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1. 发明授权

US09518844B2 Rotation angle detection device compromising 有权
标题翻译：旋转角度检测装置妥协
公开(公告)号：US09518844B2
公开(公告)日：2016-12-13
申请号：US13639294
申请日：2011-03-25
申请人： Takeshi Ueda , Hayato Komatsu , Yuji Kariatsumari
发明人： Takeshi Ueda , Hayato Komatsu , Yuji Kariatsumari
IPC分类号： G01D5/245 , G01D5/244
CPC分类号： G01D5/2451 , G01D5/2449
摘要： Angular widths of respective magnetic poles of a detection rotor are stored and divisions are set for respective magnetic pole pairs. Based on output signals from first and second magnetic sensors, a rotation angle computation unit computes first and second rotation angles that are rotation angles within the corresponding division. Based on the angular widths, the rotation angle computation unit identifies the magnetic pole sensed by the first magnetic sensor and computes a first absolute rotation angle using the first rotation angle. Based on the identified magnetic pole and the second rotation angle, the rotation angle computation unit computes a second absolute rotation angle. The rotation angle of the detection rotor is computed based on the first and second absolute angles.
摘要翻译：存储检测转子的各个磁极的角度宽度，并为相应的磁极对设定分割。基于来自第一和第二磁传感器的输出信号，旋转角计算单元计算作为相应划分内的旋转角度的第一和第二旋转角度。基于角度宽度，旋转角度计算单元识别由第一磁性传感器感测的磁极，并使用第一旋转角度来计算第一绝对旋转角度。基于所识别的磁极和第二旋转角度，旋转角度计算单元计算第二绝对旋转角度。基于第一和第二绝对角度来计算检测转子的旋转角度。

2. 发明授权

US08957675B2 Rotation angle detection device 有权
标题翻译：旋转角度检测装置
公开(公告)号：US08957675B2
公开(公告)日：2015-02-17
申请号：US13579006
申请日：2011-02-23
申请人： Takeshi Ueda , Hayato Komatsu , Minoru Sentoku
发明人： Takeshi Ueda , Hayato Komatsu , Minoru Sentoku
IPC分类号： G01B7/30 , G01D5/245
CPC分类号： G01D5/2451
摘要： Upon detecting a peak value from output signals of one of either a first or a second magnetic sensor, an rotation angle computation device identifies, on basis of an amplitude compensation table corresponding to the one magnetic sensor for which the peak value was detected, a pole number of a magnetic pole sensed by the magnetic sensor. Then, based on the identified pole number and a magnetic pole identification table, a pole number of a magnetic pole sensed by the other magnetic sensor is identified. The pole numbers of the magnetic poles sensed by the respective magnetic sensors are thus identified, and the rotation angle computation device compensates the output signals of the respective magnetic sensors using amplitude compensation gains corresponding to the sensed magnetic poles (magnetic pole pair).
摘要翻译：在从第一或第二磁传感器中的一个的输出信号检测到峰值时，旋转角计算装置基于与检测到峰值的一个磁传感器相对应的振幅补偿表，识别极点由磁传感器感测的磁极的数量。然后，基于所识别的极数和磁极识别表，识别由另一个磁传感器感测的磁极的极数。因此识别由各个磁性传感器感测的磁极的极数，并且旋转角度计算装置使用与感测的磁极（磁极对）对应的振幅补偿增益来补偿各个磁性传感器的输出信号。

3. 发明授权

US08494715B2 Vehicle steering apparatus 有权
标题翻译：车辆转向装置
公开(公告)号：US08494715B2
公开(公告)日：2013-07-23
申请号：US12588399
申请日：2009-10-14
申请人： Yuji Kariatsumari , Yoshinobu Shimizu , Hayato Komatsu
发明人： Yuji Kariatsumari , Yoshinobu Shimizu , Hayato Komatsu
IPC分类号： B62D5/04
CPC分类号： B62D5/0472 , B62D5/046
摘要： A motor is driven based on an axis current value in a rotating coordinate system that rotates in accordance with a control angle that is a rotational angle used in a control. The control angle is calculated by adding an addition angle to an immediately preceding value of the control angle in each predetermined calculation cycle. A command steering torque is set based on a predetermined steering angle-torque characteristic. The addition angle is calculated based on the deviation of a detected steering torque from a command steering torque. The addition angle based on the deviation is changed when a predetermined condition is satisfied.
摘要翻译：基于在控制中使用的旋转角度的控制角度旋转的旋转坐标系中的轴电流值来驱动电动机。通过在每个预定的计算周期中将相加角加到控制角的紧前一个值上来计算控制角。基于预定的转向角 - 转矩特性设定指示转向转矩。基于检测到的转向转矩与指示转向转矩的偏差来计算相加角。当满足预定条件时，基于偏差的相加角改变。

