JP2008087727A5 - - Google Patents
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- JP2008087727A5 JP2008087727A5 JP2006273666A JP2006273666A JP2008087727A5 JP 2008087727 A5 JP2008087727 A5 JP 2008087727A5 JP 2006273666 A JP2006273666 A JP 2006273666A JP 2006273666 A JP2006273666 A JP 2006273666A JP 2008087727 A5 JP2008087727 A5 JP 2008087727A5
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- motor
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- power steering
- voltage
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- 238000009499 grossing Methods 0.000 claims 14
- 238000006243 chemical reaction Methods 0.000 claims 10
- 238000001514 detection method Methods 0.000 claims 5
Claims (9)
前記操舵系の操舵トルクを検出するトルクセンサと、
前記トルクセンサで検出した操舵トルクに基づいて、電流指令値Ｉｒｅｆを算出する電流指令値決定手段と、
前記電流指令値決定手段で算出された電流指令値Ｉｒｅｆに基づいて、電圧指令値Ｖｒｅｆを出力する電流制御手段と、
前記電流制御手段から出力された電圧指令値Ｖｒｅｆに基づいてＰＷＭ信号を生成し、生成されたＰＷＭ信号に基づいて前記モータへモータ電流Ｉｍを供給するモータ駆動回路とを備えた電動パワーステアリング装置において、
前記電動パワーステアリング装置で用いられるアナログ信号のＡＤ変換時に生じた量子化誤差を平滑するための平滑フィルタを備えることを特徴とする電動パワーステアリング装置。 A motor for applying a steering assist force to the vehicle steering system;
A torque sensor for detecting a steering torque of the steering system;
Current command value determining means for calculating a current command value Iref based on the steering torque detected by the torque sensor;
Current control means for outputting a voltage command value Vref based on the current command value Iref calculated by the current command value determining means;
An electric power steering apparatus comprising: a motor drive circuit that generates a PWM signal based on the voltage command value Vref output from the current control means and supplies a motor current Im to the motor based on the generated PWM signal. ,
An electric power steering apparatus comprising: a smoothing filter for smoothing a quantization error generated during AD conversion of an analog signal used in the electric power steering apparatus.
前記平滑フィルタは、前記電流指令値決定手段の出力側に設けられている請求項１に記載の電動パワーステアリング装置。 The current command value determining means includes an EPS physical quantity such as the steering torque and vehicle speed as input, and includes first AD conversion means for quantizing the EPS physical quantity, and based on the quantized EPS physical quantity, Outputs the value Iref,
The electric power steering apparatus according to claim 1, wherein the smoothing filter is provided on an output side of the current command value determining means.
前記平滑フィルタは、前記第２のＡＤ変換手段の出力側に設けられており、
前記電流制御手段は、前記電流指令値Ｉｒｅｆと、前記平滑フィルタから出力されたモータ電流Ｉｍとに基づいて、前記モータを制御する請求項１に記載の電動パワーステアリング装置。 The electric power steering apparatus includes current detection means for detecting the motor current Im, and second AD conversion means for quantizing the detected motor current Im.
The smoothing filter is provided on the output side of the second AD conversion means,
The electric power steering apparatus according to claim 1, wherein the current control unit controls the motor based on the current command value Iref and a motor current Im output from the smoothing filter.
前記平滑フィルタは、前記第３のＡＤ変換手段の出力側に設けられており、前記平滑フィルタから出力された操舵トルクを入力とする請求項１に記載の電動パワーステアリング装置。 The electric power steering device includes third AD conversion means for quantizing the steering torque detected by the torque sensor,
2. The electric power steering apparatus according to claim 1, wherein the smoothing filter is provided on an output side of the third AD conversion unit, and receives a steering torque output from the smoothing filter.
