Toyota Jidosha Kabushiki Kaisha

Jtekt Corporation

Denso Corporation

Takafumi Sato

Kenji Shibata

Yusuke Kakimoto

Yoshiyuki Uchino

Takahiro Okano

Isao Namikawa

Takashi Suzuki

Takashi Kodera

Nobuyori Nakajima

Koji Anraku

Eiji Iwanari

Hideaki Shirai

Koichi Itoh

Yoshinori Ohmi

Akira Takesaki

Kotaro Nakashima

A steering system includes a steering operation shaft in which power transmission to and from a steering wheel is disabled and that steers a steered wheel of a vehicle, a steering operation motor that generates a steering operation force that is a torque applied to the steering operation shaft so as to steer the steered wheel, and a control device that controls the steering operation motor. When a rotation position of the steering wheel is different from a rotation position corresponding to a steered position of the steered wheel, the control device executes a process for correcting the steered position of the steered wheel to a position corresponding to the rotation position of the steering wheel through the steering operation motor.

Steering system

A steering control device controls, as a target, a steering device including a steering actuator and a turning actuator that has a structure with a power transmission path cut off from the steering actuator. The steering control device includes a control unit. The control unit is configured to execute; turning-side synchronization control when the absolute value of a deviation amount is a value within a first range; steering-side synchronization control when the absolute value of the deviation mount is a value within a second range that is a larger value than a value within the first range; and at least one of the turning-side synchronization control and the steering-side synchronization control when the absolute value of the deviation amount is a value within a third range that is a value between a value within the first range and a value within the second range.

Steering control device

A steering system includes a steering shaft that rotates along with an operation of a steering wheel; a motor configured to generate a torque that is applied to the steering shaft; and a control unit configured to control the motor. The control unit is configured to control the motor such that a rotation speed of the steering wheel decreases gradually to zero when automatic rotation of the steering wheel is stopped, in a case where the steering wheel is automatically rotated as an adjustment process of adjusting a rotational position of the steering wheel.

A steering system includes a steering shaft; a motor configured to generate a torque applied to the steering shaft; and a control unit configured to control the motor. The control unit has a function of performing steering angle feedback control for causing a steering angle that is a rotation angle of a steering wheel to reach a target steering angle that is set based on a point of view of adjusting a rotational position of the steering wheel, as an adjustment process of adjusting the rotational position of the steering wheel. The control unit is configured to set a limit value for limiting a change range of the target steering angle with respect to the steering angle at each moment in a period in which automatic rotation of the steering wheel is hindered in a case where the automatic rotation is hindered while the adjustment process is being performed.

A steering system includes a steering shaft; a reaction motor; and a control unit configured to control the reaction motor. The control unit has a function of performing a correction process of rotating the steering wheel using the reaction motor such that a displacement in a rotational position of the steering wheel with respect to a correct rotational position corresponding to a turning position of the turning wheels decreases when a power supply of the vehicle is turned on and the rotational position of the steering wheel is different from the correct rotational position. The control unit is configured to perform the correction process when the displacement is equal to or greater than a predetermined permissible value and not to perform the correction process when the displacement is less than the permissible value.

A steering device includes a steering shaft, a motor, a stopper mechanism, and a controller. The controller is configured to execute a first process and a second process when a determined condition is established. The first process includes causing the steering wheel to operate to a first operation end through control of the motor and thereafter operate in reverse to a second operation end. The second process includes computing a neutral position of the steering wheel based on a rotational angle of the motor at a time when reverse operation of the steering wheel is started and at a time when the reverse operation of the steering wheel is ended.

Steering device

A steering control device includes control circuitry configured to perform synchronization control. The synchronization control includes a target synchronization angle calculating process of calculating a target synchronization angle that is a steering-side rotation angle satisfying a predetermined correspondence relationship with respect to a turning-side rotation angle; a target relay angle calculating process of calculating a target relay angle that is located closer to a first side in a circumferential direction than a first-side angle is, the first-side angle being one of the steering-side rotation angle and the target synchronization angle and being located closer to the first side than another of the steering-side rotation angle and the target synchronization angle is; and a motor driving process of operating a steering-side motor such that the steering-side rotation angle reaches the target synchronization angle after operating the steering-side motor such that the steering-side rotation angle reaches the target relay angle.

A steering system for a vehicle according to an example in the present disclosure includes a steering mechanism that is mechanically disconnected from a steering wheel to cause a driving wheel to be turned by a turning motor, and a control device that provides a motor command value to the turning motor. The control device has a two-degree-of-freedom control system including a feed-forward model for converting a target turning angle into a feed-forward value of the motor command value, and a feedback model for converting a difference between the target turning angle and an actual turning angle into a feedback value of the motor command value. A transfer function describing the feed-forward model contains a variable coefficient. The control device changes the variable coefficient of the transfer function based on information about road surface reaction.

Steering system for vehicles

A vehicle of a steer-by-wire type includes: a turning device that turns a wheel by actuating a turning motor; and a reaction torque generation device that applies a reaction torque to a steering wheel by actuating a reaction motor. A control device for the vehicle is configured to control turning of the wheel by controlling the turning motor and to control the reaction torque by controlling the reaction motor, according to rotation of the steering wheel. When a power output limiting condition is satisfied, the control device executes not only power output limiting processing that limits a power output of the turning motor but also reaction torque increasing processing. In the reaction torque increasing processing, the control device controls the reaction torque to make the steering wheel harder to rotate as compared with a case where the power output limiting processing is not executed.

Control device for vehicle

A steering system for a vehicle according to an example in the present disclosure includes a steering mechanism, which is mechanically disconnected from the steering wheel, to cause a turning wheel to be turned by a turning motor, and a control device that provides a motor command value to the turning motor. The control device has a control system including a feed-forward model for converting a target turning angle to a feed-forward value of a motor command value, and a disturbance observer including a inverse model of a model of a steering motor. Transfer functions respectively describing the feed-forward model and the model of the disturbance observer include a variable coefficient. The control device changes the variable coefficient based on information about road reaction force.

Steering system for vehicle

A control apparatus for a multi-phase rotating electric machine includes at least one electric power converter, a command value calculator and an input voltage determiner. The at least one electric power converter converts DC power into multi-phase AC power and supplies the multi-phase AC power to the rotating electric machine. The command value calculator calculates command values for operating the at least one electric power converter. The input voltage determiner determines whether an input voltage of the at least one electric power converter is within a normal operation range. When the input voltage is determined by the input voltage determiner to be outside the normal operation range, the control apparatus switches control to ignore voltage change or current change caused by the reverse input of an external force to the rotating electric machine from a load side or suppress control fluctuation caused by the reverse input of the external force.

Control apparatus for multi-phase rotating electric machine

A method of welding a hollow member and an insert member to form a composite member including a hollow member and insertion member requiring a high dimensional accuracy in the end-to-end distance in the axial direction and requiring a reliable concentricity in the center axes of the hollow member and insertion member, including preparing a hollow member and insertion member, inserting the insertion member in the hollow member, providing spot welds at an overlap portion where the hollow member and insertion member overlap to correct the axial end-to-end distance of the hollow member and the insertion member, and providing a partial weld at an overlap portion where the hollow member and insertion member overlap to correct the concentricity of the hollow member and the insertion member.

Growing community of inventors

Obu, Japan

Takafumi Sato