Abstract: A control apparatus of an electric power steering apparatus is provided in which a nonlinear element of a motor model of-the electric power steering apparatus is compensated beforehand to linearize the motor model and the back electromotive force of the motor is computed to compensate the back electromotive force for a control loop, and conduct back electromotive force compensation with no lag in order to realize a control apparatus of an electric power steering apparatus with less control error, stable controllability, small motor output torque ripple, good wheel steering feeling, and less motor noise.

Abstract: In an electric power steering apparatus that urges a steering shaft or a rack shaft with an assist load using the drive force of a motor by a transmission mechanism via reduction gears, the reduction gears includes a rotation angle sensor assembled integrally therewith.

Abstract: The present invention relates to a motor-driven power steering apparatus structured such as to apply a steering assist force generated by a motor to a steering system of a motor vehicle or a vehicle in accordance with a rotation force of an electric motor on the basis of a steering torque detected by a torque sensor. Further, the invention relates to a rotation angle sensor for detecting a rotation angle of a steering shaft, a detected portion of the rotation angle sensor is provided within the speed reduction gear, and a detecting portion of the rotation angle sensor is provided in a radial direction of the steering shaft and in an outer side of a bearing in the speed reduction gear.

Abstract: The present invention provides a motor drive apparatus and an electric power steering apparatus using the same, in which the motor can be vector controlled even if a motor position detection sensor such as a hole sensor which cannot output a precise and detailed rotation angle signal when the motor rotates at low speed, field weakening control can reliably be carried out even if there exists detection error of a motor position detection sensor or the like, and motor output having small torque ripple can be expected.

Abstract: The invention provides a motor for a brushless DC motor, which has small torque ripple even if a trapezoidal wave current is supplied and has a small size and reduced motor noise, and a drive control device for the motor as well as an electric power steering device using the motor and the drive control device. Respective phase current command values are calculated on the basis of vector control. Pseudo-vector control for controlling respective phases separately is used as current feedback control.

Abstract: The present invention provides an electric power steering apparatus for controlling a motor based on a current command value calculated from a steering assist command value calculated based on a steering torque generated in a steering shaft and from a current detection value of the motor which gives a steering mechanism a steering assist force. In order to realize ideal road information sensitivity and steering feeling in frequency region at the same time, the electric power steering apparatus comprises a torque filter for processing a torque signal, an SAT estimating function, and an SAT filter for signal-processing SAT information from the SAT estimating function, and the electric power steering apparatus also comprises a control system with two degree of freedom which is capable of independently designing frequency characteristics of steering feeling and road information sensitivity.

Abstract: The present invention provides an excellent electric power steering apparatus in which torque ripple caused by a quantization error of a current control system generated in case of slow steering state and steering holding state, namely, vibration and noise on a steering wheel can be suppressed. A current controller in which a steady state gain of feedback control is a finite value is used so as to be capable of suppressing the vibration and noise. Further, according to the present invention, a smoothing filter is included in a current control system so that the quantization error is smoothed so that the torque ripple is suppressed.

Abstract: The present invention provides a motor drive apparatus capable of calculating an angular velocity and a rotation angle accurately in the entire rotation velocity range of a motor using a cheap Hall sensor having an inferior accuracy without using an expensive resolver having a high accuracy. The present invention includes a first angular velocity calculating means for calculating the angular velocity based on the back-EMF of the motor when it rotates at low speeds and a second angular velocity calculating means for calculating the angular velocity based on a signal from the Hall sensor when it rotates at high speeds. According to the present invention, the angular velocity and rotation angle can be calculated accurately in the entire rotation speed range using the Hall sensor under hybrid usage.

Abstract: The present invention relates to a motor-driven power steering apparatus structured such as to apply a steering assist force generated by a motor to a steering system of a motor vehicle or a vehicle in accordance with a rotation force of an electric motor on the basis of a steering torque detected by a torque sensor. Further, the invention relates to a rotation angle sensor for detecting a rotation angle of a steering shaft, a detected portion of the rotation angle sensor is provided within the speed reduction gear, and a detecting portion of the rotation angle sensor is provided in a radial direction of the steering shaft and in an outer side of a bearing in the speed reduction gear.

Abstract: In an electric power steering apparatus that urges a steering shaft or a rack shaft with an assist load using the drive force of a motor by a transmission mechanism via reduction gears, the reduction gears includes a rotation angle sensor assembled integrally therewith.

Abstract: In the electric power steering apparatus which controls a motor that gives a steering assisting force to a steering mechanism based on an electric current controlling value which is computed from a steering assisting command value which has been computed by a computing device based on a steering torque generated in a steering shaft and an electric current value of the motor, provided are a self-aligning torque estimating section which estimates a self-aligning torque by a disturbance observer constitution and a steering torque feedback section which performs definition of a steering reaction force based on a self-aligning torque estimated value which has been estimated by the self-aligning torque estimating section and feeds the steering reaction force back to the steering torque.

