公开(公告)号：EP2835906B1

公开(公告)日：2018-06-27

申请号：EP13772690.7

申请日：2013-03-28

申请人： NSK Ltd.

发明人： HOSHI Yuzuru ,  SAKAGUCHI Toru ,  NAKAYAMA Sachio ,  MAEDA Masahiro ,  MORI Kenji ,  IMAMURA Yousuke

IPC分类号： H02M7/5395 ,  H02M1/00 ,  B62D5/04

CPC分类号： B62D5/046 ,  B60T8/1755 ,  B62D5/0463 ,  B62D5/0484 ,  B62D5/049 ,  B62D6/003 ,  B62D6/008 ,  B62D7/159 ,  H02M7/5395 ,  H02M2001/0009 ,  H02P6/08 ,  H02P29/0241

摘要： [Problem] An object of the present invention is to provide a motor control apparatus that is capable of making the whole control system robust not only with respect to motor parameter variations such as the temperature variation and the manufacturing unevenness but also with respect to disturbances while using a cheap and compact one-shunt type current detecting circuit and simultaneously diagnosing an estimation error and an electric power steering apparatus provide with the motor control apparatus. [Means for solving the problem] A motor control apparatus comprising a current detecting circuit to detect a current of a motor as a current detected-value, a drive control unit to drive and control the motor with duty based on a voltage command value determined based on at least a current command value, and a rotation detecting unit to detect an angle and an angular speed of the motor, wherein, the motor control apparatus further comprising: an adaptive current observer to identify parameter variations of an output model of the motor, to calculate a current estimated-value of the motor and to use the current estimated-value for a calculation of the voltage command value; an adaptive identifying diagnosis section to diagnose an estimation error of the current estimated-value outputted from the adaptive current observer; and a current-detection-impossible state detecting section to detect a current-detection-impossible state that a detection of the current detected-value is impossible, wherein the adaptive identifying diagnosis section diagnoses the estimation error of the current estimated-value based on the current estimated-value, the current detected-value, the angle and the current-detection-impossible state and controls the duty based on a diagnosis result.

公开(公告)号：EP2835906A1

公开(公告)日：2015-02-11

申请号：EP13772690.7

申请日：2013-03-28

申请人： NSK Ltd.

发明人： HOSHI Yuzuru ,  SAKAGUCHI Toru ,  NAKAYAMA Sachio ,  MAEDA Masahiro ,  MORI Kenji ,  IMAMURA Yousuke

IPC分类号： H02P27/06 ,  B62D5/04 ,  H02P29/00 ,  B62D6/00 ,  B62D101/00 ,  B62D119/00

CPC分类号： H02P21/0035 ,  B60T8/1755 ,  B62D5/046 ,  B62D5/0463 ,  B62D5/0484 ,  B62D5/049 ,  B62D6/003 ,  B62D6/008 ,  B62D7/159 ,  H02M7/5395 ,  H02M2001/0009 ,  H02P6/08 ,  H02P29/0241

摘要： [Problem]
An object of the present invention is to provide a motor control apparatus that is capable of making the whole control system robust not only with respect to motor parameter variations such as the temperature variation and the manufacturing unevenness but also with respect to disturbances while using a cheap and compact one-shunt type current detecting circuit and simultaneously diagnosing an estimation error and an electric power steering apparatus provide with the motor control apparatus.
[Means for solving the problem]
A motor control apparatus comprising a current detecting circuit to detect a current of a motor as a current detected-value, a drive control unit to drive and control the motor with duty based on a voltage command value determined based on at least a current command value, and a rotation detecting unit to detect an angle and an angular speed of the motor, wherein, the motor control apparatus further comprising: an adaptive current observer to identify parameter variations of an output model of the motor, to calculate a current estimated-value of the motor and to use the current estimated-value for a calculation of the voltage command value; an adaptive identifying diagnosis section to diagnose an estimation error of the current estimated-value outputted from the adaptive current observer; and a current-detection-impossible state detecting section to detect a current-detection-impossible state that a detection of the current detected-value is impossible, wherein the adaptive identifying diagnosis section diagnoses the estimation error of the current estimated-value based on the current estimated-value, the current detected-value, the angle and the current-detection-impossible state and controls the duty based on a diagnosis result.

摘要翻译： 发明内容本发明的目的在于提供一种电动机控制装置，其能够使整个控制系统不仅对于诸如温度变化和制造不均匀性的电动机参数变化而且在扰动方面也是稳定的，同时 使用便宜且紧凑的单分流型电流检测电路并同时诊断估计误差和电动助力转向装置提供电动机控制装置。 解决问题的手段一种电动机控制装置，包括检测电动机的电流作为电流检测值的电流检测电路，基于由电压指令值决定的电压指令值来驱动和控制电动机的驱动控制单元 以及旋转检测单元，用于检测电动机的角度和角速度，其中，电动机控制装置还包括：自适应电流观测器，用于识别电动机的输出模型的参数变化， 计算电动机的当前估计值，并使用当前估计值来计算电压指令值; 自适应识别诊断部分，用于诊断从自适应当前观察者输出的当前估计值的估计误差; 以及电流检测不良状态检测部，其检测不能检测到当前检测值的电流检测不可能状态，其中，所述自适应识别诊断部根据所述检测值的当前估计值来诊断所述当前估计值的估计误差 当前估计值，当前检测值，角度和电流检测不可能状态，并且基于诊断结果来控制占空比。

公开(公告)号：EP3375695A1

公开(公告)日：2018-09-19

申请号：EP17766838.1

申请日：2017-03-17

申请人： NSK Ltd.

