Actuator driving device and steering system provided with the same
When a DC power source fails, the following controls are performed. The normal control is resumed when an inverter input voltage recovers before a standby period elapses after a power failure time. A power source relay is turned off when the standby period elapses without recovery of the voltage. The power source relay is turned on again when a power source relay off period has elapsed from a turn-off time. The normal control is resumed when the inverter input voltage recovers at the turn-on time. The normal control is resumed when the inverter input voltage recovers before the power source relay on period elapses from the turn-on time. The power source relay is turned off, and driving of the actuator is stopped, when the power source relay on period passes without recovery of the voltage.
1 . An actuator driving device configured to convert an electric power from a DC power source using an inverter and supply the electric power to an actuator, the actuator driving device comprising:
the inverter configured to be applied with a voltage of the DC power source via a power supply line;
a power source relay provided in the power supply line and configured to, when turned off, cut off an electric current from the DC power source to the inverter;
an input voltage detector configured to detect an inverter input voltage applied to the inverter; and
a control unit configured to
control an operation of the inverter;
detect a failure and a recovery of the DC power source based on a decrease and a recovery of the inverter input voltage, and
manipulate the power source relay, wherein
the control unit is configured to, when the DC power source fails, execute a power failure recovery process to determine whether to resume a normal control, which is a control when the DC power source is normal, and
the control unit is configured to, in the power failure recovery process,
resume the normal control when the inverter input voltage recovers before a standby period elapses from a power failure time at which the DC power source fails,
turn off the power source relay at a first turn-off time, which is a time when the standby period has elapsed without recovery of the inverter input voltage,
turn on the power source relay again at a turn-on time, which is a time when a power source relay off period has elapsed from the turn-off time, and resume the normal control when the inverter input voltage recovers at the turn-on time,
resume the normal control when the inverter input voltage recovers before a power source relay on period elapses from the turn-on time, and
turn off the power source relay for a second time at a second turn-off time, which is a time when the power source relay on period has elapsed without recovery of the inverter input voltage, and
the control unit is configured to, in the power failure recovery process,
turn off the power source relay for the second time and stop driving of the actuator when a single power source relay off period and a single power source relay on period have elapsed without recovery of the inverter input voltage, or
turn off the power source relay for an (N+1)th time and stop driving of the actuator when an Nth power source relay off period and an Nth power source relay on period, which have been repeated twice or more, have elapsed without recovery of the inverter input voltage.
2 . The actuator driving device according to claim 1 , wherein
the control unit is configured to,
in a system including a main power source, which is a DC power source with a relatively large capacity, and a backup power source, which is a DC power source with a relatively small capacity and configured to be used when the main power source fails,
when the main power source fails, and when the DC power source connected to the power supply line is switched from the main power source to the backup power source,
execute the power failure recovery process.
3 . The actuator driving device according to claim 2 , wherein
the control unit is configured to, when resuming the normal control with the backup power source, limit an output of the actuator compared to the output in the normal control with the main power source.
4 . The actuator driving device according to claim 1 , wherein
the control unit is configured to
limit an output of the actuator to a predetermined output limit value or less in a period from the power failure time to a time at which the inverter input voltage recovers, and
cancel output limitation of the actuator after the inverter input voltage recovers.
5 . The actuator driving device according to claim 1 , wherein
the control unit is configured to intermittently turn on and turn off the power source relay in the standby period, which is from the power failure time to a time at which the inverter input voltage recovers, and in the power source relay on period.
6 . The actuator driving device according to claim 1 , wherein
the standby period and the power source relay on period are set to a same length.
7 . The actuator driving device according to claim 1 , wherein
the control unit is configured to stop driving of the inverter in a period from the power failure time to a time at which the inverter input voltage recovers.
8 . The actuator driving device according to claim 1 , further comprising:
at least one of: an inverter relay provided between the power source relay and the inverter in the power supply line and configured to, when turned off, cut off an electric current from the inverter to the DC power source; or an actuator relay provided between the inverter and the actuator and configured to, when turned off, cut off an electric current from the actuator to the inverter, wherein
the control unit is configured to turn off the inverter relay or the actuator relay in a period from the power failure time to a time at which the inverter input voltage recovers.
