KR20170120008A - Brake control device and motor calibration method of the brake control device - Google Patents

Abstract

The brake control apparatus according to an embodiment of the present invention includes a three-phase motor for driving an actuator for supplying a fluid for braking a wheel, a position sensor for calculating a rotational position of the motor when the three-phase motor rotates, And the electronic control unit excites the three-phase motor to correct the position value of the three-phase motor calculated by the position sensor based on the number of poles of the three-phase motor.

Description

TECHNICAL FIELD [0001] The present invention relates to a brake control apparatus and a motor control method for a brake control apparatus,

The present invention relates to a brake control apparatus, and more particularly, to a method of initially verifying a motor of a brake control apparatus and correcting a position value of the motor based on the initial verification.

The vehicle is essentially provided with a braking device, that is, a vehicle braking device. Such a vehicle braking device refers to a device that functions to reduce or stop the speed of a running vehicle.

BACKGROUND ART [0002] Conventional vehicular brake devices include a pneumatic brake that generates a braking force by using the suction pressure of an engine, and a hydraulic brake that generates a braking force by using hydraulic pressure.

The vacuum brake is a device that allows the vacuum booster to exert a large braking force with a small force using the suction pressure of the vehicle engine and the atmospheric pressure difference. However, since the engine must be driven at all times for vacuum formation even when the vehicle is stopped, There is a problem that the hydraulic brake is introduced.

 On the other hand, an electronically controlled hydraulic brake system, which is a type of hydraulic brake, is a brake system in which when the driver depresses a pedal, the electronic control unit senses this and the hydraulic pressure is supplied to the master cylinder to transmit the braking hydraulic pressure to the wheel cylinder of each wheel, System.

In recent years, an electronic control unit (ECU) system, a master cylinder and a booster are integrated into a single system unit, thereby enabling ABS and CBS functions to be performed through one system unit, Is introduced.

However, since there is no direct contact with the induction motor provided in the brake control device, it is difficult to grasp the abnormality of the motor, and at least two Hall sensors are required to obtain the motor position value, which is disadvantageous in terms of cost.

The following prior art documents relate to electronically controlled hydraulic brakes and do not incorporate the technical gist of the present invention if techniques related to hydraulic control units, boosting cylinders, master cylinders, pedals, simulators and valves are disclosed.

Korean Patent Publication No. 10-2012-0048910

A brake control apparatus and a motor control method for a brake control apparatus according to embodiments of the present invention aim at the following problems.

First, an apparatus and method for verifying an initial state of a motor are provided.

Secondly, an apparatus and method for calculating a position value of each phase of a motor by exciting a motor are provided.

Third, an apparatus and method for correcting a position value of a motor based on a calculated position value are provided.

The present invention has been made in view of the above problems, and it is an object of the present invention to at least solve the problems in the conventional arts.

The brake control apparatus according to an embodiment of the present invention includes a three-phase motor for driving an actuator for supplying a fluid for braking a wheel, a position sensor for calculating a rotational position of the motor when the three-phase motor rotates, And the electronic control unit excites the three-phase motor to correct the position value of the three-phase motor calculated by the position sensor based on the number of poles of the three-phase motor.

The electronic control unit calculates the position value of each phase value by exciting each phase of the three-phase motor for a predetermined time, adds the electric angle of 120 degrees to the position value of each phase, compares the position value of each phase with each other, Value is less than a predetermined value.

The electronic control unit rotates the motor based on the position value of the U phase among the position values of the calculated three-phase motors on the basis of the number of the three-phase motor poles divided by 2 in either clockwise or counterclockwise direction, The average position value is calculated.

The electronic control unit applies the 3-phase motor by setting the average position value of the U phase to the U phase position value.

The method for correcting a motor position value of a brake control apparatus according to another embodiment of the present invention includes the steps of causing an electronic control unit provided in a brake control apparatus to energize each phase of a three-phase motor, Phase motor by adding the electric angle of 120 degrees to the position value of each phase of the three-phase motor, comparing the position values of the phases of the three-phase motor, rotating the motor by the number obtained by dividing the number of poles of the three- Calculating an average position value of the U phase of the U phase, and setting an average position value of the U phase to the U phase position value.

