公开(公告)号：US07983816B2

公开(公告)日：2011-07-19

申请号：US12838038

申请日：2010-07-16

申请人： Hideyuki Kobayashi ,  Toru Sakaguchi ,  Shuji Endo ,  Atsushi Kojima

发明人： Hideyuki Kobayashi ,  Toru Sakaguchi ,  Shuji Endo ,  Atsushi Kojima

IPC分类号： A01B69/00

CPC分类号： B62D5/0472 ,  B62D5/0463 ,  B62D5/0466

摘要： The present invention provides a control apparatus for an electric power steering apparatus comprises: a steering assist command value calculating section; a current control section that calculates a voltage command value; and a motor driving section that drives a motor based on the voltage command value, wherein an assist power from the motor is applied to a steering system, the control apparatus is characterized in that an SAT measuring section, that inputs an angular speed and an angular acceleration of the motor, the steering assist command value and the torque signal therein so as to estimate an SAT, is provided, and the SAT obtained by the SAT measuring section is feedbacked to the steering assist command value via a feedback section composed of a phase compensating section and a gain section.

公开(公告)号：US20100286871A1

公开(公告)日：2010-11-11

申请号：US12838038

申请日：2010-07-16

申请人： Hideyuki Kobayashi ,  Toru Sakaguchi ,  Shuji Endo ,  Atsushi Kojima

发明人： Hideyuki Kobayashi ,  Toru Sakaguchi ,  Shuji Endo ,  Atsushi Kojima

IPC分类号： G06F19/00 ,  B62D5/04

CPC分类号： B62D5/0472 ,  B62D5/0463 ,  B62D5/0466

摘要： The present invention provides a control apparatus for an electric power steering apparatus comprises: a steering assist command value calculating section; a current control section that calculates a voltage command value; and a motor driving section that drives a motor based on the voltage command value, wherein an assist power from the motor is applied to a steering system, the control apparatus is characterized in that an SAT measuring section, that inputs an angular speed and an angular acceleration of the motor, the steering assist command value and the torque signal therein so as to estimate an SAT, is provided, and the SAT obtained by the SAT measuring section is feedbacked to the steering assist command value via a feedback section composed of a phase compensating section and a gain section.

公开(公告)号：US20090192679A1

公开(公告)日：2009-07-30

申请号：US11813887

申请日：2006-01-12

申请人： Hideyuki Kobayashi ,  Toru Sakaguchi ,  Shuji Endo ,  Atsushi Kojima

发明人： Hideyuki Kobayashi ,  Toru Sakaguchi ,  Shuji Endo ,  Atsushi Kojima

IPC分类号： B62D6/00

CPC分类号： B62D5/0472 ,  B62D5/0463 ,  B62D5/0466

摘要： The present invention provides a control apparatus for an electric power steering apparatus comprises: a steering assist command value calculating section; a current control section that calculates a voltage command value; and a motor driving section that drives a motor based on the voltage command value, wherein an assist power from the motor is applied to a steering system, the control apparatus is characterized in that an SAT measuring section, that inputs an angular speed and an angular acceleration of the motor, the steering assist command value and the torque signal therein so as to estimate an SAT, is provided, and the SAT obtained by the SAT measuring section is feedbacked to the steering assist command value via a feedback section composed of a phase compensating section and a gain section.

摘要翻译： 本发明提供一种电动助力转向装置的控制装置，包括：转向辅助指令值计算部; 电流控制部，其计算电压指令值; 以及电动机驱动部，其基于所述电压指令值驱动电动机，其中来自所述电动机的辅助动力被施加到转向系统，所述控制装置的特征在于，SAT测量部输入角速度和角度 提供电动机的加速度，转向辅助指令值和其中的转矩信号以估计SAT，并且由SAT测量部分获得的SAT通过由相位组成的反馈部分反馈到转向辅助指令值 补偿部分和增益部分。

公开(公告)号：US07873453B2

公开(公告)日：2011-01-18

申请号：US11813887

申请日：2006-01-12

申请人： Hideyuki Kobayashi ,  Toru Sakaguchi ,  Shuji Endo ,  Atsushi Kojima

发明人： Hideyuki Kobayashi ,  Toru Sakaguchi ,  Shuji Endo ,  Atsushi Kojima

IPC分类号： A01B69/00

CPC分类号： B62D5/0472 ,  B62D5/0463 ,  B62D5/0466

摘要： The present invention provides a control apparatus for an electric power steering apparatus comprises: a steering assist command value calculating section; a current control section that calculates a voltage command value; and a motor driving section that drives a motor based on the voltage command value, wherein an assist power from the motor is applied to a steering system, the control apparatus is characterized in that an SAT measuring section, that inputs an angular speed and an angular acceleration of the motor, the steering assist command value and the torque signal therein so as to estimate an SAT, is provided, and the SAT obtained by the SAT measuring section is feedbacked to the steering assist command value via a feedback section composed of a phase compensating section and a gain section.

