Abstract: A steering system includes a steering column, a column bracket, a distance bracket, a rod, and an elastic member. The steering column supports an input shaft coupled to the steering wheel. The column bracket has a long hole therethrough and supports the steering column. The distance bracket includes: two vertical plates provided on an outer circumferential surface of the steering column and extending along the column bracket; and a horizontal plate coupling together the two vertical plates. The rod penetrates the long hole and the vertical plates. The elastic member is positioned between the horizontal plate and the rod and presses the rod toward the steering column.

Abstract: [Problem] An object of the present invention is to provide a vector control type motor control unit that compensates a dead time of an inverter without a tuning operation, improves a distortion of a current waveform and responsibility of the current control, and suppresses sound, vibration and a torque ripple.

Abstract: A motor control unit that vector-controls a 3-phase brushless motor based on a d-axis voltage command value and a q-axis voltage command value via an inverter with feedback-controlling, comprises: a central processing unit which comprises: a dq-axes dead time compensating section to calculate dq-axes dead time compensation values of the inverter and perform a dead time compensation; and a dq-axes disturbance estimating observer to input a d-axis current command value, a q-axis current command value, a motor rotational number, a motor angular velocity, a d-axis feedback current, a q-axis feedback current, the d-axis voltage command value and the q-axis voltage command value and calculate a d-axis disturbance compensation value and a q-axis disturbance compensation value, which cannot be compensated by the dead time compensation, by respectively adding the d-axis disturbance compensation value and the q-axis disturbance compensation value to the d-axis voltage command value and the q-axis voltage command value.

Abstract: An electric power steering apparatus including a torque sensor to detect a steering torque and a motor control unit to control a motor that applies an assist torque to a steering system of a vehicle, including: a function to switch a control system of the motor between a torque control system to control a motor output torque and a position/speed control system to control a steering angle of a steering in accordance with a predetermined switching trigger. The fade processing time from the torque control system to the position/speed control system and the fade processing time from the position/speed control system to the torque control system are individually set.

Abstract: An abnormality diagnosis method of a rolling bearing used in rotating machinery includes: a time acquisition step of acquiring, from an output signal detected by a sensor during the rotation of the rolling bearing, an entry time when a rolling element enters a flaking region of a bearing ring, and an escape time when the rolling element escapes from the flaking region of the bearing ring; and an estimation step of estimating a flaking size based on a flaking passage time, which is a time difference between the entry time and the escape time. When the bearing ring receives repeated load from the rolling element, the progress of the flaking occurring in the bearing ring can be quantitatively evaluated.

Abstract: A rolling bearing unit includes: an inner ring member having a recess on a first side in an axial direction along a rotation axis, which is recessed toward a second side in the axial direction; an outer ring member on an outer peripheral side of the inner ring member; a rolling body between the inner ring member and the outer ring member; a non-contact transmitter using electric field coupling capable of transmitting at least one of an electric power or a signal and including a stationary-side transmission part including a stationary-side electrode and a rotary-side transmission part including a rotary-side electrode facing the stationary-side electrode; and a covering member supported by the first side of the outer ring member in the axial direction, covering the first side of the inner ring member in the axial direction, and fixing the stationary-side transmission part to the first side in the axial direction.

Abstract: Provided are an autonomous running device, a running control method for the autonomous running device, and a running control program of the autonomous running device that allow the autonomous running device to reach a destination while continuing estimation of its self-position. An autonomous running device includes a first position estimation unit that estimates the position of the autonomous running device on the basis of information about surroundings of the autonomous running device, produces information about the estimated position of the autonomous running device as first positional information, and updates the first positional information, a second position estimation unit that estimates the position of the autonomous running device on the basis of rotation amounts of wheels, produces information about the estimated position of the autonomous running device as second positional information, and updates the second positional information, and a control unit.

Abstract: In an angular ball bearing (10), an outer race (12) has at least one diameter-directional hole (15) that supplies lubricating oil and passes through from the outer circumferential surface to the inner circumferential surface along the diameter direction. In a cross-section taken along the axial direction passing through a center (O) of the ball (13), the axial-directional position of a line extending through a central axis (X) of the diameter-directional hole (15) in the outer circumferential surface of a retainer (14) is located between an intersection position (A), at which an outer circumferential surface (14a) of the retainer (14) and a surface of a ball (13) intersect, and an axial-directional end (B) of a pocket (P).

Abstract: A power supply current control device including: a current limit value calculation unit configured to calculate a current limit value on a basis of a difference between a power supply voltage and a predetermined set voltage, a power supply current, and a resistance model representing a resistance component of the power supply circuit; a power supply current limit unit configured to limit a magnitude of the power supply current on a basis of the current limit value; a change rate limit value calculation unit configured to calculate a change rate limit value on a basis of the difference and a change speed of the power supply voltage; and a power supply current change rate limit unit configured to limit a change rate of the power supply current on a basis of the change rate limit value.

Abstract: An electric power steering device including: a control rotational displacement calculation unit configured to calculate a control rotational displacement when a steering angle of the steering system is in an angular range from a maximum allowable steering angle for the steering system to a predetermined threshold steering angle; a control steering angle shifting unit configured to calculate the control rotational displacement corrected by a correction amount based on one of the steering torque and rack axial force and a sign of one of the control rotational displacement and the steering angle as a shift control steering angle; and a feedforward control unit configured to output a second current command value based on the shift control steering angle and steering velocity. An assist control is controlled with a third current command value calculated by adding the second current command value to the first current command value.

