| 摘要 |
A method for controlling a steering apparatus (10) of a vehicle produces an error signal (128) by subtracting a hand wheel torque (118) and a column torque (126) from a desired operator torque (112) to be applied to a hand wheel (14) of the vehicle. A controller (102) receives at least one vehicle condition signal (106, 108, 110) and determines the desired operator torque (112). Inertia (116) and acceleration (120) of the hand wheel (14) of the vehicle are determined. A hand wheel torque (118) is calculated by multiplying the inertia (116) of the hand wheel (14) with the acceleration (120) of the hand wheel (14). The column torque (126) is determined by measuring torque across a torsion bar (50).
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