摘要翻译： 本发明提供一种电动助力转向装置的控制装置，包括：转向辅助指令值计算部; 电流控制部，其计算电压指令值; 以及电动机驱动部，其基于所述电压指令值驱动电动机，其中来自所述电动机的辅助动力被施加到转向系统，所述控制装置的特征在于，SAT测量部输入角速度和角度 提供电动机的加速度，转向辅助指令值和其中的转矩信号以估计SAT，并且由SAT测量部分获得的SAT通过由相位组成的反馈部分反馈到转向辅助指令值 补偿部分和增益部分。

公开(公告)号：US07586277B2

公开(公告)日：2009-09-08

申请号：US10582931

申请日：2004-12-03

申请人： Hideyuki Kobayashi ,  Toru Sakaguchi ,  Takeshi Hara ,  Sakae Nejo

发明人： Hideyuki Kobayashi ,  Toru Sakaguchi ,  Takeshi Hara ,  Sakae Nejo

IPC分类号： H02P7/00

CPC分类号： B62D5/0466 ,  H02P7/29

摘要： An electric power steering device changes the discontinuous non-linear characteristics in the duty ratio of the PWM signal versus motor current generated during steering wheel handle return into linear characteristics to suppress noise and provides a smooth and natural feeling steering. The electric control circuit (13) provided a current reference value calculator (22A) to calculate Iref, a current controller (22B) to obtain Vref2, a compensation adder (25) to obtain a duty D1, and a current discontinuity compensator (24) in order to obtain a duty D2. A motor drive circuit (35) including an H bridge circuit whose upper stage FET (1) is driven by the duty D1, and whose lower stage FED (3) paired with the upper stage FET (1), is driven by the duty D2 to allow forming a continuous linear characteristic in the duty ratio of the PWM signal versus the motor current.

摘要翻译： 电动助力转向装置将PWM信号的占空比与方向盘把手中产生的电动机电流的不连续非线性特性改变成线性特性，以抑制噪音并提供平稳自然的转向。 电气控制电路（13）提供计算Iref的电流参考值计算器（22A），获得Vref2的电流控制器（22B），获得占空比D1的补偿加法器（25）和电流不连续补偿器（24） 以获得责任D2。 电动机驱动电路（35）由占空比D1驱动的上级FET（1）和与上级FET（1）配对的下级FED（3）的H级桥式电路由占空比D2 以允许在PWM信号与电动机电流的占空比中形成连续的线性特性。

公开(公告)号：US20070120511A1

公开(公告)日：2007-05-31

申请号：US10582931

申请日：2004-12-03

申请人： Hideyuki Kobayashi ,  Toru Sakaguchi ,  Takeshi Hara ,  Sakae Nejo

发明人： Hideyuki Kobayashi ,  Toru Sakaguchi ,  Takeshi Hara ,  Sakae Nejo

IPC分类号： H02P7/00

CPC分类号： B62D5/0466 ,  H02P7/29

摘要： An electric power steering device changes the non-continuous, non-linear component in the duty ratio of the PWM signal versus motor current generated during steering wheel handle return into linear characteristics to suppress noise and allow a smooth and natural feeling during steering wheel handling. The electric control circuit (13) provided a current reference value calculator (22A) to calculate Iref a current controller (22B) to obtain Vref2, a compensation adder (25) to obtain a duty D1, and a current discontinuity compensator (24) in order to obtain a duty D2. A motor drive circuit (35) including an H bridge circuit whose upper stage FET (1) is driven by the duty D1, and whose lower stage FED (3) paired with the upper stage FET (1), is driven by the duty D2 to allow forming a continuous linear duty ratio characteristic in the duty ratio of the PWM signal versus the motor current.

摘要翻译： 电动助力转向装置将PWM信号的占空比与方向盘把手中产生的电动机电流恢复为线性特性以改变非连续非线性分量，以抑制噪音，并允许方向盘处理期间的平滑和自然的感觉。 电气控制电路（13）提供电流参考值计算器（22A）以计算电流控制器（22B）以获得V ref ref， （25）以获得占空比D 1，以及电流不连续补偿器（24），以获得占空比D 2。 一种电动机驱动电路（35），其包括由占空比D 1驱动的上级FET（1）和与上级FET（1）配对的下级FED（3）的H级桥式电路，由负载驱动 D 2以允许在PWM信号与电动机电流的占空比中形成连续的线性占空比特性。

公开(公告)号：US5861725A

公开(公告)日：1999-01-19

申请号：US909806

申请日：1997-08-12

申请人： Shuji Endo ,  Hideyuki Kobayashi

发明人： Shuji Endo ,  Hideyuki Kobayashi

IPC分类号： B62D5/04

CPC分类号： B62D5/0463

摘要： A steering force assist command value in correspondence with a steering torque is represented by approximation function equations lower than the order of the higher order function equation. The steering torque is sampled at predetermined time intervals and the steering force assist command value in correspondence with the sampled steering torque is calculated by the approximation function equations where when data outputted from a calculation device comprise 16-bit data, upper 8-bit data is outputted to a motor drive circuit and lower 8-bit data is omitted, and the omitted lower 8-bit data is added in calculating operation of next sampling period. An error of the steering force assist command value by omission of the lower 8-bit data is reduced and steering feeling can be improved.

