WO2006109809A1 - 電動パワーステアリング装置 - Google Patents
電動パワーステアリング装置 Download PDFInfo
- Publication number
- WO2006109809A1 WO2006109809A1 PCT/JP2006/307680 JP2006307680W WO2006109809A1 WO 2006109809 A1 WO2006109809 A1 WO 2006109809A1 JP 2006307680 W JP2006307680 W JP 2006307680W WO 2006109809 A1 WO2006109809 A1 WO 2006109809A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- axis
- value
- voltage
- phase
- motor
- Prior art date
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Classifications
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/06—Rotor flux based control involving the use of rotor position or rotor speed sensors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
- B62D5/046—Controlling the motor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
- B62D5/046—Controlling the motor
- B62D5/0463—Controlling the motor calculating assisting torque from the motor based on driver input
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
- H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
- H02P27/048—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using AC supply for only the rotor circuit or only the stator circuit
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
- H02P29/02—Providing protection against overload without automatic interruption of supply
- H02P29/024—Detecting a fault condition, e.g. short circuit, locked rotor, open circuit or loss of load
- H02P29/026—Detecting a fault condition, e.g. short circuit, locked rotor, open circuit or loss of load the fault being a power fluctuation
Definitions
- the present invention detects a steering torque applied to a steering member, determines a two-phase current in a dq coordinate of the motor based on the detected steering torque, and flows the determined two-phase current to the motor.
- the present invention relates to an electric power steering device that assists steering by driving a motor by determining a two-phase voltage based on a power supply voltage and applying a three-phase voltage obtained by converting the determined two-phase voltage into a three-phase.
- An electric power steering device that reduces the burden on the driver while driving a motor to assist steering is provided by an input shaft connected to a steering member (steering wheel, steering wheel), a pion, a rack, and the like.
- An output shaft connected to the steered wheel and a connecting shaft that connects the input shaft and the output shaft.
- the torque sensor detects the steering torque value applied to the input shaft by the torsion angle generated on the connecting shaft, and the detected steering torque value Based on the above, the steering assist motor linked to the output shaft is driven and controlled.
- a brushless DC motor has recently been used.
- the field current is controlled to be sinusoidal with respect to the position of the magnetic pole of the rotating permanent magnet, and each phase voltage applied to the motor is also sinusoidal. (When rotating at a constant speed).
- the maximum value of the amplitude must be 1Z2 or less of the power supply voltage Ed.
- V * v ⁇ (2/3) (V * dcos (0 re one (2 ⁇ / 3)) one V * q sin ( ⁇ re one (2 ⁇ / 3))) (1)
- V * w -V * u -V * v
- the limit values Vdmax and Vqmax of the d-axis and q-axis voltage command values have been made constant.
- Patent Document 1 discloses electric power steering equipped with limiter means for limiting each phase voltage command value of a brushless motor for assisting steering to a range of -Ed / 2 to Ed / 2 (Ed: power supply voltage). An apparatus is described.
- Patent Document 1 Japanese Patent Laid-Open No. 2003-304697
- the conventional electric power steering apparatus has constant values Vdmax and Vqmax of the d-axis and q-axis voltage command values of the brushless DC motor.
- Vdmax and Vqmax of the d-axis and q-axis voltage command values of the brushless DC motor.
- the q-axis voltage command value can be taken up to Vqa, but in reality it is limited to the q-axis limit value Vqmax or less. Is done.
- the power supply voltage cannot be used to the maximum extent except in a limited case where the voltage command values of the d-axis and q-axis take the respective limit values Vd max and Vqmax.
- the present invention has been made in view of the above-described circumstances, and an object of the present invention is to provide an electric power steering apparatus that can make maximum use of a power supply voltage of a motor. Means for solving the problem
- a torque sensor for detecting a steering torque applied to the steering member
- Voltage determining means for determining the q-axis voltage Vq and the d-axis voltage Vd based on the power supply voltage Ed so that the q-axis current and the d-axis current determined by the current determining means flow to the motor;
- Limiting means for limiting the q-axis voltage Vq to satisfy
- Conversion means for three-phase converting the q-axis voltage Vq restricted by the restriction means and the d-axis voltage Vd determined by the voltage determination means to output a three-phase voltage
- Electric power steering apparatus comprising: driving means for driving a motor based on the output three-phase voltage.
- the limiting means includes
- Vq value is obtained by linear interpolation based on the given Vd value and the pair. Further, the q-axis voltage Vq is limited to the Vq value or less.
