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公开(公告)号：US20200172161A1
公开(公告)日：2020-06-04
申请号：US16785818
申请日：2020-02-10
Applicant: NSK LTD.
Inventor： Takayoshi SUGAWARA , Yousuke Imamura , Masahiro Maeda
Abstract: An electric power steering apparatus includes: a current command value determining section that determines a current command value based on steering torque and vehicle speed; a vibration extracting filter that extracts a first vibration component having a predetermined amplitude and first predetermined frequency range depending on motor angular velocity; a vibration extracting section that extracts a second vibration component having a second predetermined frequency range depending on motor angular acceleration; a first compensation value calculating section that calculates a first vibration suppression compensation value based on the first vibration component extracted by the vibration extracting filter; and a second compensation value calculating section that calculates a second vibration suppression compensation value based on the second vibration component; and suppresses vibrations of the motor by feeding back the first vibration suppression compensation value and the second vibration suppression compensation value calculated to the current command value.
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公开(公告)号：US09882519B2
公开(公告)日：2018-01-30
申请号：US14648086
申请日：2014-12-19
Applicant: NSK LTD.
Inventor： Tomohiro Miura , Masahiro Maeda , Yousuke Imamura
Abstract: A motor control apparatus that calculates duty command values of respective phases for controlling currents of a motor by means of a control calculation, forms PWM-signals in correspondence to the duty command values, drives the motor by means of an inverter based on the PWM-signals, and which is provided a rotation sensor to detect a motor angle of the motor.
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公开(公告)号：US11192579B2
公开(公告)日：2021-12-07
申请号：US17260755
申请日：2020-01-10
Applicant: NSK LTD.
Inventor： Tadashi Ishida , Masahiro Maeda , Atsushi Kojima
Abstract: An actuator control device includes: a turning control value calculation unit configured to calculate a turning control value that controls an actuator configured to turn a steered wheel on a basis of an operation state amount by a driver with respect to a steering mechanism of the vehicle; a target value setting unit configured to set a target value of a state amount indicating a traveling direction of the vehicle on a basis of a surrounding environment of the vehicle; a target value control unit configured to control the actuator by integral control so that actual the state amount approaches the target value; and an integral suppression unit configured to suppress an increase in a first integral value calculated in the integral control according to a second integral value calculated according to the operation state amount.
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公开(公告)号：US11084528B2
公开(公告)日：2021-08-10
申请号：US16785881
申请日：2020-02-10
Applicant: NSK LTD.
Inventor： Takayoshi Sugawara , Yousuke Imamura , Masahiro Maeda
Abstract: An electric power steering apparatus includes: a current command value determining section that determines a current command value based on steering torque and vehicle speed; a vibration extracting filter that extracts a first vibration component having a predetermined amplitude and first predetermined frequency range depending on motor angular velocity; a vibration extracting section that extracts a second vibration component having a second predetermined frequency range depending on motor angular acceleration; a first compensation value calculating section that calculates a first vibration suppression compensation value based on the first vibration component extracted by the vibration extracting filter; and a second compensation value calculating section that calculates a second vibration suppression compensation value based on the second vibration component; and suppresses vibrations of the motor by feeding back the first vibration suppression compensation value and the second vibration suppression compensation value calculated to the current command value.
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公开(公告)号：US11873039B2
公开(公告)日：2024-01-16
申请号：US17281083
申请日：2020-10-02
Applicant: NSK LTD.
Inventor： Yasutoshi Miki , Masahiro Maeda
CPC classification number: B62D5/046 , B62D5/0409 , H02P21/05 , H02P21/22 , H02P27/08
Abstract: A motor control device includes a third harmonic calculation unit configured to calculate a first third harmonic on a basis of an average value between a voltage command value of a maximum phase with a maximum duty ratio and a voltage command value of a minimum phase with a minimum duty ratio among three-phase voltage command values; an amplitude calculation unit configured to calculate an amplitude of the three-phase voltage command values; a third harmonic conversion unit configured to convert the first third harmonic into a second third harmonic on a basis of the first third harmonic and the amplitude; a correction unit configured to correct the three-phase voltage command values by subtracting the second third harmonic from the three-phase voltage command values.
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Patent Agency Ranking
公开(公告)号：US09840272B2
公开(公告)日：2017-12-12
申请号：US15312075
申请日：2015-08-03
Applicant: NSK LTD.
