公开(公告)号：US06597142B2

公开(公告)日：2003-07-22

申请号：US09956832

申请日：2001-09-21

申请人： Tetsuro Shibukawa ,  Akimitsu Kamiya ,  Kazunari Ogura ,  Atsuhisa Asada ,  Tadashi Otani ,  Shinji Murakami ,  Katsuhiro Maseki ,  Yoshihiko Yamada

发明人： Tetsuro Shibukawa ,  Akimitsu Kamiya ,  Kazunari Ogura ,  Atsuhisa Asada ,  Tadashi Otani ,  Shinji Murakami ,  Katsuhiro Maseki ,  Yoshihiko Yamada

IPC分类号： G05B1918

CPC分类号： G05B19/40937 ,  G05B2219/36279 ,  G05B2219/36281 ,  Y02P90/265

摘要： An apparatus for setting control parameters of a machining apparatus. The setting apparatus includes a storage unit for storing a set of control parameters for each of a plurality of machining modes; an input device for selecting one of the plurality of machining modes; and a control unit for selecting a set of control parameters corresponding the selected machining mode and setting the set of control parameters as control parameters to be used for controlling the machining apparatus.

公开(公告)号：US07325646B2

公开(公告)日：2008-02-05

申请号：US11182000

申请日：2005-07-15

申请人： Atsuhisa Asada

发明人： Atsuhisa Asada

IPC分类号： B62D5/04

CPC分类号： B62D15/0215 ,  B62D15/0235 ,  B62D15/0245

摘要： In an electric power steering apparatus, at least one of a speed reduction gear ratio of the speed reduction gear mechanism and the number of pole pairs of a motor resolver is set in such a manner that a calculated value, which is obtained by multiplying the speed reduction gear ratio of the speed reduction gear mechanism with the number of pole pairs of the motor resolver, represents a non-integer having a numerical value of the decimal place. This electric power steering apparatus includes an absolute rotational position specifying device configured to specify an absolute rotational position of the steering wheel from among plural possible absolute rotational positions that are obtained based on the steering angle and the motor electrical angle. This electric power steering apparatus is hence capable of controlling an electric motor based on the absolute rotational position of the steering wheel.

摘要翻译： 在电动助力转向装置中，将减速齿轮机构的减速比与电动机旋转变压器的极对数之中的至少一个设定为将乘以速度 具有马达解算器的极对数的减速齿轮机构的减速比代表具有小数位数的数值的非整数。 该电动助力转向装置包括绝对旋转位置指定装置，其被配置为基于转向角和电动机电角度确定从多个可能的绝对转动位置中指定方向盘的绝对旋转位置。 因此，该电动助力转向装置能够基于方向盘的绝对旋转位置来控制电动机。

公开(公告)号：US20050065686A1

公开(公告)日：2005-03-24

申请号：US10942878

申请日：2004-09-17

申请人： Toshio Kohno ,  Atsuhisa Asada

发明人： Toshio Kohno ,  Atsuhisa Asada

IPC分类号： B62D5/04 ,  B62D6/00 ,  B62D6/10 ,  B62D15/02 ,  B62D113/00 ,  B62D119/00 ,  G01L3/10 ,  G01L5/22

CPC分类号： B62D5/049 ,  B62D6/10 ,  B62D15/0215 ,  G01L3/104 ,  G01L3/105 ,  G01L3/109 ,  G01L5/221

摘要： An electric power steering apparatus includes a first resolver whose pole pair number is ‘m’ and a second resolver whose pole pair ‘n’. The electric power steering apparatus further includes a torsion calculating means which calculates the a torsion angle of the torsion bar from a difference between the rotating angle detected by the first resolver and the rotating angle detected by the second resolver. The torsion calculating means compensates the angle difference by a compensation value obtained by a table on the basis of the value obtained by multiplying an electrical angel of the first resolver by ‘n’ and the value obtained by multiplying an electrical angle of the second resolver by ‘m’.

