| 摘要 |
<p>PROBLEM TO BE SOLVED: To appropriately compensate the moment of inertia for an upper part without executing controlin the reverse direction even if reverse input is applied from road surfaces in the electrically driven power steering device. SOLUTION: Detected signals from respective sensors are inputted, and conversion is performed for input torque Tin, vehicle speed V, and phase angleθ(S10). An assist torque command value Tcmd is operated based in Tin and V, angular velocity dθ/dt and angular acceleration d<2>θ/dt<2> are operated based onθ(S20 and S30). The moment of inertia J for handle is read in, and it is multiplied by d<2>θ/dt<2> , so that handle inertial torque Tj is thereby operated (S40 and S50). Next, input torque Tin is multiplied by angular velocity dθ/dt, and it is judged whether the result is negative or positive, and only when the result is positive, correction for an assist torque value Tcmd is thereby made (S60 through S90). As a result, no compensation for the moment of inertia for an upper part is made with respect to reverse input from road surfaces, and erroneous operations thereby will never take place.</p> |
