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公开(公告)号：US20110118940A1
公开(公告)日：2011-05-19
申请号：US12946187
申请日：2010-11-15
CPC分类号： H02P21/0046 , B62D5/046 , H02P21/04 , H02P21/28
摘要： A motor is driven by the γ-axis current of a γδ coordinate system that is an imaginary rotating coordinate system. A command current value preparation unit sets the γ-axis command current value based on the command steering torque and the detected steering torque. The command current value preparation unit includes a command current increase/decrease amount calculation unit and an addition unit. The command current increase/decrease amount calculation unit calculates the current increase/decrease amount for the command current value based on the sign of the command steering torque and the deviation of the detected steering torque from the command steering torque. The current increase/decrease amount calculated by the command current increase/decrease amount calculation unit is added to the immediately preceding value of the command current value by the addition unit. Thus, the command current value in the present calculation cycle is calculated.
摘要翻译： 电动机由作为虚拟旋转坐标系的γδ坐标系的γ轴电流驱动。 指令电流值准备部基于指示转向转矩和检测到的转向转矩来设定γ轴指令电流值。 指令电流值准备单元包括指令电流增减量计算单元和加法单元。 指令电流增减量计算单元基于指示转向转矩的符号和检测到的转向转矩与指示转向转矩的偏差来计算指令电流值的当前增减量。 由指令电流上升/下降量计算单元计算出的当前增加/减少量通过加法单元加到指令当前值的紧前面的值。 因此，计算当前计算周期中的指令当前值。
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2.发明申请MOTOR CONTROL UNIT AND MOTOR CONTROL UNIT FOR VEHICLE STEERING APPARATUS 审中-公开用于车辆转向装置的电动机控制单元和电机控制单元公开(公告)号：US20100235051A1
公开(公告)日：2010-09-16
申请号：US12721855
申请日：2010-03-11
摘要： A motor control unit controls a motor including a rotor and a stator facing the rotor. A current drive unit drives the motor at an axis current value of a rotating coordinate system that rotates in accordance with a control angle that is a rotational angle used in a control. An addition angle calculation unit calculates an addition angle to be added to the control angle. A control angle calculation unit obtains, at every predetermined calculation cycle, a present value of the control angle by adding the addition angle that is calculated by the addition angle calculation unit to an immediately preceding value of the control angle. A torque detection unit detects a torque that is other than a motor torque and that is applied to a drive target driven by the motor. A command torque setting unit sets a command torque to be applied to the drive target. An addition angle correction unit compares the command torque set by the command torque setting unit with the detected torque detected by the torque detection unit, and corrects the addition angle based on a comparison result.
摘要翻译： 马达控制单元控制包括转子和面向转子的定子的马达。 当前的驱动单元以旋转坐标系的轴电流值驱动电机，该旋转坐标系根据在控制中使用的旋转角度的控制角度旋转。 相加角计算单元计算要添加到控制角度的相加角度。 控制角计算单元通过将由相加角计算单元计算出的相加角相加到控制角度的先前值，在每个预定计算周期获得控制角的当前值。 转矩检测单元检测除了电动机转矩之外并且施加到由电动机驱动的驱动目标的转矩。 指令转矩设定单元设定要施加到驱动目标的指令转矩。 相加角校正单元将由指令转矩设定单元设定的指令转矩与由转矩检测单元检测出的检测转矩进行比较，并且基于比较结果校正相加角。
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公开(公告)号：US20120046832A1
公开(公告)日：2012-02-23
申请号：US13205138
申请日：2011-08-08
IPC分类号： B62D6/00
CPC分类号： B62D5/046 , B62D5/0463
摘要： A current increase-decrease amount (ΔIγ*) computed by a command current increase-decrease amount computing unit is added to an immediately preceding value (Iγ*(n−1)) of a command current value (Iγ*) in an adder. The command current value (Iγ*) obtained by the adder is given to a high/low limit limiter. The high/low limit limiter limits the command current value (Iγ*), obtained by the adder, to a value between a low limit value (ξmin (ξmin≧0)) and a high limit value (ξmax (ξmax>ξmin)). A high limit value setting unit obtains the high limit value (ξmax) corresponding to the vehicle speed detected by the vehicle speed sensor, from a vehicle speed-vs.-high limit value map set by a map creating/updating unit, and sets the obtained high limit value (ξmax) in the high/low limit limiter.
