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公开(公告)号：US08791659B2
公开(公告)日：2014-07-29
申请号：US13570857
申请日：2012-08-09
CPC分类号： H02P6/00
摘要： A F/B gain control unit computes a first change component by executing torque feedback control based on a torque deviation using a feedback gain that is computed by a F/B gain variable control unit. The F/B gain variable control unit computes one of two different feedback gains that correspond to a “first computation mode” in which the first change component is used as an addition angle and a “second computation mode” in which a value obtained by correcting the first change component by an estimated motor rotation angular velocity is used as the addition angle, respectively. A feedback gain used in the first computation mode is set such that a response at the feedback gain is higher than that at a feedback gain used in the second computation mode.
摘要翻译： F / B增益控制单元通过使用由F / B增益变量控制单元计算的反馈增益，基于转矩偏差执行转矩反馈控制来计算第一变化分量。 F / B增益可变控制单元计算与将第一变化分量用作相加角的“第一计算模式”对应的两个不同的反馈增益中的一个，以及“第二计算模式”，其中通过校正获得的值 将第一变化分量乘以估计的电机旋转角速度作为相加角。 设置在第一计算模式中使用的反馈增益，使得反馈增益的响应高于在第二计算模式中使用的反馈增益时的响应。
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公开(公告)号：US08874316B2
公开(公告)日：2014-10-28
申请号：US13205138
申请日：2011-08-08
CPC分类号： B62D5/046 , B62D5/0463
摘要： A current increase-decrease amount (ΔIγ*) computed by a command current increase-decrease amount computing unit is added to an immediately preceding value (Iγ*(n−1)) of a command current value (Iγ*) in an adder. The command current value (Iγ*) obtained by the adder is given to a high/low limit limiter. The high/low limit limiter limits the command current value (Iγ*), obtained by the adder, to a value between a low limit value (ξmin (ξmin≧0)) and a high limit value (ξmax (ξmax>ξmin)). A high limit value setting unit obtains the high limit value (ξmax) corresponding to the vehicle speed detected by the vehicle speed sensor, from a vehicle speed-vs.-high limit value map set by a map creating/updating unit, and sets the obtained high limit value (ξmax) in the high/low limit limiter.
摘要翻译： 由指令电流增加减少量运算部计算出的电流增减量（＆Dgr;Iγ*）被加到指令电流值（Iγ*）的前一个值（Iγ*（n-1）） 加法器。 通过加法器获得的指令电流值（Iγ*）被赋予高/低限制限制器。 高/低限制限制器将由加法器获得的指令电流值（Iγ*）限制在下限值（＆xgr; min（＆xgr;min≥0））和上限值（＆xgr; max （＆xgr; max>＆xgr; min））。 上限值设定单元根据由地图生成/更新单元设定的车速与上限值映射得出与车速传感器检测出的车速对应的上限值（＆xgr; max），以及 将所获得的上限值（＆xgr; max）设置在高/低限制限制器中。
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公开(公告)号：US07512468B2
公开(公告)日：2009-03-31
申请号：US11255223
申请日：2005-10-19
CPC分类号： B62D15/0245 , B62D5/0463
摘要： In an electric power steering apparatus which comprises a motor for generating steering assist force, it is judged whether or not the vehicle is in a state of straight forward motion. A mean reference steering angle is determined by dividing total of relative steering angles which are determined when the vehicle is judged to be in a state of straight forward motion by the number of judgments that the vehicle is in a state of straight forward motion. A steering angle is determined by subtracting a steering angle midpoint from a relative steering angle with taking the mean reference steering angle as the steering angle midpoint. The output of the motor for generating steering assist force is corrected in accordance with an output correction value determined on the basis of the determined steering angle. This output correction value is altered so as to have a positive correlation with the number of judgments that the vehicle is in a state of straight forward motion.
摘要翻译： 在包括用于产生转向辅助力的电动机的电动助力转向装置中，判断车辆是否处于直线向前运动的状态。 平均参考转向角通过将车辆被判断为处于直线向前运动状态时确定的相对转向角的总和除以车辆处于直线运动的状态的判断次数来确定。 通过以平均参考舵角作为转向角中点，从相对转向角减去转向角中点来确定转向角。 根据所确定的转向角确定的输出校正值来校正用于产生转向辅助力的电动机的输出。 该输出校正值被改变，以便与车辆处于直线向前运动的状态的判断次数呈正相关。
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公开(公告)号：US20060085113A1
公开(公告)日：2006-04-20
申请号：US11255223
申请日：2005-10-19
IPC分类号： B62D6/00
CPC分类号： B62D15/0245 , B62D5/0463
摘要： In an electric power steering apparatus which comprises a motor (10) for generating steering assist force, it is judged whether or not the vehicle is in a state of straight forward motion. A mean reference steering angle is determined by dividing total of relative steering angles which are determined when the vehicle is judged to be in a state of straight forward motion by the frequency of judgments that the vehicle is in a state of straight forward motion. A steering angle is determined by subtracting a steering angle midpoint from a relative steering angle with taking the mean reference steering angle as the steering angle midpoint. The output of the motor (10) for generating steering assist force is corrected in accordance with an output correction value determined on the basis of the determined steering angle. This output correction value is altered so as to have a positive correlation with the frequency of judgments that the vehicle is in a state of straight forward motion.