Inventor： Takayoshi Sugawara , Masahiro Maeda
CPC classification number: B62D5/0463 , B62D6/00 , B62D6/02 , B62D6/10
Abstract: An electric power steering apparatus that improves an on-center feeling while improving vehicle response by increasing a steering assist current in a torque range where a steering torque is equal to or less than a static friction torque of a reduction mechanism mainly so as to reduce a static friction uncomfortable feeling in the vicinity of on-center. The apparatus drive-controls a motor for providing a steering mechanism with a steering assist force using a current command value calculated based on at least a steering torque. The apparatus includes: a static friction compensating section that calculates a static friction compensation command value for compensating static friction of the steering mechanism based on the steering torque and a vehicle speed, wherein the current command value is corrected with the static friction compensation command value.
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公开(公告)号：US09796411B2
公开(公告)日：2017-10-24
申请号：US15038770
申请日：2015-04-07
Applicant: NSK LTD.
Inventor： Masahiro Ieyasu , Masahiro Maeda
CPC classification number: B62D5/0463 , B62D5/0466 , B62D6/008 , B62D5/0469 , B62D5/0409
Abstract: [Problem]An object of the present invention is to provide a high-performance electric power steering apparatus that reduces uncomfortable feeling of a driver by improving judgment of turning or returning and performing fine control of a steering state to improve a function of convergence control.[Means for solving the problem]An electric power steering apparatus comprises: a turning or returning state index calculating section that calculates a turning or returning state index based on a steering torque and a motor angle velocity; a turning or returning state ratio calculating section that calculates a turning or returning state ratio with a nominal value as a reference based on the turning or returning state index; and a convergence control section that comprises a sensitive gain section that calculates a turning gain and a returning gain based on the steering torque, a vehicle speed and the motor angle velocity, a gain correcting section that performs gain correction for the turning gain and the returning gain by the turning or returning state ratio, and an output processing section that outputs a convergence control value by performing output processing of a gain signal from the gain correcting section based on an absolute value and a sign inversion signal of a yaw rate estimation value.
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公开(公告)号：US10589779B2
公开(公告)日：2020-03-17
申请号：US15536411
申请日：2015-12-21
Applicant: NSK LTD.
Inventor： Takayoshi Sugawara , Yousuke Imamura , Masahiro Maeda
Abstract: An electric power steering apparatus includes: a current command value determining section that determines a current command value based on steering torque and vehicle speed; a vibration extracting filter that extracts a first vibration component having a predetermined amplitude and first predetermined frequency range depending on motor angular velocity; a vibration extracting section that extracts a second vibration component having a second predetermined frequency range depending on motor angular acceleration; a first compensation value calculating section that calculates a first vibration suppression compensation value based on the first vibration component extracted by the vibration extracting filter; and a second compensation value calculating section that calculates a second vibration suppression compensation value based on the second vibration component; and suppresses vibrations of the motor by feeding back the first vibration suppression compensation value and the second vibration suppression compensation value calculated to the current command value.
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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：US09586616B2
公开(公告)日：2017-03-07
申请号：US15100357
申请日：2015-02-23
Applicant: NSK Ltd.
Inventor： Takayoshi Sugawara , Yousuke Imamura , Masahiro Maeda
CPC classification number: B62D5/0463 , B62D5/008 , H02P21/05 , H02P29/50
Abstract: An electric power steering device includes a torque detector including an input shaft rotational angle detector and an output shaft rotational angle detector configured to respectively detect rotational angles of an input shaft and an output shaft coupled by a torsion bar arranged in a steering system of a vehicle; an electric motor configured to be controlled based on a torque detection value detected by the torque detector, and to generate a steering assistance force to be exerted on the output shaft; a motor rotational angle detector configured to detect a motor rotational angle of the electric motor; and a noise suppression unit configured to reduce a noise in a signal of the rotational angle of the output shaft detected by the output shaft rotational angle detector, by using the motor rotational angle detected by the motor rotational angle detector.
Abstract translation: 一种电动助力转向装置，包括：转矩检测器，包括输入轴旋转角度检测器和输出轴旋转角度检测器，该输出轴旋转角度检测器被配置为分别检测输入轴和输出轴的旋转角度，所述输入轴和输出轴由布置在车辆的转向系统中的扭杆 ; 电动机，其被配置为基于由所述转矩检测器检测的转矩检测值来控制，并且产生将被施加在所述输出轴上的转向辅助力; 电动机旋转角度检测器，被配置为检测电动机的电动机旋转角度; 以及噪声抑制单元，其被配置为通过使用由马达旋转角度检测器检测到的马达旋转角度来减小由输出轴旋转角度检测器检测的输出轴的旋转角度的信号中的噪声。
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