公开(公告)号：US06450287B1

公开(公告)日：2002-09-17

申请号：US09604289

申请日：2000-06-26

申请人： Masahiko Kurishige ,  Noriyuki Inoue ,  Ryoji Nishiyama ,  Takayuki Kifuku ,  Shunichi Wada

发明人： Masahiko Kurishige ,  Noriyuki Inoue ,  Ryoji Nishiyama ,  Takayuki Kifuku ,  Shunichi Wada

IPC分类号： B62D506

CPC分类号： B62D5/0466

摘要： An electric power steering controller including a motor for generating torque for assisting the steering torque of a driver to assist the steering force of a steering system. The controller includes a road reaction torque detector for detecting road reaction torque received by tires from the surface of a road, and a road detection torque addition control for controlling the torque of the motor based on the road reaction torque. The electric power steering controller enables the steering wheel to be returned to its starting point without adding torque in a direction in which the driver returns the steering wheel when the driver contgrols the steering wheel with the small road reaction torque of the tires, for example, when turning at an intersection at a low speed or when turning at a gently curved portion of a road at a high speed.

摘要翻译： 一种电动助力转向控制器，包括用于产生用于辅助驾驶员的转向扭矩以帮助转向系统的转向力的转矩的电动机。 该控制器包括：道路反作用转矩检测器，用于检测来自道路表面的轮胎接收到的道路反作用扭矩;以及道路检测转矩附加控制，用于基于道路反作用转矩来控制电动机的转矩。 电动助力转向控制器使得方向盘能够在驾驶员以轮胎的小的道路反作用扭矩阻止方向盘的情况下将方向盘返回到起点，而不会在驾驶员返回方向盘的方向上增加扭矩，例如， 当在交叉点以低速转动或者在高速的道路的轻柔弯曲部分转动时。

公开(公告)号：US20020043423A1

公开(公告)日：2002-04-18

申请号：US09949679

申请日：2001-09-12

申请人： NSK LTD.

发明人： Shuji Endo ,  Hui Chen

IPC分类号： B62D005/04

CPC分类号： B62D5/0463 ,  B62D5/0466

摘要： There is provided a control unit for an electric power steering apparatus that controls a motor for giving a steering assist force to a steering mechanism based on a current control value calculated from a steering assist command value calculated based on a steering torque generated in a steering shaft, and a current value of the motor. The control unit has a center responsiveness improving section that differentiates a signal of the steering torque, adds the differentiated value to the steering assist command value, and carries out a phase advancement compensation to the differentiation.

摘要翻译： 提供了一种用于电动助力转向装置的控制单元，该控制单元基于从基于在转向轴中产生的转向扭矩计算的转向辅助指令值计算的电流控制值来控制向转向机构提供转向辅助力的电动机 ，以及电机的当前值。 所述控制单元具有中心响应性提高部，其对所述转向转矩的信号进行微分，将所述微分值与所述转向辅助指令值相加，并对所述微分进行相位前进补偿。

公开(公告)号：US20020005314A1

公开(公告)日：2002-01-17

申请号：US09903677

申请日：2001-07-13

发明人： Shin Takehara ,  Kiyoshi Sakamoto

IPC分类号： B62D005/04

CPC分类号： B62D5/0463 ,  B62D5/0466

摘要： An electric power steering system determines an assist control quantity for assist control by multiplying a turning torque applied to a steering wheel by a control gain, a damping control quantity for damping control by multiplying a rotational speed of motor by a control gain and a feedback control quantity for steering angle feedback control from a deviation between a target rotational speed of motor determined on the basis of the turning torque and an actual rotational speed of motor, and controls an electric motor with a motor control quantity that is determined on the basis of the assist control quantity, the damping control quantity and the feedback control quantity.

摘要翻译： 电动助力转向系统通过将施加在方向盘上的转向转矩乘以控制增益，通过将电动机的转速乘以控制增益的减振控制量和反馈控制来确定用于辅助控制的辅助控制量 从基于转向转矩确定的电动机的目标转速与电动机的实际转速之间的偏差之间的转向角度反馈控制量，并且控制具有基于电动机的电动机控制量的电动机 辅助控制量，阻尼控制量和反馈控制量。

公开(公告)号：US06286621B1

公开(公告)日：2001-09-11

申请号：US09640095

申请日：2000-08-15

申请人： Yoshinobu Mukai ,  Yoshiki Noro

发明人： Yoshinobu Mukai ,  Yoshiki Noro

IPC分类号： B62D504

CPC分类号： B62D5/0493 ,  B62D5/0466

摘要： An electric power steering apparatus comprises a control unit which controls a motor drive for driving an electric motor on the basis of an steering torque signal. The control unit has an assist inhibitor for inhibiting the feed of an assist torque by the motor to a steering system under given conditions. The assist inhibitor inhibits the generation of the assist torque by the motor when the direction of a manual steering torque and the direction of the assit torque are inconsistent for more than a predetermined time period. As a result, it becomes possible to exhibit desired damper effect during the predetermined time period and to inhibit the feed of the assist torque by the motor to the steering system after lapsing of the predetermined time period.

