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1. 发明授权

US6166502A Thermal current limiting apparatus and method for vehicle system with electric motor actuator 有权
标题翻译：具有电动执行器的车辆系统热流限制装置和方法
公开(公告)号：US6166502A
公开(公告)日：2000-12-26
申请号：US329874
申请日：1999-06-11
申请人： Kathryn Lynn Pattok , Steven James Collier-Hallman , Ashok Chandy , Julie Ann Kleinau
发明人： Kathryn Lynn Pattok , Steven James Collier-Hallman , Ashok Chandy , Julie Ann Kleinau
IPC分类号： H02P29/02 , H02K17/32
CPC分类号： H02P29/02
摘要： An electric motor actuator used in an environment of varying loads for varying time periods is efficiently designed to a predetermined specification in terms of both motor load and time and operated up to but not exceeding this specification over the full expected operating range. A motor load signal is low pass filtered with a plurality of time constants spanning a range of expected motor operation to generate a plurality of filtered motor load signals each associated with one of the time constants. Each of these filtered motor load signals is compared with a predetermined reference value corresponding to the associated time constant. If one or more of the filtered motor load signals exceeds the predetermined reference value with which it is compared, the one that so exceeds by the greatest margin is selected. A command current limit factor is derived from the selected filtered motor load signal and used to limit the commanded motor current. The motor load signal preferably indicates motor operating current and may be derived from a motor current sensor or from the limited command current signal, motor speed and operating voltage to compensate for a decrease of current with motor speed due to inductance/slope compensation and voltage limit effects.
摘要翻译：在电动机负载和时间方面，在负载变化的环境中使用的电动机致动器在电动机负载和时间方面被有效地设计成预定的规格，并且在整个预期工作范围内被操作达到但不超过该规范。电动机负载信号通过多个时间常数进行低通滤波，该时间常数跨越预期的电动机运行的范围，以生成每个与时间常数之一相关联的多个过滤的电动机负载信号。将这些滤波的马达负载信号中的每一个与对应于相关联的时间常数的预定参考值进行比较。如果一个或多个滤波的电动机负载信号超过与其进行比较的预定参考值，则选择超过最大余量的参考值。指令电流限制因子来自所选滤波的电机负载信号，用于限制指令的电机电流。电动机负载信号优选地表示电动机工作电流，并且可以从电动机电流传感器或从限制的指令电流信号，电动机速度和工作电压得出，以补偿由于电感/斜率补偿和电压限制引起的电动机速度的降低效果。

2. 发明授权

US06408235B1 End-of-travel impact management system 失效
标题翻译：旅行结束管理系统
公开(公告)号：US06408235B1
公开(公告)日：2002-06-18
申请号：US09664183
申请日：2000-09-18
申请人： Eugene Thomas Tanke, II , Ashok Chandy , Julie Ann Kleinau , Steven James Collier-Hallman
发明人： Eugene Thomas Tanke, II , Ashok Chandy , Julie Ann Kleinau , Steven James Collier-Hallman
IPC分类号： B62D506
CPC分类号： B62D5/0469
摘要： A system and method for controlling the collisions between elements of an automotive rack and pinion steering apparatus and an end-of-travel stop is presented. The system comprises a sensor for sensing a set of dynamic variables of the rack and pinion steering apparatus and operative thereby to generate as output therefrom a first set of signals indicative of the set of dynamic variables; a controller responsive to the first set of signals and operative thereby to provide as output therefrom a modified torque assist command; and a motor drive assembly drive assembly responsive to the modified torque assist command and operative thereby to provide modified torque assistance to the rack and pinion steering apparatus. In another embodiment, the dynamic data is used to calculate a torque limit to be imposed upon the torque assist command whenever the steering system is close to end-of-stop. The two embodiments may also be superimposed. The invention reduces torque at end-of-travel impacts, and helps preserve the mechanical integrity of the power steering system.
摘要翻译：提出了一种用于控制汽车齿条和小齿轮转向装置的元件与行程终点之间的碰撞的系统和方法。该系统包括用于感测齿条和小齿轮转向装置的一组动态变量的传感器，并且由此产生作为其输出的第一组信号，该第一组信号指示该组动态变量; 响应于所述第一组信号并由此操作的控制器提供修改的转矩辅助命令作为其输出; 以及电动机驱动组件驱动组件，其响应于改进的扭矩辅助指令并由此操作，以向齿条和小齿轮转向装置提供修改的扭矩辅助。在另一个实施例中，只要转向系统接近停止终止，动态数据被用于计算要施加在转矩辅助指令上的转矩极限。两个实施例也可以叠加。本发明减少了行程结束冲击时的扭矩，并有助于保持动力转向系统的机械完整性。

