JP5428634B2 - Control device for electric power steering device - Google Patents

Description

  The present invention relates to a control device for an electric power steering device that applies an assist force (steering assist force) by a motor to a steering system of a vehicle such as an automobile.

  2. Description of the Related Art Conventionally, as a control device for this type of electric power steering apparatus, one that drives and controls a motor based on a vehicle speed detected through a vehicle speed sensor and a steering torque detected through a torque sensor is well known. The driving force (rotational force) of this motor is transmitted as a steering assist force to the steering shaft or the rack shaft via a speed reduction mechanism including gears. This assists the steering operation.

  When the motor is driven and controlled through a motor drive circuit including a plurality of switching elements, it is assumed that a fault such as a ground fault occurs between the motor and the switching element of the motor drive circuit due to some cause. The In this case, since the internal impedance of the motor drive circuit is significantly reduced, an overcurrent is generated in the motor drive circuit, and there is a possibility that the switching elements and the like constituting the circuit will break down. For this reason, it is possible to detect overcurrent by software or hard logic, and when the overcurrent is detected, the drive of the switching element is stopped or the drive is limited as a protection operation of the motor drive circuit or the like. What has been proposed has been proposed.

  For example, the control device for the electric power steering apparatus disclosed in Patent Document 1 determines whether or not there is a possibility that a ground fault has occurred based on the voltage between the terminals of the motor and the battery voltage, and determines that there is a possibility that a ground fault has occurred. In such a case, the driving of the switching element is limited. Thereafter, the control device determines the correctness of the determination that the previous ground fault may have occurred. That is, based on the voltage between the terminals of the motor and the battery voltage, it is determined again whether there is a possibility that a ground fault has occurred, and if it is determined that there is no possibility that a ground fault has occurred, The determination that there is a possibility of occurrence of an entanglement is an error, and the drive restriction of the switching element is released. On the other hand, when it is detected that the state where it is determined that there is a possibility that a ground fault has occurred continues for a predetermined time, driving of the switching element is stopped because the probability of the occurrence of the ground fault is high. Through such switching limitation or stopping of the switching element, the switching element, the motor driving circuit, or the like is suitably protected while suppressing a decrease in steering feeling and assist force.

JP 2004-338619 A

Here, in the control device of Patent Document 1, the presence / absence of the occurrence of the ground fault is determined based on the presence / absence of the ground fault detection condition represented by the following relational expression.
(Vm1 + Vm2) −Vb <Vh
However, Vm1 is the voltage on the upstream side (power supply side) of the voltage across the motor, and Vm2 is the voltage on the downstream side (ground side). Vb is a battery voltage, and Vh is a voltage determination threshold (detection threshold voltage) set to determine whether or not a ground fault is detected.

  When the value on the left side ((Vm1 + Vm2) −Vb) is smaller than the value on the right side (Vh) in the relational expression, the control device determines that there is a possibility that a ground fault has occurred. It is determined that there is no possibility that a ground fault has occurred.

However, by adopting such a method for determining whether or not a ground fault has occurred, the control device of Patent Document 1 has the following problems.
That is, as described above, the control device of Patent Document 1 does not immediately stop driving the switching element when it is determined that the relational expression is satisfied, in order to ensure the reliability of ground fault detection. First, the driving of the switching element is limited. After that, it is determined that the above-mentioned relational expression continues to be established for a predetermined time, and the driving of the switching element is stopped assuming that a ground fault has occurred. On the other hand, when it is determined that the relational expression is not satisfied between the time when the driving of the switching element is limited and the predetermined time elapses, the control device has erroneously determined the previous ground fault. Then, the drive restriction of the switching element is released.

  For this reason, when the drive of the switching element is limited until the predetermined time elapses, if the ground fault detection condition is deviated for some reason, the control device has a ground fault. Nevertheless, there is a risk of erroneously determining that it is normal and releasing the drive restriction of the switching element. If a ground fault accident has actually occurred, an overcurrent is generated in the motor drive circuit, and the switching element or the like may be damaged.

  As an occurrence state of such an erroneous determination, for example, a case where a fault such as a ground fault occurs between the motor and the switching element of the motor drive circuit in a state where the steering wheel is rotated to the lock end is assumed. In this case, power (current) originally supplied to the motor is supplied to the ground. That is, since the power supply path to the motor is interrupted, the steering operation is not assisted through driving the motor.

  When the steering wheel held at the lock end is reversely rotated to the neutral position (straight forward position) side, a counter electromotive voltage generated in the motor in accordance with the operation is detected as a terminal voltage of the motor. In other words, the control device erroneously determines that the steering assist is in a normal state with the aforementioned reverse rotation of the steering wheel. Since the counter electromotive voltage of the motor is proportional to the number of rotations of the motor, there is a possibility that the value will be larger than the voltage determination threshold (detection threshold voltage Vh) described above depending on the operation speed of the steering wheel. It is also conceivable that the above-described relational expression is not established because the counter electromotive voltage is added to the actual terminal voltage of the motor.

  As described above, there is a situation in which it is erroneously determined that the ground fault detection condition is not satisfied due to the counter electromotive voltage generated in the motor or the like. Even if it is erroneously determined that the ground fault detection condition is not satisfied, the drive restriction of the switching element is immediately released. For this reason, there is still concern about the occurrence of a situation in which the switching element and thus the motor drive circuit are not suitably protected. The control device of Patent Document 1 still leaves room for improvement in this respect.

  In addition, the problem of the erroneous determination of the ground fault detection condition due to the back electromotive voltage described above is not limited to the case where the steering wheel is operated to the lock end. This can occur in the same way as long as the motor rotates in the reverse direction with respect to the rotational torque of the steering wheel, such as when the vehicle is depressed or a tire is taken on the heel. The same applies to not only a ground fault but also a failure such as a short circuit or a power fault in the switching elements (FETs) on the power supply side and ground side of the motor drive circuit.

  The present invention has been made in order to solve the above-described problems, and an object of the present invention is to improve the protection function against a fault current while improving the reliability of the fault detection by suppressing the fault erroneous determination. It is to provide a control device for a power steering device.

According to the first aspect of the present invention, by controlling the drive of a motor that is operatively connected to a steering system of a vehicle through switching control of a plurality of switching elements, an electric motor that applies a steering assist force to assist the steering operation to the steering system. In a control device for a power steering apparatus, a first counter that counts a continuation of a state determined to satisfy a failure detection condition set based on an estimated terminal voltage of the motor estimated from a theoretical value of a power supply voltage ; A second counter that counts the continuation of the state determined to satisfy the failure determination condition set based on the theoretical value of the voltage, and a determination that the restriction cancellation condition set based on the theoretical value of the power supply voltage is satisfied state and a third counter for counting a continuation of the state, based on the value of the first counter, the fault detection condition is satisfied Together if it is determined that the substance is continued for a first predetermined time limit the execution of the switching control of the switching element, over a longer fourth predetermined time than the fault condition detection condition is satisfied the first predetermined time When it is determined that the switching element is to be continued, execution of switching control of the switching element is stopped, and in the stopped state, it is determined that the state in which the failure confirmation condition is satisfied is continued for a second predetermined time. In the restricted state, it is determined that the failure detection condition is not satisfied , and the value of the third counter is set to the value of the third counter. based on, only when the state where the restriction release condition is satisfied is determined that continues for a third predetermined time, the execution of the switching control To remove the restriction, and the gist thereof.

