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公开(公告)号：EP3159242A2
公开(公告)日：2017-04-26
申请号：EP16194034.1
申请日：2016-10-14
申请人： JTEKT Corporation
IPC分类号： B62D5/04
CPC分类号： B62D5/0463 , B62D5/046 , B62D5/0484 , B62D5/049 , B62D6/008
摘要： A steering control apparatus is provided which allows suppression of a possible situation where a synchronous motor is unintentionally subjected to regenerative control even when a guard process is executed on an estimated amount of change that is the amount of rotation of the synchronous motor and is calculated based on an induced voltage. An update amount calculation processing circuit (M54) manipulates a control angle (θc) based on an update amount (Δθc) in order to perform feedback-control for causing a steering torque (Trqs) to be adjusted to a target torque (Trqs*). In this case, the update amount calculation processing circuit (M54) executes a guard process on the update amount (Δθc) with reference to an estimated amount of change (Δθc2) that is a speed equivalent value based on estimation by an induced voltage observer (M46). However, when a command current set by a command current setting processing circuit (M24) is zero, the update amount calculation processing circuit (M54) determines the estimated amount of change (Δθc2) subjected to the guard process to be the update amount (Δθc). When the command current is zero and the update amount (Δθc) is fixed to a guard value, an electric path between the synchronous motor and a battery is blocked.
摘要翻译： 提供了一种转向控制装置，其允许抑制同步电动机无意地进行再生控制的可能情况，即使在基于同步电动机的旋转量的估计变化量执行保护处理并且基于计算基础 感应电压。 更新量计算处理电路（M54）基于更新量（“¸c”）来操纵控制角（¸c），以便执行用于使转向转矩（Trqs）被调整到目标转矩（ 关税配额*）。 在这种情况下，更新量计算处理电路（M54）参考基于估计的改变量（“¸c2”），基于由 感应电压观测器（M46）。 然而，当由指令电流设定处理电路（M24）设定的指令电流为零时，更新量计算处理电路（M54）将经过保护处理的估计变化量（“¸c2”）确定为更新量 （“C）。 当指令电流为零并且更新量（“¸c”）固定为保护值时，同步电机和电池之间的电气路径被阻挡。
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公开(公告)号：EP3889006A1
公开(公告)日：2021-10-06
申请号：EP21166592.2
申请日：2021-04-01
申请人： JTEKT CORPORATION
发明人： UCHINO, Yoshiyuki , KAKIMOTO, Yusuke , ANRAKU, Koji , NAMIKAWA, Isao , SHIBATA, Kenji , SATO, Takafumi
IPC分类号： B62D6/00
摘要： A steering control device includes control circuitry configured to perform synchronization control. The synchronization control includes a target synchronization angle calculating process of calculating a target synchronization angle that is a steering-side rotation angle satisfying a predetermined correspondence relationship with respect to a turning-side rotation angle; a target relay angle calculating process of calculating a target relay angle that is located closer to a first side in a circumferential direction than a first-side angle is, the first-side angle being one of the steering-side rotation angle and the target synchronization angle and being located closer to the first side than another of the steering-side rotation angle and the target synchronization angle is; and a motor driving process of operating a steering-side motor (13) such that the steering-side rotation angle reaches the target synchronization angle after operating the steering-side motor (13) such that the steering-side rotation angle reaches the target relay angle.
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公开(公告)号：EP3875348A1
公开(公告)日：2021-09-08
申请号：EP21159198.7
申请日：2021-02-25
申请人： JTEKT CORPORATION
IPC分类号： B62D5/04
摘要： A steering control apparatus (2) is configured to control a steering system (1) having a structure in which a power transmission path between a steering mechanism (4) and a steering operation mechanism (6) including a motor (32) configured to generate a motor torque is separated. The steering control apparatus (2) includes a controller (50) configured to control driving of the motor (32). The controller (50) detects an abnormality of the steering operation mechanism (6) when a value indicating a variation in the motor torque is a value indicating a state in which a steering operation shaft is presumed to be immovable though the motor torque is applied.
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公开(公告)号：EP3715218A1
公开(公告)日：2020-09-30
申请号：EP20166293.9
申请日：2020-03-27
申请人： JTEKT CORPORATION
发明人： KAKIMOTO, Yusuke , NAMIKAWA, Isao , ANRAKU, Koji
摘要： A steering control device includes a processor (1). The processor (1) is configured to calculate an axial force component corresponding to an axial force acting on a steered shaft that operates so as to steer a steered wheel. The processor (1) is also configured to calculate a restriction reaction force, when a vehicle comes into a condition in which steering of the steered wheel in one direction is restricted. The processor (1) is also configured to calculate target reaction torque based on a reaction force component obtained by adding the axial force component and the restriction reaction force. The processor (1) is also configured to perform, in the calculation of the axial force component, a guard process that restrains the reaction force component from becoming too large.
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公开(公告)号：EP3569475A1
公开(公告)日：2019-11-20
申请号：EP19174318.6
申请日：2019-05-14
申请人： JTEKT CORPORATION
发明人： ANRAKU, Koji , NAMIKAWA, Isao , KAKIMOTO, Yusuke
摘要： Provided is a steering control unit for supplying an appropriate steering reaction force in accordance with situations. A reaction force component calculation circuit (73) includes a base reaction force calculation circuit (91) that calculates a base reaction force (Fd), an end reaction force calculation circuit (92) that calculates an end reaction force (Fie), an obstruction-hit reaction force calculation circuit (93) that calculates an obstruction-hit reaction force (Fo), and a steered-side limit reaction force calculation circuit (94) that calculates a steered-side limit reaction force (Ft). A reaction force selector circuit (96) selects, as a selected reaction force (Fsl), one of the end reaction force (Fie), the obstruction-hit reaction force (Fo), and the steered-side limit reaction force (Ft). The reaction force component calculation circuit (73) calculates and outputs a reaction force component (Fir) by adding the selected reaction force (Fsl) to the base reaction force (Fd).
