Steering assist device
A steering assist device may comprise an Ath power path controller positioned on an Ath power path connecting an Ath leg of an inverter with an Ath phase of a steering motor, a Bth power path controller positioned on a Bth power path connecting a Bth leg of the inverter with a Bth phase of the steering motor, a Cth power path controller positioned on a Cth power path connecting a Cth leg of the inverter with a Cth phase of the steering motor, and a controller unit determining a state of at least one of the Ath power path controller to the Cth power path controller based on at least one of an Ath phase voltage to a Cth phase voltage respectively formed at the Ath leg to the Cth leg of the inverter and controlling the steering motor according to a result of the determination.
1. A steering assist device, comprising:
an Ath power path controller, a Bth power path controller, and a Cth power path controller, each of which is configured to supply, or cut off supply of, an assist steering force generated through an inverter, to a steering motor, wherein
the Ath power path controller is positioned on an Ath power path connecting an Ath leg of the inverter with an Ath phase of the steering motor the Ath power path controller including an Ath power path switching element configured to connect or disconnect the Ath power path,
the Bth power path controller is positioned on a Bth power path connecting a Bth leg of the inverter with a Bth phase of the steering motor, the Bth power path controller including a Bth power path switching element configured to connect or disconnect the Bth power path, and
the Cth power path controller is positioned on a Cth power path connecting a Cth leg of the inverter with a Cth phase of the steering motor, the Cth power path controller including a Cth power path switching element configured to connect or disconnect the Cth power path; and
a controller unit
controlling an operation of the inverter and the Ath power path controller, the Bth power path controller, and the Cth power path controller,
performing a state determination of at least one of the Ath power path controller, the Bth power path controller, and the Cth power path controller based on at least one of an Ath phase voltage, a Bth phase voltage, and a Cth phase voltage respectively formed at the Ath leg, the Bth leg, and the Cth leg of the inverter through the operation, and
controlling the steering motor according to a result of the state determination,
wherein the controller unit is capable of operating on at least three different modes which are an initialization mode, a steering assist mode, and a diagnosis mode, wherein
the initialization mode is a mode which the controller unit enters when an ignition switches to an on state while an engine remains in a stop state,
the diagnosis mode is a mode which the controller unit enters when a state of the engine and the ignition is changed from a first state in which the engine is in a run state and the ignition is in the on state to a second state in which the engine switches from the run state to the stop state while the ignition remains in the on state, and
the steering assist mode is a mode capable of assisting steering,
wherein the controller unit enters the steering assist mode when the engine switches from the stop state to the run state while the ignition remains in the on state and a result of an initialization state test performed in the initialization mode is determined to be normal,
wherein the controller unit is configured to perform the state determination of at least one of the Ath power path controller, the Bth power path controller, and the Cth power path controller in at least two cases, which are a first case when the controller unit enters the initialization mode and a second case when the controller unit enters the diagnosis mode.
2. The steering assist device of claim 1 , further comprising the inverter including the Ath leg including an Ath high-side switching element and an Ath low-side switching element connected in series with each other, the Bth leg including a Bth high-side switching element and a Bth low-side switching element connected in series with each other, and the Cth leg including a Cth high-side switching element and a Cth low-side switching element connected in series with each other.
3. The steering assist device of claim 2 , further comprising a power path unit including the Ath power path connecting an Ath point positioned in the Ath leg between the Ath high-side switching element and the Ath low-side switching element with the Ath phase of the steering motor, the Bth power path connecting a Bth point positioned in the Bth leg between the Bth high-side switching element and the Bth low-side switching element with the Bth phase of the steering motor, and the Cth power path connecting a Cth point positioned in the Cth leg between the Cth high-side switching element and the Cth low-side switching element with the Cth phase of the steering motor.
4. The steering assist device of claim 3 , wherein the controller unit controls one of the Ath high-side switching element to Cth high-side switching element to turn on and controls the Ath power path switching element, the Bth power path switching element, and the Cth power path switching element to turn off.
5. The steering assist device of claim 4 , wherein the controller unit compares at least one of the Ath phase voltage, the Bth phase voltage, and the Cth phase voltage respectively formed at the Ath point, the Bth point, and the Cth point positioned in the Ath leg, the Bth leg, and the Cth leg of the inverter with a preset normal phase voltage and determines a state of at least one of the Ath power path switching element, the Bth power path switching element, and the Cth power path switching element according to a result of the comparison.
6. The steering assist device of claim 5 , wherein the controller unit compares the Bth phase voltage and the Cth phase voltage with the preset normal phase voltage if controlling the Ath high-side switching element to turn on while controlling the Ath power path switching element, the Bth power path switching element, and the Cth power path switching element to turn off and determines a state of the Bth power path switching element and the Cth power path switching element according to a result of the comparison, wherein the controller unit determines that the state of the Bth power path switching element is a short state if the Bth phase voltage is more than the preset normal phase voltage and determines that the state of the Bth power path switching element is a normal state if the Bth phase voltage is the preset normal phase voltage or less, and wherein the controller unit determines that the state of the Cth power path switching element is the short state if the Cth phase voltage is more than the preset normal phase voltage and determines that the state of the Cth power path switching element is the normal state if the Cth phase voltage is the preset normal phase voltage or less.
