Actuator control apparatus

Abstract

An actuator control apparatus, according to embodiments of the present invention, comprises: a first switch unit including a plurality of unit switches and controlling power supplied to a first actuator; a first resistor connected to the first switch unit; and a control unit controlling the actuator, wherein the control unit is configured to identify current flowing through at least one switch among the plurality of unit switches and the first resistor, separately, and determine a type of the first actuator on the basis of the identified current, and the first actuator may be a BLAC motor or a solenoid.

Description

Actuator control device

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

[0002] Electric vehicles (EVs) and internal combustion engine vehicles (ICEs) utilize various actuators in their drive systems. An actuator is a device that converts electrical or mechanical energy into physical motion. Representative actuators include BLAC (Brushless Alternating Current) motors and solenoids.

[0003] BLAC motors are brushless electric motors that use AC power and provide high efficiency and durability. BLAC motors are motors that rotate using three-phase AC power, transmit power through the magnetic field between the rotor and the stator, and the direction of rotation varies depending on the three-phase input sequence.

[0004] A solenoid is a device that generates linear motion by utilizing electromagnetic force. It operates by magnetizing an internal iron core with a magnetic field generated when current flows, causing it to move linearly, and it returns to its original position when the current is cut off. Solenoids have the advantages of a simple structure and high reliability.

[0005] When it is necessary to selectively use a BLAC motor or a solenoid depending on the situation or need, the method by which the controller controls the actuator differs depending on whether the connected actuator is a BLAC motor or a solenoid, so a technology for determining the type of actuator is required. The present embodiment aims to provide a means for determining the type of actuator.

[0006] An actuator control device according to embodiments of the present invention comprises a plurality of unit switches, a first switch unit that controls power supplied to a first actuator, a first resistor connected to the first switch unit, and a control unit that controls the actuator, wherein the control unit is configured to check the current flowing through at least one switch among the plurality of unit switches and the first resistor, respectively, and to determine the type of the first actuator based on the checked current, and the first actuator may be a BLAC motor or a solenoid.

[0007] The first switch unit comprises first to third upper switches and first to third lower switches connected in series to each of the first to third upper switches, and the control unit is configured to control the first switch unit under a first condition, check a first current flowing through the first lower switch, a second current flowing through the third lower switch, a third current flowing through the first resistor, and a position signal confirmation value corresponding to a position signal that can be received from the actuator, and determine the type of the first actuator based on the first current, the second current, the third current, and the position signal confirmation value, and the position signal confirmation value may include an A signal confirmation value, a B signal confirmation value, and a PWM signal confirmation value corresponding to a Position A position signal, a Position B position signal, and a PWM position signal that can be received from the actuator, respectively.

[0008] It may further include a first amplifier that amplifies the voltage difference between the two ends of the first lower switch, a second amplifier that amplifies the voltage difference between the two ends of the third lower switch, and a third amplifier that amplifies the voltage difference between the two ends of the first resistor.

[0009] The first condition above may be a condition of turning on the first lower switch and the third lower switch and periodically turning on the second upper switch with a duty cycle of 5% or more, or a condition of turning on the second upper switch and periodically turning on the first lower switch and the third lower switch with a duty cycle of 5% or more.

[0010] The control unit is configured to determine that the actuator is a BLAC motor when the first current, the second current, and the third current are each greater than or equal to a first threshold value and the PWM signal verification value satisfies a second condition, and the second condition can be satisfied when the duty ratio of the PWM position signal indicated by the PWM signal verification value is 5% or more and less than 95%.

[0011] The second condition above may further include a condition in which the frequency of the PWM position signal indicated by the PWM signal verification value is 1 kHz.

[0012] The control unit may be configured to determine that the position sensor included in the actuator is faulty if the first current, the second current, and the third current are each greater than or equal to a first threshold, and the PWM signal verification value does not satisfy the second condition.

[0013] The control unit may be configured such that when the first current, the second current, and the third current are all less than a second threshold, and the strengths of the Position A position signal, the Position B position signal, and the PWM position signal, respectively represented by the A signal verification value, the B signal verification value, and the PWM signal verification value, are all less than a third threshold: periodically turn on the first upper switch with a duty cycle of 5% or more; turn on the third lower switch; check the third current; and determine that the actuator is a solenoid when the third current is greater than or equal to a first threshold.

[0014] The control unit may be configured to periodically turn on the first upper switch with a duty cycle of 5% or more when the first current, the second current, and the third current are all less than a second threshold, and the strengths of the Position A position signal, the Position B position signal, and the PWM position signal, respectively represented by the A signal verification value, the B signal verification value, and the PWM signal verification value, are all less than a third threshold; turn on the third lower switch; check the third current; and determine that there is a power abnormality when the third current is less than a first threshold.

[0015] It further includes a gate driver connected to both ends of the first lower switch and both ends of the third lower switch, and the gate driver can be connected to both ends of the first resistor.

[0016] The control unit may be configured to control the first switch unit with a pulse width modulation frequency of 14.1 kHz in response to the determination that the first actuator is a solenoid, and to control the first switch unit with a pulse width modulation frequency of 20 kHz in response to the determination that the first actuator is a BLAC motor.

