公开(公告)号：US06965820B2

公开(公告)日：2005-11-15

申请号：US09954886

申请日：2001-09-18

申请人： Sanket S. Amberkar ,  Ashok Chandy ,  Kathryn L. Pattok ,  Mark P. Colosky ,  William Chin-Woei Lin ,  Weiwen Deng ,  Yuen-Kwok Chin

发明人： Sanket S. Amberkar ,  Ashok Chandy ,  Kathryn L. Pattok ,  Mark P. Colosky ,  William Chin-Woei Lin ,  Weiwen Deng ,  Yuen-Kwok Chin

IPC分类号： B62D5/04 ,  B62D6/04 ,  A01B69/00 ,  B62D11/00 ,  B63G8/20 ,  G05D1/00

CPC分类号： B62D5/0472 ,  B62D6/04 ,  Y10T477/10

摘要： A controller (32) for a vehicular system (10) that includes a hand-wheel (16) and an electric motor (34) includes a torque-assist function (56) responsive to a signal representing the torque applied to the hand-wheel (16) for providing a torque-assist command to the motor (34), and a steering-pull compensator (52) responsive to a signal representing a valid ignition cycle for modifying the torque-assist command to the motor (34) by an offset corresponding to a detected steering-pull condition; where the method of control includes receiving the signal indicative of the torque applied to the hand-wheel (16), providing a torque-assist command to the motor (34) in response to the received torque signal, detecting an enabling signal related to the signal representing a valid ignition cycle, quantifying a steering-pull condition in response to the received and detected signals, and modifying the torque-assist command to the motor (34) by an offset corresponding to the quantified steering-pull condition.

摘要翻译： 一种用于包括手轮（16）和电动机（34）的车辆系统（10）的控制器（32）包括扭矩辅助功能（56），其响应于表示施加到手轮 （16），用于向所述电动机（34）提供转矩辅助指令;以及转向拉动补偿器（52），其响应于表示有效点火循环的信号，用于通过一个所述电动机（34）修正所述电动机（34）的转矩辅助指令 对应于检测到的转向拉条件的偏移; 其中所述控制方法包括接收指示施加到所述手轮（16）的转矩的信号，响应于所接收的转矩信号向所述电动机（34）提供转矩辅助指令，检测与所述手轮 信号，其表示有效的点火周期，响应于所接收和检测到的信号量化转向拉动状况，并且将对所述电动机（34）的转矩辅助指令修正与量化的转向拉动条件相对应的偏移。

公开(公告)号：US20080147276A1

公开(公告)日：2008-06-19

申请号：US11611406

申请日：2006-12-15

申请人： Kathryn L. Pattok ,  Terrence D. Smith ,  Ashok Chandy ,  Julie A. Kleinau ,  Jeff Zuraski ,  Mark P. Colosky ,  Troy P. Strieter

发明人： Kathryn L. Pattok ,  Terrence D. Smith ,  Ashok Chandy ,  Julie A. Kleinau ,  Jeff Zuraski ,  Mark P. Colosky ,  Troy P. Strieter

IPC分类号： B62D6/10

CPC分类号： B62D5/0472 ,  B62D6/04

摘要： A method, system, and apparatus for providing enhanced steering pull compensation are provided. The method compensates for steering pull in a vehicle steering system that includes a handwheel. The method includes monitoring the vehicle to determine whether the vehicle is heading forward along a substantially linear straight-ahead path and, if so, measuring handwheel torque, as a sensed torque signal, to determine an amount of steering pull existing at the handwheel. The method also includes generating a torque assist signal in response to the sensed torque signal and calculating an offset signal for reducing the amount of steering pull to substantially zero. The method further includes producing a modified torque assist signal by adding the offset signal to the torque assist signal, and applying the modified torque assist signal to the vehicle steering system.