摘要翻译： 电动助力转向装置包括控制单元，其基于转向转矩信号控制用于驱动电动机的电动机驱动。 控制单元具有辅助抑制器，用于在给定条件下禁止由电动机向转向系统馈送辅助转矩。 当手动转向扭矩的方向和助力转矩的方向不一致超过预定的时间段时，辅助抑制器抑制由电动机产生辅助转矩。 结果，可以在预定时间段期间显示期望的阻尼器效应，并且在经过预定时间段之后禁止马达对转向系统的辅助转矩的馈送。

公开(公告)号：US6102151A

公开(公告)日：2000-08-15

申请号：US113930

申请日：1998-07-10

申请人： Yasuo Shimizu ,  Shigenori Takimoto

发明人： Yasuo Shimizu ,  Shigenori Takimoto

IPC分类号： B62D6/00 ,  B62D1/16 ,  B62D5/00 ,  B62D5/04 ,  B62D101/00 ,  B62D117/00 ,  B62D119/00 ,  B62D4/04

CPC分类号： B62D1/166 ,  B62D5/0466

摘要： Variable gear ratio mechanism variably sets a ratio defining a pivot angle of steered wheels of the vehicle to a steering angle of a steering wheel of the vehicle. Electric motor applies an electric steering assist to the steering system of the vehicle. Steering torque sensor detects steering torque in the steering system. Control unit sets a target motor current on the basis of at least the steering torque detected by the steering torque sensor. Gear ratio detector detects the gear ratio set by the variable gear ratio mechanism. Thus, the control unit sets the target motor current on the basis of the gear ratio detected by the gear ratio detector in addition to the steering torque detected by the steering torque sensor. With this arrangement, the target motor current set by the control unit can reflect the currently-set gear ratio, with the result that the operating characteristics of the vehicle's steering system can be changed smoothly and continuously in response to every gear ratio change and an improved steering feel free of unsmoothness and friction is achieved.

摘要翻译： 可变齿轮比机构可变地设置将车辆的转向轮的枢转角度定义为车辆的方向盘的转向角的比率。 电动机对车辆的转向系统施加电动转向辅助。 转向力矩传感器检测转向系统中的转向转矩。 至少基于转向转矩传感器检测到的转向转矩，控制单元设定目标电动机电流。 齿轮比检测器检测由可变齿轮比机构设定的齿轮比。 因此，除了由转向转矩传感器检测到的转向转矩之外，控制单元还基于由变速比检测器检测的齿轮比来设定目标电动机电流。 通过这种布置，由控制单元设定的目标电动机电流可以反映当前设定的变速比，结果可以响应于每个齿轮比变化平滑且连续地改变车辆转向系统的操作特性，并改进 转向感不自由，达到摩擦。

公开(公告)号：US5878360A

公开(公告)日：1999-03-02

申请号：US474653

申请日：1995-06-07

申请人： Kazuhisa Nishino ,  Yuji Takatsuka ,  Shunichi Wada

发明人： Kazuhisa Nishino ,  Yuji Takatsuka ,  Shunichi Wada

IPC分类号： B62D6/00 ,  B62D5/04

CPC分类号： B62D5/0466

摘要： An electric power steering control apparatus is intended to improve the convergence and control stability of a returning motion of a steering wheel when a driver of a vehicle on which the apparatus is installed lets his or her hands free from the steering wheel, and to reduce a burden to the driver when an excessive steering torque occurs during the returning motion. The apparatus includes a steering torque sensor 8 for detecting a steering torque of a steering system of the vehicle, a motor rotational-speed detector 7 for detecting a rotational speed of the electric motor, and a rotational-speed controller for controlling the electric motor based on output signals from the steering torque sensor and the motor rotational-speed sensor so that when the steering torque as detected is less than a predetermined torque value, the rotational speed of the electric motor does not exceed a predetermined speed value corresponding to the predetermined torque value.

摘要翻译： 电动助力转向控制装置旨在提高方向盘的返回运动的收敛和控制的稳定性，当装置上的车辆的驾驶员使他或她的手从方向盘脱离时，并且减少 在返回运动期间发生过大的转向转矩时对驾驶员的负担。 该装置包括用于检测车辆的转向系统的转向转矩的转向转矩传感器8，用于检测电动机的转速的电动机转速检测器7以及用于控制电动机的转速控制器 在来自转向转矩传感器和电动机转速传感器的输出信号上，使得当检测到的转向转矩小于预定转矩值时，电动机的转速不超过对应于预定转矩的预定速度值 值。

