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1. 发明授权

US07009358B2 Electric power steering device and method for controlling the same 失效
标题翻译：电动助力转向装置及其控制方法
公开(公告)号：US07009358B2
公开(公告)日：2006-03-07
申请号：US10695995
申请日：2003-10-30
申请人： Terutaka Tamaizumi , Yoshinobu Shimizu , Shinya Aono , Akihiro Nishiyama , Takanobu Takamatsu , Masayuki Kita , Tomoyuki Yamauchi
发明人： Terutaka Tamaizumi , Yoshinobu Shimizu , Shinya Aono , Akihiro Nishiyama , Takanobu Takamatsu , Masayuki Kita , Tomoyuki Yamauchi
IPC分类号： B62D6/00 , G06F17/00 , G05D23/275 , H02P7/00
CPC分类号： B62D5/0463
摘要： The present invention provides an electric power steering device enabled to compensate for the influence of the inertia of a steering-assisting-force generating motor on steering with accurate timing even when a steering direction is reversed at high speed. Based on steering torque and a rotation angular speed of a steering-assisting-force generating motor, a steering angular acceleration correspondence value is obtained. The device has means for regulating a gain, which is multiplied to a change acceleration of the steering torque. The motor is controlled so that the steering assisting force is corrected according to a motor output correction value obtained on the basis of the relation between the motor output correction value and the steering angular acceleration correspondence value, which is preliminarily determined and stored in such a way as to compensate for the influence of the inertia on steering, and the obtained steering angular acceleration correspondence value.
摘要翻译：本发明提供一种电动助力转向装置，即使当转向方向高速反转时，能够以精确的定时补偿转向辅助力产生电动机的惯性的影响。基于转向转矩和转向辅助力产生电动机的旋转角速度，获得转向角加速度对应值。该装置具有用于调节增益的装置，该增益乘以转向转矩的改变加速度。控制电动机，使得根据以这种方式预先确定和存储的电动机输出校正值和转向角加速度对应值之间的关系获得的电动机输出校正值来校正转向辅助力以补偿惯性对转向的影响，以及所获得的转向角加速度对应值。

2. 发明授权

US07136732B2 Electric power steering apparatus 有权
标题翻译：电动助力转向装置
公开(公告)号：US07136732B2
公开(公告)日：2006-11-14
申请号：US10927528
申请日：2004-08-27
申请人： Yoshinobu Shimizu , Shinya Aono , Akihiro Nishiyama
发明人： Yoshinobu Shimizu , Shinya Aono , Akihiro Nishiyama
IPC分类号： B62D6/04 , B62D6/00
CPC分类号： B62D5/0463
摘要： An electric power steering apparatus transmits a driving force of an electric motor to a steering mechanism for steering assist. The apparatus includes a torque sensor which detects a steering wheel torque; a basic assist characteristic determining section which determines a basic assist characteristic defining a basic characteristic of a motor driving target value for the steering torque; a motor driving target value determining section which determines the motor driving target value for the steering torque in accordance with a modified assist characteristic prepared by shifting the basic assist characteristic along a steering torque coordinate axis; a shift amount determining section which determines the amount of the shift from the basic assist characteristic to the modified assist characteristic on the basis of the steering torque; and a motor driving section which drives the electric motor on the basis of the motor driving target value.
摘要翻译：电动助力转向装置将电动机的驱动力传递到转向辅助转向机构。该装置包括检测方向盘扭矩的扭矩传感器; 基本辅助特性确定部，其确定限定所述转向转矩的电动机驱动目标值的基本特性的基本辅助特性; 电动机驱动目标值确定部，其根据通过沿着转向扭矩坐标轴移动所述基本辅助特性而准备的改进的辅助特性来确定所述转向转矩的电动机驱动目标值; 换档量确定部，其基于转向扭矩确定从基本辅助特性到修正辅助特性的换档量; 以及基于电动机驱动目标值驱动电动机的电动机驱动部。

