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1. 发明申请

US20090271069A1 CONTROL UNIT OF ELECTRIC POWER STEERING APPARATUS 审中-公开
标题翻译：电力转向装置控制单元
公开(公告)号：US20090271069A1
公开(公告)日：2009-10-29
申请号：US12089024
申请日：2006-10-04
申请人： Satoshi Yamamoto , Takeshi Hara , Shuji Endo
发明人： Satoshi Yamamoto , Takeshi Hara , Shuji Endo
IPC分类号： G06F19/00 , B62D6/00
CPC分类号： B62D5/0466 , B62D6/008
摘要： According to the present invention, a control unit of an electric power steering apparatus transmitting a steering assist force generated by a motor to a steering mechanism so as to reduce a steering force, the control unit includes a steering angle sensor for detecting a steering angle, a torque sensor for detecting a steering torque, a vehicle speed detecting means for detecting a vehicle speed, and a control means for controlling the motor on the basis of the steering angle, a steering angular speed, the steering torque and the vehicle speed, and the control means has a handle return control function, and corrects a steering feeling in accordance with the steering angle on the basis of the handle return control function.
摘要翻译：根据本发明，电动助力转向装置的控制单元将由电动机产生的转向辅助力传递到转向机构以减小转向力，所述控制单元包括用于检测转向角的转向角传感器，用于检测转向转矩的转矩传感器，用于检测车速的车速检测装置，以及用于基于转向角，转向角速度，转向转矩和车速来控制电动机的控制装置，以及控制装置具有手柄返回控制功能，并且基于手柄返回控制功能来根据转向角校正转向感觉。

2. 发明申请

US20070225885A1 Control Unit for Electric Power Steering Apparatus 有权
标题翻译：电动转向装置控制单元
公开(公告)号：US20070225885A1
公开(公告)日：2007-09-27
申请号：US11587972
申请日：2005-04-15
申请人： Takeshi Hara , Shuji Endo
发明人： Takeshi Hara , Shuji Endo
IPC分类号： G06F19/00
CPC分类号： B62D5/049
摘要： It is an object of the present invention to provide a control unit for an electric power steering apparatus for accurately detecting an abnormality of a steering angle sensor without forming the steering angle sensor as a double system or using an expensive position detection sensor. The object is achieved by calculating a relative steering angle by using inexpensive position detection sensors disposed at a motor of the electric power steering apparatus to output binary values and comparing a change amount of an absolute steering angle detected by the steering angle sensor and a change amount of the calculated relative steering angle with each other to thereby detect the abnormality of the steering angle sensor.
摘要翻译：本发明的目的是提供一种用于电动助力转向装置的控制单元，用于在不形成作为双重系统的转向角传感器或者使用昂贵的位置检测传感器的情况下，精确地检测转向角传感器的异常。该目的是通过使用设置在电动助力转向装置的电动机上的便宜的位置检测传感器来计算相对转向角来输出二进制值并将由转向角传感器检测的绝对转向角的变化量与变化量计算出的相对转向角彼此相对，从而检测转向角传感器的异常。

3. 发明授权

US06570352B2 Control unit for electric power steering apparatus 有权
公开(公告)号：US06570352B2
公开(公告)日：2003-05-27
申请号：US09987759
申请日：2001-11-15
申请人： Takeshi Hara , Tohru Sakaguchi , Shuji Endo
发明人： Takeshi Hara , Tohru Sakaguchi , Shuji Endo
IPC分类号： H02P700
CPC分类号： B62D5/0466
摘要： Provides a control unit for an electric power steering apparatus with improved steering performance by recognizing a turn and a return of a steering wheel in a steering wheel return control, and by employing information on a steering angular velocity in calculating a current. This control unit controls a motor for giving steering assist force to a steering mechanism based on a current control value calculated from a steering assist command value calculated based on the steering torque generated in the steering shaft, and a current value of the motor. A steering wheel return controller for applying a steering wheel return control signal to the steering assist command value is provided, thereby to execute the steering wheel return control only when the steering wheel returns.

