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1. 发明专利

JP2008302900A Control device for electric power steering device 审中-公开
标题翻译：电动转向装置的控制装置
公开(公告)号：JP2008302900A
公开(公告)日：2008-12-18
申请号：JP2007154332
申请日：2007-06-11
申请人： Denso Corp , Nagoya Institute Of Technology , 国立大学法人名古屋工業大学 , 株式会社デンソー
发明人： UKAI HIROYUKI , MORITA YOSHIFUMI , IWASAKI MAKOTO , MATSUI NOBUYUKI , TSUCHIDA NORIO , YAMAMOTO YUYA , HAYASHI JIRO , SAWADA AKIHIKO , MAKINO NOBUHIKO
IPC分类号： B62D6/00 , B62D5/04 , B62D113/00 , B62D117/00 , B62D119/00 , B62D137/00
CPC分类号： B62D6/008 , B62D5/046 , B62D5/0463 , B62D5/0481
摘要： PROBLEM TO BE SOLVED: To provide a control device capable of maintaining steering feeling with sufficient shipping state by automatic adjustment even if an electric power steering device is used for a long period of time. SOLUTION: A parameter presumption unit 120 is obtained by modelling the electric power steering device 1, memorizes a mathematic model including a characteristic constant indicating a physical characteristic of the device, and obtains a steering parameter of the mathematic model from a sensor. Further, the characteristic constant is successively presumed from the obtained value and the mathematic model. A controller gain adjustment part 130 memorizes a relationship between variation of the characteristic constant and a gain K2 for returning the steering feeling to the initial state, determines the gain K2 based on the variation of the characteristic constant and the relationship, and determines a torque instruction value to an electric motor 2 based on the gain K2. Thereby, even if the electric power steering device 1 is used for a long period of time, the steering feeling with sufficient shipping state is maintained by automatic adjustment. COPYRIGHT: (C)2009,JPO&INPIT
摘要翻译：要解决的问题：即使长时间使用电动助力转向装置，也能通过自动调节来提供能够通过自动调整而保持具有足够的运送状态的转向感的控制装置。解决方案：通过对电动助力转向装置1进行建模来获得参数推定单元120，存储包括指示装置的物理特性的特性常数的数学模型，并从传感器获得数学模型的转向参数。此外，从获得的值和数学模型中连续推测出特征常数。控制器增益调整部分130存储特性常数的变化与用于将转向感觉恢复到初始状态的增益K2之间的关系，基于特性常数和关系的变化确定增益K2，并且确定转矩指令基于增益K2对电动机2的值。因此，即使长时间使用电动助力转向装置1，通过自动调整来维持具有充分运送状态的转向感。版权所有（C）2009，JPO＆INPIT