  When the failure detection is performed based on whether or not the failure detection condition set based on the motor terminal voltage is satisfied, the back electromotive voltage of the motor generated for some reason cannot be ignored. That is, a situation in which it is erroneously determined that the failure detection condition is not satisfied may occur due to a back electromotive voltage generated in the motor or the like. In particular, when a state determined that the failure detection condition is satisfied is detected over a certain period of time, the execution of the switching control is limited, and it is determined that the failure detection condition is not satisfied in the limited state. In such a case, in the case where the restriction on the execution of the switching control is released immediately, the protection of the switching element or the like may not be suitably performed. This is because the restriction on the switching control is immediately released even if it is erroneously determined that the failure detection condition is not satisfied. That is, when a failure really occurs, a failure current may be generated in the switching element and the switching element or the like may be destroyed.

  In this regard, according to the present invention, when it is determined that the failure detection condition is not established in a state where the execution of the switching control is restricted, the restriction release condition set based on the motor terminal voltage is established. Only when the determination is made, the restriction on the execution of the switching control is released. For this reason, when it is determined that the failure detection condition is not satisfied in a state where the execution of the switching control is restricted, the restriction is not immediately released. Therefore, by suppressing failure erroneous determination, it is possible to improve the protection function against the failure current while improving the reliability of the failure detection.

According to a second aspect of the present invention, an electric motor that applies a steering assist force for assisting a steering operation to the steering system by controlling driving of a motor that is operatively connected to the steering system of the vehicle through switching control of a plurality of switching elements. In the control device of the power steering apparatus, when a state determined that a failure detection condition set based on the estimated terminal voltage of the motor estimated from the theoretical value of the power supply voltage is satisfied is detected over a certain period of time, In addition to restricting the execution of switching control of the switching element, if it is determined that the failure detection condition is not established in the restricted state, the restriction release condition set based on the theoretical value of the power supply voltage is satisfied only when it is fact determined to release the restriction of the execution of the switching control, the failure detection condition, the motor Wherein the actual terminal voltage of the motor is equal to or less than the reference serving as a reference voltage determination threshold of the presence or absence of failure, the voltage determination threshold, from time to time is estimated based on the theoretical value and the duty ratio of the switching element of the power supply voltage wherein a value calculated every predetermined control cycle by multiplying the estimated terminal is large and a value of 1 or less than 0 to the voltage coefficient of the motor, the coefficient is assumed to when a failure occurs the set value of the power supply voltage set as a boundary value, when the value of the actual power supply voltage is lower than the boundary value, and its gist that than when it is also the least boundary value is set to a large value To do.

  According to the present invention, when the value of the power supply voltage assumed when a failure occurs is used as a boundary value, and the actual power supply voltage value is less than the boundary value, the value is also greater than or equal to the boundary value. A larger coefficient is set. Here, when the actual power supply voltage value is less than the boundary value, it can be said that the probability of occurrence of a failure is high. In a situation where the probability of the occurrence of a failure is high, the value of the voltage determination threshold value that is a criterion for determining whether or not a failure has occurred is increased by increasing the coefficient value. That is, since the failure detection area is expanded, it becomes easy to detect a failure. For this reason, even when the terminal voltage of the motor increases due to the generation of the counter electromotive voltage of the motor described above, it is difficult to deviate from the failure detection condition. Therefore, faulty erroneous determination is suppressed. Reliability for failure detection is further enhanced.

According to a third aspect of the present invention, an electric motor for applying a steering assist force for assisting a steering operation to the steering system by controlling driving of a motor operatively connected to the steering system of the vehicle through switching control of a plurality of switching elements. In the control device of the power steering apparatus, when a state determined that a failure detection condition set based on the estimated terminal voltage of the motor estimated from the theoretical value of the power supply voltage is satisfied is detected over a certain period of time, Restricting the execution of the switching control of the switching element, and when it is determined that the failure detection condition is not satisfied in the restricted state, the restriction on the execution of the switching control is immediately released, failure detection conditions, the voltage determination threshold below which the actual terminal voltage of the motor becomes a criterion for the presence or absence of failure It includes that, the voltage determination threshold, the theoretical value and the coefficient is a given time of the large and a value of 1 or less than 0 to the estimated terminal voltage of the motor is estimated based on the duty ratio of the switching element of the power supply voltage a value is calculated for every predetermined control cycle by multiplying, the factor, the set value of the supply voltage fault is set assuming the time that occurred as a boundary value, the actual value of the supply voltage If it is less than the boundary value, the gist is to set it to a larger value than when it is equal to or more than the boundary value.

  According to the present invention, when it is determined that the failure detection condition is not satisfied in a state where the execution of the switching control of the switching element is restricted, the restriction on the execution of the switching control is immediately released. Even if it is a case, faulty misjudgment is suppressed. That is, when the actual power supply voltage value is less than the boundary value with the value of the power supply voltage assumed when a failure occurs as a boundary value, the value is larger than that in the same case. A coefficient is set. Here, when the actual power supply voltage value is less than the boundary value, it can be said that the probability of occurrence of a failure is high. In a situation where the probability of the occurrence of a failure is high, the value of the voltage determination threshold value that is a criterion for determining whether or not a failure has occurred is increased by increasing the coefficient value. That is, since the failure detection area is expanded, it becomes easy to detect a failure. For this reason, even when the terminal voltage of the motor increases due to the generation of the counter electromotive voltage of the motor described above, it is difficult to deviate from the failure detection condition. Therefore, by suppressing failure erroneous determination, it is possible to improve the protection function against the failure current while improving the reliability of the failure detection.

  According to a fourth aspect of the present invention, in the control device for an electric power steering apparatus according to any one of the first to third aspects, the failure detection condition is a condition between the terminal of the motor and the switching element. Its gist is that it is set to detect a ground fault in the meantime. Thus, for example, a ground fault can be detected to protect the switching element.

  The gist of the fifth aspect of the present invention is the control device for an electric power steering apparatus according to any one of the first to fourth aspects, wherein the motor is a brush motor. Thus, it can comprise as a control apparatus of the electric power steering device comprised provided with the motor with a brush.

  According to the present invention, it is possible to improve the overcurrent protection function by suppressing the erroneous determination of a fault such as a ground fault and further improving the reliability with respect to the detection of the fault.

The schematic block diagram of an electric power steering device (EPS). The circuit diagram which shows the electric constitution of an electric power steering device. The circuit diagram of the motor drive circuit which shows an example of a ground fault point. The flowchart which shows the procedure of the failure detection process in 1st Embodiment. The flowchart which similarly shows the procedure of a failure detection process. The flowchart which similarly shows the procedure of a failure detection process. The flowchart which similarly shows the procedure of a failure detection process. The flowchart which similarly shows the procedure of a failure detection process. (A), (b), (c) is a graph explaining the relationship between the duty ratio of FET and the value of an estimated terminal voltage, respectively. The graph of the duty ratio of FET which shows a ground fault detection area | region, and an estimated terminal voltage. The flowchart which shows the procedure of the failure detection process in 2nd Embodiment. (A) is a map showing the relationship between the power supply voltage and the detection threshold gain G, and (b) is a table showing an example of specific values of the power supply voltage and the detection threshold gain G.

