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1. 发明授权

US08548684B2 Electric power steering control apparatus 有权
标题翻译：电动助力转向控制装置
公开(公告)号：US08548684B2
公开(公告)日：2013-10-01
申请号：US12990958
申请日：2008-11-04
申请人： Masahiko Kurishige , Takayuki Kifuku , Koji Nagao
发明人： Masahiko Kurishige , Takayuki Kifuku , Koji Nagao
IPC分类号： B62D6/00
CPC分类号： B62D5/0463 , B62D5/0472
摘要： To obtain an electric power steering control apparatus hard to generate vibration even when accuracy is not high enough for torque vibration of extremely small output of torque detecting means. An electric power steering control apparatus includes steering torque detecting means, a torque controller that computes an auxiliary torque current, a motor that generates a torque for assisting a steering torque, current steering component removing means for removing a component by steering, vibration velocity estimating means for estimating a vibration velocity in a rotational direction of the motor, and a damping controller that computes a damping current to be added to the auxiliary torque current, and the vibration velocity estimating means includes vibration acceleration computing means for computing vibration acceleration in the rotational direction of the motor by multiplication of a motor current output from the current steering component removing means, and rotational acceleration integrating means for computing the vibration velocity in the motor rotational direction by integrating the vibration acceleration computing means.
摘要翻译：即使在转矩检测装置的极小输出的扭矩振动的精度不够高的情况下，也能够获得难以产生振动的电动助力转向控制装置。电动助力转向控制装置包括转向转矩检测装置，计算辅助转矩电流的转矩控制器，产生用于辅助转向转矩的转矩的电动机，用于通过转向去除部件的电流转向部件去除装置，振动速度估计装置用于估计电动机的旋转方向的振动速度和计算要添加到辅助转矩电流的阻尼电流的阻尼控制器，并且所述振动速度估计装置包括用于计算旋转方向的振动加速度的振动加速度计算装置以及通过对振动加速度计算装置进行积分来计算电动机旋转方向的振动速度的旋转加速度积分装置。

2. 发明授权

US08346435B2 Motor-driven power steering control device 有权
标题翻译：电动助力转向控制装置
公开(公告)号：US08346435B2
公开(公告)日：2013-01-01
申请号：US12866332
申请日：2008-10-08
申请人： Masahiko Kurishige , Takayuki Kifuku , Koji Nagao
发明人： Masahiko Kurishige , Takayuki Kifuku , Koji Nagao
IPC分类号： A01B69/00
CPC分类号： B62D5/046
摘要： Provided is an electric power steering control device capable of performing damping control without current detection to perform stable damping control even when a target current and an actual current value differ from each other. The electric power steering control device includes steering torque detection means for detecting a steering torque, a torque controller for computing an assist torque current, a motor for generating a torque for assisting the steering torque, rotation speed estimation means for estimating a rotation speed of the motor, and a damping controller for computing a damping current by using an estimated value of the rotation speed of the motor. The rotation speed estimating means includes steering component removing means for steering torque, for removing a component due to steering from an output of the steering torque detection means, rotation angle corresponding value computing means for multiplying an output of the steering component removing means for steering torque by an inverse number of a rigidity of a torsion bar and −1 to compute a value corresponding to a rotation angle, and a rotation angle differentiator for differentiating an output of the rotation angle corresponding value computing means to compute a value corresponding to a rotation angular velocity.
摘要翻译：提供一种即使当目标电流和实际电流值彼此不同时，也能够进行没有电流检测的阻尼控制来进行稳定的阻尼控制的电动助力转向控制装置。电动助力转向控制装置包括用于检测转向转矩的转向转矩检测装置，用于计算辅助转矩电流的转矩控制器，用于产生用于辅助转向转矩的转矩的电动机，用于估计转向转矩的转速的转速估计装置电动机和用于通过使用电动机的转速的估计值来计算阻尼电流的阻尼控制器。旋转速度估计装置包括用于从转向转矩检测装置的输出中去除由于转向而产生的分量的转向转矩的转向分量去除装置，用于将转向分量去除装置的输出乘以转向转矩的旋转角度对应值计算装置通过扭杆的刚度的倒数和-1来计算对应于旋转角度的值，以及旋转角度微分器，用于微分旋转角度对应值计算装置的输出以计算对应于旋转角度的值速度。