4. 发明申请

US20100094505A1 Vehicle steering apparatus 有权
标题翻译：车辆转向装置
公开(公告)号：US20100094505A1
公开(公告)日：2010-04-15
申请号：US12588399
申请日：2009-10-14
申请人： Yuji Kariatsumari , Yoshinobu Shimizu , Hayato Komatsu
发明人： Yuji Kariatsumari , Yoshinobu Shimizu , Hayato Komatsu
IPC分类号： G06F19/00 , B62D6/00
CPC分类号： B62D5/0472 , B62D5/046
摘要： A motor is driven based on an axis current value in a rotating coordinate system that rotates in accordance with a control angle that is a rotational angle used in a control. The control angle is calculated by adding an addition angle to an immediately preceding value of the control angle in each predetermined calculation cycle. A command steering torque is set based on a predetermined steering angle-torque characteristic. The addition angle is calculated based on the deviation of a detected steering torque from a command steering torque. The addition angle based on the deviation is changed when a predetermined condition is satisfied.
摘要翻译：基于在控制中使用的旋转角度的控制角度旋转的旋转坐标系中的轴电流值来驱动电动机。通过在每个预定的计算周期中将相加角加到控制角的紧前一个值上来计算控制角。基于预定的转向角 - 转矩特性设定指示转向转矩。基于检测到的转向转矩与指示转向转矩的偏差来计算相加角。当满足预定条件时，基于偏差的相加角改变。

5. 发明授权

US08560177B2 Electric power steering system 有权
标题翻译：电动助力转向系统
公开(公告)号：US08560177B2
公开(公告)日：2013-10-15
申请号：US13226112
申请日：2011-09-06
申请人： Hayato Komatsu , Yoshinobu Shimizu , Yuji Kariatsumari , Shingo Maeda , Yasuyuki Yoshii
发明人： Hayato Komatsu , Yoshinobu Shimizu , Yuji Kariatsumari , Shingo Maeda , Yasuyuki Yoshii
IPC分类号： B62D5/04 , B62D5/00
CPC分类号： B62D5/046 , B62D5/0481 , H02P23/14
摘要： An electric power steering system includes a motor that applies assist force to a steering system, and updates a motor resistance (Rm) that is a value indicating a resistance of the motor. Specifically, the motor resistance (Rm) is updated on the basis of the fact that an induced voltage (EX) of the motor is smaller than a first determination value (GA). In addition, when the induced voltage (EX) is smaller than or equal to a second determination value (GB), a divided value that is obtained by dividing a motor voltage (Vm) by a motor current (Im) is set as a new motor resistance (Rm).
摘要翻译：电动助力转向系统包括向转向系统施加辅助力的电动机，并且更新作为表示电动机的电阻的值的电动机电阻（Rm）。具体地，基于电动机的感应电压（EX）小于第一判定值（GA）的事实来更新电动机电阻（Rm）。此外，当感应电压（EX）小于或等于第二判定值（GB）时，通过将电动机电压（Vm）除以电动机电流（Im）而获得的分压值被设定为新的电机电阻（Rm）。

