| 摘要 |
PROBLEM TO BE SOLVED: To provide an electric power steering device capable of realizing enhancement of responsiveness at rest swinging and low speed traveling and retrieval of responsiveness of feedback control lowered by influence of a back electro-motive voltage without raising gain of the feedback control. SOLUTION: The electric power steering device is provided with a target steering torque operation processing means 40 for leading out target steering torque Tm based on a steering angleθand a vehicle speed v; a feedback controlled variable operation means 51 for calculating a feedback controlled variable Dfb based on differenceΔT of the target steering torque Tm and the detected steering torque T; a reverse electro-motive voltage operation means 57 for calculating the reverse electro-motive voltage V<SB>M</SB>of an assist motor from a rotation angular velocityωof the assist motor; a feed forward controlled variable operation means 52 for calculating a feed forward controlled variable Dff from the reverse electro-motive voltage V<SB>M</SB>calculated by the reverse electro-motive voltage operation means 57 and the detected power source voltage V<SB>B</SB>; and a motor drive means for driving the assist motor based on a motor controlled variable D<SB>M</SB>calculated by adding the feed forward controlled variable Dff to the feedback controlled variable Dfb. COPYRIGHT: (C)2007,JPO&INPIT |
