| 摘要 |
<p>PROBLEM TO BE SOLVED: To reduce a sense of incongruity in steering and improve the steering feeling by driving and controlling steering shaft drive means based on a deviation between steering force and steering reaction force and a deviation between a steering angle and a steering displacement amount. SOLUTION: At the initial time of steering, if a control amount bX (b is a coefficient equivalent to a steering displacement gear ratio) which is in proportion to a steering displacement amount X of a steering shaft 13 obtained based on the results of the detection of a steering displacement amount sensor 17 is delayed for an increase of a target control amountθ, steering reaction force increases due to an increase of a rotation control amount Mm of a steering shaft motor 3 in accordance with an abrupt increase of the deviation (θ-bX) to suppress an increase of a rotation angle of a steering wheel 1. This action acts greatly at the initial time of steering, and the deviation (θ-bX) decreases gradually as time elapses due to the action of bX which increases to prevent an abrupt increase of steering force after that. Consequently, it is possible to eliminate a deviation in phase between a steering amount of the steering wheel 1 and steering reaction force applied to the steering wheel 1 to improve the steering feeling.</p> |
