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1.发明授权Multi-phase motor control apparatus and electric power steering apparatus using the same 有权多相电动机控制装置及使用其的电动助力转向装置公开(公告)号：US09362860B2
公开(公告)日：2016-06-07
申请号：US14240656
申请日：2013-10-11
Applicant: NSK LTD.
Inventor： Takayoshi Sugawara , Yousuke Imamura , Hiroyasu Kumagai
CPC classification number: H02P6/10 , B62D5/046 , B62D5/0472 , H02P6/15 , H02P6/28 , H02P21/22 , H02P23/14
Abstract: A control device for a multiple motor comprises: a drive unit constituted by a pair of upper and lower arm switching elements for driving the multiphase motor; a single current detection circuit for detecting a current value; a PWM signal generation unit for generating a plurality of first phase PWM signals within two control cycles on the basis of the current value and a carrier signal; a phase shift control unit for shifting a first PWM signal with a prescribed phase generated by the PWM signal generation unit by gradually changing the amount of phase shift within the two control cycles, and outputting the shifted first PWM signal to the drive unit; and a current detection observer for estimating a current value for the multiphase motor on the basis of the current value. The PWM signal generation unit generates a plurality of second phase PWM signals within two control cycles on the basis of the estimated current value and carrier signal. When the phase shift amount in a prescribed phase in the control cycle immediately before the present control cycle is zero and the phase shift amount in a prescribed phase in the present control cycle is not zero, the phase shift control unit gradually increases the shift amount from zero in the present control cycle and the next control cycle to thereby use the second phase PWM signals in the next control cycle.
Abstract translation: 一种用于多电动机的控制装置包括：驱动单元，由用于驱动多相电机的一对上下臂开关元件构成; 用于检测电流值的单个电流检测电路; PWM信号产生单元，用于根据当前值和载波信号在两个控制周期内产生多个第一相位PWM信号; 相移控制单元，用于通过在两个控制周期内逐渐改变相移量来移动由PWM信号产生单元产生的规定相位的第一PWM信号，并将移位的第一PWM信号输出到驱动单元; 以及电流检测观察器，用于基于当前值估计多相电动机的电流值。 PWM信号生成单元基于估计的电流值和载波信号，在两个控制周期内生成多个第二相位PWM信号。 当在当前控制周期之前的控制周期中的规定相位中的相移量为零并且在本控制周期中的规定相位中的相移量不为零时，相移控制单元逐渐增加从 在当前控制周期和下一个控制周期中为零，从而在下一个控制周期中使用第二相PWM信号。
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公开(公告)号：US10965233B2
公开(公告)日：2021-03-30
申请号：US16493785
申请日：2019-03-14
Applicant: NSK Ltd.
Inventor： Yousuke Imamura
Abstract: A motor control device includes a backup electrical angle detection circuit in which an inter-sensor error correction unit calculates an advance gain equal to or more than 1 with respect to input of a steering torque equal to or more than a predetermined torque value, and multiplies an output shaft angular velocity by the advance gain to calculate a post-advance steering angular velocity for correcting the estimated angle error of the direction delayed with respect to the steering direction. Then, an estimated angle calculation unit of the backup electrical angle detection circuit integrates the post-advance steering angular velocity, and, on the basis of a value of the integration, calculates a second motor electrical angle that is an estimated value of a motor electrical angle.
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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：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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Patent Agency Ranking
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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公开(公告)号：US11034382B2
公开(公告)日：2021-06-15
申请号：US16638622
申请日：2018-10-22
Applicant: NSK LTD.
Inventor： Takahiro Tsubaki , Yousuke Imamura
Abstract: A steering apparatus for vehicles that easily obtains equivalent steering torques to vehicle driving information such as a steering angle without being affected by a road surface state and aging-changes of mechanism characteristics of a steering system. The steering apparatus includes a torsional angle control section that calculates a motor current command value based on a target torsional angle corresponding to vehicle driving information and the torsional angle, and includes a torsional angle feedback compensating section that calculates a target torsional angular velocity by a deviation between the target torsional angle and the torsional angle. A torsional angular velocity calculating section calculates a torsional angular velocity by the torsional angle, and a velocity control section calculates a pre-limitation motor current command value by performing proportional compensation based on the target torsional angular velocity and the torsional angular velocity. An output limiting section limits upper and lower limit values of the pre-limitation motor current command value, and outputs the motor current command value which is used to control the motor.
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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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