CONTROL DEVICE FOR MOTOR-DRIVEN POWER STEERING DEVICE

摘要

PROBLEM TO BE SOLVED: To provide a control device for a motor-driven power steering device capable of making accurate control as desired by adopting a model to specify the relation between the torque and the steering angular velocity using a small number of constants. SOLUTION: A CPU 21 is furnished with a damper compensation control 70 to calculate the damper compensation requisite torque required to make steering for use in damper compensation on the basis of the steering angular velocityω. The controller 70 conducts the control of a motor 6 on the basis of Id* prepared by multiplying the damper current Id based upon the obtained damper compensation requisite torque Ta by a damper gain Kd. The calculation of Ta is made using a formula including Ta=T0.tanh(A.ω). This constitution allows determining the damper compensation requisite torque Ta having a nonlinear characteristic similar to the actual phenomenon using a small number of constants.