公开(公告)号：US5668721A

公开(公告)日：1997-09-16

申请号：US537604

申请日：1995-10-02

申请人： Ashok Chandy

发明人： Ashok Chandy

IPC分类号： B62D5/04

CPC分类号： B62D5/0466

摘要： In an electric power steering system in which a torque assist command is generated for controlling a motor that provides electric power assist torque at a desired torque, a method of motor control according to the steps of: determining a voltage mode motor command responsive to the torque assist command, wherein the voltage mode motor command commands a first motor torque that is (a) greater than the desired torque when the desired torque is low and (b) substantially equal to the desired torque when the desired torque is high; determining a current mode motor command responsive to the torque assist command, wherein the current mode motor command commands a second motor torque that is (a) substantially equal to the desired torque when the desired torque is low and (b) greater than the desired torque when the desired torque is high; and controlling the motor responsive to the voltage and current mode motor commands, wherein the motor assist torque is equal to a lesser of the first and second motor torques.

摘要翻译： 在一种电动助力转向系统中，产生用于控制以期望转矩提供电力辅助转矩的电动机的转矩辅助指令，根据以下步骤的电动机控制方法：响应于转矩确定电压模式电机指令 辅助命令，其中所述电压模式电动机命令命令第一电动机转矩，所述第一电动机转矩在所需转矩低时（a）大于期望转矩，以及（b）当期望转矩高时基本上等于期望转矩; 响应于转矩辅助命令确定电流模式电动机命令，其中当前模式电动机命令命令第二电动机转矩，其在（a）当期望转矩低时基本上等于期望转矩，并且（b）大于期望转矩 当所需扭矩高时; 以及响应于所述电压和电流模式电动机命令来控制所述电动机，其中所述电动机辅助转矩等于所述第一和第二电动机转矩中较小的一个。

公开(公告)号：US5444622A

公开(公告)日：1995-08-22

申请号：US220455

申请日：1994-03-30

申请人： Sadao Takeshima ,  Tomoyuki Ishii

发明人： Sadao Takeshima ,  Tomoyuki Ishii

IPC分类号： B62D6/02 ,  B62D5/04

CPC分类号： B62D5/0466

摘要： In a method of controlling an electric power steering apparatus by controlling a drive force of a steering force assisting electric motor when a vehicle speed is lower than a predetermined speed and controlling a braking force of the electric motor when the vehicle speed exceeds the predetermined speed, a steering wheel forward or reverse turning state is determined in accordance with a change in steering torque when the vehicle speed exceeds the predetermined state. The braking force of the electric motor is controlled only when the steering wheel reverse turning state is detected.

摘要翻译： 在车速低于预定速度时通过控制转向力辅助电动机的驱动力来控制电动转向装置的方法，并且当车速超过预定速度时控制电动机的制动力， 当车速超过预定状态时，根据转向转矩的变化来确定方向盘正向或反转状态。 仅当检测到方向盘反向转动状态时才控制电动机的制动力。

公开(公告)号：US5201818A

公开(公告)日：1993-04-13

申请号：US686107

申请日：1991-04-16

申请人： Mitsuhiko Nishimoto

发明人： Mitsuhiko Nishimoto

IPC分类号： B62D5/04

CPC分类号： B62D5/0466

摘要： The power steering apparatus for assisting the return of a steering wheel by the rotating force of a motor for assisting steering force wherein noting the fact that the steering torque when the steering wheel is being returned is within the dead zone, whether the steering wheel is being returned is judged on the basis of the steering torque detected by a torque sensor and the terminal voltage of the motor, and the direction and magnitude of a driving current for the motor when the steering wheel is being returned are determined corresponding to the vehicle speed. Accordingly, the steering wheel is returned to the neutral position without using a steering angle sensor.

公开(公告)号：US5076381A

公开(公告)日：1991-12-31

申请号：US377385

申请日：1989-07-10

申请人： Toshihiko Daido ,  Hirofumi Matsuoka ,  Hidetoshi Tabuse

发明人： Toshihiko Daido ,  Hirofumi Matsuoka ,  Hidetoshi Tabuse

IPC分类号： B62D5/04

CPC分类号： B62D5/0436 ,  B62D5/0466

摘要： An electric power steering apparatus of the invention is provided with a rotary detector for detecting a rotational position of a motor, a vehicle speed sensor for detecting a vehicle speed, a torque sensor for detecting a steering torque, a calculating means for calculating angular velocity of aforesaid motor on the basis of aforesaid rotational position, and a target angular velocity setting means, wherein flow quantity of electric current to a motor for assisting steering force is made larger, when the steering torque is within a dead zone, correspondingly to the increase of the deviation on the basis of the deviation between the target angular velocity and the calculated angular velocity, thereby stabilized steering feeling in the vicinity of the steering angle middle point at the time of returning the steering wheel steered by mostly using the steering torque being in the dead zone.And this power steering apparatus is capable of fully following up the rotation of the steering wheel as well as preventing the extreme returning of the steering wheel at the time of returning control, by subtracting subtractor current which is made small when both the steering torque and angular velocity are large, and made large when the steering torque is small and the angular velocity is large, from the driving current.