WO2018221121A1 - Brushless motor and motor for electric power steering device - Google Patents

Brushless motor and motor for electric power steering device Download PDF

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Publication number
WO2018221121A1
WO2018221121A1 PCT/JP2018/017602 JP2018017602W WO2018221121A1 WO 2018221121 A1 WO2018221121 A1 WO 2018221121A1 JP 2018017602 W JP2018017602 W JP 2018017602W WO 2018221121 A1 WO2018221121 A1 WO 2018221121A1
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motor
windings
stator
brushless motor
systems
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PCT/JP2018/017602
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French (fr)
Japanese (ja)
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孝将 青木
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株式会社ミツバ
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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K29/00—Motors or generators having non-mechanical commutating devices, e.g. discharge tubes or semiconductor devices
    • H02K29/03—Motors or generators having non-mechanical commutating devices, e.g. discharge tubes or semiconductor devices with a magnetic circuit specially adapted for avoiding torque ripples or self-starting problems
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K3/00—Details of windings
    • H02K3/04—Windings characterised by the conductor shape, form or construction, e.g. with bar conductors
    • H02K3/18—Windings for salient poles

Definitions

  • the present invention relates to a brushless motor, and more particularly to a brushless motor effective when applied to a motor for an electric power steering (hereinafter abbreviated as EPS) device mounted on a vehicle such as an automobile.
  • EPS electric power steering
  • Patent Literature 1 may adversely affect the system in which the motor is incorporated.
  • the vibration of the motor becomes large, there is a problem that there is a concern about an influence on the vehicle or a decrease in the steering feeling of the driver.
  • EPS motors are required not only to be safe, but also to be small and have high output, as well as low torque ripple and low cogging.
  • the number of magnetic poles and slots of the motor may be 10 poles and 12 slots, or 14 poles and 12 slots.
  • these combinations of poles / slots tend to deform the magnetic circuit into an ellipse more easily than other combinations, and there is a high possibility that a large vibration will occur when resonating.
  • two independent circuits are adopted for a 10-pole 12-slot or 14-pole 12-slot motor, it is expected that particularly large vibrations will occur if only one system is driven. Even in combination, there has been a demand for measures to reduce vibration when driving one system.
  • the brushless motor of the present invention includes a stator and a rotor disposed on the radially inner side of the stator, and the stator is wound with 12 teeth and concentrated windings around the teeth.
  • the rotor is a brushless motor comprising 10 or 14 magnets, and the stator has the same phase winding with different energization systems.
  • the wires are arranged adjacent to each other, and the windings belonging to the same system are arranged adjacent to each other in each energizing system.
  • a set of windings belonging to the same system adjacent to each other may be disposed at a position opposed by 180 ° with respect to the center of the stator. Further, among the windings, the same-phase windings belonging to the same system may be arranged at positions separated by 150 ° with respect to the center of the stator.
  • the motor for an electric power steering apparatus of the present invention is characterized by using any of the brushless motors described above.
  • vibration of the motor is suppressed to a small level. For this reason, it is possible to reduce the influence on the vehicle due to the motor vibration at the time of failure, a decrease in the driver's steering feeling, and the like.
  • the brushless motor of the present invention is a brushless motor having a stator having twelve teeth and a rotor having ten or fourteen magnets, and in-phase windings of different systems are arranged adjacent to each other, Since the windings belonging to the same system are arranged adjacent to each other in each system, even when one energization system fails and the motor is driven only by the remaining system, the motor with the conventional winding arrangement is used. Compared to the above, fluctuations in electromagnetic force can be suppressed, and vibration of the motor during one-system drive can be reduced.
  • the motor for an electric power steering apparatus has a stator having 12 teeth and a rotor having 10 or 14 magnets, and adjacent windings having the same phase in different systems are arranged.
  • a brushless motor in which windings belonging to the same system are arranged adjacent to each other is used. Therefore, even when one energizing system fails and the motor is driven only by the remaining system, As compared with a motor having a winding arrangement, fluctuations in electromagnetic force can be suppressed, and vibration of the motor during single-system driving is reduced. For this reason, it is possible to reduce the influence on the vehicle due to motor vibration at the time of failure, a decrease in the steering feeling of the driver, and the like, and it is possible to provide a motor suitable for an electric power steering apparatus.
  • the purpose of the following embodiments is to suppress vibration during energization driving of one system even in a brushless motor having a 10-pole 12-slot or 14-pole 12-slot configuration.
  • FIG. 1 is an explanatory diagram showing the configuration of a brushless motor 1 (hereinafter abbreviated as “motor 1”) according to Embodiment 1 of the present invention
  • FIG. 2 shows an EPS system (EPS device) 20 in which the motor 1 is used. It is explanatory drawing which shows a structure.
  • the motor 1 is used as a power source for the EPS system 20 and is an inner rotor type brushless motor in which a stator 2 is arranged on the outside and a rotor 3 is arranged on the inside.
  • the stator 2 includes a housing 4, a stator core 5 fixed to the inner peripheral side of the housing 4, and a three-phase (U, V, W) winding (coil) 6 wound around the stator core 5. It becomes the composition.
  • the stator core 5 has a structure in which a large number of steel plates are laminated, and includes a ring-shaped yoke portion 7 and a plurality of teeth 8 projecting inward from the yoke portion 7. In the motor 1, twelve teeth 8 are provided. Slots 9 are formed between the teeth 8, and the motor 1 has a 12-slot configuration including 12 slots 9. In the slot 9, the winding 6 wound around the tooth 8 is accommodated.
  • the rotor 3 is disposed inside the stator 2.
  • the rotor 3 has a configuration in which a rotating shaft 11, a rotor core 12, and a magnet 13 are arranged coaxially.
  • a cylindrical rotor core 12 in which a large number of steel plates are laminated is attached to the outer periphery of the rotating shaft 11.
  • a magnet 13 is fixed to the outer periphery of the rotor core 12.
  • Fourteen magnets 13 are arranged along the circumferential direction, and the motor 1 has a 14-pole 12-slot (14P12S) configuration.
  • the EPS system 20 driven by such a motor 1 has a column assist type configuration that applies an operation assisting force to the steering shaft 21.
  • a steering wheel 22 is attached to the steering shaft 21.
  • the steering force of the steering wheel 22 is transmitted to the tie rod 24 via a pinion and a rack shaft (not shown) disposed in the steering gear box 23.
  • Wheels 25 are connected to both ends of the tie rod 24.
  • the tie rod 24 is actuated in accordance with the operation of the steering wheel 22, the wheel 25 is steered left and right via a knuckle arm or the like (not shown).
  • the steering shaft 21 is provided with an assist motor unit 26 that is a steering force assisting mechanism.
  • the assist motor unit 26 is provided with a speed reduction mechanism unit 27 and a torque sensor 28.
  • the speed reduction mechanism 27 is provided with a worm and a worm wheel (not shown).
  • the rotation of the motor 1 is decelerated and transmitted to the steering shaft 21 by the decelerating mechanism 27.
  • the motor 1 and the torque sensor 28 are connected to a control device (ECU) 29.
  • ECU control device
  • the torque sensor 28 When the steering wheel 22 is operated and the steering shaft 21 rotates, the torque sensor 28 is activated.
  • the ECU 29 appropriately supplies electric power to the motor 1 based on the torque detected by the torque sensor 28.
  • the motor 1 When the motor 1 is operated, the rotation is transmitted to the steering shaft 21 via the speed reduction mechanism 27, and a steering assist force is applied.
  • the steering shaft 21 is rotated by the steering assist force and the manual steering force.
  • the rotational movement of the steering shaft 21 is converted into a linear movement of the rack shaft by rack-and-pinion coupling in the steering gear box 23, and the wheel 25 is steered.
  • FIG. 3 is an explanatory diagram showing the arrangement of two current-carrying windings.
  • the numbers (1, 2) after U, V, W in the figure indicate the system to which the windings belong (the first current-carrying system or 2nd electricity supply system) is shown.
  • the winding 6 of the motor 1 is Y-connected by concentrated winding. As shown in FIG.
  • the in-phase windings (for example, U1a (+) and U1b (+)) of each system are positions facing each other by 150 ° with respect to the center O of the stator 2 (same as the center of the rotor 3). Arranged. That is, although not opposed by 180 °, the in-phase winding is disposed at a position shifted by 30 ° therefrom. Further, the winding sets P (broken circles) belonging to the same system and arranged adjacent to each other are arranged at positions facing each other by 180 ° with respect to the center O of the stator 2.
  • FIG. 4A shows a case where the first system has failed
  • FIG. 4B shows a case where the second system has failed.
  • the in-phase winding 6 for example, U2a ( ⁇ ) and U2b ( ⁇ )
  • the energization is performed to the windings 6 at positions that are generally opposed to each other, though not at a completely symmetrical position.
  • FIG. 5 shows a stator when only one system is energized in the conventional winding arrangement (conventional example 1: FIG. 7A, conventional example 2: (FIG. 7B)) and the winding arrangement according to the present invention.
  • 4A and 4B are explanatory diagrams showing the transition of the electromagnetic force generated in FIG. 3A, in which FIG. 3A shows the electromagnetic force in the X direction and FIG.
  • the fluctuation of the electromagnetic force in the radial direction that occurs during one-system drive is about 2 for Conventional Example 1 and about 5 for Conventional Example 2 when the fluctuation in the configuration of the present invention is 1.
  • the fluctuation of the electromagnetic force at the time of one-system drive is about 1/2 of Conventional Example 1 and about 1/5 of Conventional Example 2, and the electromagnetic force fluctuation can be greatly reduced.
  • the motor 1 by adopting the winding arrangements (A) and (B) described above, even when one of the energizing systems fails and the motor is driven only by the remaining systems. As compared with a motor having a conventional winding arrangement, fluctuations in electromagnetic force can be suppressed. As a result, it is possible to reduce motor vibration. For this reason, in the EPS system using the motor 1 as well, adverse effects on the vehicle due to motor vibration at the time of failure can be suppressed while ensuring redundancy. In addition, a decrease in the steering feeling of the driver is reduced, and the steering feeling is improved.
  • FIG. 6 is an explanatory diagram showing a stator / rotor configuration of a brushless motor 31 (hereinafter abbreviated as “motor 31”) according to the second embodiment.
  • motor 31 a brushless motor 31
  • the same members and parts as those in the first embodiment are denoted by the same reference numerals, and the description thereof is omitted.
  • the windings 6 are arranged in a form that satisfies the following conditions, similarly to the motor 1 of FIG.
  • In-phase windings of different systems are arranged adjacent to each other.
  • the present invention is not limited to the above-described embodiment, and various modifications can be made without departing from the scope of the invention.
  • the example in which the present invention is applied to a motor having a so-called SPM structure in which a magnet is arranged on the outer periphery of the rotor has been described.
  • the configuration of the motor is not limited to this, and for example, a magnet is provided in the rotor.
  • the present invention is also applicable to a so-called IPM structure motor that is buried.
  • the brushless motor according to the present invention is applicable not only to EPS systems but also to motors used in electric vehicles, hybrid vehicles, home appliances such as air conditioners, various industrial machines, and the like.

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Brushless Motors (AREA)
  • Windings For Motors And Generators (AREA)
  • Power Steering Mechanism (AREA)

Abstract

A brushless motor 1 used as a power source for an electric power steering system, the brushless motor 1 having a stator 2 and a rotor 3. The stator 2 is provided with twelve teeth 8 and two systems of windings 6 wound around the teeth 8, the two systems having different energization systems. The rotor 3 is provided with ten or fourteen magnets 13. The windings 6 are disposed so that windings having the same phase and different energization systems (e.g., U1a(+) and U2b(-)) are disposed adjacent to each other, and at one location in each energization system, windings belonging to the same energization system (e.g., U1a(+) and W1a(+)) are disposed adjacent to each other. The sets P of windings 6 belonging to the same system disposed adjacent to each other are installed at locations facing each other at 180° in relation to the stator center O.

Description

ブラシレスモータ及び電動パワーステアリング装置用モータBrushless motor and motor for electric power steering device
　本発明は、ブラシレスモータに関し、特に、自動車等の車両に搭載される電動パワーステアリング（以下、ＥＰＳと略記する）装置用モータに適用して有効なブラシレスモータに関する。 The present invention relates to a brushless motor, and more particularly to a brushless motor effective when applied to a motor for an electric power steering (hereinafter abbreviated as EPS) device mounted on a vehicle such as an automobile.
　自動車等の車両に搭載されるＥＰＳシステムは、車両の操舵性に大きな影響を及ぼすため、それ自身高い安全性が求められる。そこで、近年のＥＰＳシステムでは、従来は１系統のみであった機能を独立した多重系統とし、仮に片方の系統が故障しても、残りの系統で機能を継続し得るような構成が取り入れられている。その結果、ＥＰＳシステムに使用される電動モータも同様の対応が求められ、例えば特許文献１,２のように、通電される電流の系統を独立した２つの系統に分ける構成も提案されている。この場合、２系統の通電巻線の配置としては、例えば、特許文献１のように、２系統の通電巻線を左右対称に配したもの（図７（ａ））や、２系統の同相巻線を１組とし、それらを周方向に交互に配置したもの（図７（ｂ））が知られている。 An EPS system mounted on a vehicle such as an automobile has a great influence on the steering performance of the vehicle, and therefore requires high safety. Therefore, in recent EPS systems, a configuration has been adopted in which a function that was previously only one system is changed to an independent multiple system, and even if one system fails, the function can be continued in the remaining system. Yes. As a result, the electric motor used in the EPS system is required to have the same correspondence. For example, as in Patent Documents 1 and 2, a configuration in which the current system to be energized is divided into two independent systems has been proposed. In this case, the arrangement of the two current-carrying windings is, for example, as shown in Patent Document 1, in which two current-carrying windings are arranged symmetrically (FIG. 7 (a)), or two in-phase windings. There is known a set of lines that are alternately arranged in the circumferential direction (FIG. 7B).
特許第4492781号公報Japanese Patent No.4492781 特許第3875188号公報Japanese Patent No. 3875188
　しかしながら、特許文献１の［第１実施形態］に記載された各相の巻線配置にすると、片方の系統が故障し、残りの系統のみでモータを回転させる場合、通電巻線が周方向に偏って存在する状態となる。このため、両系統が機能している場合に比して磁気的にアンバランスな状態となり、振動が大きくなってしまうという問題がある。 However, if the winding arrangement of each phase described in [First Embodiment] of Patent Document 1 is used, when one of the systems fails and the motor is rotated only by the remaining systems, the energized winding is in the circumferential direction. It will be in a state of being unbalanced. For this reason, there exists a problem that it will be in a magnetically imbalanced state compared with the case where both systems are functioning, and vibration will become large.
　また、特許文献１の［他の実施形態］に記載の第１系統の巻線と第２系統の巻線とを分散させた巻線配置にすると、片方の系統が故障し、残りの系統のみでモータを回転させる場合、通電巻線が対称位置に存在しない状態となる。その結果、両系統が機能している場合に比して磁気的にアンバランスな状態となり、振動が大きくなってしまうという問題がある。このため、特許文献１の構造は、当該モータが組み込まれているシステムに良くない影響を与えてしまうおそれがある。特に、ＥＰＳシステムでは、モータの振動が大きくなると、車両への影響や、運転者の操舵感の低下などが懸念されるという課題があった。 Further, when the winding arrangement in which the first system winding and the second system winding described in [Other Embodiments] of Patent Document 1 are distributed is arranged, one of the systems fails, and only the remaining system is used. When the motor is rotated in this way, the energized winding does not exist at the symmetrical position. As a result, there is a problem in that vibration is increased because a magnetically unbalanced state is obtained as compared with the case where both systems are functioning. For this reason, the structure of Patent Literature 1 may adversely affect the system in which the motor is incorporated. In particular, in the EPS system, when the vibration of the motor becomes large, there is a problem that there is a concern about an influence on the vehicle or a decrease in the steering feeling of the driver.
　これに対し、特許文献２のモータでは、２系統の巻線が周方向に交互に配置され、同系統の同相巻線が１８０°対向して配置されている（図７（ｃ））。このため、片方の系統が故障しても、残りの通電巻線が対称位置に存在し、特許文献１のような配置に比して、１系統故障時に大きな振動は発生しにくい。しかしながら、特許文献２の巻線配置の場合、２つの通電系統で誘起電圧波形の位相に違いが生じるため、通常のモータ駆動時に通電位相を異ならせるなどの制御上の工夫が必要となる。つまり、かかる巻線配置は、非常時における振動は回避できるものの、通常時における制御の難易度が高くなる。 On the other hand, in the motor of Patent Document 2, two windings are alternately arranged in the circumferential direction, and in-phase windings of the same system are arranged to face each other by 180 ° (FIG. 7C). For this reason, even if one of the systems fails, the remaining energized windings are present at symmetrical positions, and large vibrations are unlikely to occur when one system fails, as compared with the arrangement of Patent Document 1. However, in the case of the winding arrangement of Patent Document 2, since a difference occurs in the phase of the induced voltage waveform between the two energization systems, it is necessary to devise control such as making the energization phase different during normal motor driving. In other words, such a winding arrangement can avoid vibrations in an emergency, but increases the difficulty of control in normal times.
　一方、ＥＰＳモータは、安全性のみならず、小型で高出力であり、しかも、低トルクリップル、低コギングであることも求められる。それらの要求を達成する有効な１つの手段として、ＥＰＳモータでは、モータの磁極とスロットの数を１０極１２スロットにしたり、１４極１２スロットにしたりすることが考えられる。しかしながら、これらの極・スロット数の組み合せは、他の組み合せに比べて、磁気回路が楕円に変形し易い傾向があり、共振した場合に大きな振動が発生してしまう可能性が高い。このため、１０極１２スロットや１４極１２スロットのモータで独立した２系統回路を採用した場合、片系統でのみ駆動すると、特に大きな振動が発生することが予想され、これらの極・スロット数の組み合わせでも、片系統駆動時に振動を小さくする方策が求められていた。 On the other hand, EPS motors are required not only to be safe, but also to be small and have high output, as well as low torque ripple and low cogging. As an effective means for achieving these requirements, in the EPS motor, the number of magnetic poles and slots of the motor may be 10 poles and 12 slots, or 14 poles and 12 slots. However, these combinations of poles / slots tend to deform the magnetic circuit into an ellipse more easily than other combinations, and there is a high possibility that a large vibration will occur when resonating. For this reason, when two independent circuits are adopted for a 10-pole 12-slot or 14-pole 12-slot motor, it is expected that particularly large vibrations will occur if only one system is driven. Even in combination, there has been a demand for measures to reduce vibration when driving one system.
　本発明のブラシレスモータは、ステータと、該ステータの径方向内側に配置されたロータと、を有し、前記ステータは、１２個のティースと、該ティースに集中巻にて巻装され互いに通電系統を異にする２系統の巻線と、を備え、前記ロータは、１０個又は１４個のマグネットを備えてなるブラシレスモータであって、前記ステータには、通電系統を異にする同相の前記巻線が隣接して配置されると共に、各通電系統においてそれぞれ１箇所、同系統に属する前記巻線が隣接して配置されることを特徴とする。 The brushless motor of the present invention includes a stator and a rotor disposed on the radially inner side of the stator, and the stator is wound with 12 teeth and concentrated windings around the teeth. The rotor is a brushless motor comprising 10 or 14 magnets, and the stator has the same phase winding with different energization systems. The wires are arranged adjacent to each other, and the windings belonging to the same system are arranged adjacent to each other in each energizing system.
　本発明にあっては、１０極１２スロット又は１４極１２スロット構成のブラシレスモータにおいて、（Ａ）系統の異なる同相の巻線を隣接配置すると共に、（Ｂ）各系統において、それぞれ１箇所、同系統に属する巻線を隣接配置する。これにより、片方の通電系統が故障し、残りの系統のみでモータを駆動させる場合においても、従来の巻線配置のモータに比して、電磁力の変動が抑えられ、１系統駆動時におけるモータの振動が低減される。 In the present invention, in a brushless motor having a 10-pole 12-slot or 14-pole 12-slot configuration, (A) windings of the same phase of different systems are arranged adjacent to each other, and (B) The windings belonging to the system are arranged adjacent to each other. As a result, even when one energization system fails and the motor is driven only by the remaining system, the fluctuation of electromagnetic force is suppressed as compared with a motor with a conventional winding arrangement, and the motor during one system drive Vibration is reduced.
　前記ブラシレスモータにおいて、前記巻線のうち、隣接して配置された同系統に属する前記巻線の組を、前記ステータの中心を基準として１８０°対向した位置に配設しても良い。また、前記巻線のうち、同系統に属する同相の前記巻線を、前記ステータの中心を基準として１５０°離間した位置に配設しても良い。 In the brushless motor, among the windings, a set of windings belonging to the same system adjacent to each other may be disposed at a position opposed by 180 ° with respect to the center of the stator. Further, among the windings, the same-phase windings belonging to the same system may be arranged at positions separated by 150 ° with respect to the center of the stator.
　一方、本発明の電動パワーステアリング装置用モータは、前述の何れかのブラシレスモータを用いたことを特徴としている。本発明にあっては、片方の通電系統が故障し、他方の残った通電系統のみにてモータが駆動される場合も、モータの振動が小さく抑えられる。このため、故障時のモータ振動による車両への影響や、運転者の操舵感の低下などを低減できる。 On the other hand, the motor for an electric power steering apparatus of the present invention is characterized by using any of the brushless motors described above. In the present invention, even when one energization system fails and the motor is driven only by the other remaining energization system, vibration of the motor is suppressed to a small level. For this reason, it is possible to reduce the influence on the vehicle due to the motor vibration at the time of failure, a decrease in the driver's steering feeling, and the like.
　本発明のブラシレスモータは、１２個のティースを備えたステータと、１０個又は１４個のマグネットを備えたロータと、を有するブラシレスモータにて、系統の異なる同相の巻線を隣接配置すると共に、各系統においてそれぞれ１箇所、同系統に属する巻線を隣接配置するようにしたので、片方の通電系統が故障し、残りの系統のみでモータを駆動させる場合においても、従来の巻線配置のモータに比して、電磁力の変動を抑えることができ、１系統駆動時におけるモータの振動を低減させることが可能となる。 The brushless motor of the present invention is a brushless motor having a stator having twelve teeth and a rotor having ten or fourteen magnets, and in-phase windings of different systems are arranged adjacent to each other, Since the windings belonging to the same system are arranged adjacent to each other in each system, even when one energization system fails and the motor is driven only by the remaining system, the motor with the conventional winding arrangement is used. Compared to the above, fluctuations in electromagnetic force can be suppressed, and vibration of the motor during one-system drive can be reduced.
　本発明の電動パワーステアリング装置用モータは、１２個のティースを備えたステータと、１０個又は１４個のマグネットを備えたロータと、を有し、系統の異なる同相の巻線を隣接配置すると共に、各系統においてそれぞれ１箇所、同系統に属する巻線を隣接配置したブラシレスモータを用いるようにしたので、片方の通電系統が故障し、残りの系統のみでモータを駆動させる場合においても、従来の巻線配置のモータに比して、電磁力の変動を抑えることができ、１系統駆動時におけるモータの振動が低減される。このため、故障時のモータ振動による車両への影響や、運転者の操舵感の低下などを低減させることができ、電動パワーステアリング装置用として好適なモータを提供することが可能となる。
  The motor for an electric power steering apparatus according to the present invention has a stator having 12 teeth and a rotor having 10 or 14 magnets, and adjacent windings having the same phase in different systems are arranged. In each system, a brushless motor in which windings belonging to the same system are arranged adjacent to each other is used. Therefore, even when one energizing system fails and the motor is driven only by the remaining system, As compared with a motor having a winding arrangement, fluctuations in electromagnetic force can be suppressed, and vibration of the motor during single-system driving is reduced. For this reason, it is possible to reduce the influence on the vehicle due to motor vibration at the time of failure, a decrease in the steering feeling of the driver, and the like, and it is possible to provide a motor suitable for an electric power steering apparatus.
本発明の実施の形態１であるブラシレスモータ（１４Ｐ１２Ｓ）の構成を示す説明図である。It is explanatory drawing which shows the structure of the brushless motor (14P12S) which is Embodiment 1 of this invention. 図１のブラシレスモータが使用されるＥＰＳシステムの構成を示す説明図である。It is explanatory drawing which shows the structure of the EPS system in which the brushless motor of FIG. 1 is used. 図１のブラシレスモータにおける２系統の通電巻線の配置を示す説明図である。It is explanatory drawing which shows arrangement | positioning of two systems of electricity windings in the brushless motor of FIG. 通電系統が故障した場合に通電される巻線を示す説明図であり、（ａ）は第１系統が故障した場合、（ｂ）は第２系統が故障した場合をそれぞれ示している。It is explanatory drawing which shows the coil | winding supplied with electricity when an electricity supply system fails, (a) has shown the case where the 1st system fails, (b) has each shown the case where the 2nd system has failed. 従来の巻線配置と本発明による巻線配置において、１系統のみを通電した場合にステータに生じる電磁力の推移を示した説明図である。It is explanatory drawing which showed transition of the electromagnetic force which arises in a stator when only one system is energized in the conventional winding arrangement and the winding arrangement according to the present invention. 本発明の実施の形態２であるブラシレスモータ（１０Ｐ１２Ｓ）の構成を示す説明図である。It is explanatory drawing which shows the structure of the brushless motor (10P12S) which is Embodiment 2 of this invention. 従来のブラシレスモータの巻線配置を示す説明図である。It is explanatory drawing which shows the winding arrangement | positioning of the conventional brushless motor.
　以下の実施形態の目的は、１０極１２スロットや１４極１２スロット構成のブラシレスモータにおいても、片系統の通電駆動時における振動を小さく抑えることにある。 The purpose of the following embodiments is to suppress vibration during energization driving of one system even in a brushless motor having a 10-pole 12-slot or 14-pole 12-slot configuration.
　（実施の形態１）
　以下、本発明の実施の形態を図面に基づいて詳細に説明する。図１は、本発明の実施の形態１であるブラシレスモータ１（以下、モータ１と略記する）の構成を示す説明図、図２は、モータ１が使用されるＥＰＳシステム（ＥＰＳ装置）２０の構成を示す説明図である。モータ１は、ＥＰＳシステム２０の動力源として使用され、外側にステータ２、内側にロータ３を配したインナーロータ型ブラシレスモータとなっている。 (Embodiment 1)
Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. FIG. 1 is an explanatory diagram showing the configuration of a brushless motor 1 (hereinafter abbreviated as “motor 1”) according to Embodiment 1 of the present invention, and FIG. 2 shows an EPS system (EPS device) 20 in which the motor 1 is used. It is explanatory drawing which shows a structure. The motor 1 is used as a power source for the EPS system 20 and is an inner rotor type brushless motor in which a stator 2 is arranged on the outside and a rotor 3 is arranged on the inside.
　ステータ２は、ハウジング４と、ハウジング４の内周側に固定されたステータコア５、及び、ステータコア５に巻装された３相（Ｕ,Ｖ,Ｗ）の巻線（コイル）６と、を備えた構成となっている。ステータコア５は、鋼板を多数積層した構成となっており、リング状のヨーク部７と、ヨーク部７から内側方向へ突設された複数個のティース８と、を有している。モータ１では、ティース８は１２個設けられている。各ティース８の間にはスロット９が形成されており、モータ１は、１２個のスロット９を備えた１２スロット構成となっている。スロット９内には、ティース８に巻装された巻線６が収容されている。 The stator 2 includes a housing 4, a stator core 5 fixed to the inner peripheral side of the housing 4, and a three-phase (U, V, W) winding (coil) 6 wound around the stator core 5. It becomes the composition. The stator core 5 has a structure in which a large number of steel plates are laminated, and includes a ring-shaped yoke portion 7 and a plurality of teeth 8 projecting inward from the yoke portion 7. In the motor 1, twelve teeth 8 are provided. Slots 9 are formed between the teeth 8, and the motor 1 has a 12-slot configuration including 12 slots 9. In the slot 9, the winding 6 wound around the tooth 8 is accommodated.
　ロータ３は、ステータ２の内側に配設されている。ロータ３は、回転軸１１と、ロータコア１２と、マグネット１３を同軸状に配した構成となっている。回転軸１１の外周には、鋼板を多数積層した円筒形状のロータコア１２が取り付けられている。ロータコア１２の外周には、マグネット１３が固定されている。マグネット１３は周方向に沿って１４個配置されており、モータ１は、１４極１２スロット（１４Ｐ１２Ｓ）構成となっている。 The rotor 3 is disposed inside the stator 2. The rotor 3 has a configuration in which a rotating shaft 11, a rotor core 12, and a magnet 13 are arranged coaxially. A cylindrical rotor core 12 in which a large number of steel plates are laminated is attached to the outer periphery of the rotating shaft 11. A magnet 13 is fixed to the outer periphery of the rotor core 12. Fourteen magnets 13 are arranged along the circumferential direction, and the motor 1 has a 14-pole 12-slot (14P12S) configuration.
　このようなモータ１にて駆動されるＥＰＳシステム２０は、ステアリングシャフト２１に対し動作補助力を付与するコラムアシスト式の構成となっている。ステアリングシャフト２１には、ステアリングホイール２２が取り付けられている。ステアリングホイール２２の操舵力は、ステアリングギヤボックス２３内に配された図示しないピニオンとラック軸を介して、タイロッド２４に伝達される。タイロッド２４の両端には車輪２５が接続されている。ステアリングホイール２２の操作に伴ってタイロッド２４が作動すると、図示しないナックルアーム等を介して車輪２５が左右に転舵する。 The EPS system 20 driven by such a motor 1 has a column assist type configuration that applies an operation assisting force to the steering shaft 21. A steering wheel 22 is attached to the steering shaft 21. The steering force of the steering wheel 22 is transmitted to the tie rod 24 via a pinion and a rack shaft (not shown) disposed in the steering gear box 23. Wheels 25 are connected to both ends of the tie rod 24. When the tie rod 24 is actuated in accordance with the operation of the steering wheel 22, the wheel 25 is steered left and right via a knuckle arm or the like (not shown).
　ＥＰＳシステム２０では、ステアリングシャフト２１に、操舵力補助機構であるアシストモータ部２６が設けられている。アシストモータ部２６には、モータ１と共に、減速機構部２７とトルクセンサ２８が設けられている。減速機構部２７には、図示しないウォームとウォームホイールが配されている。モータ１の回転は、この減速機構部２７によって、ステアリングシャフト２１に減速されて伝達される。モータ１とトルクセンサ２８は、制御装置（ＥＣＵ）２９に接続されている。 In the EPS system 20, the steering shaft 21 is provided with an assist motor unit 26 that is a steering force assisting mechanism. Along with the motor 1, the assist motor unit 26 is provided with a speed reduction mechanism unit 27 and a torque sensor 28. The speed reduction mechanism 27 is provided with a worm and a worm wheel (not shown). The rotation of the motor 1 is decelerated and transmitted to the steering shaft 21 by the decelerating mechanism 27. The motor 1 and the torque sensor 28 are connected to a control device (ECU) 29.
　ステアリングホイール２２が操作され、ステアリングシャフト２１が回転すると、トルクセンサ２８が作動する。ＥＣＵ２９は、トルクセンサ２８の検出トルクに基づいて、モータ１に対し適宜電力を供給する。モータ１が作動すると、その回転が減速機構部２７を介してステアリングシャフト２１に伝達され、操舵補助力が付与される。ステアリングシャフト２１は、この操舵補助力と手動操舵力によって回転する。ステアリングシャフト２１の回転運動は、ステアリングギヤボックス２３内のラック・アンド・ピニオン結合により、ラック軸の直線運動に変換され、車輪２５の転舵動作が行われる。 When the steering wheel 22 is operated and the steering shaft 21 rotates, the torque sensor 28 is activated. The ECU 29 appropriately supplies electric power to the motor 1 based on the torque detected by the torque sensor 28. When the motor 1 is operated, the rotation is transmitted to the steering shaft 21 via the speed reduction mechanism 27, and a steering assist force is applied. The steering shaft 21 is rotated by the steering assist force and the manual steering force. The rotational movement of the steering shaft 21 is converted into a linear movement of the rack shaft by rack-and-pinion coupling in the steering gear box 23, and the wheel 25 is steered.
　一方、本発明によるモータ１においても、冗長性確保のため、通電系統の多重化が図られており、独立した２つの通電系統によって駆動される。このため、巻線６も２つの独立した系統に分けて配線されている。図３は、２系統の通電巻線の配置を示す説明図であり、図中のＵ,Ｖ,Ｗの後の数字（１,２）は、その巻線が属する系統（第１通電系統又は第２通電系統）を示している。モータ１の巻線６は、集中巻きにてＹ結線されている。そして、図３に示すように、まず、（Ａ）系統の異なる同相の巻線（例えば、Ｕ１ａ(＋)とＵ２ｂ(－)：図中の実線丸印）が隣接して配置されている。また、モータ１では、（Ｂ）各系統において、それぞれ１箇所、同系統に属する巻線（例えば、Ｕ１ａ(＋)とＷ１ａ(＋)：図中の破線丸印）が隣接して配置されている。 On the other hand, in the motor 1 according to the present invention, in order to ensure redundancy, multiplexing of energization systems is attempted, and the motor 1 is driven by two independent energization systems. For this reason, the winding 6 is also wired in two independent systems. FIG. 3 is an explanatory diagram showing the arrangement of two current-carrying windings. The numbers (1, 2) after U, V, W in the figure indicate the system to which the windings belong (the first current-carrying system or 2nd electricity supply system) is shown. The winding 6 of the motor 1 is Y-connected by concentrated winding. As shown in FIG. 3, first, (A) different-phase windings of different systems (for example, U1a (+) and U2b (−): solid line circles in the figure) are arranged adjacent to each other. Further, in the motor 1, (B) in each system, windings belonging to the same system (for example, U1a (+) and W1a (+): dotted circles in the drawing) are arranged adjacent to each other. Yes.
　このような巻線配置では、各系統の同相巻線（例えば、Ｕ１ａ(＋)とＵ１ｂ(＋)）は、ステータ２の中心Ｏ（ロータ３の中心と同じ）を基準として１５０°対向した位置に配される。つまり、１８０°対向はしていないが、そこから３０°だけずれた位置に同相巻線が配置される。また、隣接して配置された同系統に属する巻線の組Ｐ（破線丸印）は、ステータ２の中心Ｏを基準として１８０°対向した位置に配設される。 In such a winding arrangement, the in-phase windings (for example, U1a (+) and U1b (+)) of each system are positions facing each other by 150 ° with respect to the center O of the stator 2 (same as the center of the rotor 3). Arranged. That is, although not opposed by 180 °, the in-phase winding is disposed at a position shifted by 30 ° therefrom. Further, the winding sets P (broken circles) belonging to the same system and arranged adjacent to each other are arranged at positions facing each other by 180 ° with respect to the center O of the stator 2.
　そこで、本発明によるモータ１では、２系統のうち１つが故障した場合、図４のような形で通電巻線が残存する。図４（ａ）は第１系統が故障した場合、（ｂ）は第２系統が故障した場合をそれぞれ示している。図４（ａ）に示すように、第１系統が故障すると、第２系統の巻線６（Ｕ２,Ｖ２,Ｗ２）のみが通電される。この場合、第２系統の同相の巻線６（例えば、Ｕ２ａ(－)とＵ２ｂ(－)）は、前述のように１５０°対向した位置に存在する。その結果、第１系統が故障した場合は、完全な対称位置ではないが、概ね対向した位置の巻線６に通電が行われる。 Therefore, in the motor 1 according to the present invention, when one of the two systems fails, the energization winding remains in the form as shown in FIG. FIG. 4A shows a case where the first system has failed, and FIG. 4B shows a case where the second system has failed. As shown in FIG. 4A, when the first system fails, only the second system winding 6 (U2, V2, W2) is energized. In this case, the in-phase winding 6 (for example, U2a (−) and U2b (−)) of the second system exists at a position facing 150 ° as described above. As a result, when the first system breaks down, the energization is performed to the windings 6 at positions that are generally opposed to each other, though not at a completely symmetrical position.
　同様に、第２系統が故障すると、図４（ｂ）に示すように、第１系統の巻線６（Ｕ１,Ｖ１,Ｗ１）のみが通電される。このとき、第１系統の同相の巻線６（例えば、Ｕ１ａ(＋)とＵ１ｂ(＋)）は、前述のように１５０°対向した位置に存在する。その結果、第２系統が故障した場合も、完全な対称位置ではないが、概ね対向した位置の巻線６に通電が行われる。 Similarly, when the second system fails, only the windings 6 (U1, V1, W1) of the first system are energized as shown in FIG. 4 (b). At this time, the in-phase winding 6 (for example, U1a (+) and U1b (+)) of the first system exists at a position facing 150 ° as described above. As a result, even when the second system breaks down, the energization is performed to the windings 6 that are generally opposed to each other, although not in a completely symmetrical position.
　図５は、従来の巻線配置（従来例１：図７（ａ），従来例２：（図７（ｂ）））と本発明による巻線配置において、１系統のみを通電した場合にステータに生じる電磁力の推移を示した説明図であり、（ａ）は図３のＸ方向、（ｂ）は同Ｙ方向の電磁力をそれぞれ示している。図５から分かるように、１系統駆動時に発生する径方向の電磁力の変動は、本発明の構成における変動を１とした場合、従来例１は約２、従来例２は約５となっている。すなわち、本発明の構成では、１系統駆動時における電磁力の変動が、従来例１の約１／２、従来例２の約１／５となり、電磁力変動を大幅に低減することが可能となる。 FIG. 5 shows a stator when only one system is energized in the conventional winding arrangement (conventional example 1: FIG. 7A, conventional example 2: (FIG. 7B)) and the winding arrangement according to the present invention. 4A and 4B are explanatory diagrams showing the transition of the electromagnetic force generated in FIG. 3A, in which FIG. 3A shows the electromagnetic force in the X direction and FIG. As can be seen from FIG. 5, the fluctuation of the electromagnetic force in the radial direction that occurs during one-system drive is about 2 for Conventional Example 1 and about 5 for Conventional Example 2 when the fluctuation in the configuration of the present invention is 1. Yes. That is, in the configuration of the present invention, the fluctuation of the electromagnetic force at the time of one-system drive is about 1/2 of Conventional Example 1 and about 1/5 of Conventional Example 2, and the electromagnetic force fluctuation can be greatly reduced. Become.
　このように、本発明によるモータ１では、前述の（Ａ）及び（Ｂ）の巻線配置を採用することにより、片方の通電系統が故障し、残りの系統のみでモータを駆動させる場合においても、従来の巻線配置のモータに比して、電磁力の変動が抑えられる。その結果、モータの振動を低減させることが可能となる。このため、当該モータ１を使用したＥＰＳシステムにおいても、冗長性を確保しつつ、故障時のモータ振動による車両への悪影響が抑えられる。また、運転者の操舵感の低下も低減され、操舵フィーリングの向上が図られる。従って、小型・高出力、低トルクリップル、低コギングのため１４極１２スロット構成としたモータにおいても、１系統駆動時における振動が抑えられ、ＥＰＳシステムに最適な電動モータを提供することが可能となる。 Thus, in the motor 1 according to the present invention, by adopting the winding arrangements (A) and (B) described above, even when one of the energizing systems fails and the motor is driven only by the remaining systems. As compared with a motor having a conventional winding arrangement, fluctuations in electromagnetic force can be suppressed. As a result, it is possible to reduce motor vibration. For this reason, in the EPS system using the motor 1 as well, adverse effects on the vehicle due to motor vibration at the time of failure can be suppressed while ensuring redundancy. In addition, a decrease in the steering feeling of the driver is reduced, and the steering feeling is improved. Therefore, even in a motor with a 14-pole 12-slot configuration due to its small size, high output, low torque ripple, and low cogging, vibration during one-system drive can be suppressed, and an electric motor optimal for an EPS system can be provided. Become.
　なお、図７（ｃ）のような巻線配置の場合は、本発明よりも１系統駆動時における振動が小さいことが予想されるが、前述のように、この巻線配置のモータは、２系統通電時における制御形態が難しくなる。これに対し、本発明の構成の場合、故障時における振動という点では図７（ｃ）の構成の方が優位ではあるが、２系統通電時の制御は容易であり、通常制御の点では本発明の構成の方が優位である。つまり、本発明のモータ１は、稀にしか生じない故障よりも、通常制御を優先した構成であるとも言え、本発明によれば、制御装置の構成・コストも含め、バランスの取れたＥＰＳシステムを提供することが可能となる。 In the case of the winding arrangement as shown in FIG. 7 (c), it is expected that the vibration at the time of one-system driving is smaller than that of the present invention. The control form at the time of system energization becomes difficult. On the other hand, in the case of the configuration of the present invention, the configuration of FIG. 7C is superior in terms of vibration at the time of failure, but control at the time of two-system energization is easy, and in terms of normal control, The configuration of the invention is superior. In other words, it can be said that the motor 1 of the present invention has a configuration in which normal control is prioritized over failures that rarely occur. According to the present invention, a well-balanced EPS system including the configuration and cost of the control device is provided. Can be provided.
（実施の形態２）
　次に、本発明の実施の形態２として、本発明の巻線配置を１０極１２スロット構成のモータに適用した例を説明する。図６は、実施の形態２であるブラシレスモータ３１（以下、モータ３１と略記する）のステータ・ロータ構成を示す説明図である。なお、本実施の形態では、実施の形態１と同様の部材、部分については同一の符号を付し、その説明は省略する。 (Embodiment 2)
Next, as a second embodiment of the present invention, an example in which the winding arrangement of the present invention is applied to a 10 pole 12 slot motor will be described. FIG. 6 is an explanatory diagram showing a stator / rotor configuration of a brushless motor 31 (hereinafter abbreviated as “motor 31”) according to the second embodiment. In the present embodiment, the same members and parts as those in the first embodiment are denoted by the same reference numerals, and the description thereof is omitted.
　モータ３１においても、巻線６の配置は、図１のモータ１と同様に次の条件を満たす形で配置されている。
　（Ａ）系統の異なる同相の巻線を隣接配置。
　（Ｂ）各系統において、それぞれ１箇所、同系統に属する巻線を隣接配置。
　すなわち、例えばＵ１ａ(＋)とＵ２ｂ(－)のような、系統の異なる同相の巻線が隣接して配置されると共に、例えばＵ１ａ(＋)とＷ１ａ(＋)のように、各系統中に１箇所、同系統の巻線が隣接して配置されている。 In the motor 31 as well, the windings 6 are arranged in a form that satisfies the following conditions, similarly to the motor 1 of FIG.
(A) In-phase windings of different systems are arranged adjacent to each other.
(B) In each system, the windings belonging to the same system are arranged adjacent to each other.
That is, for example, U1a (+) and U2b (−) are arranged adjacent to each other in the same phase in different systems, and in each system, for example, U1a (+) and W1a (+). One place, windings of the same system are arranged adjacent to each other.
　このような巻線配置を採用することにより、片方の通電系統が故障し、残りの系統のみでモータを回転させる場合においても、概ね対向した巻線６に通電が行われる。このため、従来の巻線配置のモータに比して、電磁力の変動が小さくなり、振動の発生を抑えることが可能となる。従って、小型・高出力、低トルクリップル、低コギングのため１０極１２スロット構成としたモータにおいても、１系統駆動時における振動が抑えられ、ＥＰＳシステムに最適な電動モータを提供することが可能となる。 By adopting such a winding arrangement, even when one of the energizing systems fails and the motor is rotated only by the remaining systems, the energized windings 6 are generally energized. For this reason, as compared with a conventional motor having a winding arrangement, fluctuations in electromagnetic force are reduced, and generation of vibration can be suppressed. Therefore, even in a motor with a 10-pole 12-slot configuration due to its small size, high output, low torque ripple, and low cogging, vibration during one-system drive can be suppressed, and an electric motor optimal for an EPS system can be provided. Become.
　本発明は前記実施形態に限定されるものではなく、その要旨を逸脱しない範囲で種々変更可能であることは言うまでもない。
　例えば、前述の実施形態では、ロータ外周にマグネットを配したいわゆるＳＰＭ構造のモータに本発明を適用した例を示したが、モータの構成はこれには限定されず、例えば、ロータ内にマグネットを埋設したいわゆるＩＰＭ構造のモータにも本発明は適用可能である。 It goes without saying that the present invention is not limited to the above-described embodiment, and various modifications can be made without departing from the scope of the invention.
For example, in the above-described embodiment, the example in which the present invention is applied to a motor having a so-called SPM structure in which a magnet is arranged on the outer periphery of the rotor has been described. However, the configuration of the motor is not limited to this, and for example, a magnet is provided in the rotor. The present invention is also applicable to a so-called IPM structure motor that is buried.
　本発明によるブラシレスモータは、ＥＰＳシステムのみならず、電気自動車や、ハイブリッド自動車、エアコン等の家電製品、各種産業機械等に使用されるモータにも適用可能である。 The brushless motor according to the present invention is applicable not only to EPS systems but also to motors used in electric vehicles, hybrid vehicles, home appliances such as air conditioners, various industrial machines, and the like.
　１　　ブラシレスモータ　　　　　　　　２　　ステータ
　３　　ロータ　　　　　　　　　　　　　４　　ハウジング
　５　　ステータコア　　　　　　　　　　６　　巻線
　７　　ヨーク部　　　　　　　　　　　　８　　ティース
　９　　スロット　　　　　　　　　　　１１　　回転軸
１２　　ロータコア　　　　　　　　　　１３　　マグネット
２０　　電動パワーステアリングシステム
２１　　ステアリングシャフト　　　　　２２　　ステアリングホイール
２３　　ステアリングギヤボックス　　　２４　　タイロッド
２５　　車輪　　　　　　　　　　　　　２６　　アシストモータ部
２７　　減速機構部　　　　　　　　　　２８　　トルクセンサ
２９　　ＥＣＵ　　　　　　　　　　　　３１　　ブラシレスモータ
Ｏ　　　ステータ中心　　　　　　　　　Ｐ　　　巻線組 DESCRIPTION OF SYMBOLS 1 Brushless motor 2 Stator 3 Rotor 4 Housing 5 Stator core 6 Winding 7 Yoke part 8 Teeth 9 Slot 11 Rotating shaft 12 Rotor core 13 Magnet 20 Electric power steering system 21 Steering shaft 22 Steering wheel 23 Steering gear box 24 Tie rod 25 Wheel 26 Assist motor Part 27 deceleration mechanism part 28 torque sensor 29 ECU 31 brushless motor O stator center P winding set

Claims (4)

  1. 　ステータと、該ステータの径方向内側に配置されたロータと、を有し、
    　前記ステータは、１２個のティースと、該ティースに集中巻にて巻装され互いに通電系統を異にする２系統の巻線と、を備え、
    　前記ロータは、１０個又は１４個のマグネットを備えてなるブラシレスモータであって、
    　前記ステータには、通電系統を異にする同相の前記巻線が隣接して配置されると共に、各通電系統においてそれぞれ１箇所、同系統に属する前記巻線が隣接して配置されることを特徴とするブラシレスモータ。     A stator, and a rotor disposed radially inward of the stator,
    The stator includes twelve teeth and two windings wound around the teeth in a concentrated winding and having different energization systems,
    The rotor is a brushless motor comprising 10 or 14 magnets,
    In the stator, the same-phase windings having different energization systems are arranged adjacent to each other, and the respective windings belonging to the same system are arranged adjacent to each other in each energization system. Brushless motor.
  2. 　請求項１記載のブラシレスモータにおいて、
    　前記巻線のうち、隣接して配置された同系統に属する前記巻線の組は、前記ステータの中心を基準として１８０°対向した位置に配設されることを特徴とするブラシレスモータ。     The brushless motor according to claim 1,
    Among the windings, the set of windings belonging to the same system arranged adjacent to each other is disposed at a position opposed to 180 ° with respect to the center of the stator.
  3. 　請求項１又は２記載のブラシレスモータにおいて、
    　前記巻線のうち、同系統に属する同相の前記巻線は、前記ステータの中心を基準として１５０°離間した位置に配設されることを特徴とするブラシレスモータ。     The brushless motor according to claim 1 or 2,
    Of the windings, the same-phase windings belonging to the same system are arranged at positions spaced by 150 ° with respect to the center of the stator.
  4. 　請求項１～３記載の何れか１項に記載のブラシレスモータを用いたことを特徴とする電動パワーステアリング装置用モータ。 A motor for an electric power steering apparatus using the brushless motor according to any one of claims 1 to 3.
PCT/JP2018/017602 2017-06-02 2018-05-07 Brushless motor and motor for electric power steering device WO2018221121A1 (en)

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JP2017109766A JP6838840B2 (en) 2017-06-02 2017-06-02 Brushless motors and motors for electric power steering devices

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JP7365956B2 (en) 2020-04-08 2023-10-20 株式会社ミツバ Brushless motor and brushless motor control method

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2003040123A (en) * 2001-07-27 2003-02-13 Koyo Seiko Co Ltd Electric power steering device
JP2005237068A (en) * 2004-02-18 2005-09-02 Toyota Motor Corp Vehicular steering system
JP3875188B2 (en) * 2002-12-16 2007-01-31 株式会社ジェイテクト Electric motor device
JP4492781B2 (en) * 2003-08-25 2010-06-30 株式会社ジェイテクト Rotating machine and steering system
JP2010226899A (en) * 2009-03-25 2010-10-07 Nippon Muugu Kk Electric motor system
JP2011030406A (en) * 2009-06-24 2011-02-10 Denso Corp Motor

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2003040123A (en) * 2001-07-27 2003-02-13 Koyo Seiko Co Ltd Electric power steering device
JP3875188B2 (en) * 2002-12-16 2007-01-31 株式会社ジェイテクト Electric motor device
JP4492781B2 (en) * 2003-08-25 2010-06-30 株式会社ジェイテクト Rotating machine and steering system
JP2005237068A (en) * 2004-02-18 2005-09-02 Toyota Motor Corp Vehicular steering system
JP2010226899A (en) * 2009-03-25 2010-10-07 Nippon Muugu Kk Electric motor system
JP2011030406A (en) * 2009-06-24 2011-02-10 Denso Corp Motor

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