公开(公告)号：US09518844B2

公开(公告)日：2016-12-13

申请号：US13639294

申请日：2011-03-25

申请人： Takeshi Ueda ,  Hayato Komatsu ,  Yuji Kariatsumari

发明人： Takeshi Ueda ,  Hayato Komatsu ,  Yuji Kariatsumari

IPC分类号： G01D5/245 ,  G01D5/244

CPC分类号： G01D5/2451 ,  G01D5/2449

摘要： Angular widths of respective magnetic poles of a detection rotor are stored and divisions are set for respective magnetic pole pairs. Based on output signals from first and second magnetic sensors, a rotation angle computation unit computes first and second rotation angles that are rotation angles within the corresponding division. Based on the angular widths, the rotation angle computation unit identifies the magnetic pole sensed by the first magnetic sensor and computes a first absolute rotation angle using the first rotation angle. Based on the identified magnetic pole and the second rotation angle, the rotation angle computation unit computes a second absolute rotation angle. The rotation angle of the detection rotor is computed based on the first and second absolute angles.

摘要翻译： 存储检测转子的各个磁极的角度宽度，并为相应的磁极对设定分割。 基于来自第一和第二磁传感器的输出信号，旋转角计算单元计算作为相应划分内的旋转角度的第一和第二旋转角度。 基于角度宽度，旋转角度计算单元识别由第一磁性传感器感测的磁极，并使用第一旋转角度来计算第一绝对旋转角度。 基于所识别的磁极和第二旋转角度，旋转角度计算单元计算第二绝对旋转角度。 基于第一和第二绝对角度来计算检测转子的旋转角度。

公开(公告)号：US20130035896A1

公开(公告)日：2013-02-07

申请号：US13639294

申请日：2011-03-25

申请人： Takeshi Ueda ,  Hayato Komatsu ,  Yuji Kariatsumari

发明人： Takeshi Ueda ,  Hayato Komatsu ,  Yuji Kariatsumari

IPC分类号： G06F19/00 ,  G01B7/30

CPC分类号： G01D5/2451 ,  G01D5/2449

摘要： Angular widths of respective magnetic poles of a detection rotor are stored and divisions are set for respective magnetic pole pairs. Based on output signals from first and second magnetic sensors, a rotation angle computation unit computes first and second rotation angles that are rotation angles within the corresponding division. Based on the angular widths, the rotation angle computation unit identifies the magnetic pole sensed by the first magnetic sensor and computes a first absolute rotation angle using the first rotation angle. Based on the identified magnetic pole and the second rotation angle, the rotation angle computation unit computes a second absolute rotation angle. The rotation angle of the detection rotor is computed based on the first and second absolute angles.

摘要翻译： 存储检测转子的各个磁极的角度宽度，并为相应的磁极对设定分割。 基于来自第一和第二磁传感器的输出信号，旋转角计算单元计算作为相应划分内的旋转角度的第一和第二旋转角度。 基于角度宽度，旋转角度计算单元识别由第一磁性传感器感测的磁极，并使用第一旋转角度来计算第一绝对旋转角度。 基于所识别的磁极和第二旋转角度，旋转角度计算单元计算第二绝对旋转角度。 基于第一和第二绝对角度来计算检测转子的旋转角度。

公开(公告)号：US08541965B2

公开(公告)日：2013-09-24

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： H02P6/08

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）@Vlim和√（id2 + iq2）@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：US20110018487A1

公开(公告)日：2011-01-27

申请号：US12736320

申请日：2009-02-18

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

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

IPC分类号： H02P27/00

CPC分类号： B62D5/0463 ,  H02P21/16 ,  H02P21/18

摘要： A motor control device of the present invention includes: target electric current value setting units (15 and 16) that set target electric current values that should be supplied to a motor (1), basic voltage value computing units (511, 521, 51a, and 52a) that compute basic voltage values for driving the motor, a rotation angle speed computing unit (23) that computes a rotation angle speed of the motor, correction value computing units (50, 512, 515, 516, 522, 525, and 526) that compute correction values for correcting the basic voltage values based on motor electric current values and a rotation angle speed of the motor, correcting units (513 and 523) that obtain voltage command values by correcting the basic voltage values by the correction values computed by the correction value computing units, and a driving unit (13) that drives the motor by using voltage command values. The correction value computing units include correction value smoothing units (50, 515, 516, 525, and 526) for obtaining smoothed correction values.

