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1. 发明公开

EP3885214A1 STEERING DEVICE AND MOTOR CONTROL METHOD FOR STEERING DEVICE 审中-公开
公开(公告)号：EP3885214A1
公开(公告)日：2021-09-29
申请号：EP19886907.5
申请日：2019-11-19
申请人： JTEKT CORPORATION , NISSAN MOTOR CO., LTD.
发明人： OSAJIMA, Shintaro , UEDA, Taisuke , YAMAMOTO, Yosuke , ISHIMOTO, Masaya , NAKASONE, Gempei , TAMAKI, Hiromasa , AONO, Shinya , YAMASHITA, Yoshihiro
IPC分类号： B60W30/06 , B62D6/00 , B62D5/04
摘要： This steering device is provided with: an electric motor that is capable of steering a turning wheel connected to a steering wheel; and a control unit that changes a steering angle of the turning wheel by controlling the electric motor. The control unit comprises: an angle feedback control unit capable of executing automatic traveling control in which feedback control is performed such that a first target steering angle, which is calculated to cause a vehicle to travel along a preset target path in a travel route, matches the actual steering angle and also capable of executing automatic parking control in which feedback control is performed such that a second target steering angle, which is calculated to cause the vehicle to move from a current position to a parking position, matches the actual steering angle; and a gain setting unit which sets a feedback gain for the automatic parking control to a value smaller than a feedback gain for the automatic traveling control.

2. 发明公开

EP4442540A1 MOTOR CONTROL DEVICE 审中-实审
公开(公告)号：EP4442540A1
公开(公告)日：2024-10-09
申请号：EP21966448.9
申请日：2021-12-03
申请人： JTEKT Corporation
发明人： SHOJI, Naoki , ITAMOTO, Hidenori , TAMAIZUMI, Terutaka , TAMAKI, Hiromasa , NITTA, Shingo , ZHOU, Xin , TSUJII, Shunsuke
IPC分类号： B62D6/00
CPC分类号： B62D6/00
摘要： A motor control device includes a manual steering command value generation unit that generates a manual steering command value, and a hands-on/off determination unit that determines whether a driver is in a gripping state in which the driver is gripping a steering wheel or in a released state in which the driver is not gripping the steering wheel. The manual steering command value generation unit is configured to generate the manual steering command value based on an equation of motion. The motor control device further includes a coefficient value changing unit that changes a value of at least one coefficient among coefficients included in the equation of motion based on a determination result from the hands-on/off determination unit.

3. 发明授权

EP3315384B1 STEERING CONTROL DEVICE 有权转让
公开(公告)号：EP3315384B1
公开(公告)日：2020-03-04
申请号：EP17198500.5
申请日：2017-10-26
申请人： JTEKT CORPORATION , DENSO CORPORATION
发明人： TOKO, Takahiro , TAMAKI, Hiromasa , NAMBU, Akira , KOJO, Takahiro , NAKAJIMA, Nobuyori
IPC分类号： B62D5/04

4. 发明公开

EP3287342A3 STEERING CONTROL DEVICE 有权
公开(公告)号：EP3287342A3
公开(公告)日：2018-10-10
申请号：EP17186432.5
申请日：2017-08-16
申请人： JTEKT CORPORATION , TOYOTA JIDOSHA KABUSHIKI KAISHA
发明人： TOKO, Takahiro , TAMAKI, Hiromasa , HASEGAWA, Jun , FUJITA, Shohei , YANAI, Kohei , SUZUKI, Tatsuya , MIYAKE, Tatsuya , SUZUKI, Takashi
IPC分类号： B62D5/04
CPC分类号： B62D6/008 , B62D3/12 , B62D5/006 , B62D5/0463 , B62D5/0469 , G01L5/221 , G01P1/026 , H02P21/0003 , H02P21/18 , H02P21/22 , H02P27/06
摘要： A steering control device includes a command value setting processing portion configured to set a current command value based on a detection value of steering torque; a feedback processing portion configured to control a voltage applied to a motor (50) so as to control a current flowing through the motor (50) to the current command value, based on an output value of an integral element obtained by using a difference between the current and the current command value; an end determination processing portion configured to determine whether a turning angle of steered wheels (34) has reached a limit angle; and an end-time limit processing portion configured to perform correction to increase a magnitude of the difference, based on a degree of a decrease in a magnitude of a rotational speed of the motor (50) when the end determination processing portion determines that the turning angle has reached the limit angle.

5. 发明公开

EP3287342A2 STEERING CONTROL DEVICE 有权
标题翻译：转向控制装置
公开(公告)号：EP3287342A2
公开(公告)日：2018-02-28
申请号：EP17186432.5
申请日：2017-08-16
申请人： JTEKT CORPORATION , TOYOTA JIDOSHA KABUSHIKI KAISHA
发明人： TOKO, Takahiro , TAMAKI, Hiromasa , HASEGAWA, Jun , FUJITA, Shohei , YANAI, Kohei , SUZUKI, Tatsuya , MIYAKE, Tatsuya , SUZUKI, Takashi
IPC分类号： B62D5/04
摘要： A steering control device includes a command value setting processing portion configured to set a current command value based on a detection value of steering torque; a feedback processing portion configured to control a voltage applied to a motor (50) so as to control a current flowing through the motor (50) to the current command value, based on an output value of an integral element obtained by using a difference between the current and the current command value; an end determination processing portion configured to determine whether a turning angle of steered wheels (34) has reached a limit angle; and an end-time limit processing portion configured to perform correction to increase a magnitude of the difference, based on a degree of a decrease in a magnitude of a rotational speed of the motor (50) when the end determination processing portion determines that the turning angle has reached the limit angle.
摘要翻译：转向控制装置包括：指令值设定处理部，其基于转向转矩的检测值设定电流指令值; 反馈处理部分，其被配置为基于通过使用以下等式获得的积分元件的输出值来控制施加到马达（50）的电压，以便将流过马达（50）的电流控制为电流命令值当前和当前命令值; 结束判定处理部，其判定转向轮（34）的转动角度是否达到极限角度; 以及结束时间限制处理部分，被配置为当结束确定处理部分确定旋转时，基于马达（50）的旋转速度的大小的减小程度来执行校正以增大差异的大小角度达到极限角度。

