| 摘要 |
<P>PROBLEM TO BE SOLVED: To suppress large force from being rapidly transmitted to a torque transmission member when restriction of steering assistant torque is released after the peak torque transmitted to the torque transmission member is restricted by restricting the steering assistant torque when it reaches to a steering limitation position. <P>SOLUTION: When a motor torque variation ratio ΔTma is a threshold value ΔTth or higher for determining the steering limitation, a torque instruction value I<SB>M</SB>*' after compensation is restricted for a limitation time t<SB>L</SB>by a limiter 23d. Thereafter, a restriction degree of the torque instruction value I<SB>M</SB>*' after compensation is gradually relaxed by gradually increasing the limit value Lt of the limiter 23d, and the steering assistant torque is gradually reset to a value corresponding to the steering torque T. <P>COPYRIGHT: (C)2009,JPO&INPIT |
