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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

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。

3. 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。

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

US07190135B2 Method of inverter linearization in electric machines through secondary modulation 有权
标题翻译：二次调制电机逆变器线性化方法
公开(公告)号：US07190135B2
公开(公告)日：2007-03-13
申请号：US10458091
申请日：2003-06-10
申请人： Steven James Collier-Hallman
发明人： Steven James Collier-Hallman
IPC分类号： H02K23/00
CPC分类号： B62D5/0463 , H02M7/53875 , H02M2001/0025
摘要： A method for implementing control signal linearization for an electric motor is disclosed. In an exemplary embodiment, the method includes receiving a desired voltage command to be applied to the motor and determining whether the magnitude of the desired voltage command falls between a first value and a second value. If the magnitude of the desired voltage command falls between the first value and the second value, then modulating a voltage command between the first and the second value over a determined sample period, thereby resulting in the application of a modulated voltage command to the motor.
摘要翻译：公开了一种用于实现电动机的控制信号线性化的方法。在示例性实施例中，该方法包括接收要施加到电动机的期望电压指令，并确定期望电压指令的幅度是否落在第一值和第二值之间。如果期望电压指令的幅度落在第一值和第二值之间，则在确定的采样周期之后调制第一和第二值之间的电压指令，从而导致向电动机施加调制电压指令。

6. 发明授权

US07075290B2 Tachometer apparatus and method for motor velocity measurement 失效
标题翻译：用于电机速度测量的转速表装置和方法
公开(公告)号：US07075290B2
公开(公告)日：2006-07-11
申请号：US10205848
申请日：2002-07-26
申请人： Steven James Collier-Hallman , Philip G. Bright , Clane J. Cammin , Hentianarisoa Ratouth
发明人： Steven James Collier-Hallman , Philip G. Bright , Clane J. Cammin , Hentianarisoa Ratouth
IPC分类号： G01P3/44
CPC分类号： G01P3/489 , G01P3/487
摘要： A method and apparatus for determining the velocity of a rotating device is described herein. The apparatus includes a magnet assembly affixed to a rotating shaft of a rotating device and a circuit assembly. The circuit assembly includes a circuit interconnection having a sense coil and sensors affixed thereto. The circuit assembly is adapted to be in proximity to the magnet assembly, wherein the magnet assembly combines with the circuit assembly to form an air core electric machine such that voltages generated from the sense coil exhibits an amplitude proportional to the velocity.
摘要翻译：本文描述了用于确定旋转装置的速度的方法和装置。该装置包括固定到旋转装置的旋转轴和电路组件的磁体组件。电路组件包括具有感测线圈和固定到其上的传感器的电路互连。电路组件适于靠近磁体组件，其中磁体组件与电路组件组合以形成气芯电机，使得从感测线圈产生的电压呈现与速度成比例的振幅。

7. 发明授权

US06452405B1 Method and apparatus for calibrating a current sensing system 失效
标题翻译：用于校准电流感测系统的方法和装置
公开(公告)号：US06452405B1
公开(公告)日：2002-09-17
申请号：US09663846
申请日：2000-09-18
申请人： Steven James Collier-Hallman
发明人： Steven James Collier-Hallman
IPC分类号： G01R2708
CPC分类号： G01R35/005 , G01R1/203 , G01R19/0092 , G01R35/00
摘要： Disclosed is a current sensing system for measuring the current flowing through a current sensing resistance. The system has a calibration resistance coupled to the current sensing resistance and a pair of input resistances each having a first end coupled to one of the ends of the current sensing resistance and a second end coupled to one of the ends of the calibration resistance. A voltage is created across the calibration resistance and the calibration resistance is set at a predetermined level to compensate for the current sensing resistance deviating from a reference value. The voltage is filtered and amplified to produce an output representative of the measured current.
摘要翻译：公开了一种用于测量流过电流感测电阻的电流的电流感测系统。该系统具有耦合到电流感测电阻的校准电阻和一对输入电阻，每一个具有耦合到电流感测电阻的一个端部的第一端和耦合到校准电阻的一个端部的第二端。在校准电阻之间产生电压，并且将校准电阻设置在预定电平以补偿偏离参考值的电流感测电阻。电压被滤波和放大以产生表示测量电流的输出。

8. 发明授权

US07157878B2 Transient compensation voltage estimation for feedforward sinusoidal brushless motor control 有权
标题翻译：用于前馈正弦无刷电机控制的瞬态补偿电压估计
公开(公告)号：US07157878B2
公开(公告)日：2007-01-02
申请号：US10300146
申请日：2002-11-19
申请人： Steven James Collier-Hallman
发明人： Steven James Collier-Hallman
IPC分类号： G05B19/10
CPC分类号： B62D5/046 , G05B2219/42063 , H02P6/15 , H02P6/16
摘要： A method for controlling a voltage mode controlled electric machine comprising: receiving a torque value representative of a desired torque; obtaining a speed value indicative of a rotational velocity of the electric machine; acquiring a phase advance value indicative of a desired phase advance angle; generating a voltage command responsive to the torque value, the position value; the generating is responsive to the torque value, the speed value, and the phase advance value.
摘要翻译：一种用于控制电压模式控制电机的方法，包括：接收代表期望转矩的转矩值; 获得表示电机旋转速度的速度值; 获取指示期望的相位提前角的相位超前值; 响应于所述转矩值产生电压指令，所述位置值; 该产生响应扭矩值，速度值和相位超前值。