3. 发明授权

US6122579A Electric power steering control with torque ripple and road disturbance damper 有权
标题翻译：电动助力转向控制带扭矩波动和道路扰动阻尼器
公开(公告)号：US6122579A
公开(公告)日：2000-09-19
申请号：US322389
申请日：1999-05-28
申请人： Steven James Collier-Hallman , Ashok Chandy
发明人： Steven James Collier-Hallman , Ashok Chandy
IPC分类号： B62D5/04
CPC分类号： B62D5/0472
摘要： An electric power steering control for a motor vehicle reduces motor torque ripple and road generated disturbances communicated to the vehicle handwheel while promoting system stability. In deriving an output command torque signal to the EPS motor, the control (1) derives an electric motor speed signal, (2) differentiates the electric motor speed signal, (3) stores a schedule of gain as an increasing function of electric motor torque, (4) modifies the differentiated estimated electric motor speed signal in response to the gain to provide a damping correction value and (5) derives the output command signal responsive to the damping correction. In a preferred embodiment, the control (1) stores power assist torque data as a function of handwheel torque and vehicle velocity, (2) provides a vehicle velocity signal, (3) provides a handwheel torque signal, (4) modifies the handwheel torque signal in response to the damping correction value, (5) derives a power assist torque value from the stored power assist torque data in response to the vehicle velocity signal and the modified handwheel torque signal and (6) derives the output command signal from the power assist torque value. The control may use an electric motor voltage signal as an estimate of electric motor speed and, for high torque loads, may use the pulse on-time parameter in a pulse width modulated, current switching control to represent the voltage of the controlled electric motor, and therefore the estimate of electric motor speed, so that no additional sensor is needed. The control may use separate stored relationships between the pulse width on-time and electric motor voltage for different commutation modes of the pulse width modulated, current switching control.
摘要翻译：用于机动车辆的电动助力转向控制减小了传递到车辆手轮的马达转矩波动和道路产生的干扰，同时提高了系统的稳定性。在给出EPS电动机的输出指令转矩信号的导出中，控制器（1）导出电动机转速信号，（2）区分电动机转速信号，（3）存储增益表作为电动机转矩的增加函数，（4）响应于增益来修改微分估计电动机速度信号以提供阻尼校正值，以及（5）响应于阻尼校正导出输出命令信号。在优选实施例中，控制器（1）存储作为手轮扭矩和车辆速度的函数的动力辅助扭矩数据，（2）提供车速信号，（3）提供手轮扭矩信号，（4）修改手轮扭矩响应于阻尼校正值的信号，（5）响应于车速信号和修改的手轮转矩信号从所存储的助力转矩数据中导出功率辅助转矩值，并且（6）从功率中导出输出命令信号辅助扭矩值。控制可以使用电动机电压信号作为电动机速度的估计，并且对于高扭矩负载，可以在脉冲宽度调制的电流切换控制中使用脉冲接通时间参数来表示受控电动机的电压，因此估计电动机转速，所以不需要额外的传感器。对于不同的脉冲宽度调制，电流切换控制的换向模式，控制可以使用脉冲宽度导通时间和电动机电压之间的分开的存储关系。

4. 发明授权

US5668722A Electric power steering control 失效
标题翻译：电动助力转向控制
公开(公告)号：US5668722A
公开(公告)日：1997-09-16
申请号：US537605
申请日：1995-10-02
申请人： Timothy Wesley Kaufmann , Ashok Chandy , Steven James Collier-Hallman
发明人： Timothy Wesley Kaufmann , Ashok Chandy , Steven James Collier-Hallman
IPC分类号： B62D5/04
CPC分类号： B62D5/0466
摘要： An electric power steering control apparatus comprising a torque sensor coupled to a vehicle steering system for measuring steering wheel torque provided by a vehicle operator, a steering angle sensor coupled to the steering system for measuring steering wheel angle, a controller, responsive to the measured steering wheel torque and a vehicle speed, providing a sum return-to-center command, and a motor responsive to the sum return-to-center command, wherein the controller determines a low speed return-to-center command responsive to the measured steering wheel torque and a first predetermined function, determines a high speed return-to-center command responsive to the measured steering wheel torque and a second predetermined function and blends the low and high speed return-to-center commands to obtain the sum return-to-center command.
摘要翻译：一种电动助力转向控制装置，包括耦合到车辆转向系统的扭矩传感器，用于测量由车辆操作者提供的方向盘转矩，耦合到用于测量方向盘角度的转向系统的转向角传感器，响应于所测量的转向车轮扭矩和车速，提供总和返回命令，以及响应于归还中心命令的电机，其中控制器响应于测量的方向盘来确定低速返回中心命令扭矩和第一预定功能，响应于所测量的方向盘转矩和第二预定功能确定高速返回中心命令，并且混合低速和高速返回中心命令以获得和返回 - 中心命令。

