnormality, the power relay is disconnected. That is, when the abnormality detection unit detects a large current flow, the control unit disconnects the power relay before the inverter switching element or the DC motor switch. In the case of an open-circuit abnormality, the stop is achieved by either "gradually reducing the current through the inverter and then disconnecting it" or "immediately disconnecting the inverter and reducing the current through the inverter." (Refer to...) Figure 32 The details of the measure of "gradually reducing the current through the inverter and then disconnecting it" will be described later.

[0208] Regarding the method of continuing operation in case of abnormalities, if the microcomputer, input circuit, or BLM circuit fails to detect an abnormality, the operation of both the BLM and DCM shall be stopped. Furthermore, if the BLM is configured as a dual-system and one system fails, the system can be switched to single-system drive using the functioning system. If the DCM circuit fails to detect an abnormality, only the BLM circuit shall continue to operate.

[0209] [Stop methods in abnormal situations]

[0210] exist Figure 32 This illustrates the current control when DC motors 710 and 720 stop. The drive circuit is as follows: Figure 11 The configuration is shown in the figure. The absolute values ​​of the currents I1 and I2 that energize the DC motors 710 and 720 are smaller than the phase currents flowing through the three-phase motor 800. Therefore, the DC motor switches MU1H / L and MU2H / L use switches with smaller current capacities than the inverter switching elements IU1H / L, IV1H / L, and IW1H / L.

[0211] Hereinafter, only 710 will be referred to as the reference numeral for the DC motor. This assumes that power to the DC motor 710 is stopped during normal operation, or that power to the DC motor 710 is stopped due to an abnormality detected during normal operation. If the DC motor switch MU1L on the low-potential side is disconnected under conditions of high phase current, there is a possibility that the DC motor switch MU1L may be overloaded.

[0212] Therefore, control unit 30, as Figure 32Current control is performed as shown. The DUTY ratio of each phase of the three-phase motor 800 changes from 50% to 0% at time t1. Then, if the DC motor switch MU1L is turned on at time t2, it rises from 0% to 100%. Moreover, after the DUTY ratio of each phase reaches 100%, this state is maintained. At this time, the DC motor current I1 increases from 0 to its maximum value I as the DUTY ratio of each phase changes. 100 Then maintain that state.

[0213] If it is decided to stop the DC motor 710 from being powered on, the control unit 30 first operates the inverter switching elements IU1H / L, IV1H / L, and IW1H / L to reduce the DUTY ratio of each phase. Then, at time t4 after the DUTY ratio of each phase and the DC motor current I1 have decreased to 0 or below the allowable value, the control unit 30 disconnects the DC motor switch MU1L. In short, the control unit 30 reduces the current by gradually decreasing the current on the inverter 601 side before disconnecting the DC motor switch MU1L. Furthermore, in cases where immediate disconnection is desired, such as in abnormal situations, the inverter switching elements are disconnected to reduce the current in the inverter without increasing or decreasing the DUTY ratio.

[0214] When the DC motor 710 is stopped, the control unit 30 operates the inverter switching elements IU1H / L, IV1H / L, and IW1H / L to reduce the voltage on the first terminal T1 side of the DC motor 710, and then operates the DC motor switch MU1H / L to stop powering on the DC motor 710. Therefore, a switch with a relatively small protection current capacity can be used as the DC motor switch MU1H / L. Furthermore, without requiring high-speed switching operations, slower switching transistors or mechanical relays can be used.

[0215] (Other implementation methods)

[0216] (a) In the timing sequence of the above implementation, the BLM circuit check is performed first, followed by the DCM circuit check; however, conversely, the DCM circuit check can be performed first, followed by the BLM circuit check. Furthermore, the timing sequence for input circuit and cut-off function checks can be appropriately modified depending on the circuit configuration, etc.

[0217] (b) In the timing of the above implementation, both the abnormality of the microcomputer and the abnormality of the input circuit are checked at the beginning of the abnormality check, but it is also possible to check only the abnormality of the microcomputer or the abnormality of the input circuit.

