公开(公告)号：US07604088B2

公开(公告)日：2009-10-20

申请号：US11579902

申请日：2005-05-09

申请人： Katsutoshi Nishizaki ,  Shirou Nakano ,  Ken Matsubara ,  Toshiaki Oya ,  Yasuhiro Kamatani ,  Masahiko Sakamaki ,  Yoshikazu Kuroumaru ,  Shigeki Nagase ,  Takayasu Yamazaki ,  Yasuhiro Saitou ,  Takeshi Ueda

发明人： Katsutoshi Nishizaki ,  Shirou Nakano ,  Ken Matsubara ,  Toshiaki Oya ,  Yasuhiro Kamatani ,  Masahiko Sakamaki ,  Yoshikazu Kuroumaru ,  Shigeki Nagase ,  Takayasu Yamazaki ,  Yasuhiro Saitou ,  Takeshi Ueda

IPC分类号： B62D5/04

CPC分类号： B62D6/10 ,  B62D5/0472

摘要： An electric power steering system is provided which is capable of providing a favorable steering feeling without using compensation logics such as of inertia compensation and friction compensation. The electric power steering system includes road-noise suppression control means (213) for controlling a steering assist motor (9) in a manner to damp torque transmission in a higher frequency region representing road noises than a frequency region representing road information. A friction value of a steering mechanism (A) is decreased enough to allow the intrinsic vibrations of the steering mechanism (A) to appear. Rotor inertia of the steering assist motor (9) is set to a value small enough to allow the frequencies of the intrinsic vibrations to be present in the frequency region where the torque transmission is damped by the road-noise suppression control means (213).

摘要翻译： 提供一种电动助力转向系统，其能够在不使用惯性补偿和摩擦补偿等补偿逻辑的情况下提供良好的转向感。 电动助力转向系统包括道路噪声抑制控制装置，用于以比表示道路信息的频率区域更低的代表道路噪声的较高频率区域的方式来控制转向辅助电动机（9）。 转向机构（A）的摩擦值减小到足以使转向机构（A）的固有振动出现。 将转向辅助马达（9）的转子惯量设定为足够小的值，以使固有振动的频率存在于由道路噪声抑制控制装置（213）阻尼转矩传递的频率区域中。

公开(公告)号：US20070198153A1

公开(公告)日：2007-08-23

申请号：US10591443

申请日：2005-03-03

申请人： Toshiaki Oya ,  Masahiko Sakamaki

发明人： Toshiaki Oya ,  Masahiko Sakamaki

IPC分类号： B62D6/00

CPC分类号： B62D5/0463

摘要： An electric power steering system includes: a band-stop filter 15a having a transfer function G1(s) for suppressing resonance, and a phase compensator 15b having a transfer function G2(s). The above function G1(s) is represented by an expression G1(s)=(s2+2ζ11ω1+ω12)/(s2+2ζ12ω1+ω12), where s: a Laplace operator, ζ11: a damping coefficient, ζ12: a damping coefficient, and ω1: an angular frequency. On the other hand, the above function G2(s) is represented by an expression G2(s)=(s2+2ζ21ω2+ω22)/(s2+2ζ22ω2+ω22), where s: a Laplace operator, ζ21: a damping coefficient, ζ22: a damping coefficient, and ω1: an angular frequency. Furthermore, the above damping coefficients ζ21, ζ22 satisfy an expression ζ2124 ζ22≧1. Thus, a filter such as a phase compensator may attain a design freedom while preventing the increase of arithmetic load, whereby both the suppression of resonance and a good assist response in a normal steering speed region, for example, may be achieved.

摘要翻译： 电动助力转向系统包括：具有用于抑制共振的传递函数G 1（s）的带阻滤波器15a和具有传递函数G 2 2的相位补偿器15b， / SUB>（s）。 上述函数G 1（s）由表达式G 1（s）=（s 2 + 2zeta 11）表示， 1/2 + 2zeta 12/2 + 2zeta 12 / 其中s：拉普拉斯算子，zeta 11：一个阻尼器，一个阻尼器，一个阻尼器，一个阻尼器，一个阻尼器 系数，zeta 12：阻尼系数和ω=1π角度频率。 另一方面，上述函数G 2（s）由表达式G 2（s）=（s 2+ 2zeta 2/2 + 2 + 2 + 2 + 2 + 2 + 其中s：拉普拉斯算子，zeta 21，其中s = 1/2， 阻尼系数，阻尼系数，ωω1：角频率。 此外，上述阻尼系数zeta 21，zeta 22满足表达式ζ21ζ22ζ22 = 1 。 因此，诸如相位补偿器的滤波器可以在防止运算负载增加的同时获得设计自由度，从而可以实现例如在正常转向速度区域中的谐振抑制和良好的辅助响应。