4. 发明申请

US20070055426A1 Steering angle sensor 有权
标题翻译：转向角传感器
公开(公告)号：US20070055426A1
公开(公告)日：2007-03-08
申请号：US10572504
申请日：2004-09-14
申请人： Takeshi Hara , Takeshi Ishikawa , Toshiyuki Onizuka , Shuji Endo
发明人： Takeshi Hara , Takeshi Ishikawa , Toshiyuki Onizuka , Shuji Endo
IPC分类号： B62D6/00
CPC分类号： G01D5/145 , B62D5/0409 , B62D15/0215
摘要： A steering angle sensor detects a rotational angle of a steering system whose steering is assisted by driving of an electric motor via a reduction mechanism so as to calculate a steering angle of a steering wheel. The steering angle sensor has: a sensor wheel operating simultaneously with rotation of a steering shaft; and an absolute angle calculating means for calculating an absolute steering angle based on a steering angle signal from the sensor wheel. The sensor wheel has a GMR element and a magnetizing portion which is arranged around the GMR element, and the rotational angle is detected with two turns of the steering shaft being one cycle based on a change in resistance value of the GMR element obtained by changing a magnetic field direction according to rotation of the magnetizing portion.
摘要翻译：转向角传感器通过减速机构检测通过驱动电动机辅助转向的转向系统的旋转角度，以计算方向盘的转向角度。转向角传感器具有：与转向轴的旋转同时操作的传感器轮; 以及绝对角度计算装置，用于基于来自传感器轮的转向角信号来计算绝对转向角。传感器轮具有GMR元件和设置在GMR元件周围的磁化部，并且基于通过改变所获得的GMR元件的电阻值的变化，转向轴的两匝被检测到转动角度为一个周期根据磁化部的旋转的磁场方向。

5. 发明授权

US07500538B2 Control unit for electric power steering apparatus 有权
标题翻译：电动助力转向装置控制单元
公开(公告)号：US07500538B2
公开(公告)日：2009-03-10
申请号：US11587972
申请日：2005-04-15
申请人： Takeshi Hara , Shuji Endo
发明人： Takeshi Hara , Shuji Endo
IPC分类号： B62D5/00 , B62D7/00
CPC分类号： B62D5/049
摘要： It is an object of the present invention to provide a control unit for an electric power steering apparatus for accurately detecting an abnormality of a steering angle sensor without forming the steering angle sensor as a double system or using an expensive position detection sensor. The object is achieved by calculating a relative steering angle by using inexpensive position detection sensors disposed at a motor of the electric power steering apparatus to output binary values and comparing a change amount of an absolute steering angle detected by the steering angle sensor and a change amount of the calculated relative steering angle with each other to thereby detect the abnormality of the steering angle sensor.
摘要翻译：本发明的目的是提供一种用于电动助力转向装置的控制单元，用于在不形成作为双重系统的转向角传感器或者使用昂贵的位置检测传感器的情况下，精确地检测转向角传感器的异常。该目的是通过使用设置在电动助力转向装置的电动机上的便宜的位置检测传感器来计算相对转向角来输出二进制值并将由转向角传感器检测的绝对转向角的变化量与变化量计算出的相对转向角彼此相对，从而检测转向角传感器的异常。

