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1. 发明授权

US07548035B2 Control apparatus of electric power steering apparatus 有权
标题翻译：电动助力转向装置的控制装置
公开(公告)号：US07548035B2
公开(公告)日：2009-06-16
申请号：US10579969
申请日：2004-11-24
申请人： Shuji Endo , Yuho Aoki , Hideyuki Kobayashi , CaoMinh Ta
发明人： Shuji Endo , Yuho Aoki , Hideyuki Kobayashi , CaoMinh Ta
IPC分类号： H02P7/00
CPC分类号： H02P21/14 , B62D5/046 , H02P21/22
摘要： The invention relates to a control apparatus of an electric power steering apparatus structured such as to apply a steering assist force generated by a n-phase motor to a steering system of a vehicle, the control apparatus is provided with at least (n−1) numbers of current detecting means for detecting a current Im in each of phases of the motor, a current command value calculating means for outputting a current command value Imref in each of the phases, and n numbers of current control means, and the control apparatus executes a current control of each of the phases by the current control means having the current command value Imref in each of the phases and the current Im in each of the phases as an input.
摘要翻译：本发明涉及一种电动助力转向装置的控制装置，其构造为将由n相电动机产生的转向辅助力施加到车辆的转向系统，所述控制装置至少配备有（n-1）用于检测电动机的每个相位中的电流Im的电流检测装置的数量，用于在每个相中输出电流指令值Imref的电流指令值计算装置和n个电流控制装置，并且控制装置执行电流控制装置对每个相位的电流进行控制，该电流控制装置在各相中具有电流指令值Imref，在每相中具有电流Im作为输入。

2. 发明授权

US07443131B2 Control device for electric power steering apparatus 有权
标题翻译：电动助力转向装置的控制装置
公开(公告)号：US07443131B2
公开(公告)日：2008-10-28
申请号：US10585990
申请日：2004-12-12
申请人： CaoMinh Ta , Hideyuki Kobayashi , Shuji Endo
发明人： CaoMinh Ta , Hideyuki Kobayashi , Shuji Endo
IPC分类号： H02P23/00
CPC分类号： B62D5/046
摘要： A control device for electric power steering apparatus, in which when torque ripples at the time of the rotation of a motor is reduced by simple arithmetic, smooth and safe assist limitation is performed without deteriorating steering feeling, is provided. For this reason, in the control device for electric power steering apparatus adopting a vector control system for applying an assist force of a motor to a steering system, a phase delay according to an angular velocity is obtained, a corrected electric angle is calculated by adding the phase delay to an electric angle, and generation of a current command value in the vector control is compensated based on the corrected electric angle.
摘要翻译：一种用于电动助力转向装置的控制装置，其中通过简单的算术减少了电动机旋转时的扭矩波动，而不会恶化转向感，进行平稳和安全的辅助限制。因此，在采用将电动机的辅助力施加到转向系统的矢量控制系统的电动助力转向装置的控制装置中，获得根据角速度的相位延迟，通过将基于校正的电角度补偿矢量控制中的电角度的相位延迟和电流指令值的产生。

3. 发明申请

US20070090782A1 Control apparatus of electric power steering apparatus 有权
标题翻译：电动助力转向装置的控制装置
公开(公告)号：US20070090782A1
公开(公告)日：2007-04-26
申请号：US10579969
申请日：2004-11-24
申请人： Shuji Endo , Yuho Aoki , Hideyuki Kobayashi , CaoMinh Ta
发明人： Shuji Endo , Yuho Aoki , Hideyuki Kobayashi , CaoMinh Ta
IPC分类号： H02P7/00
CPC分类号： H02P21/14 , B62D5/046 , H02P21/22
摘要： The invention relates to a control apparatus of an electric power steering apparatus structured such as to apply a steering assist force generated by a n-phase motor to a steering system of a vehicle, the control apparatus is provided with at least (n−1) numbers of current detecting means for detecting a current Im in each of phases of the motor, a current command value calculating means for outputting a current command value Imref in each of the phases, and n numbers of current control means, and the control apparatus executes a current control of each of the phases by the current control means having the current command value Imref in each of the phases and the current Im in each of the phases as an input.
摘要翻译：本发明涉及一种电动助力转向装置的控制装置，其构造为将由n相电动机产生的转向辅助力施加到车辆的转向系统，所述控制装置至少配备有（n-1）用于检测电动机的每个相位中的电流Im的电流检测装置的数量，用于在每个相中输出电流指令值Imref的电流指令值计算装置和n个电流控制装置，并且控制装置执行电流控制装置对每个相位的电流进行控制，该电流控制装置在各相中具有电流指令值Imref，在每相中具有电流Im作为输入。

