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1. 发明授权

EP2848496B1 ELECTRIC POWER STEERING DEVICE 有权
公开(公告)号：EP2848496B1
公开(公告)日：2017-08-23
申请号：EP13787751.0
申请日：2013-04-24
申请人： NSK Ltd.
发明人： IMAMURA Yousuke , SUGAWARA Takayoshi , MAEDA Masahiro
IPC分类号： B62D6/00 , B62D5/04 , B62D101/00 , B62D119/00 , B62D137/00
CPC分类号： B62D5/0472 , B62D5/0463 , B62D6/008 , B62D7/159

2. 发明公开

EP2501034A1 MOTOR CONTROL DEVICE AND ELECTRIC POWER STEERING DEVICE USING SAME 有权
标题翻译： EOTKTRISCHE SERVOLENKVORRICHTUNG DAMIT MOTORSTEUERUNGSVORRICHTUNG
公开(公告)号：EP2501034A1
公开(公告)日：2012-09-19
申请号：EP11738576.5
申请日：2011-07-26
申请人： NSK Ltd.
发明人： IMAMURA Yousuke , MAEDA Masahiro , SHIMADA Kenichi
IPC分类号： H02P6/16 , B62D5/04 , B62D6/00 , H02M7/48 , B62D101/00 , B62D119/00
CPC分类号： H02P6/002 , B62D5/046 , H02P6/28 , H02P23/03 , H02P23/04
摘要： [Problem]
An object of the present invention is to provide a motor controlling apparatus that comprises a single current sensor and obtains a maximal duty range that current becomes detectable with realizing size reduction, weight saving and cost reduction and an electric power steering apparatus using the same.
[Means for solving the problem]
A motor controlling apparatus that calculates each phase duty command value for controlling a motor current by means of control calculation, forms PWM waveforms corresponding to each phase duty command value and drives the motor based on the PWM waveforms by an inverter, comprising: a duty shift function that uniformly either increases or decreases each phase duty command value with keeping differences in each phase duty command value; and a PWM output position changing function that decides output positions of each phase PWM signal, and wherein a single current detector is connected to power supply input side or power supply output side of the inverter, timing that a PWM signal of only one phase becomes ON state or PWM signals of two phases become ON state simultaneously is generated at fixed positions of PWM periods, and the motor current is detected.
摘要翻译：发明内容本发明的目的是提供一种电动机控制装置，其包括单个电流传感器，并且获得在实现尺寸减小，减轻重量和降低成本的同时可以检测电流的最大占空比范围，以及使用相同。解决问题的手段通过控制计算来计算用于控制电动机电流的各相负载指令值的电动机控制装置形成与各相位占空比指令值对应的PWM波形，并根据PWM波形驱动电动机逆变器，包括：占空比函数，其均匀地增加或减少每个相位占空指令值，同时保持每个相位占空指令值的差异; 以及PWM输出位置变化功能，其决定各相PWM信号的输出位置，并且其中单个电流检测器连接到逆变器的电源输入侧或电源输出侧，只有一相的PWM信号为ON 在PWM周期的固定位置产生两相状态或PWM信号同时变为导通状态，并检测电动机电流。

