公开(公告)号：US07197389B2

公开(公告)日：2007-03-27

申请号：US11030440

申请日：2005-01-07

申请人： Hiroshi Fujioka ,  Takanori Matsunaga ,  Takashi Maeda ,  Toshinori Matsui ,  Masahiko Kurishige ,  Hideyuki Tanaka

发明人： Hiroshi Fujioka ,  Takanori Matsunaga ,  Takashi Maeda ,  Toshinori Matsui ,  Masahiko Kurishige ,  Hideyuki Tanaka

IPC分类号： G06F7/70

CPC分类号： B62D6/005 ,  B60T2230/02 ,  B60T2260/02 ,  B62D6/04

摘要： System for detecting stability/instability of behavior of a motor vehicle upon occurrence of tire slip or lock. State of the motor vehicle is determined on the basis of an alignment torque (Ta) applied from a road and a side slip angle (β). By taking advantage of such torque/slip-angle characteristic that although the alignment torque is proportional to a side slip angle when the latter is small, the alignment torque becomes smaller as the side slip angle increases, a normal value is determined from a straight line slope and the side slip angle in a region where the latter is small. Unstable behavior of the motor vehicle is determined when deviation of actual measured value from the normal value increases. Further, unstable state is determined when the slope of the alignment torque for the slip angle departs significantly from that of approximate straight line slope.

公开(公告)号：US20060042860A1

公开(公告)日：2006-03-02

申请号：US10529038

申请日：2004-04-21

申请人： Masaya Endo ,  Masahiko Kurishige ,  Toshihide Satake ,  Noriyuki Inoue

发明人： Masaya Endo ,  Masahiko Kurishige ,  Toshihide Satake ,  Noriyuki Inoue

IPC分类号： B62D7/15

CPC分类号： B62D6/008

摘要： In an electrical power steering apparatus, steering shaft reaction torque is estimated by a steering shaft reaction torque estimation unit, and a reference road reaction torque is estimated by a reference road reaction torque estimation unit. The estimated steering shaft reaction torque and the reference road reaction torque are weighted, and in response, a target steering reaction torque is set by a target steering reaction torque generation unit, hysteresis width and slope of the target steering reaction torque are respectively adjusted, and steering feeling is thereby easily improved.

摘要翻译： 在电动助力转向装置中，通过转向轴反作用转矩估计部估计转向轴的反作用转矩，并且通过基准道路反作用转矩估计部估计基准道路反作用转矩。 对所估计的转向轴反作用转矩和基准道路反作用扭矩进行加权，并且作为响应，目标转向反作用转矩产生单元设定目标转向反作用转矩，分别调整目标转向反作用转矩的滞后宽度和斜率， 从而容易改善转向感。

公开(公告)号：US20050125136A1

公开(公告)日：2005-06-09

申请号：US11030437

申请日：2005-01-07

申请人： Hiroshi Fujioka ,  Takanori Matsunaga ,  Takashi Maeda ,  Toshinori Matsui ,  Masahiko Kurishige ,  Hideyuki Tanaka

发明人： Hiroshi Fujioka ,  Takanori Matsunaga ,  Takashi Maeda ,  Toshinori Matsui ,  Masahiko Kurishige ,  Hideyuki Tanaka

IPC分类号： B60R16/02 ,  B60W40/10 ,  B60W40/101 ,  B60W40/103 ,  B62D5/04 ,  B62D6/00 ,  B62D6/04 ,  B62D101/00 ,  B62D111/00 ,  B62D117/00 ,  B62D121/00 ,  B62D137/00 ,  G06F7/00 ,  G06F7/70 ,  G08G1/16 ,  G06F19/00

CPC分类号： B62D6/005 ,  B60T2230/02 ,  B60T2260/02 ,  B62D6/04

摘要： System for detecting stability/instability of behavior of a motor vehicle upon occurrence of tire slip or lock. State of the motor vehicle is determined on the basis of an alignment torque (Ta) applied from a road and a side slip angle (β). By taking advantage of such torque/slip-angle characteristic that although the alignment torque is proportional to a side slip angle when the latter is small, the alignment torque becomes smaller as the side slip angle increases, a normal value is determined from a straight line slope and the side slip angle in a region where the latter is small. Unstable behavior of the motor vehicle is determined when deviation of actual measured value from the normal value increases. Further, unstable state is determined when the slope of the alignment torque for the slip angle departs significantly from that of approximate straight line slope.

