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公开(公告)号：EP3614558A1
公开(公告)日：2020-02-26
申请号：EP18818450.1
申请日：2018-06-12
申请人： NSK Ltd.
IPC分类号： H02P21/06 , B62D5/04 , B62D6/00 , H02P27/08 , B62D101/00 , B62D119/00
摘要： section to output said current command value sensitive gain based on an output of said current control delay model; and
a multiplying section to multiply said current command value sensitive gain by said sign.
11. The vector-control type motor control unit according to any one of Claims 6 to 10,
wherein said axes current factor phase-correction calculating section comprises:
a dq-axes current ratio calculating section to calculate a current ratio of said dq-axes current command values; and
a variation angle calculating section to calculate a variation angle based on said current ratio,
wherein said motor rotational angle is phase-corrected by using said variation angle.
12. An electric power steering apparatus that is equipped with the vector-control type motor control unit according to any one of Claims 1 to 11, and applies an assist torque to a steering system of a vehicle.
[Problem]
An object of the present invention is to provide a vector-control type motor control unit that compensates a dead time of an inverter without a tuning operation, improves a distortion of a current waveform and a responsibility of current control, and suppresses a sound, a vibration and a torque ripple.
[Means for solving the problem]
The present invention is the vector-control type motor control unit that calculates dq-axes control assist command values, calculates dq-axes current command values from the dq-axes control assist command values, converts the dq-axes current command values into 3-phase duty command values, and drives and controls a 3-phase brushless motor by an inverter of a PWM control, wherein a dead time compensation of the inverter is performed by calculating 3-phase dead time reference compensation values based on a motor rotational angle which is phase-corrected by using the dq-axes current command values, calculating dead time compensation values by processing the 3-phase dead time reference compensation values by a gain and a sign, and adding the dead time compensation values to dq-axes voltage command values or 3-phase voltage command values.-
公开(公告)号：EP3210853B1
公开(公告)日：2019-06-05
申请号：EP15864390.8
申请日：2015-11-30
申请人： NSK Ltd.
发明人： MINAKI, Ryo , SUGAWARA, Takayoshi , SAWADA, Hideki
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公开(公告)号：EP3476695B1
公开(公告)日：2020-11-18
申请号：EP17843464.3
申请日：2017-08-16
申请人： NSK Ltd.
IPC分类号： B62D6/00 , B62D5/04 , H02M7/48 , H02M7/537 , H02P21/22 , H02P27/08 , B62D119/00 , B62D137/00 , H02P21/05 , H02M1/38 , H02P21/00 , H02M7/5395
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公开(公告)号：EP3210855B1
公开(公告)日：2020-02-19
申请号：EP15866099.3
申请日：2015-11-30
申请人： NSK Ltd.
发明人： MINAKI, Ryo , SUGAWARA, Takayoshi , SAWADA, Hideki
IPC分类号： B62D6/00 , B62D5/04 , B62D101/00 , B62D113/00 , B62D119/00
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公开(公告)号：EP3572303A1
公开(公告)日：2019-11-27
申请号：EP18754413.5
申请日：2018-02-19
申请人： NSK Ltd.
IPC分类号： B62D6/00 , B62D5/04 , B62D101/00 , B62D113/00 , B62D119/00
摘要： [Problem]
An object of the present invention is to provide an electric power steering apparatus that accurately judges a manual input without affecting a noise relate to a free vibration system and influencing an external disturbance.
[Means for solving the problem]
The present invention is the electric power steering apparatus that drives and controls a motor which applies an assist orque to a steering system of a vehicle and has a function switching between an assist mode and an automatic mode, comprising a torsion bar torsional angle calculating section to calculate a torsion bar torsional angle based on a torque information, an output-side column shaft relative angle generating section to output an output-side relative angle from an electrical angle signal of the motor, an actual handle angle calculating section to calculate an actual handle angle based on the torsion bar torsional angle and the output-side relative angle, a resonance filter to obtain an estimated handle angle in a hands-off state from the output-side relative angle, and a hands-on/off judging section to judge a hands-on state when a time that a deviation angle between the actual handle angle and the estimated handle angle is equal to or more than a predetermined angle is continued for the predetermined time or more.-
公开(公告)号：EP3210855A1
公开(公告)日：2017-08-30
申请号：EP15866099.3
申请日：2015-11-30
申请人： NSK Ltd.
