Abstract: A turning control device is for a vehicle having four wheels that are mechanically separated and steered independently. The four wheels are left and right wheels of a front row and a rear row. The turning control device controls four steering actuators corresponding to the four wheels. The turning control device includes a controller that performs feedback control of the four steering actuators to reduce a deviation for each of the four wheels. The deviation is a difference between a state parameter convertible into a turning angle and a target value of the state parameter set according to steering of a steering wheel. The controller executes a responsiveness changing process of changing a responsiveness of the feedback control so that the deviation is likely to be smaller in a vehicle straight traveling state than in a vehicle non-straight traveling state.

Abstract: Control calculation units of a back system in each actuator operate by a collaborative drive mode in which a torque is output to a motor drive unit by using an information transmitted and received mutually by a communication between the systems in common. Cooperative control calculation units in a reaction force actuator and a turning actuator can operate in cooperation with each other based on the information transmitted and received mutually by a communication between actuators. A communication between adjacent systems and a communication between adjacent actuators are restored, when a focus control calculation unit is restored, after the focus control calculation unit is stopped during operation and at least one of the communication between adjacent systems or the communication between adjacent actuators is interrupted.

Abstract: A motor drive system is provided in a steer-by-wire system in which a steering mechanism and a turning mechanism of a vehicle are mechanically separated. The motor drive system includes a reaction force actuator and a turning actuator. The reaction force actuator functions as a motor configured to output a reaction force torque corresponding to a steering torque of a driver and a road surface reaction force. The turning actuator functions as a motor configured to output a turning torque for turning wheels. Each of the reaction force actuator and the turning actuator includes a plurality of control calculation units provided redundantly and each configured to perform a calculation related to a motor drive control, and a plurality of motor drive units provided redundantly and each configured to drive and output the torque based on a drive signal generated by a corresponding control calculation unit.

Abstract: 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.

Abstract: In an apparatus, an execution determiner determines, for each of sequential first and second motor control cycles, whether to execute a voltage correction task for a voltage command, and obtains, for each of the first and second motor control cycles, a voltage correction as a function of a fundamental voltage correction and the determination result. A voltage corrector corrects, for each of the first and second motor control cycles, the voltage command based on the voltage correction. A correction voltage feedback unit feeds back a value of the voltage correction calculated at the first motor control cycle to a voltage command calculator. The voltage command calculator calculates a value of the voltage command for the second motor control cycle based on the value of the voltage correction fed back from the correction voltage feedback unit in addition to a value of the motor current parameter and a predetermined current command.

Abstract: 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.

Abstract: In an apparatus, an execution determiner determines, for each of sequential first and second motor control cycles, whether to execute a voltage correction task for a voltage command, and obtains, for each of the first and second motor control cycles, a voltage correction as a function of a fundamental voltage correction and the determination result. A voltage corrector corrects, for each of the first and second motor control cycles, the voltage command based on the voltage correction. A correction voltage feedback unit feeds back a value of the voltage correction calculated at the first motor control cycle to a voltage command calculator. The voltage command calculator calculates a value of the voltage command for the second motor control cycle based on the value of the voltage correction fed back from the correction voltage feedback unit in addition to a value of the motor current parameter and a predetermined current command.

Abstract: A rotating electric machine control device includes: a q-axis PI controller calculating a pre-restriction q-axis voltage instruction value based on a q-axis voltage detection value and a q-axis current instruction value; a first q-axis restricter calculating a post-restriction q-axis voltage instruction value by restricting the pre-restriction q-axis voltage instruction value, for an excess of output exceeding a maximum outputtable voltage V_max; a correction value calculator calculating a q-axis correction value that has a reverse phase of a ripple current of a q-axis current; and a corrector correcting the post-restriction q-axis voltage instruction value with the q-axis correction value. In such manner, even when the pre-restriction q-axis voltage instruction value is saturated, a ripple current is reduced, thereby reducing a sound and/or a vibration caused by the ripple current.

Abstract: A rotating electric machine control device includes: a q-axis PI controller calculating a pre-restriction q-axis voltage instruction value based on a q-axis voltage detection value and a q-axis current instruction value; a first q-axis restricter calculating a post-restriction q-axis voltage instruction value by restricting the pre-restriction q-axis voltage instruction value, for an excess of output exceeding a maximum outputtable voltage V_max; a correction value calculator calculating a q-axis correction value that has a reverse phase of a ripple current of a q-axis current; and a corrector correcting the post-restriction q-axis voltage instruction value with the q-axis correction value. In such manner, even when the pre-restriction q-axis voltage instruction value is saturated, a ripple current is reduced, thereby reducing a sound and/or a vibration caused by the ripple current.