公开(公告)号：US06886656B2

公开(公告)日：2005-05-03

申请号：US10647464

申请日：2003-08-26

申请人： Takehiko Fujioka ,  Theerawat Limpibunterng ,  Masahiko Kurishige ,  Hideyuki Tanaka ,  Hajime Oyama

发明人： Takehiko Fujioka ,  Theerawat Limpibunterng ,  Masahiko Kurishige ,  Hideyuki Tanaka ,  Hajime Oyama

IPC分类号： B62D5/00 ,  B62D5/04 ,  B62D6/00 ,  B62D101/00 ,  B62D113/00 ,  B62D119/00

CPC分类号： B62D5/008 ,  B62D5/006 ,  B62D5/0466 ,  B62D6/008

摘要： An electric power steering apparatus having a steering system capable of flexibly setting a relationship between a steering angle of a steering wheel and a wheel angle of a tire. The first motor controls steering reaction force exerted on the steering wheel. The on-center region determination section determines whether the steering wheel is in a position of an on-center region. The tire reaction force torque detection section detects tire reaction force torque transferred from the tire. The control section calculates a steering torque based on the tire reaction force torque and a torque gain. This torque is detected by the tire reaction force torque detection section. And the control section controls the first motor to exert the steering reaction force corresponding to the above calculated steering torque on the steering wheel. This control section also sets the torque gain in case of determining of on-center region larger than that in case of determining of non-on-center region.

摘要翻译： 一种具有能够灵活地设定方向盘的转向角与轮胎的车轮角度的关系的转向系统的电动助力转向装置。 第一个电机控制施加在方向盘上的转向反作用力。 中心区域确定部分确定方向盘是否处于中心区域的位置。 轮胎反作用力转矩检测部检测从轮胎传递的轮胎反作用力转矩。 控制部基于轮胎反作用力转矩和转矩增益来计算转向转矩。 该扭矩由轮胎反作用力转矩检测部检测。 并且控制部分控制第一电动机以在方向盘上施加与上述计算出的转向转矩相对应的转向反作用力。 在确定中心区域的情况下，该控制部分还设置大于在确定非中心区域的情况下的扭矩增益。

公开(公告)号：US07412319B2

公开(公告)日：2008-08-12

申请号：US11030437

申请日：2005-01-07

申请人： Hiroshi Fujioka ,  Takanori Matsunaga ,  Takashi Maeda ,  Toshinori Matsui ,  Masahiko Kurishige ,  Hideyuki Tanaka

发明人： Hiroshi Fujioka ,  Takanori Matsunaga ,  Takashi Maeda ,  Toshinori Matsui ,  Masahiko Kurishige ,  Hideyuki Tanaka

IPC分类号： B62D6/00 ,  B62D6/04 ,  G06F7/00

CPC分类号： B62D6/005 ,  B60T2230/02 ,  B60T2260/02 ,  B62D6/04

摘要： System for detecting stability/instability of behavior of a motor vehicle upon occurrence of tire slip or lock. State of the motor vehicle is determined on the basis of an alignment torque (Ta) applied from a road and a side slip angle (β). By taking advantage of such torque/slip-angle characteristic that although the alignment torque is proportional to a side slip angle when the latter is small, the alignment torque becomes smaller as the side slip angle increases, a normal value is determined from a straight line slope and the side slip angle in a region where the latter is small. Unstable behavior of the motor vehicle is determined when deviation of actual measured value from the normal value increases. Further, unstable state is determined when the slope of the alignment torque for the slip angle departs significantly from that of approximate straight line slope.

公开(公告)号：US06915199B2

公开(公告)日：2005-07-05

申请号：US10299795

申请日：2002-11-20

申请人： Hiroshi Fujioka ,  Takanori Matsunaga ,  Takashi Maeda ,  Toshinori Matsui ,  Masahiko Kurishige ,  Hideyuki Tanaka

发明人： Hiroshi Fujioka ,  Takanori Matsunaga ,  Takashi Maeda ,  Toshinori Matsui ,  Masahiko Kurishige ,  Hideyuki Tanaka

IPC分类号： B60R16/02 ,  B60W40/10 ,  B60W40/101 ,  B60W40/103 ,  B62D5/04 ,  B62D6/00 ,  B62D6/04 ,  B62D101/00 ,  B62D111/00 ,  B62D117/00 ,  B62D121/00 ,  B62D137/00 ,  G06F7/00 ,  G06F7/70 ,  G08G1/16 ,  G06F19/00

