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11. 发明公开

EP3315387A1 ELECTRIC POWER STEERING APPARATUS 有权
标题翻译：电动转向装置
公开(公告)号：EP3315387A1
公开(公告)日：2018-05-02
申请号：EP17796241.2
申请日：2017-05-12
申请人： NSK Ltd.
发明人： TSUBAKI, Takahiro
IPC分类号： B62D6/00 , H02P23/04 , B62D101/00 , B62D119/00 , B62D137/00
摘要： [Problem]
An object of the present invention is to provide an electric power steering apparatus (including a vector control system) that can exactly suppress vibration, a noisy sound which are generated from power spectra as a vibration source, by attenuating the power spectra which generate from a relationship between calculation periods of a torque control system and a current control system.
[Means for solving the problem]
The present invention is the electric power steering apparatus that comprises a torque control system to calculate a current command value and a current control system to control a motor current value which passes through a motor based on the current command value: wherein a first calculation period of the torque control system is equal to or longer than a second calculation period of the current control system, wherein the current control system comprises a specific frequency band removing section that attenuates a frequency component which multiplies at least one natural number by an approximate half of a calculation frequency of the torque control system to the current command value, and wherein the specific frequency band removing section comprises notch filters that set an attenuation frequency or comprises the notch filters and a phase delay filter that has a cutoff frequency, which is set to a lower frequency side than a frequency which is attenuated by the notch filters.
摘要翻译：发明内容本发明的目的在于提供一种电动动力转向装置（包括矢量控制系统），该电动动力转向装置能够正确地抑制由作为振动源的功率谱产生的振动，噪声，根据转矩控制系统和电流控制系统的计算周期之间的关系产生。用于解决课题的手段本发明是一种电动助力转向装置，其具备：基于电流指令值来运算电流指令值的转矩控制系统和用于控制通过电动机的电动机电流值的电流控制系统：其中，所述转矩控制系统的第一计算周期等于或大于所述电流控制系统的第二计算周期，其中，所述电流控制系统包括特定频带消除部分，所述特定频带消除部分衰减将至少一个自然频率将所述转矩控制系统的计算频率的大约一半转换为所述电流指令值，并且其中所述特定频带去除部分包括设置衰减频率的陷波滤波器或包括所述陷波滤波器和具有截止值的相位延迟滤波器频率设定在比衰减频率低的频率侧由陷波滤波器控制。

12. 发明公开

EP3257728A1 ELECTRIC POWER STEERING DEVICE 审中-公开
标题翻译：电动转向装置
公开(公告)号：EP3257728A1
公开(公告)日：2017-12-20
申请号：EP16837057.5
申请日：2016-08-10
申请人： NSK Ltd.
发明人： TSUBAKI, Takahiro
IPC分类号： B62D6/00 , B62D5/04 , B62D119/00
CPC分类号： B62D5/0472 , B62D5/0463
摘要： [Problem]
An object of the present invention is to provide an electric power steering apparatus that can accurately suppress a vibration, a noisy sound and so on whose vibration source is a power spectrum occurring from a relationship between an operation period of torque control and an operation period of current control, and which occur regardless of presence or absence of a mechanical resonance.
[Means for solving the problem]
In an electric power steering apparatus that comprises a torque control section which calculates a current command value based on at least a steering torque and a current control section which controls a motor current flowing to a motor based on the current command value, an operation period of the torque control section is longer than or equal to an operation period of the current control section, and the current control section comprises a specific frequency band eliminating section that attenuates at least one frequency component having a frequency obtained by multiplying about half of an operation frequency of the torque control section by a natural number in the current command value.
摘要翻译：发明内容本发明的目的在于提供一种电动助力转向装置，该电动助力转向装置能够根据转矩控制的操作期间与转矩控制的操作期间的关系，准确地抑制振动源为发生的功率谱的振动，噪音等电流控制的操作周期，并且无论存在或不存在机械共振都会发生。用于解决课题的手段在具备转矩控制部的电动动力转向装置中，该转矩控制部至少根据转向转矩来计算电流指令值，电流控制部根据电流来控制流向电动机的电动机电流所述转矩控制部的动作期间为所述电流控制部的动作期间以上，并且所述电流控制部具有特定频带除去部，该特定频带除去部使具有由将转矩控制部分的操作频率的一半乘以电流命令值中的自然数。

13. 发明授权

EP3486141B1 ELECTRIC POWER STEERING DEVICE 有权
公开(公告)号：EP3486141B1
公开(公告)日：2020-06-03
申请号：EP17868820.6
申请日：2017-11-09
申请人： NSK Ltd.
发明人： TSUBAKI, Takahiro , KIKUTA, Tomoyuki
IPC分类号： B62D6/00 , B62D113/00 , B62D119/00

14. 发明授权

EP3184402B1 ELECTRIC POWER STEERING DEVICE 有权
公开(公告)号：EP3184402B1
公开(公告)日：2020-04-15
申请号：EP15833709.7
申请日：2015-08-04
申请人： NSK Ltd.
发明人： TSUBAKI, Takahiro
IPC分类号： B62D6/00 , B62D5/04 , B62D101/00 , B62D113/00 , B62D117/00 , B62D119/00

