Actuator control device

Abstract

An actuator control device according to embodiments of the present invention may comprise: a first switch unit which includes a plurality of unit switches, and controls power supplied to a first actuator; a first resistor connected to the first switch unit; and a control unit which controls the first actuator, wherein the control unit is configured to: determine an open load detection sequence on the basis of a first signal generated based on a position signal which may be received from the first actuator; detect a current flowing through the first resistor while controlling the first switch unit on the basis of the determined open load detection sequence; and identify whether the first actuator is normally connected, on the basis of the current flowing through the first resistor while the first switch unit is being controlled on the basis of the determined open load detection sequence.

Description

Actuator control unit

[0001] The present invention relates to an actuator control device, and more specifically, to an actuator control device compatible with a plurality of types of actuators.

[0002] Electric vehicles (EVs) are gaining recognition as an eco-friendly mode of transportation, and their drivetrain utilizes a variety of actuators. Actuators are devices that convert energy into physical motion. In particular, brushless alternating current (BLAC) motors and solenoids are widely used as the primary actuators in electric vehicles.

[0003] The BLAC motor is a brushless motor that uses AC power, offering high efficiency and durability. The BLAC motor rotates using three-phase AC power. Power is transmitted through the magnetic field between the rotor and stator, and the direction of rotation varies depending on the three-phase input sequence.

[0004] A solenoid is a device that uses electromagnetic force to generate linear motion. It operates by magnetizing an iron core within a magnetic field generated by current flow, causing it to move linearly. When the current is cut off, the solenoid returns to its original position. Solenoids have the advantages of simple construction and high reliability.

[0005] In a control device that can be connected to both a BLAC motor and a solenoid, it is necessary to check whether the BLAC motor or solenoid is normally connected. The present embodiment provides a means for checking whether the actuator is normally connected.

[0006] An actuator control device according to embodiments of the present invention includes a first switch unit that includes a plurality of unit switches and controls power supplied to a first actuator, a first resistor connected to the first switch unit, and a control unit that controls the first actuator, wherein the control unit determines an open load detection sequence based on a first signal generated based on a position signal that can be received from the first actuator, detects a current flowing in the first resistor while controlling the first switch unit based on the determined open load detection sequence, and determines whether the first actuator is normally connected based on the current flowing in the first resistor while the first switch unit is controlled based on the determined open load detection sequence.

[0007] The actuator control device further includes a pull-up circuit configured to output three of the first signals to the control unit, wherein the pull-up circuit is configured to output the position signal as the first signal to the control unit when receiving a position signal from the first actuator, and to output a signal of a predetermined first level as the first signal to the control unit when no position signal is received from the first actuator, and the control unit may be configured to control the first switch unit based on a predefined first open load detection sequence when a difference between a sum of the three first signals received from the pull-up circuit and a level three times the predetermined first level is less than a first threshold, and to control the first switch unit based on a predefined second open load detection sequence when a difference between a sum of the three first signals received from the pull-up circuit and a level three times the predetermined first level is greater than or equal to the first threshold.

[0008] The above position signal may include a Position A position signal, a Position B position signal, and a PWM position signal.

[0009] The first switch unit includes first to third upper switches and first to third lower switches connected in series to the first to third upper switches, respectively, and the first open load detection sequence includes at least one of an operation of PWM-ONing the first upper switch and the second lower switch, an operation of PWM-ONing the first upper switch and the third lower switch, an operation of PWM-ONing the second upper switch and the first lower switch, an operation of PWM-ONing the second upper switch and the third lower switch, an operation of PWM-ONing the third upper switch and the first lower switch, and an operation of PWM-ONing the third upper switch and the second lower switch, and a first condition for confirming in the control unit that the first actuator is normally connected is a condition that a current flowing in the first resistor is less than the first threshold while the first upper switch and the second lower switch are PWM-ON, and a condition that the first upper switch and the third lower switch are PWM-ON. During, the current flowing in the first resistor may include at least one of the following conditions: a condition in which the current flowing in the first resistor satisfies the second condition; a condition in which the current flowing in the first resistor is less than the first threshold while the second upper switch and the first lower switch are PWM-on; a condition in which the current flowing in the first resistor is less than the first threshold while the second upper switch and the third lower switch are PWM-on; a condition in which the current flowing in the first resistor satisfies the second condition while the third upper switch and the first lower switch are PWM-on; and a condition in which the current flowing in the first resistor is less than the first threshold while the third upper switch and the second lower switch are PWM-on.

[0010] The above second condition can be satisfied when the current flowing through the first resistor is greater than 0.3 A and less than 0.7 A.

[0011] The duty ratio of the above PWM on operation may be 10% or less.

[0012] The control unit may be configured to, after confirming that the first actuator is normally connected, PWM-on the first upper switch and the third lower switch, (a) if the current flowing in the first resistor satisfies the second condition: enter the driving preparation state of the first actuator; and periodically PWM-on the first upper switch and the third lower switch until ignition off is confirmed, check whether the current flowing in the first resistor satisfies the second condition, and (b) if the current flowing in the first resistor does not satisfy the second condition, check that the first actuator is not normally connected.

[0013] The first switch unit includes first to third upper switches and first to third lower switches connected in series to the first to third upper switches, respectively, and the second open load detection sequence includes at least one of an operation of PWM-ONing the first upper switch and the second lower switch, an operation of PWM-ONing the first upper switch and the third lower switch, an operation of PWM-ONing the second upper switch and the first lower switch, an operation of PWM-ONing the second upper switch and the third lower switch, an operation of PWM-ONing the third upper switch and the first lower switch, and an operation of PWM-ONing the third upper switch and the second lower switch, and a third condition for confirming in the control unit that the first actuator is normally connected is a condition that a current flowing in the first resistor satisfies a fourth condition while the first upper switch and the second lower switch are PWM-ON, and while the first upper switch and the third lower switch are PWM-ON, The current flowing in the first resistor satisfies the fourth condition, the current flowing in the first resistor satisfies the fourth condition while the second upper switch and the first lower switch are PWM-on, the current flowing in the first resistor satisfies the fourth condition, the current flowing in the first resistor satisfies the fourth condition while the second upper switch and the third lower switch are PWM-on, the current flowing in the first resistor satisfies the fourth condition, the current flowing in the third upper switch and the first lower switch are PWM-on, the current flowing in the first resistor satisfies the fourth condition, and the current flowing in the first resistor satisfies the fourth condition while the third upper switch and the second lower switch are PWM-on, wherein the fourth condition can be satisfied when a difference between the current flowing in the first resistor and the current of the second level is less than the first threshold.

[0014] The above control unit may be configured to store a relationship between the duty ratio of the PWM turning-on operation and the second level.

[0015] The control unit determines that the second lower switch is in a short-circuit state if, while the second upper switch and the first lower switch are PWM-on, the time during which the current flowing in the first resistor exceeds a third level indicating overcurrent continues for a first threshold time or longer, and while the second upper switch and the third lower switch are PWM-on, the time during which the current flowing in the first resistor exceeds the third level continues for a first threshold time or longer, or while the first upper switch and the second lower switch are PWM-on, the time during which the current flowing in the first resistor exceeds the third level continues for a first threshold time or longer, or while the second upper switch and the first lower switch are PWM-on, the time during which the current flowing in the first resistor exceeds the third level continues for a first threshold time or longer, or If the time during which the current flowing through the first resistor exceeds the third level while the third upper switch and the first lower switch are PWM-on continues for a first threshold time or longer, the first upper switch is determined to be in a short-circuit state, or if the time during which the current flowing through the first resistor exceeds the third level while the first upper switch and the second lower switch are PWM-on continues for a first threshold time or longer, and if the time during which the current flowing through the first resistor exceeds the third level while the first upper switch and the third lower switch are PWM-on continues for a first threshold time or longer, the first lower switch is determined to be in a short-circuit state, or if the time during which the current flowing through the first resistor exceeds the third level while the first upper switch and the third lower switch are PWM-on continues for a first threshold time or longer,If the time during which the current flowing through the first resistor exceeds the third level while the second upper switch and the third lower switch are PWM-on continues for a first threshold time or longer, it may be determined that the third upper switch is in a short-circuit state, or if the time during which the current flowing through the first resistor exceeds the third level while the third upper switch and the first lower switch are PWM-on continues for a first threshold time or longer, and the time during which the current flowing through the first resistor exceeds the third level while the third upper switch and the second lower switch are PWM-on continues for a first threshold time or longer, it may be determined that the third lower switch is in a short-circuit state.

