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1. 发明授权

US5341891A Motor-driven power steering apparatus and method 失效
标题翻译：电动助力转向装置及方法
公开(公告)号：US5341891A
公开(公告)日：1994-08-30
申请号：US946598
申请日：1992-09-18
申请人： Shunichi Wada , Tadayuki Hara , Yasuo Naito , Shinichi Kohge , Kazuhisa Nishino
发明人： Shunichi Wada , Tadayuki Hara , Yasuo Naito , Shinichi Kohge , Kazuhisa Nishino
IPC分类号： B62D6/02 , B62D5/04 , B62D5/00
CPC分类号： B62D5/0478
摘要： A motor-driven power steering apparatus and method for a vehicle are able to avoid frequent on-off operations of an electromagnetic clutch 14 as much as possible, which connects or disconnects a motor 13 with or from a steering system, thus improving the durability of the clutch 14 and suppressing the generation of undesirable noise and shocks upon connection and disconnection of the clutch 14. A clutch controller 191 controls a clutch current Ic supplied to the clutch 14 based on the vehicle speed V in such a manner that it sets the clutch current Ic to a first predetermined clutch current level I(V) so as to place the clutch into a substantially engaged state when the vehicle speed V is less than a first predetermined vehicle speed Vo, and to a second predetermined clutch current level Icr which is less than the first predetermined clutch current level I(V) so as to place the clutch into a partially engaged state when the vehicle speed V is equal to or greater than the first predetermined vehicle speed Vo. Preferably, the clutch current Ic is set to a third predetermined clutch current level Ico which is less than the second predetermined clutch current level Icr so as to substantially disengage said electromagnetic clutch when a steering torque T is equal to or greater than a predetermined value To when the vehicle speed is equal to or greater than the first predetermined value Vo.
摘要翻译：一种用于车辆的马达驱动的动力转向装置和方法能够尽可能地避免电磁离合器14的频繁的断开操作，其将马达13与转向系统连接或断开，从而提高了电动离合器14的耐久性离合器14，并且抑制在离合器14的连接和断开时产生不期望的噪音和冲击。离合器控制器191基于车速V 1控制提供给离合器14的离合器电流Ic，使得它将离合器电流Ic到第一预定离合器电流水平I（V），以便当车速V小于第一预定车速Vo时将离合器置于基本接合状态，并将第二预定离合器电流水平Icr设置为小于第一预定离合器电流水平I（V），以便当车速V等于或大于第一预定值时将离合器置于部分接合状态开采车速Vo。优选地，离合器电流Ic被设定为小于第二预定离合器电流水平Icr的第三预定离合器电流水平Ico，以便当转向转矩T等于或大于预定值To时，基本上使所述电磁离合器脱离当车速等于或大于第一预定值Vo时。

2. 发明授权

US5631833A Motor-assisted power steering control device 失效
标题翻译：电动助力转向控制装置
公开(公告)号：US5631833A
公开(公告)日：1997-05-20
申请号：US474187
申请日：1995-06-07
申请人： Shunichi Wada , Yasuo Naito , Kazuhisa Nishino , Masanori Takagi
发明人： Shunichi Wada , Yasuo Naito , Kazuhisa Nishino , Masanori Takagi
IPC分类号： B62D5/04
CPC分类号： B62D5/0463
摘要： A motor for a motor-assisted power steering device is controlled with a control value which is obtained by detecting an error between an actual steering torque which has undergone phase lead compensation and a target steering torque, and by summing a proportional value, an integration value and a differentiation value of the error, or with a control value which is obtained by detecting an error between actual steering torque and a target torque; obtaining a proportional value, an integration value and a differentiation value of the error; clipping the lower limit value of the integration value with a first clipping circuit, and clipping the upper and lower limit values of motor-controlling quantity obtained by summing the proportional value, the integration value and the differentiation value by using a second clipping circuit.
摘要翻译：用于电动助力动力转向装置的电动机通过检测通过相位超前补偿的实际转向转矩和目标转向转矩之间的误差而获得的控制值，并且通过将比例值相加，积分值以及误差的微分值，或者通过检测实际转向转矩和目标转矩之间的误差而获得的控制值; 获得误差的比例值，积分值和微分值; 用第一限幅电路削波积分值的下限值，并且通过使用第二限幅电路来削减通过对比例值，积分值和微分值求和而获得的电动机控制量的上限值和下限值。

