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1. 发明授权

US07363136B2 Controller of electric power steering apparatus 有权
标题翻译：电动助力转向装置控制器
公开(公告)号：US07363136B2
公开(公告)日：2008-04-22
申请号：US11449604
申请日：2006-06-09
申请人： Kazuhiro Kumaido , Yuho Aoki
发明人： Kazuhiro Kumaido , Yuho Aoki
IPC分类号： B62D5/04
CPC分类号： B62D5/0493 , B62D5/0481
摘要： An initial abnormality analysis data is reliably retained by a controller of an electric power steering apparatus. The controller of the electric power steering apparatus is constituted by comprising abnormality detection device for detecting the abnormality of a steering assist control mechanism comprising an electric motor giving a steering assist force to a steering system and abnormality data storage device for storing abnormality analysis data in storage device when the abnormality of the steering assist control mechanism is detected by this abnormality detection device, wherein the storage device comprises a plurality of overwrite prohibition storage areas for prohibiting rig the overwrite of the abnormality analysis data and a plurality of overwrite allowable storage areas for overwriting and storing the abnormality analysis data, and wherein the abnormality data storage device stores the abnormality of the steering assist control mechanism detected by the abnormality detection device in the overwrite prohibition storage area when the abnormality is a first abnormality analysis data, and stores the abnormality in the overwrite allowable storage area when the abnormality is the abnormality analysis data subsequent to the second time.
摘要翻译：初始异常分析数据由电动助力转向装置的控制器可靠地保持。电动助力转向装置的控制装置由包括用于检测转向辅助控制机构的异常的异常检测装置构成，所述异常检测装置包括向转向系统提供转向辅助力的电动机和用于存储存储异常分析数据的异常数据存储装置所述异常检测装置检测到所述转向辅助控制机构的异常时，所述存储装置具有多个用于禁止所述异常分析数据的覆盖的重写禁止存储区域和用于覆盖的多个覆盖允许存储区域并且存储异常分析数据，并且其中异常数据存储装置在异常是第一异常分析数据时将由异常检测装置检测到的转向辅助控制机构的异常存储在重写禁止存储区域中，并且sto 当异常是第二次之后的异常分析数据时，解除覆盖允许存储区域中的异常。

2. 发明申请

US20070205733A1 Electric power steering device 有权
标题翻译：电动助力转向装置
公开(公告)号：US20070205733A1
公开(公告)日：2007-09-06
申请号：US11508302
申请日：2006-08-23
申请人： Hideaki Kawada , Yuho Aoki
发明人： Hideaki Kawada , Yuho Aoki
IPC分类号： H02P7/00
CPC分类号： B62D5/0463 , B62D5/0481
摘要： The present invention includes a control part for controlling switching elements on diagonal lines in the upper and lower stage of an H bridge circuit respectively by different duty ratios based on a steering torque exerted on a steering system, and an electric power supply source for supplying an electric power. When the voltage of the electric power supply source is lower than a prescribed voltage, the control part causes the switching element EET 1 or FET 2 on the upper-stage side to be driven by a pulse width modulation signal PWM1 or PWM2, the switching element FET 4 or FET3 on the lower-stage side to be turned on, and the frequency of the pulse width modulation signal to be lowered to an audible frequency range.
摘要翻译：本发明包括一个控制部分，用于根据施加在转向系统上的转向转矩，通过不同的占空比分别控制H桥电路的上，下级的对角线上的开关元件;以及电源，电力。当电源的电压低于指定电压时，控制部分使得上级侧的开关元件EET1或FET2由脉冲宽度调制信号PWM 1或PWM 2驱动，开关元件FET4或FET3在下级侧被导通，并且脉宽调制信号的频率降低到可听频率范围。