[0017] The second switch unit includes a plurality of unit switches and controls power supplied to a second actuator, and further includes a second resistor connected to the second switch unit, wherein the control unit is configured to check the current flowing through at least one switch among the plurality of unit switches included in the second switch unit and the second resistor, respectively, and to determine the type of the second actuator based on the checked current, and the second actuator may be a BLAC motor or a solenoid.

[0018] The control unit may be configured to control the first switch unit with a pulse width modulation frequency of 14.1 kHz and control the second switch unit with a pulse width modulation frequency of 20 kHz in response to a determination that the first actuator is a solenoid and the second actuator is a BLAC motor.

[0019] The control unit may be configured to periodically turn on the first upper switch with a duty cycle of 5% or more, turn on the third lower switch, check the third current, and prepare to drive the first actuator when the third current is greater than or equal to a first threshold while the first switch is controlled at a pulse width modulation frequency of 14.1 kHz.

[0020] The control unit may be configured to periodically turn on the first upper switch with a duty cycle of 5% or more while the first switch unit is controlled at a pulse width modulation frequency of 14.1 kHz, turn on the third lower switch, check the third current, and determine that there is a power abnormality if the third current is less than a first threshold.

[0021] According to embodiments of the present invention, since the control unit can determine whether the type of actuator is a BLAC motor or a solenoid based on the current flowing through the unit switch and the current flowing through the shunt resistor while controlling the switching element connected to the actuator, an actuator control device that can be used for both BLAC motors and solenoids without changing the structure can be provided.

[0022] In addition, according to embodiments of the present invention, interference caused by EMC (Electromagnetic Compatibility) noise can be reduced by configuring the pulse width modulation frequency of the switch unit driving the solenoid to be different from the pulse width modulation frequency of the switch unit driving the BLAC.

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

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

[0025] FIG. 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] FIG. 6 is a block diagram of an actuator control device according to embodiments of the present invention.

[0028] FIG. 7 illustrates the internal structure of an actuator control device according to embodiments of the present invention.

[0029] FIG. 8 is a flowchart illustrating operations occurring in an actuator control device according to embodiments of the present invention.

[0030] FIG. 9 is a block diagram of an actuator control device according to embodiments of the present invention.

[0031] FIG. 10 is a block diagram of an actuator control device according to embodiments of the present invention.

[0032] FIG. 11 is a flowchart illustrating operations occurring in an actuator control device according to embodiments of the present invention.

[0033] Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the attached drawings.

[0034] However, the technical concept of the present invention is not limited to some of the described embodiments but can be implemented in various different forms, and within the scope of the technical concept of the present invention, one or more of the components among the embodiments may be selectively combined or substituted.

[0035] In addition, terms used in the embodiments of the present invention (including technical and scientific terms) may be interpreted in a sense that is generally understood by those skilled in the art to which the present invention belongs, unless explicitly and specifically defined otherwise. Terms that are commonly used, such as terms defined in advance, may be interpreted in consideration of their meaning in the context of the relevant technology.

[0036] Furthermore, the terms used in the embodiments of the present invention are for the purpose of describing the embodiments and are not intended to limit the present invention.

[0037] In this specification, the singular form may include the plural form unless specifically stated otherwise in the text, and when described as "at least one of A and B and C (or more than one)," it may include one or more of all combinations that can be formed from A, B, and C.

[0038] In addition, terms such as first, second, A, B, (a), (b), etc., may be used when describing the components of the embodiments of the present invention. These terms are used merely to distinguish the components from other components and are not intended to limit the essence, order, or sequence of the components.

[0039] And, where it is stated that a component is 'connected', 'combined', or 'connected' to another component, this may include not only cases where the component is directly 'connected', 'combined', or 'connected' to the other component, but also cases where it is 'connected', 'combined', or 'connected' due to another component located between the component and the other component.

[0040] FIG. 1 is a block diagram of an actuator control device according to embodiments of the present invention. An actuator control device 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 may include a position measuring sensor.

[0041] The switch unit (100) may include a plurality of unit switches. Here, the unit switches may include semiconductor switching elements such as FETs, MOSFETs, or IGBTs. It is obvious that various other switching elements may be included. The switch unit (100) may receive power input and apply driving power to the actuator (300). The switch unit (100) may control the power supplied to the actuator (300). Power is applied to the switch unit (100), driving power is applied to the actuator (300), and output to the output unit of the switch unit (100).

[0042] A first resistor (200) is connected to the output of the switch unit (100). The current flowing through the first resistor (200) can be used by the control unit (400) to determine whether the switch unit (100) is operating.

[0043] 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 by generating a control signal according to the direction, speed, or mode to be controlled during operation and driving the actuator (300). The control unit (400) can control the actuator (300) by controlling the operation of the switch unit (100) which applies driving power to the actuator (300). The actuator (300) can be controlled by controlling the operation of the switch unit (100), that is, by controlling the on / off of the unit switches included in the switch unit (100). The control unit (400) can control the duty cycle of the unit switches. Here, the duty is the time during which the switch remains on during one cycle, and the actuator (300) can be controlled by controlling the time during which driving power is delivered to the actuator (300) in the switching operation in which power is supplied to the actuator (300). In this specification, the duty ratio refers to the percentage of one cycle of the time during which the switch remains on within one cycle. In this specification, when the duty ratio is not specified and the control unit (400) turns on a specific unit switch, it may mean turning on the unit switch with a duty ratio of 100%, or in other words, controlling the unit switch to be fully on.

