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公开(公告)号：US10994776B1
公开(公告)日：2021-05-04
申请号：US16638607
申请日：2019-02-19
Applicant: NSK LTD.
Inventor： Takahiro Tsubaki , Hiroyasu Kumagai
Abstract: A vehicle steering apparatus that obtains the appropriate steering torque to the steering angle without being affected by road surface state and changes of mechanical characteristics of the steering system due to aging. The steering apparatus includes a target steering torque generating section to generate a target steering torque, a converting section to convert the target steering torque into a target torsional angle, and a torsional angle control section to calculate a motor current command value so as to follow-up a torsional angle to the target torsional angle. The target steering torque generating section includes an offset correcting section to obtain the first torque signal from a characteristic depending on the set steering angle based on an offset value of the steering torque and outputs the first torque signal as a target steering torque. The steering apparatus drives and controls the motor based on the motor current command value.
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公开(公告)号：US10513287B2
公开(公告)日：2019-12-24
申请号：US16307809
申请日：2017-06-06
Applicant: NSK LTD.
Inventor： Takahiro Tsubaki
Abstract: When a steering operation by a driver intervenes during autonomous driving of a vehicle, the intervention operation is fully reflected and a feeling of strangeness and a feeling of discomfort that may be given to the driver are reduced. An ECU of an electric power steering apparatus includes: a steering angle control section; an assist control section; and a switching determination/gradual change gain generating section, by which a steering angle control output and an assist control output are multiplied, and multiplies a gradual change gain to make a switching determination between a steering angle control mode and an assist control mode.
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公开(公告)号：US10343711B2
公开(公告)日：2019-07-09
申请号：US15559619
申请日：2017-03-08
Applicant: NSK LTD.
Inventor： Takahiro Tsubaki , Yuzuru Hoshi
Abstract: A tuning device of an electric power steering apparatus assisting steering based on the correspondence relationship between a steering torque and a steering auxiliary command value according to the steering torque. The tuning device receives a plurality of candidate points represented by a steering torque and a candidate value of the steering auxiliary command value according to the steering torque, calculates a high order polynomial approximating the plurality of candidate points, calculates a plurality of adjustment points, the number of which is larger than the plurality of candidate points and which are represented by the steering torque and the steering auxiliary command value according to the steering torque, based on the high order polynomial, calculates a plurality of linear functions connecting two adjacent points in the plurality of adjustment points, and outputs information on the plurality of linear functions in order to adjust the correspondence relationship.
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公开(公告)号：US09981682B2
公开(公告)日：2018-05-29
申请号：US15548170
申请日：2016-02-04
Applicant: NSK LTD.
Inventor： Takahiro Tsubaki
CPC classification number: B62D5/0463 , B62D5/0409 , B62D6/00
Abstract: [Problem]An object of the present invention is to provide an electric power steering apparatus that performs a judgment of a manual input during an automatic steering control by an accurate and precise method based on the mechanical equation, and have a steering performance which a driver and a fellow passenger do not feel uncomfortable.[Means for solving the problem]The present invention is an electric power steering apparatus that assist-controls a steering system by driving a motor based on a motor current command value and has a function performing an automatic steering control and a manual steering control, comprising: a function that calculates a time series response of a torsion bar torque based on a mechanical equation due to characteristics of a handle and a torsion bar, judges an adaptation degree of the calculated steering torque calculated-value and a detected value of the torsion bar torque, and judges “presence” or “absence” of a manual input during the automatic steering control by means of the adaptation degree.
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公开(公告)号：US20150191200A1
公开(公告)日：2015-07-09
申请号：US14419085
申请日：2014-02-03
Applicant: NSK Ltd.
Inventor： Takahiro Tsubaki , Tetsuya Kitazume , Keita Yoshida
CPC classification number: B62D5/0472 , B62D5/046 , B62D5/0463 , B62D6/002 , B62D6/007 , B62D6/008 , B62D15/025 , B62D15/0285
Abstract: An electric power steering apparatus that realizes vibration suppression of response characteristics and has a control performance having resistance properties against disturbances such as a road surface change by using a velocity I-P control (a proportional-lead type PI control) in a vehicle having functions of an automatic steering control and a manual steering control.
Abstract translation: 一种电动助力转向装置，其实现响应特性的振动抑制，并具有通过在具有以下功能的车辆中使用速度IP控制（比例引导型PI控制）而具有抵抗诸如路面变化等干扰的阻力特性的控制性能 自动转向控制和手动转向控制。
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Patent Agency Ranking
公开(公告)号：US20150191199A1
公开(公告)日：2015-07-09
申请号：US14418372
申请日：2014-02-04
Applicant: NSK LTD.
Inventor： Takahiro Tsubaki , Tetsuya Kitazume , Keita Yoshida
CPC classification number: B62D5/0463 , B62D1/286 , B62D6/002 , B62D6/003 , B62D6/10 , B62D15/025
Abstract: [Problem]An object of the present invention is to provide an electric power steering apparatus that is capable of smoothly switching the steering when a driver steers a steering wheel during the automatic steering control and in the case that a steering direction of the automatic control is different from a direction of the steering wheel steering by the driver.[Means for solving the problem]An electric power steering apparatus comprising: a target steering angle correcting section that outputs a target steering angle correction value for a steering torque; a correction output section that corrects a target steering angle with the target steering angle correction value to output a corrected target steering angle; a steering angle control section that calculates a second motor current command value based on corrected target steering angle from the correction output section, an actual steering angle and a motor angular velocity; and a switching section that inputs a first motor current command value and the second motor current command value to switch, wherein the switching section is switched depending on a switching command of an automatic steering control and a manual steering control, and a motor is drive-controlled based on the second motor current command value in the automatic steering control.
