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公开(公告)号：US20190375449A1
公开(公告)日：2019-12-12
申请号：US16479254
申请日：2018-02-13
Applicant: NSK LTD.
Inventor： Hiroaki TAKASE , Ryo MINAKI , Hideki SAWADA , Takayoshi SUGAWARA
Abstract: An electric power steering apparatus of a vector control system that drives and controls a motor by an inverter and applies an assist torque to a steering system of a vehicle, including the first compensation function to perform a dead time (DT) compensation based on respective phase motor terminal voltages and respective phase duty command values, the second compensation function to perform a DT compensation based on steering assist command values, the third compensation function to perform the DT compensation based on dq-axis current command values, and a temperature detecting section to detect temperature of ECU, wherein the correction of the DT compensation is performed based on the temperature, wherein switches of the compensation functions are performed by using a conditional branch due to software and a gradual-changing switch, wherein the dq-axis DT compensation values after the conditional branch and the gradual-changing switch are performed are calculated, and wherein the dq-axis voltage command values are compensated by the dq-axis DT compensation values.
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公开(公告)号：US20190241208A1
公开(公告)日：2019-08-08
申请号：US16312443
申请日：2017-07-20
Applicant: NSK LTD.
Inventor： Hiroaki TAKASE , Ryo MINAKI , Hideki SAWADA , Takayoshi SUGAWARA
Abstract: An electric power steering apparatus of a vector control system that compensates a dead time of an inverter without tuning operation, improves a distortion of a current waveform and a responsibility of a current control, and suppresses a steering sound, a vibration and a ripple. The apparatus converts dq-axes current command values calculated based on at least a steering torque into 3-phase voltage command values, converts the 3-phase voltage command values into duty command values, driving-controls a 3-phase brushless motor by an inverter of a PWM control, and applies an assist torque to a steering system of a vehicle, wherein 3-phase detection voltages are estimated based on 3-phase motor terminal voltages, wherein loss voltages due to a dead time of the inverter are estimated from differences between 3-phase command voltages calculated from the duty command values and the 3-phase detection voltages, and wherein a dead time compensation of the inverter is performed by feeding-back dead time compensation values obtained by compensating the loss voltages to the 3-phase voltage command values.
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公开(公告)号：US20200180682A1
公开(公告)日：2020-06-11
申请号：US16613831
申请日：2018-06-12
Applicant: NSK Ltd.
Inventor： Hiroaki TAKASE , Ryo MINAKI , Hideki SAWADA , Takayoshi SUGAWARA
Abstract: A vector-control type motor control unit that calculates dq-axes control assist command values, calculates dq-axes current command values from the dq-axes control assist command values, converts the dq-axes current command values into 3-phase duty command values, and drives and controls a 3-phase brushless motor by an inverter of a PWM control, wherein a dead time compensation of the inverter is performed by calculating 3-phase dead time reference compensation values based on a motor rotational angle which is phase-corrected by using the dq-axes current command values, calculating dead time compensation values by processing the 3-phase dead time reference compensation values by a gain and a sign, and adding the dead time compensation values to dq-axes voltage command values or 3-phase voltage command values.
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公开(公告)号：US20190329817A1
公开(公告)日：2019-10-31
申请号：US16311469
申请日：2017-07-20
Applicant: NSK LTD.
Inventor： Hiroaki TAKASE , Ryo MINAKI , Hideki SAWADA , Takayoshi SUGAWARA
IPC: B62D5/04 , H02M1/38 , H02P21/06 , H02P21/13 , H02P27/08 , H02M7/5395 , H02M7/5387 , H02P21/05 , H02P21/26
Abstract: An electric power steering apparatus that ideally compensates dead time of the inverter without the tuning operation, improves distortion of the current waveform and the responsibility of the current control, and suppresses sound, vibration, the ripple that the low speed steering maneuver is effective. The apparatus converts dq-axes current command values calculated based on at least a steering torque into 3-phase duty command values, controls a 3-phase brushless motor by an inverter of a PWM-control, and applies an assist torque to a steering system of a vehicle, wherein 3-phase detection voltages are estimated based on 3-phase motor terminal voltages, loss voltages due to a dead time of the inverter are estimated from differences between 3-phase correction command voltages calculated from the 3-phase duty command values and the 3-phase detection voltages, and a dead time compensation of the inverter is performed by feeding back dead time compensation values obtained by compensating the loss voltages to the dq-axes current command values.
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公开(公告)号：US20190322309A1
公开(公告)日：2019-10-24
申请号：US16312695
申请日：2017-07-14
Applicant: NSK LTD.
Inventor： Hiroaki TAKASE , Ryo MINAKI , Hideki SAWADA , Takayoshi SUGAWARA
Abstract: An electric power steering apparatus of a vector control system that compensates a dead time of an inverter without tuning operation, improves a distortion of a current waveform and a responsibility of a current control, and suppresses a sound, a vibration and a ripple. The apparatus of the vector control system that calculates dq-axes steering-assist command values based on at least a steering torque, calculates dq-axes current command values from the dq-axes steering-assist command values, converts the dq-axes current command values into 3-phase duty command values, driving-controls a 3-phase brushless motor by an inverter of a PWM control, and applies an assist torque to a steering system of a vehicle, wherein dead time reference compensation values are calculated based on a motor rotational angle, wherein dead time compensation of the inverter is performed by adding dead time compensation values in which the dead time reference compensation values are processed by using a gain, a sign and the like, to dq-axes voltage command values or to 3-phase voltage command values.
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Patent Agency Ranking
公开(公告)号：US20200255055A1
公开(公告)日：2020-08-13
申请号：US16499709
申请日：2018-10-26
Applicant: NSK Ltd.