  Hereinafter, a first embodiment in which the present invention is embodied in a so-called column-type electric power steering device (EPS) in which a power assist unit and its control device are provided in a steering column will be described.

<Outline configuration>
First, a schematic configuration of the electric power steering apparatus will be described. As shown in FIG. 1, in the electric power steering apparatus 1, a steering shaft 3 that rotates integrally with the steering wheel 2 is connected in order of a column shaft 8, an intermediate shaft 9, and a pinion shaft 10 from the steering wheel 2 side. The pinion shaft 10 is meshed with a rack portion 5a of a rack shaft 5 provided orthogonal to the pinion shaft 10. The rotation of the steering shaft 3 accompanying the steering operation is converted into a reciprocating linear motion of the rack shaft 5 by the rack and pinion mechanism 4 including the pinion shaft 10 and the rack portion 5a. The reciprocating linear motion is transmitted to a knuckle arm (not shown) via tie rods 11 connected to both ends of the rack shaft 5, thereby changing the steering angle of the steered wheels 12.

  In addition, the electric power steering device 1 includes a steering force assist device (power assist unit) 13 that applies an assist force for assisting a steering operation to the steering system, and an electronic control device that controls the operation of the steering force assist device 13 ( ECU) 14.

  A motor 15 that is a driving source of the steering force assisting device 13 is operatively connected to the column shaft 8 via a speed reduction mechanism 16 formed of a gear or the like. The rotational force of the motor 15 is decelerated by the speed reduction mechanism 16 and this is transmitted as an assist force to the steering system, more precisely to the column shaft 8. The electronic control unit 14 controls the assist force as follows. That is, the electronic control unit 14 acquires the vehicle speed V through the vehicle speed sensor 17 provided on the steered wheels 12 and the like. Further, the electronic control unit 14 acquires the steering torque τ applied to the steering wheel 2 and the steering angle (rotation angle) θs of the steering wheel 2 through the torque sensor 18 and the steering angle sensor 19 provided on the column shaft 8. . The electronic control unit 14 calculates a target assist force based on the vehicle speed V, the steering torque τ, and the steering angle θs, and performs power supply control of the motor 15 to generate the calculated target assist force. The assist force applied to the steering system is controlled through the power supply control of the motor 15. In this example, a brush motor is used as the motor 15. However, it is also possible to employ a brushless motor.

<Electrical configuration>
Next, the electrical configuration of the electric power steering device will be described. As shown in FIG. 2, the electronic control device 14 includes a microcomputer 20 that generates a motor control signal and a motor drive circuit 30 that supplies electric power to the motor 15 based on the motor control signal.

  The microcomputer 20 includes a CPU (Central Processing Unit) 21, a ROM (Read Only Memory) 22, and a RAM (Random Access Memory) 23. The microcomputer 20 includes a first counter 24, a second counter 25, and a third counter 26.

  The ROM 22 stores various control programs (including an assist control program and a fault detection program such as a ground fault) executed by the CPU 21, various data, various assist torque maps, and the like. This assist torque map defines the relationship between the steering torque τ and the optimum target assist torque for the steering torque τ, and is created for each predetermined vehicle speed range. For example, those corresponding to the low speed range (0 to 5 km / h), medium to low speed range (5 to 20 km / h), medium to high speed range (20 to 40 km / h), and high speed range (40 to 70 km / h or more) are created. Has been. The assist torque map is obtained in advance by experimental data based on a vehicle model, a known theoretical calculation, or the like. The RAM 23 is a data work area for the CPU 21 to execute various arithmetic processes by developing various control programs written in the ROM 22.

  The CPU 21 includes a vehicle speed sensor 17, a torque sensor 18, a power supply circuit 27, an engine speed sensor 28, and a motor drive circuit 30 connected to each other via an input / output interface (not shown). The power supply circuit 27 is connected to the plus terminal of the battery BAT via the power supply line L1, converts the voltage (for example, 12V to 24V) of the battery BAT into a predetermined voltage (for example, 5V), and converts this to each part of the microcomputer 20 To supply. An ignition switch IG is provided on the power supply line L1. When the ignition switch IG is turned on (closed operation), the power supply line L1 is turned on, and when the ignition switch IG is turned off (opened operation), the power supply line L1 is turned off. The engine speed sensor 28 detects an engine speed NE (not shown).

<Motor drive circuit>
The motor driving circuit 30 includes four field effect transistors (hereinafter referred to as “FETs 31 to 34”) connected to the motor 15 in an H-bridge type. Specifically, a series circuit of FETs 31 and 33 and a series circuit of FETs 32 and 34 are connected in parallel. A plus terminal of the motor 15 is connected between the FETs 31 and 33 via a power line L2. A negative terminal of the motor 15 is connected between the FETs 32 and 34 via a power supply line L3. Further, both terminals of the motor 15 are connected to the CPU 21 via a motor terminal voltage detection circuit (not shown). In addition, as each FET31-34, what has the current-proof performance of "200A (ampere) -100ms" is employ | adopted. That is, the current flowing through the drains of the FETs 31 to 34 and the channel temperature are set so as not to destroy the FETs. Moreover, in each FET31-34, the junction temperature in them is set so that an element may not be destroyed.

  A motor relay 36 is provided on the power supply line L3. The motor relay 36 is connected to the CPU 21 via a relay drive circuit (not shown) and opens and closes based on an open / close control signal from the CPU 21. When the motor relay 36 is turned on (closed operation), the power supply line L3 is turned on, and when the motor relay 36 is turned off (opened operation), the power supply line L3 is turned off. Note that the gates of the FETs 31 to 34 are connected to the CPU 21 via PWM (pulse width modulation) drive circuits (not shown). Each of the FETs 31 to 34 performs a switching operation based on a motor control signal (PWM drive signal) supplied from the CPU 21 through a PWM drive circuit.

  The connecting portions at both ends of the motor drive circuit 30, specifically, the series circuit of the FETs 31 and 33 and the series circuit of the FETs 32 and 34, are connected to the positive terminal and the negative terminal of the battery BAT via the power lines L4 and L5, respectively. Ground terminal). A series circuit of a power relay 37 and a shunt resistor 38 is provided on the power line L4. Both ends of the shunt resistor 38 are connected to the CPU 21 via an overcurrent detection circuit (not shown). The power relay 37 is connected to the CPU 21 via a relay drive circuit (not shown) and opens and closes based on an open / close control signal from the CPU 21. When the power supply relay 37 is turned on (closed operation), the power supply line L4 is in a conductive state, and when it is turned off (opened operation), the power supply line L4 is turned off. A shunt resistor 39 is provided on the power supply line L5, and both ends of the shunt resistor 39 are connected to the CPU 21 via a motor control current detection circuit (not shown).

