| 摘要 |
PROBLEM TO BE SOLVED: To provide an electric power steering apparatus which suppresses vibration and noise of a handle when the actual current value is considered to be small and gives a good steering feeling. ! SOLUTION: When the absolute value of a steering torque is equal to or smaller than a prescribed torque value, the absolute value of the motor rotation angular velocity calculated from the rotation angle of a motor is equal to or smaller than a prescribed rotation angular velocity, and the absolute value of a current command value is equal to or smaller than a prescribed current command value, at least one of gains of proportion, integration and differentiation control is decreased, i.e., when a vehicle is in such a state that the actual current value is determined to be small, at least one of gains of a proportion device, an integrator and a differentiator of a current feedback control part is decreased, leading to suppression of noise of the actual current value at a small level. ! COPYRIGHT: (C) |
