| 摘要 |
<p>PURPOSE:To check any occurrence of a minute vibration or the like in a steering system in the case where a handwheel receives a reaction from a spring element and is suddenly put back in its place and so on, by making a differentiating signal reducibly compensable at time of doing a steering assist in response to an add signal between a steering torque signal and its differentiating signal. CONSTITUTION:Assist command part 1 operates an assist torque value on the basis of an assist torque function at an assist torque function part 11 by inputting such an signal that adds a steering torque signal of a twisting torque sensor 2 and a differentiating signal being composed of differentiating this steering torque signal with a phase compensation part 12. In addition, a phase compensation value is found out on the basis of a phase compensation function to be set by the said differentiating signal at a phase compensation function part 13, and this value is added to an assist torque value, setting it down to an assist command value, and thereby a motor 4 is rotated and driven. In this case, when the absolute value of steering torque is less than the specified value and during a reduction in this steering torque, the variation becomes more than the specified value, there is provided a phase compensation control part 5 which variably controls the differentiating signal of the phase compensation part 12 so as to be decreased.</p> |
