CN104718123B

CN104718123B - Steering control device, rotating direction control method

Info

Publication number: CN104718123B
Application number: CN201380051570.7A
Authority: CN
Inventors: 宫坂匠吾
Original assignee: Nissan Motor Co Ltd
Current assignee: Nissan Motor Co Ltd
Priority date: 2012-10-03
Filing date: 2013-09-30
Publication date: 2016-11-30
Anticipated expiration: 2033-09-30

Abstract

Realize being sufficiently used the fail safe of the advantage that multiple motor is set.When the first steering controller (71) and the second steering controller (72) perform 2 motor SBW pattern, when at least one in first steering controller (71), the first steer motor (M1) and torque sensor (34) there occurs abnormal, the second steering controller (72) perform 1 motor SBW pattern.Additionally, when the first steering controller (71) and the second steering controller (72) perform 2 motor SBW pattern, when at least one in second steering controller (72) and the second steer motor (M2) there occurs abnormal, the first steering controller (71) perform 1 motor EPS pattern.

Description

Steering control device, rotating direction control method

Technical field

The present invention relates to a kind of steering control device and rotating direction control method.

Background technology

There iing the steering-by-wire utilizing the motor turned to make wheel steering described in patent documentation 1, turning to Motor in when producing abnormal, connect standby clutch and mechanically link steering.

So, in the case of utilizing a motor to turn to, in order to obtain enough power, motor maximizes And cause the degree of freedom of layout to decline, accordingly, it is considered to two more small-sized motor are utilized to make the structure of wheel steering.

Patent documentation 1: Japanese Unexamined Patent Publication 2002-225733 publication

Summary of the invention

If forming the structure utilizing two motor that wheel is turned to, then can suppress the maximization of motor, Layout is the most excellent, but fail safe is still suffered to the leeway of research.For example, it is contemplated that occur abnormal at some motor Time, connect standby clutch, but this makes another motor of no exceptions also become to use, it is impossible to fully Utilize the advantage being provided with two motor.

The problem of the present invention is to realize utilizing the fail safe arranging multiple these advantages of motor fully.

The steering control device of one mode of the present invention is at handling maneuver input mechanism and turns to peace between output mechanism Dress clutch, arranges to the first motor and the second motor turning to output mechanism to apply driving force, sets on output shaft Put moment of torsion test section.At least the first motor and moment of torsion test section are made up of the composite component of integration.Further, there are 2 electricity Motivation steering control mode, in this mode, cut-off clutch, utilize the first control portion and described second control portion, with defeated Enter the anglec of rotation of axle accordingly, the anglec of rotation of the first motor and the second motor is controlled.It addition, have 1 electricity Motivation assist control pattern, in this mode, connects clutch, utilizes the first control portion, detected by moment of torsion test section The moment of torsion of the first motor accordingly, is controlled by moment of torsion.It addition, there is 1 motor steering control mode, in this pattern Under, cut-off clutch, utilize the second control portion, with the anglec of rotation of power shaft accordingly, the anglec of rotation of the second motor is entered Row controls.Further, when the first control portion and the second control portion perform 2 motor steering control mode, the first control When at least one in portion processed, the first motor and moment of torsion test section there occurs abnormal, the second control portion perform 1 electronic Machine steering control mode.Further, the state of 2 motor steering control modes is performed in the first control portion and the second control portion Under, when at least one in the second control portion and the second motor there occurs abnormal, even at carrying out 1 motor Under the state of steering control mode, also performed 1 motor assist control pattern by the first control portion.

The effect of invention

According to the present invention, when performing 2 motor steering control mode, even if being carried out by the first control portion Control system there occurs exception, due to the control system normally function carried out by the second control portion, hence with by The control that this second control portion is carried out switches to 1 motor steering control mode.On the other hand, control is turned at execution 2 motor Under the state of molding formula, even if there occurs exception in the control system carried out by the second control portion, due to by the first control portion The control system carried out normally function, switches to 1 motor hence with the control carried out by this first control portion auxiliary Help control model.So, utilize the control system of normally function, while cutting accordingly with abnormal happening part Change control, be achieved in being sufficiently used the fail safe of the advantage that multiple motor is set.

Accompanying drawing explanation

Fig. 1 is the structure chart of transfer.

Fig. 2 is to represent it is the figure of the control model corresponding with diagnostic result.

Fig. 3 is the transition diagram of control model.

Detailed description of the invention

Hereinafter, based on accompanying drawing, embodiments of the present invention are illustrated.

" the 1st embodiment "

" structure "

First the structure of transfer is described.

Fig. 1 is the summary construction diagram of transfer.

Steering wheel 11 links with steering spindle 12, wheel (deflecting roller) 13L and 13R successively via knuckle arm 14, horizontal draw Bar 15, rack shaft 16 and little gear 17 and link with the first pinion shaft 18.Steering spindle 12 and the first pinion shaft 18 with The state of some in connecting or disconnecting can be switched to link via clutch 19.

Here, it is present in steering wheel 11 and the steering spindle 12 of the input side of clutch 19, is that steering spindle 12 is according to driving The steering operation of the person of sailing carries out the handling maneuver input mechanism St rotated_IN.Additionally, there are the turning to of outlet side in clutch 19 Joint arm 14, drag link 15, rack shaft 16, little gear 17 and the first pinion shaft 18, be that wheel 13L and 13R utilizes first What the rotation of pinion shaft 18 carried out turning to turns to output mechanism St_OUT。

Therefore, if when connecting after (joint) clutch 19, making steering wheel 11 rotate, then steering spindle 12, from Clutch 19 and the first pinion shaft 18 rotate.The rotary motion of the first pinion shaft 18 utilizes rack shaft 16 and little gear 17 It is transformed to the advance and retreat motion of drag link 15, makes wheel 13L and 13R turn to via knuckle arm 14.

Clutch 19 is made up of the electromagnetic clutch without excitation maqting type.That is, when solenoid is without excitation, such as, utilize Cam roller mechanism, roller is engaged between the cam surface of power shaft and the foreign steamer of output shaft, and power shaft and output shaft engage.Separately On the one hand, when solenoid is carried out excitation, utilize the attraction of armature, the cam surface of power shaft and output shaft foreign steamer it Between the engagement of roller be released from, power shaft and output shaft disconnect.

Rack shaft 16, in the upper extension of car body left and right directions (overall width direction), is formed its side (being here on the right side of car body) There is rack gearing (tooth) 31, make little gear 17 engage with this rack gearing 31.Rack gearing 31 and little gear The engagement of 17 utilizes keeper mechanism to be adjusted.

First pinion shaft 18 is made up of the power shaft of clutch side, the output shaft of little gear side, on its output shaft, and example As linked the first steer motor M1 via worm couple 32.Detection motor rotation it is provided with in the first steer motor M1 The resolver 33 of corner.

