Power steering controller with compensation for tire deformation and caster

摘要

In a steering control device, a road surface reaction force torque calculation module (52) uses a vehicle speed, steering angle, and vehicle model to calculate a caster-trail-caused torque, a self-aligning torque, and a road surface reaction force torque. A reaction force command current calculation module (53) uses the road surface reaction force torque and the vehicle speed to calculate a reaction force command current.

主权项

1. A steering control device for controlling drive of a motor for imparting a power to a steering system of a vehicle, the steering control device comprising a steering control device main unit for calculating a self-aligning torque from a steering angle signal received from a steering angle detector for generating a steering angle signal corresponding to a steering angle of the steering system, by using a vehicle model containing a predetermined frequency characteristic representing a rotational rate of a steered wheel of the steering system from the steering angle to the self-aligning torque, and setting a drive torque of the motor based on a result obtained by multiplying the calculated self-aligning torque by a predetermined gain which varies based on a speed of the vehicle.