JP2006271171A - Unit and system for vehicle-mounted actuator - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a vehicle-mounted actuator unit and its system which dispense with high machining accuracy nor assembling accuracy, furthermore dispense with ranking of components, and are not subjected to a restriction of installing position such as a detection sensor or the like of the vehicle-mounted actuator. <P>SOLUTION: The vehicle-mounted actuator unit includes a vehicle-mounted actuator such as a vehicle-mounted assist motor 13 or the like, and a storage device 15 which is integrally fixed to the vehicle-mounted actuator and stores the characteristic values of the vehicle-mounted actuator. The vehicle-mounted actuator system includes the vehicle-mounted actuator unit, and a control device which is connected to the vehicle-mounted actuator unit and controls the vehicle-mounted actuator using the characteristic values. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention relates to a vehicle mounted actuator unit including a vehicle mounted actuator mounted on a vehicle such as a motor and a solenoid, and a vehicle mounted actuator system including the vehicle mounted actuator unit and a control device.

The electric power steering device for a vehicle includes a motor and a control device that controls the motor. An example of this control device is disclosed in Patent Document 1. Patent Document 1 discloses a control device for preventing a decrease in output torque caused by a deviation between an actual electrical angle of a motor rotor and an ideal electrical angle of the motor rotor. Specifically, by using the calculated deviation as an offset value (correction value), a decrease in output torque due to an electrical angle deviation is prevented.
JP 2003-319680 A

  By the way, before the electric power steering is mounted on the vehicle, when a lock current is supplied to the motor, the motor rotor stops at a predetermined position. However, in the state where the electric power steering device is mounted on the vehicle, when a lock current is supplied to the motor, the rack shaft is stopped by the frictional force between the road surface and the tire before the motor rotor moves to a predetermined position. As a result, the motor rotor also stops. That is, even if a lock current is supplied to the motor, the motor rotor may not stop at a predetermined position. In such a case, the deviation cannot be calculated accurately, and as a result, a decrease in output torque may not be prevented. Therefore, in order to prevent a deviation from occurring in the first place, the processing accuracy and assembly accuracy of the parts are increased.

  Here, increasing the machining accuracy and assembly accuracy of the components requires a very large number of man-hours. For example, in order to assemble the air gap of the motor to be substantially constant, first, the motor rotor and the motor stator are processed with high accuracy, and then each motor rotor and the motor stator are further strictly categorized for each dimension. Ranking is done. And after selecting the motor stator processed into the internal diameter dimension which adapts to the outer diameter dimension of a motor rotor, both are assembled | attached.

  Further, a rotation angle sensor is attached in the vicinity of the motor rotor in order to detect the rotation angle of the motor rotor. The rotation angle sensor is integrally attached to the yoke housing in order to detect the rotation angle of the motor rotor with high accuracy. Therefore, the mounting position of the rotation angle sensor is restricted.

  The present invention has been made in view of such circumstances, and does not require high processing accuracy and assembly accuracy, and further does not require parts ranking or the like, and is additionally mounted on a vehicle. It is an object of the present invention to provide a vehicle-mounted actuator unit and its system that are not restricted by the mounting position of an actuator detection sensor or the like.

Means for Solving the Problems and Effects of the Invention

(1) Vehicle-mounted actuator unit The vehicle-mounted actuator unit of the present invention includes a vehicle-mounted actuator mounted on a vehicle and a storage device that is integrally fixed to the vehicle-mounted actuator and stores characteristic values of the vehicle-mounted actuator. Including. Here, the vehicle-mounted actuator means a component that is mounted on a vehicle and mechanically or electrically driven, or a component that outputs an electric signal when driven.

  That is, the vehicle-mounted actuator and the storage device storing the characteristic values are fixed integrally. For example, the storage device may be fixed to the vehicle-mounted actuator itself, or may be fixed to another component that is fixedly disposed on the vehicle-mounted actuator. The separate part is, for example, a housing that houses and fixes a vehicle-mounted actuator.

  Here, the characteristic value stored in the storage device is a characteristic value unique to the vehicle-mounted actuator fixed integrally. Therefore, the characteristic value stored in the storage device included in a certain vehicle-mounted actuator unit is a characteristic value unique to the vehicle-mounted actuator included in the vehicle-mounted actuator unit. That is, when the characteristic values of the plurality of vehicle-mounted actuators are different, the characteristic values corresponding to the respective vehicle-mounted actuators are stored in the storage device. And when controlling the said vehicle-mounted actuator, it can control using the characteristic value memorize | stored in the said memory | storage device.

