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公开(公告)号：US06854559B2
公开(公告)日：2005-02-15
申请号：US10685480
申请日：2003-10-16
IPC分类号： B62D6/00 , B62D5/04 , B62D101/00 , B62D111/00 , B62D113/00 , B62D119/00 , B62D137/00
CPC分类号： B62D5/0466 , B62D6/008
摘要： An electric motor controller for a steering device that can apply an appropriate steering force to a steering wheel according to running conditions. An electric power steering controller of the present invention includes a steering shaft reaction force torque sensor for detecting a reaction force torque of a steering system, a superimposed reaction force torque calculating unit for multiplying a steering angle detected by the steering angle sensor by a gain to calculate a superimposed reaction force torque in the return direction of the steering wheel, and a control unit for controlling the gain so that the superimposed reaction force torque is reduced when a reaction force torque of the steering system is increased and the superimposed reaction force torque is increased when a reaction force torque of the steering system is decreased.
摘要翻译： 一种用于转向装置的电动机控制器，其可以根据运行条件向方向盘施加适当的转向力。 本发明的电动助力转向控制装置包括：用于检测转向系统的反作用力转矩的转向轴反作用转矩传感器;叠加的反作用力转矩计算单元，用于将由转向角传感器检测到的转向角乘以增益; 计算方向盘的返回方向上的叠加的反作用力转矩;以及控制单元，用于控制增益，使得当转向系统的反作用力转矩增加时叠加的反作用力转矩减小，叠加的反作用力转矩为 当转向系统的反作用力转矩减小时增加。
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公开(公告)号：US20050067214A1
公开(公告)日：2005-03-31
申请号：US10669654
申请日：2003-09-25
CPC分类号： B62D5/0466 , B62D5/0463 , B62D6/008
摘要： A road surface reaction torque detector has a low-pass filter element whose time constant is determined in accordance with a vehicle speed that is detected by a vehicle steed detector and a motor rotation speed that is detected by a motor rotation speed detector. A road surface reaction torque estimation value is obtained in such a manner that the road surface reaction torque detector performs low-pass filter processing on steering shaft reaction torque signal that is outputted by a steering shaft reaction torque signal outputting means. As a result, an accuracy of estimation of road surface reaction torque is improved.
摘要翻译： 路面反作用转矩检测器具有低通滤波器元件，其时间常数根据车辆检测器检测到的车速和由电动机转速检测器检测的电动机转速来确定。 以路面反作用转矩检测器对由转向轴反作用转矩信号输出装置输出的转向轴反作用转矩信号进行低通滤波处理的方式获得路面反作用转矩估计值。 结果，提高了路面反作用转矩的估计精度。
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公开(公告)号：US06736236B2
公开(公告)日：2004-05-18
申请号：US10045019
申请日：2002-01-15
IPC分类号： B62D504
CPC分类号： B62D5/0466 , B62D6/008
摘要： An electric motor controller for a steering device that can apply an appropriate steering force to a steering wheel according to running conditions. An electric power steering controller of the present invention includes a steering shaft reaction force torque sensor for detecting a reaction force torque of a steering system, a superimposed reaction force torque calculating unit for multiplying a steering angle detected by the steering angle sensor by a gain to calculate a superimposed reaction force torque in the return direction of the steering wheel, and a control unit for controlling the gain so that the superimposed reaction force torque is reduced when a reaction force torque of the steering system is increased and the superimposed reaction force torque is increased when a reaction force torque of the steering system is decreased.
摘要翻译： 一种用于转向装置的电动机控制器，其可以根据运行条件向方向盘施加适当的转向力。 本发明的电动助力转向控制装置包括：用于检测转向系统的反作用力转矩的转向轴反作用转矩传感器;叠加的反作用力转矩计算单元，用于将由转向角传感器检测到的转向角乘以增益; 计算方向盘的返回方向上的叠加的反作用力转矩;以及控制单元，用于控制增益，使得当转向系统的反作用力转矩增加时叠加的反作用力转矩减小，叠加的反作用力转矩为 当转向系统的反作用力转矩减小时增加。
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公开(公告)号：US06863150B1
公开(公告)日：2005-03-08
申请号：US10669654
申请日：2003-09-25
CPC分类号： B62D5/0466 , B62D5/0463 , B62D6/008
摘要： A road surface reaction torque detector has a low-pass filter element whose time constant is determined in accordance with a vehicle speed that is detected by a vehicle steed detector and a motor rotation speed that is detected by a motor rotation speed detector. A road surface reaction torque estimation value is obtained in such a manner that the road surface reaction torque detector performs low-pass filter processing on steering shaft reaction torque signal that is outputted by a steering shaft reaction torque signal outputting means. As a result, an accuracy of estimation of road surface reaction torque is improved.
