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    • 51. 发明授权
    • Electric power steering apparatus
    • 电动助力转向装置
    • US07009349B2
    • 2006-03-07
    • US10919268
    • 2004-08-17
    • Shigeki NagaseKatsutoshi NishizakiTakeshi Ueda
    • Shigeki NagaseKatsutoshi NishizakiTakeshi Ueda
    • B62D5/04B62D6/00
    • B62D5/046B62D5/0484
    • A resistor member having a resistance value substantially equal to a resistance of a relay in an ON state is inserted into a current supply path which is not inserted with the relay in current supply paths for supplying currents from a driving circuit to a brushless motor. Further, in the driving circuit, widths of bus bars forming wirings are set such that resistances of the wirings (contact resistance) from a branch point on power source side to Hi side FET (source terminals thereof) are equal to each other and widths of bus bars forming the wirings are set such that the resistances of the wirings from a ground side branch point NL to Lo side FET (source terminals thereof) become equal to each other.
    • 具有与导通状态下的继电器的电阻基本相等的电阻值的电阻部件被插入到没有与继电器一起插入的电流供给路径,用于从驱动电路向无刷电动机供给电流的电流供给路径。 此外,在驱动电路中,形成布线的汇流条的宽度被设定为使得从电源侧的分支点到Hi侧FET(其源极端子)的布线电阻(接触电阻)彼此相等,并且宽度 形成布线的母线被设定为使得从地侧分支点NL到Lo侧FET(其源极端子)的布线的电阻变得彼此相等。
    • 55. 发明授权
    • Rotation angle detecting device
    • 旋转角度检测装置
    • US08710831B2
    • 2014-04-29
    • US13336186
    • 2011-12-23
    • Takeshi UedaHayato Komatsu
    • Takeshi UedaHayato Komatsu
    • G01B7/30
    • G01D5/145
    • Three magnetic sensors are arranged around a rotor at predetermined angular intervals about the rotation axis of the rotor. Sinusoidal signals that have a phase difference of a predetermined degree of 45° are output from the respective magnetic sensors. A rotation angle computing device detects a magnetic pole transition in a first output signal as follows. Specifically, the rotation angle computing device detects a magnetic pole transition in the first output signal based on a value having a larger absolute value between a current value of the second sinusoidal signal and a current value of the third sinusoidal signal, an immediately preceding value of the first sinusoidal signal and a current value of the first sinusoidal signal.
    • 围绕转子的旋转轴线以预定的角度间隔围绕转子设置三个磁性传感器。 从相应的磁传感器输出具有预定的45度相位差的正弦信号。 旋转角度计算装置如下检测第一输出信号中的磁极转变。 具体地说,旋转角度计算装置基于第二正弦信号的电流值和第三正弦信号的电流值之间的绝对值较大的值,检测第一输出信号中的磁极转变, 第一正弦信号和第一正弦信号的电流值。
    • 57. 发明授权
    • Motor controller and electronic power steering apparatus
    • 电机控制器和电动助力转向装置
    • US08504242B2
    • 2013-08-06
    • US12935784
    • 2009-03-30
    • Takeshi UedaShigeki NagaseKouya Yoshida
    • Takeshi UedaShigeki NagaseKouya Yoshida
    • H02P21/14
    • B62D5/046
    • An angle calculator detects a rotation angle θa of a rotor. A three-phase/d-q axis converter outputs detected current id, iq on d-q coordinate axes by making a conversion, based on a corrected detection angle θc obtained by adding or subtracting an amount of detection deviation from a time point of current detection to or from the detection angle θa. A command current calculator calculates command current id*, iq* on the d-q coordinate axes based on a steering torque T and a speed S. A feedback controller calculates command voltages vd, vq on the d-q coordinate axes based on the command current id*, iq* and the detected current id, iq. A d-q axis/three-phase converter converts the command voltages vd, vq into three-phase command voltages, based on a corrected detection angle θb obtained by adding an amount of detection deviation from a time point when a motor is driven to the detection angle θa. The deviation can be eliminated by the command voltages, and the motor can be driven with high precision.
    • 角度计算器检测转子的旋转角度θa。 三相/ dq轴转换器基于通过从当前检测的时间点加上或减去检测偏差量而得到的校正检测角度tt,通过进行转换来输出dq坐标轴上的检测电流id iq 检测角度θa。 指令电流计算器基于转向转矩T和转速S计算dq坐标轴上的指令电流id *,iq *。反馈控制器基于指令电流id *计算dq坐标轴上的指令电压vd,vq, iq *和检测到的当前id iq。 dq轴/三相变换器将指令电压vd,vq转换为三相指令电压,该校正检测角度基于通过将电动机驱动的时间点的检测偏差量加到检测角度而获得的检测角度 theta 通过指令电压可以消除偏差,可以高精度地驱动电机。
    • 58. 发明申请
    • ROTATION ANGLE DETECTION DEVICE
    • 旋转角度检测装置
    • US20120319680A1
    • 2012-12-20
    • US13579006
    • 2011-02-23
    • Takeshi UedaHayato KomatsuMinoru Sentoku
    • Takeshi UedaHayato KomatsuMinoru Sentoku
    • G01B7/30
    • G01D5/2451
    • Upon detecting a peak value from output signals of one of either a first or a second magnetic sensor, an rotation angle computation device identifies, on basis of an amplitude compensation table corresponding to the one magnetic sensor for which the peak value was detected, a pole number of a magnetic pole sensed by the magnetic sensor. Then, based on the identified pole number and a magnetic pole identification table, a pole number of a magnetic pole sensed by the other magnetic sensor is identified. The pole numbers of the magnetic poles sensed by the respective magnetic sensors are thus identified, and the rotation angle computation device compensates the output signals of the respective magnetic sensors using amplitude compensation gains corresponding to the sensed magnetic poles (magnetic pole pair).