6. 发明申请

US20120080259A1 MOTOR CONTROL DEVICE AND ELECTRIC POWER STEERING APPARATUS 失效
标题翻译：电机控制装置和电动转向装置
公开(公告)号：US20120080259A1
公开(公告)日：2012-04-05
申请号：US13320839
申请日：2010-06-21
申请人： Takeshi Ueda , Shingo Maeda , Yoshinobu Shimizu , Hayato Komatsu
发明人： Takeshi Ueda , Shingo Maeda , Yoshinobu Shimizu , Hayato Komatsu
IPC分类号： B62D5/04 , H02P23/00 , B62D6/00
CPC分类号： B62D5/046 , B62D5/0481 , H02P7/281 , H02P7/29
摘要： An angular velocity estimate (ωe) used in motor control of an electric power steering is obtained as follows. In a first state period during which the motor substantially stops its rotation, a resistance calculation unit calculates a motor resistance value (Rc) on the basis of a detected value (Vm) of motor voltage and a detected value (Im) of motor current. An average calculation unit obtains an average value (Rav) of the calculated resistance values (Rc) in a retained period. A current-resistance characteristic that associates motor current with motor resistance is held in a characteristic holding unit, and a characteristic updating unit updates the current-resistance characteristic on the basis of the average value (Rav). An estimate calculation unit calculates the angular velocity estimate (ωe) on the basis of the detected value (Vm) of motor voltage, the detected value (Im) of motor current and a motor resistance value (Rm) obtained from the current-resistance characteristic.
摘要翻译：如下获得用于电动助力转向器的电动机控制中的角速度估计（ωe）。在电动机基本上停止其旋转的第一状态期间，电阻计算单元基于电动机电压的检测值（Vm）和电动机电流的检测值（Im）来计算电动机电阻值（Rc）。平均计算单元获得计算出的电阻值（Rc）在保留期间内的平均值（Rav）。将电动机电流与电动机电阻相关联的电流电阻特性保持在特性保持单元中，特性更新单元基于平均值（Rav）来更新电流电阻特性。估计计算单元基于电动机电压的检测值（Vm），电动机电流的检测值（Im）和从电流电阻特性得到的电动机电阻值（Rm）来计算角速度估计（ωe）。

7. 发明申请

US20100235049A1 Motor control unit and motor control unit for vehicle steering apparatus 有权
标题翻译：车辆转向装置的电机控制单元和电机控制单元
公开(公告)号：US20100235049A1
公开(公告)日：2010-09-16
申请号：US12659489
申请日：2010-03-10
申请人： Yuji Kariatsumari , Hayato Komatsu , Shingo Maeda
发明人： Yuji Kariatsumari , Hayato Komatsu , Shingo Maeda
IPC分类号： G06F19/00 , G05B11/36 , G05B23/02
CPC分类号： B62D5/046 , H02P21/14 , H02P21/16 , H02P21/18 , H02P21/22
摘要： A motor control unit controls a motor including a rotor and a stator facing the rotor. A current drive unit drives the motor at an axis current value of a rotating coordinate system that rotates in accordance with a control angle that is a rotational angle used in a control. A control angle calculation unit obtains, at every predetermined calculation cycle, a present value of the control angle by adding an addition angle to an immediately preceding value of the control angle. A torque detection unit detects a torque other than a motor torque and applied to a drive target driven by the motor. A command torque setting unit sets a command torque to be applied to the drive target. An addition angle calculation unit calculates the addition angle to be added to the control angle through a proportional-integral control based on a torque deviation of the torque detected by the torque detection unit from the command torque set by the command torque setting unit.
摘要翻译：马达控制单元控制包括转子和面向转子的定子的马达。当前的驱动单元以旋转坐标系的轴电流值驱动电机，该旋转坐标系根据在控制中使用的旋转角度的控制角度旋转。控制角度计算单元通过对控制角的紧接在前的值添加相加角，在每个预定计算周期获得控制角的当前值。转矩检测单元检测除电动机转矩之外的转矩并施加到由电动机驱动的驱动目标。指令转矩设定单元设定要施加到驱动目标的指令转矩。相加角计算单元根据由转矩检测单元检测出的转矩的转矩偏差，根据由指令转矩设定单元设定的指令转矩，通过比例积分控制来计算要添加到控制角度的相加角度。

8. 发明授权

US08710831B2 Rotation angle detecting device 有权
标题翻译：旋转角度检测装置
公开(公告)号：US08710831B2
公开(公告)日：2014-04-29
申请号：US13336186
申请日：2011-12-23
申请人： Takeshi Ueda , Hayato Komatsu
发明人： Takeshi Ueda , Hayato Komatsu
IPC分类号： G01B7/30
CPC分类号： G01D5/145
摘要： Three magnetic sensors are arranged around a rotor at predetermined angular intervals about the rotation axis of the rotor. Sinusoidal signals that have a phase difference of a predetermined degree of 45° are output from the respective magnetic sensors. A rotation angle computing device detects a magnetic pole transition in a first output signal as follows. Specifically, the rotation angle computing device detects a magnetic pole transition in the first output signal based on a value having a larger absolute value between a current value of the second sinusoidal signal and a current value of the third sinusoidal signal, an immediately preceding value of the first sinusoidal signal and a current value of the first sinusoidal signal.
摘要翻译：围绕转子的旋转轴线以预定的角度间隔围绕转子设置三个磁性传感器。从相应的磁传感器输出具有预定的45度相位差的正弦信号。旋转角度计算装置如下检测第一输出信号中的磁极转变。具体地说，旋转角度计算装置基于第二正弦信号的电流值和第三正弦信号的电流值之间的绝对值较大的值，检测第一输出信号中的磁极转变，第一正弦信号和第一正弦信号的电流值。