摘要翻译： 提供了一种用于提供增强的转向牵引补偿的方法，系统和装置。 该方法补偿包括手轮的车辆转向系统中的转向拉动。 该方法包括监视车辆以确定车辆是否沿着基本线性的直线前进路径前进，并且如果是，则将手轮扭矩作为感测到的扭矩信号来确定在手轮处存在的转向拉力的量。 该方法还包括响应于感测到的扭矩信号产生转矩辅助信号并计算偏移信号，以将转向牵引量减小到基本为零。 该方法还包括通过将偏移信号加到转矩辅助信号上来产生修改的转矩辅助信号，以及将改进的转矩辅助信号施加到车辆转向系统。

公开(公告)号：US07725227B2

公开(公告)日：2010-05-25

申请号：US11611406

申请日：2006-12-15

申请人： Kathryn L. Pattok ,  Terrence D. Smith ,  Ashok Chandy ,  Julie A. Kleinau ,  Jeff Zuraski ,  Mark P. Colosky ,  Troy P. Strieter

发明人： Kathryn L. Pattok ,  Terrence D. Smith ,  Ashok Chandy ,  Julie A. Kleinau ,  Jeff Zuraski ,  Mark P. Colosky ,  Troy P. Strieter

IPC分类号： A01B69/00 ,  B62D6/00 ,  B62D11/00 ,  B62D12/00 ,  B63G8/20 ,  G05D1/00 ,  B62D5/04

CPC分类号： B62D5/0472 ,  B62D6/04

摘要： A method, system, and apparatus for providing enhanced steering pull compensation are provided. The method compensates for steering pull in a vehicle steering system that includes a handwheel. The method includes monitoring the vehicle to determine whether the vehicle is heading forward along a substantially linear straight-ahead path and, if so, measuring handwheel torque, as a sensed torque signal, to determine an amount of steering pull existing at the handwheel. The method also includes generating a torque assist signal in response to the sensed torque signal and calculating an offset signal for reducing the amount of steering pull to substantially zero. The method further includes producing a modified torque assist signal by adding the offset signal to the torque assist signal, and applying the modified torque assist signal to the vehicle steering system.

摘要翻译： 提供了一种用于提供增强的转向牵引补偿的方法，系统和装置。 该方法补偿包括手轮的车辆转向系统中的转向拉动。 该方法包括监视车辆以确定车辆是否沿着基本线性的直线前进路径前进，并且如果是，则将手轮扭矩作为感测到的扭矩信号来确定在手轮处存在的转向拉力的量。 该方法还包括响应于感测到的扭矩信号产生转矩辅助信号并计算偏移信号，以将转向牵引量减小到基本为零。 该方法还包括通过将偏移信号加到转矩辅助信号上来产生修改的转矩辅助信号，以及将改进的转矩辅助信号施加到车辆转向系统。

公开(公告)号：US06738700B2

公开(公告)日：2004-05-18

申请号：US10376843

申请日：2003-02-28

申请人： Ashok Chandy

发明人： Ashok Chandy

IPC分类号： A01B6900

CPC分类号： B62D5/0457 ,  B62D5/0463

摘要： A method for conforming an input signal to fault requirements comprising: receiving an input signal; dividing the input signal into a low frequency component and a high frequency component; limiting the low frequency component to a maximum value, to create a limited signal; and combining the limited signal and the high frequency component, to create a limited command signal. A system for conforming an input signal to fault requirements comprising: an input signal in operable communication with a low pass filter. The input signal is also in operable communication with one of: a high pass filter and a first summing device in operable communication with said low pass filter. The system also includes a maximum value limiting device in operable communication with the low pass filter. A second summing device is in operable communication with the maximum value limiting device and one of, the high pass filter and the first summing device.

