公开(公告)号：US20200172163A1

公开(公告)日：2020-06-04

申请号：US16785863

申请日：2020-02-10

Applicant: NSK LTD.

Inventor： Takayoshi SUGAWARA ,  Yousuke IMAMURA ,  Masahiro MAEDA

IPC: B62D6/00 ,  B62D5/04

Abstract: [Problem]An electric power steering apparatus includes: a current command value determining section that determines a current command value based on steering torque and vehicle speed; a vibration extracting filter that extracts a first vibration component having a predetermined amplitude and first predetermined frequency range depending on motor angular velocity; a vibration extracting section that extracts a second vibration component having a second predetermined frequency range depending on motor angular acceleration; a first compensation value calculating section that calculates a first vibration suppression compensation value based on the first vibration component extracted by the vibration extracting filter; and a second compensation value calculating section that calculates a second vibration suppression compensation value based on the second vibration component; and suppresses vibrations of the motor by feeding back the first vibration suppression compensation value and the second vibration suppression compensation value calculated to the current command value.

公开(公告)号：US20200172162A1

公开(公告)日：2020-06-04

申请号：US16785832

申请日：2020-02-10

Applicant: NSK LTD.

Inventor： Takayoshi SUGAWARA ,  Yousuke IMAMURA ,  Masahiro MAEDA

IPC: B62D6/00 ,  B62D5/04

Abstract: An electric power steering apparatus includes: a current command value determining section that determines a current command value based on steering torque and vehicle speed; a vibration extracting filter that extracts a first vibration component having a predetermined amplitude and first predetermined frequency range depending on motor angular velocity; a vibration extracting section that extracts a second vibration component having a second predetermined frequency range depending on motor angular acceleration; a first compensation value calculating section that calculates a first vibration suppression compensation value based on the first vibration component extracted by the vibration extracting filter; and a second compensation value calculating section that calculates a second vibration suppression compensation value based on the second vibration component; and suppresses vibrations of the motor by feeding back the first vibration suppression compensation value and the second vibration suppression compensation value calculated to the current command value.

公开(公告)号：US20190329817A1

公开(公告)日：2019-10-31

申请号：US16311469

申请日：2017-07-20

Applicant: NSK LTD.

Inventor： Hiroaki TAKASE ,  Ryo MINAKI ,  Hideki SAWADA ,  Takayoshi SUGAWARA

IPC: B62D5/04 ,  H02M1/38 ,  H02P21/06 ,  H02P21/13 ,  H02P27/08 ,  H02M7/5395 ,  H02M7/5387 ,  H02P21/05 ,  H02P21/26

Abstract: An electric power steering apparatus that ideally compensates dead time of the inverter without the tuning operation, improves distortion of the current waveform and the responsibility of the current control, and suppresses sound, vibration, the ripple that the low speed steering maneuver is effective. The apparatus converts dq-axes current command values calculated based on at least a steering torque into 3-phase duty command values, 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 3-phase detection voltages are estimated based on 3-phase motor terminal voltages, loss voltages due to a dead time of the inverter are estimated from differences between 3-phase correction command voltages calculated from the 3-phase duty command values and the 3-phase detection voltages, and a dead time compensation of the inverter is performed by feeding back dead time compensation values obtained by compensating the loss voltages to the dq-axes current command values.

公开(公告)号：US20190322309A1

公开(公告)日：2019-10-24

申请号：US16312695

申请日：2017-07-14

Applicant: NSK LTD.

Inventor： Hiroaki TAKASE ,  Ryo MINAKI ,  Hideki SAWADA ,  Takayoshi SUGAWARA

IPC: B62D5/04 ,  B62D6/00 ,  H02M7/48 ,  H02P21/00 ,  H02P27/00

Abstract: An electric power steering apparatus of a vector control system that compensates a dead time of an inverter without tuning operation, improves a distortion of a current waveform and a responsibility of a current control, and suppresses a sound, a vibration and a ripple. The apparatus of the vector control system that calculates dq-axes steering-assist command values based on at least a steering torque, calculates dq-axes current command values from the dq-axes 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 dead time reference compensation values are calculated based on a motor rotational angle, wherein dead time compensation of the inverter is performed by adding dead time compensation values in which the dead time reference compensation values are processed by using a gain, a sign and the like, to dq-axes voltage command values or to 3-phase voltage command values.

公开(公告)号：US20160362128A1

公开(公告)日：2016-12-15

申请号：US15109566

申请日：2016-02-01

Applicant: NSK LTD.

Inventor： Takayoshi SUGAWARA ,  Ryo MINAKI ,  Hideki SAWADA

IPC: B62D5/04 ,  G01B7/30 ,  B62D6/00

CPC classification number: B62D5/046 ,  B62D5/04 ,  B62D5/0481 ,  B62D6/00 ,  B62D15/0215 ,  B62D15/0235 ,  B62D15/0245 ,  G01B7/30 ,  G01B21/22

Abstract: A steering angle detecting apparatus for vehicles includes 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.

