公开(公告)号：US20060132083A1

公开(公告)日：2006-06-22

申请号：US11321293

申请日：2005-12-21

申请人： Takeshi Ueda ,  Shigeki Nagase

发明人： Takeshi Ueda ,  Shigeki Nagase

IPC分类号： H02P23/00 ,  H02P25/00

CPC分类号： B62D5/046 ,  B62D5/0463 ,  H02P6/08 ,  H02P6/28 ,  H02P6/34

摘要： The controller for a brushless motor controls motor current by executing updates of applied voltage to a coil in accordance with rotational position of a rotor, the target current, and the actual current flowing through the coil. The updates of applied voltage to the coil are executed according to the results of calculations of applied voltage to the coil in accordance with the rotational position of the rotor, the target current, and the actual current flowing through the coil, in order to generate power for rotating the rotor by varying magnetic field generated by the coil. The cycle time of the updates of applied voltage is shorter than the cycle time of the calculations of applied voltage corresponding to the rotational position of the rotor.

摘要翻译： 用于无刷电动机的控制器根据转子的旋转位置，目标电流和流过线圈的实际电流执行对线圈施加的电压的更新来控制电动机电流。 根据根据转子的旋转位置，目标电流和流过线圈的实际电流对线圈的施加电压的计算结果，执行施加到线圈的电压的更新，以产生电力 用于通过改变由线圈产生的磁场来旋转转子。 施加电压的更新的周期时间比对应于转子的旋转位置的施加电压的计算的周期时间短。

公开(公告)号：US07009349B2

公开(公告)日：2006-03-07

申请号：US10919268

申请日：2004-08-17

申请人： Shigeki Nagase ,  Katsutoshi Nishizaki ,  Takeshi Ueda

发明人： Shigeki Nagase ,  Katsutoshi Nishizaki ,  Takeshi Ueda

IPC分类号： B62D5/04 ,  B62D6/00

CPC分类号： B62D5/046 ,  B62D5/0484

摘要： A resistor member having a resistance value substantially equal to a resistance of a relay in an ON state is inserted into a current supply path which is not inserted with the relay in current supply paths for supplying currents from a driving circuit to a brushless motor. Further, in the driving circuit, widths of bus bars forming wirings are set such that resistances of the wirings (contact resistance) from a branch point on power source side to Hi side FET (source terminals thereof) are equal to each other and widths of bus bars forming the wirings are set such that the resistances of the wirings from a ground side branch point NL to Lo side FET (source terminals thereof) become equal to each other.

摘要翻译： 具有与导通状态下的继电器的电阻基本相等的电阻值的电阻部件被插入到没有与继电器一起插入的电流供给路径，用于从驱动电路向无刷电动机供给电流的电流供给路径。 此外，在驱动电路中，形成布线的汇流条的宽度被设定为使得从电源侧的分支点到Hi侧FET（其源极端子）的布线电阻（接触电阻）彼此相等，并且宽度 形成布线的母线被设定为使得从地侧分支点NL到Lo侧FET（其源极端子）的布线的电阻变得彼此相等。

公开(公告)号：US08504242B2

公开(公告)日：2013-08-06

申请号：US12935784

申请日：2009-03-30

申请人： Takeshi Ueda ,  Shigeki Nagase ,  Kouya Yoshida

发明人： Takeshi Ueda ,  Shigeki Nagase ,  Kouya Yoshida

IPC分类号： H02P21/14

CPC分类号： B62D5/046

摘要： An angle calculator detects a rotation angle θa of a rotor. A three-phase/d-q axis converter outputs detected current id, iq on d-q coordinate axes by making a conversion, based on a corrected detection angle θc obtained by adding or subtracting an amount of detection deviation from a time point of current detection to or from the detection angle θa. A command current calculator calculates command current id*, iq* on the d-q coordinate axes based on a steering torque T and a speed S. A feedback controller calculates command voltages vd, vq on the d-q coordinate axes based on the command current id*, iq* and the detected current id, iq. A d-q axis/three-phase converter converts the command voltages vd, vq into three-phase command voltages, based on a corrected detection angle θb obtained by adding an amount of detection deviation from a time point when a motor is driven to the detection angle θa. The deviation can be eliminated by the command voltages, and the motor can be driven with high precision.

