Jtekt Corporation

Toyoda Koki Kabushiki Kaisha

Toyota Jidosha Kabushiki Kaisha

Denso Corporation

Toyoda Machine Works, Ltd.

Atsuo Sakai

Hiroshi Suzuki

Tsutomu Matsumoto

Takahiro Toko

Ryo Irie

Satoru Mikamo

Hiroshi Kawamura

Jiro Nakano

Yuji Fujita

Shuji Fujita

Yoshihide Kuroda

Kenichi Kozuka

Akihiro Tomita

Kazuya Sakai

Kazushi Suzuki

Takehide Adachi

Kazuhiko Ito

Akira Ito

Takayoshi Suzuki

A controller for a motor includes a first processing circuit and a second processing circuit configured to communicate with each other. The first processing circuit is configured to execute a first operation amount calculation process, an operation process, and an output process. The first operation amount calculation process is a process of calculating a first operation amount. The output process is a process of outputting the first operation amount to the second processing circuit. The second processing circuit is configured to execute a second operation amount calculation process, a first use operation process, a second use operation process, and an elimination process.

Controller for motor

A controller for a motor includes a first processing circuit and a second processing circuit. The first processing circuit is configured to execute a first operation amount calculation process, an operation process, and an output process. The first operation amount calculation process is a process of calculating a first operation amount. The operation process is a process of operating a first drive circuit. The second processing circuit is configured to execute a second operation amount calculation process, a first use operation process, a second use operation process, and an initial value setting process. The second operation amount calculation process is a process of calculating a second operation amount. The initial value setting process is a process of setting an initial value of an integral element depending on a value of an integral element of the first operation amount calculation process.

There is provided a motor control device capable of preventing occurrence of a difference in command value between control systems and reducing torque ripples and noise and vibration of a motor, unlike in a case where a motor is controlled by control systems that are independent from each other. In a motor control device, at least one of parameters for a first control system is shared by both of the systems, and a first control calculation circuit and a second control calculation circuit calculate the assist command values based on the parameter. Thus, motor drive circuits of the control systems drive motor coils based on the assist command values. Namely, when the steering torques and the vehicle speeds for the control systems are all normal, assist control circuits of the control systems calculate the assist command values based on the steering torque and the vehicle speed.

Motor control device

A steering control apparatus is provided which allows mitigation of an adverse effect of a technique for fixing a regulation member to a vehicle body on a phenomenon resulting from execution of steering operation control on steered wheels. An axial-force acquisition processing circuit calculates a rack axial force based on currents iu, iv, and iw flowing through a steering operation motor. A correction processing circuit corrects a target steered angle based on the rack axial force to obtain a target steered angle. A steered angle control processing circuit calculates a torque command value as the amount of operation for adjusting a steered angle to the target steered angle through feedback control. An operation signal generation processing circuit controllably adjusts a torque of a steering operation motor to the torque command value.

Steering control apparatus

There is provided an actuator control apparatus configured such that even when an electronic device that generates an electric signal to be used to control an actuator is provided in the form of a duplexed system, an increase in the number of communication paths between the electronic device and a controller is suppressed. A torque sensor and a rotation angle sensor are each provided in the form of a duplexed system. Two sets of a torque sensor and a rotation angle sensor are connected to a microcomputer via a SPI communication line. The torque sensors and the rotation angle sensors are connected to the microcomputer via CS communication lines, respectively. By selecting a communication target via a corresponding one of the CS communication lines, the microcomputer is able to receive multiple kinds of electric signals via each one of the SPI communication lines.

Actuator control apparatus

A motor control device with which both high-accuracy current detection and improvement in voltage utilization factor are achieved is provided. When an ON time of any one of low potential side switching elements corresponding to respective phases in a driving circuit is shorter than a detection time of a current value, a microcomputer estimates a phase current value of a current undetectable phase based on current values of two phases other than the current undetectable phase corresponding to the said FET. Then, at the time of current detection using the blind correction, during current detection for two phases, other than the current undetectable phase, based on which the blind correction is performed, motor control signals for maintaining switching states of a switching arm corresponding to the current undetectable phase are output.

Motor control device and electric power steering system

A motor controller and an electric power steering system including the motor controller are provided. The motor controller has a microcomputer. When the on time of one of the lower potential-side FETs corresponding to the respective phases in a drive circuit becomes shorter than the detection time for detecting the phase current value, the microcomputer estimates the phase current value of the electric current undetectable phase based on the phase current values of the two phases other than the electric current undetectable phase corresponding to the relevant FET (blind estimation). When electric current detection is performed in the blind estimation, motor control signals are output, by which the switching state of the switching arm of the electric current undetectable phase is maintained and the power loss caused by the switching operation of the FETs in the two phases other than the electric current undetectable phase is compensated for.

Motor controller and electric power steering system

A motor control device is configured in such a manner that a current detection circuit and an exciting circuit for a motor resolver share one grounding wire. A microcomputer that serves as a current detector sets a phase of an exciting current in such a manner that values of an excitation noise superimposed on an output voltage of the current detection circuit at respective timings (L, H, L, H, . . . ), at which the output voltage is acquired in one current detection process, are equal to each other. An electric power steering system is provided with the motor control device.

