PID control of a hydraulic power steering system control valve

摘要

In a PID control system, a proportionality coefficient multiplication unit (58) multiplies a valve opening degree command value (¸v*) by a proportionality coefficient (Cp). A first angle deviation computation unit (54A) computes a deviation between an output value (Cp €¢ ¸v*) from a proportionality coefficient multiplication unit (58) and a detected rotation angle of a valve driving motor (15). A differential coefficient multiplication unit (60) multiplies the valve opening degree command value (¸v*) by a differential coefficient (Cd). A third angle deviation computation unit (54C) computes a deviation between an output value (Cd €¢ ¸v*) from the differential coefficient multiplication unit (60) and the detected rotation angle of the valve driving motor (15).