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公开(公告)号：US08862322B2
公开(公告)日：2014-10-14
申请号：US12823573
申请日：2010-06-25
申请人： Yuji Kariatsumari , Hayato Komatsu
发明人： Yuji Kariatsumari , Hayato Komatsu
CPC分类号： H02P21/0003 , B62D5/046 , H02P21/04
摘要： A motor control unit controls a motor including a rotor and a stator facing the rotor. A current drive unit drives the motor at an axis current value of a rotating coordinate system that rotates in accordance with a control angle that is a rotational angle used in a control. An addition angle calculation unit calculates an addition angle to be added to the control angle. A control angle calculation unit obtains, at every predetermined calculation cycle, a present value of the control angle by adding the addition angle that is calculated by the addition angle calculation unit to an immediately preceding value of the control angle. An angular speed calculation unit calculates an angular speed of the rotor. An addition angle correction unit corrects the addition angle based on the angular speed calculated by the angular speed calculation unit. A filtering unit filters the angular speed calculated by the angular speed calculation unit.
摘要翻译： 马达控制单元控制包括转子和面向转子的定子的马达。 当前的驱动单元以旋转坐标系的轴电流值驱动电机，该旋转坐标系根据在控制中使用的旋转角度的控制角度旋转。 相加角计算单元计算要添加到控制角度的相加角度。 控制角计算单元通过将由相加角计算单元计算出的相加角相加到控制角度的先前值，在每个预定计算周期获得控制角的当前值。 角速度计算单元计算转子的角速度。 相加角校正单元基于由角速度计算单元计算出的角速度校正相加角度。 滤波单元滤除由角速度计算单元计算的角速度。
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公开(公告)号：US20130035896A1
公开(公告)日：2013-02-07
申请号：US13639294
申请日：2011-03-25
申请人： Takeshi Ueda , Hayato Komatsu , Yuji Kariatsumari
发明人： Takeshi Ueda , Hayato Komatsu , Yuji Kariatsumari
CPC分类号： G01D5/2451 , G01D5/2449
摘要： Angular widths of respective magnetic poles of a detection rotor are stored and divisions are set for respective magnetic pole pairs. Based on output signals from first and second magnetic sensors, a rotation angle computation unit computes first and second rotation angles that are rotation angles within the corresponding division. Based on the angular widths, the rotation angle computation unit identifies the magnetic pole sensed by the first magnetic sensor and computes a first absolute rotation angle using the first rotation angle. Based on the identified magnetic pole and the second rotation angle, the rotation angle computation unit computes a second absolute rotation angle. The rotation angle of the detection rotor is computed based on the first and second absolute angles.
摘要翻译： 存储检测转子的各个磁极的角度宽度，并为相应的磁极对设定分割。 基于来自第一和第二磁传感器的输出信号，旋转角计算单元计算作为相应划分内的旋转角度的第一和第二旋转角度。 基于角度宽度，旋转角度计算单元识别由第一磁性传感器感测的磁极，并使用第一旋转角度来计算第一绝对旋转角度。 基于所识别的磁极和第二旋转角度，旋转角度计算单元计算第二绝对旋转角度。 基于第一和第二绝对角度来计算检测转子的旋转角度。
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公开(公告)号：US08791659B2
公开(公告)日：2014-07-29
申请号：US13570857
申请日：2012-08-09
CPC分类号： H02P6/00
摘要： A F/B gain control unit computes a first change component by executing torque feedback control based on a torque deviation using a feedback gain that is computed by a F/B gain variable control unit. The F/B gain variable control unit computes one of two different feedback gains that correspond to a “first computation mode” in which the first change component is used as an addition angle and a “second computation mode” in which a value obtained by correcting the first change component by an estimated motor rotation angular velocity is used as the addition angle, respectively. A feedback gain used in the first computation mode is set such that a response at the feedback gain is higher than that at a feedback gain used in the second computation mode.
摘要翻译： F / B增益控制单元通过使用由F / B增益变量控制单元计算的反馈增益，基于转矩偏差执行转矩反馈控制来计算第一变化分量。 F / B增益可变控制单元计算与将第一变化分量用作相加角的“第一计算模式”对应的两个不同的反馈增益中的一个，以及“第二计算模式”，其中通过校正获得的值 将第一变化分量乘以估计的电机旋转角速度作为相加角。 设置在第一计算模式中使用的反馈增益，使得反馈增益的响应高于在第二计算模式中使用的反馈增益时的响应。
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公开(公告)号：US08773057B2
公开(公告)日：2014-07-08
申请号：US13551106
申请日：2012-07-17
申请人： Yuji Kariatsumari
发明人： Yuji Kariatsumari
IPC分类号： H02P7/00
摘要： An ECU that controls a motor includes: a target current value setting unit setting a target current; a voltage detecting unit detecting a detected voltage on the basis of a detection signal from a voltage sensor; a voltage calculation unit calculating an estimated voltage on the basis of a power supply voltage of a battery; and an induced voltage observer calculating an induced voltage generated at the motor using an inter-terminal voltage based on the estimated voltage when the target current is set to a value other than zero; whereas the induced voltage observer calculates the induced voltage using an inter-terminal voltage based on the detected voltage when the target current is set to zero.
