公开(公告)号：US20080027609A1

公开(公告)日：2008-01-31

申请号：US11782739

申请日：2007-07-25

申请人： Yuho Aoki ,  Takeshi Hara ,  Nobuhiro Furushima ,  Hideyuki Kobayashi ,  Shuji Endo

发明人： Yuho Aoki ,  Takeshi Hara ,  Nobuhiro Furushima ,  Hideyuki Kobayashi ,  Shuji Endo

IPC分类号： B62D5/04

CPC分类号： B62D5/0472 ,  B62D5/0463

摘要： An electric power steering apparatus has a steering mechanism SM having universal joints 4, 6 in a torque transmitting system, a steering toque detecting unit 14, a steering angle detecting unit 18, a torque fluctuation detecting unit 43 for detecting a torque fluctuation due to the crossing angle α in the universal joints 4, 6 on the basis of the steering angle θ detected by the steering angle detecting unit 18 and any one of the steering torque T detected by the steering torque detecting unit, a current command value It and self-aligning torque SAT; and a current command value correcting unit 44 for correcting the current command value on the basis of the torque fluctuation detected by the torque fluctuation detecting unit 43 and the steering angle θ detected by the steering angle detecting unit 18.

摘要翻译： 电动助力转向装置具有转矩传递系统中具有万向接头4,6的转向机构SM，转向转矩检测部14，转向角检测部18，扭矩波动检测部43， 基于由转向角检测单元18检测到的转向角θ和由转向转矩检测单元检测到的转向转矩T中的任一个，通用接头4,6中的交叉角α， 对位扭矩SAT; 以及电流指令值校正单元44，用于基于由转矩波动检测单元43检测到的转矩波动和由转向角检测单元18检测的转向角θ来校正电流指令值。

公开(公告)号：US20080018277A1

公开(公告)日：2008-01-24

申请号：US11860873

申请日：2007-09-25

申请人： CaoMinh TA ,  Shuji Endo

发明人： CaoMinh TA ,  Shuji Endo

IPC分类号： H02P6/08

CPC分类号： H02P21/0089 ,  B62D5/046 ,  H02P21/00 ,  H02P21/06 ,  H02P25/03 ,  H02P27/08 ,  H02P2205/01 ,  H02P2207/05

摘要： The invention provides a drive control device for the motor as well as an electric power steering apparatus using the motor and the drive control device. Respective phase current command values are calculated on the basis of vector control. Pseudo-vector control for controlling respective phases separately is used as current feedback control.

摘要翻译： 本发明提供了一种用于电动机的驱动控制装置以及使用电动机和驱动控制装置的电动助力转向装置。 基于矢量控制计算相电流指令值。 用于分别控制各个相的伪矢量控制被用作电流反馈控制。

公开(公告)号：US20070107978A1

公开(公告)日：2007-05-17

申请号：US10555943

申请日：2004-05-14

申请人： Yuho Aoki ,  Shuji Endo

发明人： Yuho Aoki ,  Shuji Endo

IPC分类号： B62D5/04

CPC分类号： H02P6/10 ,  B62D5/0472

摘要： In a differential operation or a phase lead operation in a control unit for an electric power steering apparatus, by using the differential operation or the phase lead operation utilizing a decimation, noises are exclusively eliminated from information such as the road information detected by a sensor or the like, so that no vibration due to the noises can be caused in a motor output thereby to provide the electric power steering apparatus having neither any handle noise nor any vibration uncomfortable to the driver.

摘要翻译： 在用于电动助力转向装置的控制单元中的差动或相位超前操作中，通过使用差动运算或利用抽取的相位引导操作，噪声被专门从诸如传感器检测到的道路信息等信息中消除， 使得不会在电动机输出中引起由于噪声引起的振动，从而提供既没有任何手柄噪音的电动转向装置，也没有对驾驶员不舒适的振动。

公开(公告)号：US20070081799A1

公开(公告)日：2007-04-12

申请号：US10583042

申请日：2004-12-02

申请人： Shuji Endo ,  Masahide Saito ,  Kenji Mori ,  Lilit Kovudhikulrungsri ,  Toru Sakaguchi

发明人： Shuji Endo ,  Masahide Saito ,  Kenji Mori ,  Lilit Kovudhikulrungsri ,  Toru Sakaguchi

IPC分类号： H02P7/29

CPC分类号： B62D5/046 ,  H02P2205/01

摘要： In a motor driving device where a motor having a winding wire with small inductance value is driven by a digital control means comprised of control means including a current command value calculating means, a current control means and a PWM control means whose sampling periods are different from each other, when discrete signals sampled by the respective control means are zero-order-held, a motor current includes a lot of higher harmonic waves due to a quantization error, thereby increasing a motor noise. When an n-th-order hold means is provided between the respective control means with different sampling periods, the quantization error can be reduced remarkably, and thus the higher harmonic wave components included in the motor current are reduced, thereby greatly reducing the motor noise.

