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公开(公告)号：US07275617B2
公开(公告)日：2007-10-02
申请号：US10529038
申请日：2004-04-21
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。
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公开(公告)号：US20060042860A1
公开(公告)日：2006-03-02
申请号：US10529038
申请日：2004-04-21
IPC分类号： B62D7/15
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。 对所估计的转向轴反作用转矩和基准道路反作用扭矩进行加权，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， 从而容易改善转向感。
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3.发明授权Electric power steering control system and method for controlling electric power steering control system 有权电动助力转向控制系统及控制电动助力转向控制系统的方法公开(公告)号：US06490514B2
公开(公告)日：2002-12-03
申请号：US09773386
申请日：2001-02-01
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。
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公开(公告)号：US07128184B2
公开(公告)日：2006-10-31
申请号：US10754709
申请日：2004-01-12
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。
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公开(公告)号：US20050072622A1
公开(公告)日：2005-04-07
申请号：US10754709
申请日：2004-01-12
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。
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公开(公告)号：US07128185B2
公开(公告)日：2006-10-31
申请号：US11120947
申请日：2005-05-04
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 detector (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机动力转向控制装置包括转向状态检测器（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。
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公开(公告)号：US20050189897A1
公开(公告)日：2005-09-01
申请号：US11120947
申请日：2005-05-04
IPC分类号： B62D6/00 , B62D5/04 , B62D101/00 , B62D113/00 , B62D117/00 , B62D119/00 , 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 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。
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公开(公告)号：US08155818B2
公开(公告)日：2012-04-10
申请号：US12307873
申请日：2007-09-27
IPC分类号： G01M17/00
CPC分类号： B60W40/06 , B60L15/20 , B60L2240/24 , B60T8/175 , B60T2260/04 , B60W10/04 , B60W10/10 , B60W2550/14 , F02D29/00 , F16H61/21 , Y02T10/645 , Y02T10/72 , Y02T10/7275
摘要： Provided is a vehicle control system which can maintain stability of the vehicle with an inexpensive configuration without bringing discomfort to a driver when control intervenes. The vehicle control system includes: road surface reaction torque detecting means 15 for detecting an actual road surface reaction torque Talign received by a tire 9 of the vehicle from a road surface; steering angle detecting means 5 for detecting a steering angle θ of a handle 2 of the vehicle; vehicle speed detecting means 10 for detecting a vehicle speed V of the vehicle; reference road surface reaction torque computing means 16 for computing a reference road surface reaction torque Tref corresponding to a linear road surface reaction torque based on the steering angle θ and the vehicle speed V; behavior state estimating means 17 for estimating a behavior state of the vehicle based on at least one of a deviation and a ratio between the actual road surface reaction torque Talign and the reference road surface reaction torque Tref; and driving force control means 18 for controlling a driving force of the vehicle according to the behavior state.
摘要翻译： 提供一种车辆控制系统，其可以以便宜的构造保持车辆的稳定性，而在控制干预时不会给驾驶员带来不便。 车辆控制系统包括：路面反作用转矩检测装置15，用于检测由车辆的轮胎9从路面接收的实际路面反作用转矩Talign; 用于检测转向角度的转向角检测装置5; 的车辆的手柄2; 用于检测车辆的车速V的车速检测装置10; 参考路面反作用力矩计算装置16，用于计算与基于转向角度的线性路面反作用力矩对应的基准路面反作用转矩Tref; 和车速V; 基于实际路面反作用转矩Talign与基准路面反作用转矩Tref之间的偏差和比率中的至少一个来估计车辆的行为状态的行为状态估计装置17; 以及用于根据行为状态控制车辆的驱动力的驱动力控制装置18。
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公开(公告)号：US20090204284A1
公开(公告)日：2009-08-13
申请号：US12307873
申请日：2007-09-27
IPC分类号： B60W40/06
CPC分类号： B60W40/06 , B60L15/20 , B60L2240/24 , B60T8/175 , B60T2260/04 , B60W10/04 , B60W10/10 , B60W2550/14 , F02D29/00 , F16H61/21 , Y02T10/645 , Y02T10/72 , Y02T10/7275
摘要： Provided is a vehicle control system which can maintain stability of the vehicle with an inexpensive configuration without bringing discomfort to a driver when control intervenes. The vehicle control system includes: road surface reaction torque detecting means 15 for detecting an actual road surface reaction torque Talign received by a tire 9 of the vehicle from a road surface; steering angle detecting means 5 for detecting a steering angle θ of a handle 2 of the vehicle; vehicle speed detecting means 10 for detecting a vehicle speed V of the vehicle; reference road surface reaction torque computing means 16 for computing a reference road surface reaction torque Tref corresponding to a linear road surface reaction torque based on the steering angle θ and the vehicle speed V; behavior state estimating means 17 for estimating a behavior state of the vehicle based on at least one of a deviation and a ratio between the actual road surface reaction torque Talign and the reference road surface reaction torque Tref; and driving force control means 18 for controlling a driving force of the vehicle according to the behavior state.
摘要翻译： 提供一种车辆控制系统，其可以以便宜的构造保持车辆的稳定性，而在控制干预时不会给驾驶员带来不便。 车辆控制系统包括：路面反作用转矩检测装置15，用于检测由车辆的轮胎9从路面接收的实际路面反作用转矩Talign; 用于检测车辆的手柄2的转向角θ的转向角检测装置5; 用于检测车辆的车速V的车速检测装置10; 参考路面反作用转矩计算装置16，用于基于转向角θ和车速V计算对应于线性路面反作用转矩的基准路面反作用转矩Tref; 基于实际路面反作用转矩Talign与基准路面反作用转矩Tref之间的偏差和比率中的至少一个来估计车辆的行为状态的行为状态估计装置17; 以及用于根据行为状态控制车辆的驱动力的驱动力控制装置18。
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公开(公告)号：US08977436B2
公开(公告)日：2015-03-10
申请号：US13811849
申请日：2011-07-13
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。
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