Method for controlling a redundant actuator having two partial actuators and actuator system having a redundant actuator having two partial actuators

Abstract

The present invention relates to a method for controlling a redundant actuator (20) having two partial actuators, in particular a motor having two separate winding sets, by a control device (10), wherein a first partial actuator is connected to a first actuator terminal (T3) of the control device (10) and a second partial actuator is connected to a second actuator terminal (T4) of the control device (10), the control device (10) comprises first, second and third converter modules (11, 12, 13), each having a converter (U1, U2, U3), and in a first operating state (S1), the first actuator terminal (T3) is connected to the converter (U1) of the first converter module (11) and the second actuator terminal (T4) is connected to the converter (U1) of the second converter module (11). a first converter module (11) connected to a converter (U2) of a second converter module (12); an abnormality in the first converter module (11) is identified; and the control device (10) transitions to an isolated state (S3) in which the first actuator terminal (T3) and the second actuator terminal (T4) are isolated from the converters (U1, U2, U3) of the first, second, and third converter modules (11, 12, 13); in the isolated state (S3), handshake communication is performed between the first, second, and third converter modules (11, 12, 13) of the control device (10), and the handshake communication negotiates which of the converters (U1, U2, U3) of the converter modules (11, 12, 13) will be connected to the actuator terminals (T3, T4) of the control device (10).

Description

[Technical Field]

[0001] The present invention relates to a method for controlling by a control device a redundant actuator having two partial actuators, in particular a motor having two separate winding sets, a first partial actuator connected to a first actuator terminal of the control device and a second partial actuator connected to a second actuator terminal of the control device, the control device comprising a first converter module, a second converter module and a third converter module, each having a converter.Furthermore, the present invention relates to an actuator system, in particular for a steer-by-wire system, having a redundant actuator having two partial actuators, in particular a motor having two separate winding sets, and a control device for controlling the redundant actuator, the redundant actuator comprising a first converter module, a second converter module and a third converter module, each having a converter. [Background technology]

[0002] The invention can be used in the field of automotive engineering, in particular in the field of steer-by-wire systems.

[0003] In such a steer-by-wire system, there is no mechanical connection between the steering wheel and the steered wheels.

[0004] All steering commands are received by sensors on the steering wheel and transmitted electronically via a control unit to one or more steering actuators, which execute the steering movements and transmit them to the wheels.

[0005] In addition to these steering actuators, such steer-by-wire systems typically have an actuator to provide a force feedback torque to the steering wheel.

[0006] Such force feedback actuators can give the driver the same steering feel, i.e., the same tactile feedback, that they are accustomed to from steering a vehicle with mechanically connected steering and power assist.

[0007] An actuator system of the type mentioned at the outset is known from DE 10 202 111 2819 A1. This actuator system has two partial actuators and is equipped with a redundant actuator, which can be used, for example, as a force feedback actuator. To control these redundant actuators, a control device is used that is able to control the two partial actuators. The control device comprises three converters, one of which can optionally replace one of the other two converters.

[0008] If a higher-level control unit is used to coordinate the individual converters, a disadvantage is that this requires additional installation space. In addition, to avoid complete failure of the actuator system in the event of a malfunction in the higher-level control unit, precautions must be taken to ensure that such higher-level control unit is also configured redundantly. Such measures can further increase installation space requirements and costs. Summary of the Invention [Problem to be solved by the invention]

[0009] Against this background, it is an object of the present invention to enable the coordination of redundant converter modules in a control unit with less effort and reduced installation space requirements. [Means for solving the problem]

[0010] The object is to provide a method for controlling a redundant actuator with two partial actuators, in particular a motor with two separate winding sets, by means of a control device, the first partial actuator is connected to a first actuator terminal of the control device, and the second partial actuator is connected to a second actuator terminal of the control device; the control device includes a first converter module, a second converter module, and a third converter module, each having a converter; In a first operating state, the first actuator terminal is connected to the converter of the first converter module, and the second actuator terminal is connected to the converter of the second converter module; a fault in the first converter module is identified, and the control device transitions to an isolation state in which the first actuator terminal and the second actuator terminal are isolated from the converters of the first, second, and third converter modules; In an isolated state, handshake communication is performed between the first, second, and third converter modules of the control device, and the handshake communication negotiates which of the converters of the converter modules will be connected to the actuator terminals of the control device, thereby achieving a method for controlling redundant actuators.

