WO2013118339A1 - 電動パワーステアリング装置 - Google Patents
電動パワーステアリング装置 Download PDFInfo
- Publication number
- WO2013118339A1 WO2013118339A1 PCT/JP2012/072356 JP2012072356W WO2013118339A1 WO 2013118339 A1 WO2013118339 A1 WO 2013118339A1 JP 2012072356 W JP2012072356 W JP 2012072356W WO 2013118339 A1 WO2013118339 A1 WO 2013118339A1
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- WIPO (PCT)
- Prior art keywords
- motor
- relay
- steering
- temperature
- value
- Prior art date
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Classifications
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- 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
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- 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
- B62D5/0421—Electric motor acting on or near steering gear
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- 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
- B62D5/0469—End-of-stroke control
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- 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
- B62D5/0481—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 monitoring the steering system, e.g. failures
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- 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
- B62D5/0481—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 monitoring the steering system, e.g. failures
- B62D5/0496—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 monitoring the steering system, e.g. failures by using a temperature sensor
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
- H02P29/02—Providing protection against overload without automatic interruption of supply
- H02P29/024—Detecting a fault condition, e.g. short circuit, locked rotor, open circuit or loss of load
- H02P29/028—Detecting a fault condition, e.g. short circuit, locked rotor, open circuit or loss of load the motor continuing operation despite the fault condition, e.g. eliminating, compensating for or remedying the fault
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
- H02P29/02—Providing protection against overload without automatic interruption of supply
- H02P29/032—Preventing damage to the motor, e.g. setting individual current limits for different drive conditions
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/28—Arrangements for controlling current
Definitions
- the present invention relates to an electric power steering apparatus that applies an assist force by a brushless DC motor to a steering system of a vehicle, and in particular, a continuous energization time of a large current flowing in an electromagnetic motor relay that supplies current to the brushless DC motor.
- the present invention relates to an electric power steering apparatus that limits and controls torque fluctuations to be reduced by gradually reducing the large current flowing through the motor relay.
- the present invention estimates the relay spring temperature or relay coil temperature of an electromagnetic motor relay that supplies current to the brushless DC motor, compares the estimated temperature with a predetermined temperature (threshold), and according to the comparison result, the relay current.
- the present invention relates to an electric power steering device that controls (decreases or increases) the motor.
- An electric power steering device that applies a steering assist force (assist) to a steering mechanism of a vehicle by a rotational force of a motor is applied to a steering shaft or a rack shaft by a transmission mechanism such as a gear or a belt via a reduction gear.
- a steering assist force is applied.
- Such a conventional electric power steering apparatus performs feedback control of the motor current in order to accurately generate the torque of the steering assist force.
- the motor applied current is adjusted so that the difference between the steering assist command value (current command value) and the motor current detection value is small.
- the adjustment of the motor applied current is generally performed by PWM (pulse width). This is done by adjusting the duty of modulation) control.
- a column shaft (steering shaft) 2 of the steering handle 1 is a reduction gear 3, universal joints 4a and 4b, a pinion rack mechanism 5, and tie rods 6a and 6b. Then, it is further connected to the steering wheels 8L, 8R via the hub units 7a, 7b. Further, the column shaft 2 is provided with a torque sensor 10 for detecting the steering torque of the steering handle 1, and a motor 20 for assisting the steering force of the steering handle 1 is applied to the column shaft 2 via the reduction gear 3. It is connected.
- the control unit 100 that controls the electric power steering apparatus is supplied with electric power from the battery 13 and also receives an ignition key signal via the ignition key 11.
- the control unit 100 calculates a steering assist command value of an assist (steering assist) command based on the steering torque Tr detected by the torque sensor 10 and the vehicle speed Vel detected by the vehicle speed sensor 12, and obtains the steering assist command value.
- the current supplied to the motor 20 is controlled by the current control value E subjected to compensation or the like.
- the vehicle speed Vel can also be received from CAN (Controller Area Network) or the like.
- the control unit 100 is mainly composed of a CPU (or MPU or MCU), and a general function executed by a program in the CPU is as shown in FIG.
- the function and operation of the control unit 100 will be described with reference to FIG. 2.
- the steering torque Tr detected by the torque sensor 10 and the vehicle speed Vel from the vehicle speed sensor 12 are input to the steering assist command value calculation unit 101, and an assist map is displayed.
- the steering assist command value Iref is calculated using this.
- the calculated steering assist command value Iref is limited in output by the maximum output limiter 102 based on overheat protection conditions and the like, and the current command value I whose maximum output is limited is input to the subtractor 103.
- the calculation of the steering assist command value Iref in the steering assist command value calculation unit 101 can be further performed using the steering angle in addition to the steering torque T and the vehicle speed Vel.
- the current control value E is input to the PWM control unit 105, the duty is calculated, and the motor 20 is driven via the motor drive circuit 106 by the PWM signal PS whose duty is calculated.
- the motor current i of the motor 20 is detected by the motor current detection circuit 107, and the motor current i is input to the subtraction unit 103 and fed back.
- the motor drive circuit that controls the motor current with the current control value E and drives the motor uses a bridge circuit in which a semiconductor switching element (FET) and the motor are bridge-connected, and is determined based on the current control value E.
- FET semiconductor switching element
- a motor drive circuit configured to control the motor current by controlling the semiconductor switching element on / off by the duty of the PWM signal is widely used, and recently, a brushless DC motor is used as the motor.
- a brushless DC motor is used as the motor.
- the motor drive circuit of the three-phase brushless DC motor will be briefly described.
- an armature coil is wound around a stator, a rotor is composed of a permanent magnet, and the permanent magnet magnetic field and the magnetic field generated by the armature coil are orthogonal to each other according to the rotational position of the permanent magnet.