3. 发明申请

US20110054740A1 ELECTRIC POWER STEERING CONTROL APPARATUS 有权
标题翻译：电动转向控制装置
公开(公告)号：US20110054740A1
公开(公告)日：2011-03-03
申请号：US12990958
申请日：2008-11-04
申请人： Masahiko Kurishige , Takayuki Kifuku , Koji Nagao
发明人： Masahiko Kurishige , Takayuki Kifuku , Koji Nagao
IPC分类号： B62D6/08
CPC分类号： B62D5/0463 , B62D5/0472
摘要： To obtain an electric power steering control apparatus hard to generate vibration even when accuracy is not high enough for torque vibration of extremely small output of torque detecting means. An electric power steering control apparatus includes steering torque detecting means, a torque controller that computes an auxiliary torque current, a motor that generates a torque for assisting a steering torque, current steering component removing means for removing a component by steering, vibration velocity estimating means for estimating a vibration velocity in a rotational direction of the motor, and a damping controller that computes a damping current to be added to the auxiliary torque current, and the vibration velocity estimating means includes vibration acceleration computing means for computing vibration acceleration in the rotational direction of the motor by multiplication of a motor current output from the current steering component removing means, and rotational acceleration integrating means for computing the vibration velocity in the motor rotational direction by integrating the vibration acceleration computing means.
摘要翻译：即使在转矩检测装置的极小输出的扭矩振动的精度不够高的情况下，也能够获得难以产生振动的电动助力转向控制装置。电动助力转向控制装置包括转向转矩检测装置，计算辅助转矩电流的转矩控制器，产生用于辅助转向转矩的转矩的电动机，用于通过转向去除部件的电流转向部件去除装置，振动速度估计装置用于估计电动机的旋转方向的振动速度和计算要添加到辅助转矩电流的阻尼电流的阻尼控制器，并且所述振动速度估计装置包括用于计算旋转方向的振动加速度的振动加速度计算装置以及通过对振动加速度计算装置进行积分来计算电动机旋转方向的振动速度的旋转加速度积分装置。

4. 发明申请

US20100324785A1 MOTOR-DRIVEN POWER STEERING CONTROL DEVICE 有权
标题翻译：电机驱动力转向控制装置
公开(公告)号：US20100324785A1
公开(公告)日：2010-12-23
申请号：US12866332
申请日：2008-10-08
申请人： Masahiko Kurishige , Takayuki Kifuku , Koji Nagao
发明人： Masahiko Kurishige , Takayuki Kifuku , Koji Nagao
IPC分类号： G06F19/00 , B62D5/04
CPC分类号： B62D5/046
摘要： Provided is an electric power steering control device capable of performing damping control without current detection to perform stable damping control even when a target current and an actual current value differ from each other. The electric power steering control device includes steering torque detection means for detecting a steering torque, a torque controller for computing an assist torque current, a motor for generating a torque for assisting the steering torque, rotation speed estimation means for estimating a rotation speed of the motor, and a damping controller for computing a damping current by using an estimated value of the rotation speed of the motor. The rotation speed estimating means includes steering component removing means for steering torque, for removing a component due to steering from an output of the steering torque detection means, rotation angle corresponding value computing means for multiplying an output of the steering component removing means for steering torque by an inverse number of a rigidity of a torsion bar and −1 to compute a value corresponding to a rotation angle, and a rotation angle differentiator for differentiating an output of the rotation angle corresponding value computing means to compute a value corresponding to a rotation angular velocity.
摘要翻译：提供一种即使当目标电流和实际电流值彼此不同时，也能够进行没有电流检测的阻尼控制来进行稳定的阻尼控制的电动助力转向控制装置。电动助力转向控制装置包括用于检测转向转矩的转向转矩检测装置，用于计算辅助转矩电流的转矩控制器，用于产生用于辅助转向转矩的转矩的电动机，用于估计转向转矩的转速的转速估计装置电动机和用于通过使用电动机的转速的估计值来计算阻尼电流的阻尼控制器。旋转速度估计装置包括用于从转向转矩检测装置的输出中去除由于转向而产生的分量的转向转矩的转向分量去除装置，用于将转向分量去除装置的输出乘以转向转矩的旋转角度对应值计算装置通过扭杆的刚度的倒数和-1来计算对应于旋转角度的值，以及旋转角度微分器，用于微分旋转角度对应值计算装置的输出以计算对应于旋转角度的值速度。

