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1. 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。

2. 发明授权

US07512468B2 Electric power steering apparatus 有权
标题翻译：电动助力转向装置
公开(公告)号：US07512468B2
公开(公告)日：2009-03-31
申请号：US11255223
申请日：2005-10-19
申请人： Terutaka Tamaizumi , Yuji Kariatsumari
发明人： Terutaka Tamaizumi , Yuji Kariatsumari
IPC分类号： B62D1/00 , B62D6/00 , B62D5/00
CPC分类号： B62D15/0245 , B62D5/0463
摘要： In an electric power steering apparatus which comprises a motor for generating steering assist force, it is judged whether or not the vehicle is in a state of straight forward motion. A mean reference steering angle is determined by dividing total of relative steering angles which are determined when the vehicle is judged to be in a state of straight forward motion by the number of judgments that the vehicle is in a state of straight forward motion. A steering angle is determined by subtracting a steering angle midpoint from a relative steering angle with taking the mean reference steering angle as the steering angle midpoint. The output of the motor for generating steering assist force is corrected in accordance with an output correction value determined on the basis of the determined steering angle. This output correction value is altered so as to have a positive correlation with the number of judgments that the vehicle is in a state of straight forward motion.
摘要翻译：在包括用于产生转向辅助力的电动机的电动助力转向装置中，判断车辆是否处于直线向前运动的状态。平均参考转向角通过将车辆被判断为处于直线向前运动状态时确定的相对转向角的总和除以车辆处于直线运动的状态的判断次数来确定。通过以平均参考舵角作为转向角中点，从相对转向角减去转向角中点来确定转向角。根据所确定的转向角确定的输出校正值来校正用于产生转向辅助力的电动机的输出。该输出校正值被改变，以便与车辆处于直线向前运动的状态的判断次数呈正相关。

3. 发明授权

US08791659B2 Motor control unit and electric power steering system 有权
标题翻译：电机控制单元和电动助力转向系统
公开(公告)号：US08791659B2
公开(公告)日：2014-07-29
申请号：US13570857
申请日：2012-08-09
申请人： Isao Namikawa , Terutaka Tamaizumi , Yuji Kariatsumari
发明人： Isao Namikawa , Terutaka Tamaizumi , Yuji Kariatsumari
IPC分类号： H02P21/14 , H02P6/00
CPC分类号： H02P6/00
摘要： A F/B gain control unit computes a first change component by executing torque feedback control based on a torque deviation using a feedback gain that is computed by a F/B gain variable control unit. The F/B gain variable control unit computes one of two different feedback gains that correspond to a “first computation mode” in which the first change component is used as an addition angle and a “second computation mode” in which a value obtained by correcting the first change component by an estimated motor rotation angular velocity is used as the addition angle, respectively. A feedback gain used in the first computation mode is set such that a response at the feedback gain is higher than that at a feedback gain used in the second computation mode.
摘要翻译： F / B增益控制单元通过使用由F / B增益变量控制单元计算的反馈增益，基于转矩偏差执行转矩反馈控制来计算第一变化分量。 F / B增益可变控制单元计算与将第一变化分量用作相加角的“第一计算模式”对应的两个不同的反馈增益中的一个，以及“第二计算模式”，其中通过校正获得的值将第一变化分量乘以估计的电机旋转角速度作为相加角。设置在第一计算模式中使用的反馈增益，使得反馈增益的响应高于在第二计算模式中使用的反馈增益时的响应。

4. 发明申请

US20060085113A1 Electric power steering apparatus 有权
标题翻译：电动助力转向装置
公开(公告)号：US20060085113A1
公开(公告)日：2006-04-20
申请号：US11255223
申请日：2005-10-19
申请人： Terutaka Tamaizumi , Yuji Kariatsumari
发明人： Terutaka Tamaizumi , Yuji Kariatsumari
IPC分类号： B62D6/00
CPC分类号： B62D15/0245 , B62D5/0463
摘要： In an electric power steering apparatus which comprises a motor (10) for generating steering assist force, it is judged whether or not the vehicle is in a state of straight forward motion. A mean reference steering angle is determined by dividing total of relative steering angles which are determined when the vehicle is judged to be in a state of straight forward motion by the frequency of judgments that the vehicle is in a state of straight forward motion. A steering angle is determined by subtracting a steering angle midpoint from a relative steering angle with taking the mean reference steering angle as the steering angle midpoint. The output of the motor (10) for generating steering assist force is corrected in accordance with an output correction value determined on the basis of the determined steering angle. This output correction value is altered so as to have a positive correlation with the frequency of judgments that the vehicle is in a state of straight forward motion.
摘要翻译：在包括用于产生转向辅助力的马达（10）的电动助力转向装置中，判断车辆是否处于直线向前运动的状态。平均参考转向角通过将车辆被判断为处于直线向前运动状态时确定的相对转向角的总和除以车辆处于直线运动状态的判断频率来确定。通过以平均参考舵角作为转向角中点，从相对转向角减去转向角中点来确定转向角。根据所确定的转向角确定的输出校正值，校正用于产生转向辅助力的电动机（10）的输出。该输出校正值被改变，以便与车辆处于直线向前运动的状态的判断频率呈正相关。

