VEHICULAR STEERING DEVICE AND ITS CONTROL METHOD

摘要

PROBLEM TO BE SOLVED: To provide a vehicular steering device capable of securing an enhanced steering rigidity feeling near a steering neutral position. SOLUTION: An ACT angle control part 42 is provided with a proportional control part 45 for calculating a proportional control quantityεp by multiplying the deviation of an ACT target angleθta* inputted from an ACT angle command part 41 and a detected ACT angleθta by a proportional gain Kp, and a differential control part 46 for calculating a differential control quantityεd by multiplying a differential variation quantity of the ACT angleθta by a differential gain Kd; and an ACT control angleθta** is calculated by subtracting the differential control quantityεd from the proportional control quantityεp. The ATC angle control part 42 is provided with a gain controller 51 for varying the proportional gain Kp and the differential gain Kd. The gain controller 51 makes the proportional gain Kp and the differential gain Kd when a steering angleθs is in a predetermined angle region near a steering neutral position higher than that when the steering angleθs is out of the predetermined angle region. COPYRIGHT: (C)2005,JPO&NCIPI