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1. 发明授权

US06445987B1 Electric power steering controller and control method 有权
标题翻译：电动助力转向控制器及控制方法
公开(公告)号：US06445987B1
公开(公告)日：2002-09-03
申请号：US09781552
申请日：2001-02-13
申请人： Masahiko Kurishige , Noriyuki Inoue , Ryoji Nishiyama , Shunichi Wada , Takayuki Kifuku
发明人： Masahiko Kurishige , Noriyuki Inoue , Ryoji Nishiyama , Shunichi Wada , Takayuki Kifuku
IPC分类号： G06F700
CPC分类号： B62D5/0466
摘要： An electric power steering controller and a control method for assisting a driver during handling a steering wheel in a condition of a small road surface reaction torque of a tire by generating an auxiliary return torque for letting the steering wheel return to its original position. A first road surface reaction torque is estimated from a steering torque of a driver detected by a steering torque detector, a motor acceleration detected by a motor acceleration detector, and a motor current detected by a motor current detector. A second road surface reaction torque is estimated from a steering angle detected by a steering angle sensor, and a vehicle speed detected by a vehicle speed detector. Then, first and second auxiliary return torque signals of the steering wheel are computed from a road surface reaction torque, and, based on the computed result, a torque of the motor is controlled in direction so the steering wheel is returned to its original position.
摘要翻译：一种电动助力转向控制器和控制方法，用于通过产生用于使方向盘返回其原始位置的辅助返回扭矩，在轮胎的小路面反作用转矩的条件下，在操纵方向盘期间辅助驾驶员。根据由转向转矩检测器检测到的驾驶员的转向转矩，由电动机加速度检测器检测到的电动机加速度和由电动机电流检测器检测到的电动机电流来估计第一路面反作用力矩。从由转向角传感器检测到的转向角以及由车速检测器检测到的车速估计第二路面反作用转矩。然后，根据路面反作用扭矩计算方向盘的第一辅助返回扭矩信号，并且基于计算结果，在方向上控制电动机的转矩，使得方向盘返回到其原始位置。

2. 发明授权

US06450287B1 Electric power steering controller and control method thereof 有权
标题翻译：电动助力转向控制器及其控制方法
公开(公告)号：US06450287B1
公开(公告)日：2002-09-17
申请号：US09604289
申请日：2000-06-26
申请人： Masahiko Kurishige , Noriyuki Inoue , Ryoji Nishiyama , Takayuki Kifuku , Shunichi Wada
发明人： Masahiko Kurishige , Noriyuki Inoue , Ryoji Nishiyama , Takayuki Kifuku , Shunichi Wada
IPC分类号： B62D506
CPC分类号： B62D5/0466
摘要： An electric power steering controller including a motor for generating torque for assisting the steering torque of a driver to assist the steering force of a steering system. The controller includes a road reaction torque detector for detecting road reaction torque received by tires from the surface of a road, and a road detection torque addition control for controlling the torque of the motor based on the road reaction torque. The electric power steering controller enables the steering wheel to be returned to its starting point without adding torque in a direction in which the driver returns the steering wheel when the driver contgrols the steering wheel with the small road reaction torque of the tires, for example, when turning at an intersection at a low speed or when turning at a gently curved portion of a road at a high speed.
摘要翻译：一种电动助力转向控制器，包括用于产生用于辅助驾驶员的转向扭矩以帮助转向系统的转向力的转矩的电动机。该控制器包括：道路反作用转矩检测器，用于检测来自道路表面的轮胎接收到的道路反作用扭矩;以及道路检测转矩附加控制，用于基于道路反作用转矩来控制电动机的转矩。电动助力转向控制器使得方向盘能够在驾驶员以轮胎的小的道路反作用扭矩阻止方向盘的情况下将方向盘返回到起点，而不会在驾驶员返回方向盘的方向上增加扭矩，例如，当在交叉点以低速转动或者在高速的道路的轻柔弯曲部分转动时。

