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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：EP3598632A1
公开(公告)日：2020-01-22
申请号：EP19748122.9
申请日：2019-01-29
申请人： NSK LTD.
IPC分类号： H02P21/13 , B62D5/04 , B62D6/00 , H02P21/05 , H02P27/08 , B62D101/00 , B62D113/00 , B62D119/00
摘要： [Problem]
An object of the present invention is to provide a motor control unit of a vector control system that improves distortion of a current waveform and a responsibility of a current control, and suppresses a sound and a vibration of the motor and a torque ripple by compensating a dead time of an inverter and estimating disturbance which cannot be compensated by the dead time compensation, and the electric power steering apparatus equipped with the motor control unit.
[Means for solving the problem]
The present invention is the motor control unit that vector-controls a 3-phase brushless motor based on dq-axes current command values, converts 3-phase current detection values of the 3-phase brushless motor into dq-axes feedback currents, performs feedbacks of the dq-axes feedback currents to the dq-axes current command values, converts dq-axes deviation voltages of the feedbacks into 2-phase duty command values, converts the 2-phase duty command values into 3-phase duty command values, and vector-controls the 3-phase brushless motor via an inverter, comprising a dq-axes dead time compensating section to calculate dq-axes dead time compensation values of the inverter and perform a dead time compensation, and a dq-axes disturbance estimating observer to input the dq-axes current command values, a motor rotational number, the dq-axes feedback currents and the deviation voltage, and calculate and output dq-axes disturbance compensation values, wherein the motor control unit estimates a disturbance, which cannot be compensated by said dead time compensation of said inverter, by adding with the dq-axes disturbance compensation values and said dq-axes deviation voltages.-
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：EP3476695A1
公开(公告)日：2019-05-01
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
摘要： [Problem]
An object of the present invention is to provide an electric power steering apparatus that has plural dead time compensating functions to compensate the dead time of the inverter without the tuning operation, compensates with the feed forward method by switching the dead time compensating functions corresponding to the steering state, improves the steering performance, improves the distortion of the current waveform and the responsibility of the current control, and suppresses the sound, the vibration and the torque ripple.
[Means for solving the problem]
The present invention is the electric power steering apparatus of vector control system that calculates steering assist command values of dq axes based on at least a steering torque, calculates dq-axes current command values from the steering assist command values, converts the dq-axes current command values into 3-phase duty command values, driving-controls a 3-phase brushless motor by an inverter of a PWM control, and applies an assist torque to a steering system of a vehicle, wherein the electric power steering apparatus has plural dead time compensating functions of which efficiencies to respectively perform a dead time compensation of the inverter are different each other, and performs the dead time compensation by switching from one of the plural dead time compensating functions to an another dead time compensating function with a predetermined condition.-
公开(公告)号：EP3641126A1
公开(公告)日：2020-04-22
申请号：EP18818004.6
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： [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 responsibility of the current control, and suppresses sound, vibration and a torque ripple.
[Means for solving the problem]
The present invention is the vector control type motor control unit that calculates a q-axis control assist command value, calculates dq-axes current command values from the control assist command value, converts the dq-axes current command values into 3-phase duty command values, and drives and controls a 3-phase brushless motor by a PWM-controlled inverter, wherein dead time compensation of the inverter is performed by calculating 3-phase dead time reference compensation values based on a motor rotational angle, calculating 3-phase dead time compensation values by temperature-correcting the 3-phase dead time reference compensation values, and adding the 3-phase dead time compensation values to 3-phase voltage command values after performing dq-axes space vector modulation.
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