3. 发明授权

EP2835906B1 MOTOR CONTROL DEVICE AND ELECTRIC POWER STEERING DEVICE EQUIPPED WITH SAME 有权
公开(公告)号：EP2835906B1
公开(公告)日：2018-06-27
申请号：EP13772690.7
申请日：2013-03-28
申请人： NSK Ltd.
发明人： HOSHI Yuzuru , SAKAGUCHI Toru , NAKAYAMA Sachio , MAEDA Masahiro , MORI Kenji , IMAMURA Yousuke
IPC分类号： H02M7/5395 , H02M1/00 , B62D5/04
CPC分类号： B62D5/046 , B60T8/1755 , B62D5/0463 , B62D5/0484 , B62D5/049 , B62D6/003 , B62D6/008 , B62D7/159 , H02M7/5395 , H02M2001/0009 , H02P6/08 , H02P29/0241
摘要： [Problem] An object of the present invention is to provide a motor control apparatus that is capable of making the whole control system robust not only with respect to motor parameter variations such as the temperature variation and the manufacturing unevenness but also with respect to disturbances while using a cheap and compact one-shunt type current detecting circuit and simultaneously diagnosing an estimation error and an electric power steering apparatus provide with the motor control apparatus. [Means for solving the problem] A motor control apparatus comprising a current detecting circuit to detect a current of a motor as a current detected-value, a drive control unit to drive and control the motor with duty based on a voltage command value determined based on at least a current command value, and a rotation detecting unit to detect an angle and an angular speed of the motor, wherein, the motor control apparatus further comprising: an adaptive current observer to identify parameter variations of an output model of the motor, to calculate a current estimated-value of the motor and to use the current estimated-value for a calculation of the voltage command value; an adaptive identifying diagnosis section to diagnose an estimation error of the current estimated-value outputted from the adaptive current observer; and a current-detection-impossible state detecting section to detect a current-detection-impossible state that a detection of the current detected-value is impossible, wherein the adaptive identifying diagnosis section diagnoses the estimation error of the current estimated-value based on the current estimated-value, the current detected-value, the angle and the current-detection-impossible state and controls the duty based on a diagnosis result.

4. 发明公开

EP3239020A1 ELECTRIC POWER STEERING DEVICE 有权
标题翻译：电动转向装置
公开(公告)号：EP3239020A1
公开(公告)日：2017-11-01
申请号：EP15872995.4
申请日：2015-12-21
申请人： NSK Ltd.
发明人： SUGAWARA Takayoshi , IMAMURA Yousuke , MAEDA Masahiro
IPC分类号： B62D6/00 , B62D5/04 , B62D101/00 , B62D119/00 , B62D137/00
摘要： [Problem]
An object of the present invention is to provide an electric power steering apparatus that is capable of efficiently suppressing vibrations and simultaneously minimizing steering performance degradation such as an increase in a steering wheel's inertia feeling by extracting a vibration component having an arbitrary amplitude and an arbitrary frequency range depending on a motor angular velocity and a vibration component having an arbitrary frequency range depending on a motor angular acceleration, and feeding back a vibration suppression compensation value calculated depending on the extracted vibration component to a current command value.
[Means for solving the problem]
An electric power steering apparatus that provides a steering system of a vehicle with an assist force generated by a motor, comprises: a current command value determining section that determines a current command value based on a steering torque and a vehicle speed; a vibration extracting filter that extracts a first vibration component having a predetermined amplitude and a first predetermined frequency range depending on an motor angular velocity; a vibration extracting section that extracts a second vibration component having a second predetermined frequency range depending on a motor angular acceleration; a first compensation value calculating section that calculates a first vibration suppression compensation value based on the first vibration component extracted by the vibration extracting filter; and a second compensation value calculating section that calculates a second vibration suppression compensation value based on the second vibration component extracted by the vibration extracting section ; and suppresses vibrations of the motor by feeding back the first vibration suppression compensation value and the second vibration suppression compensation value calculated to 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通过提取具有任意振幅的振动分量来高效地抑制振动并同时使转向性能劣化例如方向盘的惯性感增加最小化并且取决于电动机角速度的任意频率范围和具有取决于电动机角加速度的任意频率范围的振动成分，并且将根据所提取的振动成分计算出的振动抑制补偿值反馈到电流指令值。用于解决课题的手段一种电动动力转向装置，其向车辆的转向装置赋予由电动机产生的辅助力，该电动动力转向装置具备：电流指令值决定部，其基于转向转矩和车速; 振动提取滤波器，其取决于电动机角速度提取具有预定振幅和第一预定频率范围的第一振动分量; 振动提取部分，其取决于电动机角加速度提取具有第二预定频率范围的第二振动分量; 第一补偿值计算部分，其基于由振动提取滤波器提取的第一振动分量来计算第一振动抑制补偿值; 以及第二补偿值计算部分，其基于由振动提取部分提取的第二振动分量来计算第二振动抑制补偿值; 并通过将计算出的第一振动抑制补偿值和第二振动抑制补偿值反馈到电流指令值来抑制电动机的振动。