- the steering torque applied to the steering member is detected, and the q-axis current and the d-axis current in the dq coordinate of the motor are determined based on the detected steering torque.
- the power supply voltage so that the defined q-axis current and d-axis current flow to the motor.
- the q-axis voltage Vq and d-axis voltage Vd are determined, and the motor is driven to assist steering by applying the three-phase voltage obtained by converting the determined q-axis voltage Vq and d-axis voltage Vd to three-phase.
- Z3 is the case where the voltage command value for each phase is always limited so that the third harmonic is superimposed on the sine wave.
- the limiting means indicates a circle in the dq coordinates.
- Vq value is obtained by linear interpolation based on given Vd value and those pairs, and q-axis voltage is less than the obtained Vq value Since Vq is limited, it is possible to realize an electric power steering device that can make the most of the power supply voltage of the motor.
- FIG. 1 is a schematic diagram showing the configuration of an embodiment of an electric power steering apparatus according to the present invention.
- FIG. 2 is a block diagram showing a main configuration of the electric power steering device shown in FIG. 1.
- FIG. 3 is a flowchart showing an operation example of the electric power steering apparatus according to the present invention.
- FIG. 4 is an explanatory view showing an operation example of the electric power steering apparatus according to the present invention.
- FIG. 5 is a characteristic diagram showing an example of a characteristic curve of a brushless DC motor used in the electric power steering apparatus.
- FIG. 6 is an explanatory view showing another operation example of the electric power steering apparatus according to the present invention.
- FIG. 7 is an explanatory view showing an operation example of a conventional electric power steering apparatus. (Detailed description of preferred embodiments)
- FIG. 1 is a schematic diagram showing a configuration of an embodiment of an electric power steering apparatus according to the present invention.
- This electric power steering apparatus includes, for example, a steering wheel 1 for steering (steering member), a brushless DC motor 6 for assisting steering driven according to steering of the steering wheel 1, and a reduction gear mechanism 7 for rotating the motor 6.
- the transmission means 13 for transmitting to the steering mechanisms 12 and 12 via the ECU 13 and the ECU (controller) 5 for driving and controlling the motor 6 are provided.
- the ECU 5 is provided with a vehicle speed signal output from a vehicle speed sensor 4 that detects the traveling speed of the vehicle.
- the transmission means 13 includes an output shaft 8 connected to an input shaft 2 connected to the handle 1 via a torsion bar (not shown), and a connecting shaft 9 connected to the output shaft 8 via a universal joint.
- the pinion shaft 10 is connected to the connection shaft 9 via a universal joint, and the rack teeth mesh with the pinion of the pinion shaft 10, and the left and right steered wheels A and A have steering mechanisms 1 2 and 12 and a rack shaft 11 connected to each other.
- the input shaft 2 and the transmission means 13 constitute a steering shaft 14.
- a torque sensor 3 that detects a steering torque generated by the operation of the handle 1 by the twist generated in the torsion bar when the handle 1 is operated is disposed.
- the ECU 5 is configured to drive and control the motor 6 based on the steering torque.
- the reduction gear mechanism 7 includes a worm connected to the output shaft of the motor 6 and a worm wheel fitted in the middle of the output shaft 8, and transmits the rotation of the motor 6 to the worm and worm wheel force output shaft 8. It is constituted as follows.
- the steering operation force generated by the operation of the handle 1 is racked via the input shaft 2, the torsion bar (not shown), the output shaft 8, the connecting shaft 9, and the pinion shaft 10. Is transmitted to the shaft 11, the rack shaft 11 is moved in the axial direction, and the steering mechanism 12, 1 Operate 2.
- the ECU 5 controls the drive of the motor 6, and transmits the driving force of the motor 6 to the output shaft 8, thereby assisting the steering operation force and steering. To reduce the labor burden on the driver.
- FIG. 2 is a block diagram showing a main configuration of the electric power steering apparatus shown in FIG.
- the steering torque value Ts detected by the torque sensor 3 is given to the phase compensator 31, and the steering torque value phase-compensated by the phase compensator 31 is stored in the torque-current table 33 of the EC U5.
- the vehicle speed value V s 1S detected by the vehicle speed sensor 4 is provided to the torque-current table 33 and the convergence correction unit 27.
- the target value of the motor current increases proportionally as the steering torque value increases, and when the steering torque value exceeds a predetermined value, the target value is reached.