摘要翻译： 与转向转矩相对应的转向力辅助指令值由低于高阶函数方程的阶数的近似函数方程表示。 以预定的时间间隔对转向扭矩进行采样，并且通过近似函数式来计算与采样的转向转矩相对应的转向力辅助指令值，其中当从计算装置输出的数据包括16位数据时，高8位数据为 输出到电动机驱动电路，并且省略较低的8位数据，并且在下一个采样周期的计算操作中添加省略的较低的8位数据。 通过省略较低的8位数据导致的转向力辅助指令值的误差降低，可提高转向感。

公开(公告)号：US07548035B2

公开(公告)日：2009-06-16

申请号：US10579969

申请日：2004-11-24

申请人： Shuji Endo ,  Yuho Aoki ,  Hideyuki Kobayashi ,  CaoMinh Ta

发明人： Shuji Endo ,  Yuho Aoki ,  Hideyuki Kobayashi ,  CaoMinh Ta

IPC分类号： H02P7/00

CPC分类号： H02P21/14 ,  B62D5/046 ,  H02P21/22

摘要： The invention relates to a control apparatus of an electric power steering apparatus structured such as to apply a steering assist force generated by a n-phase motor to a steering system of a vehicle, the control apparatus is provided with at least (n−1) numbers of current detecting means for detecting a current Im in each of phases of the motor, a current command value calculating means for outputting a current command value Imref in each of the phases, and n numbers of current control means, and the control apparatus executes a current control of each of the phases by the current control means having the current command value Imref in each of the phases and the current Im in each of the phases as an input.

摘要翻译： 本发明涉及一种电动助力转向装置的控制装置，其构造为将由n相电动机产生的转向辅助力施加到车辆的转向系统，所述控制装置至少配备有（n-1） 用于检测电动机的每个相位中的电流Im的电流检测装置的数量，用于在每个相中输出电流指令值Imref的电流指令值计算装置和n个电流控制装置，并且控制装置执行 电流控制装置对每个相位的电流进行控制，该电流控制装置在各相中具有电流指令值Imref，在每相中具有电流Im作为输入。

公开(公告)号：US07443131B2

公开(公告)日：2008-10-28

申请号：US10585990

申请日：2004-12-12

申请人： CaoMinh Ta ,  Hideyuki Kobayashi ,  Shuji Endo

发明人： CaoMinh Ta ,  Hideyuki Kobayashi ,  Shuji Endo

IPC分类号： H02P23/00

CPC分类号： B62D5/046

摘要： A control device for electric power steering apparatus, in which when torque ripples at the time of the rotation of a motor is reduced by simple arithmetic, smooth and safe assist limitation is performed without deteriorating steering feeling, is provided. For this reason, in the control device for electric power steering apparatus adopting a vector control system for applying an assist force of a motor to a steering system, a phase delay according to an angular velocity is obtained, a corrected electric angle is calculated by adding the phase delay to an electric angle, and generation of a current command value in the vector control is compensated based on the corrected electric angle.

摘要翻译： 一种用于电动助力转向装置的控制装置，其中通过简单的算术减少了电动机旋转时的扭矩波动，而不会恶化转向感，进行平稳和安全的辅助限制。 因此，在采用将电动机的辅助力施加到转向系统的矢量控制系统的电动助力转向装置的控制装置中，获得根据角速度的相位延迟，通过将 基于校正的电角度补偿矢量控制中的电角度的相位延迟和电流指令值的产生。

公开(公告)号：US20070096672A1

公开(公告)日：2007-05-03

申请号：US11586571

申请日：2006-10-26

申请人： Shuji Endo ,  Hideyuki Kobayashi

发明人： Shuji Endo ,  Hideyuki Kobayashi

IPC分类号： H02P7/00

CPC分类号： B62D5/0472

摘要： There is provided a controller for an electric power steering apparatus having a motor which applies a steering assist force to a steering mechanism. The controller includes a torque command value calculating portion which calculates a torque command value based on steering torque generated in a steering shaft, and a vehicle speed and a current command value calculating portion which calculates a current command value for the motor based on the torque command value. The controller controls the motor based on the current command value. In the apparatus, the controller has a cogging torque compensation value calculating portion which calculates a cogging torque compensation value for the motor, and corrects the current command value based on the cogging torque compensation value.

摘要翻译： 提供了一种用于具有向转向机构施加转向辅助力的电动机的电动助力转向装置的控制器。 控制器包括：转矩指令值计算部，其基于在转向轴中产生的转向转矩来计算转矩指令值;车速和电流指令值计算部，其基于转矩指令计算电动机的电流指令值 值。 控制器根据当前的指令值控制电机。 在该装置中，控制器具有齿槽转矩补偿值计算部，其计算电动机的齿槽转矩补偿值，并根据齿槽转矩补偿值来校正当前指令值。