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31. 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。

32. 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。

33. 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。

34. 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。

35. 发明授权

US08086373B2 Electric power steering apparatus 失效
标题翻译：电动助力转向装置
公开(公告)号：US08086373B2
公开(公告)日：2011-12-27
申请号：US12435046
申请日：2009-05-04
申请人： Terutaka Tamaizumi , Yasunori Shintani
发明人： Terutaka Tamaizumi , Yasunori Shintani
IPC分类号： G06F19/00
CPC分类号： B62D5/049 , B62D5/0484
摘要： An electric power steering apparatus includes a steering assist section that applies assist force to a steering system of a vehicle to assist operation of a steering wheel performed by a driver. The steering assist section is actuated by a motor. When there is an abnormality in a steering torque sensor, the supply of drive power to the motor is controlled such that a converted steering angle, which is obtained by converting the rotational angle of the motor, follows a target steering angle, which is computed based on the steering angle of the steering wheel by operation performed by the driver.
摘要翻译：电动助力转向装置包括向车辆的转向系统施加辅助力以辅助由驾驶员执行的方向盘的操作的转向辅助部。转向辅助部分由马达驱动。当转向转矩传感器发生异常时，控制对电动机的驱动力的供给，使得通过转换电动机的旋转角度而获得的转换转向角遵循基于计算的目标转向角通过由驾驶员进行的操作来确定方向盘的转向角度。

36. 发明授权

US08082080B2 Electric power steering apparatus 有权
标题翻译：电动助力转向装置
公开(公告)号：US08082080B2
公开(公告)日：2011-12-20
申请号：US12476688
申请日：2009-06-02
申请人： Masayuki Kita , Terutaka Tamaizumi , Akihiko Nishimura , Shinya Aono , Jun Hasegawa , Akira Nambu
发明人： Masayuki Kita , Terutaka Tamaizumi , Akihiko Nishimura , Shinya Aono , Jun Hasegawa , Akira Nambu
IPC分类号： B62D6/00
CPC分类号： B62D5/0463 , B62D5/0466
摘要： An electric power steering (EPS) apparatus 1 includes a motor 12, an EPS actuator 10, a torque sensor 14, and an ECU 11. The EPS actuator 10 uses the motor 12 as a drive source to apply assist force to a steering system, thereby assisting a steering operation. The torque sensor 14 detects a steering torque τ of the steering system. The ECU 11 controls the operation of the EPS actuator 10. Based on the steering torque τ detected by the torque sensor 14, the ECU 11 computes a basic shift amount εts_b of the assist force applied to the steering system. The ECU 11 determines which one of returning, holding, and turning is the state of the steering operation. When the state of the steering operation is returning or holding, the ECU 11 executes compensation control for correcting the steering torque τ, which is used in the computation of the basic shift amount εts_b of the assist force, thereby increasing the assist force applied to the steering system. The ECU 11 subjects the steering torque shift control amount εts to a filtering process using a low pass filter, thereby inhibiting the steering torque shift control amount εts from sharply changing. When the state of the steering operation is turning, the ECU 11 changes a filter constant of the low pass filter so as to reduce the filtering effect.
摘要翻译：电动助力转向（EPS）装置1包括电动机12，EPS致动器10，转矩传感器14和ECU 11. EPS致动器10使用电动机12作为驱动源向转向系统施加辅助力，从而辅助转向操作。转矩传感器14检测转向系统的转向转矩τ。 ECU11控制EPS致动器10的动作。根据由转矩传感器14检测出的转向转矩τ，ECU11计算施加于转向系统的辅助力的基本位移量＆amp; ts_b。 ECU11确定返回，保持和转动中的哪一个是转向操作的状态。当转向操作状态返回或保持时，ECU11执行用于校正辅助力的基本位移量＆amp; ts_b的计算中使用的转向转矩τ的补偿控制，从而增加施加的辅助力到转向系统。 ECU11使用低通滤波器对转向转矩转换控制量进行滤波处理，从而抑制转向转矩转换控制量的急剧变化。当转向操作状态转动时，ECU11改变低通滤波器的滤波常数，从而降低滤波效果。

