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31. 发明申请

US20110022270A1 ELECTRIC POWER STEERING DEVICE AND METHOD FOR CONTROLLING THE SAME 有权
标题翻译：电动转向装置及其控制方法
公开(公告)号：US20110022270A1
公开(公告)日：2011-01-27
申请号：US12935105
申请日：2009-04-15
申请人： Terutaka Tamaizumi , Hirozumi Eki , Shinya Aono , Jun Hasegawa , Masayuki Kita
发明人： Terutaka Tamaizumi , Hirozumi Eki , Shinya Aono , Jun Hasegawa , Masayuki Kita
IPC分类号： B62D6/08
CPC分类号： B62D5/0463 , B62D6/04
摘要： A current command value computing section includes an integration control computing section. Based on an integration of the steering torque τ, the integration control computing section computes a steering torque integration control amount Iint*, which is a compensation component for increasing the assist force. The integration control computing section functions as a determining device that determines whether the vehicle is traveling forward in a straight line. When the determining device determines that the vehicle is traveling forward in a straight line, the integration control computing section outputs the steering torque integration control amount Iint* to an adder. The current command value computing section superimposes the steering torque integration control amount Iint* on a basic assist control amount Ias* computed by a basic assist control section, and outputs the obtained value, as a current command value Iq* corresponding to a target assist force, to an output section.
摘要翻译：当前命令值计算部分包括积分控制计算部分。基于转向转矩τ的积分，积分控制运算部计算作为增加辅助力的补偿成分的转向转矩积分控制量Iint *。集成控制计算部作为确定车辆是否以直线向前行进的判定装置发挥作用。当确定装置确定车辆以直线向前行进时，积分控制计算部分向加法器输出转向转矩积分控制量Iint *。当前指令值计算部分将转向转矩积分控制量Iint *叠加在由基本辅助控制部分计算的基本辅助控制量Ias *上，并将所获得的值作为对应于目标辅助力的当前指令值Iq * ，到输出部分。

32. 发明申请

US20090132126A1 ELECTRIC POWER STEERING DEVICE 有权
标题翻译：电动转向装置
公开(公告)号：US20090132126A1
公开(公告)日：2009-05-21
申请号：US12273881
申请日：2008-11-19
申请人： Terutaka TAMAIZUMI
发明人： Terutaka TAMAIZUMI
IPC分类号： B62D5/04 , B62D6/00
CPC分类号： B62D5/0487 , B62D5/0484
摘要： When an electrification failure occurs in any of the phase of a motor, a control device of an electric power steering device executes current control for generating, in each of two electrification phases other than a phase with the electrification failure, a phase current that changes in the form of a secant curve or a cosecant curve based on an asymptotic line, which is a predetermined rotational angle corresponding to the phase with the electrification failure, to thereby continuously output a motor control signal. The control device of the electric power steering device executes current restriction for restricting the phase current within a predetermined range. The control device of the electric power steering device further executes control for accelerating rotation of the motor during two phase drive, in order to prevent the occurrence of a stuck steering wheel during low-speed steering, which is caused as a result of the execution of the current restriction.
摘要翻译：当在电动机的任何相中发生通电故障时，电动转向装置的控制装置执行电流控制，用于在具有带电故障的相位以外的两个充电阶段的每一个中产生相变电流基于渐近线的割线曲线或辅助曲线的形式，其为与带电故障的相位相对应的预定旋转角度，从而连续输出电动机控制信号。电动助力转向装置的控制装置执行用于将相电流限制在预定范围内的电流限制。电动助力转向装置的控制装置进一步执行用于在两相驱动期间加速电动机的旋转的控制，以便防止在低速转向期间发生由于执行目前的限制。

