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公开(公告)号：US08046131B2
公开(公告)日：2011-10-25
申请号：US11591608
申请日：2006-11-02
IPC分类号： B62D5/04
CPC分类号： B62D5/0466
摘要： Provided is a vehicular steering apparatus capable of improving a steering feeling and achieving a reduction in cost. The vehicular steering apparatus according to the present invention is equipped with an assist motor for generating an assist torque, a state quantity detector for detecting a steering shaft reaction torque and a road surface reaction torque, and a control unit for calculating a target current value of the assist motor. The control unit includes a friction compensation portion and a return compensation portion, which calculate a friction compensation torque for compensating for the assist torque and a return compensation torque for compensating for the assist torque from the steering shaft reaction torque and the road surface reaction torque respectively. The control unit compensates for an overall friction torque in a steering mechanism and a gradient of the road surface reaction torque, using the friction compensation torque and the return compensation torque.
摘要翻译： 提供一种能够改善转向感并实现成本降低的车辆转向装置。 根据本发明的车辆转向装置配备有用于产生辅助转矩的辅助电动机，用于检测转向轴反作用转矩的状态量检测器和路面反作用转矩，以及用于计算目标电流值的控制单元 辅助马达。 控制单元包括摩擦补偿部分和返回补偿部分，其分别计算用于补偿辅助转矩的摩擦补偿转矩和用于分别从转向轴反作用转矩和路面反作用转矩补偿辅助转矩的返回补偿转矩 。 控制单元使用摩擦补偿扭矩和返回补偿扭矩补偿转向机构中的总体摩擦转矩和路面反作用转矩的梯度。
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公开(公告)号：US20080189014A1
公开(公告)日：2008-08-07
申请号：US11591608
申请日：2006-11-02
IPC分类号： B62D6/04
CPC分类号： B62D5/0466
摘要： Provided is a vehicular steering apparatus capable of improving a steering feeling and achieving a reduction in cost. The vehicular steering apparatus according to the present invention is equipped with an assist motor for generating an assist torque, a state quantity detector for detecting a steering shaft reaction torque and a road surface reaction torque, and a control unit for calculating a target current value of the assist motor. The control unit includes a friction compensation portion and a return compensation portion, which calculate a friction compensation torque for compensating for the assist torque and a return compensation torque for compensating for the assist torque from the steering shaft reaction torque and the road surface reaction torque respectively. The control unit compensates for an overall friction torque in a steering mechanism and a gradient of the road surface reaction torque, using the friction compensation torque and the return compensation torque.
摘要翻译： 提供一种能够改善转向感并实现成本降低的车辆转向装置。 根据本发明的车辆转向装置配备有用于产生辅助转矩的辅助电动机，用于检测转向轴反作用转矩的状态量检测器和路面反作用转矩，以及用于计算目标电流值的控制单元 辅助马达。 控制单元包括摩擦补偿部分和返回补偿部分，其分别计算用于补偿辅助转矩的摩擦补偿转矩和用于分别从转向轴反作用转矩和路面反作用转矩补偿辅助转矩的返回补偿转矩 。 控制单元使用摩擦补偿扭矩和返回补偿扭矩补偿转向机构中的总体摩擦转矩和路面反作用转矩的梯度。
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公开(公告)号：US07412319B2
公开(公告)日：2008-08-12
申请号：US11030437
申请日：2005-01-07
申请人： Hiroshi Fujioka , Takanori Matsunaga , Takashi Maeda , Toshinori Matsui , Masahiko Kurishige , Hideyuki Tanaka
发明人： Hiroshi Fujioka , Takanori Matsunaga , Takashi Maeda , Toshinori Matsui , Masahiko Kurishige , Hideyuki Tanaka
CPC分类号： B62D6/005 , B60T2230/02 , B60T2260/02 , B62D6/04
摘要： System for detecting stability/instability of behavior of a motor vehicle upon occurrence of tire slip or lock. State of the motor vehicle is determined on the basis of an alignment torque (Ta) applied from a road and a side slip angle (β). By taking advantage of such torque/slip-angle characteristic that although the alignment torque is proportional to a side slip angle when the latter is small, the alignment torque becomes smaller as the side slip angle increases, a normal value is determined from a straight line slope and the side slip angle in a region where the latter is small. Unstable behavior of the motor vehicle is determined when deviation of actual measured value from the normal value increases. Further, unstable state is determined when the slope of the alignment torque for the slip angle departs significantly from that of approximate straight line slope.