Abstract: A control unit for an electric power steering apparatus can obtain continuous, stable and comfortable feeling of steering, for improved steering, based on a provision of a continuous hysteresis characteristic using a low-cost structure on software. For this purpose, the control unit for an electric power steering apparatus controls a motor for giving steering assist force to a steering mechanism based on a current control value calculated from a steering assist command value calculated based on the steering torque generated in the steering shaft, and a current value of the motor. The control unit includes an assist calculating unit that differentiates a signal of the steering torque, adds the differentiated value to the steering assist command value, and continuously changes the differential gain according to the steering torque and the size of the vehicle speed.

Abstract: An electrically driven power steering apparatus is structured such that a large impact on a rack shaft (22) occurs upon an impingement of a steering stopper, and, even when an axial force acting on a ball bearing (25) of a presser member (30) becomes zero, a rotation of the presser member (30) is hindered by caulking c at a thin plate member (30b). Therefore, the presser member (30) does not slacken, and a predetermined axial force can be given again to the ball bearing (25) when the impact dissipates. The thus structured power steering apparatus exhibiting, though the cost is low, an excellent shockproof characteristic and capable of preventing the bearing from coming off a ball screw nut, can be provided.

Abstract: An electrically driven power steering apparatus is structured such that a large impact on a rack shaft occurs upon an impingement of a steering stopper, and, even when an axial force acting on a ball bearing of a presser member becomes zero, a rotation of the presser member is hindered by caulking c at a thin plate member. Therefore, the presser member does not slacken, and a predetermined axial force can be given again to the ball bearing when the impact dissipates. The thus structured power steering apparatus exhibiting, though the cost is low, an excellent shockproof characteristic and capable of preventing the bearing from coming off a ball screw nut, can be provided.

Abstract: The present invention provides a method of making quality, homogenous mixtures such as concrete without premixing the separate ingredients. In the example of concrete, the ingredients of cement, gravel, sand and water are metered and delivered to the use point separately using separate delivery means such as separate pneumatic hoses. The flow or delivery rate of each ingredient is measured and separately controlled, and the outputs of the individual delivery means meet at the common use point simultaneously where the concrete is to be laid down. The ratio of the ingredients may be adjusted to tailor the mix for particular applications. The ingredients meet and mix for the first time at the use point, and no premixing is performed.

Abstract: An electrically driven power steering apparatus is structured such that a large impact on a rack shaft (22) occurs upon an impingement of a steering stopper, and, even when an axial force acting on a ball bearing (25) of a presser member (30) becomes zero, a rotation of the presser member (30) is hindered by caulking c at a thin plate member (30b). Therefore, the presser member (30) does not slacken, and a predetermined axial force can be given again to the ball bearing (25) when the impact dissipates. The thus structured power steering apparatus exhibiting, though the cost is low, an excellent shockproof characteristic and capable of preventing the bearing from coming off a ball screw nut, can be provided.

Abstract: In a control unit for an electric power steering apparatus, a mechanical system and a control system are designed to match a desirable complementary sensitivity function, and the steering is improved to obtain stable and comfortable steering feeling. For this purpose, there is provided a control unit for an electric power steering apparatus that controls a motor for giving steering auxiliary force to a steering mechanism based on a current control value calculated from a steering auxiliary command value calculated based on the steering torque generated in the steering shaft, and a current value of the motor. In this control unit, the complementary sensitivity function relative to a frequency is set to a level that approaches 1 in a band in which disturbance to be suppressed exists, and is set to a level that approaches 0 in a band in which disturbance to be transmitted exists.

Abstract: A control unit for an electric power steering apparatus that controls a motor for giving steering assist force to a steering mechanism, based on a current control value calculated from a steering assist command value calculated based on the steering torque generated in the steering shaft, and a current value of the motor, wherein the control unit comprises a current dither signal generating unit for generating a current dither signal when the motor angular velocity is within a predetermined range of angular speed, and for adding the current dither signal to the steering assist command value.

Abstract: There is provided a control unit for an electric power steering apparatus that controls a motor for giving a steering assist force to a steering mechanism based on a current control value calculated from a steering assist command value calculated based on a steering torque generated in a steering shaft, and a current value of the motor. The control unit has a center responsiveness improving section that differentiates a signal of the steering torque, adds the differentiated value to the steering assist command value, and carries out a phase advancement compensation to the differentiation.

Abstract: A control device which: controls a motor based upon a steering assist instruction value calculated in a steering assist command operating section based upon a steering torque generated in a steering shaft and a current control value calculated from a current value of the motor for applying a steering assist force to a steering mechanism; and at least partially possesses a gradient when a gain curve of characteristics of an entire control system having the steering assist command value as its input exceeds a predetermined value. The steering assist command value operating section is composed of an approximation functional expression in which a one-step derived function is continuous, and the steering assist command value is obtained by calculations based upon the approximation functional expression.