公开(公告)号：US09254863B2

公开(公告)日：2016-02-09

申请号：US13581238

申请日：2012-03-21

Applicant: Masaki Kuwahara ,  Takayuki Kobayashi ,  Kazuhiro Yoshida ,  Toshiyuki Onizuka ,  Takayoshi Sugawara ,  Nobuhiko Andou

Inventor： Masaki Kuwahara ,  Takayuki Kobayashi ,  Kazuhiro Yoshida ,  Toshiyuki Onizuka ,  Takayoshi Sugawara ,  Nobuhiko Andou

IPC: G01L3/00 ,  B62D5/04 ,  G01L25/00 ,  G01L3/10

CPC classification number: B62D5/0481 ,  B62D5/049 ,  G01L3/101 ,  G01L3/105 ,  G01L25/006

Abstract: There is provided a torque detecting device for providing a highly accurate torque signal, and an electric power steering device using the torque detecting device. A torque sensor is provided with a first coil pair and a second coil pair, which detect a relative displacement between an input shaft and an output shaft by corresponding the relative displacement to a change in impedance. Magnetization signal generating units supply exciting currents with different magnetization frequencies to the first coil pair and a second coil pair, respectively. The magnetization frequency difference is set to 3.5 kHz or higher. Moreover, low-pass filters for intercepting passage of a frequency equivalent to the magnetization frequency difference are deployed in signal processing circuits respectively.

Abstract translation: 提供了一种用于提供高精度的扭矩信号的扭矩检测装置和使用扭矩检测装置的电动助力转向装置。 转矩传感器具有第一线圈对和第二线圈对，其通过将相对于阻抗变化的相对位移相应地检测输入轴与输出轴之间的相对位移。 磁化信号发生单元分别向第一线圈对和第二线圈对提供具有不同磁化频率的励磁电流。 磁化频率差设定为3.5kHz以上。 此外，用于截取频率相当于磁化频率差的通过的低通滤波器分别部署在信号处理电路中。

公开(公告)号：US20110276229A1

公开(公告)日：2011-11-10

申请号：US13055623

申请日：2010-01-25

Applicant: Takayoshi Sugawara ,  Masahiro Maeda ,  Yong Wei

Inventor： Takayoshi Sugawara ,  Masahiro Maeda ,  Yong Wei

IPC: B62D6/08 ,  B62D5/04

CPC classification number: B62D5/0463 ,  B62D5/0466

Abstract: [Problem]An object is to provide an electric power steering apparatus that compensates both a static friction and a dynamic friction, performs the switching between a static friction compensation and a dynamic friction compensation smoothly and without unpleasant sensation in order to achieve a natural comfortable steering feeling.[Means for Solving]In an electric power steering apparatus wherein a current command value is calculated based on at least a steering torque, and a motor is controlled by a current control value calculated based on said current command value to provide a steering assist force to a steering mechanism, wherein: there is provided a friction compensator calculating a friction compensation value for compensating friction to said steering mechanism on the basis of said steering torque, and said current command value is corrected by said friction compensation value.

Abstract translation: 本发明的目的是提供一种能够补偿静摩擦和动摩擦力的电动助力转向装置，能够平稳地进行静摩擦补偿和动态摩擦补偿之间的切换，而不会产生不愉快的感觉，以实现自然舒适的转向 感觉。 [解决手段]在基于至少转向转矩计算电流指令值的电动助力转向装置中，通过基于所述电流指令值计算出的电流控制值来控制电动机，以提供转向辅助力 转向机构，其中：设置有摩擦补偿器，其基于所述转向转矩计算用于补偿与所述转向机构的摩擦的摩擦补偿值，并且所述电流指令值由所述摩擦补偿值进行校正。

公开(公告)号：US09248853B2

公开(公告)日：2016-02-02

申请号：US13580883

申请日：2012-03-21

Applicant: Masaki Kuwahara ,  Takayuki Kobayashi ,  Kazuhiro Yoshida ,  Toshiyuki Onizuka ,  Takayoshi Sugawara ,  Nobuhiko Andou

Inventor： Masaki Kuwahara ,  Takayuki Kobayashi ,  Kazuhiro Yoshida ,  Toshiyuki Onizuka ,  Takayoshi Sugawara ,  Nobuhiko Andou

IPC: G01L3/10 ,  B62D5/04 ,  G01L25/00

CPC classification number: B62D5/0481 ,  B62D5/049 ,  G01L3/101 ,  G01L3/105 ,  G01L25/006

Abstract: An abnormality diagnosing method is provided for a torque detecting device and an electric power steering device is provided using the torque detecting device. Immediately after the power supply is turned on and before steering auxiliary control is started, initial diagnosis is performed to determine that each monitoring block for monitoring an abnormality of a signal processing circuit constituting a torque detecting device operates normally. The initial diagnosis determines that a monitoring block is operating normally, by inputting a normal signal and an abnormal signal to the monitoring block alternately, and finding that the monitoring block carries out normal diagnosis when it receives the normal signal and that it carries out abnormal diagnosis when it receives the abnormal signal. Once all of the monitoring blocks are determined as normal, the steering auxiliary control based on a steering torque detected by the torque detecting device is started.

