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1. 发明授权

US08306702B2 Electric power steering apparatus 有权
标题翻译：电动助力转向装置
公开(公告)号：US08306702B2
公开(公告)日：2012-11-06
申请号：US11970114
申请日：2008-01-07
申请人： Hiroshi Suzuki , Terutaka Tamaizumi
发明人： Hiroshi Suzuki , Terutaka Tamaizumi
IPC分类号： A01B69/00 , B62D6/00 , B62D11/00 , B62D12/00 , B63G8/20 , B63H25/04 , G05D1/00 , G06F7/00 , G06F17/00 , G06F19/00
CPC分类号： B62D5/0466
摘要： A steering wheel return compensation component is calculated based on an integrated value obtained by integrating a basic control amount in such a manner that the basic control amount has a property to rotate a steering wheel with a specific steering angle by a greater amount to its neutral position as the absolute value of the steering angle becomes greater. Alternatively, a steering wheel return compensation component is calculated in such a manner that the steering wheel return compensation component has a property to rotate the steering wheel by a greater amount to the neutral position as the absolute value of an integrated value obtained by integrating the steering angle becomes greater.
摘要翻译：基于通过对基本控制量进行积分而获得的积分值来计算方向盘返回补偿分量，使得基本控制量具有使具有特定转向角的方向盘与其中立位置更大的量旋转的性质因为转向角的绝对值变大。或者，以这样的方式计算方向盘返回补偿部件，使得方向盘返回补偿部件具有使方向盘相对于中立位置更大的量的特性，作为通过对转向装置进行积分而获得的积分值的绝对值角度变大。

2. 发明授权

US08050824B2 Electric power steering apparatus 有权
标题翻译：电动助力转向装置
公开(公告)号：US08050824B2
公开(公告)日：2011-11-01
申请号：US12260472
申请日：2008-10-29
申请人： Terutaka Tamaizumi , Hirozumi Eki , Hiroshi Suzuki
发明人： Terutaka Tamaizumi , Hirozumi Eki , Hiroshi Suzuki
IPC分类号： B62D5/04 , B62D119/00
CPC分类号： B62D5/0463 , B62D5/0466
摘要： An assist gradient Ra and also an F/B gain gradient Rp are inputted to an assist gradient compensation control unit. The F/B gradient Rp is added to the assist gradient Ra in an adder and the sum obtained is inputted into a switching control unit. The assist gradient Ra that has been inputted from a basic assist control unit is directly inputted together with the sum to the switching control unit. When a torque feedback control is executed, the switching control unit outputs the sum of the assist gradient Ra and F/B gain gradient Rp to a filter constant computation unit and an assist gradient gain computation unit.
摘要翻译：辅助梯度Ra和F / B增益梯度Rp被输入到辅助梯度补偿控制单元。在加法器中将F / B梯度Rp加到辅助梯度Ra上，并将获得的和输入到切换控制单元中。已经从基本辅助控制单元输入的辅助梯度Ra与和一起直接输入到切换控制单元。当执行转矩反馈控制时，切换控制单元将辅助梯度Ra和F / B增益梯度R p的和输出到滤波常数计算单元和辅助梯度增益计算单元。