CPC分类号： B62D6/005 ,  B60T2230/02 ,  B60T2260/02 ,  B62D6/04

摘要： System for detecting stability/instability of behavior of a motor vehicle upon occurrence of tire slip or lock. State of the motor vehicle is determined on the basis of an alignment torque (Ta) applied from a road and a side slip angle (β). By taking advantage of such torque/slip-angle characteristic that although the alignment torque is proportional to a side slip angle when the latter is small, the alignment torque becomes smaller as the side slip angle increases, a normal value is determined from a straight line slope and the side slip angle in a region where the latter is small. Unstable behavior of the motor vehicle is determined when deviation of actual measured value from the normal value increases. Further, unstable state is determined when the slope of the alignment torque for the slip angle departs significantly from that of approximate straight line slope.

公开(公告)号：US20050125116A1

公开(公告)日：2005-06-09

申请号：US11030309

申请日：2005-01-07

申请人： Hiroshi Fujioka ,  Takanori Matsunaga ,  Takashi Maeda ,  Toshinori Matsui ,  Masahiko Kurishige ,  Hideyuki Tanaka

发明人： Hiroshi Fujioka ,  Takanori Matsunaga ,  Takashi Maeda ,  Toshinori Matsui ,  Masahiko Kurishige ,  Hideyuki Tanaka

IPC分类号： B60R16/02 ,  B60W40/10 ,  B60W40/101 ,  B60W40/103 ,  B62D5/04 ,  B62D6/00 ,  B62D6/04 ,  B62D101/00 ,  B62D111/00 ,  B62D117/00 ,  B62D121/00 ,  B62D137/00 ,  G06F7/00 ,  G06F7/70 ,  G08G1/16

CPC分类号： B62D6/005 ,  B60T2230/02 ,  B60T2260/02 ,  B62D6/04

摘要： System for detecting stability/instability of behavior of a motor vehicle upon occurrence of tire slip or lock. State of the motor vehicle is determined on the basis of an alignment torque (Ta) applied from a road and a side slip angle (β). By taking advantage of such torque/slip-angle characteristic that although the alignment torque is proportional to a side slip angle when the latter is small, the alignment torque becomes smaller as the side slip angle increases, a normal value is determined from a straight line slope and the side slip angle in a region where the latter is small. Unstable behavior of the motor vehicle is determined when deviation of actual measured value from the normal value increases. Further, unstable state is determined when the slope of the alignment torque for the slip angle departs significantly from that of approximate straight line slope.

公开(公告)号：US20050114006A1

公开(公告)日：2005-05-26

申请号：US11030401

申请日：2005-01-07

申请人： Hiroshi Fujioka ,  Takanori Matsunaga ,  Takashi Maeda ,  Toshinori Matsui ,  Masahiko Kurishige ,  Hideyuki Tanaka

发明人： Hiroshi Fujioka ,  Takanori Matsunaga ,  Takashi Maeda ,  Toshinori Matsui ,  Masahiko Kurishige ,  Hideyuki Tanaka

IPC分类号： B60R16/02 ,  B60W40/10 ,  B60W40/101 ,  B60W40/103 ,  B62D5/04 ,  B62D6/00 ,  B62D6/04 ,  B62D101/00 ,  B62D111/00 ,  B62D117/00 ,  B62D121/00 ,  B62D137/00 ,  G06F7/00 ,  G06F7/70 ,  G08G1/16

CPC分类号： B62D6/005 ,  B60T2230/02 ,  B60T2260/02 ,  B62D6/04

摘要： System for detecting stability/instability of behavior of a motor vehicle upon occurrence of tire slip or lock. State of the motor vehicle is determined on the basis of an alignment torque (Ta) applied from a road and a side slip angle (β). By taking advantage of such torque/slip-angle characteristic that although the alignment torque is proportional to a side slip angle when the latter is small, the alignment torque becomes smaller as the side slip angle increases, a normal value is determined from a straight line slope and the side slip angle in a region where the latter is small. Unstable behavior of the motor vehicle is determined when deviation of actual measured value from the normal value increases. Further, unstable state is determined when the slope of the alignment torque for the slip angle departs significantly from that of approximate straight line slope.

