| 摘要 |
[Problem] An object of the present invention is to provide a control apparatus for an electric power steering apparatus that improves ripple accuracy of a torque, a velocity and so on, does not generate abnormal noises and does not generate an uncomfortable feeling with respect to a steering by compensating each-phase characteristics of a motor and the control apparatus and converting into a desired characteristic, and at the same time conforming each-phase characteristics. [Means for solving the problem] The present invention is a control apparatus for an electric power steering apparatus that calculates a steering assist torque command value based on a steering torque generated in a steering shaft and a velocity, calculates each-phase current command values from the steering assist torque command value, and controls a motor that provides a steering mechanism with a steering assist torque based on current control values calculated from the each-phase current command values and each-phase current values of the motor, comprising: arranging filters having a characteristic that compensates each-phase characteristics of the motor and the control apparatus at each pathway, and conforming the each-phase characteristics of the motor and the control apparatus, and at the same time, making the each-phase characteristics of the motor and the control apparatus becoming a desired characteristic. |