  A connection point between the power supply relay 37 and the shunt resistor 38 is connected to a connection point between the ignition switch IG and the power supply circuit 27 via the power supply line L6. For this reason, when the power relay 37 is in the on state, operating power is supplied to the microcomputer 20 via the power line L6 regardless of the on / off state of the ignition switch IG.

  The microcomputer 20 (precisely the CPU 21) is configured so that the FETs 32 and 33 are turned off when the FETs 31 and 34 are turned on, and the FETs 31 and 34 are turned off when the FETs 32 and 33 are turned on. The FETs 31 to 34 are on / off controlled, respectively. In the motor drive circuit 30, when the FETs 31 and 34 are turned on and the FETs 32 and 33 are turned off, the plus terminal of the motor 15 is connected to the plus terminal of the battery BAT, and the minus terminal of the motor 15 is connected to the minus terminal of the battery BAT. Therefore, the motor 15 rotates in the positive direction. On the other hand, when the FETs 31 and 34 are turned off and the FETs 32 and 33 are turned on, the plus terminal of the motor 15 is connected to the minus terminal of the battery BAT, and the minus terminal of the motor 15 is connected to the plus terminal of the battery BAT. Therefore, the motor 15 rotates in the reverse direction.

  The microcomputer 20 (more precisely, its PWM drive circuit) has a duty ratio (time for energizing the FETs 31 to 34) to realize a motor current according to the steering torque τ detected by the torque sensor 18. A PWM drive signal is generated and supplied to each of the FETs 31 to 34 as a motor control signal. When the motor 15 is driven through switching of the FETs 31 to 34 based on this motor control signal, an assist torque corresponding to the steering torque τ is generated.

  When the ignition switch IG is turned on and the electric power from the battery BAT is supplied to each part of the electronic control device 14, the microcomputer 20 enters an input state for assist activation conditions. That is, the microcomputer 20 activates the assist control when the engine speed NE detected by the engine speed sensor 28 reaches a predetermined value (for example, 470 rpm). The microcomputer 20 maintains the input standby state of the assist activation condition until the engine speed NE reaches a predetermined value.

  Unlike the present example, there are vehicles that execute assist control when the engine is stopped, and the present invention can also be applied to such vehicles. In this example, although application to a vehicle using an engine as a drive source is assumed, the present invention can also be applied to a vehicle having an EV (electric vehicle) or EV mode using a motor as a drive source. And when applying to these vehicles, the microcomputer 20 starts assist control with the signal and conditions different from an engine speed. Incidentally, the EV mode refers to a traveling mode of a vehicle that travels by driving only a motor by a battery without using gasoline.

  Further, the electronic control unit 14 has a fail-safe function for avoiding the occurrence of overcurrent or regenerative lock by turning off the motor relay 36 or the power supply relay 37. The regenerative lock is a state where both terminals of the coil of the motor 15 are connected to each other due to a short circuit failure of one of the FETs 31 to 34, and a regenerative braking force is generated in the motor 15. This is a phenomenon in which the steering wheel 2 operatively connected to the motor 15 becomes difficult to steer.

  For example, it is presumed that the actual motor control current value detected by the motor control current detection circuit is extremely larger than the target motor control current value, and one of the FETs 31 to 34 has a short circuit fault. In this case, the CPU 21 turns off the power supply relay 37 and instantaneously cuts off the power supply line L4. As a result, malfunction or damage of the motor 15 is avoided (overcurrent protection function). When the ground fault occurs between the motor 15 and each of the FETs 31 to 34 of the motor drive circuit 30, the above-described overcurrent protection function operates similarly. The ground fault detection process will be described later in detail.

  At this time, the CPU 21 turns off the power supply relay 37 and simultaneously turns off the motor relay 36 to shut off the power supply line L3. Thereby, the regenerative lock of the motor 15 is avoided.

<Ground fault detection process>
Next, detection processing for a ground fault occurring between the motor 15 and each of the FETs 31 to 34 of the motor drive circuit 30 will be described with reference to the flowcharts of FIGS. These flowcharts are executed based on a failure detection program stored in the ROM 22. The processes shown in the flowcharts are respectively performed in parallel when the ignition switch IG is turned on and operating power is supplied to each unit of the electronic control unit 14.

  Further, in this example, as shown in FIG. 3, it is assumed that a ground fault has occurred in the motor terminal (plus terminal) on the upstream side (power supply PIG side) in the motor drive circuit 30. In this case, as indicated by an arrow in the figure, the path of the current supplied from the power supply PIG is not the original current path of “FET31 → power supply line L2 → motor 15 → power supply line L3 → ground” but “FET31 → Power supply line L2 → Ground fault point P ”.

Now, as shown in the flowchart of FIG. 4, when executing the ground fault detection process, the microcomputer 20 first calculates a detection threshold voltage (step S101).
The detected threshold voltage is a value (voltage value) serving as a reference when detecting the presence or absence of a fault current (here, ground fault current) generated in the motor drive circuit 30 or the like due to a ground fault or the like. This detection threshold voltage Vh is calculated by the following equation.

Vh = Vm × G
However, Vm is the sum of the plus terminal voltage (estimated value) and the minus terminal voltage (estimated value) of the motor 15 (hereinafter referred to as “estimated terminal voltage sum”). The estimated values of the positive terminal voltage and the negative terminal voltage are obtained by multiplying the power supply voltage Vpig (theoretical value) by the duty ratio of the driving FET (D2 in the example of FIG. 3). G is a detection threshold gain (coefficient). The detection threshold gain G is set to a value smaller than 1, but is set to 0.7 in this example.

  In this example, the estimated terminal voltage sum Vm of the motor 15 is the value of the plus terminal voltage Vm1 of the motor 15. This is due to the following reason. That is, in the case of a ground fault, there is a failure mode characteristic in which the potential of one of both terminals of the motor 15 drops to a value in the vicinity of 0 mV. For this reason, in order to improve the detectability of a ground fault, one electric potential is used intentionally. On the other hand, when the detection threshold voltage Vh is calculated based on the original sum of both terminal voltages of the motor 15 (= Vm1 + Vm2), pure false detection with respect to detection of a ground fault is enhanced. From this point of view, only one potential is used.

  In this example, the positive terminal voltage Vm1 of the motor 15, that is, the estimation terminal, is set according to the sum of the duty ratio of the FET 31 on the power supply side D2 (%) and the duty ratio D1 (%) of the FET 34 on the ground side. The value of the voltage sum Vm is varied. This is because a suitable value serving as a reference for detecting the presence or absence of a fault current differs according to the duty ratios D2 and D1 of the FETs 31 and 34.

  As shown in FIG. 9A, when the relationship of “1.25 <D1 + D2” is established, the values of the positive terminal voltage Vm1 and the negative terminal voltage Vm2 of the motor are as follows. “1.25” indicates “125%”.

・ Vm1 = Vpig
・ Vm2 = (1-D1) × Vpig
As described above, since the plus terminal voltage Vm1 is used as the estimated terminal voltage sum Vm in this example, the estimated terminal voltage sum Vm is expressed as follows. Vpig is a power supply voltage (PIG voltage).

