| 摘要 |
PROBLEM TO BE SOLVED: To improve or eliminate the sense of incompatibility in steering in association with a change in the source voltage. SOLUTION: A motor M to generate a steering auxiliary force operates with the power fed from a battery 5 via a driver circuit 3. The motor M is feedback controlled by a PI control loop comprising a PI control part 16, duty setting part 17, PWM control part 18, driver circuit 3, current sensing part 8 and subtraction part 23. A voltage change of the battery 5 is sensed by a battery voltage sensing circuit 12 and a differentiating circuit 13. The value corresponding to the sensed portion of voltage change is added to the target current value set by a target current setting part 11. Also this value corresponding to the voltage changed portion is added to the duty set by the duty setting part 17 for the PWM control of the driver circuit 3. |
