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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。
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公开(公告)号：US20110025238A1
公开(公告)日：2011-02-03
申请号：US12935774
申请日：2009-03-30
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。
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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
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。
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公开(公告)号：US07240761B2
公开(公告)日：2007-07-10
申请号：US10865869
申请日：2004-06-14
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。
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公开(公告)号：US07112933B1
公开(公告)日：2006-09-26
申请号：US11376811
申请日：2006-03-15
申请人： Takeshi Ueda , Shigeki Nagase
发明人： Takeshi Ueda , Shigeki Nagase
IPC分类号： H02P3/08
摘要： In a controller for brushless motor which suppresses the generation of abnormal noise when the motor current is controlled by updating voltages applied to the coils, the present values of the applied voltages to the coils are calculated from the d axis target current, the q axis target current, the d axis actual current, the q axis actual current, and the present value of the detected rotational position of the rotor. The updating period of the applied voltages is set as a period that is shorter than this calculation period. The predicted value of the rotational position at a point in time at which the applied voltages are updated until the next calculation of the present values of the applied voltages is determined in accordance with the present value, a past value of the detected rotational position, and the applied voltage updating period. The predicted values of the applied voltages are calculated from the predicted value of the rotational position, the d axis target current, the q axis target current, the d axis actual current, and the q axis actual current. The applied voltages are updated in accordance with the present values and predicted values of the applied voltages.
摘要翻译： 在通过更新施加到线圈的电压来控制电动机电流时抑制异常噪声的产生的无刷电动机的控制装置中，根据d轴目标电流q轴目标来计算施加到线圈的电压的当前值 电流，d轴实际电流，q轴实际电流以及检测到的转子旋转位置的当前值。 施加电压的更新周期被设定为比该计算周期短的周期。 根据当前值，检测到的旋转位置的过去值，确定施加电压更新直到下一次计算所施加的电压的当前值的旋转位置的预测值，以及 施加电压更新周期。 根据旋转位置，d轴目标电流，q轴目标电流，d轴实际电流和q轴实际电流的预测值来计算施加电压的预测值。 所施加的电压根据所施加的电压的当前值和预测值进行更新。
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公开(公告)号：US20050040781A1
公开(公告)日：2005-02-24
申请号：US10919268
申请日：2004-08-17
CPC分类号： B62D5/046 , B62D5/0484
摘要： A resistor member having a resistance value substantially equal to a resistance of a relay in an ON state is inserted into a current supply path which is not inserted with the relay in current supply paths for supplying currents from a driving circuit to a brushless motor. Further, in the driving circuit, widths of bus bars forming wirings are set such that resistances of the wirings (contact resistance) from a branch point on power source side to Hi side FET (source terminals thereof) are equal to each other and widths of bus bars forming the wirings are set such that the resistances of the wirings from a ground side branch point NL to Lo side FET (source terminals thereof) become equal to each other.
摘要翻译： 具有与导通状态下的继电器的电阻基本相等的电阻值的电阻部件被插入到没有与继电器一起插入的电流供给路径，用于从驱动电路向无刷电动机供给电流的电流供给路径。 此外，在驱动电路中，形成布线的汇流条的宽度被设定为使得从电源侧的分支点到Hi侧FET（其源极端子）的布线电阻（接触电阻）彼此相等，并且宽度 形成布线的母线被设定为使得从地侧分支点NL到Lo侧FET（其源极端子）的布线的电阻变得彼此相等。
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7.发明授权Motor controller and electric power steering apparatus with temperature detector of the motor 失效电机控制器和电动转向装置，带有电机温度检测器公开(公告)号：US08364349B2
公开(公告)日：2013-01-29
申请号：US12811774
申请日：2009-01-06
申请人： Takeshi Ueda , Shigeki Nagase , Hiroshi Sumasu
发明人： Takeshi Ueda , Shigeki Nagase , Hiroshi Sumasu
IPC分类号： G06F19/00
CPC分类号： B62D5/0496 , B62D5/046 , H02P21/16
摘要： An angle calculator determines an angle of a rotor. An angular speed calculator determines an angular speed of the rotor. A command current calculator determines a command current defined on a dq-axis. An open loop controller determines a command voltage defined on the dq-axis in accordance with a circuit equation of a motor, based on the command current and the angular speed. A dq-axis/three-phase converter converts the command voltage into a three-phase command voltage. A resistance calculator and a Φ-value calculator respectively determines circuit resistance including armature winding resistance and a number of armature winding linkages which are included in the circuit equation of the motor, based on temperature of the motor detected by a temperature sensor and with reference to a table or the like which is stored in advance.