5. 发明授权

US6039144A Apparatus and method for producing a desired return torque in a vehicle power steering system having a rotational steering position sensor 失效
标题翻译：在具有旋转转向位置传感器的车辆动力转向系统中产生期望的返回转矩的装置和方法
公开(公告)号：US6039144A
公开(公告)日：2000-03-21
申请号：US103602
申请日：1998-06-24
申请人： Ashok Chandy , Kathryn Lynn Pattok , Deepak Chhaya
发明人： Ashok Chandy , Kathryn Lynn Pattok , Deepak Chhaya
IPC分类号： B62D6/00 , B62D5/04 , B62D15/02
CPC分类号： B62D15/0245 , B62D5/0466
摘要： A vehicle power steering system has a steering shaft with a rotational position sensor providing signal rollover so that each sensor output indicates a plurality of potential absolute steering positions separated from each other by multiples of a rollover angle. Upon each initiation of vehicle operation, the system selects an absolute steering positions corresponding to an initial sensor output as an unadjusted steering position and repeatedly updates the unadjusted steering position in response to sensor output changes, including sensed rollover events. The system stores data dividing a two dimensional map of possible vehicle steering operating points defined by total steering torque and steering position into a first region of likely vehicle steering system operating points, a second region of unlikely steering system operating points indicating a revolution offset in a first direction, and a third region of unlikely steering system operating points indicating a revolution offset in an opposite direction. While a minimum vehicle velocity and, optionally, other enabling conditions exist, a vehicle steering operating point derived from sensed total steering torque, the updated unadjusted steering position and a revolution offset compared with the stored data; and the revolution offset is updated as indicated if the derived vehicle steering system operating point is within the second or third stored regions of steering system operating points. A second return torque command is derived from the updated unadjusted steering position and updated revolution offset and provided to the actuator to produce a second return torque, preferably after the revolution offset is walked incrementally to the updated value, with return torque provided in a single, correct direction only during the walk.
摘要翻译：车辆动力转向系统具有转向轴，该转向轴具有提供信号翻转的旋转位置传感器，使得每个传感器输出指示以相反角度彼此分离的多个潜在的绝对转向位置。在车辆操作的每次开始时，系统选择与初始传感器输出相对应的绝对转向位置作为未调整的转向位置，并且响应于包括感测到的翻转事件的传感器输出变化重复地更新未调整的转向位置。该系统将由总转向转矩和转向位置限定的可能的车辆转向操作点的二维图划分为可能的车辆转向系统操作点的第一区域的数据，指示转向偏移的不太可能的转向系统操作点的第二区域第一方向，以及指示相反方向的旋转偏移的不太可能的转向系统操作点的第三区域。虽然存在最小车辆速度和可选地其他使能条件，但是与所存储的数据相比，来自感测的总转向转矩，更新的未调整的转向位置和转差的导引操作点; 并且如果导出的车辆转向系统操作点在转向系统操作点的第二或第三存储区域内，则转向偏移被更新。从更新的未调整的转向位置和更新的旋转偏移导出第二返回转矩指令，并且提供给致动器以产生第二返回扭矩，优选地在旋转偏移以增量方式移动到更新值之后，以单个，正确的方向只有在步行。