[0011] The method according to the present invention provides handshake communication between the first, second, and third converter modules. In a first operating state, if a malfunction is identified in a converter module, herein referred to as the first converter module, the control device is automatically or manually placed in an isolation state by the user. In this state, all converters of the three converter modules are electrically isolated from the actuator terminals of the control device. In this isolation state, the redundant actuator is not controlled by the control device. In this isolation state, handshake communication is performed between all three converter modules of the control device, and the three converter modules negotiate which one or two converter modules or converters will be connected to the actuator terminals of the control device after the isolation state is terminated, thereby allowing the redundant actuator to operate despite a malfunction in one of the converter modules. The handshake communication can be performed without a higher-level control unit, enabling a modular configuration with independent converter modules. These measures enable coordination of the converter modules of the control unit with little effort and minimal space requirements.

[0012] According to an advantageous embodiment of the present invention, the control device of the handshake communication can then transition from the isolated state to a second operating state in which the actuator terminals are connected to one or more converter modules as negotiated by the handshake communication. This second operating state can form an operating state in which the redundant actuator operates with the same functionality as in the first operating state. However, in the second operating state, the ability of the control device to compensate for further errors may be reduced or such error compensation may no longer be possible.

[0013] According to an advantageous embodiment of the invention, the anomaly can be identified by the first converter module itself, and particularly preferably, the identified anomaly is communicated from the first converter module to the other two converter modules.

[0014] According to an alternative advantageous embodiment, each of the three converter modules monitors the other converter modules and can identify an anomaly in the first converter module. For example, a converter module can send a regular, in particular periodic, signal to each of the other converter modules to indicate that an anomaly is not present. If such a signal is absent, the other converter modules can identify that there is an anomaly in the first converter module.

[0015] According to an advantageous embodiment of the invention, the handshake communication comprises: It is possible for the first, second and third converter modules to each include a request step in which they check whether a request message has been received from each other, in particular from all other converter modules.

[0016] The request message allows a converter module to notify other converter modules that it is about to engage in handshake communication. Optionally, a timer with a specified execution time can be started in the request step, allowing subsequent steps of the handshake communication to start only when the timer has elapsed or request messages have been received from all other converter modules.

[0017] According to an advantageous embodiment of the invention, the handshake communication comprises: -It is possible to include a status exchange step in which the first, second, and third converter modules each determine status information of their own operational readiness and communicate the determined status information to each of the other converter modules.

[0018] The operational readiness status information can indicate whether each converter module is ready for operation, whether it is not ready for operation, for example, whether there is a malfunction. Each converter module determines its status information by itself, eliminating the need for a higher-level device to determine it. Exchanging status information between all converter modules ensures that all converter modules are aware of each other's operational status. Therefore, the exchange of status information is the basis for determining which converter module or converter should be connected to the actuator terminal of the control device. The exchange can be carried out, for example, via separate data lines or a data bus. Since the status information available in the converter modules after the completion of the status exchange step is identical in all converter modules, subsequent decisions can lead to the same results in all converter modules.

[0019] According to an advantageous embodiment of the invention, the handshake communication comprises: -It is possible for the method to include a decision step in which each of the first converter module and the second converter module determines a command for the third converter module based on status information received from the respective other converter module and sends the command to the third converter module.

[0020] Based on the status information exchanged between the converter modules in the status exchange step, a decision can be made in the decision step as to which function the third converter module should assume. Preferably, this decision is made independently in the first converter module and the second converter module, and then a corresponding command is sent to the third converter module. If the commands received by the first converter module and the second converter module are identical, the commands can be easily executed in the third converter module. If the commands received by the first converter module and the second converter module are different, the third converter module determines which of the two commands to execute separately and independently from the first converter module and the second converter module. For example, both the first converter module and the second converter module may not be ready to operate, and therefore the first converter module may send a command to the third converter module to take over the function of the first converter module, and the second converter module may send a command to the third converter module to take over the function of the second converter module. In this case, the third converter module preferably determines which function to assume according to predetermined criteria.

[0021] According to an advantageous embodiment of the invention, the handshake communication comprises: The method may include a confirmation step in which the third converter module sends a confirmation message to the first converter module and the second converter module.