4. 发明授权

US07187154B2 Motor drive apparatus and electric power steering apparatus 有权
标题翻译：电机驱动装置和电动助力转向装置
公开(公告)号：US07187154B2
公开(公告)日：2007-03-06
申请号：US11115369
申请日：2005-04-27
申请人： CaoMinh Ta , Shuji Endo , Hideyuki Kobayashi , Masahide Saito
发明人： CaoMinh Ta , Shuji Endo , Hideyuki Kobayashi , Masahide Saito
IPC分类号： H02P23/00 , H02P25/00 , H02P27/00
CPC分类号： B62D5/046
摘要： The present invention provides a motor drive apparatus capable of calculating an angular velocity and a rotation angle accurately in the entire rotation velocity range of a motor using a cheap Hall sensor having an inferior accuracy without using an expensive resolver having a high accuracy. The present invention includes a first angular velocity calculating means for calculating the angular velocity based on the back-EMF of the motor when it rotates at low speeds and a second angular velocity calculating means for calculating the angular velocity based on a signal from the Hall sensor when it rotates at high speeds. According to the present invention, the angular velocity and rotation angle can be calculated accurately in the entire rotation speed range using the Hall sensor under hybrid usage.
摘要翻译：本发明提供一种电动机驱动装置，其能够在不使用具有高精度的昂贵的旋转变压器的情况下，使用具有较差精度的廉价霍尔传感器，在电动机的整个旋转速度范围内精确地计算角速度和旋转角度。本发明包括：第一角速度计算装置，用于当以低速旋转时计算基于马达的反电动势的角速度;以及第二角速度计算装置，用于根据来自霍尔传感器的信号计算角速度当它高速旋转时。根据本发明，可以在混合使用下使用霍尔传感器在整个转速范围内精确地计算角速度和旋转角度。

5. 发明申请

US20050242765A1 Motor drive apparatus and electric power steering apparatus 有权
标题翻译：电机驱动装置和电动助力转向装置
公开(公告)号：US20050242765A1
公开(公告)日：2005-11-03
申请号：US11115369
申请日：2005-04-27
申请人： CaoMinh Ta , Shuji Endo , Hideyuki Kobayashi , Masahide Saito
发明人： CaoMinh Ta , Shuji Endo , Hideyuki Kobayashi , Masahide Saito
IPC分类号： B62D5/04 , H02P6/16 , H02P6/18 , H02P7/06
CPC分类号： B62D5/046
摘要： The present invention provides a motor drive apparatus capable of calculating an angular velocity and a rotation angle accurately in the entire rotation velocity range of a motor using a cheap Hall sensor having an inferior accuracy without using an expensive resolver having a high accuracy. The present invention includes a first angular velocity calculating means for calculating the angular velocity based on the back-EMF of the motor when it rotates at low speeds and a second angular velocity calculating means for calculating the angular velocity based on a signal from the Hall sensor when it rotates at high speeds. According to the present invention, the angular velocity and rotation angle can be calculated accurately in the entire rotation speed range using the Hall sensor under hybrid usage.
摘要翻译：本发明提供一种电动机驱动装置，其能够在不使用具有高精度的昂贵的旋转变压器的情况下，使用具有较差精度的廉价霍尔传感器，在电动机的整个旋转速度范围内精确地计算角速度和旋转角度。本发明包括：第一角速度计算装置，用于当以低速旋转时计算基于马达的反电动势的角速度;以及第二角速度计算装置，用于根据来自霍尔传感器的信号计算角速度当它高速旋转时。根据本发明，可以在混合使用下使用霍尔传感器在整个转速范围内精确地计算角速度和旋转角度。

