Steering control apparatus
Inverter circuits are provided for motor winding sets, respectively. Control units are provided for the motor winding sets to generate control signals related to driving of the inverter circuits and control currents flowing through the motor winding sets, respectively, thereby controlling driving of a motor. The control mode includes a manual steering mode for controlling the motor according to a steering operation on a steering wheel by a driver and an automatic steering mode for controlling the motor independently of the steering operation on the steering wheel by the driver. The control units are capable of switching the control modes and differentiate the current control according to the control mode. By making the current control different according to the control mode, it is possible to attain optimal characteristics which correspond to each control mode.
1. A steering control apparatus for controlling an electric power steering apparatus, which is provided with a rotary electric machine, the steering control apparatus comprising:
a driving circuit provided to drive the rotary electric machine; and
a control unit connected to the driving circuit and configured to control driving of the rotary electric machine by generating a control signal related to driving of the driving circuit and controlling a current flowing in the rotary electric machine, wherein:
the control unit is configured to switch a control mode, which includes a manual steering mode and an automatic steering mode, and differentiate current control in correspondence to the control mode, the manual steering mode configured to control the rotary electric machine in correspondence to a manual steering operation on a steering member of a vehicle, and the automatic steering mode configured to control the rotary electric machine independently of the manual steering on the steering member;
the control unit includes a current limitation unit configured to set a current limit value for limiting the current flowing in the rotary electric machine;
the current limitation unit is configured to differentiate the current limit value as current control corresponding to the control mode;
the rotary electric machine has a plurality of winding sets;
the driving circuit and the control unit are provided in correspondence to each winding set thereby to form one system;
the control unit includes an individual current limit value calculation unit configured to calculate an individual current limit value that limits current of the one system, acquire the individual current limit value of a second system and switch a common current limit value state for a same current limit value as that of the second system and an independent current limit value state for setting an independent current limit value independently of that of the second system; and
the control unit differentiates a common check threshold value, which is provided to switch the common current limit value state and the independent current limit value state, between the manual steering mode and the automatic steering mode.
2. The steering control apparatus according to claim 1 , wherein:
the current limitation unit is configured to set the common current limit value state in the manual steering mode by setting the common check threshold value to 0 and setting the current limit value by an unlimited minimum value selection which selects a smallest value among individual current limit values as the current limit value; and
the current limitation unit is further configured to switch the common current limit value state and the independent current limit value state in the automatic steering mode by setting the common check threshold value to be larger than 0, setting the current limit value to the smallest value among the individual current limit values when the individual current limit values of all the systems are equal to or larger than the common check threshold value, and setting the current limit value individually by a limited minimum selection when at least one of the independent current limit values of the systems is smaller than the common check threshold value.
3. The steering control apparatus according to claim 1 , wherein:
the current limitation unit sets the common check threshold value to a same value as that of the automatic steering mode when the control mode is an override mode, which is a transition mode from the automatic steering mode to the manual steering mode.
4. The steering control apparatus according to claim 1 , wherein:
the current limitation unit sets the independent current limit value state or switches the common current limit value state and the independent current limit value state when a vehicle speed is equal to or higher than a vehicle speed check threshold value in the automatic steering mode; and
the current limitation unit sets the common current limit value state when the vehicle speed is lower than the vehicle speed check threshold value in the automatic steering mode.
5. The steering control apparatus according to claim 1 , wherein:
the control unit further includes a required torque calculation unit configured to calculate an estimated required steering torque, which is required for steering;
the current limitation unit sets the independent current limit value state when the estimated required steering torque is equal to or larger than a torque check threshold value in the automatic steering mode; and
the current limitation unit sets the common current limit value state when the estimated required steering torque is smaller than the torque check threshold value in the automatic steering mode.
6. The steering control apparatus according to claim 1 , wherein:
the current limitation unit changes the current limit value when the current limit value is changed at time of switching the control mode between the common current limit value state and the independent current limit value state.
7. The steering control apparatus according to claim 1 , wherein:
the control unit includes a control signal calculation unit configured to generate the control signal by current feedback control; and
the control signal calculation unit differentiates the current feedback control as the current control corresponding to the control mode.
8. The steering control apparatus according to claim 7 , wherein:
the rotary electric machine has a plurality of winding sets;
each winding set as well as the driving circuit and the control unit, which are provided in correspondence to the winding set, form one system;
the control signal calculation unit is configured to generate the control signal by independent feedback control using a current detection value of a system when the control mode is the automatic steering mode; and
the control signal calculation unit is configured to generate the control signal by coordinate feedback control, which controls a sum and difference of currents flowing in the plurality of winding sets, by using the current detection values of the first system and the second system when the control mode is the manual steering mode.
9. The steering control apparatus according to claim 8 , wherein:
the control signal calculation unit sets the current feedback control to the independent feedback control when the control mode is an override mode, which is a transition mode from the automatic steering mode to the manual steering mode.
10. The steering control apparatus according to claim 1 , wherein:
the control unit performs switching of the current control when no steering operation is performed.
11. The steering control apparatus according to claim 1 , wherein:
the control unit is configured to calculate the individual value as at least one of an overheat protection current limit value, a power supply voltage reference current limit value, a steering operation speed reference current limit value and a current difference reduction current limit value.
12. The steering control apparatus according to claim 1 , wherein
the control unit in the one system further includes a communication unit, and the control unit is configured to transmit the individual current limit value of the one system to the second system via the communication unit.
13. A steering control apparatus for controlling an electric power steering apparatus, which is provided with a rotary electric machine, the steering control apparatus comprising:
a driving circuit provided to drive the rotary electric machine; and
a computer connected to the driving circuit and programmed to control driving of the rotary electric machine by generating a control signal related to driving of the driving circuit and controlling a current flowing in the rotary electric machine, wherein:
the computer is programmed to switch a control mode, which includes a manual steering mode and an automatic steering mode, and differentiate current control in correspondence to the control mode, the manual steering mode configured to control the rotary electric machine in correspondence to a manual steering operation on a steering member of a vehicle, and the automatic steering mode configured to control the rotary electric machine independently of the manual steering on the steering member;
the computer is programmed to set a current limit value for limiting the current flowing in the rotary electric machine;
the computer is programmed to differentiate the current limit value as current control corresponding to the control mode;
the rotary electric machine has a plurality of winding sets;
the driving circuit and the computer are provided in correspondence to each winding set thereby to form one system;
the computer is programmed to calculate an individual current limit value that limits current of the one system, acquire the individual current limit value of a second system and switch a common current limit value state for setting a same current limit value as that of the second system and an independent current limit value state for setting an independent current limit value independently of that of the second system; and
the computer is programmed to differentiate a common check threshold value, which is provided to switch the common current limit value state and the independent current limit value state, between the manual steering mode and the automatic steering mode.
14. The steering control apparatus according to claim 13 , wherein:
the computer is programmed to generate the control signal by current feedback control; and
the computer is programmed to differentiate the current feedback control as the current control corresponding to the control mode.
15. The steering control apparatus according to claim 14 , wherein:
the rotary electric machine has a plurality of winding sets;
each winding set as well as the driving circuit and the computer, which are provided in correspondence to the winding set, form one system;
the computer is programmed to generate the control signal by independent feedback control using a current detection value of an first system when the control mode is the automatic steering mode; and
the computer is programmed to generate the control signal by coordinate feedback control, which controls a sum and difference of currents flowing in the plurality of winding sets, by using the current detection values of the first system and the second system when the control mode is the manual steering mode.
16. The steering control apparatus according to claim 13 , wherein
the computer in the one system is programmed to transmit the individual current limit value of the one system to the second system.