公开(公告)号：US20070118262A1

公开(公告)日：2007-05-24

申请号：US10574007

申请日：2004-09-30

申请人： Katsutoshi Nishizaki ,  Toshiaki Oya ,  Masahiko Sakamaki

发明人： Katsutoshi Nishizaki ,  Toshiaki Oya ,  Masahiko Sakamaki

IPC分类号： B62D6/00

CPC分类号： B62D5/0472 ,  B62D7/224

摘要： An electric power steering system causing an electric motor 6 to generate a steering assist force according to a steering torque, includes: a torque sensor 3 for detecting the steering torque; phase compensation means 15a, 15b acting when a target control value of the electric motor 6 is generated based on an output from the torque sensor 3; and means 15c for varying the characteristic of the phase compensation means depending upon whether a steering mode is steer with driving or steer without driving, whereby a loadless steering feeling due to phase lag is not encountered during driving even if vibrations during steer without driving are suppressed by a phase compensator.

摘要翻译： 一种使电动马达6根据转向转矩产生转向辅助力的电动助力转向系统，包括：用于检测转向转矩的转矩传感器3; 基于来自扭矩传感器3的输出而产生电动机6的目标控制值时的相位补偿装置15a，15b; 以及用于根据转向方式是否随驾驶或转向而不进行驾驶而改变相位补偿装置的特性的装置15c，由此即使在没有驾驶的转向时的振动下，驾驶期间也不会遇到由于相位滞后引起的无负载转向感觉 被相位补偿器抑制。

公开(公告)号：US07240761B2

公开(公告)日：2007-07-10

申请号：US10865869

申请日：2004-06-14

申请人： Shigeki Nagase ,  Masahiko Sakamaki ,  Katsutoshi Nishizaki ,  Toshiaki Oya ,  Takeshi Ueda

发明人： Shigeki Nagase ,  Masahiko Sakamaki ,  Katsutoshi Nishizaki ,  Toshiaki Oya ,  Takeshi Ueda

IPC分类号： B62D5/04 ,  H02P27/00 ,  G05B11/36

CPC分类号： B62D5/046 ,  H02P21/06

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。

公开(公告)号：US07711463B2

公开(公告)日：2010-05-04

申请号：US10591443

申请日：2005-03-03

申请人： Toshiaki Oya ,  Masahiko Sakamaki

发明人： Toshiaki Oya ,  Masahiko Sakamaki

IPC分类号： B62D6/00

CPC分类号： B62D5/0463

摘要： An electric power steering system includes: a band-stop filter 15a having a transfer function G1(s) for suppressing resonance, and a phase compensator 15b having a transfer function G2(s). The above function G1(s) is represented by an expression G1(s)=(s2+2ζ11ω1+ω12)/(s2+2ζ12ω1+ω12), where s is a Laplace operator, ζ11 is a damping coefficient, ζ12 is a damping coefficient, and ω1 is an angular frequency. On the other hand, the above function G2(s) is represented by an expression G2(s)=(s2+2ζ21ω2+ω22)/(s2+2ζ22ω2+ω22),where s is a Laplace operator, ζ21 is a damping coefficient, ζ22 is a damping coefficient, and ω1 is an angular frequency. Furthermore, the above damping coefficients ζ21, ζ22 satisfy an expression ζ2124 ζ22≧1.Thus, a filter such as a phase compensator may attain a design freedom while preventing the increase of arithmetic load, whereby both the suppression of resonance and a good assist response in a normal steering speed region, for example, may be achieved.

摘要翻译： 电动助力转向系统包括：具有用于抑制共振的传递函数G1（s）的带阻滤波器15a和具有传递函数G2（s）的相位补偿器15b。 上述函数G1（s）由表达式G1（s）=（s2 +2ζ11ω1+ω12）/（s2 +2ζ12ω1+ω12）表示，其中s是拉普拉斯算子，ζ11是阻尼系数，ζ12是阻尼 系数，ω1是角频率。 另一方面，上述函数G2（s）由表达式G2（s）=（s2 +2ζ21ω2+ω22）/（s2 +2ζ22ω2+ω22）表示，其中s是拉普拉斯算子，ζ21是阻尼系数 ζ22是阻尼系数，ω1是角频率。 此外，上述阻尼系数ζ21，ζ22满足ζ2124ζ22≥1的表达式。因此，诸如相位补偿器之类的滤波器可以在防止运算负载增加的同时获得设计自由度，从而抑制谐振和良好的辅助响应 例如，可以在正常的转向速度区域中实现。

