| 摘要 |
PROBLEM TO BE SOLVED: To provide a power steering device capable of estimating and compensating the steady-state disturbance generated by the right-left difference of a suspension or the conicity of a tire with high accuracy without impairing the transmission of road surface information. SOLUTION: The power steering device having a torque sensor 4 for detecting the steering force applied to a steering system, and a motor 5 for giving the steering assist force to the steering system according to the steering force comprises a disturbance estimation means (a mean value calculation unit 114) for estimating the disturbance value to be transmitted to the steering system as the steering torque, based on the steering torque within the preset statistical processing time, and a disturbance compensation means (a primary delay filter 115, an adder 116) for calculating the disturbance compensation based on the estimated disturbance to compensate the disturbance. The disturbance estimation means increases the statistical processing time as the traveling distance or the traveling time of a vehicle is longer. COPYRIGHT: (C)2007,JPO&INPIT |