  Here, when the processing accuracy and assembly accuracy of the parts are not increased, the characteristic values of all the plurality of vehicle-mounted actuators manufactured are not constant. However, according to the vehicle-mounted actuator unit of the present invention, the vehicle-mounted actuator can be controlled using the corresponding characteristic value, so that the vehicle-mounted actuator can output appropriate performance. That is, it is possible to cause the vehicle-mounted actuator to output appropriate performance without increasing the processing accuracy and assembly accuracy of the components and without further ranking the components.

  Thus, according to the present invention, there is no need to increase the machining accuracy and assembly accuracy of the parts of the vehicle-mounted actuator. Accordingly, it is not necessary to make the mounting position of the detection sensor for detecting the state of the vehicle-mounted actuator highly accurate. Therefore, there is no restriction on the mounting position of the detection sensor. As a result, the degree of freedom of the mounting position of the detection sensor increases, contributing to the miniaturization of the entire apparatus.

  Here, the storage device may be a nonvolatile memory such as an EEPROM or a flash memory. By using a nonvolatile memory as the storage device, the stored contents can be retained even when the storage device is not connected to a separate power source.

  The vehicle-mounted actuator is a motor of an electric power steering device or a motor of a vehicle transmission ratio variable steering device, and the characteristic value is an offset value of an actual rotation angle of the rotor with respect to a reference rotation angle of the rotor of the motor. In addition, any one selected from a torque constant of the motor, cogging torque waveform information of the motor, and torque ripple waveform information of the motor may be included. By storing these characteristic values in the storage device, the motor can be controlled appropriately.

  Further, the cogging torque waveform information among the characteristic values stored in the storage device is, for example, the torque value of the crest and trough of the cogging torque of the motor and the actual rotation angle of the rotor of the crest and trough of the cogging torque. The peak and valley of the cogging torque may be, for example, a peak portion of the cogging torque that is equal to or greater than a predetermined threshold value and a valley portion of the cogging torque that is equal to or less than the predetermined threshold value. As described above, by storing only information related to the peaks and valleys of the cogging torque, the storage capacity can be reduced.

  Further, the torque ripple waveform information among the characteristic values stored in the storage device is, for example, the torque value of the torque ripple peak of the motor and the actual rotation angle of the rotor of the torque ripple peak. The torque ripple peaks and valleys may be, for example, a torque ripple peak portion that is equal to or greater than a predetermined threshold value and a torque ripple valley portion that is equal to or less than a predetermined threshold value. As described above, the storage capacity can be reduced by storing only the information related to the peak and valley portions of the torque ripple.

  The vehicle-mounted actuator may be a resolver type rotation angle sensor, and the characteristic value may be a correction value of the resolver type rotation angle sensor. The correction value is, for example, a correction value for a resolver rotor, an excitation coil, a detection coil, or an eccentricity that constitutes a resolver rotation angle sensor. That is, the storage device stores a correction value for correcting that the accuracy of the detection angle by the resolver type rotation angle sensor is lowered. Thereby, the precision of the detection angle by a resolver type rotation angle sensor can be ensured favorably. The resolver rotation angle sensor is, for example, a resolver torque sensor.

(2) Vehicle-mounted actuator system The vehicle-mounted actuator system of the present invention includes a vehicle-mounted actuator unit and a control device. The vehicle-mounted actuator unit includes a vehicle-mounted actuator and a storage device that is integrally fixed to the vehicle-mounted actuator and stores characteristic values of the vehicle-mounted actuator. The control device is connected to the vehicle-mounted actuator unit and controls the vehicle-mounted actuator using the characteristic value.

  Here, the vehicle-mounted actuator unit constituting the vehicle-mounted actuator system of the present invention corresponds to the vehicle-mounted actuator unit of the present invention described above. Therefore, the vehicle-mounted actuator system of the present invention has all the effects of the vehicle-mounted actuator unit of the present invention. That is, it is possible to cause the vehicle-mounted actuator to output appropriate performance without increasing the processing accuracy and assembly accuracy of the components and without further ranking the components. Furthermore, there is no restriction on the mounting position of the detection sensor that detects the state of the vehicle-mounted actuator. As a result, the degree of freedom of the mounting position of the detection sensor increases, contributing to the downsizing of the entire system.