[0016] The first switch unit includes first to third upper switches and first to third lower switches connected in series to the first to third upper switches, respectively, and the actuator control device further includes a freewheeling diode, one end of the freewheeling diode being connected to a first node between the first upper switch and the first lower switch, and the other end of the freewheeling diode being connected to a second node between the third upper switch and the third lower switch.

[0017] The first open load detection sequence includes at least one of an operation of PWM-ONing the first upper switch and the second lower switch, an operation of PWM-ONing the first upper switch and the third lower switch, an operation of PWM-ONing the second upper switch and the first lower switch, an operation of PWM-ONing the second upper switch and the third lower switch, and an operation of PWM-ONing the third upper switch and the second lower switch, and a first condition for confirming that the first actuator is normally connected in the control unit is a condition that a current flowing in the first resistor is less than the first threshold while the first upper switch and the second lower switch are PWM-ON, a condition that a current flowing in the first resistor satisfies a second condition while the first upper switch and the third lower switch are PWM-ON, a condition that a current flowing in the first resistor is less than the first threshold while the second upper switch and the first lower switch are PWM-ON, a condition that a current flowing in the second resistor is less than the first threshold while the second upper switch and the third It may include at least one of a condition in which the current flowing through the first resistor is less than the first threshold while the lower switch is PWM-on, and a condition in which the current flowing through the first resistor is less than the first threshold while the third upper switch and the second lower switch are PWM-on.

[0018] The second open load detection sequence includes at least one of an operation of PWM-ONing the first upper switch and the second lower switch, an operation of PWM-ONing the first upper switch and the third lower switch, an operation of PWM-ONing the second upper switch and the first lower switch, an operation of PWM-ONing the second upper switch and the third lower switch, an operation of PWM-ONing the third upper switch and the first lower switch, and an operation of PWM-ONing the third upper switch and the second lower switch, and a third condition for confirming that the first actuator is normally connected in the control unit is a condition that the current flowing in the first resistor satisfies a fourth condition while the first upper switch and the second lower switch are PWM-ON, a condition that the current flowing in the first resistor satisfies the fourth condition while the first upper switch and the third lower switch are PWM-ON, and a condition that the current flowing in the first resistor satisfies the fourth condition while the second upper switch and the first lower switch are PWM-ON. The current may include at least one of the following conditions: a condition in which the current satisfies the fourth condition; a condition in which the current flowing in the first resistor satisfies the fourth condition while the second upper switch and the third lower switch are PWM-on; a condition in which the current flowing in the first resistor satisfies the fifth condition while the third upper switch and the first lower switch are PWM-on; and a condition in which the current flowing in the first resistor satisfies the fifth condition while the third upper switch and the second lower switch are PWM-on; and the fourth condition may be satisfied when a difference between the current flowing in the first resistor and a current of a second level is less than the first threshold; and the fifth condition may be satisfied when a time in which the current flowing in the first resistor exceeds the third level indicating overcurrent continues for a first threshold time or longer.

[0019] The control unit determines that the first upper switch is in a short-circuit state if the time during which the current flowing through the first resistor exceeds the third level indicating overcurrent continues for a first threshold time or longer while the second upper switch and the first lower switch are PWM-on, or if the time during which the current flowing through the first resistor exceeds the third level continues for a first threshold time or longer while the first upper switch and the second lower switch are PWM-on, and if the time during which the current flowing through the first resistor exceeds the third level continues for a first threshold time or longer while the first upper switch and the third lower switch are PWM-on, and if the time during which the current flowing through the first resistor exceeds the third level continues for a first threshold time or longer while the third upper switch and the second lower switch are PWM-on, and if the time during which the current flowing through the first resistor exceeds the third level continues for a first threshold time or longer In this case, if it is determined that the second upper switch is in a short state, or if the time during which the current flowing through the first resistor exceeds the third level while the second upper switch and the first lower switch are PWM-on continues for a first threshold time or longer, the second lower switch is determined to be in a short state, or if the time during which the current flowing through the first resistor exceeds the third level while the first upper switch and the third lower switch are PWM-on continues for a first threshold time or longer, and if the time during which the current flowing through the first resistor exceeds the third level while the second upper switch and the third lower switch are PWM-on continues for a first threshold time or longer, the third upper switch is determined to be in a short state, or if the third upper switch and the second lower switch are PWM-on,If the time for which the current flowing through the first resistor exceeds the third level continues for a first threshold time or longer, the third lower switch may be configured to be determined to be in a short-circuit state.

[0020] The control unit determines that the first upper switch is in a short-circuit state if the time during which the current flowing in the first resistor exceeds a third level indicating overcurrent continues for a first threshold time or longer while the second upper switch and the first lower switch are PWM-on, the time during which the current flowing in the first resistor exceeds the third level continues for a first threshold time or longer, and while the first upper switch and the third lower switch are PWM-on, the time during which the current flowing in the first resistor exceeds the third level continues for a first threshold time or longer, the first lower switch is determined to be in a short-circuit state if the time during which the current flowing in the first resistor exceeds the third level continues for a first threshold time or longer, the second upper switch is determined to be in a short-circuit state if the time during which the current flowing in the first resistor exceeds the third level continues for a first threshold time or longer, while the second upper switch and the first lower switch are PWM-on, the current flowing in the first resistor If the time exceeding the third level continues for a period longer than the first threshold time, it may be determined that the second lower switch is in a short-circuit state, or if the time during which the current flowing through the first resistor exceeds the third level while the first upper switch and the third lower switch are PWM-on continues for a period longer than the first threshold time, and if the time during which the current flowing through the first resistor exceeds the third level while the second upper switch and the third lower switch are PWM-on continues for a period longer than the first threshold time, it may be determined that the third upper switch is in a short-circuit state.

[0021] According to embodiments of the present invention, it is possible to check whether an actuator is normally connected in an actuator control device that can be used for both a BLAC motor and a solenoid.

[0022] In addition, according to embodiments of the present invention, while controlling a switching element included in an actuator control device, a current flowing through a shunt resistor can be measured, and based on the measurement result, it is possible to check whether the actuator is normally connected, as well as whether the switching element is short-circuited.

[0023] FIG. 1 is a block diagram of an actuator control device according to embodiments of the present invention.

[0024] Figures 2 and 3 illustrate an actuator control device according to a comparative example of the present invention.

[0025] Figure 4 is a flowchart illustrating operations occurring in an actuator control device according to a comparative example of the present invention.

[0026] FIG. 5 is a block diagram of an actuator control device according to embodiments of the present invention.

[0027] Figure 6 is a block diagram of an actuator control device according to embodiments of the present invention.

[0028] FIGS. 7A and 7B illustrate the internal structure of an actuator control device according to embodiments of the present invention.

[0029] Figure 8 illustrates the internal structure of an actuator control device according to embodiments of the present invention.

[0030] FIG. 9 is a flowchart illustrating operations occurring in an actuator control device according to embodiments of the present invention.

[0031] Hereinafter, a preferred embodiment of the present invention will be described in detail with reference to the attached drawings.

[0032] However, the technical idea of ​​the present invention is not limited to some of the embodiments described, but can be implemented in various different forms, and within the scope of the technical idea of ​​the present invention, one or more of the components between the embodiments can be selectively combined or substituted for use.

[0033] In addition, terms (including technical and scientific terms) used in the embodiments of the present invention may be interpreted as having a meaning that can be generally understood by a person of ordinary skill in the technical field to which the present invention belongs, unless explicitly and specifically defined and described, and terms that are commonly used, such as terms defined in a dictionary, may be interpreted in consideration of the contextual meaning of the relevant technology.

[0034] Additionally, the terms used in the embodiments of the present invention are intended to describe the embodiments and are not intended to limit the present invention.

[0035] In this specification, the singular may also include the plural unless specifically stated otherwise in the phrase, and when it is described as “A and / or at least one (or more) of B, C”, it may include one or more of all combinations that can be combined with A, B, C.

[0036] Additionally, in describing components of embodiments of the present invention, terms such as first, second, A, B, (a), (b), etc. may be used. These terms are only intended to distinguish the components from other components, and are not intended to limit the nature, order, or sequence of the components.

[0037] And, when a component is described as being 'connected', 'coupled', or 'connected' to another component, it may include not only cases where the component is 'connected', 'coupled', or 'connected' directly to the other component, but also cases where the component is 'connected', 'coupled', or 'connected' by another component between the component and the other component.

[0038] FIG. 1 is a block diagram of an actuator control device according to embodiments of the present invention.

[0039] An actuator control device (1000) according to one embodiment of the present invention may include a switch unit (100), a first resistor (200), and a control unit (400). An actuator (300) controlled by the actuator control device (1000) may include a position measurement sensor.

