CN104169160B - 电动助力转向装置 - Google Patents

电动助力转向装置 Download PDF

Info

Publication number
CN104169160B
CN104169160B CN201380002223.5A CN201380002223A CN104169160B CN 104169160 B CN104169160 B CN 104169160B CN 201380002223 A CN201380002223 A CN 201380002223A CN 104169160 B CN104169160 B CN 104169160B
Authority
CN
China
Prior art keywords
vibration
electric power
amplitude
state parameter
value
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
CN201380002223.5A
Other languages
English (en)
Chinese (zh)
Other versions
CN104169160A (zh
Inventor
今村洋介
菅原孝义
前田将宏
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
NSK Ltd
Original Assignee
NSK Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by NSK Ltd filed Critical NSK Ltd
Publication of CN104169160A publication Critical patent/CN104169160A/zh
Application granted granted Critical
Publication of CN104169160B publication Critical patent/CN104169160B/zh
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D5/00—Power-assisted or power-driven steering
    • B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
    • B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
    • B62D5/046—Controlling the motor
    • B62D5/0472—Controlling the motor for damping vibrations
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D5/00—Power-assisted or power-driven steering
    • B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
    • B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
    • B62D5/046—Controlling the motor
    • B62D5/0463—Controlling the motor calculating assisting torque from the motor based on driver input
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
    • B62D6/008—Control of feed-back to the steering input member, e.g. simulating road feel in steer-by-wire applications
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D7/00—Steering linkage; Stub axles or their mountings
    • B62D7/06—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins
    • B62D7/14—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering
    • B62D7/15—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering characterised by means varying the ratio between the steering angles of the steered wheels
    • B62D7/159—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering characterised by means varying the ratio between the steering angles of the steered wheels characterised by computing methods or stabilisation processes or systems, e.g. responding to yaw rate, lateral wind, load, road condition

Landscapes

  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Mathematical Physics (AREA)
  • Theoretical Computer Science (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)
  • Power Steering Mechanism (AREA)
CN201380002223.5A 2012-05-11 2013-04-24 电动助力转向装置 Active CN104169160B (zh)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JP2012-109110 2012-05-11
JP2012109110A JP5835091B2 (ja) 2012-05-11 2012-05-11 電動パワーステアリング装置
PCT/JP2013/061989 WO2013168564A1 (ja) 2012-05-11 2013-04-24 電動パワーステアリング装置

Publications (2)

Publication Number Publication Date
CN104169160A CN104169160A (zh) 2014-11-26
CN104169160B true CN104169160B (zh) 2016-08-17

Family

ID=49550615

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201380002223.5A Active CN104169160B (zh) 2012-05-11 2013-04-24 电动助力转向装置

Country Status (5)

Country Link
US (1) US9056626B2 (https=)
EP (1) EP2848496B1 (https=)
JP (1) JP5835091B2 (https=)
CN (1) CN104169160B (https=)
WO (1) WO2013168564A1 (https=)

