公开(公告)号：US20080027609A1

公开(公告)日：2008-01-31

申请号：US11782739

申请日：2007-07-25

申请人： Yuho Aoki ,  Takeshi Hara ,  Nobuhiro Furushima ,  Hideyuki Kobayashi ,  Shuji Endo

发明人： Yuho Aoki ,  Takeshi Hara ,  Nobuhiro Furushima ,  Hideyuki Kobayashi ,  Shuji Endo

IPC分类号： B62D5/04

CPC分类号： B62D5/0472 ,  B62D5/0463

摘要： An electric power steering apparatus has a steering mechanism SM having universal joints 4, 6 in a torque transmitting system, a steering toque detecting unit 14, a steering angle detecting unit 18, a torque fluctuation detecting unit 43 for detecting a torque fluctuation due to the crossing angle α in the universal joints 4, 6 on the basis of the steering angle θ detected by the steering angle detecting unit 18 and any one of the steering torque T detected by the steering torque detecting unit, a current command value It and self-aligning torque SAT; and a current command value correcting unit 44 for correcting the current command value on the basis of the torque fluctuation detected by the torque fluctuation detecting unit 43 and the steering angle θ detected by the steering angle detecting unit 18.

摘要翻译： 电动助力转向装置具有转矩传递系统中具有万向接头4,6的转向机构SM，转向转矩检测部14，转向角检测部18，扭矩波动检测部43， 基于由转向角检测单元18检测到的转向角θ和由转向转矩检测单元检测到的转向转矩T中的任一个，通用接头4,6中的交叉角α， 对位扭矩SAT; 以及电流指令值校正单元44，用于基于由转矩波动检测单元43检测到的转矩波动和由转向角检测单元18检测的转向角θ来校正电流指令值。

公开(公告)号：US20070090782A1

公开(公告)日：2007-04-26

申请号：US10579969

申请日：2004-11-24

申请人： Shuji Endo ,  Yuho Aoki ,  Hideyuki Kobayashi ,  CaoMinh Ta

发明人： Shuji Endo ,  Yuho Aoki ,  Hideyuki Kobayashi ,  CaoMinh Ta

IPC分类号： H02P7/00

CPC分类号： H02P21/14 ,  B62D5/046 ,  H02P21/22

摘要： The invention relates to a control apparatus of an electric power steering apparatus structured such as to apply a steering assist force generated by a n-phase motor to a steering system of a vehicle, the control apparatus is provided with at least (n−1) numbers of current detecting means for detecting a current Im in each of phases of the motor, a current command value calculating means for outputting a current command value Imref in each of the phases, and n numbers of current control means, and the control apparatus executes a current control of each of the phases by the current control means having the current command value Imref in each of the phases and the current Im in each of the phases as an input.

摘要翻译： 本发明涉及一种电动助力转向装置的控制装置，其构造为将由n相电动机产生的转向辅助力施加到车辆的转向系统，所述控制装置至少配备有（n-1） 用于检测电动机的每个相位中的电流Im的电流检测装置的数量，用于在每个相中输出电流指令值Imref的电流指令值计算装置和n个电流控制装置，并且控制装置执行 电流控制装置对每个相位的电流进行控制，该电流控制装置在各相中具有电流指令值Imref，在每相中具有电流Im作为输入。

公开(公告)号：US07548035B2

公开(公告)日：2009-06-16

申请号：US10579969

申请日：2004-11-24

申请人： Shuji Endo ,  Yuho Aoki ,  Hideyuki Kobayashi ,  CaoMinh Ta

发明人： Shuji Endo ,  Yuho Aoki ,  Hideyuki Kobayashi ,  CaoMinh Ta

IPC分类号： H02P7/00

CPC分类号： H02P21/14 ,  B62D5/046 ,  H02P21/22

摘要： The invention relates to a control apparatus of an electric power steering apparatus structured such as to apply a steering assist force generated by a n-phase motor to a steering system of a vehicle, the control apparatus is provided with at least (n−1) numbers of current detecting means for detecting a current Im in each of phases of the motor, a current command value calculating means for outputting a current command value Imref in each of the phases, and n numbers of current control means, and the control apparatus executes a current control of each of the phases by the current control means having the current command value Imref in each of the phases and the current Im in each of the phases as an input.

