| 摘要 |
[Problem] To provide an electric power steering device that can achieve a desired steering torque by controlling the steering torque to a value corresponding to steering angle and steering angular velocity without being affected by the state of a road surface. [Solution] Provided is an electric power steering device in which a steering system is assist-controlled by driving a motor on the basis of a current command value computed on the basis of the steering torque and on the basis of the vehicle velocity, wherein: the electric power steering device is equipped with a self-aligning torque (SAT) compensation value computation unit that computes an SAT compensation value on the basis of a SAT value and a steering reaction compensation value computation unit that computes a steering reaction compensation value on the basis of the SAT compensation value, steering angle, and steering angular velocity; and the current command value is corrected by the steering reaction compensation value. Moreover, the angle of twist of a torsion bar is controlled so as to track a value corresponding to the steering angle. |