[0218] (c) The latching circuit, terminal voltage detection circuit, etc. are not limited to the configuration examples of the above embodiments, as long as the configuration can achieve the same function.

[0219] (d) In a system containing a three-phase motor 800 with two systems, the configuration is not limited to connecting a DC motor to only one system; more than one DC motor may be connected to one phase of each of the two systems. In this case, the total number and distribution of DC motors connected to each phase of the first and second systems are determined as needed. Preferably, the distribution of DC motors is determined by considering factors such as power balance, heat balance, and balance of operating frequency or timing between systems.

[0220] (e) The number of phases in a multiphase rotating machine is not limited to three phases; it can be two phases or four or more phases, i.e., the common N-phase (N is an integer greater than 2). In addition, a multiphase rotating machine may also contain three or more sets of multiphase windings.

[0221] (f) The rotary machine control device disclosed herein is not limited to steering assist motors or reaction motors in the vehicle's steering system, or to steering wheel position actuators and steering wheel locking actuators. It can also be used as various rotary machine control devices that combine multiphase AC motors and DC motors. Alternatively, the steering assist motor or reaction motor may not be an integrated electromechanical unit, but rather a separate electromechanical unit in which the motor body and the ECU are connected via a wiring harness.

[0222] The configuration disclosed herein is more effective in motors for vehicles that are configured with various motors in close proximity, such as motors for hydraulic pumps used in brakes and motors for parking brakes, multiple seat motors, motors for sliding doors or motors for windshield wipers and motors for windows, as well as motors for rearview mirrors, motors for electric water pumps and motors for electric fans, etc.

[0223] This disclosure is not limited to such implementations and can be implemented in various ways without departing from its spirit.

[0224] The control unit and method described herein may also be implemented by a dedicated computer consisting of a processor and memory programmed to perform one or more functions embodied in a computer program. Alternatively, the control unit and method described herein may be implemented by a dedicated computer consisting of a processor composed of one or more dedicated hardware logic circuits. Alternatively, the control unit and method described herein may be implemented by one or more dedicated computers consisting of a combination of a processor and memory programmed to perform one or more functions and a processor composed of one or more hardware logic circuits. Furthermore, the computer program may also be stored as instructions executable by a computer on a non-transferable tangible recording medium readable by a computer.

[0225] This disclosure is based on embodiments. However, this disclosure is not limited to these embodiments and structures. This disclosure also includes various modifications and equivalent variations. In addition, various combinations and methods, and even other combinations and methods containing only one element, more or fewer elements, are included within the scope and concept of this disclosure.

Claims

1. A rotary machine control device capable of driving one or more multiphase rotary machines including one or more sets of multiphase winding groups, and one or more DC rotary machines having a first terminal connected as one end to one or more phase current paths of one set or more of the multiphase winding groups, wherein, Possessing: one or more multiphase power converters, respectively connected to a positive electrode and a negative electrode of a power source via a high potential line and a low potential line, converting direct current power of the power source into multiphase alternating current power through the operation of a plurality of inverter switching elements bridged, and applying voltage to each phase winding of the multiphase winding group; a direct current rotary machine switch configured by a high potential side switch and a low potential side switch connected in series via a direct current motor terminal, and configured to make the voltage of the direct current motor terminal variable through switching operation of the direct current rotary machine switch, the direct current motor terminal being connected to a second terminal of the direct current rotary machine, the second terminal being a terminal on the opposite side of the first terminal; and a control unit configured to operate the inverter switching elements and the direct current rotary machine switch in a drive circuit of the multiphase rotary machine and the direct current rotary machine configured by the multiphase power converter and the direct current rotary machine switch, the control unit having an abnormality detection unit configured to detect an abnormality of the multiphase power converter or the multiphase rotary machine, or an abnormality of the direct current rotary machine switch or the direct current rotary machine, and configured to change the switching operation of the inverter switching elements and the direct current rotary machine switch based on the abnormality detected by the abnormality detection unit.