5. 发明公开

EP2621080A1 MOTOR CONTROL DEVICE AND ELECTRIC POWER STEERING DEVICE 有权
标题翻译： MOTORSTEUERUNGSVORRICHTUNG UND ELEKTRISCHE SERVOLENKUNG
公开(公告)号：EP2621080A1
公开(公告)日：2013-07-31
申请号：EP12805553.0
申请日：2012-05-23
申请人： NSK Ltd.
发明人： IMAMURA Yousuke , MORI Kenji , MAEDA Masahiro
IPC分类号： H02P6/16 , B62D5/04 , B62D6/00 , B62D101/00 , B62D119/00
摘要： [Problem]
An object of the present invention is to provide a motor control apparatus that performs current detection of a motor by a one-shunt type current detector, has less operating sound and reduces torque ripple and an electric power steering apparatus mounting the same.
[Means for solving the problem]
A motor control apparatus that drive-controls a motor by an inverter based on each-phase duty command values of PWM and detects each-phase motor currents of the motor by a one-shunt type current detector, comprises a current detection correcting section that calculates a current detection correction value based on a power-supply voltage of the motor, the each-phase duty command values, a back-EMF information of the motor, the each-phase motor currents detected by the current detector, an arrangement information of the PWM, and an electric characteristic formula of the motor, thereby to correct the each-phase motor currents detected by the current detector to a motor average current by the current detection correction value and drive-controls the motor.
摘要翻译：发明内容本发明的目的是提供一种电动机控制装置，其通过一个分流型电流检测器执行电动机的电流检测，具有较少的操作声音并减小转矩波动，以及安装该电动机的电动助力转向装置。解决问题的手段根据PWM的各相负载指令值，通过逆变器对电动机进行驱动控制的电动机控制装置，通过一个并联型电流检测器检测电动机的各相电动机电流，电流检测校正部，其基于电动机的电源电压，各相占空指令值，电动机的反电动势信息，由电流检测出的各相电动机电流来计算电流检测修正值检测器，PWM的配置信息和电动机的电特性公式，从而通过电流检测校正值将由电流检测器检测到的各相电动机电流校正为电动机平均电流，并驱动控制电动机。

6. 发明授权

EP3282576B1 MOTOR CONTROL DEVICE AND ELECTRIC POWER STEERING DEVICE EQUIPPED WITH SAME 有权
公开(公告)号：EP3282576B1
公开(公告)日：2020-02-12
申请号：EP16776509.8
申请日：2016-04-05
申请人： NSK Ltd.
发明人： YOSHIDA Keita , IMAMURA Yousuke
IPC分类号： H02P21/22 , B62D6/00 , B62D101/00 , B62D119/00

7. 发明授权

EP2945277B1 CONTROL DEVICE FOR MULTIPHASE MOTOR AND ELECTRICAL POWER STEERING DEVICE USING SAME 有权转让
公开(公告)号：EP2945277B1
公开(公告)日：2019-04-17
申请号：EP13882504.7
申请日：2013-10-11
申请人： NSK Ltd.
发明人： SUGAWARA Takayoshi , IMAMURA Yousuke , KUMAGAI Hiroyasu
IPC分类号： H02P6/10 , H02P6/06 , H02P6/16 , B62D5/04 , H02P23/14