[0040] The switch unit (100) may include a plurality of unit switches. The switch unit (100) may include first to third upper switches and first to third lower switches connected in series to the first to third upper switches, respectively, as unit switches. Here, the unit switches may include semiconductor switching elements such as FETs, MOSFETs, or IGBTs. It is understood that various other switching elements may be included. The switch unit (100) may receive power from a battery (600) and supply driving power to the actuator (300). The switch unit (100) may control the power supplied to the actuator (300). Power is supplied to the switch unit (100), and driving power is supplied to the actuator (300), and output to the output unit of the switch unit (100).

[0041] A first resistor (200) is connected to the output section of the switch section (100). The current flowing through the first resistor (200) can be used by the control section (400) to determine whether the actuator (300) is normally connected and whether the switch section (100) is operating.

[0042] The control unit (400) controls the actuator (300) connected to the switch unit (100). The control unit (400) can control the actuator (300) by starting the actuator (300) or generating a control signal according to a direction, speed, or mode to be controlled during operation to drive the actuator (300). The control unit (400) can control the actuator (300) by controlling the operation of the switch unit (100) that applies driving power to the actuator (300). The actuator (300) can be controlled by controlling the operation of the switch unit (100), i.e., the on / off of the unit switches included in the switch unit (100). The control unit (400) can control the duty of the unit switches. Here, the duty is the time for which the switch remains on for one cycle, and the actuator (300) can be controlled by controlling the time for which driving power is transmitted to the actuator (300) in a switching operation in which power is supplied to the actuator (300). In this specification, the duty ratio means the percentage of the time for which the switch remains on within one cycle with respect to one cycle. In this specification, the control unit (400) turning on a specific unit switch by PWM can mean repeating the on and off of the unit switch with a duty ratio of less than 100% within a constant PWM (Pulse Width Modulation) cycle.

[0043] The actuator control device (1000) may further include a pull-up circuit (not shown). The pull-up circuit is configured to output three first signals to the control unit (400). When the actuator (300) is a BLAC motor, the pull-up circuit may receive a Position A position signal, a Position B position signal, and a PWM position signal from the BLAC motor, and output each position signal as a first signal to the control unit (400). When the actuator (300) is a solenoid, the solenoid does not generate a position signal. In this case, the pull-up circuit may generate a signal having a predetermined first level and output it as a first signal to the control unit (400). The control unit (400) may receive three first signals having a first level. The first level is a level indicating a HIGH state, and may be a level higher than the intensities of the Position A position signal, the Position B position signal, and the PWM position signal.

[0044] The control unit (400) can determine the type of the actuator (300) based on the first signal received from the pull-up circuit. The actuator (300) may be a BLAC motor or a solenoid. The control unit (400) can control the switch unit (100) according to an open load detection sequence corresponding to the determined type of the actuator (300). The control unit (400) can check the current flowing in the first resistor (200) while controlling the switch unit (100) according to the open load detection sequence. If the current flowing in the first resistor (200) has a value within a predetermined range according to the open load detection sequence, the control unit (400) can determine that the actuator (300) is normally connected. If the current flowing through the first resistor (200) has a value outside a predetermined range according to the open load detection sequence, the control unit (400) can determine that the actuator (300) is not normally connected.

[0045] Fig. 2 illustrates an actuator control device according to a comparative example of the present invention. In Fig. 2, a shunt resistor for measuring current is positioned in a phase output pattern, and a controller (micom) for controlling a DC motor detects the current flowing in the shunt resistor from the potential difference across the shunt resistor in order to measure the current of the DC motor. The shunt resistor is positioned in the phase output to measure the current of the DC motor in the phase output section. Since the rotation direction of a DC motor can affect the performance of the product and the direction of rotation needs to be changed to improve responsiveness, detection of the rotation direction is necessary. The rotation direction of the DC motor can be determined by detecting the current flowing in the shunt resistor and determining the direction of the current.

[0046] The configuration of Fig. 2 is a control device for controlling a DC motor, and cannot be used as a control device for controlling a solenoid, a control device for controlling a BLAC motor, or a control device for controlling both a solenoid and a BLAC motor. In particular, if the feature of the configuration of Fig. 2 in which the shunt resistor for measuring current is located in the phase output pattern is adopted for a control device for controlling a BLAC motor or a control device for controlling both a solenoid and a BLAC motor, phase current imbalance may occur when the BLAC motor is driven, which may generate noise due to torque ripple, which may adversely affect performance. In order to solve the noise problem due to torque ripple, adding a shunt resistor to each phase may increase the cost and increase the size of the control device.

[0047] Fig. 3 illustrates an actuator control device according to a comparative example of the present invention. Fig. 4 is a flowchart illustrating operations occurring in an actuator control device according to a comparative example of the present invention. The control device of Fig. 3 can be used for both a DC motor and a BLDC motor. The control unit (Micom) controls each unit switch (H1, H2, H3, L1, L2, L3 of Fig. 3) included in the switch unit of the B6 bridge structure, and while the control is performed, checks the current flowing in the first lower switch (L1), the current flowing in the third lower switch (L3), and the current flowing in the shunt resistor, and can determine whether the motor connected to the control device is a DC motor or a BLDC motor based on the checked current.

[0048] Specifically, the operations performed by the control device of FIG. 3 to determine the type of motor connected are illustrated in FIG. 4. When the battery or ignition is turned on or the control unit (Micom) operates in wake-up mode (401), the control unit (Micom) first turns on (402) the first lower switch (L1) and the third lower switch (L3), and then turns on (403) the second upper switch (H2). At this time, the control unit (Micom) may always turn on (full on) the first lower switch (L1) and the third lower switch (L3), and turn on the second upper switch (H2) with a duty of 5% or more.

[0049] The control unit (Micom) determines (404) whether the current flowing through the first resistor (LSR), the L1 current, and the L3 current are greater than or equal to the threshold value of 0.5 A while the switches are controlled according to operations 402 and 403. If the LSR, the L1 current, and the L3 current are all greater than or equal to the threshold value, the control unit (Micom) determines (405) that the sum of the position measurement values ​​of the Hall sensors (Hall sensors A, B, C), which are position measurement sensors that measure the position of the motor, is greater than or equal to 1 and less than or equal to 2. If the sum of the position measurement values ​​of the Hall sensors (Hall sensors A, B, C) is greater than or equal to 1 and less than or equal to 2, the control unit (Micom) determines that the motor is connected to the BLDC motor and prepares to drive the BLDC motor (406). If the sum of the position measurement values ​​of the Hall sensors (Hall sensors A, B, C) is less than 1 or more than 2, the control unit (Micom) determines that an error has occurred in the output path of the Hall sensors (407). If at least one of the LSR, L1 current, and L3 current is less than the threshold, the control unit (Micom) determines whether the LSR, L1 current, and L3 current do not flow and the output of the Hall sensors (Hall sensors A, B, C) is low (408). If the LSR, L1 current, and L3 current do not flow and the output of the Hall sensors (Hall sensors A, B, C) is low, the control unit (Micom) determines that the DC motor is connected and prepares to drive the DC motor (409). If at least one of the currents of LSR, L1 current, and L3 current flows or at least one of the outputs of the Hall sensors (Hall sensor A, B, C) is high, the control unit (Micom) determines that a failure has occurred in the power unit and generates an alarm (410).

[0050] The control device and control method illustrated in FIGS. 3 and 4 are control devices for controlling both a DC motor and a BLDC motor, and cannot be used as a control device for controlling a solenoid, a control device for controlling a BLAC motor, or a control device for controlling both a solenoid and a BLAC motor. In particular, since the output signal of the Hall sensor, which is a position sensor built into the BLDC motor, and the output signal of the MR sensor (Magnetoresistive Sensor), which is a position sensor built into the BLAC motor, are different, the same method as the method for processing the position signal output from the Hall sensor to determine that it is a BLDC motor in the control unit of FIGS. 3 and 4 cannot be used to process the position signal output from the MR sensor.

[0051] FIG. 5 is a block diagram of an actuator control device (2000) according to embodiments of the present invention. Referring to FIG. 5, the actuator control device (2000) may include a first switch unit (2101), a first resistor (2201), and a control unit (2400). The first switch unit (2101) may control power supplied to the first actuator (2301) under the control of the control unit (2400). The details regarding the switch unit (100), the first resistor (200), and the control unit (400) described above with reference to FIG. 1 may be equally applied to the first switch unit (2101), the first resistor (2201), and the control unit (2400) of FIG. 5.

[0052] The actuator control device (2000) may include a second switch unit (2102) and a second resistor (2202). The power supplied to the second actuator (2302) may be controlled according to the control of the second switch unit (2102) control unit (2400). The details regarding the switch unit (100) and the first resistor (200) described above with reference to FIG. 1 may be equally applied to the second switch unit (2102) and the second resistor (2202) of FIG. 5.

