| 摘要 |
(Problem) To provide an electric power steering device in which: a vibration component having an arbitrary amplitude and an arbitrary frequency bandwidth is extracted in accordance with a motor angular velocity, and a vibration component having a predetermined frequency bandwidth is extracted in accordance with a motor angular acceleration; and a vibration suppression compensation value calculated in accordance with the extracted vibration components is restored to an electric current instruction value, whereby the vibration can be effectively suppressed and a deterioration in steering performance such as an increase in the sense of handling inertia can be minimized. (Solution) Provided is an electric power steering device in which the force of assistance by a motor is applied to the steering system of a vehicle, wherein the electric power steering device is provided with: an electric current instruction value determining unit that determines an electric current instruction value on the basis of a steering torque and the vehicle speed; a vibration extraction filter that extracts a vibration component 1 having a predetermined amplitude and a predetermined frequency bandwidth 1 in accordance with the motor angular velocity; a vibration extraction unit that extracts a vibration component 2 having a predetermined frequency bandwidth 2 in accordance with the motor angular acceleration; a first compensation value calculating unit that calculates a vibration suppression compensation value 1 on the basis of the vibration component 1 extracted by the vibration extraction filter; and a second compensation value calculating unit that calculates a vibration suppression compensation value 2 on the basis of the vibration component 2 extracted by the vibration extraction unit, vibration of the motor being suppressed by restoring the calculated vibration suppression compensation value 1 and the vibration suppression compensation value 2 to the electric current instruction value. |