摘要翻译： 控制电动机的ECU包括：设定目标电流的目标电流值设定部; 电压检测单元，基于来自电压传感器的检测信号检测检测电压; 电压计算单元，基于电池的电源电压来计算估计电压; 以及感应电压观测器，当所述目标电流被设定为非零值时，基于所述估计电压，使用基于所述电压的端子间电压计算在所述电动机处产生的感应电压; 而当目标电流被设置为零时，感应电压观测器使用基于检测到的电压的端子间电压来计算感应电压。
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公开(公告)号：US20090134834A1
公开(公告)日：2009-05-28
申请号：US12292812
申请日：2008-11-26
申请人： Yuji Kariatsumari
发明人： Yuji Kariatsumari
CPC分类号： H02P21/06 , H02P21/0003 , H02P21/22
摘要： A motor control device includes: a motor-current detection unit; a rotational-angular-speed calculation unit for calculating a rotational angular speed of a motor; a rotational-angle-change-amount calculation unit for multiplying the rotational angular speed by a predetermined time so as to calculate a motor-rotational-angle change amount within a predetermined time; a basic-drive-value calculation unit for calculating a basic drive value for driving the motor; a correction-value calculation unit for calculating a correction value for correcting the basic drive value based on the motor current and the motor-rotational-angle change amount; a correction unit for evaluating the motor drive value by correcting the basic drive value by the correction value; and a drive unit for driving the motor by using the motor drive value evaluated by the correction unit.
摘要翻译： 电动机控制装置包括：电动机电流检测单元; 用于计算电动机的旋转角速度的旋转角速度计算单元; 旋转角度变化量计算单元，用于将旋转角速度乘以预定时间，以便在预定时间内计算电动机旋转角度变化量; 基本驱动值计算单元，用于计算用于驱动马达的基本驱动值; 校正值计算单元，用于基于所述电动机电流和所述电动机转角变化量来计算用于校正所述基本驱动值的校正值; 校正单元，用于通过校正基本驱动值来校正电动机驱动值; 以及驱动单元，用于通过使用由校正单元评估的马达驱动值来驱动马达。
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公开(公告)号：US20060085113A1
公开(公告)日：2006-04-20
申请号：US11255223
申请日：2005-10-19
IPC分类号： B62D6/00
CPC分类号： B62D15/0245 , B62D5/0463
摘要： In an electric power steering apparatus which comprises a motor (10) for generating steering assist force, it is judged whether or not the vehicle is in a state of straight forward motion. A mean reference steering angle is determined by dividing total of relative steering angles which are determined when the vehicle is judged to be in a state of straight forward motion by the frequency of judgments that the vehicle is in a state of straight forward motion. A steering angle is determined by subtracting a steering angle midpoint from a relative steering angle with taking the mean reference steering angle as the steering angle midpoint. The output of the motor (10) for generating steering assist force is corrected in accordance with an output correction value determined on the basis of the determined steering angle. This output correction value is altered so as to have a positive correlation with the frequency of judgments that the vehicle is in a state of straight forward motion.
摘要翻译： 在包括用于产生转向辅助力的马达（10）的电动助力转向装置中，判断车辆是否处于直线向前运动的状态。 平均参考转向角通过将车辆被判断为处于直线向前运动状态时确定的相对转向角的总和除以车辆处于直线运动状态的判断频率来确定。 通过以平均参考舵角作为转向角中点，从相对转向角减去转向角中点来确定转向角。 根据所确定的转向角确定的输出校正值，校正用于产生转向辅助力的电动机（10）的输出。 该输出校正值被改变，以便与车辆处于直线向前运动的状态的判断频率呈正相关。
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公开(公告)号：US08816630B2
公开(公告)日：2014-08-26
申请号：US13364453
申请日：2012-02-02
申请人： Kozo Niimi , Yuji Kariatsumari
发明人： Kozo Niimi , Yuji Kariatsumari
摘要： An electric power steering system calculates a motor resistance Rm using a resistance map, and calculates an estimated inducted voltage based on a motor current and a motor voltage. If the estimated induced voltage is determined as being equal to or smaller than a determination value that is set in accordance with the current level, the electric power steering system calculates a motor resistance (estimated motor resistance Rma) and updates the resistance map based on the estimated motor resistance Rma.