  When only the control device is replaced, the vehicle-mounted actuator unit is controlled using the characteristic value stored in the storage device of the vehicle-mounted actuator unit connected to the replaced new control device. That is, even when the control device is replaced, the vehicle-mounted actuator can be appropriately controlled without any adjustment. When only the vehicle-mounted actuator unit is replaced, the control device connected to the replaced new vehicle-mounted actuator unit uses the characteristic value stored in the storage device of the replaced new vehicle-mounted actuator unit. Used to control the on-vehicle actuator. That is, since the characteristic value is a characteristic value corresponding to the vehicle-mounted actuator, the vehicle-mounted actuator can be appropriately controlled without any adjustment.

  The storage device may be a non-volatile memory such as an EEPROM or a flash memory. By using a nonvolatile memory as the storage device, the stored contents can be retained even when the storage device is not connected to a separate power source.

  The vehicle-mounted actuator is a motor of an electric power steering device or a motor of a vehicle transmission ratio variable steering device, and the characteristic value is an offset value of an actual rotation angle of the rotor with respect to a reference rotation angle of the rotor of the motor. In addition, any one selected from a torque constant of the motor, cogging torque waveform information of the motor, and torque ripple waveform information of the motor may be included. By storing these characteristic values in the storage device, the motor can be controlled appropriately.

  Further, the cogging torque waveform information among the characteristic values stored in the storage device is, for example, the torque value of the crest and trough of the cogging torque of the motor and the actual rotation angle of the rotor of the crest and trough of the cogging torque. The peak and valley of the cogging torque may be, for example, a peak portion of the cogging torque that is equal to or greater than a predetermined threshold value and a valley portion of the cogging torque that is equal to or less than the predetermined threshold value. As described above, by storing only information related to the peaks and valleys of the cogging torque, the storage capacity can be reduced.

  In addition, the torque ripple waveform information among the characteristic values stored in the storage device is a torque value of a peak / valley of the torque ripple of the motor and an actual rotation angle of the rotor of the peak / valley of the torque ripple. The torque ripple peaks and valleys may be, for example, a torque ripple peak portion that is equal to or greater than a predetermined threshold value and a torque ripple valley portion that is equal to or less than a predetermined threshold value. As described above, the storage capacity can be reduced by storing only the information related to the peak and valley portions of the torque ripple.

  The characteristic value may include the cogging torque waveform information, and the control device may control the motor so as to reduce the cogging torque based on the cogging torque waveform information. That is, using the cogging torque waveform information fixed integrally with the motor, the motor is controlled to reduce the cogging torque. Thereby, the cogging torque can be reliably reduced according to the motor to be controlled.

  The characteristic value may include the torque ripple waveform information, and the control device may control the motor so as to reduce torque ripple based on the torque ripple waveform information. That is, using the torque ripple waveform information fixed integrally with the motor, the motor is controlled so as to reduce the cogging torque. Thereby, torque ripple can be reliably reduced according to the motor to be controlled.

  Further, the vehicle-mounted actuator is a motor of an electric power steering device, the characteristic value includes the torque constant, and the control device changes a control command value in accordance with the torque constant and determines the predetermined value for the motor. The output torque may be controlled so as to be output. Here, the output torque of the motor is determined according to the torque constant of the motor. The torque constant may vary from motor to motor. In this way, even when there is a variation in torque constant among the motors, the output torque of each motor can be prevented from changing by the control device changing the output torque of the motor according to the torque constant. That is, it is possible to prevent variations in output torque regardless of which motor is mounted.

  The vehicle-mounted actuator may be a resolver type rotation angle sensor, and the characteristic value may be a correction value of the resolver type rotation angle sensor. The correction value is, for example, a correction value for a resolver rotor, an excitation coil, a detection coil, or an eccentricity that constitutes a resolver rotation angle sensor. That is, the storage device stores a correction value for correcting that the accuracy of the detection angle by the resolver type rotation angle sensor is lowered. Thereby, the precision of the detection angle by a resolver type rotation angle sensor can be ensured favorably. The resolver rotation angle sensor is, for example, a resolver torque sensor.

