Control unit and shift-by-wire system with the same

Abstract

Control device for controlling a motor (20) having a plurality of windings (22), each corresponding to a plurality of phases, and supplied with electrical power from a power source (2) such that the motor rotates to rotate and drive an object (32), the control device comprising: a plurality of switching devices (61 to 63), each corresponding to one of the plurality of phases, allowing a corresponding winding to be supplied when the switching device is switched on, and interrupting the supply to the corresponding winding when the switching device is switched off; a control device (72, 80) that controls the switching devices to switch on and off such that the control device controls operation of the motor; a current sensing circuit (74) that detects a current flowing through each winding and each switching device; a current limiting circuit (75).a current limiting circuit that limits the current flowing through each winding and each switching device such that it corresponds to the current of one or two or more current limit values, a standard position learning device (80) that learns a standard position of the motor in such a way that the current limiting circuit limits the current flowing through each winding and each switching device and the control device controls the motor to rotate until the object stops at a limit position of a movable range, a rotation angle change magnitude detection device (80) that detects a change magnitude of a rotation angle of the object, and a fault detection device (80) that determines whether there is a malfunction in the current detection circuit, wherein a first state is defined as a state in which the current limiting circuit limits the current flowing through each winding and each switching device,that the current corresponds to a first current limit value, and the object stops at the limit position of the moving range, wherein a second state is defined as a state in which the current limiting circuit limits the current flowing through each winding and each switching device such that the current is brought into conformity with a second current limit value, and the object stops at the limit position of the moving range, and wherein the fault detection device, under a condition that the change quantity detected by the rotation angle change quantity detection device is outside a predetermined range, determines that a malfunction of the current detection circuit is present when the object changes from one of the first state and the second state to the other of the first state and the second state.

Description

[0001] The present disclosure relates to a control device for controlling the operation of a motor and a shift-by-wire system comprising this device.

[0002] In conventional vehicle control technology, a by-wire system for electrically controlling an actuator to change a vehicle state is generally known, using a by-wire control circuit in accordance with an instruction from the driver. For example, patent document 1 discloses a shift-by-wire system for shifting a gearshift lever in accordance with a driver's instruction. In this system, the operation of the actuator, which has a brushless motor, is controlled such that the shift range is changed by rotating a detent plate in a shift range switching device.

[0003] In the shift-by-wire system according to patent document 1, the switching range is switched to a target range based on a count value of a pulse signal output from an encoder at a predetermined angle, synchronously with the rotation of the motor. This is achieved by rotating the motor to reach a target rotation position corresponding to the target range. Furthermore, in the shift-by-wire system according to patent document 1, before initiating a switching control of the switching range (i.e., before initiating normal drive control of the motor), the system rotates the motor until the detent plate stops at a limit position within a movable range. This initiates a standard position learning control to learn a standard position for the motor. Once the system has learned the standard position, the limit position coincides with the standard position of the motor.The system can then perform normal drive control to rotate the motor to the desired rotational position.

[0004] In a system where the standard position learning control is implemented to control the current flowing through each phase of the motor according to a duty cycle corresponding to a voltage, the current flowing through each phase of a motor winding can change according to a change in winding resistance caused by a temperature change and / or a change in time. This can change the motor's torque, even if the voltage remains the same. Therefore, the accuracy of the standard position learning control can be reduced. This issue is not addressed in the system described in patent document 1. Thus, in the system described in patent document 1, the accuracy of the standard position learning control can be reduced according to changes in conditions such as temperature or time.

[0005] When standard position learning is performed, the current flowing through the windings is limited so that the sum of the currents flowing through each phase of the motor winding becomes a predetermined current limit value. This limits the change in current in each phase caused by temperature or time variations, thus improving the accuracy of standard position learning even when conditions change. However, if the system uses a physical circuit to detect the sum of the current flowing through each phase of the motor winding, the standard position cannot be learned accurately if the circuit is damaged. (Patent document no. 1) JP-2004-308752-A corresponding to US 2006 / 0207373 A1

[0006] One objective of the present disclosure is to provide a control device that detects an operating error of the circuit with respect to standard position learning and that exhibits high accuracy in standard position learning control. Another objective of the present disclosure is to provide a shift-by-wire system with a control device.

[0007] According to one embodiment of the present disclosure, a control device that controls a motor having a plurality of windings, each corresponding to a plurality of phases, and supplied with electrical power from a power source, such that the motor rotates to rotate and drive an object, comprises: a plurality of switching devices, each corresponding to one of the plurality of phases, allowing a corresponding winding to be supplied when the switching device is switched on, and interrupting the supply to the corresponding winding when the switching device is switched off; a control device that controls the switching devices to be switched on and off such that the control device controls the operation of the motor; a current sensing circuit that detects a current flowing through each winding and each switching device; a current limiting circuit,a current limiting circuit that limits the current flowing through each winding and switching device such that it corresponds to the current of one, two, or more current limit values; a standard position learning device that learns a standard position of the motor in such a way that the current limiting circuit limits the current flowing through each winding and switching device, and the control device controls the motor to rotate until the object stops at a limit position of a movable range; a rotation angle change magnitude sensing device that detects a change magnitude of a rotation angle of the object; and a fault detection device that determines whether there is a malfunction in the current sensing circuit. A first state is defined as a state in which the current limiting circuit limits the current flowing through each winding and switching device such that the current corresponds to a first current limit value.and the object stops at the limit position of the moving range. A second state is defined as a state in which the current limiting circuit limits the current flowing through each winding and each switching device such that the current is brought into conformity with a second current limit value, and the object stops at the limit position of the moving range. The fault detection device determines, under the condition that the change quantity detected by the rotation angle change quantity detection device is outside a predetermined range, that a malfunction of the current detection circuit exists when the object changes from one of the first and second states to the other of the first and second states.

[0008] In the device described above, when the motor's standard position is learned, the current flowing through the windings and switching devices is limited by the current limiting circuit based on the current detected by the current sensing circuit, and the motor is rotated and driven. Thus, any change in current at any stage caused by a temperature change and / or a change in time is limited, and any change in the motor's torque is restricted. Consequently, the learning accuracy of the standard position is improved regardless of any change in conditions such as temperature or time.