37. 发明申请

US20100083744A1 LOAD DEVICE FOR EVALUATING PERFORMANCE OF STEERING DEVICE 审中-公开
标题翻译：用于评估转向装置性能的装载装置
公开(公告)号：US20100083744A1
公开(公告)日：2010-04-08
申请号：US12448433
申请日：2007-12-12
申请人： Hiroshi Obata , Terutaka Tamaizumi
发明人： Hiroshi Obata , Terutaka Tamaizumi
IPC分类号： G01M17/06
CPC分类号： G01M17/06
摘要： An inventive load apparatus for performance evaluation of a steering system has a simple construction and yet is capable of faithfully reproducing a tire load observed when the steering system is actually mounted on a motor vehicle. A compression load spring device (12) includes a piston (18) which is axially movable within a cylinder (17), and a pair of springs (20, 21) which resiliently urge the piston (18) to hold the piston (18) in a force balanced state at a neutral position in the cylinder. The piston (18) is connected to a rod (19) having one end (19a) serving as a load output portion. A load outputted from the load output portion (19a) is multiplied by a preset factor by means of a lever mechanism (13), and the resulting load is applied to the steering system (30).
摘要翻译：用于转向系统的性能评估的本发明的负载装置具有简单的结构，并且能够忠实地再现当转向系统实际安装在机动车辆上时观察到的轮胎负载。压缩负载弹簧装置（12）包括可在气缸（17）内轴向移动的活塞（18）和弹性地推动活塞（18）以保持活塞（18）的一对弹簧（20,21）在气缸中的中性位置处的力平衡状态。活塞（18）连接到具有用作负载输出部分的一端（19a）的杆（19）。从负载输出部分（19a）输出的负载通过杠杆机构（13）乘以预设系数，并将所得到的负载施加到转向系统（30）。

38. 发明申请

US20090299575A1 ELECTRIC POWER STEERING APPARATUS 有权
标题翻译：电动转向装置
公开(公告)号：US20090299575A1
公开(公告)日：2009-12-03
申请号：US12476688
申请日：2009-06-02
申请人： Masayuki KITA , Terutaka Tamaizumi , Akihiko Nishimura , Shinya Aono , Jun Hasegawa , Akira Nambu
发明人： Masayuki KITA , Terutaka Tamaizumi , Akihiko Nishimura , Shinya Aono , Jun Hasegawa , Akira Nambu
IPC分类号： B62D6/00 , G06F19/00
CPC分类号： B62D5/0463 , B62D5/0466
摘要： An electric power steering (EPS) apparatus 1 includes a motor 12, an EPS actuator 10, a torque sensor 14, and an ECU 11. The EPS actuator 10 uses the motor 12 as a drive source to apply assist force to a steering system, thereby assisting a steering operation. The torque sensor 14 detects a steering torque τ of the steering system. The ECU 11 controls the operation of the EPS actuator 10. Based on the steering torque τ detected by the torque sensor 14, the ECU 11 computes a basic shift amount εts_b of the assist force applied to the steering system. The ECU 11 determines which one of returning, holding, and turning is the state of the steering operation. When the state of the steering operation is returning or holding, the ECU 11 executes compensation control for correcting the steering torque τ, which is used in the computation of the basic shift amount εts_b of the assist force, thereby increasing the assist force applied to the steering system. The ECU 11 subjects the steering torque shift control amount εts to a filtering process using a low pass filter, thereby inhibiting the steering torque shift control amount εts from sharply changing. When the state of the steering operation is turning, the ECU 11 changes a filter constant of the low pass filter so as to reduce the filtering effect.
摘要翻译：电动助力转向（EPS）装置1包括电动机12，EPS致动器10，转矩传感器14和ECU 11. EPS致动器10使用电动机12作为驱动源向转向系统施加辅助力，从而辅助转向操作。扭矩传感器14检测转向系统的转向转矩τ。 ECU11控制EPS致动器10的动作。根据由转矩传感器14检测出的转向转矩τ1，ECU11计算施加于转向系统的辅助力的基本位移量epsilonts_b。 ECU11确定返回，保持和转动中的哪一个是转向操作的状态。当转向操作的状态返回或保持时，ECU11执行用于校正辅助力的基本位移量epsilonts_b的计算中使用的转向转矩τ的补偿控制，从而增加施加到转向操作的辅助力转向系统。 ECU11使用低通滤波器对转向转矩转换控制量的epsil字符进行滤波处理，由此抑制转向转矩转换控制量的epsic字符急剧变化。当转向操作状态转动时，ECU11改变低通滤波器的滤波常数，从而降低滤波效果。