Families Citing this family (33)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2014031100A (ja) * 2012-08-03 2014-02-20 Toyota Motor Corp 操舵装置及び操舵制御装置
CN104340262B (zh) * 2013-08-08 2017-10-27 现代摩比斯株式会社 电动式转向装置的驱动装置及方法
DE202014010397U1 (de) * 2014-05-23 2015-08-03 Hochschule München Motorsteuergerät zur Geräuschminderung und Geräuschmodulation eines Elektromotors
KR101619598B1 (ko) 2014-08-01 2016-05-10 현대자동차주식회사 능동적 이득 가변을 이용한 친환경 자동차의 모터 진동 수렴 속도 향상 방법 및 시스템
CN107406099B (zh) * 2014-12-26 2019-09-10 日本精工株式会社 电动助力转向装置
WO2016163343A1 (ja) * 2015-04-10 2016-10-13 日本精工株式会社 モータ制御装置及びそれを搭載した電動パワーステアリング装置
JP6394519B2 (ja) * 2015-07-03 2018-09-26 マツダ株式会社 電動パワーステアリングの制御装置
US10086866B2 (en) * 2015-07-07 2018-10-02 Nsk Ltd. Electric power steering apparatus
EP3284648B1 (en) * 2015-07-22 2019-08-21 NSK Ltd. Control device for electric power steering device
JP6055525B1 (ja) * 2015-09-02 2016-12-27 富士重工業株式会社 車両の走行制御装置
JP6614032B2 (ja) * 2016-05-23 2019-12-04 日本精工株式会社 電動パワーステアリング制御装置の検査装置及びそれを搭載した電動パワーステアリング装置
JP6614031B2 (ja) * 2016-05-23 2019-12-04 日本精工株式会社 電動パワーステアリング制御装置の検査装置及びそれを搭載した電動パワーステアリング装置
KR102515962B1 (ko) * 2016-07-07 2023-03-31 에이치엘만도 주식회사 감속기의 유격 보상을 위한 제어기, 감속기의 유격 보상 시스템 및 그 방법
CN106741137A (zh) * 2016-12-15 2017-05-31 吉林大学 一种个性化的电动助力转向系统及控制方法
KR102228161B1 (ko) * 2017-01-02 2021-03-17 현대모비스 주식회사 전동식 동력 조향장치의 댐핑 제어 장치 및 그 방법
KR102390257B1 (ko) * 2017-07-21 2022-04-26 현대모비스 주식회사 전동식 파워 스티어링 시스템의 외란 보상 장치 및 방법
US10800423B2 (en) 2018-02-20 2020-10-13 Deere & Company Monitoring steering conditions of an off-road vehicle
CN111094113B (zh) * 2018-06-07 2021-01-05 日本精工株式会社 电动助力转向装置
US20200001914A1 (en) * 2018-06-27 2020-01-02 GM Global Technology Operations LLC Test method and metrics to evaluate quality of road feedback to driver in a steer-by-wire system
CN112339855B (zh) * 2019-08-08 2022-05-27 北京车和家信息技术有限公司 一种振动控制方法、装置及车辆
US11684005B2 (en) 2020-03-06 2023-06-27 Deere & Company Method and system for estimating surface roughness of ground for an off-road vehicle to control an implement
US11718304B2 (en) 2020-03-06 2023-08-08 Deere & Comoanv Method and system for estimating surface roughness of ground for an off-road vehicle to control an implement
US11667171B2 (en) 2020-03-12 2023-06-06 Deere & Company Method and system for estimating surface roughness of ground for an off-road vehicle to control steering
US11678599B2 (en) 2020-03-12 2023-06-20 Deere & Company Method and system for estimating surface roughness of ground for an off-road vehicle to control steering
US11753016B2 (en) 2020-03-13 2023-09-12 Deere & Company Method and system for estimating surface roughness of ground for an off-road vehicle to control ground speed
US11685381B2 (en) 2020-03-13 2023-06-27 Deere & Company Method and system for estimating surface roughness of ground for an off-road vehicle to control ground speed
EP4063244B1 (en) * 2020-12-23 2024-06-19 NSK Ltd. Device and method for controlling electric power steering device
CN113093826B (zh) * 2021-03-31 2022-03-25 歌尔股份有限公司 振动电机的控制方法、装置、终端设备及存储介质
KR102874160B1 (ko) * 2022-03-22 2025-10-21 에이치엘만도 주식회사 조향 제어 방법 및 조향 제어 장치
BE1031887B1 (de) * 2023-08-11 2025-03-10 Thyssenkrupp Presta Ag Lenkeinrichtung für ein Kraftfahrzeug
JP2026058806A (ja) * 2024-09-25 2026-04-06 カヤバ株式会社 ステアリング装置
CN120470342B (zh) * 2025-07-14 2025-09-09 华能澜沧江水电股份有限公司 水电机组动应力敏感区识别与效率补偿的智能决策系统
CN121356212A (zh) * 2025-11-24 2026-01-16 江西天健龙维汽车部件有限公司 主动抑制振动与转矩脉动的辅助绕组式电动助力转向电机

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN1400944A (zh) * 2000-12-12 2003-03-05 日产自动车株式会社 以转向力矩作为车辆转向系统的控制输入的车道保持控制
JP2006188183A (ja) * 2005-01-07 2006-07-20 Favess Co Ltd 電動パワーステアリング装置
WO2007119333A1 (ja) * 2006-04-13 2007-10-25 Mitsubishi Electric Corporation 電動パワーステアリング制御装置
EP1982896A2 (en) * 2007-04-20 2008-10-22 Jtekt Corporation Electric power steering apparatus
WO2009078084A1 (ja) * 2007-12-14 2009-06-25 Fujitsu Limited 携帯型電子機器