6. 发明授权

US6050360A Apparatus and method for producing a desired return torque in a vehicle power steering system having a rotational steering position sensor 失效
标题翻译：在具有旋转转向位置传感器的车辆动力转向系统中产生期望的返回转矩的装置和方法
公开(公告)号：US6050360A
公开(公告)日：2000-04-18
申请号：US103603
申请日：1998-06-24
申请人： Kathryn Lynn Pattok , Deepak Chhaya , Ashok Chandy
发明人： Kathryn Lynn Pattok , Deepak Chhaya , Ashok Chandy
IPC分类号： B62D6/00 , B62D5/04 , B62D15/02 , B62D6/10
CPC分类号： B62D5/0466 , B62D15/0245
摘要： A vehicle power steering system has a steering shaft with a rotational position sensor providing signal rollover so that each sensor output indicates a plurality of potential absolute steering positions separated from each other by multiples of a rollover angle. Upon each initiation of vehicle operation, the system selects, as an unadjusted steering position, one of the plurality of absolute steering positions corresponding to an initial sensor output; and the system repeatedly updates the unadjusted steering position in response to sensor output changes, including sensed rollover events. The system repeatedly tests a set of revolution offsets with the updated unadjusted steering position and excludes any which indicate an out-of-range absolute steering position. The final remaining revolution offset is latched as the correct value. Preferably, a temporary value of revolution offset used with the unadjusted position during the testing provides a return or centering torque of zero; and, once the final value is latched, the temporary value is walked incrementally toward the final value, when the return torque value is in the correct centering direction, to avoid a sudden increase in return torque or a return torque in the wrong direction. The walk ends when (1) the temporary value of revolution offset reaches the final value or (2) the true value of steering position, derived from the final value of revolution offset and the unadjusted position, reaches center, whichever occurs first. Thereafter, the final value of revolution offset is used with the updated unadjusted value to determine the absolute value, and thus return torque.
摘要翻译：车辆动力转向系统具有转向轴，该转向轴具有提供信号翻转的旋转位置传感器，使得每个传感器输出指示以相反角度彼此分离的多个潜在的绝对转向位置。在车辆操作开始时，系统选择与初始传感器输出对应的多个绝对转向位置中的一个作为未调节的转向位置; 并且系统响应于包括感测到的翻转事件的传感器输出变化重复地更新未调整的转向位置。该系统用更新的未经调整的转向位置重复测试一组旋转偏移，并且排除任何指示超出范围的绝对转向位置的转向偏移。最后的剩余旋转偏移被锁定为正确的值。优选地，在测试期间与未调整位置一起使用的旋转偏移的临时值提供返回或定心转矩为零; 并且一旦最终值被锁定，当返回扭矩值处于正确的定心方向时，临时值逐渐向最终值行走，以避免在错误方向上的返回转矩或返回转矩的突然增加。当（1）旋转偏移的临时值达到最终值时，行走结束，或（2）从旋转偏移的最终值和未调整位置得到的转向位置的真实值到达中心，以先到者为准。此后，使用旋转偏移的最终值与更新的未调整值来确定绝对值，从而返回扭矩。

7. 发明授权

US06564125B2 Method for updating a sensor using a robust sensor offset learning algorithm 有权
标题翻译：使用鲁棒的传感器偏移学习算法更新传感器的方法
公开(公告)号：US06564125B2
公开(公告)日：2003-05-13
申请号：US09940111
申请日：2001-08-27
申请人： Kathryn Lynn Pattok , Ashok Chandy , Mark Philip Colosky
发明人： Kathryn Lynn Pattok , Ashok Chandy , Mark Philip Colosky
IPC分类号： G01M1700
CPC分类号： B62D15/0245
摘要： A method for updating a sensor offset and a medium encoded with a machine-readable computer program code for updating a sensor using a robust sensor learning algorithm wherein the method includes obtaining vehicle data signals, obtaining a position sensor data signal, the position sensor data signal being responsive to a stored positional offset data signal, determining whether algorithm initial conditions are satisfied, formulating a new positional offset data signal conditioned on satisfaction of the initial conditions, and storing said new positional offset data signal so as to combine said new positional offset data signal with said stored positional offset data signal and replace said stored positional offset data signal.
摘要翻译：一种用于更新传感器偏移的方法和用用于使用鲁棒传感器学习算法更新传感器的机器可读计算机程序代码编码的介质，其中所述方法包括获取车辆数据信号，获得位置传感器数据信号，位置传感器数据信号响应于存储的位置偏移数据信号，确定算法初始条件是否被满足，根据初始条件的满足来制定新的位置偏移数据信号，并且存储所述新的位置偏移数据信号，以便组合所述新的位置偏移数据用所述存储的位置偏移数据信号进行信号，并替换所存储的位置偏移数据信号。