3. 发明授权

US5467279A Motor-assisted power steering control device 失效
标题翻译：电动助力转向控制装置
公开(公告)号：US5467279A
公开(公告)日：1995-11-14
申请号：US51545
申请日：1993-04-26
申请人： Shunichi Wada , Yasuo Naito , Kazuhisa Nishino , Masanori Takagi
发明人： Shunichi Wada , Yasuo Naito , Kazuhisa Nishino , Masanori Takagi
IPC分类号： B62D5/04
CPC分类号： B62D5/0463
摘要： A motor for a motor-assisted power steering device is controlled with a control value which is obtained by detecting an error between an actual steering torque which has undergone phase lead compensation and a target steering torque, and by summing a proportional value, an integration value and a differentiation value of the error, or with a control value which is obtained by detecting an error between actual steering torque and a target torque; obtaining a proportional value, an integration value and a differentiation value of the error; clipping the lower limit value of the integration value with a first clipping circuit, and clipping the upper and lower limit values of motor-controlling quantity obtained by summing the proportional value, the integration value and the differentiation value by using a second clipping circuit.
摘要翻译：用于电动助力动力转向装置的电动机通过检测通过相位超前补偿的实际转向转矩和目标转向转矩之间的误差而获得的控制值，并且通过将比例值相加，积分值以及误差的微分值，或者通过检测实际转向转矩和目标转矩之间的误差而获得的控制值; 获得误差的比例值，积分值和微分值; 用第一限幅电路削波积分值的下限值，并且通过使用第二限幅电路来削减通过对比例值，积分值和微分值求和而获得的电动机控制量的上限值和下限值。

4. 发明授权

US5602451A Electric power steering circuit device 失效
标题翻译：电动助力转向电路装置
公开(公告)号：US5602451A
公开(公告)日：1997-02-11
申请号：US496163
申请日：1995-06-28
申请人： Shinichi Kohge , Shunichi Wada
发明人： Shinichi Kohge , Shunichi Wada
IPC分类号： B60R16/02 , B60R16/023 , B62D5/04 , H02P7/00 , H02P7/29 , H03K17/00 , H05K5/00 , H05K7/20 , H05K3/30
CPC分类号： B60R16/0239 , B62D5/0406 , H02P7/04 , H05K5/0043
摘要： An electric power steering circuit device comprising a microcomputer, a bridge circuit for switching, a motor current output by a battery to drive a motor based on an output signal from the microcomputer, wiring patterns for flowing a large current, an insulated printed-circuit board for mounting the microcomputer, and a heat radiating plate for mounting thereon on the semiconductor switching elements. The bridge circuit includes a plurality of semiconductor switching elements, and the wiring patterns comprise metal plates fixed by molding. The heat radiating plate and the insulation printed-circuit board are overlapped through a predetermined space.
摘要翻译：一种电动助力转向电路装置，包括微型计算机，用于切换的电桥电路，基于来自微计算机的输出信号驱动电动机的电池输出的电动机电流，用于流动大电流的布线图案，绝缘印刷电路板用于安装微型计算机，以及用于安装在半导体开关元件上的散热板。桥接电路包括多个半导体开关元件，并且布线图案包括通过模制固定的金属板。散热板和绝缘印刷电路板通过预定的空间重叠。

5. 发明授权

US5335979A Control device for vehicle including anti-skid braking system and power steering control system 失效
标题翻译：车辆控制装置包括防滑制动系统和动力转向控制系统
公开(公告)号：US5335979A
公开(公告)日：1994-08-09
申请号：US132281
申请日：1993-10-06
申请人： Yasuo Naitou , Shunichi Wada , Kazumichi Tsutsumi , Shinichi Kohge
发明人： Yasuo Naitou , Shunichi Wada , Kazumichi Tsutsumi , Shinichi Kohge
IPC分类号： B60T8/62 , B60T8/88 , B62D5/04 , B62D6/00 , B60T8/32
CPC分类号： B62D5/0481 , B60T8/885 , B62D5/0493 , B60T2270/414 , Y10S303/09
摘要： A unified control device for a vehicle including an anti-skid braking system and power steering control system is controlled by two microcomputers (4B and 24B). On the basis of the outputs of the torque sensors (1a and 1b, etc.), the first microcomputer (4B) determines the driving direction and torque of the DC motor (9) providing the assisting steering torque for the steering wheel, and outputs the torque signal (T) and the first direction signal (D1) for the DC motor (9). The second microcomputer (24B) generates the brake operation signal (B) on the basis of the outputs of the road wheel velocity sensors (21a through 21d) and the brake switch (22). Further, on the basis of the output of the torque sensors (1a and 1b), the microcomputer (24B) determines the direction of the DC motor (9), and outputs the second direction signal (D2). The motor drive circuit (8) drives the DC motor (9) in accordance with the torque signal (T) and the direction command signal (D), which is output from the AND circuit (40) only when the first and second direction signals (D1 and D2) coincide. Further, the microcomputers (4B and 24B) output first and second fail-safe relay energization signals (F1 and F2), respectively, when the power steering control system and the anti-skid braking system are judged to be operating normally. The power supply control circuit (42) immediately opens the fail-safe relay unit (6B) when neither the first and second signals (F1 and F2) are supplied. However, in the case where only one of the first and second signals (F1 and F2) are supplied, the power supply control circuit (42) defers the interruption of the fail-safe relay unit (6B) until the vehicle stops.
摘要翻译：一种用于包括防滑制动系统和动力转向控制系统的车辆的统一控制装置由两台微型计算机（4B和24B）控制。基于转矩传感器（1a，1b等）的输出，第一微型计算机（4B）确定提供方向盘的辅助转向转矩的直流电动机（9）的驱动方向和转矩，并输出转矩信号（T）和直流电动机（9）的第一方向信号（D1）。第二微型计算机（24B）根据路轮速度传感器（21a〜21d）和制动开关（22）的输出生成制动操作信号（B）。此外，基于转矩传感器（1a，1b）的输出，微型计算机（24B）确定直流电动机（9）的方向，并输出第二方向信号（D2）。马达驱动电路（8）仅在第一和第二方向信号（8）从AND电路（40）输出的转矩信号（T）和方向指令信号（D）驱动直流电动机（9）（D1和D2）重合。此外，当动力转向控制系统和防滑制动系统被判断为正常运行时，微型计算机（4B和24B）分别输出第一和第二故障安全继电器通电信号（F1和F2）。当不提供第一和第二信号（F1和F2）时，电源控制电路（42）立即打开故障安全继电器单元（6B）。然而，在仅提供第一和第二信号（F1和F2）中的仅一个的情况下，电源控制电路（42）延迟故障安全继电器单元（6B）的中断，直到车辆停止为止。