Family Cites Families (19)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS60161257A (ja) * 1984-01-31 1985-08-22 Nissan Motor Co Ltd 車両の運動制御装置
JPH0688537B2 (ja) * 1984-09-27 1994-11-09 本田技研工業株式会社 電動式パワ−ステアリング装置
US4940107A (en) * 1988-09-23 1990-07-10 Trw Inc. Method and apparatus for controlling a power assist steering system
JP3521245B2 (ja) * 1994-11-21 2004-04-19 光洋精工株式会社 電動パワーステアリング装置
JP3493806B2 (ja) * 1995-04-21 2004-02-03 日本精工株式会社 電動パワ−ステアリング装置の制御装置
JPH11304635A (ja) * 1998-04-16 1999-11-05 Mitsubishi Heavy Ind Ltd 波形補償装置
GB2369332A (en) * 2000-11-22 2002-05-29 Trw Lucasvarity Electric Steer Compensation for motor inertia in electric power-assisted steering systems
EP1431160B1 (en) * 2002-12-20 2006-07-26 Ford Global Technologies, LLC Control strategy for computer-controlled steering
JP4639759B2 (ja) * 2004-11-09 2011-02-23 株式会社ジェイテクト 電動パワーステアリング装置
JP5512924B2 (ja) * 2007-04-20 2014-06-04 株式会社ジェイテクト 電動パワーステアリング装置
EP2028080B1 (en) * 2007-08-23 2012-01-18 Ford Global Technologies, LLC Method for operating an electric power steering system, electronic control unit for an electric power steering system and electric power steering system
CN101821150B (zh) * 2007-12-14 2013-03-06 三菱电机株式会社 电动动力转向控制装置
US8744682B2 (en) * 2008-05-30 2014-06-03 GM Global Technology Operations LLC Reducing the effects of vibrations in an electric power steering (EPS) system
GB2467761B (en) * 2009-02-13 2013-04-10 Gm Global Tech Operations Inc Learning controller for the compensation of torque pulsations in a steering assembly
US8554417B2 (en) * 2009-06-17 2013-10-08 Honda Motor Co., Ltd. Narrow-frequency-band feedback control of steering pinion torque in an electric power steering system
JP5493690B2 (ja) * 2009-10-20 2014-05-14 株式会社ジェイテクト 電動パワーステアリング装置
JP2011121383A (ja) * 2009-12-08 2011-06-23 Mitsubishi Electric Corp 電動パワーステアリング制御装置
PL2402234T3 (pl) * 2010-07-01 2014-04-30 Steering Solutions Ip Holding Dynamiczny kompensator systemu dla aktywnie sterowanych systemów wspomagania układu kierowniczego
US9440674B2 (en) * 2010-09-15 2016-09-13 GM Global Technology Operations LLC Methods, systems and apparatus for steering wheel vibration reduction in electric power steering systems

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN1400944A (zh) * 2000-12-12 2003-03-05 日产自动车株式会社 以转向力矩作为车辆转向系统的控制输入的车道保持控制
JP2006188183A (ja) * 2005-01-07 2006-07-20 Favess Co Ltd 電動パワーステアリング装置
WO2007119333A1 (ja) * 2006-04-13 2007-10-25 Mitsubishi Electric Corporation 電動パワーステアリング制御装置
EP1982896A2 (en) * 2007-04-20 2008-10-22 Jtekt Corporation Electric power steering apparatus
US20080262678A1 (en) * 2007-04-20 2008-10-23 Jtekt Corporation Electric power steering apparatus
WO2009078084A1 (ja) * 2007-12-14 2009-06-25 Fujitsu Limited 携帯型電子機器

Also Published As

Publication number Publication date
CN104169160A (zh) 2014-11-26
US9056626B2 (en) 2015-06-16
US20150088381A1 (en) 2015-03-26
EP2848496B1 (en) 2017-08-23
EP2848496A4 (en) 2016-01-13
EP2848496A1 (en) 2015-03-18
WO2013168564A1 (ja) 2013-11-14
JP5835091B2 (ja) 2015-12-24
JP2013233907A (ja) 2013-11-21

Similar Documents

Publication Publication Date Title
CN104169160B (zh) 电动助力转向装置
CN107406099B (zh) 电动助力转向装置
CN107000785B (zh) 电动助力转向装置
CN109572807B (zh) 电动助力转向装置
EP3199426B1 (en) Electrically actuated power steering device
US20070227806A1 (en) Control device for electric power steering apparatus
CN105246764A (zh) 电动助力转向装置
JP2006199219A (ja) 電動パワーステアリング装置の制御装置
CN105517877A (zh) 电动助力转向装置的控制装置
JP4776656B2 (ja) 電動パワーステアリング制御装置
JP2008018825A (ja) 電動パワーステアリング装置の制御装置
CN110891848B (zh) 电动助力转向系统的电机控制方法及装置
JP2018012384A (ja) ステアリング制御装置
JP4660947B2 (ja) 電動パワーステアリング装置
JP4989093B2 (ja) 電動パワーステアリング装置、および、これに用いる演算特性設定方法。

Legal Events

Date Code Title Description
C06 Publication
PB01 Publication
C10 Entry into substantive examination
SE01 Entry into force of request for substantive examination
C14 Grant of patent or utility model
GR01 Patent grant