摘要翻译： 在包括用于产生转向辅助力的马达（10）的电动助力转向装置中，判断车辆是否处于直线向前运动的状态。 平均参考转向角通过将车辆被判断为处于直线向前运动状态时确定的相对转向角的总和除以车辆处于直线运动状态的判断频率来确定。 通过以平均参考舵角作为转向角中点，从相对转向角减去转向角中点来确定转向角。 根据所确定的转向角确定的输出校正值，校正用于产生转向辅助力的电动机（10）的输出。 该输出校正值被改变，以便与车辆处于直线向前运动的状态的判断频率呈正相关。
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公开(公告)号：US08892306B2
公开(公告)日：2014-11-18
申请号：US12946187
申请日：2010-11-15
CPC分类号： H02P21/0046 , B62D5/046 , H02P21/04 , H02P21/28
摘要： A motor is driven by the γ-axis current of a γδ coordinate system that is an imaginary rotating coordinate system. A command current value preparation unit sets the γ-axis command current value based on the command steering torque and the detected steering torque. The command current value preparation unit includes a command current increase/decrease amount calculation unit and an addition unit. The command current increase/decrease amount calculation unit calculates the current increase/decrease amount for the command current value based on the sign of the command steering torque and the deviation of the detected steering torque from the command steering torque. The current increase/decrease amount calculated by the command current increase/decrease amount calculation unit is added to the immediately preceding value of the command current value by the addition unit. Thus, the command current value in the present calculation cycle is calculated.
摘要翻译： 电动机由作为虚拟旋转坐标系的γδ坐标系的γ轴电流驱动。 指令电流值准备部基于指示转向转矩和检测到的转向转矩来设定γ轴指令电流值。 指令电流值准备单元包括指令电流增减量计算单元和加法单元。 指令电流增减量计算单元基于指示转向转矩的符号和检测到的转向转矩与指示转向转矩的偏差来计算指令电流值的当前增减量。 由指令电流上升/下降量计算单元计算出的当前增加/减少量通过加法单元加到指令当前值的紧前面的值。 因此，计算当前计算周期中的指令当前值。
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公开(公告)号：US08855858B2
公开(公告)日：2014-10-07
申请号：US12945101
申请日：2010-11-12
CPC分类号： B62D5/046 , B62D5/0463 , Y10S901/42
摘要： A motor control unit includes a detected steering torque correction unit that corrects the detected steering torque that is detected by a torque sensor and then subjected to a limitation process by a steering torque limiter. When the absolute value of the detected steering torque is equal to or smaller than a predetermined value, the detected steering torque correction unit corrects the detected steering torque to 0. When the absolute value of the detected steering torque is larger than the predetermined value, the detected steering torque correction unit outputs the detected steering torque without correction. A PI control unit calculates the addition angle based on the deviation of the control torque obtained through correction by the detected steering torque correction unit from the command steering torque.
摘要翻译： 马达控制单元包括检测到的转向扭矩校正单元，该单元校正由转矩传感器检测到的检测到的转向转矩，然后通过转向扭矩限制器进行限制处理。 当检测到的转向转矩的绝对值为规定值以下时，检测到的转向转矩修正部将检测的转向转矩修正为0.当检测转向转矩的绝对值大于规定值时， 检测到的转向转矩校正单元输出检测到的转向转矩而不进行校正。 PI控制单元基于通过检测转向转矩校正单元通过指令转向转矩校正获得的控制扭矩的偏差来计算相加角度。
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公开(公告)号：US08897965B2
公开(公告)日：2014-11-25
申请号：US13982119
申请日：2012-03-28
申请人： Terutaka Tamaizumi , Hirozumi Eki , Masayuki Kita , Isao Namikawa
发明人： Terutaka Tamaizumi , Hirozumi Eki , Masayuki Kita , Isao Namikawa
CPC分类号： B62D5/0472 , B62D5/0463 , B62D6/08
摘要： An assisting command value calculating unit calculates a first assisting factor on the basis of the value of a torque differential control volume added to a basic assist control volume based on a steering torque value, while increasing or decreasing, on the basis of an assisting gradient, the torque differential control volume based on a torque differential value. The pinion angle F/B control unit calculates a pinion angle command value, capable of being converted to a steering angle of the steering wheel, on the basis of the steering torque and the first assisting factor, and executes rotational angle feedback control. The assisting command value calculating unit calculates an assisting command value on the basis of the value of a second assisting factor, calculated by the pinion angle F/B control unit, added to the first assisting factor.