摘要翻译： 由指令电流增加减少量运算部计算出的电流增减量（＆Dgr;Iγ*）被加到指令电流值（Iγ*）的前一个值（Iγ*（n-1）） 加法器。 通过加法器获得的指令电流值（Iγ*）被赋予高/低限制限制器。 高/低限制限制器将由加法器获得的指令电流值（Iγ*）限制在下限值（＆xgr; min（＆xgr;min≥0））和上限值（＆xgr; max （＆xgr; max>＆xgr; min））。 上限值设定单元根据由地图生成/更新单元设定的车速与上限值映射得出与车速传感器检测出的车速对应的上限值（＆xgr; max），以及 将所获得的上限值（＆xgr; max）设置在高/低限制限制器中。
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公开(公告)号：US20110112724A1
公开(公告)日：2011-05-12
申请号：US12945101
申请日：2010-11-12
CPC分类号： B62D5/046 , B62D5/0463 , Y10S901/42
摘要： A motor control unit includes a detected steering torque correction unit that corrects the detected steering torque that is detected by a torque sensor and then subjected to a limitation process by a steering torque limiter. When the absolute value of the detected steering torque is equal to or smaller than a predetermined value, the detected steering torque correction unit corrects the detected steering torque to 0. When the absolute value of the detected steering torque is larger than the predetermined value, the detected steering torque correction unit outputs the detected steering torque without correction. A PI control unit calculates the addition angle based on the deviation of the control torque obtained through correction by the detected steering torque correction unit from the command steering torque.
摘要翻译： 马达控制单元包括检测到的转向扭矩校正单元，该单元校正由转矩传感器检测到的检测到的转向转矩，然后通过转向扭矩限制器进行限制处理。 当检测到的转向转矩的绝对值为规定值以下时，检测到的转向转矩修正部将检测的转向转矩修正为0.当检测转向转矩的绝对值大于规定值时， 检测到的转向转矩校正单元输出检测的转向转矩而不进行校正。 PI控制单元基于通过检测转向转矩校正单元通过指令转向转矩校正获得的控制扭矩的偏差来计算相加角度。
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公开(公告)号：US20130049652A1
公开(公告)日：2013-02-28
申请号：US13570857
申请日：2012-08-09
IPC分类号： H02P21/14
CPC分类号： H02P6/00
摘要： A F/B gain control unit computes a first change component by executing torque feedback control based on a torque deviation using a feedback gain that is computed by a F/B gain variable control unit. The F/B gain variable control unit computes one of two different feedback gains that correspond to a “first computation mode” in which the first change component is used as an addition angle and a “second computation mode” in which a value obtained by correcting the first change component by an estimated motor rotation angular velocity is used as the addition angle, respectively. A feedback gain used in the first computation mode is set such that a response at the feedback gain is higher than that at a feedback gain used in the second computation mode.
摘要翻译： F / B增益控制单元通过使用由F / B增益变量控制单元计算的反馈增益，基于转矩偏差执行转矩反馈控制来计算第一变化分量。 F / B增益可变控制单元计算与第一计算模式相对应的两个不同的反馈增益中的一个，其中第一变化分量用作相加角，以及第二计算模式，其中通过校正第一变化分量 通过估计的电机旋转角速度分别用作相加角。 设置在第一计算模式中使用的反馈增益，使得反馈增益的响应高于在第二计算模式中使用的反馈增益时的响应。
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公开(公告)号：US20110118937A1
公开(公告)日：2011-05-19
申请号：US12943514
申请日：2010-11-10
IPC分类号： B62D6/00
CPC分类号： B62D5/046 , B62D5/0496 , H02P29/64
摘要： When the estimated motor temperature becomes equal to or higher than the first predetermined temperature, an addition angle correction unit temporarily decreases the absolute value of the addition angle output from an addition angle limiter at time intervals. The addition angle correction unit makes the time interval shorter as the estimated motor temperature increases. When the time interval becomes equal to or shorter than the predetermined threshold, that is, when the estimated motor temperature becomes equal to or higher than the second predetermined temperature that is higher than the first predetermined temperature, the addition angle correction unit notifies a command current value changing unit of a current stop command. Thus, the γ-axis command current value is changed to 0, and therefore the steering mode is shifted to the manual steer mode.
摘要翻译： 当估计的电动机温度等于或高于第一预定温度时，相加角校正单元以时间间隔临时减小从相加角限制器输出的相加角的绝对值。 相加角校正单元随着估计的电机温度升高而使时间间隔更短。 当时间间隔等于或小于预定阈值时，即当估计电机温度变得等于或高于高于第一预定温度的第二预定温度时，相加角校正单元通知命令电流 当前停止命令的值改变单元。 因此，γ轴指令电流值变为0，因此转向模式转移到手动转向模式。
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公开(公告)号：US20120055732A1
公开(公告)日：2012-03-08
申请号：US13226112
申请日：2011-09-06
CPC分类号： B62D5/046 , B62D5/0481 , H02P23/14
摘要： An electric power steering system includes a motor that applies assist force to a steering system, and updates a motor resistance (Rm) that is a value indicating a resistance of the motor. Specifically, the motor resistance (Rm) is updated on the basis of the fact that an induced voltage (EX) of the motor is smaller than a first determination value (GA). In addition, when the induced voltage (EX) is smaller than or equal to a second determination value (GB), a divided value that is obtained by dividing a motor voltage (Vm) by a motor current (Im) is set as a new motor resistance (Rm).