Worm couple 32 is by the worm gear linked with the first pinion shaft 18 and the snail linked with the first steer motor M1 Bar is constituted, and makes worm shaft and worm-wheel shaft oblique.This is for the module by the axle right angle orientation relative to the first pinion shaft 18 Diminish.

Worm couple 32 makes the torsion angle of worm screw be more than angle of repose (angle of friction), so that worm gear utilizes the rotation of worm screw And rotate, further, it enables worm screw also utilizes the rotation of worm gear to rotate, i.e. allow for reverse driven.

It is provided with torque sensor 34 between power shaft and the output shaft of the first pinion shaft 18.

The above-mentioned output shaft of little gear the 17, first pinion shaft 18, worm couple the 32, first steer motor M1, The composite component (assembly) of resolver 33 and being integrally constituted of torque sensor 34, as the first actuator A1.The One actuator A1 realizes generalization with the structure member of electric power-assisted steering apparatus.

According to the first actuator A1, if when cut-off clutch 19, driving the first steer motor M1, then warp Made the first pinion shaft 18 rotate by worm couple 32, therefore make car accordingly with the anglec of rotation of the first steer motor M1 The steering angle of wheel 13L and 13R changes.Therefore, when cut-off clutch 19, relative by the steering operation with driver Control the first steer motor M1 should be driven in ground, thus realize desired course changing control characteristic as steering-by-wire function.

Further, if when connecting clutch 19, driving the first steer motor M1, then via worm couple Motor torque is transferred to the first pinion shaft 18 by 32.Therefore, connect clutch 19 time, by with driver turn to behaviour Make to drive accordingly and control the first steer motor M1, thus realize alleviating the desired auxiliary spy of the operation burden of driver Property.

At the opposite side (being here on the left of car body) of rack shaft 16, it is linked with the second pinion shaft via little gear 35 36.That is, the opposite side (on the left of here for car body) at rack shaft 16 is formed with rack gearing (tooth) 37, makes little gear 35 Engage with this rack gearing 37.The engagement of rack gearing 37 and little gear 35 utilizes keeper mechanism to carry out Adjust.

Second pinion shaft 36 is such as linked with the second steer motor M2 via worm couple 38.Second turns to Motor M2 is and the motor of the first steer motor M1 same model.Second steer motor M2 is provided with detection electricity The resolver 39 of the motivation anglec of rotation.

Worm couple 38 is by the worm gear linked with the second pinion shaft 36 and the snail linked with the second steer motor M2 Bar is constituted, and makes worm shaft and worm-wheel shaft oblique.This is the module in order to make the axle right angle orientation relative to the second pinion shaft 36 Diminish.

Worm couple 38 makes the torsion angle of worm screw be more than angle of repose (angle of friction), so that worm gear utilizes the rotation of worm screw And rotate, further, it enables worm screw also utilizes the rotation of worm gear to rotate, i.e. allow for reverse driven.

The above-mentioned output shaft of little gear the 35, second pinion shaft 36, worm couple the 38, second steer motor M2, And the composite component (assembly) of being integrally constituted of resolver 39, as the second actuator A2.

According to the second actuator A2, if when cut-off clutch 19, drive the second steer motor M2, then Two pinion axle 36 rotates via worm couple 38, therefore makes car accordingly with the anglec of rotation of the second steer motor M2 The steering angle of wheel 13L and 13R changes.Therefore, when cut-off clutch 19, relative by the steering operation with driver Control the second steer motor M2 should be driven in ground, thus realize desired course changing control characteristic as steering-by-wire function.

Steering spindle 12 is linked with reaction force motor 51.Reaction force motor 51 possesses: rotor, its with turn to Axle 12 rotates together；And stator, it is relatively fixed on housing with this rotor.Rotor is the most equally spaced to arrange The Magnet of row is such as fixed on rotor core by insert molding and is formed.Stator is by being equipped with the iron core of coil Equally spaced arrange in the circumferential, and be such as fixed on housing by hot charging and formed.In reaction force motor 51 It is provided with the resolver 52 of the detection motor anglec of rotation.

Steering spindle 12 is provided with handling maneuver angle transducer 53.

According to reaction force motor 51, if when cut-off clutch 19, drive reaction force motor 51, Then motor torque is transferred to steering spindle 12.Therefore, when performing steering-by-wire at cut-off clutch 19, by being subject to from road surface To counteracting force accordingly drive control reaction force motor 51, thus realize execute for the steering operation of driver The desired reaction force characteristic of add operation counteracting force.

Above-mentioned is the structure of transfer.

Below, the structure of control system is described.

In the present embodiment, possess the first steering controller (turning to ECU1) the 71, second steering controller (to turn to ECU2) 72 and control of the reactive force device (counteracting force ECU) 73.Each controller is such as made up of microcomputer.

First steering controller 71 inputs from resolver 33, torque sensor 34 and handling maneuver angle transducer 53 Signal, drives via drive circuit and controls the first steer motor M1.Second steering controller 72 input from resolver 39 with And the signal of handling maneuver angle transducer 53, drive via drive circuit and control the second steer motor M2.Control of the reactive force Device 73 inputs from resolver 52 and the signal of handling maneuver angle transducer 53, and drives control retroaction via drive circuit Power motor 51.

The motor rotation angle θ m1 of the first steer motor M1 is detected by resolver 33.This resolver 33 is to fixed During subcoil input excitation signal, the detection signal corresponding with the anglec of rotation of rotor is exported from rotor coil.First turns to Controller 71 utilizes signal processing circuit, exports excitation signal to stator coil, and based on the inspection inputted from rotor coil The motor rotation angle θ m1 of the first steer motor M1 is judged by the Modulation and Amplitude Modulation surveying signal.Additionally, the first course changing control Device 71 will be turned right as on the occasion of processing, and will turn left and process as negative value.

Similarly, for the motor rotation angle θ m2 of the second steer motor M2, utilize second turn via resolver 39 Detect to controller 72, for the motor rotation angle θ r of reaction force motor 51, utilize via resolver 52 anti- Active force controller 73 detects.

Torque T s of input to the first pinion shaft 18 is detected by torque sensor 34.This torque sensor 34 will be deposited It is that the torsion angle of the torque arm between input side and the outlet side of the first pinion shaft 18 such as utilizes Hall element to examine Survey, and the change of the magnetic flux density produced by the Relative angular displacement by multipole magnet and yoke is transformed to the signal of telecommunication, output To the first steering controller 71.First steering controller 71 judges torque T s according to the signal of telecommunication inputted.Additionally, first turns to Controller 71 using the handling maneuver to the right of driver as on the occasion of processing, will to the left handling maneuver as negative value at Reason.