摘要翻译： 角度计算器确定转子的角度。 角速度计算器确定转子的角速度。 命令电流计算器确定在dq轴上定义的命令电流。 开环控制器基于指令电流和角速度，根据电动机的电路方程式确定在dq轴上定义的指令电压。 dq轴/三相转换器将指令电压转换为三相指令电压。 电阻计算器和Φ值计算器分别基于由温度传感器检测到的电动机的温度并且参考电动机的电阻，包括电枢绕组电阻和包括在电动机的电路方程中的多个电枢绕组连接器 预先存储的表等。
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公开(公告)号：US20110022271A1
公开(公告)日：2011-01-27
申请号：US12935784
申请日：2009-03-30
申请人： Takeshi Ueda , Shigeki Nagase , Kouya Yoshida
发明人： Takeshi Ueda , Shigeki Nagase , Kouya Yoshida
CPC分类号： B62D5/046
摘要： An angle calculator detects a rotation angle θa of a rotor. A three-phase/d-q axis converter outputs detected current id, iq on d-q coordinate axes by making a conversion, based on a corrected detection angle θc obtained by adding or subtracting an amount of detection deviation from a time point of current detection to or from the detection angle θa. A command current calculator calculates command current id*, iq* on the d-q coordinate axes based on a steering torque T and a speed S. A feedback controller calculates command voltages vd, vq on the d-q coordinate axes based on the command current id*, iq* and the detected current id, iq. A d-q axis/three-phase converter converts the command voltages vd, vq into three-phase command voltages, based on a corrected detection angle θb obtained by adding an amount of detection deviation from a time point when a motor is driven to the detection angle θa. The deviation can be eliminated by the command voltages, and the motor can be driven with high precision.
摘要翻译： 角度计算器检测转子的旋转角度和角度; a。 三相/ dq轴转换器基于通过将从电流检测的时间点加上或减去检测偏差量而得到的校正检测角度＆amp; c;通过进行转换来输出dq坐标轴上的检测电流id iq; 或从检测角度和角度; a。 指令电流计算器基于转向转矩T和转速S计算dq坐标轴上的指令电流id *，iq *。反馈控制器基于指令电流id *计算dq坐标轴上的指令电压vd，vq， iq *和检测到的当前id iq。 dq轴/三相转换器基于通过将电动机驱动的时间点的检测偏差量相加到所获得的校正检测角度＆amp; t而将指令电压vd，vq转换为三相指令电压; 检测角度和角度; a。 通过指令电压可以消除偏差，可以高精度地驱动电机。
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公开(公告)号：US20100280714A1
公开(公告)日：2010-11-04
申请号：US12811774
申请日：2009-01-06
申请人： Takeshi Ueda , Shigeki Nagase , Hiroshi Sumasu
发明人： Takeshi Ueda , Shigeki Nagase , Hiroshi Sumasu
CPC分类号： B62D5/0496 , B62D5/046 , H02P21/16
摘要： An angle calculator determines an angle of a rotor. An angular speed calculator determines an angular speed of the rotor. A command current calculator determines a command current defined on a dq-axis. An open loop controller determines a command voltage defined on the dq-axis in accordance with a circuit equation of a motor, based on the command current and the angular speed. A dq-axis/three-phase converter converts the command voltage into a three-phase command voltage. A resistance calculator and a Φ-value calculator respectively determines circuit resistance including armature winding resistance and a number of armature winding linkages which are included in the circuit equation of the motor, based on temperature of the motor detected by a temperature sensor and with reference to a table or the like which is stored in advance.
摘要翻译： 角度计算器确定转子的角度。 角速度计算器确定转子的角速度。 命令电流计算器确定在dq轴上定义的命令电流。 开环控制器基于指令电流和角速度，根据电动机的电路方程式确定在dq轴上定义的指令电压。 dq轴/三相转换器将指令电压转换为三相指令电压。 电阻计算器和Φ值计算器分别基于由温度传感器检测到的电动机的温度并且参考电动机的电阻，包括电枢绕组电阻和包括在电动机的电路方程中的多个电枢绕组连接器 预先存储的表等。
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公开(公告)号：US07791293B2
公开(公告)日：2010-09-07
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
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。
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