[0022] The content of the confirmation message is preferably whether the third converter module has executed the command of the first converter module or the second converter module, and each confirmation message can be received by the first converter module and the second converter module, and the first converter module or the second converter module can determine to execute its own corresponding procedure.

[0023] According to an advantageous embodiment of the present invention, in the first operating state, the actuator terminals of the control device can be isolated from the converter of the third converter module. Preferably, the third converter module is in an inactive state. In this respect, the third converter module in such a configuration forms a cold reserve in the control device.

[0024] According to an advantageous embodiment of the invention, the partial actuators can act on a common drive element, in particular a common drive shaft. Preferably, the redundant actuator is configured as a force feedback actuator for providing a force feedback torque to the steering wheel and / or as an actuator for adjusting the steering wheel position and / or as an actuator for moving the steering wheel into a retracted position. According to an alternative advantageous embodiment, the redundant actuator is configured as an actuator on a tie rod.

[0025] According to an advantageous embodiment of the invention, the first, second, and third converter modules each have a logic unit for controlling the converter. The converter is preferably configured as an inverter, in particular as a B6 inverter. Preferably, the first and second converter modules each further comprise an output switching device capable of selectively establishing or interrupting a connection between the converter and an actuator terminal of the control device. Preferably, the third converter module further comprises an output switching device capable of selectively establishing or interrupting a connection between the converter of the third converter module and one of the first and second actuator terminals of the control device. Preferably, the output switching device may comprise a bidirectional blocking switch, in particular a bidirectional blocking semiconductor switch.

[0026] According to an advantageous embodiment of the invention, the control device may have two supply network terminals, which are connectable to the inputs of the converter modules via input switching devices. Preferably, the first and second converter modules each comprise an input switching device capable of selectively establishing or interrupting a connection between the converter module and the supply network terminal of the control device. Preferably, the third converter module further comprises an input switching device capable of selectively establishing or interrupting a connection between the third converter module and one of the first and second supply network terminals of the control device.

[0027] According to an advantageous embodiment of the invention, the first and second converter modules are configured identically, in particular the handshake logic of the first and second converter modules controlling the handshake communication is configured identically. The third converter module preferably has converters configured identically to the outputs of the first and second converter modules. The third converter module preferably has handshake logic controlling the handshake communication and configured differently from the handshake logic of the first and second converter modules.

[0028] According to an advantageous embodiment of the present invention, before each start-up of the entire system, a handshake communication is performed between the first, second and third converter modules of the control device, which is used to negotiate which of the converters of the converter modules should be connected to the actuator terminals of the control device, ensuring that any abnormalities that occur or develop during the start-up phase will lead to the selection of a functional converter module.

[0029] A further subject of the invention is an actuator system, in particular for a steer-by-wire system, comprising: a redundant actuator having two partial actuators, in particular a motor having two separate winding sets; and a control device for controlling redundant actuators, the control device comprising a first converter module, a second converter module, and a third converter module, each having a converter; - in a first operating state, connecting the first actuator terminals to the converters of the first converter module and connecting the second actuator terminals to the converters of the second converter module; - identifying a fault in the first converter module and transitioning to an isolated state in which the first actuator terminal and the second actuator terminal are isolated from the converters of the first, second and third converter modules; An actuator system having a control device configured to: - in an isolated state, perform handshake communication between first, second, and third converter modules of the control device, wherein the handshake communication negotiates which of the converters of the converter modules will be connected to actuator terminals of the control device.

[0030] The same advantages and technical effects as already described above in connection with the method according to the invention can be achieved with the actuator system.

[0031] According to an advantageous embodiment of the invention, the redundant actuator can be configured as an actuator on a tie rod. According to alternative advantageous embodiments of the actuator system, the redundant actuator can be configured as a force feedback actuator for providing a force feedback torque to the steering wheel and / or an actuator for adjusting the steering wheel position and / or an actuator for moving the steering wheel into a retracted position.

[0032] Alternatively or additionally, the advantageous embodiments and features described in connection with the method according to the invention can also be used individually or in combination in the actuator system according to the invention.

