公开(公告)号：US07240761B2

公开(公告)日：2007-07-10

申请号：US10865869

申请日：2004-06-14

申请人： Shigeki Nagase ,  Masahiko Sakamaki ,  Katsutoshi Nishizaki ,  Toshiaki Oya ,  Takeshi Ueda

发明人： Shigeki Nagase ,  Masahiko Sakamaki ,  Katsutoshi Nishizaki ,  Toshiaki Oya ,  Takeshi Ueda

IPC分类号： B62D5/04 ,  H02P27/00 ,  G05B11/36

CPC分类号： B62D5/046 ,  H02P21/06

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。

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。

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。

公开(公告)号：US07040450B2

公开(公告)日：2006-05-09

申请号：US10969006

申请日：2004-10-21

申请人： Shigeki Nagase ,  Masahiko Sakamaki ,  Takeshi Ueda

发明人： Shigeki Nagase ,  Masahiko Sakamaki ,  Takeshi Ueda

IPC分类号： B62D5/04

CPC分类号： H02P21/04 ,  B62D5/046 ,  B62D5/0463

摘要： A power-assisted steering system includes a current detector for detecting sequentially current flowing to a ground-side switching element in a lower arm by a detection resistor inserted into the lower arm not only in a time period when the switching element is ON but also in time period when the switching element is OFF, an offset updating unit for sequentially updating an offset correction value with detected values in the time period when the switching element is OFF, and a detected current correcting unit for calculating a motor current value (a corrected current detected value) by correcting detected values in the time period when the switching element is ON with the offset correction value thereby updating.

摘要翻译： 一种电力辅助转向系统，包括电流检测器，用于通过未插入到下臂中的检测电阻器来顺序检测下臂中的接地侧开关元件的电流，不仅在开关元件接通的时间段内， 开关元件断开的时间段，用于在切换元件为OFF时的时间段内用检测值顺序更新偏移校正值的偏移更新单元，以及用于计算电动机电流值（校正电流）的检测电流校正单元 检测值），通过利用偏移校正值更新开关元件导通时间段内的检测值。

公开(公告)号：US20050087387A1

公开(公告)日：2005-04-28

申请号：US10968948

申请日：2004-10-21

申请人： Takeshi Ueda ,  Masahiko Sakamaki ,  Shigeki Nagase

发明人： Takeshi Ueda ,  Masahiko Sakamaki ,  Shigeki Nagase

IPC分类号： B62D6/00 ,  B62D5/04 ,  B62D101/00 ,  B62D119/00 ,  B62D137/00 ,  H02P6/10 ,  H02P6/12 ,  H02P6/16 ,  H02P27/06

CPC分类号： B62D5/0463 ,  B62D5/046 ,  H02P6/10 ,  H02P6/28

摘要： A power-assisted steering system includes: two or more current detectors that detects current flowing to two or more phases of a motor and outputs detected current values; a correcting unit that corrects the detected current values output from the current detectors to compensate a difference in gain between the current detectors; and a motor driving driver that drives the motor based on a deviation between the target current value and corrected detected current values. When the same current flows to the phase in which the current flowing thereto is detected by the reference current detectors and the phase in which the current flowing is detected by the other current detector, the correcting unit calculates a gain correcting coefficient based on a detected current value of the reference current detector and a detected current value of the other current detector and corrects the detected current value of the other current detector.

摘要翻译： 一种动力辅助转向系统包括：两个或多个电流检测器，其检测流过电动机两相或更多相的电流并输出检测到的电流值; 校正单元，校正从电流检测器输出的检测电流值，以补偿电流检测器之间的增益差; 以及基于目标电流值和校正的检测电流值之间的偏差来驱动电动机的电动机驱动驱动器。 当相同的电流流过其中由参考电流检测器检测到流过电流的相位和由另一电流检测器检测到电流流动的相位时，校正单元基于检测到的电流来计算增益校正系数 参考电流检测器的值和另一电流检测器的检测电流值，并校正另一电流检测器的检测电流值。

公开(公告)号：US07226069B2

公开(公告)日：2007-06-05

申请号：US10968948

申请日：2004-10-21

申请人： Takeshi Ueda ,  Masahiko Sakamaki ,  Shigeki Nagase

发明人： Takeshi Ueda ,  Masahiko Sakamaki ,  Shigeki Nagase

IPC分类号： B62D5/04

CPC分类号： B62D5/0463 ,  B62D5/046 ,  H02P6/10 ,  H02P6/28

摘要： A power-assisted steering system includes: two or more current detectors that detects current flowing to two or more phases of a motor and outputs detected current values; a correcting unit that corrects the detected current values output from the current detectors to compensate a difference in gain between the current detectors; and a motor driving driver that drives the motor based on a deviation between the target current value and corrected detected current values. When the same current flows to the phase in which the current flowing thereto is detected by the reference current detectors and the phase in which the current flowing is detected by the other current detector, the correcting unit calculates a gain correcting coefficient based on a detected current value of the reference current detector and a detected current value of the other current detector and corrects the detected current value of the other current detector.