・ Vm = Vpig
As shown in FIG. 9B, when the relationship of “1 ≦ D1 + D2 <1.25” is established, the values of the positive terminal voltage Vm1 and the negative terminal voltage Vm2 of the motor are as follows. Note that “1” indicates “100%”.

・ Vm1 = D2 × Vpig
・ Vm2 = (1-D1) × Vpig
Therefore, the estimated terminal voltage sum Vm is expressed as follows.

・ Vm = D2 × Vpig
As shown in FIG. 9C, when the relationship of “D1 + D2 <1” is established, the values of the positive terminal voltage Vm1 and the negative terminal voltage Vm2 of the motor are as follows. In the following relational expression, “0.5” is a coefficient, which is appropriately changed according to the product specifications and the like.

・ Vm1 = (1−D1 + D2) × Vpig × 0.5
・ Vm2 = (1−D1 + D2) × Vpig × 0.5
Therefore, the estimated terminal voltage sum Vm is expressed as follows.

・ Vm = (1−D1 + D2) × Vpig × 0.5
Further, as shown in the graph of FIG. 10, the detection threshold voltage Vh is the sum of the duty ratio D1 of the ground-side FET 34 and the duty ratio D2 of the power-supply-side FET 31, the actual positive terminal voltage Vm1, and the negative value. It is expressed as a function of the sum of the terminal voltages Vm2 (hereinafter referred to as “actual motor terminal voltage sum Vadd”). In the graph, the horizontal axis represents “D1 + D2”, and the vertical axis represents the actual motor terminal voltage sum Vadd. In the graph, the upper polygonal line indicates the change in the value of the estimated terminal voltage sum Vm with respect to the change in the value of “D1 + D2”. Similarly, the lower broken line shows a change in the value of the detection threshold voltage Vh with respect to a change in the value of “D1 + D2”.

  As shown in the graph, when “D1 + D2 <1”, the value of the estimated terminal voltage sum Vm is equal to or less than the value of “power supply voltage Vpig × detection threshold gain G”. When “1 ≦ D1 + D2 <1.25”, the value of the estimated terminal voltage sum Vm exceeds the value of “power supply voltage Vpig × detection threshold gain G” and takes a value equal to or lower than the power supply voltage Vpig. Further, when “1.25 <D1 + D2”, the value of the estimated terminal voltage sum Vm is the same as the value of the power supply voltage Vpig (constant).

  The detection threshold voltage Vh takes a value smaller than the estimated terminal voltage sum Vm described above, and changes along the estimated terminal voltage sum Vm. That is, as shown in the graph, when “D1 + D2 <1”, the value of the detection threshold voltage Vh is smaller than the value of “power supply voltage Vpig × detection threshold gain G”. Even when “1 ≦ D1 + D2 <1.25”, the value of the detection threshold voltage Vh is smaller than the value of “power supply voltage Vpig × detection threshold gain G”. However, the inclination is larger than in the case of “D1 + D2 <1”. Further, when “1.25 <D1 + D2”, the value of the detection threshold voltage Vh is the same as the value of “power supply voltage Vpig × detection threshold gain G” (constant).

  In the graph, a portion below the lower polygonal line is a ground fault detection region. That is, the detected threshold voltage Vh is one of the ground fault detection conditions, and when the value of the actual motor terminal voltage sum Vadd is less than or equal to the detected threshold voltage Vh, a ground fault occurs. It is determined that there is a possibility that

  Next, the microcomputer 20 that has completed the calculation of the detection threshold voltage Vh through the process of the previous step S101 determines whether or not the ground fault detection condition is satisfied (step S102). If the microcomputer 20 determines that the ground fault detection condition is satisfied (YES in step S102), the microcomputer 20 increments the first counter 24 by 1 (step S103) and ends the process. On the other hand, when the microcomputer 20 determines that the ground fault detection condition is not satisfied (NO in step S102), the microcomputer 20 clears (resets) the first counter 24 (step S104) and ends the process. .

  The value of the first counter 24 is used to determine whether or not there is a possibility that a ground fault has occurred. That is, the microcomputer 20 repeats the process shown in the flowchart of FIG. 4 at a predetermined control cycle. When it is determined that the ground fault detection condition in the previous step S102 is continuously established, the value of the first counter 24 is incremented each time the process is repeated. For this reason, if the value of the first counter 24 is known, it is possible to obtain the elapsed time from when the above-mentioned ground fault detection condition is first established based on the control cycle (time) of the microcomputer 20. If it is determined that the ground fault detection condition set as the possibility of the occurrence of a ground fault has been established over a certain period of time, the probability that a ground fault has occurred is high.

  Incidentally, in this example, the following three conditions are set as the ground fault detection conditions described above. Only when it is determined that all these conditions are satisfied, it is determined that there is a possibility that a ground fault has occurred.

1. Actual motor terminal voltage sum Vadd ≦ detection threshold voltage Vh
2. D1 + D2 ≧ 20%
3. Motor current ≤ 20A
The motor current is a current supplied to the motor 15, and the value thereof is calculated based on the voltage across the shunt resistor 39 provided between the motor drive circuit 30 and the ground.

<Failure judgment>
Next, the microcomputer 20 determines the certainty about the occurrence of the ground fault, and executes a protection function according to the determination result.

  That is, as shown in the flowchart of FIG. 5, the microcomputer 20 reads the value of the first counter 24 and the value of the third counter 26 (step S201). Note that the reading timing of the value of the third counter 26 may be appropriately changed as long as the value of the third counter 26 is determined in step S209 described later.

  Next, the microcomputer 20 determines whether or not the value of the first counter 24 (more precisely, the time calculated based on the value) is, for example, 1.6 ms or more (step S202).

  When the microcomputer 20 determines that the time calculated based on the value of the first counter 24 is 1.6 ms or longer (YES in step S202), the microcomputer 20 sets a flag indicating that a ground fault is being detected. It is set in a predetermined area of the RAM 23 (step S203).

Next, the microcomputer 20 detects whether the time calculated based on the value of the first counter 24 is, for example, 10 ms or more (step S204).
If the microcomputer 20 determines that the time calculated based on the value of the first counter 24 is, for example, 10 ms or more (YES in step S204), it is assumed that there is a high probability that a ground fault has occurred. Then, the driving of the FETs 31 to 34, that is, the PWM driving of the motor driving circuit 30 is stopped (step S205), and the process is terminated. Specifically, the duty ratio of each FET 31 to 34 is set to 0%. In the example shown in FIG. 3, the duty ratios of the power supply side FET 31 and the ground side FET 34 are each 0%.

  On the other hand, when the microcomputer 20 determines that the time calculated based on the value of the first counter 24 is, for example, less than 10 ms (NO in step S204), it drives the FETs 31 to 34, that is, The PWM drive of the motor drive circuit 30 is limited (step S206), and the process ends. Specifically, the duty ratio of each FET 31 to 34 is limited. In the example shown in FIG. 3, the duty ratio of the power supply side FET 31 and the ground side FET 34 is limited to 30%.

