公开(公告)号：US20200062294A1

公开(公告)日：2020-02-27

申请号：US16546517

申请日：2019-08-21

申请人： JTEKT CORPORATION ,  TOYOTA JIDOSHA KABUSHIKI KAISHA

发明人： Takashi KODERA ,  Masayuki KITA ,  Toru TAKASHIMA ,  Tetsuya MORINO

IPC分类号： B62D5/00 ,  B62D5/04 ,  B62D6/02

摘要： A controller includes a control circuit configured to calculate a target corresponding steered angle that is a target value of a corresponding steered angle based on the transmission ratio associated with the vehicle speed. The corresponding steered angle is a rotation angle of a rotation shaft, which is convertible to the steered angle whose magnitude is changed relative to a value indicating the steering angle. The control circuit is configured to control the actuation of the motor so that an actual corresponding steered angle is a final target corresponding steered angle that is based on the target corresponding steered angle. The control circuit is configured to calculate the target corresponding steered angle by adjusting the transmission ratio based on a value indicating acceleration or deceleration of a vehicle.

公开(公告)号：US20140238768A1

公开(公告)日：2014-08-28

申请号：US14176719

申请日：2014-02-10

申请人： JTEKT CORPORATION

发明人： Terutaka TAMAIZUMI ,  Hirozumi EKI ,  Masayuki KITA ,  Isao NAMIKAWA

IPC分类号： B62D5/04

CPC分类号： B62D5/0463 ,  B62D5/0469 ,  B62D6/04

摘要： An end determination unit determines that a steering apparatus is in an end touching state when an angle deviation, which is a difference between an actual turning angle and a target turning angle, exceeds a threshold. This angle deviation exceeds the threshold before a large axial force is generated in a steering shaft. Accordingly, is it possible to determine that the steering apparatus is in the end touching state more quickly.

摘要翻译： 当作为实际转弯角度和目标转向角度之间的差异的角度偏差超过阈值时，结束确定单元确定转向装置处于结束触摸状态。 在转向轴产生大的轴向力之前，该角度偏差超过阈值。 因此，可以更快地确定转向装置处于结束触摸状态。

公开(公告)号：US20140343794A1

公开(公告)日：2014-11-20

申请号：US14271973

申请日：2014-05-07

申请人： JTEKT CORPORATION

发明人： Terutaka TAMAIZUMI ,  Hirozumi EKI ,  Masayuki KITA ,  Isao NAMIKAWA ,  Jun HASEGAWA ,  Akihiko NISHIMURA

IPC分类号： B62D5/04

CPC分类号： B62D5/0463 ,  B62D5/0472 ,  B62D6/008

摘要： There is provided an electric power steering system that makes it possible to improve the driver's steering feel, and that includes a controller that controls driving of a motor. The controller computes a first assist component based on a steering torque. The controller computes a torque command value based on a basic drive torque that is the sum of the steering torque and the first assist component, and computes an assist compensation component through feedback control based on the torque command value. The controller computes a steered angle command value based on a value obtained by adding the assist compensation component to the basic drive torque, and computes a second assist component through feedback control based on the steered angle command value. The controller controls driving of the motor based on an assist command value that is the sum of the first assist component and the second assist component.

摘要翻译： 提供了一种能够提高驾驶员的转向感觉的电动助力转向系统，并且包括控制电动机的驱动的控制器。 控制器基于转向扭矩计算第一辅助部件。 控制器基于作为转向转矩和第一辅助部件的总和的基本驱动转矩来计算转矩指令值，并且通过基于转矩指令值的反馈控制来计算辅助补偿成分。 控制器基于通过将辅助补偿分量加到基本驱动转矩而获得的值来计算转向角度指令值，并且通过基于转向角度指令值的反馈控制来计算第二辅助分量。 控制器基于作为第一辅助部件和第二辅助部件的总和的辅助命令值来控制马达的驱动。

公开(公告)号：US20140081524A1

公开(公告)日：2014-03-20

申请号：US14023768

申请日：2013-09-11

申请人： JTEKT CORPORATION

发明人： Terutaka TAMAIZUMI ,  Hirozumi EKI ,  Masayuki KITA ,  Isao NAMIKAWA

IPC分类号： B62D5/04

CPC分类号： B62D5/0463 ,  B62D5/0469 ,  B62D6/002 ,  B62D7/159

摘要： A target pinion angle computation unit computes a target pinion angle on the basis of a basic assist component and a steering torque, and computes the target pinion angle so as to rapidly increase a steering reaction force when it is determined based on the target pinion angle that a rack shaft of a rack-and-pinion mechanism reaches a position near a limit of a movable range of the rack shaft. In an. EPS, a correction component for the basic assist component, which is necessary to increase the steering reaction force rapidly, is computed through execution of PID control for causing an actual pinion angle to coincide with the target pinion angle. Because the correction component is added to the basic assist component, the steering reaction force is increased rapidly when the rack shaft reaches the position near the limit of the movable range.