摘要翻译： 一种电动助力转向装置，其具有极数为“m”的第一解算装置和极对“n”的第二解算装置。 电动助力转向装置还包括扭力计算装置，该扭力计算装置根据由第一旋转变压器检测到的旋转角度与由第二旋转变压器检测到的旋转角度之间的差计算扭杆的扭转角度。 扭转计算装置根据通过将第一分解器的电角度乘以'n'获得的值和通过将第二分解器的电角度乘以所得到的值乘以由表获得的补偿值来补偿角度差 '''

公开(公告)号：US20050016789A1

公开(公告)日：2005-01-27

申请号：US10691543

申请日：2003-10-24

申请人： Atsuhisa Asada

发明人： Atsuhisa Asada

IPC分类号： B62D15/02 ,  B62D5/04

CPC分类号： B62D15/02

摘要： An electric power steering device according to the embodiment disclosed herein employs, in addition to a motor resolver of an electric motor for assisting the rotational manipulation of a steering shaft, first and second resolvers which are made different in the number of N-S pole pairs from each other each for detecting the rotational position of the steering shaft. The reduction gear ratio of a reduction gear mechanism of a ball screw mechanism driven by the electric motor is set so that a calculated value which is obtained by multiplying the reduction gear ratio with the number of pole pairs of a motor resolver represents a non-integer having a numerical value of the decimal place. Thus, it does not occur that calculated value becomes an integer which does not have any numerical value of the decimal place. As a result, it can be realized that the mechanical angle of the steering wheel which is calculated based on electrical angles of the first and second resolvers can be made not take the same value within any one-rotational range unit as that within another one-rotational range unit of four rotations in total of the steering wheel including two left rotations and two right rotations. Consequently, it becomes possible to detect the absolute rotational position of the steering wheel precisely, so that the motor for assisting the steering manipulation can reliably be controlled in dependence on the absolute rotational position of the steering wheel so precisely detected.

摘要翻译： 根据本文公开的实施例的电动助力转向装置除了用于辅助转向轴的旋转操纵的电动机的旋转变压器之外，还使用与每个NS极对数不同的第一和第二解算器 其它每个用于检测转向轴的旋转位置。 由电动机驱动的滚珠丝杠机构的减速机构的减速比设定为将减速比与电动机旋转变压器的极对数相乘得到的计算值表示为非整数 具有小数位的数值。 因此，不会发生计算值为不具有小数位数的任何数值的整数。 结果，可以认识到，基于第一和第二解算器的电角度计算出的方向盘的机械角度可以在与另一单向旋转范围内的任何一个旋转范围单位内不相同， 包括两个左旋转和两个右旋转的方向盘总共四次旋转的旋转范围单位。 因此，可以精确地检测方向盘的绝对旋转位置，从而可以根据正确检测的方向盘的绝对旋转位置可靠地控制用于辅助转向操作的电动机。

公开(公告)号：US07076352B2

公开(公告)日：2006-07-11

申请号：US10942878

申请日：2004-09-17

申请人： Toshio Kohno ,  Atsuhisa Asada

发明人： Toshio Kohno ,  Atsuhisa Asada

IPC分类号： B62D6/00 ,  B62D1/16

CPC分类号： B62D5/049 ,  B62D6/10 ,  B62D15/0215 ,  G01L3/104 ,  G01L3/105 ,  G01L3/109 ,  G01L5/221

摘要： An electric power steering apparatus includes a first resolver whose pole pair number is ‘m’ and a second resolver whose pole pair ‘n’. The electric power steering apparatus further includes a torsion calculating means which calculates the a torsion angle of the torsion bar from a difference between the rotating angle detected by the first resolver and the rotating angle detected by the second resolver. The torsion calculating means compensates the angle difference by a compensation value obtained by a table on the basis of the value obtained by multiplying an electrical angle of the first resolver by ‘n’ and the value obtained by multiplying an electrical angle of the second resolver by ‘m’.

摘要翻译： 一种电动助力转向装置，其具有极数为“m”的第一解算装置和极对“n”的第二解算装置。 电动助力转向装置还包括扭力计算装置，该扭力计算装置根据由第一旋转变压器检测到的旋转角度与由第二旋转变压器检测到的旋转角度之间的差计算扭力杆的扭转角度。 扭转计算装置根据通过将第一分解器的电角度乘以'n'获得的值和通过将第二旋转变压器的电角度乘以所得到的值乘以由表获得的补偿值来补偿角度差 '''

公开(公告)号：US07032706B2

公开(公告)日：2006-04-25

申请号：US10806401

申请日：2004-03-23

申请人： Atsuhisa Asada

发明人： Atsuhisa Asada

IPC分类号： B62D5/04

CPC分类号： B62D5/0457 ,  B62D5/0481 ,  B62D15/0215 ,  B62D15/0235

摘要： A method for setting a control parameter for an electric power steering device includes process of obtaining a speed ratio between a steering shaft and a motor based on a mechanical angle at the steering shaft obtained from a first steering angle and a second steering angle and a motor electric angle of the motor, and setting the speed ratio as a control parameter used for obtaining the absolute rotational position of the steering wheel from the first steering angle, the second steering angle, and the motor electric angle at the control means.

