| 摘要 |
PROBLEM TO BE SOLVED: To prevent a steering wheel from turning to the right and left near a neutral position regardless of a driver's operation, even if steering torque detected by a steering torque sensor includes an off-set amount, in a vehicular steering device of a steer-by-wire type. SOLUTION: A target reaction torque computing portion B11 calculates a target reaction torque T* on the basis of a steering wheel steering angleθ. A P1 control computing portion B16 calculates a motor torque command value by PI control computing, by using difference T*-T between the target torque T* and steering torque T in a computing portion 15, thereby feed-back controlling a reaction torque electric motor adding steering reaction force. When the absolute value of the steering wheel steering angleθis within a range of a predetermined minute value, a neutral torque correction value computing portion B12 and a gain controlling portion B13 calculate a neutral torque correction value changing in proportion to the steering wheel steering angleθand add to a side increasing a feed-back amount. COPYRIGHT: (C)2007,JPO&INPIT |
