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1. 发明专利

JP2017088013A 駐車支援装置有权
公开(公告)号：JP2017088013A
公开(公告)日：2017-05-25
申请号：JP2015221774
申请日：2015-11-12
申请人：三菱電機株式会社 , Mitsubishi Electric Corp
发明人： TAKEUCHI YU , AKEMI YUKIYASU , MORI KOHEI , HIGASHI MICHITOSHI , SATAKE TOSHIHIDE , ENDO MASAYA
IPC分类号： B62D6/00 , B60R21/00
摘要：【課題】1回の後退動作では目標駐車位置への移動が困難な場合であっても、運転者に煩わしさや違和感を与えることなく目標駐車位置へ誘導可能な駐車支援装置を得る。【解決手段】目標駐車位置姿勢演算部21により、車両を駐車させる目標駐車位置および目標駐車姿勢角を演算するとともに、自車位置姿勢演算部22により、自車位置および自車姿勢角を演算し、1回の後退動作では、目標駐車位置に駐車できない場合に、前進時目標舵角演算部25により、車両の前進動作での第一の目標経路および第二の目標経路を演算し、前進時目標経路切り替え部26により、所定の条件の場合、前進動作中に第二の目標経路に切り替えて、目標舵角を演算し、ハンドル操舵部30により、目標舵角に追従するようにハンドル操舵を行い、前進動作させるようにした。【選択図】図1

2. 发明专利

JP2013236486A Motor control device, and electric power steering device using the same 有权
标题翻译：电机控制装置和使用该电动机的电动转向装置
公开(公告)号：JP2013236486A
公开(公告)日：2013-11-21
申请号：JP2012107723
申请日：2012-05-09
申请人： Mitsubishi Electric Corp , 三菱電機株式会社
发明人： ENDO MASAYA , KEZOBO ISAO , KANEHARA YOSHIHIKO , OKADA JIRO
IPC分类号： H02P27/06 , B62D5/04 , H02P6/12
CPC分类号： H02P6/12 , B62D5/0409 , B62D5/046 , B62D5/0463 , B62D5/0484 , B62D5/0487
摘要： PROBLEM TO BE SOLVED: To obtain a motor control device and an electric power steering device using the same, capable of suppressing torque pulsation with a simple structure and obtaining sufficient output torque, on the occurrence of an open system failure in a motor coil or an inverter.SOLUTION: In a motor control device for controlling a current supplied from a power source and an applied voltage to a motor having a plurality of systems of coil sets, when failure discrimination means 31 discriminates an open system failure, current supply to a coil on the failure side is suspended by the control of a switching element in the inverter on the failure side, whereas current supply to a coil on the normal side not having the failure is continued.
摘要翻译：要解决的问题为了获得使用该电动机控制装置和电动动力转向装置的电动机控制装置和电动转向装置，能够以简单的结构抑制转矩脉动并获得足够的输出转矩，在电动机线圈或变频器。解决方案：在用于控制从电源供应的电流和施加电压到具有多个线圈组系统的电动机的电动机控制装置中，当故障判别装置31鉴别开路系统故障时，向线圈供电在故障侧通过控制逆变器中的开关元件来暂停故障侧，而继续向没有故障的正常侧的线圈提供电流。

