| 摘要 |
<P>PROBLEM TO BE SOLVED: To provide a controller for an electrically-operated power steering device to correct the offset error of the motor current sensing value by sensing the motor current zero condition even in the case it is not possible to set properly the non-sensitive zone where the current command value is set to zero relative to the steering torque. <P>SOLUTION: The current command value I, steering torque T, and steering speed V are read, and the sum P (=T+Tec) of the steering torque T and the column axis converted torque Tec (=I×Kt×G) of the current command value is computed (P11, 12), followed by judgement whether the value P lies below the column axis converted friction torque Tfc (P<Tfc), and if P<Tfc, judgement is passed that a condition to allow assuming the motor current being zero was sensed, and a correcting computation of the offset error is conducted while the motor current sensing value i sensed at that time is used as the offset correcting value (P13, 15). If the value P is not below the column axis converted friction torque Tfc (not P<Tfc), the correcting computation of the offset error is stopped (P16). <P>COPYRIGHT: (C)2008,JPO&INPIT |