Inventor： Hiroaki TAKASE , Ryo MINAKI , Takayoshi SUGAWARA , Kouichi NAMPEI
Abstract: A motor control device for performing PWM control of an inverter for driving a three-phase brushless motor on the basis of a current command value, wherein the motor control device is provided with: a voltage command value computation unit for calculating a voltage command value using the current command value, and a motor rotation speed and a motor electric angle acquired for each control cycle from the three-phase brushless motor; an electric angle interpolation unit for estimating an interpolated electric angle from the motor electric angle at division intervals obtained by dividing the control cycle; a conversion unit for calculating a three-phase Duty command value from the voltage command value and the motor electric angle, and calculating a three-phase interpolated Duty command value from the voltage command value and the interpolated electric angle; and an output setting unit for switching between, and outputting, the three-phase Duty command value and the three-phase interpolated Duty command value so as to match the division intervals.
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公开(公告)号：US20190168801A1
公开(公告)日：2019-06-06
申请号：US16320664
申请日：2017-08-16
Applicant: NSK Ltd.
Inventor： Hiroaki TAKASE , Ryo MINAKI , Hideki SAWADA , Takayoshi SUGAWARA
CPC classification number: B62D5/0463 , B62D5/046 , B62D6/00 , H02M1/38 , H02M7/5395 , H02M2001/385 , H02P21/06 , H02P27/08
Abstract: An electric power steering apparatus of vector control system that calculates steering assist command values of dq axes based on at least a steering torque, calculates dq-axes current command values from the steering assist command values, converts the dq-axes current command values into 3-phase duty command values, driving-controls a 3-phase brushless motor by an inverter of a PWM control, and applies an assist torque to a steering system of a vehicle, wherein the electric power steering apparatus has plural dead time compensating functions of which efficiencies to respectively perform a dead time compensation of the inverter are different each other, and performs the dead time compensation by gradually shifting from one of the plural dead time compensating functions to an another dead time compensating function while mixing the plural dead time compensating functions.
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公开(公告)号：US20200382032A1
公开(公告)日：2020-12-03
申请号：US16605874
申请日：2019-01-29
Applicant: NSK LTD.
Inventor： Hiroaki TAKASE , Ryo MINAKI , Takayoshi SUGAWARA
Abstract: A motor control unit that vector-controls a 3-phase brushless motor based on dq-axes current command values, converts 3-phase current detection values of the 3-phase brushless motor into dq-axes feedback currents, performs feedbacks of the dq-axes feedback currents to the dq-axes current command values, converts dq-axes deviation voltages of the feedbacks into 2-phase duty command values, converts the 2-phase duty command values into 3-phase duty command values, and vector-controls the 3-phase brushless motor via an inverter, comprising a dq-axes dead time compensating section to calculate dq-axes dead time compensation values of the inverter and perform a dead time compensation, and a dq-axes disturbance estimating observer to input the dq-axes current command values, a motor rotational number, the dq-axes feedback currents and the deviation voltage, and calculate and output dq-axes disturbance compensation values, wherein the motor control unit estimates a disturbance, which cannot be compensated by said dead time compensation of said inverter, by adding with the dq-axes disturbance compensation values and said dq-axes deviation voltages.
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公开(公告)号：US20190252972A1
公开(公告)日：2019-08-15
申请号：US16312682
申请日：2017-07-18
Applicant: NSK LTD.
Inventor： Ryo MINAKI , Hiroaki TAKASE , Hideki SAWADA , Takayoshi SUGAWARA
IPC: H02M1/38 , B62D5/04 , B62D6/00 , H02P21/22 , H02P21/13 , H02P27/08 , H02M7/5387 , H02P21/05 , H02P21/14
Abstract: [Problem]An object of the present invention is to provide an electric power steering apparatus of a vector control system that compensates a dead time of an inverter, a motor back-EMF and an interference voltage due to a mutual inductance between motor windings, improves a distortion of a current waveform and a responsibility of a current control, and suppresses a noise, vibration and a ripple.[Means for Solving the Problem]The present invention is the electric power steering apparatus that driving-controls a 3-phase brushless motor which applies an assist torque to a steering mechanism of a vehicle by using a current command value calculated based on at least a steering torque, and vector-controls the 3-phase brushless motor, via an inverter, by converting dq-axes command values converted from the current command value into 3-phase values, comprising a dq-axes disturbance observer to compensate respective axes disturbance voltages, which include a dead time of the inverter, for the dq-axes command values, or comprising: a dq-axes disturbance observer to compensate respective axes disturbance voltages, which include a dead time of the inverter, for the dq-axes command values and a spatial vector modulating section.
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公开(公告)号：US20190337553A1
公开(公告)日：2019-11-07
申请号：US16311856
申请日：2017-07-14
Applicant: NSK LTD.
Inventor： Ryo MINAKI , Hiroaki TAKASE , Hideki SAWADA , Takayoshi SUGAWARA
Abstract: A vector control type electric power steering apparatus that compensates a dead time of an inverter, a motor back-EMF and an interference voltage by means of a mutual inductance between motor windings, improves a distortion of a current waveform and a responsibility of a current control, and suppresses a noisy sound, vibration and a ripple. The apparatus driving-controls a three-phase brushless motor which applies an assist torque to a steering mechanism of a vehicle by using a current command value calculated based on at least a steering torque, and vector-controls the three-phase brushless motor by using dq-axis command values that are converted from the current command value via an inverter, including: a 3-phase disturbance observer to compensate respective phase disturbance voltages, which include a dead time of the inverter, for 3-phase voltage command values.
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