公开(公告)号：US6161068A

公开(公告)日：2000-12-12

申请号：US340385

申请日：1999-06-28

申请人： Masahiko Kurishige ,  Noriyuki Inoue ,  Takayuki Kifuku ,  Susumu Zeniya

发明人： Masahiko Kurishige ,  Noriyuki Inoue ,  Takayuki Kifuku ,  Susumu Zeniya

IPC分类号： B62D6/00 ,  B62D5/04 ,  B62D101/00 ,  B62D119/00 ,  B62D137/00

CPC分类号： B62D5/0463 ,  B62D5/0472

摘要： An electric power steering control system reducing steering torque without making a driver feel uncomfortable torque oscillation, including a rotation speed observer for estimating the rotation speed of a motor based on the output of a torque sensor high pass filter (HPF) and the output of a drive current HPF obtained by removing a steering frequency component from a drive current detection value.

摘要翻译： 一种电动助力转向控制系统，在不使驾驶员感到不舒适的扭矩振动的情况下，减小转向转矩，包括基于转矩传感器高通滤波器（HPF）的输出来估计电动机的转速的转速观测器， 通过从驱动电流检测值中去除转向频率分量而获得的驱动电流HPF。

公开(公告)号：US06490514B2

公开(公告)日：2002-12-03

申请号：US09773386

申请日：2001-02-01

申请人： Masahiko Kurishige ,  Noriyuki Inoue ,  Toshihide Satake ,  Takayuki Kifuku ,  Shunichi Wada

发明人： Masahiko Kurishige ,  Noriyuki Inoue ,  Toshihide Satake ,  Takayuki Kifuku ,  Shunichi Wada

IPC分类号： B62D600

CPC分类号： B62D5/0466

摘要： A power steering control system is provided with a road surface reaction torque detector in which a motor inertia torque is subtracted from a value obtained by adding steering torque and motor torque, and the value is passed through two stages of primary filters to obtain a road surface reaction torque. In such a computation, the inertia term of the steering wheel manipulation force does not depend on frequency and high frequency components do not bring about any unusually large steering wheel return force. Therefore, a driver can drive without difficulty in adapting to the power steering.

摘要翻译： 动力转向控制系统设置有路面反作用转矩检测器，其中从通过增加转向转矩和电动机转矩获得的值中减去电动机惯性转矩，并且该值通过两级初级过滤器以获得路面 反应转矩。 在这种计算中，方向盘操纵力的惯性项不依赖于频率，而高频分量不会产生任何异常大的方向盘返回力。 因此，驾驶员可以无障碍地驾驶适应动力转向。

公开(公告)号：US06445987B1

公开(公告)日：2002-09-03

申请号：US09781552

申请日：2001-02-13

申请人： Masahiko Kurishige ,  Noriyuki Inoue ,  Ryoji Nishiyama ,  Shunichi Wada ,  Takayuki Kifuku

发明人： Masahiko Kurishige ,  Noriyuki Inoue ,  Ryoji Nishiyama ,  Shunichi Wada ,  Takayuki Kifuku

IPC分类号： G06F700

CPC分类号： B62D5/0466

摘要： An electric power steering controller and a control method for assisting a driver during handling a steering wheel in a condition of a small road surface reaction torque of a tire by generating an auxiliary return torque for letting the steering wheel return to its original position. A first road surface reaction torque is estimated from a steering torque of a driver detected by a steering torque detector, a motor acceleration detected by a motor acceleration detector, and a motor current detected by a motor current detector. A second road surface reaction torque is estimated from a steering angle detected by a steering angle sensor, and a vehicle speed detected by a vehicle speed detector. Then, first and second auxiliary return torque signals of the steering wheel are computed from a road surface reaction torque, and, based on the computed result, a torque of the motor is controlled in direction so the steering wheel is returned to its original position.

