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公开(公告)号：US07240761B2
公开(公告)日：2007-07-10
申请号：US10865869
申请日：2004-06-14
摘要： In a current control system for a cylindrical permanent magnet synchronous motor as the drive source of an electric power steering apparatus, proportional gain Kdp and integral gain Kdi of a d-axis current PI control portion 126 are respectively set to K1·Ld and K1·Rd on the basis of d-axis inductance Ld and d-axis resistance Rd of the motor. Further, proportional gain Kqp and integral gain Kqi of a q-axis current PI control portion 128 are respectively set to K2·Lq and K2·Rq on the basis of q-axis inductance Lq and q-axis resistance Rq of the motor (K1 and K2 are optional coefficients). In this case, both of the d-axis resistance Rd and the q-axis resistance Rq have values resulting from adding the external resistance R′ including wiring resistance to the internal resistance R of the motor.
摘要翻译： 在作为电动助力转向装置的驱动源的圆筒形永久磁铁同步电动机的电流控制系统中，d轴电流PI控制部分126的比例增益Kdp和积分增益Kdi分别设定为K1.Ld和K1。 Rd基于电动机的d轴电感Ld和d轴电阻Rd。 此外，q轴电流PI控制部分128的比例增益Kqp和积分增益Kqi根据电动机的q轴电感Lq和q轴电阻Rq分别设定为K2.Lq和K2.Rq 而K2是可选的系数）。 在这种情况下，d轴电阻Rd和q轴电阻Rq都具有通过将包括布线电阻的外部电阻R'与电动机的内部电阻R相加而得到的值。
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公开(公告)号：US07604088B2
公开(公告)日：2009-10-20
申请号：US11579902
申请日：2005-05-09
申请人： Katsutoshi Nishizaki , Shirou Nakano , Ken Matsubara , Toshiaki Oya , Yasuhiro Kamatani , Masahiko Sakamaki , Yoshikazu Kuroumaru , Shigeki Nagase , Takayasu Yamazaki , Yasuhiro Saitou , Takeshi Ueda
发明人： Katsutoshi Nishizaki , Shirou Nakano , Ken Matsubara , Toshiaki Oya , Yasuhiro Kamatani , Masahiko Sakamaki , Yoshikazu Kuroumaru , Shigeki Nagase , Takayasu Yamazaki , Yasuhiro Saitou , Takeshi Ueda
IPC分类号： B62D5/04
CPC分类号： B62D6/10 , B62D5/0472
摘要： An electric power steering system is provided which is capable of providing a favorable steering feeling without using compensation logics such as of inertia compensation and friction compensation. The electric power steering system includes road-noise suppression control means (213) for controlling a steering assist motor (9) in a manner to damp torque transmission in a higher frequency region representing road noises than a frequency region representing road information. A friction value of a steering mechanism (A) is decreased enough to allow the intrinsic vibrations of the steering mechanism (A) to appear. Rotor inertia of the steering assist motor (9) is set to a value small enough to allow the frequencies of the intrinsic vibrations to be present in the frequency region where the torque transmission is damped by the road-noise suppression control means (213).