39. 发明申请

US20080217096A1 ELECTRIC POWER STEERING APPARATUS 有权
标题翻译：电动转向装置
公开(公告)号：US20080217096A1
公开(公告)日：2008-09-11
申请号：US11860058
申请日：2007-09-24
申请人： Hiroshi SUZUKI , Terutaka Tamaizumi , Hirozumi Eki , Kenji Nishimura
发明人： Hiroshi SUZUKI , Terutaka Tamaizumi , Hirozumi Eki , Kenji Nishimura
IPC分类号： B62D5/04
CPC分类号： B62D5/0463 , B62D6/003 , B62D6/008
摘要： An ECU determines whether the orientation of the vehicle is deflecting at the time of braking. In addition, in a case where it is determined that the orientation of the vehicle is deflecting, the ECU controls operation of an EPS actuator in order to reduce the assist force provided to the steering system.
摘要翻译： ECU确定在制动时车辆的方向是否偏转。此外，在确定车辆的朝向偏转的情况下，ECU控制EPS致动器的操作，以便减小提供给转向系统的辅助力。

40. 发明申请

US20050182541A1 Electric power steering apparatus 有权
标题翻译：电动助力转向装置
公开(公告)号：US20050182541A1
公开(公告)日：2005-08-18
申请号：US11057014
申请日：2005-02-11
申请人： Terutaka Tamaizumi , Shinya Aono
发明人： Terutaka Tamaizumi , Shinya Aono
IPC分类号： B62D5/04 , B62D6/00
CPC分类号： B62D5/0463 , B62D5/046 , B62D5/0472
摘要： An electric power steering apparatus has a motor controlled so as to generate steering assist power according to the steering torque required to operate a steering wheel. As a result of correction of the output of the motor in accordance with a value correlating with the rotation angular velocity correspondence value of the steering wheel, in the frequency response characteristic represented by the steering frequency of the steering wheel and the amplitude ratio of the steering torque relative to the steering angle of the steering wheel, the amplitude ratio is set within a setting range, at least within the steering frequency range when a person operates the steering wheel. As a result of correction of the output of the motor in accordance with a value directly correlating with the change velocity correspondence value of the steering torque, in the frequency response characteristic represented by the frequency of the disturbance torque input from the road surface to the steering system via vehicle wheels and the amplitude ratio of the steering torque relative to the disturbance torque, the amplitude ratio becomes smaller at the resonance frequency.
摘要翻译：电动助力转向装置具有电动机，以便根据操作方向盘所需的转向转矩产生转向辅助动力。根据与方向盘的旋转角速度对应值相关联的值校正马达的输出的结果，在由方向盘的转向频率表示的频率响应特性和转向的振幅比中相对于方向盘的转向角的转矩，当人操作方向盘时，至少在转向频率范围内，将振幅比设定在设定范围内。作为根据与转向转矩的变化速度对应值直接相关的值来校正电动机的结果，在由从路面输入到转向的干扰转矩的频率所表示的频率响应特性中系统通过车轮和转向转矩相对于扰动转矩的幅度比，振幅比在共振频率下变小。

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