摘要翻译： 角度计算器检测转子的旋转角度θa。 三相/ dq轴转换器基于通过从当前检测的时间点加上或减去检测偏差量而得到的校正检测角度tt，通过进行转换来输出dq坐标轴上的检测电流id iq 检测角度θa。 指令电流计算器基于转向转矩T和转速S计算dq坐标轴上的指令电流id *，iq *。反馈控制器基于指令电流id *计算dq坐标轴上的指令电压vd，vq， iq *和检测到的当前id iq。 dq轴/三相变换器将指令电压vd，vq转换为三相指令电压，该校正检测角度基于通过将电动机驱动的时间点的检测偏差量加到检测角度而获得的检测角度 theta 通过指令电压可以消除偏差，可以高精度地驱动电机。

公开(公告)号：US08237392B2

公开(公告)日：2012-08-07

申请号：US12461764

申请日：2009-08-24

申请人： Takeshi Ueda ,  Shigeki Nagase

发明人： Takeshi Ueda ,  Shigeki Nagase

IPC分类号： G05B11/28

CPC分类号： B62D5/046 ,  H02P21/16 ,  H02P27/08 ,  H02P2205/05

摘要： An angle calculation portion of a motor control apparatus determines an angle θ of a rotor, and an angular velocity calculation portion determines an angular velocity ωe of the rotor. A command current calculation portion determines command currents id* and iq* on dq axes, based on a steering torque T and a vehicle speed S. An open-loop control portion determines command voltages vd and vq on the dq axes based on the command currents id* and iq* and the angular velocity ωe, according to circuit equations of a motor. A dq-axis/three-phase conversion portion converts the command voltages vd and vq to command voltages of three phases. A three-phase voltage correction portion corrects the command voltage so that an actual time average value of a voltage applied to each phase is equal to a time average value of a voltage that is to be applied to the phase if the voltage is not decreased, in order to compensate for a decrease in the applied voltage. By performing the correction, it is possible to eliminate or suppress a decrease in control accuracy due to a wiring resistance and the like.

摘要翻译： 马达控制装置的角度计算部确定角度和角度; 并且角速度计算部分确定转子的角速度ωe。 指令电流计算部分基于转向转矩T和车速S确定dq轴上的指令电流id *和iq *。开环控制部分基于指令电流来确定dq轴上的指令电压vd和vq id *和iq *和角速度ωe，根据电机的电路方程。 dq轴/三相转换部将命令电压vd和vq转换为三相的指令电压。 三相电压校正部分校正指令电压，使得施加到每相的电压的实际时间平均值等于如果电压不降低则施加到相位的电压的时间平均值， 以补偿施加电压的降低。 通过进行校正，可以消除或抑制由于布线电阻等引起的控制精度的降低。