Handling maneuver angle transducer 53 is such as made up of rotary encoder, examines the handling maneuver angle θ s of steering spindle 12 Survey.This handling maneuver angle transducer 53, when discoideus scale rotates together with steering spindle 12, utilizes two phototransistors The light of the slit through scale is detected, and by the output of pulse signal together of the rotation with steering spindle 12 to each control Device.The handling maneuver angle θ s of steering spindle 12 is judged by each controller according to the pulse signal inputted.Additionally, each controller To turn right as on the occasion of processing, will turn left and process as negative value.

Additionally, each controller utilizes order wire 74 to connect with being in communication with each other each other.That is, it is built with following communication path, This communication path such as make use of CSMA/CA mode multiple communication (CAN:Controller Area Network), The vehicle-mounted communication network such as FlexRay (vehicle-mounted LAN) standard.

Each controller utilizes order wire 75 to be connected with clutch 19.This order wire 75 is output clutch control signal Communication path, wherein, clutch 19 can be switched to some in connecting or disconnecting by this clutch control signal.Clutch Device control signal is the signal for cut-off clutch 19, and when each controller output clutch control signal, clutch 19 breaks Opening, if some controller stops the output of clutch control signal, then clutch 19 connects.

Above-mentioned is the structure of control system.

Below, control model is described.

In the present embodiment, there is 2 motor SBW pattern (2M-SBW), 2 motor EPS pattern (2M-EPS), 1 electricity Motivation SBW pattern (1M-SBW), 1 motor EPS pattern (1M-EPS) and manual steering pattern (MS).

2 motor SBW patterns are to utilize two motor to perform the pattern that steering-by-wire controls, and 2 motor EPS patterns are Two motor are utilized to perform the pattern that electric power steering controls.It addition, 1 motor SBW pattern is electronic merely with one Machine performs the pattern that steering-by-wire controls, and 1 motor EPS pattern is to perform electric power steering merely with a motor to control Pattern.Further, manual steering pattern is the pattern that each course changing control all stops.

[2 motor SBW pattern]

In 2 motor SBW patterns, in output clutch control signal when cut-off clutch 19, by first Steering controller 71 drives and controls the first steer motor M1, and is driven control second to turn to electricity by the second steering controller 72 Motivation M2, performs steering angle and controls.That is, the first steer motor M1 and the second steer motor M2 co-operating, share defeated Go out required steering force.On the other hand, control of the reactive force device 73 drive control reaction force motor 51, perform retroaction Power controls.Thus, as steering-by-wire function, and realize desired steering characteristic, and realize good operation sense.

First steering controller 71 and the second steering controller 72 are to the target diversion corresponding with handling maneuver angle θ s Angle θ w* is set, and estimates the steering angle θ w of reality.Further, input motor rotation angle θ m1 and θ m2, such as, utilize Robust Model matching process etc. drive and control the first steer motor M1 and the second steer motor M2, so that the turning of reality Consistent with target steering angle θ w* to angle θ w.

The setting of target steering angle θ w* is such as carried out according to vehicle velocity V.That is, when static state turns to, the time of running at a low speed, in order to Alleviate the operation burden of driver, target setting steering angle θ w*, so that just can obtain relatively with less handling maneuver angle θ s Big steering angle θ w.It addition, when running at high speed, in order to suppress excessive vehicle action, it is ensured that riding stability, target setting Steering angle θ w*, so that the change of the steering angle θ w corresponding with the change of handling maneuver angle θ s is suppressed.

The presumption of actual steering angle θ w is based on handling maneuver angle θ s, motor rotation angle θ m1, motor rotation angle θ m2 etc. Carry out.

Control of the reactive force device 73 sets that the target suitable with the counteracting force being subject to from road surface when steering operation is counter to be made Firmly torque T r*, drives control in the way of the moment of torsion of reaction force motor 51 is consistent with this target reaction torque Tr* Reaction force motor 51.

The setting of target reaction torque Tr* such as based on handling maneuver angle θ s, in the first steer motor M1 flow The electric current Im1 crossed, the electric current Im2 etc. flow through in the second steer motor M2 are carried out.

[2 motor EPS pattern]

In 2 motor EPS patterns, when connecting clutch 19 in the output stopping clutch control signal, Driven control the first steer motor M1 by the first steering controller 71, and driven control second by the second steering controller 72 Steer motor M2, performs assist control.Thus, steering is mechanically linked, it is ensured that directly steering operation, and And as electrical power-assisted steering function, and alleviate the operation burden of driver further.

First steering controller 71 and the second steering controller 72 target setting auxiliary torque Ta*, turns to electricity with first The moment of torsion of the motivation M1 mode consistent with this target auxiliary torque Ta* drives control the first steer motor M1 and second to turn to Motor M2.

The setting of target auxiliary torque Ta* is such as carried out according to vehicle velocity V.That is, when static state turns to, the time of running at a low speed, In order to alleviate the operation burden of driver, and set bigger target auxiliary torque Ta*.It addition, when running at high speed, in order to press down Make excessive vehicle action, it is ensured that riding stability, and set less target auxiliary torque Ta*.

On the other hand, in 2 motor EPS patterns, cut off the relay circuit of reaction force motor 51.That is, this is Due to driver carry out steering operation and by the first steering controller 71 drive control the first steer motor M1, and by Second steering controller 72 drives when controlling the second steer motor M2, drives retroaction by utilizing the rotation of steering spindle 12 Power motor 51, so that reaction force motor 51 itself does not become load.

[1 motor SBW pattern]

In 1 motor SBW pattern, the cut-off clutch 19 and not turned to by first in output clutch control signal Controller 71 carries out under the state of driving control (non-driven) of the first steer motor M1, the second steering controller 72 driving Control the second steer motor M2, perform steering angle and control.That is, the second steer motor M2 exports required turning to individually Power.On the other hand, control of the reactive force device 73 drive control reaction force motor 51, perform control of the reactive force.Thus, As steering-by-wire function, it is achieved desired steering characteristic, and realize good operation sense.

Setting, the control method of the second steer motor M2 and target counteracting force for target steering angle θ w* are turned round The setting of square Tr*, the control method of reaction force motor 51 are identical with 2 motor SBW patterns.

On the other hand, in 1 motor SBW pattern, cutting off the relay circuit of the first steer motor M1, first turns to Motor M1 disconnects with circuit.That is, this be due to by the second steering controller 72 drive control the second steer motor M2 time, The first steer motor M1 is driven, so that the first steer motor M1 does not becomes itself by the advance and retreat utilizing rack shaft 16 Load.

