| 摘要 |
PROBLEM TO BE SOLVED: To provide an electric power steering device showing highly stable output property even in increasing an assist gain, avoiding realizing or actualizing unusual noises or vibration. SOLUTION: ' An output torque arithmetic part' is characterized in that it is negative fedback by multiplying a steering angle speedωby a gain K (angle speed high-speed negative feedback control means). Namely, a value for output torque T is calculated by using an expression 'T=TA+TI+TD+ TR-K.ω', where TI is inertia compensation torque, TA is assist torque, TR is steering wheel return torque and TD is damper torque, provided that the negative feedback control of the steering angle speedωis executed in a control periodΔt(<1/f) which is shorter than a period (1/f) corresponding to a critical frequency f facing the frequency band of unusual noises in a cabin, possibly developing with the energization of a motor. The control periodΔt is set to be sufficiently shorter than the arithmetic cycle of the damper torque TD or others. For example, 1/10f to 1/100f may be an approximately proper range. |