3. 发明授权

US06490514B2 Electric power steering control system and method for controlling electric power steering control system 有权
标题翻译：电动助力转向控制系统及控制电动助力转向控制系统的方法
公开(公告)号：US06490514B2
公开(公告)日：2002-12-03
申请号：US09773386
申请日：2001-02-01
申请人： Masahiko Kurishige , Noriyuki Inoue , Toshihide Satake , Takayuki Kifuku , Shunichi Wada
发明人： Masahiko Kurishige , Noriyuki Inoue , Toshihide Satake , Takayuki Kifuku , Shunichi Wada
IPC分类号： B62D600
CPC分类号： B62D5/0466
摘要： A power steering control system is provided with a road surface reaction torque detector in which a motor inertia torque is subtracted from a value obtained by adding steering torque and motor torque, and the value is passed through two stages of primary filters to obtain a road surface reaction torque. In such a computation, the inertia term of the steering wheel manipulation force does not depend on frequency and high frequency components do not bring about any unusually large steering wheel return force. Therefore, a driver can drive without difficulty in adapting to the power steering.
摘要翻译：动力转向控制系统设置有路面反作用转矩检测器，其中从通过增加转向转矩和电动机转矩获得的值中减去电动机惯性转矩，并且该值通过两级初级过滤器以获得路面反应转矩。在这种计算中，方向盘操纵力的惯性项不依赖于频率，而高频分量不会产生任何异常大的方向盘返回力。因此，驾驶员可以无障碍地驾驶适应动力转向。

4. 发明授权

US06246197B1 Electric power steering controller 失效
标题翻译：电动助力转向控制器
公开(公告)号：US06246197B1
公开(公告)日：2001-06-12
申请号：US09044349
申请日：1998-03-19
申请人： Masahiko Kurishige , Noriyuki Inoue , Takayuki Kifuku , Munenori Yamamoto , Shunichi Wada
发明人： Masahiko Kurishige , Noriyuki Inoue , Takayuki Kifuku , Munenori Yamamoto , Shunichi Wada
IPC分类号： H02P700
CPC分类号： B62D5/046
摘要： To estimate the rotation speed of the motor for assisting a steering torque regardless of the running state of a vehicle with accuracy, an application voltage estimation value obtained by subtracting a correction voltage obtained based on a detection current value detected by current detection means from the inter-terminal voltage measurement value of the motor is output and the rotation speed of the motor is estimated based on this application voltage estimation value and the detection current value.
摘要翻译：为了估计用于辅助转向转矩的电动机的转速，而不管车辆的行驶状态如何，其施加电压估计值是通过减去从电流检测装置检测到的检测电流值获得的校正电压而获得的，输出电动机的端子电压测量值，并根据该施加电压估计值和检测电流值来估计电动机的转速。

5. 发明授权

US06496762B2 Electric power steering controller and method of controlling same 有权
标题翻译：电动助力转向控制器及其控制方法
公开(公告)号：US06496762B2
公开(公告)日：2002-12-17
申请号：US09781543
申请日：2001-02-13
申请人： Masahiko Kurishige , Noriyuki Inoue , Ryoji Nishiyama , Shunichi Wada , Hisasi Inoyama
发明人： Masahiko Kurishige , Noriyuki Inoue , Ryoji Nishiyama , Shunichi Wada , Hisasi Inoyama
IPC分类号： B62D506
CPC分类号： B62D5/0466 , B62D5/049 , B62D6/008
摘要： A method of controlling an automotive electric power steering system includes estimating a first road reaction torque from driver's steering torque detected by a steering torque detector. A second road reaction torque is estimated from the steering angle detected by a steering angle sensor. A returning torque compensator calculates a steering wheel-assisting torque from the second road reaction torque. An assisting torque is generated by an electric motor according to the result of the calculation, and is controlled in a direction to return the steering wheel to its center position. The returning torque compensator determines whether the steering angle sensor is faulty when the difference between the first and second road reaction torques is greater than a given value.
摘要翻译：一种控制汽车电动助力转向系统的方法，包括从由转向转矩检测器检测的驾驶员的转向转矩估计第一道路反作用转矩。根据由转向角传感器检测到的转向角来估计第二道路反作用转矩。返回的扭矩补偿器从第二道路反作用转矩计算方向盘辅助转矩。根据计算结果由电动机产生辅助转矩，并且将方向盘的方向控制到其中心位置。当第一和第二道路反作用力之间的差大于给定值时，返回的扭矩补偿器确定转向角传感器是否有故障。