[0033] Further details and advantages of the invention are explained below with reference to exemplary embodiments shown in the drawings. [Brief explanation of the drawings]

[0034] [Figure 1]1 is a schematic block diagram illustrating an exemplary embodiment of an actuator system according to the present invention; [Figure 2] 2 shows an exemplary embodiment of a control device for the actuator system according to FIG. 1; [Figure 3] 1 shows a flow chart of an exemplary embodiment of a method according to the present invention for operating an actuator system; [Figure 4] FIG. 10 is a flow diagram illustrating the processes in the first converter module and the second converter module during handshake communication. [Figure 5] FIG. 10 is a flow diagram illustrating the process in the third converter module during handshake communication. DETAILED DESCRIPTION OF THE INVENTION

[0035] FIG. 1 is a block diagram illustrating an exemplary embodiment of an actuator system 100 having redundant actuators 20 and a controller 10 for controlling the actuators 20 .

[0036] Actuator system 100 includes a redundant actuator 20, which in the exemplary embodiment is configured as an electric motor with two separate winding sets. Each separate winding set forms a partial actuator of redundant actuator 20 and can be controlled independently of one another. Actuator system 100 can be configured for use in a steer-by-wire system, in which case actuator 20 is an actuator on a tie rod. Alternatively, actuator 20 can be a force feedback actuator for providing force feedback torque to a steering wheel of a steer-by-wire system.

[0037] The control device 10 is connected to two independent or partially independent supply networks BN1, BN2. When the actuator system 100 is used in a steer-by-wire system, the two supply networks 1, 2 can be configured as DC voltage on-board networks of the vehicle. To connect the control device 10 to the two on-board networks, the control device 10 comprises a first supply network terminal T1 and a second supply network terminal T2.

[0038] The control device 10 further comprises a first actuator terminal T3 and a second actuator terminal T4, via which the control device 10 is connected to a redundant actuator 20. The first actuator terminal T3 is connected to a first partial actuator via a first terminal T5 of the actuator 20, and the second actuator terminal T4 is connected to a second partial actuator via a second terminal T6 of the actuator 20. In an exemplary embodiment, both partial actuators act on a common drive element, for example a common drive shaft.

[0039] As can be seen in the detailed representation of the control device 10 in FIG. 2, the first actuator terminal T3 and the second actuator terminal T4 are multiphase, here three phase.

[0040] The control device 10 comprises a total of three converter modules 11, 12, 13, each having an input switching device E1, E2, E3, a buffer capacitor C1, C2, C3, a converter U1, U2, U3, and an output switching device A1, A2, A3. A further component of the converter modules 11, 12, 13 is a logic unit (not shown) for controlling the function of the respective converter module 11, 12, 13, in particular the respective input switching device E1, E2, E3, the respective converter U1, U2, U3, and the respective output switching device A1, A2, A3.

[0041] 2, the control device 10 is in a first operating state in which the first actuator terminal T3 is connected to the converter U1 of the first converter module 11, and the second actuator terminal T4 is connected to the converter U2 of the second converter module 12. The output switching device A1 of the first converter module 11 is placed in a conductive state to connect the converter U1 of the first converter module 11 to the first actuator terminal T3. Similarly, the output switching device A2 of the second converter module 12 is placed in a conductive state to connect the converter U2 of the second converter module 12 to the second actuator terminal T4. However, the output switching device A3 of the third converter module 13 isolates the converter U3 of the third converter module 13 from the actuator terminals T3 and T4.

[0042] On the input side, in a first operating state, the input switching devices E1, E2 of the first converter module 11 and the second converter module 12 are in a conducting state, and the input switching device E3 of the third converter module 13 is in an insulating state.

[0043] In a first operating state, the first partial actuator of the redundant actuator 10 is controlled by the first converter module 11 of the control device 10, and the second partial actuator is controlled via the second converter module 12 of the control device 10.

[0044] FIG. 3 shows a flow chart of an exemplary embodiment of a method according to the invention for operating an actuator system, in which: First operating state S1 -Faulty operating state S2 - insulating state S3, and Second operating state S4 It is shown whether each converter U1, U2, U3 of the converter modules 11, 12, 13 is connected to the actuator terminals T3, T4 and is active (=1), or is not connected to the actuator terminals T3, T4 and is inactive (=0), or is connected to the actuator terminals T3, T4 and at the same time an abnormality is identified in the respective converter module 11, 12, 13 (=lightning symbol).

[0045] In the first operating state S1, the first actuator terminal T3 is connected to the converter U1 of the first converter module 11, and the second actuator terminal T4 is connected to the converter U2 of the second converter module 12. In addition, the converter U3 of the third converter module 13 is in a switched-off, inactive state.