Abstract translation: 提供了一种用于扭矩检测装置的异常诊断方法，并且使用扭矩检测装置提供电动助力转向装置。 在电源接通之后并且在转向辅助控制开始之前，执行初始诊断以确定用于监视构成转矩检测装置的信号处理电路的异常的每个监视块正常工作。 初始诊断通过交替地向监控块输入正常信号和异常信号，确定监控块正常运行，并且当接收到正常信号并发现异常诊断时发现监控块进行正常诊断 当它收到异常信号。 一旦正常地确定了所有的监视块，则开始基于由转矩检测装置检测到的转向转矩的转向辅助控制。

公开(公告)号：US20150088381A1

公开(公告)日：2015-03-26

申请号：US14387634

申请日：2013-04-24

Applicant: Yousuke Imamura ,  Takayoshi Sugawara ,  Masahiro Maeda

Inventor： Yousuke Imamura ,  Takayoshi Sugawara ,  Masahiro Maeda

IPC: B62D5/04

CPC classification number: B62D5/0472 ,  B62D5/0463 ,  B62D6/008 ,  B62D7/159

Abstract: An electric power steering apparatus that is capable of efficiently suppressing vibrations and simultaneously minimizing steering performance degradation such as an increase in a steering wheel's viscous feeling by extracting a vibration component having an arbitrary amplitude and an arbitrary frequency range depending on an electric power steering state parameter and feeding back a vibration suppression compensation value determined depending on the extracted vibration component to a current command value. The apparatus includes a current command value determining section that determines a current command value based on a steering torque and a velocity; a vibration extraction filter that extracts a vibration component having a predetermined amplitude and a predetermined frequency range depending on an electric power steering state parameter; and a compensation value determining section that determines a vibration suppression compensation value based on the vibration component extracted by the vibration extraction filter.

Abstract translation: 一种电动助力转向装置，其能够通过根据电动转向状态参数提取具有任意振幅和任意频率范围的振动分量，能够有效地抑制振动并同时最小化方向盘的粘性感的增加的转向性能劣化 并且将根据所提取的振动分量确定的振动抑制补偿值反馈到电流指令值。 该装置包括电流指令值确定部，其基于转向转矩和速度确定当前指令值; 振动提取滤波器，其根据电动转向状态参数提取具有预定振幅和预定频率范围的振动分量; 以及补偿值确定部，其基于由所述振动提取滤波器提取的振动分量来确定振动抑制补偿值。

公开(公告)号：US08825301B2

公开(公告)日：2014-09-02

申请号：US13055623

申请日：2010-01-25

Applicant: Takayoshi Sugawara ,  Masahiro Maeda ,  Yong Wei

Inventor： Takayoshi Sugawara ,  Masahiro Maeda ,  Yong Wei

IPC: B62D6/08 ,  B62D5/04

CPC classification number: B62D5/0463 ,  B62D5/0466

Abstract: An electric power steering apparatus that compensates both a static friction and a dynamic friction, performs the switching between a static friction compensation and a dynamic friction compensation smoothly and without unpleasant sensation in order to achieve a natural comfortable steering feeling. In an electric power steering apparatus wherein a current command value is calculated based on at least a steering torque, and a motor is controlled by a current control value calculated based on said current command value to provide a steering assist force to a steering mechanism, wherein: there is provided a friction compensator calculating a friction compensation value for compensating friction to said steering mechanism on the basis of said steering torque, and said current command value is corrected by said friction compensation value.

Abstract translation: 一种补偿静摩擦和动摩擦力的电动助力转向装置，能够平稳地进行静摩擦补偿和动态摩擦补偿之间的切换，而不会产生不愉快的感觉，从而实现自然舒适的转向感。 在电动助力转向装置中，其中至少基于转向转矩计算电流指令值，并且通过基于所述电流指令值计算的电流控制值来控制电动机，以向转向机构提供转向辅助力，其中 ：提供摩擦补偿器，其基于所述转向转矩计算摩擦补偿值，以补偿对所述转向机构的摩擦，并且通过所述摩擦补偿值来校正所述电流指令值。

公开(公告)号：US20140195117A1

公开(公告)日：2014-07-10

申请号：US13581238

申请日：2012-03-21

Applicant: Masaki Kuwahara ,  Takayuki Kobayashi ,  Kazuhiro Yoshida ,  Toshiyuki Onizuka ,  Takayoshi Sugawara ,  Nobuhiko Andou

Inventor： Masaki Kuwahara ,  Takayuki Kobayashi ,  Kazuhiro Yoshida ,  Toshiyuki Onizuka ,  Takayoshi Sugawara ,  Nobuhiko Andou

IPC: G01L3/10 ,  B62D5/04

CPC classification number: B62D5/0481 ,  B62D5/049 ,  G01L3/101 ,  G01L3/105 ,  G01L25/006

Abstract: There is provided a torque detecting device for providing a highly accurate torque signal, and an electric power steering device using the torque detecting device. A torque sensor is provided with a first coil pair and a second coil pair, which detect a relative displacement between an input shaft and an output shaft by corresponding the relative displacement to a change in impedance. Magnetization signal generating units supply exciting currents with different magnetization frequencies to the first coil pair and a second coil pair, respectively. The magnetization frequency difference is set to 3.5 kHz or higher. Moreover, low-pass filters for intercepting passage of a frequency equivalent to the magnetization frequency difference are deployed in signal processing circuits respectively.

