公开(公告)号：US5878360A

公开(公告)日：1999-03-02

申请号：US474653

申请日：1995-06-07

申请人： Kazuhisa Nishino ,  Yuji Takatsuka ,  Shunichi Wada

发明人： Kazuhisa Nishino ,  Yuji Takatsuka ,  Shunichi Wada

IPC分类号： B62D6/00 ,  B62D5/04

CPC分类号： B62D5/0466

摘要： An electric power steering control apparatus is intended to improve the convergence and control stability of a returning motion of a steering wheel when a driver of a vehicle on which the apparatus is installed lets his or her hands free from the steering wheel, and to reduce a burden to the driver when an excessive steering torque occurs during the returning motion. The apparatus includes a steering torque sensor 8 for detecting a steering torque of a steering system of the vehicle, a motor rotational-speed detector 7 for detecting a rotational speed of the electric motor, and a rotational-speed controller for controlling the electric motor based on output signals from the steering torque sensor and the motor rotational-speed sensor so that when the steering torque as detected is less than a predetermined torque value, the rotational speed of the electric motor does not exceed a predetermined speed value corresponding to the predetermined torque value.

摘要翻译： 电动助力转向控制装置旨在提高方向盘的返回运动的收敛和控制的稳定性，当装置上的车辆的驾驶员使他或她的手从方向盘脱离时，并且减少 在返回运动期间发生过大的转向转矩时对驾驶员的负担。 该装置包括用于检测车辆的转向系统的转向转矩的转向转矩传感器8，用于检测电动机的转速的电动机转速检测器7以及用于控制电动机的转速控制器 在来自转向转矩传感器和电动机转速传感器的输出信号上，使得当检测到的转向转矩小于预定转矩值时，电动机的转速不超过对应于预定转矩的预定速度值 值。

公开(公告)号：US5682314A

公开(公告)日：1997-10-28

申请号：US407851

申请日：1995-03-21

申请人： Kazuhisa Nishino ,  Yuji Takatsuka ,  Shunichi Wada

发明人： Kazuhisa Nishino ,  Yuji Takatsuka ,  Shunichi Wada

IPC分类号： B60R16/02 ,  B60R16/03 ,  B60T8/172 ,  B62D5/04 ,  G06F1/24 ,  H02P7/06 ,  H02P29/00 ,  G60K26/02

CPC分类号： B60T8/172 ,  G06F1/24 ,  B60R16/0315

摘要： A controller apparatus for a vehicle includes a computer for controlling devices mounted in the vehicle, and a detector means for detecting the state of the computer immediately before the computer enters a reset state. The computer determines its processing contents on the basis of the detection result of the detection means immediately after the computer is started. Thus, the controller apparatus detects the abnormal reset of the computer in control, thereby assuring the safe control of the devices.

摘要翻译： 一种用于车辆的控制器装置，包括用于控制安装在车辆中的装置的计算机，以及用于在计算机进入复位状态之前检测计算机的状态的检测器装置。 计算机基于紧接在计算机启动之后的检测装置的检测结果来确定其处理内容。 因此，控制装置在控制中检测出计算机的异常复位，从而确保了设备的安全控制。

公开(公告)号：US5652487A

公开(公告)日：1997-07-29

申请号：US514135

申请日：1995-08-11

申请人： Kazuhisa Nishino ,  Yuji Takatsuka ,  Shunichi Wada

发明人： Kazuhisa Nishino ,  Yuji Takatsuka ,  Shunichi Wada

IPC分类号： B62D6/00 ,  B62D5/04 ,  H02K17/32

CPC分类号： B62D5/049 ,  B62D5/0487

摘要： In a electric power steering controller, an output signal of motor driving direction discrimination means is compared with a driving direction discrimination processing result to detect a failure of the motor driving direction discriminator in accordance with the comparison result, so as to prevent the runaway of a motor supplying steering force to a steering wheel.The following are included: a motor for supplying a steering force to a steering wheel, a steering torque detector for detecting the steering force from the steering wheel, a motor control for drive-controlling the motor rightward or leftward in accordance with the output of the steering torque detector, a motor driving direction discrimination means for outputting a motor right- or left-direction discriminating signal in accordance with the value of the output of the steering torque discriminator, and a microcomputer 8 for determining the vicinity of a neutral point of steering torque and judging whether the motor driving direction discriminator or has failed in accordance with a judgment result of a signal output from the motor driving direction discriminator when the vicinity of the neutral point is discriminated.