9. 发明授权

US06448724B1 Apparatus and method for commutation noise reduction 失效
标题翻译：换向降噪装置及方法
公开(公告)号：US06448724B1
公开(公告)日：2002-09-10
申请号：US09658352
申请日：2000-09-11
申请人： Julie Ann Kleinau , Steven James Collier-Hallman , Dennis B. Skellenger
发明人： Julie Ann Kleinau , Steven James Collier-Hallman , Dennis B. Skellenger
IPC分类号： H02K2300
CPC分类号： B62D5/046 , B62D5/0463 , H02P6/10 , H02P6/14
摘要： A brushless DC motor modifies motor commutation events to reduce noise by providing overlapping activation of the switch being deactivated with the switch being newly activated so that three switches are temporarily activated. The newly activated switch is pulse width modulated with a motor torque controlling duty cycle, and the switch being deactivated is pulse width modulated synchronously with the newly activated switch but with a duty cycle decreasing from the torque controlling duty cycle. The decreasing modulation of the switch being deactivated allows a slower current decrease in the phase turning off to reduce or eliminate the disturbances, and thus the noise. The decreasing modulation is preferably exponential in manner, with a time constant varying inversely with motor speed so that the duty cycle reaches a predetermined minimum in a predetermined maximum number of motor electrical degrees. The decreasing modulation may be switched on at low motor speeds where its noise reduction is required and switched off at higher motor speeds where the potential for interference with commutation is greater. The decreasing modulation is applicable in a dual switching mode in which each activated switch, except for the switch being deactivated in commutation, is pulse width modulated at the torque controlling duty cycle, or in a modified single switching mode in which the activated switch of one of the upper or lower groups is always closed continuously during its activation, except for commutation, during which the switch remaining on, which alternates between the groups, is closed continuously. Each mode of operation is applied in the motor speed/torque region to which it is best suited.
摘要翻译：无刷直流电动机通过在开关被新激活的情况下通过提供交换机的重叠激活来改变电动机换向事件以减少噪声，从而使三个开关暂时被激活。新启动的开关通过电机转矩控制占空比进行脉冲宽度调制，并且禁用的开关与新启动的开关同步脉宽调制，但占空比从转矩控制占空比下降。开关减小的调制被禁用允许相位关断中的较慢的电流减小以减少或消除干扰，从而减少噪声。减小的调制优选地是指数方式，其中时间常数与电动机速度成反比变化，使得占空比在预定的最大数量的电动机电度中达到预定的最小值。降低的调制可以在需要减少噪声的低电机速度下接通，并且在更换电机的电机速度更高的情况下关闭。减小的调制适用于双重切换模式，其中除了开关在换向中被禁用之外，每个被激活的开关在扭矩控制占空比下进行脉宽调制，或者在修改的单次切换模式中，其中一个上，下组在其激活期间总是被连续地闭合，除了换向之外，在组中之间交替存在的开关被连续地闭合。每种操作模式都适用于最适合的电机速度/转矩区域。

10. 发明授权

US6002226A Brushless DC motor control method and apparatus for reduced commutation noise 失效
标题翻译：无刷直流电动机控制方法及减少换向噪音的装置
公开(公告)号：US6002226A
公开(公告)日：1999-12-14
申请号：US99007
申请日：1998-06-17
申请人： Steven James Collier-Hallman , Julie Ann Kleinau , Dennis B. Skellenger
发明人： Steven James Collier-Hallman , Julie Ann Kleinau , Dennis B. Skellenger
IPC分类号： H02P6/10 , H01R39/46
CPC分类号： H02P6/10
摘要： A brushless DC motor modifies motor commutation events to reduce noise by providing overlapping activation of the switch being deactivated with the switch being newly activated so that three switches are temporarily activated. The newly activated switch is pulse width modulated with a motor torque controlling duty cycle, and the switch being deactivated is pulse width modulated synchronously with the newly activated switch but with a duty cycle decreasing from the torque controlling duty cycle. The decreasing modulation of the switch being deactivated allows a slower current decrease in the phase turning off to reduce or eliminate the disturbances, and thus the noise. The decreasing modulation is preferably exponential in manner, with a time constant varying inversely with motor speed so that the duty cycle reaches a predetermined minimum in a predetermined maximum number of motor electrical degrees. The decreasing modulation may be switched on at low motor speeds where its noise reduction is required and switched off at higher motor speeds where the potential for interference with commutation is greater. The decreasing modulation is applicable in a dual switching mode in which each activated switch, except for the switch being deactivated in commutation, is pulse width modulated at the torque controlling duty cycle, or in a modified single switching mode in which the activated switch of one of the upper or lower groups is always closed continuously during its activation, except for commutation, during which the switch remaining on, which alternates between the groups, is closed continuously. Each mode of operation is applied in the motor speed/torque region to which it is best suited.
摘要翻译：无刷直流电动机通过在开关被新激活的情况下通过提供交换机的重叠激活来改变电动机换向事件以减少噪声，从而使三个开关暂时被激活。新启动的开关通过电机转矩控制占空比进行脉冲宽度调制，并且禁用的开关与新启动的开关同步脉宽调制，但占空比从转矩控制占空比下降。开关减小的调制被禁用允许相位关断中的较慢的电流减小以减少或消除干扰，从而减少噪声。减小的调制优选地是指数方式，其中时间常数与电动机速度成反比变化，使得占空比在预定的最大数量的电动机电度中达到预定的最小值。降低的调制可以在需要减少噪声的低电机速度下接通，并且在更换电机的电机速度更高的情况下关闭。减小的调制适用于双重切换模式，其中除了开关在换向中被禁用之外，每个被激活的开关在扭矩控制占空比下进行脉宽调制，或者在修改的单次切换模式中，其中一个上，下组在其激活期间总是被连续地闭合，除了换向之外，在组中之间交替存在的开关被连续地闭合。每种操作模式都适用于最适合的电机速度/转矩区域。

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