摘要翻译： 在电动机驱动装置中，具有电感值小的绕组的电动机由数字控制装置驱动，数字控制装置包括控制装置，该控制装置包括电流指令值计算装置，电流控制装置和采样周期不同于 当由各个控制装置取样的离散信号是零级保持时，电动机电流由于量化误差而包含大量高次谐波，从而增加电动机噪声。 当在具有不同采样周期的各个控制装置之间提供n阶保持装置时，可以显着地降低量化误差，从而降低包含在电动机电流中的高次谐波分量，从而大大降低电动机噪声 。

公开(公告)号：US07187154B2

公开(公告)日：2007-03-06

申请号：US11115369

申请日：2005-04-27

申请人： CaoMinh Ta ,  Shuji Endo ,  Hideyuki Kobayashi ,  Masahide Saito

发明人： CaoMinh Ta ,  Shuji Endo ,  Hideyuki Kobayashi ,  Masahide Saito

IPC分类号： H02P23/00 ,  H02P25/00 ,  H02P27/00

CPC分类号： B62D5/046

摘要： The present invention provides a motor drive apparatus capable of calculating an angular velocity and a rotation angle accurately in the entire rotation velocity range of a motor using a cheap Hall sensor having an inferior accuracy without using an expensive resolver having a high accuracy. The present invention includes a first angular velocity calculating means for calculating the angular velocity based on the back-EMF of the motor when it rotates at low speeds and a second angular velocity calculating means for calculating the angular velocity based on a signal from the Hall sensor when it rotates at high speeds. According to the present invention, the angular velocity and rotation angle can be calculated accurately in the entire rotation speed range using the Hall sensor under hybrid usage.

摘要翻译： 本发明提供一种电动机驱动装置，其能够在不使用具有高精度的昂贵的旋转变压器的情况下，使用具有较差精度的廉价霍尔传感器，在电动机的整个旋转速度范围内精确地计算角速度和旋转角度。 本发明包括：第一角速度计算装置，用于当以低速旋转时计算基于马达的反电动势的角速度;以及第二角速度计算装置，用于根据来自霍尔传感器的信号计算角速度 当它高速旋转时。 根据本发明，可以在混合使用下使用霍尔传感器在整个转速范围内精确地计算角速度和旋转角度。

公开(公告)号：US20050242765A1

公开(公告)日：2005-11-03

申请号：US11115369

申请日：2005-04-27

申请人： CaoMinh Ta ,  Shuji Endo ,  Hideyuki Kobayashi ,  Masahide Saito

发明人： CaoMinh Ta ,  Shuji Endo ,  Hideyuki Kobayashi ,  Masahide Saito

IPC分类号： B62D5/04 ,  H02P6/16 ,  H02P6/18 ,  H02P7/06

CPC分类号： B62D5/046

摘要： The present invention provides a motor drive apparatus capable of calculating an angular velocity and a rotation angle accurately in the entire rotation velocity range of a motor using a cheap Hall sensor having an inferior accuracy without using an expensive resolver having a high accuracy. The present invention includes a first angular velocity calculating means for calculating the angular velocity based on the back-EMF of the motor when it rotates at low speeds and a second angular velocity calculating means for calculating the angular velocity based on a signal from the Hall sensor when it rotates at high speeds. According to the present invention, the angular velocity and rotation angle can be calculated accurately in the entire rotation speed range using the Hall sensor under hybrid usage.

摘要翻译： 本发明提供一种电动机驱动装置，其能够在不使用具有高精度的昂贵的旋转变压器的情况下，使用具有较差精度的廉价霍尔传感器，在电动机的整个旋转速度范围内精确地计算角速度和旋转角度。 本发明包括：第一角速度计算装置，用于当以低速旋转时计算基于马达的反电动势的角速度;以及第二角速度计算装置，用于根据来自霍尔传感器的信号计算角速度 当它高速旋转时。 根据本发明，可以在混合使用下使用霍尔传感器在整个转速范围内精确地计算角速度和旋转角度。

公开(公告)号：US20050103561A1

公开(公告)日：2005-05-19

申请号：US10500890

申请日：2003-01-08

申请人： Shuji Endo ,  Estiko Rijanto ,  Hui Chen

发明人： Shuji Endo ,  Estiko Rijanto ,  Hui Chen

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

CPC分类号： B62D5/0463 ,  B62D6/008

摘要： In the electric power steering apparatus which controls a motor that gives a steering assisting force to a steering mechanism based on an electric current controlling value which is computed from a steering assisting command value which has been computed by a computing device based on a steering torque generated in a steering shaft and an electric current value of the motor, provided are a self-aligning torque estimating section which estimates a self-aligning torque by a disturbance observer constitution and a steering torque feedback section which performs definition of a steering reaction force based on a self-aligning torque estimated value which has been estimated by the self-aligning torque estimating section and feeds the steering reaction force back to the steering torque.

