Control device for steering mechanism
In a control device for a steering mechanism, the steering mechanism includes a motor that includes a plurality of coils. The plurality of coils include a first coil and a second coil. The control device includes a first control system and a second control system configured to compute a command value for torque of the motor to be applied to the steering mechanism. The first control system and the second control system are each configured to control power supply to the plurality of coils of the motor based on the command value. The first control system includes a first microcomputer that has first characteristics, and the second control system includes a second microcomputer that has second characteristics that are different from the first characteristics.
1. A control device for a steering mechanism,
the steering mechanism including a motor that includes a plurality of coils, the plurality of coils including a first coil and a second coil,
the control device comprising a first control system and a second control system configured to compute a command value for torque of the motor to be applied to the steering mechanism, the first control system and the second control system being each configured to control power supply to the plurality of coils of the motor based on the command value,
the first control system being configured to control power supply to the first coil based on a first command value that is the command value for the torque to be generated by the first coil,
the second control system being configured to control power supply to the second coil based on a second command value that is the command value for the torque to be generated by the second coil,
the first control system including a first microcomputer that has first characteristics, and the second control system including a second microcomputer that has second characteristics that are different from the first characteristics in spite of the second microcomputer having a same computation performance as the first microcomputer,
each of the first microcomputer and the second microcomputer computing a respective first command value,
each of the first microcomputer and the second microcomputer computing a respective second command value,
the first microcomputer and the second microcomputer executing parallel control, the parallel control being a control in which the first command values and the second command values are set to equal values,
the first microcomputer is configured to compute the first command value and the second command value based on steering torque that is detected by a first torque sensor, and the second microcomputer is configured to compute the first command value and the second command value based on steering torque that is detected by a second torque sensor,
the first command value of the first microcomputer is a command value for torque that is generated by the first coil and the second command value of the first microcomputer is a command value for torque that is generated by the second coil, the second command value being input to the second microcomputer through inter-microcomputer communication, and
the first command value of the second microcomputer is a command value for torque that is generated by the first coil and the second command value of the second microcomputer is a command value for torque that is generated by the second coil, the first command value being input to the first microcomputer through inter-microcomputer communication.
2. The control device for the steering mechanism according to claim 1 , wherein
the first microcomputer is manufactured using a first raw material, and the second microcomputer is manufactured using a second raw material that is different from the first raw material.
3. The control device for the steering mechanism according to claim 1 , wherein
the first microcomputer is manufactured in a first factory, and the second microcomputer is manufactured in a second factory that is different from the first factory.
4. The control device for the steering mechanism according to claim 1 , wherein
the first microcomputer is manufactured by a first manufacturing device, and the second microcomputer is manufactured by a second manufacturing device that is different from the first manufacturing device.