6. 发明授权

US06262547B1 Motor-driven power steering apparatus 失效
标题翻译：电动助力转向装置
公开(公告)号：US06262547B1
公开(公告)日：2001-07-17
申请号：US09000838
申请日：1997-12-30
申请人： Takayuki Kifuku , Shunichi Wada
发明人： Takayuki Kifuku , Shunichi Wada
IPC分类号： H02P700
CPC分类号： B62D5/0466 , B62D5/046
摘要： A motor-driven power steering apparatus comprises: a torque sensor for detecting a steering torque; an assist indicator for outputting an indication signal which indicates the direction and magnitude of an output torque of a motor power-assisting a steering mechanism; a dither signal generator for outputting a high-frequency dither signal; and a control circuit for controlling a current supplied to the motor according to the indication signal provided by the assist indicator and the dither signal provided by the dither signal generator.
摘要翻译：一种电动助力转向装置，包括：用于检测转向转矩的转矩传感器; 用于输出指示信号的辅助指示器，所述指示信号指示用于辅助转向机构的电动机的输出扭矩的方向和大小; 用于输出高频抖动信号的抖动信号发生器; 以及控制电路，用于根据由辅助指示器提供的指示信号和由抖动信号发生器提供的抖动信号来控制提供给电动机的电流。

7. 发明授权

US6032756A Motor-driven power steering system for motor vehicle 失效
标题翻译：机动车用电动助力转向系统
公开(公告)号：US6032756A
公开(公告)日：2000-03-07
申请号：US864514
申请日：1997-05-28
申请人： Hiroshi Nishimura , Takayuki Kifuku , Shunichi Wada
发明人： Hiroshi Nishimura , Takayuki Kifuku , Shunichi Wada
IPC分类号： B62D6/00 , B62D5/04
CPC分类号： B62D5/0493 , B62D5/0463
摘要： A motor-driven power steering system for a motor vehicle implemented inexpensively in a simplified structure allows operation of a steering assist torque generating motor even in the vicinity of a neutral point while preventing rotation of the motor in a direction reverse to the steering direction as well as self-rotation of a steering wheel notwithstanding of occurrence of abnormality in a controller implemented by a CPU. The motor-driven power steering system includes a CPU (3) for controlling a motor (2) in dependence on output of a steering torque detecting unit (1), an interlock means (5) for limiting driving operation of the motor (2) upon occurrence of abnormality in the CPU (3), and a motor driving means (6) for driving the motor (2) in accordance with commands issued by the CPU (3).
摘要翻译：以简化的结构廉价地实现的用于机动车辆的电动机动力转向系统允许即使在中性点附近也可以操作转向辅助转矩产生电动机，同时防止电动机沿与转向方向相反的方向旋转作为由CPU实现的控制器中的异常发生的方向盘的自转。电动助力转向系统包括：用于根据转向转矩检测单元（1）的输出来控制电动机（2）的CPU（3）;用于限制电动机（2）的驱动操作的互锁装置（5）在CPU（3）发生异常时，以及根据CPU（3）发出的命令驱动电动机（2）的电动机驱动装置（6）。

8. 发明授权

US5740040A Electric power steering apparatus with enhanced road feel 失效
标题翻译：具有增强路面感觉的电动助力转向装置
公开(公告)号：US5740040A
公开(公告)日：1998-04-14
申请号：US563585
申请日：1995-11-28
申请人： Takayuki Kifuku , Shunichi Wada
发明人： Takayuki Kifuku , Shunichi Wada
IPC分类号： B62D6/00 , B62D5/04 , G01P3/44 , H02P7/06 , B62D153/00
CPC分类号： G01P3/44 , B62D5/0463 , B62D5/0466 , B62D5/0472
摘要： An electrically-operated steering apparatus in which in addition to avoiding an increase in cost caused by installing a new sensor or using a high process speed CPU, steering feels, such as steering wheel return, viscous feeling, inertial feeling and frictional feeling, are improved. In addition to assisting a static steering torque on the basis of a torque sensor, with a motor-applied voltage detection circuit capable of removing the square wave component attendant on the PWM drive of a motor, a motor angular velocity .omega. is estimated from the output data of the relevant circuit. A motor angular acceleration d.omega./dt is estimated from the motor angular velocity .omega. by using a differential calculator. The steering friction and the moment of inertia are compensated on the basis of the motor angular velocity .omega. and motor angular acceleration d.omega./dt, respectively.
摘要翻译：一种电动转向装置，其中除了避免由安装新传感器或使用高处理速度CPU引起的成本增加之外，改进了诸如方向盘返回，粘性感，惯性感和摩擦感的转向感觉。除了根据转矩传感器辅助静态转向转矩之外，通过电动机施加的电压检测电路能够去除马达的PWM驱动器上的方波分量，从输出端估计电机角速度ω 相关电路的数据。通过使用差分计算器，从电动机角速度ω计算电动机角加速度ωω/ dt。转向摩擦力和转动惯量分别基于电动机角速度ω和电机角加速度dω/ dt来补偿。

