| 摘要 |
In order to provide an electric power steering control device such that a vibration component of a vibration suppression object, such as a steering wheel, is detected according to a Fourier series expression with a small computational volume, and such that the gain of a PI control unit is modified only when a vibration of a predetermined frequency continues for a predetermined time or longer so as to suppress the vibration and increase steering feeling, an electric power steering control device that assist-controls steering by PI-controlling a current command value computed on the basis of at least a steering torque and by driving a motor with the PI-controlled control command value is provided with: a vibration detection unit that detects vibration of the vibration suppression object and that outputs a vibration signal; a continuation time determination unit that outputs a continuation signal when the vibration signal continues for a predetermined time or longer; and a gain setting unit that modifies the gain of the PI-control on the basis of the continuation signal. If the vibration signal continues at the predetermined frequency and for the predetermined time or longer, vibration suppression of the vibration suppression object is implemented. |