公开(公告)号：US20110018487A1

公开(公告)日：2011-01-27

申请号：US12736320

申请日：2009-02-18

申请人： Shigeki Nagase ,  Takeshi Ueda ,  Yuji Kariatsumari ,  Hiroshi Sumasu

发明人： Shigeki Nagase ,  Takeshi Ueda ,  Yuji Kariatsumari ,  Hiroshi Sumasu

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）。

公开(公告)号：US20100294586A1

公开(公告)日：2010-11-25

申请号：US12445743

申请日：2007-10-15

申请人： Shigeki Nagase ,  Takeshi Ueda ,  Akira Sugimoto ,  Kimihito Chino

发明人： Shigeki Nagase ,  Takeshi Ueda ,  Akira Sugimoto ,  Kimihito Chino

IPC分类号： B62D5/04

CPC分类号： B62D5/046 ,  H02P27/06 ,  H02P29/0241 ,  H02P2207/05

摘要： When stopping operation of an electric power steering apparatus, a motor relay is kept in an on-state even after a power supply relay is in an off-state. A drive control portion sets a target value of a d-axis current to a value other than zero and sets a target value of a q-axis current to zero, and performs a processing same as that at the time of rotating a motor. MOS-FETs contained in a motor driving circuit are controlled such that each of driving currents of the two phases or more is not zero and the brushless motor does not rotate even supplied with these driving currents. Electric charge accumulated in a capacitor is discharged via the MOS-FETs each in an on-state, a motor relay and the windings of the brushless motor. The electric charge accumulated in the capacitor may be discharged via the excitation coil of the motor relay.

摘要翻译： 在停止电动转向装置的动作时，即使电源继电器处于关闭状态，电动机继电器也保持接通状态。 驱动控制部将d轴电流的目标值设定为零以外的值，将q轴电流的目标值设定为零，并进行与电动机旋转时相同的处理。 控制电动机驱动电路中包含的MOS-FET，使得两相或更多相的驱动电流不为零，并且无刷电动机即使被这些驱动电流提供也不旋转。 电容器中累积的电荷通过MOS-FET各自在导通状态，电动机继电器和无刷电动机的绕组中放电。 蓄积在电容器中的电荷可以通过电动机继电器的励磁线圈放电。

公开(公告)号：US20100045217A1

公开(公告)日：2010-02-25

申请号：US12461764

申请日：2009-08-24

申请人： Takeshi Ueda ,  Shigeki Nagase

发明人： Takeshi Ueda ,  Shigeki Nagase

IPC分类号： H02P21/14

CPC分类号： B62D5/046 ,  H02P21/16 ,  H02P27/08 ,  H02P2205/05

摘要： An angle calculation portion of a motor control apparatus determines an angle θ of a rotor, and an angular velocity calculation portion determines an angular velocity ωe of the rotor. A command current calculation portion determines command currents id* and iq* on dq axes, based on a steering torque T and a vehicle speed S. An open-loop control portion determines command voltages vd and vq on the dq axes based on the command currents id* and iq* and the angular velocity ωe, according to circuit equations of a motor. A dq-axis/three-phase conversion portion converts the command voltages vd and vq to command voltages of three phases. A three-phase voltage correction portion corrects the command voltage so that an actual time average value of a voltage applied to each phase is equal to a time average value of a voltage that is to be applied to the phase if the voltage is not decreased, in order to compensate for a decrease in the applied voltage. By performing the correction, it is possible to eliminate or suppress a decrease in control accuracy due to a wiring resistance and the like.

摘要翻译： 马达控制装置的角度计算部确定角度和角度; 并且角速度计算部分确定转子的角速度ωe。 指令电流计算部分基于转向转矩T和车速S确定dq轴上的指令电流id *和iq *。开环控制部分基于指令电流来确定dq轴上的指令电压vd和vq id *和iq *和角速度ωe，根据电机的电路方程。 dq轴/三相转换部将命令电压vd和vq转换为三相的指令电压。 三相电压校正部分校正指令电压，使得施加到每相的电压的实际时间平均值等于如果电压不降低则施加到相位的电压的时间平均值， 以补偿施加电压的降低。 通过进行校正，可以消除或抑制由于布线电阻等引起的控制精度的降低。