7. The steering assist device of claim 5 , wherein the controller unit compares the Ath phase voltage and the Cth phase voltage with the preset normal phase voltage if controlling the Bth high-side switching element to turn on while controlling the Ath power path switching element, the Bth power path switching element, and the Cth power path switching element to turn off and determines a state of the Ath power path switching element and the Cth power path switching element according to a result of the comparison, wherein the controller unit determines that the state of the Ath power path switching element is a short state if the Ath phase voltage is more than the preset normal phase voltage and determines that the state of the Ath power path switching element is a normal state if the Ath phase voltage is the preset normal phase voltage or less, and wherein the controller unit determines that the state of the Cth power path switching element is the short state if the Cth phase voltage is more than the preset normal phase voltage and determines that the state of the Cth power path switching element is the normal state if the Cth phase voltage is the preset normal phase voltage or less.
8. The steering assist device of claim 5 , wherein the controller unit compares the Ath phase voltage and the Bth phase voltage with the preset normal phase voltage if controlling the Cth high-side switching element to turn on while controlling the Ath power path switching element, the Bth power path switching element, and the Cth power path switching element to turn off and determines a state of the Ath power path switching element and the Bth power path switching element according to a result of the comparison, wherein the controller unit determines that the state of the Ath power path switching element is a short state if the Ath phase voltage is more than the preset normal phase voltage and determines that the state of the Ath power path switching element is a normal state if the Ath phase voltage is the preset normal phase voltage or less, and wherein the controller unit determines that the state of the Bth power path switching element is the short state if the Bth phase voltage is more than the preset normal phase voltage and determines that the state of the Bth power path switching element is the normal state if the Bth phase voltage is the preset normal phase voltage or less.
9. The steering assist device of claim 3 , wherein the controller unit controls one of the Ath high-side switching element, the Bth high-side switching element, and the Cth high-side switching element to turn on and controls the Ath power path switching element, the Bth power path switching element, and the Cth power path switching element to turn on.
10. The steering assist device of claim 9 , wherein the controller unit compares at least one of the Ath phase voltage, the Bth phase voltage, and the Cth phase voltage respectively formed at the Ath point, the Bth point, and the Cth point positioned in the Ath leg, the Bth leg, and the Cth leg of the inverter with a preset normal phase voltage and determines a state of at least one of the Ath power path switching element, the Bth power path switching element, and the Cth power path switching element according to a result of the comparison.
11. The steering assist device of claim 10 , wherein the controller unit compares the Bth phase voltage and the Cth phase voltage with the preset normal phase voltage if controlling the Ath high-side switching element to turn on while controlling the Ath power path switching element, the Bth power path switching element, and the Cth power path switching element to turn on and determines a state of the Bth power path switching element and the Cth power path switching element according to a result of the comparison, wherein the controller unit determines that the state of the Bth power path switching element is a normal state if the Bth phase voltage is more than the preset normal phase voltage and determines that the state of the Bth power path switching element is an open state if the Bth phase voltage is the preset normal phase voltage or less, and wherein the controller unit determines that the state of the Cth power path switching element is the normal state if the Cth phase voltage is more than the preset normal phase voltage and determines that the state of the Cth power path switching element is the open state if the Cth phase voltage is the preset normal phase voltage or less.
12. The steering assist device of claim 10 , wherein the controller unit compares the Ath phase voltage and the Cth phase voltage with the preset normal phase voltage if controlling the Bth high-side switching element to turn on while controlling the Ath power path switching element, the Bth power path switching element, and the Cth power path switching element to turn on and determines a state of the Ath power path switching element and the Cth power path switching element according to a result of the comparison, wherein the controller unit determines that the state of the Ath power path switching element is a normal state if the Ath phase voltage is more than the preset normal phase voltage and determines that the state of the Ath power path switching element is an open state if the Ath phase voltage is the preset normal phase voltage or less, and wherein the controller unit determines that the state of the Cth power path switching element is the normal state if the Cth phase voltage is more than the preset normal phase voltage and determines that the state of the Cth power path switching element is the open state if the Cth phase voltage is the preset normal phase voltage or less.
13. The steering assist device of claim 10 , wherein the controller unit compares the Ath phase voltage and the Bth phase voltage with the preset normal phase voltage if controlling the Cth high-side switching element to turn on while controlling the Ath power path switching element, the Bth power path switching element, and the Cth power path switching element to turn on and determines a state of the Ath power path switching element and the Bth power path switching element according to a result of the comparison, wherein the controller unit determines that the state of the Ath power path switching element is a normal state if the Ath phase voltage is more than the preset normal phase voltage and determines that the state of the Ath power path switching element is an open state if the Ath phase voltage is the preset normal phase voltage or less, and wherein the controller unit determines that the state of the Bth power path switching element is the normal state if the Bth phase voltage is more than the preset normal phase voltage and determines that the state of the Bth power path switching element is the open state if the Bth phase voltage is the preset normal phase voltage or less.
14. The steering assist device of claim 1 , wherein the controller unit controls the operation of the inverter and the Ath power path controller, the Bth power path controller, and the Cth power path controller if the mode is determined to be the initialization mode and the diagnosis mode and determines the state of at least one of the Ath power path controller, and the Bth power path controller, and the Cth power path controller based on at least one of the Ath phase voltage, the Bth phase voltage, and the Cth phase voltage formed therethrough.
15. The steering assist device of claim 1 , wherein the controller unit determines an open state after determining a short state for at least one of the Ath power path controller, the Bth power path controller, and the Cth power path controller.
16. The steering assist device of claim 1 , wherein each of the Ath power path switching element, the Bth power path switching element, and the Cth power path switching element comprises a field effect transistor (FET).