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公开(公告)号：US10974759B2
公开(公告)日：2021-04-13
申请号：US16311757
申请日：2018-04-09
申请人： NSK Ltd.
发明人： Tetsuya Kitazume
摘要： [Problem] An object of the present invention is to provide a high-performance electric power steering apparatus that can smoothly switch a steering control mode with a simple structure and does not make a driver uncomfortable when the driver steers a handle in an automatic steering control.
[Means for Solving the Problem] The present invention is the electric power steering apparatus that has a function, which switches between a manual steering control which drives a motor by the first motor current command value calculated based on at least a steering torque and an automatic steering control which drives the motor by the second motor current command value calculated at a steering angle control section so that an actual steering angle follows-up a target steering angle, comprising: a target steering angle correcting section that performs a calculation process for the steering torque depending on a steering state and vehicle speed and outputs a target steering angle correction value, and a correction outputting section that corrects the target steering angle by using the target steering angle correction value and inputs a corrected correction target steering angle into the steering angle control section.-
公开(公告)号：US09919734B2
公开(公告)日：2018-03-20
申请号：US14408822
申请日：2014-01-31
申请人： NSK Ltd.
发明人： Tetsuya Kitazume
IPC分类号： B62D5/04
CPC分类号： B62D5/0472 , B62D5/0463 , B62D5/0481
摘要： To provide an electric power steering apparatus capable of suppressing a vibration of an assist torque while keeping a steering feeling. A current command value is calculated by adding a torque differential compensation value depending on a differential value of a steering torque to a basic assist current command value calculated based on the steering torque and vehicle speed. In this situation, the torque differential compensation value is calculated to be smaller when the steering speed of a steering wheel falls within a specific steering speed region in which a resonance phenomenon easily occurs due to a disturbance vibration of a steering assist torque, in comparison with when the steering speed falls outside the specific steering speed region.
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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
申请人： NSK Ltd.
CPC分类号： B62D5/0472 , B62D5/046 , B62D5/0463 , B62D6/002 , B62D6/007 , B62D6/008 , B62D15/025 , B62D15/0285
摘要： 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.
摘要翻译： 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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公开(公告)号：US20150191199A1
公开(公告)日：2015-07-09
申请号：US14418372
申请日：2014-02-04
申请人： NSK LTD.
CPC分类号： B62D5/0463 , B62D1/286 , B62D6/002 , B62D6/003 , B62D6/10 , B62D15/025
摘要： [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.
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，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：US20150151783A1
公开(公告)日：2015-06-04
申请号：US14408822
申请日：2014-01-31
申请人： NSK Ltd.
发明人： Tetsuya Kitazume
IPC分类号： B62D5/04
CPC分类号： B62D5/0472 , B62D5/0463 , B62D5/0481
摘要： To provide an electric power steering apparatus capable of suppressing a vibration of an assist torque while keeping a steering feeling. A current command value is calculated by adding a torque differential compensation value depending on a differential value of a steering torque to a basic assist current command value calculated based on the steering torque and vehicle speed. In this situation, the torque differential compensation value is calculated to be smaller when the steering speed of a steering wheel falls within a specific steering speed region in which a resonance phenomenon easily occurs due to a disturbance vibration of a steering assist torque, in comparison with when the steering speed falls outside the specific steering speed region.
摘要翻译： 提供能够抑制辅助转矩的振动同时保持转向感觉的电动助力转向装置。 通过将根据转向转矩的差分值的转矩差分补偿值与基于转向转矩和车速计算的基本辅助电流指令值相加来计算电流指令值。 在这种情况下，当方向盘的转向速度落在由于转向辅助转矩的干扰振动容易发生共振现象的特定转向区域中时，转矩差分补偿值被计算得较小，与 当转向速度落在特定的转向速度区域之外时。
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