    • 在从第一或第二磁传感器中的一个的输出信号检测到峰值时,旋转角计算装置基于与检测到峰值的一个磁传感器相对应的振幅补偿表,识别极点 由磁传感器感测的磁极的数量。 然后,基于所识别的极数和磁极识别表,识别由另一个磁传感器感测的磁极的极数。 因此识别由各个磁性传感器感测的磁极的极数,并且旋转角度计算装置使用与感测的磁极(磁极对)对应的振幅补偿增益来补偿各个磁性传感器的输出信号。
    • 59. 发明授权
    • Motor control apparatus and electric power steering apparatus
    • 电机控制装置及电动助力转向装置
    • US08237392B2
    • 2012-08-07
    • US12461764
    • 2009-08-24
    • Takeshi UedaShigeki Nagase
    • Takeshi UedaShigeki Nagase
    • G05B11/28
    • B62D5/046H02P21/16H02P27/08H02P2205/05
    • An angle calculation portion of a motor control apparatus determines an angle θ of a rotor, and an angular velocity calculation portion determines an angular velocity ωe of the rotor. A command current calculation portion determines command currents id* and iq* on dq axes, based on a steering torque T and a vehicle speed S. An open-loop control portion determines command voltages vd and vq on the dq axes based on the command currents id* and iq* and the angular velocity ωe, according to circuit equations of a motor. A dq-axis/three-phase conversion portion converts the command voltages vd and vq to command voltages of three phases. A three-phase voltage correction portion corrects the command voltage so that an actual time average value of a voltage applied to each phase is equal to a time average value of a voltage that is to be applied to the phase if the voltage is not decreased, in order to compensate for a decrease in the applied voltage. By performing the correction, it is possible to eliminate or suppress a decrease in control accuracy due to a wiring resistance and the like.
    • 马达控制装置的角度计算部确定角度和角度; 并且角速度计算部分确定转子的角速度ωe。 指令电流计算部分基于转向转矩T和车速S确定dq轴上的指令电流id *和iq *。开环控制部分基于指令电流来确定dq轴上的指令电压vd和vq id *和iq *和角速度ωe,根据电机的电路方程。 dq轴/三相转换部将命令电压vd和vq转换为三相的指令电压。 三相电压校正部分校正指令电压,使得施加到每相的电压的实际时间平均值等于如果电压不降低则施加到相位的电压的时间平均值, 以补偿施加电压的降低。 通过进行校正,可以消除或抑制由于布线电阻等引起的控制精度的降低。
    • 60. 发明申请
    • MOTOR CONTROL DEVICE AND ELECTRIC POWER STEERING DEVICE
    • 电机控制装置和电力转向装置
    • US20110214934A1
    • 2011-09-08
    • US12812678
    • 2009-01-16
    • Takeshi UedaNobuhiro UchidaKouya Yoshida
    • Takeshi UedaNobuhiro UchidaKouya Yoshida
    • B62D5/04H02P21/14
    • H02P6/10B62D5/046B62D5/0463H02P21/06
    • In a motor control device, a control calculation unit obtains a phase voltage instruction value. A current detecting unit detects an electric current which flows into the brushless motor. A rotational position detecting unit detects the rotational position of a rotor in the brushless motor. A correction unit corrects the phase voltage instruction value based on the detection results of the current detecting unit and the rotational position detecting unit so that a dependency of a ratio on an electric angle shown by a secondary harmonic component of the ratio concerning the electric angle of the brushless motor. The ratio is a ratio of a q-axis or d-axis component of the electric current, which flows into the brushless motor, to a q-axis or d-axis instruction value. A driving unit drives the brushless motor based on the phase voltage instruction value after the correction by the correction unit.
    • 在电动机控制装置中,控制运算部获取相电压指示值。 电流检测单元检测流入无刷电动机的电流。 旋转位置检测单元检测无刷电动机中的转子的旋转位置。 校正单元基于电流检测单元和旋转位置检测单元的检测结果来校正相电压指令值,使得相对于电角度的比例的二次谐波分量所示的电角度的比率 无刷电机。 该比率是流入无刷电动机的电流的q轴或d轴分量与q轴或d轴指令值的比。 驱动单元基于校正单元进行校正后的相电压指令值来驱动无刷电动机。