2. 发明专利

JP2014021603A Transmission function estimation device, transmission function estimation method, and transmission function estimation program 有权
标题翻译：传输函数估计设备，传输函数估计方法和传输函数估计程序
公开(公告)号：JP2014021603A
公开(公告)日：2014-02-03
申请号：JP2012157692
申请日：2012-07-13
申请人： Denso Corp , 株式会社デンソー , Nagoya Institute Of Technology , 国立大学法人名古屋工業大学
发明人： MUKAI YASUHIKO , MORITA YOSHIFUMI , UKAI HIROYUKI , IWASAKI MAKOTO , OTAKE HIROYASU , KANO RYO
IPC分类号： G06F17/17
CPC分类号： G06F17/10 , G01H1/00
摘要： PROBLEM TO BE SOLVED: To provide a transmission function estimation device, a transmission function estimation method and a transmission function estimation program capable of reducing an arithmetic operation load, and accurately calculating the transmission functions of an entire system.SOLUTION: An estimation formula for estimating a transmission function of an object to be measured is acquired (S101), and frequency response characteristics as data of a frequency area are acquired (S102). Whether the arithmetic operation of the estimation formula is addition/subtraction or multiplication/division is determined for each arithmetic operation (S103), and if the arithmetic operation is determined to be addition/subtraction (S103: YES), time response characteristics g, gare calculated by converting frequency response characteristics G, Gto be added/subtracted from a frequency region into a time region (S104), and the addition/subtraction of the time response characteristics g, gis operated in the time region (S105). Then, the calculated addition/subtraction result g+gis reconverted into the frequency region to obtain G+G(S106). Thus, it is possible to perform the arithmetic operation of the estimation formula for estimating the transmission functions of an entire system without calculating the transmission function of a partial system.
摘要翻译：要解决的问题：提供一种能够减少算术运算负荷并且精确地计算整个系统的发送功能的发送功能估计装置，发送功能估计方法和发送功能估计程序。解决方案：估计公式获取被测量物体的发送功能（S101），获取作为频率区域的数据的频率响应特性（S102）。对于每个算术运算，确定估计公式的算术运算是否加减运算（S103），如果运算运算被确定为加法运算（S103：是），则时间响应特性g，加雷通过将频率响应特性G，Gto从频率区域变换为时间区域（S104）以及在时间区域中操作的时间响应特性g，gis的相加/减去而计算的（S105）。然后，将计算的加法/减法结果g + gis转换到频率区域以获得G + G（S106）。因此，可以在不计算部分系统的发送功能的情况下，进行用于估计整个系统的发送功能的估计公式的算术运算。

3. 发明专利

JP2010064663A Electric power steering device 有权
标题翻译：电动转向装置
公开(公告)号：JP2010064663A
公开(公告)日：2010-03-25
申请号：JP2008234215
申请日：2008-09-12
申请人： Denso Corp , Nagoya Institute Of Technology , 国立大学法人名古屋工業大学 , 株式会社デンソー
发明人： OGASAWARA TERUKI , MUKAI YASUHIKO , TSUCHIDA NORIO , UKAI HIROYUKI , MORITA YOSHIFUMI , YOKOI AKITOSHI , IWASAKI MAKOTO , MATSUI NOBUYUKI
IPC分类号： B62D6/00 , B62D5/04 , B62D101/00 , B62D113/00 , B62D119/00
摘要： PROBLEM TO BE SOLVED: To improve the feeling of operation without the need of final tuning work in the case where a mechanism giving a strong inertia torque exists near a steering wheel in a steering system of EPS1. SOLUTION: According to the EPS1, an assist motor 2 forms the working point of the inertia torque in the steering system on the side of steered-wheels relative to the side of a torque sensor 5, and a microcomputer 23 includes a correction means 30 for correcting the sum of a basic assist current-carrying amount and an inertia compensation current-carrying amount. In addition, the correction means 30 calculates a correction amount according to the steering wheel-side inertia torque and add the correction amount to the calculated value of an adding means 29. By this way, mutual interference between the basic assist current-carrying amount and the inertia compensation current-carrying amount, which results from the structural characteristics of the torque sensor 5, can be alleviated so that the feeling of the operation can be improved without the need of the final tuning work even in the case where the mechanism or the like giving the strong inertia torque exists near the steering wheel in the steering system. COPYRIGHT: (C)2010,JPO&INPIT
摘要翻译：要解决的问题：在EPS1的转向系统中的方向盘附近存在强惯性转矩的机构的情况下，为了提高操作感而不需要最终的调谐作业。解决方案：根据EPS1，辅助电动机2形成转向系统中相对于转矩传感器5侧的转向系统侧的惯性转矩的工作点，微计算机23包括校正用于校正基本辅助载流量和惯性补偿载流量之和的装置30。另外，校正单元30根据方向盘侧惯性转矩来计算校正量，并将校正量与加法单元29的计算值相加。由此，基本辅助载流量与可以减轻由扭矩传感器5的结构特性引起的惯性补偿载流量，从而即使在机构或机构的情况下也可以改善操作感，而不需要最终的调谐功能就像在转向系统的方向盘附近存在强惯性力矩一样。版权所有（C）2010，JPO＆INPIT