- a function that saturates the value is variably determined according to the vehicle speed value Vs. The function is determined so that the ratio of the target value of the motor current to the steering torque value decreases as the vehicle speed value Vs increases, and the saturation value of the target value decreases.
- the target value It of the motor current determined by the torque-current table 33 is given to the adding means 20 and the command current direction specifying unit 29.
- the target value It of the motor current is a signed value indicating the target value of the d-axis current in the motor control using the dq coordinate transformation, and its positive / negative indicates the steering assist direction.
- the command current direction designating unit 29 creates a direction signal Sdir indicating the direction of steering assistance based on the sign of the given target value It of the motor current, and gives it to the convergence correction unit 27.
- the motor 6 that is a brushless motor for assisting steering includes a position sensor 25 that detects the rotational position of the rotor, and the position signal detected and output by the position sensor 25 is a rotor angle sensor in the ECU 5. 62, converted into an electrical angle of 0 re, and supplied to the sine wave ROM table 40 and the rotor angular velocity calculation unit 42.
- the sine wave ROM table 40 outputs a sine wave value sin ⁇ re according to the given electrical angle 0 re and supplies it to the three-phase AC Zdq coordinate conversion unit 38 and the dqZ three-phase AC conversion unit 32.
- the rotor angular velocity calculation unit 42 calculates the rotor angular velocity core based on the given electrical angle ⁇ re and gives it to the convergence correction unit 27.
- the convergence correction unit 27 calculates a compensation current value ic for ensuring vehicle convergence based on the given vehicle speed value Vs, direction signal Sdir, and rotor angular speed core. Create and give to addition means 20.
- the adding means 20 adds the compensation current value ic to the motor current target value It, and gives the result to the subtracting means 24 as the q-axis current command value i * q.
- the V-phase current detector 54 and the u-phase current detector 56 in the ECU 5 detect the current values iv and iu flowing in the v-phase field coil and u-phase field coil of the motor 6, respectively, and AC Zdq is given to the coordinate converter 38.
- the three-phase AC Zdq coordinate conversion unit 38 converts the q-axis current value iq into the q-axis current value iq and the d-axis current value id based on the given current values iv and iu and the sine wave value sin ⁇ re.
- Subtraction means 2 converts the q-axis current value iq into the q-axis current value iq and the d-axis current value id based on the given current values iv and iu and the sine wave value sin ⁇ re.
- the subtraction means 24 calculates a deviation eq between the q-axis current command value i * q and the q-axis current value iq, and gives the deviation eq to the q-axis current PI control unit 28.
- the subtracting means 22 calculates a deviation ed between the d-axis current command value i * d and the d-axis current value id which is 0 because it is not involved in the torque, and gives the deviation ed to the d-axis current PI control unit 26.
- q-axis current PI control unit 28 and d-axis current PI control unit 26 calculate q-axis voltage Vq and d-axis voltage Vd for PI control based on the given deviation eq and deviation ed.
- Restriction processing unit (restriction means) 30 provides the given d-axis voltage Vd to dqZ three-phase AC conversion unit 32 as d-axis voltage command value V * d.
- Ed power supply voltage
- the dqZ three-phase AC converter 32 performs the dq reverse conversion (three-phase conversion) based on the given q-axis voltage command value V * q and d-axis voltage command value V * d, and the three-phase u-phase voltage command
- the value V * u and V-phase voltage command value V are calculated and given to the subtracting means 34 and the three-phase PWM modulation unit 50.
- the three-phase PWM modulation unit 50 performs pulse width modulation on the given three-phase voltage command values V * u, V * v, V * w, and drives the motor as three-phase PWM signals Su, Sv, Sw.
- the motor drive circuit 52 performs PWM drive of the motor 6 by switching between a field coil of each phase (not shown) and a power supply and a ground terminal by each given PWM signal Su, Sv, Sw (pulse signal). Motor 6 outputs torque Tm.
- the dqZ three-phase AC converter 32, the subtractor 24, the subtractor 22, the q-axis current PI controller 28, the d-axis current PI controller 26, the limit processor 30 and the subtractor 34 are realized by the microcomputer 21. Speak.
- the ECU 5 reads the position signal of the magnetic pole detected and output by the position sensor 25, converts it to the electrical angle ⁇ re by the rotor angle sensor 62, and converts the sine wave value sin ⁇ re by the electrical angle ⁇ re in the sine wave ROM table 40. Output (S10).