公开(公告)号：US20050125135A1

公开(公告)日：2005-06-09

申请号：US11030159

申请日：2005-01-07

申请人： Hiroshi Fujioka ,  Takanori Matsunaga ,  Takashi Maeda ,  Toshinori Matsui ,  Masahiko Kurishige ,  Hideyuki Tanaka

发明人： Hiroshi Fujioka ,  Takanori Matsunaga ,  Takashi Maeda ,  Toshinori Matsui ,  Masahiko Kurishige ,  Hideyuki Tanaka

IPC分类号： B60R16/02 ,  B60W40/10 ,  B60W40/101 ,  B60W40/103 ,  B62D5/04 ,  B62D6/00 ,  B62D6/04 ,  B62D101/00 ,  B62D111/00 ,  B62D117/00 ,  B62D121/00 ,  B62D137/00 ,  G06F7/00 ,  G06F7/70 ,  G08G1/16

CPC分类号： B62D6/005 ,  B60T2230/02 ,  B60T2260/02 ,  B62D6/04

摘要： System for detecting stability/instability of behavior of a motor vehicle upon occurrence of tire slip or lock. State of the motor vehicle is determined on the basis of an alignment torque (Ta) applied from a road and a side slip angle (β). By taking advantage of such torque/slip-angle characteristic that although the alignment torque is proportional to a side slip angle when the latter is small, the alignment torque becomes smaller as the side slip angle increases, a normal value is determined from a straight line slope and the side slip angle in a region where the latter is small. Unstable behavior of the motor vehicle is determined when deviation of actual measured value from the normal value increases. Further, unstable state is determined when the slope of the alignment torque for the slip angle departs significantly from that of approximate straight line slope.

公开(公告)号：US06854559B2

公开(公告)日：2005-02-15

申请号：US10685480

申请日：2003-10-16

申请人： Masahiko Kurishige ,  Hideyuki Tanaka ,  Noriyuki Inoue ,  Chiaki Fujimoto ,  Kazumichi Tsutsumi

发明人： Masahiko Kurishige ,  Hideyuki Tanaka ,  Noriyuki Inoue ,  Chiaki Fujimoto ,  Kazumichi Tsutsumi

IPC分类号： B62D6/00 ,  B62D5/04 ,  B62D101/00 ,  B62D111/00 ,  B62D113/00 ,  B62D119/00 ,  B62D137/00

CPC分类号： B62D5/0466 ,  B62D6/008

摘要： An electric motor controller for a steering device that can apply an appropriate steering force to a steering wheel according to running conditions. An electric power steering controller of the present invention includes a steering shaft reaction force torque sensor for detecting a reaction force torque of a steering system, a superimposed reaction force torque calculating unit for multiplying a steering angle detected by the steering angle sensor by a gain to calculate a superimposed reaction force torque in the return direction of the steering wheel, and a control unit for controlling the gain so that the superimposed reaction force torque is reduced when a reaction force torque of the steering system is increased and the superimposed reaction force torque is increased when a reaction force torque of the steering system is decreased.

摘要翻译： 一种用于转向装置的电动机控制器，其可以根据运行条件向方向盘施加适当的转向力。 本发明的电动助力转向控制装置包括：用于检测转向系统的反作用力转矩的转向轴反作用转矩传感器;叠加的反作用力转矩计算单元，用于将由转向角传感器检测到的转向角乘以增益; 计算方向盘的返回方向上的叠加的反作用力转矩;以及控制单元，用于控制增益，使得当转向系统的反作用力转矩增加时叠加的反作用力转矩减小，叠加的反作用力转矩为 当转向系统的反作用力转矩减小时增加。

公开(公告)号：US06831477B2

公开(公告)日：2004-12-14

申请号：US10378659

申请日：2003-03-05

申请人： Kouji Fukusumi ,  Masahiko Kurishige ,  Noriyuki Inoue ,  Seiji Sakanishi ,  Kenichi Kawakami ,  Takayuki Kifuku

发明人： Kouji Fukusumi ,  Masahiko Kurishige ,  Noriyuki Inoue ,  Seiji Sakanishi ,  Kenichi Kawakami ,  Takayuki Kifuku

IPC分类号： G01R3134

CPC分类号： G01R31/006 ,  G01R31/343

摘要： An identification is made of an abnormal condition in a motor due to an influence of a disturbance voltage, without addition of hardware, by estimating the disturbance voltage based on a target voltage and actual current flowing in the motor. An apparatus for detecting the abnormal condition of a motor in an electric power steering apparatus includes a motor current detecting unit for detecting an actual current flowing through the motor; a feedback controlling unit for feedback-controlling a target voltage value that gives the motor a driving command in accordance with the deviation of the actual current from an input target current; an abnormal voltage estimating unit for, based on the target voltage and the actual current, estimating an abnormal voltage estimation value corresponding to a voltage indicating an abnormal condition of the motor; and a motor abnormality judging unit for judging abnormality of the motor based on a comparison of the abnormal voltage estimation value with an abnormal voltage value previously stored.