  Next, the present invention will be described in more detail with reference to embodiments. An electric power steering system will be described as an example of the on-vehicle actuator system of the present invention. Here, FIG. 1 shows a partial cross-sectional view of the electric power steering apparatus 1 constituting the electric power steering system.

  The electric power steering system includes an electric power steering device 1 and a control device (not shown). Here, the electric power steering device 1 of the present embodiment corresponds to the vehicle-mounted actuator unit of the present invention, and the control device of the present embodiment corresponds to the control device of the present invention. Moreover, the assist motor 13 which comprises the electric power steering apparatus 1 of this embodiment is corresponded to the vehicle mounting actuator of this invention.

  The electric power steering apparatus 1 includes a pinion gear (not shown), a rack housing 11, a rack shaft 12, an assist motor 13, a rotation angle sensor 14, and a storage device 15.

  The pinion gear is formed on the other end side of the steering shaft 22 connected to the steering wheel 21 at one end side. That is, the steering shaft 22 on which the pinion gear is formed rotates according to the steering of the steering wheel 21 by the driver. The rack housing 11 has a substantially cylindrical shape, and is fixed to the vehicle body so as to extend in the left-right direction of the vehicle.

  The rack shaft 12 includes a rack shaft main body 121 and a ball screw nut 122. The rack shaft main body 121 has a substantially bar shape, and is supported in the rack housing 11 so as to be slidable in the vehicle left-right direction. The rack shaft body 121 is formed with a rack gear (not shown) that meshes with the pinion gear. Accordingly, the rack shaft main body 121 moves in the left-right direction of the vehicle as the pinion gear rotates. The rack shaft main body 121 protrudes to the left and right outside of the rack housing 11 and is connected to the steered wheels 23 at both ends via tie rods. Further, a ball screw groove 121 a is formed near the center in the axial direction on the outer peripheral surface of the rack shaft main body 121.

  The ball screw nut 122 is disposed on the outer peripheral side of the rack shaft main body 121 so as to be rotatable with respect to the rack shaft main body 121. Specifically, the ball screw nut 122 is engaged with the outer peripheral side of the ball screw groove 121a via a ball (not shown). That is, as the ball screw nut 122 rotates, the rack shaft main body 121 moves in the left-right direction of the vehicle.

  The assist motor 13 includes a motor rotor 13a and a motor stator 13b. The motor rotor 13a has a substantially cylindrical shape, and a plurality of magnets (not shown) are fixed to the outer peripheral surface. The motor rotor 13 a is fixed to the outer peripheral side of the ball screw nut 122. The motor rotor 13a is rotatably supported by the rack housing 11 via a bearing. That is, the motor rotor 13a can rotate around the vehicle left-right axis with respect to the rack housing 11 together with the ball screw nut 122.

  The motor stator 13b is formed by laminating disc-shaped steel plates and has a substantially cylindrical shape. A coil is wound around the motor stator 13b. The motor stator 13 b is disposed on the outer peripheral side of the magnet of the motor rotor 13 a via a predetermined gap, and is fixed to the inner peripheral surface of the rack housing 11. When a current is supplied to the coil of the motor stator 13b from a control device (not shown), the motor rotor 13a is rotationally driven.

  The rotation angle sensor 14 is a resolver rotation angle sensor composed of a resolver torque sensor. That is, the rotation angle sensor 14 includes a resolver rotor and a resolver stator. The resolver rotor is fixed to the outer peripheral side of the motor rotor 13a. The resolver stator is disposed on the outer peripheral side of the resolver rotor with a predetermined gap, and is fixed to the inner peripheral surface of the rack housing 11. An excitation coil and a detection coil that are electrically connected to the control device are wound around the resolver stator. That is, the rotation angle sensor 14 outputs an electrical signal corresponding to the rotation angle of the resolver rotor with respect to the resolver stator, that is, the rotation angle of the motor rotor 13a with respect to the motor stator 13b, to the control device.

  The storage device 15 is fixed to the rack housing 11. Specifically, the storage device 15 is fixed to the outer peripheral side of the rotation angle sensor 14 in the rack housing 11. The storage device 15 is disposed in the vicinity of a connector for connecting to a control device formed in the rack housing 11. The storage device 15 includes a nonvolatile memory such as an EEPROM or a flash memory. By using a non-volatile memory, the stored contents can be retained even when not connected to a power source or the like.