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公开(公告)号：US06915199B2
公开(公告)日：2005-07-05
申请号：US10299795
申请日：2002-11-20
申请人： Hiroshi Fujioka , Takanori Matsunaga , Takashi Maeda , Toshinori Matsui , Masahiko Kurishige , Hideyuki Tanaka
发明人： Hiroshi Fujioka , Takanori Matsunaga , Takashi Maeda , Toshinori Matsui , Masahiko Kurishige , Hideyuki Tanaka
IPC分类号： B60R16/02 , B60W40/10 , B60W40/101 , B60W40/103 , B62D5/04 , B62D6/00 , B62D6/04 , B62D101/00 , B62D111/00 , B62D117/00 , B62D121/00 , B62D137/00 , G06F7/00 , G06F7/70 , G08G1/16 , G06F19/00
CPC分类号： B62D6/005 , B60T2230/02 , B60T2260/02 , B62D6/04
摘要： System for detecting stability/instability of behavior of a motor vehicle upon occurrence of tire slip or lock. State of the motor vehicle is determined on the basis of an alignment torque (Ta) applied from a road and a side slip angle (β). By taking advantage of such torque/slip-angle characteristic that although the alignment torque is proportional to a side slip angle when the latter is small, the alignment torque becomes smaller as the side slip angle increases, a normal value is determined from a straight line slope and the side slip angle in a region where the latter is small. Unstable behavior of the motor vehicle is determined when deviation of actual measured value from the normal value increases. Further, unstable state is determined when the slope of the alignment torque for the slip angle departs significantly from that of approximate straight line slope.
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公开(公告)号：US20050125116A1
公开(公告)日：2005-06-09
申请号：US11030309
申请日：2005-01-07
申请人： Hiroshi Fujioka , Takanori Matsunaga , Takashi Maeda , Toshinori Matsui , Masahiko Kurishige , Hideyuki Tanaka
发明人： Hiroshi Fujioka , Takanori Matsunaga , Takashi Maeda , Toshinori Matsui , Masahiko Kurishige , Hideyuki Tanaka
IPC分类号： B60R16/02 , B60W40/10 , B60W40/101 , B60W40/103 , B62D5/04 , B62D6/00 , B62D6/04 , B62D101/00 , B62D111/00 , B62D117/00 , B62D121/00 , B62D137/00 , G06F7/00 , G06F7/70 , G08G1/16
CPC分类号： B62D6/005 , B60T2230/02 , B60T2260/02 , B62D6/04
摘要： System for detecting stability/instability of behavior of a motor vehicle upon occurrence of tire slip or lock. State of the motor vehicle is determined on the basis of an alignment torque (Ta) applied from a road and a side slip angle (β). By taking advantage of such torque/slip-angle characteristic that although the alignment torque is proportional to a side slip angle when the latter is small, the alignment torque becomes smaller as the side slip angle increases, a normal value is determined from a straight line slope and the side slip angle in a region where the latter is small. Unstable behavior of the motor vehicle is determined when deviation of actual measured value from the normal value increases. Further, unstable state is determined when the slope of the alignment torque for the slip angle departs significantly from that of approximate straight line slope.