8. 发明公开

EP2848496A1 ELECTRIC POWER STEERING DEVICE 有权
标题翻译：电动转向装置
公开(公告)号：EP2848496A1
公开(公告)日：2015-03-18
申请号：EP13787751.0
申请日：2013-04-24
申请人： NSK Ltd.
发明人： IMAMURA Yousuke , SUGAWARA Takayoshi , MAEDA Masahiro
IPC分类号： B62D6/00 , B62D5/04 , B62D101/00 , B62D119/00 , B62D137/00
CPC分类号： B62D5/0472 , B62D5/0463 , B62D6/008 , B62D7/159
摘要： An object of the present invention is to provide an electric power steering apparatus that is capable of efficiently suppressing vibrations and simultaneously minimizing steering performance degradation such as an increase in a steering wheel's viscous feeling by extracting a vibration component having an arbitrary amplitude and an arbitrary frequency range depending on an electric power steering state parameter and feeding back a vibration suppression compensation value determined depending on the extracted vibration component to a current command value.
[Means for solving the problem]
An electric power steering apparatus that provides a steering system of a vehicle with an assist force generated by a motor, comprising: a current command value determining section that determines a current command value based on a steering torque and a velocity; a vibration extraction filter that extracts a vibration component having a predetermined amplitude and a predetermined frequency range depending on an electric power steering state parameter; and a compensation value determining section that determines a vibration suppression compensation value based on the vibration component extracted by the vibration extraction filter, wherein vibrations of the motor are suppressed by feeding back the determined vibration suppression compensation value to the current command value.
摘要翻译：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通过提取具有任意振幅和任意频率的振动分量来有效地抑制振动，并且同时最小化转向性能劣化，例如方向盘的粘滞感增加取决于电动转向状态参数，并且将根据所提取的振动分量确定的振动抑制补偿值反馈到电流命令值。用于解决课题的手段本发明提供一种电动动力转向装置，该电动动力转向装置向车辆的转向系统提供由电动机产生的辅助力，该电动动力转向装置具备：电流指令值决定部，其基于转向转矩和速度; 振动提取滤波器，根据电动助力转向状态参数提取具有预定振幅和预定频率范围的振动分量; 以及补偿值确定部分，其基于由振动提取滤波器提取的振动分量来确定振动抑制补偿值，其中通过将所确定的振动抑制补偿值反馈到电流命令值来抑制电动机的振动。