9. 发明授权

US06107926A Load short-circuit failure detection method and apparatus and electric power steering device 失效
标题翻译：负载短路故障检测方法及装置及电动助力转向装置
公开(公告)号：US06107926A
公开(公告)日：2000-08-22
申请号：US934772
申请日：1997-09-22
申请人： Takayuki Kifuku , Shunichi Wada
发明人： Takayuki Kifuku , Shunichi Wada
IPC分类号： B62D5/04 , H02H3/093 , H02H7/08 , H02P7/29 , G08B21/00
CPC分类号： B62D5/0487
摘要： A load short-circuit failure detection apparatus comprises load current drive means 8, load current control means 7, load current detection means 6 and load short-circuit failure judging means 9 and judges that a short-circuit failure occurs in a load when a state in which a load current detection value exceeds a predetermined value within a first predetermined time continues for a second predetermined time so that the load drive means can be protected, a short-circuit failure of the load can be detected, and the erroneous detection of a short-circuit failure caused by a transient overcurrent can be prevented.
摘要翻译：负载短路故障检测装置包括负载电流驱动装置8，负载电流控制装置7，负载电流检测装置6和负载短路故障判定装置9，并且当状态为负载时判断在负载中发生短路故障其中负载电流检测值在第一预定时间内超过预定值持续第二预定时间，从而可以保护负载驱动装置，可以检测负载的短路故障，并且检测到可以防止由瞬态过电流引起的短路故障。

10. 发明授权

US5913913A Control apparatus for motor-driven power steering system of motor vehicle 失效
标题翻译：机动车用电动助力转向系统的控制装置
公开(公告)号：US5913913A
公开(公告)日：1999-06-22
申请号：US757828
申请日：1996-11-27
申请人： Takahiro Okanoue , Takayuki Kifuku , Shigeki Ohtagaki , Shunichi Wada
发明人： Takahiro Okanoue , Takayuki Kifuku , Shigeki Ohtagaki , Shunichi Wada
IPC分类号： B62D6/00 , B62D5/04 , G06G7/76
CPC分类号： B62D5/0463 , B62D5/0484
摘要： A control apparatus for a motor-driven power steering system of a motor vehicle controls the steering system such that a steering torque required to be applied by a driver is prevented from increasing abruptly or steeply even when generation of an assist torque applied to the steering system for assisting the driver in steering operation is to be stopped. The control apparatus includes an operation stop decision mechanism (111, 112, OR) for deciding whether or not an operation stop command is to be issued for stopping control operation for the motor-driven power steering system, a torque detecting mechanism (16, 113) for detecting a steering torque transmitted from an input shaft (21a) to an output shaft (21c) of a steering column (21) of the motor-driven power steering system, and an assist torque control mechanism (114, 116, 117, 118, 13) for updating an assist torque applied by an electric motor (20) to the output shaft (21c) with an assist torque control quantity determined on the basis of a detected torque value outputted from the torque detection mechanism (16, 113), wherein upon issuance of the operation stop command by the operation stop decision mechanism (111, 112, OR), the assist torque control mechanism stops application of the assist torque, provided that the detected torque value is lower than a predetermined value inclusive thereof.
摘要翻译：用于机动车辆的电动机动力转向系统的控制装置控制转向系统，使得即使在施加到转向系统的辅助转矩的产生时也防止驾驶员施加的转向转矩突然或陡峭地增加用于辅助驾驶员的转向操作将被停止。控制装置包括用于判定是否要发出用于停止对电动机动力转向系统的控制操作的操作停止命令的操作停止判定机构（111,112或OR），转矩检测机构（16,113 ），用于检测从所述电动机动力转向系统的转向柱（21）的输入轴（21a）到输出轴（21c）传递的转向转矩，以及辅助转矩控制机构（114,116,117，用于根据从转矩检测机构（16,113）输出的检测转矩值确定的辅助转矩控制量，将由电动机（20）施加的辅助转矩更新到输出轴（21c）其特征在于，在由所述动作停止判定机构（111,112，或OR）发出动作停止命令的情况下，辅助转矩控制机构停止施加辅助转矩，只要所述检测转矩值低于规定值 ve。

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