6. 发明申请

US20070158132A1 Control device for electric power steering apparatus 有权
标题翻译：电动助力转向装置的控制装置
公开(公告)号：US20070158132A1
公开(公告)日：2007-07-12
申请号：US10585990
申请日：2004-12-12
申请人： CaoMinh Ta , Hideyuki Kobayashi , Shuji Endo
发明人： CaoMinh Ta , Hideyuki Kobayashi , Shuji Endo
IPC分类号： B62D5/04
CPC分类号： B62D5/046
摘要： A control device for electric power steering apparatus, in which when torque ripples at the time of the rotation of a motor is reduced by simple arithmetic, smooth and safe assist limitation is performed without deteriorating steering feeling, is provided. For this reason, in the control device for electric power steering apparatus adopting a vector control system for applying an assist force of a motor to a steering system, a phase delay according to an angular velocity is obtained, a corrected electric angle is calculated by adding the phase delay to an electric angle, and generation of a current command value in the vector control is compensated based on the corrected electric angle.
摘要翻译：一种用于电动助力转向装置的控制装置，其中通过简单的算术减少了电动机旋转时的扭矩波动，而不会恶化转向感，进行平稳和安全的辅助限制。因此，在采用将电动机的辅助力施加到转向系统的矢量控制系统的电动助力转向装置的控制装置中，获得根据角速度的相位延迟，通过将基于校正的电角度补偿矢量控制中的电角度的相位延迟和电流指令值的产生。

7. 发明授权

US08285451B2 Method and apparatus for controlling electric power steering system 有权
标题翻译：控制电动助力转向系统的方法和装置
公开(公告)号：US08285451B2
公开(公告)日：2012-10-09
申请号：US11908887
申请日：2006-03-17
申请人： CaoMinh Ta , ChunHao Jiang , Hideyuki Kobayashi
发明人： CaoMinh Ta , ChunHao Jiang , Hideyuki Kobayashi
IPC分类号： G06F17/00 , B62D6/00 , B62D6/08 , B62D5/04 , H02P31/00 , H02P7/06
CPC分类号： B62D5/0463 , B62D5/046 , H02P21/0089 , H02P21/04
摘要： Disclosed herein is a method for controlling an electric power steering system, wherein a motor is controlled by vector control and driven by a current command value calculated on the basis of a parameter such as a steering torque to provide a steering assist power to a vehicle steering system, and further wherein the current command value is limited on the basis of desired output characteristics and a desired angular speed during a field-weakening control and a non-field-weakening control of the vector control.
摘要翻译：本文公开了一种用于控制电动助力转向系统的方法，其中，通过矢量控制来控制电动机，并且通过基于诸如转向转矩的参数计算的电流指令值来驱动电动机，以向车辆转向装置提供转向辅助动力系统，并且其中所述电流指令值在所述矢量控制的场弱化控制和非弱磁控制期间，基于期望的输出特性和期望的角速度来限制。

