公开(公告)号：US20100324783A1

公开(公告)日：2010-12-23

申请号：US12818540

申请日：2010-06-18

申请人： Akihiko NISHIMURA ,  Terutaka Tamaizumi ,  Masayuki Kita ,  Shinya Aono ,  Jun Hasegawa ,  Akira Nambu

发明人： Akihiko NISHIMURA ,  Terutaka Tamaizumi ,  Masayuki Kita ,  Shinya Aono ,  Jun Hasegawa ,  Akira Nambu

IPC分类号： G06F19/00

CPC分类号： B62D6/00 ,  B62D5/0463 ,  B62D5/0466

摘要： A steering torque shift control amount calculation unit (31) calculates the steering torque shift control amount (εts) by multiplying the basic shift amount (εts_b) used as the basic compensation component by the transition coefficient (Kss). Then, the steering torque shift control amount (εts) is subjected to the low-pass filter process in an abrupt change prevention processing unit (32). An abrupt change prevention processing unit (40) is provided in the steering torque shift control amount calculation unit (31). The transition coefficient (Kss) is subjected to the low-pass filter process in the abrupt change prevention processing unit (40). The cutoff frequency of the low-pass filter that forms the abrupt change prevention processing unit (40) is set to a value lower than the cutoff frequency of the low-pass filter that forms the abrupt change prevention processing unit (32) that executes the low-pass filter process on the torque shift control amount (εts).

摘要翻译： 转向转矩转换控制量计算单元（31）通过将用作基本补偿分量的基本位移量（＆egr; ts_b）乘以转换系数（Kss）来计算转向转矩转换控制量（＆egr ts）。 然后，在突变改变防止处理单元（32）中对转向转矩转换控制量（＆amp; ts）进行低通滤波处理。 在转向转矩转换控制量计算单元（31）中设置有突变防止处理单元（40）。 过渡系数（Kss）在突变防止处理单元（40）中进行低通滤波处理。 形成防突变处理单元（40）的低通滤波器的截止频率被设定为低于形成防变频处理单元（32）的低通滤波器的截止频率的值， 低通滤波处理对转矩控制量（＆egr。ts）的影响。

公开(公告)号：US08560174B2

公开(公告)日：2013-10-15

申请号：US12818540

申请日：2010-06-18

申请人： Akihiko Nishimura ,  Terutaka Tamaizumi ,  Masayuki Kita ,  Shinya Aono ,  Jun Hasegawa ,  Akira Nambu

发明人： Akihiko Nishimura ,  Terutaka Tamaizumi ,  Masayuki Kita ,  Shinya Aono ,  Jun Hasegawa ,  Akira Nambu

IPC分类号： B62D6/00 ,  B63G8/20

CPC分类号： B62D6/00 ,  B62D5/0463 ,  B62D5/0466

摘要： A steering torque shift control amount calculation unit (31) calculates the steering torque shift control amount (εts) by multiplying the basic shift amount (εts_b) used as the basic compensation component by the transition coefficient (Kss). Then, the steering torque shift control amount (εts) is subjected to the low-pass filter process in an abrupt change prevention processing unit (32). An abrupt change prevention processing unit (40) is provided in the steering torque shift control amount calculation unit (31). The transition coefficient (Kss) is subjected to the low-pass filter process in the abrupt change prevention processing unit (40). The cutoff frequency of the low-pass filter that forms the abrupt change prevention processing unit (40) is set to a value lower than the cutoff frequency of the low-pass filter that forms the abrupt change prevention processing unit (32) that executes the low-pass filter process on the torque shift control amount (εts).

