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1. 发明授权

US07873453B2 Control apparatus 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：US07873453B2
公开(公告)日：2011-01-18
申请号：US11813887
申请日：2006-01-12
申请人： Hideyuki Kobayashi , Toru Sakaguchi , Shuji Endo , Atsushi Kojima
发明人： Hideyuki Kobayashi , Toru Sakaguchi , Shuji Endo , Atsushi Kojima
IPC分类号： A01B69/00
CPC分类号： B62D5/0472 , B62D5/0463 , B62D5/0466
摘要： The present invention provides a control apparatus for an electric power steering apparatus comprises: a steering assist command value calculating section; a current control section that calculates a voltage command value; and a motor driving section that drives a motor based on the voltage command value, wherein an assist power from the motor is applied to a steering system, the control apparatus is characterized in that an SAT measuring section, that inputs an angular speed and an angular acceleration of the motor, the steering assist command value and the torque signal therein so as to estimate an SAT, is provided, and the SAT obtained by the SAT measuring section is feedbacked to the steering assist command value via a feedback section composed of a phase compensating section and a gain section.
摘要翻译：本发明提供一种电动助力转向装置的控制装置，包括：转向辅助指令值计算部; 电流控制部，其计算电压指令值; 以及电动机驱动部，其基于所述电压指令值驱动电动机，其中来自所述电动机的辅助动力被施加到转向系统，所述控制装置的特征在于，SAT测量部输入角速度和角度提供电动机的加速度，转向辅助指令值和其中的转矩信号以估计SAT，并且由SAT测量部分获得的SAT通过由相位组成的反馈部分反馈到转向辅助指令值补偿部分和增益部分。

2. 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。

3. 发明授权

US5801504A Control apparatus for electric power steering system 失效
标题翻译：电动助力转向系统控制装置
公开(公告)号：US5801504A
公开(公告)日：1998-09-01
申请号：US713105
申请日：1996-09-16
申请人： Shuji Endo , Yusuke Itakura , Hideyuki Kobayashi
发明人： Shuji Endo , Yusuke Itakura , Hideyuki Kobayashi
IPC分类号： B62D5/04 , H02P7/00 , H02P7/14
CPC分类号： B62D5/0463 , B62D5/046 , H02P7/04
摘要： A control apparatus for an electric power steering system assures stability of the feedback control and control generation of noise from the control circuit when the steering wheel automatically returns to the neutral position by means of the self-aligning torque in order to improve the feeling of the steering operation. In the motor driving circuit connecting four semiconductor elements in the shape of H bridge, the semiconductors of the first arm are driven by the duty ratio D1 while the semiconductors of the second arm are driven by the duty radio D2 defined by the function of the duty ratio D1 (D2 is longer in time than D1).
摘要翻译：用于电动助力转向系统的控制装置确保当方向盘通过自动对准转矩自动返回到中立位置时反馈控制的稳定性和控制来自控制电路的噪声的产生，以便改善转向操作。在连接H桥形状的四个半导体元件的电机驱动电路中，第一臂的半导体由占空比D1驱动，而第二臂的半导体由占空比函数D2定义的占空比无线电D2驱动比率D1（D2时间长于D1）。

4. 发明授权

US07983816B2 Control apparatus for electric power steering apparatus 有权
公开(公告)号：US07983816B2
公开(公告)日：2011-07-19
申请号：US12838038
申请日：2010-07-16
申请人： Hideyuki Kobayashi , Toru Sakaguchi , Shuji Endo , Atsushi Kojima
发明人： Hideyuki Kobayashi , Toru Sakaguchi , Shuji Endo , Atsushi Kojima
IPC分类号： A01B69/00
CPC分类号： B62D5/0472 , B62D5/0463 , B62D5/0466
摘要： The present invention provides a control apparatus for an electric power steering apparatus comprises: a steering assist command value calculating section; a current control section that calculates a voltage command value; and a motor driving section that drives a motor based on the voltage command value, wherein an assist power from the motor is applied to a steering system, the control apparatus is characterized in that an SAT measuring section, that inputs an angular speed and an angular acceleration of the motor, the steering assist command value and the torque signal therein so as to estimate an SAT, is provided, and the SAT obtained by the SAT measuring section is feedbacked to the steering assist command value via a feedback section composed of a phase compensating section and a gain section.

5. 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。

6. 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。

7. 发明申请

US20070096672A1 Electric power steering apparatus and controller therefor 有权
标题翻译：电动助力转向装置及其控制器
公开(公告)号：US20070096672A1
公开(公告)日：2007-05-03
申请号：US11586571
申请日：2006-10-26
申请人： Shuji Endo , Hideyuki Kobayashi
发明人： Shuji Endo , Hideyuki Kobayashi
IPC分类号： H02P7/00
CPC分类号： B62D5/0472
摘要： There is provided a controller for an electric power steering apparatus having a motor which applies a steering assist force to a steering mechanism. The controller includes a torque command value calculating portion which calculates a torque command value based on steering torque generated in a steering shaft, and a vehicle speed and a current command value calculating portion which calculates a current command value for the motor based on the torque command value. The controller controls the motor based on the current command value. In the apparatus, the controller has a cogging torque compensation value calculating portion which calculates a cogging torque compensation value for the motor, and corrects the current command value based on the cogging torque compensation value.
摘要翻译：提供了一种用于具有向转向机构施加转向辅助力的电动机的电动助力转向装置的控制器。控制器包括：转矩指令值计算部，其基于在转向轴中产生的转向转矩来计算转矩指令值;车速和电流指令值计算部，其基于转矩指令计算电动机的电流指令值值。控制器根据当前的指令值控制电机。在该装置中，控制器具有齿槽转矩补偿值计算部，其计算电动机的齿槽转矩补偿值，并根据齿槽转矩补偿值来校正当前指令值。

