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：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。

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。

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：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：US07049773B2

公开(公告)日：2006-05-23

申请号：US11192077

申请日：2005-07-29

申请人： Yasushi Miyazawa ,  Toru Sakaguchi ,  Kazuhiro Kumaido ,  Masayuki Aoki

发明人： Yasushi Miyazawa ,  Toru Sakaguchi ,  Kazuhiro Kumaido ,  Masayuki Aoki

IPC分类号： H02P7/00

CPC分类号： B62D5/049

摘要： An object of the present invention is to provide an electric power steering apparatus that can detect failure of a current detector quickly and with less misdetection using torque oscillation from a torque sensor. When the number of times N an absolute value of a differential value of a torque command value Tref exceeds a predetermined threshold value dTq in a predetermined time Tmr has reached a predetermined number Nref it is judged that the current detector has failed.

公开(公告)号：US20120230709A1

公开(公告)日：2012-09-13

申请号：US13414506

申请日：2012-03-07

申请人： Toru Sakaguchi

发明人： Toru Sakaguchi

IPC分类号： G03G15/08

CPC分类号： G03G15/556 ,  G03G15/0856 ,  G03G15/5079 ,  G03G2215/00569

摘要： An image forming apparatus includes a printing unit configured to print an input print job including a plurality of pages, wherein, if it is determined that a remaining amount of a recording agent in a cartridge is less than or equal to a threshold value, the printing unit prints a portion of print data in the print job, temporarily stops printing, and displays a toner out message on a display unit to prompt a user to replace the cartridge, and repeats, if the user does not replace the cartridge after the toner out message is displayed, printing a portion of print data in the print job that is different from the print data that the printing unit has already printed, temporarily stopping printing, and displaying on the display unit the toner out message.

摘要翻译： 图像形成装置包括打印单元，其被配置为打印包括多页的输入打印作业，其中，如果确定盒中的记录剂的剩余量小于或等于阈值，则打印 单位打印打印作业中的打印数据的一部分，暂时停止打印，并在显示单元上显示调色剂输出消息，以提示用户更换墨盒，并重复如果用户在墨粉出来之后未更换墨盒 显示打印作业中与打印单元已经打印的打印数据不同的打印数据的一部分，暂时停止打印，并在显示单元上显示调色剂消息。