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公开(公告)号：EP3257726B1
公开(公告)日：2019-05-29
申请号：EP17175001.1
申请日：2017-06-08
申请人： JTEKT CORPORATION
发明人： ANRAKU, Koji
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公开(公告)号：EP3162658B1
公开(公告)日：2018-07-25
申请号：EP16195566.1
申请日：2016-10-25
申请人： JTEKT CORPORATION
CPC分类号： B62D6/002 , B62D5/008 , B62D5/0472 , B62D6/008
摘要： A steering control apparatus is provided which suppresses possible vibration of a steering system resulting from differential steering processing when a steering angle (¸h) or a steered angle (¸p) has a large value. A differential steering processing circuit (M38) calculates a differential steering correction amount (¸d) based on a difference value of a target steering angle (¸h*), and increases or reduces the target steering angle (¸h*) using the calculated amount to obtain a target steered angle (¸p*). A limiting reaction force setting processing circuit (M10b) increases a limiting reaction force (Fie) when a maximum value (¸e) of the target steering angle (¸h*) and the target steered angle (¸p*) is equal to or larger than a common threshold (¸en). When the maximum value (¸e) approaches the common threshold (¸en), an angle-sensitive gain setting processing circuit (M38c) reduces an angle-sensitive gain (G¸) so as to correct and reduce the differential steering correction amount (¸d). (Figure 2)
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公开(公告)号：EP3159242A3
公开(公告)日：2017-07-19
申请号：EP16194034.1
申请日：2016-10-14
申请人： JTEKT Corporation
IPC分类号： B62D5/04
CPC分类号： B62D5/0463 , B62D5/046 , B62D5/0484 , B62D5/049 , B62D6/008
摘要： A steering control apparatus is provided which allows suppression of a possible situation where a synchronous motor is unintentionally subjected to regenerative control even when a guard process is executed on an estimated amount of change that is the amount of rotation of the synchronous motor and is calculated based on an induced voltage. An update amount calculation processing circuit (M54) manipulates a control angle (θc) based on an update amount (Δθc) in order to perform feedback-control for causing a steering torque (Trqs) to be adjusted to a target torque (Trqs*). In this case, the update amount calculation processing circuit (M54) executes a guard process on the update amount (Δθc) with reference to an estimated amount of change (Δθc2) that is a speed equivalent value based on estimation by an induced voltage observer (M46). However, when a command current set by a command current setting processing circuit (M24) is zero, the update amount calculation processing circuit (M54) determines the estimated amount of change (Δθc2) subjected to the guard process to be the update amount (Δθc). When the command current is zero and the update amount (Δθc) is fixed to a guard value, an electric path between the synchronous motor and a battery is blocked.
摘要翻译： 提供了一种转向控制设备，其允许抑制即使在对作为同步电动机的旋转量的估计变化量执行保护处理的情况下同步电动机无意地再生控制的可能情况，并且该转向控制设备基于 在感应电压上。 更新量计算处理电路（M54）基于更新量（Δθc）来操纵控制角度（θc），以执行用于使转向扭矩（Trqs）被调整为目标扭矩（Trqs *）的反馈控制 。 在这种情况下，更新量计算处理电路（M54）参考作为基于感应电压观测器的估计的速度等效值的估计变化量（Δθc2）来执行关于更新量（Δθc）的保护处理 M46）。 但是，在由指令电流设定处理电路（M24）设定的指令电流为零的情况下，更新量计算处理电路（M54）将经过保护处理的推定变化量（Δθc2）决定为更新量（Δθc ）。 当指令电流为零且更新量（Δθc）固定为保护值时，同步电机与电池之间的电气路径被阻断。
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公开(公告)号：EP3162658A1
公开(公告)日：2017-05-03
申请号：EP16195566.1
申请日：2016-10-25
申请人： JTEKT Corporation
CPC分类号： B62D6/002 , B62D5/008 , B62D5/0472 , B62D6/008
摘要： A steering control apparatus is provided which suppresses possible vibration of a steering system resulting from differential steering processing when a steering angle (θh) or a steered angle (θp) has a large value. A differential steering processing circuit (M38) calculates a differential steering correction amount (θd) based on a difference value of a target steering angle (θh*), and increases or reduces the target steering angle (θh*) using the calculated amount to obtain a target steered angle (θp*). A limiting reaction force setting processing circuit (M10b) increases a limiting reaction force (Fie) when a maximum value (θe) of the target steering angle (θh*) and the target steered angle (θp*) is equal to or larger than a common threshold (θen). When the maximum value (θe) approaches the common threshold (θen), an angle-sensitive gain setting processing circuit (M38c) reduces an angle-sensitive gain (Gθ) so as to correct and reduce the differential steering correction amount (θd).
(Figure 2)摘要翻译： 提供一种转向控制装置，其在转向角（θh）或转向角（θp）具有较大值时抑制由差动转向处理导致的转向系统的可能的振动。 差动转向处理电路（M38）基于目标转向角（θh*）的差分值来计算差分转向修正量（θd），并且使用所计算的量来增大或减小目标转向角（θh*）以获得 目标转向角（θp*）。 当目标转向角（θh*）和目标转向角（θp*）的最大值（θe）等于或大于a时，限制反作用力设定处理电路（M10b）增加限制反作用力 共同阈值（θen）。 当最大值（θe）接近公共阈值（θen）时，角度灵敏增益设置处理电路（M38c）减小角度灵敏增益（Gθ），以校正并减小差分转向校正量（θd）。 （图2）
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