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1. 发明公开

EP4393793A1 STEERING CONTROL DEVICE 审中-公开
公开(公告)号：EP4393793A1
公开(公告)日：2024-07-03
申请号：EP23219021.5
申请日：2023-12-21
申请人： JTEKT CORPORATION , TOYOTA JIDOSHA KABUSHIKI KAISHA
发明人： NAKAGAWA, Yuto , TAMAIZUMI, Terutaka , INDEN, Yuki , TAKAHASHI, Saki
IPC分类号： B62D6/00 , B62D6/08
CPC分类号： B62D6/008 , B62D6/08
摘要： A steering control device (50) includes a processor. The processor is configured to execute a process in a state where dynamic force transmission between a steering wheel (12) and a turning wheel (34) is not performed. The process includes: a process of controlling a reaction force that is given to the steering wheel (12), by operating torque of the reaction force motor (22) depending on the value of a reaction force command variable; a process of reflecting a predetermined component of a frequency signal that is given to the turning wheel (34) in the value of the reaction force command variable; and a process of restricting the degree of contribution of the predetermined component to the value of the reaction force command variable, to a smaller degree, in a situation where a steering system including the steering wheel (12) is unstable.

2. 发明公开

EP4082874A1 STEERING CONTROL DEVICE 审中-实审
公开(公告)号：EP4082874A1
公开(公告)日：2022-11-02
申请号：EP22165912.1
申请日：2022-03-31
申请人： JTEKT CORPORATION , TOYOTA JIDOSHA KABUSHIKI KAISHA
发明人： YOSHIDA, Kenji , NAMIKAWA, Isao , TAMAIZUMI, Terutaka , AKATSUKA, Kosuke , KUDO, Yoshio
IPC分类号： B62D6/00
摘要： In a steering control device configured to control a steering system (2) where a steering torque required for steering a steering wheel (3) is changed using a motor torque, a processing circuit includes a first calculation situation where a calculational hysteresis component for adding a first hysteresis characteristic to a torque component is calculated and a second calculation situation where the calculational hysteresis component for adding a second hysteresis characteristic to the torque component is calculated. In the second calculation situation after change from the first calculation situation, the processing circuit calculates a value corresponding to an origin in the second hysteresis characteristic at a time when the calculational hysteresis component enabling a value of the calculational hysteresis component at a timing of the change from the first calculation situation to be maintained is calculated, and calculates the calculational hysteresis component using the calculated value as the origin.

3. 发明公开

EP3733481A1 TURNING CONTROL SYSTEM 有权转让
公开(公告)号：EP3733481A1
公开(公告)日：2020-11-04
申请号：EP20171086.0
申请日：2020-04-23
申请人： JTEKT CORPORATION
发明人： TAMAIZUMI, Terutaka
IPC分类号： B62D6/00
摘要： A turning control system includes a controller (52). The controller (52) is configured to perform a decrease process of decreasing a magnitude of an angle operation amount which is reflected in an operation process with respect to the magnitude of the angle operation amount calculated in an angle operation amount calculating process when a vehicle speed is equal to or lower than a prescribed speed and a magnitude of an input torque of a steering wheel is equal to or less than a prescribed value. The controller (52) is configured to perform a correction process of correcting an input when the decrease process is performed such that a magnitude of the input decreases when an angle command value calculating process calculates an angle command value.