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公开(公告)号：US20050114006A1
公开(公告)日：2005-05-26
申请号：US11030401
申请日：2005-01-07
申请人： Hiroshi Fujioka , Takanori Matsunaga , Takashi Maeda , Toshinori Matsui , Masahiko Kurishige , Hideyuki Tanaka
发明人： Hiroshi Fujioka , Takanori Matsunaga , Takashi Maeda , Toshinori Matsui , Masahiko Kurishige , Hideyuki Tanaka
IPC分类号： B60R16/02 , B60W40/10 , B60W40/101 , B60W40/103 , B62D5/04 , B62D6/00 , B62D6/04 , B62D101/00 , B62D111/00 , B62D117/00 , B62D121/00 , B62D137/00 , G06F7/00 , G06F7/70 , G08G1/16
CPC分类号： B62D6/005 , B60T2230/02 , B60T2260/02 , B62D6/04
摘要： System for detecting stability/instability of behavior of a motor vehicle upon occurrence of tire slip or lock. State of the motor vehicle is determined on the basis of an alignment torque (Ta) applied from a road and a side slip angle (β). By taking advantage of such torque/slip-angle characteristic that although the alignment torque is proportional to a side slip angle when the latter is small, the alignment torque becomes smaller as the side slip angle increases, a normal value is determined from a straight line slope and the side slip angle in a region where the latter is small. Unstable behavior of the motor vehicle is determined when deviation of actual measured value from the normal value increases. Further, unstable state is determined when the slope of the alignment torque for the slip angle departs significantly from that of approximate straight line slope.
摘要翻译： 用于在发生轮胎滑动或锁定时检测机动车辆的行为的稳定性/不稳定性的系统。 基于从道路施加的对准扭矩（Ta）和侧滑角（β）来确定机动车辆的状态。 通过利用这样的扭矩/滑移角特性，即使在后者较小时，对位转矩与侧滑角成比例，随着侧滑角增大，对位转矩变小，从直线 斜率和侧滑角在后者较小的区域。 当实际测量值与正常值的偏差增加时，确定机动车辆的不稳定行为。 此外，当滑移角的对准扭矩的斜率与近似直线斜率的斜率大大偏离时，确定不稳定状态。
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公开(公告)号：US07212902B2
公开(公告)日：2007-05-01
申请号：US11030401
申请日：2005-01-07
申请人： Hiroshi Fujioka , Takanori Matsunaga , Takashi Maeda , Toshinori Matsui , Masahiko Kurishige , Hideyuki Tanaka
发明人： Hiroshi Fujioka , Takanori Matsunaga , Takashi Maeda , Toshinori Matsui , Masahiko Kurishige , Hideyuki Tanaka
IPC分类号： G06F7/00
CPC分类号： B62D6/005 , B60T2230/02 , B60T2260/02 , B62D6/04
摘要： System for detecting stability/instability of behavior of a motor vehicle upon occurrence of tire slip or lock. State of the motor vehicle is determined on the basis of an alignment torque (Ta) applied from a road and a side slip angle (β). By taking advantage of such torque/slip-angle characteristic that although the alignment torque is proportional to a side slip angle when the latter is small, the alignment torque becomes smaller as the side slip angle increases, a normal value is determined from a straight line slope and the side slip angle in a region where the latter is small. Unstable behavior of the motor vehicle is determined when deviation of actual measured value from the normal value increases. Further, unstable state is determined when the slope of the alignment torque for the slip angle departs significantly from that of approximate straight line slope.