3. 发明专利

JP2011121383A Electric power steering control device 审中-公开
标题翻译：电动转向控制装置
公开(公告)号：JP2011121383A
公开(公告)日：2011-06-23
申请号：JP2009278420
申请日：2009-12-08
申请人： Mitsubishi Electric Corp , 三菱電機株式会社
发明人： KEZOBO ISAO , KURISHIGE MASAHIKO , ENDO MASAYA , KIFUKU TAKAYUKI
IPC分类号： B62D6/00 , B62D5/04 , B62D101/00 , B62D119/00
摘要： PROBLEM TO BE SOLVED: To make a vibration extracting filter and a control gain variable to optimize the disturbance vibration inhibiting effect, and to sufficiently lower a disturbance vibration component such as torque ripple and cogging torque generated by a motor.
SOLUTION: An electric power steering control device includes an assist map 20 calculating a target current It based on a detected steering torque signal Tsp showing steering torque, a current control means 3 controlling the current flowing in the motor 5 based on the target current It, the vibration extracting filter 8 outputting a vibration component signal by filter-processing a steering torque signal Tsr, a BPF gain 9 calculating a disturbance compensation command Trc based on the vibration component signal, and a BPF frequency map 15 correcting the filter frequency of the vibration extracting filter 8 based on the rotational speed of the motor 5, and the assist map 20 performs processing with a signal added with the disturbance compensation command Trc onto the steering torque signal Tsr being a new steering torque signal.
COPYRIGHT: (C)2011,JPO&INPIT
摘要翻译：要解决的问题：为了制造振动提取滤波器和控制增益变量来优化干扰振动抑制效果，并且充分降低由电动机产生的转矩波动和齿槽转矩等干扰振动分量。解决方案：电动助力转向控制装置包括辅助图20，其基于检测到的转向转矩转向转矩信号Tsp来计算目标电流It，电流控制装置3基于目标控制电动机5中流动的电流电流It，通过滤波处理转向转矩信号Tsr输出振动分量信号的振动提取滤波器8，基于振动分量信号计算干扰补偿指令Trc的BPF增益9和校正滤波频率的BPF频率图15 基于马达5的旋转速度的振动提取滤波器8，辅助图20利用添加有干扰补偿指令Trc的信号进行作为新的转向转矩信号的转向转矩信号Tsr的处理。版权所有（C）2011，JPO＆INPIT

4. 发明专利

JP2010012933A Electric power steering control device 有权
标题翻译：电动转向控制装置
公开(公告)号：JP2010012933A
公开(公告)日：2010-01-21
申请号：JP2008174703
申请日：2008-07-03
申请人： Mitsubishi Electric Corp , 三菱電機株式会社
发明人： IKEDA HIDETOSHI , ENDO MASAYA , KEZOBO ISAO
IPC分类号： B62D6/00 , B62D101/00 , B62D113/00 , B62D119/00
CPC分类号： B62D5/0463
摘要： PROBLEM TO BE SOLVED: To provide a steering control device with a smaller amount of computation and systematic and simple design. SOLUTION: The steering control device is equipped with: a steering torque detector to detect a steering torque as a steering torque signal; a phase delay compensation section to perform operation having frequency response characteristics obtained by subjecting the steering torque signal to scalar multiplication of phase delay compensation, based on a signal obtained by subjecting the steering torque signal to amplification by a first gain and to a low pass filter, and a signal obtained by subjecting the steering torque signal to amplification by at least a second gain; and a current control section to control a motor so that the current of the motor corresponds to a current command based on an output of the phase delay compensation section. COPYRIGHT: (C)2010,JPO&INPIT
摘要翻译：要解决的问题：提供具有较少计算量和系统且简单设计的转向控制装置。解决方案：转向控制装置配备有：转向扭矩检测器，用于检测转向扭矩作为转向转矩信号; 相位延迟补偿部，其基于通过使转向转矩信号经受第一增益而进行放大而得到的信号和低通滤波器，进行具有频率响应特性的运算，所述频率响应特性通过使转向转矩信号进行相位延迟补偿的标量相乘以及通过对所述转向转矩信号进行至少第二增益的放大而获得的信号; 以及电流控制部分，用于控制电动机，使得电动机的电流基于相位延迟补偿部分的输出而对应于电流指令。版权所有（C）2010，JPO＆INPIT