[0009] Furthermore, the torsional magnitude of an output shaft, or a shaft connected to the output shaft, differs in the motor between the first and second states. Therefore, a fault in the current sensing circuit can be detected using this feature, namely that the object's rotation angle changes when the object transitions between the first and second states. Consequently, the standard position is not learned under conditions of a current sensing circuit malfunction. Accordingly, the device avoids motor malfunction and / or loss of control caused by an incorrectly learned standard position.

[0010] According to a second embodiment of the present disclosure, a shift-by-wire system comprises: a control device, a motor controlled by the control device, and an object rotated and driven by the motor. The object has a switching range that can be changed by operating the motor. The motor has a plurality of windings, each corresponding to a plurality of phases, and is supplied with electrical power from a power source such that the motor rotates. The control device comprises: a plurality of switching devices, each corresponding to one of the plurality of phases, which allows a corresponding winding to be supplied when the switching device is switched on and interrupts the supply to the corresponding winding when the switching device is switched off; a control device that controls the switching devices to switch on and off such thatthat the control device controls the operation of the motor; a current sensing circuit that detects a current flowing through each winding and each switching device; a current limiting circuit that limits the current flowing through each winding and each switching device so that it corresponds to the current of one or two or more current limit values; a standard position learning device that learns a standard position of the motor in such a way that the current limiting circuit limits the current flowing through each winding and each switching device and the control device controls the motor to rotate until the object stops at a limit position of a movable range; a rotation angle change magnitude sensing device that detects a change magnitude of a rotation angle of the object; and a fault determination device that determines,whether a malfunction exists in the current sensing circuit. A first state is defined as a state in which the current limiting circuit limits the current flowing through each winding and each switching device such that the current corresponds to a first current limit value, and the object stops at the limit position of the moving range. A second state is defined as a state in which the current limiting circuit limits the current flowing through each winding and each switching device such that the current is brought into conformity with a second current limit value, and the object stops at the limit position of the moving range. The fault detection device determines, under the condition that the change quantity detected by the rotation angle change quantity detection device is outside a predetermined range, that a malfunction of the current sensing circuit exists.when the object changes from one state of the first state and the second state to the other state of the first state and the second state.

[0011] In the system described above, changes in current during each phase caused by temperature and / or time variations are limited, as is changes in motor torque. Consequently, the learning accuracy of the standard position is improved regardless of changes in conditions such as temperature and time. Furthermore, a fault in the current sensing circuit can be detected using a feature such as the change in the object's rotation angle when it transitions between the first and second states. Thus, the standard position is not learned under conditions where the current sensing circuit malfunctions. Therefore, the device avoids motor malfunction and / or loss of control caused by an incorrectly learned standard position.

[0012] The foregoing and other tasks, features, and advantages of the present disclosure will become clearer with reference to the following detailed description and the accompanying drawings. The drawings show:

[0013] Fig. 1 a representation of a shift-by-wire system with an electronic control unit according to an embodiment of the present disclosure,

[0014] Fig. 2. Illustration showing a perspective view of a switching range switching device according to Fig. 1 illustrates,

[0015] Fig. 3 a representation showing a detent plate viewed along a rotation axis when the detent plate is positioned at a standard position, a position in a first state and a position in a second state,

[0016] Fig. 4 a representation showing a relationship between a current at a position where the current flowing through a MOS transistor and the current flowing through the winding combine, and a rotation angle of the detent plate according to Fig. 2 illustrates,

[0017] Fig. 5. A flowchart illustrating a process relating to engine control using an MPU (Multi-Power Unit) of an electronic control unit.

[0018] Fig. 6 a flowchart illustrating a process relating to a standard position learning controller and a circuit fault detection controller using the MPU of the electronic control unit according to Fig. 1 illustrates,

[0019] Fig. 7 a graph representing a process relating to the standard position learning control and the circuit fault detection control using the MPU of the electronic control unit according to Fig. 1 illustrates,

[0020] Fig. 8 a graph representing a process relating to the standard position learning control and the circuit fault detection control using the MPU of the electronic control unit according to Fig. 1 illustrated according to a first modification of the embodiment, and

[0021] Fig. 9 a graph representing a process relating to the standard position learning control and the circuit fault detection control using the MPU of the electronic control unit according to Fig. 1 illustrated according to a second modification of the embodiment.

[0022] Exemplary embodiments of the present disclosure are described with reference to the drawings. (Examples of implementation)

[0023] An electronic control unit (i.e., ECU) 60as a control device according to the present embodiment and a shift-by-wire system 1 with the ECU are in Fig. Figure 1 shows the shift-by-wire system. 1 has an actuating element 10 , a switching range changeover device 30 , the ECU 60 and the like. The system 1 is on a vehicle together with, for example, an automatic transmission 3 installed. The system 1 drives the actuating element 10 and the switching range switching device 30 according to an instruction from the driver of the vehicle, so that the shift range of the automatic transmission 3 is switched via the by-wire control.

[0024] The actuating element 10 a case 11 , an engine 20 , an encoder 12 , a reduction device 13 and an output wave 14 on.

[0025] According to the present embodiment, the engine 20 For example, a switched reluctance motor (i.e., SR motor), which is a brushless three-phase motor, generates driving force without the use of a permanent magnet. The motor 20 has a stator 21 , a winding 22 , a rotor 23 and a motor shaft 24 on.

[0026] The stator 21 is in the case 11 fixed. Several windings. 22 are arranged in such a way that they surround protruding poles of the stator 21 are wound. Each winding 22 This corresponds to one of the three phases of the motor (i.e., one of the U-phases, one of the V-phases, and one of the W-phases). The rotor 23 is rotatable in the stator 21 arranged. The rotor 23It has several projections that extend radially outwards and are arranged at equal intervals along a revolution. The motor shaft is integral with the rotor. 23 , and the wave 24 The housing rotates 11 supported.

[0027] When the power supply to the winding 22 each phase in the engine 20 When switched sequentially, a rotating magnetic field is applied to the stator. 21 generated so that the rotor 23 turns.

[0028] Thus the engine turns 20 , when electrical power is drawn from a battery 2 as a power source for the vehicle. The ECU 60 controls the drive operation of the motor 20 by switching the power supply to the winding 22 each phase that comes from the battery 2 is supplied.