[1 motor EPS pattern]

In 1 motor EPS pattern, connect clutch 19 and not by the stopping the output of clutch control signal Two steering controllers 72 carry out under the state of driving control (non-driven) of the second steer motor M2, by the first steering controller 71 drive control the first steer motor M1, perform assist control.Thus, steering is mechanically linked, it is ensured that directly Steering operation, and as electrical power-assisted steering function, alleviate the operation burden of driver further.

For setting, the control method of the first steer motor M1 of target auxiliary torque Ta*, it is and 2 motor EPS moulds Formula is identical.

On the other hand, in 1 motor EPS pattern, cutting off the relay circuit of the second steer motor M2, second turns to Motor M2 disconnects with circuit.That is, this is owing to carrying out steering operation driver and being driven control by the first steering controller 71 When making the first steer motor M1, drive the second steer motor M2 by utilizing the advance and retreat of rack shaft 16, so that the Two steer motor M2 itself do not become load.With same objective, the relay circuit of reaction force motor 51 is also cut Disconnected, reaction force motor 51 disconnects with circuit.That is, this is owing to carrying out steering operation driver and being turned to control by first Device 71 processed drives when controlling the first steer motor M1, utilizes the rotation of steering spindle 12 to drive reaction force motor 51, because of And make reaction force motor 51 itself not become load.

[manual steering pattern]

In manual steering pattern, when connecting clutch 19 in the output stopping clutch control signal, no The driving being carried out the first steer motor M1 by the first steering controller 71 controls (non-driven) and not by the second steering controller 72 drivings carrying out the second steer motor M2 control (non-driven).That is, each controller the course changing control carried out all stops.By This, mechanically link steering, it is ensured that directly steering operation.

In manual steering pattern, the relay of the first steer motor M1 and the relay of the second steer motor M2 Circuit is cut off, and the first steer motor M1 and the second steer motor M2 disconnect with circuit.That is, this is due to driver When carrying out steering operation, drive the first steer motor M1 and the second steer motor by utilizing the advance and retreat of rack shaft 16 M2, so that the first steer motor M1 and the second steer motor M2 itself do not become load.With same objective, instead The relay circuit of active force motor 51 is also turned off, and reaction force motor 51 disconnects with circuit.That is, carry out driver During steering operation, the rotation of steering spindle 12 is utilized to drive reaction force motor 51, so that reaction force motor 51 Itself does not become load.

Above-mentioned is the summary of control model.

Below, fail safe is described.

Whether each controller exists the abnormal autognostic that carries out respectively to respective control system, and with this diagnostic result phase Switching control pattern accordingly.That is, the first steering controller 71 at the first steering controller 71 itself, there is torque sensor Whether the first actuator A1 of 34 and distributing system exist abnormal diagnosis.It addition, the second steering controller 72 is to Whether two steering controllers 72 itself, the second actuator A2 without torque sensor and distributing system exist extremely to enter Row diagnosis.It addition, control of the reactive force device 73 is at control of the reactive force device 73 itself, reaction force motor 51 and distribution Whether system exists abnormal diagnosis.

Fig. 2 is the figure representing the control model corresponding with diagnostic result.

Here, for the diagnostic result of each controller, abnormal it is designated as "○" labelling under normal circumstances being not detected by, It is designated as "×" labelling in the case of detecting extremely.

First, in the control system of the first steering controller 71, the control system of the second steering controller 72 and counter make With the control system of force controller 73 all normal in the case of, become 2 motor SBW patterns.But, turn to electronic first During the low-voltage of machine M1 and the second steer motor M2 or time overheated, igniter is set to ON when starting (until from Till clutch 19 disconnects), steering angle θ w reach when the steering wheel of steering locking angle turns most, become 2 as temporary transient measure Motor EPS pattern.

On the other hand, the control system of the first steering controller 71, the control system of the second steering controller 72 and In the case of at least one in the control system of control of the reactive force device 73 there occurs extremely, switch to 1 motor SBW mould Some in formula, 1 motor EPS pattern and manual steering (MS) pattern.

Just firstly, there are the control system of the control system of the second steering controller 72 and control of the reactive force device 73 Often, in the control system of the first steering controller 71, there occurs abnormal situation.In this case, only by the first actuator Steering-by-wire function that A1 is carried out, electrical power-assisted steering function produce abnormal, the second actuator A2 the steering-by-wire carried out Function, the counteracting force systematic function carried out by reaction force motor 51 are still maintained, and therefore become 1 motor SBW mould Formula.

Just additionally, there are the control system of the control system of the first steering controller 71 and control of the reactive force device 73 Often, in the control system of the second steering controller 72, there occurs abnormal situation.In this case, only by the second actuator Produce abnormal in the steering-by-wire function that A2 is carried out, the first actuator A1 the electrical power-assisted steering function carried out still is tieed up Hold, therefore become 1 motor EPS pattern.

Just additionally, there are the control system of the control system of the first steering controller 71 and the second steering controller 72 Often, the control system of control of the reactive force device 73 there occurs abnormal situation.In this case, only by counteracting force electricity Produce abnormal in the counteracting force systematic function that motivation 51 is carried out, the first actuator A1 the electrical power-assisted steering function carried out is still Maintained, therefore become 1 motor EPS pattern.

The control system that additionally, there are the first steering controller 71 is normal, the second steering controller 72 control system, And the control system of control of the reactive force device 73 there occurs abnormal situation.In this case, only by the second actuator Steering-by-wire function that A2 is carried out and the counteracting force systematic function that carried out by reaction force motor 51 produce abnormal, The electrical power-assisted steering function carried out by the first actuator A1 is still maintained, and therefore becomes 1 motor EPS pattern.

The control system that additionally, there are control of the reactive force device 73 is normal, the first steering controller 71 control system, And second steering controller 72 control system in there occurs abnormal situation.In this case, although by counteracting force electricity The counteracting force systematic function that motivation 51 is carried out still is maintained, but the steering-by-wire function carried out by the first actuator A1, Electrical power-assisted steering function and the steering-by-wire function that carried out by the second actuator A2 produce abnormal, therefore become manual Turn to pattern.

The control system that additionally, there are the second steering controller 72 is normal, the first steering controller 71 control system, And the control system of control of the reactive force device 73 there occurs abnormal situation.In this case, although by the second actuator The steering-by-wire function that A2 is carried out still is maintained, but in the steering-by-wire function carried out by the first actuator A1, electric boosted Turning function and the counteracting force systematic function that carried out by reaction force motor 51 produce abnormal, therefore become manual Turn to pattern.

Further, there is the control system of the first steering controller 71, the control system of the second steering controller 72 and anti- The control system of active force controller 73 all there occurs abnormal situation.In this case, the first actuator A1 carrying out Steering-by-wire function, electrical power-assisted steering function, the steering-by-wire function carried out by the second actuator A2 and by retroaction The counteracting force systematic function that power motor 51 is carried out all produces exception, therefore becomes manual steering pattern.