Abstract translation: 发明内容本发明的目的在于提供一种电动助力转向装置，其能够在驾驶员在自动转向控制期间驾驶方向盘时平滑地切换转向，在自动控制的转向方向为 与驾驶员的方向盘转向的方向不同。 一种电动助力转向装置，包括：目标转向角校正部，输出转向转矩的目标转向角修正值; 校正输出部，其利用目标转向角校正值校正目标转向角，以输出校正的目标转向角; 转向角控制部，其基于来自校正输出部的修正目标转向角，实际转向角和电动机角速度来计算第二电动机电流指令值; 以及开关部，其输入第一电动机电流指令值和所述第二电动机电流指令值进行切换，其中，所述切换部根据自动转向控制和手动转向控制的切换命令进行切换， 根据自动转向控制中的第二电机电流指令值进行控制。
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公开(公告)号：US11034382B2
公开(公告)日：2021-06-15
申请号：US16638622
申请日：2018-10-22
Applicant: NSK LTD.
Inventor： Takahiro Tsubaki , Yousuke Imamura
Abstract: A steering apparatus for vehicles that easily obtains equivalent steering torques to vehicle driving information such as a steering angle without being affected by a road surface state and aging-changes of mechanism characteristics of a steering system. The steering apparatus includes a torsional angle control section that calculates a motor current command value based on a target torsional angle corresponding to vehicle driving information and the torsional angle, and includes a torsional angle feedback compensating section that calculates a target torsional angular velocity by a deviation between the target torsional angle and the torsional angle. A torsional angular velocity calculating section calculates a torsional angular velocity by the torsional angle, and a velocity control section calculates a pre-limitation motor current command value by performing proportional compensation based on the target torsional angular velocity and the torsional angular velocity. An output limiting section limits upper and lower limit values of the pre-limitation motor current command value, and outputs the motor current command value which is used to control the motor.
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公开(公告)号：US10661825B2
公开(公告)日：2020-05-26
申请号：US16469395
申请日：2018-03-14
Applicant: NSK LTD.
Inventor： Takahiro Tsubaki
Abstract: An electric power steering apparatus that easily obtains desired steering torques to a steering angle without being affected by a road surface state and changes of mechanism characteristics of a steering system due to aging. The apparatus includes a target steering torque generating section to generate a target steering torque based on at least one of EPS/vehicle information, a converting section to convert the target steering torque into a target torsional angle, and a torsional angle control section to calculate the current command value based on the target torsional angle, a steering angle, a torsional angle of a torsion bar and a motor angular velocity.
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公开(公告)号：US10583857B2
公开(公告)日：2020-03-10
申请号：US16086375
申请日：2018-02-02
Applicant: NSK Ltd.
Inventor： Takahiro Tsubaki
Abstract: [Problem]An object of the present invention is to provide an electric power steering apparatus that achieves a manual steering even if a steering intervention is performed by a driver during an automatic steering, ensures more safety when a driver steers urgently, and enables both an assist control and a steering angle control.[Means for Solving the Problem]An electric power steering apparatus comprises a steering angle control section that calculates a steering angle control current command value for the steering angle control based on at least a steering angle command value and an actual steering angle, the steering angle control section comprises a position control section that calculates a basic steering angular velocity command value, a steering intervention compensating section that obtains a compensatory steering angular velocity command value, a filter section that converts a steering angular velocity calculated from the basic steering angular velocity command value and the compensatory steering angular velocity command value into an extended steering angular velocity command value, and a steering angular velocity control section that calculates the steering angle control current command value based on the extended steering angular velocity command value and an actual steering angular velocity, wherein the steering intervention compensating section comprises a compensation map section, and obtains the compensatory steering angular velocity command value for the steering torque.
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公开(公告)号：US10351168B2
公开(公告)日：2019-07-16
申请号：US15740076
申请日：2017-07-25
Applicant: NSK LTD.
Inventor： Takahiro Tsubaki
Abstract: When a steering operation by a driver intervenes during autonomous driving of a vehicle, the intervention operation is fully reflected and a feeling of strangeness and a feeling of discomfort that may be given to the driver are reduced. In order to attain this, an ECU of an electric power steering apparatus includes: a steering angle control section 200 to which a steering angle command value is input to control a steering angle; an assist control section 147 to which an assist map gradual change gain is input to output an assist control output gradual change gain; and a switching determination/gradual change gain generating section 145 that generates a gradual change gain, by which steering angle control output and assist control output are multiplied, and multiplies the gradual change gain to make a switching determination between a steering angle control mode by the steering angle control section 200 and an assist control mode by the assist control section 147. The steering angle control section 200 has a position control section 208, a steering angular velocity control section 212, and steering intervention compensating and steering-wheel vibration suppressing means 220.
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