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：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：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：US08037964B2

公开(公告)日：2011-10-18

申请号：US12445743

申请日：2007-10-15

申请人： Shigeki Nagase ,  Takeshi Ueda ,  Akira Sugimoto ,  Kimihito Chino

发明人： Shigeki Nagase ,  Takeshi Ueda ,  Akira Sugimoto ,  Kimihito Chino

IPC分类号： B62D5/04

CPC分类号： B62D5/046 ,  H02P27/06 ,  H02P29/0241 ,  H02P2207/05

摘要： When stopping operation of an electric power steering apparatus, a motor relay is kept in an on-state even after a power supply relay is in an off-state. A drive control portion sets a target value of a d-axis current to a value other than zero and sets a target value of a q-axis current to zero, and performs a processing same as that at the time of rotating a motor. MOS-FETs contained in a motor driving circuit are controlled such that each of driving currents of the two phases or more is not zero and the brushless motor does not rotate even supplied with these driving currents. Electric charge accumulated in a capacitor is discharged via the MOS-FETs each in an on-state, a motor relay and the windings of the brushless motor. The electric charge accumulated in the capacitor may be discharged via the excitation coil of the motor relay.

摘要翻译： 在停止电动转向装置的动作时，即使电源继电器处于关闭状态，电动机继电器也保持接通状态。 驱动控制部将d轴电流的目标值设定为零以外的值，将q轴电流的目标值设定为零，并进行与电动机旋转时相同的处理。 控制电动机驱动电路中包含的MOS-FET，使得两相或更多相的驱动电流不为零，并且无刷电动机即使被这些驱动电流提供也不旋转。 电容器中累积的电荷通过MOS-FET各自在导通状态，电动机继电器和无刷电动机的绕组中放电。 蓄积在电容器中的电荷可以通过电动机继电器的励磁线圈放电。

公开(公告)号：US20110025238A1

公开(公告)日：2011-02-03

申请号：US12935774

申请日：2009-03-30

申请人： Takeshi Ueda ,  Yuji Kariatsumari ,  Shigeki Nagase ,  Noboru Niguchi ,  Hiroshi Sumasu

发明人： Takeshi Ueda ,  Yuji Kariatsumari ,  Shigeki Nagase ,  Noboru Niguchi ,  Hiroshi Sumasu

IPC分类号： H02P21/00

CPC分类号： B62D5/046 ,  H02P21/0089 ,  H02P21/06 ,  H02P29/032

摘要： A command current setting portion has a target value corrector that calculates d-axis and q-axis current command values idc, iqc that are to be supplied to an open-loop controller, based on d-axis and q-axis current target values id*, iq*. When d-axis and q-axis voltage target value vd*, vq* calculated from the d-axis and q-axis current target values id*, iq* by the motor circuit equations exceed a voltage limit, this target value corrector 26 corrects the d-axis and q-axis current target values id*, iq* by the field weakening control such that d-axis and q-axis voltages vd, vq and d-axis and q-axis currents id, iq satisfy √(vd2+vq2)≦Vlim and √(id2+iq2)≦Ilim respectively. The d-axis and q-axis current command values idc, iqc are obtained by this correction.

摘要翻译： 指令电流设定部具有基于d轴和q轴电流目标值id来计算要提供给开环控制器的d轴和q轴电流指令值idc，iqc的目标值校正部 *，iq *。 当通过电动机电路方程从d轴和q轴电流目标值id *，iq *计算的d轴和q轴电压目标值vd *，vq *超过电压限制时，该目标值校正器26校正 通过弱磁控制使d轴和q轴电流目标值id *，iq *使得d轴和q轴电压vd，vq和d轴和q轴电流id，iq满足√（vd2 + vq2）＆nlE; Vlim和√（id2 + iq2）＆nlE; Ilim。 通过该校正获得d轴和q轴电流指令值idc，iqc。

公开(公告)号：US20090079373A1

公开(公告)日：2009-03-26

申请号：US12236059

申请日：2008-09-23

申请人： Shigeki Nagase ,  Takeshi Ueda ,  Ken Matsubara ,  Toshiaki Oya ,  Yasuyuki Yoshii

发明人： Shigeki Nagase ,  Takeshi Ueda ,  Ken Matsubara ,  Toshiaki Oya ,  Yasuyuki Yoshii

IPC分类号： H02H7/085 ,  H02P6/08

CPC分类号： B62D5/0487 ,  H02P6/28 ,  H02P29/027

摘要： A current sensor of a motor controller detects the current applied to a motor drive circuit and thus a phase where a failure cannot be detected would occur without taking any measures. However, an abnormal current monitor section contained in a microcomputer receives a voltage signal of an average value of the currents detected in the current sensor by allowing a signal to pass through a first LPF having a cutoff frequency sufficiently lower than the frequency of a PWM signal. Therefore, whether or not the value is within a predetermined normal range is checked, whereby whether or not some failure containing a failure of the current sensor occurs can be easily determined about every phase.

摘要翻译： 电动机控制器的电流传感器检测施加到电动机驱动电路的电流，因此在不采取任何措施的情况下将发生不能检测到故障的阶段。 然而，包含在微计算机中的异常电流监视部分通过允许信号通过具有足够低于PWM信号的频率的截止频率的第一LPF来接收在当前传感器中检测到的电流的平均值的电压信号 。 因此，检查该值是否在预定的正常范围内，因此可以容易地确定每个相位是否确定包含电流传感器的故障的一些故障是否发生。