| 摘要 |
PROBLEM TO BE SOLVED: To reconcile optimum setting of operation reaction with improvement of responsiveness in a steering device of a SBW system. SOLUTION: This steering device is provided with an operating lever, an operating amount sensor 16 for detecting operating amount of the operating lever, an operation reaction motor 19 for imparting operation reaction to the operating lever, a steering mechanism part for steering a steering wheel of a vehicle, a rack position sensor 10 for detecting steering amount of the steering wheel, an operation torque sensor 15 for detecting operation torque, and a control device for determining controlled variable to the operation reaction motor 19 and controlled variable to the steering mechanism part according to a deviation of the operating amount and steering amount. The control device is provided with a variable integral control device 34 for increasing/decreasing integration effects in the control of the steering mechanism according to a road surface, a FF control part 37 for performing a feed forward control of the steering mechanism part according to operation torque, and a band pass filter 38 for increasing/decreasing feed forward effects according to an operating frequency. COPYRIGHT: (C)2005,JPO&NCIPI |