摘要翻译： 一种电动助力转向控制器和控制方法，用于通过产生用于使方向盘返回其原始位置的辅助返回扭矩，在轮胎的小路面反作用转矩的条件下，在操纵方向盘期间辅助驾驶员。 根据由转向转矩检测器检测到的驾驶员的转向转矩，由电动机加速度检测器检测到的电动机加速度和由电动机电流检测器检测到的电动机电流来估计第一路面反作用力矩。 从由转向角传感器检测到的转向角以及由车速检测器检测到的车速估计第二路面反作用转矩。 然后，根据路面反作用扭矩计算方向盘的第一辅助返回扭矩信号，并且基于计算结果，在方向上控制电动机的转矩，使得方向盘返回到其原始位置。

公开(公告)号：US06459971B1

公开(公告)日：2002-10-01

申请号：US09931853

申请日：2001-08-20

申请人： Masahiko Kurishige ,  Noriyuki Inoue ,  Ryoji Nishiyama ,  Kazumichi Tsutsumi ,  Takayuki Kifuku

发明人： Masahiko Kurishige ,  Noriyuki Inoue ,  Ryoji Nishiyama ,  Kazumichi Tsutsumi ,  Takayuki Kifuku

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。

公开(公告)号：US06831477B2

公开(公告)日：2004-12-14

申请号：US10378659

申请日：2003-03-05

申请人： Kouji Fukusumi ,  Masahiko Kurishige ,  Noriyuki Inoue ,  Seiji Sakanishi ,  Kenichi Kawakami ,  Takayuki Kifuku

发明人： Kouji Fukusumi ,  Masahiko Kurishige ,  Noriyuki Inoue ,  Seiji Sakanishi ,  Kenichi Kawakami ,  Takayuki Kifuku

IPC分类号： G01R3134

CPC分类号： G01R31/006 ,  G01R31/343

摘要： An identification is made of an abnormal condition in a motor due to an influence of a disturbance voltage, without addition of hardware, by estimating the disturbance voltage based on a target voltage and actual current flowing in the motor. An apparatus for detecting the abnormal condition of a motor in an electric power steering apparatus includes a motor current detecting unit for detecting an actual current flowing through the motor; a feedback controlling unit for feedback-controlling a target voltage value that gives the motor a driving command in accordance with the deviation of the actual current from an input target current; an abnormal voltage estimating unit for, based on the target voltage and the actual current, estimating an abnormal voltage estimation value corresponding to a voltage indicating an abnormal condition of the motor; and a motor abnormality judging unit for judging abnormality of the motor based on a comparison of the abnormal voltage estimation value with an abnormal voltage value previously stored.

摘要翻译： 通过基于在电动机中流动的目标电压和实际电流来估计干扰电压，由于干扰电压的影响而不添加硬件，来识别电动机的异常状况。 一种用于检测电动转向装置中的电动机的异常状况的装置，包括用于检测流过电动机的实际电流的电动机电流检测单元; 反馈控制单元，用于根据实际电流与输入目标电流的偏差反馈控制给予电动机的驱动指令的目标电压值; 异常电压估计单元，用于基于目标电压和实际电流，估计与指示电动机的异常状态的电压相对应的异常电压估计值; 以及电动机异常判定单元，用于基于异常电压估计值与预先存储的异常电压值的比较来判断电动机的异常。

公开(公告)号：US06450287B1

公开(公告)日：2002-09-17

申请号：US09604289

申请日：2000-06-26

申请人： Masahiko Kurishige ,  Noriyuki Inoue ,  Ryoji Nishiyama ,  Takayuki Kifuku ,  Shunichi Wada

发明人： Masahiko Kurishige ,  Noriyuki Inoue ,  Ryoji Nishiyama ,  Takayuki Kifuku ,  Shunichi Wada

IPC分类号： B62D506

CPC分类号： B62D5/0466

摘要： An electric power steering controller including a motor for generating torque for assisting the steering torque of a driver to assist the steering force of a steering system. The controller includes a road reaction torque detector for detecting road reaction torque received by tires from the surface of a road, and a road detection torque addition control for controlling the torque of the motor based on the road reaction torque. The electric power steering controller enables the steering wheel to be returned to its starting point without adding torque in a direction in which the driver returns the steering wheel when the driver contgrols the steering wheel with the small road reaction torque of the tires, for example, when turning at an intersection at a low speed or when turning at a gently curved portion of a road at a high speed.