33. 发明授权

US07349781B2 Electric power steering apparatus 有权
标题翻译：电动助力转向装置
公开(公告)号：US07349781B2
公开(公告)日：2008-03-25
申请号：US11407005
申请日：2006-04-18
申请人： Terutaka Tamaizumi
发明人： Terutaka Tamaizumi
IPC分类号： B62D5/04
CPC分类号： B62D5/0466
摘要： The controller in an electric power steering apparatus stores the relationship between the steering torque and the basic assist torque in which the relationship is stored as assist characteristic, and stores the relationship between the steering angle correspondence value corresponding to the steering angle of the vehicle and the motor output correction value in which the relationship is stored as correction characteristic. The controller corrects the output of the motor, which is required in order to generate the basic assist torque, in accordance with the motor output correction value determined from the steering angle correspondence value and correction characteristic, in which the basic assist torque is determined from the steering torque and assist characteristic. The correction characteristic is set so that the denominator in the frequency transfer function (K1θp+K2θps+K3θps2)/(s2/ω0 2+2ζ0s/ω0+1) of the motor output correction value to the steering angle correspondence value has a term which includes the resonance angular frequency of the yaw motion of the vehicle, and a term which includes the damping ratio of the yaw motion of the vehicle.
摘要翻译：电动助力转向装置中的控制器存储转向转矩和存储关系的基本辅助转矩之间的关系作为辅助特性，并且存储与车辆的转向角相对应的转向角对应值与电机输出校正值，其中存储关系作为校正特性。根据从转向角对应值和校正特性确定的电动机输出校正值，控制器校正电动机的输出，以产生基本辅助转矩，其中基本辅助转矩从转向转矩和辅助特性。校正特性被设定为使得频率传递函数（K 1/2）中的分母在P + 其中S + K 3 电动机输出校正值与转向角度对应值之间的关系为“ 其包括车辆的偏航运动的共振角频率和包括车辆的偏航运动的阻尼比的项。

34. 发明申请

US20070162206A1 Electric power steering apparatus 有权
标题翻译：电动助力转向装置
公开(公告)号：US20070162206A1
公开(公告)日：2007-07-12
申请号：US11641846
申请日：2006-12-20
申请人： Terutaka Tamaizumi
发明人： Terutaka Tamaizumi
IPC分类号： B62D5/04
CPC分类号： B62D5/0466
摘要： An electric power steering apparatus according to the present invention comprises steering torque detecting section for detecting a steering torque applied to an operation member for steering a vehicle, steering state judging section for judging whether or not forward stroke steering for operation the operating member in a direction away from a steering angle midpoint is performed, motor controlling section for controlling the driving of an electric motor on the basis of the steering torque detected by the steering torque detecting section, and phase compensating sections provided in the motor controlling section for performing such phase compensation processing that a gain in a predetermined frequency band in frequency response characteristics is lower than gains in respective frequency bands lower and higher than the frequency band when the steering state judging section judges that the forward stroke steering is not performed.
摘要翻译：根据本发明的电动助力转向装置包括转向转矩检测部分，用于检测施加到用于转向车辆的操作构件的转向转矩;转向状态判断部分，用于判断操作部件的方向执行转向角中点处的电动机控制部，其基于由转向转矩检测部检测出的转向转矩来控制电动机的驱动;以及相位补偿部，其设置在电动机控制部中，用于进行相位补偿处理在转向状态判断部判断为不进行前进风向转向时，频率响应特性中的预定频带中的增益低于低于和高于频带的各个频带中的增益。

35. 发明授权

US07009358B2 Electric power steering device and method for controlling the same 失效
标题翻译：电动助力转向装置及其控制方法
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。

36. 发明授权

US08897965B2 Electric power steering apparatus 有权
标题翻译：电动助力转向装置
公开(公告)号：US08897965B2
公开(公告)日：2014-11-25
申请号：US13982119
申请日：2012-03-28
申请人： Terutaka Tamaizumi , Hirozumi Eki , Masayuki Kita , Isao Namikawa
发明人： Terutaka Tamaizumi , Hirozumi Eki , Masayuki Kita , Isao Namikawa
IPC分类号： B62D6/08 , B62D5/04
CPC分类号： B62D5/0472 , B62D5/0463 , B62D6/08
摘要： An assisting command value calculating unit calculates a first assisting factor on the basis of the value of a torque differential control volume added to a basic assist control volume based on a steering torque value, while increasing or decreasing, on the basis of an assisting gradient, the torque differential control volume based on a torque differential value. The pinion angle F/B control unit calculates a pinion angle command value, capable of being converted to a steering angle of the steering wheel, on the basis of the steering torque and the first assisting factor, and executes rotational angle feedback control. The assisting command value calculating unit calculates an assisting command value on the basis of the value of a second assisting factor, calculated by the pinion angle F/B control unit, added to the first assisting factor.
摘要翻译：辅助指令值计算单元，基于辅助梯度，基于转向转矩值，基于辅助控制量添加到基本辅助控制量的转矩差分控制量的值来计算第一辅助因子，同时增加或减少，基于转矩差分值的转矩差动控制量。小齿轮角度F / B控制单元基于转向扭矩和第一辅助因子计算能够转换为方向盘的转向角的小齿轮角度指令值，并执行旋转角度反馈控制。辅助指令值计算单元基于由小齿轮角度F / B控制单元计算的与第一辅助因子相加的第二辅助因子的值来计算辅助命令值。