[0029] The encoder 12features a magnet that is integrally integrated with the rotor 23 The device is rotatable and features a magnetic field detection Hall-effect IC mounted on a substrate attached to the housing. The Hall-effect IC faces the magnet and detects that a magnetic flux generation unit passes through it. According to the present embodiment, the encoder is 12 an element of the incremental design, so that the encoder 12 a pulse signal in an A-phase and a pulse signal in a B-phase corresponding to a change in the rotation angle of the motor. 20 (i.e., the rotor) 23 ) outputs.

[0030] The reduction device 13 reduces the rotational movement, i.e., the speed of the motor shaft. 24 in the engine 20 and then transmits the reduced rotational movement via the output shaft 14 out. Thus, the reducing device transmits 13the rotary movement on the switching range switching device 30 The switching range changeover device 30 transmits the rotary drive force generated by the reducing device 13 is transferred to a manual valve 4 and a parking locking mechanism 50 , as it is in Fig. 2 is shown.

[0031] As it is in Fig. As shown in Figure 2, the switching range switching device has 30 a manual shaft 31 , a locking plate 32 and a detent spring 34 on.

[0032] The manual shaft 31 is with the output wave 14 of the actuating element 10 connected. The wave 31 is driven by a rotary force of the motor 20 driven and rotated. The detent plate 32 jumps from the manual wave 31 The locking plate points radially outwards. 32on the manual shaft 31 fixed. The locking plate 32 corresponds to a driven object.

[0033] A pen 33 is on the ratchet plate 32 shaped, and the pen 33 jumps to a direction parallel to the manual wave 31 The pen can be used with one end of the manual valve. 4 along the axial direction of the manual valve 4 be engaged. Accordingly, it moves when the locking plate 32 together with the manual shaft 31 turns the manual valve 4 along the axial direction. In particular, the switching range switching device converts 30 the rotary movement of the actuating element 10 converts it into a linear motion, and transfers the linear motion to the manual valve.

[0034] The ratchet plate 32 exhibits concavities 41 until 44on one of its outer edges. The concavity 41 is on the ratchet plate 32 Formed at one end of the direction of rotation. The concavity 44 is on the ratchet plate 32 The concavities are formed at the other end in the direction of rotation. 42 , 43 are between the concavities 41 , 44 shaped. According to the present embodiment, the concavity corresponds 41 a P-range (i.e., park range) of the shift range in the automatic transmission 3 The concavity 42 This corresponds to an R-range (i.e., a backwards range). The concavity 43 corresponds to an N range (i.e., a neutral range) of the shift range in the automatic transmission 3 The concavity 44 corresponds to a D-range (i.e., a driving range).

[0035] The detent spring 34 It has a plate shape that is elastically deformable. The detent spring34 has a ratcheting roller 35 at one upper end of the spring 34 as a limiting device. The detent spring 34 presses the detent roller 35 to the center of the ratchet plate 32 (corresponds to the center of the manual shaft) 31 ). If a torque equal to or greater than a predetermined value is applied to the detent plate 32 When the pressure is applied, the detent spring 34 elastically deformed, causing it to bend, and the ratchet roller jumps 35 via one of convexities that lie between the concavities 41 until 44 are shaped, and moves to the next concavity 41 until 44 , adjacent to the present concavity 41 until 44 is. Accordingly, if the actuating element 10 the manual shaft rotates, the position of the manual valve 4in the axial direction and the condition of the parking locking mechanism 50 changed so that the shift range of the automatic transmission 3 will be changed.

[0036] If the ratcheting roller 35 interfering with one of the concavities 41 until 44 The rotation of the locking plate is located 32 Limited. Therefore, the position of the manual valve is 4 in the axial direction and the condition of the parking locking mechanism 50 The shift range of the automatic transmission is also defined. 3 fixed. Thus, the locking plate acts 32 and the ratcheting roller 35 as a locking mechanism.

[0037] According to the present embodiment, when the switching range is changed from the P-range to the R-range, the N-range or the D-range, the direction of rotation of the output shaft is 14 in the actuating element10 as the forward direction of rotation. In contrast, when the switching range is changed from the D-range to the N-range, the R-range, or the P-range, the direction of rotation of the output shaft is... 14 defined in the actuating element as the reverse direction of rotation.

[0038] Fig. Figure 2 shows a state of the parking locking mechanism. 50 , if the switching range is the D range, that is, if the switching range is not the P range. In this case, the parking gear 54 not through the parking lock bar 53 locked. Accordingly, the rotation of the automatic transmission is restricted. 3 not prevented. If the output wave 14 of the actuating element 10 From this state, rotating in the reverse direction, the rod 51 via the locking plate 32 in an X direction according to Fig. Press 2. The tapering section continues.52 , which is at the pointed end of the staff 51 is arranged in a Y direction according to Fig. 2. Pushed upwards. This engages the parking lock bar. 53 in engagement with the parking gear 54 brought so that the parking gear 54 It is locked. As a result, the rotation of the automatic transmission is restricted. 3 limited. In this case, the indexing roller is located 35 the detent spring 34 interlocking with the concavity 41 the ratchet plate 32 (i.e., the notching roller) 35 is at the middle of the concavity 41 arranged). The actual range (current range, present range) of the automatic transmission (which is defined as the actual range) is the P range.

[0039] Below is the ECU 60 described in detail.

[0040] As it is in Fig. As shown in 1, this is the ECU. 60 a microcomputer with an MPU80 The ECU consists of a computing device, RAM and ROM as a storage device, various circuits, and an input / output device. 60 The ECU controls various devices and elements according to different programs stored in the ROM, based on data stored in the RAM and ROM, and signals supplied by various sensors mounted in the vehicle. 60 is electrically powered by the battery 2 coupled as a power source for the vehicle. The ECU 60 is powered by the battery 2 supplied energy.

[0041] In particular, the ECU 60 a relay 65 MOS transistors 61 until 63 , a relay drive circuit 71 , a MOS drive circuit 72 an encoder detection circuit 73 , a current sensing circuit74 , a current limiting circuit 75 , a voltage sensing circuit 76 and the MPU 80 on.

[0042] The relay 65 is between the battery 2 and the engine 20 arranged. The relay 65 allows the supply of energy from the battery 2 to the engine 20 , if the relay 65 switches on. 65 When switched off, the electrical power supply is taken from the battery. 2 to the engine 20 interrupted.

[0043] The relay drive circuit 71 is connected to the relay 65 coupled. The relay drive circuit 71 It sends an on-state signal to the relay. 65 such that the circuit 71 the relay 65 to switch on. The circuit 71 stops the output of the on-state signal, so that the circuit 71the relay 65 controls to turn it off.

