公开(公告)号：US06838854B2

公开(公告)日：2005-01-04

申请号：US09961283

申请日：2001-09-25

申请人： Hiroyuki Inagaki ,  Hideki Kuzuya ,  Hiroaki Kato ,  Noboru Sebe

发明人： Hiroyuki Inagaki ,  Hideki Kuzuya ,  Hiroaki Kato ,  Noboru Sebe

IPC分类号： B60K1/00 ,  B60L11/18 ,  B60L15/00 ,  F16F15/18 ,  G05B5/01 ,  G05B11/32 ,  G05B11/42 ,  G05B13/02 ,  G05B13/04 ,  G05B23/02 ,  H02P29/00 ,  H02P7/05

CPC分类号： G05B5/01 ,  B60L3/0061 ,  B60L7/14 ,  B60L11/1803 ,  B60L11/1807 ,  B60L11/1861 ,  B60L15/007 ,  B60L15/02 ,  B60L15/20 ,  B60L2220/18 ,  B60L2240/14 ,  B60L2240/421 ,  B60L2240/423 ,  B60L2240/547 ,  B60L2260/44 ,  B60L2270/145 ,  F16F15/18 ,  G05B11/42 ,  H02P25/098 ,  H02P29/50 ,  Y02T10/644 ,  Y02T10/645 ,  Y02T10/7005 ,  Y02T10/7044 ,  Y02T10/705 ,  Y02T10/72 ,  Y02T10/7275

摘要： An electric motor such as a driving source of an electric vehicle is controlled by the microcomputer 7. The microcomputer 7 calculates a target torque Req_trq according to a throttle opening degree α, and outputting induction values (a current instruction value I and a angle instruction value θ) obtained referring to a map MP based on the target torque Req_trq (a motor rotational number Nm and a battery voltage Vb), the microcomputer 7 performs a torque control of an SR motor 3. The motor rotational number Nm detected from the SR motor 3 is passed through a band pass filter 51. Passing by the band pass filter 51, a signal data of the extracted 0.1-50 Hz is executed a PD calculation process 52, the calculated corrected amount PD_out is subtracted from the target torque Req_trq.

公开(公告)号：US06653808B2

公开(公告)日：2003-11-25

申请号：US10080583

申请日：2002-02-25

申请人： Hiroyuki Inagaki ,  Hiroaki Kato ,  Hideki Kuzuya ,  Noboru Sebe ,  Kenji Ikeda

发明人： Hiroyuki Inagaki ,  Hiroaki Kato ,  Hideki Kuzuya ,  Noboru Sebe ,  Kenji Ikeda

IPC分类号： H02P705

CPC分类号： B60L11/1851 ,  B60L11/1807 ,  B60L2220/18 ,  H02P25/098 ,  Y02T10/642 ,  Y02T10/7005 ,  Y02T10/705

摘要： A controller K calculates a command torque by correcting the required torque w1 with a correction based on a motor rotation speed Nm, and controls an electric motor based on the command torque T. The command torque w1 is regarded as one content of an outside input W to the controller K. A difference between the rotation speed of the electric motor outputted by the actual model describing an actual response of the electric motor and another rotation speed of the electric motor outputted by a reference model describing ideal performance and vibration reduction is regarded as one content Z1 of controlled output Z from the controller K. Moreover, a characteristic variation depending on vehicle types and so on, a torque ripple, and a sensor noise are described by weight functions wm1, wm2 and wn. Then a pertubative output w2 and a sensor noise w3 are regarded as the remaining contents of the input W. An output of the weight function wm2 is regarded as the controlled output Z. The controller K is determined by solving H∞control problem that a transfer function between the outside input W and the controlled output Z is determined as an H∞norm of the transfer function to be smaller than a predetermined value.

摘要翻译： 控制器K通过基于马达转速Nm的校正来校正所需转矩w1来计算指令转矩，并且基于指令转矩T来控制电动机。指令转矩w1被认为是外部输入W的一个内容 由描述电动机的实际响应的实际模型输出的电动机的转速与通过描述理想性能和减振的参考模型输出的电动机的另一转速之间的差异被认为是 另外，通过加权函数wm1，wm2和wn来描述根据车辆类型等的特性变化，转矩脉动和传感器噪声。 然后，输出w2和传感器噪声w3被认为是输入W的剩余内容。权重函数wm2的输出被认为是受控输出Z.控制器K通过解决H∞控制问题来确定转移 将外部输入W和受控输出Z之间的函数确定为传递函数的H∞norm小于预定值。