37. 发明授权

US08874316B2 Vehicle steering system 有权
标题翻译：车辆转向系统
公开(公告)号：US08874316B2
公开(公告)日：2014-10-28
申请号：US13205138
申请日：2011-08-08
申请人： Yuji Kariatsumari , Terutaka Tamaizumi , Isao Namikawa
发明人： Yuji Kariatsumari , Terutaka Tamaizumi , Isao Namikawa
IPC分类号： B62D5/04 , B62D5/14
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。

38. 发明授权

US08855858B2 Motor control unit and vehicle steering system 有权
标题翻译：电机控制单元和车辆转向系统
公开(公告)号：US08855858B2
公开(公告)日：2014-10-07
申请号：US12945101
申请日：2010-11-12
申请人： Yuji Kariatsumari , Terutaka Tamaizumi , Yoshinobu Shimizu
发明人： Yuji Kariatsumari , Terutaka Tamaizumi , Yoshinobu Shimizu
IPC分类号： B62D5/04 , B62D5/14
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。

39. 发明申请

US20130049652A1 MOTOR CONTROL UNIT AND ELECTRIC POWER STEERING SYSTEM 有权
标题翻译：电机控制单元和电力转向系统
公开(公告)号：US20130049652A1
公开(公告)日：2013-02-28
申请号：US13570857
申请日：2012-08-09
申请人： Isao NAMIKAWA , Terutaka TAMAIZUMI , Yuji KARIATSUMARI
发明人： Isao NAMIKAWA , Terutaka TAMAIZUMI , Yuji KARIATSUMARI
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。

40. 发明授权

US08160777B2 Electric power steering device 有权
标题翻译：电动助力转向装置
公开(公告)号：US08160777B2
公开(公告)日：2012-04-17
申请号：US12273881
申请日：2008-11-19
申请人： Terutaka Tamaizumi
发明人： Terutaka Tamaizumi
IPC分类号： H02P21/00
CPC分类号： B62D5/0487 , B62D5/0484
摘要： When an electrification failure occurs in any of the phase of a motor, a control device of an electric power steering device executes current control for generating, in each of two electrification phases other than a phase with the electrification failure, a phase current that changes in the form of a secant curve or a cosecant curve based on an asymptotic line, which is a predetermined rotational angle corresponding to the phase with the electrification failure, to thereby continuously output a motor control signal. The control device of the electric power steering device executes current restriction for restricting the phase current within a predetermined range. The control device of the electric power steering device further executes control for accelerating rotation of the motor during two phase drive, in order to prevent the occurrence of a stuck steering wheel during low-speed steering, which is caused as a result of the execution of the current restriction.
摘要翻译：当在电动机的任何相中发生通电故障时，电动转向装置的控制装置执行电流控制，用于在具有带电故障的相位以外的两个充电阶段中的每一个中产生相位变化的相电流基于渐近线的割线曲线或辅助曲线的形式，其为与带电故障的相位相对应的预定旋转角度，从而连续输出电动机控制信号。电动助力转向装置的控制装置执行用于将相电流限制在预定范围内的电流限制。电动助力转向装置的控制装置进一步执行用于在两相驱动期间加速电动机的旋转的控制，以便防止在低速转向期间发生由于执行当前的限制。

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