5. 发明授权

US08977436B2 Electric power steering system 有权
标题翻译：电动助力转向系统
公开(公告)号：US08977436B2
公开(公告)日：2015-03-10
申请号：US13811849
申请日：2011-07-13
申请人： Masaya Endo , Takashi Iwasaki , Masahiko Kurishige , Takayuki Kifuku , Yoshihiko Kinpara
发明人： Masaya Endo , Takashi Iwasaki , Masahiko Kurishige , Takayuki Kifuku , Yoshihiko Kinpara
IPC分类号： B62D5/04 , B62D6/00
CPC分类号： B62D5/046 , B62D5/0463 , B62D6/008
摘要： An electric power steering system includes steering a torque detector that detects steering torque, and a motor that provides assist torque based on the detected steering torque, wherein for the purpose of estimating, without detecting motor rotation angular information and rotation angular velocity information, the road reaction torque in which the influence of the motor inertia torque is eliminated, a value corresponding to rotation velocity of a steering shaft is calculated based on the steering torque and the assist torque, to calculate road reaction torque based on the value corresponding to the rotation velocity of the steering shaft.
摘要翻译：电动助力转向系统包括转向检测转向转矩的转矩检测器，以及基于检测到的转向转矩提供辅助转矩的电动机，其中为了估计，在不检测电动机旋转角度信息和旋转角速度信息的情况下，道路基于转向转矩和辅助转矩，计算与转向轴的转速对应的值，根据与转速对应的值来计算道路反作用转矩，转向轴。

6. 发明授权

US08326493B2 Motor driven power steering control apparatus for suppressing vibration 有权
标题翻译：用于抑制振动的电动机动力转向控制装置
公开(公告)号：US08326493B2
公开(公告)日：2012-12-04
申请号：US12676633
申请日：2007-12-14
申请人： Isao Kezobo , Masahiko Kurishige , Masaya Endo , Takayuki Kifuku , Seiji Sawada , Masaki Matsushita
发明人： Isao Kezobo , Masahiko Kurishige , Masaya Endo , Takayuki Kifuku , Seiji Sawada , Masaki Matsushita
IPC分类号： B62D6/00
CPC分类号： B62D5/0463 , B62D5/0472
摘要： A motor-driven power steering control apparatus is achieved, which uses a small-amplitude pass filter, the filter filtering out a component having a small amplitude, to remove a steering component from dynamic state quantity such as a rotational speed signal, and to accurately extract only a vibration component having a small amplitude compared with the steering component, and controls the vibration component to be reduced.
摘要翻译：实现了一种使用小振幅通过滤波器的电动机动力转向控制装置，滤波器滤出具有小幅度的分量，以从诸如转速信号的动态状态量中去除转向分量，并且精确地仅提取与转向部件相比具有小振幅的振动分量，并且控制要减小的振动分量。