2. The rotary machine control device according to claim 1, wherein the abnormality detection unit checks either or both of an abnormality of a microcomputer that performs control operation in the control unit, or an abnormality of an input circuit that inputs power from the power source to the drive circuit of the multiphase rotary machine and the direct current rotary machine after startup of the rotary machine control device.

3. The rotary machine control device according to claim 2, wherein a priority drive side rotary machine that is preferentially driven in the multiphase rotary machine or the direct current rotary machine is set in advance, the abnormality detection unit checks an abnormality of the drive circuit of the multiphase rotary machine and the direct current rotary machine after checking the abnormality of the microcomputer and the input circuit, the control unit causes only the priority drive side rotary machine to operate in the case where the drive circuit has an abnormality.

4. The rotary machine control device according to claim 1, wherein the abnormality detection unit checks an abnormality of a microcomputer that performs control operation in the control unit, and an abnormality of an input circuit that inputs power from the power source to the drive circuit of the multiphase rotary machine and the direct current rotary machine before normal operation of the rotary machine control device, and checks an abnormality of the drive circuit of the multiphase rotary machine and the direct current rotary machine in the normal operation of the rotary machine control device.

5. The rotary machine control device according to claim 1, wherein the abnormality detection unit checks an abnormality of a microcomputer that performs control operation in the control unit, and an abnormality of an input circuit that inputs power from the power source to the drive circuit of the multiphase rotary machine and the direct current rotary machine before normal operation of the rotary machine control device, and checks an abnormality of the drive circuit of the multiphase rotary machine and the direct current rotary machine.

6. The rotary machine control device according to claim 1, wherein The abnormality detection section checks, in normal operation of the rotary machine control device, an abnormality of a microcomputer that performs control operation in the control section, an abnormality of an input circuit that inputs power from the power supply to the drive circuit of the multiphase rotary machine and the DC rotary machine, and an abnormality of the drive circuit of the multiphase rotary machine and the DC rotary machine.

7. The rotary machine control device according to claim 1, wherein The abnormality detection section detects a voltage of a winding of any one or more phases of the multiphase rotary machine or a voltage of any one or more DC motor terminals, and checks an abnormality based on the detected voltage.

8. The rotary machine control device according to claim 7, wherein The abnormality detection section detects a voltage of a winding of each phase of the multiphase rotary machine.

9. The rotary machine control device according to claim 7, wherein The abnormality detection section detects a voltage of the DC motor terminal corresponding to each of the DC rotary machines.

10. The rotary machine control device according to claim 7, wherein A pull-up resistor is connected between a winding of any one or more phases of the multiphase rotary machine and the high potential line or between any one or more DC motor terminals and the high potential line.

11. The rotary machine control device according to claim 10, wherein In a configuration in which a pull-up resistor is connected between a winding of any one or more phases of the multiphase rotary machine and the high potential line, the abnormality detection section detects a voltage of the DC motor terminal, or In a configuration in which a pull-up resistor is connected between any one or more DC motor terminals and the high potential line, the abnormality detection section detects a voltage of a winding of any one or more phases of the multiphase rotary machine.

12. The rotary machine control device according to claim 1, wherein A power supply relay is provided between the power supply and the inverter switching element, When the abnormality detection section detects an abnormality of flowing a large current, the control section first turns off the power supply relay before turning off the inverter switching element or the DC rotary machine switching element.

13. The rotary machine control device according to claim 1, wherein The control section, when stopping the DC rotary machine, operates the inverter switching element to reduce a current flowing in the DC rotary machine, and then operates the DC rotary machine switching element to stop energization to the DC rotary machine.

14. The rotary machine control device according to any one of claims 1 to 13, wherein The multiphase rotary machine is a rotary machine for outputting a steering assist torque in an electric power steering system or for outputting a reaction torque or a steering torque in a steer-by-wire system.

15. The rotary machine control device according to claim 14, wherein The DC rotary machine includes a steering wheel position system actuator that makes a steering wheel position variable.

16. The rotary machine control device according to claim 14, wherein The DC rotary machine includes a steering wheel lock actuator that restricts rotation of a steering shaft.

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