公开(公告)号：US5788010A

公开(公告)日：1998-08-04

申请号：US644901

申请日：1996-05-10

申请人： Yoshinobu Mukai ,  Shinzi Hironaka ,  Yoshiki Noro

发明人： Yoshinobu Mukai ,  Shinzi Hironaka ,  Yoshiki Noro

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

CPC分类号： B62D5/0463

摘要： An electric power steering apparatus, which provides a steering assist of an electric motor directly to a vehicle steering system to reduce necessary steering power to be applied by a vehicle driver, is provided with a control unit which includes a proportion-coefficient and integration-coefficient setting section for, on the basis of a velocity of the vehicle detected by a velocity sensor, setting sensitivity of a proportioning element and integration gain of an integrating element in such a manner that they take greater values during high-velocity running of the vehicle than during low-velocity running of vehicle. This prevents occurrence of unwanted noises and vibrations during low-velocity running of the vehicle and also enhances steering response during high-velocity running of the vehicle, thus always providing an optimum steering feeling in changing running conditions of the vehicle. The control unit may further include a compensation section provided between an offset calculation section and a proportional and integral control section for, on the basis of the velocity detected by the velocity sensor, modifying the offset signal in such a manner that the offset signal takes a greater value during high-velocity running of the vehicle than during low-velocity running of vehicle.

摘要翻译： 一种电动助力转向装置，其将电动机的转向辅助直接提供给车辆转向系统以减少由车辆驾驶员施加的必要的转向功率，该控制单元包括比例系数和积分系数 基于由速度传感器检测到的车辆的速度，比例元件的设定灵敏度和积分元件的积分增益，使得它们在车辆的高速行驶期间取较大值的方式，设定部分比 在车辆低速行驶期间。 这防止了在车辆的低速行驶期间发生不期望的噪声和振动，并且还增强了车辆高速行驶期间的转向响应，从而在改变车辆的行驶状态时始终提供了最佳的转向感。 控制单元还可以包括补偿部分，该补偿部分设置在偏移计算部分和比例和整体控制部分之间，用于基于由速度传感器检测到的速度修正偏移信号，使得偏移信号采取 在车辆的高速运行期间比在车辆的低速行驶期间更大的值。

公开(公告)号：US5612877A

公开(公告)日：1997-03-18

申请号：US462593

申请日：1995-06-05

申请人： Yasuo Shimizu ,  Shigeru Yamawaki ,  Shinzi Hironaka ,  Yoshinobu Mukai

发明人： Yasuo Shimizu ,  Shigeru Yamawaki ,  Shinzi Hironaka ,  Yoshinobu Mukai

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

CPC分类号： B62D5/0463

摘要： This invention is an electric power steering apparatus for applying the power of an electric motor to a steering system to reduce the steering torque, comprising a steering torque detection means, steering rotating speed detection means, a differential operation means, an electric motor control signal determination means, and an electric motor drive means. The apparatus detects the steering torque and steering rotating speed of the steering system to generate as an electric motor control signal a control quantity obtained by damping the value corresponding to the steering rotating speed from the value corresponding to the steering torque and then adding to the result a steering torque differential value in order to drive the electric motor based on this electric motor control signal, thereby enabling a steering assist torque corresponding to a change in the steering torque to be obtained even when a steering operation with a sudden increase in the steering torque is performed and thus enabling a responsive steering assist torque to be generated to improve the steering feeling.