The step of energizing each phase of the three-phase motor comprises the steps of stabilizing the value of the position sensor for detecting the position value of each phase of the three-phase motor provided in the brake control device, and verifying the current of each phase of the excited three- .

Calculating the position value of each phase includes calculating a first U phase position value by exciting the U phase of the three-phase motor, calculating a V phase position value by exciting the V phase of the three-phase motor 20 , Calculating a W phase position value by exciting a W phase of the three-phase motor (20), and calculating a second U phase position value by re-energizing the U phase of the three-phase motor, The V phase position value, the W phase position value, and the second U phase position value based on the U phase position value.

The step of comparing the position values of the respective phases comprises the steps of: adding a first U phase position value to the V phase position value by adding 120 degrees to the first U phase position value; adding the electrical angle of 120 degrees to the V phase position value; Comparing the W phase position value with a second U phase position value by adding an electrical angle of 120 degrees to the W phase position value, and when the value obtained by comparing the position value of each phase is equal to or greater than a preset first value, 20).

Calculating the average position value on the U-phase includes calculating a first U-average position value in a clockwise direction of the motor rotation direction and calculating a second average position value on the U-axis in a counterclockwise direction And the average position value of the U phase is at least one of a first average position value and a second average position value.

And confirming the RPM of the three-phase motor to which the position value on the set U is applied.

The step of verifying the RPM is a step of comparing the RPM of the three-phase motor calculated by applying a constant torque current to the three-phase motor through weak field control, with a preset PRM, setting the target RPM so that the PRM of the three- And the time required to reach the < RTI ID = 0.0 >

The brake control apparatus and the motor correction method of the brake control apparatus according to the embodiment of the present invention can calculate the position value of each phase by exciting each phase of the motor through the electronic control unit.

Further, since the position values of the respective phases calculated through the electronic control unit are compared with each other, the reliability in correcting the position value of the motor can be improved.

Further, the efficiency of the brake control apparatus can be improved through the correction of the position value.

The effects of the present invention are not limited to those mentioned above, and other effects not mentioned can be clearly understood by those skilled in the art from the following description.

1 is a circuit diagram showing a brake control apparatus according to an embodiment of the present invention.
2 is a flowchart illustrating a method of correcting a motor position value of a brake control apparatus according to another embodiment of the present invention
3 is a flowchart illustrating a step of calculating a position value of each phase of the motor position correction method of the brake control apparatus according to another embodiment of the present invention.
4 is a flowchart illustrating a step of comparing position values of respective phases of a method of correcting a motor position value of a brake control apparatus according to another embodiment of the present invention.
5 is a flowchart illustrating a PRM check step of a method of correcting a motor position value of a brake control apparatus according to another embodiment of the present invention.

The present invention will be described in detail with reference to the accompanying drawings. It is to be understood that the accompanying drawings are only for the purpose of facilitating understanding of the present invention and are not to be construed as limiting the scope of the present invention.

The brake control apparatus according to the embodiment of the present invention includes a three-phase motor 20, a position sensor 70, a valve 40, and an electronic control unit 50.

The three-phase motor 20 drives the actuator 10 which supplies the fluid for braking the wheel 60.

The actuator 10 may be formed of a pump including a cylinder and a piston so as to discharge and suck fluid.

The valve 40 interrupts the flow of the fluid.

Accordingly, hydraulic pressure is generated in accordance with the three-phase motor and the valve 40 in the open and close states, and the fluid is supplied to the actuator 20 and the wheel 60.

The position sensor 70 calculates the position value of the three-phase motor when the three-phase motor 20 rotates.

In order to remove the noise value of the position sensor 70, it is preferable to calculate the position value of the three-phase motor after converging the value calculated by the position sensor for a predetermined time.

The electronic control unit 50 controls the three-phase motor 20, the valve 40, and the position sensor 70.