[0044] The control unit (400) can check the current flowing through at least one of the multiple unit switches included in the switch unit (100). Additionally, the control unit (400) can check the current flowing through the first resistor (200). The control unit (400) can determine the type of actuator (300) based on at least some of the confirmed current values. The actuator (300) may be a BLAC motor or a solenoid. The control unit (400) can generate different control signals depending on the determined type of actuator (300).

[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 located in the upper output pattern, and a controller (micom) that controls the DC motor detects the current flowing through the shunt resistor from the potential difference across the shunt resistor in order to measure the current of the DC motor. A shunt resistor is placed in the upper output to measure the current of the DC motor at the upper output section. Since the rotation direction of the DC motor can affect the performance of the product and a change in the rotation direction is required to increase responsiveness, detection of the rotation direction is necessary. The rotation direction of the DC motor can be determined by detecting the current flowing through 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, but it 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 during BLAC motor operation, causing noise due to torque ripple, which may adversely affect performance. If shunt resistors are added to each phase to solve the problem of noise caused by torque ripple, the cost increases and the size of the control device may increase.

[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 DC motors and BLDC motors. 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, checks the current flowing through the first lower switch (L1), the current flowing through the third lower switch (L3), and the current flowing through the shunt resistor during control, and can determine whether the motor connected to the control device is a DC motor or a BLDC motor based on the checked currents.

[0048] Specifically, 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 when operating 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 turns on (403) the second upper switch (H2). At this time, the control unit (Micom) can keep the first lower switch (L1) and the third lower switch (L3) always on (full on), and turn on the second upper switch (H2) with a duty cycle of 5% or more.

[0049] While the switches are controlled according to the 402 operation and the 403 operation, the control unit (Micom) determines (404) whether the current flowing through the first resistor (LSR), L1 current, and L3 current is greater than or equal to the threshold of 0.5 A. If the LSR, L1 current, and L3 current are all greater than or equal to the threshold, 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 for measuring 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 it is connected to the BLDC motor and performs preparations 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 greater than 2, the control unit (Micom) determines (407) that an error has occurred in the output path of the Hall sensors. If at least one of the LSR, L1 current, and L3 current is below a threshold value, the control unit (Micom) determines (408) whether the LSR, L1 current, and L3 current are not flowing and the output of the Hall sensors (Hall sensor A, B, C) is low. If the LSR, L1 current, and L3 current are not flowing and the output of the Hall sensors (Hall sensor A, B, C) is low, the control unit (Micom) determines that it is connected to a DC motor and performs preparations to drive the DC motor (409). If at least one of the 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 fault 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 DC motors and BLDC motors together, 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 a solenoid and a BLAC motor together. In particular, since the output signal of a Hall sensor, which is a position sensor embedded in a BLDC motor, and the output signal of an MR sensor (Magnetoresistive Sensor), which is a position sensor embedded in a BLAC motor, are different, the same method used to process 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 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) each connected in series to the upper switches (111 to 113). The upper switches and lower switches connected in series may conduct complementarily. The statement that the upper switches and lower switches conduct complementarily means that when the upper switches are turned on, the lower switches are turned off. As shown in FIG. 5, the node between the upper switches 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 portion of the first to third lower switches (121 to 123). The switch portion (100) may be implemented as a B6 bridge circuit consisting of three upper switches and three lower switches.

[0052] The control unit (400) turns on the second upper switch (112), the first lower switch (121), and the third lower switch (123), and can detect the type of motor using the first current flowing through the first lower switch (121), the second current flowing through the third lower switch (123), and the third current flowing through the first resistor (200). In order to prevent an imbalance of upper resistance when connecting a BLAC motor, a shunt resistor is not placed in the upper output section as shown in FIG. 2. When the second upper switch (112), the first lower switch (121), and the third lower switch (123) are turned on, a path for current flow may or may not be formed depending on the type of actuator (300) connected.

[0053] The control unit (400) can determine the first current, the second current, and the third current by using the voltage difference between the first lower switch (121), the third lower switch (123), and the first resistor (200). The shunt resistor tolerance of the first resistor can be ±1%.

[0054] The control unit (400) can check the third current, which is the current of the first resistor (200), as shown in Equation 1.

[0055]

[0056] 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 third current.

[0057] The control unit (400) can check the first current, which is the current of the first lower switch (121), as shown in Equation 2.

[0058]

[0059] Here, V_L1 is the voltage across the first lower switch (121), R_ds_L1 is the internal resistance value of the first lower switch (121), and I_ACT_L1 is the first current.

[0060] The control unit (400) can verify the second current, which is the current of the third lower switch (123), as follows with mathematical formula 3.

[0061]

[0062] Here, V_L3 is the voltage across the third lower switch (123), R_ds_L3 is the internal resistance value of the third lower switch (123), and I_ACT_L3 is the second current.