摘要翻译： 本发明是一种用于将电动机的动力施加到转向系统以降低转向转矩的电动助力转向装置，包括转向转矩检测装置，转向转速检测装置，差速运算装置，电动机控制信号判定 装置和电动机驱动装置。 该装置检测转向系统的转向转矩和转向转速，从而产生作为电动机控制信号的控制量，该控制量是通过从对应于转向转矩的值中减去对应于转向转速的值而得到的，然后将其加到结果 转向转矩差值，以便基于该电动机控制信号来驱动电动机，从而即使在转向转矩突然增加的转向操作时也能够获得与转向转矩的变化相对应的转向辅助转矩 从而能够产生响应转向辅助转矩以改善转向感。

公开(公告)号：US06618228B1

公开(公告)日：2003-09-09

申请号：US09440716

申请日：1999-11-16

申请人： Shinzi Hironaka ,  Osamu Tsurumiya ,  Akio Kobayashi ,  Yoshiki Noro ,  Yoshinobu Mukai ,  Susumu Ohta ,  Takao Kurosawa

发明人： Shinzi Hironaka ,  Osamu Tsurumiya ,  Akio Kobayashi ,  Yoshiki Noro ,  Yoshinobu Mukai ,  Susumu Ohta ,  Takao Kurosawa

IPC分类号： F21V704

CPC分类号： B62D5/049 ,  G01R19/0092 ,  G01R31/006 ,  G01R31/34

摘要： A current detecting apparatus comprises a determining unit which determines whether the electric potential of a first node or a second node is in a predetermined range. When the condition that the electric potential is not in the predetermined range continues longer than the predetermined period of time, the determining signal indicating the damage occurrence is outputted. Accordingly, the damage of the constituting elements can exactly be determined with the relatively simple configuration in a short time.

摘要翻译： 电流检测装置包括确定单元，其确定第一节点或第二节点的电位是否在预定范围内。 当电位不在预定范围内的条件持续比预定时间长的时间时，输出指示损坏发生的确定信号。 因此，可以在短时间内以相对简单的结构精确地确定构成元件的损伤。

公开(公告)号：US06226580B1

公开(公告)日：2001-05-01

申请号：US09429276

申请日：1999-10-29

申请人： Yoshiki Noro ,  Shinzi Hironaka ,  Yoshinobu Mukai ,  Mitsunori Kawashima

发明人： Yoshiki Noro ,  Shinzi Hironaka ,  Yoshinobu Mukai ,  Mitsunori Kawashima

IPC分类号： B62D504

CPC分类号： B62D5/0493

摘要： Control unit in an electric power steering apparatus includes a motor drive inhibition section for inhibiting output of a motor control signal on the basis of at least a steering torque signal supplied from a steering torque sensor. The control unit also includes a zero-value setting section for, when drive inhibition signals are output by the motor drive inhibition section, setting a target motor current signal to a zero value irrespective of a value of the steering torque signal, and an inhibition cancellation section for cancelling the drive inhibition signals when an offset between the target motor current signal and the detected motor current signal becomes zero after the target motor current signal is set to the zero value by the zero-value setting section. With this arrangement, instructions can be communicated bidirectionally from the motor drive inhibition section to a main power steering control where an anomaly has occurred and from the main power steering control to the inhibition cancellation section, so that the inhibition of the motor drive can be canceled promptly.

摘要翻译： 电动助力转向装置中的控制单元包括马达驱动禁止部分，用于至少基于从转向转矩传感器提供的转向转矩信号来禁止马达控制信号的输出。 控制单元还包括零值设定部，当由电动机驱动禁止部输出驱动禁止信号时，无论转向转矩信号的值如何，都将目标电动机电流信号设定为零值，抑制消除 在目标电动机电流信号被零值设定部设定为零值之后，当目标电动机电流信号与检测到的电动机电流信号之间的偏移变为零时，取消驱动禁止信号。 通过这种布置，指令可以从电机驱动禁止部分双向地传递到发生异常的主动力转向控制，并且从主动力转向控制到禁止消除部分，从而可以取消对电动机驱动的禁止 及时。