摘要翻译： 路面反作用转矩检测器具有低通滤波器元件，其时间常数根据车辆检测器检测到的车速和由电动机转速检测器检测的电动机转速来确定。 以路面反作用转矩检测器对由转向轴反作用转矩信号输出装置输出的转向轴反作用转矩信号进行低通滤波处理的方式获得路面反作用转矩估计值。 结果，提高了路面反作用转矩的估计精度。
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公开(公告)号：US06768283B2
公开(公告)日：2004-07-27
申请号：US10233775
申请日：2002-09-04
IPC分类号： G05D1700
CPC分类号： B62D6/006 , B62D5/0463 , B62D5/0466
摘要： An electric power steering control device is provided, which comprises a vehicle speed detector, a steering torque detector, a steering shaft reaction torque meter, a motor speed detector, a motor acceleration detector, a steering torque detector for calculating a base target current, a damping compensator for finding a gain of a damping torque based on a steering shaft reaction torque to calculate a damping compensation amount based on the damping torque gain and motor speed, an inertia compensator for finding a gain of an inertia compensation torque based on the steering shaft reaction torque to calculate an inertia compensation amount based on the inertia compensation torque gain and motor acceleration, and an adder for compensating a base target current by a damping compensation amount and an inertia compensation amount to calculate a target current.
摘要翻译： 提供一种电动助力转向控制装置，其包括车速检测器，转向转矩检测器，转向轴反作用力矩计，电动机速度检测器，电动机加速度检测器，用于计算基准目标电流的转向转矩检测器， 阻尼补偿器，用于基于转向轴反作用扭矩找到阻尼扭矩的增益，以基于阻尼扭矩增益和电机速度计算阻尼补偿量;惯性补偿器，用于基于转向轴获得惯性补偿转矩的增益 用于基于惯性补偿转矩增益和电动机加速度计算惯性补偿量的反作用转矩，以及用于通过减振补偿量和惯性补偿量补偿基准目标电流以计算目标电流的加法器。
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公开(公告)号：US20050072622A1
公开(公告)日：2005-04-07
申请号：US10754709
申请日：2004-01-12
IPC分类号： B62D6/00 , B62D5/04 , B62D101/00 , B62D113/00 , B62D117/00 , B62D119/00
CPC分类号： B62D5/0484
摘要： A motor-driven power steering control apparatus assuring consistently comfortable steering operation of a motor vehicle includes a steering state detecting means (10), a motor drive command value arithmetic means (20), a trouble detecting means (40), a motor drive command value correcting means (51, 52) for decrementing a motor drive command value outputted from the motor drive command value correcting means (51) from a predetermined initial value as a function of time lapse when a trouble detection signal is outputted from the trouble detecting means (40), and a means (30) for driving an assist motor in conformance with the output of the motor drive command value correcting means (51, 52). The motor drive command value correcting means (51, 52) includes a low-pass filter (515) for smoothing the motor drive command value. A value acquired through the low-pass filter (515) is employed as the predetermined initial value.
摘要翻译： 确保机动车辆一贯舒适的转向操作的马达驱动的动力转向控制装置包括转向状态检测装置（10），马达驱动指令值运算装置（20），故障检测装置（40），马达驱动指令 用于当从所述故障检测装置输出故障检测信号时，将从所述马达驱动指令值校正装置（51）输出的马达驱动指令值从作为时间流逝的函数的预定初始值递减的值校正装置（51,52） （40），以及用于根据电动机驱动指令值修正装置（51,52）的输出驱动辅助电动机的装置（30）。 马达驱动指令值修正装置（51,52）包括用于使马达驱动指令值平滑的低通滤波器（515）。 通过低通滤波器（515）获取的值被用作预定的初始值。
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公开(公告)号：US07128184B2
公开(公告)日：2006-10-31
申请号：US10754709
申请日：2004-01-12
CPC分类号： B62D5/0484
摘要： A motor-driven power steering control apparatus assuring consistently comfortable steering operation of a motor vehicle includes a steering state detecting (10), a motor drive command value arithmetic device (20), a trouble detector (40), a motor drive command value corrector (51, 52) for decrementing a motor drive command value outputted from the motor drive command value corrector (51) from a predetermined initial value as a function of time lapse when a trouble detection signal is outputted from the trouble detector (40), and an element (30) for driving an assist motor in conformance with the output of the motor drive command value corrector (51, 52). The motor drive command value corrector (51, 52) includes a low-pass filter (515) for smoothing the motor drive command value. A value acquired through the low-pass filter (515) is employed as the predetermined initial value.
