| 摘要 |
PROBLEM TO BE SOLVED: To provide an electric power steering device having actual assist force following target assist force more quickly.SOLUTION: An assist command value operating section 33 includes: a torque shift control section 50; a phase delay compensation control section 51; a basic assist control section 52; and a phase advance compensation control section 53. A determination section 38 determines whether a motor 20 is in a high load continuation state on the basis of a current command value Ia* and a current limit value Ilim. The determination section 38 compares the current command value Ia* with the current limit value Ilim and compares the basic assist control amount Tas* with the current limit value Ilim so as to determine whether the motor 20 is in the high load continuation state and outputs a phase compensation OFF flag. The phase delay compensation control section 51 and the phase advance compensation control section 53 limit phase compensation when the phase compensation OFF flag shows "ON" and continues the phase compensation when the phase compensation OFF flag shows "OFF".SELECTED DRAWING: Figure 2 |