3. 发明申请

US20050061577A1 Electric power steering apparatus 有权
标题翻译：电动助力转向装置
公开(公告)号：US20050061577A1
公开(公告)日：2005-03-24
申请号：US10927528
申请日：2004-08-27
申请人： Yoshinobu Shimizu , Shinya Aono , Akihiro Nishiyama
发明人： Yoshinobu Shimizu , Shinya Aono , Akihiro Nishiyama
IPC分类号： B62D6/00 , B62D5/04 , B62D101/00 , B62D113/00 , B62D119/00
CPC分类号： B62D5/0463
摘要： An electric power steering apparatus which transmits a driving force of an electric motor to a steering mechanism for steering assist. The apparatus is provided with: a torque sensor which detects a steering torque applied to an operation member for steering a vehicle; a basic assist characteristic determining section which determines a basic assist characteristic defining a basic characteristic of a motor driving target value for the steering torque; a motor driving target value determining section which determines the motor driving target value for the steering torque in accordance with a modified assist characteristic prepared by shifting the basic assist characteristic along a steering torque coordinate axis; a shift amount determining section which determines the amount of the shift from the basic assist characteristic to the modified assist characteristic on the basis of the steering torque; and a motor driving section which drives the electric motor on the basis of the motor driving target value.
摘要翻译：一种将电动机的驱动力传递到转向辅助转向机构的电动助力转向装置。该装置设置有：扭矩传感器，其检测施加到用于转向车辆的操作构件的转向扭矩; 基本辅助特性确定部，其确定限定所述转向转矩的电动机驱动目标值的基本特性的基本辅助特性; 电动机驱动目标值确定部，其根据通过沿着转向扭矩坐标轴移动所述基本辅助特性而准备的改进的辅助特性来确定所述转向转矩的电动机驱动目标值; 换档量确定部，其基于转向扭矩确定从基本辅助特性到修正辅助特性的换档量; 以及基于电动机驱动目标值驱动电动机的电动机驱动部。

4. 发明授权

US06854560B2 Electric power steering apparatus 有权
标题翻译：电动助力转向装置
公开(公告)号：US06854560B2
公开(公告)日：2005-02-15
申请号：US10785428
申请日：2004-02-25
申请人： Akihiro Nishiyama , Yoshinobu Shimizu
发明人： Akihiro Nishiyama , Yoshinobu Shimizu
IPC分类号： B62D6/00 , B62D5/04 , B62D101/00 , B62D113/00 , B62D119/00
CPC分类号： B62D5/0463
摘要： An electric power steering apparatus for performing steering assist. The apparatus is provided with an operation amount sensor for sensing an operation amount of an operation member for steering a motor vehicle; a reference assist characteristics setting section for setting reference assist characteristics; and a motor driving target value setting section for setting a motor driving target value in accordance with a corrected assist characteristics obtained by shifting the reference assist characteristics along the axis of coordinates of the operation amount. The apparatus is further provided with a shifting amount setting section for setting, when forward stroke steering is done, the shifting amount to zero, while setting, when return stroke steering is done, the shifting amount to a value at which corrected assist characteristics is obtained in which the absolute value of the motor driving target value corresponding to the operation amount is increased.
摘要翻译：一种用于执行转向辅助的电动助力转向装置。该装置设置有用于感测用于转向机动车辆的操作构件的操作量的操作量传感器; 参考辅助特性设定部，用于设定基准辅助特性; 以及马达驱动目标值设定部分，用于根据通过沿着该操作量的坐标轴移动参考辅助特性而获得的校正的辅助特性来设定马达驱动目标值。该装置还设置有移动量设定部，当进行向前冲程转向时，将移动量设定为零，同时在返回行程转向完成时将移动量设定为获得校正后的辅助特性的值其中与操作量相对应的电动机驱动目标值的绝对值增加。

5. 发明申请

US20130312540A1 TORQUE DETECTING APPARATUS 有权
标题翻译：扭矩检测装置
公开(公告)号：US20130312540A1
公开(公告)日：2013-11-28
申请号：US13984393
申请日：2012-02-08
申请人： Yasunobu Tomizawa , Hideki Higashira , Seiji Uematsu , Takeshi Ueda , Yoshinobu Shimizu
发明人： Yasunobu Tomizawa , Hideki Higashira , Seiji Uematsu , Takeshi Ueda , Yoshinobu Shimizu
IPC分类号： G01L3/10
CPC分类号： G01L3/104 , B62D6/10
摘要： A torque detecting apparatus detects a torque applied to a first shaft, based on a relative rotational displacement between the first shaft and a second shaft caused by torsion in a coupling shaft which couples the first shaft and the second shaft. The torque detecting apparatus includes: first and second magnets which are coupled to the first shaft and the second shaft so as to rotate together with the first shaft and second shaft, respectively; and a plurality of magnetic sensors which are disposed between the first magnet and the second magnet and which detect a rotational angle of the first shaft and a rotational angle of the second shaft.
摘要翻译：转矩检测装置基于由耦合第一轴和第二轴的联接轴中的扭转引起的第一轴和第二轴之间的相对旋转位移来检测施加到第一轴的扭矩。扭矩检测装置包括：第一和第二磁体，其分别联接到第一轴和第二轴，以便与第一轴和第二轴一起旋转; 以及多个磁传感器，其设置在第一磁体和第二磁体之间，并且检测第一轴的旋转角度和第二轴的旋转角度。