6. 发明申请

US20070233345A1 Electric power steering device 审中-公开
标题翻译：电动助力转向装置
公开(公告)号：US20070233345A1
公开(公告)日：2007-10-04
申请号：US11730226
申请日：2007-03-30
申请人： Shuji Endo , Takeshi Hara
发明人： Shuji Endo , Takeshi Hara
IPC分类号： B62D6/00
CPC分类号： B62D5/049 , B62D15/0215 , B62D15/0235 , B62D15/0245
摘要： To provide an electric power steering device that can reliably detect the abnormality of a steering angle sensor and prevent the generation of a wrong decision. When both the two differences (|θa−θr |, |θa−θe|) between an absolute steering angle value θa obtained from a steering angle sensor and a relative steering angle value θr estimated from the rotating angle sensor of a motor, and an estimated steering angle value ee estimated from the induced voltage of the motor respectively exceed predetermined values (threshold values), the steering angle sensor is determined to be failed.
摘要翻译：提供能够可靠地检测转向角传感器的异常并防止产生错误判定的电动助力转向装置。当从转向角传感器获得的绝对转向角值θa和从电动机的旋转角度传感器估计的相对转向角值之间的两个差异（|θa-thetar |，|θa-θe|）和根据电机的感应电压估计的估计转向角值ee分别超过预定值（阈值），确定转向角传感器失败。

7. 发明授权

US07472004B2 Steering angle sensor 有权
标题翻译：转向角传感器
公开(公告)号：US07472004B2
公开(公告)日：2008-12-30
申请号：US10572504
申请日：2004-09-14
申请人： Takeshi Hara , Takeshi Ishikawa , Toshiyuki Onizuka , Shuji Endo
发明人： Takeshi Hara , Takeshi Ishikawa , Toshiyuki Onizuka , Shuji Endo
IPC分类号： B62D6/00
CPC分类号： G01D5/145 , B62D5/0409 , B62D15/0215
摘要： A steering angle sensor detects a rotational angle of a steering system whose steering is assisted by driving of an electric motor via a reduction mechanism so as to calculate a steering angle of a steering wheel. The steering angle sensor includes: a sensor wheel operating simultaneously with rotation of a steering shaft; and an absolute angle calculating unit for calculating an absolute steering angle based on a steering angle signal from the sensor wheel. The sensor wheel includes a GMR element and a magnetizing portion which is arranged around the GMR element, and the rotational angle is detected by making two turns of the steering shaft as one cycle of the steering angle signal based on a change in resistance value of the GMR element obtained by changing a magnetic field direction according to a rotation of the magnetizing portion.
摘要翻译：转向角传感器通过减速机构检测通过驱动电动机辅助转向的转向系统的旋转角度，以计算方向盘的转向角度。转向角传感器包括：与转向轴的旋转同时操作的传感器轮; 以及绝对角度计算单元，用于基于来自传感器轮的转向角信号来计算绝对转向角。传感器轮包括GMR元件和设置在GMR元件周围的磁化部分，并且通过使转向轴的两匝作为转向角信号的一个周期，基于电阻值的变化来检测旋转角度通过根据磁化部的旋转改变磁场方向而获得的GMR元件。

8. 发明申请

US20080027609A1 ELECTRIC POWER STEERING APPARATUS 审中-公开
标题翻译：电动转向装置
公开(公告)号：US20080027609A1
公开(公告)日：2008-01-31
申请号：US11782739
申请日：2007-07-25
申请人： Yuho Aoki , Takeshi Hara , Nobuhiro Furushima , Hideyuki Kobayashi , Shuji Endo
发明人： Yuho Aoki , Takeshi Hara , Nobuhiro Furushima , Hideyuki Kobayashi , Shuji Endo
IPC分类号： B62D5/04
CPC分类号： B62D5/0472 , B62D5/0463
摘要： An electric power steering apparatus has a steering mechanism SM having universal joints 4, 6 in a torque transmitting system, a steering toque detecting unit 14, a steering angle detecting unit 18, a torque fluctuation detecting unit 43 for detecting a torque fluctuation due to the crossing angle α in the universal joints 4, 6 on the basis of the steering angle θ detected by the steering angle detecting unit 18 and any one of the steering torque T detected by the steering torque detecting unit, a current command value It and self-aligning torque SAT; and a current command value correcting unit 44 for correcting the current command value on the basis of the torque fluctuation detected by the torque fluctuation detecting unit 43 and the steering angle θ detected by the steering angle detecting unit 18.
摘要翻译：电动助力转向装置具有转矩传递系统中具有万向接头4,6的转向机构SM，转向转矩检测部14，转向角检测部18，扭矩波动检测部43，基于由转向角检测单元18检测到的转向角θ和由转向转矩检测单元检测到的转向转矩T中的任一个，通用接头4,6中的交叉角α，对位扭矩SAT; 以及电流指令值校正单元44，用于基于由转矩波动检测单元43检测到的转矩波动和由转向角检测单元18检测的转向角θ来校正电流指令值。