  The storage device 15 stores characteristic values of the assist motor 13. As the characteristic value, for example, the offset value of the actual rotation angle of the motor rotor 13a with respect to the reference rotation angle of the motor rotor 13a of the assist motor 13, the torque constant of the assist motor 13, cogging torque waveform information of the assist motor 13, the torque of the assist motor 13 Includes ripple waveform information. These characteristic values are unique to the assist motor 13. These characteristic values are measured in advance and then stored in the storage device 15.

  Here, the cogging torque waveform information and the torque ripple waveform information will be described in detail with reference to FIGS. FIG. 2 is a diagram for explaining cogging torque waveform information. FIG. 3 is a diagram for explaining torque ripple waveform information. Specifically, in FIG. 2, the horizontal axis indicates the actual rotation angle of the motor rotor 13 a, and the vertical axis indicates the torque value of the cogging torque of the assist motor 13. In FIG. 3, the horizontal axis represents the actual rotation angle of the motor rotor 13 a, and the vertical axis represents the torque ripple torque value of the assist motor 13.

  When the cogging torque of the assist motor 13 has a waveform as shown in FIG. 2, the portion of the cogging torque peak portion that is equal to or greater than the first threshold value and the portion of the cogging torque valley portion that is equal to or smaller than the second threshold value. Choose about. The cogging torque waveform information stored in the storage device 15 is, for example, the torque value of the selected valley portion of the cogging torque and the actual rotation angle of the motor rotor 13a corresponding to the valley portion. In this way, by storing only information related to the peaks and valleys of the cogging torque, the storage capacity of the storage device 15 can be reduced.

  Further, when the torque ripple of the assist motor 13 has a waveform as shown in FIG. 3, the torque ripple peak portion is equal to or higher than the first threshold value, and the torque ripple peak portion is equal to or lower than the second threshold value. Select the part. The torque ripple waveform information stored in the storage device 15 is, for example, the torque value of the selected valley portion of the torque ripple and the actual rotation angle of the motor rotor 13a corresponding to the valley portion. In this way, by storing only information related to the peak and valley portions of torque ripple, the storage capacity of the storage device 15 can be reduced.

  Next, although not shown, the control device will be described. The control device inputs detection signals from various sensors and controls the assist motor 13. Here, the various sensors are, for example, a torque sensor that detects a torque applied to the steering shaft 22, a vehicle speed sensor that detects a vehicle speed, the rotation angle sensor 14 described above, and a current sensor that detects a current flowing through a coil of the motor stator 13b. Etc.

  Then, the control device calculates a command value of the target current corresponding to the output torque to be output to the assist motor 13 based on the torque applied to the steering shaft 22 and the vehicle speed. On the other hand, the actual current flowing through the coil of the assist motor 13 is calculated based on the detection signals of the current sensor and the rotation angle sensor 14. Based on the deviation between the target current and the actual current, proportional / integral control or the like is performed to apply a voltage to the assist motor 13. In this way, the control device controls the assist motor 13.

  Here, the control device inputs the characteristic value stored in the storage device 15. Based on the cogging torque waveform information and torque ripple waveform information among the input characteristic values, the control device applies a voltage to be applied to the assist motor 13 in accordance with the actual rotation angle of the motor rotor 13a so as to reduce the cogging torque and torque ripple. Change as appropriate.

  Further, the control device considers an offset value of the actual rotation angle of the motor rotor 13a with respect to the reference rotation angle of the motor rotor 13a among the input characteristic values, and prevents a reduction in output torque due to a deviation in the rotation angle of the motor rotor 13a. ing.

  Further, the control device changes the command value of the target current based on the torque constant among the input characteristic values, or changes the coefficient of proportional control of the servo amplifier (not shown) of the assist motor 13. The voltage applied to the assist motor 13 is appropriately changed. Here, when the air gap which is the gap between the motor rotor 13a and the motor stator 13b is wide, the torque constant becomes small. When the torque constant is thus reduced, for example, the command value of the target current is changed to be increased.

