The present invention discloses a drive-by-wire electro-hydraulic steering system based on a double-winding motor and a hybrid control method. The steering system includes a steering wheel (1), a steering column assembly, a road sense assembly, an electro-hydraulic power-assisted module, a double-winding motor power-assisted module (28), a steering control unit, an electromagnetic clutch (8), a steering tie rod (17), a steering trapezoid (13) and steering wheels (12). The steering system can be switched among various steering work modes according to work conditions of a vehicle, meets steering requirements under various work conditions, uses a work mode that two sets of windings of the double-winding motor work at the same time, and has a motor winding redundancy function. When one set of windings fails, the other set of windings can drive the motor to provide power-assisted torque.

When starting automatic pulling-in control, an electronic control unit calculates a temperature increase amount ΔTi of a motor caused by the execution of the automatic pulling-in control and a temperature increase amount ΔTo of the motor caused by the execution of automatic pulling-out control. Based on the current temperature of the motor, the temperature increase amount ΔTi, and the temperature increase amount ΔTo, the electronic control unit obtains a predicted temperature of the motor of a case in which the automatic pulling-out control is executed subsequent to the automatic pulling-in control. When the predicted temperature is lower than an allowable upper limit, starting of the automatic pulling-in control is permitted. When the predicted temperature is higher than or equal to the allowable upper limit, starting of the automatic pulling-in control is prohibited.

When starting automatic pulling-in control, an electronic control unit calculates a temperature increase amount ΔTi of a motor caused by the execution of the automatic pulling-in control and a temperature increase amount ΔTo of the motor caused by the execution of automatic pulling-out control. Based on the current temperature of the motor, the temperature increase amount ΔTi, and the temperature increase amount ΔTo, the electronic control unit obtains a predicted temperature of the motor of a case in which the automatic pulling-out control is executed subsequent to the automatic pulling-in control. When the predicted temperature is lower than an allowable upper limit, starting of the automatic pulling-in control is permitted. When the predicted temperature is higher than or equal to the allowable upper limit, starting of the automatic pulling-in control is prohibited.

A control device controls a motor which includes a first stator coil and a second stator coil insulated from each other. The control device includes: a first drive circuit that is connected to the first stator coil; a second drive circuit that is connected to the second stator coil; a first processing circuit; and a second processing circuit. The first processing circuit increases an output of an integral element according to the number of control systems when the second processing circuit performs a process of switching a first use and operation process to a second use and operation process.

Disclosed is a power steering apparatus including: a rack shaft that includes a rack, and moves front wheels; a steering wheel-side pinion shaft that includes a pinion meshing with steering wheel-side rack teeth of the rack shaft, and is rotated along with the steering of a steering wheel; an assistance unit-side pinion shaft that includes a pinion meshing with an assistance unit-side rack of the rack shaft, and is driven by an electric motor to rotate so as to assist the rotation of the steering wheel-side pinion shaft; and a steering angle sensor that is provided on the assistance unit-side pinion shaft, and detects a rotational angle of the assistance unit-side pinion shaft.

The present invention relates to an electric power steering apparatus and a method of controlling the same. The electric power steering apparatus includes an electric power steering apparatus including a steering motor that assists the steering force of the steering wheel; a position sensor that measures the rotational angle of the steering motor; an angle sensor that measures the rotational angle of an output end of an output shaft connected to the steering wheel; a compensation unit that calculates the difference between an angular speed of the steering motor and an angular speed of the output end of the output shaft by using the rotational angle measured by the position sensor and the rotational angle measured by the output end of the output shaft; and a steering control unit that controls a current input to the steering motor to compensate for the difference between the angular speed of the steering motor and the angular speed of the output end of the output shaft, according to the calculation result from the compensation unit. Accordingly, responsiveness and stability can be improved during a steering operation of a steering wheel by decreasing the difference between the rotational speeds of a steering motor and an output end of an output shaft that occurs due to a mechanical gap of the steering motor.

A control method and apparatus, which are applied to a vehicle with an electric power steering system. The electric power steering system comprises a first control subsystem and a second control subsystem. The method comprises: acquiring a front steering angle, a steering torque, a yaw rate and a vehicle speed of a vehicle; according to the front steering angle, the steering torque, the yaw rate and the vehicle speed, determining a vehicle yaw rate associated with a first control subsystem; determining, on the basis of the vehicle yaw rate, an expected deviation value associated with a second control subsystem; and determining a control parameter on the basis of the expected deviation value, such that the vehicle adjusts, according to the control parameter, the steering torque to run. According to the method, a vehicle can be controlled to adjust a steering torque according to a control parameter, thereby enhancing the overall vehicle handling characteristic of the vehicle, avoiding using a relatively large braking operation to greatly reduce the speed of the vehicle, and avoiding the situation of shortening the service life of tires.

An electric power steering device includes a steering angle reference yaw rate calculation section that calculates a steering angle reference yaw rate by using a speed of a vehicle and a steering angle of a steering wheel, a torque estimation device that estimates a self-aligning torque (SAT) generated in a turning wheel of the vehicle on the basis of a measured yaw rate or the steering angle reference yaw rate, the absolute value of which is smaller, and the speed of the vehicle, and estimates a required assist torque on the basis of the estimated SAT, and an abnormality determination section that determines whether or not a steering torque sensor is abnormal. If the steering torque sensor is abnormal, an EPS control device controls drive of an assist motor using the required assist torque estimated by the torque estimation device, in place of a steering torque.

To provide an electric driving device and an electric power steering device that have a smaller size in the axial direction and suppress stress on a circuit board due to electrical connection between a motor and the circuit board if a terminal block is provided. An electric driving device includes a motor and an electronic control unit that controls rotation of the motor. The electronic control unit includes a first circuit board, a first heat sink, a second heat sink, and a terminal block. The second heat sink sandwiches the first circuit board between it and the first heat sink. The terminal block is fixed to the side surface of the second heat sink and electrically connects motor coil wiring to the first circuit board.

[Problem] An object of the present invention is to miniaturize and integrate plural power semiconductors in an electronic circuit in a low cost without occurrence of a problem of a heat dissipation or the like.

[Means for solving the problem] The present invention is a power semiconductor module that comprises plural arrangements of power semiconductor elements comprising a power semiconductor bare chip which one electrode portion thereof is connected to a metal plate which at least one external connecting terminal is formed and other external connecting terminals which are electrically connected to other electrode portions of the power semiconductor bare chip, and that are contained in a same package, comprises wherein the power semiconductor elements are basically same outline, electrodes of the bare chip of the power semiconductor elements are mutually connected between the power semiconductor elements with a metal connector or a wiring, and the package is a resin mold package that seals the power semiconductor elements with an electrical insulating resin.