| 摘要 |
[Problem] To provide an electrically actuated power steering device that suppresses steering-wheel vibration and improves driver steering response on the basis of assist-map characteristics compensation, not on the basis of the variation in PI control gain. [Solution] An electrically actuated power steering device for providing control for assisting a steering system by calculating a current command value (Ia) using an assist map (161) for inputting steering torque, and driving a motor on the basis of the current command value (Ia); wherein a first compensation part (162) (phase compensation, BPF, advancing compensation) is set up in the first part of the assist map (161), a second compensation part (163) (phase compensation, notch filter, delaying compensation) is set up in the second part, a current command value is calculated according to the characteristic of increasing slope in relation to the absolute value of the steering torque (Th) inputted to the first compensation part (162), the current command value is outputted from the second compensation part (163), and vibration of an operating member is suppressed. |