[0053] The actuator control device (2000) may further include two pull-up circuits (not shown). Each pull-up circuit is configured to output three first signals to the control unit (2400). The control unit (2400) may determine the type of the first actuator (2301) based on the first signal received from one pull-up circuit, and may determine the type of the second actuator (2302) based on the first signal received from the other pull-up circuit. The control unit (2400) may control the first switch unit (2101) according to an open load detection sequence corresponding to the determined type of the first actuator (2301), while checking the current flowing through the first resistor (2201). If the current flowing through the first resistor (2201) has a value within a predetermined range according to the open load detection sequence, the control unit (2400) can determine that the first actuator (2301) is normally connected. If the current flowing through the first resistor (2201) has a value outside the predetermined range according to the open load detection sequence, the control unit (2400) can determine that the first actuator (2301) is not normally connected.

[0054] Similarly, the control unit (2400) can control the second switch unit (2102) according to an open load detection sequence corresponding to the type of the determined second actuator (2302) while checking the current flowing in the second resistor (2202). If the current flowing in the first resistor (2202) has a value within a predetermined range according to the open load detection sequence, the control unit (2400) can check that the second actuator (2302) is normally connected. If the current flowing in the second resistor (2202) has a value outside the predetermined range according to the open load detection sequence, the control unit (2400) can check that the second actuator (2302) is not normally connected.

[0055] That is, the control unit (2400) can determine the types of the first actuator (2301) and the second actuator (2302) and control the first switch unit (2101) and the second switch unit (2102) according to the open load detection sequence corresponding to each type, thereby checking whether the first actuator (2301) and the second actuator (2302) are normally connected. In other words, the actuator control device (2000) can check whether the two actuators are normally connected.

[0056] Fig. 6 is a block diagram of an actuator control device according to embodiments of the present invention. The switch unit (100) may include first to third upper switches (111 to 113) and first to third lower switches (121 to 123) connected in series to the upper switches (111 to 113), respectively. The upper and lower switches connected in series may be complementarily conductive. The fact that the upper and lower switches are complementarily conductive means that when the upper switch is turned on, the lower switch is turned off. As shown in Fig. 6, a node between the upper and lower switches connected in series may be connected to an actuator (300), and driving power may be input to the actuator (300) according to the on / off operation of the switches. A first resistor (200) may be connected to the output of the first to third lower switches (121 to 123). The switch unit (100) may be implemented as a B6 bridge circuit consisting of three upper switches and three lower switches.

[0057] The control unit (400) controls the switch unit (100) according to an open load detection sequence determined depending on the type of actuator (300), and can use the current flowing through the first resistor (200) to check whether the actuator (300) is normally connected. In order to prevent an imbalance in the phase resistance when connecting the BLAC motor, a shunt resistor is not placed in the phase output unit as shown in Fig. 2.

[0058] The control unit (400) can check the current flowing through the first resistor (200) as shown in mathematical expression 1.

[0059]

[0060] Here, V_LSR is the voltage across the first resistor, R_shunt is the resistance value of the first resistor, and I_ACT is the current flowing through the first resistor.

[0061] Fig. 7a illustrates the internal structure of an actuator control device connected to a BLAC motor according to embodiments of the present invention. The switch unit may be connected to the actuator by forming a B6 bridge with the first to third upper switches (H1, H2, H3) and the first to third lower switches (L1, L2, L3). As illustrated in Fig. 7a, when the actuator control device is connected to the BLAC motor, all three phase patterns of U, V, and W may be connected. A capacitor (Al-cap) may be connected to the input terminal of the switch unit. The switch unit may receive input power from the power supply unit and transmit it to the actuator. At this time, the power supply unit may be a battery (600) or an external power supply.

[0062] The actuator control device (1000) may further include a pull-up circuit (not shown). The pull-up circuit is configured to output three first signals to the control unit (400). As shown in FIG. 7A, when a BLAC motor is connected, the pull-up circuit may receive a Position A position signal, a Position B position signal, and a PWM position signal from the BLAC motor, and output each position signal as a first signal to the control unit (400). The control unit (400) may receive the three first signals, and may determine that the type of the connected actuator is a BLAC motor based on whether the sum of the three first signals differs by a level three times a predetermined first level and a first threshold value or more.

[0063] Thereafter, the control unit (400) can control the switch unit based on the open load detection sequence corresponding to the BLAC motor, and check the current flowing in the first resistor (200) while the switch unit is controlled based on the open load detection sequence corresponding to the BLAC motor. The current flowing in the first resistor (200) can be amplified by the amplifier (500) and transmitted to the control unit (400). If the current flowing in the first resistor (200) has a value within a predetermined range, the control unit (400) can confirm that the BLAC motor is normally connected. If the current flowing in the first resistor (200) has a value outside the predetermined range, the control unit (400) can confirm that the BLAC motor is not normally connected.

[0064] Fig. 7b illustrates the internal structure of an actuator control device connected to a solenoid according to embodiments of the present invention. As described above with respect to Fig. 7a, the switch unit may be connected to the actuator by forming a B6 bridge with the first to third upper switches (H1, H2, H3) and the first to third lower switches (L1, L2, L3). As illustrated in Fig. 7b, when the actuator control device is connected to the solenoid, only the U (A) and W (B) patterns may be connected. A capacitor (Al-cap) may be connected to the input terminal of the switch unit. The switch unit may receive input power from the power supply unit and transmit it to the actuator. At this time, the power supply unit may be a battery (600) or an external power supply.

[0065] As described above with respect to FIG. 7A, the actuator control device (1000) may further include a pull-up circuit (not shown). The pull-up circuit is configured to output three first signals to the control unit (400). As shown in FIG. 7B, when the solenoid is connected, since the solenoid does not generate a position signal, the pull-up circuit may generate a signal having a predetermined first level and output it as a first signal to the control unit (400). The control unit (400) may receive three first signals having a first level. The first level is a level indicating a HIGH state and may be a level higher than the intensities of the Position A position signal, the Position B position signal, and the PWM position signal.

[0066] The control unit (400) can receive three first signals from the pull-up circuit and determine that the type of the connected actuator is a solenoid based on whether the sum of the three first signals is three times the predetermined first level. The fact that the sum of the three first signals is three times the predetermined first level can allow for a certain level of error. That is, the control unit (400) can determine that the type of actuator is a solenoid if the difference between the sum of the three received first signals and the level three times the predetermined first level is less than the first threshold.

[0067] Thereafter, the control unit (400) controls the switch unit based on the open load detection sequence corresponding to the solenoid, and can check the current flowing in the first resistor (200) while the switch unit is controlled based on the open load detection sequence corresponding to the solenoid. The current flowing in the first resistor (200) can be amplified by the amplifier (500) and transmitted to the control unit (400). If the current flowing in the first resistor (200) has a value within a predetermined range, the control unit (400) can confirm that the solenoid is normally connected. If the current flowing in the first resistor (200) has a value outside the predetermined range, the control unit (400) can confirm that the solenoid is not normally connected.

[0068] Fig. 8 illustrates the internal structure of an actuator control device according to embodiments of the present invention. Unlike the internal structure of the actuator control device illustrated in Figs. 7a and 7b, according to various embodiments, the actuator control device may further include a freewheeling diode (700). One end of the freewheeling diode may be connected to a first node between the first upper switch (H1) and the first lower switch (L1), and the other end of the freewheeling diode may be connected to a second node between the third upper switch (H3) and the third lower switch (L3). The freewheeling diode (700) may prevent counter electromotive force from being generated due to a sudden change in current flowing in the solenoid or BLAC motor.

[0069] FIG. 9 is a flowchart illustrating operations occurring in an actuator control device according to embodiments of the present invention.

[0070] In operation 901, the control unit (400) of the actuator control device (1000) can confirm that the ignition is turned on.

[0071] In operation 902, the control unit (400) of the actuator control device (1000) can check whether the sum of the three first signals received from the pull-up circuit is three times the level of a predetermined first level. Here, the fact that the sum of the three first signals is three times the predetermined first level can allow for a certain level of error. That is, the control unit (400) can check whether the difference between the sum of the three first signals received from the pull-up circuit and the level of three times the predetermined first level is less than a first threshold. The first level is a level indicating a HIGH state and can be a level higher than the intensities of the Position A position signal, the Position B position signal, and the PWM position signal.