公开(公告)号：US20070205041A1

公开(公告)日：2007-09-06

申请号：US11579902

申请日：2005-05-09

申请人： Katsutoshi Nishizaki ,  Shirou Nakano ,  Ken Matsubara ,  Toshiaki Oya ,  Yasuhiro Kamatani ,  Masahiko Sakamaki ,  Yoshikazu Kuromaru ,  Shigeki Nagase ,  Takayasu Yamazaki ,  Yasuhiro Saitou ,  Takeshi Ueda

发明人： Katsutoshi Nishizaki ,  Shirou Nakano ,  Ken Matsubara ,  Toshiaki Oya ,  Yasuhiro Kamatani ,  Masahiko Sakamaki ,  Yoshikazu Kuromaru ,  Shigeki Nagase ,  Takayasu Yamazaki ,  Yasuhiro Saitou ,  Takeshi Ueda

IPC分类号： G06F17/00

CPC分类号： B62D6/10 ,  B62D5/0472

摘要： An electric power steering system is provided which is capable of providing a favorable steering feeling without using compensation logics such as of inertia compensation and friction compensation. The electric power steering system includes road-noise suppression control means (213) for controlling a steering assist motor (9) in a manner to damp torque transmission in a higher frequency region representing road noises than a frequency region representing road information. A friction value of a steering mechanism (A) is decreased enough to allow the intrinsic vibrations of the steering mechanism (A) to appear. Rotor inertia of the steering assist motor (9) is set to a value small enough to allow the frequencies of the intrinsic vibrations to be present in the frequency region where the torque transmission is damped by the road-noise suppression control means (213).

摘要翻译： 提供一种电动助力转向系统，其能够在不使用惯性补偿和摩擦补偿等补偿逻辑的情况下提供良好的转向感。 电动助力转向系统包括道路噪声抑制控制装置，用于以比表示道路信息的频率区域更低的代表道路噪声的较高频率区域的方式来控制转向辅助电动机（9）。 转向机构（A）的摩擦值减小到足以使转向机构（A）的固有振动出现。 将转向辅助马达（9）的转子惯量设定为足够小的值，以使固有振动的频率存在于由道路噪声抑制控制装置（213）阻尼转矩传递的频率区域中。

公开(公告)号：US20070055425A1

公开(公告)日：2007-03-08

申请号：US10570988

申请日：2004-09-09

申请人： Toshiaki Oya ,  Katsutoshi Nishizaki ,  Masahiko Sakamaki

发明人： Toshiaki Oya ,  Katsutoshi Nishizaki ,  Masahiko Sakamaki

IPC分类号： B62D6/00

CPC分类号： B62D5/0463

摘要： An electric power steering system includes: an electric motor 6 for generating a steering assist force; a torque sensor 3 for detecting a steering torque; means 10 for generating a control target value for the electric motor 6 according to the detected steering torque; and means 28 for providing a non-interactive control of the electric motor. The system further includes a filter 12 which acts in the process of generating the control target value for the electric motor based on the steering toque. The filter 12 includes: a phase compensator 13 for decreasing a resonant peak gain of the system; and an LPF 12 for decreasing a second peak at a higher frequency than that of the resonant peak. The system is not degraded in the characteristics thereof even though the system provides a non-interactive control for ensuring followability of motor control.

摘要翻译： 电动助力转向系统包括：用于产生转向辅助力的电动机6; 用于检测转向转矩的转矩传感器3; 用于根据检测到的转向扭矩产生用于电动机6的控制目标值的装置10; 以及用于提供电动机的非交互式控制的装置28。 该系统还包括过滤器12，该过滤器12在基于转向转矩产生用于电动机的控制目标值的过程中起作用。 滤波器12包括：相位补偿器13，用于降低系统的谐振峰值增益; 以及用于以比谐振峰值更高的频率降低第二峰值的LPF 12。 即使系统提供用于确保电机控制的可追溯性的非交互式控制，该系统的特性也不会降低。

