| 摘要 |
PROBLEM TO BE SOLVED: To provide a control device for a motorized power steering system capable of maintaining assist control while suppressing the deterioration in steering feeling when motor terminal voltage becomes abnormal, and reducing the load of steering on a driver. SOLUTION: This control device 20 of the motorized power steering system includes a CPU 21 (central processing unit) which calculates an assist current command value I based on a steering torque Th of a steering wheel. The CPU 21 calculates damper current Id, steering wheel return current Ih, and friction compensation current If respectively which are compensation control current values, based on steering angle speed Qs calculated based on the inter-terminal voltage Vm of a motor 6. The CPU 21 adds the Id, Ih, and If to the assist current command value I, and controls the motor 6 based on a control value calculated by the added value and a motor current value of the motor 6. When detecting the failure of the motor terminal voltages M1, M2, the CPU 21 calculates the Id, Ih, and If with the steering angle speed Qs set as a fixed value. COPYRIGHT: (C)2003,JPO |