摘要翻译： 一种用于设定电动助力转向装置的控制参数的方法包括基于从第一转向角和第二转向角获得的转向轴处的机械角度获得转向轴和电动机之间的速比的处理和电动机 并且设定速度比作为用于从控制装置处的第一转向角，第二转向角和电动机电角度获得方向盘的绝对转动位置的控制参数。

公开(公告)号：US06827177B2

公开(公告)日：2004-12-07

申请号：US10713218

申请日：2003-11-17

申请人： Atsuhisa Asada ,  Jiro Nakano

发明人： Atsuhisa Asada ,  Jiro Nakano

IPC分类号： B62D504

CPC分类号： G01L5/221 ,  B62D6/10

摘要： A torque detector that suppresses fluctuation of an output value relative to fluctuation of an input value and that also has the output value accurately follow the input value even when the input value changes suddenly. The torque detector includes a detection element, a converter, and a hysteresis processor. The detection element detects the steering torque applied to a steering shaft when the steering shaft is rotated to generate an analog torque signal corresponding to the steering torque. The converter converts the analog torque signal to a digital torque signal. The hysteresis processor performs hysteresis processing on the digital torque signal to include the value of the digital torque signal in a predetermined range.

摘要翻译： 即使在输入值突然变化的情况下，抑制输出值相对于输入值的波动的扭矩检测器也能够正确地跟随输入值。 扭矩检测器包括检测元件，转换器和滞后处理器。 当转向轴旋转时，检测元件检测施加到转向轴的转向扭矩，以产生对应于转向转矩的模拟转矩信号。 转换器将模拟转矩信号转换为数字转矩信号。 滞后处理器对数字转矩信号执行滞后处理，以将数字转矩信号的值包括在预定范围内。

公开(公告)号：US06994181B2

公开(公告)日：2006-02-07

申请号：US10691543

申请日：2003-10-24

申请人： Atsuhisa Asada

发明人： Atsuhisa Asada

IPC分类号： B62D5/04

CPC分类号： B62D15/02

摘要： An electric power steering device according to the embodiment disclosed herein employs, in addition to a motor resolver of an electric motor for assisting the rotational manipulation of a steering shaft, first and second resolvers which are made different in the number of N-S pole pairs from each other each for detecting the rotational position of the steering shaft. The reduction gear ratio of a reduction gear mechanism of a ball screw mechanism driven by the electric motor is set so that a calculated value which is obtained by multiplying the reduction gear ratio with the number of pole pairs of a motor resolver represents a non-integer having a numerical value of the decimal place. Thus, it does not occur that calculated value becomes an integer which does not have any numerical value of the decimal place. As a result, it can be realized that the mechanical angle of the steering wheel which is calculated based on electrical angles of the first and second resolvers can be made not take the same value within any one-rotational range unit as that within another one-rotational range unit of four rotations in total of the steering wheel including two left rotations and two right rotations. Consequently, it becomes possible to detect the absolute rotational position of the steering wheel precisely, so that the motor for assisting the steering manipulation can reliably be controlled in dependence on the absolute rotational position of the steering wheel so precisely detected.