摘要翻译： 用于在发生轮胎滑动或锁定时检测机动车辆的行为的稳定性/不稳定性的系统。 基于从道路施加的对准扭矩（Ta）和侧滑角（β）来确定机动车辆的状态。 通过利用这样的扭矩/滑移角特性，即使在后者较小时，对位转矩与侧滑角成比例，随着侧滑角增大，对位转矩变小，从直线 斜率和侧滑角在后者较小的区域。 当实际测量值与正常值的偏差增加时，确定机动车辆的不稳定行为。 此外，当滑移角的对准扭矩的斜率与近似直线斜率的斜率大大偏离时，确定不稳定状态。

公开(公告)号：US08046131B2

公开(公告)日：2011-10-25

申请号：US11591608

申请日：2006-11-02

申请人： Hideyuki Tanaka ,  Takanori Matsunaga ,  Masahiko Kurishige ,  Takayuki Kifuku

发明人： Hideyuki Tanaka ,  Takanori Matsunaga ,  Masahiko Kurishige ,  Takayuki Kifuku

IPC分类号： B62D5/04

CPC分类号： B62D5/0466

摘要： Provided is a vehicular steering apparatus capable of improving a steering feeling and achieving a reduction in cost. The vehicular steering apparatus according to the present invention is equipped with an assist motor for generating an assist torque, a state quantity detector for detecting a steering shaft reaction torque and a road surface reaction torque, and a control unit for calculating a target current value of the assist motor. The control unit includes a friction compensation portion and a return compensation portion, which calculate a friction compensation torque for compensating for the assist torque and a return compensation torque for compensating for the assist torque from the steering shaft reaction torque and the road surface reaction torque respectively. The control unit compensates for an overall friction torque in a steering mechanism and a gradient of the road surface reaction torque, using the friction compensation torque and the return compensation torque.

摘要翻译： 提供一种能够改善转向感并实现成本降低的车辆转向装置。 根据本发明的车辆转向装置配备有用于产生辅助转矩的辅助电动机，用于检测转向轴反作用转矩的状态量检测器和路面反作用转矩，以及用于计算目标电流值的控制单元 辅助马达。 控制单元包括摩擦补偿部分和返回补偿部分，其分别计算用于补偿辅助转矩的摩擦补偿转矩和用于分别从转向轴反作用转矩和路面反作用转矩补偿辅助转矩的返回补偿转矩 。 控制单元使用摩擦补偿扭矩和返回补偿扭矩补偿转向机构中的总体摩擦转矩和路面反作用转矩的梯度。

公开(公告)号：US20050154510A1

公开(公告)日：2005-07-14

申请号：US11030335

申请日：2005-01-07

申请人： Hiroshi Fujioka ,  Takanori Matsunaga ,  Takashi Maeda ,  Toshinori Matsui ,  Masahiko Kurishige ,  Hideyuki Tanaka

发明人： Hiroshi Fujioka ,  Takanori Matsunaga ,  Takashi Maeda ,  Toshinori Matsui ,  Masahiko Kurishige ,  Hideyuki Tanaka

IPC分类号： B60R16/02 ,  B60W40/10 ,  B60W40/101 ,  B60W40/103 ,  B62D5/04 ,  B62D6/00 ,  B62D6/04 ,  B62D101/00 ,  B62D111/00 ,  B62D117/00 ,  B62D121/00 ,  B62D137/00 ,  G06F7/00 ,  G06F7/70 ,  G08G1/16

CPC分类号： B62D6/005 ,  B60T2230/02 ,  B60T2260/02 ,  B62D6/04

摘要： System for detecting stability/instability of behavior of a motor vehicle upon occurrence of tire slip or lock. State of the motor vehicle is determined on the basis of an alignment torque (Ta) applied from a road and a side slip angle (β). By taking advantage of such torque/slip-angle characteristic that although the alignment torque is proportional to a side slip angle when the latter is small, the alignment torque becomes smaller as the side slip angle increases, a normal value is determined from a straight line slope and the side slip angle in a region where the latter is small. Unstable behavior of the motor vehicle is determined when deviation of actual measured value from the normal value increases. Further, unstable state is determined when the slope of the alignment torque for the slip angle departs significantly from that of approximate straight line slope.