[0063] FIG. 6 is a block diagram of an actuator control device according to embodiments of the present invention. As shown in FIG. 6, the actuator control device may include a first amplifier (510) that amplifies the voltage difference between the ends of a first lower switch (121), a second amplifier (520) that amplifies the voltage difference between the ends of a third lower switch (123), and a third amplifier (530) that amplifies the voltage difference between the ends of a first resistor (200). In the case of a MOSFET, the size of the internal resistance of the switch is significantly small as the resistance between the drain and the source, and the first resistor (200) also uses a resistor having a small resistance value to reduce power loss. For example, the first resistor may be 2 mΩ, and the internal resistance of the first lower switch (121) and the third lower switch (123) may be 3 mΩ. Accordingly, by including a first amplifier (510), a second amplifier (520), and a third amplifier (530), the actuator control device can amplify the voltage across the first lower switch (121), the third lower switch (123), and the first resistor (200) to a level sufficient for the control unit (400) to verify with sufficient accuracy. Here, the first to third amplifiers (610 to 630) may be OP-amps and may be included in a gate driver.

[0064] FIG. 7 illustrates the internal structure of an actuator control device according to embodiments of the present invention. The switch unit may be connected to an 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). The actuator may be a solenoid or a BLAC motor. When the actuator control device is connected to a BLAC motor, all three phase patterns (U, V, and W) are connected, and when connected to a 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 a power supply unit and transmit it to the actuator. At this time, the power supply unit may be a battery or an external power source. A first resistor may be connected to the output terminal of the switch unit. The control unit (MCU) can determine the type of actuator using the current flowing through the first lower switch (L1), the third lower switch (L3), and the first resistor. To this end, the voltage difference between the first lower switch (L1), the third lower switch (L3), and the first resistor is checked using an amplifier included in the gate driver, and the result is received by the control unit (MCU) to check the first current to the third current. In addition to the first current to the third current, the control unit (MCU) can determine the type of actuator using position signal verification values ​​(A signal verification value, B signal verification value, and PWM signal verification value) corresponding to position signals (Position A, Position B, Position PWM) that can be generated by an MR sensor, which is a position measurement sensor that can be embedded in the actuator. The position signals that can be generated from the MR sensor include a Position A position signal, a Position B position signal, and a PWM position signal, and the position signal check values ​​include an A signal check value, a B signal check value, and a PWM signal check value corresponding to the Position A position signal, the Position B position signal, and the PWM position signal, respectively.

[0065] As a measurement value corresponding to a position signal recognized by the control unit (MCU), when an MR sensor is embedded in the actuator and the MR sensor operates normally to generate position signals (Position A, Position B, Position PWM) and the position signals generated by the MR sensor reach the control unit (MCU), the position signal verification values ​​(A signal verification value, B signal verification value, and PWM signal verification value) are each identical to the position signals (Position A, Position B, Position PWM). On the other hand, when an MR sensor is not embedded in the actuator, the position signal itself is not generated, so the position signal verification values ​​may have a non-zero value due to ambient noise, but may have a small magnitude. An MR sensor is embedded in the BLAC motor, but an MR sensor is not embedded in the solenoid. The control unit (MCU) can further increase the accuracy in determining the type of actuator by considering the position signal verification value in addition to the first to third currents, and further confirm that the actuator is in a state where normal control is possible.

[0066] As described above, by implementing an actuator control device, it is possible to configure a combined controller for solenoids and BLAC motors. In addition, a platform controller with optimized shunt resistance can be implemented, and options can be distinguished and drive control can be performed for each type of actuator regardless of hardware.

[0067] FIG. 8 is a flowchart illustrating operations occurring in an actuator control device according to embodiments of the present invention.

[0068] In operation 810, the control unit (400) can check that the battery is turned on, check that the ignition is turned on, or operate in wake-up mode.

[0069] In one embodiment, in operation 820, the control unit (400) can turn on the first lower switch (121, L1) and the third lower switch (123, L3). In operation 820, the control unit (400) can keep the first lower switch (121, L1) and the third lower switch (123, L3) always on (full on). In operation 825, the control unit (400) can periodically turn on the second upper switch (112, H2) with a duty cycle of 5% or more.

[0070] In another embodiment, unlike as shown in FIG. 8, the control unit (400) may keep the second upper switch (112, H2) always on (full on) instead of the 820 operation. In this case, the control unit (400) may periodically turn on the first lower switch (121, L1) and the third lower switch (123, L3) with a duty cycle of 5% or more instead of the 825 operation.

[0071] In operation 830, the control unit (400) can check whether the current flowing through the first resistor (LSR), the current flowing through the first lower switch (L1 current), and the current flowing through the third lower switch (L3 current) are each greater than or equal to a first threshold. The first threshold can be pre-set to be greater than the minimum current level that can flow when the actuator control device and the actuator are normally connected and a path for current flow is formed. The first threshold can be set to a level higher than the negligible current that may be seen as an influence of noise when no path for current flow is formed between the actuator control device and the actuator. Although the first threshold is shown as 0.5A for operation 830 and operation 875 described later in FIG. 8, 0.5A is an example of the first threshold, and the value of the first threshold may be set differently according to various embodiments of the present invention.