摘要翻译： 本发明的电动机控制装置包括：设置应提供给电动机（1）的目标电流值的目标电流值设定单元（15和16），基本电压值计算单元（511,521,51a， 计算用于驱动马达的基本电压值的计算单元，计算马达的旋转角速度的旋转角速度计算单元，校正值运算单元，50,512,515,516,522,525和 526），其基于电动机电流值和电动机的旋转角速度来计算用于校正基本电压值的校正值，校正单元（513和523），其通过校正基本电压值来校正电压指令值，所述校正单元计算出校正值 以及通过使用电压指令值来驱动电动机的驱动单元（13）。 校正值计算单元包括用于获得平滑校正值的校正值平滑单元（50,515,516,525和526）。

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：US08368343B2

公开(公告)日：2013-02-05

申请号：US12736320

申请日：2009-02-18

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

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

IPC分类号： H02P27/00

CPC分类号： B62D5/0463 ,  H02P21/16 ,  H02P21/18

摘要： A motor control device of the present invention includes: target electric current value setting units (15 and 16) that set target electric current values that should be supplied to a motor (1), basic voltage value computing units (511, 521, 51a, and 52a) that compute basic voltage values for driving the motor, a rotation angle speed computing unit (23) that computes a rotation angle speed of the motor, correction value computing units (50, 512, 515, 516, 522, 525, and 526) that compute correction values for correcting the basic voltage values based on motor electric current values and a rotation angle speed of the motor, correcting units (513 and 523) that obtain voltage command values by correcting the basic voltage values by the correction values computed by the correction value computing units, and a driving unit (13) that drives the motor by using voltage command values. The correction value computing units include correction value smoothing units (50, 515, 516, 525, and 526) for obtaining smoothed correction values.

摘要翻译： 本发明的电动机控制装置包括：设置应提供给电动机（1）的目标电流值的目标电流值设定单元（15和16），基本电压值计算单元（511,521,51a， 计算用于驱动马达的基本电压值的计算单元，计算马达的旋转角速度的旋转角速度计算单元，校正值运算单元，50,512,515,516,522,525和 526），其基于电动机电流值和电动机的旋转角速度来计算用于校正基本电压值的校正值，校正单元（513和523），其通过校正基本电压值来校正电压指令值，所述校正单元计算出校正值 以及通过使用电压指令值来驱动电动机的驱动单元（13）。 校正值计算单元包括用于获得平滑校正值的校正值平滑单元（50,515,516,525和526）。

公开(公告)号：US08957675B2

公开(公告)日：2015-02-17

申请号：US13579006

申请日：2011-02-23

申请人： Takeshi Ueda ,  Hayato Komatsu ,  Minoru Sentoku

发明人： Takeshi Ueda ,  Hayato Komatsu ,  Minoru Sentoku

IPC分类号： G01B7/30 ,  G01D5/245

CPC分类号： G01D5/2451

摘要： Upon detecting a peak value from output signals of one of either a first or a second magnetic sensor, an rotation angle computation device identifies, on basis of an amplitude compensation table corresponding to the one magnetic sensor for which the peak value was detected, a pole number of a magnetic pole sensed by the magnetic sensor. Then, based on the identified pole number and a magnetic pole identification table, a pole number of a magnetic pole sensed by the other magnetic sensor is identified. The pole numbers of the magnetic poles sensed by the respective magnetic sensors are thus identified, and the rotation angle computation device compensates the output signals of the respective magnetic sensors using amplitude compensation gains corresponding to the sensed magnetic poles (magnetic pole pair).

摘要翻译： 在从第一或第二磁传感器中的一个的输出信号检测到峰值时，旋转角计算装置基于与检测到峰值的一个磁传感器相对应的振幅补偿表，识别极点 由磁传感器感测的磁极的数量。 然后，基于所识别的极数和磁极识别表，识别由另一个磁传感器感测的磁极的极数。 因此识别由各个磁性传感器感测的磁极的极数，并且旋转角度计算装置使用与感测的磁极（磁极对）对应的振幅补偿增益来补偿各个磁性传感器的输出信号。

公开(公告)号：US08710831B2

公开(公告)日：2014-04-29

申请号：US13336186

申请日：2011-12-23

申请人： Takeshi Ueda ,  Hayato Komatsu

发明人： Takeshi Ueda ,  Hayato Komatsu

IPC分类号： G01B7/30

CPC分类号： G01D5/145

摘要： Three magnetic sensors are arranged around a rotor at predetermined angular intervals about the rotation axis of the rotor. Sinusoidal signals that have a phase difference of a predetermined degree of 45° are output from the respective magnetic sensors. A rotation angle computing device detects a magnetic pole transition in a first output signal as follows. Specifically, the rotation angle computing device detects a magnetic pole transition in the first output signal based on a value having a larger absolute value between a current value of the second sinusoidal signal and a current value of the third sinusoidal signal, an immediately preceding value of the first sinusoidal signal and a current value of the first sinusoidal signal.