4. 发明专利

JP2014035569A Control system and vehicle steering control system 有权
标题翻译：控制系统和车辆转向控制系统
公开(公告)号：JP2014035569A
公开(公告)日：2014-02-24
申请号：JP2012174856
申请日：2012-08-07
申请人： Denso Corp , 株式会社デンソー , Nagoya Institute Of Technology , 国立大学法人名古屋工業大学
发明人： MUKAI YASUHIKO , MORITA YOSHIFUMI , UKAI HIROYUKI , IWASAKI MAKOTO , WADA TAKESHI
IPC分类号： G05B11/32
CPC分类号： B62D6/003 , B62D5/008 , B62D5/0463 , B62D6/00 , B62D6/08 , B62D7/159 , G05B11/32 , G05B11/58 , G05B15/02
摘要： PROBLEM TO BE SOLVED: To easily obtain a non-interference control that reduces an influence by mutual interference between outputs in a control system controlling a control target outputting a plurality of control amounts.SOLUTION: A control system 10 calculating an input to a control target 20 of m inputs and n outputs (m=n where m and n are a positive integer of 2 or more) is configured to set a combination of an input and an output. A feedback controller 13 calculates control inputs ν1, ν2...νn to a non-interference controller 14 for each set combination so as to track a current value to a target value on the basis of a deviation between the target values r1, r2...rm of control amounts y1, y2...yn and the current value. The non-interference controller 14 implements non-interference control for each set combination so as to reduce an influence by mutual interference between n pieces of control amounts y1, y2...yn. Accordingly, since the number of combinations of the input/output, which should consider interference, can be largely reduced, the non-interference control can be easily obtained.
摘要翻译：要解决的问题：为了容易地获得减少控制输出多个控制量的控制目标的控制系统中的输出之间的相互干扰的影响的无干扰控制。解决方案：控制系统10计算到控制目标的输入 m个输入和n个输出中的20个（m = n，其中m和n是2或更大的正整数）被配置为设置输入和输出的组合。反馈控制器13针对每个组合组合向非干扰控制器14计算控制输入＆ngr; 1，＆ngr; 2 ...＆ngr; n，以便根据目标值之间的偏差来跟踪目标值控制量y1，y2 ... yn的目标值r1，r2 ... rm和当前值。非干扰控制器14对每个组合进行不干扰控制，以便减少n个控制量y1，y2 ... yn之间的相互干扰的影响。因此，由于可以大大减少应该考虑干扰的输入/输出的组合的数量，因此可以容易地获得非干扰控制。

