| 摘要 |
PROBLEM TO BE SOLVED: To prevent a generation of a sense of lost steering without unnecessarily increasing a viscosity compensation current in an electric power steering device. SOLUTION: A filter part 110 of a frequency characteristic in which a gain curve has a peak near a resonance frequency of a yaw rate by HPF 102 and LPF 104 produces a steering angular velocity signalωc in which a frequency component near the resonance frequency of the yaw rate is emphasized at a viscosity compensation part. Whereas, a non-sensitive ban treatment signal production part 120 produces a non-sensitive band treatment signal Dωwhich becomes '0' when a value of an input steering angular velocity signalωis in a predetermined range near 0 and which becomes '1' when it is at the outside of the predetermined range. A multiplier 130 produces a steering angular velocity signalωv for viscosity compensation by multiplying of the steering angular velocity signalωc after the filter treatment and the non-sensitive ban treatment signal Dω. A viscosity compensation current operation part 140 determines a viscosity compensation current value Ivc corresponding to the steering angular velocity signalωv for viscosity compensation and a car speed signal Vs. COPYRIGHT: (C)2004,JPO |
