| 摘要 |
In order to provide a control apparatus for an electric-powered power steering apparatus in which transmission of impact to a driver can be moderately suppressed only during the occurrence of impact without affecting steering at normal times even when large input (external force) from the exterior occurs during impact such as curb impact, the present invention relates to a control apparatus for an electric-powered power steering apparatus designed so that a motor is controlled on the basis of a current command value (2) calculated from a current command value (1) calculated on the basis of steering torque produced in a steering shaft and a motor current detection value that imparts steering auxiliary force to a steering mechanism, wherein: a SAT estimation unit is provided for either estimating self-aligning torque by inputting motor angular velocity, motor angular acceleration, the current command value (1), and the steering torque or measuring self-aligning torque with a sensor; a feedback unit is provided for processing a SAT estimation value and outputting a SAT compensation value; the feedback unit is configured from a BPF, a dead band unit, a steering torque response gain unit, and a vehicle speed response gain unit; and the SAT compensation value outputted from the feedback unit is added to the current command value (1) to obtain the current command value (2). |