- the timing of the direct current flowing through the coil of the magnetic pole corresponding to the position is taken.
- a rotation sensor for detecting the rotational position of the permanent magnet is arranged on the stator. The number of detection elements of the sensor is proportional to the number of phases of the motor, and three detection elements are required for a three-phase brushless DC motor.
- An inexpensive Hall element or the like is used as the detection element of the rotation sensor.
- FIG. 3 is a connection diagram showing a schematic configuration of the motor drive circuit 106 that drives the three-phase brushless DC motor 20.
- the motor drive circuit 106 is an inverter circuit composed of six semiconductor switching elements SW1 to SW6. Power is supplied from the battery 13, and the switching elements SW1 and SW2 are connected in series (A phase), and the switching elements SW3 and SW4. Are connected in series (phase B), and switching devices SW5 and SW6 are connected in series (phase C).
- the rotation sensor that detects the electrical angle of the motor 20 is composed of three detection elements (Hall elements) H1, H2, and H3.
- the detection elements H1 to H3 are 60 ° out of phase with the neutral axis of each phase.
- the phase current values I1, I2, and I3 of each phase are ON / OFF controlled according to the rising and falling of the detection elements H1, H2, and H3 that detect the electrical angle of the motor 20.
- FIG. 4 shows the rise and fall timings of the detection elements H1 to H3 as rotation sensors and the ON / OFF control timing of the switching elements SW1 to SW6.
- the switching element SW1 is turned on by the rise of the detection element H1.
- the switching element SW1 is turned off at the rising edge of the detection element H2, and the A phase is excited.
- the switching element SW4 is turned on until it rotates 60 ° from the rise of the detection element H1, the switching element SW6 is turned on after the rotation of 60 °, and the B phase and the C phase are excited so as to have opposite polarities. Since two phases are excited simultaneously in this way, the motor 20 can be driven efficiently.
- the ON / OFF control relationship of the switching elements SW1 to SW6 corresponding to the rise and fall of the detection elements H1 to H3 may be reversed.
- the control unit has an initial diagnosis function.
- the initial diagnosis function is executed and the motor current is forced to flow to detect the motor current.
- the operation of the circuit and the relay contact of the motor relay is confirmed (for example, JP-A-8-91239).
- the cause of an open failure of a relay contact is one of the causes of adhesion of insulating foreign matter to the relay contact, but in a state where an inrush current (current that flows at the moment when the relay contact closes) flows.
- an inrush current current that flows at the moment when the relay contact closes
- In usage patterns in which the relay contacts are closed relay contact open failures do not occur, and in usage patterns in which current does not flow at the moment when the relay contacts are closed, relay contact open failures occur at a certain frequency. It is empirically known to occur. This is because in a usage configuration in which the relay contact closes in a state where an inrush current flows, the foreign matter adhering to the contact is removed by the inrush current, whereas no current flows when the relay contact is closed, and the contact is closed.
- Patent Document 2 Japanese Patent Laid-Open No. 2010-132206
- the A-phase motor relay 42 and the B-phase motor relay 44 are forcibly excited, and the duty of the PWM signal PS for driving the switching element of the motor drive circuit 106 is set to a specific duty for abnormality diagnosis.
- the A-phase motor current is detected, it is determined whether the absolute value of the A-phase motor current is equal to or greater than a preset threshold, and the relay contact 42a of the A-phase motor relay 42 and the relay contact 44a of the B-phase motor relay are normal.
- Judge abnormalities When it is determined that there is an abnormality, the normal / abnormal determination is repeated for a predetermined number of determinations. If there are multiple determinations, the abnormality determination is confirmed and fail-safe processing is performed.
- the motor relay Under normal conditions of use of the electric power steering device, the motor relay only needs to have a capacity that can withstand short-term energization, but the motor does not rotate for a long time by holding the steering handle (steering wheel). When the steering is maintained, a large current flows through the motor relay for a long time. In order to cope with such a situation, a relay having a large capacity must be used, but there is a problem that it becomes expensive.
- the present invention has been made under the circumstances described above, and an object of the present invention is to provide a large current flowing in a relay (motor relay) connected to a winding of a brushless DC motor used in an electric power steering apparatus.
- An expensive large-capacity relay is used as a motor relay by limiting the continuous energization time and controlling the torque fluctuation to be low by controlling the large current flowing through the motor relay gradually and gradually.
- Electric power that eliminates the need for a low-capacity electromagnetic relay as a motor relay and enables an inexpensive system configuration and gradually reduces the assist of the electric power steering device to reduce the uncomfortable feeling of steering
- the object is to provide a steering device.
- Another object of the present invention is to estimate the relay spring temperature or the relay coil part temperature without incurring cost-up by using an inexpensive electromagnetic relay without using an expensive element such as a semiconductor relay,
- an electric power steering device capable of an inexpensive system configuration by comparing the estimated relay spring temperature or relay coil temperature with a predetermined temperature and controlling (decreasing or increasing) the relay current based on the comparison result. There is.
- the present invention calculates a steering assist command value based on the steering torque and the vehicle speed, generates a PWM signal based on the steering assist command value, and PWM-drives the motor via a motor drive circuit composed of switching elements.
- the above-described object of the present invention is to detect the steering state of the steering handle, and to control the steering system with assist control of the steering system and a motor relay inserted between the motor drive circuit and the motor.
- a steering state detection unit that outputs a long-time steering signal when the time-steering state is detected and outputs a normal steering signal when the normal steering state is detected, and a long-time holding signal output from the steering state detection unit.
- a motor current control unit that determines a motor current control value for controlling the motor current flowing through the motor relay in accordance with a rudder signal or a normal steering signal. Ri is achieved.
- the object of the present invention is that the motor relay is an electromagnetic relay, or the steering state at the time when a predetermined time elapses from the time when the steering state detector detects that the steering state is maintained.
