| 摘要 |
<p><P>PROBLEM TO BE SOLVED: To provide an electric power steering device of high performance which performs each adequate SAT (self-aligning torque) compensation value design considering the cornering force dynamic characteristic and the SAT dynamic characteristic of a tire at the ON-center and the OFF-center, and designs a control system so that the steering torque is reproducible to the steering angle irrespective of the steering input frequency (the steering angular velocity). <P>SOLUTION: In the electric power steering device in which a motor for giving the steering assist force to a steering mechanism is controlled based on the current control value, and the steering assist command value is corrected by the SAT compensation value 1 based on the SAT value from a SAT detection means or a SAT estimation means, there is provided a tire cornering force dynamic characteristic/SAT dynamic characteristic compensation unit for performing the phase compensation of the SAT compensation value 2 with the SAT compensation value 1 being gain-switched, which corrects the steering assist command value by the SAT phase compensation value from the tire cornering force dynamic characteristic/SAT dynamic characteristic compensation unit. <P>COPYRIGHT: (C)2008,JPO&INPIT</p> |
