Detecting apparatus and electric power steering apparatus
A detecting apparatus that uses a redundancy configuration comprising plural sensor sections including plural detecting sections, accurately performs abnormality detection and function continuation in a control apparatus such as an ECU in a case that abnormality is occurred in the sensor sections or a signal line, and has simple manufacturing processes, and an electric power steering apparatus equipped with the detecting apparatus. The apparatus includes plural sensor sections which include plural detecting sections that detect a same object or a same state quantity, and detects at least one of the state quantities in at least two of the sensor sections, wherein each of the sensor sections has a communication section that outputs the state quantities, which the detecting sections detect, as an error detectable signal.
1. An electric power steering apparatus that is equipped with a detector that has plural sensor sections including plural detecting sections that detecting objects and state quantities to detect are same, and detects at least one of said state quantities in at least two of said sensor sections, comprising:
a control section to perform a driving-control of a motor based on said state quantities; and
at least one signal line to connect said sensor sections with said control section,
wherein said plural detecting sections in said sensor sections output said state quantities to said control section through same said signal line,
wherein said control section comprises:
a state quantity estimating section to estimate a state quantity at any time from said state quantities and to output said state quantity as an estimated state quantity; and
an abnormality detecting section to detect abnormality of said detector by using an abnormality detection based on said state quantities and said estimated state quantity,
wherein said control section outputs a selection information that is used in selecting said detecting sections outputting said state quantity through said signal line,
wherein said detecting sections corresponding to said selection information output said state quantity, and
wherein said selection information are signals having a predetermined level, said signals having said predetermined level and having a different time length are assigned to each of said detecting sections and selection of said detecting sections outputting said state quantity is performed based on said time length.
2. The electric power steering apparatus according to claim 1 ,
wherein said sensor section includes a communication section to output said state quantity as an error detectable signal, and
wherein said abnormality detecting section performs an abnormality detection based on said error detectable signal, and detects abnormality of said detector.
3. The electric power steering apparatus according to claim 2 ,
wherein said communication section generates said error detectable signal by using a single edge nibble transmission method (a SENT method).
4. The electric power steering apparatus according to claim 1 ,
wherein said state quantity estimating section calculates said estimated state quantities by using plural past values of said state quantities.
5. The electric power steering apparatus according to claim 1 ,
wherein said control section continues a driving-control of said motor based on said state quantity in a case that said abnormality of said detector is detected.
6. The electric power steering apparatus according to claim 1 ,
wherein an angle information is existed as one of said state quantities, and
wherein said control section calculates absolute angles of angle information by using plural angle information respectively detected by said plural sensor sections, in a case that said abnormality of said detecting apparatus is not detected, and calculates said absolute angles after said abnormality is detected, by using said angle information and said absolute angles just before said abnormality is detected, in a case that said abnormality of said detecting apparatus is detected.