摘要翻译： 转向转矩转换控制量计算单元（31）通过将用作基本补偿分量的基本位移量（epsilonts_b）乘以转换系数（Kss）来计算转向转矩转换控制量（epsilonts）。 然后，在突变防止处理单元（32）中对转向转矩转换控制量（epsilonts）进行低通滤波处理。 在转向转矩转换控制量计算单元（31）中设置有突变防止处理单元（40）。 过渡系数（Kss）在突变防止处理单元（40）中进行低通滤波处理。 形成防突变处理单元（40）的低通滤波器的截止频率被设定为低于形成突变变化防止处理部（32）的低通滤波器的截止频率的值， 低通滤波器过程对转矩控制量（epsilonts）的影响。

公开(公告)号：US08082080B2

公开(公告)日：2011-12-20

申请号：US12476688

申请日：2009-06-02

申请人： Masayuki Kita ,  Terutaka Tamaizumi ,  Akihiko Nishimura ,  Shinya Aono ,  Jun Hasegawa ,  Akira Nambu

发明人： Masayuki Kita ,  Terutaka Tamaizumi ,  Akihiko Nishimura ,  Shinya Aono ,  Jun Hasegawa ,  Akira Nambu

IPC分类号： B62D6/00

CPC分类号： B62D5/0463 ,  B62D5/0466

摘要： An electric power steering (EPS) apparatus 1 includes a motor 12, an EPS actuator 10, a torque sensor 14, and an ECU 11. The EPS actuator 10 uses the motor 12 as a drive source to apply assist force to a steering system, thereby assisting a steering operation. The torque sensor 14 detects a steering torque τ of the steering system. The ECU 11 controls the operation of the EPS actuator 10. Based on the steering torque τ detected by the torque sensor 14, the ECU 11 computes a basic shift amount εts_b of the assist force applied to the steering system. The ECU 11 determines which one of returning, holding, and turning is the state of the steering operation. When the state of the steering operation is returning or holding, the ECU 11 executes compensation control for correcting the steering torque τ, which is used in the computation of the basic shift amount εts_b of the assist force, thereby increasing the assist force applied to the steering system. The ECU 11 subjects the steering torque shift control amount εts to a filtering process using a low pass filter, thereby inhibiting the steering torque shift control amount εts from sharply changing. When the state of the steering operation is turning, the ECU 11 changes a filter constant of the low pass filter so as to reduce the filtering effect.

摘要翻译： 电动助力转向（EPS）装置1包括电动机12，EPS致动器10，转矩传感器14和ECU 11. EPS致动器10使用电动机12作为驱动源向转向系统施加辅助力， 从而辅助转向操作。 转矩传感器14检测转向系统的转向转矩τ。 ECU11控制EPS致动器10的动作。根据由转矩传感器14检测出的转向转矩τ，ECU11计算施加于转向系统的辅助力的基本位移量＆amp; ts_b。 ECU11确定返回，保持和转动中的哪一个是转向操作的状态。 当转向操作状态返回或保持时，ECU11执行用于校正辅助力的基本位移量＆amp; ts_b的计算中使用的转向转矩τ的补偿控制，从而增加施加的辅助力 到转向系统。 ECU11使用低通滤波器对转向转矩转换控制量进行滤波处理，从而抑制转向转矩转换控制量的急剧变化。 当转向操作状态转动时，ECU11改变低通滤波器的滤波常数，从而降低滤波效果。

公开(公告)号：US20090299575A1

公开(公告)日：2009-12-03

申请号：US12476688

申请日：2009-06-02

申请人： Masayuki KITA ,  Terutaka Tamaizumi ,  Akihiko Nishimura ,  Shinya Aono ,  Jun Hasegawa ,  Akira Nambu

发明人： Masayuki KITA ,  Terutaka Tamaizumi ,  Akihiko Nishimura ,  Shinya Aono ,  Jun Hasegawa ,  Akira Nambu