[0044] The MOS transistors 61 until 63 These are switching elements such as a MOSFET. Three MOS transistors. 61 until 63 are arranged in such a way that they correspond to the three phases of the windings 22 in the engine 20 correspond to the drain terminal of the MOS transistor. 61 is with the winding 22 connected in the U-phase, the drain terminal of the MOS transistor 62 is with the winding 22 connected in the V-phase, and the drain terminal of the MOS transistor 63 is with the winding 22 connected in the W-phase. The source terminals of the MOS transistors. 61 until 63 They are connected to each other at a junction point P1. The junction point P1 is connected to ground, i.e., a low-potential side of the battery. 2 about the resistance 76 tied together.

[0045] The MOS drive circuit 72 is connected to the gate terminal of each MOS transistor 61 until 63 connected. The MOS drive circuit 72 outputs the on-state signal (i.e., a drive signal) to the gate terminal of each MOS transistor. 61 until 63 off, so that the circuit 72 the MOS transistor 61 until 63 switches on. Furthermore, the circuit stops. 72 the output of the on-state signal, so that the circuit 72 the transistor 61 until 63 switches off.

[0046] The encoder detection circuit 73 is with the encoder 12 connected. The encoder detection circuit 73 It captures the pulse signal in the A-phase and the pulse signal in the B-phase, which originates from the encoder. 12 according to the magnitude of the change in the motor's rotation angle 20 (i.e., the rotor) 23). The pulse signal is used for the MPU. 80 output. The current sensing circuit 74 is connected to the union point P1, where the windings 22 and the MOS transistors 61 until 63 The flowing currents combine. Thus, the circuit detects 74 The current flowing through the junction point P1. A signal indicating the current flowing through the junction point P1 is used for the current limiting circuit. 75 and the MPU 80 issued.

[0047] The current limiting circuit 75 is connected to the current sensing circuit 74 and the MOS drive circuit 72 connected. The current limiting circuit 75 controls the MOS drive circuit 72 such that the current detection circuit 75The detected current selectively matches one of the first current limits and the second current limits. Thus, the circuit limits 75 the through the windings 22 and the MOS transistors 61 until 63 flowing current.

[0048] The MPU 80 The MPU is a semiconductor chip used to perform various calculations. 80 It features a relay control element, a MOS control element, a rotary sensing element, a start drive element, a target range setting element, a normal drive element, a standard position learning element, an actual range sensing element, a rotary angle change magnitude sensing element and a fault determination element, which are functional devices.

[0049] The relay control element controls the relay drive circuit 71 such that the relay control element controls the relay 65 controls switching on and off.

[0050] The MOS control element calculates the drive signal in relation to the MOS transistors. 61 until 63 The MOS control element controls the MOS drive circuit. 72 for outputting the calculated signal from the MOS drive circuit 72 , so that the MOS control element controls the MOS transistors 61 until 63 to switch on and off. When the relay 65 is in the on state and the MOS transistor 61 When the circuit is switched on, current flows through the winding of the U-phase. When the MOS transistor 62 When it is controlled in such a way that it is in the on state, the current flows through the winding. 22 in the V-phase. When the MOS transistor 63 When it is controlled in such a way that it is in the on state, the current flows through the winding. 22 in the W-phase.

[0051] The MPU 80and the MOS drive circuit 72 control the MOS transistors 61 until 63 to turn it on and off, so that the MPU 80 and the circuit 72 the drive operation of the motor 20 control. The MPU 80 and the MOS drive circuit 72 correspond to a control device.

[0052] The rotary sensing element reduces (i.e., counts down) or increases (i.e., counts up) a count value (i.e., a count value of the pulse signal) according to the one from the encoder. 12 The emitted pulse signal allows the rotation sensor to detect the motor's rotation state. 20 (i.e., the rotor) 23 ). Thus, the engine 20 driven at high speed without deviation from correct operation.

[0053] The initial drive element initiates an initial drive control operation to learn a magnetization and supply phase of the motor. 20Each time the vehicle's power source is switched on, the initial drive element performs the initial drive control operation to synchronize the count value according to the one from the encoder. 12 output pulse signal with the power supply phase each time the shift-by-wire system is activated 1 off. In the initial drive control mode, the rotation of the actuating element is 10 controlled in a suitable manner.

[0054] The selection device sensor 6 detects the switching range selected by the driver of the vehicle using the selection device 5 is instructed and is defined as an instructed switching range. A signal indicating the instructed switching range is sent to the MPU. 80 issued.

[0055] The target range setting element sets the target range based on the value from the selection device sensor. 6The output signal indicates the designated switching range. According to the exemplary embodiment, the target range is determined according to the signal from the selection device sensor. 6 , the signal from the brake and the signal from the vehicle speed sensor and the like.

[0056] The normal drive element detects the rotational position of the rotor. 23 with regard to the stator 21 according to the pulse signal count value. The normal drive element issues an instruction to the MOS control element such that the supply phase of the winding 22 in the engine 20 The switching is sequential. Thus, the normal drive element rotates and drives the rotor. 23 to the target rotational position and the shift range of the automatic transmission is reached. 3 The system switches to the target range. The normal drive element executes this normal drive control operation in such a way that the actual range of the automatic transmission is maintained.3 The system switches to the specified switching range requested by the driver.

[0057] This is captured because the encoder 12 According to the given embodiment, an encoder of the incremental type is the encoder 12 merely a relative rotational position of the motor 20 (i.e., the rotor) 23 Accordingly, it is when the engine 20 When the motor is rotated and the switching range is switched to the requested switching range, a standard position corresponding to the absolute position of the motor is necessary. 20 to learn and the limit position of the movable area (i.e., the rotatable area) of the detent plate 32 to align it with the standard position. After learning the engine's standard position. 20 The rotational position of the motor will be 20The motor is calculated according to the requested switching range, the standard position, and the predetermined rotational speed (i.e., a control constant). 20 It is rotated in such a way that it is located at the calculated rotation position, so that the actual range (current range) is switched to the requested switching range.