Above-mentioned is the summary of fail safe.

Below, the conversion of control model is described.

Fig. 3 is the transition diagram of control model.

First, in the control system of the first steering controller 71, the control system of the second steering controller 72 and counter make With the control system of force controller 73 all normal in the case of, essentially become 2 motor SBW patterns.It addition, at first turn When the low-voltage of motor M1 and the second steer motor M2, time overheated, that igniter is set to ON is (straight when starting Disconnecting to clutch 19), steering angle θ w reach when the steering wheel of steering locking angle turns most, form as temporary transient measure It is 2 motor EPS patterns.Further, in the first steer motor M1 and the low-voltage of the second steer motor M2, overheated obtain During elimination, or when clutch 19 disconnects, or when steering angle θ diminishes, become 2 motor SBW patterns.So, if first The control system of steering controller 71, the control system of the second steering controller 72 and the control of control of the reactive force device 73 System the most normally works, then change between 2 motor SBW patterns and 2 motor EPS patterns.

It addition, from the state of 2 motor SBW patterns, as once lost efficacy and in the control of the first steering controller 71 In the case of system processed there occurs extremely, be converted to 1 motor SBW pattern.Further, in the state from 1 motor SBW pattern Rise, as secondary failure in control system and the control system of control of the reactive force device 73 of the second steering controller 72 In at least one party there occurs abnormal in the case of, be converted to manual steering pattern.So, will not from 2 motor SBW patterns not It is converted directly into manual steering pattern via 1 motor SBW pattern, corresponding with failure level and periodically make control mould Formula is changed, it is achieved redundant.

It addition, from the state of 2 motor SBW patterns, as once lost efficacy and in the control of the second steering controller 72 In the case of at least one party in the control system of system processed and control of the reactive force device 73 there occurs extremely, be converted to 1 electricity Motivation EPS pattern.Further, from the state of 1 motor EPS pattern, as secondary failure at the first steering controller 71 Control system in there occurs abnormal in the case of, be converted to manual steering pattern.So, will not from 2 motor SBW patterns not It is converted directly into manual steering pattern via 1 motor EPS pattern, corresponding with failure level and periodically make control mould Formula is changed, it is achieved redundant.

It addition, from the state being in 2 motor EPS patterns as temporary transient measure, as once lost efficacy and At least one party in the control system of the second steering controller 72 and the control system of control of the reactive force device 73 there occurs different In the case of Chang, be converted to 1 motor EPS pattern.Further, from the state of 1 motor EPS pattern, as secondary failure And in the case of there occurs in the control system of the first steering controller 71 extremely, be converted to manual steering pattern.So, no Manual steering pattern can be converted directly into not via 1 motor EPS pattern from 2 motor SBW patterns, relative with failure level Answer and periodically make control model change, it is achieved redundant.

Additionally, from the state being in 2 motor EPS patterns as temporary transient measure, at the first steering controller In the case of the control system of 71 there occurs extremely, owing to the most directly can not change to 1 motor EPS patten transformation For manual steering pattern.

Above-mentioned is the conversion of control model.

" acting on "

Below, the effect of the 1st embodiment is described.

In the present embodiment, output mechanism St is being turned to_OUTMiddle setting can apply the first steer motor of driving force M1 and the second steer motor M2, utilize that above-mentioned two motor performs to turn to wheel 13L and 13R is 2 electronic Machine EPS pattern.Thus, as steering-by-wire function, it is possible to realize desired steering characteristic.It addition, by being formed with two The structure that wheel 13L and 13R is turned to by individual motor such that it is able to share and turn to output mechanism St_OUTRequired driving Power.Therefore, compared with the structure utilizing a motor that wheel 13L and 13R is turned to, it is possible to suppress the big of motor Type, layout is the most excellent.

It addition, in the structure utilizing two motor that wheel 13L and 13R is turned to, even if assuming a certain Individual control system there occurs exception, it is also possible to utilize another control system of no exceptions.In the present embodiment, make For with in some control system, only there occurs abnormal corresponding fail safe of once losing efficacy, prepare 1 motor SBW mould Formula and 1 motor EPS pattern the two control model.

Just firstly, there are the control system of the control system of the second steering controller 72 and control of the reactive force device 73 Often, in the control system of the first steering controller 71, there occurs abnormal situation.In this case, only by the first actuator Steering-by-wire function that A1 is carried out, electrical power-assisted steering function produce abnormal, the second actuator A2 the steering-by-wire carried out Function, the counteracting force systematic function carried out by reaction force motor 51 are still maintained, and therefore switch to 1 motor SBW Pattern.Thus, steering-by-wire function is maintained, therefore, it is possible to realize desired steering characteristic, and is capable of good Operation sense.

Just additionally, there are the control system of the control system of the first steering controller 71 and control of the reactive force device 73 Often, in the control system of the second steering controller 72, there occurs abnormal situation.In this case, only by the second actuator Produce abnormal in the steering-by-wire function that A2 is carried out, the first actuator A1 the electrical power-assisted steering function carried out still is tieed up Hold, therefore switch to 1 motor EPS pattern.Thereby, it is possible to mechanically link steering, it is ensured that directly turn to behaviour The property made, and as electrical power-assisted steering function, and the operation burden of driver can be alleviated further.

As it has been described above, when perform 2 motor SBW pattern, create once lost efficacy time, according to abnormal generation Position and determine to be converted into 1 motor SBW pattern, be also converted into 1 motor EPS pattern.Distinguish to be characterized by and be No have the interface being connected with torque sensor 34, i.e. whether can obtain the detected value of torque sensor 34.Therefore, if In the control system of the first steering controller 71, there is not exception, then switch to 1 motor EPS pattern.

It is further possible to driven control the first steer motor M1 by the first steering controller 72, this first turn to electricity Motivation M1 performs 1 motor SBW pattern, but considers burden that the first steer motor M1 born and become 1 motor EPS mould Formula.Even if being designed as also being able to export required steering force by a motor, but there is also as far as possible by motor miniaturization Requirement, be not necessarily able to ensure that sufficient surplus energy as motor performance.Therefore, steering-by-wire is performed with by a motor The 1 motor SBW pattern controlled is compared, and is positively utilized and is performed, by a motor, 1 motor that electric power steering controls EPS pattern.

It addition, be also contemplated for, not only in the first steer motor M1, being also provided with torque sensing in the second steer motor M2 Device, and performed 1 motor EPS pattern by the second steer motor M2, but this can cause cost increase.Therefore, will be with moment of torsion The interface that sensor connects builds in dual system.Not as in the present embodiment, making the first steer motor M1 and second Steer motor M2 is shared referred to as EPS respectively and is used and the non-EPS different effect of (SBW uses), the cost benefit of this mode Excellence, the most preferably.