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公开(公告)号：US20110018487A1
公开(公告)日：2011-01-27
申请号：US12736320
申请日：2009-02-18
IPC分类号： H02P27/00
CPC分类号： B62D5/0463 , H02P21/16 , H02P21/18
摘要： A motor control device of the present invention includes: target electric current value setting units (15 and 16) that set target electric current values that should be supplied to a motor (1), basic voltage value computing units (511, 521, 51a, and 52a) that compute basic voltage values for driving the motor, a rotation angle speed computing unit (23) that computes a rotation angle speed of the motor, correction value computing units (50, 512, 515, 516, 522, 525, and 526) that compute correction values for correcting the basic voltage values based on motor electric current values and a rotation angle speed of the motor, correcting units (513 and 523) that obtain voltage command values by correcting the basic voltage values by the correction values computed by the correction value computing units, and a driving unit (13) that drives the motor by using voltage command values. The correction value computing units include correction value smoothing units (50, 515, 516, 525, and 526) for obtaining smoothed correction values.
摘要翻译： 本发明的电动机控制装置包括：设置应提供给电动机（1）的目标电流值的目标电流值设定单元（15和16），基本电压值计算单元（511,521,51a， 计算用于驱动马达的基本电压值的计算单元，计算马达的旋转角速度的旋转角速度计算单元，校正值运算单元，50,512,515,516,522,525和 526），其基于电动机电流值和电动机的旋转角速度来计算用于校正基本电压值的校正值，校正单元（513和523），其通过校正基本电压值来校正电压指令值，所述校正单元计算出校正值 以及通过使用电压指令值来驱动电动机的驱动单元（13）。 校正值计算单元包括用于获得平滑校正值的校正值平滑单元（50,515,516,525和526）。
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公开(公告)号：US07512468B2
公开(公告)日：2009-03-31
申请号：US11255223
申请日：2005-10-19
CPC分类号： B62D15/0245 , B62D5/0463
摘要： In an electric power steering apparatus which comprises a motor for generating steering assist force, it is judged whether or not the vehicle is in a state of straight forward motion. A mean reference steering angle is determined by dividing total of relative steering angles which are determined when the vehicle is judged to be in a state of straight forward motion by the number of judgments that the vehicle is in a state of straight forward motion. A steering angle is determined by subtracting a steering angle midpoint from a relative steering angle with taking the mean reference steering angle as the steering angle midpoint. The output of the motor for generating steering assist force is corrected in accordance with an output correction value determined on the basis of the determined steering angle. This output correction value is altered so as to have a positive correlation with the number of judgments that the vehicle is in a state of straight forward motion.
摘要翻译： 在包括用于产生转向辅助力的电动机的电动助力转向装置中，判断车辆是否处于直线向前运动的状态。 平均参考转向角通过将车辆被判断为处于直线向前运动状态时确定的相对转向角的总和除以车辆处于直线运动的状态的判断次数来确定。 通过以平均参考舵角作为转向角中点，从相对转向角减去转向角中点来确定转向角。 根据所确定的转向角确定的输出校正值来校正用于产生转向辅助力的电动机的输出。 该输出校正值被改变，以便与车辆处于直线向前运动的状态的判断次数呈正相关。
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公开(公告)号：US06305489B1
公开(公告)日：2001-10-23
申请号：US09431186
申请日：1999-11-01
申请人： Yuji Kariatsumari
发明人： Yuji Kariatsumari
IPC分类号： B62D506
摘要： A power steering apparatus senses a fore-and-aft acceleration of a vehicle which is expressed as a value prefixed with a sign, and a rotation speed Ri of an electric motor is reduced to reduce an assist force in accordance with the acceleration if the value of the sensed vehicle acceleration is positive, and increased to increase the assist force in accordance with the acceleration if the value of the sensed vehicle acceleration is negative (FIG. 4). With this control operation, a consistent steering feeling can be provided even at acceleration or deceleration of the vehicle.
摘要翻译： 动力转向装置感测车辆的前后加速度，其被表示为以符号表示的值，并且电动机的转速Ri减小以根据加速度减小辅助力，如果值 的感测车辆加速度为正，并且如果感测到的车辆加速度的值为负，则增加以根据加速度增加辅助力（图4）。 通过该控制操作，即使在车辆的加速或减速下也能够提供一致的转向感。
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