| 摘要 |
PROBLEM TO BE SOLVED: To provide an electric power steering device capable of generating assist torque according to the force transmitted from a road surface. SOLUTION: An assist gain generator 110 estimates the reverse transfer torque Tx transferred from tires 11 to a steering wheel side by a load disturbance observer 112, and determines an assist gain Ka based on the reverse transfer torque Tx. The basic assist torque demand value Tb is obtained by multiplying the torsion torque Ts detected by a torque sensor 4 by the assist gain Ka. The assist torque command value Ta<SP>*</SP>is obtained by adding the compensationδT for stabilization to the basic assist demand value Tb. Since the assist gain Ka is determined based on the reverse transfer torque Tx, the actual assist torque is generated in accordance with the force transferred from the road surface. Thus, a driver can operate a steering wheel 2 while feeling the force from the road surface. COPYRIGHT: (C)2009,JPO&INPIT |