[0072] If it is determined that the difference between the sum of the three first signals received from the pull-up circuit and the level three times the predetermined first level in operation 902 is greater than or equal to the first threshold, the control unit (400) may perform operation 910. If it is determined that the difference between the sum of the three first signals received from the pull-up circuit and the level three times the predetermined first level in operation 902 is less than the first threshold, the control unit (400) may perform operation 920.

[0073] In operation 910, the control unit (400) can control the switch unit based on the open load detection sequence for the BLAC motor. Here, the open load detection sequence for the BLAC motor can be summarized as shown in Table 1.

[0074] H1H2H3L1X L2 X L3 X

[0075] In Table 1, the three columns from the second to fourth columns of the first row indicate which switches among the first upper switch (H1), the second upper switch (H2), and the third upper switch (H3) will be PWM-on. In Table 1, the three rows from the second to fourth rows of the first column indicate which switches among the first lower switch (L1), the second lower switch (L2), and the third lower switch (L3) will be PWM-on.

[0076] The fact that a total of three spaces in the second row, second column, third row, third column, and fourth row, fourth column are marked with X means that the operations of turning on PWM of the first upper switch (H1) and the first lower switch (L1), turning on PWM of the second upper switch (H2) and the second lower switch (L2), and turning on PWM of the third upper switch (H3) and the first lower switch (L3) are not included in the open load detection sequence for the BLAC motor.

[0077] In the six spaces not marked with X among the nine spaces in the second to fourth columns of the second to fourth rows, the ideal expected value of the current flowing in the first resistor (200) is indicated while the corresponding one of the first upper switch (H1), the second upper switch (H2), and the third upper switch (H3) and the corresponding one of the first lower switch (L1), the second lower switch (L2), and the third lower switch (L3) are PWM-on when the BLAC motor is normally connected.

[0078] For example, the operation of PWM-ONing the first upper switch (H1) and the second lower switch (L2) can be included in the open load detection sequence for the BLAC motor, and in this case, the condition for the control unit to determine that the BLAC motor is normally connected is that while the first upper switch (H1) and the second lower switch (L2) are PWM-ON, the current flowing through the first resistor is ideally at a predetermined level of current. is the same as, and in reality, The difference may include a first threshold value that is less than the first threshold value. The first threshold value may be set to a level higher than a minor current error level that may be seen as a result of noise. For example, the first threshold value may be set to 0.5 A.

[0079] The operation of PWM-ONing the first upper switch (H1) and the third lower switch (L3) can be included in the open load detection sequence for the BLAC motor, and in this case, the condition for the control unit to determine that the BLAC motor is normally connected is that while the first upper switch (H1) and the third lower switch (L3) are PWM-ON, the current flowing through the first resistor is ideally at a predetermined level of current. is the same as, and in reality, The difference may include being less than the first threshold.

[0080] The operation of PWM-ONing the second upper switch (H2) and the first lower switch (L1) can be included in the open load detection sequence for the BLAC motor, and in this case, the condition for the control unit to determine that the BLAC motor is normally connected is that while the second upper switch (H2) and the first lower switch (L1) are PWM-ON, the current flowing through the first resistor is ideally at a predetermined level of current. is the same as, and in reality, The difference may include being less than the first threshold.

[0081] The operation of PWM-ONing the second upper switch (H2) and the third lower switch (L3) can be included in the open load detection sequence for the BLAC motor, and in this case, the condition for the control unit to determine that the BLAC motor is normally connected is that while the second upper switch (H2) and the third lower switch (L3) are PWM-ON, the current flowing through the first resistor is ideally at a predetermined level of current. is the same as, and in reality, The difference may include being less than the first threshold.

[0082] The operation of PWM-ONing the third upper switch (H3) and the first lower switch (L1) can be included in the open load detection sequence for the BLAC motor, and in this case, the condition for the control unit to determine that the BLAC motor is normally connected is that while the third upper switch (H3) and the first lower switch (L1) are PWM-ON, the current flowing through the first resistor is ideally at a predetermined level of current. is the same as, and in reality, The difference may include being less than the first threshold.

[0083] The operation of PWM-ONing the third upper switch (H3) and the second lower switch (L2) can be included in the open load detection sequence for the BLAC motor, and in this case, the condition for the control unit to determine that the BLAC motor is normally connected is that while the third upper switch (H3) and the second lower switch (L2) are PWM-ON, the current flowing through the first resistor is ideally at a predetermined level of current. is the same as, and in reality, The difference may include being less than the first threshold.

[0084] The duty ratio of the operation of PWM-turning on the switches may be 10% or less. In various embodiments, the duty ratio of the operation of PWM-turning on the switches may be 5% or less.

[0085] Expected level of current The size of is related to the duty ratio of the PWM on operation and the resistance component of the circuit. The control unit may store the resistance component of the circuit and the duty ratio of the PWM on operation and It may store the relationship between the levels. For example, the duty ratio of the PWM on operation is 10%, and the corresponding The size can be set to 5A.

[0086] Although the open load detection “sequence” is referred to herein, this expression is a word choice intended to encompass various switching operations, and does not limit the switching operations to occur in a fixed order. Furthermore, the open load detection sequence for the BLAC motor may include only some of the six switching operations corresponding to the six non-X-marked cells in the second to fourth columns of the second to fourth rows of Table 1, or may include all of the six switching operations.

[0087] When several switching operations are included in the open load detection sequence for the BLAC motor, the control unit can determine that the BLAC motor is normally connected if all conditions are satisfied that the current flowing in the first resistor is equal to or close to the level shown in Table 1 while the switching operations are occurring. For example, when the open load detection sequence for the BLAC motor includes an operation of PWM-ON the third upper switch (H3) and the first lower switch (L1), and an operation of PWM-ON the third upper switch (H3) and the second lower switch (L2), the control unit can determine that the BLAC motor is normally connected if the current flowing in the first resistor is equal to or close to the level shown in Table 1 while the third upper switch (H3) and the first lower switch (L1) are PWM-ON. When the difference between the first and second thresholds is less than the first threshold, and the third upper switch (H3) and the second lower switch (L2) are PWM-on, the current flowing through the first resistor and It can be confirmed that the BLAC motor is connected normally only when the difference is less than the first threshold.

[0088] When a condition for confirming that the BLAC motor is normally connected is satisfied while the switch unit is controlled according to the open load detection sequence for the BLAC motor in operation 910, the control unit (400) can confirm that the BLAC motor is normally connected in operation 911 and enter a driving preparation state of the BLAC motor.

[0089] If the condition for determining that the BLAC motor is normally connected is not satisfied while the switch unit is controlled according to the open load detection sequence for the BLAC motor in operation 910, the control unit (400) can determine that the BLAC motor is not normally connected in operation 912. In this case, the control unit (400) can generate an open load error signal.

[0090] Meanwhile, if it is confirmed that the difference between the sum of the three first signals received from the pull-up circuit in operation 902 and the level three times the predetermined first level is less than the first threshold, the control unit (400) can perform operation 920.

[0091] In operation 920, the control unit (400) can control the switch unit based on the open load detection sequence for the solenoid. Here, the open load detection sequence for the solenoid can be summarized as in Table 2.

[0092] H1H2H3L1X0A L20AX0AL3 0AX

[0093] In Table 2, the three columns from the second to fourth columns of the first row indicate which switches among the first upper switch (H1), the second upper switch (H2), and the third upper switch (H3) will be PWM-on. In Table 2, the three rows from the second to fourth rows of the first column indicate which switches among the first lower switch (L1), the second lower switch (L2), and the third lower switch (L3) will be PWM-on.

[0094] The fact that a total of three spaces in the second row, second column, third row, third column, and fourth row, fourth column are marked with X means that the operations of turning on the first upper switch (H1) and the first lower switch (L1) with PWM, the operations of turning on the second upper switch (H2) and the second lower switch (L2) with PWM, and the operations of turning on the third upper switch (H3) and the first lower switch (L3) with PWM are not included in the open load detection sequence for the solenoid.

[0095] In the six spaces not marked with X among the nine spaces in the second to fourth columns of the second to fourth rows, the ideal expected value of the current flowing in the first resistor (200) is indicated while the corresponding one of the first upper switch (H1), the second upper switch (H2), and the third upper switch (H3) and the corresponding one of the first lower switch (L1), the second lower switch (L2), and the third lower switch (L3) are PWM-on when the solenoid is normally connected.

[0096] For example, the operation of PWM-ON the first upper switch (H1) and the second lower switch (L2) may be included in the open load detection sequence for the solenoid, in which case the condition for the control unit to determine that the solenoid is normally connected may include that while the first upper switch (H1) and the second lower switch (L2) are PWM-ON, the current flowing through the first resistor is ideally 0 A, and realistically less than a first threshold. Here, the first threshold may be set to a level higher than the insignificant current that may be seen as the effect of noise when the actuator control device and the solenoid are not normally connected. For example, the first threshold may be set to 0.5 A.