6. 发明授权

US5988312A Vehicle control apparatus 失效
公开(公告)号：US5988312A
公开(公告)日：1999-11-23
申请号：US121853
申请日：1998-07-24
申请人： Kazuhisa Nishino , Hirohisa Awa , Shunichi Wada
发明人： Kazuhisa Nishino , Hirohisa Awa , Shunichi Wada
IPC分类号： B62D6/00 , B62D5/04
CPC分类号： B62D5/0487 , B62D5/0463
摘要： A vehicle control apparatus includes a steering torque sensor (1) for sensing a steering torque, a motor (3) for generating a steering assisting force, a CPU (22) for determining a motor drive direction based on at least the steering force and a motor drive direction restricting circuit (25) for restricting the drive direction of the motor (3) determined by the CPU (22) based on a steering force determination level as a motor drive direction determination criterion and the steering force, and the steering force determination level is changeable. With this arrangement, there is provided the vehicle control apparatus with safety and reliability by which the motor can be controlled with redundancy, the steering force determination level does not require such accuracy as to use pinpoint accuracy and further even if an abnormal state is caused in a motor output when a steering wheel is released from a hand and a steering torque exceeding the steering force determination level is generated, the steering force determination level is instantly changed to thereby restrict a motor drive direction so that the self-turn of the steering wheel is prevented.

7. 发明授权

US5659472A Motor controller 失效
标题翻译：电机控制器
公开(公告)号：US5659472A
公开(公告)日：1997-08-19
申请号：US519940
申请日：1995-08-28
申请人： Kazuhisa Nishino , Hirohisa Awa , Shunichi Wada
发明人： Kazuhisa Nishino , Hirohisa Awa , Shunichi Wada
IPC分类号： B62D6/00 , B62D5/04 , H02P29/00 , B60K41/00
CPC分类号： B62D5/0487
摘要： [Object] To improve system reliability and safety. [Constitution] The rotation speed of the motor 6 is detected by the motor rotation speed detection circuit 17 and the amount of rotation of the motor 6 is calculated from the detected rotation speed by the motor rotation amount calculating means 10a. Then, a fault is determined when the amount of rotation exceeds a predetermined value and the drive of the motor 6 is stopped by the motor stopping means 123.
摘要翻译： [对象]提高系统的可靠性和安全性。 [结构]电动机转速检测电路17检测电动机6的转速，根据电动机旋转量计算装置10a的检测转速计算电动机6的转速。然后，当旋转量超过预定值并且马达6的驱动被马达停止装置123停止时确定故障。