摘要翻译： 用于在发生轮胎滑动或锁定时检测机动车辆的行为的稳定性/不稳定性的系统。 基于从道路施加的对准扭矩（Ta）和侧滑角（β）来确定机动车辆的状态。 通过利用这样的扭矩/滑移角特性，即使在后者较小时，对位转矩与侧滑角成比例，随着侧滑角增大，对位转矩变小，从直线 斜率和侧滑角在后者较小的区域。 当实际测量值与正常值的偏差增加时，确定机动车辆的不稳定行为。 此外，当滑移角的对准扭矩的斜率与近似直线斜率的斜率大大偏离时，确定不稳定状态。
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公开(公告)号：US20050154510A1
公开(公告)日：2005-07-14
申请号：US11030335
申请日：2005-01-07
申请人： Hiroshi Fujioka , Takanori Matsunaga , Takashi Maeda , Toshinori Matsui , Masahiko Kurishige , Hideyuki Tanaka
发明人： Hiroshi Fujioka , Takanori Matsunaga , Takashi Maeda , Toshinori Matsui , Masahiko Kurishige , Hideyuki Tanaka
IPC分类号： B60R16/02 , B60W40/10 , B60W40/101 , B60W40/103 , B62D5/04 , B62D6/00 , B62D6/04 , B62D101/00 , B62D111/00 , B62D117/00 , B62D121/00 , B62D137/00 , G06F7/00 , G06F7/70 , G08G1/16
CPC分类号： B62D6/005 , B60T2230/02 , B60T2260/02 , B62D6/04
摘要： System for detecting stability/instability of behavior of a motor vehicle upon occurrence of tire slip or lock. State of the motor vehicle is determined on the basis of an alignment torque (Ta) applied from a road and a side slip angle (β). By taking advantage of such torque/slip-angle characteristic that although the alignment torque is proportional to a side slip angle when the latter is small, the alignment torque becomes smaller as the side slip angle increases, a normal value is determined from a straight line slope and the side slip angle in a region where the latter is small. Unstable behavior of the motor vehicle is determined when deviation of actual measured value from the normal value increases. Further, unstable state is determined when the slope of the alignment torque for the slip angle departs significantly from that of approximate straight line slope.
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公开(公告)号：US20050119816A1
公开(公告)日：2005-06-02
申请号：US11030440
申请日：2005-01-07
申请人： Hiroshi Fujioka , Takanori Matsunaga , Takashi Maeda , Toshinori Matsui , Masahiko Kurishige , Hideyuki Tanaka
发明人： Hiroshi Fujioka , Takanori Matsunaga , Takashi Maeda , Toshinori Matsui , Masahiko Kurishige , Hideyuki Tanaka
IPC分类号： B60R16/02 , B60W40/10 , B60W40/101 , B60W40/103 , B62D5/04 , B62D6/00 , B62D6/04 , B62D101/00 , B62D111/00 , B62D117/00 , B62D121/00 , B62D137/00 , G06F7/00 , G06F7/70 , G08G1/16
CPC分类号： B62D6/005 , B60T2230/02 , B60T2260/02 , B62D6/04
摘要： System for detecting stability/instability of behavior of a motor vehicle upon occurrence of tire slip or lock. State of the motor vehicle is determined on the basis of an alignment torque (Ta) applied from a road and a side slip angle (β). By taking advantage of such torque/slip-angle characteristic that although the alignment torque is proportional to a side slip angle when the latter is small, the alignment torque becomes smaller as the side slip angle increases, a normal value is determined from a straight line slope and the side slip angle in a region where the latter is small. Unstable behavior of the motor vehicle is determined when deviation of actual measured value from the normal value increases. Further, unstable state is determined when the slope of the alignment torque for the slip angle departs significantly from that of approximate straight line slope.
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公开(公告)号：US07454279B2
公开(公告)日：2008-11-18
申请号：US11030159
申请日：2005-01-07
申请人： Hiroshi Fujioka , Takanori Matsunaga , Takashi Maeda , Toshinori Matsui , Masahiko Kurishige , Hideyuki Tanaka
发明人： Hiroshi Fujioka , Takanori Matsunaga , Takashi Maeda , Toshinori Matsui , Masahiko Kurishige , Hideyuki Tanaka
CPC分类号： B62D6/005 , B60T2230/02 , B60T2260/02 , B62D6/04
摘要： System for detecting stability/instability of behavior of a motor vehicle upon occurrence of tire slip or lock. State of the motor vehicle is determined on the basis of an alignment torque (Ta) applied from a road and a side slip angle (β). By taking advantage of such torque/slip-angle characteristic that although the alignment torque is proportional to a side slip angle when the latter is small, the alignment torque becomes smaller as the side slip angle increases, a normal value is determined from a straight line slope and the side slip angle in a region where the latter is small. Unstable behavior of the motor vehicle is determined when deviation of actual measured value from the normal value increases. Further, unstable state is determined when the slope of the alignment torque for the slip angle departs significantly from that of approximate straight line slope.
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