Abstract: [Problem] An object of the present invention is to provide a power state diagnosis method and a power state diagnosis apparatus that pass and increase not only a d-axis current but also a q-axis current to a current value that a steering behavior does not occur to perform a diagnosis in the vector control of a motor, and determine that a power supply degraded, that the power supply is normal and that the diagnosis is not completed without giving an uncomfortable feeling to a driver, detecting a timing that there is not a driver, and needing to comprise a plurality of actuators.

Abstract: A motor control apparatus that is capable of making the whole control system robust not only with respect to motor parameter variations such as the temperature variation and the manufacturing unevenness but also with respect to disturbances while using a cheap and compact one-shunt type current detecting circuit and simultaneously diagnosing an estimation error and an electric power steering apparatus provide with the motor control apparatus.

Abstract: An electric power steering apparatus that is capable of obtaining a more safe and comfortable handling performance by signal processing of road information and disturbances is performed to realize easy tuning, and vibration absorption level for brake is improved by a filter and a gain unit considering a frequency characteristic and a decelerating acceleration.

Abstract: A motor control apparatus that is capable of making the whole control system robust not only with respect to motor parameter variations such as the temperature variation and the manufacturing unevenness but also with respect to disturbances while using a cheap and compact one-shunt type current detecting circuit and simultaneously diagnosing an estimation error and an electric power steering apparatus provide with the motor control apparatus.

Abstract: An image forming apparatus includes a printing unit configured to print an input print job including a plurality of pages, wherein, if it is determined that a remaining amount of a recording agent in a cartridge is less than or equal to a threshold value, the printing unit prints a portion of print data in the print job, temporarily stops printing, and displays a toner out message on a display unit to prompt a user to replace the cartridge, and repeats, if the user does not replace the cartridge after the toner out message is displayed, printing a portion of print data in the print job that is different from the print data that the printing unit has already printed, temporarily stopping printing, and displaying on the display unit the toner out message.

Abstract: [Problem] An object of the present invention is to provide a power state diagnosis method and a power state diagnosis apparatus that do not need to make a control period fast and also do not need to excessively increase a responsibility, and do not give an uncomfortable feeling to a driver.

Abstract: [Problem] An object of the present invention is to provide a power state diagnosis method and a power state diagnosis apparatus that pass and increase not only a d-axis current but also a q-axis current to a current value that a steering behavior does not occur to perform a diagnosis in the vector control of a motor, and determine that a power supply degraded, that the power supply is normal and that the diagnosis is not completed without giving an uncomfortable feeling to a driver, detecting a timing that there is not a driver, and needing to comprise a plurality of actuators.

Abstract: [Problem] An object of the present invention is to provide a power state diagnosis method and a power state diagnosis apparatus that do not need to make a control period fast and also do not need to excessively increase a responsibility, and do not give an uncomfortable feeling to a driver.

Abstract: An image forming apparatus includes a printing unit configured to print an input print job including a plurality of pages, wherein, if it is determined that a remaining amount of a recording agent in a cartridge is less than or equal to a threshold value, the printing unit prints a portion of print data in the print job, temporarily stops printing, and displays a toner out message on a display unit to prompt a user to replace the cartridge, and repeats, if the user does not replace the cartridge after the toner out message is displayed, printing a portion of print data in the print job that is different from the print data that the printing unit has already printed, temporarily stopping printing, and displaying on the display unit the toner out message.

Abstract: [Problem] The present invention provides an electric power steering apparatus that is capable of obtaining a more safe and comfortable handling performance by that signal processing of road information and disturbances is performed to realize a easy tuning, and vibration absorption level for brake is improved by a filter and a gain unit considering a frequency characteristic and a decelerating acceleration.

Abstract: A highly safe electric power steering device including a control device for determining the failure of a motor current detector based on the difference between the motor current estimate value and the detected motor current value is provided. The abnormality determining unit computes the absolute value of difference between the motor current estimate value and the detected motor current value, measures the number of times when the absolute value of difference exceeded the predetermined threshold value within the predetermined period, and measures further the cumulative value of the number of times of exceeding the threshold value within the predetermined period. When the cumulative value exceeded the predetermined reference number of times for determining abnormality, the motor current detector is determined to be abnormal.

Abstract: The present invention provides a control apparatus for an electric power steering apparatus comprises: a steering assist command value calculating section; a current control section that calculates a voltage command value; and a motor driving section that drives a motor based on the voltage command value, wherein an assist power from the motor is applied to a steering system, the control apparatus is characterized in that an SAT measuring section, that inputs an angular speed and an angular acceleration of the motor, the steering assist command value and the torque signal therein so as to estimate an SAT, is provided, and the SAT obtained by the SAT measuring section is feedbacked to the steering assist command value via a feedback section composed of a phase compensating section and a gain section.