摘要翻译： 在电动转向控制器中，将电动机驱动方向识别装置的输出信号与驱动方向判定处理结果进行比较，以根据比较结果检测电动机驱动方向鉴别器的故障，以防止 电机为方向盘提供转向力。 包括以下内容：用于向方向盘提供转向力的电动机，用于检测来自方向盘的转向力的转向转矩检测器，用于根据所述方向盘的输出向右或向左驱动控制电动机的电动机控制 转向转矩检测器，用于根据转向转矩鉴别器的输出值输出电动机右侧或左侧判别信号的电动机驱动方向鉴别装置，以及用于确定转向中性点附近的微计算机8 在判别中性点附近时，根据从电动机驱动方向鉴别器输出的信号的判定结果来判断电动机驱动方向鉴别器是否发生故障。

公开(公告)号：US6054827A

公开(公告)日：2000-04-25

申请号：US68134

申请日：1998-05-01

申请人： Yuji Takatsuka ,  Shunichi Wada

发明人： Yuji Takatsuka ,  Shunichi Wada

IPC分类号： B62D5/04 ,  H02P7/00

CPC分类号： B62D5/049 ,  B62D5/0436 ,  B62D5/0484

摘要： A current flowing to a motor 8 for generating a steering assist force for a steering mechanism is detected by a motor current detecting circuit 24 to be inputted to a controller 10 as a motor current detection value IMS. The controller 10 arithmetically determines deviation between the motor current detection value IMS and a desired motor current value IMT preset on the basis of a vehicle speed and a detected steering assist torque value and decides abnormality of the motor current detecting circuit 24 when the deviation indicates an abnormal value over a period equal to or longer than a predetermined time. When the abnormality is decided, the controller 10 stops motor control through a closed loop control in which the motor current detection value IMS is used as a feedback input, and then the controller 10 changes over the control to an open loop control in which a desired motor voltage is arithmetically determined on the basis of the desired motor current value IMT and resistance of the motor and applied thereto so that the current of the preset desired motor current value IMT can flow through the motor 8.

摘要翻译： PCT No.PCT / JP97 / 00149 Sec。 371日期：1998年5月1日 102（e）日期1998年5月1日PCT 1997年1月23日PCT公布。 出版物WO98 / 33270 日期1998年7月30日电流检测电路24检测流向马达8的电流，用于产生用于转向机构的转向助力，作为马达电流检测值IMS被输入到控制器10。 控制器10算术地确定电动机电流检测值IMS与基于车速预先设定的期望电动机电流值IMT和检测到的转向辅助转矩值之间的偏差，并且当偏差指示为一个时，决定电动机电流检测电路24的异常 在等于或长于预定时间的时间段内的异常值。 当判定异常时，控制器10通过使用电动机电流检测值IMS作为反馈输入的闭环控制来停止电动机控制，然后控制器10将控制转换为开环控制，其中期望的 电动机电压根据期望的电动机电流值IMT和电动机的电阻并施加到其上计算确定，使得预设的所需电动机电流值IMT的电流可以流过电动机8。