9. 发明公开

EP2835906A1 MOTOR CONTROL DEVICE AND ELECTRIC POWER STEERING DEVICE EQUIPPED WITH SAME 有权
标题翻译：电动机驱动器
公开(公告)号：EP2835906A1
公开(公告)日：2015-02-11
申请号：EP13772690.7
申请日：2013-03-28
申请人： NSK Ltd.
发明人： HOSHI Yuzuru , SAKAGUCHI Toru , NAKAYAMA Sachio , MAEDA Masahiro , MORI Kenji , IMAMURA Yousuke
IPC分类号： H02P27/06 , B62D5/04 , H02P29/00 , B62D6/00 , B62D101/00 , B62D119/00
CPC分类号： H02P21/0035 , B60T8/1755 , B62D5/046 , B62D5/0463 , B62D5/0484 , B62D5/049 , B62D6/003 , B62D6/008 , B62D7/159 , H02M7/5395 , H02M2001/0009 , H02P6/08 , H02P29/0241
摘要： [Problem]
An object of the present invention is to provide a motor control apparatus that is capable of making the whole control system robust not only with respect to motor parameter variations such as the temperature variation and the manufacturing unevenness but also with respect to disturbances while using a cheap and compact one-shunt type current detecting circuit and simultaneously diagnosing an estimation error and an electric power steering apparatus provide with the motor control apparatus.
[Means for solving the problem]
A motor control apparatus comprising a current detecting circuit to detect a current of a motor as a current detected-value, a drive control unit to drive and control the motor with duty based on a voltage command value determined based on at least a current command value, and a rotation detecting unit to detect an angle and an angular speed of the motor, wherein, the motor control apparatus further comprising: an adaptive current observer to identify parameter variations of an output model of the motor, to calculate a current estimated-value of the motor and to use the current estimated-value for a calculation of the voltage command value; an adaptive identifying diagnosis section to diagnose an estimation error of the current estimated-value outputted from the adaptive current observer; and a current-detection-impossible state detecting section to detect a current-detection-impossible state that a detection of the current detected-value is impossible, wherein the adaptive identifying diagnosis section diagnoses the estimation error of the current estimated-value based on the current estimated-value, the current detected-value, the angle and the current-detection-impossible state and controls the duty based on a diagnosis result.
摘要翻译：发明内容本发明的目的在于提供一种电动机控制装置，其能够使整个控制系统不仅对于诸如温度变化和制造不均匀性的电动机参数变化而且在扰动方面也是稳定的，同时使用便宜且紧凑的单分流型电流检测电路并同时诊断估计误差和电动助力转向装置提供电动机控制装置。解决问题的手段一种电动机控制装置，包括检测电动机的电流作为电流检测值的电流检测电路，基于由电压指令值决定的电压指令值来驱动和控制电动机的驱动控制单元以及旋转检测单元，用于检测电动机的角度和角速度，其中，电动机控制装置还包括：自适应电流观测器，用于识别电动机的输出模型的参数变化，计算电动机的当前估计值，并使用当前估计值来计算电压指令值; 自适应识别诊断部分，用于诊断从自适应当前观察者输出的当前估计值的估计误差; 以及电流检测不良状态检测部，其检测不能检测到当前检测值的电流检测不可能状态，其中，所述自适应识别诊断部根据所述检测值的当前估计值来诊断所述当前估计值的估计误差当前估计值，当前检测值，角度和电流检测不可能状态，并且基于诊断结果来控制占空比。

10. 发明公开

EP3282576A1 MOTOR CONTROL DEVICE AND ELECTRIC POWER STEERING DEVICE EQUIPPED WITH SAME 有权
标题翻译：电动机控制装置和配备有该电动机的电动转向装置
公开(公告)号：EP3282576A1
公开(公告)日：2018-02-14
申请号：EP16776509.8
申请日：2016-04-05
申请人： NSK Ltd.
发明人： YOSHIDA Keita , IMAMURA Yousuke
IPC分类号： H02P21/22 , B62D6/00 , B62D101/00 , B62D119/00
摘要： [Problem]
An object of the present invention is to provide a motor control unit that achieves desired performance more simply with higher accuracy by setting a frequency characteristic according to a state of the control unit and automatically adjusting a control gain by the set value, and to provide an electric power steering apparatus equipped with the same.
[Means for solving the problem]
A motor control unit that comprises a current command value calculating section that calculates a current command value of a motor applying a steering assist torque to a steering system of a vehicle, and a feedback section that controls a motor current flowing to the motor through a feedback mechanism based on the current command value comprises: a control unit state detecting section that detects at least one state of the motor control unit, and outputs the state as a control unit state; and a characteristic changing section that changes a setting of a closed loop response characteristic of the feedback section in real time depending on the control unit state.
摘要翻译：发明内容本发明的目的在于提供一种电动机控制单元，该电动机控制单元通过根据控制单元的状态设定频率特性并自动地将控制增益调整设定值来更简单地以更高的精度实现期望的性能，并且提供一种装备有该电动助力转向装置的电动助力转向装置 [用于解决课题的手段]一种电动机控制装置，其特征在于，具备：电流指令值运算部，其计算对车辆的转向系统施加转向辅助转矩的电动机的电流指令值;以及反馈部，其控制电动机电流基于所述电流指令值通过反馈机构流向所述电动机的步骤包括：控制单元状态检测单元，检测所述电动机控制单元的至少一个状态，并输出该状态作为控制单元状态; 以及特性改变部分，其根据控制单元状态实时改变反馈部分的闭环响应特性的设置。

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