The electronic control unit 50 also excites the three-phase motor 20 and corrects the position value of the three-phase motor 20 calculated by the position sensor 70 based on the number of poles of the three-phase motor 20 .

Further, the electronic control unit 50 calculates the position value of each phase by exciting each phase of the three-phase motor 20, adds the electric angle of 120 degrees to the position value of each phase, compares the position values of each phase with each other, Value is less than a predetermined value.

As a result, when the compared value is equal to or greater than the set value, the three-phase motor 20 can be judged as a failure.

Therefore, when the driver, who is in the initial state of the motor, starts the operation and shows the driver's intention, the position of the motor is verified to grasp the state of the motor in advance, so that the driver can be informed of the failure of the motor efficiently by means such as a warning lamp.

In addition, by checking whether the motor is faulty by utilizing the excitation of the motor, it is easy to determine whether or not the motor driving circuit is abnormal.

When each position is excited and the position value is calculated, the U phase, V phase, W phase, and U phase are excited.

Therefore, the U phase of the three-phase motor 20 is energized to reference the first U phase position value, the V phase is excited to calculate the position value of the V phase, and then the W phase is excited to calculate the position value of the W phase And the U-phase is excited again to calculate the position value of the second U-phase.

Further, when calculating the first U phase position value, the direction in which the piston of the actuator moves in accordance with the rotation direction of the three-phase motor and the rotation of the motor can be determined depending on whether the calculated value is negative or positive.

When the piston is caught by the wall of the cylinder according to the rotation direction of the three-phase motor 20, the first U phase position value may not be a normal value, so that the first U phase position value is formed as a reference point.

Accordingly, when verifying the state of the three-phase motor 20, the rotation direction of the three-phase motor 20 is set to the application direction which is the direction in which the piston of the actuator discharges the fluid to control the three-phase motor 29 .

When the position values of the respective phases are compared with each other, each phase of the three-phase motor 20 is formed with a difference of 120 degrees in electrical angle, so that comparison is made as follows.

The calculated V phase position value is compared with the first U phase position value electrical angle of 120 degrees, and the calculated W phase position value is compared with the V phase position value by adding the electrical angle of 120 degrees, and the calculated second U The position value on the W phase is compared with the W phase position value by adding the electric angle of 120 degrees.

Therefore, if the compared value (absolute value) is smaller than a preset value in the electronic control unit, it can be grasped as a normal motor state.

Also, comparing the positions of the three-phase motor angles with each other can improve the reliability with respect to the position value calculated before the correction so that the correction can be performed efficiently.

The preset value can be set to 10 degrees of electric angle, and can be changed according to the three-phase motor design state and the external environment.

1, the brake control apparatus according to the embodiment of the present invention includes a three-phase motor 20 and a valve 40, which are connected to the actuator 60 so as to supply fluid to the wheel 60 and the actuator 10, And a reservoir 30 connected and storing the fluid.

In the above case, the valve may be provided between the actuator and the actuator.

Accordingly, the fluid supplied to the wheel 60 or the actuator 10 can be supplied to the wheel 60 or the actuator 10 or the fluid can be recovered and stored in the reservoir 30 according to the state.

Further, the electronic control unit 50 of the brake control apparatus according to the embodiment of the present invention calculates the position value of each phase of the three-phase motor 20 by exciting the three-phase motor 20 after opening the valve 40 .

Therefore, the valve 40 can be formed of an NC (Normal Close) solenoid valve that is normally closed until it is opened by control to the electronic control unit.

In this case, by opening the valve 40 and minimizing the load of the three-phase motor 20, the position value of each phase of the motor 20 can be accurately calculated.

The electronic control unit 50 of the brake control apparatus according to the embodiment of the present invention sets the number of poles of the three-phase motor 20 to 2 (zero) on the basis of the position value of U in the position value of each of the three- It is possible to calculate the average position value of the U phase by rotating the motor based on either the clockwise or counterclockwise direction.

As described above, when calculating the average position value of the U phase, the number of position values to be acquired is matched to the number of poles of the three-phase motor 20 to maintain consistency.