6. 发明授权

US08496085B2 Motor control device and electric power steering apparatus 失效
标题翻译：电机控制装置和电动助力转向装置
公开(公告)号：US08496085B2
公开(公告)日：2013-07-30
申请号：US13320839
申请日：2010-06-21
申请人： Takeshi Ueda , Shingo Maeda , Yoshinobu Shimizu , Hayato Komatsu
发明人： Takeshi Ueda , Shingo Maeda , Yoshinobu Shimizu , Hayato Komatsu
IPC分类号： B62D5/04 , H02P23/00
CPC分类号： B62D5/046 , B62D5/0481 , H02P7/281 , H02P7/29
摘要： An angular velocity estimate (ωe) used in motor control of an electric power steering is obtained as follows. In a first state period during which the motor substantially stops its rotation, a resistance calculation unit calculates a motor resistance value (Rc) on the basis of a detected value (Vm) of motor voltage and a detected value (Im) of motor current. An average calculation unit obtains an average value (Rav) of the calculated resistance values (Rc) in a retained period. A current-resistance characteristic that associates motor current with motor resistance is held in a characteristic holding unit, and a characteristic updating unit updates the current-resistance characteristic on the basis of the average value (Rav). An estimate calculation unit calculates the angular velocity estimate (ωe) on the basis of the detected value (Vm) of motor voltage, the detected value (Im) of motor current and a motor resistance value (Rm) obtained from the current-resistance characteristic.
摘要翻译：如下获得用于电动助力转向装置的电动机控制中的角速度估计（ω）。在电动机基本上停止其旋转的第一状态期间，电阻计算单元基于电动机电压的检测值（Vm）和电动机电流的检测值（Im）来计算电动机电阻值（Rc）。平均计算单元获得计算出的电阻值（Rc）在保留期间内的平均值（Rav）。将电动机电流与电动机电阻相关联的电流电阻特性保持在特性保持单元中，特性更新单元基于平均值（Rav）来更新电流电阻特性。估计计算单元基于电动机电压的检测值（Vm），电动机电流的检测值（Im）和从电流电阻特性得到的电动机电阻值（Rm）来计算角速度估计（ω）。

7. 发明授权

US5826677A Vehicle steering device 失效
标题翻译：车辆转向装置
公开(公告)号：US5826677A
公开(公告)日：1998-10-27
申请号：US629396
申请日：1996-04-08
申请人： Katsutoshi Nishizaki , Yoshihiro Goto , Tomoyasu Kada , Shiro Nakano , Yoshinobu Shimizu
发明人： Katsutoshi Nishizaki , Yoshihiro Goto , Tomoyasu Kada , Shiro Nakano , Yoshinobu Shimizu
IPC分类号： B62D5/083 , B62D6/00 , G01S13/93 , B60R21/00
CPC分类号： B62D5/0835 , B62D6/00 , G01S2013/9342
摘要： A vehicle steering device has a steering inhibition portion that enables the steering device to be switched between a steering inhibition application mode and a steering inhibition release mode--regardless of whether or not the vehicle is being steered by a driver. This arrangement avoids the need to determine whether or not the vehicle is being steered before determining whether or not to inhibit steering.
摘要翻译：车辆转向装置具有能够在转向抑制应用模式和转向抑制解除模式之间切换转向装置的转向抑制部，而不管车辆是否被驾驶员驾驶。这种布置避免了在确定是否禁止转向之前确定车辆是否被转向的需要。

