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公开(公告)号：US09637166B2
公开(公告)日：2017-05-02
申请号：US14418372
申请日：2014-02-04
Applicant: NSK LTD.
Inventor： Takahiro Tsubaki , Tetsuya Kitazume , Keita Yoshida
CPC classification number: B62D5/0463 , B62D1/286 , B62D6/002 , B62D6/003 , B62D6/10 , B62D15/025
Abstract: Although the steering angle control of a steering wheel is performed using automatic steering control, when the steering torque is applied by the steering wheel operation of the driver, the target steering angle is corrected to become the same direction as a direction that the steering torque is applied, and the steering angle control is performed to coincide with that target steering angle. Thereby, in the case of adding together outputs of the steering angle control with respect to the corrected target steering angle and the assist control by the steering torque with a certain ratio, it is possible to make the output direction of the automatic steering control coincide with the output direction of the manual steering control, and the control outputs become hard to interfere with each other. As a result, the uncomfortable feeling given to the driver that occurs in switching the steering mode is reduced.
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公开(公告)号：US09446789B2
公开(公告)日：2016-09-20
申请号：US14419085
申请日：2014-02-03
Applicant: NSK LTD.
Inventor： Takahiro Tsubaki , Tetsuya Kitazume , Keita Yoshida
CPC classification number: B62D5/0472 , B62D5/046 , B62D5/0463 , B62D6/002 , B62D6/007 , B62D6/008 , B62D15/025 , B62D15/0285
Abstract: An electric power steering apparatus that realizes vibration suppression of response characteristics and has a control performance having resistance properties against disturbances such as a road surface change by using a velocity I-P control (a proportional-lead type PI control) in a vehicle having functions of an automatic steering control and a manual steering control.
Abstract translation: 一种电动助力转向装置，其实现响应特性的振动抑制，并具有通过在具有以下功能的车辆中使用速度IP控制（比例引导型PI控制）而具有抵抗诸如路面变化等干扰的阻力特性的控制性能 自动转向控制和手动转向控制。
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Patent Agency Ranking
公开(公告)号：US10099721B2
公开(公告)日：2018-10-16
申请号：US15127232
申请日：2015-11-05
Applicant: NSK LTD.
Inventor： Keita Yoshida , Yousuke Imamura , Masahiro Maeda
Abstract: An electric power steering apparatus that reduces an uncomfortable feeling due to a noise at a steering holding and a low-speed steering time, and can smoothly steers so as to prevent a phase-lag at a high-speed steering time. The apparatus has a torque control section to calculate a current command value based on at least a steering torque, and assist-controls a steering system by driving a motor using a current control system based on the current command value. A motor angular velocity calculating section calculates a motor angular velocity from a motor rotational angle; a motor angular acceleration calculating section calculates a motor angular acceleration from the motor angular velocity; and a stability compensating section calculates a steering torque for compensation and a current command value for compensation based on the motor angular velocity and the motor angular acceleration. The steering torque compensates the steering torque, and the current command value compensates the current command value.
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公开(公告)号：US20150191200A1
公开(公告)日：2015-07-09
申请号：US14419085
申请日：2014-02-03
Applicant: NSK Ltd.
Inventor： Takahiro Tsubaki , Tetsuya Kitazume , Keita Yoshida
CPC classification number: B62D5/0472 , B62D5/046 , B62D5/0463 , B62D6/002 , B62D6/007 , B62D6/008 , B62D15/025 , B62D15/0285
Abstract: An electric power steering apparatus that realizes vibration suppression of response characteristics and has a control performance having resistance properties against disturbances such as a road surface change by using a velocity I-P control (a proportional-lead type PI control) in a vehicle having functions of an automatic steering control and a manual steering control.
Abstract translation: 一种电动助力转向装置，其实现响应特性的振动抑制，并具有通过在具有以下功能的车辆中使用速度IP控制（比例引导型PI控制）而具有抵抗诸如路面变化等干扰的阻力特性的控制性能 自动转向控制和手动转向控制。
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公开(公告)号：US20150191199A1
公开(公告)日：2015-07-09
申请号：US14418372
申请日：2014-02-04
Applicant: NSK LTD.
