| 摘要 |
PROBLEM TO BE SOLVED: To provide an automatic steering device in which a variation of the followability, convergence performance and responsiveness of an actual steering angle resulting from a change of a steering load condition are not generated.SOLUTION: An automatic steering device comprises a motor current control part gain decision part 56 which decides a control gain of a motor current control part 54 from a motor parameter, a motor rotation angle &thetas;m and a motor actual current Im. When the motor actual current Im is larger than a prescribed motor actual current Im0, the motor current control part gain decision part 56 acquires first motor rotation angle acceleration αm1 when disturbance torque T being a part of the motor parameter is set zero with respect to the motor actual current Im, also acquires second motor rotation angle acceleration αm2 from the secondary differentiation of the motor rotation angle &thetas;m, and when an absolute value of a difference between the first motor rotation angle acceleration αm1 and the second motor rotation angle acceleration αm2 becomes larger than prescribed motor rotation angle acceleration α0, the motor current control part gain decision part 56 increases the control gain of the motor current control part 54. |
