| 摘要 |
PROBLEM TO BE SOLVED: To provide an electric power steering device capable of achieving good steering feeling while ensuring the consistency of the auxiliary steering control. SOLUTION: An electric motor 12 is provided, which gives the auxiliary steering force to a steering system. The basic auxiliary steering command value Ir is computed based on at least the steering torque T, the auxiliary steering command value Ira is computed by performing the phase delay compensation to the basic auxiliary steering command value Ir by a phase delay compensation unit 22, and the auxiliary steering command value Irb is computed by performing the robust stabilization compensation to the auxiliary steering command value Ira subjected to the phase compensation by a robust stabilization compensation unit 23. The electric motor 12 is drive-controlled based on the auxiliary steering command value It with the auxiliary steering command value Irb compensated by each compensation value. COPYRIGHT: (C)2009,JPO&INPIT |
