Steering Control Apparatus Redundant Torque Calculation
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Solution Overview
Problem
Conventional electric steering control apparatuses face difficulties in motor driving control when the driving direction and steering torque do not coincide, particularly in external disturbance compensation and three-phase motor applications, and struggle with determining motor output torque control unit abnormalities.
Innovation Solution
A steering control apparatus with a processing unit that includes multiple calculation sections for determining target and actual motor output torque, using sensors to detect steering states and calculate motor currents for feedback control, and redundant sub-calculation sections to verify the normal operation of main-calculation sections, ensuring accurate motor control and abnormality detection.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If a single motor output torque control unit is used, then the device complexity is reduced, but the reliability is insufficient due to inability to detect abnormalities
Solution Approach 1:
The motor output torque control unit is divided into multiple independent calculation sections (first calculation section, second calculation section, third calculation section). Each section independently calculates motor output torque using different methods, enabling abnormality detection through comparison while maintaining modular structure that limits complexity growth.
Solution Approach 2:
Multiple calculation sections are created as redundant copies that perform similar torque calculation functions. The first and second calculation sections serve as primary copies for normal operation, while the third calculation section acts as a backup copy for abnormality detection and fail-safe operation.
2Reliability
If multiple calculation sections are added for redundancy, then the reliability improves through abnormality detection, but the device complexity increases
Solution Approach 1:
Multiple calculation sections are merged into a single integrated motor output torque control unit with unified abnormality determination logic. The control unit combines the outputs of all calculation sections and implements centralized abnormality detection, reducing overall system complexity while maintaining redundancy benefits.
Solution Approach 2:
The abnormality determination section continuously monitors the outputs of multiple calculation sections and provides feedback control. When abnormalities are detected through comparison of calculation results, the system automatically switches to fail-safe operation, creating a closed-loop feedback mechanism that manages complexity through intelligent control.
3Adaptability or versatility
If conventional abnormality determination is used, then the device complexity is low, but the adaptability is insufficient for complex motor control scenarios
Solution Approach 1:
The motor output torque control unit is designed with universal applicability across different motor control scenarios including three-phase motors, external disturbance compensation, and cases where driving direction and steering torque do not coincide. The multiple calculation sections implement different torque calculation methods that can adapt to various operational conditions.
Data Source
AI summary
A steering control apparatus is obtained which can achieve a sophisticated control function and redundancy of a motor output torque control unit with a simple construction. The apparatus includes a motor 3 that provides assist torque to a steering system, and a processing unit 2 that has an input processing section 21 for taking in detection signals of various kinds of sensors, and an inverter 25a for driving the motor 3, wherein a command is given to the inverter 25a based on the detection signals. The processing unit 2 has a motor target output torque calculation section 221a, a motor output torque control unit 222, a plurality of main-calculation sections, and a plurality of sub-calculation sections corresponding to the main-calculation sections, and determines abnormality of the motor output torque control unit 222 based on individual calculation results of the main-calculation sections and the sub-calculation sections.