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1. 发明授权

US08560177B2 Electric power steering system 有权
标题翻译：电动助力转向系统
公开(公告)号：US08560177B2
公开(公告)日：2013-10-15
申请号：US13226112
申请日：2011-09-06
申请人： Hayato Komatsu , Yoshinobu Shimizu , Yuji Kariatsumari , Shingo Maeda , Yasuyuki Yoshii
发明人： Hayato Komatsu , Yoshinobu Shimizu , Yuji Kariatsumari , Shingo Maeda , Yasuyuki Yoshii
IPC分类号： B62D5/04 , B62D5/00
CPC分类号： B62D5/046 , B62D5/0481 , H02P23/14
摘要： An electric power steering system includes a motor that applies assist force to a steering system, and updates a motor resistance (Rm) that is a value indicating a resistance of the motor. Specifically, the motor resistance (Rm) is updated on the basis of the fact that an induced voltage (EX) of the motor is smaller than a first determination value (GA). In addition, when the induced voltage (EX) is smaller than or equal to a second determination value (GB), a divided value that is obtained by dividing a motor voltage (Vm) by a motor current (Im) is set as a new motor resistance (Rm).
摘要翻译：电动助力转向系统包括向转向系统施加辅助力的电动机，并且更新作为表示电动机的电阻的值的电动机电阻（Rm）。具体地，基于电动机的感应电压（EX）小于第一判定值（GA）的事实来更新电动机电阻（Rm）。此外，当感应电压（EX）小于或等于第二判定值（GB）时，通过将电动机电压（Vm）除以电动机电流（Im）而获得的分压值被设定为新的电机电阻（Rm）。

2. 发明申请

US20100235049A1 Motor control unit and motor control unit for vehicle steering apparatus 有权
标题翻译：车辆转向装置的电机控制单元和电机控制单元
公开(公告)号：US20100235049A1
公开(公告)日：2010-09-16
申请号：US12659489
申请日：2010-03-10
申请人： Yuji Kariatsumari , Hayato Komatsu , Shingo Maeda
发明人： Yuji Kariatsumari , Hayato Komatsu , Shingo Maeda
IPC分类号： G06F19/00 , G05B11/36 , G05B23/02
CPC分类号： B62D5/046 , H02P21/14 , H02P21/16 , H02P21/18 , H02P21/22
摘要： A motor control unit controls a motor including a rotor and a stator facing the rotor. A current drive unit drives the motor at an axis current value of a rotating coordinate system that rotates in accordance with a control angle that is a rotational angle used in a control. A control angle calculation unit obtains, at every predetermined calculation cycle, a present value of the control angle by adding an addition angle to an immediately preceding value of the control angle. A torque detection unit detects a torque other than a motor torque and applied to a drive target driven by the motor. A command torque setting unit sets a command torque to be applied to the drive target. An addition angle calculation unit calculates the addition angle to be added to the control angle through a proportional-integral control based on a torque deviation of the torque detected by the torque detection unit from the command torque set by the command torque setting unit.
摘要翻译：马达控制单元控制包括转子和面向转子的定子的马达。当前的驱动单元以旋转坐标系的轴电流值驱动电机，该旋转坐标系根据在控制中使用的旋转角度的控制角度旋转。控制角度计算单元通过对控制角的紧接在前的值添加相加角，在每个预定计算周期获得控制角的当前值。转矩检测单元检测除电动机转矩之外的转矩并施加到由电动机驱动的驱动目标。指令转矩设定单元设定要施加到驱动目标的指令转矩。相加角计算单元根据由转矩检测单元检测出的转矩的转矩偏差，根据由指令转矩设定单元设定的指令转矩，通过比例积分控制来计算要添加到控制角度的相加角度。