公开(公告)号：US20050119816A1

公开(公告)日：2005-06-02

申请号：US11030440

申请日：2005-01-07

申请人： Hiroshi Fujioka ,  Takanori Matsunaga ,  Takashi Maeda ,  Toshinori Matsui ,  Masahiko Kurishige ,  Hideyuki Tanaka

发明人： Hiroshi Fujioka ,  Takanori Matsunaga ,  Takashi Maeda ,  Toshinori Matsui ,  Masahiko Kurishige ,  Hideyuki Tanaka

IPC分类号： B60R16/02 ,  B60W40/10 ,  B60W40/101 ,  B60W40/103 ,  B62D5/04 ,  B62D6/00 ,  B62D6/04 ,  B62D101/00 ,  B62D111/00 ,  B62D117/00 ,  B62D121/00 ,  B62D137/00 ,  G06F7/00 ,  G06F7/70 ,  G08G1/16

CPC分类号： B62D6/005 ,  B60T2230/02 ,  B60T2260/02 ,  B62D6/04

摘要： System for detecting stability/instability of behavior of a motor vehicle upon occurrence of tire slip or lock. State of the motor vehicle is determined on the basis of an alignment torque (Ta) applied from a road and a side slip angle (β). By taking advantage of such torque/slip-angle characteristic that although the alignment torque is proportional to a side slip angle when the latter is small, the alignment torque becomes smaller as the side slip angle increases, a normal value is determined from a straight line slope and the side slip angle in a region where the latter is small. Unstable behavior of the motor vehicle is determined when deviation of actual measured value from the normal value increases. Further, unstable state is determined when the slope of the alignment torque for the slip angle departs significantly from that of approximate straight line slope.

公开(公告)号：US20050067214A1

公开(公告)日：2005-03-31

申请号：US10669654

申请日：2003-09-25

申请人： Hideyuki Tanaka ,  Masahiko Kurishige ,  Noriyuki Inoue ,  Kazumichi Tsutsumi ,  Shigeki Ohtagaki

发明人： Hideyuki Tanaka ,  Masahiko Kurishige ,  Noriyuki Inoue ,  Kazumichi Tsutsumi ,  Shigeki Ohtagaki

IPC分类号： B62D5/04 ,  B62D6/00

CPC分类号： B62D5/0466 ,  B62D5/0463 ,  B62D6/008

摘要： A road surface reaction torque detector has a low-pass filter element whose time constant is determined in accordance with a vehicle speed that is detected by a vehicle steed detector and a motor rotation speed that is detected by a motor rotation speed detector. A road surface reaction torque estimation value is obtained in such a manner that the road surface reaction torque detector performs low-pass filter processing on steering shaft reaction torque signal that is outputted by a steering shaft reaction torque signal outputting means. As a result, an accuracy of estimation of road surface reaction torque is improved.

摘要翻译： 路面反作用转矩检测器具有低通滤波器元件，其时间常数根据车辆检测器检测到的车速和由电动机转速检测器检测的电动机转速来确定。 以路面反作用转矩检测器对由转向轴反作用转矩信号输出装置输出的转向轴反作用转矩信号进行低通滤波处理的方式获得路面反作用转矩估计值。 结果，提高了路面反作用转矩的估计精度。

公开(公告)号：US06736236B2

公开(公告)日：2004-05-18

申请号：US10045019

申请日：2002-01-15

申请人： Masahiko Kurishige ,  Hideyuki Tanaka ,  Noriyuki Inoue ,  Chiaki Fujimoto ,  Kazumichi Tsutsumi

发明人： Masahiko Kurishige ,  Hideyuki Tanaka ,  Noriyuki Inoue ,  Chiaki Fujimoto ,  Kazumichi Tsutsumi

IPC分类号： B62D504

CPC分类号： B62D5/0466 ,  B62D6/008

摘要： An electric motor controller for a steering device that can apply an appropriate steering force to a steering wheel according to running conditions. An electric power steering controller of the present invention includes a steering shaft reaction force torque sensor for detecting a reaction force torque of a steering system, a superimposed reaction force torque calculating unit for multiplying a steering angle detected by the steering angle sensor by a gain to calculate a superimposed reaction force torque in the return direction of the steering wheel, and a control unit for controlling the gain so that the superimposed reaction force torque is reduced when a reaction force torque of the steering system is increased and the superimposed reaction force torque is increased when a reaction force torque of the steering system is decreased.

摘要翻译： 一种用于转向装置的电动机控制器，其可以根据运行条件向方向盘施加适当的转向力。 本发明的电动助力转向控制装置包括：用于检测转向系统的反作用力转矩的转向轴反作用转矩传感器;叠加的反作用力转矩计算单元，用于将由转向角传感器检测到的转向角乘以增益; 计算方向盘的返回方向上的叠加的反作用力转矩;以及控制单元，用于控制增益，使得当转向系统的反作用力转矩增加时叠加的反作用力转矩减小，叠加的反作用力转矩为 当转向系统的反作用力转矩减小时增加。