ELECTRIC POWER STEERING DEVICE

摘要

An object of the present invention is to provide an electric power steering apparatus that is capable of efficiently suppressing vibrations and simultaneously minimizing steering performance degradation such as an increase in a steering wheel's viscous feeling by extracting a vibration component having an arbitrary amplitude and an arbitrary frequency range depending on an electric power steering state parameter and feeding back a vibration suppression compensation value determined depending on the extracted vibration component to a current command value. [Means for solving the problem] An electric power steering apparatus that provides a steering system of a vehicle with an assist force generated by a motor, comprising: a current command value determining section that determines a current command value based on a steering torque and a velocity; a vibration extraction filter that extracts a vibration component having a predetermined amplitude and a predetermined frequency range depending on an electric power steering state parameter; and a compensation value determining section that determines a vibration suppression compensation value based on the vibration component extracted by the vibration extraction filter, wherein vibrations of the motor are suppressed by feeding back the determined vibration suppression compensation value to the current command value.