[0097] The operation of PWM-ONing the first upper switch (H1) and the third lower switch (L3) may be included in the open load detection sequence for the solenoid, and in this case, the condition for the control unit to determine that the solenoid is normally connected may include that the current flowing through the first resistor is greater than 0.3 A and less than 0.7 A while the first upper switch (H1) and the third lower switch (L3) are PWM-ON.

[0098] The operation of PWM-ONing the second upper switch (H2) and the first lower switch (L1) may be included in the open load detection sequence for the solenoid, and in this case, the condition for the control unit to determine that the solenoid is normally connected may include that while the second upper switch (H2) and the first lower switch (L1) are PWM-ON, the current flowing through the first resistor is ideally 0 A, and realistically less than the first threshold.

[0099] The operation of PWM-ONing the second upper switch (H2) and the third lower switch (L3) may be included in the open load detection sequence for the solenoid, and in this case, the condition for the control unit to determine that the solenoid is normally connected may include that while the second upper switch (H2) and the third lower switch (L3) are PWM-ON, the current flowing through the first resistor is ideally 0 A, and realistically less than the first threshold.

[0100] The operation of PWM-ONing the third upper switch (H3) and the first lower switch (L1) may be included in the open load detection sequence for the solenoid, and in this case, the condition for the control unit to determine that the solenoid is normally connected may include that the current flowing through the first resistor is greater than 0.3 A and less than 0.7 A while the third upper switch (H3) and the first lower switch (L1) are PWM-ON.

[0101] The operation of PWM-ONing the third upper switch (H3) and the second lower switch (L2) may be included in the open load detection sequence for the solenoid, and in this case, the condition for the control unit to determine that the solenoid is normally connected may include that while the third upper switch (H3) and the second lower switch (L2) are PWM-ON, the current flowing through the first resistor is ideally 0 A, and realistically less than the first threshold.

[0102] The duty ratio of the operation of PWM-turning on the switches may be 10% or less. In various embodiments, the duty ratio of the operation of PWM-turning on the switches may be 5% or less.

[0103] Although the open load detection “sequence” is referred to herein, this expression is a word choice intended to encompass a variety of switching operations, and does not necessarily imply that the switching operations occur in a set order. Furthermore, the open load detection sequence for a solenoid may include only some of the six switching operations corresponding to the six non-X-marked cells in the second to fourth columns of the second to fourth rows of Table 2, or may include all six switching operations.

[0104] If several switching operations are included in the open load detection sequence for the solenoid, the control unit can determine that the solenoid is normally connected if all conditions are satisfied that the current flowing in the first resistor is equal to or close to the level shown in Table 2 while the switching operations are occurring. For example, if the open load detection sequence for the solenoid includes an operation of PWM-ON the third upper switch (H3) and the first lower switch (L1), and an operation of PWM-ON the third upper switch (H3) and the second lower switch (L2), the control unit can determine that the solenoid is normally connected only if, while the third upper switch (H3) and the first lower switch (L1) are PWM-ON, the current flowing in the first resistor is greater than 0.3 A and less than 0.7 A, and while the third upper switch (H3) and the second lower switch (L2) are PWM-ON, the current flowing in the first resistor is less than the first threshold.

[0105] When the condition for determining that the solenoid is normally connected is satisfied while the switch unit is controlled according to the open load detection sequence for the solenoid in operation 920, the control unit (400) can perform operation 930.

[0106] If the condition for determining that the solenoid is normally connected is not satisfied while the switch unit is controlled according to the open load detection sequence for the solenoid in operation 920, the control unit (400) may determine that the solenoid is not normally connected in operation 940. In this case, the control unit (400) may generate an open load error signal.

[0107] In operation 930, the control unit (400) can check whether the current flowing in the first resistor (200) is greater than 0.3 A and less than 0.7 A while turning on the first upper switch (H1) and the third lower switch (L3) by PWM. If it is confirmed in operation 930 that the current flowing in the first resistor (200) is greater than 0.3 A and less than 0.7 A, the control unit (400) can enter the driving preparation state of the solenoid in operation 931 and check whether the ignition on state is maintained in operation 932. If the ignition off is confirmed in operation 932, the control unit (400) can end the operation. If the ignition on state is maintained in operation 932, the control unit (400) can perform operation 930. That is, the control unit (400) can periodically turn on the first upper switch (H1) and the third lower switch (L3) PWM until the ignition off is confirmed, and check whether the current flowing in the first resistor (200) is greater than 0.3 A and less than 0.7 A. If the current flowing in the first resistor (200) is confirmed to be less than 0.3 A or greater than 0.7 A in operation 930, the control unit (400) can check that the solenoid is not normally connected in operation 940. In this case, the control unit (400) can generate an open load error signal.

[0108] The control unit (400) can not only check whether the actuator (300) is normally connected by controlling the switch unit (100) based on the open load detection sequence as illustrated in FIG. 9, but can also check whether the unit switch included in the switch unit (100) is in a short-circuit state.

[0109] The control unit (400) can determine that the second lower switch is in a short-circuit state if, while the second upper switch and the first lower switch are PWM-on, the time during which the current flowing through the first resistor exceeds the third level indicating overcurrent continues for a first threshold time or longer, and while the second upper switch and the third lower switch are PWM-on, the time during which the current flowing through the first resistor exceeds the third level continues for a first threshold time or longer.

[0110] The control unit (400) can determine that the second upper switch is in a short-circuit state if, while the first upper switch and the second lower switch are PWM-on, the time during which the current flowing through the first resistor exceeds the third level continues for a first threshold time or longer, and while the third upper switch and the second lower switch are PWM-on, the time during which the current flowing through the first resistor exceeds the third level continues for a first threshold time or longer.

[0111] The control unit (400) can determine that the first upper switch is in a short-circuit state if, while the second upper switch and the first lower switch are PWM-on, the time during which the current flowing through the first resistor exceeds the third level continues for a first threshold time or longer, and while the third upper switch and the first lower switch are PWM-on, the time during which the current flowing through the first resistor exceeds the third level continues for a first threshold time or longer.

[0112] The control unit (400) can determine that the first lower switch is in a short-circuit state if, while the first upper switch and the second lower switch are PWM-on, the time during which the current flowing through the first resistor exceeds the third level continues for a first threshold time or longer, and while the first upper switch and the third lower switch are PWM-on, the time during which the current flowing through the first resistor exceeds the third level continues for a first threshold time or longer.

[0113] The control unit (400) can determine that the third upper switch is in a short-circuit state if, while the first upper switch and the third lower switch are PWM-on, the time during which the current flowing through the first resistor exceeds the third level continues for a first threshold time or longer, and while the second upper switch and the third lower switch are PWM-on, the time during which the current flowing through the first resistor exceeds the third level continues for a first threshold time or longer.

[0114] The control unit (400) can determine that the third lower switch is in a short-circuit state if, while the third upper switch and the first lower switch are PWM-on, the time during which the current flowing through the first resistor exceeds the third level continues for a first threshold time or longer, and while the third upper switch and the second lower switch are PWM-on, the time during which the current flowing through the first resistor exceeds the third level continues for a first threshold time or longer.

[0115] According to various embodiments, as illustrated in FIG. 8, when the actuator control device (1000) includes a freewheeling diode (700), the open load detection sequence for the BLAC motor of operation 910 of FIG. 9 and the open load detection sequence for the solenoid of operation 920 may be different.

[0116] When the actuator control device (1000) includes a freewheeling diode (700), the open load detection sequence for the BLAC motor of operation 910 of FIG. 9 can be summarized as shown in Table 3.

[0117] H1H2H3L1X overcurrentL2 XovercurrentL3 X

[0118] Compared to Table 1, which shows an open load detection sequence for a BLAC motor when the actuator control device (1000) does not include a freewheeling diode (700), Table 3 has differences in the second row, fourth column, and the third row, fourth column.

[0119] Overcurrent in the 4th column of the 2nd row and the 4th column of the 3rd row of Table 3 means that the time for which the current flowing through the first resistor exceeds the 3rd level indicating overcurrent continues for a first threshold time or longer. The 3rd level may be, for example, 60 A. The first threshold time may be, for example, 1 ms. The control unit (400) may turn off the 3rd upper switch and the 1st lower switch after confirming that the current flowing through the 1st resistor satisfies the overcurrent condition while the 3rd upper switch and the 1st lower switch are PWM-on. The control unit (400) may turn off the 3rd upper switch and the 2nd lower switch after confirming that the current flowing through the 1st resistor satisfies the overcurrent condition while the 3rd upper switch and the 2nd lower switch are PWM-on.