摘要翻译： 电动助力转向系统包括向转向系统施加辅助力的电动机，并且更新作为表示电动机的电阻的值的电动机电阻（Rm）。 具体地，基于电动机的感应电压（EX）小于第一判定值（GA）的事实来更新电动机电阻（Rm）。 此外，当感应电压（EX）小于或等于第二判定值（GB）时，通过将电动机电压（Vm）除以电动机电流（Im）而获得的分压值被设定为新的 电机电阻（Rm）。
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公开(公告)号：US20110001441A1
公开(公告)日：2011-01-06
申请号：US12823573
申请日：2010-06-25
申请人： Yuji KARIATSUMARI , Hayato Komatsu
发明人： Yuji KARIATSUMARI , Hayato Komatsu
CPC分类号： H02P21/0003 , B62D5/046 , H02P21/04
摘要： A motor control unit controls a motor including a rotor and a stator facing the rotor. A current drive unit drives the motor at an axis current value of a rotating coordinate system that rotates in accordance with a control angle that is a rotational angle used in a control. An addition angle calculation unit calculates an addition angle to be added to the control angle. A control angle calculation unit obtains, at every predetermined calculation cycle, a present value of the control angle by adding the addition angle that is calculated by the addition angle calculation unit to an immediately preceding value of the control angle. An angular speed calculation unit calculates an angular speed of the rotor. An addition angle correction unit corrects the addition angle based on the angular speed calculated by the angular speed calculation unit. A filtering unit filters the angular speed calculated by the angular speed calculation unit.
摘要翻译： 马达控制单元控制包括转子和面向转子的定子的马达。 当前的驱动单元以旋转坐标系的轴电流值驱动电机，该旋转坐标系根据在控制中使用的旋转角度的控制角度旋转。 相加角计算单元计算要添加到控制角度的相加角度。 控制角计算单元通过将由相加角计算单元计算出的相加角相加到控制角度的先前值，在每个预定计算周期获得控制角的当前值。 角速度计算单元计算转子的角速度。 相加角校正单元基于由角速度计算单元计算出的角速度校正相加角度。 滤波单元滤除由角速度计算单元计算的角速度。
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公开(公告)号：US20120299517A1
公开(公告)日：2012-11-29
申请号：US13476398
申请日：2012-05-21
申请人： Kozo NIIMI , Yuji KARIATSUMARI
发明人： Kozo NIIMI , Yuji KARIATSUMARI
IPC分类号： B62D5/04
CPC分类号： B62D5/0463 , B62D5/0481
摘要： In an electric power steering system, a back electromotive force constant is calculated on the basis of a steering angular velocity and an estimated induced voltage. Then, a rotation angular velocity of a motor is calculated as an estimated rotation angular velocity on the basis of a motor current, a motor voltage, the back electromotive force constant and a motor resistance.
摘要翻译： 在电动助力转向系统中，基于转向角速度和估计的感应电压来计算反电动势常数。 然后，基于电动机电流，电动机电压，反电动势常数和电动机电阻，计算电动机的旋转角速度作为估计旋转角速度。
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公开(公告)号：US20130033216A1
公开(公告)日：2013-02-07
申请号：US13551106
申请日：2012-07-17
申请人： Yuji KARIATSUMARI
发明人： Yuji KARIATSUMARI
IPC分类号： H02P29/00
摘要： An ECU that controls a motor includes: a target current value setting unit setting a target current; a voltage detecting unit detecting a detected voltage on the basis of a detection signal from a voltage sensor; a voltage calculation unit calculating an estimated voltage on the basis of a power supply voltage of a battery; and an induced voltage observer calculating an induced voltage generated at the motor using an inter-terminal voltage based on the estimated voltage when the target current is set to a value other than zero; whereas the induced voltage observer calculates the induced voltage using an inter-terminal voltage based on the detected voltage when the target current is set to zero.
摘要翻译： 控制电动机的ECU包括：设定目标电流的目标电流值设定部; 电压检测单元，基于来自电压传感器的检测信号检测检测电压; 电压计算单元，基于电池的电源电压来计算估计电压; 以及感应电压观测器，当所述目标电流被设定为非零值时，基于所述估计电压，使用基于所述电压的端子间电压计算在所述电动机处产生的感应电压; 而当目标电流被设置为零时，感应电压观测器使用基于检测到的电压的端子间电压来计算感应电压。
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