Abstract: An actuator control device includes: a turning control value calculation unit configured to calculate a turning control value that controls an actuator configured to turn a steered wheel on a basis of an operation state amount by a driver with respect to a steering mechanism of the vehicle; a target value setting unit configured to set a target value of a state amount indicating a traveling direction of the vehicle on a basis of a surrounding environment of the vehicle; a target value control unit configured to control the actuator by integral control so that actual the state amount approaches the target value; and an integral suppression unit configured to suppress an increase in a first integral value calculated in the integral control according to a second integral value calculated according to the operation state amount.

Abstract: A gain target value is set to a usual value when battery voltage is within a usual range, and to a value below the usual value when the battery voltage is outside the usual range. When the battery voltage is recovered from outside the usual range to the usual range, it is determined whether or not a ratio obtained by dividing a time-integrated value of a gain in a period from when the battery voltage goes outside the usual range to when being recovered to the usual range by a time-integrated value of the gain when the gain in the period is the usual value is larger than a prescribed threshold. When determined to be larger than the prescribed threshold, the gain is set to immediately increase up to the gain target value, otherwise the gain is set to gradually increase up thereto.

Abstract: Provided is an electric power steering control device capable of improving steering feeling. When the voltage of a battery is within the range of usual voltage, a gain target value is set to a usual value, and when the voltage of the battery is outside the range thereof, the gain target value is set to a value below the usual value. Then, it is determined whether or not a set gain at recovery of the voltage of the battery from outside the range of the usual voltage to within the range thereof is larger than a prescribed threshold. When determined to be larger than the prescribed threshold, the gain is set to immediately increase up to the gain target value, whereas when determined to be equal to or less than the prescribed threshold, the gain is set to gradually increase up to the gain target value.

Abstract: An electric power steering apparatus includes: a current command value determining section that determines a current command value based on steering torque and vehicle speed; a vibration extracting filter that extracts a first vibration component having a predetermined amplitude and first predetermined frequency range depending on motor angular velocity; a vibration extracting section that extracts a second vibration component having a second predetermined frequency range depending on motor angular acceleration; a first compensation value calculating section that calculates a first vibration suppression compensation value based on the first vibration component extracted by the vibration extracting filter; and a second compensation value calculating section that calculates a second vibration suppression compensation value based on the second vibration component; and suppresses vibrations of the motor by feeding back the first vibration suppression compensation value and the second vibration suppression compens

Abstract: Provided are a manipulation system and a driving method of the manipulation system capable of performing manipulation efficiently and suitably while suppressing damage to a minute object at the time of manipulation regardless of the degree of skill and technique of an operator. A sample stage configured such that a minute object is placed thereon, a first manipulator including a first pipette for holding the minute object, a second manipulator including a second pipette for operating the minute object that is held on the first pipette, an imaging unit for imaging the minute object, and a controller that controls the sample stage, the first pipette, the second pipette, and the imaging unit are provided.

Abstract: A hub main body (13z) is supported by a support portion (18). At least one block (22) is engaged with a stationary flange (6) of an outer ring (2). As a support plate (21) rotates, the outer ring (2) rotates. A caulking portion (16) is formed by pressing a pressing die (20) on a cylindrical portion (31).

Abstract: A method for manufacturing a bearing ring of a rolling bearing includes a series of steps of cutting out an annular member from a material, forming a surface-hardened layer on the annular member, quenching and tempering the annular member, and polishing inner and outer diameter surfaces of the annular member. The method includes, after the quenching, rapidly cooling the ring member such that the ring member has a surface temperature of 50° C. or lower to form a bearing ring intermediate member, and after the tempering, polishing inner and outer diameter surfaces of the bearing ring intermediate member.

Abstract: The inspection device of the swing forging apparatus includes an inspection tool and a laser irradiation surface. When inspecting the swing forging apparatus, the inspection tool is supported to the head to which the processing roll is not supported, with a substantially same condition as the processing roll, and the inspection tool has a function of emitting a laser beam onto a central axis of the inspection tool. When inspecting the swing forging apparatus, the laser irradiation surface is arranged so that a relative position of the laser irradiation surface to the head in an axial direction of the head can be changed and the laser beam can be irradiated to the laser irradiation surface.

Abstract: In an electrically adjustable steering of the present embodiment, a first telescopic actuator is disposed between a top bracket or a mount bracket on a vehicle body side and a steering jacket. The steering jacket includes a plurality of jacket members that overlap each other so as to be able to expand and contract in an axial direction. A motor of the first telescopic actuator is fixed to the top bracket or the mount bracket on the vehicle body side.

Abstract: A ball arranging method for a ball bearing includes in this order a ball inserting step of inserting a plurality of balls into one region along a circumferential direction of an annular space formed between an inner ring and an outer ring, a flow stopping step of placing a flow stopping jig on a circumferentially outer side of the one region in the annular space so as to hold the inserted balls within the one region, and a ball separating step of sequentially inserting, in an axial direction, tip ends of a plurality of working arrows protruding correspondingly to a number of the balls between the balls while the flow stopping jig is removed from the annular space from a state of being placed in the annular space, so as to arrange the balls at equal intervals in the circumferential direction.