[0046] If a fault is identified in the first converter module 11 in the first operating state S1, the first converter module 11 enters an inactive state in which the converter U1 of the first converter module 11 is isolated from the actuator terminals T3, T4. A fault operating state S2 exists in which the second converter module 12 is still active and the third converter module 13 is inactive.

[0047] Upon identifying an anomaly in the first converter module 11, the control device does not remain in the faulty operating state S2 but is placed automatically or manually by the user into an isolation state S3 in which the first actuator terminal T3 and the second actuator terminal T4 are isolated from the converters U1, U2, U3 of the first, second and third converter modules 11, 12, 13. At this point, all converter modules 11, 12, 13 are inactive.

[0048] In this isolated state S3, handshake communication takes place between the first, second and third converter modules 11, 12, 13, and the handshake communication is used to negotiate which of the converters U1, U2, U3 of the converter modules 11, 12, 13 should be connected to the actuator terminals T3, T4 of the control device 10 following the isolated state S3.

[0049] After the handshake communication in the isolation state S3 is completed, the control device 10 transitions from the isolation state S3 to a second operating state S4. In the second operating state S4, the actuator terminals T3 and T4 are connected to one or more converters U1, U2, and U3 of the converter modules 11, 12, and 13 as negotiated by the handshake communication. In the case shown in FIG. 3, the second converter module 12 and the third converter module 13 are active in the second operating state. The converter U2 of the second converter module is connected to the second actuator output T4, and the converter U3 of the third converter module 13 is connected to the first actuator output T3. At this point, the third converter module 13 in the second operating state S4 takes over the function previously held by the first converter module 11 in the first operating state.

[0050] FIG. 4 is a flow diagram illustrating the processes in the first converter module 11 and the second converter module 12 during handshake communication.

[0051] According to the exemplary embodiment shown here, the handshake communication begins with a request step 401, in which the first converter module and the second converter module each check whether a request message has been received from the respective other converter module. The first converter module 11 and the second converter module 12 remain in the request step 401 until corresponding request messages have been received from the other two converter modules 11, 12, 13. Optionally, a timer with a specified execution time can be started in the request step 401, allowing subsequent steps of the handshake communication to be started only when the timer has elapsed or request messages have been received from all other converter modules 11, 12, 13.

[0052] The request step 401 is essentially optional, so in variations of this exemplary embodiment, the request step 401 can be omitted.

[0053] The request step 401 is followed by a status exchange step 402 in which the first converter module 11 and the second converter module 12 each determine their own operational readiness and communicate corresponding status information to the respective other converter module 11, 12, 13. The status exchange step 402 is divided into a first sub-step 402.1 for determining the status and a second sub-step 402.2 for exchanging status information. The operational readiness status information indicates whether the respective converter module 11, 12 is operational or not, e.g., faulty.

[0054] The status exchange step 402 is followed by a decision step 403 in which the status information received from the other converter modules 11, 12, 13 is judged together with its own status information. The decision step 403 comprises a first test step 403.1 for checking its own operational readiness and a second test step 403.2 for checking the operational readiness of the other two converter modules 11, 12, 13.

[0055] Depending on the result of the first test step 403.1, i.e. depending on its own operational readiness, the respective converter module 11, 12 is then deactivated or remains activated, for example, the converter module 11, 12 is deactivated (step 403.7) if the converter module 11, 12 is not ready for operation (=0) and is kept active (step 403.8) if it is ready for operation (=1).

[0056] Depending on the result of the second test step 403.2, i.e. additionally depending on the status information of the other converter modules 11, 12, 13, a command for the third converter module 13 is determined and sent to the third converter module 13. For the first converter module 11, this means, for example, that if the first converter module 11 is not ready for operation and both of the other converter modules 12, 13 are ready for operation, the third converter module 13 is instructed to take over for the first converter module 11 (step 403.3). If the first converter module 11 is not ready for operation and the second converter module 12 is not ready for operation either, the third converter module 13 is instructed to take over for either the first converter module 11 or the second converter module 12 (step 403.4). If the first converter module 11 and the third converter module 13 are ready to operate and the second converter module 12 is not ready to operate, the third converter module 13 is instructed to take over for the second converter module 12 (step 403.6). In all other cases (the third converter module 13 is not ready to operate or both the first converter module 11 and the second converter module 12 are ready to operate), the third converter module is instructed to remain inactive according to step 403.5.

