公开(公告)号：US20050092541A1

公开(公告)日：2005-05-05

申请号：US10998579

申请日：2004-11-30

申请人： Takayuki Kifuku

发明人： Takayuki Kifuku

IPC分类号： B62D6/00 ,  B62D5/04 ,  B62D101/00 ,  B62D117/00 ,  B62D119/00 ,  B62D137/00 ,  H02P29/00

CPC分类号： B62D5/046 ,  B62D5/0463

摘要： A steering controlling device comprising a power source, a motor connected to a steering system, a motor driving circuit converting a power source voltage to a predetermined voltage and applying the voltage to the motor, and a controlling means for controlling the motor driving circuit, wherein the controlling means controls the motor driving circuit so as to boost the power source voltage when a rotational speed of the motor is a predetermined value or more, whereby a sufficient motor output torque is obtainable under various steering conditions in use of a converter, an efficiency is improved by suppressing a frequency of operating the converter, and an appropriate fail safe treatment is conducted when the converter is disordered.

摘要翻译： 一种转向控制装置，包括电源，连接到转向系统的电动机，将电源电压转换为预定电压并向电动机施加电压的电动机驱动电路，以及用于控制电动机驱动电路的控制装置，其中 控制装置控制电动机驱动电路，以便当电动机的转速为预定值以上时提高电源电压，从而在使用转换器的各种转向条件下可获得足够的电动机输出转矩，效率 通过抑制转换器的操作频率而得到改善，并且当转换器无序时进行适当的故障安全处理。

公开(公告)号：US06816765B2

公开(公告)日：2004-11-09

申请号：US10379341

申请日：2003-03-07

申请人： Munenori Yamamoto ,  Takayuki Kifuku

发明人： Munenori Yamamoto ,  Takayuki Kifuku

IPC分类号： G06F1700

CPC分类号： B62D5/0463 ,  B62D5/0457

摘要： A motor-driven power steering control apparatus for determining pertinent timings for starting/stopping application of steering assist torque includes a motor for applying an assist torque, a sensor for detecting a steering torque, a driving unit for operating the motor in dependence on a detected steering torque, a command unit for commanding starting and stopping of operation of the motor, and a motor operation decision unit. When stopping of operation of the motor is commanded by the command unit, the motor operation decision unit stops driving operation of the motor while commanding the driving unit to stop application of the steering assist torque when a state in which a steering torque is not greater than a predetermined value for stoppage has continued for a predetermined time period.

摘要翻译： 用于确定转向辅助转矩的启动/停止应用的相关定时的电动机动力转向控制装置包括用于施加辅助转矩的电动机，用于检测转向转矩的传感器，用于根据检测到的电动机来操作电动机的驱动单元 转向转矩，用于指示电动机的起动和停止的指令单元，以及电动机运转判定部。 当指令单元指令停止运转时，马达运转判定单元在转向转矩不大于的状态的同时命令驱动单元停止施加转向辅助转矩，停止马达的运转动作 停止的预定值持续预定时间段。

公开(公告)号：US06687590B2

公开(公告)日：2004-02-03

申请号：US09987636

申请日：2001-11-15

申请人： Takayuki Kifuku ,  Kazumichi Tsutsumi ,  Chiaki Fujimoto

发明人： Takayuki Kifuku ,  Kazumichi Tsutsumi ,  Chiaki Fujimoto

IPC分类号： B62D504

CPC分类号： B62D5/0463 ,  B62D5/0481 ,  B62D5/0487

摘要： The present invention is an electric power steering apparatus which includes a multi-phase motor that assists steering effort of a driver, a motor drive circuit provided with at least an upper switching element that connects or disconnects the winding of each phase of the multi-phase motor and a power supply, and a lower switching element that connects or disconnects the winding of each phase of the multi-phase motor and grounding, a logic circuit that determines ON/OFF of the upper switching element and the lower switching element, and first and second microcontrollers that control the motor drive circuit via this logic circuit, in which the logic circuit determines ON/OFF of the upper switching element and the lower switching element so that the power to the winding of the each phase of the multi-phase motor is stopped according to the instruction of either the first microcontroller or the second microcontroller.

摘要翻译： 本发明是一种电动助力转向装置，其包括辅助驾驶员的转向力的多相电动机，至少设置有连接或断开多相的各相的绕组的上部开关元件的电动机驱动电路 电动机和电源以及连接或断开多相电机和接地的各相的绕组的下开关元件，确定上开关元件和下开关元件的接通/断开的逻辑电路，以及第一 以及通过该逻辑电路来控制电动机驱动电路的第二微控制器，其中逻辑电路确定上开关元件和下开关元件的接通/断开，使得多相电动机的每相绕组的功率 根据第一微控制器或第二微控制器的指令停止。

公开(公告)号：US06445987B1

公开(公告)日：2002-09-03

申请号：US09781552

申请日：2001-02-13

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

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

IPC分类号： G06F700

CPC分类号： B62D5/0466

摘要： An electric power steering controller and a control method for assisting a driver during handling a steering wheel in a condition of a small road surface reaction torque of a tire by generating an auxiliary return torque for letting the steering wheel return to its original position. A first road surface reaction torque is estimated from a steering torque of a driver detected by a steering torque detector, a motor acceleration detected by a motor acceleration detector, and a motor current detected by a motor current detector. A second road surface reaction torque is estimated from a steering angle detected by a steering angle sensor, and a vehicle speed detected by a vehicle speed detector. Then, first and second auxiliary return torque signals of the steering wheel are computed from a road surface reaction torque, and, based on the computed result, a torque of the motor is controlled in direction so the steering wheel is returned to its original position.