Since the 3-phase motor can be rotated in the direction in which the piston of the actuator discharges the fluid or in the opposite direction in which the fluid is discharged, the 3-phase motor is rotated in either clockwise or counterclockwise direction to calculate the average position value of U phase can do.

Further, the electronic control unit 50 can be applied to the three-phase motor 20 by correcting the calculated average position value of the U phase to the position value of the U phase.

In this way, the motor control efficiency can be improved by correcting the position value of the motor by rotating the motor according to the number of poles of the three-phase motor based on the position value of the U phase.

In addition, it is possible to reduce the number of sensors conventionally used for correcting the motor position value, thereby reducing the cost.

Hereinafter, a method of correcting a motor position value of a brake control apparatus according to another embodiment of the present invention will be described, and duplicate description of a brake control apparatus according to an embodiment of the present invention will be omitted.

As shown in FIG. 2, the method for correcting a motor position value of a brake control apparatus according to another embodiment of the present invention includes a step of exciting each phase of a three-phase motor (S100), a step S200 of calculating a position value of each phase, A step S300 of comparing position values of the respective phases, a step S400 of calculating an average position value of the U phase, and a step S500 of correcting the position of the U phase.

The step (S100) of energizing each phase of the three-phase motor 20 is a step of energizing each phase of the three-phase motor 20 by the electronic control unit 50 provided in the brake control apparatus.

The step S200 of calculating the position value of each phase is a step of calculating the position value of each phase of the three-phase motor 20 excited by the electronic control unit 50. [

In the step S300 of comparing the position values of the respective phases, the positions of the respective phases of the three-phase motors 20 are compared with each other by adding the electric angle of 120 degrees to the position value of each phase of the three-

The average position value of the U phase of the three-phase motor 20 is calculated by rotating the three-phase motor 20 by the number obtained by dividing the number of poles of the three-phase motor 20 by 2 (S400) .

The position value correction step (S500) of the U phase is a step of correcting the U phase average position value to the U phase position value.

As shown in FIG. 3, step S100 of exciting each phase of the three-phase motor 20 of the motor position value correcting method of the brake control apparatus according to another embodiment of the present invention includes stabilizing (S110) (S120). ≪ / RTI >

The step of stabilizing (S110) is a step of stabilizing the value of the position sensor installed on the brake control device and detecting the position value of each phase of the three-phase motor (20).

The step of verifying the current (S120) is a step of verifying the current of each phase of the excited three-phase motor 20.

That is, the current (Iu, Iv, Iw) of each phase of the motor after excitation is calculated to confirm the satisfaction of a specific ratio (Iu: Iv: Iw: Iw = 2: 1: 1) of the three-phase motor, .

Therefore, when calculating the U phase position value of the motor, U phase is excited and the sensor value is stabilized. If the ratio of V phase and W phase is satisfied based on U phase, the U phase position is calculated.

As shown in FIG. 3, calculating a position value of each phase of the motor position correction method of the brake control apparatus according to another embodiment of the present invention includes calculating a first U phase position value (step S200) S210), calculating a V phase position value (S220), calculating a W phase position value (S230), and outputting a second U phase position value (S240).

The step of calculating the first U phase position value (S210) is a step of calculating the first U phase position value by exciting the U phase of the three-phase motor 20.

The step (S220) of calculating the V phase position value is a step of calculating the V phase position value by exciting the V phase of the three-phase motor 20.

The step (S230) of calculating the W phase position value is a step of calculating the W phase position value by exciting the W phase of the three-phase motor 20.

The step S240 of releasing the second U phase position value is a step of calculating the second U phase position value by exciting the U phase of the three-phase motor 20 again.

Further, the electronic control unit calculates the V-phase position value, the W-phase position value and the second U-phase position value based on the first U-phase position value.

Therefore, the first U phase position value calculated by exciting the U phase of the three-phase motor is set as a reference point, the V phase is excited to calculate the position value of the V phase, and then the W phase is excited to calculate the position value of the W phase , And the position value of the second U phase is calculated by exciting the U phase again.