9 . A steering system comprising:
a steering assist actuator configured to output a steering assist force, a reaction force actuator configured to output a reaction force against a steering of a driver, or a turning actuator configured to output a turning force to turn a tire; and
an actuator driving device configured to convert an electric power from a DC power source using an inverter and supply the electric power to an actuator, the actuator driving device comprising:
the inverter configured to be applied with a voltage of the DC power source via a power supply line;
a power source relay provided in the power supply line and configured to, when turned off, cut off an electric current from the DC power source to the inverter;
an input voltage detector configured to detect an inverter input voltage applied to the inverter; and
a control unit configured to:
control an operation of the inverter;
detect a failure and a recovery of the DC power source based on a decrease and a recovery of the inverter input voltage; and
manipulate the power source relay, wherein
the control unit is configured to, when the DC power source fails, execute a power failure recovery process to determine whether to resume a normal control, which is a control when the DC power source is normal, and
the control unit is configured to, in the power failure recovery process,
resume the normal control when the inverter input voltage recovers before a standby period elapses from a power failure time at which the DC power source fails,
turn off the power source relay at a first turn-off time, which is a time when the standby period has elapsed without recovery of the inverter input voltage,
turn on the power source relay again at a turn-on time, which is a time when a power source relay off period has elapsed from the turn-off time, and resume the normal control when the inverter input voltage recovers at the turn-on time,
resume the normal control when the inverter input voltage recovers before a power source relay on period elapses from the turn-on time, and
turn off the power source relay for a second time at a second turn-off time, which is a time when the power source relay on period has elapsed without recovery of the inverter input voltage, and
the control unit is configured to, in the power failure recovery process,
turn off the power source relay for the second time and stop driving of the actuator when a single power source relay off period and a single power source relay on period have elapsed without recovery of the inverter input voltage, or
turn off the power source relay for an (N+1)th time and stop driving of the actuator when an Nth power source relay off period and an Nth power source relay on period, which have been repeated twice or more, have elapsed without recovery of the inverter input voltage, wherein
the actuator driving device is configured to drive, as the actuator, at least one of the steering assist actuator, the reaction force actuator, or the turning actuator.
10 . An actuator driving device comprising:
an inverter configured to be applied with a voltage of a DC power source via a power supply line, the inverter configured to convert an electric power from the DC power source and supply the electric power to an actuator;
a power source relay provided in the power supply line and configured to, when turned off, cut off an electric current from the DC power source to the inverter;
an input voltage detector configured to detect an inverter input voltage applied to the inverter; and
a processor configured to
control an operation of the inverter;
detect a failure and a recovery of the DC power source based on a decrease and a recovery of the inverter input voltage, and
manipulate the power source relay, wherein
the processor is configured to, when the DC power source fails, execute a power failure recovery process to determine whether to resume a normal control, which is a control when the DC power source is normal, and
the processor is configured to, in the power failure recovery process,
resume the normal control when the inverter input voltage recovers before a standby period elapses from a power failure time at which the DC power source fails,
turn off the power source relay at a first turn-off time, which is a time when the standby period has elapsed without recovery of the inverter input voltage,
turn on the power source relay again at a turn-on time, which is a time when a power source relay off period has elapsed from the turn-off time, and resume the normal control when the inverter input voltage recovers at the turn-on time,
resume the normal control when the inverter input voltage recovers before a power source relay on period elapses from the turn-on time, and
turn off the power source relay for a second time at a second turn-off time, which is a time when the power source relay on period has elapsed without recovery of the inverter input voltage, and
the processor is configured to, in the power failure recovery process,
turn off the power source relay for the second time and stop driving of the actuator when a single power source relay off period and a single power source relay on period have elapsed without recovery of the inverter input voltage, or
turn off the power source relay for an (N+1)th time and stop driving of the actuator when an Nth power source relay off period and an Nth power source relay on period, which have been repeated twice or more, have elapsed without recovery of the inverter input voltage.