8. 发明授权

US5996725A Vehicle control apparatus 失效
标题翻译：车辆控制装置
公开(公告)号：US5996725A
公开(公告)日：1999-12-07
申请号：US121861
申请日：1998-07-24
申请人： Kazuhisa Nishino , Hirohisa Awa , Shunichi Wada
发明人： Kazuhisa Nishino , Hirohisa Awa , Shunichi Wada
IPC分类号： B62D6/00 , B62D5/04
CPC分类号： B62D5/0487 , B62D5/0463
摘要： A vehicle control apparatus includes a steering torque sensor (1) for sensing a steering torque, a motor (3) for generating a steering assisting force, a CPU (22) for determining a motor drive direction based on at least the steering force and a motor drive direction restricting circuit (25) for restricting the drive direction of the motor (3) determined by the CPU (22) based on a steering force determination level as a motor drive direction determination criterion and the steering force, and the steering force determination level is changeable. With this arrangement, there is provided the vehicle control apparatus with safety and reliability by which the motor can be controlled with redundancy, the steering force determination level does not require such accuracy as to use pinpoint accuracy and further even if an abnormal state is caused in a motor output when a steering wheel is released from a hand and a steering torque exceeding the steering force determination level is generated, the steering force determination level is instantly changed to thereby restrict a motor drive direction so that the self-turn of the steering wheel is prevented.
摘要翻译：车辆控制装置包括用于感测转向转矩的转向转矩传感器（1），用于产生转向辅助力的电动机（3），至少基于转向力确定电动机驱动方向的CPU（22）电动机驱动方向限制电路（25），用于基于作为电动机驱动方向判定基准的转向力判定水平和转向力来确定由CPU（22）确定的电动机（3）的驱动方向，以及转向力确定水平是可变的。通过这种布置，为车辆控制装置提供安全可靠的电动机可以冗余地进行控制，转向力确定水平不需要使用精确准确度的精度，并且即使在异常状态下当方向盘从手中释放并且产生超过转向力确定水平的转向扭矩时的电动机输出，立即改变转向力确定水平，从而限制电动机驱动方向，使得方向盘的自转被阻止

9. 发明授权

US5878360A Electric power steering control apparatus 失效
标题翻译：电动助力转向控制装置
公开(公告)号：US5878360A
公开(公告)日：1999-03-02
申请号：US474653
申请日：1995-06-07
申请人： Kazuhisa Nishino , Yuji Takatsuka , Shunichi Wada
发明人： Kazuhisa Nishino , Yuji Takatsuka , Shunichi Wada
IPC分类号： B62D6/00 , B62D5/04
CPC分类号： B62D5/0466
摘要： An electric power steering control apparatus is intended to improve the convergence and control stability of a returning motion of a steering wheel when a driver of a vehicle on which the apparatus is installed lets his or her hands free from the steering wheel, and to reduce a burden to the driver when an excessive steering torque occurs during the returning motion. The apparatus includes a steering torque sensor 8 for detecting a steering torque of a steering system of the vehicle, a motor rotational-speed detector 7 for detecting a rotational speed of the electric motor, and a rotational-speed controller for controlling the electric motor based on output signals from the steering torque sensor and the motor rotational-speed sensor so that when the steering torque as detected is less than a predetermined torque value, the rotational speed of the electric motor does not exceed a predetermined speed value corresponding to the predetermined torque value.
摘要翻译：电动助力转向控制装置旨在提高方向盘的返回运动的收敛和控制的稳定性，当装置上的车辆的驾驶员使他或她的手从方向盘脱离时，并且减少在返回运动期间发生过大的转向转矩时对驾驶员的负担。该装置包括用于检测车辆的转向系统的转向转矩的转向转矩传感器8，用于检测电动机的转速的电动机转速检测器7以及用于控制电动机的转速控制器在来自转向转矩传感器和电动机转速传感器的输出信号上，使得当检测到的转向转矩小于预定转矩值时，电动机的转速不超过对应于预定转矩的预定速度值值。

10. 发明授权

US5786679A DC motor driven power steering system for a motor vehicle 失效
公开(公告)号：US5786679A
公开(公告)日：1998-07-28
申请号：US407281
申请日：1995-03-20
申请人： Kazuhisa Nishino , Hirohisa Awa , Shunichi Wada
发明人： Kazuhisa Nishino , Hirohisa Awa , Shunichi Wada
IPC分类号： H02P7/29 , B62D5/04 , H02P7/00 , H02K23/00
CPC分类号： B62D5/0463 , B62D5/046 , H02P7/04
摘要： A DC motor driven power steering system for a motor vehicle includes a motor current detection circuit for detecting a motor current flowing through the DC motor, a power supply voltage detection circuit for detecting a power supply voltage applied to the bridge commutation circuit, a motor voltage estimating unit for estimating a voltage applied across the DC motor on the basis of the power supply voltage applied to the bridge commutation circuit and the pulse-width modulated control signals used for controlling the bridge commutation circuit, and a motor rotation detecting means for detecting the rotation state of the DC motor on the basis of the motor current and the estimated motor voltage applied to the DC motor. High reliability can be ensured for detection of the rotation state of the DC motor.

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