ELECTRIC STEERING CONTROLLER

摘要

PROBLEM TO BE SOLVED: To provide an electric steering controller allowing certain estimation of side slip angleαfof a front wheel without dispersion in using an estimated viscosity coefficientρ. SOLUTION: A block diagram shows processing contents of an assist control part 20. An EPS full action force calculation part 3001 calculates an EPS full action force based on a pinion rotation angleθpand angular velocityωp. A rack thrust calculation part 3002 calculates a rack thrust based on a pinion torque Tpand a motor torque Tm. A disturbance torque calculation part 3003 calculates a disturbance torque Tdbased on a difference between the EPS full action force and the rack thrust. A side slip angle calculation part 3004 calculates a side slip angleαfbased on the pinion rotation angleθpand a car speed u. In calculating the side slip angleαf, as discussed below, four cases are calculated depending on the value of the car speed u and the sign of its differential (acceleration) by two calculating methods. A SAT/internal resistance calculation part 305 estimates gradientκand viscosity coefficientρbased on the pinion angular velocityωp, the side slip angleαf, and the disturbance torque Td. COPYRIGHT: (C)2004,JPO