摘要翻译： 在电动助力转向装置中，根据由计算装置根据产生的转向转矩计算出的转向辅助指令值计算的电流控制值，控制向转向机构给出转向辅助力的电动机 在转向轴和电动机的电流值中，提供了通过干扰观测器构造来估计自对准转矩的自对准转矩估计部和执行基于转向反作用力的定义的转向转矩反馈部 自对准转矩估计值估计出的自对准转矩估计值，并将转向反作用力反馈到转向转矩。

公开(公告)号：US06751538B2

公开(公告)日：2004-06-15

申请号：US10048010

申请日：2002-01-25

申请人： Shuji Endo

发明人： Shuji Endo

IPC分类号： B62D600

CPC分类号： B62D5/0472 ,  B62D5/0463

摘要： In a control unit for an electric power steering apparatus, a mechanical system and a control system are designed to match a desirable complementary sensitivity function, and the steering is improved to obtain stable and comfortable steering feeling. For this purpose, there is provided a control unit for an electric power steering apparatus that controls a motor for giving steering auxiliary force to a steering mechanism based on a current control value calculated from a steering auxiliary command value calculated based on the steering torque generated in the steering shaft, and a current value of the motor. In this control unit, the complementary sensitivity function relative to a frequency is set to a level that approaches 1 in a band in which disturbance to be suppressed exists, and is set to a level that approaches 0 in a band in which disturbance to be transmitted exists.

摘要翻译： 在用于电动助力转向装置的控制单元中，设计机械系统和控制系统以匹配期望的互补灵敏度功能，并且改进转向以获得稳定和舒适的转向感觉。 为此，提供了一种用于电动助力转向装置的控制单元，其控制用于向转向机构提供转向辅助力的电动机，该电动控制单元基于从基于在其中产生的转向转矩计算出的转向辅助指令值计算的电流控制值 转向轴和电机的电流值。 在该控制单元中，相对于频率的互补灵敏度函数被设定为在要被抑制的扰动存在的频带中接近于1的电平，并且在要发送的干扰的频带中被设置为接近0的电平 存在

公开(公告)号：US06744232B2

公开(公告)日：2004-06-01

申请号：US09922738

申请日：2001-08-07

申请人： Shuji Endo

发明人： Shuji Endo

IPC分类号： H02P700

CPC分类号： B62D5/046

摘要： A control unit for an electric power steering apparatus that controls a motor for giving steering assist force to a steering mechanism, based on a current control value calculated from a steering assist command value calculated based on the steering torque generated in the steering shaft, and a current value of the motor, wherein the control unit comprises a current dither signal generating unit for generating a current dither signal when the motor angular velocity is within a predetermined range of angular speed, and for adding the current dither signal to the steering assist command value.

摘要翻译： 一种电动助力转向装置的控制单元，其基于从基于在转向轴中产生的转向转矩计算的转向辅助指令值计算的电流控制值，控制向转向机构提供转向辅助力的电动机，以及 电动机的当前值，其中所述控制单元包括电流抖动信号产生单元，用于当电机角速度在预定角速度范围内时产生电流抖动信号，并且用于将当前抖动信号加到转向辅助指令值 。

公开(公告)号：US06658333B2

公开(公告)日：2003-12-02

申请号：US10060292

申请日：2002-02-01

申请人： Hideaki Kawada ,  Yusuke Itakura ,  Yasuhiko Miyaura ,  Shuji Endo ,  Hisayoshi Koiwai

发明人： Hideaki Kawada ,  Yusuke Itakura ,  Yasuhiko Miyaura ,  Shuji Endo ,  Hisayoshi Koiwai

IPC分类号： B62D504

CPC分类号： B62D5/0484 ,  B62D5/049

摘要： A control apparatus of power steering device having functions of monitoring intermediate troubles such as offset or drift out of signal troubles of torque sensor, and limiting the current for limiting the assist function is presented. In a control apparatus of power steering device for controlling a motor on the basis of a current control value calculated from a steering assist command value calculated by calculating means on the basis of a steering torque generated on a steering shaft, and a current value of a motor for applying a steering assist force to a steering mechanism, wherein the difference of a main torque signal and a sub torque signal of a torque sensor for detecting the steering torque is stored preliminarily, and the difference of the main torque signal and the sub torque signal during operation is compared with the stored value, and at least the current control value is limited when the difference based on the comparison is a condition larger than a first prescribed value and continues for a time longer than a first prescribed time.