摘要翻译： 一种电动助力转向控制器，包括用于产生用于辅助驾驶员的转向扭矩以帮助转向系统的转向力的转矩的电动机。 该控制器包括：道路反作用转矩检测器，用于检测来自道路表面的轮胎接收到的道路反作用扭矩;以及道路检测转矩附加控制，用于基于道路反作用转矩来控制电动机的转矩。 电动助力转向控制器使得方向盘能够在驾驶员以轮胎的小的道路反作用扭矩阻止方向盘的情况下将方向盘返回到起点，而不会在驾驶员返回方向盘的方向上增加扭矩，例如， 当在交叉点以低速转动或者在高速的道路的轻柔弯曲部分转动时。

公开(公告)号：US06246197B1

公开(公告)日：2001-06-12

申请号：US09044349

申请日：1998-03-19

申请人： Masahiko Kurishige ,  Noriyuki Inoue ,  Takayuki Kifuku ,  Munenori Yamamoto ,  Shunichi Wada

发明人： Masahiko Kurishige ,  Noriyuki Inoue ,  Takayuki Kifuku ,  Munenori Yamamoto ,  Shunichi Wada

IPC分类号： H02P700

CPC分类号： B62D5/046

摘要： To estimate the rotation speed of the motor for assisting a steering torque regardless of the running state of a vehicle with accuracy, an application voltage estimation value obtained by subtracting a correction voltage obtained based on a detection current value detected by current detection means from the inter-terminal voltage measurement value of the motor is output and the rotation speed of the motor is estimated based on this application voltage estimation value and the detection current value.

摘要翻译： 为了估计用于辅助转向转矩的电动机的转速，而不管车辆的行驶状态如何，其施加电压估计值是通过减去从电流检测装置检测到的检测电流值获得的校正电压而获得的， 输出电动机的端子电压测量值，并根据该施加电压估计值和检测电流值来估计电动机的转速。

公开(公告)号：US20050072622A1

公开(公告)日：2005-04-07

申请号：US10754709

申请日：2004-01-12

申请人： Toshihide Satake ,  Masahiko Kurishige ,  Kazumichi Tsutsumi ,  Chiaki Fujimoto ,  Noriyuki Inoue

发明人： Toshihide Satake ,  Masahiko Kurishige ,  Kazumichi Tsutsumi ,  Chiaki Fujimoto ,  Noriyuki Inoue

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。

公开(公告)号：US07275617B2

公开(公告)日：2007-10-02

申请号：US10529038

申请日：2004-04-21

申请人： Masaya Endo ,  Masahiko Kurishige ,  Toshihide Satake ,  Noriyuki Inoue

发明人： Masaya Endo ,  Masahiko Kurishige ,  Toshihide Satake ,  Noriyuki Inoue

IPC分类号： B62D5/04 ,  B62D6/08

CPC分类号： B62D6/008

摘要： In an electrical power steering apparatus, steering shaft reaction torque is estimated by a steering shaft reaction torque estimation unit, and a reference road reaction torque is estimated by a reference road reaction torque estimation unit. The estimated steering shaft reaction torque and the reference road reaction torque are weighted, and, in response, a target steering reaction torque is set by a target steering reaction torque generation unit, hysteresis width and slope of the target steering reaction torque are respectively adjusted, and steering feeling is thereby easily improved.

摘要翻译： 在电动助力转向装置中，通过转向轴反作用转矩估计部估计转向轴的反作用转矩，并且通过基准道路反作用转矩估计部估计基准道路反作用转矩。 估计的转向轴反作用转矩和基准道路反作用转矩被加权，并且作为响应，目标转向反作用转矩产生单元设定目标转向反作用转矩，分别调整目标转向反作用转矩的滞后宽度和斜率， 从而易于改善转向感。

公开(公告)号：US07128184B2

公开(公告)日：2006-10-31

申请号：US10754709

申请日：2004-01-12

申请人： Toshihide Satake ,  Masahiko Kurishige ,  Kazumichi Tsutsumi ,  Chiaki Fujimoto ,  Noriyuki Inoue

发明人： Toshihide Satake ,  Masahiko Kurishige ,  Kazumichi Tsutsumi ,  Chiaki Fujimoto ,  Noriyuki Inoue

IPC分类号： B62D5/04 ,  B62D6/00 ,  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 (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。