PROBLEM TO BE SOLVED: To provide an automatic drive unit which does not cause a delay in a phase between two motors when driving a steering shaft by making the two motors cooperate with each other during automatic drive, and is favorable in a riding comfort.SOLUTION: In an automatic drive unit having two position/speed/current control parts which control two motor rotation angles of a single steering mechanism by using two motors 21A, 21B which generate drive forces on the basis of motor rotation angle commands which are inputted at each prescribed cycle, the automatic drive unit comprises: rotation angle sensors 22A, 22B for detecting two motor actual rotation angles; rotational speed calculation means which calculates motor actual rotational speeds by differentiating the two motor actual rotation angles; motor actual current detection sensors 35A, 35B which detect two motor actual currents; and control means which controls the motor rotation angles. The control means adds a difference between the two motor actual rotation angles to each position control command part, adds a difference between the two motor actual rotational speeds to each speed control command part, and adds a difference between the two motor actual currents to each current control command part.SELECTED DRAWING: Figure 2

    【課題】自動運転中にモータの2つを連動してステアリング軸を駆動する場合、2つのモータ間に位相の遅れのない乗り心地の良い自動運転装置を提供する。【解決手段】所定周期毎に入力されるモータ回転角指令に基づいて駆動力を発生する2つのモータ21A、21Bにより、1つの操舵機構の2つのモータ回転角を制御する位置、速度、及び電流制御部を2つ有する自動運転装置において、2つのモータ実回転角を検出する回転角センサ22A、22Bと、2つのモータ実回転角を微分してモータ実回転速度を演算する回転速度演算手段と、2つのモータ実電流を検出するモータ実電流検出センサ35A、35Bと、モータ回転角の制御を行う制御手段を備え、制御手段は、2つのモータ実回転角の差分をそれぞれの位置制御指令部に加算し、2つのモータ実回転速度の差分をそれぞれの速度制御指令部に加算し、2つのモータ実電流の差分をそれぞれの電流制御指令部に加算する。【選択図】図2


    Access

    Download


    Export, share and cite



    Title :

    AUTOMATIC DRIVE UNIT


    Additional title:

    自動運転装置


    Contributors:

    Publication date :

    2016-07-25


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



    AUTOMATIC DRIVE UNIT

    SUGAIWA TAISUKE / URANO HIROMITSU / KANEMICHI TOSHIKI | European Patent Office | 2016

    Free access

    AUTOMATIC DRIVE UNIT

    KASHIBA YUSUKE / MATSUBARA TOSHIYUKI | European Patent Office | 2016

    Free access

    AUTOMATIC DRIVE UNIT

    ICHIKAWA MAKOTO / ONODA YUKO / TOMITA AKIHIRO et al. | European Patent Office | 2016

    Free access

    AUTOMATIC DRIVE UNIT

    ICHIKAWA MAKOTO / ONODA YUKO / TOMITA AKIHIRO et al. | European Patent Office | 2016

    Free access

    AUTOMATIC DRIVE UNIT OF VEHICLE

    HIRANO SHU / SATO KOJI / TSUMURA YUKI | European Patent Office | 2018

    Free access