| 摘要 |
PROBLEM TO BE SOLVED: To generate a virtual abutting drag (steering reaction force). SOLUTION: This steering control device 200 is provided with an end reaction force generation means (end reaction force control part 20) which is the greatest feature part of this invention, and an end reaction force generation current i<SB>2</SB>is steeply generated to return a handle to a neutral position near upper and lower limits of a steering range. For example, such a command current i<SB>2</SB>is newly generated to additionally command a reaction force motor 4, and the output torque from the reaction force motor 4 results to be proportional to a new command value i<SB>n</SB>of a formula "i<SB>n</SB>=i<SB>1</SB>+i<SB>2</SB>." Where, i<SB>1</SB>is a current command from a reaction force control part 5. For example, by constituting the end reaction force generation means like this, the virtual contact drag (steering reaction force) can be generated at a steering angleθwithout a set of physical constraining (end or contact point) in the rotation range of the handle without causing generation of heat by the motor. COPYRIGHT: (C)2004,JPO |