3. 发明申请

US20110118940A1 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：US20110118940A1
公开(公告)日：2011-05-19
申请号：US12946187
申请日：2010-11-15
申请人： Yuji KARIATSUMARI , Hayato KOMATSU , Terutaka TAMAIZUMI , Yoshihiro ITATSU
发明人： Yuji KARIATSUMARI , Hayato KOMATSU , Terutaka TAMAIZUMI , Yoshihiro ITATSU
IPC分类号： B62D6/00 , H02P21/00
CPC分类号： H02P21/0046 , B62D5/046 , H02P21/04 , H02P21/28
摘要： A motor is driven by the γ-axis current of a γδ coordinate system that is an imaginary rotating coordinate system. A command current value preparation unit sets the γ-axis command current value based on the command steering torque and the detected steering torque. The command current value preparation unit includes a command current increase/decrease amount calculation unit and an addition unit. The command current increase/decrease amount calculation unit calculates the current increase/decrease amount for the command current value based on the sign of the command steering torque and the deviation of the detected steering torque from the command steering torque. The current increase/decrease amount calculated by the command current increase/decrease amount calculation unit is added to the immediately preceding value of the command current value by the addition unit. Thus, the command current value in the present calculation cycle is calculated.
摘要翻译：电动机由作为虚拟旋转坐标系的γδ坐标系的γ轴电流驱动。指令电流值准备部基于指示转向转矩和检测到的转向转矩来设定γ轴指令电流值。指令电流值准备单元包括指令电流增减量计算单元和加法单元。指令电流增减量计算单元基于指示转向转矩的符号和检测到的转向转矩与指示转向转矩的偏差来计算指令电流值的当前增减量。由指令电流上升/下降量计算单元计算出的当前增加/减少量通过加法单元加到指令当前值的紧前面的值。因此，计算当前计算周期中的指令当前值。

4. 发明申请

US20100324783A1 ELECTRIC POWER STEERING SYSTEM 有权
标题翻译：电力转向系统
公开(公告)号：US20100324783A1
公开(公告)日：2010-12-23
申请号：US12818540
申请日：2010-06-18
申请人： Akihiko NISHIMURA , Terutaka Tamaizumi , Masayuki Kita , Shinya Aono , Jun Hasegawa , Akira Nambu
发明人： Akihiko NISHIMURA , Terutaka Tamaizumi , Masayuki Kita , Shinya Aono , Jun Hasegawa , Akira Nambu
IPC分类号： G06F19/00
CPC分类号： B62D6/00 , B62D5/0463 , B62D5/0466
摘要： A steering torque shift control amount calculation unit (31) calculates the steering torque shift control amount (εts) by multiplying the basic shift amount (εts_b) used as the basic compensation component by the transition coefficient (Kss). Then, the steering torque shift control amount (εts) is subjected to the low-pass filter process in an abrupt change prevention processing unit (32). An abrupt change prevention processing unit (40) is provided in the steering torque shift control amount calculation unit (31). The transition coefficient (Kss) is subjected to the low-pass filter process in the abrupt change prevention processing unit (40). The cutoff frequency of the low-pass filter that forms the abrupt change prevention processing unit (40) is set to a value lower than the cutoff frequency of the low-pass filter that forms the abrupt change prevention processing unit (32) that executes the low-pass filter process on the torque shift control amount (εts).
摘要翻译：转向转矩转换控制量计算单元（31）通过将用作基本补偿分量的基本位移量（＆egr; ts_b）乘以转换系数（Kss）来计算转向转矩转换控制量（＆egr ts）。然后，在突变改变防止处理单元（32）中对转向转矩转换控制量（＆amp; ts）进行低通滤波处理。在转向转矩转换控制量计算单元（31）中设置有突变防止处理单元（40）。过渡系数（Kss）在突变防止处理单元（40）中进行低通滤波处理。形成防突变处理单元（40）的低通滤波器的截止频率被设定为低于形成防变频处理单元（32）的低通滤波器的截止频率的值，低通滤波处理对转矩控制量（＆egr。ts）的影响。