3. 发明授权

US07265509B2 Electric power steering apparatus 有权
标题翻译：电动助力转向装置
公开(公告)号：US07265509B2
公开(公告)日：2007-09-04
申请号：US11181859
申请日：2005-07-15
申请人： Shuji Endo , Yuho Aoki , Kenji Mori , Toru Sakaguchi , Sakae Nejo , Hideaki Okazaki , Lilit Kovudhikulrungsri
发明人： Shuji Endo , Yuho Aoki , Kenji Mori , Toru Sakaguchi , Sakae Nejo , Hideaki Okazaki , Lilit Kovudhikulrungsri
IPC分类号： H02P7/00
CPC分类号： B62D5/0472 , B62D5/0463
摘要： The present invention provides an excellent electric power steering apparatus in which torque ripple caused by a quantization error of a current control system generated in case of slow steering state and steering holding state, namely, vibration and noise on a steering wheel can be suppressed. A current controller in which a steady state gain of feedback control is a finite value is used so as to be capable of suppressing the vibration and noise. Further, according to the present invention, a smoothing filter is included in a current control system so that the quantization error is smoothed so that the torque ripple is suppressed.
摘要翻译：本发明提供了一种优良的电动助力转向装置，其中可以抑制在转向缓慢的状态和转向保持状态下产生的当前控制系统的量化误差引起的转矩波动，即方向盘上的振动和噪声。使用其中反馈控制的稳态增益为有限值的电流控制器，以便能够抑制振动和噪声。此外，根据本发明，在电流控制系统中包括平滑滤波器，使得量化误差平滑，从而抑制转矩脉动。

4. 发明申请

US20060012323A1 Electric power steering apparatus 有权
标题翻译：电动助力转向装置
公开(公告)号：US20060012323A1
公开(公告)日：2006-01-19
申请号：US11181859
申请日：2005-07-15
申请人： Shuji Endo , Yuho Aoki , Kenji Mori , Toru Sakaguchi , Sakae Nejo , Hideaki Okazaki , Lilit Kovudhikulrungsri
发明人： Shuji Endo , Yuho Aoki , Kenji Mori , Toru Sakaguchi , Sakae Nejo , Hideaki Okazaki , Lilit Kovudhikulrungsri
IPC分类号： H02P7/00
CPC分类号： B62D5/0472 , B62D5/0463
摘要： The present invention provides an excellent electric power steering apparatus in which torque ripple caused by a quantization error of a current control system generated in case of slow steering state and steering holding state, namely, vibration and noise on a steering wheel can be suppressed. A current controller in which a steady state gain of feedback control is a finite value is used so as to be capable of suppressing the vibration and noise. Further, according to the present invention, a smoothing filter is included in a current control system so that the quantization error is smoothed so that the torque ripple is suppressed.
摘要翻译：本发明提供了一种优良的电动助力转向装置，其中可以抑制在转向缓慢的状态和转向保持状态下产生的当前控制系统的量化误差引起的转矩波动，即方向盘上的振动和噪声。使用其中反馈控制的稳态增益为有限值的电流控制器，以便能够抑制振动和噪声。此外，根据本发明，在电流控制系统中包括平滑滤波器，使得量化误差平滑，从而抑制转矩脉动。

5. 发明授权

US09087077B2 In-vehicle electronic control device 有权
标题翻译：车载电子控制装置
公开(公告)号：US09087077B2
公开(公告)日：2015-07-21
申请号：US13520870
申请日：2012-05-30
申请人： Yuho Aoki , Shuji Endo , Kenichi Okamoto
发明人： Yuho Aoki , Shuji Endo , Kenichi Okamoto
IPC分类号： G06F11/00 , G06F11/30 , G06F11/07 , G06F11/16
CPC分类号： G06F11/0757 , G05B9/03 , G05B19/0428 , G06F11/0721 , G06F11/0739 , G06F11/0751 , G06F11/079 , G06F11/0793 , G06F11/1641 , G06F11/3013 , G06F11/3024 , G06F11/3055 , G06F11/3466
摘要： An in-vehicle electronic control device for diagnosing the details of an abnormality of a microcomputer appropriately is provided. A monitoring function for detecting a malfunction by monitoring input/output of a main function of a hardware part and a monitoring function for detecting an abnormality by monitoring the calculating result of a main function in a software part are provided in a microcomputer. The main function to be monitored is implemented with a different structure than the malfunction/abnormality monitoring function. Furthermore, a malfunction processing circuit for monitoring an abnormality of the microcomputer is provided outside the microcomputer.
摘要翻译：提供一种适用于诊断微型计算机异常的细节的车载电子控制装置。通过监视软件部分中的主要功能的计算结果来监视通过监视硬件部分的主要功能的输入/输出和用于检测异常的监视功能的监视功能。主要监控功能采用与故障/异常监控功能不同的结构。此外，在微计算机外部设置有用于监视微型计算机异常的故障处理电路。