公开(公告)号：US5912539A

公开(公告)日：1999-06-15

申请号：US697

申请日：1997-12-30

申请人： Nobuo Sugitani ,  Takao Kurosawa ,  Shinzi Hironaka

发明人： Nobuo Sugitani ,  Takao Kurosawa ,  Shinzi Hironaka

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

CPC分类号： B62D5/049

摘要： An electric power steering apparatus includes a judgment unit which passes a judgment that a condition, in which an offset signal indicative of the offset between a target current signal and a motor current signal, or a drive control signal used for controlling an electric motor is greater than a threshold, has continued for an allowable time. Based on this judgment, a forced drive control unit forcibly drives the electric motor. A fault judgment unit monitors the motor current in all times and judges a current detecting unit to be at fault if the motor current does not vary even though the electric motor is drive forcibly. Thus, even when a failure in the current detecting unit occurs during movement of a motor vehicle, such failure can reliably be detected. Additionally, since the judgment is performed after the electric motor is driven forcibly, misjudgment does not occur even when the judgement at the judgment unit results from continuous application of abrupt manual steering operation.

摘要翻译： 一种电动助力转向装置，包括：判断单元，判断单元判断为表示目标电流信号与电动机电流信号之间的偏移量的偏移信号或用于控制电动机的驱动控制信号的值越大 超过阈值，持续了允许的时间。 基于该判断，强制驱动控制单元强制驱动电动机。 故障判断单元一直监视电动机电流，即使电动机强制驱动，电动机电流也不变化，判定电流检测单元处于故障状态。 因此，即使当在机动车辆的移动期间发生电流检测单元的故障时，也可以可靠地检测到故障。 此外，由于在电动机被强制驱动之后执行判断，所以即使当判断单元的判断是由于连续施加突然的手动转向操作时也不会发生误判。

公开(公告)号：US6094021A

公开(公告)日：2000-07-25

申请号：US413066

申请日：1999-10-06

申请人： Yoshiki Noro ,  Yoshinobu Mukai ,  Shinzi Hironaka ,  Mitsunori Kawashima

发明人： Yoshiki Noro ,  Yoshinobu Mukai ,  Shinzi Hironaka ,  Mitsunori Kawashima

IPC分类号： B62D5/04 ,  H02H7/08 ,  H02M7/5387 ,  H02P7/00 ,  H02P7/29 ,  H02K29/00

CPC分类号： B62D5/0487 ,  H02P7/04 ,  H02H7/0838 ,  H02H7/0844

摘要： In a motor drive apparatus, a motor drive circuit includes an H bridge circuit composed of four field effect transistors or FETs, and resistors each having electrical resistance sufficiently higher than that of each of the FETs which would be presented when the FET has an ON-state trouble. These resistors are connected in parallel to the respective FETs. To perform a ON-state trouble detecting test on the individual FETs, an OFF signal is fed to all the FETs. If all the EFTS are free of the ON-state trouble, electric potential, representing a result of higher potential of a battery being divided by the resistors, appears at two input terminals of an electric motor connected to the motor drive circuit. If two of the FETs, having their drains connected to a higher-potential electrode of the battery, have the ON-state trouble, the higher potential of the battery appears at the two terminals of the electric motor. If the other two FETs, having their sources connected to a lower-potential or ground electrode of the battery, have the ON-state trouble, the lower or ground potential of the battery appears at the two terminals of the electric motor. These potential appearing at the motor terminals is detected via respective potential detectors.

摘要翻译： 在电动机驱动装置中，电动机驱动电路包括由四个场效应晶体管或FET组成的H桥电路，以及各自具有比当FET具有导通时的FET的电压充分高的电阻的电阻， 国家麻烦 这些电阻器与各个FET并联连接。 为了在各个FET上执行ON状态故障检测测试，向所有FET馈送OFF信号。 如果所有EFTS都没有导通状态故障，则表示电池被电阻分压的电位较高的结果的电位出现在连接到电动机驱动电路的电动机的两个输入端。 如果其两个FET的漏极连接到电池的高电位电极，则具有导通状态故障，电池的较高电位出现在电动机的两个端子处。 如果将其源极连接到电池的低电位或接地电极的另外两个FET具有导通状态故障，则电池的较低或接地电位出现在电动机的两个端子处。 通过各自的电位检测器来检测电动机端子出现的这些电位。