- the long-time steering is performed via the motor current control unit.
- the motor current is controlled to decrease to a maximum limit target value within a motor current decrease time based on a predetermined decrease rate, and the normal steering signal is detected by the steering state detection unit.
- the motor current control value corresponding to the normal steering signal is reduced to the maximum limit target value via the motor current control unit.
- the present invention calculates a steering assist command value based on the steering torque and the vehicle speed, generates a PWM signal based on the steering assist command value, and PWMs the motor via a motor drive circuit composed of a switching element.
- the present invention relates to an electric power steering apparatus in which a motor relay is interposed between a motor drive circuit and the motor, and the object of the present invention is to provide a relay spring part or a relay coil of the motor relay.
- a temperature estimation unit that estimates the temperature of the unit, a comparison unit that compares the estimated temperature value estimated by the temperature estimation unit with a predetermined temperature, and a motor that controls the motor current flowing through the motor relay according to the comparison result of the comparison unit This is achieved by including a current control unit.
- the object of the present invention is that the motor is a three-phase brushless DC motor and the motor relay is an electromagnetic relay, or that the rate of decrease in the control of the motor current is 1 ⁇ 2 that of normal time and increased.
- the rate of decrease in the control of the motor current is 1 ⁇ 2 that of normal time and increased.
- a maximum value selection unit that selects a value, a relay spring unit temperature calculation unit that calculates a relay spring unit temperature based on an addition value of the maximum value and the relay coil unit temperature estimated value, and the substrate temperature And an addition part that adds the relay spring part temperature and outputs the relay spring part temperature estimated value, or the temperature estimation part is a relay coil part temperature estimation part, and the relay coil part temperature estimation
- a current integration unit for each phase that integrates each phase current detection value of the motor, a maximum value selection unit that selects a maximum value of the integration value of each phase current detection value, and the maximum value and relay spring temperature A relay coil part temperature calculation part that calculates a relay coil part temperature based on an addition value of the estimated value, and an addition part that adds the substrate temperature and the relay coil part temperature and outputs the relay coil part temperature estimated value By being comprised, it is achieved more effectively.
- the continuous energization time of a large current flowing through a motor relay used in a brushless DC motor mounted on the electric power steering apparatus is limited, and the large current flowing through the motor relay is also limited.
- the torque fluctuation is kept low.
- an expensive large-capacity relay as a motor relay
- an inexpensive small-capacity electromagnetic relay can be used as a motor relay of an electric power steering device, and the assist of the electric power steering device gradually decreases. , Steering discomfort can be suppressed.
- the electric power steering apparatus when the temperature of the relay spring part or the relay coil part is estimated and the relay spring part temperature estimated value or the relay coil part temperature estimated value becomes equal to or higher than a predetermined temperature that is a threshold.
- the motor current flowing through the motor relay is reduced and limited.
- the estimated value of the relay spring portion temperature or the estimated value of the relay coil portion decreases and becomes lower than a predetermined temperature, the motor current is increased and the control is performed so as to return. Accordingly, there is an advantage that an inexpensive and small capacity electromagnetic relay can be used without using a large capacity relay.
- connection diagram which shows an example of the motor drive circuit system by this invention (1st Embodiment). It is a block diagram which shows the structural example of the electric power steering apparatus which concerns on this invention (1st Embodiment). It is a characteristic view which shows the operation example of this invention (1st Embodiment). It is a part of flowchart which shows the operation example of this invention (1st Embodiment). It is a connection diagram which shows an example of the motor drive circuit system by this invention (2nd Embodiment). It is a block diagram which shows the structural example of the relay spring part temperature estimation part which concerns on this invention (2nd Embodiment). It is a characteristic view which shows the calculation example of a relay spring part temperature calculation part.
- the brushless DC motor that applies the steering assist force is controlled by adjusting the PWM duty (that is, the energization cycle (time) rate as a result of modulation with respect to the pulse width of 100%).
- the circuit is composed of a semiconductor switching element (eg, FET) that is ON / OFF controlled.
- a motor relay that opens the motor terminal from the switching element is inserted.
- the motor relay Under normal conditions of use, the motor relay only needs to have a capacity that can withstand short-term energization.However, if the motor is steered for a long time, such as by holding the steering handle, the motor relay A large current will flow for a long time. In order to cope with such a situation, a relay having a large capacity must be used, but there is a problem that it becomes expensive and large. Further, the semiconductor relay is expensive and cannot be used for a vehicle that is strongly required to reduce the cost.
- the spring part of the motor relay has a characteristic that it is easy to overheat and cool down, and the motor current flows through the spring part. Therefore, high speed control is required.
- the relay contact has a large resistance at the point of contact, suddenly generates heat and reaches 1000 ° C. or higher.
- the coil portion is only electromagnet-driven current, but is affected by heat from the spring portion. Since the capacity is large, the temperature gradually rises, and the heat resistance temperature for coating is not high compared to the spring, so that it is very difficult to achieve a good balance between the two.
- the temperature estimation unit estimates the relay spring temperature or the relay coil temperature without using an expensive switching element such as a semiconductor relay, and without increasing the cost by using a small and inexpensive electromagnetic relay.
- the relay current is limited to enable an inexpensive system configuration. That is, when a large current is continuously supplied to the motor relay, the relay spring or relay coil generates heat. Therefore, in the present invention, the temperature of the relay spring or relay coil is estimated, and when the estimated temperature becomes a predetermined temperature or higher. The current flowing through the motor relay is limited (decreased). Further, when the estimated relay spring portion temperature or the estimated relay coil portion temperature becomes lower than a predetermined temperature, the current flowing through the motor relay is controlled to increase. Thereby, an inexpensive and small capacity electromagnetic relay can be used as a motor relay.