Inventor： Takahiro Tsubaki , Tetsuya Kitazume , Keita Yoshida
CPC classification number: B62D5/0463 , B62D1/286 , B62D6/002 , B62D6/003 , B62D6/10 , B62D15/025
Abstract: [Problem]An object of the present invention is to provide an electric power steering apparatus that is capable of smoothly switching the steering when a driver steers a steering wheel during the automatic steering control and in the case that a steering direction of the automatic control is different from a direction of the steering wheel steering by the driver.[Means for solving the problem]An electric power steering apparatus comprising: a target steering angle correcting section that outputs a target steering angle correction value for a steering torque; a correction output section that corrects a target steering angle with the target steering angle correction value to output a corrected target steering angle; a steering angle control section that calculates a second motor current command value based on corrected target steering angle from the correction output section, an actual steering angle and a motor angular velocity; and a switching section that inputs a first motor current command value and the second motor current command value to switch, wherein the switching section is switched depending on a switching command of an automatic steering control and a manual steering control, and a motor is drive-controlled based on the second motor current command value in the automatic steering control.
Abstract translation: 发明内容本发明的目的在于提供一种电动助力转向装置，其能够在驾驶员在自动转向控制期间驾驶方向盘时平滑地切换转向，在自动控制的转向方向为 与驾驶员的方向盘转向的方向不同。 一种电动助力转向装置，包括：目标转向角校正部，输出转向转矩的目标转向角修正值; 校正输出部，其利用目标转向角校正值校正目标转向角，以输出校正的目标转向角; 转向角控制部，其基于来自校正输出部的修正目标转向角，实际转向角和电动机角速度来计算第二电动机电流指令值; 以及开关部，其输入第一电动机电流指令值和所述第二电动机电流指令值进行切换，其中，所述切换部根据自动转向控制和手动转向控制的切换命令进行切换， 根据自动转向控制中的第二电机电流指令值进行控制。
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公开(公告)号：US10457322B2
公开(公告)日：2019-10-29
申请号：US15559123
申请日：2016-04-05
Applicant: NSK Ltd.
Inventor： Keita Yoshida , Yousuke Imamura
Abstract: [Problem]An object of the present invention is to provide a motor control unit that achieves desired performance more simply with higher accuracy by setting a frequency characteristic according to a state of the control unit and automatically adjusting a control gain by the set value, and to provide an electric power steering apparatus equipped with the same.[Means for Solving the Problem]A motor control unit that comprises a current command value calculating section that calculates a current command value of a motor applying a steering assist torque to a steering system of a vehicle, and a feedback section that controls a motor current flowing to the motor through a feedback mechanism based on the current command value comprises: a control unit state detecting section that detects at least one state of the motor control unit, and outputs the state as a control unit state; and a characteristic changing section that changes a setting of a closed loop response characteristic of the feedback section in real time depending on the control unit state.
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公开(公告)号：US10308278B2
公开(公告)日：2019-06-04
申请号：US15565774
申请日：2017-03-17
Applicant: NSK LTD.
Inventor： Takahiro Tsubaki , Tetsuya Kitazume , Keita Yoshida
Abstract: [Problem]An object of the present invention is to provide an electric power steering apparatus that gradual-changes a steering angle control command value, an assist control command value and also a steering angle speed command value, suppresses an excessive accumulation of an integral value in a speed control by being provided a steering speed command value with a limiter, and does not give the driver an uncomfortable feeling.[Means for solving the problem]The present invention is the electric power steering apparatus that has a function to switch between an assist control mode and a steering angle control mode, wherein the steering angle control section comprises a position control section that inputs a target steering angle and an actual steering angle and outputs a first steering angle speed command value; a gradual-changing limiting section that limits an upper limiting value and a lower limiting value by gradual-changing a first steering angle speed command value corresponding to a steering angle control gradual-changing gain; a speed control section that processes a second steering angle speed command value, which is outputted from the gradual-changing limiting section, based on an actual steering angle speed and a steering angle control gradual-changing gain; and a first gradual-changing section that gradual-changes the first steering angle control command value, which is outputted from the speed control section, corresponding to a steering angle control gradual-changing gain and outputs a second steering angle control command value, further comprises a second gradual-changing section that gradual-changes a first assist control command value, which is outputted from an assist control section, with an assist control gradual-changing gain and outputs a second assist control command value, wherein a steering angle control section, and a motor current command value is generated based on the second steering angle control command value and the second assist control command value.
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