4. 发明公开

EP3287341A1 VEHICLE CONTROLLER 有权转让
标题翻译：车辆控制器
公开(公告)号：EP3287341A1
公开(公告)日：2018-02-28
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
摘要： A vehicle controller configured to accurately determine a driver's intention to intervene in steering is provided. An ECU (40) includes a deviation calculating circuit (41), an assist control circuit (60), an automatic steering control circuit (70) including an intervention determination switching circuit (72), an adder (42), a current command value calculating circuit (43), and a motor control signal calculating circuit (44). The intervention determination switching circuit (72) includes a count amount calculating circuit (82), an adder (83), an immediately-preceding count amount output circuit (85), a switching determination circuit (86), and an output switching circuit (87). The count amount calculating circuit (82) calculates a count amount (C) having a positive value or a negative value based on a steering torque absolute value (|Th|) calculated by an absolute value switching circuit (81). The adder (83) calculates a total count amount (Ca) that is the total sum of a presently calculated count amount (C) and an immediately-preceding count amount (Co) calculated in an immediately-preceding calculation cycle. The switching determination circuit (86) determines a driver's intention to intervene in steering, based on whether the total count amount (Ca) is equal to or greater than a count amount threshold value (Tc).
摘要翻译：提供了一种车辆控制器，其被配置为准确地确定驾驶员干预转向的意图。 ECU40包括偏差运算电路41，辅助控制电路60，包含干预判定切换电路72，自动操舵控制电路70，加法器42，电流指令值计算电路（43）和电机控制信号计算电路（44）。介入判定切换电路72包括计数量计算电路82，加法器83，紧前面的计数量输出电路85，切换判定电路86和输出切换电路86。 87）。计数量计算电路（82）基于由绝对值切换电路（81）计算出的转向转矩绝对值（| Th |）来计算具有正值或负值的计数量（C）。加法器（83）计算作为当前计算的计数量（C）和紧接在前的计算周期中计算出的紧接在前的计数量（Co）的总计数的总计数量（Ca）。切换判定电路（86）基于总计数量（Ca）是否等于或大于计数量阈值（Tc）来判定驾驶员干预转向的意图。

5. 发明公开

EP3018038A2 ELECTRIC POWER STEERING SYSTEM 有权转让
标题翻译：电动转向系统
公开(公告)号：EP3018038A2
公开(公告)日：2016-05-11
申请号：EP15192714.2
申请日：2015-11-03
申请人： JTEKT CORPORATION
发明人： MAEDA, Shingo , TAMAIZUMI, Terutaka , ITAMOTO, Hidenori
IPC分类号： B62D5/04
CPC分类号： B62D5/0463 , B62D5/0481 , B62D6/04
摘要： An electric power steering system includes a control unit (40) configured to: compute an assist control amount (current amount), based on multiple kinds of state quantities indicating a steering state; control a motor (31) based on the assist control amount, the motor (31) being a source of assist force applied to a steering system of a vehicle; individually set, for the respective state quantities, limiting values that limit a variation range of the assist control amount, based on the respective state quantities used to compute the assist control amount; limit a value of the assist control amount using the limiting values; acquire a command value generated by a host control unit (55) to change the assist control amount; and take the command value into account in setting of at least one of the limiting values, when executing control of the motor based on the assist control amount that reflects the command value.
摘要翻译：本发明提供一种电动动力转向装置，其具备：控制部（40），其根据表示转向状态的多种状态量，计算辅助控制量（电流量）基于所述辅助控制量来控制马达（31），所述马达（31）是作用于车辆的转向系统的辅助力的来源; 基于用于计算所述辅助控制量的各个状态量，针对各个状态量分别设定限制所述辅助控制量的变化范围的限制值; 使用限制值来限制辅助控制量的值; 获取由主控制单元（55）生成的命令值以改变辅助控制量; 并且在基于反映所述指令值的辅助控制量执行所述电动机的控制时，在设定至少一个所述极限值时考虑所述指令值。

