| 摘要 |
PROBLEM TO BE SOLVED: To provide an electric power steering device not impairing good steering feeling of a driver by setting an inertia compensation current value to an appropriate value. SOLUTION: The inertia compensation part is provided with a differentiator receiving a steering torque value T and outputting a differential value (dT/dt) thereof; an inertia compensation current setting part 40 for calculating the inertia compensation current value Ii based on this differential value; and an inertia compensation current correction part 50 for multiplying a gain set by a predetermined method to this inertia compensation current value Ii and outputting the corrected inertia compensation current value Ii'. The inertia compensation current correction part 50 includes a first gain determination part 51 for outputting a first gain Gj1 based on a steering angular velocityω; a second gain determination part 52 for outputting a second gain Gj2 based on the steering torque value T; and a gain multiplication part 53 for outputting the inertia compensation current value Ii' corrected based on the first and second gains Gj1, Gj2. COPYRIGHT: (C)2004,JPO |
