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1. 发明授权

US07240761B2 Electric power steering apparatus 有权
标题翻译：电动助力转向装置
公开(公告)号：US07240761B2
公开(公告)日：2007-07-10
申请号：US10865869
申请日：2004-06-14
申请人： Shigeki Nagase , Masahiko Sakamaki , Katsutoshi Nishizaki , Toshiaki Oya , Takeshi Ueda
发明人： Shigeki Nagase , Masahiko Sakamaki , Katsutoshi Nishizaki , Toshiaki Oya , Takeshi Ueda
IPC分类号： B62D5/04 , H02P27/00 , G05B11/36
CPC分类号： B62D5/046 , H02P21/06
摘要： In a current control system for a cylindrical permanent magnet synchronous motor as the drive source of an electric power steering apparatus, proportional gain Kdp and integral gain Kdi of a d-axis current PI control portion 126 are respectively set to K1·Ld and K1·Rd on the basis of d-axis inductance Ld and d-axis resistance Rd of the motor. Further, proportional gain Kqp and integral gain Kqi of a q-axis current PI control portion 128 are respectively set to K2·Lq and K2·Rq on the basis of q-axis inductance Lq and q-axis resistance Rq of the motor (K1 and K2 are optional coefficients). In this case, both of the d-axis resistance Rd and the q-axis resistance Rq have values resulting from adding the external resistance R′ including wiring resistance to the internal resistance R of the motor.
摘要翻译：在作为电动助力转向装置的驱动源的圆筒形永久磁铁同步电动机的电流控制系统中，d轴电流PI控制部分126的比例增益Kdp和积分增益Kdi分别设定为K1.Ld和K1。 Rd基于电动机的d轴电感Ld和d轴电阻Rd。此外，q轴电流PI控制部分128的比例增益Kqp和积分增益Kqi根据电动机的q轴电感Lq和q轴电阻Rq分别设定为K2.Lq和K2.Rq 而K2是可选的系数）。在这种情况下，d轴电阻Rd和q轴电阻Rq都具有通过将包括布线电阻的外部电阻R'与电动机的内部电阻R相加而得到的值。

2. 发明申请

US20070205041A1 Electric Power Steering System 有权
标题翻译：电动助力转向系统
公开(公告)号：US20070205041A1
公开(公告)日：2007-09-06
申请号：US11579902
申请日：2005-05-09
申请人： Katsutoshi Nishizaki , Shirou Nakano , Ken Matsubara , Toshiaki Oya , Yasuhiro Kamatani , Masahiko Sakamaki , Yoshikazu Kuromaru , Shigeki Nagase , Takayasu Yamazaki , Yasuhiro Saitou , Takeshi Ueda
发明人： Katsutoshi Nishizaki , Shirou Nakano , Ken Matsubara , Toshiaki Oya , Yasuhiro Kamatani , Masahiko Sakamaki , Yoshikazu Kuromaru , Shigeki Nagase , Takayasu Yamazaki , Yasuhiro Saitou , Takeshi Ueda
IPC分类号： G06F17/00
CPC分类号： B62D6/10 , B62D5/0472
摘要： An electric power steering system is provided which is capable of providing a favorable steering feeling without using compensation logics such as of inertia compensation and friction compensation. The electric power steering system includes road-noise suppression control means (213) for controlling a steering assist motor (9) in a manner to damp torque transmission in a higher frequency region representing road noises than a frequency region representing road information. A friction value of a steering mechanism (A) is decreased enough to allow the intrinsic vibrations of the steering mechanism (A) to appear. Rotor inertia of the steering assist motor (9) is set to a value small enough to allow the frequencies of the intrinsic vibrations to be present in the frequency region where the torque transmission is damped by the road-noise suppression control means (213).
摘要翻译：提供一种电动助力转向系统，其能够在不使用惯性补偿和摩擦补偿等补偿逻辑的情况下提供良好的转向感。电动助力转向系统包括道路噪声抑制控制装置，用于以比表示道路信息的频率区域更低的代表道路噪声的较高频率区域的方式来控制转向辅助电动机（9）。转向机构（A）的摩擦值减小到足以使转向机构（A）的固有振动出现。将转向辅助马达（9）的转子惯量设定为足够小的值，以使固有振动的频率存在于由道路噪声抑制控制装置（213）阻尼转矩传递的频率区域中。