3. 发明授权

US08494715B2 Vehicle steering apparatus 有权
标题翻译：车辆转向装置
公开(公告)号：US08494715B2
公开(公告)日：2013-07-23
申请号：US12588399
申请日：2009-10-14
申请人： Yuji Kariatsumari , Yoshinobu Shimizu , Hayato Komatsu
发明人： Yuji Kariatsumari , Yoshinobu Shimizu , Hayato Komatsu
IPC分类号： B62D5/04
CPC分类号： B62D5/0472 , B62D5/046
摘要： A motor is driven based on an axis current value in a rotating coordinate system that rotates in accordance with a control angle that is a rotational angle used in a control. The control angle is calculated by adding an addition angle to an immediately preceding value of the control angle in each predetermined calculation cycle. A command steering torque is set based on a predetermined steering angle-torque characteristic. The addition angle is calculated based on the deviation of a detected steering torque from a command steering torque. The addition angle based on the deviation is changed when a predetermined condition is satisfied.
摘要翻译：基于在控制中使用的旋转角度的控制角度旋转的旋转坐标系中的轴电流值来驱动电动机。通过在每个预定的计算周期中将相加角加到控制角的紧前一个值上来计算控制角。基于预定的转向角 - 转矩特性设定指示转向转矩。基于检测到的转向转矩与指示转向转矩的偏差来计算相加角。当满足预定条件时，基于偏差的相加角改变。

4. 发明申请

US20100094505A1 Vehicle steering apparatus 有权
标题翻译：车辆转向装置
公开(公告)号：US20100094505A1
公开(公告)日：2010-04-15
申请号：US12588399
申请日：2009-10-14
申请人： Yuji Kariatsumari , Yoshinobu Shimizu , Hayato Komatsu
发明人： Yuji Kariatsumari , Yoshinobu Shimizu , Hayato Komatsu
IPC分类号： G06F19/00 , B62D6/00
CPC分类号： B62D5/0472 , B62D5/046
摘要： A motor is driven based on an axis current value in a rotating coordinate system that rotates in accordance with a control angle that is a rotational angle used in a control. The control angle is calculated by adding an addition angle to an immediately preceding value of the control angle in each predetermined calculation cycle. A command steering torque is set based on a predetermined steering angle-torque characteristic. The addition angle is calculated based on the deviation of a detected steering torque from a command steering torque. The addition angle based on the deviation is changed when a predetermined condition is satisfied.
摘要翻译：基于在控制中使用的旋转角度的控制角度旋转的旋转坐标系中的轴电流值来驱动电动机。通过在每个预定的计算周期中将相加角加到控制角的紧前一个值上来计算控制角。基于预定的转向角 - 转矩特性设定指示转向转矩。基于检测到的转向转矩与指示转向转矩的偏差来计算相加角。当满足预定条件时，基于偏差的相加角改变。

5. 发明授权

US08380398B2 Motor control unit and motor control unit for vehicle steering apparatus 有权
标题翻译：车辆转向装置的电机控制单元和电机控制单元
公开(公告)号：US08380398B2
公开(公告)日：2013-02-19
申请号：US12659489
申请日：2010-03-10
申请人： Yuji Kariatsumari , Hayato Komatsu , Shingo Maeda
发明人： Yuji Kariatsumari , Hayato Komatsu , Shingo Maeda
IPC分类号： B62D6/00
CPC分类号： B62D5/046 , H02P21/14 , H02P21/16 , H02P21/18 , H02P21/22
摘要： A steering assist operation is performed, which includes a motor control unit that controls a motor, and the steering assist operation does not require a rotational angle sensor. A current drive unit drives the motor at an axis current value of a rotating coordinate system that rotates in accordance with a control angle, which is calculated by a control angle calculation unit. The control angle calculation unit obtains, at every predetermined calculation cycle, a present value of the control angle by adding an addition angle to an immediately preceding value of the control angle. An addition angle calculation unit calculates the addition angle to be added to the control angle through a proportional-integral control based on a torque deviation from a command torque set by a command torque setting unit.
摘要翻译：执行转向辅助操作，其包括控制电动机的电动机控制单元，并且转向辅助操作不需要旋转角度传感器。当前驱动单元以根据由控制角计算单元计算的控制角旋转的旋转坐标系的轴电流值来驱动电动机。控制角计算单元在每个预定计算周期通过对控制角的紧接在前的值添加相加角来获得控制角的当前值。相加角计算单元基于与由指令转矩设定单元设定的指令转矩的转矩偏差，通过比例积分控制来计算要添加到控制角度的相加角度。