摘要翻译： 提供一种电动助力转向系统，其能够在不使用惯性补偿和摩擦补偿等补偿逻辑的情况下提供良好的转向感。 电动助力转向系统包括道路噪声抑制控制装置，用于以比表示道路信息的频率区域更低的代表道路噪声的较高频率区域的方式来控制转向辅助电动机（9）。 转向机构（A）的摩擦值减小到足以使转向机构（A）的固有振动出现。 将转向辅助马达（9）的转子惯量设定为足够小的值，以使固有振动的频率存在于由道路噪声抑制控制装置（213）阻尼转矩传递的频率区域中。
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公开(公告)号：US20070205041A1
公开(公告)日：2007-09-06
申请号：US11579902
申请日：2005-05-09
申请人： Katsutoshi Nishizaki , Shirou Nakano , Ken Matsubara , Toshiaki Oya , Yasuhiro Kamatani , Masahiko Sakamaki , Yoshikazu Kuromaru , Shigeki Nagase , Takayasu Yamazaki , Yasuhiro Saitou , Takeshi Ueda
发明人： Katsutoshi Nishizaki , Shirou Nakano , Ken Matsubara , Toshiaki Oya , Yasuhiro Kamatani , Masahiko Sakamaki , Yoshikazu Kuromaru , Shigeki Nagase , Takayasu Yamazaki , Yasuhiro Saitou , Takeshi Ueda
IPC分类号： G06F17/00
CPC分类号： B62D6/10 , B62D5/0472
摘要： An electric power steering system is provided which is capable of providing a favorable steering feeling without using compensation logics such as of inertia compensation and friction compensation. The electric power steering system includes road-noise suppression control means (213) for controlling a steering assist motor (9) in a manner to damp torque transmission in a higher frequency region representing road noises than a frequency region representing road information. A friction value of a steering mechanism (A) is decreased enough to allow the intrinsic vibrations of the steering mechanism (A) to appear. Rotor inertia of the steering assist motor (9) is set to a value small enough to allow the frequencies of the intrinsic vibrations to be present in the frequency region where the torque transmission is damped by the road-noise suppression control means (213).
摘要翻译： 提供一种电动助力转向系统，其能够在不使用惯性补偿和摩擦补偿等补偿逻辑的情况下提供良好的转向感。 电动助力转向系统包括道路噪声抑制控制装置，用于以比表示道路信息的频率区域更低的代表道路噪声的较高频率区域的方式来控制转向辅助电动机（9）。 转向机构（A）的摩擦值减小到足以使转向机构（A）的固有振动出现。 将转向辅助马达（9）的转子惯量设定为足够小的值，以使固有振动的频率存在于由道路噪声抑制控制装置（213）阻尼转矩传递的频率区域中。
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公开(公告)号：US20070118262A1
公开(公告)日：2007-05-24
申请号：US10574007
申请日：2004-09-30
IPC分类号： B62D6/00
CPC分类号： B62D5/0472 , B62D7/224
摘要： An electric power steering system causing an electric motor 6 to generate a steering assist force according to a steering torque, includes: a torque sensor 3 for detecting the steering torque; phase compensation means 15a, 15b acting when a target control value of the electric motor 6 is generated based on an output from the torque sensor 3; and means 15c for varying the characteristic of the phase compensation means depending upon whether a steering mode is steer with driving or steer without driving, whereby a loadless steering feeling due to phase lag is not encountered during driving even if vibrations during steer without driving are suppressed by a phase compensator.
摘要翻译： 一种使电动马达6根据转向转矩产生转向辅助力的电动助力转向系统，包括：用于检测转向转矩的转矩传感器3; 基于来自扭矩传感器3的输出而产生电动机6的目标控制值时的相位补偿装置15a，15b; 以及用于根据转向方式是否随驾驶或转向而不进行驾驶而改变相位补偿装置的特性的装置15c，由此即使在没有驾驶的转向时的振动下，驾驶期间也不会遇到由于相位滞后引起的无负载转向感觉 被相位补偿器抑制。
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公开(公告)号：US20070055425A1
公开(公告)日：2007-03-08
申请号：US10570988
申请日：2004-09-09
IPC分类号： B62D6/00
CPC分类号： B62D5/0463
摘要： An electric power steering system includes: an electric motor 6 for generating a steering assist force; a torque sensor 3 for detecting a steering torque; means 10 for generating a control target value for the electric motor 6 according to the detected steering torque; and means 28 for providing a non-interactive control of the electric motor. The system further includes a filter 12 which acts in the process of generating the control target value for the electric motor based on the steering toque. The filter 12 includes: a phase compensator 13 for decreasing a resonant peak gain of the system; and an LPF 12 for decreasing a second peak at a higher frequency than that of the resonant peak. The system is not degraded in the characteristics thereof even though the system provides a non-interactive control for ensuring followability of motor control.
