| 摘要 |
PROBLEM TO BE SOLVED: To provide an electric power steering device configured to reduce disturbance torque or torque variation due to a change in motor torque constant, to obtain good steering feeling.SOLUTION: An actual motor current value estimation part 33 estimates an actual motor current value on the basis of a motor rotation angular acceleration αm detected by a motor rotation angular acceleration sensor 22. An estimated motor current value Isui estimated by the actual motor current value estimation part 33 is fed back to a current feedback means. The motor rotation angular acceleration αm is detected as a result including a motor torque constant Kt or a disturbance torque τ1. The value is fed back to current feedback control, to obtain assist power corresponding to a target steering torque τ. The disturbance torque τ1 or the torque variation due to a change in motor torque constant Kt, thereby improving steering feeling. |