摘要翻译： 一种动力辅助转向系统包括：两个或更多个电流检测器，其检测流到电动机的两个或多个相的电流并输出检测到的电流值; 校正单元，校正从电流检测器输出的检测电流值，以补偿电流检测器之间的增益差; 以及基于目标电流值和校正的检测电流值之间的偏差来驱动电动机的电动机驱动驱动器。 当相同的电流流过其中由参考电流检测器检测到流过电流的相位和由另一电流检测器检测到电流流动的相位时，校正单元基于检测电流来计算增益校正系数 参考电流检测器的值和另一电流检测器的检测电流值，并校正另一电流检测器的检测电流值。

公开(公告)号：US20050125124A1

公开(公告)日：2005-06-09

申请号：US10969006

申请日：2004-10-21

申请人： Shigeki Nagase ,  Masahiko Sakamaki ,  Takeshi Ueda

发明人： Shigeki Nagase ,  Masahiko Sakamaki ,  Takeshi Ueda

IPC分类号： B62D5/04 ,  H02P6/08 ,  H02P6/16 ,  H02P21/00 ,  H02P21/04 ,  H02P27/04

CPC分类号： H02P21/04 ,  B62D5/046 ,  B62D5/0463

摘要： A power-assisted steering system includes a current detector for detecting sequentially current flowing to a ground-side switching element in a lower arm by a detection resistor inserted into the lower arm not only in a time period when the switching element is ON but also in time period when the switching element is OFF, an offset updating unit for sequentially updating an offset correction value with detected values in the time period when the switching element is OFF, and a detected current correcting unit for calculating a motor current value (a corrected current detected value) by correcting detected values in the time period when the switching element is ON with the offset correction value thereby updating.

摘要翻译： 一种电力辅助转向系统，包括电流检测器，用于通过未插入到下臂中的检测电阻器来顺序检测下臂中的接地侧开关元件的电流，不仅在开关元件接通的时间段内， 开关元件断开的时间段，用于在切换元件为OFF时的时间段内用检测值顺序更新偏移校正值的偏移更新单元，以及用于计算电动机电流值（校正电流）的检测电流校正单元 检测值），通过利用偏移校正值更新开关元件导通时间段内的检测值。

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

IPC分类号： G01L3/10 ,  G01L3/02 ,  G01L3/12 ,  G01L3/14

CPC分类号： G01L3/109 ,  G01L3/105

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。

公开(公告)号：US08055410B2

公开(公告)日：2011-11-08

申请号：US11921279

申请日：2006-05-30

申请人： Masahiko Sakamaki ,  Shigeki Nagase

发明人： Masahiko Sakamaki ,  Shigeki Nagase

IPC分类号： B62D6/00

CPC分类号： B62D5/0487 ,  H02P21/00 ,  H02P29/032

摘要： An electric power steering system in which a current command for a brushless DC motor is determined based on a detected steering torque, a voltage to be applied is determined based on a difference between the current command value and a current value flowing to the motor, and steering assist is implemented by applying the voltage so determined to the motor. A rotational angular velocity is computed based on a detected rotor position, and it is determined that the motor is abnormal when a rotational angular velocity determination unit determines that the rotational angular velocity is equal to or less than a predetermined value, a current command value determination unit determines that the current command value is equal to or less than a predetermined value, and a voltage determination unit determines that the voltage applied to the motor falls out of a predetermined voltage range.

摘要翻译： 根据检测到的转向转矩来确定无刷直流电动机的电流指令的电动助力转向系统，根据电流指令值和流向电动机的电流值之间的差来确定要施加的电压， 通过将如此确定的电压施加到电动机来实现转向辅助。 基于检测到的转子位置计算旋转角速度，并且当旋转角速度确定单元确定旋转角速度等于或小于预定值时，确定电动机异常，当前指令值确定 单元确定当前指令值等于或小于预定值，并且电压确定单元确定施加到电动机的电压落在预定电压范围之外。

公开(公告)号：US20090043453A1

公开(公告)日：2009-02-12

申请号：US11921279

申请日：2006-05-30

申请人： Masahiko Sakamaki ,  Shigeki Nagase

发明人： Masahiko Sakamaki ,  Shigeki Nagase

IPC分类号： B62D6/00

CPC分类号： B62D5/0487 ,  H02P21/00 ,  H02P29/032

摘要： An electric power steering system in which a current command for a brushless DC motor is determined based on a detected steering torque, a voltage to be applied is determined based on a difference between the current command value and a current value flowing to the motor, and steering assist is implemented by applying the voltage so determined to the motor. A rotational angular velocity is computed based on a detected rotor position, and it is determined that the motor is abnormal when a rotational angular velocity determination unit determines that the rotational angular velocity is equal to or less than a predetermined value, a current command value determination unit determines that the current command value is equal to or less than a predetermined value, and a voltage determination unit determines that the voltage applied to the motor falls out of a predetermined voltage range.

摘要翻译： 根据检测到的转向转矩来确定无刷直流电动机的电流指令的电动助力转向系统，根据电流指令值和流向电动机的电流值之间的差来确定要施加的电压， 通过将如此确定的电压施加到电动机来实现转向辅助。 基于检测到的转子位置计算旋转角速度，并且当旋转角速度确定单元确定旋转角速度等于或小于预定值时，确定电动机异常，当前指令值确定 单元确定当前指令值等于或小于预定值，并且电压确定单元确定施加到电动机的电压落在预定电压范围之外。