6. 发明申请

US20080027609A1 ELECTRIC POWER STEERING APPARATUS 审中-公开
标题翻译：电动转向装置
公开(公告)号：US20080027609A1
公开(公告)日：2008-01-31
申请号：US11782739
申请日：2007-07-25
申请人： Yuho Aoki , Takeshi Hara , Nobuhiro Furushima , Hideyuki Kobayashi , Shuji Endo
发明人： Yuho Aoki , Takeshi Hara , Nobuhiro Furushima , Hideyuki Kobayashi , Shuji Endo
IPC分类号： B62D5/04
CPC分类号： B62D5/0472 , B62D5/0463
摘要： An electric power steering apparatus has a steering mechanism SM having universal joints 4, 6 in a torque transmitting system, a steering toque detecting unit 14, a steering angle detecting unit 18, a torque fluctuation detecting unit 43 for detecting a torque fluctuation due to the crossing angle α in the universal joints 4, 6 on the basis of the steering angle θ detected by the steering angle detecting unit 18 and any one of the steering torque T detected by the steering torque detecting unit, a current command value It and self-aligning torque SAT; and a current command value correcting unit 44 for correcting the current command value on the basis of the torque fluctuation detected by the torque fluctuation detecting unit 43 and the steering angle θ detected by the steering angle detecting unit 18.
摘要翻译：电动助力转向装置具有转矩传递系统中具有万向接头4,6的转向机构SM，转向转矩检测部14，转向角检测部18，扭矩波动检测部43，基于由转向角检测单元18检测到的转向角θ和由转向转矩检测单元检测到的转向转矩T中的任一个，通用接头4,6中的交叉角α，对位扭矩SAT; 以及电流指令值校正单元44，用于基于由转矩波动检测单元43检测到的转矩波动和由转向角检测单元18检测的转向角θ来校正电流指令值。

7. 发明申请

US20080021614A1 CONTROLLER FOR ELECTRIC POWER STEERING APPARATUS 审中-公开
标题翻译：电动转向装置控制器
公开(公告)号：US20080021614A1
公开(公告)日：2008-01-24
申请号：US11780003
申请日：2007-07-19
申请人： Shuji ENDO , Yuho AOKI , Apiwat REUNGWETWATTANA
发明人： Shuji ENDO , Yuho AOKI , Apiwat REUNGWETWATTANA
IPC分类号： B62D5/04 , B62D1/16
CPC分类号： B62D6/008 , B62D5/0463
摘要： A computed SAT value SATa is computed, and an estimated SAT value SATb is estimated from lateral force. A grip loss level “g” is computed from difference between the computed self aligning torque value SATA and the estimated SAT value SATb. Torque correction value ΔT which becomes greater with an increase in grip loss level “g” and an increase in angular speed ω is set in accordance with the grip loss level “g” and the angular speed ω of an electric motor 12 serving as corresponding steering angular speed. The corresponding torque correction value ΔT is subtracted from the current command value Itv responsive to the steering torque T and the vehicle speed V, thereby correcting the current command value Itv. The thus-corrected current command value Itv is taken as a steering assist command value Im, and the electric motor 12 is driven based on the steering assist command value.
摘要翻译：计算出计算出的SAT值SATa，并且从侧向力估计估计的SAT值SATb。由计算出的自对准扭矩值SATA和估计的SAT值SATb之间的差计算抓地力损失水平“g”。根据握力损失水平“g”和用作相应转向器的电动机12的角速度ω设定扭矩校正值DeltaT，随着握力损失水平“g”的增加和角速度ω的增加而变大角速度。根据转向转矩T和车速V，从当前指令值Itv中减去相应的扭矩校正值DeltaT，从而校正当前指令值Itv。将如此校正的电流指令值Itv作为转向辅助指令值Im，并且基于转向辅助指令值来驱动电动机12。

8. 发明申请

US20070107978A1 Control unit for electric power steering apparatus 审中-公开
标题翻译：电动助力转向装置控制单元
公开(公告)号：US20070107978A1
公开(公告)日：2007-05-17
申请号：US10555943
申请日：2004-05-14
申请人： Yuho Aoki , Shuji Endo
发明人： Yuho Aoki , Shuji Endo
IPC分类号： B62D5/04
CPC分类号： H02P6/10 , B62D5/0472
摘要： In a differential operation or a phase lead operation in a control unit for an electric power steering apparatus, by using the differential operation or the phase lead operation utilizing a decimation, noises are exclusively eliminated from information such as the road information detected by a sensor or the like, so that no vibration due to the noises can be caused in a motor output thereby to provide the electric power steering apparatus having neither any handle noise nor any vibration uncomfortable to the driver.
摘要翻译：在用于电动助力转向装置的控制单元中的差动或相位超前操作中，通过使用差动运算或利用抽取的相位引导操作，噪声被专门从诸如传感器检测到的道路信息等信息中消除，使得不会在电动机输出中引起由于噪声引起的振动，从而提供既没有任何手柄噪音的电动转向装置，也没有对驾驶员不舒适的振动。