  Here, when a plurality of assist motors 13 are manufactured, the torque constant of each assist motor 13 may vary. In particular, when the component parts of the assist motor 13 are not processed and assembled with high accuracy, there is a possibility that the torque constant due to, for example, an air gap may vary.

  However, even if the torque constant varies for each assist motor 13, the assist motor 13 can be changed by changing the command value of the target current or the proportional control coefficient of the servo amplifier of the assist motor 13 according to the torque constant. Variation in output torque can be prevented. For example, it is possible to prevent the output torque of the assist motor 13 from varying when the torque applied to the steering shaft 22 and the vehicle speed are the same. That is, even if any assist motor 13 among the plurality of manufactured assist motors 13 is mounted, variations in output torque in the same vehicle state can be prevented.

  As described above, according to the electric power steering apparatus 1 of the present embodiment, by storing the characteristic value of the assist motor 13 in the storage device 15, which assist motor 13 is among the plurality of manufactured assist motors 13. Even when is selected, certain predetermined performance can be exhibited. That is, any assist motor 13 can exhibit a predetermined performance even when the accuracy of the plurality of assist motors 13 produced varies. In other words, it is not necessary to process and assemble the components with high accuracy so that the accuracy of the assist motor 13 does not vary. That is, the number of processing / assembly man-hours can be greatly reduced.

  Moreover, in the said embodiment, although the rotation angle sensor 14 was arrange | positioned substantially integrally in the vicinity of the assist motor 13, you may arrange | position in another position. Conventionally, the rotation angle of the assist motor 13 and the rotation angle of the rotation angle sensor 14 have to be matched with high accuracy, and therefore the rotation angle sensor 14 has to be disposed almost integrally in the vicinity of the assist motor 13. . However, according to the electric power steering apparatus 1 of the present embodiment, it is not necessary to match the rotation angle of the assist motor 13 and the rotation angle of the rotation angle sensor 14 with high accuracy, and the deviation information can be stored in the storage device 15. That's fine. Therefore, there is no restriction on the mounting position of the rotation angle sensor 14, and the degree of freedom of the mounting position is increased. As a result, there is a possibility that the electric power steering apparatus 1 is increased in size due to restrictions on the mounting position of the rotation angle sensor 14 as in the conventional case. However, according to the present embodiment, the electric power steering apparatus 1 can be reduced in size. The rotation angle sensor 14 can be attached at a position where it can be seen.

  In the above embodiment, the electric power steering apparatus 1 in which the rack shaft 12 and the assist motor 13 are coaxial has been described as an example, but the present invention is not limited to this. For example, the present invention can be applied to various electric power steering devices such as a steering column mounting type electric power steering device, a pinion type electric power steering device, and a rack cross type electric power steering device. Furthermore, it can also be applied to steer-by-wire systems.

  Furthermore, although an electric power steering device has been described as an example of the vehicle-mounted actuator unit of the present invention, the present invention is not limited to this. For example, a variable transmission ratio steering device that changes the transmission ratio between the steering angle and the turning angle may be applied to the vehicle-mounted actuator unit of the present invention. In this case, the vehicle-mounted actuator of the present invention is a motor that constitutes the transmission ratio variable steering device. Of course, the vehicle-mounted actuator unit may be an actuator unit other than the electric power steering device and the transmission ratio variable steering device.

  In addition, the vehicle-mounted actuator of the present invention is not limited to a motor alone, and includes various vehicle-mounted components such as a resolver 14 and a solenoid (not shown). When the vehicle-mounted actuator of the present invention is applied to the resolver 14, the characteristic values stored in the storage device 15 are, for example, correction values such as a resolver rotor, excitation coil, detection coil, and eccentricity.

  The connection between the electric power steering device and the control device may be electrically connected by a cable or the like, or may be a communication connection by CAN or the like. Further, although the storage device 15 is a non-volatile memory, a volatile memory may be used. However, when a volatile memory is used as the storage device 15, a battery or the like needs to be provided separately from the storage device 15. In the above embodiment, the storage device 15 is fixed to the rack housing 11, but is not limited thereto. As long as the storage device 15 is integrally fixed to the assist motor 13, the storage device 15 may be fixed directly to the assist motor 13 or indirectly.

The fragmentary sectional view of electric power steering device 1 which constitutes an electric power steering system is shown. It is a figure explaining cogging torque waveform information. It is a figure explaining torque ripple waveform information.