公开(公告)号：US20050125124A1

公开(公告)日：2005-06-09

申请号：US10969006

申请日：2004-10-21

申请人： Shigeki Nagase ,  Masahiko Sakamaki ,  Takeshi Ueda

发明人： Shigeki Nagase ,  Masahiko Sakamaki ,  Takeshi Ueda

IPC分类号： B62D5/04 ,  H02P6/08 ,  H02P6/16 ,  H02P21/00 ,  H02P21/04 ,  H02P27/04

CPC分类号： H02P21/04 ,  B62D5/046 ,  B62D5/0463

摘要： A power-assisted steering system includes a current detector for detecting sequentially current flowing to a ground-side switching element in a lower arm by a detection resistor inserted into the lower arm not only in a time period when the switching element is ON but also in time period when the switching element is OFF, an offset updating unit for sequentially updating an offset correction value with detected values in the time period when the switching element is OFF, and a detected current correcting unit for calculating a motor current value (a corrected current detected value) by correcting detected values in the time period when the switching element is ON with the offset correction value thereby updating.

摘要翻译： 一种电力辅助转向系统，包括电流检测器，用于通过未插入到下臂中的检测电阻器来顺序检测下臂中的接地侧开关元件的电流，不仅在开关元件接通的时间段内， 开关元件断开的时间段，用于在切换元件为OFF时的时间段内用检测值顺序更新偏移校正值的偏移更新单元，以及用于计算电动机电流值（校正电流）的检测电流校正单元 检测值），通过利用偏移校正值更新开关元件导通时间段内的检测值。

公开(公告)号：US06892588B2

公开(公告)日：2005-05-17

申请号：US10614619

申请日：2003-07-07

申请人： Shigeki Nagase ,  Masahiko Sakamaki ,  Katsutoshi Nishizaki ,  Shirou Nakano ,  Yoshikazu Kuroumaru ,  Ken Matsubara

发明人： Shigeki Nagase ,  Masahiko Sakamaki ,  Katsutoshi Nishizaki ,  Shirou Nakano ,  Yoshikazu Kuroumaru ,  Ken Matsubara

IPC分类号： G01L3/10 ,  G01L3/02 ,  G01L3/12 ,  G01L3/14

CPC分类号： G01L3/109 ,  G01L3/105

摘要： A first alternating signal of which phase changes according to changes in the rotation angle of a first shaft is output, and a second alternating signal of which phase changes according to changes in the rotation angle of a second shaft capable of rotating elastically with respect to the first shaft is output. A phase difference correspondence signal of which waveform changes according to changes in the phase difference between the first alternating signal and second alternating signal is output. A value corresponding to the torque transmitted by the first and second shafts is found from the phase difference correspondence signal.

摘要翻译： 输出根据第一轴的旋转角度的变化而相位变化的第一交变信号，并且第二交变信号根据能够相对于第一轴的旋转角度旋转的第二轴的旋转角度的变化而发生变化 第一轴输出。 输出根据第一交变信号和第二交变信号之间的相位差的变化而波形变化的相位差对应信号。 从相位差对应信号中求出与第一轴和第二轴传递的转矩对应的值。

公开(公告)号：US08681506B2

公开(公告)日：2014-03-25

申请号：US12735654

申请日：2009-02-02

申请人： Motoo Nakai ,  Shigeki Nagase ,  Akira Sugimoto

发明人： Motoo Nakai ,  Shigeki Nagase ,  Akira Sugimoto

IPC分类号： H05K1/14 ,  B62D5/04

CPC分类号： B62D5/0406 ,  H02K7/1166 ,  H02K11/33 ,  H02K11/40

摘要： A motor control device comprising a control board for controlling driving of an electric motor, the control board including a multilayer circuit board having inner layers and outer layers, a ground pattern disposed around an output shaft of the electric motor formed on one of the inner layers, and a severed portion formed on a part of the ground pattern, so as to sever through the ground pattern in a radial direction of the output shaft. The construction reduces noise from the motor control device.

摘要翻译： 一种电动机控制装置，包括用于控制电动机的驱动的控制板，所述控制板包括具有内层和外层的多层电路板，设置在所述电动机的输出轴周围的接地图案，所述接地图案形成在所述内层 以及形成在接地图案的一部分上的切断部分，以便沿输出轴的径向切断接地图案。 该结构降低了电机控制装置的噪音。