6. 发明公开

EP4412079A1 MOTOR CONTROL DEVICE 审中-实审
公开(公告)号：EP4412079A1
公开(公告)日：2024-08-07
申请号：EP21959260.7
申请日：2021-09-28
申请人： JTEKT Corporation
发明人： TAMAIZUMI, Terutaka , LIN, Yufeng , TAMAKI, Hiromasa , ITAMOTO, Hidenori , ABD RAHIM, Muhammad Iqmal , SAKAI, Atsuo
IPC分类号： H02P23/04
CPC分类号： B62D5/046 , H02P21/05
摘要： A motor control device (11) controls a motor (11) of a mechanical device (13). The motor control device (11) includes a command value calculation unit (31) that calculates a command value (I*) for controlling the motor (12), and a disturbance observer unit (33) for estimating a disturbance (Tld) applied to the mechanical device (13), based on the command value (I*) and rotation information (ωm) of the motor (12), and to correct the command value (I*) based on the disturbance (Tld) that is estimated. The disturbance observer unit (33) has parameters (L1, β) that are adjusted to compensate for effects of the disturbance (Tld) having a specific frequency that is an object of suppression. The parameters (L1, β) are adjusted such that a disturbance (Tlast), applied to the mechanical device (13) after effects of the disturbance (Tld) are compensated for, has frequency characteristics corresponding to antiresonance characteristics of the mechanical device (13).

7. 发明授权

EP3287342B1 STEERING CONTROL DEVICE 有权
公开(公告)号：EP3287342B1
公开(公告)日：2019-10-09
申请号：EP17186432.5
申请日：2017-08-16
申请人： JTEKT CORPORATION , TOYOTA JIDOSHA KABUSHIKI KAISHA
发明人： TOKO, Takahiro , TAMAKI, Hiromasa , HASEGAWA, Jun , FUJITA, Shohei , YANAI, Kohei , SUZUKI, Tatsuya , MIYAKE, Tatsuya , SUZUKI, Takashi
IPC分类号： B62D5/04

8. 发明授权

EP3287341B1 VEHICLE CONTROLLER 有权转让
公开(公告)号：EP3287341B1
公开(公告)日：2020-03-04
申请号：EP17185749.3
申请日：2017-08-10
申请人： JTEKT CORPORATION
发明人： MAEDA, Shingo , TAMAIZUMI, Terutaka , HASEGAWA, Jun , KITA, Masayuki , NAKASONE, Gempei , TAMAKI, Hiromasa
IPC分类号： B62D1/28 , B62D15/02 , B60W50/08 , B60W50/10 , B60W30/12 , B60W30/18

9. 发明公开

EP3335967A1 VEHICLE CONTROL DEVICE 有权转让
公开(公告)号：EP3335967A1
公开(公告)日：2018-06-20
申请号：EP17206665.6
申请日：2017-12-12
申请人： JTEKT Corporation , TOYOTA JIDOSHA KABUSHIKI KAISHA
发明人： NAMIKAWA, Isao , TOKO, Takahiro , TAMAKI, Hiromasa , OKUDA, Yuji
IPC分类号： B62D15/02
CPC分类号： B62D15/0265 , B62D5/0463 , B62D6/08 , B62D15/025 , G08G1/161 , G08G1/167
摘要： A steering ECU (30) includes a microcomputer (31) that executes one of a traveling assist control, a collision avoidance assist control and an electric power steering control, based on an input of execution command signals LKact, SSact. The microcomputer (31) includes a control state switching unit (73) that switches the control state based on input states of the execution command signals LKact, SSact. When one control state of control states for executing the traveling assist control, the collision avoidance assist control and the electric power steering control is being executed and when execution of a different control state is commanded, the control state switching unit (73) switches the control state such that the different control state is set.

10. 发明公开

EP3287343A3 STEERING CONTROL DEVICE 有权
公开(公告)号：EP3287343A3
公开(公告)日：2018-10-10
申请号：EP17186504.1
申请日：2017-08-16
申请人： JTEKT CORPORATION , TOYOTA JIDOSHA KABUSHIKI KAISHA
发明人： TOKO, Takahiro , TAMAKI, Hiromasa , HASEGAWA, Jun , FUJITA, Shohei , YANAI, Kohei , SUZUKI, Tatsuya
IPC分类号： B62D5/04
CPC分类号： B62D5/0469 , B62D3/12 , B62D5/0463
摘要： A steering control device includes a feedback processing portion configured to control a current flowing through a motor (50) to a current command value; an end determination processing portion configured to determine whether a turning angle of steered wheels (34) has reached a limit angle; and an end-time limit processing portion configured to limit a magnitude of the current command value to a magnitude of a limited current value or smaller, when the end determination processing portion determines that the turning angle has reached the limit angle. The limited current value is a value obtained by performing correction to decrease a magnitude of a detected value of the current flowing through the motor (50) at a time when the end determination processing portion determines that the turning angle has reached the limit angle, based on a degree of a decrease in a magnitude of a rotational speed of the motor (50).

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