| 摘要 |
[Problem] The present invention provides an electric power steering apparatus that is capable of obtaining a more safe and comfortable handling performance by that signal processing of road information and disturbances is performed to realize a easy tuning, and vibration absorption level for brake is improved by a filter and a gain unit considering a frequency characteristic and a decelerating acceleration. [Means for Solving the Problem] The electric power steering apparatus which provides a steering mechanism with a steering assist force comprises a reaction force detecting means for estimating or measuring a reaction force inputted into a rack shaft, a disturbance band extracting means for extracting a frequency band of disturbances to be removed from the reaction force and a decelerating acceleration calculating means for calculating a decelerating acceleration of a vehicle based on a velocity signal, and a reaction signal extracted by the disturbance band extracting means is varied in accordance with the decelerating acceleration, and a steering assist command value or a current command value is corrected by the varied reaction force signal.
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