- FIG. 6 shows a structural example of a motor relay 200 that is an electromagnetic relay used in the electric power steering apparatus of the present invention.
- a relay coil unit 201 that excites current by passing an electric current through an electromagnet-driven coil, and a relay coil
- the contact point 210 and 211 are turned ON / OFF by excitation / de-excitation of the part 201, and a relay spring part 202 for supplying / cutting off current to the motor and a mounting connector 203 are configured. It is attached to the substrate.
- the details of the relay spring part 201 are provided with a hemispherical contact 210 on the lower surface of the conductive piece 201M of the relay coil part 201, and a spring piece 202M made of an elastic conductor is provided on the bottom side.
- a hemispherical contact 211 is provided on the upper surface of the spring piece 202M so as to face the contact 210.
- the motor relay only needs to have a capacity that can withstand energization for a short time.
- a large current flows through the motor relay for a long time.
- it is necessary to use a relay with a large capacity but there is a problem that the large capacity relay becomes expensive and large, so electric power steering is strongly demanded to reduce costs. It cannot be used in the device.
- the electric power steering apparatus (the first embodiment) has a large current in the motor relay that occurs when the motor is steered for a long time without rotating the motor (that is, when the steered state continues for a certain time or more). Was made in order to cope with the fact that the water flows for a long time.
- the case where a large current flows through the motor relay for a long time is, for example, as follows.
- the motor When the motor is steered for a long time without rotating (in the present invention, it is also referred to as “long steered state”), unlike the assist at the time of additional turning, the steering is not necessary because almost no assist is required. Since the motor does not move, if a large current flows only in a certain phase of the motor, there is a problem that the heat generation of the motor relay of that phase increases.
- the present invention when a long-time steering state in which the steering state has continued for a predetermined time or more is detected (that is, a large current is generated by the steering). If the continuous energization time of the motor current flowing through the motor relay is limited, and the continuous energization time reaches a predetermined time determined by the capacity of the motor relay), the motor current flowing through the motor relay is gradually decreased. By controlling to, torque fluctuation is kept low. As a result, an inexpensive system configuration can be achieved without using an expensive large-capacity relay, and an inexpensive and small-capacity electromagnetic relay can be used. It becomes possible to suppress the increase, and furthermore, the assist of the electric power steering device is gradually lowered, so that the uncomfortable feeling of steering can be suppressed.
- the assist when such a long-time steering state is detected, the assist is reduced so as not to give the driver an uncomfortable feeling of steering.
- control is performed so that the motor current flowing through the motor relay is gradually reduced.
- the steering time of the steering wheel is set to a long time, and the torque is smoothly changed, so that an uncomfortable feeling of steering is not caused.
- FIG. 8 shows a connection example of the motor drive circuit system according to the present invention (first embodiment) in correspondence with FIG. 5.
- a current control value E from the current control unit 104 and a motor current control unit 310 to be described later are shown.
- the motor current control value ML is input to the PWM control unit 105, and the PWM control unit 105 generates a PWM signal PSM for PWM control of the motor 20 and inputs the PWM signal PSM to the motor drive circuit 106.
- a steering state detection unit 300 detects the steering state of the steering handle, and when the detected steering state is the steering holding state, it continues for a predetermined time (predetermined time limit).
- the motor current control value ML determined based on the normal steering signal NS indicating that the steering state of the steering wheel is the normal steering state is the maximum limit. Control is performed so that the motor current decreased to the target value is quickly increased and returned.
- the PWM signal PSM whose duty is controlled by the PWM control unit 105 is input to the motor drive circuit 106, and the A, B, and C phase OFs are input from the motor drive circuit 106 to the brushless DC motor 20.
- motor relay 111A contact 111AS
- motor relay 111B contact 111BS
- the A phase resistance is in the A phase.
- the phase A motor current detection circuit 112A is connected via Ra
- the phase C motor current detection circuit 112C is connected via phase C resistance Rc to the phase C.
- the detected motor current (the detected phase A current IA ,
- the detected C-phase current IC and the detected B-phase current IB based on IA + IB + IC 0) are input to the subtracting unit 103 of FIG. It is.
- the motor relays are inserted in the A phase and the B phase, but other combinations may be used. The same applies to the detection of the motor current.
- FIG. 9 shows a configuration example of the electric power steering apparatus according to the first embodiment
- FIG. 10 is a characteristic diagram showing an operation example of the first embodiment
- FIG. 11 shows an electric power of the first embodiment.
- a part of flowchart which shows the operation example of a steering device is shown. The functions and operations of the electric power steering apparatus according to the first embodiment will be described in detail with reference to FIGS.
- the steering state of the steering wheel is detected, a long-time holding signal LH is output when the long-time steering state is detected, and the normal steering state is detected when the normal steering state is detected.
- a steering state detection unit 300 that outputs a steering signal NS, and a motor current for controlling the motor current flowing through the motor relay according to the long-time steering signal LH or the normal steering signal NS output from the steering state detection unit 300
- a motor current control unit 310 that determines the control value ML and outputs the determined motor current control value ML to the PWM control unit 105 is provided.
- the steering torque Tr detected by the torque sensor 10 and the vehicle speed Vel from the vehicle speed sensor 12 are input to the steering assist command value calculation unit 101, and the steering assist command value Iref is calculated using the assist map. .
- the calculated steering assist command value Iref is limited in output by the maximum output limiter 102 based on overheat protection conditions and the like, and the current command value I whose maximum output is limited is input to the subtractor 103.