公开(公告)号：US5988312A

公开(公告)日：1999-11-23

申请号：US121853

申请日：1998-07-24

申请人： Kazuhisa Nishino ,  Hirohisa Awa ,  Shunichi Wada

发明人： Kazuhisa Nishino ,  Hirohisa Awa ,  Shunichi Wada

IPC分类号： B62D6/00 ,  B62D5/04

CPC分类号： B62D5/0487 ,  B62D5/0463

摘要： A vehicle control apparatus includes a steering torque sensor (1) for sensing a steering torque, a motor (3) for generating a steering assisting force, a CPU (22) for determining a motor drive direction based on at least the steering force and a motor drive direction restricting circuit (25) for restricting the drive direction of the motor (3) determined by the CPU (22) based on a steering force determination level as a motor drive direction determination criterion and the steering force, and the steering force determination level is changeable. With this arrangement, there is provided the vehicle control apparatus with safety and reliability by which the motor can be controlled with redundancy, the steering force determination level does not require such accuracy as to use pinpoint accuracy and further even if an abnormal state is caused in a motor output when a steering wheel is released from a hand and a steering torque exceeding the steering force determination level is generated, the steering force determination level is instantly changed to thereby restrict a motor drive direction so that the self-turn of the steering wheel is prevented.

公开(公告)号：US5659472A

公开(公告)日：1997-08-19

申请号：US519940

申请日：1995-08-28

申请人： Kazuhisa Nishino ,  Hirohisa Awa ,  Shunichi Wada

发明人： Kazuhisa Nishino ,  Hirohisa Awa ,  Shunichi Wada

IPC分类号： B62D6/00 ,  B62D5/04 ,  H02P29/00 ,  B60K41/00

CPC分类号： B62D5/0487

摘要： [Object] To improve system reliability and safety. [Constitution] The rotation speed of the motor 6 is detected by the motor rotation speed detection circuit 17 and the amount of rotation of the motor 6 is calculated from the detected rotation speed by the motor rotation amount calculating means 10a. Then, a fault is determined when the amount of rotation exceeds a predetermined value and the drive of the motor 6 is stopped by the motor stopping means 123.

摘要翻译： [对象]提高系统的可靠性和安全性。 [结构]电动机转速检测电路17检测电动机6的转速，根据电动机旋转量计算装置10a的检测转速计算电动机6的转速。 然后，当旋转量超过预定值并且马达6的驱动被马达停止装置123停止时确定故障。

公开(公告)号：US5631833A

公开(公告)日：1997-05-20

申请号：US474187

申请日：1995-06-07

申请人： Shunichi Wada ,  Yasuo Naito ,  Kazuhisa Nishino ,  Masanori Takagi

发明人： Shunichi Wada ,  Yasuo Naito ,  Kazuhisa Nishino ,  Masanori Takagi

IPC分类号： B62D5/04

CPC分类号： B62D5/0463

摘要： A motor for a motor-assisted power steering device is controlled with a control value which is obtained by detecting an error between an actual steering torque which has undergone phase lead compensation and a target steering torque, and by summing a proportional value, an integration value and a differentiation value of the error, or with a control value which is obtained by detecting an error between actual steering torque and a target torque; obtaining a proportional value, an integration value and a differentiation value of the error; clipping the lower limit value of the integration value with a first clipping circuit, and clipping the upper and lower limit values of motor-controlling quantity obtained by summing the proportional value, the integration value and the differentiation value by using a second clipping circuit.

摘要翻译： 用于电动助力动力转向装置的电动机通过检测通过相位超前补偿的实际转向转矩和目标转向转矩之间的误差而获得的控制值，并且通过将比例值相加，积分值 以及误差的微分值，或者通过检测实际转向转矩和目标转矩之间的误差而获得的控制值; 获得误差的比例值，积分值和微分值; 用第一限幅电路削波积分值的下限值，并且通过使用第二限幅电路来削减通过对比例值，积分值和微分值求和而获得的电动机控制量的上限值和下限值。

公开(公告)号：US5467279A

公开(公告)日：1995-11-14

申请号：US51545

申请日：1993-04-26

申请人： Shunichi Wada ,  Yasuo Naito ,  Kazuhisa Nishino ,  Masanori Takagi

发明人： Shunichi Wada ,  Yasuo Naito ,  Kazuhisa Nishino ,  Masanori Takagi

IPC分类号： B62D5/04

CPC分类号： B62D5/0463

摘要： A motor for a motor-assisted power steering device is controlled with a control value which is obtained by detecting an error between an actual steering torque which has undergone phase lead compensation and a target steering torque, and by summing a proportional value, an integration value and a differentiation value of the error, or with a control value which is obtained by detecting an error between actual steering torque and a target torque; obtaining a proportional value, an integration value and a differentiation value of the error; clipping the lower limit value of the integration value with a first clipping circuit, and clipping the upper and lower limit values of motor-controlling quantity obtained by summing the proportional value, the integration value and the differentiation value by using a second clipping circuit.