As it has been described above, when perform 2 motor SBW pattern, create once lost efficacy time, according to abnormal generation Position and switch to some in 1 motor SBW pattern or 1 motor EPS pattern.Such that make to control at some System processed there occurs exception, it is also possible to by utilizing another control system of no exceptions, thus realize abundant land productivity Fail safe by the advantage arranging two motor.

On the other hand, from relative to the fail safe once lost efficacy, be also prepared for in remaining control system also There occurs the fail safe that abnormal secondary failure is corresponding.That is, clutch is connected in the output stopping clutch control signal Under the state of device 19, it it is the manual steering pattern that all stops of the course changing control carried out by each controller.Thereby, it is possible to machinery side Formula links steering, it is ensured that directly steering operation.

Such as, in the control system of the first steering controller 71, there occurs exception, thus from as once losing efficacy The state performing 1 motor SBW pattern rises, further at control system, the control of the reactive force of the second steering controller 72 In the case of the control system of device 73 there occurs extremely, switch to manual steering pattern.It addition, from as once inefficacy There occurs exception in the control system of the second steering controller 72, the state thus performing 1 motor EPS pattern rises, and enters In the case of one step there occurs extremely in the control system of the first steering controller 71, switch to manual steering pattern.

As it has been described above, when performing 1 motor SBW pattern or 1 motor EPS pattern, creating secondary During inefficacy, it is possible to switch to manual steering pattern.

So, from the state of 2 motor SBW patterns, changed to 1 motor SBW pattern or 1 along with once losing efficacy Motor EPS pattern, and finally change to manual steering pattern along with secondary failure.That is, will not be from 2 motor SBW moulds Formula is converted directly into manual steering pattern, according to failure level not via 1 motor SBW pattern or 1 motor EPS pattern And periodically make control model change, it is achieved redundant such that it is able to build the control system not bringing sense of discomfort to driver System.

" variation "

In the present embodiment, as to turning to output mechanism St_OUTApply the motor of driving force, be provided with first turn To motor M1 and the second steer motor M2 the two motor, but be not limited to this, it is also possible to arrange more than or etc. In three motor.So, if increased turning to output mechanism St_OUTApply the quantity of the motor of driving force, then require one The driving force that individual motor provides diminishes, therefore, it is possible to miniaturization further.

In the present embodiment, via worm couple 32, first steer motor M1 is carried out to the first pinion shaft 18 Link, but be not limited to this.That is, as long as due to can be to turning to output mechanism St_OUTApply driving force, therefore, example Following structure is directly driven, i.e. this directly drives structure by being rotated by together with the first pinion shaft as formed Rotor and the stator that is fixed on housing relative to this rotor constitute, thus eliminate worm couple 32.It addition, It is linked with the second steer motor M2 via worm couple 38 on second pinion shaft 36, but omission can certainly be formed Structure is directly driven after worm couple 38.So, by omitting first pinion shaft the 18, second pinion shaft 36, from And it is capable of suppression, the reduction of number of components that weight increases.

In the present embodiment, be formed as linking the first pinion shaft 18 via little gear 17 on rack shaft 16, and And be linked with 2 pinion arrangement of the second pinion shaft 36 via little gear 35, but it is not limited to this.As long as that is, due to Can be to turning to output mechanism St_OUTApply driving force, therefore can also be formed as the smaller gear of province 35 and the second little tooth Wheel shaft 36, the 1 little gear structure the second steer motor M2 linked to the first pinion shaft 18 via worm couple 38 Make.So, by saving smaller gear 35 and the second pinion shaft 36 such that it is able to realize suppression, component count that weight increases The reduction of amount.

In the present embodiment, make the first steer motor M1 and the second steer motor M2 by the motor of same model Constitute, but be not limited to this.For example, it is assumed that create once lost efficacy time, relative under 1 motor EPS pattern use First steer motor M1, and use the second steer motor M2 under 1 motor SBW pattern.As illustrated as the former, electric with 1 Carrying out use under motivation EPS pattern to compare, motor carries out using born burden bigger under 1 motor SBW pattern, because of This is compared with the first steer motor M1, and the second steer motor M2 can be set to the motor of high performance type.This reason it is assumed that Because there occurs exception in the control system of the first steering controller 71, and when becoming execution 1 motor SBW pattern, even if only By the second steer motor M2, it is also possible to produce sufficient steering force.

In the present embodiment, when the 2 motor SBW pattern of execution, if in the first steering controller 71 There occurs exception, then abandon 1 motor EPS pattern, and perform 1 motor SBW pattern, but be not limited to this.That is, it is being in The no exceptions of torque sensor 34 own and can from the first steering controller 71 via order wire 74 by torque sensor 34 Detected value when sending to the state of the second steering controller 72, it is also possible to by being driven control the by the second steering controller 72 Two steer motor M2 and perform 1 motor EPS pattern.So, torque sensor 34 is obtained by the second steering controller 72 Detected value and perform 1 motor EPS pattern, thus compared with performing 1 motor SBW pattern, it is possible to alleviate second and turn to electricity The burden that motivation M2 is born.Therefore, it is possible to realize the long lifetime of the second steer motor M2.

Above, steering spindle 12 is corresponding with " power shaft ", and the first pinion shaft 18 is corresponding with " output shaft ", and first turns to Motor M1 is corresponding with " the first motor ", and the second steer motor M2 is corresponding with " the second motor ".It addition, first turn Corresponding with " the first control portion " to controller 71, the second steering controller 72 is corresponding with " the second control portion ", torque sensing Device 34 is corresponding with " moment of torsion test section ", and control of the reactive force device 73 is corresponding with " control of the reactive force portion ".It addition, 2 is electronic Machine SBW pattern is corresponding with " 2 motor course changing control ", and 1 motor SBW pattern is corresponding with " 1 motor course changing control ", and 1 Motor EPS pattern is corresponding with " 1 motor assist control ".

" effect "

Below, the effect of the major part of the 1st embodiment is described.