IPC分类号： B62D6/00 ,  G06F19/00

CPC分类号： B62D5/0463 ,  B62D5/0466

摘要： An electric power steering (EPS) apparatus 1 includes a motor 12, an EPS actuator 10, a torque sensor 14, and an ECU 11. The EPS actuator 10 uses the motor 12 as a drive source to apply assist force to a steering system, thereby assisting a steering operation. The torque sensor 14 detects a steering torque τ of the steering system. The ECU 11 controls the operation of the EPS actuator 10. Based on the steering torque τ detected by the torque sensor 14, the ECU 11 computes a basic shift amount εts_b of the assist force applied to the steering system. The ECU 11 determines which one of returning, holding, and turning is the state of the steering operation. When the state of the steering operation is returning or holding, the ECU 11 executes compensation control for correcting the steering torque τ, which is used in the computation of the basic shift amount εts_b of the assist force, thereby increasing the assist force applied to the steering system. The ECU 11 subjects the steering torque shift control amount εts to a filtering process using a low pass filter, thereby inhibiting the steering torque shift control amount εts from sharply changing. When the state of the steering operation is turning, the ECU 11 changes a filter constant of the low pass filter so as to reduce the filtering effect.

摘要翻译： 电动助力转向（EPS）装置1包括电动机12，EPS致动器10，转矩传感器14和ECU 11. EPS致动器10使用电动机12作为驱动源向转向系统施加辅助力， 从而辅助转向操作。 扭矩传感器14检测转向系统的转向转矩τ。 ECU11控制EPS致动器10的动作。根据由转矩传感器14检测出的转向转矩τ1，ECU11计算施加于转向系统的辅助力的基本位移量epsilonts_b。 ECU11确定返回，保持和转动中的哪一个是转向操作的状态。 当转向操作的状态返回或保持时，ECU11执行用于校正辅助力的基本位移量epsilonts_b的计算中使用的转向转矩τ的补偿控制，从而增加施加到转向操作的辅助力 转向系统。 ECU11使用低通滤波器对转向转矩转换控制量的epsil字符进行滤波处理，由此抑制转向转矩转换控制量的epsic字符急剧变化。 当转向操作状态转动时，ECU11改变低通滤波器的滤波常数，从而降低滤波效果。

公开(公告)号：US08738229B2

公开(公告)日：2014-05-27

申请号：US12935105

申请日：2009-04-15

申请人： Terutaka Tamaizumi ,  Hirozumi Eki ,  Shinya Aono ,  Jun Hasegawa ,  Masayuki Kita

发明人： Terutaka Tamaizumi ,  Hirozumi Eki ,  Shinya Aono ,  Jun Hasegawa ,  Masayuki Kita

IPC分类号： A01B69/00 ,  B62D6/00 ,  B62D11/00 ,  G05D1/00 ,  G06F7/00

CPC分类号： B62D5/0463 ,  B62D6/04

摘要： A current command value computing section includes an integration control computing section. Based on an integration of the steering torque τ, the integration control computing section computes a steering torque integration control amount Iint*, which is a compensation component for increasing the assist force. The integration control computing section functions as a determining device that determines whether the vehicle is traveling forward in a straight line. When the determining device determines that the vehicle is traveling forward in a straight line, the integration control computing section outputs the steering torque integration control amount Iint* to an adder. The current command value computing section superimposes the steering torque integration control amount Iint* on a basic assist control amount Ias* computed by a basic assist control section, and outputs the obtained value, as a current command value Iq* corresponding to a target assist force, to an output section.

摘要翻译： 当前命令值计算部分包括积分控制计算部分。 基于转向转矩τ的积分，积分控制运算部计算作为增加辅助力的补偿成分的转向转矩积分控制量Iint *。 集成控制计算部作为确定车辆是否以直线向前行进的判定装置发挥作用。 当确定装置确定车辆以直线向前行进时，积分控制计算部分向加法器输出转向转矩积分控制量Iint *。 当前指令值计算部分将转向转矩积分控制量Iint *叠加在由基本辅助控制部分计算的基本辅助控制量Ias *上，并将所获得的值作为对应于目标辅助力的当前指令值Iq * ，到输出部分。

公开(公告)号：US20110022270A1

公开(公告)日：2011-01-27

申请号：US12935105

申请日：2009-04-15

申请人： Terutaka Tamaizumi ,  Hirozumi Eki ,  Shinya Aono ,  Jun Hasegawa ,  Masayuki Kita

发明人： Terutaka Tamaizumi ,  Hirozumi Eki ,  Shinya Aono ,  Jun Hasegawa ,  Masayuki Kita