9. 发明授权

US07873453B2 Control apparatus for electric power steering apparatus 有权
标题翻译：电动助力转向装置的控制装置
公开(公告)号：US07873453B2
公开(公告)日：2011-01-18
申请号：US11813887
申请日：2006-01-12
申请人： Hideyuki Kobayashi , Toru Sakaguchi , Shuji Endo , Atsushi Kojima
发明人： Hideyuki Kobayashi , Toru Sakaguchi , Shuji Endo , Atsushi Kojima
IPC分类号： A01B69/00
CPC分类号： B62D5/0472 , B62D5/0463 , B62D5/0466
摘要： The present invention provides a control apparatus for an electric power steering apparatus comprises: a steering assist command value calculating section; a current control section that calculates a voltage command value; and a motor driving section that drives a motor based on the voltage command value, wherein an assist power from the motor is applied to a steering system, the control apparatus is characterized in that an SAT measuring section, that inputs an angular speed and an angular acceleration of the motor, the steering assist command value and the torque signal therein so as to estimate an SAT, is provided, and the SAT obtained by the SAT measuring section is feedbacked to the steering assist command value via a feedback section composed of a phase compensating section and a gain section.
摘要翻译：本发明提供一种电动助力转向装置的控制装置，包括：转向辅助指令值计算部; 电流控制部，其计算电压指令值; 以及电动机驱动部，其基于所述电压指令值驱动电动机，其中来自所述电动机的辅助动力被施加到转向系统，所述控制装置的特征在于，SAT测量部输入角速度和角度提供电动机的加速度，转向辅助指令值和其中的转矩信号以估计SAT，并且由SAT测量部分获得的SAT通过由相位组成的反馈部分反馈到转向辅助指令值补偿部分和增益部分。

10. 发明授权

US07394214B2 Control unit for electric power steering apparatus 有权
标题翻译：电动助力转向装置控制单元
公开(公告)号：US07394214B2
公开(公告)日：2008-07-01
申请号：US10579771
申请日：2004-11-11
申请人： Shuji Endo , Yuho Aoki
发明人： Shuji Endo , Yuho Aoki
IPC分类号： H02P7/00
CPC分类号： B62D5/046
摘要： In order to solve a problem that a motor generates a noise so as to deteriorate an environment in a vehicle if a field weakening control is executed to the motor of a electric power steering apparatus, in the case that a vehicle speed is high, the same field weakening control as the conventional one is applied to the motor because a noise generated due to a friction between a tire and a road surface and a wind noise of a vehicle body are large, and in the case that the vehicle speed is low, the field weakening control is weakly applied in comparison with the conventional one because the noise generated by the motor is felt relatively largely. Accordingly, the field weakening control can be executed in response to the vehicle speed in such a manner as to make the motor noise smaller.
摘要翻译：为了解决如果对电动助力转向装置的电动机进行磁场削弱控制，则电动机产生噪声从而恶化车辆的环境的问题，在车速高的情况下，相同因为由于轮胎和路面之间的摩擦而产生的噪音和车体的风噪声，因此将常规的场强弱化控制应用于电动机，并且在车速低的情况下，与现有技术相比，弱磁控制较弱，因为电动机产生的噪音相对较大。因此，可以以使得电机噪声更小的方式响应于车速来执行磁场弱化控制。

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