Abstract: A motor control unit includes a detected steering torque correction unit that corrects the detected steering torque that is detected by a torque sensor and then subjected to a limitation process by a steering torque limiter. When the absolute value of the detected steering torque is equal to or smaller than a predetermined value, the detected steering torque correction unit corrects the detected steering torque to 0. When the absolute value of the detected steering torque is larger than the predetermined value, the detected steering torque correction unit outputs the detected steering torque without correction. A PI control unit calculates the addition angle based on the deviation of the control torque obtained through correction by the detected steering torque correction unit from the command steering torque.

Abstract: A motor controller controls a motor including a rotor and a stator opposed to the rotor. The motor controller includes an electric current driving unit which drives the motor with an axis electric current value defined in a rotating coordinate system defined with respect to a control angle that is a rotation angle for control, a control angle computing unit which computes a current value of the control angle by adding an addition angle to a previous value of the control angle in each predetermined computing cycle, and an addition angle computing unit which computes the addition angle according to a torque to be generated by the motor or a response of the motor to the axis electric current value.

Abstract: A command current setting portion has a target value corrector that calculates d-axis and q-axis current command values idc, iqc that are to be supplied to an open-loop controller, based on d-axis and q-axis current target values id*, iq*. When d-axis and q-axis voltage target value vd*, vq* calculated from the d-axis and q-axis current target values id*, iq* by the motor circuit equations exceed a voltage limit, this target value corrector 26 corrects the d-axis and q-axis current target values id*, iq* by the field weakening control such that d-axis and q-axis voltages vd, vq and d-axis and q-axis currents id, iq satisfy ?(vd2+vq2)?Vlim and ?(id2+iq2)?Ilim respectively. The d-axis and q-axis current command values idc, iqc are obtained by this correction.

Abstract: A motor control device of the present invention includes: target electric current value setting units (15 and 16) that set target electric current values that should be supplied to a motor (1), basic voltage value computing units (511, 521, 51a, and 52a) that compute basic voltage values for driving the motor, a rotation angle speed computing unit (23) that computes a rotation angle speed of the motor, correction value computing units (50, 512, 515, 516, 522, 525, and 526) that compute correction values for correcting the basic voltage values based on motor electric current values and a rotation angle speed of the motor, correcting units (513 and 523) that obtain voltage command values by correcting the basic voltage values by the correction values computed by the correction value computing units, and a driving unit (13) that drives the motor by using voltage command values.

Abstract: A motor control unit controls a motor including a rotor and a stator facing the rotor. A current drive unit drives the motor at an axis current value of a rotating coordinate system that rotates in accordance with a control angle that is a rotational angle used in a control. An addition angle calculation unit calculates an addition angle to be added to the control angle. A control angle calculation unit obtains, at every predetermined calculation cycle, a present value of the control angle by adding the addition angle that is calculated by the addition angle calculation unit to an immediately preceding value of the control angle. An angular speed calculation unit calculates an angular speed of the rotor. An addition angle correction unit corrects the addition angle based on the angular speed calculated by the angular speed calculation unit. A filtering unit filters the angular speed calculated by the angular speed calculation unit.

Abstract: A motor control unit controls a motor including a rotor and a stator facing the rotor. A current drive unit drives the motor at an axis current value of a rotating coordinate system that rotates in accordance with a control angle that is a rotational angle used in a control. An addition angle calculation unit calculates an addition angle to be added to the control angle. A control angle calculation unit obtains, at every predetermined calculation cycle, a present value of the control angle by adding the addition angle that is calculated by the addition angle calculation unit to an immediately preceding value of the control angle. A torque detection unit detects a torque that is other than a motor torque and that is applied to a drive target driven by the motor. A command torque setting unit sets a command torque to be applied to the drive target.

Abstract: A motor control unit controls a motor including a rotor and a stator facing the rotor. A current drive unit drives the motor at an axis current value of a rotating coordinate system that rotates in accordance with a control angle that is a rotational angle used in a control. A control angle calculation unit obtains, at every predetermined calculation cycle, a present value of the control angle by adding an addition angle to an immediately preceding value of the control angle. A torque detection unit detects a torque other than a motor torque and applied to a drive target driven by the motor. A command torque setting unit sets a command torque to be applied to the drive target. An addition angle calculation unit calculates the addition angle to be added to the control angle through a proportional-integral control based on a torque deviation of the torque detected by the torque detection unit from the command torque set by the command torque setting unit.

Abstract: A motor is driven based on an axis current value in a rotating coordinate system that rotates in accordance with a control angle that is a rotational angle used in a control. The control angle is calculated by adding an addition angle to an immediately preceding value of the control angle in each predetermined calculation cycle. A command steering torque is set based on a predetermined steering angle-torque characteristic. The addition angle is calculated based on the deviation of a detected steering torque from a command steering torque. The addition angle based on the deviation is changed when a predetermined condition is satisfied.

Abstract: A low speed region position estimating portion is designed to be suitable for when the motor is operating in a low speed region, and estimates a low speed estimated rotational position ??L. A high speed region position estimating portion is designed to be suitable for when the motor is operating in a high speed region, and estimates a high speed estimated rotational position ??H. A dividing portion obtains a divided estimated rotational position ??M by internally dividing the low speed estimated rotational position ??L and the high speed estimated rotational position ??H. A rotation speed calculating portion obtains a rotation speed ? of a rotor based on an output signal from a steering sensor. The rotational position of the rotor is then obtained by selecting one of i) the low speed estimated rotational position ??L, the high speed estimated rotational position ??H, or the divided estimated rotational position ??M, based on that rotation speed ?.