5. 发明专利

JP2009292413A Electric power steering control device 有权
标题翻译：电动转向控制装置
公开(公告)号：JP2009292413A
公开(公告)日：2009-12-17
申请号：JP2008150312
申请日：2008-06-09
申请人： Mitsubishi Electric Corp , 三菱電機株式会社
发明人： ENDO MASAYA , KEZOBO ISAO , KURISHIGE MASAHIKO
IPC分类号： B62D5/04
摘要： PROBLEM TO BE SOLVED: To provide an electric power steering control device reducing pulsation generated by torque ripple which is fluctuation depending on variation among individuals and driving condition.
SOLUTION: The electric power steering control device is provided with: a phase-amplitude estimation device 44 estimating phase difference against a torque ripple reference wave and amplitude of torque ripple acting on a motor based on steering torque detected by a torque sensor or a motor rotation angle detected by an angle sensor; a compensation current calculation device 45 calculating compensation current having periodicity against the motor rotation angle based on the phase difference and amplitude estimated by the phase-amplitude estimation device; and a target current correction device 46 correcting the target current for electric power assist by compensation current. Thereby, the device outputs torque canceling the torque ripple in the motor.
COPYRIGHT: (C)2010,JPO&INPIT
摘要翻译：要解决的问题：提供一种电动助力转向控制装置，其减小由根据个人之间的变化和驾驶状况而变动的转矩波动产生的脉动。电动助力转向控制装置设置有：相位振幅估计装置44，基于由转矩传感器检测到的转向转矩来估计与转矩脉动基准波的相位差和作用在电动机上的转矩波动的幅度，由角度传感器检测的电机旋转角度; 补偿电流计算装置45基于由相位幅度估计装置估计的相位差和振幅来计算具有针对电机旋转角度的周期性的补偿电流; 目标电流校正装置46，通过补偿电流校正用于电力辅助的目标电流。因此，该装置输出扭矩消除电动机中的转矩波动。版权所有（C）2010，JPO＆INPIT

6. 发明专利

JP2008179318A Vehicle steering control device 审中-公开
标题翻译：车辆转向控制装置
公开(公告)号：JP2008179318A
公开(公告)日：2008-08-07
申请号：JP2007015952
申请日：2007-01-26
申请人： Mitsubishi Electric Corp , 三菱電機株式会社
发明人： ENDO MASAYA , KURISHIGE MASAHIKO
IPC分类号： B62D6/00 , B62D5/04 , B62D101/00 , B62D111/00 , B62D113/00 , B62D137/00
摘要： PROBLEM TO BE SOLVED: To provide a vehicle steering control device reducing both angle fluctuation and torque fluctuation and reducing energy loss.
SOLUTION: The vehicle steering control device is provided with an angle superposition means which rotates a shaft connected to a differential mechanism to achieve a rotating angle obtained by superposing a superposition angle on a steering angle of the steering wheel by controlling the differential mechanism connected to the steering wheel by an electric actuator and variably controls a turning angle of a wheel with respect to the steering angle of the steering wheel; and with at least one universal joint connected to the shaft. The angle superposition means includes a target turning angle computing unit for calculating a target turning angle of a pinion shaft connected to the wheel in accordance with the steering angle of the steering wheel; an angle fluctuation correction computing unit for correcting a target rotating angle of the shaft rotated by the differential mechanism in accordance with the target turning angle of the pinion shaft; and a target superposition angle computing unit for calculating the superposition angle for controlling the electric actuator based on the corrected target rotating angle of the shaft.
COPYRIGHT: (C)2008,JPO&INPIT
摘要翻译：要解决的问题：提供一种减小角度波动和扭矩波动并减少能量损失的车辆转向控制装置。解决方案：车辆转向控制装置设置有角度叠加装置，其使连接到差速机构的轴旋转，以通过控制差速机构来实现通过将重叠角叠加在方向盘的转向角上而获得的旋转角度通过电致动器连接到方向盘，并相对于方向盘的转向角可变地控制车轮的转动角度; 并且至少有一个万向接头连接到轴上。角度叠加装置包括：目标转角计算单元，用于根据方向盘的转向角度计算连接到车轮的小齿轮轴的目标转向角; 角度波动校正计算单元，用于根据小齿轮轴的目标转动角度来校正由差动机构旋转的轴的目标旋转角度; 以及目标叠加角计算单元，用于基于所述轴的校正的目标旋转角度来计算用于控制所述电动致动器的叠加角。版权所有（C）2008，JPO＆INPIT