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. 发明公开

EP4311742A1 STEERING COMPUTING DEVICE 审中-实审
公开(公告)号：EP4311742A1
公开(公告)日：2024-01-31
申请号：EP23187628.5
申请日：2023-07-25
申请人： JTEKT Corporation
发明人： TSUJII, Shunsuke , LIN, Yufeng , ITAMOTO, Hidenori , TAMAIZUMI, Terutaka
IPC分类号： B62D6/00 , B62D1/16 , B62D1/20
摘要： A steering computing device that calculates a value of a state variable about a steering apparatus (10) includes a storage device and an execution device. The execution device is configured to execute a bending angle acquisition process and a tilt angle calculation process, and the bending angle acquisition process is a process of acquiring a first bending angle and a second bending angle. The tilt angle calculation process is a process of calculating a tilt angle. The first bending angle is an angle formed between an input shaft of the steering apparatus (10) and an intermediate shaft (18) of the steering apparatus (10). The second bending angle is an angle formed between an output shaft of the steering apparatus (10) and the intermediate shaft (18), and the tilt angle is a variable indicative of an angle formed between an axial direction of the input shaft and a reference direction.

8. 发明公开

EP4311739A1 TURNING CONTROL DEVICE 审中-实审
公开(公告)号：EP4311739A1
公开(公告)日：2024-01-31
申请号：EP23187633.5
申请日：2023-07-25
申请人： JTEKT Corporation
发明人： TSUJII, Shunsuke , LIN, Yufeng , ITAMOTO, Hidenori , TAMAIZUMI, Terutaka
IPC分类号： B62D5/04 , B62D6/00 , B62D1/16 , B62D1/20
摘要： A turning control device for controlling, as a controlled object, a turning apparatus (10) including a steering wheel (12), an input shaft (14), an intermediate shaft (18), an output shaft (22), a first Cardan joint (16), a second Cardan joint (20), steered wheels (36), and an assist motor (42) includes a control device (50). The control device (50) configured to execute: a torque acquisition process of acquiring a detection value of a torque applied to a position closer to the steered wheels (36) than the second Cardan joint (20); a steering angle variable acquisition process of acquiring a value of a steering angle variable indicative of a steering angle as an angle of the steering wheel (12); and an assist control process including a fluctuation torque control process of fluctuating the torque of the assist motor (42) in accordance with the steering angle with the value of the steering angle variable being taken as an input.

9. 发明公开

EP3879690A3 CONTROL APPARATUS FOR MOTOR 有权转让
公开(公告)号：EP3879690A3
公开(公告)日：2021-10-13
申请号：EP21160647.0
申请日：2021-03-04
申请人： JTEKT CORPORATION
发明人： INDEN, Yuki , TAMAIZUMI, Terutaka
IPC分类号： H02P6/08 , B62D5/04 , H02P6/10 , H02P25/026 , H02P25/03
摘要： A control apparatus (50; 100) for a motor (21) includes an electronic control unit. The electronic control unit includes a first controller (81), a second controller (83), a third controller (84), and a fourth controller (85). The first controller (81) is configured to, through execution of feedback control, compute a feedback control torque to be generated by the motor (21). The second controller (83) is configured to compute a disturbance torque based on the feedback control torque and a predetermined angle. The third controller (84) is configured to correct the feedback control torque by using the disturbance torque. The fourth controller (85) is configured to compensate a transfer lag to the second controller (83) between the feedback control torque and the predetermined angle.

10. 发明公开

EP3702248A1 STEERING CONTROLLER AND STEERING CONTROL METHOD 审中-公开
公开(公告)号：EP3702248A1
公开(公告)日：2020-09-02
申请号：EP20159065.0
申请日：2020-02-24
申请人： JTEKT CORPORATION
发明人： TAMAIZUMI, Terutaka
IPC分类号： B62D15/02 , B62D5/04
摘要： A steering controller is configured to execute an operation process that operates a drive circuit of an electric motor using an operation signal to control torque of the electric motor based on a steering torque input by a driver and a correction process that corrects a calculation parameter that occurs during calculation of the operation signal based on a driving support command value input from outside of the steering controller. The driving support command value is used to support driving by the driver. The correction process includes a conversion process that converts a dimension of the driving support command value to a dimension of the calculation parameter, and a process that corrects the calculation parameter using the driving support command value of which the dimension has been converted.

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