- the steering state detection unit 300 includes a steering torque Tr, a vehicle speed Vel, a current command value I from the maximum output limiting unit 102, and a motor rotation speed ⁇ detected by a rotor position detection sensor 320 attached to the motor 20. It is input (step S1 in FIG. 11). Based on these inputs, the steering state detection unit 300 determines whether or not the steering state of the steering handle is in the steered state (step S2 in FIG. 11), and determines that the steering state is in the steered state. In this case, it is determined whether or not a predetermined time has elapsed since it was determined that the steering state is maintained (step S3 in FIG. 11). If it is determined that the predetermined time has elapsed, the steering state is maintained for a long time. The state is detected (step S4 in FIG. 11), and the long-time steering signal LH is output to the motor current control unit 310.
- the motor current control value ML corresponding to the long-time holding signal LH is obtained via the motor current control unit 310. Control is performed so as to gradually reduce the motor current flowing through the motor relay to the maximum limit target value based on a predetermined reduction rate (step S5 in FIG. 11).
- the steering state detection unit 300 determines whether or not the steering state is the normal steering state (step S10 in FIG. 11). When it is determined that the steering state is the normal steering state, it is detected that the steering state is the normal steering state (step S11 in FIG. 11), and the normal steering signal NS is output to the motor current control unit 310.
- the motor current control value ML corresponding to the normal steering signal NS is transmitted via the motor current control unit 310 to the PWM control unit 105. And the motor current decreased to the maximum limit target value is controlled to increase rapidly and return (step S12 in FIG. 11).
- the steering state is a long-time steering state
- the motor current is reduced to the maximum limit target value within the motor current reduction time.
- the increase rate of the motor current is made larger than normal (for example, 100 % / Second).
- the current increase rate can be set arbitrarily.
- the motor current is controlled to be gradually decreased at a rate of 10% / sec or less with respect to the rated maximum current, for example. Can do. That is, the motor current reduction and increase processing is performed according to the following Table 1, for example.
- the predetermined time (determination duration in Table 1), which is a necessary parameter for determining the long-time steering state, can be set within 5 seconds, for example.
- FIG. 12 shows a connection example of a motor drive circuit system according to the second embodiment corresponding to FIG. 8.
- the current control value E is input to the PWM control unit 105, and a PWM signal PSM for PWM control of the motor 20 is generated and input to the motor drive circuit 106.
- the motor current is limited (decreased) when the relay spring temperature estimated value RSE becomes equal to or higher than the predetermined threshold temperature T 0 , or the relay spring temperature estimated value RSE decreases and the predetermined temperature T
- the motor current control value ML is input to the PWM control unit 105 in order to control the motor current to increase when it becomes smaller than 0 .
- the PWM signal PSM whose duty is controlled by the PWM control unit 105 is input to the motor drive circuit 106, and the A / B / C-phase OF / OFF currents are supplied from the motor drive circuit 106 to the brushless DC motor 20.
- the motor relay 111A is inserted into the phase supply line, the motor relay 111B is inserted into the B phase supply line, the A phase motor current detection circuit 112A is connected to the A phase via the A phase resistance Ra, and C The phase is connected to a C-phase motor current detection circuit 112C via a C-phase resistance Rc, and the detected A-phase current IA and C-phase current IC are input to a later-described relay spring temperature estimation unit and a B-phase current It is input to the detection circuit 112B.
- the exciting currents of the motor relays 111A and 111B are ON / OFF controlled by the coil current control unit 110.
- FIG. 13 shows a configuration example of the relay spring temperature estimation unit according to the second embodiment, and the A-phase current detection value IA to the C-phase current detection value IC are input to the current integration unit 120 for each phase, and each phase is detected.
- the A-phase current integrated value IAS to the C-phase current integrated value ICS integrated in the above are input to the maximum value selection unit 121.
- the maximum integrated value IMS selected by the maximum value selection unit 121 is input to the addition unit 122, and the reference temperature RT that is the addition value of the addition unit 122 is input to the relay spring temperature calculation unit 123.
- a substrate temperature sensor 140 such as a thermistor is attached to the substrate, and the substrate temperature PT detected by the substrate temperature sensor 140 is input to the adding units 124 and 131 and calculated by the relay spring temperature calculating unit 123.
- the added temperature RST is added to the substrate temperature PT by the adder 124 to obtain the relay spring temperature estimated value RSE.
- the relay spring portion temperature estimated value RSE is compared with the predetermined temperature T 0 by the comparison portion 125.
- the motor current control value ML is set via the motor current control portion 150. Is input to the PWM control unit 105 to limit (decrease) the motor current.
- the motor current control value from the motor current control unit 150 The motor current is increased by ML to recover.
- the temperature RST from the relay spring temperature calculator 123 is input to the relay coil temperature calculator 130, and the calculated relay coil temperature RCT is added to the substrate temperature PT by the adder 131 and output as the relay coil temperature estimated value RLT. And input to the adder 122.
- the relay spring temperature calculator 123 has the characteristics shown in FIG. 14, for example, and the relay coil temperature calculator 130 has the characteristics shown in FIG. 15, for example.
- step S20 When the ignition key is turned on (step S20), normal diagnosis and assist control are executed. Here, only operations related to the second embodiment are shown and described.
- the phase A motor current detection circuit 112A to phase C current detection circuit 112C detect and input each phase current (step S21).
- the current integrating unit 120 integrates the motor current for each phase (step S22).
- the current integrated values IAS to ICS of each phase are input to the maximum value selecting unit 121, and the maximum value selecting unit 121 selects the maximum value IMS from the current integrated values IAS to ICS (step S23).
- the initial value of the coil part temperature estimated value RLT is added (step S24), and the reference temperature RT that is the added value is input to the relay spring part temperature calculating part 123.
- the relay spring temperature calculator 123 calculates the relay spring temperature RST according to the characteristics shown in FIG. 14 (step S25), and inputs it to the adder 124 and the relay coil temperature calculator 130.
- the substrate temperature sensor 140 detects and inputs the substrate temperature PT (step S26), the addition unit 124 adds the relay spring portion temperature RST and the substrate temperature PT (step S40), and the relay spring portion temperature estimated value RSE obtained by the addition is added. Is input to the comparator 125 (step S41).
