| 摘要 |
[Problem] An object of the present invention is to provide an electric power steering apparatus that is capable of obtaining a safe and comfortable steering performance by realizing an easy tuning and achieving suppression of the brake judder and the shimmy and accurately steering in accordance with the calculated target steering angle in the automatic steering mode, is capable of smoothly steering even if the target steering angle is a rapid steering and following up the target steering angle by raising the responsibility or a steady-state deviation even in a low vehicle velocity. [Means for solving the problem] An electric power steering apparatuscomprising:asteering angle control section that calculates a motor current command value and a switching section that inputs the motor current command value to switch, wherein the steering angle control section comprises a feedback control section that generates a feedback control current command value; an SAT compensating section that generates an SAT compensation current command value; and an output section that generates the motor current command value from the feedback control current command value and the SAT compensation current command value, wherein the switching section is switched depending on a switching command of an automatic steering mode and a manual steering mode, a motor is drive-controlled based on the motor current command value in the automatic steering mode. |