公开(公告)号：US08805023B2

公开(公告)日：2014-08-12

申请号：US13202751

申请日：2010-01-25

申请人： Noboru Sebe ,  Eitaku Nobuyama ,  Shuichi Enokida

发明人： Noboru Sebe ,  Eitaku Nobuyama ,  Shuichi Enokida

IPC分类号： G06K9/00

CPC分类号： G06T7/269

摘要： An embodiment of the present invention provides an object motion estimating device and the like, which solve a problem of assuming translational movement (that is, a spatial gradient is 0) of an optical flow and are suitable to estimation of an optical flow by an image analysis of captured images. The object motion estimating device performs the image analysis of the captured images of the object to estimate motion of the object. The object motion estimating device includes an image analyzing unit 15. The image analyzing unit 15 assumes time invariance of the optical flow while not assuming the translational movement, and the image analyzing unit 15 estimates the optical flow with intensity at each point of the captured images as measurement variable while simultaneously estimating a spatial gradient of the optical flow. The assumption about the translational movement of the optical flow is an assumption about the optical flow that is actually unknown. The proposed object motion estimating device can relax this assumption of the translational movement of the optical flow as much as possible.

摘要翻译： 本发明的一个实施例提供了一种对象运动估计装置等，其解决了假设光流的平移运动（即，空间梯度为0）的问题，并且适合于通过图像估计光流 拍摄图像的分析。 物体运动估计装置对被摄体的拍摄图像执行图像分析，以估计物体的运动。 物体运动估计装置包括图像分析单元15.图像分析单元15在不进行平移运动的同时假设光流的时间不变性，并且图像分析单元15估计所捕获图像的每个点的强度的光流 作为测量变量，同时估计光流的空间梯度。 关于光流的平移运动的假设是关于实际上未知的光流的假设。 所提出的对象运动估计装置可以尽可能地放松光流的平移运动的假设。

公开(公告)号：US20110299739A1

公开(公告)日：2011-12-08

申请号：US13202751

申请日：2010-01-25

申请人： Noboru Sebe ,  Eitaku Nobuyama ,  Shuichi Enokida

发明人： Noboru Sebe ,  Eitaku Nobuyama ,  Shuichi Enokida

IPC分类号： G06K9/00

CPC分类号： G06T7/269

摘要： An embodiment of the present invention provides an object motion estimating device and the like, which solve a problem of assuming translational movement (that is, a spatial gradient is 0) of an optical flow and are suitable to estimation of an optical flow by an image analysis of captured images. The object motion estimating device performs the image analysis of the captured images of the object to estimate motion of the object. The object motion estimating device includes an image analyzing unit 15. The image analyzing unit 15 assumes time invariance of the optical flow while not assuming the translational movement, and the image analyzing unit 15 estimates the optical flow with intensity at each point of the captured images as measurement variable while simultaneously estimating a spatial gradient of the optical flow. The assumption about the translational movement of the optical flow is an assumption about the optical flow that is actually unknown. The proposed object motion estimating device can relax this assumption of the translational movement of the optical flow as much as possible.

摘要翻译： 本发明的一个实施例提供了一种对象运动估计装置等，其解决了假设光流的平移运动（即，空间梯度为0）的问题，并且适合于通过图像估计光流 拍摄图像的分析。 物体运动估计装置对被摄体的拍摄图像执行图像分析，以估计物体的运动。 物体运动估计装置包括图像分析单元15.图像分析单元15在不进行平移运动的同时假设光流的时间不变性，并且图像分析单元15估计所捕获图像的每个点的强度的光流 作为测量变量，同时估计光流的空间梯度。 关于光流的平移运动的假设是关于实际上未知的光流的假设。 所提出的对象运动估计装置可以尽可能地放松光流的平移运动的假设。

公开(公告)号：US06717381B2

公开(公告)日：2004-04-06

申请号：US10197404

申请日：2002-07-18

申请人： Hiroyuki Inagaki ,  Hideki Kuzuya ,  Hiroaki Kato ,  Noboru Sebe

发明人： Hiroyuki Inagaki ,  Hideki Kuzuya ,  Hiroaki Kato ,  Noboru Sebe

IPC分类号： G05B1101

CPC分类号： H02P25/098

摘要： A control device of an electric motor which can compatible high robust stability performance and a tracking performance and a designing method thereof. A feedback correction is obtained based on a detected motor rotation speed and a feedforward correction amount is obtained based on a calculated target torque by a controller of a microcomputer. The microcomputer commands torque control to an SR motor based on the feedback correction amount and the feedforward correction amount.

摘要翻译： 一种电动马达的控制装置，其能够兼容高稳健性能和跟踪性能及其设计方法。 基于检测到的电动机转速获得反馈校正，并且基于由微型计算机的控制器计算出的目标转矩来获得前馈校正量。 微型计算机根据反馈校正量和前馈校正量，向SR电机指令转矩控制。