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1. 发明授权

US08326493B2 Motor driven power steering control apparatus for suppressing vibration 有权
标题翻译：用于抑制振动的电动机动力转向控制装置
公开(公告)号：US08326493B2
公开(公告)日：2012-12-04
申请号：US12676633
申请日：2007-12-14
申请人： Isao Kezobo , Masahiko Kurishige , Masaya Endo , Takayuki Kifuku , Seiji Sawada , Masaki Matsushita
发明人： Isao Kezobo , Masahiko Kurishige , Masaya Endo , Takayuki Kifuku , Seiji Sawada , Masaki Matsushita
IPC分类号： B62D6/00
CPC分类号： B62D5/0463 , B62D5/0472
摘要： A motor-driven power steering control apparatus is achieved, which uses a small-amplitude pass filter, the filter filtering out a component having a small amplitude, to remove a steering component from dynamic state quantity such as a rotational speed signal, and to accurately extract only a vibration component having a small amplitude compared with the steering component, and controls the vibration component to be reduced.
摘要翻译：实现了一种使用小振幅通过滤波器的电动机动力转向控制装置，滤波器滤出具有小幅度的分量，以从诸如转速信号的动态状态量中去除转向分量，并且精确地仅提取与转向部件相比具有小振幅的振动分量，并且控制要减小的振动分量。

2. 发明申请

US20110153162A1 MOTOR-DRIVEN POWER STEERING CONTROL APPARTUS 有权
标题翻译：电动机动力转向控制装置
公开(公告)号：US20110153162A1
公开(公告)日：2011-06-23
申请号：US12676633
申请日：2007-12-14
申请人： Isao Kezobo , Masahiko Kurishige , Masaya Endo , Takayuki Kifuku , Seiji Sawada , Masaki Matsushita
发明人： Isao Kezobo , Masahiko Kurishige , Masaya Endo , Takayuki Kifuku , Seiji Sawada , Masaki Matsushita
IPC分类号： B62D6/00
CPC分类号： B62D5/0463 , B62D5/0472
摘要： A motor-driven power steering control apparatus is achieved, which uses a small-amplitude pass filter, the filter filtering out a component having a small amplitude, to remove a steering component from dynamic state quantity such as a rotational speed signal, and to accurately extract only a vibration component having a small amplitude compared with the steering component, and controls the vibration component to be reduced.
摘要翻译：实现了一种使用小振幅通过滤波器的电动机动力转向控制装置，滤波器滤出具有小幅度的分量，以从诸如转速信号的动态状态量中去除转向分量，并且精确地仅提取与转向部件相比具有小振幅的振动分量，并且控制要减小的振动分量。

3. 发明授权

US08626394B2 Electric power steering control device 有权
标题翻译：电动助力转向控制装置
公开(公告)号：US08626394B2
公开(公告)日：2014-01-07
申请号：US13497103
申请日：2010-10-21
申请人： Isao Kezobo , Masahiko Kurishige , Masaya Endo , Takayuki Kifuku
发明人： Isao Kezobo , Masahiko Kurishige , Masaya Endo , Takayuki Kifuku
IPC分类号： B62D5/08
CPC分类号： B62D5/0472
摘要： An electric power steering control device includes: a vibration extracting filter for performing filter processing on a rotation speed of a motor to reduce a gain on a low frequency side so as to output a vibration-component signal; a current variable gain map for detecting a current flowing through the motor as a first state quantity so as to calculate a current variable gain based on the current; a rotation-speed variable gain map for detecting the rotation speed of the motor as a second state quantity so as to calculate a rotation-speed variable gain based on the rotation speed; a correction mechanism calculating a vibration suppression current; and current controller calculating a target current so as to control the current flowing through the motor.
摘要翻译：一种电动助力转向控制装置，包括：振动提取过滤器，用于对电动机的转速进行滤波处理，以降低低频侧的增益，从而输出振动分量信号; 电流可变增益图，用于检测流过电动机的电流作为第一状态量，以便基于电流计算电流可变增益; 旋转速度可变增益图，用于检测作为第二状态量的电动机的转速，以便根据转速计算转速可变增益; 计算振动抑制电流的校正机构; 电流控制器计算目标电流，以控制流过马达的电流。