7. 发明专利

JP2007015680A Vehicle steering control device 有权
标题翻译：车辆转向控制装置
公开(公告)号：JP2007015680A
公开(公告)日：2007-01-25
申请号：JP2006107667
申请日：2006-04-10
申请人： Mitsubishi Electric Corp , 三菱電機株式会社
发明人： ENDO MASAYA , INOUE TOMOYUKI , HIGUCHI MINEO , OGAWA KENJI
IPC分类号： B62D6/00 , B62D5/04 , B62D5/30 , B62D101/00 , B62D111/00 , B62D113/00 , B62D119/00 , B62D137/00
CPC分类号： B62D6/10 , B62D5/008 , B62D5/049
摘要： PROBLEM TO BE SOLVED: To provide a vehicle steering control device capable of continuing the torque assist by determining abnormality of a torque sensor in an early stage. SOLUTION: In a vehicle steering control device, a steering torque estimation unit 2011 estimates the steering torque of a steering wheel 1 based on the driving current of an electric actuator 11; a torque sensor 14 detects the steering torque of the steering wheel 1; an electric power assist unit is controlled based on the steering torque detected by the torque sensor 14; and a comparison unit 2012 compares the torque detected by the torque sensor 14 with the steering torque estimated by the steering torque estimation unit 20. The electric power assist unit is controlled based on the estimated steering torque by the steering torque estimation unit 2011 in place of being controlled based on the torque detected by the torque sensor 14 when the torque sensor 14 is judged to be abnormal, based on a comparison. COPYRIGHT: (C)2007,JPO&INPIT
摘要翻译：解决的问题：提供能够通过早期判定扭矩传感器的异常来继续转矩辅助的车辆转向控制装置。解决方案：在车辆转向控制装置中，转向转矩估计单元2011基于电致动器11的驱动电流来估计方向盘1的转向转矩; 转矩传感器14检测方向盘1的转向转矩; 基于由转矩传感器14检测出的转向转矩来控制电动辅助单元; 并且比较单元2012将由转矩传感器14检测出的转矩与由转向转矩估计单元20估计的转向转矩进行比较。基于由转向转矩估计单元2011估计的转向转矩来代替基于比较，当扭矩传感器14被判断为异常时，基于由转矩传感器14检测到的转矩来控制。版权所有（C）2007，JPO＆INPIT

8. 发明专利

JP2013067258A Electric power steering system 审中-公开
标题翻译：电力转向系统
公开(公告)号：JP2013067258A
公开(公告)日：2013-04-18
申请号：JP2011206950
申请日：2011-09-22
申请人： Mitsubishi Electric Corp , 三菱電機株式会社
发明人： KURISHIGE MASAHIKO , ENDO MASAYA , KEZOBO ISAO
IPC分类号： B62D5/04
摘要： PROBLEM TO BE SOLVED: To prevent the service life from being shortened due to long-time traveling on a rough road.SOLUTION: The electric power steering system includes: a steering shaft 3 for generating steering torque by operating a steering wheel 1; a direct drive motor 6 having a rotational part 6a directly connected to the steering shaft 3 and a fixed part 6b which is disposed around the rotational part 6a, and rotates the rotational part 6a by a rotating magnetic field; a pinion shaft 7 which is directly connected to the rotational part 6a and includes, at its tip, a pinion 8 engaged with the gear 9a of a rack 9 having tires 14 attached to both ends; and an elastic member 16 which is disposed on the rack 9 side of the direct drive motor 6 and buffers shocks applied to the rotational part 6a in a rotational direction around the axis of the pinion shaft 7 through the tire 14, the rack 9, the pinion 8 and the pinion shaft 7.
摘要翻译：
要解决的问题：为了防止由于在粗糙的道路上长时间行驶而使使用寿命缩短。电动助力转向系统包括：用于通过操作方向盘1产生转向转矩的转向轴3; 具有与转向轴3直接连接的旋转部6a的直接驱动电动机6和设置在旋转部6a周围的固定部6b，通过旋转磁场使旋转部6a旋转; 小齿轮轴7直接连接到旋转部分6a，并在其顶端包括与具有附接到两端的轮胎14的齿条9的齿轮9a啮合的小齿轮8; 以及弹性构件16，其设置在直接驱动电动机6的齿条9侧，并且缓冲通过轮胎14，齿条9，齿条9，围绕小齿轮轴7的轴线的旋转方向施加到旋转部6a的冲击小齿轮8和小齿轮轴7.
版权所有（C）2013，JPO＆INPIT

