| 摘要 |
PROBLEM TO BE SOLVED: To apply damping torque conforming to a steering condition and prevent assist quantity insufficiency during turning and damping quantity insufficiency during restoration in an electric power steering device provided with an assist motor 10 generating assist torque assisting steering torque by a driver, assisting steering force of a steering system, and applying the damping torque responding to a steering angle speed to the assist torque. SOLUTION: A steering condition discriminating means 29 is provided for discriminating a steering condition such as turning or restoration on the basis of each output of a steering angle speed estimating means 26, a steering angle calculating means 28a and a basic assist torque calculating means 28b. Damping torque of magnitude satisfying 'damping torque in a restoring stroke > damping torque in a turning stroke > damping torque in the restoring stroke and an assist dead zone' is applied by a damping torque calculating means 28d in response to the discriminated steering condition. |
