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    ELECTRIC POWER STEERING DEVICE
    23.
    发明公开
    ELECTRIC POWER STEERING DEVICE 审中-公开
    电动转向装置

    公开(公告)号：EP3321148A1

    公开(公告)日：2018-05-16

    申请号：EP16821459.1

    申请日：2016-07-07

    申请人： NSK Ltd.

    发明人： MINAKI, Ryo ,  SUGAWARA, Takayoshi ,  SAWADA, Hideki

    IPC分类号： B62D6/00 ,  B62D5/04 ,  H02P23/00 ,  B62D113/00 ,  B62D137/00

    CPC分类号： B62D5/049 ,  B62D5/046 ,  B62D5/0463 ,  B62D15/0215 ,  B62D15/0235 ,  G07C5/0808 ,  H02P6/16 ,  H02P23/0004

    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.

    摘要翻译： 发明内容本发明的目的在于提供一种通过学习机构系统和转向系统的非线性要素，高精度地推定电动机轴角度和转向轴角度的高品质且价格合理的电动助力转向装置， 并且可以通过利用角度传感器的估计角度来备份两个角度传感器。 用于解决问题的手段本发明是一种电动助力转向装置，其中，用于辅助控制车辆的转向系统的电动机经由减速机构与转向轴连接，并且包括用于检测转向的第一角度传感器 检测所述电动机的电动机轴角度的第二角度传感器，所述第二角度传感器包括：通过基于所述第一旋转轴的实际测量角度反复学习包括所述减速机构的非线性元件的特性而获得补偿值图的功能， 角度传感器，第二角度传感器的实际测量角度，马达转矩和马达角速度，并且通过使用补偿值图来估计转向轴角度和马达轴角度。