- Comparing unit 125 compares the predetermined temperature T 0 and the relay-spring-portion-temperature estimated value RSE as threshold (step S42), the motor current control unit 150 when the relay-spring-portion-temperature estimated value RSE has reached a predetermined temperature T 0 or more Thus, the motor current control value ML is output and input to the PWM control unit 105 to limit (decrease) the motor current (step S50). Although the reduction rate is arbitrary, in this example, it is 1/2 (50%) of the normal current. If the relay-spring-portion-temperature estimated value RSE is smaller than the predetermined temperature T 0 and repeats the above operation to return to the step S21.
- relay spring temperature RST is calculated in step S25
- the relay spring temperature RST is input to the relay coil temperature calculator 130, and the relay coil temperature RCT is calculated according to the characteristics shown in FIG. 15 (step S30).
- Relay coil section temperature RCT is input to addition section 131 and added to substrate temperature PT (step S31), and added relay coil section temperature estimated value RLT is input to addition section 122 and added (step S24).
- step S50 reduction of the motor current by the step S50 is continued until the relay-spring-portion-temperature estimated value RSE is less than the predetermined temperature T 0 (step S51), the relay-spring-portion-temperature estimated value RSE by temperature decrease is less than the predetermined temperature T 0
- step S52 the motor current is controlled to increase (step S52).
- the rate of increase is doubled (200%) in order to quickly return to the steering wheel without feeling uncomfortable, but it can be set arbitrarily.
- the motor current decrease and increase processing is performed according to Table 2 below, for example.
- the predetermined time is a time until the temperature of the substrate temperature sensor and the relay spring portion is stabilized to such an extent that the temperature does not change.
- the initial value may be calculated from a predetermined temperature. This is because if an abnormality occurs when the temperature is high, the relay will be destroyed if a large current is applied starting from a low estimated value, or the current limit will be excessively increased starting from a high estimated value. This is to prevent the necessary assist force from being produced for a while (the handle is heavy).
- the connection example of the motor drive circuit system in this case is exactly the same as in FIG.
- the control value E is input to the PWM control unit 105, and a PWM signal PSM for PWM control of the motor 20 is generated and input to the motor drive circuit 106.
- relay coil portion temperature estimation value RLT becomes threshold predetermined temperature above T 1
- relay coil unit temperature estimate RLT is lowered by a predetermined to control so as to increase the motor current when it becomes smaller than the temperature T 1, and enter the motor current control value ML in PWM control unit 105.
- the PWM signal PSM whose duty is controlled by the PWM control unit 105 is input to the motor drive circuit 106, and the A-phase to C-phase OF is transferred from the motor drive circuit 106 to the brushless DC motor 20.
- / OFF current is supplied, the motor relay 111A is inserted into the A phase supply line, the motor relay 111B is inserted into the B phase supply line, and the A phase motor current is passed through the A phase resistance Ra to the A phase.
- the detection circuit 112A is connected, the C-phase motor current detection circuit 112C is connected to the C phase via the C-phase resistance Rc, and the detected A-phase current IA and C-phase current IC are relay coil temperature estimation units described later. And the B-phase current detection circuit 112B.
- the exciting currents of the motor relays 111A and 111B are ON / OFF controlled by the coil current control unit 110.
- FIG. 18 shows a configuration example of the relay coil temperature estimation unit according to the third embodiment, and the A-phase current detection value IA to the C-phase current detection value IC are input to the current integration unit 120 for each phase.
- the A-phase current integrated value IAS to the C-phase current integrated value ICS integrated for each phase are input to the maximum value selection unit 121.
- the maximum integrated value IMS selected by the maximum value selection unit 121 is input to the addition unit 122, and the reference temperature RT that is the addition value of the addition unit 122 is input to the relay coil unit temperature calculation unit 130.
- a substrate temperature sensor 140 such as a thermistor is mounted on the substrate, and the substrate temperature PT detected by the substrate temperature sensor 140 is input to the adders 124 and 131 and calculated by the relay coil temperature calculator 130A.
- the added temperature RCT is added to the substrate temperature PT by the adding unit 131, and the relay coil portion temperature estimated value RLT is obtained.
- Relay coil portion temperature estimation value RLT is compared with a predetermined temperature T 1 of the comparison unit 125, when the relay coil portion temperature estimation value RLT has reached a predetermined temperature above T 1, the motor current controlled via the motor current control unit 150
- the value ML is input to the PWM control unit 105 to limit (decrease) the motor current.
- the temperature RCT from the relay coil temperature calculator 130A is input to the relay spring temperature calculator 123A, and the calculated relay spring temperature RST is added to the substrate temperature PT by the adder 124 and output as the relay spring temperature estimated value RSE. At the same time, it is input to the adder 122.
- the relay coil part temperature calculation unit 130A has the characteristics shown in FIG. 19, for example, and the relay spring part temperature calculation part 123A has the characteristics shown in FIG. 20, for example.
- step S60 When the ignition key is turned on (step S50), normal diagnosis and assist control are executed. Here, only operations related to the third embodiment are shown and described.
- the phase A motor current detection circuit 112A to phase C current detection circuit 112C detect and input each phase current (step S61).
- the current integrating unit 120 integrates the motor current for each phase (step S62).
- the current integrated values IAS to ICS of each phase are input to the maximum value selecting unit 121, the maximum value selecting unit 121 selects the maximum value IMS from the current integrated values IAS to ICS (step S63), and the adding unit 122 selects the relay spring.
- the initial value of the part temperature estimated value RSE is added (step S64), and the reference temperature RT which is the added value is input to the relay coil part temperature calculation unit 130A.
