Steering system

摘要

A steering controller for an electric power steering device (110) includes a base signal computing part (51) for computing a base signal D T in accordance with at least the steering torque; a damper compensation signal computing part (52) for computing a damper compensation signal in accordance with an angular velocity of an electric motor (4) or a speed of steering wheel turn; and an inertia compensation signal computing part (53) for compensating inertia and viscosity in the steering unit. The electric motor is driven by a target signal IM 1 obtained by compensating the base signal with a damper compensation signal and an inertia compensation signal, to provide a steering auxiliary force. The target signal of the auxiliary torque is compensated so that a difference between a reference self-aligning torque of front wheel in a front wheel steering vehicle and a self-aligning torque of front wheel in an all-wheel steering vehicle is provided to a driver as a responsive feeling from the steering torque.