4. 发明申请

US20120185132A1 ELECTRIC POWER STEERING CONTROL DEVICE 有权
标题翻译：电动转向控制装置
公开(公告)号：US20120185132A1
公开(公告)日：2012-07-19
申请号：US13497103
申请日：2010-10-21
申请人： Isao Kezobo , Masahiko Kurishige , Masaya Endo , Takayuki Kifuku
发明人： Isao Kezobo , Masahiko Kurishige , Masaya Endo , Takayuki Kifuku
IPC分类号： B62D6/08
CPC分类号： B62D5/0472
摘要： An electric power steering control device includes: a vibration extracting filter for performing filter processing on a rotation speed of a motor to reduce a gain on a low frequency side so as to output a vibration-component signal; a current variable gain map for detecting a current flowing through the motor as a first state quantity so as to calculate a current variable gain based on the current; a rotation-speed variable gain map for detecting the rotation speed of the motor as a second state quantity so as to calculate a rotation-speed variable gain based on the rotation speed; a correction mechanism calculating a vibration suppression current; and current controller calculating a target current so as to control the current flowing through the motor.
摘要翻译：一种电动助力转向控制装置，包括：振动提取过滤器，用于对电动机的转速进行滤波处理，以降低低频侧的增益，从而输出振动分量信号; 电流可变增益图，用于检测流过电动机的电流作为第一状态量，以便基于电流计算电流可变增益; 旋转速度可变增益图，用于检测作为第二状态量的电动机的转速，以便根据转速计算转速可变增益; 计算振动抑制电流的校正机构; 电流控制器计算目标电流，以控制流过马达的电流。

5. 发明授权

US08437915B2 Steering controller 有权
标题翻译：转向控制器
公开(公告)号：US08437915B2
公开(公告)日：2013-05-07
申请号：US12811281
申请日：2008-01-30
申请人： Masaya Endo , Masahiko Kurishige , Isao Kezobo
发明人： Masaya Endo , Masahiko Kurishige , Isao Kezobo
IPC分类号： A01B69/00 , B62D6/00 , B62D11/00 , B62D12/00 , B63G8/20 , B63H25/04
CPC分类号： B62D5/046 , H02P6/10
摘要： To accurately extract a pulsating component generated due to a cogging torque or a torque ripple to reduce a pulsation, the pulsating component is extracted using a bandpass filter having a variable time constant, and the time constant is set according to a frequency of cogging torque or torque ripple to be extracted. Further, a reference angle for a rotation angle of a motor is preset according to a generation harmonic order of the cogging torque or torque ripple, and the time constant of the bandpass filter is set from a time period required for the motor to rotate by the reference angle.
摘要翻译：为了精确地提取由齿槽转矩或转矩波动产生的脉动分量以减少脉动，使用具有可变时间常数的带通滤波器提取脉动分量，并且根据齿槽转矩的频率或者转矩纹波提取。此外，根据齿槽转矩或转矩波动的发电谐波次数来预设电动机的旋转角度的参考角度，并且从电动机旋转所需的时间段设定带通滤波器的时间常数参考角度。

6. 发明申请

US20100286870A1 STEERING CONTROLLER 有权
标题翻译：转向控制器
公开(公告)号：US20100286870A1
公开(公告)日：2010-11-11
申请号：US12811281
申请日：2008-01-30
申请人： Masaya Endo , Masahiko Kurishige , Isao Kezobo
发明人： Masaya Endo , Masahiko Kurishige , Isao Kezobo
IPC分类号： G06F19/00 , B62D6/08
CPC分类号： B62D5/046 , H02P6/10
摘要： To accurately extract a pulsating component generated due to a cogging torque or a torque ripple to reduce a pulsation, the pulsating component is extracted using a bandpass filter having a variable time constant, and the time constant is set according to a frequency of cogging torque or torque ripple to be extracted. Further, a reference angle for a rotation angle of a motor is preset according to a generation harmonic order of the cogging torque or torque ripple, and the time constant of the bandpass filter is set from a time period required for the motor to rotate by the reference angle.
摘要翻译：为了精确地提取由齿槽转矩或转矩波动产生的脉动分量以减少脉动，使用具有可变时间常数的带通滤波器提取脉动分量，并且根据齿槽转矩的频率或者转矩纹波提取。此外，根据齿槽转矩或转矩波动的发电谐波次数来预设电动机的旋转角度的参考角度，并且从电动机旋转所需的时间段设定带通滤波器的时间常数参考角度。

7. 发明授权

US08977436B2 Electric power steering system 有权
标题翻译：电动助力转向系统
公开(公告)号：US08977436B2
公开(公告)日：2015-03-10
申请号：US13811849
申请日：2011-07-13
申请人： Masaya Endo , Takashi Iwasaki , Masahiko Kurishige , Takayuki Kifuku , Yoshihiko Kinpara
发明人： Masaya Endo , Takashi Iwasaki , Masahiko Kurishige , Takayuki Kifuku , Yoshihiko Kinpara
IPC分类号： B62D5/04 , B62D6/00
CPC分类号： B62D5/046 , B62D5/0463 , B62D6/008
摘要： An electric power steering system includes steering a torque detector that detects steering torque, and a motor that provides assist torque based on the detected steering torque, wherein for the purpose of estimating, without detecting motor rotation angular information and rotation angular velocity information, the road reaction torque in which the influence of the motor inertia torque is eliminated, a value corresponding to rotation velocity of a steering shaft is calculated based on the steering torque and the assist torque, to calculate road reaction torque based on the value corresponding to the rotation velocity of the steering shaft.
摘要翻译：电动助力转向系统包括转向检测转向转矩的转矩检测器，以及基于检测到的转向转矩提供辅助转矩的电动机，其中为了估计，在不检测电动机旋转角度信息和旋转角速度信息的情况下，道路基于转向转矩和辅助转矩，计算与转向轴的转速对应的值，根据与转速对应的值来计算道路反作用转矩，转向轴。