- the v-phase current detector 54 and the u-phase current detector 56 detect the current values iv and iu flowing in the V-phase field coil and u-phase field coil of the motor 6, respectively (S12).
- the ECU 5 performs the dq conversion to the q-axis current value iq and the d-axis current value id based on the current values iv and iu and the sine wave value si ⁇ ⁇ re in the three-phase AC Zdq coordinate conversion unit 38 (S14). .
- the ECU 5 calculates the deviation eq between the q-axis current command value i * q and the q-axis current value iq by the subtracting means 24, and the subtracting means 22 calculates the d-axis current command value i that is 0.
- the deviation ed between * d and d-axis current value id is calculated (S16).
- the q-axis current PI control unit 28 and the d-axis current PI control unit 26 calculate the q-axis voltage Vq and the d-axis voltage Vd for PI control based on the deviation e q and the deviation ed (S18).
- the ECU 5 sets the d-axis voltage Vd to the d-axis voltage command value V * d, and the q-axis voltage so that the voltage command value of each phase is always a sine wave.
- Vq The q-axis voltage command value V * q restricted to the following is created and restricted (S20). This As shown in Fig. 4, for example, when the d-axis voltage command value is Vdc, the q-axis voltage command value is The voltage value Vqc that can make maximum use of the power supply voltage indicated by can be taken.
- the ECU 5 uses the dqZ three-phase AC converter 32 and the subtracting means 34 to perform dq reverse conversion (three-phase conversion) based on the q-axis voltage command value V * q and the d-axis voltage command value V * d.
- the three-phase u-phase voltage command value V * u, V-phase voltage command value V * v, and w-phase voltage command value V * w are then calculated (S22).
- the three-phase PWM modulation section 50 modulates the three-phase voltage command values V * u, V * v, and V * w to change the pulse width to PWM signals Su, Sv, Sw, and the motor drive circuit
- the PWM signals Su, Sv, Sw are used to switch between the field coil of each phase and the power source and the ground terminal to output each phase voltage (S24) and return.
- the motor 6 is PWM driven by the output phase voltages.
- Fig. 5 is an example of a characteristic curve of the brushless DC motor 6.
- V * d and the q-axis voltage command value V * q are limited as in the conventional case, and FIG. This is a comparison with the case of restriction.
- the motor current and the motor applied voltage increase, the output torque increases, and the efficiency improves even at the same rotation speed.
- Vq values are obtained by linear interpolation based on the given Vd values and stored pairs. If the q-axis voltage Vq is limited below the Vq value, the computational load can be reduced.
- Vdl Vdl
- Vdl Vd2
- Vq (Vq2-Vql) (Vd Vdl) Z (Vd2— Vdl) + Vql
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Control Of Ac Motors In General (AREA)
- Control Of Motors That Do Not Use Commutators (AREA)
- Power Steering Mechanism (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
Description
Claims
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
EP06731627A EP1871001A1 (en) | 2005-04-12 | 2006-04-11 | Electric power steering system |
US11/918,242 US20090069980A1 (en) | 2005-04-12 | 2006-04-11 | Electric Power Steering System |
JP2007513018A JPWO2006109809A1 (ja) | 2005-04-12 | 2006-04-11 | 電動パワーステアリング装置 |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2005115038 | 2005-04-12 | ||
JP2005-115038 | 2005-04-12 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2006109809A1 true WO2006109809A1 (ja) | 2006-10-19 |
Family
ID=37087080
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP2006/307680 WO2006109809A1 (ja) | 2005-04-12 | 2006-04-11 | 電動パワーステアリング装置 |
Country Status (5)
