| 摘要 |
<p>[Problem] An object is to provide an electric power steering apparatus that compensates both a static friction and a dynamic friction, performs the switching between a static friction compensation and a dynamic friction compensation smoothly and without unpleasant sensation in order to achieve a natural comfortable steering feeling. [Means for Solving] In an electric power steering apparatus wherein a current command value is calculated based on at least a steering torque, and a motor is controlled by a current control value calculated based on said current command value to provide a steering assist force to a steering mechanism, wherein: there is provided a friction compensator calculating a friction compensation value for compensating friction to said steering mechanism on the basis of said steering torque, and said current command value is corrected by said friction compensation value.</p> |