[0120] When the actuator control device (1000) includes a freewheeling diode (700), the open load detection sequence for the solenoid of operation 920 of FIG. 9 can be summarized as shown in Table 4.

[0121] H1H2H3L1X0AXL20AX0AL3 0AX

[0122] Compared to Table 2, which shows an open load detection sequence for a solenoid when the actuator control device (1000) does not include a freewheeling diode (700), Table 4 has a difference in the second row and fourth column. That is, when the actuator control device (1000) includes a freewheeling diode (700), the open load detection sequence for the solenoid of operation 920 of FIG. 9 does not include an operation of PWM-ON the third upper switch (H3) and the first lower switch (L1).

[0123] When the actuator control device (1000) includes a freewheeling diode (700), the open load detection sequence for the BLAC motor in operation 910 of FIG. 9 and the open load detection sequence for the solenoid in operation 920 of FIG. 9 are different, and thus the standard by which the control unit (400) determines the short-circuit state of the unit switch also changes.

[0124] When the control unit (400) determines that the actuator (300) is a BLAC motor, if the current flowing through the first resistor (200) exceeds the third level indicating overcurrent for a first threshold time or longer while the second upper switch and the first lower switch are PWM-on, the control unit (400) can determine that the first upper switch is in a short-circuit state.

[0125] When the control unit (400) determines that the actuator (300) is a BLAC motor, if the time during which the current flowing through the first resistor (200) exceeds the third level while the first upper switch and the second lower switch are PWM-on continues for a first threshold time or longer, and if the time during which the current flowing through the first resistor (200) exceeds the third level while the first upper switch and the third lower switch are PWM-on continues for a first threshold time or longer, the control unit (400) can determine that the first lower switch is in a short-circuit state.

[0126] When the control unit (400) determines that the actuator (300) is a BLAC motor, if the time during which the current flowing through the first resistor (200) exceeds the third level while the first upper switch and the second lower switch are PWM-on continues for a first threshold time or longer, and if the time during which the current flowing through the first resistor (200) exceeds the third level while the third upper switch and the second lower switch are PWM-on continues for a first threshold time or longer, the control unit (400) can determine that the second upper switch is in a short-circuit state.

[0127] When the control unit (400) determines that the actuator (300) is a BLAC motor, if the current flowing through the first resistor (200) exceeds the third level for a first threshold time or longer while the second upper switch and the first lower switch are PWM-on, the control unit (400) can determine that the second lower switch is in a short-circuit state.

[0128] When the control unit (400) determines that the actuator (300) is a BLAC motor, if the time during which the current flowing through the first resistor (200) exceeds the third level while the first upper switch and the third lower switch are PWM-on continues for a first threshold time or longer, and if the time during which the current flowing through the first resistor (200) exceeds the third level while the second upper switch and the third lower switch are PWM-on continues for a first threshold time or longer, the control unit (400) can determine that the third upper switch is in a short-circuit state.

[0129] When the control unit (400) determines that the actuator (300) is a BLAC motor, if the current flowing through the first resistor (200) exceeds the third level for a first threshold time or longer while the third upper switch and the second lower switch are PWM-on, the control unit (400) can determine that the third lower switch is in a short-circuit state.

[0130] When the control unit (400) determines that the actuator (300) is a solenoid, if the current flowing through the first resistor exceeds the third level indicating overcurrent for a first threshold time or longer while the second upper switch and the first lower switch are PWM-on, the control unit (400) can determine that the first upper switch is in a short-circuit state.

[0131] The control unit (400) can determine that the first lower switch is in a short-circuit state when the actuator (300) is identified as a solenoid, when the time for which the current flowing through the first resistor exceeds the third level while the first upper switch and the second lower switch are PWM-on continues for a first threshold time or longer, and when the time for which the current flowing through the first resistor exceeds the third level while the first upper switch and the third lower switch are PWM-on continues for a first threshold time or longer.

[0132] The control unit (400) can determine that the second upper switch is in a short-circuit state when the actuator (300) is identified as a solenoid, and when the time for which the current flowing through the first resistor exceeds the third level while the first upper switch and the second lower switch are PWM-on continues for a first threshold time or longer, and when the time for which the current flowing through the first resistor exceeds the third level while the third upper switch and the second lower switch are PWM-on continues for a first threshold time or longer.

[0133] When the control unit (400) determines that the actuator (300) is a solenoid, if the current flowing through the first resistor exceeds the third level for a period of time longer than the first threshold time while the second upper switch and the first lower switch are PWM-on, the control unit (400) can determine that the second lower switch is in a short-circuit state.

[0134] The control unit (400) can determine that the third upper switch is in a short-circuit state when the actuator (300) is identified as a solenoid, when the first upper switch and the third lower switch are PWM-on, the time for which the current flowing through the first resistor exceeds the third level continues for a first threshold time or longer, and when the second upper switch and the third lower switch are PWM-on, the time for which the current flowing through the first resistor exceeds the third level continues for a first threshold time or longer.

[0135] When the control unit (400) determines that the actuator (300) is a solenoid, if the current flowing through the first resistor exceeds the third level for a period of time longer than the first threshold time while the third upper switch and the second lower switch are PWM-on, the control unit (400) can determine that the third lower switch is in a short-circuit state.

[0136] Although the embodiments of the present invention have been described with reference to the attached drawings, those skilled in the art will appreciate that the present invention can be implemented in other specific forms without altering the technical concept or essential features thereof. Therefore, the embodiments described above should be understood to be illustrative in all respects and not restrictive.

[0137] Meanwhile, embodiments of the present invention can be implemented as computer-readable code on a computer-readable recording medium. Computer-readable recording media include all types of recording devices that store data that can be read by a computer system.

[0138] Examples of computer-readable recording media include ROM, RAM, CD-ROM, magnetic tape, floppy disk, and optical data storage devices. In addition, the computer-readable recording media can be distributed across network-connected computer systems, so that computer-readable code can be stored and executed in a distributed manner. In addition, functional programs, codes, and code segments for implementing the present invention can be easily inferred by programmers in the technical field to which the present invention pertains.

Claims

1. In the actuator control device, A first switch section including a plurality of unit switches and controlling power supplied to a first actuator; A first resistor connected to the first switch section, and Including a control unit that controls the first actuator, The above control unit, Determine an open load detection sequence based on a first signal generated based on a position signal that can be received from the first actuator, Detecting the current flowing through the first resistor while controlling the first switch unit based on the determined open load detection sequence, An actuator control device configured to determine whether the first actuator is normally connected based on the current flowing through the first resistor while the first switch unit is controlled based on the determined open load detection sequence.

2. In paragraph 1, Further comprising a pull-up circuit configured to output three of the first signals to the control unit, The pull-up circuit is configured to output the position signal as the first signal to the control unit when receiving the position signal from the first actuator, and to output a signal of a predetermined first level as the first signal to the control unit when no position signal is received from the first actuator. The above control unit, Controlling the first switch unit based on a predefined first open load detection sequence when the difference between the sum of the three first signals received from the pull-up circuit and a level three times the predetermined first level is less than a first threshold, An actuator control device configured to control the first switch unit based on a predefined second open load detection sequence when the sum of the three first signals received from the pull-up circuit differs by a level three times a predetermined first level and by the first threshold value or more.

3. In paragraph 2, The above first switch section, First to third upper switches and It includes first to third lower switches connected in series to the first to third upper switches, respectively, The above first open load detection sequence is, The operation of turning on the first upper switch and the second lower switch with PWM, The action of turning on the first upper switch and the third lower switch with PWM, The action of turning on the second upper switch and the first lower switch with PWM, The action of turning on the second upper switch and the third lower switch with PWM, An operation to PWM-on the third upper switch and the first lower switch, and Action to turn on the PWM of the third upper switch and the second lower switch Contains at least one of: The first condition for confirming that the first actuator is normally connected in the above control unit is: A condition in which the current flowing through the first resistor is less than the first threshold while the first upper switch and the second lower switch are PWM-on; While the first upper switch and the third lower switch are PWM-on, the condition that the current flowing through the first resistor satisfies the second condition; A condition in which the current flowing through the first resistor is less than the first threshold while the second upper switch and the first lower switch are PWM-on; While the second upper switch and the third lower switch are PWM-on, the condition that the current flowing through the first resistor is less than the first threshold; While the third upper switch and the first lower switch are PWM-on, the condition that the current flowing through the first resistor satisfies the second condition, and A condition in which the current flowing through the first resistor is less than the first threshold while the third upper switch and the second lower switch are PWM-on. An actuator control device comprising at least one of:

4. In paragraph 3, The above control unit, After confirming that the above first actuator is normally connected, turn on the PWM of the first upper switch and the third lower switch, (a) If the current flowing through the first resistor satisfies the second condition: Entering the driving preparation state of the above first actuator; While periodically turning on the first upper switch and the third lower switch with PWM until ignition off is confirmed, it is checked whether the current flowing through the first resistor satisfies the second condition, (b) An actuator control device configured to determine that the first actuator is not normally connected if the current flowing through the first resistor does not satisfy the second condition.

