Electric power steering device and method for controlling same
Provided is an electric power steering device capable of continuing control while ensuring a satisfactory level of a steering feeling of a driver at a time of occurrence of failure of one motor winding set. A control part is configured to detect a failure of each component of the electric power steering device, and when control is continued with field-weakening control by a normal motor winding and an inverter circuit depending on the detected failure, restrict a d-axis current based on a torque ripple that occurs in a steering wheel of a vehicle with respect to the field-weakening control of a state in which the failure has not occurred.
1. An electric power steering device, comprising:
a motor configured to assist in controlling a driver's steering torque of a vehicle; and
a control unit including inverter circuits each including a plurality of switching elements, the control unit being configured to control drive of the motor,
wherein the motor includes at least two independent sets of motor windings,
wherein the control unit includes:
a control part configured to calculate a current command value for driving the motor in a d-q-axis coordinate system; and
an output part configured to drive the plurality of switching elements by a drive signal corresponding to the current command value, to thereby be capable of supplying currents to the at least two independent sets of motor windings independently of each other, and
wherein the control part is configured to:
detect a failure of each component of the electric power steering device; and
restrict, when control is continued with field-weakening control by a normal one of the at least two independent sets of motor windings and a normal one of the inverter circuits depending on the detected failure, a d-axis current based on a torque ripple that occurs in a steering wheel of the vehicle with respect to the field-weakening control of a state in which the failure has not occurred.
2. An electric power steering device according to claim 1 , wherein the control part is configured to continue control using a d-axis current value that is determined in advance in association with a predetermined torque ripple when a number of revolutions of the motor reaches a rated number of revolutions.
3. An electric power steering device according to claim 1 , wherein the control part is configured to continue control by switching between a plurality of d-axis current values that are determined in advance in association with predetermined torque ripples.
4. An electric power steering device according to claim 3 , wherein the control part is configured to restrict the d-axis current when a d-axis current value or a d-axis phase angle corresponding to the torque ripple is reached after the control part first continues control with the d-axis current of the state in which the failure has not occurred.
5. An electric power steering device according to claim 3 , wherein the control part is configured to restrict the d-axis current when a number of revolutions of the motor corresponding to the torque ripple is reached after the control part first continues control with the d-axis current of the state in which the failure has not occurred.
6. An electric power steering device according to claim 1 , further comprising a notification unit configured to notify a fact that the control part has started to restrict the d-axis current with a method different from a notification method that is used at a time of detection of a failure.
7. An electric power steering device according to claim 2 , further comprising a notification unit configured to notify a fact that the control part has started to restrict the d-axis current with a method different from a notification method that is used at a time of detection of a failure.
8. An electric power steering device according to claim 3 , further comprising a notification unit configured to notify a fact that the control part has started to restrict the d-axis current with a method different from a notification method that is used at a time of detection of a failure.
9. An electric power steering device according to claim 4 , further comprising a notification unit configured to notify a fact that the control part has started to restrict the d-axis current with a method different from a notification method that is used at a time of detection of a failure.
10. An electric power steering device according to claim 5 , further comprising a notification unit configured to notify a fact that the control part has started to restrict the d-axis current with a method different from a notification method that is used at a time of detection of a failure.
11. A control method for an electric power steering device, which is implemented by an electric power steering device,
the electric power steering device including:
a motor configured to assist in controlling a driver's steering torque of a vehicle; and
a control unit including inverter circuits each including a plurality of switching elements, the control unit being configured to control drive of the motor,
the motor including at least two independent sets of motor windings,
the control unit including:
a control part configured to calculate a current command value for driving the motor in a d-q-axis coordinate system; and
an output part configured to drive the plurality of switching elements by a drive signal corresponding to the current command value, to thereby be capable of supplying currents to the at least two independent sets of motor windings independently of each other,
the control method comprising the steps of:
detecting a failure of each component of the electric power steering device;
determining whether or not to continue control with field-weakening control by a normal one of the at least two independent sets of motor windings and a normal one of the inverter circuits depending on the detected failure; and
restricting, when the control is determined to be continued, a d-axis current based on a torque ripple that occurs in a steering wheel of the vehicle with respect to the field-weakening control of a state in which the failure has not occurred.