Control system and electric power steering control device
First Claim
1. A control system comprising:
- a main control device that generates output for controlling a controlled object in accordance with an input signal;
a sub-control device for monitoring an operating state of the main control device;
a communication-processing unit for communicating between the main control device and the sub-control device;
a limitation unit for limiting the output of the main control device in accordance with the monitoring by the sub-control device;
whereinthe main control device includes a first signal-processing unit that generates a first signal, which is used for generating the output, in accordance with the input signal, a second signal-processing unit that generates a second signal, which is substantially equivalent to the first signal, in accordance with the input signal, and an initialization-processing unit that periodically initializes the second signal,the communication-processing unit has a function of transmitting the first signal and the second signal from the main control device to the sub-control device,the sub-control device includes a comparison-judgment-processing unit that compares the first signal with the second signal, which are transmitted from the main control device via the communication-processing unit, and judges that an abnormality occurs when a state, in which a deviation between the both signals is greater than equal to a predetermined value, is continued in a time being longer than or equal to a first predetermined time, an initialization-judgment-processing unit that judges that an abnormality occurs when a state, in which the second signal is not initialized by the initialization-processing unit, is continued in a time being longer than or equal to a second predetermined time, and an abnormality-judging unit that judges that an abnormality occurs when at least one of the comparison-judgment-processing unit and the initialization-judgment-processing unit judges that the abnormality occurs,and the limitation unit is configured in such a way that the limitation unit adds a predetermined limitation to the output of the main control device, when the abnormality-judging unit judges that the abnormality occurs;
whereinthe initialization-processing unit is configured in such a way that the initialization-processing unit initializes the second signal, after the communication-processing unit performs the transmission, anda process cycle of the second signal-processing unit is defined to be longer than an initialization cycle of the initialization-processing unit.
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Accused Products
Abstract
A main control device generates a first signal and a second signal, which is substantially equivalent to the first signal, in accordance with the input signal, a sub-control device includes a comparison-judgment-processing unit that compares the first signal with the second signal, and judges that an abnormality occurs when a state, in which a deviation between the both signals is greater than equal to a predetermined value, is continued in a time being equal to a first predetermined time, and a limitation unit is configured in such a way that the limitation unit adds a predetermined limitation to the output of the main control device in accordance with a result for which the comparison-judgment-processing unit judges that the abnormality occurs.
8 Citations
5 Claims
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1. A control system comprising:
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a main control device that generates output for controlling a controlled object in accordance with an input signal; a sub-control device for monitoring an operating state of the main control device; a communication-processing unit for communicating between the main control device and the sub-control device; a limitation unit for limiting the output of the main control device in accordance with the monitoring by the sub-control device;
whereinthe main control device includes a first signal-processing unit that generates a first signal, which is used for generating the output, in accordance with the input signal, a second signal-processing unit that generates a second signal, which is substantially equivalent to the first signal, in accordance with the input signal, and an initialization-processing unit that periodically initializes the second signal, the communication-processing unit has a function of transmitting the first signal and the second signal from the main control device to the sub-control device, the sub-control device includes a comparison-judgment-processing unit that compares the first signal with the second signal, which are transmitted from the main control device via the communication-processing unit, and judges that an abnormality occurs when a state, in which a deviation between the both signals is greater than equal to a predetermined value, is continued in a time being longer than or equal to a first predetermined time, an initialization-judgment-processing unit that judges that an abnormality occurs when a state, in which the second signal is not initialized by the initialization-processing unit, is continued in a time being longer than or equal to a second predetermined time, and an abnormality-judging unit that judges that an abnormality occurs when at least one of the comparison-judgment-processing unit and the initialization-judgment-processing unit judges that the abnormality occurs, and the limitation unit is configured in such a way that the limitation unit adds a predetermined limitation to the output of the main control device, when the abnormality-judging unit judges that the abnormality occurs;
whereinthe initialization-processing unit is configured in such a way that the initialization-processing unit initializes the second signal, after the communication-processing unit performs the transmission, and a process cycle of the second signal-processing unit is defined to be longer than an initialization cycle of the initialization-processing unit.
