Abstract: A control apparatus of an electric power steering apparatus capable of firmly detecting an abnormality of a torque detection value, caused by a drift occurred in a torque sensor and by a connector contact resistor, with a simple arrangement. A current supplied from a power supply flows through a potentiometer (3A) of a torque sensor (3), this current is supplied to a current detecting resistor (13g), a drift occurred in the torque sensor (3) is detected by a voltage across terminals of this resistor, the detected drift detection voltage V.sub.is is read in a microcomputer (21), and the drift detection voltage V.sub.is is compared with a set value to judge as to whether or not the drift is present within a normal range. The torque sensor is constructed of a main potentiometer (3.sub.M) and a sub-potentiometer (3.sub.S). A change amount .DELTA.V.sub.M is calculated from a difference between a presently detected value and a previously detected value of the torque detection voltage V.sub.

Abstract: Provided is a counter-steer condition detecting device which is suited to be used in combination with steering control systems based on the control of the magnitude of the effort required for the vehicle operator to steer the vehicle depending on the behavior of the vehicle. An over-steer condition may be detected by evaluating the signs of the current and previous values of the steering angle and the steering angular speed, and the magnitude of the steering angular speed when the steering angle passes a certain monitor level.

Abstract: An electric power steering apparatus includes a control unit for controlling a motor drive circuit which drives an electric motor on the basis of a steering torque signal supplied from a steering torque sensor. The control unit includes a center value compensating circuit for compensating for the offset of a center value of the steering torque sensor, and a direction inhibiting circuit for inhibiting supply of a motor control signal to the motor drive circuit on the basis of the steering torque signal. The direction inhibiting circuit has a reference value changing section for changing operation reference values in left and right directions of the steering torque in response to the offset of the center value. The reference value changing section generates left and right operation reference values corresponding to a center value signal supplied from the center value compensating circuit.

Abstract: In a valve control apparatus for an automobile, an H-bridge type chopper main circuit 4 is operated by a control signal PWM from a microcomputer 1 to thereby drive a motor 9 for controlling a throttle valve 10. The power element current from the chopper main circuit 4 is detected by a shunt resistor 5 in the form of a voltage, and the detected voltage is amplified by an amplifier 6 and then taken into the microcomputer 1 through a sample hold circuit 12 and an A/D converter. The sample hold circuit 12 is operated in synchronism with the control signal PWM from the microcomputer 1. Further, the A/D converter is also operated in synchronism with the control signal PWM from the microcomputer 1. The motor 9 is controlled by a throttle valve opening angle command and a throttle valve opening angle signal, and further the motor 9 is controlled by a detected motor current.

Abstract: A steering wheel position detecting device of a vehicle steering system including a first ring-shaped track defining a space centered on a center of the steering wheel and a first ball provided within the first track for detecting a right turn of the steering wheel. The first track includes a first cutoff wall formed at a twelve o'clock position, a second cutoff wall formed at a six o'clock position to be partially opened towards the center of the steering wheel, and a third cutoff wall formed at an eleven o'clock position to be partially opened towards the center of the steering wheel. The first ball is positioned on a left side of the second cutoff wall and the first ball is movable through the opening formed on the second cutoff wall and the opening formed on the third cutoff wall. A second embodiment of the steering wheel position detecting device is designed for detecting a left turn of the steering wheel.

Abstract: A controlling apparatus for representing the motion of a normal wheeled omni-directional vehicle (ODV) in a relative coordinate system, and for effectively controlling the ODV and a controlling method thereof. Drive wheels are connected to four corners of the body of the ODV through offset links that can be independently steered. With the offset links, even if the body stops, it can be reoriented without a need to perform a forced direction change operation. The traveling speed of the body, the turning radius of the body, and the angle between the horizontal axis of the body and the traveling direction thereof are defined as relative variables of a relative coordinate system. With these relative variables, the motion of the ODV is designated. The designated motion of the body is converted into the time change or the displacement (drive speed) and the steering angle of each wheel by inverse kinematics. The corresponding control signals are sent to a driving unit of the wheels.