发明人： SAKAGUCHI Toru ,  ONOE Toshikazu

IPC分类号： B62D6/00 ,  H02P29/00 ,  B62D101/00 ,  B62D119/00 ,  B62D137/00

摘要： [Problem]
An object of the present invention is to provide a control unit of an electric power steering apparatus that configures a control system on the basis of a physical model of a rack (steering rack) mechanism, configures a model following control where an output of a controlled object follows an output of a reference model, makes a driver feel an appropriate reaction force, and suppresses uncomfortable feeling to the driver by pulling-tendency.
[Means for solving the problem]
A control unit of an electric power steering apparatus that assists and controls a steering system by driving a motor based on a current command value, comprises a configuration of a model following control setting a viscoelastic model for a rack displacement as a reference model; performs a feedback control which inputs a shaft force corresponding to a road surface reaction force, and generates a virtual reaction force, by the configuration of the model following control.

公开(公告)号：EP2628645A1

公开(公告)日：2013-08-21

申请号：EP11702381.2

申请日：2011-02-04

申请人： NSK Ltd.

发明人： SAKAGUCHI Toru

IPC分类号： B60R16/02 ,  B62D5/04

CPC分类号： H02P31/00 ,  B60R16/0232 ,  B62D5/0481 ,  G01R31/3627 ,  G01R31/3679

摘要： [Problem]
An object of the present invention is to provide a power state diagnosis method and a power state diagnosis apparatus that do not need to make a control period fast and also do not need to excessively increase a responsibility, and do not give an uncomfortable feeling to a driver.
[Means for solving the problem]
The present invention is a power state diagnosis method that diagnoses a power state of a vehicle which comprises an electrical control system supplied from a power supply and a motor controlled by a vector control method, comprising: starting a diagnosis of said power state at a time that an ignition key is switched from "OFF" to "ON" or at a time that said ignition key is switched from "ON" to "OFF", storing a value obtained by adding an offset to an angle of said motor that is read at a start of said diagnosis as a pseudo-motor-angle, performing said vector control based on said pseudo-motor-angle during said diagnosis, and diagnosing said power state based on a voltage that is supplied to said motor.

摘要翻译： 发明内容本发明的目的在于提供一种电力状态诊断方法和电力状态诊断装置，其不需要快速地进行控制周期，也不需要过度增加责任，不会产生不舒服 感觉到司机。 解决问题的手段本发明是一种电力状态诊断方法，其对由电源提供的电气控制系统和由矢量控制方法控制的电动机进行诊断的车辆的电力状态包括：开始诊断 在点火钥匙从“OFF”切换到“ON”的时刻，或者在所述点火钥匙从“ON”切换到“OFF”的时刻，存储所述电源状态，将通过将偏移量相加得到的值存储到 在所述诊断开始时读取的所述电动机的角度为伪电动机角度，在所述诊断期间，基于所述伪电动机角度执行所述矢量控制，并且基于所提供的电压来诊断所述电力状态 说电机。

公开(公告)号：EP2977295B1

公开(公告)日：2018-08-08

申请号：EP13879032.4

申请日：2013-03-18

申请人： NSK Ltd.

发明人： NAKAYAMA Sachio ,  SAKAGUCHI Toru ,  HOSHI Yuzuru ,  TANAKA Shinichi ,  SHINGOU Masanori

IPC分类号： B62D5/04 ,  B62D6/00 ,  B62D101/00 ,  B62D119/00

CPC分类号： B62D5/0463 ,  B62D5/0481

摘要： [Problem] An object of the present invention is to provide an electric power steering apparatus that realizes protecting of Zener diodes without impairing steering performances by time-integrating a loss power of the Zener diodes for protecting FETs and gradually limiting a duty ratio with an increase in an integrating loss even though a power-source voltage drops. [Means for solving the problem] An electric power steering apparatus that calculates a steering assist command value based on a steering torque and a vehicle velocity, generates a PWM-signal, and performs an assist control of a steering system by PWM-driving a motor through an FET bridge circuit having Zener diodes, comprising: a loss power calculating section that calculates a loss power when a difference between an ignition voltage and an inverter applying voltage is equal to or more than a predetermined voltage; an integrating loss calculating section to calculate an integrating loss of the loss power; a permissible loss calculating section to calculate a permissible loss based on a temperature; a minimum value selecting section to select a minimum value of a loss difference of the permissible loss and the integrating loss; and a limit value calculating section to calculate a limit value of the PWM-signal based on the minimum value of the loss difference and the permissible loss.

公开(公告)号：EP2977295A1

公开(公告)日：2016-01-27

申请号：EP13879032.4

申请日：2013-03-18

申请人： NSK Ltd.