Abstract translation: 一种用于车辆的转向角检测装置，包括：游标计算部，其根据转向轴角度和电动机角度进行游标运算;空档期间指定部，根据所述游标计算出的基准角， 游标计算部分中的计算，以及从中立期间指定中立点和存储的中性点值的中性点确定部，并输出其中性点被指定的转向角。

公开(公告)号：US20200172161A1

公开(公告)日：2020-06-04

申请号：US16785818

申请日：2020-02-10

Applicant: NSK LTD.

Inventor： Takayoshi SUGAWARA ,  Yousuke Imamura ,  Masahiro Maeda

IPC: B62D6/00 ,  B62D5/04

Abstract: An electric power steering apparatus includes: a current command value determining section that determines a current command value based on steering torque and vehicle speed; a vibration extracting filter that extracts a first vibration component having a predetermined amplitude and first predetermined frequency range depending on motor angular velocity; a vibration extracting section that extracts a second vibration component having a second predetermined frequency range depending on motor angular acceleration; a first compensation value calculating section that calculates a first vibration suppression compensation value based on the first vibration component extracted by the vibration extracting filter; and a second compensation value calculating section that calculates a second vibration suppression compensation value based on the second vibration component; and suppresses vibrations of the motor by feeding back the first vibration suppression compensation value and the second vibration suppression compensation value calculated to the current command value.

公开(公告)号：US20190337553A1

公开(公告)日：2019-11-07

申请号：US16311856

申请日：2017-07-14

Applicant: NSK LTD.

Inventor： Ryo MINAKI ,  Hiroaki TAKASE ,  Hideki SAWADA ,  Takayoshi SUGAWARA

IPC: B62D5/04 ,  H02P21/05 ,  H02P21/13 ,  H02P6/10

Abstract: A vector control type electric power steering apparatus that compensates a dead time of an inverter, a motor back-EMF and an interference voltage by means of a mutual inductance between motor windings, improves a distortion of a current waveform and a responsibility of a current control, and suppresses a noisy sound, vibration and a ripple. The apparatus driving-controls a three-phase brushless motor which applies an assist torque to a steering mechanism of a vehicle by using a current command value calculated based on at least a steering torque, and vector-controls the three-phase brushless motor by using dq-axis command values that are converted from the current command value via an inverter, including: a 3-phase disturbance observer to compensate respective phase disturbance voltages, which include a dead time of the inverter, for 3-phase voltage command values.

公开(公告)号：US20190256128A1

公开(公告)日：2019-08-22

申请号：US16312723

申请日：2017-07-07

Applicant: NSK LTD.

Inventor： Hiroaki TAKASE ,  Ryo MINAKI ,  Hideki SAWADA ,  Takayoshi SUGAWARA

IPC: B62D5/04 ,  H02P6/08 ,  H02P27/08

Abstract: An electric power steering apparatus of a vector control system converts calculated 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 compensation signs of 3-phase current model command values in which the dq-axes current command values are converted into a 3-phase current command value model are estimated, wherein a dead time compensation amount is calculated based on an inverter-applying voltage, and wherein dead time compensation is performed by adding dead time compensation values that are 2-phase values converted from 3-phase values in which the compensation signs are multiplied with the dead time compensation amount, to dq-axes voltage command values, or by adding 3-phase dead time compensation values to 3-phase voltage command values.

公开(公告)号：US20190023312A1

公开(公告)日：2019-01-24

申请号：US16140026

申请日：2018-09-24

Applicant: NSK LTD.

Inventor： Ryo MINAKI ,  Takayoshi SUGAWARA ,  Hideki SAWADA

IPC: B62D5/04 ,  B62D1/28 ,  B62D6/00 ,  B62D15/02

Abstract: An 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, including: 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.

公开(公告)号：US20180257704A1

公开(公告)日：2018-09-13

申请号：US15760745

申请日：2016-09-16

Applicant: NSK LTD.

Inventor： Ryo MINAKI ,  Hideki SAWADA ,  Takayoshi SUGAWARA

IPC: B62D6/10 ,  G06N99/00 ,  B62D5/04 ,  G01B21/22

CPC classification number: B62D6/10 ,  B62D5/0409 ,  B62D5/0463 ,  B62D5/0484 ,  B62D5/049 ,  B62D15/0215 ,  B62D15/0235 ,  G01B21/22 ,  G06N99/005

Abstract: A vehicle steering angle detecting apparatus that connects a motor, which assist-controls a steering system of a vehicle, to the steering shaft via a reduction mechanism, and includes the first angle sensor which detects the steering shaft angle of the steering shaft and the second angle sensor which detects the motor shaft angle of the motor, including: a function that updates a static characteristic map and a dynamic characteristic map by iteratively learning a static characteristic and a dynamic characteristic of the nonlinear elements including the reduction mechanism, and mutually estimates the steering shaft angle and the motor shaft angle by using the static characteristic map and the dynamic characteristic map. The present invention is also the electric power steering apparatus equipped with the vehicle steering angle detecting apparatus.