Abstract: The present invention provides a control apparatus for an electric power steering apparatus comprises: a steering assist command value calculating section; a current control section that calculates a voltage command value; and a motor driving section that drives a motor based on the voltage command value, wherein an assist power from the motor is applied to a steering system, the control apparatus is characterized in that an SAT measuring section, that inputs an angular speed and an angular acceleration of the motor, the steering assist command value and the torque signal therein so as to estimate an SAT, is provided, and the SAT obtained by the SAT measuring section is feedbacked to the steering assist command value via a feedback section composed of a phase compensating section and a gain section.

Abstract: The present invention provides a control apparatus for an electric power steering apparatus comprises: a steering assist command value calculating section; a current control section that calculates a voltage command value; and a motor driving section that drives a motor based on the voltage command value, wherein an assist power from the motor is applied to a steering system, the control apparatus is characterized in that an SAT measuring section, that inputs an angular speed and an angular acceleration of the motor, the steering assist command value and the torque signal therein so as to estimate an SAT, is provided, and the SAT obtained by the SAT measuring section is feedbacked to the steering assist command value via a feedback section composed of a phase compensating section and a gain section.

Abstract: An electric power steering device changes the discontinuous non-linear characteristics in the duty ratio of the PWM signal versus motor current generated during steering wheel handle return into linear characteristics to suppress noise and provides a smooth and natural feeling steering. The electric control circuit (13) provided a current reference value calculator (22A) to calculate Iref, a current controller (22B) to obtain Vref2, a compensation adder (25) to obtain a duty D1, and a current discontinuity compensator (24) in order to obtain a duty D2. A motor drive circuit (35) including an H bridge circuit whose upper stage FET (1) is driven by the duty D1, and whose lower stage FED (3) paired with the upper stage FET (1), is driven by the duty D2 to allow forming a continuous linear characteristic in the duty ratio of the PWM signal versus the motor current.

Abstract: The present invention provides a control apparatus for an electric power steering apparatus comprises: a steering assist command value calculating section; a current control section that calculates a voltage command value; and a motor driving section that drives a motor based on the voltage command value, wherein an assist power from the motor is applied to a steering system, the control apparatus is characterized in that an SAT measuring section, that inputs an angular speed and an angular acceleration of the motor, the steering assist command value and the torque signal therein so as to estimate an SAT, is provided, and the SAT obtained by the SAT measuring section is feedbacked to the steering assist command value via a feedback section composed of a phase compensating section and a gain section.

Abstract: In a control apparatus of an electric power steering apparatus structured such as to control a motor applying a steering assist force to a steering mechanism on the basis of a current command value calculated from a steering assist command value calculated on the basis of a steering torque generated in a steering shaft and a current value of the motor, it is always possible to execute a high-performance control regardless of a steering speed, by setting a first differential compensator and a second differential compensator inputting a steering torque, making a sampling cycle of the second differential compensator slower than a sampling cycle of the first differential compensator, and adding outputs of the first differential compensator and the second differential compensator to the steering assist command value.

Abstract: In a motor driving device where a motor having a winding wire with small inductance value is driven by a digital control means comprised of control means including a current command value calculating means, a current control means and a PWM control means whose sampling periods are different from each other, when discrete signals sampled by the respective control means are zero-order-held, a motor current includes a lot of higher harmonic waves due to a quantization error, thereby increasing a motor noise. When an n-th-order hold means is provided between the respective control means with different sampling periods, the quantization error can be reduced remarkably, and thus the higher harmonic wave components included in the motor current are reduced, thereby greatly reducing the motor noise.

Abstract: This invention provides a control method for a motor that calculates a voltage command value based on a difference between a current command value and a current detected value and controls a PWM based on the voltage command value. The control method includes steps of: detecting a failure or an undetectable state of a current detecting system; obtaining a current estimated value of a failure phase or an undetectable state phase by using the current detected value except the failure phase or the undetectable state phase when the failure or the undetectable state is detected; and continuously controlling the motor by using the current estimated value.

Abstract: A highly safe electric power steering device including a control device for determining the failure of a motor current detector based on the difference between the motor current estimate value and the detected motor current value is provided. The abnormality determining unit computes the absolute value of difference between the motor current estimate value and the detected motor current value, measures the number of times when the absolute value of difference exceeded the predetermined threshold value within the predetermined period, and measures further the cumulative value of the number of times of exceeding the threshold value within the predetermined period. When the cumulative value exceeded the predetermined reference number of times for determining abnormality, the motor current detector is determined to be abnormal.