公开(公告)号：US5596252A

公开(公告)日：1997-01-21

申请号：US353300

申请日：1994-12-06

申请人： Yasuo Shimizu ,  Shinzi Hironaka ,  Yoshinobu Mukai ,  Shigieru Yamawaki

发明人： Yasuo Shimizu ,  Shinzi Hironaka ,  Yoshinobu Mukai ,  Shigieru Yamawaki

IPC分类号： B62D5/04 ,  H02P7/00

CPC分类号： B62D5/0463 ,  B62D5/0466

摘要： An electrically operated power steering apparatus basically has a steering torque sensor, a steering rotational speed sensor, and preferably a vehicle sensor. A controller outputs a motor control signal based on a steering torque, a steering rotational speed, and a vehicle speed which are detected by the steering torque sensor, the steering rotational speed sensor, and the vehicle sensor, respectively. The motor control signal is applied to control a motor driver to output a motor drive signal which energizes an electric motor to produce an assistive steering force or a braking force. The electrically operated power steering apparatus is effective to improve steering and returning characteristics of a steering system, and give the steering system a stable steering capability.

摘要翻译： 电动助力转向装置基本上具有转向扭矩传感器，转向转速传感器，优选车辆传感器。 控制器基于转向转矩传感器，转向转速传感器和车辆传感器检测到的转向转矩，转向转速和车速分别输出电动机控制信号。 施加电动机控制信号以控制电动机驱动器输出对电动机通电以产生辅助转向力或制动力的电动机驱动信号。 电动动力转向装置有效地改善转向系统的转向和返回特性，并且使转向系统具有稳定的转向能力。

公开(公告)号：US5473539A

公开(公告)日：1995-12-05

申请号：US164884

申请日：1993-12-10

申请人： Yasuo Shimizu ,  Yoshito Nakamura ,  Shinzi Hironaka ,  Yoshinobu Mukai ,  Yoshiki Noro

发明人： Yasuo Shimizu ,  Yoshito Nakamura ,  Shinzi Hironaka ,  Yoshinobu Mukai ,  Yoshiki Noro

IPC分类号： B62D5/04

CPC分类号： B62D5/0463 ,  B62D5/0466

摘要： An electrically operated power steering apparatus in a motor vehicle has a steering system for steering the motor vehicle, a steering torque detector for detecting a manual steering torque applied to the steering system, and an electric motor for generating an assistive torque to be transmitted as a steering assistive force to the steering system. An actual assistive torque detector detects an actual assistive steering torque which is actually transmitted from the electric motor to the steering system. A controller has at least a target assistive torque generator for generating a target value for an assistive torque to be generated by the electric motor depending on the manual steering torque detected by the steering torque detector, and generates a control signal based on the difference between the actual assistive steering torque detected by the actual assistive torque detector and the target value generated by the target assistive torque generator. The electric motor is energized by a motor driver based on the control signal from the controller.

摘要翻译： 机动车辆中的电动动力转向装置具有用于转向机动车辆的转向系统，用于检测施加到转向系统的手动转向转矩的转向转矩检测器，以及用于产生将被作为转向系统传递的辅助转矩的电动机 转向辅助力转向系统。 实际的辅助转矩检测器检测实际的从电动机向转向系统发送的辅助转向转矩。 控制器至少具有目标辅助扭矩发生器，用于根据由转向转矩检测器检测到的手动转向转矩来产生由电动机产生的辅助转矩的目标值，并且基于该转向转矩检测器之间的差产生控制信号 由实际辅助转矩检测器检测到的实际辅助转向转矩和由目标辅助扭矩发生器产生的目标值。 基于来自控制器的控制信号，电动机由电动机驱动器通电。