摘要翻译： 目标小齿轮角度计算单元基于基本辅助分量和转向转矩来计算目标小齿轮角度，并且计算目标小齿轮角度，以便当基于目标小齿轮角度确定时快速增加转向反作用力， 齿条 - 齿轮机构的齿条轴到达齿条轴的可移动范围的极限附近的位置。 在一个 通过执行PID控制来计算用于基本辅助部件的用于增加转向反作用力所需的校正部件，以使实际小齿轮角度与目标小齿轮角度一致。 由于校正部件被添加到基本辅助部件，所以当齿条轴到达可动范围的极限附近的位置时，转向反作用力迅速增加。

公开(公告)号：US20180057009A1

公开(公告)日：2018-03-01

申请号：US15668294

申请日：2017-08-03

申请人： JTEKT CORPORATION

发明人： Shingo MAEDA ,  Terutaka TAMAIZUMI ,  Jun HASEGAWA ,  Masayuki KITA ,  Gempei NAKASONE ,  Hiromasa TAMAKI

IPC分类号： B60W30/18 ,  B60W30/12 ,  B60W50/08 ,  B60W50/10

CPC分类号： B60W30/18163 ,  B60W30/12 ,  B60W50/087 ,  B60W50/10 ,  B62D1/286 ,  B62D15/025

摘要： An ECU includes a deviation calculating circuit an assist control circuit, an automatic steering control circuit including an intervention determination switching circuit, an adder, a current command value calculating circuit The intervention determination switching circuit includes a count amount calculating circuit, an adder, an immediately-preceding count amount output circuit, a switching determination circuit, and an output switching circuit. The count amount calculating circuit calculates a count amount having a positive value or a negative value based on a steering torque absolute value calculated by an absolute value switching circuit. The adder calculates a total count amount that is the total sum of a presently calculated count amount and an immediately-preceding count amount calculated in an immediately-preceding calculation cycle. The switching determination circuit determines a driver's intention to intervene in steering, based on whether the total count amount is equal to or greater than a count amount threshold value.

公开(公告)号：US20150057889A1

公开(公告)日：2015-02-26

申请号：US14455407

申请日：2014-08-08

申请人： JTEKT CORPORATION

发明人： Terutaka TAMAIZUMI ,  Hirozumi EKI ,  Masayuki KITA ,  Isao NAMIKAWA

IPC分类号： B62D5/04 ,  B62D15/02

CPC分类号： B62D5/0472 ,  B62D1/286 ,  B62D5/0463 ,  B62D15/025

摘要： In the vehicle power steering system, a first assist torque component is computed based on a steering torque and a vehicle speed. A target steered angle is computed based on the first assist torque component and the steering torque, and a second assist torque component is set based on the target steered angle and an actual steered angle. Then, the vehicle power steering system assists a steering operation by applying an assist torque Tas corresponding to the first assist torque component and the second assist torque component. Further, an ideal steered angle at which a vehicle is able to keep travelling in a lane is set based on image information on the lane captured by a camera, and a correction value is computed based on the deviation between the ideal steered angle and the actual steered angle. Then, the target steered angle is corrected by the correction value.

摘要翻译： 在车辆动力转向系统中，基于转向转矩和车速来计算第一辅助转矩分量。 基于第一辅助转矩分量和转向转矩来计算目标转向角，并且基于目标转向角度和实际转向角度来设定第二辅助转矩分量。 然后，车辆动力转向系统通过施加与第一辅助转矩分量和第二辅助转矩分量对应的辅助转矩Tas来辅助转向操作。 此外，基于由摄像机拍摄的车道的图像信息，设定车辆能够在车道中行驶的理想转向角度，并且基于理想转向角度与实际角度之间的偏差来计算校正值 转向角度 然后，通过校正值校正目标转向角度。

公开(公告)号：US20140311817A1

公开(公告)日：2014-10-23

申请号：US14249948

申请日：2014-04-10

申请人： JTEKT CORPORATION

发明人： Masayuki KITA ,  Shinya AONO

IPC分类号： B62D5/04

CPC分类号： B62D3/126 ,  B62D5/0409 ,  B62D5/0421 ,  B62D5/046 ,  B62D5/0466 ,  B62D15/0235 ,  B62D15/0245

摘要： An EPS includes a first rack and pinion mechanism that converts rotation of a pinion shaft due to a steering operation, to reciprocating motion of a rack shaft; and a steering force assist device that applies a motor torque of a motor as an assist force by using a second rack and pinion mechanism; and an ECU that controls an operation of the steering force assist device. Rack teeth of the rack shaft constituting the first rack and pinion mechanism are formed so that a steering gear ratio is changed depending on a steering angle. The ECU computes a motor neutral point by subtracting a conversion value from a motor angle detection value. The conversion value is computed based on a steering angle detection value by referring to a conversion map that is set taking into account the steering gear ratio corresponding to the steering angle.