[0072] In operation 830, if it is confirmed that the current flowing through the first resistor (LSR), the current flowing through the first lower switch (L1 current), and the current flowing through the third lower switch (L3 current) are all greater than or equal to the first threshold, the control unit (400) can check in operation 840 whether the PWM signal verification value satisfies a predetermined second condition. The second condition may be satisfied when the duty cycle of the PWM position signal indicated by the PWM signal verification value is 5% or more and less than 95%. Although not illustrated in operation 840 of FIG. 8, according to various embodiments, the second condition may be satisfied when the duty cycle of the PWM position signal indicated by the PWM signal verification value is 5% or more and less than 95%, and the frequency of the PWM position signal indicated by the PWM signal verification value is 1 kHz.

[0073] In response to the confirmation that the PWM signal verification value satisfies the second condition in operation 840, the control unit (400) can determine in operation 852 that the actuator connected to the actuator control device is a BLAC motor. When the BLAC motor is connected to the actuator control device as an actuator (300) and the switch unit (100) is controlled according to operations 820 and 825, a current path is formed flowing from the second upper switch (112, H2) - actuator (300) - the first lower switch (121, L1) and the third lower switch (123, L3). On the other hand, when the solenoid is connected to the actuator control device as an actuator (300) and the switch unit (100) is controlled according to the 820 operation and the 825 operation, a current path flowing from the second upper switch (112, H2) - actuator (300) - first lower switch (121, L1) is not formed, and a current path flowing from the second upper switch (112, H2) - actuator (300) - third lower switch (123, L3) is also not formed. Therefore, the fact that the current flowing through the first resistor (LSR), the current flowing through the first lower switch (L1 current), and the current flowing through the third lower switch (L3 current) in the 830 operation are all confirmed to be above the first threshold value may mean that the U, V, and W three-phase patterns are all connected when the actuator control device is connected to the actuator. Additionally, the fact that the PWM signal verification value satisfies the second condition in operation 840 may mean that an MR sensor is included inside the actuator and that a normal position signal can be received from the MR sensor. Accordingly, in response to the confirmation that the PWM signal verification value satisfies the second condition in operation 840, the control unit (400) may determine that the actuator connected to the actuator control device is a BLAC motor. The control unit (400) may enter a ready state for driving the BLAC motor in operation 852.

[0074] If the PWM signal verification value in operation 840 does not satisfy the second condition, the control unit (400) may determine in operation 851 that the position sensor included in the actuator is faulty. Since the control unit (400) controls the BLAC motor based on the position measurement value of the position sensor, it is difficult to control the actuator normally if a fault occurs in the position sensor. Therefore, although not shown in FIG. 8, depending on various embodiments, operation 840 may further include an operation in which the control unit (400) stops the driving of the actuator (300).

[0075] In operation 830, if at least one of the current flowing through the first resistor (LSR), the current flowing through the first lower switch (L1 current), and the current flowing through the third lower switch (L3 current) is less than the first threshold, the control unit (400) can perform operation 860. In operation 860, the control unit (400) can check whether the current flowing through the first resistor (LSR), the current flowing through the first lower switch (L1 current), and the current flowing through the third lower switch (L3 current) are all less than the second threshold, and whether the strengths of the Position A position signal, Position B position signal, and PWM position signal, respectively represented by the A signal verification value, B signal verification value, and PWM signal verification value, are all less than the third threshold. The second threshold may have a value less than or equal to the first threshold. The second threshold may be preset as the maximum level of current that may be seen as an influence of noise when a current flow path is not formed between the actuator control device and the actuator. Alternatively, depending on various embodiments, as illustrated in operation 860 of FIG. 8, the second threshold may be set to 0A. The third threshold may be preset to the maximum intensity of the Position A position signal, Position B position signal, and PWM position signal that the A signal check value, B signal check value, and PWM signal check value can represent due to the influence of noise when the position sensor is not built into the actuator. Depending on various embodiments, as illustrated in operation 860 of FIG. 8, the third threshold may be defined as the A signal check value, B signal check value, and PWM signal check value that cause the Position A position signal, Position B position signal, and PWM position signal to be identified as low.

[0076] In operation 860, if the current flowing through the first resistor (LSR), the current flowing through the first lower switch (L1 current), and the current flowing through the third lower switch (L3 current) are all below the second threshold, and the strengths of the Position A position signal, Position B position signal, and PWM position signal represented by the A signal verification value, B signal verification value, and PWM signal verification value, respectively, are all below the third threshold, the control unit (400) can periodically turn on the first upper switch (111, H1) with a duty cycle of 5% or more and turn on the third lower switch (123, L3) in operation 870. In operation 870, the control unit (400) can always turn on the third lower switch (123, L3).

[0077] While controlling the switch unit (100) as in the 870 operation, the control unit (400) can check whether the current (LSR) flowing through the first resistor in the 875 operation is greater than or equal to the first threshold.

