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：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：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。

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：US09211907B2

公开(公告)日：2015-12-15

申请号：US13428471

申请日：2012-03-23

申请人： Ryouichi Kubo ,  Masahiko Sakamaki

发明人： Ryouichi Kubo ,  Masahiko Sakamaki

IPC分类号： B62D5/09 ,  B62D5/065

CPC分类号： B62D5/09 ,  B62D5/065

摘要： A solenoid valve device includes: a solenoid valve that includes a solenoid that is supplied with driving current to generate magnetic flux, and a valve element that is moved by the magnetic flux generated from the solenoid; and a control device that controls the solenoid valve. The control device includes an alternating current component in the driving current and supplies the driving current including the alternating current component to the solenoid, and detects an impedance of the solenoid.

摘要翻译： 电磁阀装置包括：电磁阀，包括供给驱动电流以产生磁通的螺线管，以及由螺线管产生的磁通量移动的阀元件; 以及控制电磁阀的控制装置。 控制装置包括驱动电流中的交流分量，并将包括交流分量的驱动电流提供给螺线管，并检测螺线管的阻抗。

公开(公告)号：US07226069B2

公开(公告)日：2007-06-05

申请号：US10968948

申请日：2004-10-21

申请人： Takeshi Ueda ,  Masahiko Sakamaki ,  Shigeki Nagase

发明人： Takeshi Ueda ,  Masahiko Sakamaki ,  Shigeki Nagase

IPC分类号： B62D5/04

CPC分类号： B62D5/0463 ,  B62D5/046 ,  H02P6/10 ,  H02P6/28

摘要： A power-assisted steering system includes: two or more current detectors that detects current flowing to two or more phases of a motor and outputs detected current values; a correcting unit that corrects the detected current values output from the current detectors to compensate a difference in gain between the current detectors; and a motor driving driver that drives the motor based on a deviation between the target current value and corrected detected current values. When the same current flows to the phase in which the current flowing thereto is detected by the reference current detectors and the phase in which the current flowing is detected by the other current detector, the correcting unit calculates a gain correcting coefficient based on a detected current value of the reference current detector and a detected current value of the other current detector and corrects the detected current value of the other current detector.

摘要翻译： 一种动力辅助转向系统包括：两个或更多个电流检测器，其检测流到电动机的两个或多个相的电流并输出检测到的电流值; 校正单元，校正从电流检测器输出的检测电流值，以补偿电流检测器之间的增益差; 以及基于目标电流值和校正的检测电流值之间的偏差来驱动电动机的电动机驱动驱动器。 当相同的电流流过其中由参考电流检测器检测到流过电流的相位和由另一电流检测器检测到电流流动的相位时，校正单元基于检测电流来计算增益校正系数 参考电流检测器的值和另一电流检测器的检测电流值，并校正另一电流检测器的检测电流值。

公开(公告)号：US20060273247A1

公开(公告)日：2006-12-07

申请号：US11421555

申请日：2006-06-01

申请人： Masahiko Sakamaki ,  Shigeki Nagase

发明人： Masahiko Sakamaki ,  Shigeki Nagase

IPC分类号： G01D5/34

CPC分类号： B62D5/049 ,  B62D5/046 ,  G01D5/24461

摘要： An electric power steering apparatus which comprises: an angle detector for outputting a sine wave signal and a cosine wave signal corresponding to a rotor position of a brushless DC motor; and a torque detector for detecting a steering torque applied to a steering member, and which drives the brushless DC motor to assist steering based upon the sine wave signal and the cosine wave signal which were outputted from the angle detector and the steering torque detected by the torque detector. A sine wave signal and a cosine wave signal are squared and added to each other, and whether or not abnormality has occurred in the angle detector is detected by whether the addition result falls within a predetermined range. It is possible to detect abnormality in the angle detector at an early stage.

摘要翻译： 一种电动助力转向装置，包括：角度检测器，用于输出对应于无刷直流电动机的转子位置的正弦波信号和余弦波信号; 以及转矩检测器，用于检测施加到转向构件的转向转矩，并且基于从角度检测器输出的正弦波信号和余弦波信号以及由该转向器检测到的转向转矩来驱动无刷直流电动机来辅助转向 扭矩检测器 正弦波信号和余弦波信号相互平方并相加，并且通过加法结果是否在预定范围内来检测角度检测器中是否发生异常。 可以在早期阶段检测角度检测器的异常。

公开(公告)号：US06504336B2

公开(公告)日：2003-01-07

申请号：US09748275

申请日：2000-12-27

申请人： Masahiko Sakamaki

发明人： Masahiko Sakamaki

IPC分类号： H02P124

CPC分类号： B62D5/046 ,  B62D5/0481

摘要： A motor controller for an electric power steering system which performs a steering assist operation by applying a torque generated by an electric motor to a steering mechanism. The controller includes: a current command value setting circuit for setting a current command value indicative of an electric current to be applied to the electric motor; a d-q command value setting circuit for setting a d-axis current command value and a q-axis current command value in a d-q coordinate system on the basis of the current command value; and a voltage controlling circuit for controlling a voltage to be applied to the electric motor on the basis of the d-axis current command value and the q-axis current command value.

摘要翻译： 一种用于电动助力转向系统的电动机控制器，其通过将由电动机产生的转矩施加到转向机构来执行转向辅助操作。 控制器包括：电流指令值设定电路，用于设定表示要施加到电动机的电流的电流指令值; d-q指令值设定电路，用于根据当前指令值在d-q坐标系中设定d轴电流指令值和q轴电流指令值; 以及电压控制电路，用于根据d轴电流指令值和q轴电流指令值控制施加到电动机的电压。

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。