| 摘要 |
<p>According to a relaxation length compensation torque computation section 54 of a vehicle steering apparatus 100, a relaxation length compensation torque is computed based on (1) a front wheel actual steering angular velocity computed from a motor rotation angular velocity input by a front wheel actual steering angular velocity computation section 52, and based on (2) a transfer function that is (a) expressed using a difference between a road surface reaction torque model and a referential reaction torque model and that is (b) determined according to a vehicle velocity input by a vehicle velocity sensor 20. A power steering controller 58 adds the relaxation length compensation torque to an assistance torque, and controls an EPS motor 3 so as to generate the assistance torque to which the relaxation length compensation torque has been added. The relaxation length compensation torque is thereby computed with good precision, enabling high handling performance to be achieved.</p> |
