Vehicle control apparatus
An ECU independently controls power supply to two winding systems in a motor on a per-winding-system basis based on current command values each calculated for a corresponding winding system in accordance with a target assist torque. When a first winding system fails, the ECU transitions from a first state in which the ECU causes the winding groups of the two winding systems to produce the target assist torque to a second state in which the ECU causes the winding group of the other normal winding system to produce the target assist torque. If the current command value for the normal winding system is equal to or below a current threshold value that is set with reference to zero or a value close to zero when the failed winding system recovers to its normal state in the second state, the ECU transitions from the second state to the first state.
1. A vehicle control apparatus comprising:
a control circuit that independently controls power supply to winding groups, each of the winding groups belonging to one of a plurality of winding systems included in a motor, the control circuit including individual control circuits, a number of the control circuits being the same as a number of the plurality of winding systems, each of the individual control circuits independently controlling the power supply to a corresponding one of the winding groups of the plurality of winding systems, the control circuit independently controlling the power supply to winding groups on a per-winding-system basis based on command values each calculated for a corresponding one of the winding systems in accordance with a target torque to be produced by the motor, wherein:
the control circuit is configured to transition between (i) a first state in which the control circuit causes the winding groups of the plurality of winding systems to produce the target torque, and (ii) a second state in which one or more winding systems of the plurality of winding systems have failed and the control circuit causes the winding group of the other one or more winding systems, which are normal winding systems that are operating normally, to produce the target torque,
when a sum of the command values or a sum of actual current amounts of the normal winding systems is equal to or less than a threshold value that is set with reference to zero or a value close to zero when the one or more winding systems recover to a normal state in the second state, the control circuit transitions from the second state to the first state, and
the individual control circuits exchange state signals with one another, each of the state signals containing the command value calculated by a corresponding one of the individual control circuits.
2. The vehicle control apparatus according to claim 1 , wherein when the sum of the command values or the sum of the actual current amounts of the normal winding systems is above the threshold value when the one or more winding systems recover to the normal state in the second state, the control circuit is held in the second state as a standby state for transition from the second state to the first state.
3. The vehicle control apparatus according to, claim 1 , wherein when production of a torque by the motor is required when the failed one or more winding systems recover to the normal state, the individual control circuits of the one or more winding systems recovered to the normal state cause the winding groups of the one or more winding systems recovered to the normal state to produce the torque, even when the individual control circuits of the one or more winding systems recovered to the normal state fail to obtain the state signals generated by the individual control circuits of the normal winding systems.
4. The vehicle control apparatus according to claim 1 , wherein:
each of the individual control circuits has an overheat protection function that protects the respective winding group of the winding system to which the individual control circuit belongs from overheating, and
when a torque produced by each of the winding groups of the normal winding systems is limited to be lower than an initial torque by the overheat protection function performed by the individual control circuit of the normal winding system when the failed one or more winding systems recover to the normal state, each of the individual control circuits of the one or more winding systems recovered to the normal state causes the winding group of the winding system to which the individual control circuit belongs to produce a torque that is approximately identical in magnitude to the limited torque.
5. The vehicle control apparatus according to claim 1 , wherein:
the motor produces a torque that is to be applied to a steering mechanism of a vehicle, and
the control circuit calculates the command values in accordance with the torque to be produced by the motor based on a steering torque.