| 摘要 |
PROBLEM TO BE SOLVED: To provide a self-aligning estimating apparatus capable of estimating self-aligning torque (SAT) which has eliminated an effect of hysteresis for friction component. SOLUTION: The SAT estimating apparatus 100 obtains a SAT difference estimation value "ΔSAT" by substituting a variance "ΔF" of a steering force, a slip angle "α" and a slip angle difference "Δα" into a predetermined function and calculates a sum of the obtained SAT difference estimation value "ΔSAT" and a SAT calculation value "SATLast" before the last calculation as a SAT estimation value "SAT". COPYRIGHT: (C)2011,JPO&INPIT |