5. 发明专利

JP2007238070A Control device for electric variable gear transmission device and electric power steering device 有权
标题翻译：用于电动变速齿轮传动装置和电动转向装置的控制装置
公开(公告)号：JP2007238070A
公开(公告)日：2007-09-20
申请号：JP2006147347
申请日：2006-05-26
申请人： Denso Corp , Nagoya Institute Of Technology , 国立大学法人名古屋工業大学 , 株式会社デンソー
发明人： UKAI HIROYUKI , MORITA YOSHIFUMI , IWASAKI MAKOTO , MATSUI NOBUYUKI , TORII KENTARO , ISHIKAWA HIROSHI , IDO TOSHIYUKI , HAYASHI JIRO , ICHIKAWA KAZUHIRO
IPC分类号： B62D6/00 , B62D5/04 , B62D101/00 , B62D113/00 , B62D119/00
CPC分类号： B62D5/0472 , B62D5/008
摘要： PROBLEM TO BE SOLVED: To provide a control device capable of accomplishing improvement of deterioration of operation feeling by mutual interference of two control systems when an electric variable gear transmission device and an electric power steering device are provided.
SOLUTION: A first compensation value for reducing influence of interference given to a rotation angle θ
g by an electric motor 1 by drive of the electric motor 2 is produced based on a first mathematical model. The first compensation value is added to an instruction value of the electric motor 1 and an instruction value i
gref relative to the electric motor 1 is calculated. Simultaneously, drive of the electric motor 1 produces a second compensation value for reducing influence of interference given to torque of a steering shaft, i.e., an amount to be controlled of the electric motor 2 based on the first mathematical model. The second compensation value is added to the instruction value of the electric motor 2 and an instruction value i
gref relative to the electric motor 2 is calculated. As a result, since mutual interference in the two control systems of the electric variable gear transmission device 10 and the electric power steering device 11 can be reduced, improvement of deterioration of the operation feeling can be accomplished.
COPYRIGHT: (C)2007,JPO&INPIT
摘要翻译：解决的问题：提供一种控制装置，当设置电动可变齿轮传动装置和电动动力转向装置时，能够通过两个控制系统的相互干扰来实现操作感的劣化。解决方案：基于第一数学模型，产生用于通过电动机2的驱动减小给予电动机1对旋转角θ的干扰的影响的第一补偿值。第一补偿值被添加到电动机1的指令值，并且计算相对于电动机1的指令值i gref 。同时，电动机1的驱动产生第二补偿值，用于减小对转向轴转矩的影响，即基于第一数学模型的电动机2的控制量。第二补偿值被添加到电动机2的指令值，并且计算相对于电动机2的指令值i gref 。结果，由于可以减少电动可变齿轮传动装置10和电动动力转向装置11的两个控制系统的相互干扰，可以实现操作感觉的劣化的改善。版权所有（C）2007，JPO＆INPIT

6. 发明专利

JP2012024394A Measuring device of sense integrating motion function 审中-公开
标题翻译：感知装置运动功能的测量装置
公开(公告)号：JP2012024394A
公开(公告)日：2012-02-09
申请号：JP2010167151
申请日：2010-07-26
申请人： Kenji Komori , Nagoya Institute Of Technology , 国立大学法人名古屋工業大学 , 健司小森
发明人： MORITA YOSHIFUMI , UKAI HIROYUKI , HAMASAKA JUN , YAMAZAKI KAZUNORI , KOMORI KENJI
IPC分类号： A61B5/22 , A61B5/11
摘要： PROBLEM TO BE SOLVED: To obtaining grasping motion data and to carry out quantitative estimation of a sense integrating motion function.SOLUTION: The measuring device canning out measurement of the sense integrating motion function has the measuring part body 11 with flexibility grasped by a subject, the strain gauge 12 for measuring the strain of the measuring part body 11, the bridge circuit 20 processing signals measured by the strain gauge 12, the signal amplifying amplifier 30 for amplifying the signals processed by the bridge circuit 20, the processing device 40 capable of processing numeric values obtained by the signal amplifying amplifier 40, and the display part 50 for displaying the result processed by the processing device 40.
摘要翻译：要解决的问题：获得抓握运动数据并执行感测积分运动功能的定量估计。解决方案：测量装置测量感测积分运动功能的测量部件主体11具有由被摄体掌握的柔性，用于测量测量部件主体11的应变的应变仪12，桥接电路20的处理由应变仪12测量的信号，用于放大由桥接电路20处理的信号的信号放大放大器30，能够处理由信号放大放大器40获得的数值的处理装置40和用于显示结果的显示部分50 由处理装置40处理。版权所有：（C）2012，JPO＆INPIT

