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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。
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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.
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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
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.
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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。
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公开(公告)号：US07265509B2
公开(公告)日：2007-09-04
申请号：US11181859
申请日：2005-07-15
申请人： Shuji Endo , Yuho Aoki , Kenji Mori , Toru Sakaguchi , Sakae Nejo , Hideaki Okazaki , Lilit Kovudhikulrungsri
发明人： Shuji Endo , Yuho Aoki , Kenji Mori , Toru Sakaguchi , Sakae Nejo , Hideaki Okazaki , Lilit Kovudhikulrungsri
IPC分类号： H02P7/00
CPC分类号： B62D5/0472 , B62D5/0463
摘要： The present invention provides an excellent electric power steering apparatus in which torque ripple caused by a quantization error of a current control system generated in case of slow steering state and steering holding state, namely, vibration and noise on a steering wheel can be suppressed. A current controller in which a steady state gain of feedback control is a finite value is used so as to be capable of suppressing the vibration and noise. Further, according to the present invention, a smoothing filter is included in a current control system so that the quantization error is smoothed so that the torque ripple is suppressed.
摘要翻译： 本发明提供了一种优良的电动助力转向装置，其中可以抑制在转向缓慢的状态和转向保持状态下产生的当前控制系统的量化误差引起的转矩波动，即方向盘上的振动和噪声。 使用其中反馈控制的稳态增益为有限值的电流控制器，以便能够抑制振动和噪声。 此外，根据本发明，在电流控制系统中包括平滑滤波器，使得量化误差平滑，从而抑制转矩脉动。
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公开(公告)号：US20060012323A1
公开(公告)日：2006-01-19
申请号：US11181859
申请日：2005-07-15
申请人： Shuji Endo , Yuho Aoki , Kenji Mori , Toru Sakaguchi , Sakae Nejo , Hideaki Okazaki , Lilit Kovudhikulrungsri
发明人： Shuji Endo , Yuho Aoki , Kenji Mori , Toru Sakaguchi , Sakae Nejo , Hideaki Okazaki , Lilit Kovudhikulrungsri
IPC分类号： H02P7/00
CPC分类号： B62D5/0472 , B62D5/0463
摘要： The present invention provides an excellent electric power steering apparatus in which torque ripple caused by a quantization error of a current control system generated in case of slow steering state and steering holding state, namely, vibration and noise on a steering wheel can be suppressed. A current controller in which a steady state gain of feedback control is a finite value is used so as to be capable of suppressing the vibration and noise. Further, according to the present invention, a smoothing filter is included in a current control system so that the quantization error is smoothed so that the torque ripple is suppressed.
摘要翻译： 本发明提供了一种优良的电动助力转向装置，其中可以抑制在转向缓慢的状态和转向保持状态下产生的当前控制系统的量化误差引起的转矩波动，即方向盘上的振动和噪声。 使用其中反馈控制的稳态增益为有限值的电流控制器，以便能够抑制振动和噪声。 此外，根据本发明，在电流控制系统中包括平滑滤波器，使得量化误差平滑，从而抑制转矩脉动。
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公开(公告)号：US06373217B1
公开(公告)日：2002-04-16
申请号：US09606987
申请日：2000-06-29
申请人： Hideaki Kawada , Shuji Endo , Toru Sakaguchi
发明人： Hideaki Kawada , Shuji Endo , Toru Sakaguchi
IPC分类号： B62D504
CPC分类号： B62D5/0493 , B62D5/0463
摘要： There have been cases wherein the program itself does not operate normally and only continues to output the monitoring pulse so that racing cannot be detected, or due to electromagnetic waves or noise a pulse signal being outputted normally is measured erroneously and a mis-detection is made. In a control apparatus of an electric power steering system for, on the basis of a current command value computed from a current detected value of a motor and a steering assist command value computed on the basis of a steering torque arising in a steering shaft, controlling the motor, which applies a steering assist force to a steering mechanism, a control apparatus of an electric power steering system characterized in that it comprises a first control part and a second control part each inputting at least a torque signal, a vehicle speed signal, the motor current detected value and a motor terminal voltage, and the motor is controlled with the first control part and the second control part.
摘要翻译： 存在程序本身不能正常运行并且仅继续输出监视脉冲以使得无法检测到赛车或由于电磁波或噪声正常输出脉冲信号被错误地测量并且进行错误检测的情况 。 在电动助力转向系统的控制装置中，根据从电动机的当前检测值计算的电流指令值和基于转向轴中产生的转向转矩计算出的转向辅助指令值，控制 对转向机构施加转向辅助力的电动机，电动助力转向系统的控制装置，其特征在于，包括：第一控制部和第二控制部，每个至少输入转矩信号，车速信号， 电动机电流检测值和电动机端子电压，并且电动机由第一控制部分和第二控制部分控制。
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公开(公告)号：US20070081799A1
公开(公告)日：2007-04-12
申请号：US10583042
申请日：2004-12-02
IPC分类号： H02P7/29
CPC分类号： B62D5/046 , H02P2205/01
摘要： In a motor driving device where a motor having a winding wire with small inductance value is driven by a digital control means comprised of control means including a current command value calculating means, a current control means and a PWM control means whose sampling periods are different from each other, when discrete signals sampled by the respective control means are zero-order-held, a motor current includes a lot of higher harmonic waves due to a quantization error, thereby increasing a motor noise. When an n-th-order hold means is provided between the respective control means with different sampling periods, the quantization error can be reduced remarkably, and thus the higher harmonic wave components included in the motor current are reduced, thereby greatly reducing the motor noise.
摘要翻译： 在电动机驱动装置中，具有电感值小的绕组的电动机由数字控制装置驱动，数字控制装置包括控制装置，该控制装置包括电流指令值计算装置，电流控制装置和采样周期不同于 当由各个控制装置取样的离散信号是零级保持时，电动机电流由于量化误差而包含大量高次谐波，从而增加电动机噪声。 当在具有不同采样周期的各个控制装置之间提供n阶保持装置时，可以显着地降低量化误差，从而降低包含在电动机电流中的高次谐波分量，从而大大降低电动机噪声 。
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公开(公告)号：US07382105B2
公开(公告)日：2008-06-03
申请号：US10583042
申请日：2004-12-02
IPC分类号： H02P7/29
CPC分类号： B62D5/046 , H02P2205/01
摘要： In a motor driving device where a motor having a winding wire with small inductance value is driven by a digital control means comprised of control means including a current command value calculating means, a current control means and a PWM control means whose sampling periods are different from each other, when discrete signals sampled by the respective control means are zero-order-held, a motor current includes a lot of higher harmonic waves due to a quantization error, thereby increasing a motor noise.When an n-th-order hold means is provided between the respective control means with different sampling periods, the quantization error can be reduced remarkably, and thus the higher harmonic wave components included in the motor current are reduced, thereby greatly reducing the motor noise.
摘要翻译： 在电动机驱动装置中，具有电感值小的绕组的电动机由数字控制装置驱动，数字控制装置包括控制装置，该控制装置包括电流指令值计算装置，电流控制装置和采样周期不同于 当由各个控制装置取样的离散信号是零级保持时，电动机电流由于量化误差而包含大量高次谐波，从而增加电动机噪声。 当在具有不同采样周期的各个控制装置之间提供n阶保持装置时，可以显着地降低量化误差，从而降低包含在电动机电流中的高次谐波分量，从而大大降低电机噪声 。
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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。
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