Abstract: In a control device for an electric actuator of a steering system of a vehicle, the amount of power assist provided by the electric actuator of the steering system is appropriately diminished when the steering wheel is turned more than appropriate under the given road condition so that the effort to turn the steering wheel may not be excessively reduced even on a slippery road surface. Thus, when the vehicle is steered more than appropriate for a given road condition, the steering effort is increased by reducing the power assist of the steering system, whereby the vehicle operator is prevented from excessively steering the vehicle. This increase in the steering effort occurs only when the vehicle operator attempts to increase the steering angle, and does not affect the tendency of the steering wheel to return to its neutral position.

Abstract: A control system for an induction motor of the present invention independently commands the torque current component and the exciting current component of a stator current group supplied to the stator of an induction motor so as to feed-back control the amplitude and phase of the stator current group. The torque current component is commanded to control the output torque of the induction motor in correspondence with the output of a steering force sensor for detecting the steering force. According to an electric power steering apparatus using an induction motor controlled by the control system, a permanent magnet is not used for the motor so additional equipment such as a clutch is not required. Consequently, the structure can be simplified and the size of the unit can be reduced. Further, manual steering operation can be performed in the case of failure.

Abstract: In a electric power steering controller, an output signal of motor driving direction discrimination means is compared with a driving direction discrimination processing result to detect a failure of the motor driving direction discriminator in accordance with the comparison result, so as to prevent the runaway of a motor supplying steering force to a steering wheel.

Abstract: An electrically operated power steering apparatus has a housing, a pinion rotatably supported in the housing, the pinion being adapted to be connected to a steering shaft, a rack shaft axially movably disposed in the housing and held in mesh with the pinion, an electric motor disposed coaxially around the rack in the housing, and a ball-and-nut mechanism disposed on the rack shaft in the housing for transmitting a torque produced by the electric motor as an axial displacement to the rack shaft. The electric motor has a stator fixedly mounted in the housing and a rotor rotatably supported in the housing by a pair of bearings mounted on respective opposite ends of the rotor, the ball-and-nut mechanism being coupled to the rotor. A rack guide is disposed in the housing behind the pinion remotely from the ball-and-nut mechanism and held in sliding contact with the rack shaft. The rack shaft is axially slidably supported in the housing by the ball-and-nut mechanism and the rack guide.

Abstract: An electrically power-assisted steering apparatus comprises resilient torque transmitting means for resiliently transmitting said steering torque from said steering shaft to said rotation shaft, and a switch assembly disposed between a battery and an electric motor which is controlled by a control unit to assist the steering effort of a vehicle driver. The switch assembly is designed to automatically turn off the electric current supplied to the electric motor independently of the control unit when the steering shaft is rotated with respect to a rotation shaft such as a pinion shaft within the range of a predetermined angle. The electric motor can be certainly prevented from being erroneously driven if the control unit controlling the electric motor is damaged or operated in a wrong manner.

Abstract: A device for detecting the movement of a movable component in that the position signals furnished by two position sensors are added to form a signal that is conducted through a line to an evaluation arrangement. The position ranges associated with the position sensors have an overlap region. Different discrete values are assigned to the position signals and can be evaluated easily in the evaluation arrangement.

Abstract: A wheel assembly includes a support, a cage rotatably mounted on the support and having a longitudinal rotation axis, a first ball wheel rotatably mounted in the cage and having a rotation axis orthogonal to the rotation axis of the cage, and a second ball wheel rotatably mounted in the cage and having a rotation axis orthogonal to the rotation axis or the cage and to the rotation axis of the first ball wheel. A control circuit includes a photodetector signal which indicates ground contact for each ball wheel, and a tachometer which indicates actual drive shaft velocity.

Abstract: A power steering apparatus for steering an outboard engine on a boat has a hydraulic cylinder unit for angularly moving a steering arm of the outboard engine, and a hydraulic pump actuatable by a motor for supplying a hydraulic pressure to the hydraulic cylinder unit. The motor is controlled by a motor driver which supplies a first amount of electric energy to the motor when the outboard engine is not steered, and supplies a second amount of electric energy, larger than the first amount of electric energy, to the motor when the outboard engine is steered.

Abstract: According to a current limiting method in an electric power steering apparatus, a steering angular speed and the direction of a drive current are monitored. A condition in which a steering wheel is locked is discriminated from a condition in which the steering wheel is turned on the basis of combinations of the steering angular speed and the drive current direction. Processing of limiting a current value of an excessive drive current is executed only when the condition in which the steering wheel is locked is determined.