7. 发明专利

JP2011080986A Phasor measuring device 审中-公开
标题翻译：相对测量装置
公开(公告)号：JP2011080986A
公开(公告)日：2011-04-21
申请号：JP2010206044
申请日：2010-09-14
申请人： Nagoya Institute Of Technology , Toshiba Corp , 国立大学法人名古屋工業大学 , 株式会社東芝
发明人： AOKI MUTSUMI , OZAKI TAKUYA , UKAI HIROYUKI , MIURA SHOGO , SUGIURA HIDEMASA
IPC分类号： G01R19/25 , G01R19/00
摘要： PROBLEM TO BE SOLVED: To provide a phasor measuring device shortening the amount of time for calculating a phasor, quickly estimating the waveforms of a current or voltage including an attenuated DC portion, and quickly calculating the phasor with fewer vibration errors.
SOLUTION: The phasor measuring device in the present embodiment is equipped with: analog/digital converting means for sampling an AC waveform in a constant cycle, and for converting the AC waveform into a digital signal; means for generating a virtual vector by using the digital signal converted from the sampling data by the analog/digital converting means; and phasor calculating means for, by using the actual sampling data and the virtual vector data, carrying out a Fourier operation to measure the effective value of the current.
COPYRIGHT: (C)2011,JPO&INPIT
摘要翻译：要解决的问题：为了提供相量测量装置缩短用于计算相量的时间量，快速估计包括衰减的DC部分的电流或电压的波形，并且以更少的振动误差快速计算相量。解决方案：本实施例中的相量测量装置配备有用于以恒定周期对AC波形进行采样并将AC波形转换为数字信号的模拟/数字转换装置; 用于通过使用由模拟/数字转换装置从采样数据转换的数字信号来产生虚拟矢量的装置; 以及相量计算装置，用于通过使用实际采样数据和虚拟矢量数据进行傅立叶运算以测量电流的有效值。版权所有（C）2011，JPO＆INPIT

8. 发明专利

JP2007185325A Upper limb rehabilitation exercise system 审中-公开
标题翻译：上肢修复练习系统
公开(公告)号：JP2007185325A
公开(公告)日：2007-07-26
申请号：JP2006005477
申请日：2006-01-13
申请人： Nagoya Institute Of Technology , 国立大学法人名古屋工業大学
发明人： UKAI HIROYUKI , MORITA YOSHIFUMI , UCHIDA MASAKI , HIROSE AKINORI , YAMAMOTO TAKASHI
IPC分类号： A61H1/02 , A63B23/12
摘要： PROBLEM TO BE SOLVED: To provide equipment which has a high affinity and a high therapeutic effect while considering the use environment of an actual occupational therapy and the physical condition of a trainee by devising an exercise system which permits an easy exercise on a table to permit a person to implement a reaching exercise implemented in an actual occupational therapist's office while staying in a home. SOLUTION: The upper limb rehabilitation exercise system 1 is composed of a display 4 which displays an exercise program for a trainee 5 to view, a training grip 2 to be moved on the table for an exercise, a controller 3 to control the display 4 and the training grip. The training grip 2 has an autonomous movement mechanism, a grip position sensor 7, a force sensor 8, and a magnetic coupling 11 to improve the safety. COPYRIGHT: (C)2007,JPO&INPIT
摘要翻译：要解决的问题：通过设计允许在一个实施方式下容易地进行锻炼的运动系统，提供具有高亲和力和高治疗效果的设备，同时考虑实际职业治疗的使用环境和受训者的身体状况表允许一个人在住在家里时实施在实际的职业治疗师办公室实施的达成的锻炼。解决方案：上肢康复训练系统1由显示器4组成，该显示器4显示受训者5观看的运动程序，要在运动桌上移动的训练把手2，控制器3 显示4和训练把手。训练把手2具有自主运动机构，握持位置传感器7，力传感器8和磁耦合器11，以提高安全性。版权所有（C）2007，JPO＆INPIT