8. 发明授权

US5667033A Electric power steering system 失效
标题翻译：电动助力转向系统
公开(公告)号：US5667033A
公开(公告)日：1997-09-16
申请号：US569481
申请日：1995-12-08
申请人： Yoshinobu Shimizu , Shiro Nakano
发明人： Yoshinobu Shimizu , Shiro Nakano
IPC分类号： B60R21/00 , B62D5/00 , B62D5/04 , B62D6/00 , G01S13/93
CPC分类号： B62D15/0265 , B62D15/029 , G01S2013/9342
摘要： An electric power steering system of this invention can inform the driver of potential danger by providing control by way of safety precaution before a vehicle enters a dangerous situation. The occurrence of dangerous situations is determined based on a signal from an obstacle sensor. If a steering wheel is turned in a dangerous situation, a warning control is performed on a motor. The motor outputs a torque for t1 seconds, for example, which counters against turning of the steering wheel. Then, the motor enters a "non-assist" state wherein no current is applied thereto for t2 seconds. If an intermittent counter torque is applied by the motor, it is hard to turn the steering wheel and the steering wheel is caused to vibrate, thereby preventing the vehicle from being steered to collide with an obstacle and, warning the driver of the danger with vibration caused in the steering wheel.
摘要翻译：本发明的电动助力转向系统可以在车辆进入危险情况之前通过安全预防措施提供控制来告知驾驶员潜在的危险。基于来自障碍物传感器的信号确定危险情况的发生。如果方向盘处于危险状态，则会对电机进行警告控制。例如，电动机输出t1秒的转矩，以抵抗方向盘的转动。然后，电动机进入其中不施加电流t2秒的“非辅助”状态。如果电动机施加了间歇的逆转矩，则难以转动方向盘并且使方向盘发生振动，从而防止车辆被转向与障碍物碰撞，并且用振动警告驾驶员危险的危险导致方向盘。

9. 发明授权

US08521368B2 Electric power steering device 有权
标题翻译：电动助力转向装置
公开(公告)号：US08521368B2
公开(公告)日：2013-08-27
申请号：US12920998
申请日：2009-03-05
申请人： Yoshinobu Shimizu
发明人： Yoshinobu Shimizu
IPC分类号： B62D6/00 , B62D5/04 , B62D11/00 , B62D12/00 , B60K1/00 , B63G8/20 , B63H25/04 , G05D1/00 , G06F7/00 , G06F17/00 , G06F19/00 , H02P1/00
CPC分类号： B62D5/0484 , B62D5/0481 , H02P6/085 , H02P27/06 , H02P29/025 , H02P2201/07
摘要： There is provided a controller for a steering device that makes it possible to prevent sudden ceasing of steering assisting power by effectively utilizing an auxiliary power source. An electric power steering device that generates steering assist force by a motor includes a battery for supplying electric power to the motor, an auxiliary power source that supplies the motor with electric power, and a control circuit for controlling a power supply to the motor. In the event of a breakdown of the battery, the control circuit adjusts a power supply to the motor from the auxiliary power source according to an amount of energy remaining in the auxiliary power source so as to reduce steering assist force.
摘要翻译：提供了一种用于转向装置的控制器，其能够通过有效地利用辅助动力源来防止转向辅助动力的突然停止。通过电动机产生转向辅助力的电动助力转向装置包括用于向电动机供电的电池，为电动机提供电力的辅助电源以及用于控制对电动机供电的控制电路。在电池故障的情况下，控制电路根据辅助电源中剩余的能量量从辅助电源调节对电动机的电力供应，以减少转向辅助力。

10. 发明申请

US20110098888A1 MOTOR CONTROL DEVICE AND VEHICLE-STEERING DEVICE COMPRISING SAME 有权
标题翻译：电动机控制装置和包含其的车辆转向装置
公开(公告)号：US20110098888A1
公开(公告)日：2011-04-28
申请号：US12997168
申请日：2009-06-29
申请人： Yuji Kariatsumari , Hideki Higashira , Masashi Hattori , Yoshinobu Shimizu
发明人： Yuji Kariatsumari , Hideki Higashira , Masashi Hattori , Yoshinobu Shimizu
IPC分类号： B62D6/00 , H02P21/14
CPC分类号： B62D5/046 , H02P21/0003 , H02P21/04 , H02P21/26
摘要： A motor controller controls a motor including a rotor and a stator opposed to the rotor. The motor controller includes an electric current driving unit which drives the motor with an axis electric current value defined in a rotating coordinate system defined with respect to a control angle that is a rotation angle for control, a control angle computing unit which computes a current value of the control angle by adding an addition angle to a previous value of the control angle in each predetermined computing cycle, and an addition angle computing unit which computes the addition angle according to a torque to be generated by the motor or a response of the motor to the axis electric current value.
摘要翻译：马达控制器控制包括与转子相对的转子和定子的马达。电动机控制器包括电流驱动单元，该电流驱动单元以相对于用于控制的旋转角度的控制角定义的旋转坐标系中限定的轴电流值驱动电动机，控制角计算单元，其计算电流值通过在每个预定计算周期中对控制角度的先前值添加相加角来获得控制角;以及相加角计算单元，其根据由电动机产生的转矩或电动机的响应来计算相加角度到轴电流值。

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