9. 发明申请

US20060282565A1 Controller of electric power steering apparatus 有权
标题翻译：电动助力转向装置控制器
公开(公告)号：US20060282565A1
公开(公告)日：2006-12-14
申请号：US11449604
申请日：2006-06-09
申请人： Kazuhiro Kumaido , Yuho Aoki
发明人： Kazuhiro Kumaido , Yuho Aoki
IPC分类号： G06F3/00
CPC分类号： B62D5/0493 , B62D5/0481
摘要： An initial abnormality analysis data is reliably retained by a controller of an electric power steering apparatus. The controller of the electric power steering apparatus is constituted by comprising abnormality detection means for detecting the abnormality of a steering assist control mechanism comprising an electric motor giving a steering assist force to a steering system and abnormality data storage means for storing abnormality analysis data in storage means when the abnormality of the steering assist control mechanism is detected by this abnormality detection means, wherein the storage means comprises a plurality of overwrite prohibition storage areas for prohibiting the overwrite of the abnormality analysis data and a plurality of overwrite allowable storage areas for overwriting and storing the abnormality analysis data, and wherein the abnormality data storage means stores the abnormality of the steering assist control mechanism detected by the abnormality detection means in the overwrite prohibition storage area when the abnormality is a first abnormality analysis data, and stores the abnormality in the overwrite allowable storage area when the abnormality is the abnormality analysis data subsequent to the second time.
摘要翻译：初始异常分析数据由电动助力转向装置的控制器可靠地保持。电动助力转向装置的控制器包括：异常检测装置，用于检测包括向转向系统提供转向辅助力的电动机的转向辅助控制机构的异常;异常数据存储装置，用于存储存储异常分析数据的异常数据存储装置意味着当该异常检测装置检测到转向辅助控制机构的异常时，其中存储装置包括用于禁止重写异常分析数据的多个重写禁止存储区域和用于重写的多个重写允许存储区域，存储异常分析数据，并且其中异常数据存储装置在异常是第一异常分析数据时将由异常检测装置检测到的转向辅助控制机构的异常存储在重写禁止存储区域中，并且存储异常当异常是第二次之后的异常分析数据时，在重写允许存储区域中的异常。

10. 发明申请

US20070146169A1 Control unit for electric power steering apparatus 有权
标题翻译：电动助力转向装置控制单元
公开(公告)号：US20070146169A1
公开(公告)日：2007-06-28
申请号：US10578267
申请日：2004-11-01
申请人： Tetsuro Otsuka , Atsushi Horikoshi , Yuho Aoki
发明人： Tetsuro Otsuka , Atsushi Horikoshi , Yuho Aoki
IPC分类号： H03M1/22
CPC分类号： G01D5/24461 , B62D5/046 , B62D5/0487 , H02P29/032
摘要： Since an abnormality is judged by executing a square calculating process with respect to sin θ and cos θ for detecting an abnormality in an angular resolver, a processing time is elongated, and a burden to a CPU is great. Since the invention prepares a map which can judge whether the combination of sin θ and cos θ is normal or abnormal, and judges by mapping the combination of the detected sin θ and cos θ, a process can be easily executed, a processing speed is high, and a burden to the CPU can be reduced. Further, an assist can be maintained by controlling a motor by a rectangular wave current by detecting a rotation angle signal at low resolution level, such as Hall sensors arranged around the motor.
摘要翻译：由于通过执行关于sinθ和cosθ的平方计算处理来检测角解算器中的异常来判断异常，所以处理时间变长，并且对CPU的负担很大。由于本发明准备一个可以判断sinθ和cosθ的组合是正常还是异常的映射，并且通过映射检测到的sinθ和cosθ的组合来判断，可以容易地执行处理，处理速度高可以减轻对CPU的负担。此外，通过以低分辨率水平检测旋转角度信号，例如布置在电动机周围的霍尔传感器，通过矩形波电流控制电动机可以保持辅助。

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