As shown in FIG. 4, comparing the position value of each phase of the method of correcting the motor position of the brake control apparatus according to another embodiment of the present invention (S300) includes a step (S310) of comparing a V- A position value comparison step S320, and a second U phase position value comparison step S330.

The V phase position value comparison step S310 compares the first U phase value with the V phase position value by adding 120 degrees to the first U phase value.

The W phase position value comparison step S320 compares the V phase position value with the W phase position value by adding 120 degrees to the V phase position value.

The step of comparing U phase position values (S330) is a step of comparing the W phase position value with the second U phase position value by adding the electrical angle of 120 degrees to the W phase position value.

Also, when the value obtained by comparing the position values of the respective phases is equal to or larger than a preset value, the three-phase motor 20 is broken down.

Accordingly, if the compared value is less than a preset value, the motor state is recognized as a normal state, and if there is an abnormality, the motor can be faulted to warn the user by means such as a warning lamp.

The preset value can be set to 10 degrees of electric angle and can be changed to design according to the environment.

Also, comparing the positions of the three-phase motor angles with each other can improve the reliability with respect to the position value calculated before the correction so that the correction can be performed efficiently.

As shown in FIG. 4, calculating an average position value of U phase of each phase of the motor position correction method of the brake control apparatus according to another embodiment of the present invention (S400) includes calculating a first average position value (S410), and calculating a second average position value (S420).

Step S410 of calculating the first average position value is a step of calculating an average position value of the U phase by rotating the three-phase motor 20 clockwise.

The step of calculating the second average position value (S420) is a step of calculating the average position value of the U phase by turning the rotation direction of the three-phase motor 20 counterclockwise.

The average position value of the U phase may be at least one of the first average position value and the second average position value.

As shown in FIG. 5, the method for correcting the motor position value of the brake control apparatus according to another embodiment of the present invention further includes checking the RPM of the three-phase motor 20 to which the position value of the set U is applied .

In addition, the step of confirming the RPM (S600) may include a step (S610) of comparing with the preset PRM, and a step (S620) of confirming the time to reach the target RPM.

The step S610 of comparing with the preset PRM is a step of comparing the RPM of the three-phase motor 20 calculated by applying a constant torque current to the three-phase motor 20 through weak field control with a preset RPM .

Accordingly, the three-phase motor 20 is rotated at a high speed in the weak field region, and the correction consistency can be confirmed by confirming the motor rotation and control time constant.

If the difference between the RPM of the three-phase motor 20 and the preset RPM is less than 10%, the motor position value is normally corrected, and the difference value and the preset RPM can be changed according to the design environment.

The step of confirming the time to reach the target RPM (S620) is a step of setting the target RPM to confirm the time when the PRM of the three-phase motor 20 reaches the target RPM.

Accordingly, when the motor correction is normally confirmed in the step S610 of comparing with the preset PRM, the target PRM is given to reaffirm the motor calibration conformity with the RPM arrival time of the three-phase motor.

The step of confirming whether the electronic control unit 50 drives the valve 40 before the step S100 of exciting the three-phase motor phase of the method for correcting the motor position value of the brake control apparatus according to yet another embodiment of the present invention , And the electronic control unit 50 may open the valve 40.

The step S100 of confirming whether the valve 40 is driven is a step of confirming whether the electronic control unit 50 drives the valve 40 or not.

The step 40 of opening the valve 40 is a step of opening the valve 40 by the electronic control unit 50.

Therefore, the position of each phase of the motor 20 can be accurately calculated by opening the valve 40 and minimizing the load of the three-phase motor 20. [

The embodiments and the accompanying drawings described in the present specification are merely illustrative of some of the technical ideas included in the invention. Therefore, it is to be understood that the embodiments disclosed herein are not intended to limit the scope of the present invention but to limit the scope of the present invention. It will be understood by those of ordinary skill in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims and their equivalents. It should be interpreted.

