| 摘要 |
[Problem] An object of the present invention is to provide an electric power steering control unit that detects the vibration components of the vibration compressing object such as the handle and current command value based on an expression of Fourier series of which calculation capacity is small, changes a gain of the PI control section at only a time when the vibration of the predetermined frequency continues during the predetermined time or more and compresses the vibration, and improves the steering feeling.;[Means for Solving the Problem] The present invention comprises a vibration detecting section to detect a vibration of a vibration compressing object and outputs a vibration signal; a continuation-time judging section to output a continuation signal when the vibration signal continues equal to or more than a predetermined time; and a gain setting section to change a gain of the PI-control based on the continuation signal; wherein a vibration compressing of the vibration compressing object is performed in a continuation of a predetermined frequency of the vibration signal and being equal to or more than the predetermined time. |