(1) in the steering control device of present embodiment, possess: handling maneuver input mechanism St_IN, it utilizes driver Steering operation make steering spindle 12 rotate；And turn to output mechanism St_OUT, it utilizes the rotation of the first pinion shaft 18 to make car Wheel 13L and 13R turns to.It addition, possess: clutch 19, its can turn on/off by steering spindle 12 and the first pinion shaft 18 Link；First steer motor M1, it can be to turning to output mechanism St_OUTApply driving force；And second steer motor M2, it can be to turning to output mechanism St_OUTApply driving force.It addition, possess: the first steering controller 71, it drives control the One steer motor M1；Second steering controller 72, it drives and controls the second steer motor M2；And torque sensor 34, It detects the moment of torsion of the first pinion shaft 18.Further, by when cut-off clutch 19, with the anglec of rotation phase of steering spindle 12 Accordingly, the first steering controller 71 control the anglec of rotation of the first steer motor M1, and by the second steering controller 72 Control the anglec of rotation of the second steer motor M2, thus control the control of the steering angle of wheel 13L and 13R, be defined as 2 electronic Machine SBW pattern.It addition, at cut-off clutch 19 and first steer motor M1 will not carried out by the first steering controller 71 Drive under the state controlled, with the anglec of rotation of steering spindle 12 accordingly, the second steering controller 72 control second and turn to electricity The anglec of rotation of motivation M2, thus controls the control of the steering angle of wheel 13L and 13R, is defined as 1 motor SBW pattern.Separately Outward, clutch 19 will connected and do not carried out the shape driving control of the second steer motor M2 by the second steering controller 72 Under state, with the moment of torsion detected by torque sensor 34 accordingly, by the first steering controller 71 control first turn to electronic The moment of torsion of machine M1, thus controls the control of the auxiliary torque of the steering operation for driver, is defined as 1 motor EPS pattern. Further, when the first steering controller 71 and the second steering controller 72 perform 2 motor SBW pattern, first turn When at least one in controller the 71, first steer motor M1 and torque sensor 34 there occurs abnormal, by second turn 1 motor SBW pattern is performed to controller 72.It addition, perform 2 at the first steering controller 71 and the second steering controller 72 Under the state of motor SBW pattern, at least one in the second steering controller 72 and the second steer motor M2 there occurs Time abnormal, the first steering controller 71 perform 1 motor EPS pattern.

So, utilize the control system of normally function, while the switching control according to abnormal happening part, Thereby, it is possible to realize utilizing fully the fail safe of the advantage arranging multiple motor.

(2) in the steering control device of present embodiment, possessing: reaction force motor 51, it can be to turning to behaviour Vertical input mechanism St_INApply handling maneuver counteracting force；And control of the reactive force device 73, it drives control counteracting force electronic Machine 51.Further, by when cut-off clutch 19, with the anglec of rotation of steering spindle 12 accordingly, by the first course changing control Device 71 controls the anglec of rotation of the first steer motor M1, and is controlled the second steer motor M2 by the second steering controller 72 The anglec of rotation, from there through controlling the steering angle of wheel 13L and 13R and being controlled counteracting force electricity by control of the reactive force device 73 The moment of torsion of motivation 51, thus control the control of the handling maneuver counteracting force of the steering operation for driver, it is defined as 2 electronic Machine SBW pattern.It addition, at cut-off clutch 19 and first steer motor M1 will not carried out by the first steering controller 71 Drive under the state controlled, with the anglec of rotation of steering spindle 12 accordingly, the second steering controller 72 control second and turn to electricity The anglec of rotation of motivation M2, thus, by controlling the steering angle of wheel 13L and 13R and being controlled instead by control of the reactive force device 73 The moment of torsion of active force motor 51, thus control the control of the handling maneuver counteracting force of the steering operation for driver, fixed Justice is 1 motor SBW pattern.It addition, connecting clutch 19 and control second turn will not driven by the second steering controller 72 Under the state of motor M2, with by the moment of torsion detected by torque sensor 34 accordingly, by the first steering controller 71 Control the moment of torsion of the first steer motor M1, thus, control the control of the auxiliary torque of the steering operation for driver, definition It it is 1 motor EPS pattern.Further, at the first steering controller the 71, second steering controller 72 and control of the reactive force device Under 73 states performing 2 motor SBW patterns, first steering controller the 71, first steer motor M1 and torque sensor When at least one in 34 there occurs abnormal, the second steering controller 72 and control of the reactive force device 73 perform 1 motor SBW pattern.It addition, perform 2 electricity at first steering controller the 71, second steering controller 72 and control of the reactive force device 73 Under the state of motivation SBW pattern, in the second steering controller 72 and the second steer motor M2 at least one or anti- When at least one in active force controller 73 and reaction force motor 51 there occurs abnormal, by the first steering controller 71 perform 1 motor EPS pattern.

(3) in the steering control device of present embodiment, when the 1 motor SBW pattern of execution, at second turn At least one or control of the reactive force device 73 in controller 72 and the second steer motor M2 and counteracting force electricity When at least one in motivation 51 there occurs abnormal, when connecting after clutch 19, stop 1 motor SBW pattern.

Thereby, it is possible to mechanically link steering, it is ensured that directly steering operation.

(4) in the steering control device of present embodiment, when the 1 motor EPS pattern of execution, at first turn When at least one in controller the 71, first steer motor M1 and torque sensor 34 there occurs abnormal, connect from Under state after clutch 19, stop 1 motor EPS pattern.

(5) in the steering control device of present embodiment, at least the first steer motor M1 and torque sensor 34 Be made up of the composite component of integration, and with the structure member generalization of electric power-assisted steering apparatus.

Thus, the structure member etc. of the electric power-assisted steering apparatus made of such as can converting, suppresses cost increase.

(6) in the steering control device of present embodiment, the first steer motor M1 and the second steer motor M2 It is made up of the motor of same model.

Thereby, it is possible to by Universal motor, suppress cost increase.

(7) in the steering control device of present embodiment, the second steer motor M2 and the first steer motor M1 phase Ratio, is made up of the motor of high performance type.

Thus, when the 1 motor SBW pattern of execution, even if only with the second steer motor M2, this also is able to produce Sufficiently steering force.

(8) in the rotating direction control method of present embodiment, at handling maneuver input mechanism St_INWith turn to output mechanism St_OUTBetween install clutch 19, wherein, this handling maneuver input mechanism St_INThe steering operation utilizing driver makes steering spindle 12 Rotating, this turns to output mechanism St_OUTThe rotation utilizing the first pinion shaft 18 makes wheel 13L and 13R turn to, this clutch 19 can link steering spindle 12 and the first pinion shaft 18 with turning on/off.Can be to turning to output mechanism St it addition, arrange_OUTExecute Add the first steer motor M1 and second steer motor M2 of driving force, and driving control the first steer motor is set First steering controller 71 of M1 and driving control the second steering controller 72 of the second steer motor M2, little first The torque sensor 34 of detection moment of torsion is set on gear shaft 18.Further, by when cut-off clutch 19, with steering spindle 12 The anglec of rotation accordingly, the first steering controller 71 control the anglec of rotation of the first steer motor M1, and by second turn Control the anglec of rotation of the second steer motor M2 to controller 72, thus control the control of the steering angle of wheel 13L and 13R, It is defined as 2 motor SBW patterns.It addition, will be at cut-off clutch 19 and do not carried out first by the first steering controller 71 and turn to Motor M1 drives under the state controlled, and with the anglec of rotation of steering spindle 12 accordingly, the second steering controller 72 controls The anglec of rotation of the second steer motor M2, thus controls the control of the steering angle of wheel 13L and 13R, is defined as 1 motor SBW pattern.It addition, clutch 19 will be being connected and do not carried out driving of the second steer motor M2 by the second steering controller 72 Under the dynamic state controlled, with by the moment of torsion detected by torque sensor 34 accordingly, the first steering controller 71 control The moment of torsion of the first steer motor M1, thus controls the control of the auxiliary torque of the steering operation for driver, is defined as 1 electricity Motivation EPS pattern.Further, the shape of 2 motor SBW patterns is performed at the first steering controller 71 and the second steering controller 72 Under state, at least one in first steering controller the 71, first steer motor M1 and torque sensor 34 there occurs exception Time, the second steering controller 72 perform 1 motor SBW pattern.It addition, turn to control at the first steering controller 71 and second Under the state that device 72 processed performs 2 motor SBW patterns, in the second steering controller 72 and the second steer motor M2 extremely Few one when there occurs abnormal, the first steering controller 71 perform 1 motor EPS pattern.