公开(公告)号：US5844387A

公开(公告)日：1998-12-01

申请号：US588352

申请日：1996-01-18

申请人： Yoshinobu Mukai ,  Yoshiki Noro ,  Shinzi Hironaka

发明人： Yoshinobu Mukai ,  Yoshiki Noro ,  Shinzi Hironaka

IPC分类号： B62D6/00 ,  B62D5/04 ,  H02P7/00

CPC分类号： B62D5/0463 ,  B62D5/046 ,  H02P7/04

摘要： An electric power steering device for directly applying the power of an electric motor as an auxiliary steering power to a steering system to lower a steering force required of the driver, wherein a current detecting element in a motor current detecting unit is connected in series with the motor, and a drive control unit is operable to always drive, by a PWM signal, that side of switching elements of a bridge circuit to which the motor is connected. With this construction, a high-frequency pulse noise generated upon the PWM driving of the the switching element is absorbed by an inductance in the motor and hence a high-frequency pulse noise detected by the current detecting element can be controlled at an extremely small level. Thus, the electric power steering device can prevent generation of abnormal noises from the motor and oscillation or hunting of the steering system and provide stable steering characteristics.

摘要翻译： 一种电动助力转向装置，用于将电动机的动力作为辅助转向动力直接施加到转向系统以降低驾驶员所需的转向力，其中电动机电流检测单元中的电流检测元件与 电动机，并且驱动控制单元可操作地始终通过PWM信号来驱动与电动机连接的桥式电路的开关元件的那一侧。 利用这种结构，在开关元件的PWM驱动时产生的高频脉冲噪声被马达中的电感吸收，因此可以将由电流检测元件检测的高频脉冲噪声控制在极小的水平 。 因此，电动助力转向装置能够防止来自电动机的异常噪声的产生和转向系统的振荡或振动，并提供稳定的转向特性。

公开(公告)号：US5809438A

公开(公告)日：1998-09-15

申请号：US672122

申请日：1996-06-27

申请人： Yoshiki Noro ,  Shinzi Hironaka ,  Yoshinobu Mukai ,  Nobuo Sugitani ,  Takao Kurosawa

发明人： Yoshiki Noro ,  Shinzi Hironaka ,  Yoshinobu Mukai ,  Nobuo Sugitani ,  Takao Kurosawa

IPC分类号： B62D5/04 ,  B62D6/00 ,  G06G7/70

CPC分类号： B62D5/046

摘要： In a controller of an electric power steering apparatus for use with an automotive vehicle, a regenerating condition determining section determines whether or not a motor of the vehicle is in a regenerating condition, and a regeneration control signal generating section generates a regeneration control signal to control the regenerating condition of the motor. A switching section selects between the motor control signal and the regeneration control signal in accordance with a result of determination by the regenerating condition determining section. With this arrangement, a motor current including a regenerative current that is caused to flow in the motor in response to a vehicle driver effecting during-stoppage steering maneuvering and then releasing a steering wheel can be controlled independently of a feedback loop of the controller. The regeneration control signal generating section generates a pulse-width-modulated signal of duty cycle corresponding to the offset between a target current and a motor current flowing in the motor. The regenerating condition determining section determines that the motor is in the regenerating condition if the signs of the target current and motor current control signals do not comport with each other and the direction of the steering torque signal and the rotational direction of the motor are opposite to each other.

摘要翻译： 在与机动车辆一起使用的电动助力转向装置的控制器中，再生条件决定部判定车辆的电动机是否处于再生状态，再生控制信号生成部生成再生控制信号，以进行控制 电机的再生条件。 开关部根据再生条件判定部的判断结果，在电动机控制信号与再生控制信号之间进行选择。 通过这种布置，可以独立于控制器的反馈回路来控制包括响应于车辆驾驶员在停机中转向操纵并随后释放方向盘而在电动机中流动的再生电流的电动机电流。 再生控制信号生成部生成与目标电流和在电动机中流动的电动机电流之间的偏移对应的占空比的脉冲宽度调制信号。 如果目标电流和电动机电流控制信号的符号彼此不匹配，并且转向转矩信号的方向和电动机的旋转方向相反，则再生条件确定部分确定电动机处于再生状态 彼此。