IPC分类号： B62D6/08

CPC分类号： B62D5/0463 ,  B62D6/04

摘要： A current command value computing section includes an integration control computing section. Based on an integration of the steering torque τ, the integration control computing section computes a steering torque integration control amount Iint*, which is a compensation component for increasing the assist force. The integration control computing section functions as a determining device that determines whether the vehicle is traveling forward in a straight line. When the determining device determines that the vehicle is traveling forward in a straight line, the integration control computing section outputs the steering torque integration control amount Iint* to an adder. The current command value computing section superimposes the steering torque integration control amount Iint* on a basic assist control amount Ias* computed by a basic assist control section, and outputs the obtained value, as a current command value Iq* corresponding to a target assist force, to an output section.

摘要翻译： 当前命令值计算部分包括积分控制计算部分。 基于转向转矩τ的积分，积分控制运算部计算作为增加辅助力的补偿成分的转向转矩积分控制量Iint *。 集成控制计算部作为确定车辆是否以直线向前行进的判定装置发挥作用。 当确定装置确定车辆以直线向前行进时，积分控制计算部分向加法器输出转向转矩积分控制量Iint *。 当前指令值计算部分将转向转矩积分控制量Iint *叠加在由基本辅助控制部分计算的基本辅助控制量Ias *上，并将所获得的值作为对应于目标辅助力的当前指令值Iq * ，到输出部分。

公开(公告)号：US07009358B2

公开(公告)日：2006-03-07

申请号：US10695995

申请日：2003-10-30

申请人： Terutaka Tamaizumi ,  Yoshinobu Shimizu ,  Shinya Aono ,  Akihiro Nishiyama ,  Takanobu Takamatsu ,  Masayuki Kita ,  Tomoyuki Yamauchi

发明人： Terutaka Tamaizumi ,  Yoshinobu Shimizu ,  Shinya Aono ,  Akihiro Nishiyama ,  Takanobu Takamatsu ,  Masayuki Kita ,  Tomoyuki Yamauchi

IPC分类号： B62D6/00 ,  G06F17/00 ,  G05D23/275 ,  H02P7/00

CPC分类号： B62D5/0463

摘要： The present invention provides an electric power steering device enabled to compensate for the influence of the inertia of a steering-assisting-force generating motor on steering with accurate timing even when a steering direction is reversed at high speed. Based on steering torque and a rotation angular speed of a steering-assisting-force generating motor, a steering angular acceleration correspondence value is obtained. The device has means for regulating a gain, which is multiplied to a change acceleration of the steering torque. The motor is controlled so that the steering assisting force is corrected according to a motor output correction value obtained on the basis of the relation between the motor output correction value and the steering angular acceleration correspondence value, which is preliminarily determined and stored in such a way as to compensate for the influence of the inertia on steering, and the obtained steering angular acceleration correspondence value.

摘要翻译： 本发明提供一种电动助力转向装置，即使当转向方向高速反转时，能够以精确的定时补偿转向辅助力产生电动机的惯性的影响。 基于转向转矩和转向辅助力产生电动机的旋转角速度，获得转向角加速度对应值。 该装置具有用于调节增益的装置，该增益乘以转向转矩的改变加速度。 控制电动机，使得根据以这种方式预先确定和存储的电动机输出校正值和转向角加速度对应值之间的关系获得的电动机输出校正值来校正转向辅助力 以补偿惯性对转向的影响，以及所获得的转向角加速度对应值。

公开(公告)号：US07826950B2

公开(公告)日：2010-11-02

申请号：US11667327

申请日：2005-11-08

申请人： Terutaka Tamaizumi ,  Shinya Aono

发明人： Terutaka Tamaizumi ,  Shinya Aono

IPC分类号： B62D5/04

CPC分类号： B62D5/0463

摘要： In an electric power steering apparatus, steering torque of a steering wheel is detected by a torque sensor, and a motor 10 for generating steering assist power is controlled so that the steering assist power is generated according to a basic assist torque corresponding to the detected steering torque. A correspondence relationship between the steering torque and the basic assist torque is set such that an assist gradient that is a rate of change of the basic assist torque to the steering torque varies according to variation of the steering torque. A correction amount of an output of the motor 10 varies according to the variation of the assist gradient.

