公开(公告)号：US07265509B2

公开(公告)日：2007-09-04

申请号：US11181859

申请日：2005-07-15

申请人： Shuji Endo ,  Yuho Aoki ,  Kenji Mori ,  Toru Sakaguchi ,  Sakae Nejo ,  Hideaki Okazaki ,  Lilit Kovudhikulrungsri

发明人： Shuji Endo ,  Yuho Aoki ,  Kenji Mori ,  Toru Sakaguchi ,  Sakae Nejo ,  Hideaki Okazaki ,  Lilit Kovudhikulrungsri

IPC分类号： H02P7/00

CPC分类号： B62D5/0472 ,  B62D5/0463

摘要： The present invention provides an excellent electric power steering apparatus in which torque ripple caused by a quantization error of a current control system generated in case of slow steering state and steering holding state, namely, vibration and noise on a steering wheel can be suppressed. A current controller in which a steady state gain of feedback control is a finite value is used so as to be capable of suppressing the vibration and noise. Further, according to the present invention, a smoothing filter is included in a current control system so that the quantization error is smoothed so that the torque ripple is suppressed.

摘要翻译： 本发明提供了一种优良的电动助力转向装置，其中可以抑制在转向缓慢的状态和转向保持状态下产生的当前控制系统的量化误差引起的转矩波动，即方向盘上的振动和噪声。 使用其中反馈控制的稳态增益为有限值的电流控制器，以便能够抑制振动和噪声。 此外，根据本发明，在电流控制系统中包括平滑滤波器，使得量化误差平滑，从而抑制转矩脉动。

公开(公告)号：US20060012323A1

公开(公告)日：2006-01-19

申请号：US11181859

申请日：2005-07-15

申请人： Shuji Endo ,  Yuho Aoki ,  Kenji Mori ,  Toru Sakaguchi ,  Sakae Nejo ,  Hideaki Okazaki ,  Lilit Kovudhikulrungsri

发明人： Shuji Endo ,  Yuho Aoki ,  Kenji Mori ,  Toru Sakaguchi ,  Sakae Nejo ,  Hideaki Okazaki ,  Lilit Kovudhikulrungsri

IPC分类号： H02P7/00

CPC分类号： B62D5/0472 ,  B62D5/0463

摘要： The present invention provides an excellent electric power steering apparatus in which torque ripple caused by a quantization error of a current control system generated in case of slow steering state and steering holding state, namely, vibration and noise on a steering wheel can be suppressed. A current controller in which a steady state gain of feedback control is a finite value is used so as to be capable of suppressing the vibration and noise. Further, according to the present invention, a smoothing filter is included in a current control system so that the quantization error is smoothed so that the torque ripple is suppressed.

摘要翻译： 本发明提供了一种优良的电动助力转向装置，其中可以抑制在转向缓慢的状态和转向保持状态下产生的当前控制系统的量化误差引起的转矩波动，即方向盘上的振动和噪声。 使用其中反馈控制的稳态增益为有限值的电流控制器，以便能够抑制振动和噪声。 此外，根据本发明，在电流控制系统中包括平滑滤波器，使得量化误差平滑，从而抑制转矩脉动。

公开(公告)号：US07586277B2

公开(公告)日：2009-09-08

申请号：US10582931

申请日：2004-12-03

申请人： Hideyuki Kobayashi ,  Toru Sakaguchi ,  Takeshi Hara ,  Sakae Nejo

发明人： Hideyuki Kobayashi ,  Toru Sakaguchi ,  Takeshi Hara ,  Sakae Nejo

IPC分类号： H02P7/00

CPC分类号： B62D5/0466 ,  H02P7/29

摘要： An electric power steering device changes the discontinuous non-linear characteristics in the duty ratio of the PWM signal versus motor current generated during steering wheel handle return into linear characteristics to suppress noise and provides a smooth and natural feeling steering. The electric control circuit (13) provided a current reference value calculator (22A) to calculate Iref, a current controller (22B) to obtain Vref2, a compensation adder (25) to obtain a duty D1, and a current discontinuity compensator (24) in order to obtain a duty D2. A motor drive circuit (35) including an H bridge circuit whose upper stage FET (1) is driven by the duty D1, and whose lower stage FED (3) paired with the upper stage FET (1), is driven by the duty D2 to allow forming a continuous linear characteristic in the duty ratio of the PWM signal versus the motor current.

摘要翻译： 电动助力转向装置将PWM信号的占空比与方向盘把手中产生的电动机电流的不连续非线性特性改变成线性特性，以抑制噪音并提供平稳自然的转向。 电气控制电路（13）提供计算Iref的电流参考值计算器（22A），获得Vref2的电流控制器（22B），获得占空比D1的补偿加法器（25）和电流不连续补偿器（24） 以获得责任D2。 电动机驱动电路（35）由占空比D1驱动的上级FET（1）和与上级FET（1）配对的下级FED（3）的H级桥式电路由占空比D2 以允许在PWM信号与电动机电流的占空比中形成连续的线性特性。

公开(公告)号：US20070120511A1

公开(公告)日：2007-05-31

申请号：US10582931

申请日：2004-12-03

申请人： Hideyuki Kobayashi ,  Toru Sakaguchi ,  Takeshi Hara ,  Sakae Nejo

发明人： Hideyuki Kobayashi ,  Toru Sakaguchi ,  Takeshi Hara ,  Sakae Nejo

IPC分类号： H02P7/00

CPC分类号： B62D5/0466 ,  H02P7/29

摘要： An electric power steering device changes the non-continuous, non-linear component in the duty ratio of the PWM signal versus motor current generated during steering wheel handle return into linear characteristics to suppress noise and allow a smooth and natural feeling during steering wheel handling. The electric control circuit (13) provided a current reference value calculator (22A) to calculate Iref a current controller (22B) to obtain Vref2, a compensation adder (25) to obtain a duty D1, and a current discontinuity compensator (24) in order to obtain a duty D2. A motor drive circuit (35) including an H bridge circuit whose upper stage FET (1) is driven by the duty D1, and whose lower stage FED (3) paired with the upper stage FET (1), is driven by the duty D2 to allow forming a continuous linear duty ratio characteristic in the duty ratio of the PWM signal versus the motor current.