9. 发明专利

JP2009069055A Electric power estimation method in branch circuit, and electric power monitoring system using the estimation method 审中-公开
标题翻译：分支电路中的电力估计方法和使用估计方法的电力监控系统
公开(公告)号：JP2009069055A
公开(公告)日：2009-04-02
申请号：JP2007239261
申请日：2007-09-14
申请人： Nagoya Institute Of Technology , Toenec Corp , 国立大学法人名古屋工業大学 , 株式会社トーエネック
发明人： UKAI HIROYUKI , AOKI MUTSUMI , OTA TAKAHISA , KOBAYASHI HIROSHI , MIZUNO MAKOTO
IPC分类号： G01R21/00
摘要： PROBLEM TO BE SOLVED: To provide a method capable of accurately estimating a power value of each of single-phase loads and three-phase loads in a simple constitution even when the single-phase loads and the three-phase loads are connected to branch circuits branched from a three-phase main circuit, respectively, and the power value of each of them is individually estimated based on the measuring data of the three-phase main circuit, and to provide an electric power monitoring system using the estimation method.
SOLUTION: In the electric power estimation method in the branch circuits, the single-phase loads 20 and 30 and the three-phase loads 40 and 50 are connected to the branch circuits 11, 12, 13 and 14 branched from the three-phase main circuit 1, respectively, and the electric power of each of the loads 20, 30, 40 and 50 is individually estimated based on the measuring data of the three-phase main circuit 1. Active power and reactive power of the three-phase main circuit 1 are calculated, current of each load is calculated based on both calculated power, line voltage of the three-phase main circuit 1, and the power factor of each load is calculated, thereby estimating the electric power of each load.
COPYRIGHT: (C)2009,JPO&INPIT
摘要翻译：要解决的问题：即使在单相负载和三相负载连接时，提供能够以简单的结构精确地估计每个单相负载和三相负载的功率值的方法分别从三相主电路分支的分支电路，并且基于三相主电路的测量数据来分别估计它们的功率值，并提供使用该估计方法的电力监控系统。解决方案：在分支电路中的功率估计方法中，单相负载20,30和三相负载40和50连接到从三相分支的分支电路11,12,13和14 相位主电路1，并且基于三相主电路1的测量数据单独地估计负载20,30,40和50中的每一个的电力。三相主电路1的有功功率和无功功率，计算相位主电路1，基于计算出的功率，三相主电路1的线电压，计算各负载的电流，计算各负载的功率因数，从而估计各负载的电力。版权所有（C）2009，JPO＆INPIT

10. 发明专利

JP2006276006A Harmonic analysis method in power system 审中-公开
标题翻译：电力系统谐波分析方法
公开(公告)号：JP2006276006A
公开(公告)日：2006-10-12
申请号：JP2006051587
申请日：2006-02-28
申请人： Nagoya Institute Of Technology , 国立大学法人名古屋工業大学
发明人： KANAZAWA TAKESHI , AOKI MUTSUMI , UKAI HIROYUKI , NAKAMURA KOICHI
IPC分类号： G01R23/16 , G01R23/20
摘要： PROBLEM TO BE SOLVED: To provide an accurate measuring method of an effective value including harmonics and phase angle of the voltage and current in a power system.
SOLUTION: In this method, a recursive DFT operation is applied to sampling data in a voltage and current waveform with two different setting frequencies in the power system, and weighted average according to the frequency deviation between the frequency of the power system and the set frequencies of the DFT operation is applied to each operation result. Thus, the operation error is corrected, and fundamental wave effective values and harmonic effective values of voltage and current is measured at high accuracy.
COPYRIGHT: (C)2007,JPO&INPIT
摘要翻译：要解决的问题：提供包括电力系统中的电压和电流的谐波和相位角的有效值的精确测量方法。解决方案：在该方法中，递归DFT操作被应用于在电力系统中具有两个不同设定频率的电压和电流波形中的采样数据，以及根据电力系统的频率与频率之间的频率偏差的加权平均将DFT操作的设定频率应用于每个操作结果。因此，校正了运算误差，并且以高精度测量电压和电流的基波有效值和谐波有效值。版权所有（C）2007，JPO＆INPIT

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