| 摘要 |
[Problem] An object of the present invention is to provide an electric power steering apparatus that is possible to actively return the steering wheel to the neutral point at the vehicle running state to give back to a straight running state by calculating the return control current corresponding to the steering angle and the motor angular velocity/Gr ratio and by compensating the current command value. [Means for solving the problem] The present invention comprises an active-return control section that calculates a return control current based on a steering angle, the vehicle speed and a motor angular velocity/Gr ratio, and drives the motor by a compensated-current command value obtained by subtracting the return control current from the current command value, wherein the active-return control section comprises a base-return control current calculating section that calculates a base-return control current, a target steering velocity calculating section that calculates a target steering velocity, a return control gain calculating section that obtains a deviation between the target steering velocity and the motor angular velocity/Gr ratio and sign-processes, and calculates a return control gain by at least two among a P-control calculation, an I-control calculation and a D-control calculation, a limiter that limits a maximum value of the return control gain, and a correcting section to output the return control current by correcting the base-return control current with an output of the limiter. |
