| 摘要 |
<p>An electric power steering apparatus (1) includes a controller (40) that controls, based on an assist command value, driving of a motor (20) used to apply assist torque to a steering mechanism. The controller (40) calculates a first assist component (Ta1) based on a steering torque transmitted to the steering mechanism and calculates a steered angle command value based on the steering torque. The controller executes feedback control to cause a steered angle of steerable wheels to agree with the steered angle command value, thereby calculating a second assist component (Ta2). The controller calculates the assist command value based on a value obtained by adding the assist components (Ta1, Ta2). The controller estimates a grip factor of the wheels on a road surface on which the wheels are traveling based on the steering torque, a first assist torque determined based on the first assist component, and a second assist torque determined based on the second assist component.</p> |
