US 20130334995A1

(19) United States

(12) Patent Application Publication (10) Pub. No.: US 2013/0334995 A1
KURODA (43) Pub. Date: Dec. 19, 2013

(54) MOTOR CONTROL APPARATUS AND Publication Classi?cation

ELECTRIC POWER STEERING APPARATUS
USING THE SAME (51) Int- Cl
H02P 27/06 (2006.01)
(71) Applicant: DENSO CORPORATION, Kariya-city (52) US. Cl.
(1p) CPC .................................... .. H02P 27/06 (2013.01)
USPC ................................................... .. 318/400.27

(72) Inventor: Yoshihide KURODA, Obu-city (JP) (57) ABSTRACT

A motor control apparatus includes an A/ D converter, which
(73) Assignee. DENSO CORPORATION’ Kariya_city is a hardware part for converting an analog signal of a sensor
(JP) to a digital signal, a microcomputer, which is a software part,
and a drive circuit, which is a hardware part for driving an
inverter to supply electric power to a motor. The microcom
(21) APPL NO. 13/888,714 puter includes calculation blocks, each of which is a calcula
tion block for individually calculating an output from an
input. The microcomputer further executes, in parallel to
(22) Filed; May 7, 2013 control calculations, software monitor processing for each
calculation block to monitor whether the control calculation
(30) Foreign Application Priority Data is executed normally. The motor control apparatus thus can
detect a software abnormality without using a monitoring
Jun. 15, 2012 (JP) ............................... .. 2012-136200 hardware circuit separately.

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Patent Application Publication Dec. 19, 2013 Sheet 1 0f 30 US 2013/0334995 A1

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Patent Application Publication Dec. 19, 2013 Sheet 2 0f 30 US 2013/0334995 A1

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Patent Application Publication Dec. 19, 2013 Sheet 3 0f 30 US 2013/0334995 A1

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Patent Application Publication Dec. 19, 2013 Sheet 6 0f 30 US 2013/0334995 A1

FIG. 6
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Patent Application Publication Dec. 19, 2013 Sheet 7 0f 30 US 2013/0334995 A1

FIG. 7
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Patent Application Publication Dec. 19, 2013 Sheet 8 0f 30 US 2013/0334995 A1

FIG. 8

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Patent Application Publication Dec. 19, 2013 Sheet 9 0f 30 US 2013/0334995 A1

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Patent Application Publication Dec. 19, 2013 Sheet 11 0f 30 US 2013/0334995 A1

FIG. 11A
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Patent Application Publication Dec. 19, 2013 Sheet 12 0f 30 US 2013/0334995 A1

FIG. 12
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Patent Application Publication Dec. 19, 2013 Sheet 13 0f 30 US 2013/0334995 A1

FIG. 13

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Patent Application Publication Dec. 19, 2013 Sheet 14 0f 30 US 2013/0334995 A1

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Patent Application Publication Dec. 19, 2013 Sheet 15 0f 30 US 2013/0334995 A1

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Patent Application Publication Dec. 19, 2013 Sheet 16 0f 30 US 2013/0334995 A1

FIG. 16A
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Patent Application Publication Dec. 19, 2013 Sheet 17 0f 30 US 2013/0334995 A1

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Patent Application Publication Dec. 19, 2013 Sheet 19 0f 30 US 2013/0334995 A1

FIG. 19A
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END