| 摘要 |
<p>Provided is an electronic power steering apparatus that is applied to a vehicle provided with a steering mechanism with an Ackermann ratio lower than an ideal ratio and, wherein the electronic power steering apparatus does not give a driver feeling of strangeness, by making the steering angle vs. steering reaction force characteristic in a case of a low vehicle speed close to the characteristic of ideal Ackermann. A control device (200A) of the electronic power steering apparatus includes a low-vehicle-speed steering-reaction-force control section (300A). The low-vehicle-speed steering-reaction-force control section (300A) controls a target steering torque computation section (280) to set a steering angle sensitive target steering torque KT (¸H), based on a steering angle ¸H, a subtractor 281 to compute the torque deviation between the target steering torque KT (¸H) and a steering torque T, and a current conversion section (282) to compute a target current value ITFB1, based on the torque deviation. Then, the low-vehicle-speed steering-reaction-force control section (300A) adjusts a q-axis target current value ITG1 for applying a steering assisting force by an electric motor (11) as a q-axis target current value Iq* , wherein the adjustment is made by a target current value ITFB3 obtained by damping the variation in the target current value ITFB1.</p> |
