Motor control device for steering system and motor control method using the same
Disclosed herein are a motor control device for a steering system and a motor control method using the same. The motor control device includes a dual winding steering motor unit generating a steering force and a steering reaction force and including a first driving module formed of a first winding and a second driving module formed of a second winding, and a first electronic control unit controlling an operation of the first driving module, and a second electronic control unit controlling an operation of the second driving module, on the basis of steering information obtained by a driver's steering wheel manipulation.
1. A motor control device for a steering system, the motor control device comprising:
a dual winding steering motor unit generating a steering force and a steering reaction force, and comprising a first driving module formed of a first winding and a second driving module formed of a second winding; and
a first electronic control unit controlling an operation of the first driving module, and a second electronic control unit controlling an operation of the second driving module, on the basis of steering information obtained by a driver's steering wheel manipulation,
wherein any one of the first electronic control unit and the second electronic control unit determines a failure mode on the basis of failure information when the failure information about any one of the driving modules controlled by the corresponding electronic control unit is acquired, and then transmits the failure mode to a remaining electronic control unit,
wherein the remaining electronic control unit selects a compensation value for the failure mode to control an operation of a remaining driving module according to the compensation value,
wherein the first electronic control unit comprises a first memory unit storing a lookup table for a plurality of failure modes to select the compensation value, and
wherein the second electronic control unit comprises a second memory unit storing a lookup table for a plurality of failure modes to select the compensation value.
2. The motor control device of claim 1 , wherein the first electronic control unit comprises:
a first motor controller calculating an output value of the first driving module on the basis of the steering information; and
a first switching unit transmitting the output value transmitted from the first motor controller to the first driving module as an electric signal.
3. The motor control device of claim 2 , wherein the second electronic control unit comprises:
a second motor controller calculating an output value of the second driving module on the basis of the steering information; and
a second switching unit transmitting the output value transmitted from the second motor controller to the second driving module as an electric signal.
4. The motor control device of claim 1 , wherein the first electronic control unit and the second electronic control unit exchange the failure information with each other through CAN communication.
5. The motor control device of claim 2 , wherein the first motor controller comprises a first PI controller,
the first motor controller calculates an output value to control the first driving module according to the compensation value, and
the first PI controller receives the compensation value, performs a feedback control to calculate an error, and then transmits the error to the first motor controller.
6. The motor control device of claim 3 , wherein the second motor controller comprises a second PI controller,
the second motor controller calculates an output value to control the second driving module according to the compensation value, and
the second PI controller receives the compensation value, performs a feedback control to calculate an error, and then transmits the error to the second motor controller.
7. The motor control device of claim 2 , wherein the first switching unit comprises:
a first PWM control unit converting the output value transmitted from the first motor controller into a PWM (Pulse Width Modulation) signal;
a first gate driver generating an output signal on the basis of the PWM signal; and
a first inverter converting the output signal transmitted from the first gate driver into an electric signal.
8. The motor control device of claim 3 , wherein the second switching unit comprises:
a second PWM control unit converting the output value transmitted from the second motor controller into a PWM (Pulse Width Modulation) signal;
a second gate driver generating an output signal on the basis of the PWM signal; and
a second inverter converting the output signal transmitted from the second gate driver into an electric signal.
9. A motor control method of a steering system comprising a dual winding steering motor unit that comprises a first driving module formed of a first winding and a second driving module formed of a second winding, a first electronic control unit controlling an operation of the first driving module, and a second electronic control unit controlling an operation of the second driving module, the method comprising:
acquiring failure information about any one of the driving modules by any one of the first electronic control unit and the second electronic control unit;
determining a failure mode on the basis of the failure information;
transmitting information of the failure mode to a remaining electronic control unit; and
selecting a compensation value for the failure mode to control an operation of a remaining driving module according to the compensation value, by the remaining electronic control unit,
wherein the second electronic control unit further comprises:
a second memory unit storing a lookup table for a plurality of failure modes to select the compensation value, and
in the controlling the operation, the second electronic control unit selects the compensation value based on the second memory unit, and
wherein the first electronic control unit further comprises:
a first memory unit storing a lookup table for a plurality of failure modes to select the compensation value, and
in the controlling the operation, the first electronic control unit selects the compensation value based on the first memory unit.
10. The motor control method of claim 9 , wherein the first electronic control unit comprises:
a first motor controller calculating an output value of the first driving module on the basis of steering information obtained by a driver's steering wheel manipulation or the compensation value; and
a first switching unit transmitting the output value to the first driving module as an electric signal, and
the second electronic control unit comprises:
a second motor controller calculating an output value of the second driving module on the basis of steering information obtained by a driver's steering wheel manipulation or the compensation value; and
a second switching unit transmitting the output value to the second driving module as an electric signal.
11. The motor control method of claim 10 , wherein, in the acquiring the failure information, the first electronic control unit acquires the failure information of the first driving module or the first switching unit.
12. The motor control method of claim 9 , wherein, in the transmitting the information of the failure mode to the remaining electronic control unit, the first electronic control unit transmits the information of the failure mode to the second electronic control unit.
13. The motor control method of claim 10 , wherein the second motor controller comprises a second PI controller, and
the controlling the operation comprises:
receiving the compensation value, performing a feedback control in the second PI controller to calculate an error, and calculating an output value that is to be transmitted to the second switching unit using the error; and
transmitting the output value to the second switching unit to generate an electric signal for controlling the second driving module.
14. The motor control method of claim 10 , wherein, in the acquiring the failure information, the second electronic control unit acquires the failure information of the second driving module or the first switching unit.
15. The motor control method of claim 9 , wherein, in the transmitting the failure information to the remaining electronic control unit, the second electronic control unit transmits the failure information to the first electronic control unit.
16. The motor control method of claim 10 , wherein the first motor controller comprises a first PI controller, and
the controlling the operation comprises:
receiving the compensation value, performing a feedback control in the first PI controller to calculate an error, and calculating an output value that is to be transmitted to the first switching unit using the error; and
transmitting the output value to the first switching unit to generate an electric signal for controlling the first driving module.