前記平滑フィルタは、前記第４のＡＤ変換手段の出力側に設けられており、
前記逆起電圧算出手段は、前記平滑フィルタから出力されるモータ電圧Ｖｍと、前記モータ電流Ｉｍとに基づいて、前記逆起電圧ＥＭＦを算出し、
算出された逆起電圧ＥＭＦが補償された電圧指令値（Ｖｒｅｆ＋ＥＭＦ）を前記モータ駆動回路の入力とする請求項１に記載の電動パワーステアリング装置。 The electric power steering device calculates a voltage detection means for detecting the motor voltage Vm, a fourth AD conversion means for quantizing the detected motor voltage Vm, and a back electromotive voltage EMF of the motor. Back electromotive force calculation means for,
The smoothing filter is provided on the output side of the fourth AD conversion means,
The counter electromotive voltage calculation means calculates the counter electromotive voltage EMF based on the motor voltage Vm output from the smoothing filter and the motor current Im,
The electric power steering apparatus according to claim 1, wherein a voltage command value (Vref + EMF) in which the calculated back electromotive force EMF is compensated is input to the motor drive circuit.
前記逆起電圧算出手段は、前記第５のＡＤ変換手段で量子化されたモータ電流Ｉｍと、前記第６のＡＤ変換手段で量子化されたモータ電圧Ｖｍとに基づいて、前記逆起電圧ＥＭＦを算出し、
前記平滑フィルタは、前記逆起電圧手段の出力側に設けられており、
前記平滑フィルタから出力された逆起電圧ＥＭＦが補償された電圧指令値（Ｖｒｅｆ＋ＥＭＦ）を前記モータ駆動回路の入力とする請求項１に記載の電動パワーステアリング装置。 The electric power steering apparatus includes a current detection unit for detecting the motor current Im, a fifth AD conversion unit for quantizing the detected motor current Im, and a voltage for detecting the motor voltage Vm. Detection means, sixth AD conversion means for quantizing the detected motor voltage Vm, and counter electromotive voltage calculation means for calculating the counter electromotive voltage EMF of the motor,
The counter electromotive voltage calculation means is configured to calculate the counter electromotive voltage EMF based on the motor current Im quantized by the fifth AD converter and the motor voltage Vm quantized by the sixth AD converter. To calculate
The smoothing filter is provided on the output side of the back electromotive voltage means,
The electric power steering apparatus according to claim 1, wherein a voltage command value (Vref + EMF) compensated for the back electromotive voltage EMF output from the smoothing filter is input to the motor drive circuit.
前記操舵状態検出手段によって保舵状態と検出された場合に、前記平滑フィルタをオンさせるようにし、また、通常操舵状態と検出された場合に、前記平滑フィルタをオフさせるようにする請求項１乃至請求項６のいずれかに記載の電動パワーステアリング装置。 The electric power steering device includes a steering state detection means for detecting a steering state of the steering wheel,
The smoothing filter is turned on when the steered state is detected by the steering state detecting means, and is turned off when the normal steering state is detected. The electric power steering apparatus according to claim 6.
7. The electric power steering apparatus according to claim 1, further comprising a switching unit that switches between a vector control circuit and a rectangular wave control circuit, and switches the smoothing filter on and off according to the switching state. The electric power steering device according to claim 1.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2006273666A JP5050476B2 (en) | 2006-10-05 | 2006-10-05 | Electric power steering device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2006273666A JP5050476B2 (en) | 2006-10-05 | 2006-10-05 | Electric power steering device |
Publications (3)
| Publication Number | Publication Date |
|---|---|
| JP2008087727A JP2008087727A (en) | 2008-04-17 |
| JP2008087727A5 true JP2008087727A5 (en) | 2009-08-06 |
| JP5050476B2 JP5050476B2 (en) | 2012-10-17 |
Family
ID=39372293
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP2006273666A Active JP5050476B2 (en) | 2006-10-05 | 2006-10-05 | Electric power steering device |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP5050476B2 (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP3124358B1 (en) | 2014-03-25 | 2020-09-23 | Nsk Ltd. | Electric power steering device |
| WO2015159762A1 (en) * | 2014-04-16 | 2015-10-22 | 日本精工株式会社 | Electric power steering device |
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2006
- 2006-10-05 JP JP2006273666A patent/JP5050476B2/en active Active
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