摘要翻译： 电动助力转向装置将PWM信号的占空比与方向盘把手中产生的电动机电流恢复为线性特性以改变非连续非线性分量，以抑制噪音，并允许方向盘处理期间的平滑和自然的感觉。 电气控制电路（13）提供电流参考值计算器（22A）以计算电流控制器（22B）以获得V ref ref， （25）以获得占空比D 1，以及电流不连续补偿器（24），以获得占空比D 2。 一种电动机驱动电路（35），其包括由占空比D 1驱动的上级FET（1）和与上级FET（1）配对的下级FED（3）的H级桥式电路，由负载驱动 D 2以允许在PWM信号与电动机电流的占空比中形成连续的线性占空比特性。

公开(公告)号：US07849957B2

公开(公告)日：2010-12-14

申请号：US11778194

申请日：2007-07-16

申请人： Takeshi Hara ,  Yong Wei ,  Hideaki Okazaki ,  Sakae Nejo

发明人： Takeshi Hara ,  Yong Wei ,  Hideaki Okazaki ,  Sakae Nejo

IPC分类号： B62D5/04

CPC分类号： B62D5/049 ,  B60W2520/10 ,  B60W2520/14 ,  B60W2720/14 ,  B62D5/0484 ,  B62D15/0235

摘要： An electric power steering apparatus including a steering angle detection part that detects a steering angle of a steering wheel and outputs a steering angle signal, a steering control unit that controls a motor to give an assist torque to the steering wheel, an abnormality detection part that determines an abnormality of the steering angle detection part, and a motor angle detection part that detects a rotational angle of the motor. The steering control unit calculates a steering angle information based on at least the steering angle signal, and includes a signal storage part that stores the steering angle information. The steering control unit runs the motor continuously when the abnormality detection part detects the abnormality of the steering angle detection part until a vehicle stops or until the abnormality detection part determines that the steering angle signal returns to a normal state from the occurrence of the abnormality.

摘要翻译： 一种电动助力转向装置，包括：转向角检测部，其检测方向盘的转向角并输出转向角信号;转向控制部，其控制电动机向所述方向盘提供辅助转矩;异常检测部， 确定转向角检测部的异常，以及检测电动机的旋转角度的电动机角度检测部。 转向控制单元至少基于转向角信号计算转向角信息，并且包括存储转向角信息的信号存储部。 当异常检测部检测到转向角检测部的异常直到车辆停止为止或直到异常检测部判定为从正常状态发生异常以来转向角信号为止以来，转向控制部连续运行电动机。

公开(公告)号：US20080078608A1

公开(公告)日：2008-04-03

申请号：US11778194

申请日：2007-07-16

申请人： Takeshi Hara ,  Yong Wei ,  Hideaki Okazaki ,  Sakae Nejo

发明人： Takeshi Hara ,  Yong Wei ,  Hideaki Okazaki ,  Sakae Nejo

IPC分类号： B62D5/04

CPC分类号： B62D5/049 ,  B60W2520/10 ,  B60W2520/14 ,  B60W2720/14 ,  B62D5/0484 ,  B62D15/0235

摘要： The present invention provides an electric power steering apparatus having: a motor that applies a steering assist power to a steering mechanism; a torque command value calculating part that calculates a torque command value based on a steering torque generated in a steering shaft and a vehicle speed; and a current command value calculating part that calculates a current command value of the motor based on the torque command value, and the motor is controlled based on the current command value, and the electric power steering apparatus further has: a yaw rate detecting part that detects or estimates a yaw rate of a vehicle; a target yaw rate calculating part that calculates a target yaw rate based on the vehicle speed and a steering angle; and a correcting part that calculates an amount of correction based on the yaw rate and the target yaw rate to correct the current command value. Besides, the present invention also provides an electric power steering apparatus having a steering angle detection part, and when the steering angle detection part detects an occurrence of an abnormality, a control is continued based on a steering angle information immediately before the occurrence of the abnormality and an angle signal.

摘要翻译： 本发明提供一种电动助力转向装置，其具有：向转向机构施加转向辅助动力的电动机; 转矩指令值计算部，其基于在转向轴中产生的转向转矩和车速来计算转矩指令值; 以及电流指令值计算部，其基于所述转矩指令值计算所述电动机的电流指令值，并且基于所述电流指令值来控制所述电动机，并且所述电动转向装置还具有：横摆率检测部， 检测或估计车辆的偏航率; 基于车速和转向角计算目标横摆角速度的目标横摆率计算部; 以及校正部，其基于所述横摆率和所述目标横摆率来计算校正量，以校正所述当前指令值。 此外，本发明还提供一种具有转向角检测部的电动助力转向装置，并且当转向角检测部检测到异常的发生时，基于在异常发生之前的转向角信息，继续进行控制 和角度信号。