公开(公告)号：US06883637B2

公开(公告)日：2005-04-26

申请号：US10740808

申请日：2003-12-22

申请人： Katsutoshi Nishizaki ,  Toshiaki Oya ,  Masahiko Sakamaki

发明人： Katsutoshi Nishizaki ,  Toshiaki Oya ,  Masahiko Sakamaki

IPC分类号： B62D6/00 ,  B62D5/04 ,  B62D101/00 ,  B62D113/00 ,  B62D119/00 ,  H02P29/00

CPC分类号： B62D5/0463

摘要： An electric power steering device capable of attaining the expected control and control characteristics while using a phase compensator, includes a target current setting unit including a compensation unit having an inertia compensating unit for outputting an inertial compensating current value and a damper control unit for outputting a damper control current value, a compensation unit for outputting a compensation current value, a basic assist current setting unit for outputting a basic assist current value, and a phase compensating unit connected with the downstream stage of the basic assist current setting unit for outputting a target current value by performing a phase compensation of an added current value while receiving no influence from the dead zone or the characteristic break points of an assist table for setting the basic assist current value.

摘要翻译： 一种能够在使用相位补偿器的同时获得期望的控制和控制特性的电动助力转向装置包括：目标电流设定单元，包括具有用于输出惯性补偿电流值的惯性补偿单元的补偿单元和用于输出惯性补偿电流值的减震器控制单元 减振器控制电流值，用于输出补偿电流值的补偿单元，用于输出基本辅助电流值的基本辅助电流设定单元和与基本辅助电流设定单元的下游级连接的相位补偿单元，用于输出目标 通过在不接受来自用于设定基本辅助电流值的辅助台的死区或特征断点的影响的同时执行相加电流值的相位补偿来执行电流值。

公开(公告)号：US08055410B2

公开(公告)日：2011-11-08

申请号：US11921279

申请日：2006-05-30

申请人： Masahiko Sakamaki ,  Shigeki Nagase

发明人： Masahiko Sakamaki ,  Shigeki Nagase

IPC分类号： B62D6/00

CPC分类号： B62D5/0487 ,  H02P21/00 ,  H02P29/032

摘要： An electric power steering system in which a current command for a brushless DC motor is determined based on a detected steering torque, a voltage to be applied is determined based on a difference between the current command value and a current value flowing to the motor, and steering assist is implemented by applying the voltage so determined to the motor. A rotational angular velocity is computed based on a detected rotor position, and it is determined that the motor is abnormal when a rotational angular velocity determination unit determines that the rotational angular velocity is equal to or less than a predetermined value, a current command value determination unit determines that the current command value is equal to or less than a predetermined value, and a voltage determination unit determines that the voltage applied to the motor falls out of a predetermined voltage range.

摘要翻译： 根据检测到的转向转矩来确定无刷直流电动机的电流指令的电动助力转向系统，根据电流指令值和流向电动机的电流值之间的差来确定要施加的电压， 通过将如此确定的电压施加到电动机来实现转向辅助。 基于检测到的转子位置计算旋转角速度，并且当旋转角速度确定单元确定旋转角速度等于或小于预定值时，确定电动机异常，当前指令值确定 单元确定当前指令值等于或小于预定值，并且电压确定单元确定施加到电动机的电压落在预定电压范围之外。

公开(公告)号：US20090043453A1

公开(公告)日：2009-02-12

申请号：US11921279

申请日：2006-05-30

申请人： Masahiko Sakamaki ,  Shigeki Nagase

发明人： Masahiko Sakamaki ,  Shigeki Nagase

IPC分类号： B62D6/00

CPC分类号： B62D5/0487 ,  H02P21/00 ,  H02P29/032

摘要： An electric power steering system in which a current command for a brushless DC motor is determined based on a detected steering torque, a voltage to be applied is determined based on a difference between the current command value and a current value flowing to the motor, and steering assist is implemented by applying the voltage so determined to the motor. A rotational angular velocity is computed based on a detected rotor position, and it is determined that the motor is abnormal when a rotational angular velocity determination unit determines that the rotational angular velocity is equal to or less than a predetermined value, a current command value determination unit determines that the current command value is equal to or less than a predetermined value, and a voltage determination unit determines that the voltage applied to the motor falls out of a predetermined voltage range.

摘要翻译： 根据检测到的转向转矩来确定无刷直流电动机的电流指令的电动助力转向系统，根据电流指令值和流向电动机的电流值之间的差来确定要施加的电压， 通过将如此确定的电压施加到电动机来实现转向辅助。 基于检测到的转子位置计算旋转角速度，并且当旋转角速度确定单元确定旋转角速度等于或小于预定值时，确定电动机异常，当前指令值确定 单元确定当前指令值等于或小于预定值，并且电压确定单元确定施加到电动机的电压落在预定电压范围之外。