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公开(公告)号：US12030559B2
公开(公告)日：2024-07-09
申请号：US17346796
申请日：2021-06-14
CPC分类号： B62D5/0463 , B62D15/021
摘要： A steering system includes a steering shaft that rotates along with an operation of a steering wheel; a motor configured to generate a torque that is applied to the steering shaft; and a control unit configured to control the motor. The control unit is configured to control the motor such that a rotation speed of the steering wheel decreases gradually to zero when automatic rotation of the steering wheel is stopped, in a case where the steering wheel is automatically rotated as an adjustment process of adjusting a rotational position of the steering wheel.
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公开(公告)号：US20200290669A1
公开(公告)日：2020-09-17
申请号：US16798958
申请日：2020-02-24
发明人： Takahiro Okano , Takafumi Sato
摘要： A steering system for a vehicle according to an example in the present disclosure includes a steering mechanism, which is mechanically disconnected from the steering wheel, to cause a turning wheel to be turned by a turning motor, and a control device that provides a motor command value to the turning motor. The control device has a control system including a feed-forward model for converting a target turning angle to a feed-forward value of a motor command value, and a disturbance observer including a inverse model of a model of a steering motor. Transfer functions respectively describing the feed-forward model and the model of the disturbance observer include a variable coefficient. The control device changes the variable coefficient based on information about road reaction force.
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公开(公告)号：US11834115B2
公开(公告)日：2023-12-05
申请号：US17347142
申请日：2021-06-14
CPC分类号： B62D6/008 , B62D5/006 , B62D5/0481
摘要： A steering system includes a steering shaft; a reaction motor; and a control unit configured to control the reaction motor. The control unit has a function of performing a correction process of rotating the steering wheel using the reaction motor such that a displacement in a rotational position of the steering wheel with respect to a correct rotational position corresponding to a turning position of the turning wheels decreases when a power supply of the vehicle is turned on and the rotational position of the steering wheel is different from the correct rotational position. The control unit is configured to perform the correction process when the displacement is equal to or greater than a predetermined permissible value and not to perform the correction process when the displacement is less than the permissible value.
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公开(公告)号：US20200283058A1
公开(公告)日：2020-09-10
申请号：US16784891
申请日：2020-02-07
发明人： Takahiro Okano , Takafumi Sato
摘要： A steering system for a vehicle according to an example in the present disclosure includes a steering mechanism that is mechanically disconnected from a steering wheel to cause a driving wheel to be turned by a turning motor, and a control device that provides a motor command value to the turning motor. The control device has a two-degree-of-freedom control system including a feed-forward model for converting a target turning angle into a feed-forward value of the motor command value, and a feedback model for converting a difference between the target turning angle and an actual turning angle into a feedback value of the motor command value. A transfer function describing the feed-forward model contains a variable coefficient. The control device changes the variable coefficient of the transfer function based on information about road surface reaction.
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公开(公告)号：US11485406B2
公开(公告)日：2022-11-01
申请号：US16784891
申请日：2020-02-07
发明人： Takahiro Okano , Takafumi Sato
摘要： A steering system for a vehicle according to an example in the present disclosure includes a steering mechanism that is mechanically disconnected from a steering wheel to cause a driving wheel to be turned by a turning motor, and a control device that provides a motor command value to the turning motor. The control device has a two-degree-of-freedom control system including a feed-forward model for converting a target turning angle into a feed-forward value of the motor command value, and a feedback model for converting a difference between the target turning angle and an actual turning angle into a feedback value of the motor command value. A transfer function describing the feed-forward model contains a variable coefficient. The control device changes the variable coefficient of the transfer function based on information about road surface reaction.
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公开(公告)号：US11840295B2
公开(公告)日：2023-12-12
申请号：US17346476
申请日：2021-06-14
CPC分类号： B62D6/008 , B62D5/006 , B62D5/0466
摘要： A steering system includes a steering shaft; a motor configured to generate a torque applied to the steering shaft; and a control unit configured to control the motor. The control unit has a function of performing steering angle feedback control for causing a steering angle that is a rotation angle of a steering wheel to reach a target steering angle that is set based on a point of view of adjusting a rotational position of the steering wheel, as an adjustment process of adjusting the rotational position of the steering wheel. The control unit is configured to set a limit value for limiting a change range of the target steering angle with respect to the steering angle at each moment in a period in which automatic rotation of the steering wheel is hindered in a case where the automatic rotation is hindered while the adjustment process is being performed.
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公开(公告)号：US11214303B2
公开(公告)日：2022-01-04
申请号：US16593183
申请日：2019-10-04
发明人： Kenji Shibata , Koichi Itoh , Takafumi Sato
摘要： A vehicle of a steer-by-wire type includes: a turning device that turns a wheel by actuating a turning motor; and a reaction torque generation device that applies a reaction torque to a steering wheel by actuating a reaction motor. A control device for the vehicle is configured to control turning of the wheel by controlling the turning motor and to control the reaction torque by controlling the reaction motor, according to rotation of the steering wheel. When a power output limiting condition is satisfied, the control device executes not only power output limiting processing that limits a power output of the turning motor but also reaction torque increasing processing. In the reaction torque increasing processing, the control device controls the reaction torque to make the steering wheel harder to rotate as compared with a case where the power output limiting processing is not executed.
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公开(公告)号：US11167789B2
公开(公告)日：2021-11-09
申请号：US16798958
申请日：2020-02-24
发明人： Takahiro Okano , Takafumi Sato
摘要： A steering system for a vehicle according to an example in the present disclosure includes a steering mechanism, which is mechanically disconnected from the steering wheel, to cause a turning wheel to be turned by a turning motor, and a control device that provides a motor command value to the turning motor. The control device has a control system including a feed-forward model for converting a target turning angle to a feed-forward value of a motor command value, and a disturbance observer including a inverse model of a model of a steering motor. Transfer functions respectively describing the feed-forward model and the model of the disturbance observer include a variable coefficient. The control device changes the variable coefficient based on information about road reaction force.
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