发明人： MINAKI, Ryo , SUGAWARA, Takayoshi , SAWADA, Hideki
IPC分类号： B62D6/00 , B62D5/04 , B62D101/00 , B62D113/00 , B62D119/00
摘要： [Problem]
An object of the present invention is to provide an electric power steering apparatus capable of smoothly switching the control systems without self-steer by gradually changing a control torque of the torque control and a command value of the position/speed control upon the fade processing
[Means for solving the problem]
The present invention is the electric power steering apparatus including a torque sensor to detect a steering torque and a motor control unit to control a motor that applies an assist torque to a steering system of a vehicle, comprising: a function to switch a control system of the motor between a torque control system to control a motor output torque and a position/speed control system to control a steering angle of a steering in accordance with a predetermined switching trigger, wherein a fade processing which switches from the torque control system to the position/speed control system or vice versa.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，该电动助力转向装置通过逐渐改变转矩控制的控制转矩以及对该转矩控制的位置速度控制的指令值，能够不进行自转而平稳地切换控制系统 淡化处理[用于解决课题的手段]本发明是一种电动助力转向装置，其具备检测转向转矩的转矩传感器和控制对车辆的转向系统施加助力转矩的电动机的电动机控制单元， ：在转矩控制系统之间切换电动机的控制系统以控制电动机输出转矩的功能和根据预定切换触发器控制转向的转向角的位置/速度控制系统的功能，其中，淡入淡出处理 从转矩控制系统切换到位置/速度控制系统，反之亦然。
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公开(公告)号：EP3640119A1
公开(公告)日：2020-04-22
申请号：EP19815958.4
申请日：2019-06-07
申请人： NSK Ltd.
IPC分类号： B62D6/00 , B62D5/04 , B62D101/00 , B62D119/00
摘要： An electric power steering system is provided that is capable of performing assist control in which a change in a steering feel is reduced. The electric power steering system includes a current command value calculating unit 31 configured to output a current command value Iref1 in accordance with steering torque Ts and a vehicle speed Vs on the basis of an assist map. The current command value calculating unit 31 includes a vibration component reducing section 312 configured to reduce a vibration component resulting from vibrations for warning that have been transmitted to a steering wheel and included in the steering torque Ts.
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公开(公告)号：EP3321148B1
公开(公告)日：2020-02-26
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
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9.发明授权
公开(公告)号：EP3090921B1
公开(公告)日：2018-12-05
申请号：EP16732914.3
申请日：2016-02-01
申请人： NSK Ltd.
发明人： SUGAWARA, Takayoshi , MINAKI, Ryo , SAWADA, Hideki
CPC分类号： B62D5/046 , B62D5/04 , B62D5/0481 , B62D6/00 , B62D15/0215 , B62D15/0235 , B62D15/0245 , G01B7/30 , G01B21/22
摘要： [Problem] An object of the present invention is to provide a steering angle detecting apparatus for vehicles that obtains a wide range of angle information by performing vernier calculation by means of angle information from an angle sensor provided for a steering shaft and angle information from a rotation angle sensor of a motor, and detects a steering angle the neutral point of which has been specified in a short time by relatively simple structure and processing, and an electric power steering apparatus equipped therewith. [Means for solving the problem] A steering angle detecting apparatus for vehicles comprises a vernier calculating section that performs vernier calculation based on a steering shaft angle and a motor angle, a neutral period specifying section that specifies a neutral period including a neutral point based on a reference angle calculated by the vernier calculation in the vernier calculating section, and a neutral point specifying section that specifies the neutral point from the neutral period and a stored neutral point value, and outputs a steering angle the neutral point of which is specified.
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公开(公告)号：EP3210854A1
公开(公告)日：2017-08-30
申请号：EP15865942.5
申请日：2015-11-30
申请人： NSK Ltd.
发明人： MINAKI, Ryo , SUGAWARA, Takayoshi , SAWADA, Hideki
IPC分类号： B62D6/00 , B62D5/04 , B62D101/00 , B62D113/00 , B62D119/00
CPC分类号： B62D5/0463 , B62D1/28 , B62D1/286 , B62D6/00 , B62D15/021 , B62D15/0285
摘要： [Problem]
An object of the present invention is to provide an electric power steering apparatus capable of smoothly switching the control systems without self-steer by gradually changing a control torque of the torque control and a command value of the position/speed control upon fade processing that switches the control systems.
[Means for solving the problem]
The present invention is the electric power steering apparatus including a torque sensor to detect a steering torque and a motor control unit to control a motor that applies an assist torque to a steering system of a vehicle, comprising: a function to switch a control system of the motor between a torque control system to control a motor output torque and a position/speed control system to control a steering angle of a steering in accordance with a predetermined switching trigger. The fade processing time from the torque control system to the position/speed control system and the fade processing time from the position/speed control system to the torque control system are individually set.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，该电动助力转向装置通过逐渐改变转矩控制的控制转矩和褪色时的位置/速度控制的指令值，从而能够平滑地切换控制系统而不自转 处理切换控制系统。 用于解决课题的手段本发明的电动助力转向装置具备检测转向转矩的转矩传感器和控制对车辆的转向系统施加助力转矩的电动机的电动机控制单元，该电动助力转向装置具有： 用于在转矩控制系统之间切换电动机的控制系统以控制电动机输出转矩，以及用于根据预定切换触发器控制转向的转向角的位置/速度控制系统。 从扭矩控制系统到位置/速度控制系统的衰减处理时间和从位置/速度控制系统到扭矩控制系统的衰减处理时间都是单独设置的。
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