Redundancy circuit of electric power steering system
The present invention relates to a redundancy circuit of an electric power steering system, the redundancy circuit comprising: a plurality of electronic control units for checking whether a breakdown occurs by crossing each other, and adjusting a control ratio according to the occurrence of the breakdown; and a selection control unit for receiving an input of the control ratio and control amount information of the plurality of electronic control units to determine control amounts of each of motors provided in the same number as the plurality of electronic control units.
1. A redundancy circuit of an electric power steering system, comprising:
a plurality of electronic control units which cross-check whether a breakdown occurs in one of the plurality of electronic control units and respectively adjust control ratios of the plurality of electronic control units according to an occurrence of the breakdown in the one of the plurality of electronic control units to convert control authority of the one of the plurality of electronic control units to another or more of the plurality of electronic control units; and
a selection control unit which receives the adjusted control ratios and control amount information of the plurality of electronic control units and determines a control amount of respective motors provided in the same number as the plurality of electronic control units,
wherein the plurality of electronic control units include a first electronic control unit and a second electronic control unit which each include a control unit and a breakdown determination unit,
the breakdown determination unit of the first electronic control unit and the breakdown determination unit of the second electronic control unit exchange control information through mutual internal communication to determine whether the breakdown occurs in the first electronic control unit or the second electronic control unit and convert a control amount of the first electronic control unit or the second electronic control unit, which is determined to break down, to 0%, and
the selection control unit includes:
a first divider and a second divider which respectively divide a first control ratio of the first electronic control unit and a second control ratio of the second electronic control unit in half;
a first subtractor which subtracts 50% of the second control ratio of the second electronic control unit from the first control ratio of the first electronic control unit;
a second subtractor which subtracts 50% of the first control ratio of the first electronic control unit from the second control ratio of the second electronic control unit;
a first multiplier which multiplies a first control amount of the first electronic control unit by a calculation result of the first subtractor to generate a first motor control signal and control a first motor; and
a second multiplier which multiplies a second control amount of the second electronic control unit by a calculation result of the second subtractor to generate a second motor control.
2. The redundancy circuit of claim 1 , wherein the first subtractor and the second subtractor have an output value in a range of an upper limit of 100% to a lower limit of 0%.
3. The redundancy circuit of claim 1 , wherein, when the breakdown occurs in the first electronic control unit, the first control amount of the first electronic control unit in which the breakdown occurs is decreased to 0% to control the second motor using 100% of the second control amount of the second electronic control unit.
4. The redundancy circuit of claim 3 , wherein the first control amount of the first electronic control unit is gradually decreased from 100% to 0% in a set unit.
5. The redundancy circuit of claim 3 , wherein, after it is detected that the breakdown occurs, the first control amount of the first electronic control unit is decreased after a set breakdown count is accumulated.
6. A redundancy circuit of an electric power steering system, comprising:
a plurality of electronic control units which cross-check whether a breakdown occurs and adjust control ratios according to the occurrence of the breakdown; and
a selection control unit which receives the control ratios and control amount information of the plurality of electronic control units and determines a control amount of respective motors provided in the same number as the plurality of electronic control units,
wherein the plurality of electronic control units include a first electronic control unit and a second electronic control unit which each include a control unit and a breakdown determination unit,
the breakdown determination unit of the first electronic control unit and the breakdown determination unit of the second electronic control unit exchange control information through mutual internal communication to determine whether the breakdown occurs and convert a control amount of the first electronic control unit or the second electronic control unit, which is determined to break down, to 0%,
the selection control unit includes:
a first divider and a second divider which respectively divide a first control ratio of the first electronic control unit and a second control ratio of the second electronic control unit in half;
a first subtractor which subtracts 50% of the second control ratio of the second electronic control unit from the first control ratio of the first electronic control unit;
a second subtractor which subtracts 50% of the first control ratio of the first electronic control unit from the second control ratio of the second electronic control unit;
a first multiplier which multiplies a first control amount of the first electronic control unit by a calculation result of the first subtractor to generate a first motor control signal and control a first motor; and
a second multiplier which multiplies a second control amount of the second electronic control unit by a calculation result of the second subtractor to generate a second motor control.
7. The redundancy circuit of claim 6 , wherein the first subtractor and the second subtractor have an output value in a range of an upper limit of 100% to a lower limit of 0%.
8. The redundancy circuit of claim 6 , wherein, when the breakdown occurs in the first electronic control unit, the first control amount of the first electronic control unit in which the breakdown occurs is decreased to 0% to control the second motor using 100% of the second control amount of the second electronic control unit.
9. The redundancy circuit of claim 8 , wherein the first control amount of the first electronic control unit is gradually decreased from 100% to 0% in a set unit.
10. The redundancy circuit of claim 8 , wherein, after it is detected that the breakdown occurs, the first control amount of the first electronic control unit is decreased after a set breakdown count is accumulated.