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。

公开(公告)号：US08346435B2

公开(公告)日：2013-01-01

申请号：US12866332

申请日：2008-10-08

申请人： Masahiko Kurishige ,  Takayuki Kifuku ,  Koji Nagao

发明人： Masahiko Kurishige ,  Takayuki Kifuku ,  Koji Nagao

IPC分类号： A01B69/00

CPC分类号： B62D5/046

摘要： Provided is an electric power steering control device capable of performing damping control without current detection to perform stable damping control even when a target current and an actual current value differ from each other. The electric power steering control device includes steering torque detection means for detecting a steering torque, a torque controller for computing an assist torque current, a motor for generating a torque for assisting the steering torque, rotation speed estimation means for estimating a rotation speed of the motor, and a damping controller for computing a damping current by using an estimated value of the rotation speed of the motor. The rotation speed estimating means includes steering component removing means for steering torque, for removing a component due to steering from an output of the steering torque detection means, rotation angle corresponding value computing means for multiplying an output of the steering component removing means for steering torque by an inverse number of a rigidity of a torsion bar and −1 to compute a value corresponding to a rotation angle, and a rotation angle differentiator for differentiating an output of the rotation angle corresponding value computing means to compute a value corresponding to a rotation angular velocity.

摘要翻译： 提供一种即使当目标电流和实际电流值彼此不同时，也能够进行没有电流检测的阻尼控制来进行稳定的阻尼控制的电动助力转向控制装置。 电动助力转向控制装置包括用于检测转向转矩的转向转矩检测装置，用于计算辅助转矩电流的转矩控制器，用于产生用于辅助转向转矩的转矩的电动机，用于估计转向转矩的转速的转速估计装置 电动机和用于通过使用电动机的转速的估计值来计算阻尼电流的阻尼控制器。 旋转速度估计装置包括用于从转向转矩检测装置的输出中去除由于转向而产生的分量的转向转矩的转向分量去除装置，用于将转向分量去除装置的输出乘以转向转矩的旋转角度对应值计算装置 通过扭杆的刚度的倒数和-1来计算对应于旋转角度的值，以及旋转角度微分器，用于微分旋转角度对应值计算装置的输出以计算对应于旋转角度的值 速度。

公开(公告)号：US08022651B2

公开(公告)日：2011-09-20

申请号：US12171686

申请日：2008-07-11

申请人： Takayuki Kifuku

发明人： Takayuki Kifuku

IPC分类号： H02K17/32

CPC分类号： B62D5/0487

摘要： Provided are an electric power steering device which is capable of determining a failure without using a motor current, and an electric power steering device which removes any motor current detecting unit for detecting the motor current such as a shunt resistor, and suppresses the heat generation and the power loss in the device, thereby making it possible to realize the downsized device, a reduction in the costs, and the higher efficiency. An electric power steering device according to the present invention includes: a motor coupled with a steering system; a drive control unit for controlling a drive of the motor; a motor impression voltage detecting unit for detecting an applied voltage of the motor; and an abnormality determining unit for determining abnormality based on a comparison result of the detected motor impression voltage and an output voltage of the drive control unit.

摘要翻译： 提供一种能够在不使用电动机电流的情况下判定故障的电动助力转向装置，以及电动动力转向装置，其除去用于检测电动机电流的电动机电流检测部，例如分流电阻，并抑制发热， 设备中的功率损耗，从而可以实现尺寸小的设备，成本的降低和更高的效率。 根据本发明的电动助力转向装置包括：与转向系统连接的电动机; 驱动控制单元，用于控制电动机的驱动; 电动机压印电压检测单元，用于检测电动机的施加电压; 以及异常判定单元，其基于检测到的电动机压印电压和驱动控制单元的输出电压的比较结果来确定异常。

公开(公告)号：US08019507B2

公开(公告)日：2011-09-13

申请号：US12962191

申请日：2010-12-07

申请人： Masahiko Kurishige ,  Takayuki Kifuku ,  Seiji Sakanishi ,  Masaharu Tanaka ,  Seiji Sawada ,  Akinobu Sugiyama ,  Hanako Hamada

发明人： Masahiko Kurishige ,  Takayuki Kifuku ,  Seiji Sakanishi ,  Masaharu Tanaka ,  Seiji Sawada ,  Akinobu Sugiyama ,  Hanako Hamada

IPC分类号： A01B69/00

CPC分类号： B62D5/0463 ,  B62D5/0472

摘要： In an electric power steering control system, a phase compensator of the steering torque is made of an analog circuit and an anti-phase compensator is made by the software of a microcomputer, thereby to eliminate the changes in the gain and the phase by the phase compensator of the analog circuit near the oscillation frequency, so that the steering torque signal equivalent to that of no phase compensation necessary for the computation at the observer is computed from the phase-compensated steering torque signal.

公开(公告)号：US07983815B2

公开(公告)日：2011-07-19

申请号：US12160438

申请日：2007-03-12

申请人： Masahiko Kurishige ,  Takayuki Kifuku ,  Seiji Sakanishi ,  Masaharu Tanaka ,  Seiji Sawada ,  Akinobu Sugiyama ,  Hanako Hamada

发明人： Masahiko Kurishige ,  Takayuki Kifuku ,  Seiji Sakanishi ,  Masaharu Tanaka ,  Seiji Sawada ,  Akinobu Sugiyama ,  Hanako Hamada

IPC分类号： A01B69/00

CPC分类号： B62D5/0463 ,  B62D5/0472

摘要： In an electric power steering control system, a phase compensator of the steering torque is made of an analog circuit and an anti-phase compensator is made by the software of a microcomputer, thereby to eliminate the changes in the gain and the phase by the phase compensator of the analog circuit near the oscillation frequency, so that the steering torque signal equivalent to that of no phase compensation necessary for the computation at the observer is computed from the phase-compensated steering torque signal.

摘要翻译： 在电动助力转向控制系统中，由模拟电路构成转向转矩的相位补偿器，由微型计算机的软件进行反相补偿，从而消除相位增益和相位的变化 补偿器在振荡频率附近，从而从相位补偿转向转矩信号计算出与观测器计算所需的无相位补偿相等的转向转矩信号。

公开(公告)号：US20110054740A1

公开(公告)日：2011-03-03

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： B62D6/08

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。