Canon Kabushiki Kaisha

Nsk Corporation

Canon Business Machines, Inc.

Tokyo Institute of Technology

Nissan Chemical Corporation

Nsk Steering & Control, Inc.

Keita Yoshida

Hideaki Tsuruishi

Tomomi Yoshida

Takahiro Tsubaki

Tetsuya Kitazume

Noboru Shimoyama

Yousuke Imamura

Takayoshi Sugawara

Hideki Sawada

Masahiro Maeda

Tomoko Shintani

Tatsuro Kanaki

Kohji Seio

Yusuke Iriyama

Hiroyuki Nakajima

Nobuo Oshimoto

Nobuyuki Imai

Keishi Yamamoto

Yoshiaki Masaki

A motor control device including: a current command value calculation unit configured to calculate a current command value for driving a motor; a current value detection unit configured to detect current flowing through the motor; a current control unit configured to output a first voltage command value according to deviation between a current detected value, the current detected value being a detected value of current detected by the current value detection unit, and the current command value; a voltage disturbance control unit configured to calculate a second voltage command value by adding output from a delay element to the first voltage command value and also input the second voltage command value to the delay element; and a driving circuit configured to drive the motor, based on the second voltage command value.

Motor control device, electric actuator product, and electric power steering device

The motor control device includes: a d-axis current command value calculation unit configured to set a first d-axis current command value for field-weakening; a first current limiting unit configured to calculate a first q-axis current command value by limiting a base q-axis current command value as to satisfy a condition of motor rated current; a second current limiting unit configured to calculate a second d-axis current command value and a second q-axis current command value by limiting the first d-axis current command value and the first q-axis current command value, respectively to satisfy and not exceed an allowable upper limit battery current; voltage command value calculation units configured to calculate voltage command values, based on the second d-axis current command value and the second q-axis current command value; and a voltage limiting unit configured to prevent saturation of a duty ratio by limiting the voltage command values.

Motor control device and electric power steering device

Provided is an artificial nucleoside or artificial nucleotide capable of composing an artificial oligonucleotide having superior nuclease resistance. The artificial nucleoside or artificial nucleotide is a compound represented by formula (I) or a salt thereof (wherein, Bx represents a pyrimidine base or purine base, R, R, Rand Rrepresent hydrogen atoms, C1-6 alkyl groups or the like, Y represents NRR(wherein, Rand R, independently of each other, represent a hydrogen atom, C1-6 alkyl group or the like, or Rand R, together with a nitrogen atom bound thereto, form a 3- to 11-membered nitrogen-containing non-aromatic heterocyclic group) or an optionally substituted C2-9 aromatic heterocyclic group, Zand Zrepresent hydrogen atoms, hydroxyl group-protecting groups, phosphorous-containing groups or the like, and n represents an integer of 1 to 3).

Artificial nucleoside and artificial nucleotide, and artificial oligonucleotide

[Problem] An object of the present invention is to provide a motor control unit that achieves desired performance more simply with higher accuracy by setting a frequency characteristic according to a state of the control unit and automatically adjusting a control gain by the set value, and to provide an electric power steering apparatus equipped with the same. [Means for Solving the Problem] A motor control unit that comprises a current command value calculating section that calculates a current command value of a motor applying a steering assist torque to a steering system of a vehicle, and a feedback section that controls a motor current flowing to the motor through a feedback mechanism based on the current command value comprises: a control unit state detecting section that detects at least one state of the motor control unit, and outputs the state as a control unit state; and a characteristic changing section that changes a setting of a closed loop response characteristic of the feedback section in real time depending on the control unit state.

Motor control unit and electric power steering apparatus equipped with the same

[Problem] An object of the present invention is to provide an electric power steering apparatus that gradual-changes a steering angle control command value, an assist control command value and also a steering angle speed command value, suppresses an excessive accumulation of an integral value in a speed control by being provided a steering speed command value with a limiter, and does not give the driver an uncomfortable feeling. [Means for solving the problem] The present invention is the electric power steering apparatus that has a function to switch between an assist control mode and a steering angle control mode, wherein the steering angle control section comprises a position control section that inputs a target steering angle and an actual steering angle and outputs a first steering angle speed command value; a gradual-changing limiting section that limits an upper limiting value and a lower limiting value by gradual-changing a first steering angle speed command value corresponding to a steering angle control gradual-changing gain; a speed control section that processes a second steering angle speed command value, which is outputted from the gradual-changing limiting section, based on an actual steering angle speed and a steering angle control gradual-changing gain; and a first gradual-changing section that gradual-changes the first steering angle control command value, which is outputted from the speed control section, corresponding to a steering angle control gradual-changing gain and outputs a second steering angle control command value, further comprises a second gradual-changing section that gradual-changes a first assist control command value, which is outputted from an assist control section, with an assist control gradual-changing gain and outputs a second assist control command value, wherein a steering angle control section, and a motor current command value is generated based on the second steering angle control command value and the second assist control command value.

Electric power steering apparatus

An electric power steering apparatus that reduces an uncomfortable feeling due to a noise at a steering holding and a low-speed steering time, and can smoothly steers so as to prevent a phase-lag at a high-speed steering time. The apparatus has a torque control section to calculate a current command value based on at least a steering torque, and assist-controls a steering system by driving a motor using a current control system based on the current command value. A motor angular velocity calculating section calculates a motor angular velocity from a motor rotational angle; a motor angular acceleration calculating section calculates a motor angular acceleration from the motor angular velocity; and a stability compensating section calculates a steering torque for compensation and a current command value for compensation based on the motor angular velocity and the motor angular acceleration. The steering torque compensates the steering torque, and the current command value compensates the current command value.

Although the steering angle control of a steering wheel is performed using automatic steering control, when the steering torque is applied by the steering wheel operation of the driver, the target steering angle is corrected to become the same direction as a direction that the steering torque is applied, and the steering angle control is performed to coincide with that target steering angle. Thereby, in the case of adding together outputs of the steering angle control with respect to the corrected target steering angle and the assist control by the steering torque with a certain ratio, it is possible to make the output direction of the automatic steering control coincide with the output direction of the manual steering control, and the control outputs become hard to interfere with each other. As a result, the uncomfortable feeling given to the driver that occurs in switching the steering mode is reduced.

An electric power steering apparatus that realizes vibration suppression of response characteristics and has a control performance having resistance properties against disturbances such as a road surface change by using a velocity I-P control (a proportional-lead type PI control) in a vehicle having functions of an automatic steering control and a manual steering control.

In the case that a plurality of users execute output reservations while looking at targets to be output together, the necessity for an operation to sort the output materials by user after output is eliminated. The plurality of users are classified, the plurality of targets to be output selected in a scattered manner by the plurality of classified users are bulked together as selected targets to be output for each user, and those bulked targets to be output are output for each user.

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Tokyo, Japan

Keita Yoshida