公开(公告)号：US20100235047A1

公开(公告)日：2010-09-16

申请号：US12160438

申请日：2007-03-12

申请人： Masahiko Kurishige ,  Takayuki Kifuku ,  Seiji Sakanishi ,  Masaharu Tanaka ,  Seiji Sawada ,  Akinobu Sugiyama ,  Hanako Hamada

发明人： Masahiko Kurishige ,  Takayuki Kifuku ,  Seiji Sakanishi ,  Masaharu Tanaka ,  Seiji Sawada ,  Akinobu Sugiyama ,  Hanako Hamada

IPC分类号： G06F19/00 ,  H02P6/10

CPC分类号： B62D5/0463 ,  B62D5/0472

摘要： Intended is to solve the problem of an increase in the cost of an electric power steering control system, the oscillations of which are suppressed by estimating and feeding back the oscillation frequency components of a motor rotating speed through an observer from a steering torque signal and a current signal for driving a motor, no matter whether a phase compensator might be made of an analog circuit or a software. In order to solve this problem, there is provided the electric power steering control system, in which the phase compensator of the steering torque is made of an analog circuit and in which an anti-phase compensator is made over the software of a microcomputer, thereby to eliminate the changes in the gain and the phase by the phase compensator of the analog circuit near the oscillation frequency, so that the steering torque signal equivalent to that of no phase compensation necessary for the computation at the observer is computed from the phase-compensated steering torque signal.

摘要翻译： 本发明是为了解决电动助力转向控制系统的成本增加的问题，其通过从转向转矩信号估计并反馈观察者的电动机转速的振荡频率分量来抑制振荡， 用于驱动电机的电流信号，无论相位补偿器是由模拟电路还是软件构成。 为了解决这个问题，提供了一种电动助力转向控制系统，其中转向转矩的相位补偿器由模拟电路构成，并且在微型计算机的软件上形成反相补偿器，由此 以消除靠近振荡频率的模拟电路的相位补偿器的增益和相位的变化，从而从相位补偿计算出在观测器处计算所需的与无相位补偿相等的转向转矩信号 转向转矩信号。

公开(公告)号：US08019507B2

公开(公告)日：2011-09-13

申请号：US12962191

申请日：2010-12-07

申请人： Masahiko Kurishige ,  Takayuki Kifuku ,  Seiji Sakanishi ,  Masaharu Tanaka ,  Seiji Sawada ,  Akinobu Sugiyama ,  Hanako Hamada

发明人： Masahiko Kurishige ,  Takayuki Kifuku ,  Seiji Sakanishi ,  Masaharu Tanaka ,  Seiji Sawada ,  Akinobu Sugiyama ,  Hanako Hamada

IPC分类号： A01B69/00

CPC分类号： B62D5/0463 ,  B62D5/0472

摘要： In an electric power steering control system, a phase compensator of the steering torque is made of an analog circuit and an anti-phase compensator is made by the software of a microcomputer, thereby to eliminate the changes in the gain and the phase by the phase compensator of the analog circuit near the oscillation frequency, so that the steering torque signal equivalent to that of no phase compensation necessary for the computation at the observer is computed from the phase-compensated steering torque signal.

公开(公告)号：US07983815B2

公开(公告)日：2011-07-19

申请号：US12160438

申请日：2007-03-12

申请人： Masahiko Kurishige ,  Takayuki Kifuku ,  Seiji Sakanishi ,  Masaharu Tanaka ,  Seiji Sawada ,  Akinobu Sugiyama ,  Hanako Hamada

发明人： Masahiko Kurishige ,  Takayuki Kifuku ,  Seiji Sakanishi ,  Masaharu Tanaka ,  Seiji Sawada ,  Akinobu Sugiyama ,  Hanako Hamada

IPC分类号： A01B69/00

CPC分类号： B62D5/0463 ,  B62D5/0472

摘要： In an electric power steering control system, a phase compensator of the steering torque is made of an analog circuit and an anti-phase compensator is made by the software of a microcomputer, thereby to eliminate the changes in the gain and the phase by the phase compensator of the analog circuit near the oscillation frequency, so that the steering torque signal equivalent to that of no phase compensation necessary for the computation at the observer is computed from the phase-compensated steering torque signal.

摘要翻译： 在电动助力转向控制系统中，由模拟电路构成转向转矩的相位补偿器，由微型计算机的软件进行反相补偿，从而消除相位增益和相位的变化 补偿器在振荡频率附近，从而从相位补偿转向转矩信号计算出与观测器计算所需的无相位补偿相等的转向转矩信号。

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：US08326493B2

公开(公告)日：2012-12-04

申请号：US12676633

申请日：2007-12-14

申请人： Isao Kezobo ,  Masahiko Kurishige ,  Masaya Endo ,  Takayuki Kifuku ,  Seiji Sawada ,  Masaki Matsushita

发明人： Isao Kezobo ,  Masahiko Kurishige ,  Masaya Endo ,  Takayuki Kifuku ,  Seiji Sawada ,  Masaki Matsushita

IPC分类号： B62D6/00

CPC分类号： B62D5/0463 ,  B62D5/0472

摘要： A motor-driven power steering control apparatus is achieved, which uses a small-amplitude pass filter, the filter filtering out a component having a small amplitude, to remove a steering component from dynamic state quantity such as a rotational speed signal, and to accurately extract only a vibration component having a small amplitude compared with the steering component, and controls the vibration component to be reduced.