[0058] The standard position learning element initiates the standard position learning control operation to learn the standard position of the motor. 20 by turning the motor until the detent plate 32 The motor stops at the limit position of the movable range. According to the present embodiment, the limit position of the movable range is located at the position corresponding to the P-range. Furthermore, the standard position learning element issues an instruction to the MOS control element to start the motor. 20 (i.e., rotor) 23) to rotate using a two-phase feed method, so that two phases are drawn from the three phases of the windings 22 The system is powered, and the power supply phases are switched sequentially. Furthermore, the standard position learning element learns the standard position based on the count value of the pulse signal from the encoder. 12 , after a predetermined standby time has elapsed since the motor stopped rotating 20 The time has elapsed. When the standard position learning control operation is executed, the motor 20 rotated until the detent roller 35 onto the wall of the concavity 41 corresponding to the P-area. Thus, the standard position learning control operation is defined as a wall-impact learning control operation or a contact learning control operation.

[0059] The actual range detection element indirectly detects the actual range by calculating the actual range based on the standard position, the predetermined rotation quantity, and the count value of the pulse signal from the encoder. 12 , which are equal to the rotational position of the motor 20 after execution of the standard position learning control operation. According to the present embodiment, the actual range detection element detects the actual range based on the rotational position of the motor. 20 , when the center of the indexing roller 35 in an area of ​​one of the concavities 41 until 44 , corresponding to the P-area, the R-area, the N-area and the D-area, the detent plate 32 is positioned.

[0060] This can happen if the standard position learning control operation is carried out and the winding passes through each phase. 22 of the engine 20The flowing current is controlled with a duty cycle corresponding to the voltage, the learning accuracy of the standard position may be reduced, since the torque of the motor 20 corresponding to a change through each phase of the winding 22 in the engine 20 The flowing current is changed, which is caused by a change in the winding resistance such as a change in temperature or a change over time, even if the voltage is the same.

[0061] Thus, the standard position learning element limits the movement caused by the windings. 22 and the MOS transistors 61 until 63 flowing current using the current limiting circuit 75 such that the current flowing through the junction point P1 reaches the predetermined current value when the motor 20The rotation is limited. This restricts the change in the current flowing through each phase caused by temperature and / or time variations, thus improving the learning accuracy of the standard position regardless of the condition. In the present embodiment, the predetermined current limit is the first limit.

[0062] The rotation angle change magnitude detection element detects the change magnitude of the rotation angle of the detent plate. 32 based on the count value of the pulse signal from the encoder 12 regardless of whether the standard position learning control operation is complete or not. In particular, the rotation angle change magnitude sensing element detects the change magnitude of the rotation angle when the detent plate 32 rotates from one rotational position to another rotational position.

[0063] Here, a state is defined as the first state such that it is determined by the windings. 22 and the MOS transistors 61 until 63 The flowing current is restricted in such a way that it is in line with the current detection circuit. 74 The detected current is brought into line with the first current limit value, and the locking plate 32 It stops at the boundary position of the movable area. Furthermore, a state is defined as a second state such that the windings 22 and the MOS transistors 61 until 63 The flowing current is restricted in such a way that it passes through the current detection circuit. 74 is brought into compliance with the second current limit, and the locking plate 32 stops at the limit position of the movable area.

[0064] According to the present embodiment, the first current limit is set such that it is lower than the second current limit. Thus, when the current sensing circuit 74 is operating normally, as is the case in Fig. Figure 3 shows the torsion size of the manual shaft. 31 and the bending size of the detent spring 34 In the first state, those shown as a solid line are smaller than those in the second state, which are shown as a dash-dotted line. A state shown as a dashed line in Fig. Figure 3 is defined as a non-wall impact condition, such that the detent roller 35 at the middle of the concavity 41 the ratchet plate 32 is arranged. The change in the magnitude θ2 of the rotation angle of the detent plate 32, when the non-wall impact state is switched to the second state, is greater than the change θ1 of the rotation angle of the detent plate. 32 , when the non-wall impact state is switched to the first state. Accordingly, the rotation angle of the detent plate is adjusted. 32 , when the first state is switched to the second state, the change quantity θ is modified, as described in Fig. 3 and Fig. 4 is shown.

[0065] According to Fig. 1 controls the error detection element of the MPU 80 the locking plate 32 such that it is in the second state after the locking plate 32The circuit is controlled to be in the first state. The fault detection element performs a circuit fault detection control operation to determine, based on the change in rotation angle θ detected by the rotation angle change quantity detection element, whether the current detection circuit is functioning correctly. 74 Whether it is normal or not. In particular, the fault detection element determines whether the current sensing circuit is functioning correctly. 74 is not normal, meaning that there is a malfunction in the current sensing circuit. 74 This occurs when the rate of change θ is outside the predetermined range. The predetermined range is preset. If a malfunction of the current sensing circuit is determined, 74 If this occurs, for example a warning light of the display device switches on. 7 one. Thus, the malfunction of the shift-by-wire system is detected. 1The driver is notified, and normal drive control operation using the normal drive element is restricted or prevented.

[0066] The following is the control operation of the motor. 20 using the MPU 80 with reference to Fig. 5 described.

[0067] The in Fig. The S100 process shown in Figure 5 starts when the ignition switch is turned on, i.e., when the vehicle's power source is switched on, thus activating the shift-by-wire system. 1 is activated.

[0068] In step S120, the MPU 80 The initial fault diagnosis is carried out. In particular, the MPU checks 80 , whether there is a fault in each part of the shift-by-wire system 1 like the relay 65 occurs. When the error is detected, the error of the shift-by-wire system is recorded. 1 the driver is notified, for example by the warning light of the display device 7turns on. After step S120 is completed, the process moves to step S140.

[0069] In step S140, the MPU 80 The initial drive control operation is deactivated. This prevents the rotation of the actuator. 10 (i.e., the engine) 20 ) is controlled appropriately. After step S140, the process proceeds to step S160.

[0070] In step S150, the MPU 80 The standard position learning control operation is deactivated. Therefore, the limit position of the movable area of ​​the detent plate is not determined. 32 This corresponds to the standard position, which is why the motor can be operated in normal drive control mode. The standard position learning control mode is described later. After step S160, proceed to step S180.

[0071] The MPU starts in step S180. 180The execution of normal drive control operation. In this way, the shift range of the automatic transmission is defined. 3 switched to a switching range requested by the driver.

[0072] The process ends when the ignition switch is turned off.

[0073] Below is the standard position learning control operation of the MPU. 80 described. According to the present embodiment, the rotation error determination control operation is executed simultaneously with the standard position learning control operation.

