STEERING DEVICE AND RESISTANCE FORCE CALCULATION DEVICE OF STEERING DEVICE

摘要

PROBLEM TO BE SOLVED: To generate an assist force corresponding to a variation of a viscous friction, etc., in a device without impairing a reaction force information from a road surface in a power steering device. SOLUTION: A force (external force) other than a force for carrying out a steering (steering force) of a force acted on a steering device of a vehicle (action force) is calculated by an external force calculation part 78. On the assumption that this external force comprises an external force imparted from a road surface such as a SAT(self-aligning torque) and an internal resistance force caused by a viscous friction, etc., generated in the device, these two forces are separated by an external force/internal resistance force calculation part 86. At the time of the separation, the external force is defined as a function of an angle of side-slip and the internal resistance force is defined as a function of a steering angular velocity to determined a coefficient of the functions. A motor control part 88 controls a motor based on the calculated internal resistance force to generate an appropriate assist force.