| 摘要 |
PROBLEM TO BE SOLVED: To let a driver feel operation reaction force favorably.SOLUTION: A multiplication coefficient calculation part 53 calculates a multiplication coefficient (α+1) which is an assist ratio α plus 1. An operation reaction force model part 54 sets a target operation reaction force Fv which is expected to be felt by a driver based on a steering operation amount. A reaction force command value calculation part 55 calculates a value which is the target operation reaction force Fv multiplied by the multiplication coefficient (α+1) as a reaction force command force ((α+1)Fv). An addition and subtraction part 57 subtracts the reaction force command force ((α+1)Fv) from a basic assist command force Fα, and calculates the value added with an actual machine resistance compensation force Fc as a command motor thrust Fm. |