8. 发明授权

US06548975B2 Stall detection and thermal protection of vehicular systems having an electric motor 有权
标题翻译：具有电动马达的车辆系统失速检测和热保护
公开(公告)号：US06548975B2
公开(公告)日：2003-04-15
申请号：US09896704
申请日：2001-06-29
申请人： Julie Ann Kleinau , Ashok Chandy
发明人： Julie Ann Kleinau , Ashok Chandy
IPC分类号： H02K1732
CPC分类号： B62D5/0469 , B62D5/0487 , H02P29/02
摘要： A vehicular system includes a controller and an electric motor in signal communication with the controller for receiving current and rotating at speed; while the controller includes a first function responsive to a signal indicative of the speed of the electric motor, a filter responsive to a signal indicative of the heat generation rate of the vehicular system, a second function in signal communication with the first function and the filter, and a limit calculation function in signal communication with the second function for providing a motor current limit responsive to the second function; wherein a method for controlling the vehicular system includes receiving a signal indicative of the heat generation rate of the vehicular system, receiving a signal indicative of a speed of the electric motor, providing a scale factor or an overload value in response to the received signal indicative of speed, filtering the received signal indicative of heat generation rate in correspondence with a time constant, processing the filtered signal by executing a multiplication by the scale factor or a comparison with the overload value to produce a signal indicative of compliance with a duty cycle requirement, and calculating a motor current limit in correspondence with the processed signal to thereby protect the system from thermal overload while maximizing its performance.
摘要翻译：车辆系统包括控制器和与控制器进行信号通信的电动机，用于接收电流和转速; 而控制器包括响应于指示电动机速度的信号的第一功能，响应于指示车辆系统的发热速率的信号的滤波器，与第一功能信号通信的第二功能和滤波器以及与第二功能的信号通信中的限制计算功能，用于响应于第二功能提供电动机电流限制; 其中用于控制所述车辆系统的方法包括接收指示所述车辆系统的发热速率的信号，接收指示所述电动机的速度的信号，响应于所述接收到的信号指示，提供比例因子或过载值根据时间常数过滤表示发热速率的接收信号，通过执行与比例因子相乘或与过载值的比较来处理滤波信号，以产生表示符合占空比要求的信号并根据处理的信号计算电机电流极限，从而保护系统免受热过载，同时最大化其性能。

9. 发明授权

US06738700B2 Method for conforming a signal to a fault requirement using a command limiting scheme 有权
标题翻译：使用命令限制方案将信号与故障要求一致的方法
公开(公告)号：US06738700B2
公开(公告)日：2004-05-18
申请号：US10376843
申请日：2003-02-28
申请人： Ashok Chandy
发明人： Ashok Chandy
IPC分类号： A01B6900
CPC分类号： B62D5/0457 , B62D5/0463
摘要： A method for conforming an input signal to fault requirements comprising: receiving an input signal; dividing the input signal into a low frequency component and a high frequency component; limiting the low frequency component to a maximum value, to create a limited signal; and combining the limited signal and the high frequency component, to create a limited command signal. A system for conforming an input signal to fault requirements comprising: an input signal in operable communication with a low pass filter. The input signal is also in operable communication with one of: a high pass filter and a first summing device in operable communication with said low pass filter. The system also includes a maximum value limiting device in operable communication with the low pass filter. A second summing device is in operable communication with the maximum value limiting device and one of, the high pass filter and the first summing device.
摘要翻译：一种用于使输入信号符合故障要求的方法，包括：接收输入信号; 将输入信号分为低频分量和高频分量; 将低频分量限制到最大值，以产生有限的信号; 并组合有限信号和高频分量，以产生有限的命令信号。一种用于使输入信号符合故障要求的系统，包括：与低通滤波器可操作地通信的输入信号。输入信号也可以与下列之一可操作地通信：高通滤波器和与所述低通滤波器可操作地通信的第一求和装置。该系统还包括与低通滤波器可操作地通信的最大值限制装置。第二求和装置与最大值限制装置可操作地通信，高通滤波器和第一求和装置之一。

10. 发明授权

US09051005B2 Torque-based on-center feel for electric power steering 有权
标题翻译：基于扭矩的电动助力转向中心感觉
公开(公告)号：US09051005B2
公开(公告)日：2015-06-09
申请号：US13606809
申请日：2012-09-07
申请人： Farhad Bolourchi , Ashok Chandy
发明人： Farhad Bolourchi , Ashok Chandy
IPC分类号： B62D5/04
CPC分类号： B62D5/0466 , B62D5/0463
摘要： A control system for controlling an electric power steering system is provided. The control system includes a first module configured to compute an on-center torque adjustment compensation based on a sensed handwheel torque. The on-center torque adjustment compensation is configured to compensate for inertia of a steering actuator motor using a frequency-based methodology. The control system also includes a second module configured to generate a command signal to control the steering actuator motor of the electric power steering system based on the on-center torque adjustment compensation.
摘要翻译：提供一种用于控制电动助力转向系统的控制系统。控制系统包括第一模块，其被配置为基于感测到的手轮扭矩来计算中心上的扭矩调节补偿。中心转矩调节补偿被配置为使用基于频率的方法来补偿转向致动器电动机的惯性。该控制系统还包括：第二模块，被配置为基于中心上的转矩调节补偿生成用于控制电动助力转向系统的转向执行器电动机的指令信号。

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