Control apparatus for electric power steering apparatus

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.

主权项

1. A control method of 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 by a steering assist torque command value calculator, calculates each-phase current command values from said steering assist torque command value by a current command value calculating section, and controls a motor that provides a steering mechanism with a steering assist torque based on current control values calculated from said each-phase current command values and each-phase current values of said motor by a controller, the method comprising:
selectively arranging filters, which have a characteristic that offsets said motor and each-phase inductance and resistance characteristics of said control apparatus, on at least one phase pathway of a plurality of phase pathways between a PI control section and a PWM control section at an output of the PI control section, based on said motor and each-phase inductance and resistance characteristics of said control apparatus; conforming said motor and said each-phase inductance and resistance characteristics of said control apparatus, and obtaining a desired dynamic characteristic by converting said each-phase inductance and resistance characteristics with said filters; and reducing operating noises and vibrations due to the difference in the peak value of the phase current.