[0074] Fig. Figure 6 shows an underflow diagram illustrating the process in relation to the standard position learning control operation and the rotation error determination control operation. If the process is according to Fig. 6 starts, limits the MPU in step S161 80 the through the windings 22 and the MOS transistors 61 until 63flowing current using the current limiting circuit 75 such that the current detection circuit 74 The detected current matches the first current limit value, and the motor rotates. 20 the locking plate 32 After step S161, the process continues to step S162.

[0075] In step S162 the MPU determines 80 based on the count value of the pulse signal, whether the first state, i.e. the stop state of the motor, is reached. 20 , for a predetermined readiness period. If the determination in step S162 is positive, that is, if the determination in step S162 is "YES", the process proceeds to step S163. If the determination in step S162 is negative, that is, if the determination in step S162 is "NO", the process returns to step S161.

[0076] In step S163, the MPU stores 80The count value of the pulse signal is taken as the first count value. After step S163, the process proceeds to step S164.

[0077] In step S164 the MPU learns 80 the standard position of the motor 20 based on the first count value. After step S164, the process proceeds to step S165.

[0078] In step S165, the MPU is restricted 80 the through the windings 22 and the MOS transistors 61 until 63 flowing current using the current limiting circuit 75 such that the current detection circuit 74 The measured current matches the second current limit. Furthermore, the MPU controls 80 the engine 20 to rotate the ratchet plate 32 After step S165, the process continues to step S166.

[0079] In step 166 determines the MPU 80based on the count value of the pulse signal, whether the second state, i.e. the stop state of the motor, is reached. 20 , for a predetermined readiness period. If the determination in S166 is positive, that is, if the determination in step S166 is "YES", the process proceeds to step S167. If the determination in S166 is negative, that is, if the determination in step S166 is "NO", the process returns to step S165.

[0080] In step S167, the MPU saves 80 The count value of the pulse signal is used as the second count value. After step S167, the process proceeds to step S168.

[0081] In step S168 the MPU calculates 80 the change θ of the rotation angle based on the first count value and the second count value when the detent plate 32 The process changes from the first state to the second state. After step S168, the process continues to step S169.

[0082] In step S169, the MPU determines 80 , whether the in step 168 The calculated change variable θ is within the predetermined range or not. If the determination in step S169 is positive, that is, if the determination in step S169 is "YES", the process proceeds to step S170. If the determination in step S168 is negative, that is, if the determination in step S169 is "NO", the process is completed.

[0083] In step S170, the MPU determines 80 that there is a malfunction in the current sensing circuit 74 The process is complete. The process ends after step S170.

[0084] Below is the standard position learning control operation and the circuit fault detection control operation implemented by the MPU. 80 to be carried out, with reference to Fig. 7 described below.

[0085] At time t0 in Fig. The MPU starts on the 7th. 80The execution of the standard position learning control operation and the circuit fault detection control operation. Immediately after time t0, the process is initiated in step S161 according to Fig. 6 carried out, so that the locking plate 32 is rotated. At time t0, the detent plate is in the position 32 in the non-wall impact state.

[0086] At time t1 according to Fig. The locking plate is located at position 7. 32 in the first state. At time t2, when the predetermined readiness time T1 has elapsed since time t1, the determination in step S162 is defined as positive. Immediately after time t2, steps S163 and S164 are carried out according to Fig. 6 carried out. In this way, the MPU learns 80 the standard position of the engine 20 .

[0087] At time t3 according to Fig. 7. After learning the standard position, step S165 is performed according to... Fig. 6 is carried out and the locking plate is 32 turned.

[0088] At time t4 according to Fig. The locking plate is located at position 7. 32 in the second state. At time t5, when the predetermined readiness time T1 has elapsed since time t4, the determination in step S166 is defined as positive. Immediately after time t5, steps S167 and S168 are carried out according to Fig. 6. This is how the MPU is calculated. 80 the change in the rotation angle θ when the detent plate 32 from the first state to the second state.

[0089] After calculating the change in the rotation angle θ, step S169 is carried out according to Fig. 6. This is carried out to determine whether the change in θ is within the predetermined range. If the change in θ is not within the predetermined range, that is, if the change in θ is outside the predetermined range, it is determined that there is a malfunction of the current sensing circuit. 74 is present. If the change quantity θ is within the predetermined range, that is, if the change quantity θ is not outside the predetermined range, it is determined that the current sensing circuit is 74 It works correctly (i.e., normally).

[0090] At time t6 according to Fig. 7. When the fault detection step is completed, the rotational position of the detent plate is determined. 32 returned to the standard position.

[0091] As described above, the ECU controls 60 according to the present embodiment, the engine 20for switching the shift range of the automatic transmission 3 by rotating and driving the detent plate 32 The ECU 60 exhibits the MOS transistors 61 until 63 , the MPU 80 , the MOS drive circuit 72 , the current sensing circuit 74 and the current limiting circuit 75 on.

[0092] The MOS transistors 61 until 63 are arranged in such a way that they correspond to the three phases of the windings 22 correspond. If the MOS transistor 61 until 63 When switched on, the corresponding winding is activated. 22 powered. When the MOS transistor 61 until 63 When switched off, the power supply to the corresponding winding is interrupted. 22 stopped. The MPU 80 and the MOS drive circuit 72 control the MOS transistors 61 until 63 for switching on and off, so that they control the drive operation of the motor.20 control. The current sensing circuit 74 is connected to the union point P1, where the windings 22 and the MOS transistors 61 until 63 The flowing currents are combined. Thus, the circuit detects 74 The current flowing at the junction point P1. The current limiting circuit 75 controls the windings 22 and the MOS transistors 61 until 63 flowing current such that it is detected by the current detection circuit 74 The detected current selectively matches one of the first current limit values ​​and the second current limit value.

[0093] The MPU 80 The standard position learning element, the rotation angle change quantity detection element, and the error detection element are combined into an ideal functional part. The standard position learning element limits the range of motion through the windings. 22 and the MOS transistors 61until 63 flowing current using the current limiting circuit 75 and turns the engine 20 , until the locking plate 32 It stops at the limit of the movable range. In this way, the learning element learns the standard position of the motor. 20 The rotation angle change quantity detection element detects the change quantity θ of the rotation angle of the detent plate. 32 The fault detection element determines which malfunctions in the current sensing circuit. 74 This is the case when the change in the rotation angle θ of the detent plate, detected by the rotation angle change quantity detection element, is 32 in a case where the locking plate 32 The change from the first state to the second state lies outside the predetermined range.

