| 摘要 |
In the conventional power steering control system, a road surface reaction torque is obtained by subtracting a motor inertia torque from a value obtained by adding a steering wheel steering torque and a motor torque and passing the value through a primary filter. In such computation, there is a disadvantage that high frequency components contained in steering wheel manipulation force brings about am unusually large steering wheel return force, and this gives a driver a feeling something like difficulty in adapting himself to the power steering. The system according to the invention is provided with a road surface reaction torque detector 115S in which a motor inertia torque is subtracted from a value obtained by adding a steering torque and a motor torque, and the value is passed through two stages of primary filters 100, 101 connected in two series thereby obtaining a road surface reaction torque. In such computation, inertia term of the steering wheel manipulation force does not depend on the frequency and the high frequency components do not brings about any unusually large steering wheel return force, and therefore the driver can drive without feeling something like difficulty in adapting himself to the power steering.
|
