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1. 发明公开

EP4372980A1 MOTOR CONTROL DEVICE 审中-实审
公开(公告)号：EP4372980A1
公开(公告)日：2024-05-22
申请号：EP22841936.2
申请日：2022-06-28
申请人： JTEKT Corporation
发明人： SHOJI, Naoki , YOSHIDA, Mitsuko , FUCHS, Robert
IPC分类号： H02P23/00 , B62D5/04 , B62D6/00
CPC分类号： B62D15/025 , B62D6/008 , B62D5/0463 , H02P21/0003
摘要： A motor control unit includes: an assist torque command value generation unit that generates an assist torque command value using steering torque; a manual steering command value generation unit that generates a manual steering command value using the steering torque and the assist torque command value; an integrated angle command value calculation unit that calculates an integrated angle command value by adding the manual steering command value to an automatic steering command value; and a switching unit that switches between a first control for controlling an electric motor based on the assist torque command value and a second control for controlling the electric motor based on the integrated angle command value, based on a switching signal.

2. 发明授权

EP3495245B1 VEHICLE STEERING SYSTEM 有权
公开(公告)号：EP3495245B1
公开(公告)日：2020-05-27
申请号：EP18208875.7
申请日：2018-11-28
申请人： JTEKT CORPORATION
发明人： MOREILLON, Maxime , FUCHS, Robert , TAMURA, Tsutomu
IPC分类号： B62D15/02 , B62D1/28

3. 发明授权

EP3424799B1 STEERING APPARATUS 有权转让
公开(公告)号：EP3424799B1
公开(公告)日：2020-05-13
申请号：EP18181919.4
申请日：2018-07-05
申请人： JTEKT CORPORATION
发明人： MOREILLON, Maxime , TAMURA, Tsutomu , FUCHS, Robert , SHOJI, Naoki
IPC分类号： B62D6/08 , B62D1/28 , B62D6/10

4. 发明公开

EP3572300A1 MOTOR CONTROL DEVICE 有权转让
公开(公告)号：EP3572300A1
公开(公告)日：2019-11-27
申请号：EP19171099.5
申请日：2019-04-25
申请人： JTEKT CORPORATION
发明人： SHOJI, Naoki , FUCHS, Robert , TAMURA, Tsutomu , YOSHIDA, Mitsuko
IPC分类号： B62D5/04
摘要： A manual steering command value generation unit generates a manual steering command value using steering torque. An integrated angle command value computation unit computes an integrated angle command value by adding the manual steering command value to an automatic steering command value. A control unit performs angle control on an electric motor on the basis of the integrated angle command value. The control unit includes: a basic torque command value computation unit that computes a basic torque command value on the basis of the integrated angle command value; a disturbance torque estimation unit that estimates disturbance torque other than motor torque that is generated by the electric motor and acts on an object to be driven by the electric motor; and a disturbance torque compensation unit that corrects the basic torque command value in accordance with the disturbance torque.

5. 发明授权

EP3072782B1 ELECTRIC POWER STEERING SYSTEM AND GAIN SETTING METHOD THEREOF 有权转让
公开(公告)号：EP3072782B1
公开(公告)日：2019-04-24
申请号：EP16161223.9
申请日：2016-03-18
申请人： JTEKT CORPORATION
发明人： WILHELM, Frederic , TAMURA, Tsutomu , FUCHS, Robert , MULLHAUPT, Philippe
IPC分类号： B62D5/04 , B62D6/00

6. 发明公开

EP3072782A1 ELECTRIC POWER STEERING SYSTEM AND GAIN SETTING METHOD THEREOF 有权转让
标题翻译： ELEKTRISCHE SERVOLENKUNG UNDVERSTÄRKUNGSEINSTELLVERFAHRENDAFÜR
公开(公告)号：EP3072782A1
公开(公告)日：2016-09-28
申请号：EP16161223.9
申请日：2016-03-18
申请人： JTEKT Corporation
发明人： WILHELM, Frederic , TAMURA, Tsutomu , FUCHS, Robert , MULLHAUPT, Philippe
IPC分类号： B62D5/04
CPC分类号： B62D5/0463 , B62D5/0409 , B62D5/0481 , B62D6/002 , B62D6/008
摘要： In an electric power steering system, an ECU 12 includes a rotation angle calculation unit 41, an assist torque command value calculation unit 42, a reference model 43, an angle deviation calculation unit 44, a PD control unit 45, an addition unit 47, and a plant observer 48. A proportional gain and a derivative gain which are used in the PD control unit 45 and a first gain and a second gain which are used in a first gain multiplication unit and a second gain multiplication unit of the plant observer 48 are set so that a characteristic equation corresponding to an equation of motion representing behavior of the electric power steering system has a double root.
摘要翻译：在电动助力转向系统中，ECU12包括旋转角度计算部41，辅助转矩指令值计算部42，基准模型43，角度偏差计算部44，PD控制部45，加法部47，和植物观察者48.在PD控制单元45中使用的比例增益和微分增益以及在植物观察器48的第一增益乘法单元和第二增益乘法单元中使用的第一增益和第二增益使得与表示电动助力转向系统的动作的运动方程对应的特征方程具有双根。