摘要翻译： 一种电动助力转向控制器和控制方法，用于通过产生用于使方向盘返回其原始位置的辅助返回扭矩，在轮胎的小路面反作用转矩的条件下，在操纵方向盘期间辅助驾驶员。 根据由转向转矩检测器检测到的驾驶员的转向转矩，由电动机加速度检测器检测到的电动机加速度和由电动机电流检测器检测到的电动机电流来估计第一路面反作用力矩。 从由转向角传感器检测到的转向角以及由车速检测器检测到的车速估计第二路面反作用转矩。 然后，根据路面反作用扭矩计算方向盘的第一辅助返回扭矩信号，并且基于计算结果，在方向上控制电动机的转矩，使得方向盘返回到其原始位置。

公开(公告)号：US06427104B1

公开(公告)日：2002-07-30

申请号：US10036532

申请日：2002-01-07

申请人： Masaki Matsushita ,  Takayuki Kifuku ,  Masahiro Kimata

发明人： Masaki Matsushita ,  Takayuki Kifuku ,  Masahiro Kimata

IPC分类号： G06F700

CPC分类号： B62D5/0463

摘要： A steering control apparatus is provided which is capable of alleviating a decrease in the output torque of a motor during high-speed steering. The steering control apparatus includes a motor 5, a motor current instruction value generation section 100a, 100b for generating a current instruction value for the motor 5, a motor current detection section 102a, 102b for detecting a current flowing through the motor 5, wherein the motor 5 is driven to rotate based on at least the current, which flows through the motor 5, and the current instruction value. The motor current instruction value generation section includes a correction section 100b for correcting the current instruction value which controls the magnetic field of a field magnet of the motor 5, the correction section being operable to correct the current instruction value for controlling the magnetic field of the field magnet of the motor 5 when a steering speed is fast.

摘要翻译： 提供了一种转向控制装置，其能够减轻高速转向期间电动机的输出转矩的降低。 转向控制装置包括电动机5，用于产生电动机5的电流指令值的电动机电流指令值生成部100a，100b，检测流过电动机5的电流的电动机电流检测部102a，102b，其中， 电机5至少基于流过马达5的电流和当前指令值被驱动旋转。 电动机电流指令值生成部包括用于校正控制电动机5的磁场的磁场的电流指令值的校正部100b，校正部可操作以校正用于控制电动机5的磁场的电流指令值 当转向速度快时，马达5的磁场磁体。

公开(公告)号：US06272410B1

公开(公告)日：2001-08-07

申请号：US09271294

申请日：1999-03-17

申请人： Takahiro Okanoue ,  Takayuki Kifuku

发明人： Takahiro Okanoue ,  Takayuki Kifuku

IPC分类号： B62D100

摘要： To keep low the cross frequency of current feedback control and provide a good steering feeling, a first operation expression is selected when a difference &xgr; between a current instruction value computed based on a steering state of a steering wheel and a traveling state of a vehicle and a motor drive current value supplied from a battery to a motor for providing assist force to a system for transmitting power from the steering wheel to the wheels is larger than a predetermined value Th1, a second operation expression is selected when the difference &xgr; is smaller than the predetermined value Th1, and the difference &xgr; is corrected using the selected operation expression.

公开(公告)号：US5740040A

公开(公告)日：1998-04-14

申请号：US563585

申请日：1995-11-28

申请人： Takayuki Kifuku ,  Shunichi Wada

发明人： Takayuki Kifuku ,  Shunichi Wada

IPC分类号： B62D6/00 ,  B62D5/04 ,  G01P3/44 ,  H02P7/06 ,  B62D153/00

CPC分类号： G01P3/44 ,  B62D5/0463 ,  B62D5/0466 ,  B62D5/0472

摘要： An electrically-operated steering apparatus in which in addition to avoiding an increase in cost caused by installing a new sensor or using a high process speed CPU, steering feels, such as steering wheel return, viscous feeling, inertial feeling and frictional feeling, are improved. In addition to assisting a static steering torque on the basis of a torque sensor, with a motor-applied voltage detection circuit capable of removing the square wave component attendant on the PWM drive of a motor, a motor angular velocity .omega. is estimated from the output data of the relevant circuit. A motor angular acceleration d.omega./dt is estimated from the motor angular velocity .omega. by using a differential calculator. The steering friction and the moment of inertia are compensated on the basis of the motor angular velocity .omega. and motor angular acceleration d.omega./dt, respectively.