9. 发明专利

JP2010100091A Automatic steering control device 有权
标题翻译：自动转向控制装置
公开(公告)号：JP2010100091A
公开(公告)日：2010-05-06
申请号：JP2008270957
申请日：2008-10-21
申请人： Mitsubishi Electric Corp , 三菱電機株式会社
发明人： ENDO MASAYA , KURISHIGE MASAHIKO , OGAWA KENJI , KOZUKI HIROYUKI , KIFUKU TAKAYUKI
IPC分类号： B62D6/00 , B62D5/04 , H02P29/00
摘要： PROBLEM TO BE SOLVED: To prevent any increase in the current following error caused by generation of voltage saturation. SOLUTION: An automatic steering control device includes a motor 5 for turning a turning wheel, a current sensor 9 for detecting the current in the motor, a target steering angle computing element 11 for setting the target steering angle based on the computation of the target steering angle of the turning wheel or the reception from the outside, an angle sensor 7 for detecting the turning angle of the turning wheel, and a control unit 10 for controlling the motor by computing the target current of the motor so that the turning angle follows the target steering angle. The control unit 10 controls the motor so that the turning angle to limit the rotational speed of the motor follows the target steering angle by setting the limit value of the rotational speed of the motor based on the motor current to be detected by the current sensor 9. COPYRIGHT: (C)2010,JPO&INPIT
摘要翻译：要解决的问题：为了防止由产生电压饱和引起的电流跟随误差的任何增加。解决方案：一种自动转向控制装置，包括用于转动转轮的电动机5，用于检测电动机中的电流的电流传感器9，用于基于计算的目标转向角计算元件11，转向轮的目标转向角或从外部的接收，用于检测转向车轮的转动角度的角度传感器7，以及通过计算电动机的目标电流来控制电动机的控制单元10，角度跟随目标转向角度。控制单元10控制电动机，使得通过基于由电流传感器9检测的电动机电流来设定电动机的转速的极限值，使得限制电动机的转速的转动角度跟随目标转向角。版权所有（C）2010，JPO＆INPIT

10. 发明专利

JP2008120338A Vehicular steering control device 有权
标题翻译：车辆转向控制装置
公开(公告)号：JP2008120338A
公开(公告)日：2008-05-29
申请号：JP2006309252
申请日：2006-11-15
申请人： Mitsubishi Electric Corp , 三菱電機株式会社
发明人： ENDO MASAYA , KURISHIGE MASAHIKO , TAKEYA AKIHITO , FUJIOKA KOJI , SATAKE TOSHIHIDE , MATSUI TOSHINORI
IPC分类号： B62D6/00 , B62D101/00 , B62D117/00 , B62D119/00
摘要： PROBLEM TO BE SOLVED: To provide a vehicular steering control device for improving steering feeling by preventing an arithmetic operation value of compensating torque from becoming excessive more than actual road surface reaction torque, by arranging a compensating torque limiting means for limiting the compensating torque in response to the road surface reaction torque.
SOLUTION: In reaction torque compensating control for compensating for a road surface reaction torque variation by an electric power assist means to the road surface reaction torque variation caused when an angle superimposing means steers a steering angle of a wheel regardless of the steering of a driver, this vehicular steering control device also has a compensating torque limiting means 2013 limiting the compensating torque to a predetermined limiting value and a road surface reaction torque detecting means 2014 detecting the road surface reaction torque Test acting in the rotational direction of a steering wheel via a wheel from a road surface on which a vehicle travels. The compensating torque limiting means 2012 sets a limiting value to the compensating torque Tcomp in response to the road surface reaction torque Test.
COPYRIGHT: (C)2008,JPO&INPIT
摘要翻译：要解决的问题：提供一种车辆转向控制装置，其通过防止补偿转矩的算术运算值比实际路面反作用转矩大得多的方式改善转向感，通过布置用于限制补偿转矩的补偿转矩限制装置响应于路面反作用力的扭矩。解决方案：在反作用力补偿控制中，用于补偿由电力辅助装置对路面反作用力矩变化的路面反作用力矩变化，当角度叠加装置转向车轮的转向角时，无论转向如何该车辆转向控制装置还具有将补偿转矩限制在规定的限制值的补偿转矩限制装置2013和检测在方向盘的旋转方向上起作用的路面反作用力矩的路面反作用转矩检测装置2014 通过来自车辆行驶的路面的车轮。补偿转矩限制装置2012响应于路面反作用转矩试验设定补偿转矩Tcomp的极限值。版权所有（C）2008，JPO＆INPIT

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