摘要翻译： 一种用于使输入信号符合故障要求的方法，包括：接收输入信号; 将输入信号分为低频分量和高频分量; 将低频分量限制到最大值，以产生有限的信号; 并组合有限信号和高频分量，以产生有限的命令信号。 一种用于使输入信号符合故障要求的系统，包括：与低通滤波器可操作地通信的输入信号。 输入信号也可以与下列之一可操作地通信：高通滤波器和与所述低通滤波器可操作地通信的第一求和装置。 该系统还包括与低通滤波器可操作地通信的最大值限制装置。 第二求和装置与最大值限制装置可操作地通信，高通滤波器和第一求和装置之一。

公开(公告)号：US09051005B2

公开(公告)日：2015-06-09

申请号：US13606809

申请日：2012-09-07

申请人： Farhad Bolourchi ,  Ashok Chandy

发明人： Farhad Bolourchi ,  Ashok Chandy

IPC分类号： B62D5/04

CPC分类号： B62D5/0466 ,  B62D5/0463

摘要： A control system for controlling an electric power steering system is provided. The control system includes a first module configured to compute an on-center torque adjustment compensation based on a sensed handwheel torque. The on-center torque adjustment compensation is configured to compensate for inertia of a steering actuator motor using a frequency-based methodology. The control system also includes a second module configured to generate a command signal to control the steering actuator motor of the electric power steering system based on the on-center torque adjustment compensation.

摘要翻译： 提供一种用于控制电动助力转向系统的控制系统。 控制系统包括第一模块，其被配置为基于感测到的手轮扭矩来计算中心上的扭矩调节补偿。 中心转矩调节补偿被配置为使用基于频率的方法来补偿转向致动器电动机的惯性。 该控制系统还包括：第二模块，被配置为基于中心上的转矩调节补偿生成用于控制电动助力转向系统的转向执行器电动机的指令信号。

公开(公告)号：US20140277945A1

公开(公告)日：2014-09-18

申请号：US13795303

申请日：2013-03-12

申请人： Ashok Chandy

发明人： Ashok Chandy

IPC分类号： B62D6/00

CPC分类号： B62D6/00 ,  B62D5/0463 ,  B62D15/025

摘要： A control system for providing an assist torque is provided. The control system includes a control algorithm module and a comfort limit module. The control algorithm module calculates a corrective steering torque based on a target vehicle state and an estimated vehicle state. The comfort limit module receives a handwheel torque. The comfort limit module calculates a limited corrective steering torque based on the corrective steering torque and the handwheel torque. The limited steering torque represents an allowable amount of the assist torque provided by the control system.

摘要翻译： 提供了一种用于提供辅助转矩的控制系统。 控制系统包括控制算法模块和舒适限位模块。 控制算法模块基于目标车辆状态和估计车辆状态来计算校正转向扭矩。 舒适限位模块接收手轮扭矩。 舒适极限模块基于矫正转向扭矩和手轮扭矩计算有限的矫正转向扭矩。 有限的转向扭矩表示由控制系统提供的辅助转矩的允许量。

公开(公告)号：US07036445B2

公开(公告)日：2006-05-02

申请号：US10643512

申请日：2003-08-19

申请人： Timothy W. Kaufmann ,  James M. Petrowski ,  Scott A. Millsap ,  Stephen V. Gillman ,  James M. Card ,  Ashok Chandy

发明人： Timothy W. Kaufmann ,  James M. Petrowski ,  Scott A. Millsap ,  Stephen V. Gillman ,  James M. Card ,  Ashok Chandy

IPC分类号： B63H25/00

CPC分类号： B63H25/42 ,  B63B39/061 ,  B63H25/02 ,  B63H25/04

摘要： A watercraft steer-by-wire control system for watercraft comprising: a direction control system including a rudder position sensor; a helm control system including at least one of; a helm position sensor to produce and transmit a helm position signal and an optional torque sensor to produce and transmit a helm torque sensor signal. The system optionally including a watercraft speed sensor and a master control unit in operable communication with the watercraft speed sensor, the helm control system, and the direction control system. The master control unit includes a position control process for generating the directional command signal in response to the watercraft speed signal, the helm torque sensor signal and the helm position signal. The master control unit includes a torque control process for generating the helm command signal, based on the helm torque sensor signal, the helm position signal and the watercraft speed signal.

