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1. 发明公开

EP4122801A1 CONTROL DEVICE FOR VEHICLE STEERING SYSTEM 审中-实审
公开(公告)号：EP4122801A1
公开(公告)日：2023-01-25
申请号：EP22720281.9
申请日：2022-02-03
申请人： NSK Ltd.
发明人： TSUBAKI, Takahiro , MINAKI, Ryo
IPC分类号： B62D5/04 , B62D6/00
摘要： [Problem]
An object of the present invention is to provide a control apparatus of a steering system for vehicles that precisely compensates an influence of the friction generated in the turning mechanism and enables a vehicle to respond properly.
[Means for solving the problem]
A control apparatus of a steering system that controls a turning mechanism by drive-controlling a turning actuator based on steering information communicated electrically, comprising a turning angle control section that calculates a current command value to make a turning angle detected in the turning mechanism follow a target turning angle, wherein the turning angle control section comprises a friction compensating section that calculates a compensation current command value for compensating a follow-up delay of the turning angle caused by a friction by using velocity information and driving information, wherein the turning angle control section performs compensation by the compensation current command value in calculation of the current command value, wherein a compensation due to the compensation current command value is performed in the calculation, and wherein the turning actuator is drive-controlled by using the current command value.

2. 发明授权

EP3403905B1 ELECTRIC POWER STEERING DEVICE 有权
公开(公告)号：EP3403905B1
公开(公告)日：2020-10-28
申请号：EP17770147.1
申请日：2017-03-17
申请人： NSK Ltd.
发明人： TSUBAKI, Takahiro , KITAZUME, Tetsuya , YOSHIDA, Keita
IPC分类号： B62D6/00 , H02P6/28 , B62D101/00 , B62D113/00 , B62D119/00 , B62D15/02 , B62D5/04

3. 发明授权

EP3254933B1 ELECTRIC POWER STEERING DEVICE 有权
公开(公告)号：EP3254933B1
公开(公告)日：2019-08-14
申请号：EP16746685.3
申请日：2016-02-04
申请人： NSK Ltd.
发明人： TSUBAKI, Takahiro
IPC分类号： B62D6/00 , B62D113/00 , B62D119/00

4. 发明公开

EP3459822A1 CONTROL DEVICE FOR ELECTRIC POWER STEERING DEVICE 有权
公开(公告)号：EP3459822A1
公开(公告)日：2019-03-27
申请号：EP17843586.3
申请日：2017-08-22
申请人： NSK Ltd.
发明人： TSUBAKI, Takahiro , KAWADA, Hideaki
IPC分类号： B62D6/00 , B62D5/04
摘要： There is provided a control device for an electric power steering device, which determines an estimate of a steering angle without using an expensive angle sensor to realize highly accurate steering angle control using the determined estimate of the steering angle. A steering angle calculating section 201 acquires a motor rotation angle θs (i.e., motor angle θ) output from a rotation sensor and acquires a steering torque Tt output from a torque sensor in a steering angle control mode. The steering angle calculating section 201 determines an estimate θr of an actual steering angle using the acquired motor angle θ and steering torque Tt to realize highly accurate steering angle control using the determined estimate θr of the actual steering angle.

5. 发明公开

EP3184403A1 ELECTRIC POWER STEERING DEVICE 审中-公开
标题翻译：电动转向装置
公开(公告)号：EP3184403A1
公开(公告)日：2017-06-28
申请号：EP15856247.0
申请日：2015-09-03
申请人： NSK Ltd.
发明人： TSUBAKI, Takahiro , OSHIMA, Atsushi
IPC分类号： B62D6/00 , B62D101/00 , B62D113/00
CPC分类号： B62D5/0463 , B62D5/0409 , B62D6/002 , B62D6/008 , B62D15/0215
摘要： [Problem]
An object of the present invention is to provide an electric power steering apparatus that achieves desired steering feeling by controlling a column angle to follow a value corresponding to a steering angle and vehicle information, and that is not affected by variations in manufacturing, changes due to aging or the like of a vehicle and a steering system.
[Means for solving the problem]
An electric power steering apparatus that calculates a current command value based on at least a steering torque, and assists and controls a steering system by driving a motor based on the current command value, comprises a target column angle calculating section that calculates a target column angle based on a steering angle and vehicle information, and a column angle control section that calculates the current command value based on the target column angle and a detected actual column angle; and performs angle control of making a column angle a value corresponding to the steering angle and the vehicle information.
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通过控制柱角度追随与转向角度和车辆信息对应的值来实现期望的转向感，并且不受制造上的偏差的影响，由于车辆和转向系统的老化等而引起的变化。用于解决课题的手段至少基于转向转矩算出电流指令值，基于电流指令值驱动电动机来辅助并控制转向系统的电动式动力转向装置包括目标列角度计算根据转向角和车辆信息计算目标列角度的部分和根据目标列角度和检测到的实际列角度计算电流指令值的列角度控制部分; 并且执行使列角度成为与转向角度和车辆信息对应的值的角度控制。