[0057] In a confirmation step 404 following the decision step 403, the third converter module 13 sends a confirmation message to the first converter module 11 and the second converter module 12. The content of the confirmation message is whether the third converter module 13 has executed the respective command of the first converter module 11 or the second converter module 12. The respective confirmation messages are received by the first converter module 11 and the second converter module 12, and the first converter module 11 or the second converter module 12 determines to execute its own corresponding procedure.

[0058] 5 shows a flow diagram for explaining the process in the third converter module 13 during handshake communication. In principle, the process in the third converter module 13 is similar to the process in the first converter module 11 and the second converter module 12. However, due to the fact that the third converter module can be connected to either the first actuator output T3 or the second actuator output T4, or neither, there are some differences, which will be explained below.

[0059] According to the exemplary embodiment shown here, the handshake communication begins with a request step 401, in which the third converter module 13 checks whether a request message has been received from each of the other converter modules 11, 12. The third converter module 13 remains in the request step 401 until corresponding request messages have been received from the other two converter modules 11, 12. Optionally, a timer with a specified execution time can be started in the request step 401, allowing subsequent steps of the handshake communication to be started only when the timer has elapsed or request messages have been received from all other converter modules 11, 12.

[0060] The request step 401 is essentially optional, so in variations of this exemplary embodiment, the request step 401 can be omitted.

[0061] The request step 401 is followed by a status exchange step 402 in which the third converter module 13 determines its operational readiness and communicates corresponding status information to the other converter modules 11, 12. The status exchange step 402 is divided into a first sub-step 402.1 for determining the status and a second sub-step 402.2 for exchanging status information. The operational readiness status information indicates whether the respective converter module 11, 12 is operational or not, e.g., faulty.

[0062] Depending on the result of the test step 403.1, i.e., depending on its own operational readiness, the third converter module 13 is either deactivated (step 405.4) or the commands of the other two converter modules 11, 12 are determined in the second test step 405. For example, the third converter module 13 is deactivated (step 405.1) according to the corresponding commands from the other two converter modules 11, 12, and replaces the first converter module 11 (step 405.2) or the second converter module 12 (step 405.3). An exception is the situation where both the first and second converter modules 11, 13 are not ready for operation, thus instructing the third converter module to replace both the first and second converter modules. In this case, the third converter module 13 determines which converter module to replace according to predetermined criteria.

[0063] Finally, in a confirmation step 404, the third converter module 13 sends a confirmation message to the first converter module 11 and the second converter module 12. The content of the confirmation message is whether the third converter module 13 has executed the command of each of the first converter module 11 or the second converter module 12. [Explanation of symbols]

[0064] 10 Control device 11 First Converter Module 12 Second Converter Module 13 Third Converter Module 20 Actuator 100 Actuator System 401 Request Step 402 Status Exchange Step 402.1 Substeps 402.2 Substeps 403 Decision Step 403.1 Test Steps 403.2 Test Steps 403.3 Step 1: Command to supersede converter module 403.4 Step: Command the first converter module or the second converter module to take over 403.5 Steps to remain inactive 403.6 Step 2: Command to take over the converter module 403.7 Step 1 converter module deactivated 403.8 Step 1 Converter Module Active 404 confirmation step 405 Test Steps 405.1 Step 3 Converter Module Deactivated 405.2 Step 3 Converter Module Replaces 1st Converter Module 405.3 Step 3 Converter Module Replaces 2nd Converter Module 405.3 Step 3 converter module deactivated A1 Output Switching Device A2 Output Switching Device A3 Output Switching Device BN1 Supply Network BN2 Supply Network C1 Buffer Capacity C2 Buffer Capacity C3 Buffer Capacity E1 input switching device E2 Input Switching Device E3 Input Switching Device S1 First operating state S2 Fault operating state S3 Insulated state S4 Second operating state T1 supply network terminal T2 supply network terminal T3 Actuator Terminal T4 Actuator Terminal T5 Actuator terminal T6 Actuator terminal U1 Converter U2 Converter U3 Converter