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2. An electric power steering control device comprising:
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a main control device that generates output for controlling a motor that generates a steering auxiliary torque corresponding to a steering torque applied by a driver; a sub-control device for monitoring an operating state of the main control device; a communication-processing unit for communicating between the main control device and the sub-control device; a limitation unit for limiting the output of the main control device in accordance with the monitoring by the sub-control device; a torque-detecting unit for detecting the steering torque applied by the driver; and a motor-current-detecting unit for detecting a motor current passed through the motor;
whereinthe main control device includes a first car-speed-signal-processing unit that generates a first car-speed signal in accordance with a car-speed signal inputted from a car-speed sensor (4), a second car-speed-signal-processing unit that generates a second car-speed signal, which is substantially equivalent to the first car-speed signal, in accordance with the car-speed signal, a target-current-determination unit that determines a target current of the motor in accordance with at least the detected steering torque and the first car-speed-signal, and a motor-current-control unit that generates output for controlling the motor current in accordance with the determined target current, the communication-processing unit has a function of transmitting the first signal and the second signal from the main control device to the sub-control device, the sub-control device includes a comparison-judgment-processing unit that compares the first signal with the second signal, which are transmitted from the main control device via the communication-processing unit, and judges that an abnormality occurs when a state, in which these signals are not equal to each other, is continued in a time being longer than or equal to a first predetermined time, a car-speed-judgment unit that judges that an abnormality occurs when the comparison-judgment-processing unit judges that the abnormality occurs, and a motor-current-abnormality-judging unit that judges that an abnormality occurs when a state, in which a current threshold is defined based on at least the detected steering torque, the first car-speed-signal, and a judgment result of the car-speed-judgment unit, and the detected motor-current value is greater than the current threshold, is continued in a time being longer than or equal to a third predetermined time, and the limitation unit is configured in such a way that the limitation unit adds a predetermined limitation to the output of the motor-current-control unit, when the motor-current-abnormality-judging unit judges that the abnormality occurs. - View Dependent Claims (3, 4)
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5. An electric power steering control device comprising:
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a main control device that generates output for controlling a motor that generates a steering auxiliary torque corresponding to a steering torque applied by a driver; a sub-control device for monitoring an operating state of the main control device; a communication-processing unit for communicating between the main control device and the sub-control device; a limitation unit for limiting the output of the main control device in accordance with the monitoring by the sub-control device; a torque-detecting unit for detecting the steering torque applied by the driver; and a motor-current-detecting unit for detecting a motor current passed through the motor;
whereinthe main control device includes a first car-speed-signal-processing unit that generates a first car-speed signal in accordance with a car-speed signal inputted from a car-speed sensor, a second car-speed-signal-processing unit that generates a second car-speed signal, which is substantially equivalent to the first car-speed signal, in accordance with the car-speed signal, a target-current-determination unit that determines a target current of the motor in accordance with at least the detected steering torque and the first car-speed-signal, a motor-current-control unit that generates output for controlling the motor current in accordance with the determined target current, and an initialization-processing unit that periodically initializes the second signal, the communication-processing unit has a function of transmitting the first signal and the second signal from the main control device to the sub-control device, the sub-control device includes a comparison-judgment-processing unit that compares the first signal with the second signal, which are transmitted from the main control device (503) via the communication-processing unit, and judges that an abnormality occurs when a state, in which these signals are not equal to each other, is continued in a time being longer than or equal to a first predetermined time, an initialization-judgment-processing unit that judges that an abnormality occurs when a state, in which the second signal is not initialized by the initialization-processing unit, is continued in a time being longer than or equal to a second predetermined time, a car-speed-judgment unit that judges that an abnormality occurs when at least one of the comparison-judgment-processing unit and the initialization-judgment-processing unit judges that the abnormality occurs, and a motor-current-abnormality-judging unit that judges that an abnormality occurs when a state, in which a current threshold is defined based on at least the detected steering torque, the first car-speed-signal, and a judgment result of the car-speed-judgment unit, and the detected motor-current value is greater than the current threshold, is continued in a time being longer than or equal to a third predetermined time, and the limitation unit is configured in such a way that the limitation unit adds a predetermined limitation to the output of the motor-current-control unit, when the motor-current-abnormality-judging unit judges that the abnormality occurs.
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Specification