| 摘要 |
PROBLEM TO BE SOLVED: To provide a control system capable of compensating friction generated in a speed reduction mechanism by using a novel friction compensation method.SOLUTION: A friction compensation control part 44 includes: a contact mode discrimination part 61 for discriminating a contact mode of a speed reduction mechanism; a friction-coefficient estimation part 62 for estimating a coefficient of friction of a power column; and a friction force estimation part 63 for estimating friction force generated in the power column. The contact mode discrimination part 61 discriminates the contact mode of the speed reduction mechanism on the basis of a first assist torque instruction value T, detected-steering torque T, and estimated-load torque T. The friction-coefficient estimation part 62 estimates a coefficient of friction μ of one column of the speed reduction mechanism on the basis of an estimated motor angular velocity ω. The friction force estimation part 63 computes a second assist torque correction value Ton the basis of the discrimination result of the contact mode discrimination part 61, the coefficient of friction μ, the detected-steering torque T, the estimated-load torque T, and the estimated motor angular velocity ω. |