6. 发明授权

EP2942264B1 ELECTRIC POWER STEERING DEVICE 有权
公开(公告)号：EP2942264B1
公开(公告)日：2020-03-25
申请号：EP14761025.7
申请日：2014-02-03
申请人： NSK Ltd.
发明人： TSUBAKI, Takahiro
IPC分类号： B62D6/00 , B62D5/04 , B62D101/00 , B62D113/00 , B62D119/00

7. 发明公开

EP3597509A1 ELECTRIC POWER STEERING DEVICE 审中-公开
公开(公告)号：EP3597509A1
公开(公告)日：2020-01-22
申请号：EP18768221.6
申请日：2018-03-14
申请人： NSK Ltd.
发明人： TSUBAKI, Takahiro , KIKUTA, Tomoyuki
IPC分类号： B62D6/00 , B62D5/04 , B62D101/00 , B62D113/00 , B62D117/00 , B62D119/00
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 the driver steers urgently, and enables both the assist control and the steering angle control.
[Means for solving the problem]
The 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, and a switch judging and gradual-change gain generating section that judges a steering state based on a manual input judgment and performs a switch of the steering state; wherein the steering angle control section comprises a filter section that converts a steering angular velocity command value calculated from at least the steering angle command value and the actual steering angle into an extended steering angular velocity command value, and the steering angle control section 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 switch judging and gradual-change gain generating section comprises a manual input judging section that performs the manual input judgment to a steering torque by using a threshold; and wherein the electric power steering apparatus calculates the current command value by using at least the steering angle control current command value.

8. 发明公开

EP3501945A1 ELECTRIC POWER STEERING APPARATUS 审中-公开
公开(公告)号：EP3501945A1
公开(公告)日：2019-06-26
申请号：EP18841888.3
申请日：2018-07-31
申请人： NSK Ltd.
发明人： TSUBAKI, Takahiro
IPC分类号： B62D6/00 , B62D5/04
摘要： [Problem]
An object of the present invention is to provide an electric power steering apparatus that achieves smooth manual steering even if steering intervention is performed by a driver during automatic steering, ensures more safety when a driver steers urgently, and enables both assist control and steering angle control.
[Means for solving the problem]
The electric power steering apparatus comprises a steering angle control section that calculates a steering angle control current command value for the steering angle control; wherein 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, and a steering angular velocity control section that calculates the steering angle control current command value from the basic steering angular velocity command value, the compensatory steering angular velocity command value and an actual steering angular velocity; and wherein the steering intervention compensating section comprises a basic map section that obtains a first velocity command value using a basic map, and a hysteresis correcting section that obtains a second velocity command value using a hysteresis characteristic, calculates the compensatory steering angular velocity command value from the first and second velocity command values, and calculates the current command value using at least the steering angle control current command value.

9. 发明公开

EP3486141A1 ELECTRIC POWER STEERING DEVICE 审中-公开
公开(公告)号：EP3486141A1
公开(公告)日：2019-05-22
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
摘要： [Problem]
An object of the present invention is to provide an electric power steering apparatus that achieves manual steering even if steering intervention is performed by a driver during automatic steering, ensures more safety when the driver steers urgently, and enables both assist control and 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 steering angle control based on at least a steering angle command value and an actual steering angle, and a switch judging and gradual-change gain generating section that judges a steering state based on manual input judgment and performs switching of the steering state; the switch judging and gradual-change gain generating section comprises a manual input judging section that performs the manual input judgment by using a threshold to a steering torque; and the electric power steering apparatus calculates a current command value by using at least the steering angle control current command value.

10. 发明公开

EP3466798A1 ELECTRIC POWER STEERING DEVICE 审中-公开
公开(公告)号：EP3466798A1
公开(公告)日：2019-04-10
申请号：EP17810305.7
申请日：2017-06-06
申请人： NSK Ltd.
发明人： TSUBAKI, Takahiro
IPC分类号： B62D6/00 , B62D5/04 , B62D119/00 , B62D137/00
摘要： [Problem]
An object of the present invention is to provide an electric power steering apparatus that achieves manual steering even if steering intervention is performed by a driver during automatic steering, ensures more safety when a driver steers urgently, and enables both assist control and 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, 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 that calculates a basic steering angular velocity command value, a steering intervention compensating section that obtains a compensatory steering angular velocity command value, and a steering angular velocity control section that calculates the steering angle control current command value by 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 compensation gain section that multiplies the steering torque by a steering intervention compensation gain, and obtains the compensatory steering angular velocity command value by the steering torque through the compensation gain section.

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