3. 发明授权

US07604088B2 Electric power steering system 有权
标题翻译：电动助力转向系统
公开(公告)号：US07604088B2
公开(公告)日：2009-10-20
申请号：US11579902
申请日：2005-05-09
申请人： Katsutoshi Nishizaki , Shirou Nakano , Ken Matsubara , Toshiaki Oya , Yasuhiro Kamatani , Masahiko Sakamaki , Yoshikazu Kuroumaru , Shigeki Nagase , Takayasu Yamazaki , Yasuhiro Saitou , Takeshi Ueda
发明人： Katsutoshi Nishizaki , Shirou Nakano , Ken Matsubara , Toshiaki Oya , Yasuhiro Kamatani , Masahiko Sakamaki , Yoshikazu Kuroumaru , Shigeki Nagase , Takayasu Yamazaki , Yasuhiro Saitou , Takeshi Ueda
IPC分类号： B62D5/04
CPC分类号： B62D6/10 , B62D5/0472
摘要： An electric power steering system is provided which is capable of providing a favorable steering feeling without using compensation logics such as of inertia compensation and friction compensation. The electric power steering system includes road-noise suppression control means (213) for controlling a steering assist motor (9) in a manner to damp torque transmission in a higher frequency region representing road noises than a frequency region representing road information. A friction value of a steering mechanism (A) is decreased enough to allow the intrinsic vibrations of the steering mechanism (A) to appear. Rotor inertia of the steering assist motor (9) is set to a value small enough to allow the frequencies of the intrinsic vibrations to be present in the frequency region where the torque transmission is damped by the road-noise suppression control means (213).
摘要翻译：提供一种电动助力转向系统，其能够在不使用惯性补偿和摩擦补偿等补偿逻辑的情况下提供良好的转向感。电动助力转向系统包括道路噪声抑制控制装置，用于以比表示道路信息的频率区域更低的代表道路噪声的较高频率区域的方式来控制转向辅助电动机（9）。转向机构（A）的摩擦值减小到足以使转向机构（A）的固有振动出现。将转向辅助马达（9）的转子惯量设定为足够小的值，以使固有振动的频率存在于由道路噪声抑制控制装置（213）阻尼转矩传递的频率区域中。

4. 发明申请

US20070055425A1 Electric power steering system 审中-公开
标题翻译：电动助力转向系统
公开(公告)号：US20070055425A1
公开(公告)日：2007-03-08
申请号：US10570988
申请日：2004-09-09
申请人： Toshiaki Oya , Katsutoshi Nishizaki , Masahiko Sakamaki
发明人： Toshiaki Oya , Katsutoshi Nishizaki , Masahiko Sakamaki
IPC分类号： B62D6/00
CPC分类号： B62D5/0463
摘要： An electric power steering system includes: an electric motor 6 for generating a steering assist force; a torque sensor 3 for detecting a steering torque; means 10 for generating a control target value for the electric motor 6 according to the detected steering torque; and means 28 for providing a non-interactive control of the electric motor. The system further includes a filter 12 which acts in the process of generating the control target value for the electric motor based on the steering toque. The filter 12 includes: a phase compensator 13 for decreasing a resonant peak gain of the system; and an LPF 12 for decreasing a second peak at a higher frequency than that of the resonant peak. The system is not degraded in the characteristics thereof even though the system provides a non-interactive control for ensuring followability of motor control.
摘要翻译：电动助力转向系统包括：用于产生转向辅助力的电动机6; 用于检测转向转矩的转矩传感器3; 用于根据检测到的转向扭矩产生用于电动机6的控制目标值的装置10; 以及用于提供电动机的非交互式控制的装置28。该系统还包括过滤器12，该过滤器12在基于转向转矩产生用于电动机的控制目标值的过程中起作用。滤波器12包括：相位补偿器13，用于降低系统的谐振峰值增益; 以及用于以比谐振峰值更高的频率降低第二峰值的LPF 12。即使系统提供用于确保电机控制的可追溯性的非交互式控制，该系统的特性也不会降低。

