| 摘要 |
[Problem] To provide an electric power steering device that: constitutes a control system on the basis of a physical model; constitutes model-following control whereby output (distance to a rack end) of a control target follows a reference model; suppresses the occurrence of noise at end contact, without providing any unusual steering sensation to the driver; suppresses impact force; prevents motor overheating; and enables safety measures to be implemented for model-following control. [Solution] An electric power steering device that performs assist control of a steering system by calculating a current command value 1 on the basis of at least steering torque and driving a motor on the basis of the current command value 1, said electric power steering device: constituting model-following control having a viscoelastic model as a reference model within a prescribed angle range just before the rack end; applying an offset to inputs or outputs to/from a viscoelastic model in order to prevent overheating; and suppressing rack end end contact. |