摘要翻译： 一种用于船舶的船舶转向控制系统，包括：方向控制系统，包括舵位置传感器; 一个舵控制系统，包括以下中的至少一个： 用于产生和传送舵位置信号的舵位置传感器和可选的扭矩传感器以产生和传送舵扭矩传感器信号。 该系统可选地包括船体速度传感器和与船只速度传感器，舵控系统和方向控制系统可操作地通信的主控制单元。 主控制单元包括响应于船体速度信号，舵扭矩传感器信号和舵位置信号产生方向指令信号的位置控制处理。 主控制单元包括基于舵扭矩传感器信号，舵位置信号和船体速度信号产生舵指令信号的转矩控制处理。

公开(公告)号：US6166502A

公开(公告)日：2000-12-26

申请号：US329874

申请日：1999-06-11

申请人： Kathryn Lynn Pattok ,  Steven James Collier-Hallman ,  Ashok Chandy ,  Julie Ann Kleinau

发明人： Kathryn Lynn Pattok ,  Steven James Collier-Hallman ,  Ashok Chandy ,  Julie Ann Kleinau

IPC分类号： H02P29/02 ,  H02K17/32

CPC分类号： H02P29/02

摘要： An electric motor actuator used in an environment of varying loads for varying time periods is efficiently designed to a predetermined specification in terms of both motor load and time and operated up to but not exceeding this specification over the full expected operating range. A motor load signal is low pass filtered with a plurality of time constants spanning a range of expected motor operation to generate a plurality of filtered motor load signals each associated with one of the time constants. Each of these filtered motor load signals is compared with a predetermined reference value corresponding to the associated time constant. If one or more of the filtered motor load signals exceeds the predetermined reference value with which it is compared, the one that so exceeds by the greatest margin is selected. A command current limit factor is derived from the selected filtered motor load signal and used to limit the commanded motor current. The motor load signal preferably indicates motor operating current and may be derived from a motor current sensor or from the limited command current signal, motor speed and operating voltage to compensate for a decrease of current with motor speed due to inductance/slope compensation and voltage limit effects.

摘要翻译： 在电动机负载和时间方面，在负载变化的环境中使用的电动机致动器在电动机负载和时间方面被有效地设计成预定的规格，并且在整个预期工作范围内被操作达到但不超过该规范。 电动机负载信号通过多个时间常数进行低通滤波，该时间常数跨越预期的电动机运行的范围，以生成每个与时间常数之一相关联的多个过滤的电动机负载信号。 将这些滤波的马达负载信号中的每一个与对应于相关联的时间常数的预定参考值进行比较。 如果一个或多个滤波的电动机负载信号超过与其进行比较的预定参考值，则选择超过最大余量的参考值。 指令电流限制因子来自所选滤波的电机负载信号，用于限制指令的电机电流。 电动机负载信号优选地表示电动机工作电流，并且可以从电动机电流传感器或从限制的指令电流信号，电动机速度和工作电压得出，以补偿由于电感/斜率补偿和电压限制引起的电动机速度的降低 效果。