Explanation of symbols

1: electric power steering device, 11: rack housing, 12: rack shaft, 13: assist motor, 13a: motor rotor, 13b: motor stator, 14: rotation angle sensor, 15: storage device, 21: steering wheel, 22: steering Shaft, 23: Steering wheel, 121: Rack shaft main body, 121a: Ball screw groove, 122: Ball screw nut

Claims (17)

A vehicle-mounted actuator mounted on the vehicle;
A storage device that is integrally fixed to the vehicle-mounted actuator and stores characteristic values of the vehicle-mounted actuator;
In-vehicle actuator unit including   The vehicle-mounted actuator unit according to claim 1, wherein the storage device is a nonvolatile memory. The vehicle-mounted actuator is a motor of an electric power steering device or a motor of a vehicle transmission ratio variable steering device,
The characteristic value is selected from an offset value of the actual rotation angle of the rotor with respect to a reference rotation angle of the rotor of the motor, a torque constant of the motor, cogging torque waveform information of the motor, and torque ripple waveform information of the motor. The vehicle-mounted actuator unit according to claim 1 or 2, including any one.   4. The vehicle-mounted actuator unit according to claim 3, wherein the cogging torque waveform information is a torque value of a peak and valley of the cogging torque of the motor and an actual rotation angle of the rotor of the peak and valley of the cogging torque.   5. The vehicle-mounted actuator unit according to claim 3, wherein the torque ripple waveform information includes a torque value of a peak and a valley of the torque ripple of the motor and an actual rotation angle of the rotor of the peak and valley of the torque ripple. The vehicle-mounted actuator is a resolver rotation angle sensor,
The vehicle-mounted actuator unit according to claim 1, wherein the characteristic value is a correction value of the resolver rotation angle sensor.   The vehicle-mounted actuator unit according to claim 6, wherein the resolver rotation angle sensor is a resolver torque sensor. A vehicle-mounted actuator unit comprising: a vehicle-mounted actuator; and a storage device that is integrally fixed to the vehicle-mounted actuator and stores a characteristic value of the vehicle-mounted actuator;
A control device connected to the vehicle-mounted actuator unit and controlling the vehicle-mounted actuator using the characteristic value;
In-vehicle actuator system including   The vehicle-mounted actuator system according to claim 8, wherein the storage device is a nonvolatile memory. The vehicle-mounted actuator is a motor of an electric power steering device or a motor of a vehicle transmission ratio variable steering device,
The characteristic value is any one selected from an offset value of the actual rotation angle of the rotor with respect to a reference rotation angle of the rotor of the motor, a torque constant of the motor, cogging torque waveform information of the motor, and torque ripple waveform information of the motor. The vehicle-mounted actuator system of Claim 8 or 9 containing these.   The vehicle-mounted actuator system according to claim 10, wherein the cogging torque waveform information includes a torque value of a peak / valley of the cogging torque of the motor and an actual rotation angle of the rotor of the peak / valley of the cogging torque.   12. The vehicle mounted actuator system according to claim 10, wherein the torque ripple waveform information includes a torque value of a peak and a valley of the torque ripple of the motor and an actual rotation angle of the rotor of the peak and valley of the torque ripple. The characteristic value includes the cogging torque waveform information,
The vehicle-mounted actuator system according to any one of claims 10 to 12, wherein the control device controls the motor to reduce cogging torque based on the cogging torque waveform information. The characteristic value includes the torque ripple waveform information,
The vehicle-mounted actuator system according to any one of claims 10 to 13, wherein the control device controls the motor so as to reduce torque ripple based on the torque ripple waveform information. The vehicle-mounted actuator is a motor of an electric power steering device,
The characteristic value includes the torque constant,
The vehicle-mounted actuator system according to any one of claims 10 to 14, wherein the control device controls the motor to output a predetermined output torque by changing a control command value according to the torque constant. The vehicle-mounted actuator is a resolver rotation angle sensor,
The vehicle mounted actuator system according to any one of claims 8 to 15, wherein the characteristic value is a correction value of the resolver type rotation angle sensor.   The vehicle-mounted actuator system according to claim 16, wherein the resolver rotation angle sensor is a resolver torque sensor.

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