摘要翻译： 本发明涉及一种电动助力转向装置的控制装置，其构造为将由n相电动机产生的转向辅助力施加到车辆的转向系统，所述控制装置至少配备有（n-1） 用于检测电动机的每个相位中的电流Im的电流检测装置的数量，用于在每个相中输出电流指令值Imref的电流指令值计算装置和n个电流控制装置，并且控制装置执行 电流控制装置对每个相位的电流进行控制，该电流控制装置在各相中具有电流指令值Imref，在每相中具有电流Im作为输入。

公开(公告)号：US5861725A

公开(公告)日：1999-01-19

申请号：US909806

申请日：1997-08-12

申请人： Shuji Endo ,  Hideyuki Kobayashi

发明人： Shuji Endo ,  Hideyuki Kobayashi

IPC分类号： B62D5/04

CPC分类号： B62D5/0463

摘要： A steering force assist command value in correspondence with a steering torque is represented by approximation function equations lower than the order of the higher order function equation. The steering torque is sampled at predetermined time intervals and the steering force assist command value in correspondence with the sampled steering torque is calculated by the approximation function equations where when data outputted from a calculation device comprise 16-bit data, upper 8-bit data is outputted to a motor drive circuit and lower 8-bit data is omitted, and the omitted lower 8-bit data is added in calculating operation of next sampling period. An error of the steering force assist command value by omission of the lower 8-bit data is reduced and steering feeling can be improved.

摘要翻译： 与转向转矩相对应的转向力辅助指令值由低于高阶函数方程的阶数的近似函数方程表示。 以预定的时间间隔对转向扭矩进行采样，并且通过近似函数式来计算与采样的转向转矩相对应的转向力辅助指令值，其中当从计算装置输出的数据包括16位数据时，高8位数据为 输出到电动机驱动电路，并且省略较低的8位数据，并且在下一个采样周期的计算操作中添加省略的较低的8位数据。 通过省略较低的8位数据导致的转向力辅助指令值的误差降低，可提高转向感。

公开(公告)号：US07983816B2

公开(公告)日：2011-07-19

申请号：US12838038

申请日：2010-07-16

申请人： Hideyuki Kobayashi ,  Toru Sakaguchi ,  Shuji Endo ,  Atsushi Kojima

发明人： Hideyuki Kobayashi ,  Toru Sakaguchi ,  Shuji Endo ,  Atsushi Kojima

IPC分类号： A01B69/00

CPC分类号： B62D5/0472 ,  B62D5/0463 ,  B62D5/0466

摘要： The present invention provides a control apparatus for an electric power steering apparatus comprises: a steering assist command value calculating section; a current control section that calculates a voltage command value; and a motor driving section that drives a motor based on the voltage command value, wherein an assist power from the motor is applied to a steering system, the control apparatus is characterized in that an SAT measuring section, that inputs an angular speed and an angular acceleration of the motor, the steering assist command value and the torque signal therein so as to estimate an SAT, is provided, and the SAT obtained by the SAT measuring section is feedbacked to the steering assist command value via a feedback section composed of a phase compensating section and a gain section.

公开(公告)号：US07443131B2

公开(公告)日：2008-10-28

申请号：US10585990

申请日：2004-12-12

申请人： CaoMinh Ta ,  Hideyuki Kobayashi ,  Shuji Endo

发明人： CaoMinh Ta ,  Hideyuki Kobayashi ,  Shuji Endo

IPC分类号： H02P23/00

CPC分类号： B62D5/046

摘要： A control device for electric power steering apparatus, in which when torque ripples at the time of the rotation of a motor is reduced by simple arithmetic, smooth and safe assist limitation is performed without deteriorating steering feeling, is provided. For this reason, in the control device for electric power steering apparatus adopting a vector control system for applying an assist force of a motor to a steering system, a phase delay according to an angular velocity is obtained, a corrected electric angle is calculated by adding the phase delay to an electric angle, and generation of a current command value in the vector control is compensated based on the corrected electric angle.

摘要翻译： 一种用于电动助力转向装置的控制装置，其中通过简单的算术减少了电动机旋转时的扭矩波动，而不会恶化转向感，进行平稳和安全的辅助限制。 因此，在采用将电动机的辅助力施加到转向系统的矢量控制系统的电动助力转向装置的控制装置中，获得根据角速度的相位延迟，通过将 基于校正的电角度补偿矢量控制中的电角度的相位延迟和电流指令值的产生。

公开(公告)号：US20070096672A1

公开(公告)日：2007-05-03

申请号：US11586571

申请日：2006-10-26

申请人： Shuji Endo ,  Hideyuki Kobayashi

发明人： Shuji Endo ,  Hideyuki Kobayashi

IPC分类号： H02P7/00

CPC分类号： B62D5/0472

摘要： There is provided a controller for an electric power steering apparatus having a motor which applies a steering assist force to a steering mechanism. The controller includes a torque command value calculating portion which calculates a torque command value based on steering torque generated in a steering shaft, and a vehicle speed and a current command value calculating portion which calculates a current command value for the motor based on the torque command value. The controller controls the motor based on the current command value. In the apparatus, the controller has a cogging torque compensation value calculating portion which calculates a cogging torque compensation value for the motor, and corrects the current command value based on the cogging torque compensation value.