8. 发明授权

US06326753B1 Controller of electric power-steering system 有权
标题翻译：电动助力转向系统控制器
公开(公告)号：US06326753B1
公开(公告)日：2001-12-04
申请号：US09225490
申请日：1999-01-06
申请人： Kenji Someya , Atsushi Tanaka , Shuji Endo , Hideyuki Kobayashi
发明人： Kenji Someya , Atsushi Tanaka , Shuji Endo , Hideyuki Kobayashi
IPC分类号： B62D504
CPC分类号： B62D5/0463 , Y10S388/934
摘要： A controller of an electric power steering system corrects a motor current command value by using a temperature of a motor, and compensates a variation in a motor current characteristic in accordance with a variation in the temperature. The controller includes a torque sensor for detecting a steering torque of a steering wheel; a motor for supplying a steering assist torque to a steering shaft integrally provided with the steering wheel; and a control unit for driving the motor in accordance with a magnitude of the steering torque. The control unit corrects a motor current command value in accordance with a temperature of the motor, and controls a motor current in accordance with the corrected motor current command value.
摘要翻译：电动助力转向系统的控制器通过使用电动机的温度来校正电动机电流指令值，并且根据温度的变化来补偿电动机电流特性的变化。控制器包括用于检测转向的转矩传感器方向盘的转矩; 用于向与所述方向盘一体设置的转向轴提供转向辅助转矩的电动机; 以及用于根据转向转矩的大小来驱动电动机的控制单元。控制单元根据电动机的温度校正电动机电流指令值，并且根据校正的电动机电流指令值来控制电动机电流。

9. 发明申请

US20100280715A1 CONTROL APPARATUS FOR ELECTRIC POWER STEERING APPARATUS 有权
标题翻译：电动转向装置控制装置
公开(公告)号：US20100280715A1
公开(公告)日：2010-11-04
申请号：US12837982
申请日：2010-07-16
申请人： Hideyuki Kobayashi , Shuji Endo
发明人： Hideyuki Kobayashi , Shuji Endo
IPC分类号： G06F19/00 , B62D5/04
CPC分类号： B62D5/0472 , B62D5/0463 , B62D5/0466
摘要： The present invention provides a control apparatus for an electric power steering apparatus comprises: a steering assist command value calculating section; a current control section that calculates a voltage command value; and a motor driving section that drives a motor based on the voltage command value, wherein an assist power from the motor is applied to a steering system, the control apparatus is characterized in that an SAT measuring section, that inputs an angular speed and an angular acceleration of the motor, the steering assist command value and the torque signal therein so as to estimate an SAT, is provided, and the SAT obtained by the SAT measuring section is feedbacked to the steering assist command value via a feedback section composed of a phase compensating section and a gain section.
摘要翻译：本发明提供一种电动助力转向装置的控制装置，包括：转向辅助指令值计算部; 电流控制部，其计算电压指令值; 以及电动机驱动部，其基于所述电压指令值驱动电动机，其中来自所述电动机的辅助动力被施加到转向系统，所述控制装置的特征在于，SAT测量部输入角速度和角度提供电动机的加速度，转向辅助指令值和其中的转矩信号以估计SAT，并且由SAT测量部分获得的SAT通过由相位组成的反馈部分反馈到转向辅助指令值补偿部分和增益部分。

10. 发明申请

US20090192679A1 CONTROL APPARATUS FOR ELECTRIC POWER STEERING APPARATUS 有权
标题翻译：电动转向装置控制装置
公开(公告)号：US20090192679A1
公开(公告)日：2009-07-30
申请号：US11813887
申请日：2006-01-12
申请人： Hideyuki Kobayashi , Toru Sakaguchi , Shuji Endo , Atsushi Kojima
发明人： Hideyuki Kobayashi , Toru Sakaguchi , Shuji Endo , Atsushi Kojima
IPC分类号： B62D6/00
CPC分类号： B62D5/0472 , B62D5/0463 , B62D5/0466
摘要： The present invention provides a control apparatus for an electric power steering apparatus comprises: a steering assist command value calculating section; a current control section that calculates a voltage command value; and a motor driving section that drives a motor based on the voltage command value, wherein an assist power from the motor is applied to a steering system, the control apparatus is characterized in that an SAT measuring section, that inputs an angular speed and an angular acceleration of the motor, the steering assist command value and the torque signal therein so as to estimate an SAT, is provided, and the SAT obtained by the SAT measuring section is feedbacked to the steering assist command value via a feedback section composed of a phase compensating section and a gain section.
摘要翻译：本发明提供一种电动助力转向装置的控制装置，包括：转向辅助指令值计算部; 电流控制部，其计算电压指令值; 以及电动机驱动部，其基于所述电压指令值驱动电动机，其中来自所述电动机的辅助动力被施加到转向系统，所述控制装置的特征在于，SAT测量部输入角速度和角度提供电动机的加速度，转向辅助指令值和其中的转矩信号以估计SAT，并且由SAT测量部分获得的SAT通过由相位组成的反馈部分反馈到转向辅助指令值补偿部分和增益部分。

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