  When the microcomputer 20 determines that the time calculated based on the value of the first counter 24 is not 1.6 ms or longer in the determination in the previous step S202 (NO in step S202), the microcomputer 20 Assuming that there is a possibility of an error in the detection determination of the fault, the PWM drive restriction canceling process is executed. The PWM drive restriction release process will be described in detail later.

<Ground fault confirmation process>
In addition, the microcomputer 20 confirms again the correctness of the determination that the ground fault has occurred, and then performs the ground fault determination process for determining the determination that the ground fault has occurred in a predetermined control cycle. Run with.

<Correctness determination process>
That is, as shown in the flowchart of FIG. 6, the microcomputer 20 stops PWM drive based on the value of the first counter 24 when reconfirming the correctness of the determination that the ground fault has occurred. Is determined (step S301). Specifically, the same determination as in step S204 in the flowchart of FIG. 5 is performed, and when it is determined that the time calculated based on the value of the first counter 24 is, for example, 10 ms or more, PWM driving is performed. Is determined to be stopped. If the microcomputer 20 determines that the PWM drive is stopped (YES in step S301), the value of the actual motor terminal voltage sum Vadd is equal to or less than the value of “0.7 × power supply voltage Vpig”. Whether or not (step S302). That is, in this step, the microcomputer 20 confirms again whether or not a ground fault has occurred through determination of whether or not the following relational expression is satisfied.

・ Vadd = Vm1 + Vm2 ≦ 0.7 × power supply voltage Vpig
However, “0.7” on the right side is a value (coefficient) set in order to avoid an erroneous determination regarding the presence or absence of the occurrence of a ground fault, and is a value smaller than “1”.

  If the microcomputer 20 determines that the value of the actual motor terminal voltage sum Vadd is equal to or less than the value of “0.7 × power supply voltage Vpig” (YES in step S302), the microcomputer 20 increments the second counter 25. (Step S303), and the process ends. In contrast, if the microcomputer 20 determines that the value of the actual motor terminal voltage sum Vadd is not less than or equal to the value of “0.7 × power supply voltage Vpig” (NO in step S302), the microcomputer 20 The value of the counter 25 is cleared (step S304), and the process ends.

  The value of the second counter 25 is used to determine that a ground fault has occurred. That is, the microcomputer 20 repeats the process shown in the flowchart of FIG. 6 at a predetermined control cycle. When it is continuously determined that the value of the actual motor terminal voltage sum Vadd is equal to or less than the value of “0.7 × power supply voltage Vpig” in the determination in the previous step S302, every time the process is repeated. The value of the second counter 25 is incremented. For this reason, if the value of the second counter 25 is known, based on the control cycle (time) of the microcomputer 20, the value of the actual motor terminal voltage sum Vadd is equal to or less than the value of “0.7 × power supply voltage Vpig”. It is possible to obtain the elapsed time since the first determination. When a ground fault has not occurred, the value of the actual motor terminal voltage sum Vadd does not fall below the value of “0.7 × power supply voltage Vpig”. For this reason, for example, if a state where the value of the actual motor terminal voltage sum Vadd is equal to or less than the value of “0.7 × power supply voltage Vpig” continues for a certain period of time, it can be said that a ground fault has occurred.

<Confirmation processing>
Then, as shown in the flowchart of FIG. 7, the microcomputer 20 first reads the value of the second counter 25 when determining that a ground fault has occurred (step S401).

  If it is determined that the time calculated based on the value of the second counter 25 is not 500 ms or longer (NO in step S402), the microcomputer 20 determines that a ground fault has occurred. The process is terminated without confirmation.

  On the other hand, if the microcomputer 20 determines that the time calculated based on the value of the second counter 25 is, for example, 500 ms or more (YES in step S402), a ground fault has occurred. Is determined (step S403), and the process is terminated.

  When the microcomputer 20 determines that the ground fault has occurred, the microcomputer 20 includes the motor relay 36 and the power relay 37 shown in FIG. 2 as protective functions for the motor drive circuit 30 and the like. Each is turned off (opening operation). Thereby, malfunction and damage of the motor 15 are avoided. A regenerative lock of the motor 15 is also avoided. Furthermore, it is also possible to notify that a ground fault has occurred through the operation of a lamp or buzzer (not shown) provided in the passenger compartment.

<PWM drive restriction release processing>
Next, in the determination of step S202 in the flowchart of FIG. 5, when the microcomputer 20 determines that the time calculated based on the value of the first counter 24 is not 1.6 ms or more (in step S202). A description will be given of the PWM drive restriction release processing executed in (NO).

  As shown in the flowchart of FIG. 8, the microcomputer 20 first determines whether a flag indicating that a ground fault is being detected is set in a predetermined area of the RAM 23 (ON state) (step). S501).

  When the microcomputer 20 determines that the flag indicating that the ground fault is being detected is set (ON state) (YES in step S501), the value of the actual motor terminal voltage sum Vadd is “ It is determined whether or not the value is larger than the value of “0.7 × power supply voltage Vpig” (step S502). That is, in this step, the microcomputer 20 confirms again that a ground fault has not occurred through the determination of whether or not the following relational expression is satisfied.

・ Vadd = Vm1 + Vm2> 0.7 × power supply voltage Vpig
However, “0.7” on the right side is a value (coefficient) set in order to avoid an erroneous determination regarding the presence or absence of the occurrence of a ground fault, and is a value smaller than “1”.

  If the microcomputer 20 determines that the value of the actual motor terminal voltage sum Vadd is larger than the value of “0.7 × power supply voltage Vpig” (YES in step S502), a ground fault has occurred. If not, the third counter 26 is incremented (step S503), and the process ends. This is, for example, the value of the actual motor terminal voltage sum Vadd (= Vm1 + Vm2) when a ground fault has occurred on the positive terminal side of the motor 15 (in this example, the resistance value of the short circuit portion is 0 mΩ). Is equal to or less than a value corresponding to the ground voltage value, for example, a value of “0.1 × Vpig”. That is, when a ground fault has occurred, the actual motor terminal voltage sum Vadd does not become a value larger than the value of “0.7 × power supply voltage Vpig”.

  On the other hand, when the microcomputer 20 determines that the value of the actual motor terminal voltage sum Vadd is not larger than the value of “0.7 × power supply voltage Vpig” (NO in step S502), The value of the third counter 26 is cleared (step S504), and the process ends.

  The value of the third counter 26 is determined when it is determined in step S202 in the flowchart of FIG. 5 that there is a risk of erroneous ground fault detection (NO in step S202). Used to determine if it is correct. That is, the microcomputer 20 repeats the process shown in the flowchart of FIG. 8 at a predetermined control cycle. If it is continuously determined that the value of the actual motor terminal voltage sum Vadd is larger than the value of “0.7 × power supply voltage Vpig” in the previous determination in step S502, the process is repeated. Each time, the value of the third counter 26 is incremented. Therefore, if the value of the third counter 26 is known, the value of the actual motor terminal voltage sum Vadd is larger than the value of “0.7 × power supply voltage Vpig” based on the control cycle (time) of the microcomputer 20. It is possible to obtain the elapsed time from the first determination that it is. When a ground fault has occurred, the value of the actual motor terminal voltage sum Vadd does not become larger than the value of “0.7 × power supply voltage Vpig”. For this reason, for example, if a state where the value of the actual motor terminal voltage sum Vadd is larger than the value of “0.7 × power supply voltage Vpig” continues for a certain period of time, it can be said that no ground fault has occurred.