15. 发明授权

EP3453592B1 ELECTRIC POWER STEERING DEVICE 有权
公开(公告)号：EP3453592B1
公开(公告)日：2020-02-26
申请号：EP17810294.3
申请日：2017-06-06
申请人： NSK Ltd.
发明人： TSUBAKI, Takahiro
IPC分类号： B62D6/00 , B62D1/28

16. 发明授权

EP3459823B1 CONTROL DEVICE FOR ELECTRIC POWER STEERING DEVICE 有权
公开(公告)号：EP3459823B1
公开(公告)日：2020-02-12
申请号：EP17843588.9
申请日：2017-08-22
申请人： NSK Ltd.
发明人： TSUBAKI, Takahiro , TATEWAKI, Osamu
IPC分类号： B62D6/00 , B62D5/04 , B62D6/04 , B62D15/02

17. 发明授权

EP3260355B1 TUNING DEVICE FOR ELECTRIC POWER STEERING DEVICE 有权
公开(公告)号：EP3260355B1
公开(公告)日：2020-02-12
申请号：EP17763310.4
申请日：2017-03-08
申请人： NSK Ltd.
发明人： TSUBAKI, Takahiro , HOSHI, Yuzuru
IPC分类号： B62D6/00 , B62D5/04 , B62D119/00

18. 发明公开

EP3459823A1 CONTROL DEVICE FOR ELECTRIC POWER STEERING DEVICE 审中-公开
公开(公告)号：EP3459823A1
公开(公告)日：2019-03-27
申请号：EP17843588.9
申请日：2017-08-22
申请人： NSK Ltd.
发明人： TSUBAKI, Takahiro , TATEWAKI, Osamu
IPC分类号： B62D6/00 , B62D5/04
CPC分类号： B62D5/049 , B62D5/0484 , B62D6/04 , B62D15/0235 , B62D15/0245 , B62D15/025
摘要： There is provided a control device for an electric power steering device, which determines an estimate of a steering angle instead of using an angle sensor when any abnormality is detected in the angle sensor to perform steering angle control using the determined estimate of the steering angle. When it is determined that the detected steering angle is normal based on a steering angle abnormality determination signal Flg_θh, a steering angle calculating section 201 outputs a steering-wheel angle θh as an actual steering angle θr, while when it is determined that the detected steering angle is abnormal, the steering angle calculating section 201 determines and outputs an estimate θr of an actual steering angle using a past value Zθr of the actual steering angle under normal conditions, a motor relative angle Δθm, and a relative twist angle Δθ of a torsion bar.

19. 发明公开

EP3418156A8 ELECTRIC POWER STEERING DEVICE 失效
公开(公告)号：EP3418156A8
公开(公告)日：2019-02-20
申请号：EP18747848.2
申请日：2018-02-02
申请人： NSK Ltd.
发明人： TSUBAKI, Takahiro
IPC分类号： B62D6/00 , B62D5/04 , B62D101/00 , B62D113/00 , B62D117/00 , B62D119/00 , B62D137/00
摘要： [Problem]
An object of the present invention is to provide an electric power steering apparatus that achieves a manual steering even if a steering intervention is per formed by a driver during an automatic steering, ensures more safety when a driver steers urgently, and enables both an assist control and a steering angle control.
[Means for solving the problem]
An electric power steering apparatus comprises a steering angle control section that calculates a steering angle control current command value for the steering angle control based on at least a steering angle command value and an actual steering angle, the steering angle control section comprises a position control section that calculates a basic steering angular velocity command value, a steering intervention compensating section that obtains a compensatory steering angular velocity command value, a filter section that converts a steering angular velocity calculated from the basic steering angular velocity command value and the compensatory steering angular velocity command value into an extended steering angular velocity command value, and a steering angular velocity control section that calculates the steering angle control current command value based on the extended steering angular velocity command value and an actual steering angular velocity, wherein the steering intervention compensating section comprises a compensation map section, and obtains the compensatory steering angular velocity command value for the steering torque.

20. 发明公开

EP3434559A1 ELECTRICAL POWER STEERING DEVICE 审中-公开
公开(公告)号：EP3434559A1
公开(公告)日：2019-01-30
申请号：EP17850937.8
申请日：2017-09-13
申请人： NSK Ltd.
发明人： TSUBAKI, Takahiro
IPC分类号： B62D6/00 , B62D5/04 , G05B11/36 , B62D101/00 , B62D113/00 , B62D119/00 , B62D137/00
摘要： [Problem]
An object of the present invention is to provide an electric power steering apparatus that achieves a manual steering even if a steering intervention is performed by a driver during an automatic steering, ensures more safety when a driver steers urgently, and enables both an assist control and a steering angle control.
[Means for solving the problem]
An electric power steering apparatus comprises a steering angle control section that calculates a steering angle control current command value for the steering angle control, and calculates the current command value using at least the steering angle control current command value; the steering angle control section comprises a position control section to calculate a basic steering angular velocity command value, a steering intervention compensating section to obtain a compensatory steering angular velocity command value, and a steering angular velocity control section to calculate a steering angle control current command value with the basic steering angular velocity command value, the compensatory steering angular velocity command value and an actual steering angular velocity; the steering intervention compensating section comprises a compensating map section having a steering intervention compensating map that determines a characteristic of the compensatory steering angular velocity command value to a steering torque, and obtains the compensatory steering angular velocity command value by the steering torque.

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