5. 发明授权

US06883637B2 Electric power steering device and control method utilized for controlling said electric power steering device 有权
标题翻译：用于控制所述电动助力转向装置的电动助力转向装置和控制方法
公开(公告)号：US06883637B2
公开(公告)日：2005-04-26
申请号：US10740808
申请日：2003-12-22
申请人： Katsutoshi Nishizaki , Toshiaki Oya , Masahiko Sakamaki
发明人： Katsutoshi Nishizaki , Toshiaki Oya , Masahiko Sakamaki
IPC分类号： B62D6/00 , B62D5/04 , B62D101/00 , B62D113/00 , B62D119/00 , H02P29/00
CPC分类号： B62D5/0463
摘要： An electric power steering device capable of attaining the expected control and control characteristics while using a phase compensator, includes a target current setting unit including a compensation unit having an inertia compensating unit for outputting an inertial compensating current value and a damper control unit for outputting a damper control current value, a compensation unit for outputting a compensation current value, a basic assist current setting unit for outputting a basic assist current value, and a phase compensating unit connected with the downstream stage of the basic assist current setting unit for outputting a target current value by performing a phase compensation of an added current value while receiving no influence from the dead zone or the characteristic break points of an assist table for setting the basic assist current value.
摘要翻译：一种能够在使用相位补偿器的同时获得期望的控制和控制特性的电动助力转向装置包括：目标电流设定单元，包括具有用于输出惯性补偿电流值的惯性补偿单元的补偿单元和用于输出惯性补偿电流值的减震器控制单元减振器控制电流值，用于输出补偿电流值的补偿单元，用于输出基本辅助电流值的基本辅助电流设定单元和与基本辅助电流设定单元的下游级连接的相位补偿单元，用于输出目标通过在不接受来自用于设定基本辅助电流值的辅助台的死区或特征断点的影响的同时执行相加电流值的相位补偿来执行电流值。

6. 发明申请

US20070118262A1 Eletric power steering system 审中-公开
标题翻译：电动助力转向系统
公开(公告)号：US20070118262A1
公开(公告)日：2007-05-24
申请号：US10574007
申请日：2004-09-30
申请人： Katsutoshi Nishizaki , Toshiaki Oya , Masahiko Sakamaki
发明人： Katsutoshi Nishizaki , Toshiaki Oya , Masahiko Sakamaki
IPC分类号： B62D6/00
CPC分类号： B62D5/0472 , B62D7/224
摘要： An electric power steering system causing an electric motor 6 to generate a steering assist force according to a steering torque, includes: a torque sensor 3 for detecting the steering torque; phase compensation means 15a, 15b acting when a target control value of the electric motor 6 is generated based on an output from the torque sensor 3; and means 15c for varying the characteristic of the phase compensation means depending upon whether a steering mode is steer with driving or steer without driving, whereby a loadless steering feeling due to phase lag is not encountered during driving even if vibrations during steer without driving are suppressed by a phase compensator.
摘要翻译：一种使电动马达6根据转向转矩产生转向辅助力的电动助力转向系统，包括：用于检测转向转矩的转矩传感器3; 基于来自扭矩传感器3的输出而产生电动机6的目标控制值时的相位补偿装置15a，15b; 以及用于根据转向方式是否随驾驶或转向而不进行驾驶而改变相位补偿装置的特性的装置15c，由此即使在没有驾驶的转向时的振动下，驾驶期间也不会遇到由于相位滞后引起的无负载转向感觉被相位补偿器抑制。