公开(公告)号：US6122579A

公开(公告)日：2000-09-19

申请号：US322389

申请日：1999-05-28

申请人： Steven James Collier-Hallman ,  Ashok Chandy

发明人： Steven James Collier-Hallman ,  Ashok Chandy

IPC分类号： B62D5/04

CPC分类号： B62D5/0472

摘要： An electric power steering control for a motor vehicle reduces motor torque ripple and road generated disturbances communicated to the vehicle handwheel while promoting system stability. In deriving an output command torque signal to the EPS motor, the control (1) derives an electric motor speed signal, (2) differentiates the electric motor speed signal, (3) stores a schedule of gain as an increasing function of electric motor torque, (4) modifies the differentiated estimated electric motor speed signal in response to the gain to provide a damping correction value and (5) derives the output command signal responsive to the damping correction. In a preferred embodiment, the control (1) stores power assist torque data as a function of handwheel torque and vehicle velocity, (2) provides a vehicle velocity signal, (3) provides a handwheel torque signal, (4) modifies the handwheel torque signal in response to the damping correction value, (5) derives a power assist torque value from the stored power assist torque data in response to the vehicle velocity signal and the modified handwheel torque signal and (6) derives the output command signal from the power assist torque value. The control may use an electric motor voltage signal as an estimate of electric motor speed and, for high torque loads, may use the pulse on-time parameter in a pulse width modulated, current switching control to represent the voltage of the controlled electric motor, and therefore the estimate of electric motor speed, so that no additional sensor is needed. The control may use separate stored relationships between the pulse width on-time and electric motor voltage for different commutation modes of the pulse width modulated, current switching control.

摘要翻译： 用于机动车辆的电动助力转向控制减小了传递到车辆手轮的马达转矩波动和道路产生的干扰，同时提高了系统的稳定性。 在给出EPS电动机的输出指令转矩信号的导出中，控制器（1）导出电动机转速信号，（2）区分电动机转速信号，（3）存储增益表作为电动机转矩的增加函数 ，（4）响应于增益来修改微分估计电动机速度信号以提供阻尼校正值，以及（5）响应于阻尼校正导出输出命令信号。 在优选实施例中，控制器（1）存储作为手轮扭矩和车辆速度的函数的动力辅助扭矩数据，（2）提供车速信号，（3）提供手轮扭矩信号，（4）修改手轮扭矩 响应于阻尼校正值的信号，（5）响应于车速信号和修改的手轮转矩信号从所存储的助力转矩数据中导出功率辅助转矩值，并且（6）从功率中导出输出命令信号 辅助扭矩值。 控制可以使用电动机电压信号作为电动机速度的估计，并且对于高扭矩负载，可以在脉冲宽度调制的电流切换控制中使用脉冲接通时间参数来表示受控电动机的电压， 因此估计电动机转速，所以不需要额外的传感器。 对于不同的脉冲宽度调制，电流切换控制的换向模式，控制可以使用脉冲宽度导通时间和电动机电压之间的分开的存储关系。

公开(公告)号：US5668721A

公开(公告)日：1997-09-16

申请号：US537604

申请日：1995-10-02

申请人： Ashok Chandy

发明人： Ashok Chandy

IPC分类号： B62D5/04

CPC分类号： B62D5/0466

摘要： In an electric power steering system in which a torque assist command is generated for controlling a motor that provides electric power assist torque at a desired torque, a method of motor control according to the steps of: determining a voltage mode motor command responsive to the torque assist command, wherein the voltage mode motor command commands a first motor torque that is (a) greater than the desired torque when the desired torque is low and (b) substantially equal to the desired torque when the desired torque is high; determining a current mode motor command responsive to the torque assist command, wherein the current mode motor command commands a second motor torque that is (a) substantially equal to the desired torque when the desired torque is low and (b) greater than the desired torque when the desired torque is high; and controlling the motor responsive to the voltage and current mode motor commands, wherein the motor assist torque is equal to a lesser of the first and second motor torques.

摘要翻译： 在一种电动助力转向系统中，产生用于控制以期望转矩提供电力辅助转矩的电动机的转矩辅助指令，根据以下步骤的电动机控制方法：响应于转矩确定电压模式电机指令 辅助命令，其中所述电压模式电动机命令命令第一电动机转矩，所述第一电动机转矩在所需转矩低时（a）大于期望转矩，以及（b）当期望转矩高时基本上等于期望转矩; 响应于转矩辅助命令确定电流模式电动机命令，其中当前模式电动机命令命令第二电动机转矩，其在（a）当期望转矩低时基本上等于期望转矩，并且（b）大于期望转矩 当所需扭矩高时; 以及响应于所述电压和电流模式电动机命令来控制所述电动机，其中所述电动机辅助转矩等于所述第一和第二电动机转矩中较小的一个。