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公开(公告)号：US20170137057A1
公开(公告)日：2017-05-18
申请号：US14913818
申请日：2015-05-13
Applicant: NSK LTD.
Inventor： Tetsuya KITAZUME
CPC classification number: B62D5/0466 , B62D5/0463 , B62D6/00
Abstract: [Problem]An object of the present invention is to provide an electric power steering apparatus that is capable of realizing a smooth steering wheel returning control by the correction based on a steering torque in which vehicle characteristics are considered and a vehicle speed even in the case of steering intervention by a driver in a straight-advancing running state.[Means for solving the problem]An electric power steering apparatus comprising a steering wheel returning control section for driving a motor by means of a compensation current command value that comprises a target returning torque calculating section which calculates a target returning torque based on a steering angle and a vehicle speed, a correcting section which corrects the target returning torque with a steering torque and an assist torque, a steering system characteristic section which multiplies by a transmission characteristic corresponding to a virtual steering system characteristic based on a correction torque and a viscosity coefficient, a steering wheel returning control gain calculating section which multiplies a deviation between a target steering angle speed and an actual steering angle speed from the steering system characteristic section by a vehicle speed gain and a steering torque gain to obtain a steering wheel returning control gain, and a steering wheel returning control current calculating section which performs control calculation with respect to the steering wheel returning control gain, performs an output limit in response to the vehicle speed gain and the steering torque gain, and obtain a steering wheel returning control current.
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公开(公告)号：US20160347357A1
公开(公告)日：2016-12-01
申请号：US14651949
申请日：2014-09-25
Applicant: NSK LTD.
Inventor： Tetsuya KITAZUME
CPC classification number: B62D5/0466 , B62D5/04 , B62D5/0463 , B62D5/0472 , B62D6/00 , B62D6/008 , B62D6/04 , B62D6/10 , B62D15/0235
Abstract: [Problem]An object of the present invention is to provide an electric power steering apparatus that is capable of positively returning a steering wheel to a neutral point in such a running state as to return to a going straight state by calculating a return control current corresponding to a steering angle and a steering speed and compensating a current command value.[Means for solving the problem]An electric power steering apparatus comprising: a steering wheel return control section that calculates a return control current with a steering angle, a vehicle speed and a steering speed, and drives a motor with a compensated current command value left by the subtraction of the return control current from a current command value, wherein the steering wheel return section comprises a base-return control current calculating section that calculates a base-return control current, a target steering speed calculating section that calculates a target steering speed, a return control gain calculating section that calculates a deviation between the target steering speed and the steering speed, performs coding, and at a same time calculates a return control gain by using at least two control calculations among a P-control calculation, an I-control calculation and a D-control calculation, a limiter that limits a maximum value of the return control gain, and a correcting section that corrects the base-return control current with an output gain of the limiter and outputs the return control current.
Abstract translation: 一种电动助力转向装置，包括：方向盘返回控制部，其以转向角，车速和转向速度计算返回控制电流，并且通过减去所述返回控制而驱动具有补偿电流指令值的电动机 电流指令值，其中方向盘返回部分包括计算基准返回控制电流的基准返回控制电流计算部分，计算目标转向速度的目标转向速度计算部分，返回控制增益计算部分 其计算目标转向速度与转向速度之间的偏差，进行编码，并且同时通过使用P控制计算，I控制计算和D-控制计算中的至少两个控制计算来计算返回控制增益。 控制计算，限制返回控制增益的最大值的限制器和校正t的校正部分 他使用限幅器的输出增益对基极返回控制电流输出返回控制电流。
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公开(公告)号：US20230016560A1
公开(公告)日：2023-01-19
申请号：US17783355
申请日：2021-10-04
Applicant: NSK LTD.
Inventor： Tetsuya KITAZUME , Shoya MARUYAMA
IPC: B62D5/04
Abstract: A control device includes a current command value calculation unit configured to calculate a first current command value causing an actuator to generate steering assist torque, a correction value calculation unit configured to, when an absolute value of steering angle is greater than or equal to a threshold value, calculate a correction value for suppressing increase in an absolute value of the steering angle by correcting the steering assist torque, a correction unit configured to calculate a second current command value obtained by correcting the first current command value by the correction value, and a driving unit configured to drive the actuator, based on the second current command value. The correction value calculation unit calculates the correction value, based on first torque, the first torque changing nonlinearly with respect to steering angular velocity.
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公开(公告)号：US20200298904A1
公开(公告)日：2020-09-24
申请号：US16094669
申请日：2017-10-24
Applicant: NSK LTD.
Inventor： Tetsuya KITAZUME , Satoshi SHIMOKAWABE
IPC: B62D5/04
Abstract: An electric power steering apparatus that drives a motor based a current command value and assist-controls a steering system by a driving-control of the motor. The apparatus includes a handle-returning control section that calculates a target steering angular velocity by using a steering angle, the vehicle speed, the steering torque and the current command value, calculates a handle-returning control current by using a limit-target steering angular velocity which is obtained by limiting the target steering angular velocity depending on steering angular velocity, and drives the motor by a compensated current command value which is obtained by adding the handle-returning control current to the current command value.