[0094] In the ECU described above 60 restricted, if the MPU 80 the standard position of the engine20 learns the current limiting circuit 75 the through the windings 22 and the MOS transistors 61 until 63 flowing current based on the current detection circuit 74 detected current, and the motor 20 rotated and driven. Thus, the change in current in each phase and the change in torque of the motor are determined. 20 , which are caused by temperature and time changes. Accordingly, according to the present embodiment, the learning accuracy of the standard position is improved regardless of the condition.

[0095] According to the present embodiment, the torsion size of the manual shaft differs. 31 and the bending size of the detent spring 34 in the first state from the second state. Thus, the MPU (Medical-Psychological Assessment) captures 80 the fault in the current sensing circuit 74by using such a feature that the rotation angle of the detent plate 32 The change occurs when the first state is changed to the second state. Thus, the MPU (Medical-Psychological Assessment) is avoided. 80 , to learn the standard position under a condition that a malfunction of the current sensing circuit 74 is present. Accordingly, the MPU (Medical-Psychological Assessment) is avoided. 80 the malfunction and / or loss of the engine control 20 , which are caused by an incorrectly learned standard position.

[0096] According to the present embodiment, the standard position learning element of the MPU learns 80 the standard position of the engine 20 , if the locking plate 32 is in the first state. Thus, the standard position learning control operation and the circuit fault detection control operation are carried out simultaneously, which is why the processing time for executing the process with the MPU is80 is reduced.

[0097] According to the present embodiment, the first current limit is set to be lower than the second current limit. Thus, it learns when the torsion magnitude of the manual shaft is... 31 and the bending size of the detent spring 34 are comparatively small, the standard position learning element in the MPU 80 the standard position. Accordingly, the accuracy of the standard position learning element in the MPU is determined. 80 The learning process improved the standard position.

[0098] According to the present embodiment, the shift-by-wire system has 1 the ECU 60 , which is controlled by the ECU 60 controlled motor 20 and the locking plate 32 to switch the shift range of the automatic transmission 3 by turning and driving the motor 20according to the present embodiment, the ECU 60 The system improves the accuracy of learning the standard position regardless of conditions such as temperature and time variations. 1 detects the fault of the current sensing circuit 74 and the current limiting circuit 75 , so that the engine malfunctions 20 and the loss of engine control 20 are avoidable. Thus, the ECU controls 60 the shift-by-wire system 1 effective. (Other examples)

[0099] According to the first embodiment, the first current limit is set such that it is lower than the second current limit. Thus, as described in Fig. As shown in figure 7, a comparatively small torque is initially applied to the detent plate, and the system switches. 1The system switches to the first state, where the rotation angle θ1 from the non-wall impact state of the detent plate is comparatively small. Then, a comparatively large torque is applied to the detent plate, so that the system 1 to the second state, in which the rotation angle θ2 of the non-wall impact state of the detent plate is comparatively large. According to another embodiment, the first current limit can be set such that it is greater than the second current limit. As described in Fig. As shown in Figure 8, a comparatively large torque can initially be applied to the detent plate, switching the system to the first state in which the rotation angle θ1 from the non-wall impact state of the detent plate is comparatively large. Then the comparatively small torque is applied to the detent plate, so that the system 1switches to the second state, in which the rotation angle θ2 of the non-wall impact state of the detent plate is comparatively small.

[0100] According to another embodiment, as described in Fig. As shown in Figure 9, the first state does not switch to the second state immediately at time t3, when the learning of the default position is complete. Instead, the first state switches to the non-wall impact state, or approximately to the non-wall impact state, and then switches to the second state at time t11. In particular, according to the embodiment described above, the first state switches continuously to the second state. According to another embodiment, the first state can switch intermittently to the second state.

[0101] According to another embodiment, the standard position learning element of the MPU can learn the standard position of the motor when the detent plate is in the second state.

[0102] According to the embodiment described above, the limit position of the movable area is a position corresponding to the P-area when the ECU is performing standard position learning operation. In contrast, according to another embodiment, the limit position of the movable area can be a position corresponding to an area other than the P-area when the ECU is performing standard position learning operation. For example, if several concavities of the outer edge of the detent plate correspond to the P-area, the R-area, the N-area, and the D-area in that order along the direction of rotation, the limit position of the movable area can be the D-area.

[0103] According to the above embodiment, when the system 1 The motor is operating in standard position learning control mode, rotated using the two-phase supply method such that two phases are below the three phases of the windings. 22 are fed, and the feeding phases are switched sequentially. In contrast, according to another embodiment, if the system 1 The standard position learning control operation is performed, the motor is rotated using the one-two-phase supply method, so that a one-phase supply step to supply one phase of the windings in the three phases and a two-phase supply step to supply two phases under the three phases of the windings are switched alternately.

[0104] According to another embodiment, the controlled object can be a motor with four or more windings corresponding to four or more phases. Alternatively, the motor used as the controlled object can be a different brushless synchronous motor than the switched reluctance motor, as long as the rotational position of the motor is detected according to the output signal (i.e., the pulse signal) of the encoder and the supply phase is switched.

[0105] According to the preceding embodiment, the encoder for detecting the relative rotational position of the motor is a magnetic encoder. Alternatively, according to another embodiment, the encoder can be, for example, an optical encoder or a brush encoder. The encoder outputs the pulse signal in the A-phase or the B-phase according to the preceding embodiment. Alternatively, the encoder can output a Z-phase signal as an addition or index to the pulse signal in the A-phase or the B-phase.

[0106] According to another embodiment, the control device may not include the relay for allowing or interrupting the electrical power supply from the power source to the motor.

[0107] According to another embodiment, the number of concavities in the detent plate can differ from four. In particular, the number of automatic transmission zones can be three or fewer, or five or more.

[0108] The shift-by-wire system according to the present disclosure can be applied to a continuously variable transmission (i.e., CVT) for shifting the P range, R range, N range and D range, an automatic transmission for a hybrid vehicle, a shift range device with a parking mechanism for shifting the P range and the non-P range in an electric vehicle or a hybrid vehicle.