Abstract: A device utilizing capacitive coupling to provide an output indicative of angular relationship. Relatively rotatable units have paired electrical signal paths on closely adjacent portions to establish capacitive coupling therebetween. A high frequency AC signal is conducted through the electrical signal paths, which paths are preferbaly shielded, with the capacitance of one of the paired electrical signal paths being dependent upon the angular relationship between the closely adjacent portions of the units and with the capacitance of others of the paired electrical signal paths being substantially independent of the angular relationship between the closely adjacent portions of the units.

Abstract: A method of controlling an electric power steering apparatus includes the steps of determining a steering state in accordance with a detection value and a retrieval value of a motor terminal across voltage, and limiting a motor current when a steering wheel held state is determined as the steering state determination result and a motor current value in the steering wheel held state is a predetermined value or more.

Abstract: An electric motor control unit for use in a vending machine includes a sealed housing containing an electric motor drivingly connected through an eccentric and a cam follower to a magnetic switch actuator operatively associated with a sealed, magnetically operated reed switch. Energization of the electric motor rotates an output shaft carrying the eccentric for one cycle of operation, whereupon the motor is deenergized to complete the cycle.

Abstract: An electric power steering system for an automobile which includes a steering shaft having a steering torque transmitting shaft. The electric power steering system includes a housing mounted on the steering torque transmitting shaft, a torsion torque sensor, in the housing, for detecting a torsion torque in the steering shaft during a steering operation to generate a torsion torque signal representing the detected torsion torque, and a controlling unit for providing a drive signal, in response to the torsion torque signal, to control an electric motor, mounted to the housing and operatively connected to the steering torque transmitting shaft, for reducing a steering effort. The controlling unit is integrally mounted to the housing.

Abstract: A system having a motor operatively connected to a steering system for reducing the steering effort. The system is provided with a torsion torque sensor provided for detecting torsion torque generated in the steering system in a steering operation, and a steering angle sensor provided for detecting steering angle. In response to the output signal of the torsion torque sensor, an assist signal is produced, and in response to the output of the steering angle sensor, a damping signal dependent on the steering speed of a steering wheel is produced. The damping signal is increased with an increase of vehicle speed. A corrected damping signal is added to the assist signal, thereby damping movement of the steering wheel.

Abstract: A steering assembly for multiplying steering torque and motion applied from a steering wheel of a vehicle by fixed and selectively varying ratios, respectively. The applied steering torque and motion are coupled via an input shaft to a sun gear of a planetary gear set. Supplementary torque and steering motion are generated by a servo motor which is coupled to a ring gear of the planetary gear set via an irreversible differential planetary gear set. Rotational motion of the input shaft is determined and rotational motion of the servo motor is controlled as a selected function of the rotational motion of the input shaft. Actual rotational motion of the servo motor is measured and additional rotational motion of the servo motor is terminated if the actual rotational motion of the servo motor does not substantially match the selected rotational motion. A set of planetary gears mounted in a planetary carrier receives combined output torque and rotational motion from both the sun and ring gears.

Abstract: A steering control apparatus for a motor vehicle with steerable front and rear road wheels keeps electric power supplied to an electric motor for turning the rear road wheels, at a desired value even when the voltage of a vehicle-mounted battery for energizing the motor fluctuates. The steering control apparatus includes a battery mounted on the motor vehicle, an electric motor energizable by electric power supplied from the battery for applying power output to at least a steering mechanism for turning the rear road wheels, detecting means for detecting the voltage of the battery, and a motor control unit for controlling operation of the electric motor.

Abstract: The precise and smooth control of the hydraulic fluid supplied to a hydraulic system, such as the lifting cylinders of a turret stockpicker, under varying operating conditions includes an optical encoder on the operator's control handle connected to an electronic control of a hydraulic pump motor, which s initially operated at a predetermined minimum speed, and a hydraulic valve which provides the initial control of hydraulic fluid under the control of an operator's handle. Because the pump is initially at a low speed, greater efficiency of the system is realized, an important feature in a battery operated vehicle. As the operator moves the handle from the off or neutral towards the fully open position, the hydraulic valve will open and reach its fully open position as the handle passes approximately the one-third on position.

Abstract: In order to perform a vehicle speed control in a motor driven type power steering control device, a speed change point detection sensor is provided and an assist is added or removed according to a speed change point signal therefrom. Therefore, a construction of an input circuit and a control program become simple and a simple control unit can be used. Further, by inputting a speed change point other than those at which the assist is added, it is possible to easily determine a breakage of an input line for speed change point, resulting in a highly safe power steering.

