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1. 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

2. 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。

3. 发明授权

EP2937266B1 ELECTRIC POWER STEERING DEVICE 有权
公开(公告)号：EP2937266B1
公开(公告)日：2017-11-15
申请号：EP14761177.6
申请日：2014-02-03
申请人： NSK Ltd.
发明人： TSUBAKI Takahiro , KITAZUME Tetsuya , YOSHIDA Keita
IPC分类号： B62D6/00 , B62D5/04 , B62D101/00 , B62D113/00 , B62D119/00 , B62D15/02
CPC分类号： B62D5/0472 , B62D5/046 , B62D5/0463 , B62D6/002 , B62D6/007 , B62D6/008 , B62D15/025 , B62D15/0285

4. 发明公开

EP2937266A1 ELECTRIC POWER STEERING DEVICE 有权
标题翻译：电动转向装置
公开(公告)号：EP2937266A1
公开(公告)日：2015-10-28
申请号：EP14761177.6
申请日：2014-02-03
申请人： NSK Ltd.
发明人： TSUBAKI Takahiro , KITAZUME Tetsuya , YOSHIDA Keita
IPC分类号： B62D6/00 , B62D5/04 , B62D101/00 , B62D113/00 , B62D119/00
CPC分类号： B62D5/0472 , B62D5/046 , B62D5/0463 , B62D6/002 , B62D6/007 , B62D6/008 , B62D15/025 , B62D15/0285
摘要： [Problem]
An object of the present invention is to provide an electric power steering apparatus that realizes vibration suppression of response characteristics and has a control performance having resistance properties against disturbances such as a road surface change by using a velocity I-P control (a proportional-lead type PI control) in a vehicle having functions of an automatic steering control and a manual steering control.
[Means for solving the problem]
An electric power steering apparatus comprising: a steering angle control section that calculates a second motor current command value in automatic steering control so as to bring an actual steering angle close to a target steering angle; and a switching section that inputs a first motor current command value and the second motor current command value and switches between the first and second motor current command values depending on a switching signal, wherein the steering angle control section comprises a rate limiter that performs smoothing with respect to the target steering angle, and outputs as the second motor current command value on the basis of a first deviation between an output of the rate limiter and the actual steering angle and a motor angular velocity.
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使用速度IP控制（比例 - 速度控制）来实现响应特性的振动抑制，并且具有对路面变化等干扰具有电阻特性的控制性能，引导型PI控制）在具有自动转向控制和手动转向控制功能的车辆中。用于解决课题的手段一种电动式动力转向装置，其特征在于，具备：转向角控制部，其计算自动转向控制时的第二电动机电流指令值，以使实际转向角接近目标转向角; 以及切换部，其输入第一电动机电流指令值和第二电动机电流指令值，并根据切换信号在第一电动机电流指令值和第二电动机电流指令值之间进行切换，其中，转向角控制部包括速率限制器，并且基于所述速率限制器的输出与所述实际转向角之间的第一偏差以及电动机角速度，作为所述第二电动机电流指令值输出。

5. 发明公开

EP2933169A1 ELECTRIC POWER STEERING DEVICE 有权
标题翻译：电动转向装置
公开(公告)号：EP2933169A1
公开(公告)日：2015-10-21
申请号：EP14779299.8
申请日：2014-02-04
申请人： NSK Ltd.
发明人： TSUBAKI Takahiro , KITAZUME Tetsuya , YOSHIDA Keita
IPC分类号： B62D6/00 , B62D5/04 , B62D101/00 , B62D113/00 , B62D119/00
CPC分类号： B62D5/0463 , B62D1/286 , B62D6/002 , B62D6/003 , B62D6/10 , B62D15/025
摘要： [Problem]
An object of the present invention is to provide an electric power steering apparatus that is capable of smoothly switching the steering when a driver steers a steering wheel during the automatic steering control and in the case that a steering direction of the automatic control is different from a direction of the steering wheel steering by the driver.
[Means for solving the problem]
An electric power steering apparatus comprising: a target steering angle correcting section that outputs a target steering angle correction value for a steering torque; a correction output section that corrects a target steering angle with the target steering angle correction value to output a corrected target steering angle; a steering angle control section that calculates a second motor current command value based on corrected target steering angle from the correction output section, an actual steering angle and a motor angular velocity; and a switching section that inputs a first motor current command value and the second motor current command value to switch, wherein the switching section is switched depending on a switching command of an automatic steering control and a manual steering control, and a motor is drive-controlled based on the second motor current command value in the automatic steering control.
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在自动转向控制中驾驶员操舵方向盘时能够顺畅地切换转向，并且在自动控制的转向方向为不同于驾驶员转向的方向盘的方向。用于解决课题的手段一种电动助力转向装置，其特征在于，具有：目标转向角修正部，其输出转向转矩的目标转向角修正值; 校正输出部分，其用目标转向角校正值校正目标转向角以输出校正后的目标转向角; 转向角控制部，其基于来自所述修正输出部的修正后的目标转向角，实际转向角和电动机角速度，计算第二电动机电流指令值; 以及切换部，其输入第一电动机电流指令值和所述第二电动机电流指令值进行切换，其中，所述切换部根据自动转向控制和手动转向控制的切换指令进行切换，基于自动转向控制中的第二电动机电流指令值进行控制。

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