| 摘要 |
<p>PROBLEM TO BE SOLVED: To obtain a good sense of steering, without by detection of actual reaction force in a steering mechanism, by giving reaction force torque accurately corresponding to this actual reaction force to a steering means not mechanically connected to the steering mechanism. SOLUTION: In a steering device for an automobile provided with a steering wheel 2 not mechanically connected to a steering mechanism 1, a car speed sensor 5, 6 detecting a car speed, steering angle sensor 23, 24 detecting a control position of the steering wheel 2, and a tie rod displacement sensor 16 detecting an actual acting position of the steering mechanism 1, are provided, these sensor detection results are given to a steering control part 3. In the steering control part 3, based on a self aligning torque item based on a detection result of the car speed sensor 5, 6 and the tie rod displacement sensor 16, elastic resistance torque item in proportion to a deviation between detection results of the steering angle sensor 23, 24 and the tie rod displacement sensor 16, and an inertia resistance torque item in proportion to a timely change amount of this deviation, a target value of reaction force torque is obtained, in order to obtain this target value, a reaction force motor M2 is controlled.</p> |