摘要翻译： 通过基于在电动机中流动的目标电压和实际电流来估计干扰电压，由于干扰电压的影响而不添加硬件，来识别电动机的异常状况。 一种用于检测电动转向装置中的电动机的异常状况的装置，包括用于检测流过电动机的实际电流的电动机电流检测单元; 反馈控制单元，用于根据实际电流与输入目标电流的偏差反馈控制给予电动机的驱动指令的目标电压值; 异常电压估计单元，用于基于目标电压和实际电流，估计与指示电动机的异常状态的电压相对应的异常电压估计值; 以及电动机异常判定单元，用于基于异常电压估计值与预先存储的异常电压值的比较来判断电动机的异常。

公开(公告)号：US06496762B2

公开(公告)日：2002-12-17

申请号：US09781543

申请日：2001-02-13

申请人： Masahiko Kurishige ,  Noriyuki Inoue ,  Ryoji Nishiyama ,  Shunichi Wada ,  Hisasi Inoyama

发明人： Masahiko Kurishige ,  Noriyuki Inoue ,  Ryoji Nishiyama ,  Shunichi Wada ,  Hisasi Inoyama

IPC分类号： B62D506

CPC分类号： B62D5/0466 ,  B62D5/049 ,  B62D6/008

摘要： A method of controlling an automotive electric power steering system includes estimating a first road reaction torque from driver's steering torque detected by a steering torque detector. A second road reaction torque is estimated from the steering angle detected by a steering angle sensor. A returning torque compensator calculates a steering wheel-assisting torque from the second road reaction torque. An assisting torque is generated by an electric motor according to the result of the calculation, and is controlled in a direction to return the steering wheel to its center position. The returning torque compensator determines whether the steering angle sensor is faulty when the difference between the first and second road reaction torques is greater than a given value.

摘要翻译： 一种控制汽车电动助力转向系统的方法，包括从由转向转矩检测器检测的驾驶员的转向转矩估计第一道路反作用转矩。 根据由转向角传感器检测到的转向角来估计第二道路反作用转矩。 返回的扭矩补偿器从第二道路反作用转矩计算方向盘辅助转矩。 根据计算结果由电动机产生辅助转矩，并且将方向盘的方向控制到其中心位置。 当第一和第二道路反作用力之间的差大于给定值时，返回的扭矩补偿器确定转向角传感器是否有故障。

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：US06246197B1

公开(公告)日：2001-06-12

申请号：US09044349

申请日：1998-03-19

申请人： Masahiko Kurishige ,  Noriyuki Inoue ,  Takayuki Kifuku ,  Munenori Yamamoto ,  Shunichi Wada

发明人： Masahiko Kurishige ,  Noriyuki Inoue ,  Takayuki Kifuku ,  Munenori Yamamoto ,  Shunichi Wada

IPC分类号： H02P700

CPC分类号： B62D5/046

摘要： To estimate the rotation speed of the motor for assisting a steering torque regardless of the running state of a vehicle with accuracy, an application voltage estimation value obtained by subtracting a correction voltage obtained based on a detection current value detected by current detection means from the inter-terminal voltage measurement value of the motor is output and the rotation speed of the motor is estimated based on this application voltage estimation value and the detection current value.

摘要翻译： 为了估计用于辅助转向转矩的电动机的转速，而不管车辆的行驶状态如何，其施加电压估计值是通过减去从电流检测装置检测到的检测电流值获得的校正电压而获得的， 输出电动机的端子电压测量值，并根据该施加电压估计值和检测电流值来估计电动机的转速。

公开(公告)号：US6161068A

公开(公告)日：2000-12-12

申请号：US340385

申请日：1999-06-28

申请人： Masahiko Kurishige ,  Noriyuki Inoue ,  Takayuki Kifuku ,  Susumu Zeniya

发明人： Masahiko Kurishige ,  Noriyuki Inoue ,  Takayuki Kifuku ,  Susumu Zeniya

IPC分类号： B62D6/00 ,  B62D5/04 ,  B62D101/00 ,  B62D119/00 ,  B62D137/00

CPC分类号： B62D5/0463 ,  B62D5/0472

摘要： An electric power steering control system reducing steering torque without making a driver feel uncomfortable torque oscillation, including a rotation speed observer for estimating the rotation speed of a motor based on the output of a torque sensor high pass filter (HPF) and the output of a drive current HPF obtained by removing a steering frequency component from a drive current detection value.

摘要翻译： 一种电动助力转向控制系统，在不使驾驶员感到不舒适的扭矩振动的情况下，减小转向转矩，包括基于转矩传感器高通滤波器（HPF）的输出来估计电动机的转速的转速观测器， 通过从驱动电流检测值中去除转向频率分量而获得的驱动电流HPF。