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21. 发明授权

US07828112B2 Electric power steering device 有权
标题翻译：电动助力转向装置
公开(公告)号：US07828112B2
公开(公告)日：2010-11-09
申请号：US12293140
申请日：2007-03-08
申请人： Isao Kezobo , Noriyuki Inoue , Chiaki Fujimoto , Takayuki Kifuku , Masahiro Kimata , Kazumichi Tsutsumi
发明人： Isao Kezobo , Noriyuki Inoue , Chiaki Fujimoto , Takayuki Kifuku , Masahiro Kimata , Kazumichi Tsutsumi
IPC分类号： B62D5/04
CPC分类号： B62D5/0481 , B62D5/0463
摘要： An electric power steering apparatus in which, when an abnormality is generated in an electric power steering apparatus, an assist is reduced smaller than normal when a steering burden is estimated to be small; and the assist can be increased to normal and the steering burden can be sufficiently reduced when the steering burden is estimated to be large. When an abnormality is detected, an assist command is set smaller than at a normal time when there is no abnormality in a first range where the steering burden estimated by the steering burden estimation unit is small; the assist command is increased to that at a normal time in a second range where the steering burden estimated by the steering burden estimation unit is larger than the first range; and an assist torque of a motor is controlled in response to the assist command at the abnormal time.
摘要翻译：一种电动助力转向装置，其中，当在电动助力转向装置中产生异常时，当驾驶负担被估计为小时，辅助被减小到比正常小; 并且辅助可以增加到正常，并且当估计转向负载大时可以充分地减小转向负担。当检测到异常时，当由驾驶负担估计单元估计的转向负荷小的第一范围内没有异常时，将辅助指令设定为小于正常时的辅助指令; 在由转向负担估计单元估计的转向负载大于第一范围的第二范围内，辅助指令增加到正常时的辅助指令; 并且响应于异常时的辅助指令来控制电动机的辅助转矩。

22. 发明申请

US20090021207A1 ELECTRIC MOTOR CONTROL APPARATUS 有权
标题翻译：电动马达控制装置
公开(公告)号：US20090021207A1
公开(公告)日：2009-01-22
申请号：US12279859
申请日：2006-04-20
申请人： Isao Kezobo , Masahiro Kimata , Takayuki Kifuku , Kazumichi Tsutsumi , Chiaki Fujimoto , Noriyuki Inoue
发明人： Isao Kezobo , Masahiro Kimata , Takayuki Kifuku , Kazumichi Tsutsumi , Chiaki Fujimoto , Noriyuki Inoue
IPC分类号： H02P21/00
CPC分类号： B62D5/0487 , B62D5/0484 , H02P21/00 , H02P29/032
摘要： A control apparatus for a multiphase AC electric motor having an inverter includes a current control including an abnormal-state current controller; an abnormal-state detector that detects an abnormal state of any of a wire of an electric motor, a wire of an inverter, and a wire connecting the electric motor to the inverter as an abnormal phase; and an abnormal phase disconnect. The abnormal phase disconnect disconnects one or more of phases detected to be in an abnormal-state and the abnormal-state current controller generates an abnormal state voltage command in accordance with detection of an abnormal state, and uses phases other than the disconnected phases of the inverter to control individual currents of the phases, with the abnormal-state voltage command used as a multiphase voltage command.
摘要翻译：一种具有逆变器的多相交流电动机的控制装置包括：电流控制装置，包括异常电流控制器; 异常状态检测器，其检测电动机的线材，逆变器的线以及将电动机与逆变器连接的线的异常状态，作为异常相位; 和异常相断开。异常相位断开断开检测到异常状态的一个或多个相位，异常状态电流控制器根据异常状态的检测产生异常状态电压指令，并且使用除逆变器用于控制各相电流，异常状态电压指令用作多相电压指令。