10: actuator 20: motor
30: Reservoir 40: Valve
50: Electronic control unit 60: Wheel
70: Position sensor

Claims (11)

A three-phase motor (20) for driving an actuator (10) for supplying a fluid for braking the wheel (60);
A position sensor (70) for calculating a position value of the motor when the three-phase motor (20) is rotated;
An electronic control unit (50) for controlling the three-phase motor (20) and the position sensor;
Lt; / RTI >
The electronic control unit 50 includes a brake that excites the three-phase motor 20 and corrects the position value of the three-phase motor 20 calculated by the position sensor 70 based on the number of poles of the three- controller.
3. The method of claim 2,
The electronic control unit (50)
Phase of the three-phase motor 20 is excited to calculate the position value of the position value of each phase,
Adding the electric angle of 120 degrees to the position value of each of the phases, comparing the position values of the respective phases,
And determines whether the compared value is less than a preset value.
3. The method of claim 2,
The electronic control unit (50)
The number of poles of the three-phase motor (20) is divided by two, based on the calculated position value of each phase of the three-phase motor (20) And calculates an average position value of the U phase.
The method of claim 3,
The electronic control unit (50)
And the average position value of the U phase is set as a position value of the U phase to apply to the three-phase motor.
The step (S100) of causing the electronic control unit 50 provided in the brake control device to energize each phase of the three-phase motor 20;
Calculating a position value of each phase of the three-phase motor (20) in the electronic control unit (50) (S200);
(S300) of comparing positions of respective phases of the three-phase motor (20) by adding an electric angle of 120 degrees to a position value of each phase of the three-phase motor (20);
A step (S400) of calculating the average position value of the U phase of the three-phase motor (20) by rotating the three-phase motor (20) by a number obtained by dividing the number of poles of the three-phase motor (20) by two;
Setting an average position value of the U phase to a position value of the U phase (S500);
And correcting the motor position value of the brake control device.
6. The method of claim 5,
The step S100 of exciting each phase of the three-phase motor 20
(S110) installed in the brake control device to stabilize the value of the position sensor detecting the position of each phase of the three-phase motor (20);
(S120) of verifying the current of each phase of the excited three-phase motor (20);
And correcting the motor position value of the brake control device.
6. The method of claim 5,
In the step S200 of calculating the position value of each phase
A step (S210) of calculating a first U phase position value by exciting the U phase of the three-phase motor (20);
A step (S220) of calculating a V-phase position value by exciting the V-phase of the three-phase motor 20;
A step (S230) of calculating a W phase position value by exciting the W phase of the three-phase motor 20;
A step (S240) of calculating a second U phase position value by exciting the U phase of the three-phase motor 20 again;
Lt; / RTI >
And calculating the V phase position value, the W phase position value, and the second U phase position value based on the first U phase position value.
6. The method of claim 5,
The step of comparing the position values of the respective phases (S300)
Adding the electrical angle of 120 degrees to the first U phase position value and comparing the first U phase position value with the V phase position value (S310);
Adding the electrical angle of 120 degrees to the V phase position value and comparing the value with the W phase position value (S320);
Adding the electrical angle of 120 degrees to the W phase position value and comparing the W phase position value with the second U phase position value (S330);
Lt; / RTI >
Wherein the three-phase motor (20) is broken when a value obtained by comparing the position values of the three phases is equal to or greater than a preset value.
6. The method of claim 5,
Calculating an average position value of the U phase (S400);
Calculating a first average position value of the U phase by rotating the three-phase motor 20 in a clockwise direction (S410);
Calculating a second average position value of the U phase by turning the rotation direction of the three-phase motor (30) counterclockwise (S420);
Wherein the average position value of the U phase is at least one of the first average position value and the second average position value.
6. The method of claim 5,
Confirming the RPM of the three-phase motor 20 to which the position value of the set U phase is applied (S600);
And correcting the motor position value of the brake control device.
11. The method of claim 10,
The step of confirming the RPM (S600)
(S610) comparing RPM of the three-phase motor 20 calculated by applying a constant torque current to the three-phase motor 20 through weak field control to a predetermined PRM;
(S620) setting a target RPM to confirm the time at which the PRM of the three-phase motor 20 reaches the target RPM;
And correcting the motor position value of the brake control device.

Images