发明公开
- 专利标题： ELECTRIC POWER STEERING DEVICE
- 专利标题（中）： 电动转向装置
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申请号： EP16821459.1申请日： 2016-07-07
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公开(公告)号： EP3321148A1公开(公告)日： 2018-05-16
- 发明人: MINAKI, Ryo , SUGAWARA, Takayoshi , SAWADA, Hideki
- 申请人： NSK Ltd.
- 申请人地址： 1-6-3, Ohsaki Shinagawa-ku Tokyo 141-8560 JP
- 专利权人： NSK Ltd.
- 当前专利权人： NSK Ltd.
- 当前专利权人地址： 1-6-3, Ohsaki Shinagawa-ku Tokyo 141-8560 JP
- 代理机构： Luten, Martin Haaije
- 优先权： JP2015136479 20150707; JP2015200388 20151008; JP2015210753 20151027
- 国际公布： WO2017006991 20170112
- 主分类号： B62D6/00
- IPC分类号： B62D6/00 ; B62D5/04 ; H02P23/00 ; B62D113/00 ; B62D137/00
摘要：
[Problem]
An object of the present invention is to provide an electric power steering apparatus with high quality and reasonable price that estimates a motor shaft angle and a steering shaft angle with high accuracy by learning nonlinear elements of a mechanism system and a steering system, and can back up the both angle sensors by utilizing the estimating angles of the angle sensors.
[Means for solving the problem]
The present invention is the electric power steering apparatus that a motor to assist-control a steering system of a vehicle is connected to a steering shaft via a reduction mechanism, and comprises a first angle sensor to detect a steering shaft angle of the steering shaft and a second angle sensor to detect a motor shaft angle of the motor, comprising: a function that obtains compensation value maps by iteratively learning characteristics of nonlinear elements including the reduction mechanism based on an actual measuring angle of the first angle sensor, an actual measuring angle of the second angle sensor, a motor torque and a motor angular speed, and estimates the steering shaft angle and the motor shaft angle by using the compensation value maps.
An object of the present invention is to provide an electric power steering apparatus with high quality and reasonable price that estimates a motor shaft angle and a steering shaft angle with high accuracy by learning nonlinear elements of a mechanism system and a steering system, and can back up the both angle sensors by utilizing the estimating angles of the angle sensors.
[Means for solving the problem]
The present invention is the electric power steering apparatus that a motor to assist-control a steering system of a vehicle is connected to a steering shaft via a reduction mechanism, and comprises a first angle sensor to detect a steering shaft angle of the steering shaft and a second angle sensor to detect a motor shaft angle of the motor, comprising: a function that obtains compensation value maps by iteratively learning characteristics of nonlinear elements including the reduction mechanism based on an actual measuring angle of the first angle sensor, an actual measuring angle of the second angle sensor, a motor torque and a motor angular speed, and estimates the steering shaft angle and the motor shaft angle by using the compensation value maps.
公开/授权文献
- EP3321148B1 ELECTRIC POWER STEERING DEVICE 公开/授权日：2020-02-26
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