摘要翻译： 提供了一种用于具有向转向机构施加转向辅助力的电动机的电动助力转向装置的控制器。 控制器包括：转矩指令值计算部，其基于在转向轴中产生的转向转矩来计算转矩指令值;车速和电流指令值计算部，其基于转矩指令计算电动机的电流指令值 值。 控制器根据当前的指令值控制电机。 在该装置中，控制器具有齿槽转矩补偿值计算部，其计算电动机的齿槽转矩补偿值，并根据齿槽转矩补偿值来校正当前指令值。

公开(公告)号：US06326753B1

公开(公告)日：2001-12-04

申请号：US09225490

申请日：1999-01-06

申请人： Kenji Someya ,  Atsushi Tanaka ,  Shuji Endo ,  Hideyuki Kobayashi

发明人： Kenji Someya ,  Atsushi Tanaka ,  Shuji Endo ,  Hideyuki Kobayashi

IPC分类号： B62D504

CPC分类号： B62D5/0463 ,  Y10S388/934

摘要： A controller of an electric power steering system corrects a motor current command value by using a temperature of a motor, and compensates a variation in a motor current characteristic in accordance with a variation in the temperature. The controller includes a torque sensor for detecting a steering torque of a steering wheel; a motor for supplying a steering assist torque to a steering shaft integrally provided with the steering wheel; and a control unit for driving the motor in accordance with a magnitude of the steering torque. The control unit corrects a motor current command value in accordance with a temperature of the motor, and controls a motor current in accordance with the corrected motor current command value.

摘要翻译： 电动助力转向系统的控制器通过使用电动机的温度来校正电动机电流指令值，并且根据温度的变化来补偿电动机电流特性的变化。控制器包括用于检测转向的转矩传感器 方向盘的转矩; 用于向与所述方向盘一体设置的转向轴提供转向辅助转矩的电动机; 以及用于根据转向转矩的大小来驱动电动机的控制单元。 控制单元根据电动机的温度校正电动机电流指令值，并且根据校正的电动机电流指令值来控制电动机电流。

公开(公告)号：US08005594B2

公开(公告)日：2011-08-23

申请号：US12837982

申请日：2010-07-16

申请人： Hideyuki Kobayashi ,  Shuji Endo

发明人： Hideyuki Kobayashi ,  Shuji Endo

IPC分类号： A01B69/00

CPC分类号： B62D5/0472 ,  B62D5/0463 ,  B62D5/0466

摘要： The present invention provides a control apparatus for an electric power steering apparatus comprises: a steering assist command value calculating section; a current control section that calculates a voltage command value; and a motor driving section that drives a motor based on the voltage command value, wherein an assist power from the motor is applied to a steering system, the control apparatus is characterized in that an SAT measuring section, that inputs an angular speed and an angular acceleration of the motor, the steering assist command value and the torque signal therein so as to estimate an SAT, is provided, and the SAT obtained by the SAT measuring section is feedbacked to the steering assist command value via a feedback section composed of a phase compensating section and a gain section.

公开(公告)号：US20100286871A1

公开(公告)日：2010-11-11

申请号：US12838038

申请日：2010-07-16

申请人： Hideyuki Kobayashi ,  Toru Sakaguchi ,  Shuji Endo ,  Atsushi Kojima

发明人： Hideyuki Kobayashi ,  Toru Sakaguchi ,  Shuji Endo ,  Atsushi Kojima

IPC分类号： G06F19/00 ,  B62D5/04

CPC分类号： B62D5/0472 ,  B62D5/0463 ,  B62D5/0466

摘要： The present invention provides a control apparatus for an electric power steering apparatus comprises: a steering assist command value calculating section; a current control section that calculates a voltage command value; and a motor driving section that drives a motor based on the voltage command value, wherein an assist power from the motor is applied to a steering system, the control apparatus is characterized in that an SAT measuring section, that inputs an angular speed and an angular acceleration of the motor, the steering assist command value and the torque signal therein so as to estimate an SAT, is provided, and the SAT obtained by the SAT measuring section is feedbacked to the steering assist command value via a feedback section composed of a phase compensating section and a gain section.