7. 发明申请

US20090079373A1 MOTOR CONTROLLER AND ELECTRIC POWER STEERING SYSTEM 有权
标题翻译：电机控制器和电力转向系统
公开(公告)号：US20090079373A1
公开(公告)日：2009-03-26
申请号：US12236059
申请日：2008-09-23
申请人： Shigeki Nagase , Takeshi Ueda , Ken Matsubara , Toshiaki Oya , Yasuyuki Yoshii
发明人： Shigeki Nagase , Takeshi Ueda , Ken Matsubara , Toshiaki Oya , Yasuyuki Yoshii
IPC分类号： H02H7/085 , H02P6/08
CPC分类号： B62D5/0487 , H02P6/28 , H02P29/027
摘要： A current sensor of a motor controller detects the current applied to a motor drive circuit and thus a phase where a failure cannot be detected would occur without taking any measures. However, an abnormal current monitor section contained in a microcomputer receives a voltage signal of an average value of the currents detected in the current sensor by allowing a signal to pass through a first LPF having a cutoff frequency sufficiently lower than the frequency of a PWM signal. Therefore, whether or not the value is within a predetermined normal range is checked, whereby whether or not some failure containing a failure of the current sensor occurs can be easily determined about every phase.
摘要翻译：电动机控制器的电流传感器检测施加到电动机驱动电路的电流，因此在不采取任何措施的情况下将发生不能检测到故障的阶段。然而，包含在微计算机中的异常电流监视部分通过允许信号通过具有足够低于PWM信号的频率的截止频率的第一LPF来接收在当前传感器中检测到的电流的平均值的电压信号。因此，检查该值是否在预定的正常范围内，因此可以容易地确定每个相位是否确定包含电流传感器的故障的一些故障是否发生。

8. 发明授权

US07791293B2 Motor controller and electric power steering system 有权
标题翻译：电机控制器和电动助力转向系统
公开(公告)号：US07791293B2
公开(公告)日：2010-09-07
申请号：US12236059
申请日：2008-09-23
申请人： Shigeki Nagase , Takeshi Ueda , Ken Matsubara , Toshiaki Oya , Yasuyuki Yoshii
发明人： Shigeki Nagase , Takeshi Ueda , Ken Matsubara , Toshiaki Oya , Yasuyuki Yoshii
IPC分类号： H02P6/00 , H02P6/14
CPC分类号： B62D5/0487 , H02P6/28 , H02P29/027
摘要： A current sensor of a motor controller detects the current applied to a motor drive circuit and thus a phase where a failure cannot be detected would occur without taking any measures. However, an abnormal current monitor section contained in a microcomputer receives a voltage signal of an average value of the currents detected in the current sensor by allowing a signal to pass through a first LPF having a cutoff frequency sufficiently lower than the frequency of a PWM signal. Therefore, whether or not the value is within a predetermined normal range is checked, whereby whether or not some failure containing a failure of the current sensor occurs can be easily determined about every phase.
摘要翻译：电动机控制器的电流传感器检测施加到电动机驱动电路的电流，因此在不采取任何措施的情况下将发生不能检测到故障的阶段。然而，包含在微计算机中的异常电流监视部分通过允许信号通过具有足够低于PWM信号的频率的截止频率的第一LPF来接收在当前传感器中检测到的电流的平均值的电压信号。因此，检查该值是否在预定的正常范围内，因此可以容易地确定每个相位是否确定包含电流传感器的故障的一些故障是否发生。