23. 发明授权

US08046131B2 Vehicular steering apparatus 有权
标题翻译：车辆转向装置
公开(公告)号：US08046131B2
公开(公告)日：2011-10-25
申请号：US11591608
申请日：2006-11-02
申请人： Hideyuki Tanaka , Takanori Matsunaga , Masahiko Kurishige , Takayuki Kifuku
发明人： Hideyuki Tanaka , Takanori Matsunaga , Masahiko Kurishige , Takayuki Kifuku
IPC分类号： B62D5/04
CPC分类号： B62D5/0466
摘要： Provided is a vehicular steering apparatus capable of improving a steering feeling and achieving a reduction in cost. The vehicular steering apparatus according to the present invention is equipped with an assist motor for generating an assist torque, a state quantity detector for detecting a steering shaft reaction torque and a road surface reaction torque, and a control unit for calculating a target current value of the assist motor. The control unit includes a friction compensation portion and a return compensation portion, which calculate a friction compensation torque for compensating for the assist torque and a return compensation torque for compensating for the assist torque from the steering shaft reaction torque and the road surface reaction torque respectively. The control unit compensates for an overall friction torque in a steering mechanism and a gradient of the road surface reaction torque, using the friction compensation torque and the return compensation torque.
摘要翻译：提供一种能够改善转向感并实现成本降低的车辆转向装置。根据本发明的车辆转向装置配备有用于产生辅助转矩的辅助电动机，用于检测转向轴反作用转矩的状态量检测器和路面反作用转矩，以及用于计算目标电流值的控制单元辅助马达。控制单元包括摩擦补偿部分和返回补偿部分，其分别计算用于补偿辅助转矩的摩擦补偿转矩和用于分别从转向轴反作用转矩和路面反作用转矩补偿辅助转矩的返回补偿转矩。控制单元使用摩擦补偿扭矩和返回补偿扭矩补偿转向机构中的总体摩擦转矩和路面反作用转矩的梯度。

24. 发明授权

US06445987B1 Electric power steering controller and control method 有权
标题翻译：电动助力转向控制器及控制方法
公开(公告)号：US06445987B1
公开(公告)日：2002-09-03
申请号：US09781552
申请日：2001-02-13
申请人： Masahiko Kurishige , Noriyuki Inoue , Ryoji Nishiyama , Shunichi Wada , Takayuki Kifuku
发明人： Masahiko Kurishige , Noriyuki Inoue , Ryoji Nishiyama , Shunichi Wada , Takayuki Kifuku
IPC分类号： G06F700
CPC分类号： B62D5/0466
摘要： An electric power steering controller and a control method for assisting a driver during handling a steering wheel in a condition of a small road surface reaction torque of a tire by generating an auxiliary return torque for letting the steering wheel return to its original position. A first road surface reaction torque is estimated from a steering torque of a driver detected by a steering torque detector, a motor acceleration detected by a motor acceleration detector, and a motor current detected by a motor current detector. A second road surface reaction torque is estimated from a steering angle detected by a steering angle sensor, and a vehicle speed detected by a vehicle speed detector. Then, first and second auxiliary return torque signals of the steering wheel are computed from a road surface reaction torque, and, based on the computed result, a torque of the motor is controlled in direction so the steering wheel is returned to its original position.
摘要翻译：一种电动助力转向控制器和控制方法，用于通过产生用于使方向盘返回其原始位置的辅助返回扭矩，在轮胎的小路面反作用转矩的条件下，在操纵方向盘期间辅助驾驶员。根据由转向转矩检测器检测到的驾驶员的转向转矩，由电动机加速度检测器检测到的电动机加速度和由电动机电流检测器检测到的电动机电流来估计第一路面反作用力矩。从由转向角传感器检测到的转向角以及由车速检测器检测到的车速估计第二路面反作用转矩。然后，根据路面反作用扭矩计算方向盘的第一辅助返回扭矩信号，并且基于计算结果，在方向上控制电动机的转矩，使得方向盘返回到其原始位置。