- the relay coil temperature calculator 130A calculates the relay coil temperature RCT according to the characteristics shown in FIG. 19 (step S65), and inputs it to the adder 131 and the relay spring temperature calculator 123A.
- the substrate temperature sensor 140 detects and inputs the substrate temperature PT (step S66), the adder 131 adds the relay coil temperature RCT and the substrate temperature PT (step S70), and estimates the relay coil temperature obtained by the addition.
- the value RLT is input to the comparison unit 125 (step S71).
- Comparing unit 125 compares the predetermined temperature T 1 of a relay coil portion temperature estimation value RLT as threshold (step S72), the motor current control unit when the relay coil portion temperature estimation value RLT has reached a predetermined temperature above T 1
- the motor current control value ML is output from 150 and input to the PWM control unit 105 to limit (decrease) the motor current (step S73).
- the reduction rate is arbitrary, in this example, it is 1/2 (50%) of the normal current.
- the relay coil part temperature RCT is calculated in step S65
- the relay coil part temperature RCT is input to the relay spring part temperature calculation part 123A
- the relay spring part temperature RST is calculated according to the characteristics shown in FIG. 20 (step S80).
- the relay spring temperature RST is input to the adder 124 and added to the substrate temperature PT (step S81), and the added relay spring temperature estimated value RSE is input to the adder 122 and added (step S64).
- step S73 reduction of the motor current by the step S73 is continued until the relay coil portion temperature estimation value RLT is less than the predetermined temperature T 1 (step S74), the relay coil portion temperature estimation value RLT predetermined temperature by a temperature drop T 1
- step S75 the motor current is controlled to increase (step S75).
- the rate of increase is doubled (200%) in order to return quickly, but it can be set arbitrarily.
- the motor current reduction and increase processing is performed according to the above-described Table 2, for example.
- the predetermined time is a time until the temperature of the substrate temperature sensor and the relay spring portion is stabilized to such an extent that the temperature does not change.
- the initial value may be calculated from a predetermined temperature. This is because if an abnormality occurs when the temperature is high, the relay will be destroyed if a large current is applied starting from a low estimated value, or the current limit will be excessively increased starting from a high estimated value. This is to prevent the necessary assist force from being produced for a while (the handle is heavy).
- Steering handle (steering wheel) 10 Torque Sensor 12 Vehicle Speed Sensor 13 Battery 20 Motor (Brushless DC Motor) 100 Control Unit 101 Steering Auxiliary Command Value Calculation Unit 102 Maximum Output Limiting Unit 104 Current Control Unit 105 PWM Control Unit 106 Motor Drive Circuit 107 Motor Current Detection Circuit 110 Coil Current Control Units 111A and 111B Motor Relay 112A A Phase Motor Current Detection Circuit 112C Phase C motor current detection circuit 120 Current integration unit 121 for each phase Maximum value selection unit 123, 123A Relay spring temperature calculation unit 130, 130A Relay coil temperature calculation unit 140 Substrate temperature sensor 150, 310 Motor current control unit 200 Electromagnetic relay (Motor relay) 201 Relay coil section 202 Relay spring section 203 Connectors 210 and 211 Contact 300 Steering state detection section 320 Rotor position detection sensor
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Abstract
Description
(1)Uターンする時の長時間直進車が切れるのを待っている間に、ステアリングを回し終えて、ラックエンド手前付近で運転手が操向ハンドルに手をかけながら(即ち、トルクをかけながら)保舵している場合。
