| 摘要 |
<p>PROBLEM TO BE SOLVED: To achieve high steering performance by highly precisely computing a relaxation length compensation torque.SOLUTION: A relaxation length compensation torque calculation unit 54 calculates a relaxation length compensation torque on the basis of: a front wheel actual steering angular speed calculated based on a motor rotational angular speed which is inputted from a motor rotational angular speed sensor 10, by a front wheel actual steering angular speed calculation unit 52; and a transfer function that is expressed using a difference between a road surface reaction force torque model and a standard reaction torque model and determined based on a vehicle velocity inputted from a vehicle velocity sensor 20. A power steering control unit 58 adds the relaxation length compensation torque to an assistive torque, and controls an ESP motor 3 so that the added assistive torque can be generated.</p> |