Abstract: An electrically driven power steering apparatus utilizes an electric motor as a drive source and produces an assisting torque which depends on the magnitude of a torque applied from steering mechanisms for assisting in the operation of a steering system. When an abnormality in the torque applied or a locking of the motor is detected, the energization of the motor is interrupted as is a system which transmits the assisting torque. In this manner, the application of a relative force to the steering system from the electric drive mechanism is blocked, thus positively preventing the vehicle from being steered against the intent of a driver as a result of influencs of any abnormal operation of the electric drive mechanism upon the steering system. Whenever the energization of the motor and the assisting torque transmission system are interrupted, the force required for the steering operation will be equivalent to a manual steering.

Abstract: A controllable mobile apparatus such as a mobile robot travels to a commanded destination under the control of a guidance system that provides speed and direction commands to the controllable mobile apparatus. A plurality of wheels carry the mobile apparatus to the commanded position in response to the speed commands from the guidance system. Steering commands will cause the selected members of the plurality of wheels to vary their angles by a predetermined amount in response to the steering commands that are provided by the guidance system. Additionally, a braking system is provided for stopping the controllable mobile apparatus when it encounters loss of power or communications with the guidance system.

Abstract: In order to prevent a sudden kickback through the steering wheel which tends to occur when an electrically powered steering motor is de-energized and the vehicle tires are distorted by steering a low speeds and act as springs which cause the steering shaft to suddenly rotate in the reverse direction to that induced by the motor immediately before the de-energization, a circuit is provided which upon a manually operable switch which controls the power supply being moved to an open position, continues to supply a gradually decreasing level of power to the motor control circuit so that in the event that the driver is still applying a torque to the steering wheel, the motor produces a gradually reducing torque which allows the tire distortion to be relieved slowly and obviate any shock to the driver via the steering wheel.

Abstract: In an electric power steering system (200) for vehicles including a driving control circuit (100) for feeding a driving control signal (Va) to a direct-current motor (20), which supplies auxiliary torque to an output shaft (4) mechanically interconnected through an interconnection member (8) with an input shaft (1). The auxiliary torque is supplied in accordance with an output signal (Vr, V1) from a torque detection mechanism (13) for the detection of steering torque (Ti) acting on the input shaft (1).The driving control signal (Va) comprises an armature voltage (Va) of the motor (20) having a value thereof proportional to the magnitude of the steering torque (Ti) acting on the input shaft (1).

Abstract: The present invention provides a controller for a power steering control system with a current limiter for limiting current to be fed to a power steering motor, in accordance with a power source voltage, whereby the power source is prevented from falling into an overdischarge state while a power steering function is performed. An additional feature of the present invention is an idle speed control device for increasing the engine idle speed when the current of the power steering motor reaches a predefined level.

Abstract: An electromagnetic servo unit is constituted with an outer casing (1), a first shaft (8) and a second shaft (5) both rotatably supported by the casing, an electric motor (101) built in the casing coaxially with the second shaft, the electric motor having an armature (10, 11) coaxially mounted on the second shaft, a torque detecting mechanism (8b, 22, 16, 21, 12) for detecting torque applied to either of the first and second shafts, and a control mechanism (21, 14, 15) for, receiving a detection signal from the torque detecting mechanism, controlling to start the electric motor. The torque detecting mechanism is arranged inside the casing, and the first and second shafts are mutually actuatably engaged with each other within the casing through the torque detecting mechanism. Preferably, the first and second shafts are coaxially supported by the casing, and have a relative angular displacement there between made use of for, when it is developed exceeding a predetermined angle range (.theta.

Abstract: An electromagnetic servo device for electric power steering system for vehicles including a driving control circuit (100) adapted to generate a torque magnitude signal (Sa) and a torque direction signal (Sdr, Sdl), based on an output signal (VR, VL) from a torque detection mechanism (11) for detecting steering torque (Ti) acting on an input shaft (1) connected to a steering wheel and an output signal (Vf) from a vehicle speed detection mechanism (50), and to feed, to an electric motor (18) for applying auxiliary torque to an output shaft (4) operatively interconnected with a steered wheel, an armature current (Io) of such a magnitude and in such a direction of conduction as desirous in accordance with both the torque magnitude signal (Sa) and the torque direction signal (Sdr, Sdl), and a dead zone (2K.sub.1 or Dl, Dm, Dh) set for the torque magnitude signal (Sa), wherein the dead zone (2K.sub.