[0078] When the solenoid is connected to the actuator control device as an actuator (300) and the switch unit (100) is controlled as in the 870 operation, a current path is formed flowing from the first upper switch (111, H1) - actuator (300) - third lower switch (123, L3). Additionally, when the solenoid is connected to the actuator control device as an actuator (300) and the switch unit (100) is controlled according to the 820 operation and the 825 operation, a current path flowing from the second upper switch (112, H2) - actuator (300) - first lower switch (121, L1) is not formed, and a current path flowing from the second upper switch (112, H2) - actuator (300) - third lower switch (123, L3) is also not formed. Additionally, since the solenoid does not include a position sensor, when the solenoid is connected to the actuator control device as an actuator (300), the strengths of the Position A position signal, Position B position signal, and PWM position signal, respectively represented by the A signal verification value, B signal verification value, and PWM signal verification value, may all be less than the third threshold. Accordingly, the control unit (400) can determine that the actuator (300) is a solenoid if, in operation 860, the current flowing through the first resistor (LSR), the current flowing through the first lower switch (L1 current), and the current flowing through the third lower switch (L3 current) are all less than the second threshold, and the strengths of the Position A position signal, Position B position signal, and PWM position signal, respectively represented by the A signal verification value, B signal verification value, and PWM signal verification value, are all less than the third threshold, and in operation 875, the current flowing through the first resistor (LSR) is greater than or equal to the first threshold. The control unit (400) can enter a ready state for driving the solenoid in 880 operation.

[0079] The control unit (400) can determine that there is a power abnormality in the 890 operation if, as a result of performing the 860 operation after confirming that at least one of the current flowing through the first resistor (LSR), the current flowing through the first lower switch (L1 current), and the current flowing through the third lower switch (L3 current) is less than a first threshold in the 830 operation, at least one of the current flowing through the first resistor (LSR), the current flowing through the first lower switch (L1 current), and the current flowing through the third lower switch (L3 current) is greater than or equal to a second threshold, or at least one of the strengths of the Position A position signal, Position B position signal, and PWM position signal indicated by the A signal confirmation value, B signal confirmation value, and PWM signal confirmation value, respectively, is greater than or equal to a third threshold. According to various embodiments, the control unit (400) can determine that a fault has occurred in the power unit in the 890 operation and generate an alarm.

[0080] Additionally, the control unit (400) can determine that there is a power abnormality in the 890 operation if, in the 860 operation, the current flowing through the first resistor (LSR), the current flowing through the first lower switch (L1 current), and the current flowing through the third lower switch (L3 current) are all below a second threshold, and the strengths of the Position A position signal, Position B position signal, and PWM position signal, respectively represented by the A signal verification value, B signal verification value, and PWM signal verification value, are all below a third threshold, and in the 875 operation while performing the 870 operation, the current flowing through the first resistor (LSR) is found to be below a first threshold. According to various embodiments, the control unit (400) can determine that a fault has occurred in the power unit in the 890 operation and generate an alarm.

[0081] FIG. 9 is a block diagram of an actuator control device according to embodiments of the present invention. Among the components of the actuator control device shown in FIG. 9, the first upper switch (911), the second upper switch (912), the third upper switch (913), the first lower switch (914), the second lower switch (915), the third lower switch (916), the first resistor (920), and the control unit (940) described above with reference to FIG. 5 and FIG. 6 may be applied in the same way as the first upper switch (111), the second upper switch (112), the third upper switch (113), the first lower switch (121), the second lower switch (122), the third lower switch (123), the first resistor (200), and the control unit (400).

[0082] Referring again to FIG. 9, the motor control device may include first to third upper switches (911 to 913) and first to third lower switches (914 to 916) connected in series with each of the first to third upper switches (911 to 913). Additionally, the motor control device may include a first resistor (920) connected to the output terminals of the first to third lower switches (914 to 916). The motor control device may include a gate driver (930) connected to both ends of the first lower switch (914) and both ends of the third lower switch (916). The gate driver (930) may be connected to a control unit. The gate driver (930) may be connected to both ends of the first resistor (920).

[0083] FIG. 10 is a block diagram of an actuator control device according to embodiments of the present invention. Referring to FIG. 10, the actuator control device may include a first switch unit (2101), a first resistor (2201), and a control unit (2400). The first switch unit (2101) may control the power supplied to the first actuator (2301) according to 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 and FIG. 5-8 may be applied in the same way to the first switch unit (2101), the first resistor (2201), and the control unit (2400) of FIG. 10.

[0084] The actuator control device may include a second switch unit (2102) and a second resistor (2202). The power supplied to the second actuator (2302) can 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 FIGS. 1 and FIGS. 5-8 may be applied in the same way to the second switch unit (2102) and the second resistor (2202) of FIG. 10. The control unit (2400) can check the current flowing through at least one switch among the plurality of unit switches included in the second switch unit (2102) and the second resistor (2202), respectively, and determine the type of the second actuator (2302) based on the checked current. The second actuator (2302) may be a BLAC motor or a solenoid. In addition, the control unit (2400) can perform the operations described above with reference to FIG. 1 and FIG. 5-8 in order to determine the type of the second actuator (2302) and prepare to drive the second actuator (2302). That is, the control unit (2400) can determine the type of the first actuator (2301) and the second actuator (2302) and perform driving preparations corresponding to each type. In other words, the actuator control device can determine the type of each of the two actuators and control each of the two actuators.

