公开(公告)号：US20180022384A1

公开(公告)日：2018-01-25

申请号：US15653327

申请日：2017-07-18

Applicant: DENSO CORPORATION

Inventor： Motoaki KATAOKA ,  Yosuke HIRATE

IPC: B62D6/10 ,  B62D5/04 ,  B62D6/04

CPC classification number: B62D6/10 ,  B62D5/0472 ,  B62D6/008 ,  B62D6/04 ,  G01L5/221

Abstract: A steering control apparatus controls an assistance torque outputted by a motor connected to a steering system mechanism that generates a steering torque. In the steering control apparatus, a load calculating unit estimates or detects a load acting on a steering shaft of the steering system mechanism. A target steering torque calculating unit calculates a target steering torque that is a target value of the steering torque, based on the estimated or detected load. A servo controller calculates a command value of the assistance torque such that a torque deviation that is a difference between the steering torque and the target steering torque is zero. A band correcting unit includes a band correction filter that extracts a component of a specific frequency band during a process of calculation from the load to the target steering torque, and corrects a gain of a predetermined transfer function at the extracted band.

公开(公告)号：US20200039577A1

公开(公告)日：2020-02-06

申请号：US16598234

申请日：2019-10-10

Applicant: DENSO CORPORATION

Inventor： Motoaki KATAOKA

IPC: B62D5/04 ,  B62D6/00

Abstract: A servo controller calculates a base assist torque so that a steering torque follows a target steering torque. A convergence control calculation unit provided as a correction control calculation unit calculates a correction control value in accordance with a steering speed which is a steering state value. A torque converter outputs a torque limit value determined by converting a current limit value into a torque to a servo limit value calculation unit. The servo limit value calculation unit calculates the servo limit value so that an absolute value of the servo limit value to be larger than an absolute value of the torque limit value in at least a part of a region of the steering speed or the correction control value.

公开(公告)号：US20240092418A1

公开(公告)日：2024-03-21

申请号：US18525692

申请日：2023-11-30

Applicant: DENSO CORPORATION

Inventor： Motoaki KATAOKA ,  Katsuya FUJISAKI ,  Yusuke OTOGAWA

IPC: B62D5/04

CPC classification number: B62D5/0463

Abstract: A servo controller calculates a base assist command so that a steering torque follows a target steering torque. An estimated load torque calculation section calculates an estimated load torque based on a target steering torque and a base assist command. A target steering torque calculation section calculates a target steering torque using a map that defines a relationship between the estimated load torque and the target steering torque. The servo controller has a low-pass filter for removing high-frequency components of a predetermined frequency or higher in the input target steering torque at least in a differential control calculation, and calculates a differential control amount according to a steering torque deviation between the target steering torque after the low-pass filter and the steering torque.

公开(公告)号：US20210245796A1

公开(公告)日：2021-08-12

申请号：US17242602

申请日：2021-04-28

Applicant: DENSO CORPORATION

Inventor： Takashi AOKI ,  Motoaki KATAOKA

IPC: B62D5/04 ,  B62D6/10

Abstract: A steering control device performs an assist control for generating an assist command that generates an assist torque based on a steering torque. The steering control device acquires a target value of physical quantity related to a steering. The steering control device performs a tracking control for generating a tracking command that generates an automatic steering torque for causing a detection value of physical quantity to track the target value.