Abstract: A motor-driven power booster suitable for use in a motor-driven power steering system. The power booster comprises a casing, input and output shafts rotatably supported on the casing, a first motor for driving the output shaft, a second motor for driving the input shaft, an angle detector operatively cooperating with the first and second shafts for generating an output signal dependent on angular positions of the input and output shafts, and an electric circuit for supplying electric power to the first motor to apply an output torque to the output shaft in response to the output signal from the angle detector and for supplying electric power to the second motor to apply a reactive torque to the input shaft in response to the electric power supplied to the first motor. Since the input and output shafts are mechanically uncoupled, desired output-torque vs. reactive-torque characteristics can easily be attained by the power booster.

Abstract: An electric power steering apparatus causes a bridge circuit and a driver circuit to control normal and reverse rotation operations of a motor. The bridge circuit is constituted by transistors. The driver circuit is connected to a power source and also is connected to the bridge circuit so as to drive the bridge circuit. A diode is inserted between the power source and the bridge circuit, and the polarities of the diode are set such that a voltage at the bridge circuit is lower than that at the driver circuit.

Abstract: An electromagnetic servo device (200) includes a driving control circuit (100) adapted for, in accordance with an output signal (VR, VL) from a torque detection mechanism (11) for detecting steering torque (Ti) acting on an input shaft (1), providing a first control signal (Vmo), to thereby feed an armature current (Io) of a controlled quantity in a controlled direction, to an electric motor (18) for generating auxiliary torque to be applied to an output shaft (4) and a second control signal (Vcl), to thereby control, an electromagnetic clutch (41) for transmitting motor torque of the electric motor (18) as the auxiliary torque to the output shaft (4).The second control signal (Vcl) has fed back thereto a signal (Vf) according to the actual quantity of the armature current (Io).

Abstract: A driving control method for an electromagnetic servo device including a driving control circuit adapted to generate a torque magnitude signal and a torque direction signal on the basis of an output signal from a torque detection mechanism for detecting torque acting on an input shaft in relation to an output shaft and to send an armature current of such a magnitude and of such a polarity as desirous in accordance with the torque magnitude and direction signals to an electric motor for additionally providing auxiliary torque for the output shaft, comprises a step of setting the width of a dead zone of the torque magnitude signal wider than that of a dead zone of the torque direction signal.

Abstract: A method and device for controlling a power steering apparatus for performing power steering by controlling a rotational speed of a motor-driven oil pump, wherein an alarm signal is generated when the power steering apparatus is overloaded, and a current is not supplied to a motor for a predetermined period of time when the power steering apparatus is overloaded.

Abstract: A control unit for automatically controlling the angular position of a reversible, motorized device, such as an antenna rotor, in response to a signal from an external sensor, such as a potentiometer coupled to the rotating shaft of a windvane. The unit includes integrated circuits and other electronic components for monitoring the windvane signal and for activating the rotor, as necessary, to maintain its alignment with the sensed wind direction. The unit also comprises means for providing: a no-response zone of adjustable width about the momentary, average wind direction; an adjustable, time delayed response to changes in wind direction; an automatic reversal of rotation if the rotor approaches the .+-.180.degree. position while searching for the wind direction; an automatic disabling of the rotor for windspeeds less than a selectable, threshold value.

Abstract: A method and a control system for controlling the height level position and horizontal movement of a suction device which is vertically movably suspended from a horizontally movable supporting device according to variations of the inclination, or angular velocity, of a flexible suspending element in relation to the vertical, on which element the suction device is suspended.

Abstract: An attitude control system for a substantially zero momentum spacecraft is arranged to minimize the attitude errors during periods of reaction wheel speed reversals. Wheel speed is sensed by a suitable device such as a tachometer or Hall elements. Spacecraft three axis attitude is sensed by suitable sensors such as sun sensors, star sensors, gyroscopes or earth horizon sensors. A control network is provided to generate the wheel torque commands necessary to maintain proper three axis attitude. During periods of wheel speed reversal, the control network includes appropriate compensation terms and corrections to the wheel torque command.