| 摘要 |
An electric power steering (EPS) apparatus 1 includes a motor 12, an EPS actuator 10, a torque sensor 14, and an ECU 11. The EPS actuator 10 uses the motor 12 as a drive source to apply assist force to a steering system, thereby assisting a steering operation. The torque sensor 14 detects a steering torque T of the steering system. The ECU 11 controls the operation of the EPS actuator 10. Based on the steering torque T detected by the torque sensor 14, the ECU 11 computes a basic shift amount µts_b of the assist force applied to the steering system. The ECU 11 determines which one of returning, holding, and turning is the state of the steering operation. When the state of the steering operation is returning or holding, the ECU 11 executes compensation control for correcting the steering torque T, which is used in the computation of the basic shift amount µts_b of the assist force, thereby increasing the assist force applied to the steering system. The ECU 11 subjects the steering torque shift control amount µts to a filtering process using a low pass filter, thereby inhibiting the steering torque shift control amount µts from sharply changing. When the state of the steering operation is turning, the ECU 11 changes a filter constant of the low pass filter so as to reduce the filtering effect.
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