摘要翻译： 围绕转子的旋转轴线以预定的角度间隔围绕转子设置三个磁性传感器。 从相应的磁传感器输出具有预定的45度相位差的正弦信号。 旋转角度计算装置如下检测第一输出信号中的磁极转变。 具体地说，旋转角度计算装置基于第二正弦信号的电流值和第三正弦信号的电流值之间的绝对值较大的值，检测第一输出信号中的磁极转变， 第一正弦信号和第一正弦信号的电流值。

公开(公告)号：US08496085B2

公开(公告)日：2013-07-30

申请号：US13320839

申请日：2010-06-21

申请人： Takeshi Ueda ,  Shingo Maeda ,  Yoshinobu Shimizu ,  Hayato Komatsu

发明人： Takeshi Ueda ,  Shingo Maeda ,  Yoshinobu Shimizu ,  Hayato Komatsu

IPC分类号： B62D5/04 ,  H02P23/00

CPC分类号： B62D5/046 ,  B62D5/0481 ,  H02P7/281 ,  H02P7/29

摘要： An angular velocity estimate (ωe) used in motor control of an electric power steering is obtained as follows. In a first state period during which the motor substantially stops its rotation, a resistance calculation unit calculates a motor resistance value (Rc) on the basis of a detected value (Vm) of motor voltage and a detected value (Im) of motor current. An average calculation unit obtains an average value (Rav) of the calculated resistance values (Rc) in a retained period. A current-resistance characteristic that associates motor current with motor resistance is held in a characteristic holding unit, and a characteristic updating unit updates the current-resistance characteristic on the basis of the average value (Rav). An estimate calculation unit calculates the angular velocity estimate (ωe) on the basis of the detected value (Vm) of motor voltage, the detected value (Im) of motor current and a motor resistance value (Rm) obtained from the current-resistance characteristic.

摘要翻译： 如下获得用于电动助力转向装置的电动机控制中的角速度估计（ω）。 在电动机基本上停止其旋转的第一状态期间，电阻计算单元基于电动机电压的检测值（Vm）和电动机电流的检测值（Im）来计算电动机电阻值（Rc）。 平均计算单元获得计算出的电阻值（Rc）在保留期间内的平均值（Rav）。 将电动机电流与电动机电阻相关联的电流电阻特性保持在特性保持单元中，特性更新单元基于平均值（Rav）来更新电流电阻特性。 估计计算单元基于电动机电压的检测值（Vm），电动机电流的检测值（Im）和从电流电阻特性得到的电动机电阻值（Rm）来计算角速度估计（ω） 。

公开(公告)号：US20120319680A1

公开(公告)日：2012-12-20

申请号：US13579006

申请日：2011-02-23

申请人： Takeshi Ueda ,  Hayato Komatsu ,  Minoru Sentoku

发明人： Takeshi Ueda ,  Hayato Komatsu ,  Minoru Sentoku

IPC分类号： G01B7/30

CPC分类号： G01D5/2451

摘要： Upon detecting a peak value from output signals of one of either a first or a second magnetic sensor, an rotation angle computation device identifies, on basis of an amplitude compensation table corresponding to the one magnetic sensor for which the peak value was detected, a pole number of a magnetic pole sensed by the magnetic sensor. Then, based on the identified pole number and a magnetic pole identification table, a pole number of a magnetic pole sensed by the other magnetic sensor is identified. The pole numbers of the magnetic poles sensed by the respective magnetic sensors are thus identified, and the rotation angle computation device compensates the output signals of the respective magnetic sensors using amplitude compensation gains corresponding to the sensed magnetic poles (magnetic pole pair).

摘要翻译： 在从第一或第二磁传感器中的一个的输出信号检测到峰值时，旋转角计算装置基于与检测到峰值的一个磁传感器相对应的振幅补偿表，识别极点 由磁传感器感测的磁极的数量。 然后，基于所识别的极数和磁极识别表，识别由另一个磁传感器感测的磁极的极数。 因此识别由各个磁性传感器感测的磁极的极数，并且旋转角度计算装置使用与感测的磁极（磁极对）对应的振幅补偿增益来补偿各个磁性传感器的输出信号。