8. 发明申请

US20090234538A1 METHOD AND APPARATUS FOR CONTROLLING ELECTRIC POWER STEERING SYSTEM 有权
标题翻译：控制电力转向系统的方法和装置
公开(公告)号：US20090234538A1
公开(公告)日：2009-09-17
申请号：US11908887
申请日：2006-03-17
申请人： CaoMinh Ta , ChunHao Jiang , Hideyuki Kobayashi
发明人： CaoMinh Ta , ChunHao Jiang , Hideyuki Kobayashi
IPC分类号： B62D5/04
CPC分类号： B62D5/0463 , B62D5/046 , H02P21/0089 , H02P21/04
摘要： Disclosed herein is a method for controlling an electric power steering system, wherein a motor is controlled by vector control and driven by a current command value calculated on the basis of a parameter such as a steering torque to provide a steering assist power to a vehicle steering system, and further wherein the current command value is limited on the basis of desired output characteristics and a desired angular speed during a field-weakening control and a non-field-weakening control of the vector control.
摘要翻译：本文公开了一种用于控制电动助力转向系统的方法，其中，通过矢量控制来控制电动机，并且通过基于诸如转向转矩的参数计算的电流指令值来驱动电动机，以向车辆转向装置提供转向辅助动力系统，并且其中所述电流指令值在所述矢量控制的场弱化控制和非弱磁控制期间，基于期望的输出特性和期望的角速度来限制。

9. 发明申请

US20070029959A1 Device for controlling electric-motor power steering device 有权
标题翻译：用于控制电动机动力转向装置的装置
公开(公告)号：US20070029959A1
公开(公告)日：2007-02-08
申请号：US10569976
申请日：2004-09-01
申请人： CaoMinh Ta , Hiroaki Takase , Hideyuki Kobayashi
发明人： CaoMinh Ta , Hiroaki Takase , Hideyuki Kobayashi
IPC分类号： H02P7/00
CPC分类号： B62D5/046 , H02M1/38 , H02M2001/385
摘要： Distortions of motor voltage and current and a torque ripple of the motor are generated by dead band compensation for preventing an arm short circuit of an inverter, and a feeling of physical disorder is given in a handle operation. Therefore, the distortions of the motor voltage and current and the torque ripple of the motor are improved by using the dead band compensation for estimating the voltage distortion on the basis of a model current generated from a current command value such that no feeling of physical disorder is given in the handle operation of an electric power steering apparatus.
摘要翻译：电动机的电压和电流的变形以及电动机的转矩波动由死区补偿产生，以防止逆变器的臂短路，并且在手柄操作中给出物理紊乱的感觉。因此，通过使用死区补偿来根据从当前指令值产生的模型电流来估计电压失真来提高电动机电压和电流的扭曲和电动机的转矩脉动，使得没有身体紊乱的感觉在电动助力转向装置的手柄操作中给出。

10. 发明申请

US20060176005A1 Motor-drive control device and electric power steering device using the same 审中-公开
标题翻译：电机驱动控制装置及电动助力转向装置使用该装置
公开(公告)号：US20060176005A1
公开(公告)日：2006-08-10
申请号：US10552071
申请日：2004-04-01
申请人： CaoMinh Ta , ChunHao Jiang , Hideyuki Kobayashi
发明人： CaoMinh Ta , ChunHao Jiang , Hideyuki Kobayashi
IPC分类号： G05F1/10
CPC分类号： H02P6/182
摘要： In order to precisely control rotation of a motor, it is necessary to precisely detect a position of a rotor. Even if an inexpensive position detecting sensor having relatively low precision such as a Hall sensor is used, it is possible to provide a motor drive control apparatus capable of precisely detecting the position of the rotor by calculating an electrical angle of the rotor (rotor position) by calculating a back-EMF from a detected voltage, detected motor current, a motor winding resistance value and an inductance value, and by periodically correcting a calculation error of the calculated electrical angle. If such a motor drive control apparatus is used, it is possible to provide an inexpensive electric power steering apparatus having excellent steering feeling.
摘要翻译：为了精确地控制电动机的旋转，需要精确地检测转子的位置。即使使用诸如霍尔传感器之类的具有相对较低精度的便宜的位置检测传感器，也可以提供一种电动机驱动控制装置，其能够通过计算转子的电角度（转子位置）来精确地检测转子的位置，通过从检测到的电压，检测到的电动机电流，电动机绕组电阻值和电感值计算反电动势，并且通过周期性地校正计算出的电角度的计算误差。如果使用这样的电动机驱动控制装置，则可以提供具有优良转向感的便宜的电动助力转向装置。

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