摘要翻译： 辅助指令值计算单元，基于辅助梯度，基于转向转矩值，基于辅助控制量添加到基本辅助控制量的转矩差分控制量的值来计算第一辅助因子，同时增加或减少， 基于转矩差分值的转矩差动控制量。 小齿轮角度F / B控制单元基于转向扭矩和第一辅助因子计算能够转换为方向盘的转向角的小齿轮角度指令值，并执行旋转角度反馈控制。 辅助指令值计算单元基于由小齿轮角度F / B控制单元计算的与第一辅助因子相加的第二辅助因子的值来计算辅助命令值。
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公开(公告)号：US20130311044A1
公开(公告)日：2013-11-21
申请号：US13982119
申请日：2012-03-28
申请人： Terutaka Tamaizumi , Hirozumi Eki , Masayuki Kita , Isao Namikawa
发明人： Terutaka Tamaizumi , Hirozumi Eki , Masayuki Kita , Isao Namikawa
IPC分类号： B62D5/04
CPC分类号： B62D5/0472 , B62D5/0463 , B62D6/08
摘要： An assisting command value calculating unit calculates a first assisting factor on the basis of the value of a torque differential control volume added to a basic assist control volume based on a steering torque value, while increasing or decreasing, on the basis of an assisting gradient, the torque differential control volume based on a torque differential value. The pinion angle F/B control unit calculates a pinion angle command value, capable of being converted to a steering angle of the steering wheel, on the basis of the steering torque and the first assisting factor, and executes rotational angle feedback control. The assisting command value calculating unit calculates an assisting command value on the basis of the value of a second assisting factor, calculated by the pinion angle F/B control unit, added to the first assisting factor.
摘要翻译： 辅助指令值计算单元，基于辅助梯度，基于转向转矩值，基于辅助控制量添加到基本辅助控制量的转矩差分控制量的值来计算第一辅助因子，同时增加或减少， 基于转矩差分值的转矩差动控制量。 小齿轮角度F / B控制单元基于转向扭矩和第一辅助因子计算能够转换为方向盘的转向角的小齿轮角度指令值，并执行旋转角度反馈控制。 辅助指令值计算单元基于由小齿轮角度F / B控制单元计算的与第一辅助因子相加的第二辅助因子的值来计算辅助命令值。
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公开(公告)号：US08306702B2
公开(公告)日：2012-11-06
申请号：US11970114
申请日：2008-01-07
申请人： Hiroshi Suzuki , Terutaka Tamaizumi
发明人： Hiroshi Suzuki , Terutaka Tamaizumi
IPC分类号： A01B69/00 , B62D6/00 , B62D11/00 , B62D12/00 , B63G8/20 , B63H25/04 , G05D1/00 , G06F7/00 , G06F17/00 , G06F19/00
CPC分类号： B62D5/0466
摘要： A steering wheel return compensation component is calculated based on an integrated value obtained by integrating a basic control amount in such a manner that the basic control amount has a property to rotate a steering wheel with a specific steering angle by a greater amount to its neutral position as the absolute value of the steering angle becomes greater. Alternatively, a steering wheel return compensation component is calculated in such a manner that the steering wheel return compensation component has a property to rotate the steering wheel by a greater amount to the neutral position as the absolute value of an integrated value obtained by integrating the steering angle becomes greater.
摘要翻译： 基于通过对基本控制量进行积分而获得的积分值来计算方向盘返回补偿分量，使得基本控制量具有使具有特定转向角的方向盘与其中立位置更大的量旋转的性质 因为转向角的绝对值变大。 或者，以这样的方式计算方向盘返回补偿部件，使得方向盘返回补偿部件具有使方向盘相对于中立位置更大的量的特性，作为通过对转向装置进行积分而获得的积分值的绝对值 角度变大。
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公开(公告)号：US08050824B2
公开(公告)日：2011-11-01
申请号：US12260472
申请日：2008-10-29
申请人： Terutaka Tamaizumi , Hirozumi Eki , Hiroshi Suzuki
发明人： Terutaka Tamaizumi , Hirozumi Eki , Hiroshi Suzuki
IPC分类号： B62D5/04 , B62D119/00
CPC分类号： B62D5/0463 , B62D5/0466
摘要： An assist gradient Ra and also an F/B gain gradient Rp are inputted to an assist gradient compensation control unit. The F/B gradient Rp is added to the assist gradient Ra in an adder and the sum obtained is inputted into a switching control unit. The assist gradient Ra that has been inputted from a basic assist control unit is directly inputted together with the sum to the switching control unit. When a torque feedback control is executed, the switching control unit outputs the sum of the assist gradient Ra and F/B gain gradient Rp to a filter constant computation unit and an assist gradient gain computation unit.
摘要翻译： 辅助梯度Ra和F / B增益梯度Rp被输入到辅助梯度补偿控制单元。 在加法器中将F / B梯度Rp加到辅助梯度Ra上，并将获得的和输入到切换控制单元中。 已经从基本辅助控制单元输入的辅助梯度Ra与和一起直接输入到切换控制单元。 当执行转矩反馈控制时，切换控制单元将辅助梯度Ra和F / B增益梯度R p的和输出到滤波常数计算单元和辅助梯度增益计算单元。
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