| 摘要 |
An object of the present invention is to provide a vehicle steering apparatus which can prevent a large returning torque from acting when a steering wheel is turned, to thereby improve the feel of steering. Through the processing of steps S12 to S16 of an assist control program, rotational torque (assist torque) of an electric motor 15 is calculated by adding returning torque g·Trto to turning torque Tc (in actuality, subtracting the returning torque g·Trto from the turning torque Tc). The electric motor is driven and controlled in accordance with the calculated assist torque. When the steering torque is large, the returning torque gain g calculated in step S14 decreases, and therefore, the returning torque g·Trto decreases or becomes zero. With this control, the greater the force (torque) required to operate the steering wheel, the smaller the influence of the returning torque. Therefore, the steering feel at the time of turning the steering wheel is improved.
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