(2)開かずの踏み切りや、貨物車両の多い踏み切りなどの踏み切りを、線路に平行した道路から右左折で渡りたいため、運転手が操向ハンドルに手をかけながら(即ち、トルクをかけながら)保舵して待っている場合。
(3)急な上り坂の始まりとなる交差点で右折待ちしている際に、ラックエンド手前付近で、運転手が操向ハンドルに手をかけながら(即ち、トルクをかけながら)保舵している場合。
(4)旋回タワー式の駐車場で、一定旋回して保舵しながら上がり下がりしている(即ち、旋回保舵走行する)場合。
モータが回転しない状態で長時間保舵されるという場合(本発明では、「長時間保舵状態」とも言う)は、切り増し時のアシストと違い、アシストが殆ど要らないからステアリングされないので、つまりモータが動かないので、モータのある相にだけ大電流が流れると、その相のモータリレーの発熱が増えてしまう問題が生じる。
図12は第2実施形態に係るモータ駆動回路系統の結線例を、図8に対応させて示しており、電流制御値EはPWM制御部105に入力され、モータ20をPWM制御するためのPWM信号PSMを生成してモータ駆動回路106に入力している。本第2実施形態では、リレーバネ部温度推定値RSEがスレッショルドの所定温度T0以上となったときにモータ電流を制限(減少)するため、或いはリレーバネ部温度推定値RSEが低下して所定温度T0よりも小さくなったときにモータ電流を増加させるように制御するため、モータ電流制御値MLをPWM制御部105に入力している。
この場合のモータ駆動回路系統の結線例は第2実施形態の図12と全く同様であり、電流制御値EはPWM制御部105に入力され、モータ20をPWM制御するためのPWM信号PSMを生成してモータ駆動回路106に入力している。本第3実施形態では、リレーコイル部温度推定値RLTがスレッショルドの所定温度T1以上となったときにモータ電流を制限(減少)するため、或いはリレーコイル部温度推定値RLTが低下して所定温度T1よりも小さくなったときにモータ電流を増加させるように制御するため、モータ電流制御値MLをPWM制御部105に入力している。
10 トルクセンサ
12 車速センサ
13 バッテリ
20 モータ(ブラシレスDCモータ)
100 コントロールユニット
101 操舵補助指令値演算部
102 最大出力制限部
104 電流制御部
105 PWM制御部
106 モータ駆動回路
107 モータ電流検出回路
110 コイル電流制御部
111A,111B モータリレー
112A A相モータ電流検出回路
112C C相モータ電流検出回路
120 各相毎電流積算部
121 最大値選択部
123、123A リレーバネ部温度算出部
130、130A リレーコイル部温度算出部
140 基板温度センサ
150、310 モータ電流制御部
200 電磁式リレー(モータリレー)
201 リレーコイル部
202 リレーバネ部
203 コネクタ
210,211 接点
300 操舵状態検出部
320 ロータ位置検出センサ
Claims (12)
- 操舵トルク及び車速に基づいて操舵補助指令値を演算し、前記操舵補助指令値に基づいてPWM信号を生成し、スイッチング素子で構成されるモータ駆動回路を介してモータをPWM駆動して操舵系をアシスト制御すると共に、モータ駆動回路と前記モータの間にモータリレーが介挿されている電動パワーステアリング装置において、
操向ハンドルの操舵状態を検出し、長時間保舵状態と検出された時に長時間保舵信号を出力し、通常操舵状態と検出された時に通常操舵信号を出力する操舵状態検出部と、
前記操舵状態検出部から出力された長時間保舵信号又は通常操舵信号に応じて、前記モータリレーを流れるモータ電流を制御するためのモータ電流制御値を決定するモータ電流制御部と、
を具備したことを特徴とする電動パワーステアリング装置。 - 前記モータリレーが電磁式リレーである請求項1に記載の電動パワーステアリング装置。
- 前記操舵状態検出部では、保舵状態であると検出された時点から所定時間が経過した時点での操舵状態を前記長時間保舵状態として検出する請求項1又は2に記載の電動パワーステアリング装置。
- 前記長時間保舵信号が前記操舵状態検出部から前記モータ電流制御部に入力されると、前記モータ電流制御部を介して、前記長時間保舵信号に応じたモータ電流制御値により、前記モータ電流を所定の減少率に基づいてモータ電流減少時間内に最大制限目標値までに減少させるように制御し、
前記通常操舵信号が前記操舵状態検出部から前記モータ電流制御部に入力されると、前記モータ電流制御部を介して、前記通常操舵信号に応じたモータ電流制御値により、前記最大制限目標値までに減少させたモータ電流を増加させて復帰するように制御する請求項1乃至3のいずれかに記載の電動パワーステアリング装置。 - 前記モータ電流の制御における増加率を通常時よりも大きくする請求項4に記載の電動パワーステアリング装置。
- 前記モータが3相のブラシレスDCモータである請求項1乃至5のいずれかに記載の電動パワーステアリング装置。
- 操舵トルク及び車速に基づいて操舵補助指令値を演算し、前記操舵補助指令値に基づいてPWM信号を生成し、スイッチング素子で構成されるモータ駆動回路を介してモータをPWM駆動して操舵系をアシスト制御すると共に、モータ駆動回路と前記モータの間にモータリレーが介挿されている電動パワーステアリング装置において、
前記モータリレーのリレーバネ部若しくはリレーコイル部の温度を推定する温度推定部と、前記温度推定部で推定された温度推定値を所定温度と比較する比較部と、前記比較部の比較結果に従って前記モータリレーを流れるモータ電流を制御するモータ電流制御部とを具備したことを特徴とする電動パワーステアリング装置。 - 前記モータが3相のブラシレスDCモータであり、前記モータリレーが電磁式リレーである請求項7に記載の電動パワーステアリング装置。
- 前記モータ電流の制御における減少率を通常時の1/2とし、増加率を2倍とする請求項7又は8に記載の電動パワーステアリング装置。
- 前記モータリレーを装着する基板の温度を検出する基板温度センサを具備し、前記基板温度を前記温度推定部に入力するようになっている請求項7乃至9のいずれかに記載の電動パワーステアリング装置。
- 前記温度推定部がリレーバネ部温度推定部であり、
前記リレーバネ部温度推定部が、
前記モータの各相電流検出値を積算する各相毎電流積算部と、前記各相電流検出値の積算値の最大値を選択する最大値選択部と、前記最大値及びリレーコイル部温度推定値の加算値に基づいてリレーバネ部温度を算出するリレーバネ部温度算出部と、前記基板温度及び前記リレーバネ部温度を加算して前記リレーバネ部温度推定値を出力する加算部とで構成されている請求項10に記載の電動パワーステアリング装置。 - 前記温度推定部がリレーコイル部温度推定部であり、
前記リレーコイル部温度推定部が、
前記モータの各相電流検出値を積算する各相毎電流積算部と、前記各相電流検出値の積算値の最大値を選択する最大値選択部と、前記最大値及びリレーバネ部温度推定値の加算値に基づいてリレーコイル部温度を算出するリレーコイル部温度算出部と、前記基板温度及び前記リレーコイル部温度を加算して前記リレーコイル部温度推定値を出力する加算部とで構成されている請求項10に記載の電動パワーステアリング装置。
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KR102446143B1 (ko) * | 2020-12-01 | 2022-09-22 | 현대모비스 주식회사 | 차량용 전동식 조향장치의 모터 제어 장치 및 방법 |
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Also Published As
Publication number | Publication date |
---|---|
EP2813414A4 (en) | 2017-01-04 |
EP2813414A1 (en) | 2014-12-17 |
US9278708B2 (en) | 2016-03-08 |
US20140195119A1 (en) | 2014-07-10 |
CN103347770A (zh) | 2013-10-09 |
US20160001813A1 (en) | 2016-01-07 |
JP5609987B2 (ja) | 2014-10-22 |
CN103347770B (zh) | 2016-01-20 |
JPWO2013118339A1 (ja) | 2015-05-11 |
JP2014111450A (ja) | 2014-06-19 |
EP2813414B1 (en) | 2018-04-04 |
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