6. 发明授权

US09518844B2 Rotation angle detection device compromising 有权
标题翻译：旋转角度检测装置妥协
公开(公告)号：US09518844B2
公开(公告)日：2016-12-13
申请号：US13639294
申请日：2011-03-25
申请人： Takeshi Ueda , Hayato Komatsu , Yuji Kariatsumari
发明人： Takeshi Ueda , Hayato Komatsu , Yuji Kariatsumari
IPC分类号： G01D5/245 , G01D5/244
CPC分类号： G01D5/2451 , G01D5/2449
摘要： Angular widths of respective magnetic poles of a detection rotor are stored and divisions are set for respective magnetic pole pairs. Based on output signals from first and second magnetic sensors, a rotation angle computation unit computes first and second rotation angles that are rotation angles within the corresponding division. Based on the angular widths, the rotation angle computation unit identifies the magnetic pole sensed by the first magnetic sensor and computes a first absolute rotation angle using the first rotation angle. Based on the identified magnetic pole and the second rotation angle, the rotation angle computation unit computes a second absolute rotation angle. The rotation angle of the detection rotor is computed based on the first and second absolute angles.
摘要翻译：存储检测转子的各个磁极的角度宽度，并为相应的磁极对设定分割。基于来自第一和第二磁传感器的输出信号，旋转角计算单元计算作为相应划分内的旋转角度的第一和第二旋转角度。基于角度宽度，旋转角度计算单元识别由第一磁性传感器感测的磁极，并使用第一旋转角度来计算第一绝对旋转角度。基于所识别的磁极和第二旋转角度，旋转角度计算单元计算第二绝对旋转角度。基于第一和第二绝对角度来计算检测转子的旋转角度。

7. 发明授权

US08892306B2 Motor control unit and vehicle steering system 有权
标题翻译：电机控制单元和车辆转向系统
公开(公告)号：US08892306B2
公开(公告)日：2014-11-18
申请号：US12946187
申请日：2010-11-15
申请人： Yuji Kariatsumari , Hayato Komatsu , Terutaka Tamaizumi , Yoshihiro Itatsu
发明人： Yuji Kariatsumari , Hayato Komatsu , Terutaka Tamaizumi , Yoshihiro Itatsu
IPC分类号： B62D5/04 , B62D5/14 , H02P21/04 , H02P21/00
CPC分类号： H02P21/0046 , B62D5/046 , H02P21/04 , H02P21/28
摘要： A motor is driven by the γ-axis current of a γδ coordinate system that is an imaginary rotating coordinate system. A command current value preparation unit sets the γ-axis command current value based on the command steering torque and the detected steering torque. The command current value preparation unit includes a command current increase/decrease amount calculation unit and an addition unit. The command current increase/decrease amount calculation unit calculates the current increase/decrease amount for the command current value based on the sign of the command steering torque and the deviation of the detected steering torque from the command steering torque. The current increase/decrease amount calculated by the command current increase/decrease amount calculation unit is added to the immediately preceding value of the command current value by the addition unit. Thus, the command current value in the present calculation cycle is calculated.
摘要翻译：电动机由作为虚拟旋转坐标系的γδ坐标系的γ轴电流驱动。指令电流值准备部基于指示转向转矩和检测到的转向转矩来设定γ轴指令电流值。指令电流值准备单元包括指令电流增减量计算单元和加法单元。指令电流增减量计算单元基于指示转向转矩的符号和检测到的转向转矩与指示转向转矩的偏差来计算指令电流值的当前增减量。由指令电流上升/下降量计算单元计算出的当前增加/减少量通过加法单元加到指令当前值的紧前面的值。因此，计算当前计算周期中的指令当前值。

8. 发明申请

US20090190903A1 MOTOR CONTROLLER AND VEHICULAR STEERING SYSTEM USING SAID MOTOR CONTROLLER 有权
标题翻译：电机控制器和使用电机控制器的车辆转向系统
公开(公告)号：US20090190903A1
公开(公告)日：2009-07-30
申请号：US12360217
申请日：2009-01-27
申请人： Hayato KOMATSU , Akira Tanizawa , Masaya Segawa , Yuji Kariatsumari
发明人： Hayato KOMATSU , Akira Tanizawa , Masaya Segawa , Yuji Kariatsumari
IPC分类号： H02P7/06 , H02P6/16
CPC分类号： H02P21/04 , B62D5/046 , H02P21/18 , H02P21/34
摘要： A low speed region position estimating portion is designed to be suitable for when the motor is operating in a low speed region, and estimates a low speed estimated rotational position θ̂L. A high speed region position estimating portion is designed to be suitable for when the motor is operating in a high speed region, and estimates a high speed estimated rotational position θ̂H. A dividing portion obtains a divided estimated rotational position θ̂M by internally dividing the low speed estimated rotational position θ̂L and the high speed estimated rotational position θ̂H. A rotation speed calculating portion obtains a rotation speed ω of a rotor based on an output signal from a steering sensor. The rotational position of the rotor is then obtained by selecting one of i) the low speed estimated rotational position θ̂L, the high speed estimated rotational position θ̂H, or the divided estimated rotational position θ̂M, based on that rotation speed ω.
摘要翻译：低速区域位置估计部分被设计成适合于当电动机在低速区域中操作时，估计低速估计旋转位置。高速区域位置估计部分被设计成适合于当电动机在高速区域中运行时，并估计高速估计旋转位置。分割部通过将低速估计旋转位置和高速估计旋转位置't'内部分割而获得分割的推定旋转位置θt。旋转速度计算部分基于来自转向传感器的输出信号获得转子的转速ω。然后通过根据该转速ωi选择i）低速估计旋转位置，高速估计旋转位置tt或分割的估计旋转位置tt之一来获得转子的旋转位置。