摘要翻译： 确保机动车辆一贯舒适的转向操作的电动助力转向控制装置包括转向状态检测装置（10），电动机驱动指令值运算装置（20），故障检测器（40），电动机驱动指令值校正器 （51,52），用于当从所述故障检测器（40）输出故障检测信号时，将从所述电动机驱动指令值校正器（51）输出的电动机驱动指令值从作为时间流逝的函数的预定初始值递减;以及 用于根据电动机驱动指令值校正器（51,52）的输出来驱动辅助电动机的元件（30）。 马达驱动指令值校正器（51,52）包括用于使马达驱动指令值平滑的低通滤波器（515）。 通过低通滤波器（515）获取的值被用作预定的初始值。
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公开(公告)号：US07128185B2
公开(公告)日：2006-10-31
申请号：US11120947
申请日：2005-05-04
CPC分类号： B62D5/0484
摘要： A motor-driven power steering control apparatus assuring consistently comfortable steering operation of a motor vehicle includes a steering state detector (10), a motor drive command value arithmetic device (20), a trouble detector (40), a motor drive command value corrector (51, 52) for decrementing a motor drive command value outputted from the motor drive command value corrector (51) from a predetermined initial value as a function of time lapse when a trouble detection signal is outputted from the trouble detector (40), and an element (30) for driving an assist motor in conformance with the output of the motor drive command value corrector (51, 52). The motor drive command value corrector (51, 52) includes a low-pass filter (515) for smoothing the motor drive command value. A value acquired through the low-pass filter (515) is employed as the predetermined initial value.
摘要翻译： 确保机动车辆一贯舒适的转向操作的电动机动力转向控制装置包括转向状态检测器（10），电动机驱动指令值运算装置（20），故障检测器（40），电动机驱动指令值校正器 （51,52），用于当从所述故障检测器（40）输出故障检测信号时，将从所述电动机驱动指令值校正器（51）输出的电动机驱动指令值从作为时间流逝的函数的预定初始值递减;以及 用于根据电动机驱动指令值校正器（51,52）的输出来驱动辅助电动机的元件（30）。 马达驱动指令值校正器（51,52）包括用于使马达驱动指令值平滑的低通滤波器（515）。 通过低通滤波器（515）获取的值被用作预定的初始值。
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公开(公告)号：US20050189897A1
公开(公告)日：2005-09-01
申请号：US11120947
申请日：2005-05-04
IPC分类号： B62D6/00 , B62D5/04 , B62D101/00 , B62D113/00 , B62D117/00 , B62D119/00 , H02P7/00
CPC分类号： B62D5/0484
摘要： A motor-driven power steering control apparatus assuring consistently comfortable steering operation of a motor vehicle includes a steering state detecting means (10), a motor drive command value arithmetic means (20), a trouble detecting means (40), a motor drive command value correcting means (51, 52) for decrementing a motor drive command value outputted from the motor drive command value correcting means (51) from a predetermined initial value as a function of time lapse when a trouble detection signal is outputted from the trouble detecting means (40), and a means (30) for driving an assist motor in conformance with the output of the motor drive command value correcting means (51, 52). The motor drive command value correcting means (51, 52) includes a low-pass filter (515) for smoothing the motor drive command value. A value acquired through the low-pass filter (515) is employed as the predetermined initial value.
摘要翻译： 确保机动车辆一贯舒适的转向操作的马达驱动的动力转向控制装置包括转向状态检测装置（10），马达驱动指令值运算装置（20），故障检测装置（40），马达驱动指令 用于当从所述故障检测装置输出故障检测信号时，将从所述马达驱动指令值校正装置（51）输出的马达驱动指令值从作为时间流逝的函数的预定初始值递减的值校正装置（51,52） （40），以及用于根据电动机驱动指令值修正装置（51,52）的输出驱动辅助电动机的装置（30）。 马达驱动指令值修正装置（51,52）包括用于使马达驱动指令值平滑的低通滤波器（515）。 通过低通滤波器（515）获取的值被用作预定的初始值。
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10.发明授权公开(公告)号：US06459971B1
公开(公告)日：2002-10-01
申请号：US09931853
申请日：2001-08-20
IPC分类号： B62D600
CPC分类号： B62D5/0466 , B62D15/0245
摘要： In an electric power steering control system, a road surface reaction torque estimator estimates a road surface reaction torque on the basis of steering wheel angle. A neutral point learning unit and a neutral point compensator learn a neutral point of the steering wheel on the basis of the road surface reaction torque with respect to the steering wheel angle. A return torque for returning the steering wheel to the neutral point is computed from a difference between a current angle of the motor and the learned neutral point. As a result, the steering wheel returns to the neutral point under the current driving condition without application of any force to the steering wheel by the driver.
摘要翻译： 在电动助力转向控制系统中，路面反作用转矩估计器基于方向盘角度来估计路面反作用转矩。 中性点学习单元和中性点补偿器基于相对于方向盘角度的路面反作用力矩来学习方向盘的中性点。 用于将方向盘返回到中性点的返回扭矩根据电动机的当前角度和学习中性点之间的差来计算。 结果，方向盘在目前驾驶状态下返回到中立点，而驾驶员不向方向盘施加任何力。
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