5. 发明申请

US20090112405A1 ELECTRIC POWER STEERING APPARATUS 有权
标题翻译：电动转向装置
公开(公告)号：US20090112405A1
公开(公告)日：2009-04-30
申请号：US12260472
申请日：2008-10-29
申请人： Terutaka Tamaizumi , Hirozumi Eki , Hiroshi Suzuki
发明人： Terutaka Tamaizumi , Hirozumi Eki , Hiroshi Suzuki
IPC分类号： B62D6/08
CPC分类号： B62D5/0463 , B62D5/0466
摘要： An assist gradient Ra and also an F/B gain gradient Rp are inputted to an assist gradient compensation control unit. The F/B gradient Rp is added to the assist gradient Ra in an adder and the sum obtained is inputted into a switching control unit. The assist gradient Ra that has been inputted from a basic assist control unit is directly inputted together with the sum to the switching control unit. When a torque feedback control is executed, the switching control unit outputs the sum of the assist gradient Ra and F/B gain gradient Rp to a filter constant computation unit and an assist gradient gain computation unit.
摘要翻译：辅助梯度Ra和F / B增益梯度Rp被输入到辅助梯度补偿控制单元。在加法器中将F / B梯度Rp加到辅助梯度Ra上，并将获得的和输入到切换控制单元中。已经从基本辅助控制单元输入的辅助梯度Ra与和一起直接输入到切换控制单元。当执行转矩反馈控制时，切换控制单元将辅助梯度Ra和F / B增益梯度R p的和输出到滤波常数计算单元和辅助梯度增益计算单元。

6. 发明授权

US07512468B2 Electric power steering apparatus 有权
标题翻译：电动助力转向装置
公开(公告)号：US07512468B2
公开(公告)日：2009-03-31
申请号：US11255223
申请日：2005-10-19
申请人： Terutaka Tamaizumi , Yuji Kariatsumari
发明人： Terutaka Tamaizumi , Yuji Kariatsumari
IPC分类号： B62D1/00 , B62D6/00 , B62D5/00
CPC分类号： B62D15/0245 , B62D5/0463
摘要： In an electric power steering apparatus which comprises a motor for generating steering assist force, it is judged whether or not the vehicle is in a state of straight forward motion. A mean reference steering angle is determined by dividing total of relative steering angles which are determined when the vehicle is judged to be in a state of straight forward motion by the number of judgments that the vehicle is in a state of straight forward motion. A steering angle is determined by subtracting a steering angle midpoint from a relative steering angle with taking the mean reference steering angle as the steering angle midpoint. The output of the motor for generating steering assist force is corrected in accordance with an output correction value determined on the basis of the determined steering angle. This output correction value is altered so as to have a positive correlation with the number of judgments that the vehicle is in a state of straight forward motion.
摘要翻译：在包括用于产生转向辅助力的电动机的电动助力转向装置中，判断车辆是否处于直线向前运动的状态。平均参考转向角通过将车辆被判断为处于直线向前运动状态时确定的相对转向角的总和除以车辆处于直线运动的状态的判断次数来确定。通过以平均参考舵角作为转向角中点，从相对转向角减去转向角中点来确定转向角。根据所确定的转向角确定的输出校正值来校正用于产生转向辅助力的电动机的输出。该输出校正值被改变，以便与车辆处于直线向前运动的状态的判断次数呈正相关。

7. 发明申请

US20080315809A1 MOTOR CONTROLLER AND ELECTRIC POWER STEERING APPARATUS 有权
标题翻译：电机控制器和电动转向装置
公开(公告)号：US20080315809A1
公开(公告)日：2008-12-25
申请号：US12142376
申请日：2008-06-19
申请人： Terutaka TAMAIZUMI
发明人： Terutaka TAMAIZUMI
IPC分类号： H02P6/10
CPC分类号： B62D5/046 , B62D5/0484 , B62D5/0487 , H02P21/22 , H02P29/032
摘要： The micro computer 17 continue an output of a motor control signal to execute a current control to carry to each of two phases a phase current changing like a secant curve or a cosecant curve at making a predetermined rotational angle according to the phase generated the current-carrying failure as an asymptote at the generation of the current-carrying failure. The micro computer 17 provides a rotational angle compensating section 40 compensating an input rotational angle θ to correct a phase offset between a phase current command value Ix* as a current command value and an actual phase current value Ix as an actual current value in the current control.
摘要翻译：微型计算机17继续输出电动机控制信号，执行电流控制，以根据产生电流控制信号的相位执行电流控制，以使两相中的相位电流根据正交曲线或辅助曲线变化，在发生电流故障时承载故障作为渐近线。微型计算机17提供一个旋转角度补偿部分40，补偿输入旋转角度θ，以将作为电流指令值的相电流指令值Ix *与实际相电流值Ix之间的相位偏移校正为电流中的实际电流值控制。