A microcomputer compares a low voltage LV and a middle voltage MV to a predetermined voltage Vth set at a value in the vicinity of the grounded voltage (0 V) on the basis of detected phase voltages Vu, Vv and Vw, and thus, detects a break in a power supply line.

A rotational angle sensor used in an electric power steering apparatus detects a rotational angle of a motor shaft at a portion on a steering system side, as a motor rotational angle (&#x3b8;m). A MPU sets a base correction amount (&#x394;&#x3b8;'m) based on a q-axis actual current value (Iq). The MPU sets a rotational angle correction amount (&#x394;&#x3b8;m) used to correct the motor rotational angle (&#x3b8;m) by decreasing the base correction amount (&#x394;&#x3b8;&#x2032;m) as a rotational angular speed (&#x3c9;) increases and by increasing the base correction amount (&#x394;&#x3b8;&#x2032;m) as a torque differential value (dT/dt) increases.

Electric power steering apparatus

A steering control device () is provided with a end-of-movement reaction force generation unit (an end reaction force control portion ()). An end reaction force generating current iwhich act as return a handle toward a straight-ahead position is rapidly generated in the vicinity of an upper and a lower limit of a vehicle wheel steering range. For example, a reaction force motor () may be additionally commanded using a newly generated command current i. Accordingly, an output torque of the reaction force motor () becomes proportional to a new command value iof an Equation i=i+i, where iis a current command of a reaction force control portion (). As a result of configuring the end-of-movement reaction force generation unit is this manner, for example, it is possible to generate a virtual contact resistance force (a steering reaction force) for a steering angle &#x3b8; without causing heat build-up, or the like, of a motor, when no physical limit (an end-of-movement of contact point) is provided for a rotation range of a steering wheel (handle).

Steering control device

The object of the present invention is to provide steering responsiveness and linear steering perception when the steering wheel is restored, even when there is excessive, sudden steering beyond a predetermined tolerance (&#x2212;&#x3b8;&#x2266;&#x3b8;&#x2266;&#x3b8;). If a steering angle &#x3b8; suddenly enters a 'play' range at the left and right ends of the &#x3b8;&#x2212;Xplane, the steering direction (turning direction/restoring direction) of the steering wheel can lead to a localized change in the gear ratio (&#x2202;X/&#x2202;&#x3b8;). FIG.is a graph showing an example of this type of hysteresis loop. When a driver tries to get out of the 'play' range by turning the steering wheel in the restoring direction, a positive value can be achieved for the localized gear ratio based on the above hysteresis loop even in the &#x201c;play&#x201d; range. Thus, based on this arrangement, if the steering angle &#x3b8; exceeds the tolerance range, the localized gear ratio can be prevented from being continuously 0 when the steering wheel is immediately turned in the restoring direction.

According to the breaking detection processing, it is determined that (A) iu of AC current (absolute value) supplied to a motor is less than 0.5 amperes or iv thereof is less 0.5 amperes or iw thereof is less than 0.5 amperes, (B) the angular velocity of the motor is 1 rad/s or more and (C) at least any one of the current instruction values id*, iq* is 5 amperes or more in a step and then, a period in which all these three conditions (A)&#x2013;(C) are satisfied at the same time is determined in another step. Consequently, it is determined that any one of the power supply lines in the motor is broken and a breaking detection flag is set to ON so as to detect the breaking.

Motor power supply line breaking detection method, motor control apparatus and electric power steering mechanism using the same and computer program thereof

A motor-current square value calculation sectioncalculates, as a motor-current square value, the sum of respective square values of two phase currents converted from three phase currents flowing through an electric motor. A temperature estimation calculation sectionperforms low-pass filtering for the motor-current square value, and calculates temperature increases of the mass portion and coils on the basis of the filtered motor-current square value. In the low-pass filtering, filtering calculation is performed in a manner which changes depending on rotational speed RV of the electric motor; i.e., whether the electric motor is in a rotating state or in a stopped state. The temperature increase of the mass portion is added to ambient temperature of the electric motor to thereby estimate temperature of the mass portion, and the temperature increase of the coils is added to the estimated temperature of the mass portion to thereby estimate temperature of the coils. Accordingly, the coil temperature of the electric motor can be accurately detected, and current flowing through the electric motor is properly controlled in accordance with the detected temperature.

Motor-temperature estimation apparatus and motor control apparatus

An angle detection device that accurately detects a rotational angle even if the ratio of an detection voltage relative to an excitation voltage of a resolver fluctuates. The angle detection device includes an angle detector and a controller connected to the angle detector. The angle detector includes an excitation coil, which is arranged on a predetermined rotary shaft and supplied with excitation voltage, and a pair of detection coils. Each detection coil is arranged near the excitation coil to induce detection voltage when excitation voltage excites the excitation coil. The detection voltages of the detection coils have different phases. A controller calculates the rotational angle of the excitation coil with the detection voltages induced to the detection coils. Further, the controller includes a correction unit for correcting the amplitude of the excitation voltage to maintain each of the induced detection voltages at a predetermined value.

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Okazaki, Japan

Atsuo Sakai