摘要翻译： 在电动助力转向装置中，通过转矩传感器检测方向盘的转向转矩，并且控制用于产生转向辅助动力的电动机10，以便根据与检测到的转向相对应的基本辅助转矩来生成转向辅助动力 扭矩。 设定转向转矩与基本辅助转矩之间的对应关系，使得作为转向转矩的基本辅助转矩的变化率的辅助梯度根据转向转矩的变化而变化。 马达10的输出的校正量根据辅助梯度的变化而变化。

公开(公告)号：US20080033613A1

公开(公告)日：2008-02-07

申请号：US11667327

申请日：2005-11-08

申请人： Terutaka Tamaizumi ,  Shinya Aono

发明人： Terutaka Tamaizumi ,  Shinya Aono

IPC分类号： B62D6/10 ,  B62D5/04

CPC分类号： B62D5/0463

摘要： In an electric power steering apparatus, steering torque of a steering wheel is detected by a torque sensor, and a motor 10 for generating steering assist power is controlled so that the steering assist power is generated according to a basic assist torque corresponding to the detected steering torque. A correspondence relationship between the steering torque and the basic assist torque is set such that an assist gradient that is a rate of change of the basic assist torque to the steering torque varies according to variation of the steering torque. A correction amount of an output of the motor 10 varies according to the variation of the assist gradient.

摘要翻译： 在电动助力转向装置中，通过转矩传感器检测方向盘的转向转矩，并且控制用于产生转向辅助动力的电动机10，以便根据与检测到的转向相对应的基本辅助转矩来生成转向辅助动力 扭矩。 设定转向转矩与基本辅助转矩之间的对应关系，使得作为转向转矩的基本辅助转矩的变化率的辅助梯度根据转向转矩的变化而变化。 马达10的输出的校正量根据辅助梯度的变化而变化。

公开(公告)号：US06999862B2

公开(公告)日：2006-02-14

申请号：US11057014

申请日：2005-02-11

申请人： Terutaka Tamaizumi ,  Shinya Aono

发明人： Terutaka Tamaizumi ,  Shinya Aono

IPC分类号： G60F165/00

CPC分类号： B62D5/0463 ,  B62D5/046 ,  B62D5/0472

摘要： An electric power steering apparatus has a motor controlled so as to generate steering assist power according to the steering torque required to operate a steering wheel. As a result of correction of the output of the motor in accordance with a value correlating with the rotation angular velocity correspondence value of the steering wheel, in the frequency response characteristic represented by the steering frequency of the steering wheel and the amplitude ratio of the steering torque relative to the steering angle of the steering wheel, the amplitude ratio is set within a setting range, at least within the steering frequency range when a person operates the steering wheel. As a result of correction of the output of the motor in accordance with a value directly correlating with the change velocity correspondence value of the steering torque, in the frequency response characteristic represented by the frequency of the disturbance torque input from the road surface to the steering system via vehicle wheels and the amplitude ratio of the steering torque relative to the disturbance torque, the amplitude ratio becomes smaller at the resonance frequency.

摘要翻译： 电动助力转向装置具有电动机，以便根据操作方向盘所需的转向转矩产生转向辅助动力。 根据与方向盘的旋转角速度对应值相关联的值校正马达的输出的结果，在由方向盘的转向频率表示的频率响应特性和转向的振幅比中 相对于方向盘的转向角的转矩，当人操作方向盘时，至少在转向频率范围内，将振幅比设定在设定范围内。 作为根据与转向转矩的变化速度对应值直接相关的值来校正电动机的结果，在由从路面输入到转向的干扰转矩的频率所表示的频率响应特性中 系统通过车轮和转向转矩相对于扰动转矩的幅度比，振幅比在共振频率下变小。