STEERING CONTROL DEVICE AND STEERING-ASSISTING TORQUE CONTROL METHOD THEREOF

摘要

A steering control device capable of causing a steering torque to follow a target steering torque when a driver holds a steering wheel for steering, and making an adjustment so that the steering wheel returns to a neutral position at an appropriate speed, when the driver releases his or her hands from the steering wheel. A motor is controlled based on a motor steering assist torque, which is a sum of a first steering assist torque, which is proportional to an integral value of a deviation between the target steering torque and the steering torque, and a second steering assist torque, which is proportional to a motor rotational angular velocity and acting in a direction of suppressing a return speed of the steering wheel when the steering wheel returns to the neutral position.

主权项

1. A steering control device, comprising:
a steering torque detection unit configured to detect a steering torque acting on a steering shaft; a target steering torque setting unit configured to set a target steering torque; a first steering assist torque calculation unit configured to calculate a first steering assist torque that is proportional to an integral value of a deviation between the target steering torque and the steering torque; a motor rotational angular velocity detection unit configured to detect a rotational angular velocity of a motor configured to apply a steering assist torque to the steering shaft; a second steering assist torque calculation unit configured to calculate a second steering assist torque that is proportional to the rotational angular velocity of the motor and acting in a direction of suppressing a return speed of a steering wheel when the steering wheel returns to a neutral position; an addition unit configured to calculate a motor steering assist torque of the motor based on a sum of the first steering assist torque and the second steering assist torque; a current driver configured to control current of the motor so that the steering assist torque of the motor matches the calculated motor steering assist torque.