公开(公告)号：US20250010915A1

公开(公告)日：2025-01-09

申请号：US18754625

申请日：2024-06-26

Applicant: NIDEC CORPORATION

Inventor： Shuji ENDO ,  Sohei MIYAKE ,  Daisuke NOTSU

IPC: B62D15/02 ,  B62D6/00

Abstract: A control device that controls a steering mechanism mounted on a vehicle includes a first assist controller to execute lane keeping control and generate a first input value. The first assist controller includes a vehicle state calculator to calculate a yaw rate target value and lateral displacement, a yaw rate controller to generate a yaw rate command value based on the yaw rate target value, and a lateral displacement controller to generate a lateral displacement command value based on the lateral displacement. The yaw rate controller includes a yaw rate adjuster to adjust the yaw rate command value according to a frequency. The lateral displacement controller includes a lateral displacement adjuster to adjust the lateral displacement command value according to a frequency.

公开(公告)号：US20230202559A1

公开(公告)日：2023-06-29

申请号：US18086309

申请日：2022-12-21

Applicant: Nidec Corporation

Inventor： Shuji ENDO ,  Sohei MIYAKE ,  Masaya ISHIKAWA ,  Daisuke NOTSU

IPC: B62D6/00 ,  B62D5/04

CPC classification number: B62D6/008 ,  B62D5/0469

Abstract: A control device includes a reaction force controller to generate an input torque input to a control target and control a reaction force transmitted to a steering person and an assist controller to generate a correction torque to correct the input torque based on an output of the control target and a nominal model. The assist controller includes a high-pass filter with a first cutoff frequency, a low-pass filter with a second cutoff frequency higher than the first cutoff frequency, and a disturbance compensation value calculator. When a transfer function of the low-pass filter is Q(s) and a transfer function of the high-pass filter is HPF(s), a transfer function of a control target is constrained by a transfer function of the nominal model in a frequency band in which a gain in a gain characteristic of Q(s)·HPF(s) is 1.

公开(公告)号：US20250002076A1

公开(公告)日：2025-01-02

申请号：US18754621

申请日：2024-06-26

Applicant: NIDEC CORPORATION

Inventor： Shuji ENDO ,  Sohei MIYAKE ,  Daisuke NOTSU

IPC: B62D5/04 ,  B62D6/00

Abstract: A control device mounted on a steer-by-wire steering device mounted on a vehicle includes a steering assembly including a steering wheel to be steered by a steering operator, a turning assembly including a first turning wheel and a second turning wheel, a turning side motor to drive the turning assembly, and a turning side controller configured or programmed to control a control target including the turning side motor. The turning side controller is configured or programmed to include a model following controller configured or programmed to generate a correction torque to correct an input torque input to the control target based on output of the control target and a nominal model based on a configuration of the control target. The model following controller is configured or programmed such that a transfer function of the control target is restricted to a transfer function of the nominal model.

公开(公告)号：US20230202554A1

公开(公告)日：2023-06-29

申请号：US18086285

申请日：2022-12-21

Applicant: Nidec Corporation

Inventor： Shuji ENDO ,  Sohei MIYAKE ,  Masaya ISHIKAWA ,  Daisuke NOTSU

IPC: B62D5/04 ,  H02P23/00

CPC classification number: B62D5/0463 ,  B62D5/0421 ,  H02P23/0022

Abstract: A control device that controls a control target including at least a motor in a steering mechanism including an input shaft to which a steering wheel is connected, an output shaft connected to the input shaft via a torsion bar, and the motor connected to the output shaft. The control device includes a reaction force controller to generate an input torque input to the control target based on a torsion bar torque generated in the torsion bar and to control a reaction force transmitted from the steering wheel to the steering person, and an assist controller to generate a correction torque to correct the input torque based on an output of the control target and a nominal model. The assist controller is configured or programmed such that a transfer function of the control target is constrained by a transfer function of the nominal model in a frequency band.

公开(公告)号：US20250002075A1

公开(公告)日：2025-01-02

申请号：US18754813

申请日：2024-06-26

Applicant: NIDEC CORPORATION

Inventor： Shuji ENDO ,  Sohei MIYAKE ,  Daisuke NOTSU

IPC: B62D5/04

Abstract: A control device includes a model following controller in which a transfer function of a control target is restricted to a transfer function of a nominal model in a frequency band in which a complementary sensitivity gain, which is a gain in a gain characteristic of a complementary sensitivity function with respect to a modeling error between the control target and the nominal model, is approximately one. A steady gain of the complementary sensitivity function is about 0.1 or more. A lower limit value of a frequency band in which the complementary sensitivity gain is about one is higher than a first resonance frequency that is a resonance frequency of a yaw rate of a vehicle. A second resonance frequency is higher than the first resonance frequency and lower than a lower limit value of a frequency band in which the complementary sensitivity gain is about one.

公开(公告)号：US20250002074A1

公开(公告)日：2025-01-02

申请号：US18754627

申请日：2024-06-26

Applicant: NIDEC CORPORATION

Inventor： Shuji ENDO ,  Sohei MIYAKE ,  Daisuke NOTSU

IPC: B62D5/04 ,  B62D15/02

Abstract: A control device includes a first assist controller to execute lane keeping control and generate a first input value, a second assist controller to generate a second input value based on a steering input value, and a disturbance sensitivity controller to which a command value calculated based on the first input value multiplied by a first gain and the second input value multiplied by a second gain is input. When the first gain is K1 and the second gain is K2, K1=1−K2 is satisfied. The disturbance sensitivity controller includes a first model following controller to generate a correction value to correct a command value based on output of a control target and a first nominal model. The first model following controller is configured or programmed such that a transfer function of the control target is restricted to a transfer function of the first nominal model.

公开(公告)号：US20230202560A1

公开(公告)日：2023-06-29

申请号：US18086323

申请日：2022-12-21

Applicant: Nidec Corporation

Inventor： Shuji ENDO ,  Sohei MIYAKE ,  Masaya ISHIKAWA ,  Daisuke NOTSU

IPC: B62D6/00 ,  B62D5/04

CPC classification number: B62D6/008 ,  B62D5/0463

Abstract: A control device includes a reaction force controller to generate an input torque input to the control target and control a reaction force transmitted from a steering wheel to a steering person, an assist controller to generate a correction torque to correct the input torque based on an output of the control target and a nominal model, and a state feedback circuit to feed back a state compensation value to the input torque based on the output of the control target. The assist controller is configured or programmed such that the transfer function of the control target is constrained by the transfer function of the nominal model in the frequency band where the gain in the gain characteristic of the complementary sensitivity function with respect to the modeling error between the control target and the nominal model is approximately 1.