[0109] According to the preceding embodiment, the detent mechanism is provided by several concavities formed on the detent plate (as a drive element) which is integrally mounted on the manual shaft, and on the detent roller. According to another embodiment, the detent mechanism with the several concavities and the detent roller can be arranged near the reduction device in the actuating element. Alternatively, if the rotational position of the drive element is maintained at a predetermined position, the detent mechanism can be of a different design than the detent mechanism with the several concavities and the detent roller.

[0110] The control device according to the present disclosure can be applied to various switching devices for the brushless synchronous motor as a drive power source in addition to the switching range switching device.

[0111] It should be noted that a flowchart or the processing of the flowchart in the present application has sections (which are also referred to as steps), each of which is, for example, designated as S100. Furthermore, each section can be subdivided into various sub-sections, whereas several sections can be combined to form a single section. Each of the sections configured in this way can also be referred to as a device, a module, or a unit.

[0112] Although the present disclosure has been described with reference to exemplary embodiments thereof, it should be understood that the disclosure is not limited to these exemplary embodiments and constructions. The present disclosure is intended to cover various modifications and equivalent arrangements. In addition, although various combinations and configurations have been shown, other combinations and configurations, including more, fewer, or a single element, are also within the scope and intent of the present disclosure.

[0113] A control device that controls a motor ( 20 ) to drive an object ( 32 ) controls, indicates: switching devices ( 61 until 63 ) in several phases, each of which supplies a corresponding winding ( 22 ) of the engine allows and interrupts; a control device ( 72 , 80) for the switching devices; a current sensing circuit ( 74 ) for a current flowing through each winding and each switching device; a current limiting circuit ( 75 ), which limits the current in such a way that it is brought into conformity with a current limit value; a standard position learning device ( 80 ), which learns a standard position of the motor such that the current limiting circuit limits the current, and the motor rotates until the object stops at a boundary position of a movable range; a rotation angle change magnitude detection device ( 80 ), which detects a change in the object's rotation angle; and a fault detection device ( 80 ), which determines that a malfunction of the current sensing circuit is present if the change magnitude is outside a predetermined range, and the object changes between first and second states. QUOTES INCLUDED IN THE DESCRIPTION

[0114] This list of documents cited by the applicant was automatically generated and is included solely for the reader's convenience. The list is not part of the German patent or utility model application. The DPMA accepts no liability for any errors or omissions. Cited patent literature

[0115] JP 2004-308752 A

[0005] US 2006 / 0207373 A1

[0005]

Claims

[1] Control device that controls a motor ( 20 ) controls a multitude of windings ( 22 ) each has a multitude of phases, and is powered by electrical power from a power source ( 2 ) is supplied so that the motor rotates to move an object ( 32 ) to rotate and drive, the control device comprising: a variety of switching devices ( 61 until 63 ), each of which corresponds to one of the multiple phases, allows a supply to a corresponding winding when the switching device is switched on, and interrupts the supply to the corresponding winding when the switching device is switched off, a control device ( 72 , 80 ), which controls the switching devices for switching on and off in such a way that the control device controls the operation of the motor, a current sensing circuit ( 74), which detects the current flowing through each winding and each switching device, a current limiting circuit ( 75 ), which limits the current flowing through each winding and each switching device in such a way that it corresponds to the current of one or two or more current limit values, a standard position learning device ( 80 ), which learns a standard position of the motor in such a way that the current limiting circuit limits the current flowing through each winding and each switching device, and the control device controls the motor to rotate until the object stops at a limit position of a movable range, a rotary angle change magnitude detection device ( 80 ), which detects a change in the object's rotation angle, and a fault detection device ( 80 ), which determines whether there is a malfunction in the current detection circuit, where a first state is defined as a state in which the current limiting circuit limits the current flowing through each winding and each switching device such that the current corresponds to a first current limit value, and the object stops at the limit position of the moving range, wherein a second state is defined as a state in which the current limiting circuit limits the current flowing through each winding and each switching device such that the current is brought into conformity with a second current limit value, and the object stops at the limit position of the moving range, and wherein the fault detection device, under a condition that the change quantity detected by the rotation angle change quantity detection device is outside a predetermined range, determines that a malfunction of the current detection circuit is present if the object changes from one of the first state and the second state to the other of the first state and the state. [2] Control device according to claim 1, wherein the standard position learning device learns the standard position when the object is in the first state. [3] Control device according to claim 2, wherein the first current limit is smaller than the second current limit. [4] Shift-by-wire system with: a control unit ( 60 ), an engine ( 20 ), which is controlled by the control unit, and an object ( 32 ), which is rotated and driven by the motor, wherein the motor rotates and drives the motor to switch a switching range, the motor has a multitude of windings ( 22 ) each has a multitude of phases and is powered by electrical power from a power source ( 2 ) is supplied in such a way that the motor rotates, the control unit features: a variety of switching devices ( 61 until 63 ), each of which corresponds to one of the multiple phases, allows a supply to a corresponding winding when the switching device is switched on, and interrupts the supply to the corresponding winding when the switching device is switched off, a control device ( 72 , 80 ), which controls the switching devices for switching on and off in such a way that the control device controls the operation of the motor, a current sensing circuit ( 74), which detects the current flowing through each winding and each switching device, a current limiting circuit ( 75 ), which limits the current flowing through each winding and each switching device in such a way that it corresponds to the current of one or two or more current limit values, a standard position learning device ( 80 ), which learns a standard position of the motor in such a way that the current limiting circuit limits the current flowing through each winding and each switching device, and the control device controls the motor to rotate until the object stops at a limit position of a movable range, a rotary angle change magnitude detection device ( 80 ), which detects a change in the object's rotation angle, and a fault detection device ( 80 ), which determines whether there is a malfunction in the current detection circuit, where a first state is defined as a state in which the current limiting circuit limits the current flowing through each winding and each switching device such that the current corresponds to a first current limit value, and the object stops at the limit position of the moving range, wherein a second state is defined as a state in which the current limiting circuit limits the current flowing through each winding and each switching device such that the current is brought into conformity with a second current limit value, and the object stops at the limit position of the moving range, and wherein the fault detection device, under a condition that the change quantity detected by the rotation angle change quantity detection device is outside a predetermined range, determines that a malfunction of the current detection circuit is present if the object changes from one of the first state and the second state to the other of the first state and the state. [5] Shift-by-wire system according to claim 4, wherein the standard position learning device learns the standard position when the object is in the first state. [6] Shift-by-wire system according to claim 5, wherein the first current limit is smaller than the second current limit.

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