[0085] FIG. 11 is a flowchart illustrating operations occurring in an actuator control device according to embodiments of the present invention. The entity performing the operations illustrated in FIG. 11 may be the control unit (2400) illustrated in FIG. 10, the control unit (400) illustrated in FIG. 1, FIG. 5, FIG. 6, and FIG. 9, or the control unit (MCU) illustrated in FIG. 7. That is, the operations illustrated in FIG. 11 can be performed regardless of the number of actuators controlled by the actuator control device. Hereinafter, the operation will be described with reference to the control unit (400) illustrated in FIG. 1, FIG. 5, FIG. 6, and FIG. 9.

[0086] In operation 1110, the control unit (400) can control the switch unit (100) with a pulse width modulation frequency of 20 kHz. In operation 1120, the control unit (400) can determine the type of actuator (300) and check whether the determined type is a solenoid. The method by which the control unit (400) determines the type of actuator (300) has been described above with reference to FIG. 8. In response to the determination that the type of actuator (300) connected to the actuator control device is a solenoid in operation 1120, the control unit (400) can control the switch unit (100) with a pulse width modulation frequency of 14.1 kHz in operation 1130. In response to the determination that the type of actuator (300) connected to the actuator control device in operation 1120 is a BLAC motor, the control unit (400) can continue to control the switch unit (100) at a pulse width modulation frequency of 20 kHz without changing the pulse width modulation frequency for controlling the switch unit (100) in operation 1135.

[0087] In accordance with operation 1130, while maintaining the pulse width modulation frequency for the switch unit (100) at 14.1 kHz, the control unit (400) can periodically turn on the first upper switch (111, H1) with a duty cycle of 5% or more and turn on the third lower switch (123, L3) in operation 1140. In operation 1140, the control unit (400) can always turn on the third lower switch (123, L3). While controlling the switch unit (100) as in operation 1140, the control unit (400) can check in operation 1145 whether the current (LSR) flowing through the first resistor is greater than or equal to the first threshold. If it is confirmed in operation 1145 that the current (LSR) flowing through the first resistor is greater than or equal to the first threshold, the control unit (400) can enter a ready state for driving the solenoid in operation 1150. If it is confirmed that the current (LSR) flowing through the first resistor in operation 1145 is less than the first threshold, the control unit (400) may determine that there is a power abnormality in operation 1160. Depending on various embodiments, the control unit (400) may determine that a failure has occurred in the power unit in operation 1160 and generate an alarm.

[0088] Unlike as illustrated in FIG. 11, depending on various embodiments, operations 1140, 1145, 1150, and 1160 may be omitted.

[0089] According to various embodiments, when the operations shown in FIG. 11 are performed by a control unit (2400 in FIG. 10) that controls two actuators, the control unit (2400) may control a first switch unit (2101) for controlling a first actuator (2301) according to the operations shown in FIG. 11, and independently control a second switch unit (2102) for controlling a second actuator (2302) according to the operations shown in FIG. 11. According to various embodiments, the control unit included in the actuator control device may include three or more switch units for controlling three or more actuators, and the control unit may control three or more switch units, and in this case, the control unit may control the switch units for controlling each actuator independently of each other according to the operations shown in FIG. 11.

[0090] In particular, as illustrated in FIG. 10, when the control unit (2400) controls two actuators, it is necessary to note that the control unit (2400) can control the first switch unit (2101) with a pulse width modulation frequency of 14.1 kHz and the second switch unit (2102) with a pulse width modulation frequency of 20 kHz in response to the determination that the first actuator (2301) is a solenoid and the second actuator (2302) is a BLAC motor. In this case, it goes without saying that the control unit (2400) can perform 1140 to 1160 operations with respect to the first actuator (2301) and the first switch unit (2101). That is, while maintaining the pulse width modulation frequency for the first switch unit (2101) at 14.1 kHz according to the 1130 operation, the control unit (2400) can periodically turn on the first upper switch (111, H1) included in the first switch unit (2101) with a duty cycle of 5% or more and turn on the third lower switch (123, L3) included in the first switch unit (2101) during the 1140 operation. During the 1140 operation, the control unit (2400) can always turn on the third lower switch (123, L3) included in the first switch unit (2101). While controlling the first switch unit (2101) as in the 1140 operation, the control unit (2400) can check whether the current (LSR) flowing through the first resistor (2201) is greater than or equal to the first threshold during the 1145 operation. If it is confirmed in operation 1145 that the current (LSR) flowing through the first resistor (2201) is greater than or equal to the first threshold, the control unit (2400) may enter a ready state for driving the solenoid in operation 1150. If it is confirmed in operation 1145 that the current (LSR) flowing through the first resistor (2201) is less than the first threshold, the control unit (2400) may determine in operation 1160 that there is a power abnormality. Depending on various embodiments, the control unit (2400) may determine in operation 1160 that a failure has occurred in the power unit and generate an alarm.