摘要翻译： 电动助力转向系统包括：用于产生转向辅助力的电动机6; 用于检测转向转矩的转矩传感器3; 用于根据检测到的转向扭矩产生用于电动机6的控制目标值的装置10; 以及用于提供电动机的非交互式控制的装置28。 该系统还包括过滤器12，该过滤器12在基于转向转矩产生用于电动机的控制目标值的过程中起作用。 滤波器12包括：相位补偿器13，用于降低系统的谐振峰值增益; 以及用于以比谐振峰值更高的频率降低第二峰值的LPF 12。 即使系统提供用于确保电机控制的可追溯性的非交互式控制，该系统的特性也不会降低。
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6.发明授权Electric power steering device and control method utilized for controlling said electric power steering device 有权用于控制所述电动助力转向装置的电动助力转向装置和控制方法公开(公告)号：US06883637B2
公开(公告)日：2005-04-26
申请号：US10740808
申请日：2003-12-22
IPC分类号： B62D6/00 , B62D5/04 , B62D101/00 , B62D113/00 , B62D119/00 , H02P29/00
CPC分类号： B62D5/0463
摘要： An electric power steering device capable of attaining the expected control and control characteristics while using a phase compensator, includes a target current setting unit including a compensation unit having an inertia compensating unit for outputting an inertial compensating current value and a damper control unit for outputting a damper control current value, a compensation unit for outputting a compensation current value, a basic assist current setting unit for outputting a basic assist current value, and a phase compensating unit connected with the downstream stage of the basic assist current setting unit for outputting a target current value by performing a phase compensation of an added current value while receiving no influence from the dead zone or the characteristic break points of an assist table for setting the basic assist current value.
摘要翻译： 一种能够在使用相位补偿器的同时获得期望的控制和控制特性的电动助力转向装置包括：目标电流设定单元，包括具有用于输出惯性补偿电流值的惯性补偿单元的补偿单元和用于输出惯性补偿电流值的减震器控制单元 减振器控制电流值，用于输出补偿电流值的补偿单元，用于输出基本辅助电流值的基本辅助电流设定单元和与基本辅助电流设定单元的下游级连接的相位补偿单元，用于输出目标 通过在不接受来自用于设定基本辅助电流值的辅助台的死区或特征断点的影响的同时执行相加电流值的相位补偿来执行电流值。
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公开(公告)号：US06892588B2
公开(公告)日：2005-05-17
申请号：US10614619
申请日：2003-07-07
申请人： Shigeki Nagase , Masahiko Sakamaki , Katsutoshi Nishizaki , Shirou Nakano , Yoshikazu Kuroumaru , Ken Matsubara
发明人： Shigeki Nagase , Masahiko Sakamaki , Katsutoshi Nishizaki , Shirou Nakano , Yoshikazu Kuroumaru , Ken Matsubara
摘要： A first alternating signal of which phase changes according to changes in the rotation angle of a first shaft is output, and a second alternating signal of which phase changes according to changes in the rotation angle of a second shaft capable of rotating elastically with respect to the first shaft is output. A phase difference correspondence signal of which waveform changes according to changes in the phase difference between the first alternating signal and second alternating signal is output. A value corresponding to the torque transmitted by the first and second shafts is found from the phase difference correspondence signal.