7. 发明申请

US20110153162A1 MOTOR-DRIVEN POWER STEERING CONTROL APPARTUS 有权
标题翻译：电动机动力转向控制装置
公开(公告)号：US20110153162A1
公开(公告)日：2011-06-23
申请号：US12676633
申请日：2007-12-14
申请人： Isao Kezobo , Masahiko Kurishige , Masaya Endo , Takayuki Kifuku , Seiji Sawada , Masaki Matsushita
发明人： Isao Kezobo , Masahiko Kurishige , Masaya Endo , Takayuki Kifuku , Seiji Sawada , Masaki Matsushita
IPC分类号： B62D6/00
CPC分类号： B62D5/0463 , B62D5/0472
摘要： A motor-driven power steering control apparatus is achieved, which uses a small-amplitude pass filter, the filter filtering out a component having a small amplitude, to remove a steering component from dynamic state quantity such as a rotational speed signal, and to accurately extract only a vibration component having a small amplitude compared with the steering component, and controls the vibration component to be reduced.
摘要翻译：实现了一种使用小振幅通过滤波器的电动机动力转向控制装置，滤波器滤出具有小幅度的分量，以从诸如转速信号的动态状态量中去除转向分量，并且精确地仅提取与转向部件相比具有小振幅的振动分量，并且控制要减小的振动分量。

8. 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。

9. 发明授权

US08626394B2 Electric power steering control device 有权
标题翻译：电动助力转向控制装置
公开(公告)号：US08626394B2
公开(公告)日：2014-01-07
申请号：US13497103
申请日：2010-10-21
申请人： Isao Kezobo , Masahiko Kurishige , Masaya Endo , Takayuki Kifuku
发明人： Isao Kezobo , Masahiko Kurishige , Masaya Endo , Takayuki Kifuku
IPC分类号： B62D5/08
CPC分类号： B62D5/0472
摘要： An electric power steering control device includes: a vibration extracting filter for performing filter processing on a rotation speed of a motor to reduce a gain on a low frequency side so as to output a vibration-component signal; a current variable gain map for detecting a current flowing through the motor as a first state quantity so as to calculate a current variable gain based on the current; a rotation-speed variable gain map for detecting the rotation speed of the motor as a second state quantity so as to calculate a rotation-speed variable gain based on the rotation speed; a correction mechanism calculating a vibration suppression current; and current controller calculating a target current so as to control the current flowing through the motor.
摘要翻译：一种电动助力转向控制装置，包括：振动提取过滤器，用于对电动机的转速进行滤波处理，以降低低频侧的增益，从而输出振动分量信号; 电流可变增益图，用于检测流过电动机的电流作为第一状态量，以便基于电流计算电流可变增益; 旋转速度可变增益图，用于检测作为第二状态量的电动机的转速，以便根据转速计算转速可变增益; 计算振动抑制电流的校正机构; 电流控制器计算目标电流，以控制流过马达的电流。

10. 发明申请

US20130124049A1 ELECTRIC POWER STEERING SYSTEM 有权
标题翻译：电力转向系统
公开(公告)号：US20130124049A1
公开(公告)日：2013-05-16
申请号：US13811849
申请日：2011-07-13
申请人： Masaya Endo , Takashi Iwasaki , Masahiko Kurishige , Takayuki Kifuku , Yoshihiko Kinpara
发明人： Masaya Endo , Takashi Iwasaki , Masahiko Kurishige , Takayuki Kifuku , Yoshihiko Kinpara
IPC分类号： B62D5/04
CPC分类号： B62D5/046 , B62D5/0463 , B62D6/008
摘要： An electric power steering system includes steering a torque detector that detects steering torque, and a motor that provides assist torque based on the detected steering torque, wherein for the purpose of estimating, without detecting motor rotation angular information and rotation angular velocity information, the road reaction torque in which the influence of the motor inertia torque is eliminated, a value corresponding to rotation velocity of a steering shaft is calculated based on the steering torque and the assist torque, to calculate road reaction torque based on the value corresponding to the rotation velocity of the steering shaft.
摘要翻译：电动助力转向系统包括转向检测转向转矩的转矩检测器，以及基于检测到的转向转矩提供辅助转矩的电动机，其中为了估计，在不检测电动机旋转角度信息和旋转角速度信息的情况下，道路基于转向转矩和辅助转矩，计算与转向轴的转速对应的值，根据与转速对应的值来计算道路反作用转矩，的转向轴。

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