Abstract translation: 提供了一种用于提供高精度的扭矩信号的扭矩检测装置和使用扭矩检测装置的电动助力转向装置。 转矩传感器具有第一线圈对和第二线圈对，其通过将相对于阻抗变化的相对位移相应地检测输入轴与输出轴之间的相对位移。 磁化信号发生单元分别向第一线圈对和第二线圈对提供具有不同磁化频率的励磁电流。 磁化频率差设定为3.5kHz以上。 此外，用于截取频率相当于磁化频率差的通过的低通滤波器分别部署在信号处理电路中。

公开(公告)号：US20140102219A1

公开(公告)日：2014-04-17

申请号：US13580883

申请日：2012-03-21

Applicant: Masaki Kuwahara ,  Takayuki Kobayashi ,  Kazuhiro Yoshida ,  Toshiyuki Onizuka ,  Takayoshi Sugawara ,  Nobuhiko Andou

Inventor： Masaki Kuwahara ,  Takayuki Kobayashi ,  Kazuhiro Yoshida ,  Toshiyuki Onizuka ,  Takayoshi Sugawara ,  Nobuhiko Andou

IPC: G01L3/10

CPC classification number: B62D5/0481 ,  B62D5/049 ,  G01L3/101 ,  G01L3/105 ,  G01L25/006

Abstract: An abnormality diagnosing method is provided for a torque detecting device and an electric power steering device is provided using the torque detecting device. Immediately after the power supply is turned on and before steering auxiliary control is started, initial diagnosis is performed to determine that each monitoring block for monitoring an abnormality of a signal processing circuit constituting a torque detecting device operates normally. The initial diagnosis determines that a monitoring block is operating normally, by inputting a normal signal and an abnormal signal to the monitoring block alternately, and finding that the monitoring block carries out normal diagnosis when it receives the normal signal and that it carries out abnormal diagnosis when it receives the abnormal signal. Once all of the monitoring blocks are determined as normal, the steering auxiliary control based on a steering torque detected by the torque detecting device is started.

Abstract translation: 提供了一种用于扭矩检测装置的异常诊断方法，并且使用扭矩检测装置提供电动助力转向装置。 在电源接通之后并且在转向辅助控制开始之前，执行初始诊断以确定用于监视构成转矩检测装置的信号处理电路的异常的每个监视块正常工作。 初始诊断通过交替地向监控块输入正常信号和异常信号，确定监控块正常运行，并且当接收到正常信号并发现异常诊断时发现监控块进行正常诊断 当它收到异常信号。 一旦正常地确定了所有的监视块，则开始基于由转矩检测装置检测到的转向转矩的转向辅助控制。

公开(公告)号：US09056626B2

公开(公告)日：2015-06-16

申请号：US14387634

申请日：2013-04-24

Applicant: Yousuke Imamura ,  Takayoshi Sugawara ,  Masahiro Maeda

Inventor： Yousuke Imamura ,  Takayoshi Sugawara ,  Masahiro Maeda

IPC: B62D6/00 ,  B62D5/04 ,  B62D7/15

CPC classification number: B62D5/0472 ,  B62D5/0463 ,  B62D6/008 ,  B62D7/159

Abstract: An electric power steering apparatus that is capable of efficiently suppressing vibrations and simultaneously minimizing steering performance degradation such as an increase in a steering wheel's viscous feeling by extracting a vibration component having an arbitrary amplitude and an arbitrary frequency range depending on an electric power steering state parameter and feeding back a vibration suppression compensation value determined depending on the extracted vibration component to a current command value. The apparatus includes a current command value determining section that determines a current command value based on a steering torque and a velocity; a vibration extraction filter that extracts a vibration component having a predetermined amplitude and a predetermined frequency range depending on an electric power steering state parameter; and a compensation value determining section that determines a vibration suppression compensation value based on the vibration component extracted by the vibration extraction filter.

Abstract translation: 一种电动助力转向装置，其能够通过根据电动转向状态参数提取具有任意振幅和任意频率范围的振动分量，能够有效地抑制振动并同时最小化方向盘的粘性感的增加的转向性能劣化 并且将根据所提取的振动分量确定的振动抑制补偿值反馈到电流指令值。 该装置包括电流指令值确定部，其基于转向转矩和速度确定当前指令值; 振动提取滤波器，其根据电动转向状态参数提取具有预定振幅和预定频率范围的振动分量; 以及补偿值确定部，其基于由所述振动提取滤波器提取的振动分量来确定振动抑制补偿值。