| 摘要 |
<p><P>PROBLEM TO BE SOLVED: To restrain lowering of steering assist torque and increase of a steering burden of a driver accompanied thereto when a power supply voltage is lowered or there is a fear of it. <P>SOLUTION: A basic assist current Ib is calculated based on steering torque Ts and a vehicle speed V (S20), and various compensating current as auxiliary controlled variable for improving steering feeling is calculated (S30). When the power supply voltage Vp is determined as being equal to or more than a first reference value Vp1 (S50), a target current Ia is calculated as the sum of the basic assist current Ib, an inertia compensation current Ii, a friction compensation current If, and a damping compensation current Id (S60). When the power supply voltage Vp is determined as being lower than the first reference value Vp1 and equal to or more than a second reference value Vp2 (S70), the friction compensation current If is reduced to be 0 (S80). When the power supply voltage Vp is determined as being lower than the second reference value Vp2 and equal to or more than a third reference value Vp3 (S90), the inertia compensation current Ii and the friction compensation current If are reduced to be 0 (S100). <P>COPYRIGHT: (C)2005,JPO&NCIPI</p> |
