| 摘要 |
An SAT estimating section estimates self-aligning torque (SAT) on the basis of a steering torque, which is detected by a steering torque detecting section, and an assist torque, which is detected by an assist torque detecting section. An SAT model value computing section computes an SAT model value by using an integrated slip angle alpha<SUB>I</SUB>. An SAT ratio/drift amount computing section computes, by on-line identification, a ratio (SAT ratio) of the SAT to the SAT model value, and a drift amount of a lateral acceleration sensor. |
