Title:
AUTOMATIC DRIVE UNIT
Document Type and Number:
Japanese Patent JP2016132408
Kind Code:
A
Abstract:
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
Inventors:
TOMITA AKIHIRO
TAKANO TOSHIO
TAKANO TOSHIO
Application Number:
JP2015009517A
Publication Date:
July 25, 2016
Filing Date:
January 21, 2015
Export Citation:
Assignee:
JTEKT CORP
International Classes:
B62D6/00; B62D5/04