Abstract: A controller for a brushless motor determines difference between target currents and detected currents in a dq coordinate system and determines a target voltage applied to an armature winding based on a feedback calculation, such as PI (Proportional Integral) calculation, P (Proportional) calculation, or PID (Proportional Integral Derivative) calculation, to decrease the differences.

Abstract: A motor control device includes: a motor-current detection unit; a rotational-angular-speed calculation unit for calculating a rotational angular speed of a motor; a rotational-angle-change-amount calculation unit for multiplying the rotational angular speed by a predetermined time so as to calculate a motor-rotational-angle change amount within a predetermined time; a basic-drive-value calculation unit for calculating a basic drive value for driving the motor; a correction-value calculation unit for calculating a correction value for correcting the basic drive value based on the motor current and the motor-rotational-angle change amount; a correction unit for evaluating the motor drive value by correcting the basic drive value by the correction value; and a drive unit for driving the motor by using the motor drive value evaluated by the correction unit.

Abstract: In an electric power steering apparatus which comprises a motor for generating steering assist force, it is judged whether or not the vehicle is in a state of straight forward motion. A mean reference steering angle is determined by dividing total of relative steering angles which are determined when the vehicle is judged to be in a state of straight forward motion by the number of judgments that the vehicle is in a state of straight forward motion. A steering angle is determined by subtracting a steering angle midpoint from a relative steering angle with taking the mean reference steering angle as the steering angle midpoint. The output of the motor for generating steering assist force is corrected in accordance with an output correction value determined on the basis of the determined steering angle. This output correction value is altered so as to have a positive correlation with the number of judgments that the vehicle is in a state of straight forward motion.

Abstract: A motor control device for controlling a d-axis current and a q-axis current on dq coordinates to control a motor, includes a q-axis current command value setting unit which sets a q-axis current command value, an upper limit/lower limit setting unit which sets an upper limit and a lower limit of the q-axis current, a comparing unit which compares the q-axis current command value set by the q-axis current command value setting unit and the upper limit and the lower limit set by the upper limit/lower limit setting unit, a q-axis current command value limiting unit which puts a limit on the q-axis current command value in accordance with a comparison result by the comparing unit, and a d-axis current command value setting unit which sets a d-axis current command value on the basis of the q-axis current command value limited by the q-axis current command value limiting unit.

Abstract: A controller for a brushless motor generates a rotation force of a rotor by applying a voltage to an armature winding based on a d-axis target voltage Vd*, a q-axis target voltage Vq*, and a detected rotation position of the rotor. The d-axis target voltage Vd* is determined based on a value obtained by correcting a result of a feedback calculation for a d-axis current with a d-axis correction value ??LqIq, and the q-axis target voltage Vq* is determined based on a value obtained by correcting a result of a feedback calculation for a q-axis current with a q-axis correction value ?LdId+??, in which ? stands for a rotation speed of the rotor, Ld stands for a d-axis self-inductance of the armature winding, Lq stands for a q-axis self-inductance of the armature winding, Id stands for the d-axis current, Iq stands for the q-axis current, and ? stands for a value obtained by multiplying a maximum value of magnetic flux linkage of the armature winding in a field system of the rotor by a factor of (3/2)1/2.

Abstract: In an electric power steering apparatus which comprises a motor (10) for generating steering assist force, it is judged whether or not the vehicle is in a state of straight forward motion. A mean reference steering angle is determined by dividing total of relative steering angles which are determined when the vehicle is judged to be in a state of straight forward motion by the frequency of judgments that the vehicle is in a state of straight forward motion. A steering angle is determined by subtracting a steering angle midpoint from a relative steering angle with taking the mean reference steering angle as the steering angle midpoint. The output of the motor (10) for generating steering assist force is corrected in accordance with an output correction value determined on the basis of the determined steering angle. This output correction value is altered so as to have a positive correlation with the frequency of judgments that the vehicle is in a state of straight forward motion.

Abstract: A power steering apparatus senses a fore-and-aft acceleration of a vehicle which is expressed as a value prefixed with a sign, and a rotation speed Ri of an electric motor is reduced to reduce an assist force in accordance with the acceleration if the value of the sensed vehicle acceleration is positive, and increased to increase the assist force in accordance with the acceleration if the value of the sensed vehicle acceleration is negative (FIG. 4). With this control operation, a consistent steering feeling can be provided even at acceleration or deceleration of the vehicle.

Abstract: In a power steering apparatus according to the present invention, a threshold ITH of a motor electric current for actuation of an oil pump is set at a lower level when a working oil has a high viscosity resistance at a low oil temperature, so that the oil pump can be actuated at an earlier stage. Conversely, when the working oil has a low viscosity resistance at a high oil temperature, the threshold ITH of the motor electric current for the actuation of the oil pump is set at a higher level because there is no need to actuate the oil pump at the earlier stage. Thus, the electric motor can be actuated without any problem even at an extremely low temperature, so that an entrapped feeling can promptly be mitigated.