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公开(公告)号：US08855858B2
公开(公告)日：2014-10-07
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到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：US07009358B2
公开(公告)日：2006-03-07
申请号：US10695995
申请日：2003-10-30
申请人： Terutaka Tamaizumi , Yoshinobu Shimizu , Shinya Aono , Akihiro Nishiyama , Takanobu Takamatsu , Masayuki Kita , Tomoyuki Yamauchi
发明人： Terutaka Tamaizumi , Yoshinobu Shimizu , Shinya Aono , Akihiro Nishiyama , Takanobu Takamatsu , Masayuki Kita , Tomoyuki Yamauchi
IPC分类号： B62D6/00 , G06F17/00 , G05D23/275 , H02P7/00
CPC分类号： B62D5/0463
摘要： The present invention provides an electric power steering device enabled to compensate for the influence of the inertia of a steering-assisting-force generating motor on steering with accurate timing even when a steering direction is reversed at high speed. Based on steering torque and a rotation angular speed of a steering-assisting-force generating motor, a steering angular acceleration correspondence value is obtained. The device has means for regulating a gain, which is multiplied to a change acceleration of the steering torque. The motor is controlled so that the steering assisting force is corrected according to a motor output correction value obtained on the basis of the relation between the motor output correction value and the steering angular acceleration correspondence value, which is preliminarily determined and stored in such a way as to compensate for the influence of the inertia on steering, and the obtained steering angular acceleration correspondence value.
摘要翻译： 本发明提供一种电动助力转向装置，即使当转向方向高速反转时，能够以精确的定时补偿转向辅助力产生电动机的惯性的影响。 基于转向转矩和转向辅助力产生电动机的旋转角速度，获得转向角加速度对应值。 该装置具有用于调节增益的装置，该增益乘以转向转矩的改变加速度。 控制电动机，使得根据以这种方式预先确定和存储的电动机输出校正值和转向角加速度对应值之间的关系获得的电动机输出校正值来校正转向辅助力 以补偿惯性对转向的影响，以及所获得的转向角加速度对应值。
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公开(公告)号：US08874315B2
公开(公告)日：2014-10-28
申请号：US12943514
申请日：2010-11-10
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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4.发明授权公开(公告)号：US08862323B2
公开(公告)日：2014-10-14
申请号：US12997168
申请日：2009-06-29
CPC分类号： B62D5/046 , H02P21/0003 , H02P21/04 , H02P21/26
摘要： A motor controller controls a motor including a rotor and a stator opposed to the rotor. The motor controller includes an electric current driving unit which drives the motor with an axis electric current value defined in a rotating coordinate system defined with respect to a control angle that is a rotation angle for control, a control angle computing unit which computes a current value of the control angle by adding an addition angle to a previous value of the control angle in each predetermined computing cycle, and an addition angle computing unit which computes the addition angle according to a torque to be generated by the motor or a response of the motor to the axis electric current value.
摘要翻译： 马达控制器控制包括与转子相对的转子和定子的马达。 电动机控制器包括电流驱动单元，该电流驱动单元以相对于用于控制的旋转角度的控制角定义的旋转坐标系中限定的轴电流值驱动电动机，控制角计算单元，其计算电流值 通过在每个预定计算周期中对控制角度的先前值添加相加角来获得控制角;以及相加角计算单元，其根据由电动机产生的转矩或电动机的响应来计算相加角度 到轴电流值。
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公开(公告)号：US08494715B2
公开(公告)日：2013-07-23
申请号：US12588399
申请日：2009-10-14
IPC分类号： B62D5/04
CPC分类号： B62D5/0472 , B62D5/046
摘要： A motor is driven based on an axis current value in a rotating coordinate system that rotates in accordance with a control angle that is a rotational angle used in a control. The control angle is calculated by adding an addition angle to an immediately preceding value of the control angle in each predetermined calculation cycle. A command steering torque is set based on a predetermined steering angle-torque characteristic. The addition angle is calculated based on the deviation of a detected steering torque from a command steering torque. The addition angle based on the deviation is changed when a predetermined condition is satisfied.
摘要翻译： 基于在控制中使用的旋转角度的控制角度旋转的旋转坐标系中的轴电流值来驱动电动机。 通过在每个预定的计算周期中将相加角加到控制角的紧前一个值上来计算控制角。 基于预定的转向角 - 转矩特性设定指示转向转矩。 基于检测到的转向转矩与指示转向转矩的偏差来计算相加角。 当满足预定条件时，基于偏差的相加角改变。
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公开(公告)号：US20100094505A1
公开(公告)日：2010-04-15
申请号：US12588399
申请日：2009-10-14
CPC分类号： B62D5/0472 , B62D5/046
摘要： A motor is driven based on an axis current value in a rotating coordinate system that rotates in accordance with a control angle that is a rotational angle used in a control. The control angle is calculated by adding an addition angle to an immediately preceding value of the control angle in each predetermined calculation cycle. A command steering torque is set based on a predetermined steering angle-torque characteristic. The addition angle is calculated based on the deviation of a detected steering torque from a command steering torque. The addition angle based on the deviation is changed when a predetermined condition is satisfied.