5. 发明授权

US08874316B2 Vehicle steering system 有权
标题翻译：车辆转向系统
公开(公告)号：US08874316B2
公开(公告)日：2014-10-28
申请号：US13205138
申请日：2011-08-08
申请人： Yuji Kariatsumari , Terutaka Tamaizumi , Isao Namikawa
发明人： Yuji Kariatsumari , Terutaka Tamaizumi , Isao Namikawa
IPC分类号： B62D5/04 , B62D5/14
CPC分类号： B62D5/046 , B62D5/0463
摘要： A current increase-decrease amount (ΔIγ*) computed by a command current increase-decrease amount computing unit is added to an immediately preceding value (Iγ*(n−1)) of a command current value (Iγ*) in an adder. The command current value (Iγ*) obtained by the adder is given to a high/low limit limiter. The high/low limit limiter limits the command current value (Iγ*), obtained by the adder, to a value between a low limit value (ξmin (ξmin≧0)) and a high limit value (ξmax (ξmax>ξmin)). A high limit value setting unit obtains the high limit value (ξmax) corresponding to the vehicle speed detected by the vehicle speed sensor, from a vehicle speed-vs.-high limit value map set by a map creating/updating unit, and sets the obtained high limit value (ξmax) in the high/low limit limiter.
摘要翻译：由指令电流增加减少量运算部计算出的电流增减量（＆Dgr;Iγ*）被加到指令电流值（Iγ*）的前一个值（Iγ*（n-1））加法器。通过加法器获得的指令电流值（Iγ*）被赋予高/低限制限制器。高/低限制限制器将由加法器获得的指令电流值（Iγ*）限制在下限值（＆xgr; min（＆xgr;min≥0））和上限值（＆xgr; max （＆xgr; max>＆xgr; min））。上限值设定单元根据由地图生成/更新单元设定的车速与上限值映射得出与车速传感器检测出的车速对应的上限值（＆xgr; max），以及将所获得的上限值（＆xgr; max）设置在高/低限制限制器中。

6. 发明授权

US08855858B2 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：US08855858B2
公开(公告)日：2014-10-07
申请号：US12945101
申请日：2010-11-12
申请人： Yuji Kariatsumari , Terutaka Tamaizumi , Yoshinobu Shimizu
发明人： Yuji Kariatsumari , Terutaka Tamaizumi , Yoshinobu Shimizu
IPC分类号： B62D5/04 , B62D5/14
CPC分类号： B62D5/046 , B62D5/0463 , Y10S901/42
摘要： A motor control unit includes a detected steering torque correction unit that corrects the detected steering torque that is detected by a torque sensor and then subjected to a limitation process by a steering torque limiter. When the absolute value of the detected steering torque is equal to or smaller than a predetermined value, the detected steering torque correction unit corrects the detected steering torque to 0. When the absolute value of the detected steering torque is larger than the predetermined value, the detected steering torque correction unit outputs the detected steering torque without correction. A PI control unit calculates the addition angle based on the deviation of the control torque obtained through correction by the detected steering torque correction unit from the command steering torque.
摘要翻译：马达控制单元包括检测到的转向扭矩校正单元，该单元校正由转矩传感器检测到的检测到的转向转矩，然后通过转向扭矩限制器进行限制处理。当检测到的转向转矩的绝对值为规定值以下时，检测到的转向转矩修正部将检测的转向转矩修正为0.当检测转向转矩的绝对值大于规定值时，检测到的转向转矩校正单元输出检测到的转向转矩而不进行校正。 PI控制单元基于通过检测转向转矩校正单元通过指令转向转矩校正获得的控制扭矩的偏差来计算相加角度。

7. 发明授权

US08874315B2 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：US08874315B2
公开(公告)日：2014-10-28
申请号：US12943514
申请日：2010-11-10
申请人： Yuji Kariatsumari , Yoshihiro Itatsu , Yoshinobu Shimizu
发明人： Yuji Kariatsumari , Yoshihiro Itatsu , Yoshinobu Shimizu
IPC分类号： B62D5/04 , B62D5/14 , H02P29/00
CPC分类号： B62D5/046 , B62D5/0496 , H02P29/64
摘要： When the estimated motor temperature becomes equal to or higher than the first predetermined temperature, an addition angle correction unit temporarily decreases the absolute value of the addition angle output from an addition angle limiter at time intervals. The addition angle correction unit makes the time interval shorter as the estimated motor temperature increases. When the time interval becomes equal to or shorter than the predetermined threshold, that is, when the estimated motor temperature becomes equal to or higher than the second predetermined temperature that is higher than the first predetermined temperature, the addition angle correction unit notifies a command current value changing unit of a current stop command. Thus, the γ-axis command current value is changed to 0, and therefore the steering mode is shifted to the manual steer mode.
摘要翻译：当估计的电动机温度等于或高于第一预定温度时，相加角校正单元以时间间隔临时减小从相加角限制器输出的相加角的绝对值。相加角校正单元随着估计的电机温度升高而使时间间隔更短。当时间间隔等于或小于预定阈值时，即当估计电机温度变得等于或高于高于第一预定温度的第二预定温度时，相加角校正单元通知命令电流当前停止命令的值改变单元。因此，γ轴指令电流值变为0，因此转向模式转移到手动转向模式。

8. 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）。

9. 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。

10. 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。

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