Above, the application advocates the priority of Japanese Patent application P2012-221308 (application on October 3rd, 2012), Entire contents is comprised in this as quoting example.

Here, being illustrated with reference to the embodiment of limited quantity, interest field is not limited to this, based on upper The change of the embodiment stating disclosure will be apparent to those skilled in the art.

The explanation of label

11 steering wheels

12 steering spindles

13L and 13R wheel

14 knuckle arms

15 drag links

16 rack shafts

17 little gears

18 first pinion shafts

19 clutches

St_INHandling maneuver input mechanism

St_OUTTurn to output mechanism

31 rack gearings

32 worm couples

M1 the first steer motor

33 resolvers

34 torque sensors

A1 the first actuator

35 little gears

36 second pinion shafts

37 rack gearings

38 worm couples

M2 the second steer motor

39 resolvers

A2 the second actuator

51 reaction force motor

52 resolvers

53 handling maneuver angle transducers

71 first steering controllers

72 second steering controllers

73 control of the reactive force devices

74 order wires

75 order wires

Claims

1. a steering control device, it is characterised in that possess:

Handling maneuver input mechanism, it utilizes the steering operation of driver to make power shaft rotate；

Turning to output mechanism, it utilizes the rotation of output shaft to make wheel steering；

Clutch, described power shaft and described output shaft can be linked by it with turning on/off；

First motor, it can turn to output mechanism to apply driving force to described；

Second motor, it can turn to output mechanism to apply driving force to described；

First control portion, it drives and controls described first motor；

Second control portion, it drives and controls described second motor；And

Moment of torsion test section, the moment of torsion of its described output shaft of detection,

The most described first motor and described moment of torsion test section are made up of the composite component of integration,

This steering control device has:

2 motor steering control modes, in this mode, disconnect described clutch, utilize described first control portion and described Second control portion, with the anglec of rotation of described power shaft accordingly, to described first motor and described second motor The anglec of rotation is controlled；

1 motor assist control pattern, in this mode, connects described clutch, utilizes described first control portion, with described torsion The moment of torsion of described first motor accordingly, is controlled by the moment of torsion detected by square test section；And

1 motor steering control mode, in this mode, disconnects described clutch, utilizes described second control portion, defeated with described Enter the anglec of rotation of axle accordingly, the anglec of rotation of described second motor be controlled,

When described first control portion and described second control portion perform described 2 motor steering control mode, institute State at least one in the first control portion, described first motor and described moment of torsion test section when there occurs abnormal, by described Second control portion performs described 1 motor steering control mode,

When described first control portion and described second control portion perform described 2 motor steering control mode, institute State at least one in the second control portion and described second motor when there occurs abnormal, even at carrying out described 1 Under the state of motor steering control mode, also performed described 1 motor assist control pattern by described first control portion.

Steering control device the most according to claim 1, it is characterised in that possess:

Reaction force motor, it can apply handling maneuver counteracting force to described handling maneuver input mechanism；And

Control of the reactive force portion, its driving controls described reaction force motor,

This steering control device has:

2 motor steering control modes, in this mode, disconnect described clutch, utilize described first control portion and described Second control portion, with the anglec of rotation of described power shaft accordingly, to described first motor and described second motor The anglec of rotation is controlled, and, utilize described control of the reactive force portion that the moment of torsion of described reaction force motor is controlled；

1 motor steering control mode, in this mode, disconnects described clutch, utilizes described second control portion, defeated with described Enter the anglec of rotation of axle accordingly, the anglec of rotation of described second motor is controlled, and, utilize described counteracting force control The moment of torsion of described reaction force motor is controlled by portion processed,

In described first control portion, described second control portion and described control of the reactive force portion perform described 2 motor and turn to At least one under the state of control model, in described first control portion, described first motor and described moment of torsion test section When there occurs abnormal, described second control portion and described control of the reactive force portion perform described 1 motor course changing control mould Formula,

In described first control portion, described second control portion and described control of the reactive force portion perform described 2 motor and turn to Under the state of control model, at least one in described second control portion and described second motor or described retroaction When at least one in power control portion and described reaction force motor there occurs abnormal, even at carrying out described 1 Under the state of motor steering control mode, also performed described 1 motor assist control pattern by described first control portion.

Steering control device the most according to claim 2, it is characterised in that

When performing described 1 motor steering control mode, in described second control portion and described second motor At least one or described control of the reactive force portion and described reaction force motor at least one there occurs different Chang Shi, when connecting described clutch, stops described 1 motor steering control mode.

Steering control device the most according to claim 1, it is characterised in that

When perform described 1 motor assist control pattern, described first control portion, described first motor and When at least one in described moment of torsion test section there occurs abnormal, when connecting described clutch, stop described 1 electronic Machine assist control pattern.

The structure member generalization of the most described first motor and described moment of torsion test section and electric power-assisted steering apparatus.

Described first motor and described second motor are made up of the motor of same model.

Described second motor, compared with described first motor, is made up of the motor of high performance type number.

8. a rotating direction control method, it is characterised in that

At handling maneuver input mechanism with turn between output mechanism installation clutch, wherein, this handling maneuver input mechanism profit Making power shaft rotate by the steering operation of driver, this turns to output mechanism to utilize the rotation of output shaft to make wheel steering, should be from Described power shaft and described output shaft can be linked by clutch with turning on/off,

Setting can turn to output mechanism to apply the first motor of driving force and the second motor to described, and arrange and drive Dynamic the first control portion controlling described first motor and driving control the second control portion of described second motor,

Described output shaft arranges the moment of torsion test section of detection moment of torsion,

This rotating direction control method has: