WO2019235548A1 - Vibration reduction method, motor, neutralizer, and electric power steering device - Google Patents

Abstract

A method for reducing vibrations in an electric power steering device to which a typical motor is attached includes: a step for determining the frequency of vibrations to be reduced in the electric power steering device, which is the frequency of the vibrations produced by the motor; and a step for setting the properties of a neutralizer provided on the housing of the motor in a manner such that the transfer function of the system from the source of vibrations in the motor to the coupling part between the motor and the electric power steering device is provided with properties which suppress the vibrations in the coupling part at the determined vibration frequency.

Description

Vibration reduction method, motor, neutralizer, and electric power steering apparatus Cross-reference of related applications

This application claims priority based on Japanese Patent Application No. 2018-109640 filed on June 7, 2018 with the Japan Patent Office, and the entire patent application is incorporated herein by reference.

The present disclosure relates to a technique for reducing vibration generated in a device to which an electric motor is attached.

There is an electric power steering system (hereinafter sometimes referred to as EPS) as one of assist mechanisms for power steering of automobiles (see, for example, Patent Document 1). By adopting EPS, it is possible to reduce the weight of the vehicle and improve the fuel efficiency.

However, the wave excited by the excitation force of an electric motor (hereinafter sometimes referred to as a motor) that is the power source of the EPS propagates through the vehicle body and becomes solid sound as noise in the driver's ear in the car. You may hear it. For example, when the steering wheel operation is greatly performed when traveling at a low speed and when the steering operation is performed while the vehicle is parked, the frequency of such noise tends to increase.

As a vibration analysis method, for example, Non-Patent Document 1 proposes a method of analyzing the coupled relationship of vibrations of two divided systems.

JP 2007-314070 A

When considering the above noise countermeasures technically, countermeasures for the steering unit to which the motor that affects the magnitude of the excitation point impedance is mounted, and countermeasures for automobile panel members that actually generate acoustic radiation Is considered effective.

However, when taking measures against noise from the standpoint of a motor manufacturer, it is difficult to take the above measures. The research of motor manufacturers can elucidate the mechanism of noise generation, and even if it is judged that countermeasures for parts outside the company's responsibility other than the motor are the most efficient, it is difficult to propose countermeasures for other than motors. is there.

In addition, the body of an automobile is a high-mode density structure, and its vibration characteristics vary greatly due to its low robustness, but it can be applied to any body simply by changing the structure to its own motor. There is a difficulty that effective measures are required. Furthermore, since the motor is rigidly coupled to the steering unit, the motor and the vehicle body are in a strongly coupled state, and it is generally difficult to efficiently examine structural changes appropriate for vibration reduction.

Measures for motors are required to reduce the vibration and noise of the entire system for any vehicle having various vibration characteristics.

A method of reducing vibration of an electric power steering apparatus to which an exemplary motor of the present disclosure is attached is a step of determining a frequency of vibration generated by the motor, the vibration frequency being reduced in the electric power steering apparatus. The transfer function in the system from the vibration source of the motor to the coupling portion between the motor and the electric power steering device has a characteristic of suppressing the vibration of the coupling portion at the determined frequency. Setting the characteristics of the neutralizer provided in the housing.

An exemplary neutralizer of the present disclosure is a neutralizer that is provided on a side surface of a motor housing and reduces vibrations of a predetermined frequency in an electric power steering apparatus to which the motor is attached, and is provided on a side surface of the housing. A spring extending in a radial direction of the housing from a side surface of the housing, and a weight provided at an end of the spring in the radial direction, the motor generates vibration of the predetermined frequency, The neutralizer has a natural frequency at which a transfer function in a system from a vibration source of the motor to a coupling portion between the motor and the electric power steering apparatus has a characteristic of suppressing vibration of the coupling portion at the predetermined frequency. Have.

According to the embodiment of the present disclosure, it is possible to reduce the vibration of the device to which the motor is attached by taking measures against the motor.

FIG. 1 is a free body diagram of an active part and a passive part according to an exemplary embodiment. FIG. 2 is a diagram illustrating frequency response functions of an active part and a passive part according to an exemplary embodiment. FIG. 3 is a diagram illustrating the concept of a neutralizer according to an exemplary embodiment. FIG. 4 is a diagram illustrating a system used in a simulation according to an exemplary embodiment. FIG. 5 is a diagram illustrating a system used in a simulation according to an exemplary embodiment. FIG. 6 is a diagram illustrating a cross-sectional shape of a beam according to an exemplary embodiment. FIG. 7 is a diagram illustrating a cross-sectional shape of a leaf spring according to an exemplary embodiment. FIG. 8 is a diagram illustrating compliance in the x direction at “node: 4” when the heel “node: 1” according to the exemplary embodiment is vibrated in the x direction. FIG. 9 is a diagram illustrating a result of calculating a reflection coefficient with respect to a longitudinal wave of a neutralizer attached to an active part according to an exemplary embodiment. FIG. 10 is a diagram illustrating a result of calculating a transmission coefficient for a longitudinal wave of a neutralizer attached to an active part according to an exemplary embodiment. FIG. 11 is a perspective view illustrating a motor provided with a neutralizer according to an exemplary embodiment. FIG. 12 is a perspective view illustrating a neutralizer according to an exemplary embodiment. FIG. 13 is a cross-sectional view of a motor according to an exemplary embodiment. FIG. 14 is a diagram illustrating the relationship between the sound pressure and the frequency of noise measured at the position of the driver's ear in the automobile according to the exemplary embodiment. FIG. 15 is a diagram illustrating the relationship between the sound pressure and the frequency of noise measured at the position of the driver's ear in the automobile according to the exemplary embodiment. FIG. 16 is a diagram illustrating the relationship between the magnitude and frequency of vibration in the rotation direction of the motor according to the exemplary embodiment. FIG. 17 is a diagram illustrating the relationship between the magnitude of vibration and the frequency in the rotation direction of the motor according to the exemplary embodiment. FIG. 18 is a diagram schematically illustrating an electric power steering apparatus according to an exemplary embodiment.

Hereinafter, embodiments of a vibration reduction method, a motor, a neutralizer, and an electric power steering apparatus according to the present disclosure will be described in detail with reference to the accompanying drawings. However, more detailed description than necessary may be omitted. For example, detailed descriptions of already well-known matters and repeated descriptions for substantially the same configuration may be omitted. This is to avoid the following description from becoming unnecessarily redundant and to facilitate understanding by those skilled in the art.

(Embodiment 1)
In this embodiment, a neutralizer is used to reduce vibration transmitted from the motor to the vehicle body. The neutralizer generates a reflected wave whose phase is shifted by 180 degrees due to substantial total reflection with respect to vibration (input wave) serving as a noise source, and superimposes the reflected wave on the input wave. Thereby, vibration can be canceled.

In this embodiment, a path until vibration (input) generated from the motor is generated as noise (output) in the vehicle body is expressed using a transfer function. First, a vibration reduction method based on the transfer function synthesis method according to the embodiment will be described.

As mentioned above, when taking noise countermeasures from the motor manufacturer's standpoint, it is difficult to propose countermeasures for parts other than motors that are outside the scope of the company. In the present embodiment, a motor that can be changed as a motor maker is identified as an active part (Active Part), and a portion other than the motor of the vehicle that cannot be changed as a motor maker is identified as a passive part (Passive Part). And, under the condition that the binary system of the active part and the passive part is rigidly connected, the vibration of the whole system consisting of the active part and the passive part is reduced by changing the structure of the active part only. Let In the present embodiment, the vibration of the entire system at the target frequency is reduced without deteriorating with respect to an arbitrary passive part within the constraint that only the active part can be structurally changed.

(Vibration reduction method based on transfer function synthesis method)
An automobile equipped with a motor is divided into a bisector of the motor and the other parts, and the vibrational coupling relationship is analyzed. Non-Patent Document 1 discloses a method of analyzing a bifurcated vibrational coupling relationship using a kernel dynamic stiffness matrix as an index based on a transfer function synthesis method.

FIG. 1 is a free body diagram of an active part and a passive part according to the present embodiment. The degree of freedom of vibration and the degree of freedom of response evaluation in the entire system are indicated by “1” and “4” on the left side of FIG. The right side of FIG. 1 shows a free body diagram in which the entire system is divided into two halves. The degree of freedom in excitation is on the active part side (motor), and the degree of freedom in response evaluation is on the passive part side (vehicle body). The degrees of freedom of coupling on the active part side and the passive part side are indicated by “2” and “3”, respectively. The basic formula (1) of the transfer function synthesis method in this division is as follows.

Here, F ₁ ^A is a force applied to the system. X ₄ ^AB is a displacement with a response evaluation degree of freedom 4 in the passive part B when the force F ₁ ^A is applied to the excitation degree of freedom 1 in the active part A, and is expressed in the frequency domain. H is compliance (frequency response function), the number on the left side of the subscript represents the number of degrees of freedom on the response side, and the number on the right side represents the number of degrees of freedom on the excitation side. A and B on the right shoulder indicate that the quantities are related to the divided systems A and B. When AB is present, it indicates that the quantities are related to the entire system including the divided systems A and B. ing. For example, H ₂₂ ^A is an excitation point transfer function of an attachment part of the motor to the automobile. H ₂₁ ^A is a transfer function from the vibration source of the motor to the coupling portion between the motor and the automobile.

Next, resonance formation conditions will be described. (H ₂₂ ^A + H ₃₃ ^B ) ⁻¹ in the equation (1) is a kernel dynamic stiffness. H ₂₂ ^A + H ₃₃ ^B is called kernel compliance. The kernel dynamic stiffness is a dynamic stiffness matrix of the connecting part of the binary system, and includes the characteristics of the entire system. The kernel dynamic stiffness is physically an amount considered as an amplification factor when the displacement of the coupling portion is converted into a transmission force which is an internal force of the coupling portion. It can be seen that the entire system resonates when the amplification factor is infinite. That is, assuming that the degree of freedom of the coupling portion is N, the entire system generally resonates when the condition of the following expression (2) is satisfied.

Hereinafter, it will be explained that the vibration of the entire system can be reduced by taking the vibration countermeasure only on the active part side in the above-mentioned bisection system by utilizing the property of the kernel compliance.

FIG. 2 shows the frequency response functions of the active part and the passive part. FIG. 2 shows the relationship of the transfer function as the relationship between the actual motor (active part) and the automobile (passive part). The motor (active part) is very small compared to an automobile (passive part) and has a rigid structure compared to the vehicle body. Therefore, in a band of several hundred Hz where vibration / noise of the motor becomes a problem, the compliance of the active part is governed by the rigid body mode and there is no vibration mode. In such a case, even if the coupling portion is a multi-degree-of-freedom coupling, the dominant degree of freedom of the transmission force involved in the resonance of the entire system is a small number of degrees of freedom. For this reason, even if it is designed that about one to two degrees of freedom are dominant, a countermeasure against resonance is possible.

Therefore, consider a case where a transmission force of one degree of freedom is dominant. When the transmission force is dominated by one degree of freedom at the target frequency at which vibration is desired to be reduced, the structural change of the active part to reduce the overall system response will be considered. If the degree of freedom of vibration and the degree of freedom of response evaluation are set to 1, Equation (1) can be expressed as a scalar, and the following Equation (3) is obtained.

Further, the resonance condition of the entire system corresponding to the equation (2) is the following equation (4).

At a frequency where this resonance condition is satisfied, the kernel dynamic stiffness, which is the inverse of kernel compliance, becomes infinite, and the entire system resonates in the same state as when a coupled spring having an infinite spring constant is displaced.

In Formula (3), H ₃₃ ^B and H ₄₃ ^B actually correspond to the parts of the automobile other than the motor, and therefore it is difficult to change from the standpoint of the motor manufacturer. H ₂₂ ^A (excitation point transfer function of the motor mounting part) and H ₂₁ ^A (transfer function from the motor vibration source to the motor / vehicle connection) can be changed. ).

However, it is difficult for the motor manufacturer to completely avoid the resonance condition of the equation (4) because the information of H ₃₃ ^B cannot be obtained. Regardless of how H ₂₂ ^A is designed, if the equation (4) is satisfied at the target frequency due to the compatibility with H ₃₃ ^B , a large transmission force is generated and resonance occurs. However, since there is usually attenuation on the passive part side, resonance does not occur.

On the other hand, H ₂₁ ^A can be designed freely by motor manufacturers. From this, it is considered that H ₂₁ ^A (ω _t ) F ₁ ^A (ω _t ) = 0 is realized by setting H ₂₁ ^A (ω _t ) = 0 when the target angular frequency is ω _t . At this time, it is understood that X ₄ ^AB (displacement of the response evaluation degree of freedom 4) becomes 0 unless H ₄₃ ^B is infinitely large and the condition of Expression (4) is also satisfied. Expression (3) at the target angular frequency ω _t becomes Expression (5).

At this time, if H ₄₃ ^B is infinite, or if the condition of equation (4) is satisfied, equation (5) is a product of infinity and 0, and what value does equation (5) have? It cannot be estimated easily. However, at least when H ₂₁ ^A (ω _t ) F ₁ ^A (ω _t ) = 0, the response is higher than when H ₂₁ ^A (ω _t ) F ₁ ^A (ω _t ) has a large value. The degree of freedom in evaluation can be reduced. Thus, the inventor of the present application has found that bringing the value of H ₂₁ ^A (ω _t ) close to 0 is an effective vibration reduction method that can be adopted by a motor manufacturer.

(Neutralizer)
In the present embodiment, the transfer function H ₂₁ ^A (ω _t ) in the system from the motor vibration source to the coupling portion between the motor and the vehicle body is provided with a characteristic that suppresses the vibration of the coupling portion at the target frequency. Provide a neutralizer.

A method of virtually grounding the active part at a specific frequency by installing a neutralizer on the active part (motor) will be described. Virtual ground means zero frequency response. By virtually grounding the active part at a specific frequency, it is theoretically possible to reduce the transmission between the excitation degree of freedom and the coupling degree of freedom to zero, and the value of the frequency response function H ₂₁ ^A is zero at the specific frequency. Can be.

In this specification, the neutralizer and the dynamic vibration absorber will be described separately. When a one-degree-of-freedom vibration system composed of one mass point and one spring is added to the target structure as a wave total reflector, this one-degree-of-freedom vibration system is called a neutralizer. When a one-degree-of-freedom vibration system composed of one mass point and one spring is used to reduce vibration in a specific mode, this one-degree-of-freedom vibration system is called a dynamic vibration absorber. In the neutralizer in this specification, each of the mass points and the springs may be two or more.

The elements that serve as vibration sources in the motor are, for example, a rotor, a stator, a bearing and the like. In general, motor vibration sources include electromagnetic excitation force, mechanical vibration of a bearing portion, and the like, and it is difficult to specify the position of the excitation degree of freedom 1 in FIG. However, in FIG. 2, it is only certain that there is an excitation degree of freedom 1 somewhere on the active part side to the left of the active part side and the passive part side. A neutralizer is installed between the degrees of freedom and the coupling degrees of freedom. A method of theoretically setting the value of the frequency response function to zero by completely reflecting the wave of the target frequency generated with the degree of freedom of excitation using this neutralizer will be described.

FIG. 3 is a diagram showing the concept of the neutralizer 40. In the present embodiment, the theory and numerical examples will be shown on the assumption that the transmission force in the vertical direction entering the vehicle body from the motor 10 is dominant. Since the longitudinal wave and the torsional wave can be expressed by the same form of wave equation, the method of this embodiment can be similarly applied to the case where the torsional moment about the rotation axis of the motor becomes the dominant transmission force. The method of the present embodiment can also be applied when the transmission force in the direction related to the bending wave is dominant.

Wave reflection and transmission characteristics when the neutralizer 40 is viewed as a discontinuous portion for wave propagation will be described. The reflection characteristic and the transmission characteristic are obtained by solving the continuity of displacement and the balance of force in the neutralizer mounting section (position of x = 0 in FIG. 3) using the relationship between the displacement and force and the wave amplitude. The force exerted by the spring on the motor 10 as the neutralizer 40 moves can be calculated in the same manner as a two-degree-of-freedom dynamic vibration absorber. The relationship between the amplitude F _{N of the} spring force and the displacement amplitude U of the neutralizer mounting freedom shown in FIG. 3 can be expressed by Equation (6) using the mode equivalent rigidity κ.

Here, the displacement and internal force at the position x on the left side of the neutralizer mounting section are defined as _UL (x) and _FL (x). The displacement and internal force at the position x on the right side of the neutralizer mounting section are defined as U _R (x) and F _R (x). When these are expressed using the wave amplitude, they are expressed as in Expression (7) to Expression (10).

Here, the medium is unchanged at the left and right of the position x. k is the wave number of this medium, E is the Young's modulus of the neutralizer, S is the cross-sectional area of the beam of the neutralizer, and corresponds to the cross-sectional area of the path through which vibration energy is transmitted. Respectively positioned a the amplitude of the forward wave and the backward wave in the left x _L, and b _L, the amplitude of the forward wave and backward wave at the right of position x was a _R, b _R, respectively. At this time, the continuity of displacement and the balance of force in the neutralizer mounting section (position x = 0) can be expressed as in equations (11) and (12).

Expressions (6) to (10) are introduced into these expressions (11) and (12), and the relationship between the wave amplitudes is arranged in the form of a scattering matrix shown in expression (13).

Thereby, the reflection coefficient and the transmission coefficient of the longitudinal wave in the neutralizer mounting section are expressed as Expression (14) and Expression (15).

Here, it is Ω = ω / ω _N. ω is the angular frequency of the harmonic excitation force, and ω _N is the natural angular frequency when the neutralizer alone is fixed to the ground. Ω is the ratio of ω _N and ω.

The reflection coefficients r _LR and r _RL are the amplitude ratios “b _L / a _L ” and “b _R / a _R ” between the forward wave (+ x direction) and the bounced wave (backward wave (−x direction)). The transmission coefficients t _LR and t _RL are the amplitude ratios “aR / aL” and “bR / bL” between waves traveling in the same direction on the plus side and the minus side with x = 0 as a reference.

The condition for total reflection is that the transmission coefficient = 0, that is, the numerator on the right side of Equation (15) is zero. That is, the condition for total reflection is ω = ω _N , and the natural frequency when the neutralizer is fixed to the ground is the same as the frequency of the harmonic excitation force. At this time, if (1-Ω ² ) = 0 is substituted into the equation (14), the reflection coefficient r _LR = r _RL = −1, which is the same as the virtual ground, that is, the fixed end for the propagation wave. That is, total reflection is performed at the fixed end, and a wave whose phase is shifted by 180 degrees is reflected.

In this way, when a device that completely reflects a wave of a specific frequency is installed between the excitation freedom degree 1 and the coupling part degree of freedom 2 of the active part, the wave generated by the excitation is free from the coupling part. The frequency response function H ₂₁ ^A between two points formed by the superposition of waves cannot reach 2 degrees, and theoretically becomes 0 at this frequency. The frequency response function H ₂₁ ^A can be freely set by the motor manufacturer, and the value of H ₂₁ ^A can be reduced at a desired frequency.

In the above method, the neutralizer may be installed at a position between the excitation degree of freedom 1 and the coupling part degree of freedom 2. For this reason, the method of this embodiment is very useful for a motor manufacturer who must install a motor in a limited space of various systems.

(Simulation by finite element method)
It was verified by simulation that the displacement X ₄ ^AB (ω _t ) with a degree of freedom of response evaluation 4 shown in Equation (5) can be reduced by providing the neutralizer in the motor.

The simulation target is a longitudinal wave (longitudinal vibration) of a beam structure. Actually, vibration generated by the motor is transmitted to the vehicle, and the vibration is transmitted to a panel member or the like in the automobile, where acoustic radiation is generated. However, the acoustic radiation is not considered here.

4 and 5 show the system used for the simulation. The active part mimics a motor attached to an automobile EPS. The passive part imitates parts other than motors of automobiles.

The cross-sectional shape of the beam is a square with a side of 0.01 m as shown in FIG. The length of the active part of the beam is 0.05 m, and the length of the passive part is 1.0 m. A neutralizer was installed in the active part.

The vibration of the system shown in FIGS. 4 and 5 was obtained by finite element analysis. In setting the finite element model, the active part was assumed to be an aluminum material, density 2680 kg / m ³ , Young's modulus 7.60 × 10 ¹⁰ Pa, Poisson's ratio 0.33. The mass of the active part alone was 0.0134 kg. The passive part was a mild steel material, and had a density of 7930 kg / m ³ , a Young's modulus of 1.97 × 10 ¹¹ Pa, and a Poisson's ratio of 0.30. The mass of the passive part alone was 0.793 kg.

The degree of freedom of vibration was given in the positive direction of x at the position marked “Node: 1” in FIG. The degree of freedom in response evaluation was set to the positive direction of x at the position indicated as “node: 4” in FIG. In order to set H ₂₁ ^A (ω _t ) = 0, a neutralizer was installed at the position of “node: 2” of the active part. The neutralizer has, for example, a spring-mass structure. As the neutralizer, two leaf springs that are symmetrically deformed in the x direction across the beam are installed, and a concentrated mass is coupled to each of the tips of the leaf springs. Each of the two leaf springs was a phosphor bronze plate having a thickness of 0.002 m and a width of 0.01 m as shown in FIG. The material properties of phosphor bronze were a density of 8800 kg / m ³ , a Young's modulus of 1.10 × 10 ¹¹ Pa, and a Poisson's ratio of 0.33. The concentrated mass at the tips of the two leaf springs was 0.467 g for both. Each neutralizer has a mass of 2.23 g. The natural frequency of the neutralizer is assumed to be the same as the vibration frequency (target frequency) to be reduced in the EPS to which the motor is attached. For example, the natural frequency of the neutralizer is the same as the natural frequency of the steering shaft included in the EPS. Here, the natural frequency of the steering shaft was set to 2450 Hz.

FIG. 8 shows compliance in the x direction at “node: 4” when “node: 1” is vibrated in the x direction. The horizontal axis represents frequency, and the vertical axis represents phase and magnitude. The broken line indicates the compliance when the neutralizer is not mounted, and the solid line indicates the compliance when the neutralizer is mounted. It can be seen that the value of compliance is greatly reduced at the target frequency of 2450 Hz when the neutralizer is mounted compared to when the neutralizer is not mounted.

FIG. 9 shows the result of calculating the reflection coefficient for the longitudinal wave of the neutralizer attached to the active part according to the equation (14). FIG. 10 shows the result of calculating the transmission coefficient for the longitudinal wave of the neutralizer attached to the active part according to the equation (15). 9 and 10, the horizontal axis represents frequency, and the vertical axis represents phase and magnitude.

The reflection coefficient at the target frequency of 2450 Hz is 1 and the transmission coefficient is 0, and the wave at 2450 Hz is blocked while propagating from the excitation degree of freedom to the coupling degree of freedom by the neutralizer attached to the active part. You can see (virtual grounding). That is, theoretically, H ₂₁ ^A = 0 at a target frequency of 2450 Hz.

Thus, by providing the neutralizer in the motor, it is possible to reduce the vibration of the target frequency at the joint between the motor and the EPS. Thereby, the vibration of the target frequency in the vehicle (response evaluation degree of freedom 4) can be reduced.

Next, an example of the neutralizer 40 provided in the motor 10 will be described. FIG. 11 is a perspective view showing the motor 10 provided with the neutralizer 40. FIG. 12 is an enlarged perspective view showing the neutralizer 40 provided in the motor 10. FIG. 13 is a cross-sectional view of the motor 10. In order to easily explain the inside of the motor 10, the neutralizer 40 is not shown in FIG.

In this example, a direction parallel to the central axis J1 of the motor 10 is referred to as an “axial direction”. A direction orthogonal to the central axis J1 of the motor 10 is referred to as a “radial direction”. A direction along an arc centered on the central axis J1 of the motor 10 is referred to as a “circumferential direction”. Also, in this example, for convenience, the shape and positional relationship of each member will be described with the axial direction as the vertical direction. However, this is defined as upper and lower for convenience of explanation, and does not limit the direction when the motor 10 is used.

According to the knowledge of the inventor of the present application, vibration and noise in the vehicle body such as an automobile caused by the EPS motor 10 are correlated with vibration in the rotational direction of the motor 10 and torque ripple. Therefore, in this embodiment, vibration and noise in the vehicle body are suppressed by suppressing vibration in the rotation direction of the motor 10.

The motor 10 in this embodiment is a so-called inner rotor type motor. The motor 10 includes a stator 11, a rotor 20, and a housing 30.

The housing 30 is a cylindrical member extending in the axial direction. The housing 30 includes, for example, a metal material such as aluminum (including an aluminum alloy) or SUS. The housing 30 accommodates the rotor 20 and the stator 11 therein. The housing 30 includes a cylindrical portion 36, a bottom portion 34, and a lid portion 32. The cylinder part 36 is a cylindrical member extending in the axial direction. The bottom portion 34 is disposed on the lower side in the axial direction of the cylindrical portion 36 and covers the opening on the lower side in the axial direction of the cylindrical portion 36. A lower bearing 37 is attached to the bottom 34. A plurality of bottom flange portions 342 extending radially outward are disposed on the outer surface of the bottom portion 34. The bottom flange portion 342 is formed with at least one bottom through-hole 344 penetrating in the axial direction.

The lid portion 32 is arranged on the upper side in the axial direction of the cylindrical portion 36 and covers the opening on the upper side in the axial direction of the cylindrical portion 36. An upper bearing 38 is attached to the lid portion 32. The upper bearing 38 and the lower bearing 37 rotatably support the rotor 20. A plurality of lid flange portions 322 extending outward in the radial direction are provided on the outer surface of the lid portion 32. The lid flange portion 322 is formed with at least one lid portion through hole 324 penetrating in the axial direction. Note that either the bottom 34 or the lid 32 may be formed integrally with the cylindrical portion 36.

The stator 11 includes a stator core 12, an insulator 13, and a coil 14. The stator core 12 is, for example, a laminated core in which a plurality of electromagnetic steel plates are laminated in the axial direction. The stator core 12 may include a pressure-dividing magnetic core. Stator core 12 has an annular core back and a plurality of teeth. The plurality of teeth extend radially inward from the core back and are arranged at intervals in the circumferential direction. The insulator 13 is an insulator that covers the surface of the stator core 12.

The rotor 20 is disposed on the radially inner side of the stator 11 and faces the teeth in the radial direction. The rotor 20 includes a shaft 21, a yoke 22, a rotor magnet 23, and a cover member 24. The shaft 21 extends in the axial direction about the central axis J1. The shaft 21 may be solid or hollow. The yoke 22 is substantially cylindrical and is fixed to the shaft 21. The yoke 22 is formed, for example, by laminating thin magnetic steel plates. The rotor magnet 23 is disposed inside the stator 11 and is fixed to the outer surface of the yoke 22 with, for example, an adhesive. The cover member 24 covers the outside of the rotor magnet 23.

A neutralizer 40 is attached to the outer surface of the cylindrical portion 36 of the housing 30. The neutralizer 40 has a pair of base portions 41 and a first plate portion 42. The base portion 41 is a member extending in the axial direction. In the circumferential direction, the position of the base portion 41 is different from the position of the lid flange portion 322 and the position of the bottom flange portion 342. When viewed from the axial direction, the cross section of the base portion 41 is substantially L-shaped. The pair of base portions 41 are disposed to face each other in the circumferential direction. One end of each base part 41 is fixed to the outer surface of the cylindrical part 36 by, for example, welding, adhesion, caulking, or the like. Note that the base portion 41 may be formed integrally with the cylindrical portion 36 by cutting or casting.

The first plate part 42 is a substantially rectangular member. The first plate portion 42 extends outward in the radial direction. One end on the radially inner side of the first plate portion 42 is sandwiched between the other ends of the pair of base portions 41. In the present embodiment, the first plate portion 42 and the base portion 41 are fixed by screwing using a plurality of screws 46.

A pair of second plate portions 44 are disposed at the radially outer end of the first plate portion 42. In the present embodiment, the second plate portion 44 is substantially rectangular. The second plate portion 44 includes, for example, a metal member (aluminum, aluminum alloy, copper, copper alloy, iron, iron alloy, etc.). The radially outer end of the first plate portion 42 is sandwiched between a pair of second plate portions 44. The first plate portion 42 and the second plate portion 44 are fixed by screwing using a plurality of screws 46. In other words, the circumferentially one side surface and the other side surface at the radially outer end of the first plate portion 42 are partially covered by the second plate portion 44, respectively. Thereby, the edge part of the radial direction outer side in the 1st board part 42 can be made heavier than another part.

In addition, the 2nd board part 44 and the 1st board part 42 may be integrally formed. That is, the thickness of the end portion on the radially outer side of the first plate portion 42 may be thicker than other portions on the radially inner side. In this case, the radially outer end of the first plate portion 42 protrudes to at least one of the circumferential one side and the other side.

The second plate portion 44 does not necessarily have to be a pair, and may be disposed only on one of the circumferentially one side and the other side of the radially outer end of the first plate portion 42.

The second plate portion 44 may be fixed to the first plate portion 42 by other methods such as welding, adhesion, and caulking in addition to screwing. The material of the second plate portion 44 may be the same as the material of the first plate portion 42 or may be different from each other. The material of the second plate portion 44 may be other than a metal material, for example, an elastic member such as rubber.

In the present embodiment, the axial length on one end side of the base portion 41 is the same as the axial length on the other side. The axial length of the other end side of the base portion 41 is the same as the axial length of the first plate portion 42. The length of the first plate portion 42 in the axial direction is the same as the length of the second plate portion 44 in the axial direction.

The radial length on the other end side of the base portion 41 is shorter than the radial length of the first plate portion 42. The length of the second plate portion 44 in the radial direction is shorter than the length of the first plate portion 42 in the radial direction.

In the present embodiment, the neutralizer 40 forms a so-called cantilever beam. The neutralizer 40 has a fixed end at a side fixed to the housing 30 (that is, the cylindrical portion 36), and a radially outer end of the first plate portion 42 as a free end. In the present embodiment, the neutralizer 40 constitutes a leaf spring. Therefore, the radially outer end of the first plate portion 42 can vibrate in the circumferential direction with the radially inner end of the first plate portion 42 as a base point. Moreover, since the 2nd board part 44 is attached to the edge part (namely, free end) of the radial direction outer side of the 1st board part 42, the 2nd board part 44 functions as a weight.

When the motor 10 is driven, the motor 10 generates vibrations in the radial direction and vibrations in the circumferential direction. As described above, the neutralizer 40 is attached to the outer surface of the housing 30. Therefore, the circumferential vibration generated from the motor 10 is transmitted to the neutralizer 40, and the neutralizer 40 vibrates in the rotation direction (ie, circumferential direction) of the motor 10. Thereby, the vibration of the rotation direction in the motor 10 (namely, housing 30) can be suppressed, and the noise transmitted to the driver | operator of a motor vehicle, etc. can be suppressed. Moreover, the frequency band (target frequency) which suppresses noise can be changed by attaching the 2nd board part 44 to the 1st board part 42. FIG. Further, the target frequency can be changed by adjusting the mode equivalent mass of the first plate portion 42 and the mode equivalent rigidity of the second plate portion 44.

The natural frequency of the neutralizer 40 is set to be the same as the vibration frequency (target frequency) to be reduced in the vehicle body to which the motor 10 is attached. For example, the natural frequency of the neutralizer is set to be the same as the natural frequency of the steering shaft included in the EPS. Thereby, the vibration of the target frequency in the coupling | bond part of the motor 10 and EPS can be reduced, and the vibration of the target frequency in a vehicle can be reduced.

FIG. 14 is a diagram showing the relationship between the sound pressure and the frequency of noise measured at the position of the driver's ear in the automobile. FIG. 14 shows the noise when the neutralizer 40 is provided in the motor 10 and the noise when the neutralizer 40 is not provided. The structures of the motors 10 are the same except for the presence or absence of the neutralizer 40. FIG. 15 is an enlarged view of a circled portion in FIG. 14 and 15, the vertical axis represents sound pressure [db], and the horizontal axis represents frequency [Hz].

FIG. 16 is a diagram illustrating the relationship between the magnitude of vibration in the rotational direction of the motor 10 and the frequency. FIG. 16 shows the magnitude of vibration when the neutralizer 40 is provided in the motor 10 and the magnitude of vibration when the neutralizer 40 is not provided. The structures of the motors 10 are the same except for the presence or absence of the neutralizer 40. FIG. 17 is an enlarged view of a circled portion in FIG. 16 and 17, the vertical axis represents vibration acceleration [db], and the horizontal axis represents frequency [Hz].

As shown in FIGS. 14 and 15, the sound pressure of the sound generated from the motor 10 provided with the neutralizer 40 at the target frequency is greater than the sound pressure of the sound generated from the motor 10 not provided with the neutralizer 40. Is also small. Similarly, as shown in FIGS. 16 and 17, the vibration acceleration of the vibration generated from the motor 10 provided with the neutralizer 40 at the target frequency is the vibration acceleration generated from the motor 10 not provided with the neutralizer 40. Smaller than vibration acceleration. That is, from FIGS. 14, 15, 16, and 17, by attaching the neutralizer 40 to the motor 10, vibration in the rotation direction of the motor 10 can be suppressed and noise transmitted to the driver or the like can be suppressed. You can see that it is made.

Although exemplary embodiments have been described above, the technology of the present disclosure is not limited to the above embodiments.

For example, the shape of the first plate portion 42 of the neutralizer 40 may be other than a rectangle. The shape of the first plate portion 42 may be circular, elliptical, polygonal, asymmetrical, or the like when viewed from the circumferential direction, and is not particularly limited. The cross section in the axial direction of the first plate portion 42 does not need to have a constant shape in the radial direction, and may have a plurality of types of cross sectional shapes.

Further, the shape of the second plate portion 44 of the neutralizer 40 may be other than a rectangle. The shape of the second plate portion 44 may be circular, elliptical, polygonal, asymmetrical, or the like when viewed from the circumferential direction, and is not particularly limited. Moreover, the 2nd board part 44 does not need to be plate shape, and may be three-dimensional shapes, such as columnar shapes, such as a polygonal column, and a spherical body. The pair of second plate portions 44 may have different shapes.

In the axial direction, the lengths of the first plate portion 42 and the second plate portion 44 may be different from each other or the same.

The second plate portion 44 does not have to be fixed in a state of extending straight in the axial direction, and may be fixed in an inclined state with respect to the first plate portion 42 when viewed from the circumferential direction.

The shape of the base portion 41 may be a shape that can support the first plate portion 42 and may not be an L shape extending in the axial direction. A plurality of base portions 41 that contact only a part of the radially inner end of the first plate portion 42 may be provided.

In the circumferential direction, the position of the base portion 41 may be the same as at least one of the positions of the lid flange portion 322 and the bottom flange portion 342.

In the example shown in FIG. 11, only one neutralizer 40 is attached to the housing 30 of the motor 10. However, the number of neutralizers 40 is not limited to one, and a plurality of neutralizers 40 may be attached to the motor 10. When a plurality of neutralizers 40 are attached, they may be arranged side by side in the axial direction or may be arranged at intervals in the circumferential direction.

The neutralizer 40 is not only fixed to the cylindrical portion 36 but may be at least partially fixed to the lid portion 32, the bottom portion 34, or the like.

In the neutralizer 40, the first plate portion 42 extends in the axial direction, and is substantially parallel to the extending direction of the cylindrical portion 36. However, the 1st board part 42 may be arrange | positioned by making the circumferential direction into a longitudinal direction. The neutralizer 40 may be disposed such that the first plate portion 42 is inclined with respect to the central axis J1 when viewed from the outside in the radial direction. In the above description, the neutralizer 40 extends radially outward from the side surface of the housing 30, but may extend radially inward.

The neutralizer 40 exemplified above is composed of a plurality of members. However, the neutralizer 40 may be a single member having a shape such as a plate shape or a rod shape. In this case, the neutralizer 40 made of a single member is fixed to the housing 30 directly or indirectly. The cross section in the axial direction of the neutralizer 40 made of a single member need not be constant, and the neutralizer 40 may have a plurality of different cross sections in the radial direction.

A cover member that covers the neutralizer 40 may be attached to the outer surface of the housing (that is, the cylindrical portion). By covering the neutralizer 40 with the cover member, the neutralizer 40 can be prevented from being damaged or deformed when the motor 10 after the neutralizer 40 is attached is conveyed. The cover member may cover the entire neutralizer 40 or may cover only a part of the neutralizer 40. The cover member is directly or indirectly fixed to the cylindrical portion by, for example, a method such as welding, adhesion, caulking, or screwing.

The motor 10 is mounted on an automobile and used to generate EPS driving force. However, the motor 10 may be used for other known applications. For example, the motor 10 may be used as a drive source for another part of an automobile, for example, an engine cooling fan. Further, the motor 10 may be mounted on home appliances, OA equipment, medical equipment, etc. and generate various driving forces.

(Embodiment 2)
Next, an example of EPS will be described. The EPS generates an assist torque for assisting the steering torque of the steering system that is generated when the driver operates the steering wheel. The auxiliary torque is generated by the auxiliary torque mechanism, and the burden on the operation of the driver can be reduced. For example, the auxiliary torque mechanism includes a steering torque sensor, an ECU (Electronic Control Unit), a motor, a speed reduction mechanism, and the like. The steering torque sensor detects steering torque in the steering system. The ECU generates a drive signal based on the detection signal of the steering torque sensor. The motor 10 generates an auxiliary torque corresponding to the steering torque based on the drive signal, and transmits the auxiliary torque to the steering system via the speed reduction mechanism.

The motor 10 is suitably used for EPS. FIG. 18 schematically shows a typical configuration of an electric power steering apparatus (EPS) 500 according to the present embodiment. The EPS 500 includes a steering system 520 and an auxiliary torque mechanism 540.

The steering system 520 is, for example, a steering handle 521, a steering shaft 522 (also referred to as “steering column”), universal shaft joints 523A, 523B, and a rotating shaft 524 (also referred to as “pinion shaft” or “input shaft”). ), A rack and pinion mechanism 525, a rack shaft 526, left and right ball joints 552A and 552B, tie rods 527A and 527B, knuckle 528A and 528B, and left and right steering wheels (for example, left and right front wheels) 529A and 529B. The steering handle 521 is connected to the rotating shaft 524 via a steering shaft 522 and universal shaft joints 523A and 523B. A rack shaft 526 is connected to the rotation shaft 524 via a rack and pinion mechanism 525. The rack and pinion mechanism 525 includes a pinion 531 provided on the rotation shaft 524 and a rack 532 provided on the rack shaft 526. The right steering wheel 529A is connected to the right end of the rack shaft 526 through a ball joint 552A, a tie rod 527A, and a knuckle 528A in this order. Similarly to the right side, the left steering wheel 529B is connected to the left end of the rack shaft 526 via a ball joint 552B, a tie rod 527B, and a knuckle 528B in this order. Here, the right side and the left side correspond to the right side and the left side as viewed from the driver sitting on the seat, respectively.

According to the steering system 520, a steering torque is generated when the driver operates the steering handle 521, and is transmitted to the left and right steering wheels 529A and 529B via the rack and pinion mechanism 525. Accordingly, the driver can operate the left and right steering wheels 529A and 529B.

The auxiliary torque mechanism 540 includes, for example, a steering torque sensor 541, an ECU 542, a motor 543, a speed reduction mechanism 544, and a power conversion device 545. The auxiliary torque mechanism 540 gives auxiliary torque to the steering system 520 from the steering handle 521 to the left and right steering wheels 529A and 529B. The auxiliary torque may be referred to as “additional torque”.

As the motor 543, the motor 10 provided with the neutralizer 40 described above can be used.

The steering torque sensor 541 detects the steering torque of the steering system 520 applied by the steering handle 521. The ECU 542 generates a drive signal for driving the motor 543 based on a detection signal from the steering torque sensor 541 (hereinafter referred to as “torque signal”). The motor 543 generates an auxiliary torque corresponding to the steering torque based on the drive signal. The auxiliary torque is transmitted to the rotating shaft 524 of the steering system 520 via the speed reduction mechanism 544. The speed reduction mechanism 544 is, for example, a worm gear mechanism. The auxiliary torque is further transmitted from the rotating shaft 524 to the rack and pinion mechanism 525.

The EPS 500 can be classified into a pinion assist type, a rack assist type, a column assist type, and the like depending on a place where the assist torque is applied to the steering system 520. FIG. 18 illustrates a pinion assist type electric power steering apparatus 500. However, the electric power steering apparatus 500 may be a rack assist type, a column assist type, or the like.

The ECU 542 can receive not only a torque signal but also a vehicle speed signal, for example. The external device 560 is a vehicle speed sensor, for example. Alternatively, the external device 560 may be another ECU that can communicate through an in-vehicle network, such as CAN (Controller Area Network). The microcontroller of the ECU 542 can perform vector control or PWM control of the motor 543 based on a torque signal, a vehicle speed signal, or the like.

ECU 542 sets a target current value based on at least the torque signal. The ECU 542 preferably sets the target current value in consideration of the vehicle speed signal detected by the vehicle speed sensor and the rotor rotation signal detected by the angle sensor. The ECU 542 can control the drive signal of the motor 543, that is, the drive current so that the actual current value detected by the current sensor (not shown) matches the target current value.

According to EPS 500, the left and right steering wheels 529A and 529B can be operated by the rack shaft 526 using a combined torque obtained by adding the assist torque of the motor 543 to the steering torque of the driver. In particular, by using the motor 10 provided with the neutralizer 40 as the motor 543, the vibration of the target frequency at the coupling portion between the motor and the EPS (for example, the coupling portion between the motor 543 and the speed reduction mechanism 544) is reduced. Can do. Thereby, the noise in the vehicle can be reduced.

The embodiment of the present disclosure can be widely used in various devices including various motors such as an electric power steering device, a vacuum cleaner, a dryer, a ceiling fan, a washing machine, and a refrigerator.

10: motor, 11: stator, 12: stator core, 13: insulator, 14: coil, 20: rotor, 21: shaft, 22: yoke, 23: rotor magnet, 24: cover member, 30: housing, 32: lid , 34: bottom part, 36: tube part, 37: lower bearing, 38: upper bearing, 40: neutralizer, 41: base part, 42: first plate part, 44: second plate part, 46: screw, 500 : Electric power steering device, 520: Steering system, 521: Steering handle, 522: Steering shaft

Claims (22)

1. A method of reducing vibration of an electric power steering apparatus to which a motor is attached,
   Determining a frequency of vibrations generated by the motor and reduced in the electric power steering device;
   The motor housing such that a transfer function in a system from a vibration source of the motor to a coupling portion between the motor and the electric power steering device has a characteristic of suppressing vibration of the coupling portion at the determined frequency. Setting the characteristics of the neutralizer provided in
   Including the method.
2. The method of claim 1, wherein setting the neutralizer characteristics includes setting the neutralizer natural frequency to be the same magnitude as the determined frequency.
3. The method according to claim 1, wherein the step of setting the neutralizer characteristic includes the step of setting the natural frequency of the neutralizer to the same magnitude as the natural frequency of a steering shaft included in the electric power steering apparatus. .
4. The method according to any one of claims 1 to 3, wherein the neutralizer suppresses propagation of a wave having the same frequency as the vibration to be reduced in the electric power steering apparatus from the vibration source to the coupling portion.
5. The method according to any one of claims 1 to 4, wherein the neutralizer reflects a wave having the same frequency as the vibration to be reduced in the electric power steering apparatus.
6. The method according to any one of claims 1 to 5, wherein the neutralizer vibrates in a circumferential direction of the motor.
7. The method according to any one of claims 1 to 6, wherein the neutralizer is a cantilever beam.
8. The method according to any one of claims 1 to 7, wherein the neutralizer includes a leaf spring.
9. The method according to any one of claims 1 to 8, wherein the neutralizer is provided on a side surface of the motor housing and extends in a radial direction of the housing from the side surface of the housing.
10. The method according to claim 9, wherein a weight is provided at the radial end of the neutralizer.
11. The method according to any one of claims 1 to 10, wherein the neutralizer has a spring-mass structure.
12. A neutralizer that is provided on a side surface of a motor housing and reduces vibrations of a predetermined frequency in an electric power steering apparatus to which the motor is attached,
    A spring extending in a radial direction of the housing from a side surface of the housing when provided on a side surface of the housing;
    A weight provided at the radial end of the spring;
    With
    The motor generates vibration of the predetermined frequency;
    The neutralizer has a natural frequency at which a transfer function in a system from a vibration source of the motor to a coupling portion between the motor and the electric power steering device has a characteristic of suppressing vibration of the coupling portion at the predetermined frequency. Having a neutralizer.
13. The neutralizer according to claim 12, wherein the natural frequency of the neutralizer is the same as a frequency of vibration to be reduced in an electric power steering apparatus to which the motor is attached.
14. The neutralizer according to claim 13, wherein the neutralizer suppresses propagation of a wave having the same frequency as the vibration to be reduced in the electric power steering apparatus from the vibration source to the coupling portion.
15. The neutralizer according to claim 13 or 14, wherein the neutralizer reflects a wave having the same frequency as the vibration to be reduced in the electric power steering apparatus.
16. The neutralizer according to claim 13, wherein a natural frequency of the neutralizer is the same as a natural frequency of a steering shaft included in the electric power steering apparatus.
17. The neutralizer according to any one of claims 12 to 16, wherein the neutralizer vibrates in a circumferential direction of the motor.
18. The neutralizer according to any one of claims 12 to 17, wherein the neutralizer is a cantilever beam.
19. The neutralizer according to any one of claims 12 to 18, wherein the spring is a leaf spring.
20. The neutralizer according to any one of claims 12 to 19, wherein the neutralizer has a spring-mass structure.
21. A motor comprising the neutralizer according to any one of claims 12 to 20.
22. An electric power steering apparatus comprising the motor according to claim 21.

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