25. 发明授权

US08548684B2 Electric power steering control apparatus 有权
标题翻译：电动助力转向控制装置
公开(公告)号：US08548684B2
公开(公告)日：2013-10-01
申请号：US12990958
申请日：2008-11-04
申请人： Masahiko Kurishige , Takayuki Kifuku , Koji Nagao
发明人： Masahiko Kurishige , Takayuki Kifuku , Koji Nagao
IPC分类号： B62D6/00
CPC分类号： B62D5/0463 , B62D5/0472
摘要： To obtain an electric power steering control apparatus hard to generate vibration even when accuracy is not high enough for torque vibration of extremely small output of torque detecting means. An electric power steering control apparatus includes steering torque detecting means, a torque controller that computes an auxiliary torque current, a motor that generates a torque for assisting a steering torque, current steering component removing means for removing a component by steering, vibration velocity estimating means for estimating a vibration velocity in a rotational direction of the motor, and a damping controller that computes a damping current to be added to the auxiliary torque current, and the vibration velocity estimating means includes vibration acceleration computing means for computing vibration acceleration in the rotational direction of the motor by multiplication of a motor current output from the current steering component removing means, and rotational acceleration integrating means for computing the vibration velocity in the motor rotational direction by integrating the vibration acceleration computing means.
摘要翻译：即使在转矩检测装置的极小输出的扭矩振动的精度不够高的情况下，也能够获得难以产生振动的电动助力转向控制装置。电动助力转向控制装置包括转向转矩检测装置，计算辅助转矩电流的转矩控制器，产生用于辅助转向转矩的转矩的电动机，用于通过转向去除部件的电流转向部件去除装置，振动速度估计装置用于估计电动机的旋转方向的振动速度和计算要添加到辅助转矩电流的阻尼电流的阻尼控制器，并且所述振动速度估计装置包括用于计算旋转方向的振动加速度的振动加速度计算装置以及通过对振动加速度计算装置进行积分来计算电动机旋转方向的振动速度的旋转加速度积分装置。

26. 发明授权

US08346435B2 Motor-driven power steering control device 有权
标题翻译：电动助力转向控制装置
公开(公告)号：US08346435B2
公开(公告)日：2013-01-01
申请号：US12866332
申请日：2008-10-08
申请人： Masahiko Kurishige , Takayuki Kifuku , Koji Nagao
发明人： Masahiko Kurishige , Takayuki Kifuku , Koji Nagao
IPC分类号： A01B69/00
CPC分类号： B62D5/046
摘要： Provided is an electric power steering control device capable of performing damping control without current detection to perform stable damping control even when a target current and an actual current value differ from each other. The electric power steering control device includes steering torque detection means for detecting a steering torque, a torque controller for computing an assist torque current, a motor for generating a torque for assisting the steering torque, rotation speed estimation means for estimating a rotation speed of the motor, and a damping controller for computing a damping current by using an estimated value of the rotation speed of the motor. The rotation speed estimating means includes steering component removing means for steering torque, for removing a component due to steering from an output of the steering torque detection means, rotation angle corresponding value computing means for multiplying an output of the steering component removing means for steering torque by an inverse number of a rigidity of a torsion bar and −1 to compute a value corresponding to a rotation angle, and a rotation angle differentiator for differentiating an output of the rotation angle corresponding value computing means to compute a value corresponding to a rotation angular velocity.
摘要翻译：提供一种即使当目标电流和实际电流值彼此不同时，也能够进行没有电流检测的阻尼控制来进行稳定的阻尼控制的电动助力转向控制装置。电动助力转向控制装置包括用于检测转向转矩的转向转矩检测装置，用于计算辅助转矩电流的转矩控制器，用于产生用于辅助转向转矩的转矩的电动机，用于估计转向转矩的转速的转速估计装置电动机和用于通过使用电动机的转速的估计值来计算阻尼电流的阻尼控制器。旋转速度估计装置包括用于从转向转矩检测装置的输出中去除由于转向而产生的分量的转向转矩的转向分量去除装置，用于将转向分量去除装置的输出乘以转向转矩的旋转角度对应值计算装置通过扭杆的刚度的倒数和-1来计算对应于旋转角度的值，以及旋转角度微分器，用于微分旋转角度对应值计算装置的输出以计算对应于旋转角度的值速度。