[0091] In the case where the control unit included in the actuator control device includes two or more switch units for controlling two or more actuators respectively, and the control unit controls the two or more switch units independently according to the operations shown in FIG. 11, the switch unit controlling the BLAC motor is controlled at a pulse width modulation frequency of 20 kHz, and the switch unit controlling the solenoid is controlled at a pulse width modulation frequency of 14.1 kHz, thereby reducing interference caused by EMC (Electromagnetic Compatibility) noise.

[0092] Although embodiments of the present invention have been described above with reference to the attached drawings, those skilled in the art will understand that the present invention may be implemented in other specific forms without changing its technical concept or essential features. Therefore, the embodiments described above should be understood as illustrative in all respects and not restrictive.

[0093] Meanwhile, embodiments of the present invention can be implemented as computer-readable code on a computer-readable recording medium. A computer-readable recording medium includes all types of recording devices in which data that can be read by a computer system is stored.

[0094] Examples of computer-readable recording media include ROM, RAM, CD-ROM, magnetic tape, floppy disk, and optical data storage devices. Additionally, computer-readable recording media may be distributed across networked computer systems, allowing computer-readable code to be stored and executed in a distributed manner. Furthermore, 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 belongs.

Claims

1. In an actuator control device, A first switch unit comprising a plurality of unit switches and controlling power supplied to a first actuator, A first resistor connected to the first switch unit, and It includes a control unit that controls the above actuator, and The above control unit is, Check each of the current flowing through at least one switch among the plurality of unit switches and the first resistor, and It is configured to determine the type of the first actuator based on the confirmed current, and An actuator control device in which the first actuator is a BLAC motor or a solenoid.

2. In Paragraph 1, The above-mentioned first switch unit is, First to third upper switches and It includes first to third lower switches connected in series to each of the first to third upper switches, and The above control unit is, While controlling the first switch unit under a first condition, a first current flowing through the first lower switch, a second current flowing through the third lower switch, a third current flowing through the first resistor, and a position signal confirmation value corresponding to a position signal that can be received from the actuator are checked, It is configured to determine the type of the first actuator based on the first current, the second current, the third current, and the position signal verification value, and The above position signal verification value includes an A signal verification value, a B signal verification value, and a PWM signal verification value corresponding to a Position A position signal, a Position B position signal, and a PWM position signal, respectively, which can be received from the actuator. Actuator control device.

3. In Paragraph 2, A first amplifier that amplifies the voltage difference between the two ends of the first lower switch, A second amplifier that amplifies the voltage difference between the two ends of the third lower switch, and An actuator control device further comprising a third amplifier that amplifies the voltage difference across the first resistor.

4. In Paragraph 2, The above first condition is, A condition of turning on the first lower switch and the third lower switch, and periodically turning on the second upper switch with a duty cycle of 5% or more, or An actuator control device having a condition of turning on the second upper switch and periodically turning on the first lower switch and the third lower switch with a duty cycle of 5% or more.

5. In Paragraph 2, The above control unit is, When the first current, the second current, and the third current are each greater than or equal to a first threshold value and the PWM signal verification value satisfies a second condition, the actuator is configured to be determined to be a BLAC motor, and An actuator control device in which the above second condition is satisfied when the duty ratio of the PWM position signal indicated by the PWM signal verification value is 5% or more and less than 95%.

6. In Paragraph 5, The above control unit is, An actuator control device configured to determine that a position sensor included in the actuator is faulty when the first current, the second current, and the third current are each greater than or equal to a first threshold, and the PWM signal verification value does not satisfy the second condition.

7. In Paragraph 2, The above control unit is, When the first current, the second current, and the third current are all less than the second threshold, and the strengths of the Position A signal, the Position B signal, and the PWM position signal, respectively represented by the A signal verification value, the B signal verification value, and the PWM signal verification value, are all less than the third threshold: The above-mentioned first upper switch is periodically turned on with a duty cycle of 5% or more; Turn on the above-mentioned third lower switch; Check the above third current; An actuator control device configured to determine that the actuator is a solenoid when the third current is greater than or equal to a first threshold.

8. In Paragraph 2, The above control unit is, When the first current, the second current, and the third current are all less than the second threshold, and the strengths of the Position A signal, the Position B signal, and the PWM position signal, respectively represented by the A signal verification value, the B signal verification value, and the PWM signal verification value, are all less than the third threshold: The above-mentioned first upper switch is periodically turned on with a duty cycle of 5% or more; Turn on the above-mentioned third lower switch; Check the above third current; An actuator control device configured to determine that there is a power abnormality when the third current is less than a first threshold value.

9. In Paragraph 2, It further includes a gate driver connected to both ends of the first lower switch and both ends of the third lower switch, The above gate driver is an actuator control device connected to both ends of the above first resistor.

10. In Paragraph 2, A second switch unit comprising a plurality of unit switches and controlling power supplied to a second actuator, and It further includes a second resistor connected to the second switch unit, and The control unit checks the current flowing through at least one switch among the plurality of unit switches included in the second switch unit and the second resistor, respectively. It is configured to determine the type of the second actuator based on the confirmed current, and An actuator control device in which the second actuator is a BLAC motor or a solenoid.

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