8. 发明申请

US20120046832A1 VEHICLE STEERING SYSTEM 有权
标题翻译：车辆转向系统
公开(公告)号：US20120046832A1
公开(公告)日：2012-02-23
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： B62D6/00
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。

9. 发明申请

US20110010050A1 ELECTRIC POWER STEERING SYSTEM 有权
标题翻译：电力转向系统
公开(公告)号：US20110010050A1
公开(公告)日：2011-01-13
申请号：US12828509
申请日：2010-07-01
申请人： Hiroshi SUZUKI , Naoki Yamano , Terutaka Tamaizumi , Akira Nambu
发明人： Hiroshi SUZUKI , Naoki Yamano , Terutaka Tamaizumi , Akira Nambu
IPC分类号： G06F19/00 , B62D5/04
CPC分类号： B62D5/0463
摘要： A motor control signal output unit of an electric power steering system includes a feedback gain calculation unit (52), and a feedback control unit executes a feedback control with the use of a proportional gain (Kp) and an integral gain (Ki) that are calculated by the feedback gain calculation unit (52). The feedback gain calculation unit (52) sets the feedback gains to large values (Kp=P0, Ki=I0) when the absolute value of an assist gradient (α) is equal to or smaller than a predetermined value (α0) (|α|≦α0). On the other hand, when the absolute value of the assist gradient (α) exceeds the predetermined value (A) (|α|>α0), the feedback gain calculation unit (52) sets the feedback gains to small values (Kp=p1, Ki=I1:P1
摘要翻译：电动助力转向系统的电动机控制信号输出单元包括反馈增益计算单元（52），并且反馈控制单元使用比例增益（Kp）和积分增益（Ki）执行反馈控制由反馈增益计算单元（52）计算。当辅助梯度（α）的绝对值等于或小于预定值（α0）（|α）时，反馈增益计算单元将反馈增益设置为大值（Kp = P0，Ki = |＆nlE;α0）。另一方面，当辅助梯度（α）的绝对值超过预定值（A）（|α|>α0）时，反馈增益计算单元将反馈增益设置为小值（Kp = p1 ，Ki = I1：P1

10. 发明授权

US07742858B2 Electric power steering apparatus 有权
标题翻译：电动助力转向装置
公开(公告)号：US07742858B2
公开(公告)日：2010-06-22
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 including a steering torque detecting section configured to detect a steering torque applied to an operation member for steering a vehicle, a steering state judging section configured to determine whether forward stroke steering that steers the operating member away from a steering angle midpoint is performed, a motor controlling section configured to control the driving of an electric motor based on the steering torque detected by the steering torque detecting section, and a phase compensating section provided in the motor controlling section for performing phase compensation, such that, when the forward stroke steering is not performed according to the steering state judging section, a gain in a predetermined frequency band in frequency response characteristics of the phase compensation is lower than gains in frequency bands lower and higher than the predetermined frequency band, and is lower than a gain in the predetermined frequency band when the forward stroke steering is performed.
摘要翻译：一种电动助力转向装置，包括：转向转矩检测部，其被配置为检测施加到用于转向车辆的操作部件的转向转矩;转向状态判断部，被配置为确定是否将所述操作部件转向远离转向角中点的前进行程转向执行基于由转向转矩检测部检测到的转向转矩来控制电动机的驱动的电动机控制部以及设置在电动机控制部中进行相位补偿的相位补偿部，使得当根据转向状态判断部不进行前进行驶转向，相位补偿的频率响应特性中的预定频带的增益低于预定频带以下的频带的增益，低于预定频带的频带的增益当增益在预定频带时执行向前冲程转向。

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