STEERING GEAR FOR VEHICLE

摘要

PROBLEM TO BE SOLVED: To provide a steering gear for a vehicle capable of suppressing further additional steering by increasing a reaction force with a reaction force motor when voltage between motor terminals reaches a predetermined voltage in steering. SOLUTION: The steering gear has a first ECU 310 and a second ECU 320 for generating q-axis current commands Iq1* and Iq2* of a steering motor 211 or the like in response to a steering angle and controlling an actual position of the turning angle of a steering wheel via the steering motor. The second ECU 320 determines whether the voltage between motor terminals applied to a steering motor 212 in response to the current commands is saturated and selects one of q-axis actual current values Iqr1 and Iqr2 of the steering motor based on the determination result and q-axis current commands Iq1* and Iq2* of the steering motors 211 and 212. The second ECU 320 estimates steering axial force of a shaft based on the selected current value, and controls the reaction force motor 14 for applying a reaction force to a steering wheel 10 based on the steering axial force. COPYRIGHT: (C)2005,JPO&NCIPI