9. 发明授权

US07711463B2 Electric power steering system 失效
标题翻译：电动助力转向系统
公开(公告)号：US07711463B2
公开(公告)日：2010-05-04
申请号：US10591443
申请日：2005-03-03
申请人： Toshiaki Oya , Masahiko Sakamaki
发明人： Toshiaki Oya , Masahiko Sakamaki
IPC分类号： B62D6/00
CPC分类号： B62D5/0463
摘要： An electric power steering system includes: a band-stop filter 15a having a transfer function G1(s) for suppressing resonance, and a phase compensator 15b having a transfer function G2(s). The above function G1(s) is represented by an expression G1(s)=(s2+2ζ11ω1+ω12)/(s2+2ζ12ω1+ω12), where s is a Laplace operator, ζ11 is a damping coefficient, ζ12 is a damping coefficient, and ω1 is an angular frequency. On the other hand, the above function G2(s) is represented by an expression G2(s)=(s2+2ζ21ω2+ω22)/(s2+2ζ22ω2+ω22),where s is a Laplace operator, ζ21 is a damping coefficient, ζ22 is a damping coefficient, and ω1 is an angular frequency. Furthermore, the above damping coefficients ζ21, ζ22 satisfy an expression ζ2124 ζ22≧1.Thus, a filter such as a phase compensator may attain a design freedom while preventing the increase of arithmetic load, whereby both the suppression of resonance and a good assist response in a normal steering speed region, for example, may be achieved.
摘要翻译：电动助力转向系统包括：具有用于抑制共振的传递函数G1（s）的带阻滤波器15a和具有传递函数G2（s）的相位补偿器15b。上述函数G1（s）由表达式G1（s）=（s2 +2ζ11ω1+ω12）/（s2 +2ζ12ω1+ω12）表示，其中s是拉普拉斯算子，ζ11是阻尼系数，ζ12是阻尼系数，ω1是角频率。另一方面，上述函数G2（s）由表达式G2（s）=（s2 +2ζ21ω2+ω22）/（s2 +2ζ22ω2+ω22）表示，其中s是拉普拉斯算子，ζ21是阻尼系数 ζ22是阻尼系数，ω1是角频率。此外，上述阻尼系数ζ21，ζ22满足ζ2124ζ22≥1的表达式。因此，诸如相位补偿器之类的滤波器可以在防止运算负载增加的同时获得设计自由度，从而抑制谐振和良好的辅助响应例如，可以在正常的转向速度区域中实现。

10. 发明申请

US20070198153A1 Electric power steering system 失效
标题翻译：电动助力转向系统
公开(公告)号：US20070198153A1
公开(公告)日：2007-08-23
申请号：US10591443
申请日：2005-03-03
申请人： Toshiaki Oya , Masahiko Sakamaki
发明人： Toshiaki Oya , Masahiko Sakamaki
IPC分类号： B62D6/00
CPC分类号： B62D5/0463
摘要： An electric power steering system includes: a band-stop filter 15a having a transfer function G1(s) for suppressing resonance, and a phase compensator 15b having a transfer function G2(s). The above function G1(s) is represented by an expression G1(s)=(s2+2ζ11ω1+ω12)/(s2+2ζ12ω1+ω12), where s: a Laplace operator, ζ11: a damping coefficient, ζ12: a damping coefficient, and ω1: an angular frequency. On the other hand, the above function G2(s) is represented by an expression G2(s)=(s2+2ζ21ω2+ω22)/(s2+2ζ22ω2+ω22), where s: a Laplace operator, ζ21: a damping coefficient, ζ22: a damping coefficient, and ω1: an angular frequency. Furthermore, the above damping coefficients ζ21, ζ22 satisfy an expression ζ2124 ζ22≧1. Thus, a filter such as a phase compensator may attain a design freedom while preventing the increase of arithmetic load, whereby both the suppression of resonance and a good assist response in a normal steering speed region, for example, may be achieved.
摘要翻译：电动助力转向系统包括：具有用于抑制共振的传递函数G 1（s）的带阻滤波器15a和具有传递函数G 2 2的相位补偿器15b， / SUB>（s）。上述函数G 1（s）由表达式G 1（s）=（s 2 + 2zeta 11）表示， 1/2 + 2zeta 12/2 + 2zeta 12 / 其中s：拉普拉斯算子，zeta 11：一个阻尼器，一个阻尼器，一个阻尼器，一个阻尼器，一个阻尼器系数，zeta 12：阻尼系数和ω=1π角度频率。另一方面，上述函数G 2（s）由表达式G 2（s）=（s 2+ 2zeta 2/2 + 2 + 2 + 2 + 2 + 2 + 其中s：拉普拉斯算子，zeta 21，其中s = 1/2，阻尼系数，阻尼系数，ωω1：角频率。此外，上述阻尼系数zeta 21，zeta 22满足表达式ζ21ζ22ζ22 = 1 。因此，诸如相位补偿器的滤波器可以在防止运算负载增加的同时获得设计自由度，从而可以实现例如在正常转向速度区域中的谐振抑制和良好的辅助响应。

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