摘要翻译： 用于电动助力动力转向装置的电动机通过检测通过相位超前补偿的实际转向转矩和目标转向转矩之间的误差而获得的控制值，并且通过将比例值相加，积分值 以及误差的微分值，或者通过检测实际转向转矩和目标转矩之间的误差而获得的控制值; 获得误差的比例值，积分值和微分值; 用第一限幅电路削波积分值的下限值，并且通过使用第二限幅电路来削减通过对比例值，积分值和微分值求和而获得的电动机控制量的上限值和下限值。

公开(公告)号：US5996725A

公开(公告)日：1999-12-07

申请号：US121861

申请日：1998-07-24

申请人： Kazuhisa Nishino ,  Hirohisa Awa ,  Shunichi Wada

发明人： Kazuhisa Nishino ,  Hirohisa Awa ,  Shunichi Wada

IPC分类号： B62D6/00 ,  B62D5/04

CPC分类号： B62D5/0487 ,  B62D5/0463

摘要： A vehicle control apparatus includes a steering torque sensor (1) for sensing a steering torque, a motor (3) for generating a steering assisting force, a CPU (22) for determining a motor drive direction based on at least the steering force and a motor drive direction restricting circuit (25) for restricting the drive direction of the motor (3) determined by the CPU (22) based on a steering force determination level as a motor drive direction determination criterion and the steering force, and the steering force determination level is changeable. With this arrangement, there is provided the vehicle control apparatus with safety and reliability by which the motor can be controlled with redundancy, the steering force determination level does not require such accuracy as to use pinpoint accuracy and further even if an abnormal state is caused in a motor output when a steering wheel is released from a hand and a steering torque exceeding the steering force determination level is generated, the steering force determination level is instantly changed to thereby restrict a motor drive direction so that the self-turn of the steering wheel is prevented.

摘要翻译： 车辆控制装置包括用于感测转向转矩的转向转矩传感器（1），用于产生转向辅助力的电动机（3），至少基于转向力确定电动机驱动方向的CPU（22） 电动机驱动方向限制电路（25），用于基于作为电动机驱动方向判定基准的转向力判定水平和转向力来确定由CPU（22）确定的电动机（3）的驱动方向，以及转向力确定 水平是可变的。 通过这种布置，为车辆控制装置提供安全可靠的电动机可以冗余地进行控制，转向力确定水平不需要使用精确准确度的精度，并且即使在异常状态下 当方向盘从手中释放并且产生超过转向力确定水平的转向扭矩时的电动机输出，立即改变转向力确定水平，从而限制电动机驱动方向，使得方向盘的自转 被阻止

公开(公告)号：US5786679A

公开(公告)日：1998-07-28

申请号：US407281

申请日：1995-03-20

申请人： Kazuhisa Nishino ,  Hirohisa Awa ,  Shunichi Wada

发明人： Kazuhisa Nishino ,  Hirohisa Awa ,  Shunichi Wada

IPC分类号： H02P7/29 ,  B62D5/04 ,  H02P7/00 ,  H02K23/00

CPC分类号： B62D5/0463 ,  B62D5/046 ,  H02P7/04

摘要： A DC motor driven power steering system for a motor vehicle includes a motor current detection circuit for detecting a motor current flowing through the DC motor, a power supply voltage detection circuit for detecting a power supply voltage applied to the bridge commutation circuit, a motor voltage estimating unit for estimating a voltage applied across the DC motor on the basis of the power supply voltage applied to the bridge commutation circuit and the pulse-width modulated control signals used for controlling the bridge commutation circuit, and a motor rotation detecting means for detecting the rotation state of the DC motor on the basis of the motor current and the estimated motor voltage applied to the DC motor. High reliability can be ensured for detection of the rotation state of the DC motor.