摘要翻译： EPS包括第一齿条和小齿轮机构，其将转向操作时的小齿轮轴的旋转转换成齿条轴的往复运动; 以及通过使用第二齿条和小齿轮机构将电动机的电动机转矩作为辅助力施加的转向力辅助装置; 以及控制转向力辅助装置的动作的ECU。 构成第一齿条齿轮机构的齿条轴的齿齿形成为使转向齿轮比根据转向角而变化。 ECU通过从电动机角度检测值减去转换值来计算电动机中性点。 通过参照考虑到与转向角对应的转向齿轮比而设定的转换图，基于转向角检测值来计算转换值。

公开(公告)号：US20180339725A1

公开(公告)日：2018-11-29

申请号：US15975862

申请日：2018-05-10

申请人： JTEKT CORPORATION

发明人： Takashi KODERA ,  Masayuki KITA

IPC分类号： B62D5/04 ,  B62D6/00

摘要： An estimated axial force computation circuit of a control device has an axial force computation circuit that computes an axial force that acts on a steered shaft on the basis of a current value of a steering motor. The estimated axial force computation circuit has a friction compensation circuit, an efficiency compensation circuit, and a gradient compensation circuit as static characteristic computation circuits that compensate for an effect of the static characteristics of a steering mechanism on the axial force computed. The estimated axial force computation circuit has a filter as a dynamic characteristic computation circuit that compensates for an effect of the dynamic characteristics of the steering mechanism. The filter removes, from the axial force, an effect of the viscosity and the inertia of the steering motor. The axial force after compensation is used to control a reaction force motor.

公开(公告)号：US20160229446A1

公开(公告)日：2016-08-11

申请号：US15008751

申请日：2016-01-28

申请人： JTEKT CORPORATION

发明人： Terutaka TAMAIZUMI ,  Hirozumi EKI ,  Masayuki KITA

IPC分类号： B62D5/04

CPC分类号： B62D5/0463 ,  B62D6/002 ,  B62D6/008

摘要： Provided is an electric power steering system that achieves a more appropriate steering feel. An ECU of the electric power steering system calculates a basic assist component and a target pinion angle based on at least steering torque. The ECU calculates a correction component for the basic assist component through feedback control in which an actual pinion angle is caused to match the target pinion angle. The ECU calculates an assist command value by adding the correction component to the basic assist component. The ECU corrects a hysteresis controlled variable and a viscosity component according to the rate of change (gradient) in a spring component with respect to a change in absolute value of the target pinion angle. Specifically, the ECU multiplies the hysteresis controlled variable and the viscosity component by gains that have a larger value as the rate of change in spring component increases.

摘要翻译： 提供了一种实现更合适的转向感的电动助力转向系统。 电动助力转向系统的ECU至少基于转向转矩来计算基本辅助部件和目标小齿轮角度。 ECU通过使实际小齿轮角度匹配目标小齿轮角度的反馈控制来计算基本辅助部件的校正分量。 ECU通过将校正分量与基本辅助分量相加来计算辅助指令值。 ECU相对于目标小齿轮角度的绝对值的变化，根据弹簧部件的变化率（梯度）来校正滞后控制变量和粘度分量。 具体地，ECU随着弹簧部件的变化率增加而具有较大值的增益，将滞后控制变量和粘度分量相乘。

公开(公告)号：US20150251691A1

公开(公告)日：2015-09-10

申请号：US14633755

申请日：2015-02-27

申请人： JTEKT CORPORATION

发明人： Terutaka TAMAIZUMI ,  Hirozumi EKI ,  Masayuki KITA ,  Isao NAMIKAWA ,  Akihiko NISHIMURA ,  Jun HASEGAWA

IPC分类号： B62D5/04

CPC分类号： B62D5/0412 ,  B62D5/0472 ,  B62D6/008

摘要： A control device in an electric power steering device calculates a first assist component based on steering torque and a vehicle speed. The control device also calculates a compensation component associated with an reverse input and calculates a steered angle command value based on an addition value of the compensation component and basic drive torque that is an addition value of the steering torque and the first assist component, produces a second assist component by performing steered angle feedback control that causes the steered angle of a vehicle to follow the steered angle command value. The control device controls drive of a motor based on an assist command value that is an addition value of the first assist component and the second assist component.

摘要翻译： 电动助力转向装置中的控制装置基于转向转矩和车速计算第一辅助部件。 控制装置还计算与反向输入相关联的补偿分量，并且基于补偿分量的相加值和作为转向转矩和第一辅助分量的相加值的基本驱动转矩来计算转向角度指令值， 第二辅助部件通过执行导致车辆的转向角度跟随转向角度指令值的转向角度反馈控制。 控制装置基于作为第一辅助部件和第二辅助部件的相加值的辅助指令值来控制电动机的驱动。