8. 发明申请

US20130124049A1 ELECTRIC POWER STEERING SYSTEM 有权
标题翻译：电力转向系统
公开(公告)号：US20130124049A1
公开(公告)日：2013-05-16
申请号：US13811849
申请日：2011-07-13
申请人： Masaya Endo , Takashi Iwasaki , Masahiko Kurishige , Takayuki Kifuku , Yoshihiko Kinpara
发明人： Masaya Endo , Takashi Iwasaki , Masahiko Kurishige , Takayuki Kifuku , Yoshihiko Kinpara
IPC分类号： B62D5/04
CPC分类号： B62D5/046 , B62D5/0463 , B62D6/008
摘要： An electric power steering system includes steering a torque detector that detects steering torque, and a motor that provides assist torque based on the detected steering torque, wherein for the purpose of estimating, without detecting motor rotation angular information and rotation angular velocity information, the road reaction torque in which the influence of the motor inertia torque is eliminated, a value corresponding to rotation velocity of a steering shaft is calculated based on the steering torque and the assist torque, to calculate road reaction torque based on the value corresponding to the rotation velocity of the steering shaft.
摘要翻译：电动助力转向系统包括转向检测转向转矩的转矩检测器，以及基于检测到的转向转矩提供辅助转矩的电动机，其中为了估计，在不检测电动机旋转角度信息和旋转角速度信息的情况下，道路基于转向转矩和辅助转矩，计算与转向轴的转速对应的值，根据与转速对应的值来计算道路反作用转矩，的转向轴。

9. 发明申请

US20130041557A1 AUTOMATIC STEERING APPARATUS 有权
标题翻译：自动转向装置
公开(公告)号：US20130041557A1
公开(公告)日：2013-02-14
申请号：US13643399
申请日：2011-05-18
申请人： Masaya Endo , Masahiko Kurishige , Kenji Ogawa , Takayuki Kifuku , Hiroyuki Kozuki
发明人： Masaya Endo , Masahiko Kurishige , Kenji Ogawa , Takayuki Kifuku , Hiroyuki Kozuki
IPC分类号： B62D6/10
CPC分类号： B62D1/286 , B62D6/002
摘要： An automatic steering apparatus that can suppress steering wheel vibration and that can also smooth angular control. In the automatic steering apparatus, a motor that steers steered wheels is controlled by a control unit. Information from an angle sensor that generates a signal that corresponds to a steering angle of the steered wheels is sent to the control unit. The control unit corrects a target steering angle of the steered wheels such that angular acceleration of the target steering angle is less than or equal to a limiting value. The control unit controls the motor such that the steering angle of the steered wheels tracks the corrected target steering angle based on the information from the angle sensor.
摘要翻译：一种能够抑制方向盘振动并且还可以平滑角度控制的自动转向装置。在自动转向装置中，转向转向轮的电动机由控制单元控制。从生成与转向轮的转向角相对应的信号的角度传感器的信息被发送到控制单元。控制单元校正转向轮的目标转向角，使得目标转向角的角加速度小于或等于极限值。控制单元控制电动机，使得转向轮的转向角基于来自角度传感器的信息跟踪校正的目标转向角。

10. 发明授权

US09242670B2 Power steering controller with compensation for tire deformation and caster 有权
标题翻译：动力转向控制器补偿轮胎变形和脚轮
公开(公告)号：US09242670B2
公开(公告)日：2016-01-26
申请号：US13574047
申请日：2010-02-19
申请人： Masaya Endo , Masahiko Kurishige , Takayuki Kifuku , Masaki Matsushita , Hideki Doi
发明人： Masaya Endo , Masahiko Kurishige , Takayuki Kifuku , Masaki Matsushita , Hideki Doi
IPC分类号： B62D5/04 , B62D6/04 , B62D6/00
CPC分类号： B62D6/008 , B62D5/0463 , B62D5/0466 , B62D6/04
摘要： In a steering control device, a road surface reaction force torque calculation module (52) uses a vehicle speed, steering angle, and vehicle model to calculate a caster-trail-caused torque, a self-aligning torque, and a road surface reaction force torque. A reaction force command current calculation module (53) uses the road surface reaction force torque and the vehicle speed to calculate a reaction force command current.
摘要翻译：在转向控制装置中，路面反作用力矩计算模块（52）使用车速，转向角和车辆模型来计算脚轮引导扭矩，自动调心扭矩和路面反作用力扭矩。反作用力指令电流计算模块（53）使用路面反作用力转矩和车速来计算反作用力指令电流。

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