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公开(公告)号：US20190084613A1
公开(公告)日：2019-03-21
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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Patent Agency Ranking
公开(公告)号：US20150344066A1
公开(公告)日：2015-12-03
申请号：US14654628
申请日：2014-01-23
Applicant: NSK LTD.
Inventor： Takahiro TSUBAKI , Tetsuya KITAZUME , Yoshiki NINOMIYA
CPC classification number: B62D5/0463 , B60W2050/007 , B62D1/286 , B62D6/002 , B62D6/08 , B62D15/025 , G05D1/0061 , G05D2201/0213
Abstract: An electric power steering apparatus that detects that a driver has steered the handle by using a steering torque detected by a torque sensor, switches to the manual steering mode due to a capacity (an integrated value) corresponding to a generated torque, and does not provide an uncomfortable feeling to the driver.
Abstract translation: 一种电动助力转向装置，其通过使用由转矩传感器检测出的转向转矩来检测驾驶员已经转向手柄，由于与产生的转矩对应的容量（积分值）而切换到手动转向模式，并且不提供 对司机感到不舒服
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公开(公告)号：US20230192178A1
公开(公告)日：2023-06-22
申请号：US17909154
申请日：2022-02-04
Applicant: NSK LTD
Inventor： Shoya MARUYAMA , Tetsuya KITAZUME
CPC classification number: B62D5/0409 , B62D6/002 , B62D15/0235 , B62D15/0245
Abstract: A turning angle detecting device includes: a first storage unit configured to store a turning angle neutral point correction value being a difference between a median of the turning angles at respective limits in right and left steering and the turning angle in a straight traveling state; a second storage unit configured to store an initial position of a movable portion of an actuator of a wheel turning mechanism in the straight traveling state; a first turning angle calculating unit configured to calculate a first turning angle with respect to the median of the turning angles at the respective limits based on a detection value of a position of the movable portion; and a second turning angle calculating unit configured to calculate a second turning angle based on the detection value, the turning angle neutral point correction value, the initial position and the first turning angle.
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公开(公告)号：US20220126913A1
公开(公告)日：2022-04-28
申请号：US17442431
申请日：2021-03-15
Applicant: NSK LTD.
Inventor： Tetsuya KITAZUME
Abstract: A hands-off detection device includes: a first steering angle acquisition unit configured to acquire a first steering angle of a steering wheel; a second steering angle acquisition unit configured to acquire a second steering angle of a steering mechanism connected to the steering wheel via a torsion bar; a steering angle estimation unit configured to obtain an estimation angle of the first steering angle in a state where the steering wheel is not being grasped on a basis of the second steering angle; and a grasping state determination unit configured to determine a grasping state of the steering wheel on a basis of the frequency component of a angle difference between the first steering angle and the estimation angle and a reference frequency component being the frequency component of the angle difference in the state where the steering wheel is not being grasped.
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公开(公告)号：US20210206426A1
公开(公告)日：2021-07-08
申请号：US16068167
申请日：2018-01-15
Applicant: NSK LTD.
Inventor： Tetsuya KITAZUME , Satoshi SHIMOKAWABE
IPC: B62D5/04
Abstract: [Problem]
An object of the present invention to provide an electric power steering apparatus that has improved reliability in a handle-returning function, by actively and smoothly returning a handle to a neutral point in a running state which is returned to a straight running state by calculating a target steering angle velocity after removing disturbance components included in a steering torque and an assist current, and correcting a current command value by using a handle-returning control current.
[Means for Solving the Problem]
The present invention is the electric power steering apparatus that drives a motor based on the current command value and assist-controls a steering system by a driving-control of the motor, comprising: a handle-returning control section to calculate the target steering angle velocity for handle-returning based on the steering torque, the current command value, a vehicle speed, a steering angle, calculate the handle-returning control current based on a deviation between the steering angle velocity and the target steering angle velocity, and interpose a filter, which attenuates frequency components which are equal to or higher than a steering input or which are equal to or higher than a vehicle motion characteristic, in a calculation path of the target steering angle velocity, wherein the motor is driven by the corrected current command value by using the handle-returning control current.-
公开(公告)号：US20210061344A1
公开(公告)日：2021-03-04
申请号：US16311757
申请日：2018-04-09
Applicant: NSK Ltd.
Inventor： Tetsuya KITAZUME
Abstract: [Problem]
An object of the present invention is to provide a high-performance electric power steering apparatus that can smoothly switch a steering control mode with a simple structure and does not make a driver uncomfortable when the driver steers a handle in an automatic steering control.
[Means for Solving the Problem]
The present invention is the electric power steering apparatus that has a function, which switches between a manual steering control which drives a motor by the first motor current command value calculated based on at least a steering torque and an automatic steering control which drives the motor by the second motor current command value calculated at a steering angle control section so that an actual steering angle follows-up a target steering angle, comprising: a target steering angle correcting section that performs a calculation process for the steering torque depending on a steering state and vehicle speed and outputs a target steering angle correction value, and a correction outputting section that corrects the target steering angle by using the target steering angle correction value and inputs a corrected correction target steering angle into the steering angle control section.
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