27. 发明申请

US20110054740A1 ELECTRIC POWER STEERING CONTROL APPARATUS 有权
标题翻译：电动转向控制装置
公开(公告)号：US20110054740A1
公开(公告)日：2011-03-03
申请号：US12990958
申请日：2008-11-04
申请人： Masahiko Kurishige , Takayuki Kifuku , Koji Nagao
发明人： Masahiko Kurishige , Takayuki Kifuku , Koji Nagao
IPC分类号： B62D6/08
CPC分类号： B62D5/0463 , B62D5/0472
摘要： To obtain an electric power steering control apparatus hard to generate vibration even when accuracy is not high enough for torque vibration of extremely small output of torque detecting means. An electric power steering control apparatus includes steering torque detecting means, a torque controller that computes an auxiliary torque current, a motor that generates a torque for assisting a steering torque, current steering component removing means for removing a component by steering, vibration velocity estimating means for estimating a vibration velocity in a rotational direction of the motor, and a damping controller that computes a damping current to be added to the auxiliary torque current, and the vibration velocity estimating means includes vibration acceleration computing means for computing vibration acceleration in the rotational direction of the motor by multiplication of a motor current output from the current steering component removing means, and rotational acceleration integrating means for computing the vibration velocity in the motor rotational direction by integrating the vibration acceleration computing means.
摘要翻译：即使在转矩检测装置的极小输出的扭矩振动的精度不够高的情况下，也能够获得难以产生振动的电动助力转向控制装置。电动助力转向控制装置包括转向转矩检测装置，计算辅助转矩电流的转矩控制器，产生用于辅助转向转矩的转矩的电动机，用于通过转向去除部件的电流转向部件去除装置，振动速度估计装置用于估计电动机的旋转方向的振动速度和计算要添加到辅助转矩电流的阻尼电流的阻尼控制器，并且所述振动速度估计装置包括用于计算旋转方向的振动加速度的振动加速度计算装置以及通过对振动加速度计算装置进行积分来计算电动机旋转方向的振动速度的旋转加速度积分装置。

28. 发明申请

US20100324785A1 MOTOR-DRIVEN POWER STEERING CONTROL DEVICE 有权
标题翻译：电机驱动力转向控制装置
公开(公告)号：US20100324785A1
公开(公告)日：2010-12-23
申请号：US12866332
申请日：2008-10-08
申请人： Masahiko Kurishige , Takayuki Kifuku , Koji Nagao
发明人： Masahiko Kurishige , Takayuki Kifuku , Koji Nagao
IPC分类号： G06F19/00 , B62D5/04
CPC分类号： B62D5/046
摘要： Provided is an electric power steering control device capable of performing damping control without current detection to perform stable damping control even when a target current and an actual current value differ from each other. The electric power steering control device includes steering torque detection means for detecting a steering torque, a torque controller for computing an assist torque current, a motor for generating a torque for assisting the steering torque, rotation speed estimation means for estimating a rotation speed of the motor, and a damping controller for computing a damping current by using an estimated value of the rotation speed of the motor. The rotation speed estimating means includes steering component removing means for steering torque, for removing a component due to steering from an output of the steering torque detection means, rotation angle corresponding value computing means for multiplying an output of the steering component removing means for steering torque by an inverse number of a rigidity of a torsion bar and −1 to compute a value corresponding to a rotation angle, and a rotation angle differentiator for differentiating an output of the rotation angle corresponding value computing means to compute a value corresponding to a rotation angular velocity.
摘要翻译：提供一种即使当目标电流和实际电流值彼此不同时，也能够进行没有电流检测的阻尼控制来进行稳定的阻尼控制的电动助力转向控制装置。电动助力转向控制装置包括用于检测转向转矩的转向转矩检测装置，用于计算辅助转矩电流的转矩控制器，用于产生用于辅助转向转矩的转矩的电动机，用于估计转向转矩的转速的转速估计装置电动机和用于通过使用电动机的转速的估计值来计算阻尼电流的阻尼控制器。旋转速度估计装置包括用于从转向转矩检测装置的输出中去除由于转向而产生的分量的转向转矩的转向分量去除装置，用于将转向分量去除装置的输出乘以转向转矩的旋转角度对应值计算装置通过扭杆的刚度的倒数和-1来计算对应于旋转角度的值，以及旋转角度微分器，用于微分旋转角度对应值计算装置的输出以计算对应于旋转角度的值速度。