摘要翻译： 根据本文公开的实施例的电动助力转向装置除了用于辅助转向轴的旋转操纵的电动机的旋转变压器之外，还使用与每个NS极对数不同的第一和第二解算器 其它每个用于检测转向轴的旋转位置。 由电动机驱动的滚珠丝杠机构的减速机构的减速比设定为将减速比与电动机旋转变压器的极对数相乘得到的计算值表示为非整数 具有小数位的数值。 因此，不会发生计算值为不具有小数位数的任何数值的整数。 结果，可以认识到，基于第一和第二解算器的电角度计算出的方向盘的机械角度可以在与另一单向旋转范围内的任何一个旋转范围单位内不相同， 包括两个左旋转和两个右旋转的方向盘总共四次旋转的旋转范围单位。 因此，可以精确地检测方向盘的绝对旋转位置，从而可以根据正确检测的方向盘的绝对旋转位置可靠地控制用于辅助转向操作的电动机。

公开(公告)号：US20070012506A1

公开(公告)日：2007-01-18

申请号：US11182000

申请日：2005-07-15

申请人： Atsuhisa Asada

发明人： Atsuhisa Asada

IPC分类号： B62D5/04

CPC分类号： B62D15/0215 ,  B62D15/0235 ,  B62D15/0245

摘要： In an electric power steering apparatus, at least one of a speed reduction gear ratio of the speed reduction gear mechanism and the number of pole pairs of a motor resolver is set in such a manner that a calculated value, which is obtained by multiplying the speed reduction gear ratio of the speed reduction gear mechanism with the number of pole pairs of the motor resolver, represents a non-integer having a numerical value of the decimal place. This electric power steering apparatus includes an absolute rotational position specifying device configured to specify an absolute rotational position of the steering wheel from among plural possible absolute rotational positions that are obtained based on the steering angle and the motor electrical angle. This electric power steering apparatus is hence capable of controlling an electric motor based on the absolute rotational position of the steering wheel.

摘要翻译： 在电动助力转向装置中，将减速齿轮机构的减速比与电动机旋转变压器的极对数之中的至少一个设定为将乘以速度 具有马达解算器的极对数的减速齿轮机构的减速比代表具有小数位数的数值的非整数。 该电动助力转向装置包括绝对旋转位置指定装置，其被配置为基于转向角和电动机电角度确定从多个可能的绝对转动位置中指定方向盘的绝对旋转位置。 因此，该电动助力转向装置能够基于方向盘的绝对旋转位置来控制电动机。

公开(公告)号：US06983817B2

公开(公告)日：2006-01-10

申请号：US10770444

申请日：2004-02-04

申请人： Hideki Katou ,  Atsuhisa Asada

发明人： Hideki Katou ,  Atsuhisa Asada

IPC分类号： B62D5/04

CPC分类号： B62D5/049 ,  B62D6/10

摘要： A power steering device is provided which is capable of preventing a wrong operation from occurring in a steering control state even when an initial torque of torque detection was not detected normally due to a human error. Upon receipt of a trigger signal, a CPU reads an initial setting program from a program storage area of a ROM and executes the initial setting program in the following order of steps. That is, the CPU detects by torque detection an initial torque which is generated primarily by the cause of the difference between origin positions of a pair of resolvers 12, 12 which together with a torsion bar constitutes the torque detection. Then, the CPU operates an assist motor to rotate a steering handle from a neutral position a predetermined rotational angle in one direction about the handle axis to stop the steering handle at a first judgment position and detects a first judgment torque value by the torque detection with the steering handle being stopped at the first judgment position. Then, the CPU rotates the steering handle from the neutral position the same angular position in the other direction to stop the steering handle at a second judgment position and detects a second judgment torque value by the torque detection with the steering handle being stopped at the second judgment position. Further, the CPU judges whether the initial torque has been detected normally or not, based on the first and second judgment torque values.

摘要翻译： 提供了一种动力转向装置，其即使在由于人为错误而没有正常检测到转矩检测的初始转矩时，也能够防止在转向控制状态中发生错误的操作。 在接收到触发信号时，CPU从ROM的程序存储区域读取初始设置程序，并按照以下顺序执行初始设置程序。 也就是说，CPU通过转矩检测检测到主要由一对解析器12,12的原点位置之间的差异的原因产生的初始转矩，其与扭杆一起构成转矩检测。 然后，CPU操作辅助电动机，使转向手柄从中立位置以围绕手柄轴线的一个方向旋转预定旋转角度，以在第一判断位置停止转向手柄，并通过转矩检测来检测第一判断扭矩值， 转向手柄停在第一判断位置。 然后，CPU将转向手柄从中立位置沿着另一方向从相同的角度位置旋转，以在第二判断位置停止转向手柄，并且通过转向手柄在第二个停止时检测第二判断扭矩值 判断立场 此外，CPU基于第一和第二判断转矩值来判断初始转矩是否被正常检测。