9. 发明授权

US08862322B2 Motor control unit and vehicle steering apparatus 有权
标题翻译：电机控制单元和车辆转向装置
公开(公告)号：US08862322B2
公开(公告)日：2014-10-14
申请号：US12823573
申请日：2010-06-25
申请人： Yuji Kariatsumari , Hayato Komatsu
发明人： Yuji Kariatsumari , Hayato Komatsu
IPC分类号： B62D5/04 , B62D5/14 , H02P21/04 , H02P21/00
CPC分类号： H02P21/0003 , B62D5/046 , H02P21/04
摘要： A motor control unit controls a motor including a rotor and a stator facing the rotor. A current drive unit drives the motor at an axis current value of a rotating coordinate system that rotates in accordance with a control angle that is a rotational angle used in a control. An addition angle calculation unit calculates an addition angle to be added to the control angle. A control angle calculation unit obtains, at every predetermined calculation cycle, a present value of the control angle by adding the addition angle that is calculated by the addition angle calculation unit to an immediately preceding value of the control angle. An angular speed calculation unit calculates an angular speed of the rotor. An addition angle correction unit corrects the addition angle based on the angular speed calculated by the angular speed calculation unit. A filtering unit filters the angular speed calculated by the angular speed calculation unit.
摘要翻译：马达控制单元控制包括转子和面向转子的定子的马达。当前的驱动单元以旋转坐标系的轴电流值驱动电机，该旋转坐标系根据在控制中使用的旋转角度的控制角度旋转。相加角计算单元计算要添加到控制角度的相加角度。控制角计算单元通过将由相加角计算单元计算出的相加角相加到控制角度的先前值，在每个预定计算周期获得控制角的当前值。角速度计算单元计算转子的角速度。相加角校正单元基于由角速度计算单元计算出的角速度校正相加角度。滤波单元滤除由角速度计算单元计算的角速度。

10. 发明申请

US20130035896A1 ROTATION ANGLE DETECTION DEVICE 有权
标题翻译：旋转角度检测装置
公开(公告)号：US20130035896A1
公开(公告)日：2013-02-07
申请号：US13639294
申请日：2011-03-25
申请人： Takeshi Ueda , Hayato Komatsu , Yuji Kariatsumari
发明人： Takeshi Ueda , Hayato Komatsu , Yuji Kariatsumari
IPC分类号： G06F19/00 , G01B7/30
CPC分类号： G01D5/2451 , G01D5/2449
摘要： Angular widths of respective magnetic poles of a detection rotor are stored and divisions are set for respective magnetic pole pairs. Based on output signals from first and second magnetic sensors, a rotation angle computation unit computes first and second rotation angles that are rotation angles within the corresponding division. Based on the angular widths, the rotation angle computation unit identifies the magnetic pole sensed by the first magnetic sensor and computes a first absolute rotation angle using the first rotation angle. Based on the identified magnetic pole and the second rotation angle, the rotation angle computation unit computes a second absolute rotation angle. The rotation angle of the detection rotor is computed based on the first and second absolute angles.
摘要翻译：存储检测转子的各个磁极的角度宽度，并为相应的磁极对设定分割。基于来自第一和第二磁传感器的输出信号，旋转角计算单元计算作为相应划分内的旋转角度的第一和第二旋转角度。基于角度宽度，旋转角度计算单元识别由第一磁性传感器感测的磁极，并使用第一旋转角度来计算第一绝对旋转角度。基于所识别的磁极和第二旋转角度，旋转角度计算单元计算第二绝对旋转角度。基于第一和第二绝对角度来计算检测转子的旋转角度。

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