29. 发明授权

US06831477B2 Motor abnormality detecting apparatus 失效
标题翻译：马达异常检测装置
公开(公告)号：US06831477B2
公开(公告)日：2004-12-14
申请号：US10378659
申请日：2003-03-05
申请人： Kouji Fukusumi , Masahiko Kurishige , Noriyuki Inoue , Seiji Sakanishi , Kenichi Kawakami , Takayuki Kifuku
发明人： Kouji Fukusumi , Masahiko Kurishige , Noriyuki Inoue , Seiji Sakanishi , Kenichi Kawakami , Takayuki Kifuku
IPC分类号： G01R3134
CPC分类号： G01R31/006 , G01R31/343
摘要： An identification is made of an abnormal condition in a motor due to an influence of a disturbance voltage, without addition of hardware, by estimating the disturbance voltage based on a target voltage and actual current flowing in the motor. An apparatus for detecting the abnormal condition of a motor in an electric power steering apparatus includes a motor current detecting unit for detecting an actual current flowing through the motor; a feedback controlling unit for feedback-controlling a target voltage value that gives the motor a driving command in accordance with the deviation of the actual current from an input target current; an abnormal voltage estimating unit for, based on the target voltage and the actual current, estimating an abnormal voltage estimation value corresponding to a voltage indicating an abnormal condition of the motor; and a motor abnormality judging unit for judging abnormality of the motor based on a comparison of the abnormal voltage estimation value with an abnormal voltage value previously stored.
摘要翻译：通过基于在电动机中流动的目标电压和实际电流来估计干扰电压，由于干扰电压的影响而不添加硬件，来识别电动机的异常状况。一种用于检测电动转向装置中的电动机的异常状况的装置，包括用于检测流过电动机的实际电流的电动机电流检测单元; 反馈控制单元，用于根据实际电流与输入目标电流的偏差反馈控制给予电动机的驱动指令的目标电压值; 异常电压估计单元，用于基于目标电压和实际电流，估计与指示电动机的异常状态的电压相对应的异常电压估计值; 以及电动机异常判定单元，用于基于异常电压估计值与预先存储的异常电压值的比较来判断电动机的异常。

30. 发明授权

US06450287B1 Electric power steering controller and control method thereof 有权
标题翻译：电动助力转向控制器及其控制方法
公开(公告)号：US06450287B1
公开(公告)日：2002-09-17
申请号：US09604289
申请日：2000-06-26
申请人： Masahiko Kurishige , Noriyuki Inoue , Ryoji Nishiyama , Takayuki Kifuku , Shunichi Wada
发明人： Masahiko Kurishige , Noriyuki Inoue , Ryoji Nishiyama , Takayuki Kifuku , Shunichi Wada
IPC分类号： B62D506
CPC分类号： B62D5/0466
摘要： An electric power steering controller including a motor for generating torque for assisting the steering torque of a driver to assist the steering force of a steering system. The controller includes a road reaction torque detector for detecting road reaction torque received by tires from the surface of a road, and a road detection torque addition control for controlling the torque of the motor based on the road reaction torque. The electric power steering controller enables the steering wheel to be returned to its starting point without adding torque in a direction in which the driver returns the steering wheel when the driver contgrols the steering wheel with the small road reaction torque of the tires, for example, when turning at an intersection at a low speed or when turning at a gently curved portion of a road at a high speed.
摘要翻译：一种电动助力转向控制器，包括用于产生用于辅助驾驶员的转向扭矩以帮助转向系统的转向力的转矩的电动机。该控制器包括：道路反作用转矩检测器，用于检测来自道路表面的轮胎接收到的道路反作用扭矩;以及道路检测转矩附加控制，用于基于道路反作用转矩来控制电动机的转矩。电动助力转向控制器使得方向盘能够在驾驶员以轮胎的小的道路反作用扭矩阻止方向盘的情况下将方向盘返回到起点，而不会在驾驶员返回方向盘的方向上增加扭矩，例如，当在交叉点以低速转动或者在高速的道路的轻柔弯曲部分转动时。

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