7. 发明公开

EP3718858A1 VEHICLE STEERING DEVICE 有权转让
公开(公告)号：EP3718858A1
公开(公告)日：2020-10-07
申请号：EP18882690.3
申请日：2018-11-28
申请人： JTEKT CORPORATION
发明人： MOREILLON, Maxime , TAMURA, Tsutomu , FUCHS, Robert , NAKADE, Tomohiro
IPC分类号： B62D6/00 , B62D5/04 , B62D101/00 , B62D119/00
摘要： A vehicle steering device includes a first setting portion 41 that sets a target assist torque in accordance with a steering torque, a second setting portion 42 that sets an angle controlling target torque for bringing an angular deviation between a target steering angle and an actual steering angle close to zero, an estimator that estimates a compensation object 43 load with respect to the angle controlling target torque, a first calculating portion 44 that calculates a target automatic steering torque based on the angle controlling target torque set by the second setting portion and the compensation object load estimated by the estimator, and a second calculating portion 44 that performs weighted addition of the target automatic steering torque and the target assist torque in accordance with a value that changes in accordance with a driver input to calculate a target motor torque that is a target value of a motor torque of the electric motor.

8. 发明公开

EP3184404A2 VEHICLE STEERING DEVICE 有权
标题翻译：车辆转向装置
公开(公告)号：EP3184404A2
公开(公告)日：2017-06-28
申请号：EP16205755.8
申请日：2016-12-21
申请人： JTEKT CORPORATION
发明人： WILHELM, Frederic , TAMURA, Tsutomu , FUCHS, Robert , MOREILLON, Maxime
IPC分类号： B62D6/08
CPC分类号： B62D6/10 , B62D3/04 , B62D3/12 , B62D5/0409 , B62D5/0466 , B62D6/08 , G01L3/10
摘要： A vehicle steering device includes a driver torque estimation unit (51) that includes a driver torque estimation observer, a low-pass filter (52), and a hands-on/off determination unit (53). The driver torque estimation observer estimates driver torque (Tsw) applied to a steering wheel by a driver on the basis of a detected value that includes at least torsion bar torque (Ttb) detected by a torque sensor (11) and the rotational angle of an electric motor detected by a rotational angle sensor (25). The low-pass filter (52) performs a low-pass filtering process on the estimated driver torque. The hands-on/off determination unit (53) determines whether in a hands-on state or a hands-off state on the basis of the driver torque after being subjected to the low-pass filtering process.
摘要翻译：本发明提供一种车辆用转向装置，其具有包含驾驶员转矩推定观测器，低通滤波器（52）以及手动/断开判断部（53）的驾驶员转矩推定部（51）。驾驶员转矩估计观测器基于至少包括由扭矩传感器（11）检测的扭杆扭矩（Ttb）和扭矩传感器（11）的旋转角度的检测值来估计驾驶员施加到方向盘的驾驶员扭矩（Tsw）电动机由旋转角度传感器（25）检测。低通滤波器（52）对估计的驾驶员扭矩执行低通滤波处理。手动/关闭确定单元（53）基于经受低通滤波处理之后的驾驶员扭矩来确定是处于手动状态还是手动切断状态。

9. 发明公开

EP4431368A1 MOTOR CONTROL DEVICE 审中-实审
公开(公告)号：EP4431368A1
公开(公告)日：2024-09-18
申请号：EP22889602.3
申请日：2022-05-12
申请人： JTEKT Corporation
发明人： EDAMOTO, Syouma , TAMURA, Tsutomu , FUCHS, Robert , YOSHIDA, Mitsuko
IPC分类号： B62D6/00
CPC分类号： B62D15/025 , B62D5/0463 , B62D6/002 , B62D6/008
摘要： A motor control device includes: an assist torque command value generation unit that generates an assist torque command value using steering torque; a manual steering command value generation unit that generates a manual steering command value using the steering torque and the assist torque command value; an integrated angle command value calculation unit that calculates an integrated angle command value by adding the manual steering command value to an automatic steering command value for driving assist; and a switching unit that switches between a first control mode in which an electric motor is controlled based on the assist torque command value or the manual steering command value and a second control mode in which the electric motor is controlled based on the integrated angle command value according to a lateral position of a vehicle with respect to a lane in a driving assist mode.

10. 发明公开

EP3960588A1 STEERING SYSTEM 有权
公开(公告)号：EP3960588A1
公开(公告)日：2022-03-02
申请号：EP21193284.3
申请日：2021-08-26
申请人： JTEKT Corporation
发明人： SHOJI, Naoki , NAKADE, Tomohiro , FUCHS, Robert
IPC分类号： B62D6/00 , B62D1/28 , B62D15/02
摘要： A steering system includes a control unit. The control unit includes a manual steering angle command value setting unit, a first weighting unit, a reaction combined angle command value calculating unit, a turning combined angle command value calculating unit, a reaction force control unit configured to cause a rotation angle of a reaction motor (13) to conform to a reaction combined angle command value, and a turning angle control unit configured to cause a rotation angle of a turning motor (19) to conform to a turning combined angle command value.

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