发明人： NAKAYAMA Sachio ,  SAKAGUCHI Toru ,  HOSHI Yuzuru ,  TANAKA Shinichi ,  SHINGOU Masanori

IPC分类号： B62D5/04 ,  B62D6/00 ,  B62D101/00 ,  B62D119/00

CPC分类号： B62D5/0463 ,  B62D5/0481

摘要： [Problem]
An object of the present invention is to provide an electric power steering apparatus that realizes protecting of Zener diodes without impairing steering performances by time-integrating a loss power of the Zener diodes for protecting FETs and gradually limiting a duty ratio with an increase in an integrating loss even though a power-source voltage drops.
[Means for solving the problem]
An electric power steering apparatus that calculates a steering assist command value based on a steering torque and a vehicle velocity, generates a PWM-signal, and performs an assist control of a steering system by PWM-driving a motor through an FET bridge circuit having Zener diodes, comprising: a loss power calculating section that calculates a loss power when a difference between an ignition voltage and an inverter applying voltage is equal to or more than a predetermined voltage; an integrating loss calculating section to calculate an integrating loss of the loss power; a permissible loss calculating section to calculate a permissible loss based on a temperature; a minimum value selecting section to select a minimum value of a loss difference of the permissible loss and the integrating loss; and a limit value calculating section to calculate a limit value of the PWM-signal based on the minimum value of the loss difference and the permissible loss.

摘要翻译： 发明内容本发明的目的在于提供一种电动助力转向装置，其通过对用于保护FET的齐纳二极管的损耗功率进行时间积分并逐渐限制占空比而实现齐纳二极管的保护而不损害转向性能 即使电源电压下降，也会出现积分损失。 用于解决课题的手段基于转向转矩和车速计算转向辅助指令值，生成PWM信号，通过PWM驱动马达来进行转向系统的辅助控制的电动助力转向装置 通过具有齐纳二极管的FET电桥电路，包括：损耗功率计算部分，用于当点火电压与逆变器施加电压之间的差等于或大于预定电压时，计算损耗功率; 积分损失计算部分，用于计算损失功率的积分损失; 允许损失计算部分，用于基于温度计算允许损失; 最小值选择部分，用于选择允许损失和积分损失的损失差的最小值; 以及限制值计算部分，用于基于损失差的最小值和容许损失来计算PWM信号的限制值。

公开(公告)号：EP2628645B1

公开(公告)日：2015-04-08

申请号：EP11702381.2

申请日：2011-02-04

申请人： NSK Ltd.

发明人： SAKAGUCHI Toru

IPC分类号： B60R16/02 ,  B60R16/03 ,  B62D5/04 ,  G01R31/36 ,  B60R16/023

CPC分类号： H02P31/00 ,  B60R16/0232 ,  B62D5/0481 ,  G01R31/3627 ,  G01R31/3679

公开(公告)号：EP2476590A1

公开(公告)日：2012-07-18

申请号：EP11767151.1

申请日：2011-09-06

申请人： NSK Ltd.

发明人： ABE Hirokazu ,  NINOMIYA Yoshiki ,  SAKAGUCHI Toru

IPC分类号： B60R16/04 ,  B62D5/04 ,  B62D6/00 ,  H02P21/00 ,  H02P27/04

CPC分类号： B62D5/0481 ,  B60R16/03

摘要： [Problem]
An object of the present invention is to provide a power state diagnosis method and a power state diagnosis apparatus that pass and increase not only a d-axis current but also a q-axis current to a current value that a steering behavior does not occur to perform a diagnosis in the vector control of a motor, and determine that a power supply degraded, that the power supply is normal and that the diagnosis is not completed without giving an uncomfortable feeling to a driver, detecting a timing that there is not a driver, and needing to comprise a plurality of actuators.
[Means for solving the problem]
The present invention is a power state diagnosis method that diagnoses a power state of a vehicle which comprises an electrical control system supplied from a power supply and a motor controlled by a vector control method, comprising: gradually increasing a d-axis current to a current value that a steering behavior does not occur and applying the d-axis current, concurrently gradually increasing a q-axis current that is a rectangular-wave with positive and negative directions to the current value and applying the q-axis current, and determining degradation of the power supply when a Voltage value of the power supply is equal to or less than a power supply threshold and a given period of time T1 elapses.

摘要翻译： 发明内容本发明的目的是提供一种功率状态诊断方法和电力状态诊断装置，其不仅将d轴电流而且将q轴电流增加到转向行为的当前值 在电动机的矢量控制中不执行诊断，并且确定电源劣化，电源正常，并且诊断未完成，而不给驾驶员带来不适感，检测到有定时 不是驱动器，并且需要构成多个致动器。 解决问题的手段本发明是一种电力状态诊断方法，其对由电源供给的电气控制系统和由矢量控制方法控制的电动机构成的车辆的电力状态进行诊断，其特征在于，包括： d轴电流转换为不发生转向行为的电流值，并施加d轴电流，同时将正方向和正方向的矩形波的q轴电流逐渐增加到当前值，并施加q轴电流 并且当电源的电压值等于或小于电源阈值并且经过给定时间段T1时，确定电源的劣化。