Claims

1. A method for controlling a redundant actuator (20) having two partial actuators, in particular a motor having two separate winding sets, by a control device (10), comprising: a first partial actuator is connected to a first actuator terminal (T3) of the control device (10), and a second partial actuator is connected to a second actuator terminal (T4) of the control device (10); the control device (10) comprises first, second and third converter modules (11, 12, 13), each of the first, second and third converter modules (11, 12, 13) having a converter (U1, U2, U3); In a first operating state (S1), the first actuator terminal (T3) is connected to the converter (U1) of the first converter module (11) and the second actuator terminal (T4) is connected to the converter (U2) of the second converter module (12); a fault in the first converter module (11) is identified, and the control device (10) transitions to an isolation state (S3) in which the first actuator terminal (T3) and the second actuator terminal (T4) are isolated from the converters (U1, U2, U3) of the first, second, and third converter modules (11, 12, 13); In the isolated state (S3), handshake communication is performed between the first, second, and third converter modules (11, 12, 13) of the control device (10), and the handshake communication negotiates which of the converters (U1, U2, U3) of the converter modules (11, 12, 13) will be connected to the actuator terminals (T3, T4) of the control device (10).

2. 2. The method of claim 1, wherein the control device (10) of the handshake communication subsequently transitions from the isolation state (S3) to a second operating state (S4) in which the actuator terminals (T3, T4) are connected to the converters (U1, U2, U3) of the converter modules (11, 12, 13) as negotiated by the handshake communication.

3. 3. The method according to claim 1 or 2, characterized in that the anomaly is identified by the first converter module (11) itself.

4. 3. The method according to claim 1 or 2, characterized in that each of the three converter modules (11, 12, 13) monitors each of the other converter modules (11, 12, 13) to identify the anomaly in the first converter module (11).

5. The handshake communication A method according to any one of claims 1 to 4, characterized in that it includes a request step in which the first, second and third converter modules each check whether a request message has been received from the respective other converter module.

6. The handshake communication A method according to any one of claims 1 to 5, characterized in that it includes a status exchange step in which the first, second and third converter modules each determine status information of their operational readiness and communicate the determined status information to the respective other converter modules.

7. The handshake communication The method of claim 6, characterized in that it includes a decision step in which the first and second converter modules each determine a command for the third converter module based on the status information received from the respective other converter module and send the command to the third converter module.

8. The handshake communication 8. A method according to claim 7, characterized in that it includes a confirmation step in which said third converter module sends a confirmation message to said first and second converter modules.

9. 9. The method according to claim 1, wherein in the first operating state (S1), the actuator terminals (T3, T4) of the control device (10) are isolated from the converter (U3) of the third converter module (13).

10. 10. The method according to claim 1, wherein the partial actuators act on a common drive element, in particular a common drive shaft.

11. 11. The method according to any one of claims 1 to 10, characterized in that the first, second and third converter modules (11, 12, 13) each have a logic unit for controlling the converters (U1, U2, U3).

12. 12. Method according to any one of the preceding claims, characterized in that the control device (10) has two supply network terminals (T1, T2).

13. 13. The method according to claim 1, wherein the first converter module (11) and the second converter module (12) are configured identically, in particular the handshake logic of the first and second converter modules (11, 12) that controls the handshake communication are configured identically.

14. An actuator system (100), in particular for a steer-by-wire system, comprising: A redundant actuator (20) having two partial actuators, in particular a motor having two separate winding sets, and A control device (10) for controlling the redundant actuators (20), the control device (10) comprising first, second and third converter modules (11, 12, 13), each having a converter (U1, U2, U3), the control device (10) in a first operating state (S1), a first actuator terminal (T3) is connected to the converter (U1) of the first converter module (11) and a second actuator terminal (T4) is connected to the converter (U2) of the second converter module (12); - identifying an anomaly in the first converter module (11) and transitioning to an isolation state (S3) in which the first actuator terminal (T3) and the second actuator terminal (T4) are isolated from the converters (U1, U2, U3) of the first, second and third converter modules (11, 12, 13); - An actuator system configured to perform handshake communication between the first, second and third converter modules (11, 12, 13) of the control device (10) in the isolated state (S3), the handshake communication negotiating which of the converters (U1, U2, U3) of the converter modules (11, 12, 13) will be connected to the actuator terminals (T3, T4) of the control device (10).

15. The actuator system of claim 14 , wherein the redundant actuator is configured as an actuator on a tie rod.

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