5. In paragraph 2, The above first switch section, First to third upper switches and It includes first to third lower switches connected in series to the first to third upper switches, respectively, The above second open load detection sequence is, The operation of turning on the first upper switch and the second lower switch with PWM, The action of turning on the first upper switch and the third lower switch with PWM, The action of turning on the second upper switch and the first lower switch with PWM, The action of turning on the second upper switch and the third lower switch with PWM, An operation to PWM-on the third upper switch and the first lower switch, and Action to turn on the PWM of the third upper switch and the second lower switch Contains at least one of: The third condition for confirming that the first actuator is normally connected in the above control unit is: While the first upper switch and the second lower switch are PWM-on, the condition that the current flowing through the first resistor satisfies the fourth condition; A condition in which the current flowing through the first resistor satisfies the fourth condition while the first upper switch and the third lower switch are PWM-on; A condition in which the current flowing through the first resistor satisfies the fourth condition while the second upper switch and the first lower switch are PWM-on; A condition in which the current flowing through the first resistor satisfies the fourth condition while the second upper switch and the third lower switch are PWM-on; While the third upper switch and the first lower switch are PWM-on, the condition that the current flowing through the first resistor satisfies the fourth condition, and While the third upper switch and the second lower switch are PWM-on, the current flowing through the first resistor includes at least one of the conditions that satisfy the fourth condition, An actuator control device wherein the fourth condition is satisfied when the difference between the current flowing through the first resistor and the current at the second level is less than the first threshold.

6. In paragraph 3, The above control unit, If the time during which the current flowing through the first resistor exceeds the third level indicating overcurrent while the second upper switch and the first lower switch are PWM-on continues for a first threshold time or longer, and if the time during which the current flowing through the first resistor exceeds the third level while the second upper switch and the third lower switch are PWM-on continues for a first threshold time or longer, it is determined that the second lower switch is in a short-circuit state, or If the time during which the current flowing through the first resistor exceeds the third level while the first upper switch and the second lower switch are PWM-on continues for a first threshold time or longer, and if the time during which the current flowing through the first resistor exceeds the third level while the third upper switch and the second lower switch are PWM-on continues for a first threshold time or longer, it is determined that the second upper switch is in a short-circuit state, or If the time during which the current flowing through the first resistor exceeds the third level while the second upper switch and the first lower switch are PWM-on continues for a first threshold time or longer, and if the time during which the current flowing through the first resistor exceeds the third level while the third upper switch and the first lower switch are PWM-on continues for a first threshold time or longer, it is determined that the first upper switch is in a short-circuit state, or If the time during which the current flowing through the first resistor exceeds the third level while the first upper switch and the second lower switch are PWM-on continues for a first threshold time or longer, and if the time during which the current flowing through the first resistor exceeds the third level while the first upper switch and the third lower switch are PWM-on continues for a first threshold time or longer, it is determined that the first lower switch is in a short-circuit state, or If the time during which the current flowing through the first resistor exceeds the third level while the first upper switch and the third lower switch are PWM-on continues for a first threshold time or longer, and if the time during which the current flowing through the first resistor exceeds the third level while the second upper switch and the third lower switch are PWM-on continues for a first threshold time or longer, it is determined that the third upper switch is in a short-circuit state, or An actuator control device configured to determine that the third lower switch is in a short-circuit state when the time for which the current flowing through the first resistor exceeds the third level while the third upper switch and the first lower switch are PWM-on continues for a first threshold time or longer, and when the time for which the current flowing through the first resistor exceeds the third level while the third upper switch and the second lower switch are PWM-on continues for a first threshold time or longer.

7. In paragraph 2, The above first switch section, First to third upper switches and It includes first to third lower switches connected in series to the first to third upper switches, respectively, The above actuator control device further includes a freewheeling diode, An actuator control device, wherein one end of the freewheeling diode is connected to a first node between the first upper switch and the first lower switch, and the other end of the freewheeling diode is connected to a second node between the third upper switch and the third lower switch.

8. In paragraph 7, The above first open load detection sequence is, The operation of turning on the first upper switch and the second lower switch with PWM, The action of turning on the first upper switch and the third lower switch with PWM, The action of turning on the second upper switch and the first lower switch with PWM, The operation of turning on the second upper switch and the third lower switch with PWM, and Action to turn on the PWM of the third upper switch and the second lower switch Contains at least one of: The first condition for confirming that the first actuator is normally connected in the above control unit is: A condition in which the current flowing through the first resistor is less than the first threshold while the first upper switch and the second lower switch are PWM-on; While the first upper switch and the third lower switch are PWM-on, the condition that the current flowing through the first resistor satisfies the second condition; A condition in which the current flowing through the first resistor is less than the first threshold while the second upper switch and the first lower switch are PWM-on; While the second upper switch and the third lower switch are PWM-on, the condition that the current flowing through the first resistor is less than the first threshold, and A condition in which the current flowing through the first resistor is less than the first threshold while the third upper switch and the second lower switch are PWM-on. An actuator control device comprising at least one of:

9. In paragraph 7, The above second open load detection sequence is, The operation of turning on the first upper switch and the second lower switch with PWM, The action of turning on the first upper switch and the third lower switch with PWM, The action of turning on the second upper switch and the first lower switch with PWM, The action of turning on the second upper switch and the third lower switch with PWM, An operation to PWM-on the third upper switch and the first lower switch, and Action to turn on the PWM of the third upper switch and the second lower switch Contains at least one of: The third condition for confirming that the first actuator is normally connected in the above control unit is: While the first upper switch and the second lower switch are PWM-on, the condition that the current flowing through the first resistor satisfies the fourth condition; A condition in which the current flowing through the first resistor satisfies the fourth condition while the first upper switch and the third lower switch are PWM-on; A condition in which the current flowing through the first resistor satisfies the fourth condition while the second upper switch and the first lower switch are PWM-on; A condition in which the current flowing through the first resistor satisfies the fourth condition while the second upper switch and the third lower switch are PWM-on; While the third upper switch and the first lower switch are PWM-on, the current flowing through the first resistor satisfies the fifth condition, and While the third upper switch and the second lower switch are PWM-on, the current flowing through the first resistor includes at least one of the conditions that satisfy the fifth condition, The fourth condition is satisfied when the difference between the current flowing through the first resistor and the current at the second level is less than the first threshold, An actuator control device wherein the fifth condition is satisfied when the time for which the current flowing through the first resistor exceeds the third level indicating overcurrent continues for a first threshold time or longer.

10. In paragraph 8, The above control unit, If the current flowing through the first resistor exceeds the third level indicating overcurrent for a first threshold time or longer while the second upper switch and the first lower switch are PWM-on, it is determined that the first upper switch is in a short-circuit state, or If the time during which the current flowing through the first resistor exceeds the third level while the first upper switch and the second lower switch are PWM-on continues for a first threshold time or longer, and if the time during which the current flowing through the first resistor exceeds the third level while the first upper switch and the third lower switch are PWM-on continues for a first threshold time or longer, it is determined that the first lower switch is in a short-circuit state, or If the time during which the current flowing through the first resistor exceeds the third level while the first upper switch and the second lower switch are PWM-on continues for a first threshold time or longer, and if the time during which the current flowing through the first resistor exceeds the third level while the third upper switch and the second lower switch are PWM-on continues for a first threshold time or longer, it is determined that the second upper switch is in a short-circuit state, or If the current flowing through the first resistor exceeds the third level for a period longer than the first threshold time while the second upper switch and the first lower switch are PWM-on, it is determined that the second lower switch is in a short-circuit state, or If the time during which the current flowing through the first resistor exceeds the third level while the first upper switch and the third lower switch are PWM-on continues for a first threshold time or longer, and if the time during which the current flowing through the first resistor exceeds the third level while the second upper switch and the third lower switch are PWM-on continues for a first threshold time or longer, it is determined that the third upper switch is in a short-circuit state, or An actuator control device configured to determine that the third lower switch is in a short-circuit state when the current flowing through the first resistor exceeds the third level for a period of time longer than the first threshold time while the third upper switch and the second lower switch are PWM-on.

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