摘要翻译： 实现了一种使用小振幅通过滤波器的电动机动力转向控制装置，滤波器滤出具有小幅度的分量，以从诸如转速信号的动态状态量中去除转向分量，并且精确地 仅提取与转向部件相比具有小振幅的振动分量，并且控制要减小的振动分量。

公开(公告)号：US20110153162A1

公开(公告)日：2011-06-23

申请号：US12676633

申请日：2007-12-14

申请人： Isao Kezobo ,  Masahiko Kurishige ,  Masaya Endo ,  Takayuki Kifuku ,  Seiji Sawada ,  Masaki Matsushita

发明人： Isao Kezobo ,  Masahiko Kurishige ,  Masaya Endo ,  Takayuki Kifuku ,  Seiji Sawada ,  Masaki Matsushita

IPC分类号： B62D6/00

CPC分类号： B62D5/0463 ,  B62D5/0472

摘要： A motor-driven power steering control apparatus is achieved, which uses a small-amplitude pass filter, the filter filtering out a component having a small amplitude, to remove a steering component from dynamic state quantity such as a rotational speed signal, and to accurately extract only a vibration component having a small amplitude compared with the steering component, and controls the vibration component to be reduced.

摘要翻译： 实现了一种使用小振幅通过滤波器的电动机动力转向控制装置，滤波器滤出具有小幅度的分量，以从诸如转速信号的动态状态量中去除转向分量，并且精确地 仅提取与转向部件相比具有小振幅的振动分量，并且控制要减小的振动分量。

公开(公告)号：US08977436B2

公开(公告)日：2015-03-10

申请号：US13811849

申请日：2011-07-13

申请人： Masaya Endo ,  Takashi Iwasaki ,  Masahiko Kurishige ,  Takayuki Kifuku ,  Yoshihiko Kinpara

发明人： Masaya Endo ,  Takashi Iwasaki ,  Masahiko Kurishige ,  Takayuki Kifuku ,  Yoshihiko Kinpara

IPC分类号： B62D5/04 ,  B62D6/00

CPC分类号： B62D5/046 ,  B62D5/0463 ,  B62D6/008

摘要： An electric power steering system includes steering a torque detector that detects steering torque, and a motor that provides assist torque based on the detected steering torque, wherein for the purpose of estimating, without detecting motor rotation angular information and rotation angular velocity information, the road reaction torque in which the influence of the motor inertia torque is eliminated, a value corresponding to rotation velocity of a steering shaft is calculated based on the steering torque and the assist torque, to calculate road reaction torque based on the value corresponding to the rotation velocity of the steering shaft.

摘要翻译： 电动助力转向系统包括转向检测转向转矩的转矩检测器，以及基于检测到的转向转矩提供辅助转矩的电动机，其中为了估计，在不检测电动机旋转角度信息和旋转角速度信息的情况下，道路 基于转向转矩和辅助转矩，计算与转向轴的转速对应的值，根据与转速对应的值来计算道路反作用转矩， 转向轴。

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：US08626394B2

公开(公告)日：2014-01-07

申请号：US13497103

申请日：2010-10-21

申请人： Isao Kezobo ,  Masahiko Kurishige ,  Masaya Endo ,  Takayuki Kifuku

发明人： Isao Kezobo ,  Masahiko Kurishige ,  Masaya Endo ,  Takayuki Kifuku

IPC分类号： B62D5/08

CPC分类号： B62D5/0472

摘要： An electric power steering control device includes: a vibration extracting filter for performing filter processing on a rotation speed of a motor to reduce a gain on a low frequency side so as to output a vibration-component signal; a current variable gain map for detecting a current flowing through the motor as a first state quantity so as to calculate a current variable gain based on the current; a rotation-speed variable gain map for detecting the rotation speed of the motor as a second state quantity so as to calculate a rotation-speed variable gain based on the rotation speed; a correction mechanism calculating a vibration suppression current; and current controller calculating a target current so as to control the current flowing through the motor.

摘要翻译： 一种电动助力转向控制装置，包括：振动提取过滤器，用于对电动机的转速进行滤波处理，以降低低频侧的增益，从而输出振动分量信号; 电流可变增益图，用于检测流过电动机的电流作为第一状态量，以便基于电流计算电流可变增益; 旋转速度可变增益图，用于检测作为第二状态量的电动机的转速，以便根据转速计算转速可变增益; 计算振动抑制电流的校正机构; 电流控制器计算目标电流，以控制流过马达的电流。

公开(公告)号：US20130124049A1

公开(公告)日：2013-05-16

申请号：US13811849

申请日：2011-07-13

申请人： Masaya Endo ,  Takashi Iwasaki ,  Masahiko Kurishige ,  Takayuki Kifuku ,  Yoshihiko Kinpara

发明人： Masaya Endo ,  Takashi Iwasaki ,  Masahiko Kurishige ,  Takayuki Kifuku ,  Yoshihiko Kinpara

IPC分类号： B62D5/04

CPC分类号： B62D5/046 ,  B62D5/0463 ,  B62D6/008

摘要： An electric power steering system includes steering a torque detector that detects steering torque, and a motor that provides assist torque based on the detected steering torque, wherein for the purpose of estimating, without detecting motor rotation angular information and rotation angular velocity information, the road reaction torque in which the influence of the motor inertia torque is eliminated, a value corresponding to rotation velocity of a steering shaft is calculated based on the steering torque and the assist torque, to calculate road reaction torque based on the value corresponding to the rotation velocity of the steering shaft.

摘要翻译： 电动助力转向系统包括转向检测转向转矩的转矩检测器，以及基于检测到的转向转矩提供辅助转矩的电动机，其中为了估计，在不检测电动机旋转角度信息和旋转角速度信息的情况下，道路 基于转向转矩和辅助转矩，计算与转向轴的转速对应的值，根据与转速对应的值来计算道路反作用转矩， 的转向轴。