| 摘要 |
PROBLEM TO BE SOLVED: To provide an electric power steering device capable of mitigating shock at a stroke end as well as providing stable steering feeling by absorbing influence of motor characteristics, friction of a motive power transmission system, etc. SOLUTION: This device is furnished with a torque sensor 20 to detect steering torque T, a vehicle speed sensor 25 to detect vehicle speed (v), a steering angle detection means 33 to detect a steering angleθof steering and an angular velocity computing means 36 to compute angular velocityωof steering from the steering angleθdetected by the steering angle detection means 33. The target angular velocityωm is computed in accordance with the steering torque T, the vehicle speed (v) and the steering angleθdetected by the steering angle detection means 33 and the target angular velocityωm drives and controls an assist motor M so that a difference between the computed final target angular velocityωmf and the angular velocityωbecomes 0 by computing the final target angular velocity limiting the target angular velocityωmf limiting the target angular velocityωm in accordance with the steering angleθand by an angular velocity limiting coefficient (k) to seriously limit especially in the neighborhood of the maximum steering angle. COPYRIGHT: (C)2006,JPO&NCIPI |