  As described above, when the microcomputer 20 determines that the time calculated based on the value of the first counter 24 is not 1.6 ms or more in step S202 in the flowchart of FIG. In step S202, NO), a PWM drive restriction release process is executed.

  That is, as shown in the flowchart of FIG. 5, when the microcomputer 20 determines that the time calculated based on the value of the first counter 24 is not 1.6 ms or longer (NO in step S202). Then, it is determined whether or not a flag indicating that a ground fault is being detected is set in a predetermined area of the RAM 23 (ON state) (step S207).

  When the microcomputer 20 determines that the flag indicating that the ground fault is being detected is not set (OFF state) (NO in step S207), the microcomputer 20 cancels the PWM drive restriction (step S208). ), The process is terminated.

  On the other hand, when the microcomputer 20 determines that the flag indicating that the ground fault is being detected is set (ON state) (YES in step S207), the microcomputer 26 It is determined whether or not the value of is, for example, 100 ms or more (step S209).

  If it is determined that the time calculated based on the value of the third counter 26 is not 100 ms or longer (NO in step S209), the microcomputer 20 proceeds to the previous step S204. On the other hand, when the microcomputer 20 determines that the value of the third counter 26 is, for example, 100 ms or more (YES in step S209), the microcomputer 20 turns off the flag indicating that a ground fault is being detected. A state is set (step S210). After that, the microcomputer 20 releases the PWM drive restriction (step S208) and ends the process.

  In the previous step S209, the time (100 ms) calculated based on the value of the third counter 26 serving as a reference when re-determining that no ground fault has occurred is the current resistance of each FET 31-34. It is set based on performance (200A-100ms). Thereby, each FET31-34 can be protected reliably.

  Here, in the determination of step S202 in the flowchart of FIG. 5, when the microcomputer 20 determines that the time calculated based on the value of the first counter 24 is not 1.6 ms or longer (in step S202). NO), it is also conceivable to immediately release the PWM drive restriction. However, in this case, as described in the background art section, the ground fault detection described above is performed despite the occurrence of the ground fault due to the back electromotive voltage generated in the motor 15 or the like. There is a situation in which it is erroneously determined that the relational expression “1. Actual motor terminal voltage sum Vadd ≦ detection threshold voltage Vh” is not satisfied is not satisfied. In the case shown in FIG. 3, the situation can occur when the value of the positive terminal voltage Vm1 increases. Also, as described above, even if it is erroneously determined that the ground fault detection condition is not satisfied, the drive restriction (PWM restriction) of each FET 31 to 34 is immediately released, so that each FET 31 to 34 and eventually the motor. There is a concern that the drive circuit 30 may not be properly protected.

  In this regard, according to this example, when the ground fault detection condition is not satisfied (NO in step S202), the motor is not immediately released from the PWM drive restriction, but by executing the ground fault determination process again, Incorrect determination due to a counter electromotive voltage generated in the circuit 15 is suppressed. That is, as described above, as a situation where such an erroneous determination occurs, for example, a case where the steering wheel held at the lock end is reversely rotated to the neutral position (straight forward position) side is assumed, It is considered that the time during which the back electromotive force is generated in the motor 15 with the steering operation is short. For this reason, if a ground fault has occurred, the terminal voltage of the motor 15 is lowered to the ground potential again. Therefore, when the normal terminal voltage is detected for a certain period of time during the determination period of the ground fault, it is assumed that the ground fault has not occurred for the first time, and the above-described counter-electromotive force is released by releasing the PWM drive restriction. It is possible to suppress erroneous recognition as normal due to voltage generation or the like.

<Effect of Embodiment>
Therefore, according to the present embodiment, the following effects can be obtained.
(1) The PWM drive restriction is not canceled at the moment when it is erroneously recognized as normal, but a PWM drive restriction release condition (a time calculated based on the value of the third counter 26) is separately provided, so that it is erroneously detected as normal. In such a case, the PWM drive restriction is not immediately released. That is, it is assumed that the generation of the counter electromotive voltage due to the reverse rotation of the steering wheel 2 does not continue for a long time. That is, even if the value of the actual motor terminal voltage sum Vadd instantaneously becomes a normal value, if it really fails, it will drop to the ground potential again. By judging whether or not the PWM drive restriction is really canceled by seeing this, it is possible to suppress erroneous determination that the release condition of the PWM drive restriction caused by the counter electromotive voltage is satisfied.

(2) In the previous step S209 (see FIG. 5), the time (100 ms) calculated based on the value of the third counter 26 serving as a reference when re-determining that a ground fault has not occurred is It was set based on the current resistance performance of the FETs 31-34. In this example, since the current resistance performance of each FET 31 to 34 is 200 A-100 ms, the time calculated based on the value of the third counter 26 serving as a reference when re-determining that no ground fault has occurred. Was set to 100 ms or more. Thereby, each FET31-34 can be protected reliably.
<Second Embodiment>
Next, a second embodiment of the present invention will be described. This example basically has the same configuration as that shown in FIGS. Also, the contents of the ground fault detection process are basically the same as the processing procedure shown in the flowcharts of FIGS.

  In the present example, as shown in the flowchart of FIG. 11, the first embodiment is performed in that the detection threshold gain G setting process (step S100) is executed prior to the calculation process of the detection threshold voltage Vh (step S101). The form is different.

  That is, in step S100, the microcomputer 20 sets the value of the detection threshold gain G according to the value of the power supply voltage Vpig based on the map shown in FIG. Specifically, as shown in the table of FIG. 12B, when the value of the power supply voltage Vpig is less than 8V, the microcomputer 20 sets the value of the detection threshold gain G to 1.0, When the value of the voltage Vpig is 8V or more, the value of the detection threshold gain G is set to 0.7. Incidentally, in the first embodiment, the value of the detection threshold gain G is uniformly set to 0.7. The map shown in FIG. 12A is stored in the ROM 22 (see FIG. 2).

  According to this configuration, the ground fault detection region in the region where the value of the power supply voltage Vpig is small (in this example, less than 8 V) is expanded. In other words, when the value of the power supply voltage assumed when a fault such as a ground fault occurs is assumed to be a boundary value (8 V in this example), The value of the detection threshold gain G is set to a larger value than the case where it is equal to or greater than the boundary value. That is, in the region where the value of the power supply voltage Vpig is less than 8V, the value of the detection threshold voltage Vh calculated in step S101 increases as the value of the detection threshold gain G increases. In other words, the lower broken line shown in FIG. 3 is shifted upward. For this reason, it can be set as the state which can detect a ground fault more easily. For this reason, even if the value of the positive terminal voltage Vm1 increases due to the generation of the counter electromotive force described above, it is difficult to deviate from the ground fault detection condition. Therefore, it is possible to suppress erroneous determination that the ground fault detection condition is not satisfied despite the occurrence of the ground fault due to the back electromotive voltage generated in the motor 15 or the like. In addition, the failure detection accuracy is increased. Early detection of failures is also possible.