摘要翻译： 基于在控制中使用的旋转角度的控制角度旋转的旋转坐标系中的轴电流值来驱动电动机。 通过在每个预定的计算周期中将相加角加到控制角的紧前一个值上来计算控制角。 基于预定的转向角 - 转矩特性设定指示转向转矩。 基于检测到的转向转矩与指示转向转矩的偏差来计算相加角。 当满足预定条件时，基于偏差的相加角改变。
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公开(公告)号：US08560177B2
公开(公告)日：2013-10-15
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：US20110098888A1
公开(公告)日：2011-04-28
申请号：US12997168
申请日：2009-06-29
CPC分类号： B62D5/046 , H02P21/0003 , H02P21/04 , H02P21/26
摘要： A motor controller controls a motor including a rotor and a stator opposed to the rotor. The motor controller includes an electric current driving unit which drives the motor with an axis electric current value defined in a rotating coordinate system defined with respect to a control angle that is a rotation angle for control, a control angle computing unit which computes a current value of the control angle by adding an addition angle to a previous value of the control angle in each predetermined computing cycle, and an addition angle computing unit which computes the addition angle according to a torque to be generated by the motor or a response of the motor to the axis electric current value.
摘要翻译： 马达控制器控制包括与转子相对的转子和定子的马达。 电动机控制器包括电流驱动单元，该电流驱动单元以相对于用于控制的旋转角度的控制角定义的旋转坐标系中限定的轴电流值驱动电动机，控制角计算单元，其计算电流值 通过在每个预定计算周期中对控制角度的先前值添加相加角来获得控制角;以及相加角计算单元，其根据由电动机产生的转矩或电动机的响应来计算相加角度 到轴电流值。
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公开(公告)号：US20130312540A1
公开(公告)日：2013-11-28
申请号：US13984393
申请日：2012-02-08
IPC分类号： G01L3/10
摘要： A torque detecting apparatus detects a torque applied to a first shaft, based on a relative rotational displacement between the first shaft and a second shaft caused by torsion in a coupling shaft which couples the first shaft and the second shaft. The torque detecting apparatus includes: first and second magnets which are coupled to the first shaft and the second shaft so as to rotate together with the first shaft and second shaft, respectively; and a plurality of magnetic sensors which are disposed between the first magnet and the second magnet and which detect a rotational angle of the first shaft and a rotational angle of the second shaft.
摘要翻译： 转矩检测装置基于由耦合第一轴和第二轴的联接轴中的扭转引起的第一轴和第二轴之间的相对旋转位移来检测施加到第一轴的扭矩。 扭矩检测装置包括：第一和第二磁体，其分别联接到第一轴和第二轴，以便与第一轴和第二轴一起旋转; 以及多个磁传感器，其设置在第一磁体和第二磁体之间，并且检测第一轴的旋转角度和第二轴的旋转角度。
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公开(公告)号：US08496085B2
公开(公告)日：2013-07-30
申请号：US13320839
申请日：2010-06-21
申请人： Takeshi Ueda , Shingo Maeda , Yoshinobu Shimizu , Hayato Komatsu
发明人： Takeshi Ueda , Shingo Maeda , Yoshinobu Shimizu , Hayato Komatsu
CPC分类号： B62D5/046 , B62D5/0481 , H02P7/281 , H02P7/29
摘要： An angular velocity estimate (ωe) used in motor control of an electric power steering is obtained as follows. In a first state period during which the motor substantially stops its rotation, a resistance calculation unit calculates a motor resistance value (Rc) on the basis of a detected value (Vm) of motor voltage and a detected value (Im) of motor current. An average calculation unit obtains an average value (Rav) of the calculated resistance values (Rc) in a retained period. A current-resistance characteristic that associates motor current with motor resistance is held in a characteristic holding unit, and a characteristic updating unit updates the current-resistance characteristic on the basis of the average value (Rav). An estimate calculation unit calculates the angular velocity estimate (ωe) on the basis of the detected value (Vm) of motor voltage, the detected value (Im) of motor current and a motor resistance value (Rm) obtained from the current-resistance characteristic.
摘要翻译： 如下获得用于电动助力转向装置的电动机控制中的角速度估计（ω）。 在电动机基本上停止其旋转的第一状态期间，电阻计算单元基于电动机电压的检测值（Vm）和电动机电流的检测值（Im）来计算电动机电阻值（Rc）。 平均计算单元获得计算出的电阻值（Rc）在保留期间内的平均值（Rav）。 将电动机电流与电动机电阻相关联的电流电阻特性保持在特性保持单元中，特性更新单元基于平均值（Rav）来更新电流电阻特性。 估计计算单元基于电动机电压的检测值（Vm），电动机电流的检测值（Im）和从电流电阻特性得到的电动机电阻值（Rm）来计算角速度估计（ω） 。
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