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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

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。

4. 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。

5. 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。

6. 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

7. 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。

8. 发明申请

US20090281692A1 ELECTRIC POWER STEERING APPARATUS 失效
标题翻译：电动转向装置
公开(公告)号：US20090281692A1
公开(公告)日：2009-11-12
申请号：US12435046
申请日：2009-05-04
申请人： Terutaka Tamaizumi , Yasunori Shintani
发明人： Terutaka Tamaizumi , Yasunori Shintani
IPC分类号： B62D6/00
CPC分类号： B62D5/049 , B62D5/0484
摘要： An electric power steering apparatus includes a steering assist section that applies assist force to a steering system of a vehicle to assist operation of a steering wheel performed by a driver. The steering assist section is actuated by a motor. When there is an abnormality in a steering torque sensor, the supply of drive power to the motor is controlled such that a converted steering angle, which is obtained by converting the rotational angle of the motor, follows a target steering angle, which is computed based on the steering angle of the steering wheel by operation performed by the driver.
摘要翻译：电动助力转向装置包括向车辆的转向系统施加辅助力以辅助由驾驶员执行的方向盘的操作的转向辅助部。转向辅助部分由马达驱动。当转向转矩传感器发生异常时，控制对电动机的驱动力的供给，使得通过转换电动机的旋转角度而获得的转换转向角遵循基于计算的目标转向角通过由驾驶员进行的操作来确定方向盘的转向角度。

9. 发明申请

US20070114094A1 Electric power steering apparatus 有权
标题翻译：电动助力转向装置
公开(公告)号：US20070114094A1
公开(公告)日：2007-05-24
申请号：US11524671
申请日：2006-09-21
申请人： Terutaka Tamaizumi
发明人： Terutaka Tamaizumi
IPC分类号： B62D5/04
CPC分类号： B62D5/0466
摘要： In an electric power steering apparatus, a phase control characteristic for a signal corresponding to detected steering torque is changed according to the judgment whether the steering is in a return steering state or a feed steering state, so that a response of a variation of target output value of a motor for generating steering assist power to a variation of the detected steering torque decreases in the return steering state in comparison with that in the feed steering state. An output control characteristic of the motor is changed according to the judgment synchronously with the change of the phase control characteristic, so that a response of a variation of the output command value to a variation of deviation between the target output value and actual output value decreases in the return steering state in comparison with that in the feed steering state.
摘要翻译：在电动助力转向装置中，根据判定转向是处于返回转向状态还是进给转向状态的变化来改变与检测到的转向转矩对应的信号的相位控制特性，使得目标输出的变化的响应与在进给转向状态下相比，在返回转向状态下，用于产生转向辅助力的电动机的值与检测到的转向转矩的变化相比减小。电动机的输出控制特性根据相位控制特性的变化同步地进行判断而变化，使得输出指令值的变化对目标输出值与实际输出值的偏差变化的响应减小在返回转向状态下与进给转向状态相比。

10. 发明申请

US20060235591A1 Electric power steering apparatus 有权
标题翻译：电动助力转向装置
公开(公告)号：US20060235591A1
公开(公告)日：2006-10-19
申请号：US11407005
申请日：2006-04-18
申请人： Terutaka Tamaizumi
发明人： Terutaka Tamaizumi
IPC分类号： B62D6/00
CPC分类号： B62D5/0466
摘要： The controller in an electric power steering apparatus stores the relationship between the steering torque and the basic assist torque in which the relationship is stored as assist characteristic, and stores the relationship between the steering angle correspondence value corresponding to the steering angle of the vehicle and the motor output correction value in which the relationship is stored as correction characteristic. The controller corrects the output of the motor, which is required in order to generate the basic assist torque, in accordance with the motor output correction value determined from the steering angle correspondence value and correction characteristic, in which the basic assist torque is determined from the steering torque and assist characteristic. The correction characteristic is set so that the denominator in the frequency transfer function (K1θp+K2θps+K3θps2)/(s2/ω02+2ζ0s/ω0+1) of the motor output correction value to the steering angle correspondence value has a term which includes the resonance angular frequency of the yaw motion of the vehicle, and a term which includes the damping ratio of the yaw motion of the vehicle.
摘要翻译：电动助力转向装置中的控制器存储转向转矩和存储关系的基本辅助转矩之间的关系作为辅助特性，并且存储与车辆的转向角相对应的转向角对应值与电机输出校正值，其中存储关系作为校正特性。根据从转向角对应值和校正特性确定的电动机输出校正值，控制器校正电动机的输出，以产生基本辅助转矩，其中基本辅助转矩从转向转矩和辅助特性。校正特性被设定为使得频率传递函数（K 1/2）中的分母在P + 其中S + K 3 电动机输出校正值与转向角度对应值之间的关系为“ 其包括车辆的偏航运动的共振角频率和包括车辆的偏航运动的阻尼比的项。

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