9. 发明授权

US08496085B2 Motor control device and electric power steering apparatus 失效
标题翻译：电机控制装置和电动助力转向装置
公开(公告)号：US08496085B2
公开(公告)日：2013-07-30
申请号：US13320839
申请日：2010-06-21
申请人： Takeshi Ueda , Shingo Maeda , Yoshinobu Shimizu , Hayato Komatsu
发明人： Takeshi Ueda , Shingo Maeda , Yoshinobu Shimizu , Hayato Komatsu
IPC分类号： B62D5/04 , H02P23/00
CPC分类号： B62D5/046 , B62D5/0481 , H02P7/281 , H02P7/29
摘要： An angular velocity estimate (ωe) used in motor control of an electric power steering is obtained as follows. In a first state period during which the motor substantially stops its rotation, a resistance calculation unit calculates a motor resistance value (Rc) on the basis of a detected value (Vm) of motor voltage and a detected value (Im) of motor current. An average calculation unit obtains an average value (Rav) of the calculated resistance values (Rc) in a retained period. A current-resistance characteristic that associates motor current with motor resistance is held in a characteristic holding unit, and a characteristic updating unit updates the current-resistance characteristic on the basis of the average value (Rav). An estimate calculation unit calculates the angular velocity estimate (ωe) on the basis of the detected value (Vm) of motor voltage, the detected value (Im) of motor current and a motor resistance value (Rm) obtained from the current-resistance characteristic.
摘要翻译：如下获得用于电动助力转向装置的电动机控制中的角速度估计（ω）。在电动机基本上停止其旋转的第一状态期间，电阻计算单元基于电动机电压的检测值（Vm）和电动机电流的检测值（Im）来计算电动机电阻值（Rc）。平均计算单元获得计算出的电阻值（Rc）在保留期间内的平均值（Rav）。将电动机电流与电动机电阻相关联的电流电阻特性保持在特性保持单元中，特性更新单元基于平均值（Rav）来更新电流电阻特性。估计计算单元基于电动机电压的检测值（Vm），电动机电流的检测值（Im）和从电流电阻特性得到的电动机电阻值（Rm）来计算角速度估计（ω）。

10. 发明申请

US20120319680A1 ROTATION ANGLE DETECTION DEVICE 有权
标题翻译：旋转角度检测装置
公开(公告)号：US20120319680A1
公开(公告)日：2012-12-20
申请号：US13579006
申请日：2011-02-23
申请人： Takeshi Ueda , Hayato Komatsu , Minoru Sentoku
发明人： Takeshi Ueda , Hayato Komatsu , Minoru Sentoku
IPC分类号： G01B7/30
CPC分类号： G01D5/2451
摘要： Upon detecting a peak value from output signals of one of either a first or a second magnetic sensor, an rotation angle computation device identifies, on basis of an amplitude compensation table corresponding to the one magnetic sensor for which the peak value was detected, a pole number of a magnetic pole sensed by the magnetic sensor. Then, based on the identified pole number and a magnetic pole identification table, a pole number of a magnetic pole sensed by the other magnetic sensor is identified. The pole numbers of the magnetic poles sensed by the respective magnetic sensors are thus identified, and the rotation angle computation device compensates the output signals of the respective magnetic sensors using amplitude compensation gains corresponding to the sensed magnetic poles (magnetic pole pair).
摘要翻译：在从第一或第二磁传感器中的一个的输出信号检测到峰值时，旋转角计算装置基于与检测到峰值的一个磁传感器相对应的振幅补偿表，识别极点由磁传感器感测的磁极的数量。然后，基于所识别的极数和磁极识别表，识别由另一个磁传感器感测的磁极的极数。因此识别由各个磁性传感器感测的磁极的极数，并且旋转角度计算装置使用与感测的磁极（磁极对）对应的振幅补偿增益来补偿各个磁性传感器的输出信号。

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