摘要翻译： 一种电动转向装置，其中除了避免由安装新传感器或使用高处理速度CPU引起的成本增加之外，改进了诸如方向盘返回，粘性感，惯性感和摩擦感的转向感觉 。 除了根据转矩传感器辅助静态转向转矩之外，通过电动机施加的电压检测电路能够去除马达的PWM驱动器上的方波分量，从输出端估计电机角速度ω 相关电路的数据。 通过使用差分计算器，从电动机角速度ω计算电动机角加速度ωω/ dt。 转向摩擦力和转动惯量分别基于电动机角速度ω和电机角加速度dω/ dt来补偿。

公开(公告)号：US08983727B2

公开(公告)日：2015-03-17

申请号：US12160948

申请日：2006-05-30

申请人： Takayuki Kifuku ,  Hiroyuki Kozuki ,  Masaki Matsushita

发明人： Takayuki Kifuku ,  Hiroyuki Kozuki ,  Masaki Matsushita

IPC分类号： B62D5/04 ,  B62D6/00 ,  B62D15/02 ,  H02P29/02

CPC分类号： B62D5/0493 ,  H02P29/02

摘要： A steering control apparatus is obtained which can achieve a sophisticated control function and redundancy of a motor output torque control unit with a simple construction. The apparatus includes a motor 3 that provides assist torque to a steering system, and a processing unit 2 that has an input processing section 21 for taking in detection signals of various kinds of sensors, and an inverter 25a for driving the motor 3, wherein a command is given to the inverter 25a based on the detection signals. The processing unit 2 has a motor target output torque calculation section 221a, a motor output torque control unit 222, a plurality of main-calculation sections, and a plurality of sub-calculation sections corresponding to the main-calculation sections, and determines abnormality of the motor output torque control unit 222 based on individual calculation results of the main-calculation sections and the sub-calculation sections.

摘要翻译： 获得能够以简单的结构实现电机输出转矩控制单元的复杂控制功能和冗余的转向控制装置。 该装置包括向转向系统提供辅助转矩的电动机3和具有用于接收各种传感器的检测信号的输入处理部21的处理单元2和用于驱动电动机3的逆变器25a，其中， 基于检测信号向逆变器25a提供指令。 处理单元2具有电动机目标输出转矩计算部221a，电动机输出转矩控制部222，多个主计算部以及与主计算部对应的多个子运算部， 电动机输出转矩控制单元222基于主计算部分和子计算部分的各个计算结果。

公开(公告)号：US08604734B2

公开(公告)日：2013-12-10

申请号：US12749945

申请日：2010-03-30

申请人： Masaki Matsushita ,  Takayuki Kifuku ,  Yasuaki Hori

发明人： Masaki Matsushita ,  Takayuki Kifuku ,  Yasuaki Hori

IPC分类号： H02P7/00 ,  G01R19/00

摘要： In an electric motor control apparatus, an electric motor driving unit includes: a current detection unit configured to detect a current flowing through a current detection place in the electric motor driving unit. A control unit includes a current calculation unit configured to calculate a current value of a current flowing through an electric motor from an offset correction value obtained based on a first detection value detected at a time when a current flows through the current detection place and a second detection value detected at a time when a current does not flow through the current detection place. The offset correction value includes: a first offset correction value stored in nonvolatile memory of the control unit at a time of assembling the electric motor control apparatus; and a second offset correction value computed by the control unit while the electric motor is driven.

公开(公告)号：US08548684B2

公开(公告)日：2013-10-01

申请号：US12990958

申请日：2008-11-04

申请人： Masahiko Kurishige ,  Takayuki Kifuku ,  Koji Nagao

发明人： Masahiko Kurishige ,  Takayuki Kifuku ,  Koji Nagao

IPC分类号： B62D6/00

CPC分类号： B62D5/0463 ,  B62D5/0472

摘要： To obtain an electric power steering control apparatus hard to generate vibration even when accuracy is not high enough for torque vibration of extremely small output of torque detecting means. An electric power steering control apparatus includes steering torque detecting means, a torque controller that computes an auxiliary torque current, a motor that generates a torque for assisting a steering torque, current steering component removing means for removing a component by steering, vibration velocity estimating means for estimating a vibration velocity in a rotational direction of the motor, and a damping controller that computes a damping current to be added to the auxiliary torque current, and the vibration velocity estimating means includes vibration acceleration computing means for computing vibration acceleration in the rotational direction of the motor by multiplication of a motor current output from the current steering component removing means, and rotational acceleration integrating means for computing the vibration velocity in the motor rotational direction by integrating the vibration acceleration computing means.

摘要翻译： 即使在转矩检测装置的极小输出的扭矩振动的精度不够高的情况下，也能够获得难以产生振动的电动助力转向控制装置。 电动助力转向控制装置包括转向转矩检测装置，计算辅助转矩电流的转矩控制器，产生用于辅助转向转矩的转矩的电动机，用于通过转向去除部件的电流转向部件去除装置，振动速度估计装置 用于估计电动机的旋转方向的振动速度和计算要添加到辅助转矩电流的阻尼电流的阻尼控制器，并且所述振动速度估计装置包括用于计算旋转方向的振动加速度的振动加速度计算装置 以及通过对振动加速度计算装置进行积分来计算电动机旋转方向的振动速度的旋转加速度积分装置。