Country | Link |
---|---|
US (1) | US20090069980A1 (ja) |
EP (1) | EP1871001A1 (ja) |
JP (1) | JPWO2006109809A1 (ja) |
CN (1) | CN101156313A (ja) |
WO (1) | WO2006109809A1 (ja) |
Cited By (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2009022074A (ja) * | 2007-07-10 | 2009-01-29 | Jtekt Corp | モータ制御装置 |
JP2009044822A (ja) * | 2007-08-07 | 2009-02-26 | Jtekt Corp | モータ制御装置 |
WO2009123113A1 (ja) | 2008-03-31 | 2009-10-08 | 株式会社ジェイテクト | モータ制御装置および電動パワーステアリング装置 |
US7960940B2 (en) | 2007-07-10 | 2011-06-14 | Jtekt Corporation | Motor control device |
JP2015042017A (ja) * | 2013-08-20 | 2015-03-02 | 株式会社デンソー | 交流電動機の制御装置 |
Families Citing this family (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20090240389A1 (en) * | 2006-05-31 | 2009-09-24 | Nsk Ltd | Electric power steering apparatus |
CN101934814B (zh) * | 2009-06-30 | 2011-11-23 | 上海联盛汽车电子有限公司 | 采用pwm变频策略驱动pmsm的电动助力转向*** |
CN103001579B (zh) * | 2012-11-16 | 2015-04-22 | 上海交通大学 | 基于双向dc-dc变换器的直流有源滤波器 |
US10088546B2 (en) * | 2013-08-09 | 2018-10-02 | Eaton Intelligent Power Limited | Method and apparatus to diagnose current sensor polarities and phase associations for a three-phase electric power system |
CN108768236A (zh) * | 2018-06-07 | 2018-11-06 | 深圳市道通智能航空技术有限公司 | 电机控制方法、装置、电子调速器和无人飞行器 |
DE102018218587A1 (de) * | 2018-10-30 | 2020-04-30 | Audi Ag | Verfahren zum Betreiben eines Lenksystems für ein Kraftfahrzeug sowie entsprechendes Lenksystem |
JP2020090168A (ja) * | 2018-12-05 | 2020-06-11 | 株式会社デンソー | 電動パワーステアリング装置 |
Citations (3)
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JP2000358393A (ja) * | 1999-06-11 | 2000-12-26 | Toyota Motor Corp | 電動機制御装置およびその方法 |
JP2003009598A (ja) * | 2001-04-16 | 2003-01-10 | Sanken Electric Co Ltd | 交流電動機のベクトル制御装置及び制御方法 |
JP2003304697A (ja) * | 2002-04-09 | 2003-10-24 | Koyo Seiko Co Ltd | 電動パワーステアリング装置 |
Family Cites Families (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US6658335B2 (en) * | 2001-10-11 | 2003-12-02 | Delphi Technologies, Inc. | Method and apparatus for motor velocity measurement compensation in electric power steering damping |
JP5055741B2 (ja) * | 2005-11-01 | 2012-10-24 | 日本精工株式会社 | 電動パワーステアリング装置の制御装置 |
-
2006
- 2006-04-11 JP JP2007513018A patent/JPWO2006109809A1/ja active Pending
- 2006-04-11 EP EP06731627A patent/EP1871001A1/en not_active Withdrawn
- 2006-04-11 US US11/918,242 patent/US20090069980A1/en not_active Abandoned
- 2006-04-11 CN CNA2006800118859A patent/CN101156313A/zh active Pending
- 2006-04-11 WO PCT/JP2006/307680 patent/WO2006109809A1/ja active Application Filing
Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
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JP2000358393A (ja) * | 1999-06-11 | 2000-12-26 | Toyota Motor Corp | 電動機制御装置およびその方法 |
JP2003009598A (ja) * | 2001-04-16 | 2003-01-10 | Sanken Electric Co Ltd | 交流電動機のベクトル制御装置及び制御方法 |
JP2003304697A (ja) * | 2002-04-09 | 2003-10-24 | Koyo Seiko Co Ltd | 電動パワーステアリング装置 |
Cited By (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2009022074A (ja) * | 2007-07-10 | 2009-01-29 | Jtekt Corp | モータ制御装置 |
US7960940B2 (en) | 2007-07-10 | 2011-06-14 | Jtekt Corporation | Motor control device |
JP2009044822A (ja) * | 2007-08-07 | 2009-02-26 | Jtekt Corp | モータ制御装置 |
WO2009123113A1 (ja) | 2008-03-31 | 2009-10-08 | 株式会社ジェイテクト | モータ制御装置および電動パワーステアリング装置 |
JP2009247147A (ja) * | 2008-03-31 | 2009-10-22 | Jtekt Corp | モータ制御装置および電動パワーステアリング装置 |
US8541965B2 (en) | 2008-03-31 | 2013-09-24 | Jtekt Corporation | Motor controller and electronic power steering apparatus |
JP2015042017A (ja) * | 2013-08-20 | 2015-03-02 | 株式会社デンソー | 交流電動機の制御装置 |
Also Published As
Publication number | Publication date |
---|---|
EP1871001A1 (en) | 2007-12-26 |
CN101156313A (zh) | 2008-04-02 |
US20090069980A1 (en) | 2009-03-12 |
JPWO2006109809A1 (ja) | 2008-11-20 |
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