  Note that the value of the detection threshold gain G shown in FIG. 12B may be changed and set as appropriate. In this example, when a ground fault occurs, the detection threshold gain is obtained when the value of the power supply voltage Vpig becomes 8 V based on the value of the power supply voltage Vpig being reduced to, for example, 8 V or less. The value of G is increased.

<Other embodiments>
Note that both the above embodiments may be modified as follows.
In this example, the case where a ground fault has occurred has been described. However, for example, the present invention can also be applied to detection of a power fault (short circuit between the FET and the power supply). Further, the present invention can be applied to detection of a short-circuit fault in the ground side and non-drive side FETs. About failure judgment conditions, etc., as appropriate according to product specifications (microcomputer internal resistance, switching element performance, harness resistance between battery and electronic control device, harness resistance between motor and electronic control device, etc.) Set.

  -In the said 2nd Embodiment, although it comprised on the premise of the said 1st Embodiment, you may make it as follows. That is, in the determination of step S202 in the flowchart of FIG. 5, when the microcomputer 20 determines that the time calculated based on the value of the first counter 24 is not 1.6 ms or longer (step S202). YES), the PWM drive restriction is immediately released (step S208). In this case, each process of step S203, step S207, step S209, and step S210 in the flowchart of FIG. 5 and all the processes according to the flowchart of FIG. 8 can be omitted. For this reason, the processing load concerning the failure detection processing by the microcomputer 20 is reduced. Even in such a case, since the value of the detection threshold gain G is set according to the value of the power supply voltage Vpig based on the map shown in FIG. For example, even if the value of the positive terminal voltage Vm1 increases, for example, it is possible to obtain an effect that it is difficult to deviate from the ground fault detection condition. Therefore, it is possible to suppress erroneous determination that the ground fault detection condition is not satisfied despite the occurrence of the ground fault due to the back electromotive voltage generated in the motor 15 or the like.

  In this example, the increment when the first to third counters 24 to 26 are counted up is “1”, but this increment may be a value other than “1”. For example, the increments of the first to third counters 24 to 26 may be set to a value such as “2” or “3”. Further, regarding the clearing of the first to third counters 24 to 26, it may be cleared or counted down to a value other than “1” or “1” depending on the state of other counters.

<Other technical ideas>
Next, the technical idea that can be grasped from the above embodiment will be added below.
The control device for an electric power steering apparatus according to claim 1 or 3, wherein the restriction release condition is such that a state in which the terminal voltage of the motor becomes a voltage value that cannot be taken when a failure occurs is continuously detected over a certain period of time. The control apparatus of the electric power steering apparatus set by being included. According to this configuration, it is possible to suitably suppress an erroneous determination that the failure detection condition is not satisfied.

  DESCRIPTION OF SYMBOLS 1 ... Electric power steering apparatus, 15 ... Motor, 31, 32, 33, 34 ... FET (switching element), 20 ... Microcomputer (control apparatus).

Claims (5)

In a control device for an electric power steering device that applies a steering assist force for assisting a steering operation to the steering system by controlling driving of a motor operatively connected to the steering system of the vehicle through switching control of a plurality of switching elements.
A first counter that counts the continuation of the state determined to satisfy the failure detection condition set based on the estimated terminal voltage of the motor estimated from the theoretical value of the power supply voltage ;
A second counter that counts the continuation of the state determined to satisfy the failure determination condition set based on the theoretical value of the power supply voltage;
A third counter that counts the continuation of the state determined that the restriction release condition set based on the theoretical value of the power supply voltage is satisfied,
Based on the value of the first counter, when it is determined that the state where the failure detection condition is satisfied is continued for a first predetermined time, the switching control of the switching element is restricted , and the failure detection is performed. If it is determined that the condition is satisfied for a fourth predetermined time longer than the first predetermined time, the execution of the switching control of the switching element is stopped,
In the stopped state, when it is determined that the state where the failure determination condition is satisfied is continued for a second predetermined time, the determination that a failure has occurred is determined;
In the restricted state, it is determined that the failure detection condition is not satisfied , and the state in which the restriction release condition is satisfied is maintained for a third predetermined time based on the value of the third counter. A control device for an electric power steering device that releases the restriction on execution of the switching control only when it is determined that the operation is continued . In a control device for an electric power steering device that applies a steering assist force for assisting a steering operation to the steering system by controlling driving of a motor operatively connected to the steering system of the vehicle through switching control of a plurality of switching elements.
When the state determined to satisfy the failure detection condition set based on the estimated terminal voltage of the motor estimated from the theoretical value of the power supply voltage is detected over a certain period of time, the switching control of the switching element is executed. In addition, when it is determined that the failure detection condition is not satisfied in the restricted state, only when it is determined that the restriction release condition set based on the theoretical value of the power supply voltage is satisfied, Release the restriction on the execution of the switching control,
The failure detection condition includes that the actual terminal voltage of the motor is equal to or lower than a voltage determination threshold value that is a determination criterion of whether or not a failure has occurred, and the voltage determination threshold value is a theoretical value of a power supply voltage and a duty ratio of the switching element. The estimated terminal voltage of the motor estimated at that time is multiplied by a coefficient that is greater than 0 and less than or equal to 1 and is calculated at a constant control cycle. the set value of the power supply voltage set by assuming the case that occurred as a boundary value, when the value of the actual power supply voltage is lower than the boundary value, a larger value than when it is also the least boundary value Control device for electric power steering device to be set. In a control device for an electric power steering device that applies a steering assist force for assisting a steering operation to the steering system by controlling driving of a motor operatively connected to the steering system of the vehicle through switching control of a plurality of switching elements.
When the state determined to satisfy the failure detection condition set based on the estimated terminal voltage of the motor estimated from the theoretical value of the power supply voltage is detected over a certain period of time, the switching control of the switching element is executed. In addition to restricting, if it is determined that the failure detection condition is not satisfied in the restricted state, the restriction on execution of the switching control is immediately released,
The failure detection condition includes that the actual terminal voltage of the motor is equal to or lower than a voltage determination threshold value that is a determination criterion of whether or not a failure has occurred, and the voltage determination threshold value is a theoretical value of a power supply voltage and a duty ratio of the switching element. The estimated terminal voltage of the motor estimated at that time is multiplied by a coefficient that is greater than 0 and less than or equal to 1 and is calculated at a constant control cycle. the set value of the supply voltage set by assuming the case that occurred as a boundary value, when the value of the actual power supply voltage is lower than the boundary value, a larger value than when it is also the least boundary value Control device for electric power steering device to be set. In the control device of the electric power steering device according to any one of claims 1 to 3,
The control device for an electric power steering apparatus, wherein the failure detection condition is set to detect a ground fault between the motor terminal and the switching element.   The control apparatus for an electric power steering apparatus according to any one of claims 1 to 4, wherein the motor is a brushed motor.

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