摘要翻译： 输出根据第一轴的旋转角度的变化而相位变化的第一交变信号，并且第二交变信号根据能够相对于第一轴的旋转角度旋转的第二轴的旋转角度的变化而发生变化 第一轴输出。 输出根据第一交变信号和第二交变信号之间的相位差的变化而波形变化的相位差对应信号。 从相位差对应信号中求出与第一轴和第二轴传递的转矩对应的值。
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公开(公告)号：US20050040781A1
公开(公告)日：2005-02-24
申请号：US10919268
申请日：2004-08-17
CPC分类号： B62D5/046 , B62D5/0484
摘要： A resistor member having a resistance value substantially equal to a resistance of a relay in an ON state is inserted into a current supply path which is not inserted with the relay in current supply paths for supplying currents from a driving circuit to a brushless motor. Further, in the driving circuit, widths of bus bars forming wirings are set such that resistances of the wirings (contact resistance) from a branch point on power source side to Hi side FET (source terminals thereof) are equal to each other and widths of bus bars forming the wirings are set such that the resistances of the wirings from a ground side branch point NL to Lo side FET (source terminals thereof) become equal to each other.
摘要翻译： 具有与导通状态下的继电器的电阻基本相等的电阻值的电阻部件被插入到没有与继电器一起插入的电流供给路径，用于从驱动电路向无刷电动机供给电流的电流供给路径。 此外，在驱动电路中，形成布线的汇流条的宽度被设定为使得从电源侧的分支点到Hi侧FET（其源极端子）的布线电阻（接触电阻）彼此相等，并且宽度 形成布线的母线被设定为使得从地侧分支点NL到Lo侧FET（其源极端子）的布线的电阻变得彼此相等。
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公开(公告)号：US07009349B2
公开(公告)日：2006-03-07
申请号：US10919268
申请日：2004-08-17
CPC分类号： B62D5/046 , B62D5/0484
摘要： A resistor member having a resistance value substantially equal to a resistance of a relay in an ON state is inserted into a current supply path which is not inserted with the relay in current supply paths for supplying currents from a driving circuit to a brushless motor. Further, in the driving circuit, widths of bus bars forming wirings are set such that resistances of the wirings (contact resistance) from a branch point on power source side to Hi side FET (source terminals thereof) are equal to each other and widths of bus bars forming the wirings are set such that the resistances of the wirings from a ground side branch point NL to Lo side FET (source terminals thereof) become equal to each other.
摘要翻译： 具有与导通状态下的继电器的电阻基本相等的电阻值的电阻部件被插入到没有与继电器一起插入的电流供给路径，用于从驱动电路向无刷电动机供给电流的电流供给路径。 此外，在驱动电路中，形成布线的汇流条的宽度被设定为使得从电源侧的分支点到Hi侧FET（其源极端子）的布线电阻（接触电阻）彼此相等，并且宽度 形成布线的母线被设定为使得从地侧分支点NL到Lo侧FET（其源极端子）的布线的电阻变得彼此相等。
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公开(公告)号：US07474067B2
公开(公告)日：2009-01-06
申请号：US10574809
申请日：2004-10-05
申请人： Takeshi Ueda , Katsutoshi Nishizaki
发明人： Takeshi Ueda , Katsutoshi Nishizaki
IPC分类号： H02P7/00
CPC分类号： H02P21/05 , B62D5/0472
摘要： There are provided a high-order current distortion compensator which uses rotational position information on an electric motor and a target current value of the electric motor for deciding a compensation value for current high-order-component for canceling torque ripple caused by predetermined high-order components of a current flowing through the motor, and a correction portion which corrects the target current value by using the compensation value supplied from the high-order current distortion compensator. A feedback controller provides feedback control of the electric motor based on the target current value corrected by the correction portion. Thus is suppressed the torque ripple caused by the predetermined high-order components, whereby the degradation of steering feeling is reduced.
摘要翻译： 提供了一种高阶电流失真补偿器，其使用电动机上的旋转位置信息和电动机的目标电流值来确定用于消除由预定高阶引起的转矩波动的当前高阶分量的补偿值 流过马达的电流的分量，以及通过使用从高阶电流失真补偿器提供的补偿值来校正目标电流值的校正部分。 反馈控制器基于由校正部分校正的目标电流值提供电动机的反馈控制。 从而抑制由预定的高阶分量引起的转矩波动，从而降低转向感的劣化。
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